CN201856250U - Robot joint driving device - Google Patents
Robot joint driving device Download PDFInfo
- Publication number
- CN201856250U CN201856250U CN2010202667214U CN201020266721U CN201856250U CN 201856250 U CN201856250 U CN 201856250U CN 2010202667214 U CN2010202667214 U CN 2010202667214U CN 201020266721 U CN201020266721 U CN 201020266721U CN 201856250 U CN201856250 U CN 201856250U
- Authority
- CN
- China
- Prior art keywords
- fixed
- limbs
- robot
- gear
- artificial muscle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Abstract
The utility model belongs to the robot field and especially relates to a robot joint driving device, which comprises a pneumatic artificial muscle driving part, a direct current (DC) servo motor driving part, a robot joint part, a robot joint rotation angle measuring part, a first limb and a second limb. The robot joint driving device is characterized in that the pneumatic artificial muscle driving part is fixed on the second limb through a fixing part. The DC servo motor driving part is fixed on the second limb through a securing sleeve. The robot joint part is fixed on the rear end of the first limb through screws and hinged on the front end of the second limb through a rotary shaft. Robot joint rotation angle measuring part is fixed on the robot joint part by screws through a shoe plate. The first limb performs rotary movement around the robot joint part. The robot joint driving device which can bear a relatively great load has the characteristics of smooth motion, quick response, good compliance, striking similarity to the motion characteristic of human muscles and high positioning precision. The robot joint driving device in the utility model can be widely applied in industries, in the service trade, in the rehabilitation medical field as well as in daily life and is especially suitably applied as a rehabilitation robot and a biomimetic robot.
Description
Technical field
The utility model belongs to robot, the particularly articulated driving equipment of robot, i.e. the joint of robot drive unit that combines with Pneumatic artificial muscle of DC servo motor.
Background technology
The limbs joint of the robot of people or simulation human body limb function in a certain plane of movement, all shows as rotatablely moving of both forward and reverse directions.At present, the articulated driving equipment of robot mainly contains two kinds: 1, adopt the motor driven gear transmission, this drive unit positioning accuracy height, good rigidly, bearing capacity are strong, but the power/weight ratio of motor is little, output torque is little, and easily causes big impact when stopping snap-action soon rapidly, and the action flatness is poor; 2, adopt Pneumatic artificial muscle to drive, with the transmission of stretching wirerope, this drive unit compliance is good, power/weight ratio is big, action is level and smooth, and response is fast, also near human muscle's movement characteristic, but Pneumatic artificial muscle is a kind of typical one-way flexible driving element, and the motion of its convergent-divergent is subjected to influence that external applied load changes greatly.
Because motor-driven power/weight ratio is little, output torque is little, when the big moment of needs, motor-driven bulking value is bigger for Pneumatic artificial muscle drives, and is difficult to realize the miniaturization of robot; Particularly need big moment at positive movement, and counter motion is when needing less moment, single employing motor-driven required driving force on positive and negative both direction is extremely unmatched.And Pneumatic artificial muscle is a kind of typical one-way flexible driving element, the motion of its convergent-divergent is subjected to influence that external applied load changes greatly, when driving the bigger variation of load short time generation, or the anxious situation such as jerking movement of stopping is when taking place, can cause the vibration vertically of Pneumatic artificial muscle sebific duct, can cause very big position error, also can cause the dynamic instability of artificial-muscle system simultaneously.
Summary of the invention
The utility model is in order to solve the problems of the technologies described above, with this typical rigidity driving element of motor, combine with this typical soft drive device of Pneumatic artificial muscle, constitute a kind of joint of robot drive unit of hard and soft combination, on the different motion direction of joint of robot, give full play to performance advantage separately, realize a kind ofly aspect compliance, positioning accuracy and power/weight ratio, reach a kind of novel robot articulated driving equipment of complex optimum.
