CN113263518A - Integrated self-adaptive force control joint - Google Patents

Abstract

The invention discloses an integrated self-adaptive force control joint, which relates to the technical field of robots and comprises the following components: the motor driving assembly and the torque measurement transmission assembly; the motor drive assembly includes: the frameless torque motor and the electromagnetic brake are sleeved on the rear outer shaft; the torque measurement transmission assembly includes: the high-precision torque control joint comprises a second shell, a middle shaft, a front outer shaft, a motor end encoder, a harmonic reducer, a torque sensor and an output flange plate, wherein two ends of the middle shaft are respectively arranged in the second shell and the first shell, the output end encoder is arranged on the middle shaft, the front outer shaft is connected with the rear outer shaft, the motor end encoder is arranged on the front outer shaft, the harmonic reducer is connected with the middle shaft and the torque sensor, the torque sensor is connected with the output flange plate, a signal slip ring is in communication connection with the torque sensor, the high-precision torque control joint can achieve high-precision torque control, and the high-precision torque control joint is suitable for driving joints of a cooperation robot and an operation medical robot.

Description

Integrated self-adaptive force control joint

Technical Field

The invention relates to the technical field of robots, in particular to an integrated self-adaptive force control joint.

Background

For the assembly of some precision parts in industrial production, the position control can only be accomplished to traditional industrial robot, just can let industrial robot change position gesture motion in the simple words. Such an industrial robot is not intelligent enough, it has no force sensing ability, and thus can only perform displacement motions, and cannot precisely control the force when mounting precision parts, thereby possibly damaging some parts, and requiring reprogramming if the size of the parts is changed.

The collaborative robot just has the function of dragging teaching programming, can reduce the degree of difficulty of robot teaching programming, reduces the maintenance cost of robot production line, can be more nimble change route on the production line, nevertheless because there is not moment feedback, can not the outside atress of accurate measurement.

In order to solve the problems, force control cooperative robots appear in the market, and a torque sensor is added to each joint on the basis of the original cooperative robot so as to measure the torque output by the joint in real time, so that the force output is automatically adjusted by a controller integrated with each joint, self-adaptive control can be realized on the force output of installation of some delicate parts, and the parts are uniformly installed under stress. And when the robot touches an obstacle in the moving process, the robot can stop immediately, so that the safety of the robot is protected.

At present, most of domestic cooperative robot joints are established on the basis of double-encoder measurement and spring SEA measurement torque, the mode not only reduces the system rigidity, but also reduces the force control precision of the robot, and increases the difficulty of algorithm identification.

The existing cooperative robot joint can be used as a surgical robot joint, but because the force feedback precision is low, a surgeon cannot feel stress during actual surgical operation through an operation handle of a surgeon console, so that the safety risk and the operation time of the operation are increased, and certain potential safety hazard is caused to the surgical treatment effect of a patient.

Compared with a common cooperative robot joint, the common cooperative robot adopts a double encoder or an SEA flexible spring measuring unit as an output torque measuring sensor of the joint, and the methods cannot realize high-precision torque control.

Disclosure of Invention

The invention aims to provide an integrated self-adaptive force control joint which can realize high-precision torque control and is suitable for a driving joint of a cooperative robot and a surgical medical robot.

The technical scheme for solving the technical problems is as follows:

an integrated adaptive force controlled joint, comprising: the motor driving assembly and the torque measurement transmission assembly; the motor drive assembly includes: the frameless torque motor and the electromagnetic brake are respectively sleeved on the rear outer shaft to drive or brake the rear outer shaft; the torque measurement transmission assembly includes: the second casing, the axis of setting in the second casing, the cover is established at epaxial preceding outer axle of epaxial in rotation, the motor end encoder of cover establishing at epaxial outer in the front, the harmonic speed reducer ware, torque sensor and output flange dish, centraxonial one end sets up in the second casing, centraxonial other end sets up in first casing, output end encoder sets up at epaxial in, preceding outer axle is connected with outer axle after, motor end encoder sets up in the front on the outer axle, the harmonic speed reducer ware is connected with axis and torque sensor respectively, the torque sensor keeps away from the one end of harmonic speed reducer ware and is connected with the output flange dish, signal sliding ring and torque sensor communication connection.

The integrated self-adaptive force control joint comprises two parts, namely a motor driving component and a torque measurement and transmission component, wherein the motor driving component is fixed on a robot arm and used for generating power drive; the frameless torque motor outputs larger torque after being decelerated by the harmonic reducer, the torque sensor connected between the harmonic reducer and the output flange transmits the torque to the output flange, and simultaneously the torque transmitted by the torque sensor is measured.

Further, in a preferred embodiment of the present invention, the first housing includes a rear cover, a motor cover, and a motor casing, which are sequentially connected, the motor casing is connected to the second housing, the signal slip ring is disposed on the rear cover, the output-end encoder is disposed on the motor cover, and the electromagnetic brake and the frameless torque motor are disposed on the motor casing.

The whole 7075 and 6061 aluminum alloy that adopts of first casing makes, can alleviate the holistic quality of joint, reduces the consumption.

Further, in a preferred embodiment of the present invention, the second housing includes a rear bearing cover, a rear reducer casing and a front reducer casing, which are connected in sequence, the rear bearing cover is connected to the motor casing, the motor-end encoder is disposed on the rear reducer casing, and the output flange is connected to the front reducer casing.

The whole 7075 and 6061 aluminum alloy that adopts of second casing preparation can alleviate the holistic quality of joint, reduces the consumption.

Further, in a preferred embodiment of the present invention, the signal slip ring comprises: electron sliding ring main part and female aviation plug pencil, torque sensor includes: public aviation plug pencil and torque sensor body, female aviation plug pencil and public aviation plug pencil communication connection.

The female aviation plug wiring harness and the male aviation plug wiring harness are in communication connection, and infinite rotation can be achieved through the signal slip ring, so that the electrical connection of the torque sensor is guaranteed. The torque sensor is connected between the harmonic reducer and the output flange to transmit the torque output by the harmonic reducer to the output flange and measure the torque output by the output flange, and then the torque sensor is internally filtered, amplified and converted into a differential analog signal with common-mode voltage of 2.5V, namely the torque sensor mainly has three functions: 1. transmitting the torque output by the harmonic reducer to an output flange plate; 2. measuring the torque output by the output flange plate; 3. the moment signal is converted into a differential analog electrical signal.

Further, in a preferred embodiment of the present invention, the output encoder and the motor encoder are absolute value encoders, and the output encoder and the motor encoder respectively include: the encoder circuit board corresponding to the output end encoder is arranged on the first shell, the code wheel corresponding to the output end encoder is arranged on the middle shaft, and the encoder circuit board corresponding to the motor end encoder and the code wheel are arranged on the front outer shaft.

When the middle shaft rotates, the coded disc corresponding to the output end encoder is driven to rotate, and therefore the rotating angle of the middle shaft relative to the first shell is measured. The center shaft is connected with the output flange plate, so that the integrated self-adaptive force control joint can measure the rotation angle of the rotor of the frameless torque motor and the rotation angle of the output flange plate of the integrated self-adaptive force control joint mechanical device. The front outer shaft drives the coded disc corresponding to the motor end encoder to rotate, so that the angle of the frameless torque motor, which is measured relative to the torque measurement and the rotation angle of the second shell, can be measured, namely the torque of the output flange plate can be measured, and the rotation angle of the frameless torque motor can also be measured.

Further, in a preferred embodiment of the present invention, the frameless torque motor comprises: the rare earth permanent magnet rotor is arranged on a rear outer shaft, the stator coil winding is sleeved outside the rare earth permanent magnet rotor, the Hall reversing plate is arranged at one end of the stator coil winding and the rare earth permanent magnet rotor, the stator coil winding is provided with U, V, W three-phase coils, and three Hall elements which are uniformly distributed in the circumferential direction are designed on the Hall reversing plate.