For achieving the above object, the utility model is achieved through the following technical solutions:
The utility model is a kind of articulated driving equipment of robot, comprise Pneumatic artificial muscle drive division 1, DC servo motor drive division 2, joint section of robot 3, joint of robot outer corner measurement portion 4, the first limbs 5 and second limbs 6, it is characterized in that: Pneumatic artificial muscle drive division 1 is positioned at the top of second limbs 6, be fixed on second limbs 6 by fixture, its front end is connected with the moving runner 13 that is fixed on first limbs, 5 rear ends by stretching wirerope 101; DC servo motor drive division 2 is fixed in a side of second limbs 6 by fixed sleeve 203, gear 201 that its front end connects firmly and the gear that is fixed on first limbs, 5 rear ends 301 engagements; Joint section of robot 3 is fixed together by rear end and its moving runner 13 of screw with first limbs 5, is articulated in the front end of second limbs 6 by turning cylinder 14; Joint of robot outer corner measurement portion 4 is positioned at the top of joint section of robot 3, is fixed on the fixed cover 305 of joint section of robot 3 by gripper shoe 404 usefulness screws 403; The turning cylinder 14 of first limbs 5 in joint section of robot 3 rotates.
Described Pneumatic artificial muscle drive division 1 is by Pneumatic artificial muscle 7, proportional pressure valve 8 and pressure sensor 9 are formed, pressure sensor 9 is built in the Pneumatic artificial muscle 7, what be positioned at Pneumatic artificial muscle 7 charges and discharge gas end 105, air inlet/outlet 104 usefulness appendixs 106 by Pneumatic artificial muscle 7 are connected with proportional pressure valve 8, the gas end 105 that charges and discharge of Pneumatic artificial muscle 7 is fixed on second limbs 6, the convergent-divergent end 102 of Pneumatic artificial muscle 7 is positioned in the bush support 110 that is fixed on second limbs 6, charging and discharging gas end 105 is fixed on second limbs 6 by fixture 111 usefulness bolts 112, bush support 110 is fixed on second limbs 6 by fixture 113 usefulness bolts 114, one end of the stretching wirerope 101 of Pneumatic artificial muscle 7 is fixed in convergent-divergent end 102, the other end is wrapped on the moving runner 13, the side of moving runner 13 is fixed in the termination, proportional pressure valve 8, pressure sensor 9 is connected with control system.
Described DC servo motor drive division 2, by decelerator 10, DC servo motor 11 and electric machine speed regulation encoder 12 are formed, decelerator 10 is positioned at the front end of DC servo motor drive division 2, in the middle of DC servo motor 11 is positioned at, electric machine speed regulation encoder 12 is positioned at the rear end, the output axle head of decelerator 10 is fixed on the ring flange 202 that is connected with second limbs 6 by bolt 204, be connected with gear 201 by connecting pin 205, gear 201 is 45 ° of bevel gears, and DC servo motor drive division 2 is fixed on second limbs 6 by fixed sleeve 203.
Described joint section of robot 3, be used to connect first limbs 5 and second limbs 6, comprise moving runner 13, turning cylinder 14 and rolling bearing 15, turning cylinder 14 runs through entire machine person joint portion 3 by the centre bore of moving runner 13, one end is connected with gear 301 by connecting pin 302, gear 301 is 45 ° of bevel gears, the other end is installed rolling bearing 15, and in order to support turning cylinder 14, moving runner 13 is fixed on first limbs 5 by screw 303, be connected with turning cylinder 14 by flat key 304, gear 301 meshes with the gear 201 that decelerator 10 output axle heads drive, and gear 201 and gear 301 are 45 ° of bevel gears, make the motion of DC servo motor drive division transmission turn to 90 °.
Described joint of robot outer corner measurement portion 4 comprises angular encoder 16, be fixed in the gear 401 on the moving runner 13, with the gear 402 that is fixed on the angular encoder 16, the end face of flange of angular encoder 16 is fixed on the gripper shoe 404 by screw 403, gripper shoe 404 is fixed on second limbs 6, gear 401 and gear 402 engagements, gear 401 and gear 402 are spur gear.
Described control system signal data such as presses by receiving in joint angles, motor speed, the artificial-muscle, the rotating speed that charges and discharge gas and DC servo motor of control artificial-muscle with turn to, by single-chip microcomputer, A/D converter, D/A converter, electric machine controller and motor driver are formed.
The beneficial effects of the utility model mainly show: the joint of robot drive unit with DC servo motor combines with Pneumatic artificial muscle, can bear bigger load, and action is level and smooth, response is fast, compliance is good, near human muscle's movement characteristic, and the positioning accuracy height.The utility model can be widely used in being particularly suitable for being applied to healing robot and bio-robot in industrial circle, commerce services industry field, rehabilitation medical field and the daily life.
Description of drawings
Fig. 1 is an operation principle block diagram of the present utility model;
Fig. 2 is a three-dimensional structure diagram of the present utility model;
Fig. 3 is the cutaway view of the utility model critical piece;
Fig. 4 is the front view of the utility model joint section of robot and joint rotation angle measurement section;
Fig. 5 is the cutaway view of the utility model Fig. 4 A-A direction;
Fig. 6 is the operation principle block diagram of the utility model control system.
Among the figure: 1-Pneumatic artificial muscle drive division; 2-DC servo motor drive division; 3-joint section of robot; 4-joint of robot outer corner measurement portion; 5-the first limbs; 6-the second limbs; 7-Pneumatic artificial muscle; 8-proportional pressure valve; 9-pressure sensor; 10-decelerator; 11-DC servo motor; 12-electric machine speed regulation encoder; 13-moving runner; 14-turning cylinder; 15-rolling bearing; 16-angular encoder; 001-single-chip microcomputer; 002-A/D converter; 003-A/D converter; 004-A/D converter; 005-D/A converter; 006-D/A converter; 007-electric machine controller; 008-motor driver; 101-stretching wirerope; 102-convergent-divergent end; 103-sebific duct; 104-air inlet/outlet; 105-charge and discharge the gas end; 106-appendix; 107-pressure output; 108-air inlet; 109-gas vent; 110-bush support; 111-fixture; 112-bolt; 113-fixture; 114-bolt; 201-gear; 202-ring flange; 203-fixed sleeve; 204-bolt; 205-connecting pin; 301-gear; 302-connecting pin; 303-screw; 304-flat key; 305-fixed cover; 306-bolt; 401-gear; 402-gear; 403-screw; 404-gripper shoe.
The specific embodiment
Below, with reference to accompanying drawing embodiment of the present utility model is described.
Referring to Fig. 1, the joint of robot drive unit that the utility model provides, comprise control system, the drive division that proportional pressure valve, motor driver, Pneumatic artificial muscle, DC servo motor etc. are formed, joint portion, critical piece are the joint of robot outer corner measurement portion and the limbs mechanism of angular encoder.
Referring to Fig. 2, Fig. 3, Fig. 4 and Fig. 5, Pneumatic artificial muscle drive division 1 described in the utility model is positioned at the top of second limbs 6, be fixed on second limbs 6 by fixture, its front end is connected with the moving runner 13 that is fixed on first limbs, 5 rear ends by stretching wirerope 101; DC servo motor drive division 2 is fixed in a side of second limbs 6 by fixed sleeve 203, joint section of robot 3 is fixed in the rear end of first limbs 5 by bolt 306, by the front end of bolting in second limbs 6, joint of robot outer corner measurement portion 4 is positioned at the top of joint section of robot 3, be fixed on the fixed cover 305 of joint section of robot 3 by gripper shoe 404 usefulness screws 403, first limbs 5 rotate around joint section of robot 3.