The frameless torque motor outputs larger torque after being decelerated by the harmonic reducer, the torque sensor connected between the harmonic reducer and the output flange transmits the torque to the output flange, and simultaneously the torque transmitted by the torque sensor is measured. Specifically, when the rare earth permanent magnet rotor is rotated, the front outer shaft can be driven to rotate, so that the coded disc corresponding to the motor end encoder is driven to rotate, and the relative rotation angle between the rare earth permanent magnet rotor and the second shell can be measured.

Further, in a preferred embodiment of the present invention, the electromagnetic brake is an electromagnetic friction brake, and the electromagnetic brake includes: solenoid, armature and brake block, armature include the magnet piece that two intervals were established, and the brake block setting is between two magnet pieces and the brake block corresponds the setting with outer axle after the braking with the back.

When the frameless torque motor is powered off, the electromagnetic brake is used for locking the movement of the frameless torque motor, so that the position sliding caused by the self weight of the load is prevented. Specifically, when the electromagnetic coil is electrified, the armature is attracted, the brake pad can move, the rear outer shaft can normally rotate, and when the electromagnetic coil is not electrified, the rear outer shaft is locked and cannot rotate, so that the brake effect is achieved.

Further, in a preferred embodiment of the present invention, the harmonic reducer is an ultra-thin harmonic reducer, and the harmonic reducer includes: the steel wheel is arranged on the second shell, one end of the wave generator is arranged on the cup-shaped flexible wheel, the other end of the wave generator is connected with the middle shaft, and the cup-shaped flexible wheel is sleeved on the middle shaft and is connected with the torque sensor.

Further, in a preferred embodiment of the present invention, a status indicator is disposed on the second housing, and the status indicator includes: the lamp shell is arranged on the output flange plate, the light emitting lamp band is arranged on the second shell, and the light emitting lamp band adopts a running water lamp.

In order to facilitate a user to know the working state of each axis of the robot in the operation or use process of the robot, the first shell is provided with the state indicating lamp, different colors of the state indicating lamp correspond to different states of the device, and the water flowing lamp is adopted to indicate the rotation direction of the joint, so that the user can know the current state of the robot conveniently, and the purpose of man-machine cooperation is achieved.

Further, in a preferred embodiment of the present invention, the output flange plate is provided with a zero scale mark for marking the zero position of the joint.

The invention has the following beneficial effects:

the invention provides an integrated self-adaptive force control joint, which adopts an integrated design, reduces the size and the volume of a mechanical device of the force control joint, enables the structure to be more compact and simultaneously reduces the application cost. The moment and displacement output by the integrated rotary joint can be measured by simultaneously arranging the moment sensor and the double encoders, and the frameless moment motor is used as a drive, so that the force control precision of the robot joint is improved, the output moment of the joint is increased, and the application range of the integrated self-adaptive force control joint is expanded.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the integrated adaptive force-controlled joint of the present invention;

FIG. 2 is a schematic structural diagram of an integrated adaptive force-controlled joint according to the present invention in a front view;

FIG. 3 is a cross-sectional view taken along A-A of FIG. 2;

FIG. 4 is a cross-sectional view of the motor drive assembly;

FIG. 5 is a schematic structural view of a torque measurement transmission assembly;

FIG. 6 is a cross-sectional view of the torque measurement transmission assembly.