Pneumatic artificial muscle drive division 1 described in the utility model is by Pneumatic artificial muscle 7, proportional pressure valve 8 and pressure sensor 9 are formed, pressure sensor 9 is built in the Pneumatic artificial muscle 7, what be positioned at Pneumatic artificial muscle 7 charges and discharge gas end 105, air inlet/outlet 104 usefulness appendixs 106 by Pneumatic artificial muscle 7 are connected with proportional pressure valve 8, the gas end 105 that charges and discharge of Pneumatic artificial muscle 7 is fixed on second limbs 6, the convergent-divergent end 102 of Pneumatic artificial muscle 7 is positioned in the bush support 110 that is fixed on second limbs 6, charging and discharging gas end 105 is fixed on second limbs 6 by fixture 111 usefulness bolts 112, bush support 110 is fixed on second limbs 6 by fixture 113 usefulness bolts 114, one end of the stretching wirerope 101 of Pneumatic artificial muscle 7 is fixed in convergent-divergent end 102, the other end is wrapped on the moving runner 13, the side of moving runner 13 is fixed in the termination, proportional pressure valve 8, pressure sensor 9 is connected with control system.
DC servo motor drive division 2 described in the utility model, by decelerator 10, DC servo motor 11 and electric machine speed regulation encoder 12 form a whole, decelerator 10 is positioned at the front end of DC servo motor drive division 2, in the middle of DC servo motor 11 is positioned at, electric machine speed regulation encoder 12 is positioned at the rear end, the output axle head of decelerator 10 is fixed on the ring flange 202 that is connected with second limbs 6 by bolt 204, be connected with gear 201 by connecting pin 205, DC servo motor drive division 2 is fixed on second limbs 6 by fixed sleeve 203.
Joint section of robot 3 described in the utility model, be used to connect first limbs 5 and second limbs 6, comprise moving runner 13, turning cylinder 14 and rolling bearing 15, turning cylinder 14 runs through entire machine person joint portion 3 by the centre bore of moving runner 13, one end is connected with gear 301 by connecting pin 302, the other end is installed rolling bearing 15, in order to support turning cylinder 14, moving runner 13 is fixed on first limbs 5 by screw 303, be connected with turning cylinder 14 by flat key 304, gear 301 meshes with the gear 201 that decelerator 10 output axle heads drive.
Joint of robot angular surveying described in the utility model portion is used to measure the rotational angle and the angular speed of first limbs, comprise angular encoder 10, be fixed in the gear 401 on the moving runner 7 and be fixed in gear 402 on the angular encoder 10, gear 401 and gear 402 engagements; The end face of flange of angular encoder 10 is fixed on the gripper shoe 404 by screw 403, and gripper shoe 404 is fixed on second limbs 12, and angular encoder 10 is connected with control system.
Referring to Fig. 6, control system described in the utility model comprises single-chip microcomputer, A/D converter and D/A converter.One end of A/D converter 002 connects single-chip microcomputer 001, other end connection angle encoder 16, A/D converter 003 1 ends connect single-chip microcomputer 001, the other end connects pressure sensor 9, A/D converter 004 1 ends connect single-chip microcomputer 001, the other end connects electric machine speed regulation encoder 12, one end of D/A converter 005 connects single-chip microcomputer 001, the other end connects proportional pressure valve 8, and an end of D/A converter 006 connects electric machine controller 007, and the other end connects motor driver 008, one end of electric machine controller 007 connects single-chip microcomputer 001, the other end connects D/A converter 006, and an end of motor driver 008 connects D/A converter 006, and the other end connects DC servo motor 11.
Action when below in conjunction with Fig. 1-Fig. 6 the utility model being implemented describes:
When first limbs 5 when the joint is rotated in a clockwise direction, Pneumatic artificial muscle drive division 1 is main the driving, in this process, rotatablely moving of 2 pairs first limbs 5 of DC servo motor drive division do not done work, and just does to follow speed governing and rotate.According to control system shown in Figure 6, single-chip microcomputer 001 charges and discharge the gas instruction repertorie according to artificial-muscle and sends the inflation instruction, this instruction becomes analog voltage through D/A converter 005 and sends to proportional pressure valve 8, this proportional pressure valve 8 is opened air inlet 108, and produce the air-flow that enters of relevant pressure according to the size adjustment of magnitude of voltage, after pressure output 107, the air inlet/outlet 104 of appendix 106 and Pneumatic artificial muscle 7 charges into sebific duct 103, this sebific duct 103 is radially expanded and contraction vertically, produce motive force vertically, by being fixed in the stretching wirerope 101 on the convergent-divergent end 102, act on the moving runner 13 of joint section of robot, this moving runner 13 directly drives first limbs, 5 generations that are fixed thereon and rotatablely moves; Simultaneously, pressure differential on the single-chip microcomputer 001 is calculation procedure relatively, reception is from A/D converter 003, the interior pressure signal of the sebific duct 103 that generates by the built-in pressure sensors 9 of Pneumatic artificial muscle 7, calculate the pressure of proportional pressure valve 8 outputs and the pressure differential in Pneumatic artificial muscle 7 sebific ducts 103, instruct with this gas that charges and discharge of adjusting artificial-muscle, this pressure differential is met the requirements; Moving runner 13 is when rotating, driving the gear of fixing on it 401 simultaneously synchronously rotates, this gear 401 passes to rotation and its meshed gears 402 simultaneously, gear 402 is fixed in the input shaft end of angular encoder 16, therefore rotatablely moving of moving runner finally imported angular encoder 16 into synchronously by gear 402, the angular signal that this encoder produces, the motor that imports single-chip microcomputer 001 through A/D converter 002 into is followed the speed calculation procedure, this motor is followed the signal that speed program receives current electric machine speed regulation encoder 12 simultaneously, according to the result calculated data, the speed-regulating instruction that produces motor is given electric machine controller 007, this electric machine controller 007 generates the digital speed-control signal that is used for DC servo motor, send motor driver 008 to through D/A converter 006, this motor driver 008 final output is used for the analog voltage signal of DC servo motor 11, drive this DC servo motor 11 and do and follow speed governing and rotate, guarantee that the DC servo motor drive division does not hinder the rotation that Pneumatic artificial muscle drive division 1 drives first limbs 5.
Because Pneumatic artificial muscle 7 is flexible members, when driving the bigger variation of load generation, for example, increase or reduce load capacity suddenly, or the anxious situation such as jerking movement of stopping is when taking place, can cause its sebific duct 103 vibration vertically, cause and to locate fast and accurately, also can cause the dynamic instability of artificial-muscle system simultaneously.In order to address this problem, the utility model has been developed motor positioning control instruction repertorie on single-chip microcomputer 001, this program is passed through A/D converter 002 signal of receiving angle encoder 16 continuously, when fluctuation suddenly takes place in this signal, according to the fluctuation moment determined joint of signal rotational angle before, adjust motor speed and direction control instruction in real time, by the rapid adjustment of the speed of DC servo motor 11 and direction being eliminated the vibration of Pneumatic artificial muscle 7, with positioning accuracy and the dynamic stability that guarantees first limbs 5.In this process, the power output of DC servo motor 11 changes according to adjusting rate variations.
When first limbs 5 rotate in the counterclockwise direction around the joint, DC servo motor drive division 2 is main the driving, and in this process, rotatablely moving of 1 pair first limbs 5 of Pneumatic artificial muscle drive division do not done work, the venting of just following produces it vertically and follows the elongation recovery.By control system shown in Figure 6, single-chip microcomputer 001 sends the driving instruction of DC servo motor 11 according to motor speed direction control instruction program, through electric machine controller 007, D/A converter 006 and motor driver 008, the side that driving DC servo motor 11 is done corresponding speed and direction and 1 driving of Pneumatic artificial muscle drive division rotates in the opposite direction, by gear 201 output of decelerator 10 is rotated, send turning cylinder 14 through gear 301 to by connecting pin 302, this turning cylinder 14 drives moving runner 13 by flat key 304 and rotates, and the rotation of this moving runner 13 drives and its first fixing limbs 5, does the side's rotation in the opposite direction that drives with Pneumatic artificial muscle drive division 1; Artificial-muscle on the single-chip microcomputer 001 is followed the speed calculation procedure at this moment, through the joint rotation angle signal of A/D converter 002 reception from angular encoder 16, calculated data according to this joint rotation angle signal, the gas instruction repertorie adjustment venting that charges and discharge by artificial-muscle is instructed, the venting signal sends to proportional pressure valve 8 through D/A converter 005, this proportional pressure valve 8 is by gas vent 109 exhausts, the sebific duct 103 of Pneumatic artificial muscle 7 is radially shunk, and being produced vertically, it follows the elongation recovery, because sebific duct 103 is flexible bodies, at this moment axially can not produce motive force, just venting guarantees not hinder first limbs 5 along reciprocal rotation with following.