Wherein: 1-a motor drive assembly; 10-a first housing; 101-rear cover; 102-a motor cover; 102 a-threading hole slot; 103-motor housing; 11-rear outer shaft; 111-a first bearing; 12-a signal slip ring; 121-electronic slip ring body; 122-female aviation plug harness; 13-an output encoder; 131-an encoder circuit board; 132-a code wheel; 14-frameless torque motors; 141-Hall commutating plate; 142-a stator coil winding; 143-rare earth permanent magnet rotor; 15-an electromagnetic brake; 151-an electromagnetic coil; 152-an armature; 153-brake pads; 2-a torque measurement transmission assembly; 20-a second housing; 201-bearing back cover; 202-reducer rear shell; 203-reducer front shell; 21-the medial axis; 22-front outer shaft; 221-a first framework oil seal; 222-a second framework oil seal; 223-a second bearing; 23-motor end encoder; 24-harmonic reducers; 241-steel wheel; 242-wave generator; 243-cup-shaped flexspline; 25-a torque sensor; 251-male aviation plug wiring harness; 252-a torque sensor body; 26-an output flange plate; 261-zero position scale line; 262-crossed roller bearings; 263-front bearing fixing ring; 264-rear bearing retainer ring; 265-third bearing; 27-status indicator lights; 271-a lamp housing; 272-light emitting strip.

Detailed Description

The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.

Examples

Referring to fig. 1-3, an integrated adaptive force control joint, comprising: the device comprises a motor driving component 1 and a torque measurement transmission component 2; referring to fig. 4, the motor drive assembly 1 includes: the device comprises a first shell 10, a rear outer shaft 11 rotatably arranged in the first shell 10, a signal slip ring 12, an output end encoder 13, a frameless torque motor 14 and an electromagnetic brake 15, wherein the frameless torque motor 14 and the electromagnetic brake 15 are respectively sleeved on the rear outer shaft 11 to drive or brake the rear outer shaft 11; the first shell 10 is made of 7075 aluminum alloy, and the material can reduce the overall quality of the joint and reduce power consumption. For the convenience of wiring, the first casing 10 is externally designed with a threading hole slot 102 a.

The first casing 10 includes a rear cover 101, a motor cover 102 and a motor casing 103 which are connected in sequence, the motor casing 103 is connected with the second casing 20, the signal slip ring 12 is arranged on the rear cover 101, the output end encoder 13 is arranged on the motor cover 102, and the electromagnetic brake 15 and the frameless torque motor 14 are arranged on the motor casing 103.

Referring to fig. 5, the torque measurement transmission assembly 2 includes: the second casing 20, the middle shaft 21 arranged in the second casing 20, the front outer shaft 22 rotatably sleeved on the middle shaft 21, the motor end encoder 23 sleeved on the front outer shaft 22, the harmonic reducer 24, the torque sensor 25 and the output flange 26, the second casing 20 is also made of 7075 aluminum alloy, one end of the middle shaft 21 is arranged in the second casing 20, the other end of the middle shaft 21 is arranged in the first casing 10, the output end encoder 13 is arranged on the middle shaft 21, the front outer shaft 22 is fixedly connected with the rear outer shaft 11 through four jackscrews, a first framework oil seal 221 is arranged between the end part of the front outer shaft 22, which is far away from one section of the rear outer shaft 11, and the middle shaft 21, so that oil in the reducer is prevented from returning to the tail part of the joint to; a second framework oil seal 222 is designed between the front outer shaft 22 and the reducer rear shell 202 to prevent the output side encoder from being polluted; the rear outer shaft 11 and one end far away from the front outer shaft 22 are rotatably connected with the middle shaft 21 through a first bearing 111, and a second bearing 23 is arranged between the front outer shaft 22 and the second housing 20 so that the front outer shaft 22 can rotate. A crossed roller bearing 262 is arranged between the bearing rear cover 201 and the output flange 26, the crossed roller bearing 262 is fixed on the output flange 26 through a front bearing fixing ring 263 and a rear bearing fixing ring 264 and is used for bearing the radial load and the axial load of the joint, and a third bearing 265 is arranged at the other end and is used for balancing the radial load of the crossed roller bearing 262.