In addition, can joint section of robot 3 described in the utility model and joint of robot outer corner measurement portion 4 be installed at the front end of first limbs 5, Pneumatic artificial muscle drive division 1 and DC servo motor drive division 2 are installed on first limbs 5, on joint section of robot 3, connect the 3rd limbs, the 3rd limbs are rotated around joint section of robot 3, thereby realize the multiarticulate driving of robot.
Pneumatic artificial muscle drive division 1 can also be installed in the side of second limbs 6, and DC servo motor drive division 2 is installed in the bottom of second limbs 6, thereby realizes first limbs 5 rotatablely moving in a plurality of planes.
Claims (7)
1. the articulated driving equipment of a robot, comprise Pneumatic artificial muscle drive division (1), DC servo motor drive division (2), joint section of robot (3), joint of robot outer corner measurement portion (4), first limbs (5) and second limbs (6), it is characterized in that: Pneumatic artificial muscle drive division (1) is positioned at the top of second limbs (6), be fixed on second limbs (6) by fixture, its front end is connected with the moving runner (13) that is fixed on first limbs (5) rear end by stretching wirerope (101); DC servo motor drive division (2) is fixed in a side of second limbs (6) by fixed sleeve (203), gear that its front end connects firmly (201) and gear (301) engagement that is fixed on first limbs (5) rear end; Joint section of robot (3) is fixed together by rear end and its moving runner (13) of screw with first limbs (5), is articulated in the front end of second limbs (6) by turning cylinder (14); Joint of robot outer corner measurement portion (4) is positioned at the top of joint section of robot (3), is fixed on the fixed cover (305) of joint section of robot (3) with screw (403) by gripper shoe (404); The turning cylinder (14) of first limbs (5) in joint section of robot (3) rotates.
2. the articulated driving equipment of robot according to claim 1, it is characterized in that, described Pneumatic artificial muscle drive division (1) is by Pneumatic artificial muscle (7), proportional pressure valve (8) and pressure sensor (9) are formed, pressure sensor (9) is built in the Pneumatic artificial muscle (7), what be positioned at Pneumatic artificial muscle (7) charges and discharge gas end (105), air inlet/outlet (104) by Pneumatic artificial muscle (7) is connected with proportional pressure valve (8) with appendix (106), the gas end (105) that charges and discharge of Pneumatic artificial muscle (7) is fixed on second limbs (6), the convergent-divergent end (102) of Pneumatic artificial muscle (7) is positioned in the bush support (110) that is fixed on second limbs (6), charging and discharging gas end (105) is fixed on second limbs (6) with bolt (112) by fixture (111), bush support (110) is fixed on second limbs (6) with bolt (114) by fixture (113), one end of the stretching wirerope (101) of Pneumatic artificial muscle (7) is fixed in convergent-divergent end (102), the other end is wrapped on the moving runner (13), the side of moving runner (13) is fixed in the termination, proportional pressure valve (8), pressure sensor (9) is connected with control system.
3. the articulated driving equipment of robot according to claim 1, it is characterized in that, described DC servo motor drive division (2), by decelerator (10), DC servo motor (11) and electric machine speed regulation encoder (12) are formed, decelerator (10) is positioned at the front end of DC servo motor drive division (2), in the middle of DC servo motor (11) is positioned at, electric machine speed regulation encoder (12) is positioned at the rear end, the output axle head of decelerator (10) is fixed on the ring flange (202) that is connected with second limbs (6) by bolt (204), be connected with gear (201) by connecting pin (205), DC servo motor drive division (2) is fixed on second limbs (6) by fixed sleeve (203).