The second housing 20 includes a bearing rear cover 201, a reducer rear shell 202 and a reducer front shell 203 which are connected in sequence, the bearing rear cover 201 is connected with the motor housing 103, the motor end encoder 23 is arranged on the reducer rear shell 202, and the output flange 26 is connected with the reducer front shell 203. The motor-end encoder 23 is arranged on the front outer shaft 22, the harmonic reducer 24 is respectively connected with the middle shaft 21 and the torque sensor 25, one end of the torque sensor 25 far away from the harmonic reducer 24 is connected with the output flange 26, and the signal slip ring 12 is in communication connection with the torque sensor 25.

Referring to fig. 3 and 4, the signal slip ring 12 includes: an electronic slip ring body 121 and a female aircraft plug wiring harness 122, the torque sensor 25 comprising: the male aviation plug wiring harness 251 and the torque sensor body 252, the female aviation plug wiring harness 122 extends into the cavity of the rear outer shaft 11 to be in communication connection with the male aviation plug wiring harness 251. In the embodiment, the torque sensor 25 has the measuring range of 100Nm and the resolution of 0.02Nm, has higher torque measuring precision than the traditional SEA elastic deformation, and can be applied to a medical surgical robot.

Referring to fig. 3, the output encoder 13 and the motor end encoder 23 are both absolute value encoders, and the output encoder 13 and the motor end encoder 23 respectively include: an encoder circuit board 131 and a code wheel 132, the encoder circuit board 131 corresponding to the output-side encoder 13 being provided on the first casing 10, the code wheel 132 corresponding to the output-side encoder 13 being provided on the center shaft 21, the encoder circuit board 131 and the code wheel 132 corresponding to the motor-side encoder 23 being provided on the front outer shaft 22. In the embodiment, the output end encoder 13 and the motor end encoder 23 have 19-bit resolution, adopt 485 bus communication output, have a position zero point memory function, and are externally connected with an accessory battery to serve as a memory power supply.

Referring to fig. 3 and 4, the frameless torque motor 14 includes: hall reversing plate 141, stator coil winding 142 and tombarthite permanent magnet rotor 143, tombarthite permanent magnet rotor 143 sets up on outer axle 11 behind through interference fit, and stator coil winding 142 overlaps and establishes outside tombarthite permanent magnet rotor 143, and Hall reversing plate 141 sets up the one end at stator coil winding 142 and tombarthite permanent magnet rotor 143, and stator coil winding 142 is equipped with U, V, W three-phase coil, and Hall reversing plate 141 is last to be designed with three hall element at circumferencial direction evenly distributed. In the present embodiment, in order to increase the output rotation speed, the supply voltage of the frameless torque motor 14104 may be 48V, the rated rotation speed is 3020rpm, and a constant torque may be provided at a high rotation speed. The continuous locked-rotor torque of the frameless torque motor 14 is 0.58Nm, and the reduction ratio of the adopted harmonic reducer 24 is 1: 100, the torque range of the torque sensor 25 is 100Nm, therefore, the torque output by the joint in the embodiment can be as high as 58Nm, so that the embodiment can be applied to a cooperative robot to meet the requirement of industrial manufacturing basic production.

Referring to fig. 3 and 4, the electromagnetic brake 15 is an electromagnetic friction brake, and the electromagnetic brake 15 includes: the electromagnetic brake comprises an electromagnetic coil 151, an armature 152 and a brake pad 153, wherein the armature 152 comprises two magnet pieces arranged at intervals, the brake pad 153 is arranged between the two magnet pieces, and the brake pad 153 is arranged corresponding to the rear outer shaft 11 to brake the rear outer shaft 11.

Referring to fig. 3 and 5, the harmonic reducer 24 is an ultra-thin type harmonic reducer 24, and the harmonic reducer 24 includes: the torque sensor comprises a steel wheel 241, a wave generator 242 and a cup-shaped flexible wheel 243, wherein the steel wheel 241 is arranged on the second shell 20, one end of the wave generator 242 is arranged on the cup-shaped flexible wheel 243, the other end of the wave generator 242 is connected with the middle shaft 21, and the cup-shaped flexible wheel 243 is sleeved on the middle shaft 21 and is connected with the torque sensor 25. In the embodiment, a reduction ratio of 1: 100 harmonic reducer 24. Grease special for the harmonic speed reducer 24 is filled in the speed reducer rear shell 202 and the speed reducer front shell 203.

Referring to fig. 3 and 6, a status indicator lamp 27 is provided on the second housing 20, and the status indicator lamp 27 includes: the lamp housing 271 is arranged on the output flange 26 to rotate along with the output flange 26, the light emitting strip 272 is arranged on the second housing 20, the light emitting strip 272 is a water flowing lamp, in the embodiment, green represents operation, yellow represents warning, red represents stop, and the rotation direction of the joint of the user can be informed through the water flowing lamp, the strip is controlled by a bus, the number of wiring is reduced, and full-color water flowing lamp control can be realized.

Referring to fig. 6, the output flange 26 is provided with a zero scale 261 for marking the zero position of the joint.

When the integrated adaptive force control joint mechanical device works, the electromagnetic brake 15 is electrified and unlocked, the rear outer shaft 11 can freely rotate after the electromagnetic brake 15 is unlocked, further, the frameless torque motor 14 drives the rare earth permanent magnet rotor 143 to rotate, the rare earth permanent magnet rotor is fixed on the rear outer shaft 11, and the front outer shaft 22 is connected with the rear outer shaft so as to drive the front outer shaft 22 to rotate. The rotational angular displacement of the front outer shaft 22, that is, the rotational angle of the rotor of the motor, can be measured by the motor-end encoder 23 connected to the front outer shaft 22, and the harmonic reducer wave generator 242 connected to the front outer shaft 22 is driven to rotate by the front outer shaft 22, and rotates the cup-shaped flexspline 243 by decelerating and amplifying the torque. The cup-type flexspline is fitted with a torque sensor 25 which measures the mutual torque between the output flange 26 and the harmonic reducer cup-type flexspline 243. When the output flange 26 rotates, the central shaft 21 is driven to rotate, so as to drive the output end encoder 13 to rotate, and the rotation angle displacement of the output flange 26 can be measured. The output flange 26 acts as an articulated output shaft and drives the movement of the load. The working state of the joint can be known through the state indicator lamp on the joint.

In summary, when the integrated adaptive force-controlled joint mechanical device works, the frameless torque motor 14 serves as power input, the output flange 26 serves as power output, the motor-end encoder 23 and the output-end encoder 13 measure the joint rotation angle, and the torque sensor 25 can measure the output torque, so that the complete robot integrated joint mechanical device is formed.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims (10)

1. An integrated adaptive force controlled joint, comprising: the device comprises a motor driving component (1) and a torque measurement transmission component (2);

the motor drive assembly (1) comprises: the device comprises a first shell (10), a rear outer shaft (11) rotatably arranged in the first shell (10), a signal slip ring (12), an output end encoder (13), a frameless torque motor (14) and an electromagnetic brake (15), wherein the frameless torque motor (14) and the electromagnetic brake (15) are respectively sleeved on the rear outer shaft (11) to drive or brake the rear outer shaft (11);

the torque measurement transmission assembly (2) comprises: the motor comprises a second shell (20), a middle shaft (21) arranged in the second shell (20), a front outer shaft (22) rotatably sleeved on the middle shaft (21), a motor end encoder (23) sleeved on the front outer shaft (22), a harmonic reducer (24), a torque sensor (25) and an output flange (26), wherein one end of the middle shaft (21) is arranged in the second shell (20), the other end of the middle shaft (21) is arranged in the first shell (10), an output end encoder (13) is arranged on the middle shaft (21), the front outer shaft (22) is connected with the rear outer shaft (11), the motor end encoder (23) is arranged on the front outer shaft (22), the harmonic reducer (24) is respectively connected with the middle shaft (21) and the torque sensor (25), one end of the torque sensor (25) far away from the harmonic reducer (24) is connected with the output flange (26), the signal slip ring (12) is in communication connection with the torque sensor (25).

2. The integrated adaptive force control joint according to claim 1, wherein the first housing (10) comprises a rear cover (101), a motor cover (102) and a motor casing (103) which are connected in sequence, the motor casing (103) is connected with the second housing (20), the signal slip ring (12) is arranged on the rear cover (101), the output end encoder (13) is arranged on the motor cover (102), and the electromagnetic brake (15) and the frameless torque motor (14) are arranged on the motor casing (103).

3. The integrated adaptive force control joint according to claim 2, wherein the second housing (20) comprises a bearing rear cover (201), a reducer rear shell (202) and a reducer front shell (203) which are connected in sequence, the bearing rear cover (201) is connected with the motor shell (103), the motor-end encoder (23) is arranged on the reducer rear shell (202), and the output flange (26) is connected with the reducer front shell (203).

4. The integrated adaptive force control joint according to any one of claims 1-3, wherein the signal slip ring (12) comprises: an electronic slip ring body (121) and a female aircraft plug harness (122), the torque sensor (25) comprising: a male aviation plug harness (251) and a torque sensor body (252), the female aviation plug harness (122) being in communicative connection with the male aviation plug harness (251).

5. The integrated adaptive force control joint according to claim 4, wherein the output-end encoder (13) and the motor-end encoder (23) are absolute-value encoders, and the output-end encoder (13) and the motor-end encoder (23) respectively comprise: the output end encoder (131) and the coded disc (132) corresponding to the output end encoder (13) are arranged on the first shell (10), the coded disc (132) corresponding to the output end encoder (13) is arranged on the middle shaft (21), and the output end encoder (131) and the coded disc (132) corresponding to the motor end encoder (23) are arranged on the front outer shaft (22).

6. The integrated adaptive force controlled joint according to claim 4, wherein the frameless torque motor (14) comprises: hall commutating plate (141), stator coil winding (142) and tombarthite permanent magnet rotor (143), tombarthite permanent magnet rotor (143) set up on back outer axle (11), stator coil winding (142) cover is established outside tombarthite permanent magnet rotor (143), hall commutating plate (141) set up stator coil winding (142) and the one end of tombarthite permanent magnet rotor (143), stator coil winding (142) are equipped with U, V, W three-phase coil, hall commutating plate (141) go up the design have three hall element at circumferencial direction evenly distributed.

7. The integrated adaptive force controlled joint according to claim 4, characterized in that the electromagnetic brake (15) is an electromagnetic friction brake, the electromagnetic brake (15) comprising: solenoid (151), armature (152) and brake block (153), armature (152) include two magnet pieces that the interval was established, brake block (153) set up two between the magnet piece and brake block (153) with back outer axle (11) correspond the setting with the braking back outer axle (11).

8. The integrated adaptive force controlled joint according to claim 4, wherein the harmonic reducer (24) is an ultra-thin harmonic reducer (24), the harmonic reducer (24) comprising: the torque sensor comprises a steel wheel (241), a wave generator (242) and a cup-shaped flexible wheel (243), wherein the steel wheel (241) is arranged on the second shell (20), one end of the wave generator (242) is arranged on the cup-shaped flexible wheel (243), the other end of the wave generator (242) is connected with the middle shaft (21), and the cup-shaped flexible wheel (243) is sleeved on the middle shaft (21) and is connected with the torque sensor (25).

9. The integrated adaptive force controlled joint according to claim 1, wherein a status indicator light (27) is provided on the second housing (20), the status indicator light (27) comprising: the LED lamp comprises a lamp shell (271) and a light-emitting lamp strip (272), wherein the lamp shell (271) is arranged on the output flange plate (26), the light-emitting lamp strip (272) is arranged on the second shell (20), and the light-emitting lamp strip (272) adopts a running water lamp.

10. The integrated adaptive force control joint according to claim 1, wherein the output flange (26) is provided with a zero scale mark (261) for marking the zero position of the joint.

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