4. the articulated driving equipment of robot according to claim 1, it is characterized in that, described joint section of robot (3), be used to connect first limbs (5) and second limbs (6), comprise moving runner (13), turning cylinder (14) and rolling bearing (15), turning cylinder (14) runs through entire machine person joint portion (3) by the centre bore of moving runner (13), one end is connected with gear (301) by connecting pin (302), the other end is installed rolling bearing (15), in order to support turning cylinder (14), moving runner (13) is fixed on first limbs (5) by screw (303), be connected with turning cylinder (14) by flat key (304), gear (301) meshes with the gear (201) that decelerator (10) output axle head drives.
5. according to the articulated driving equipment of claim 1 or 3 or 4 described robots, it is characterized in that described gear (201) and gear (301) are 45 ° of bevel gears.
6. the articulated driving equipment of robot according to claim 1, it is characterized in that, described joint of robot outer corner measurement portion (4) comprises angular encoder (16), be fixed in the gear (401) on the moving runner (13), with the gear (402) that is fixed on the angular encoder (16), the end face of flange of angular encoder (16) is fixed on the gripper shoe (404) by screw (403), gripper shoe (404) is fixed on second limbs (6), gear (401) and gear (402) engagement.
7. the articulated driving equipment of robot according to claim 1, it is characterized in that: described control system, signal data such as press in joint angles, motor speed, the artificial-muscle by receiving, control artificial-muscle the rotating speed that charges and discharge gas and DC servo motor with turn to, by single-chip microcomputer, A/D converter, D/A converter, electric machine controller and motor driver are formed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202667214U CN201856250U (en) | 2010-04-28 | 2010-07-22 | Robot joint driving device |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201020172621.5 | 2010-04-28 | ||
| CN201020172621 | 2010-04-28 | ||
| CN2010202667214U CN201856250U (en) | 2010-04-28 | 2010-07-22 | Robot joint driving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201856250U true CN201856250U (en) | 2011-06-08 |
Family
ID=44102067
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010202667214U Expired - Fee Related CN201856250U (en) | 2010-04-28 | 2010-07-22 | Robot joint driving device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201856250U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103029987A (en) * | 2011-10-03 | 2013-04-10 | 株式会社安川电机 | Robot system |
| CN106691781A (en) * | 2017-03-01 | 2017-05-24 | 河南省中瑞机器人科技有限公司 | Rehabilitation robot |
| CN108356848A (en) * | 2018-03-30 | 2018-08-03 | 天津理工大学 | Pneumatic artificial muscle and servo motor combination drive joint |
-
2010
- 2010-07-22 CN CN2010202667214U patent/CN201856250U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103029987A (en) * | 2011-10-03 | 2013-04-10 | 株式会社安川电机 | Robot system |
| CN103029987B (en) * | 2011-10-03 | 2015-04-22 | 株式会社安川电机 | Robot system |
| CN106691781A (en) * | 2017-03-01 | 2017-05-24 | 河南省中瑞机器人科技有限公司 | Rehabilitation robot |
| CN108356848A (en) * | 2018-03-30 | 2018-08-03 | 天津理工大学 | Pneumatic artificial muscle and servo motor combination drive joint |
| CN108356848B (en) * | 2018-03-30 | 2023-09-29 | 天津理工大学 | Pneumatic artificial muscle and servo motor hybrid driving joint |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101870111A (en) | Joint driving device of robot | |
| CN106737825B (en) | A kind of shock resistance flexible joint suitable for mechanical arm | |
| CN109676600B (en) | Reed type variable-rigidity flexible driver and motion control method thereof | |
| CN107651041A (en) | A kind of single leg structure of electronic quadruped robot | |
| CN105583821B (en) | Fluid drives multidimensional adaptive robot arm device | |
| CN103029126B (en) | Flexibly controllable joint driver | |
| CN201856250U (en) | Robot joint driving device | |
| CN107186751B (en) | Modularized ball joint of cooperative robot | |
| CN107053245B (en) | Rotary variable stiffness flexible joint | |
| CN107234632B (en) | Energy-saving variable-rigidity elastic joint based on differential gear train | |
| CN201432303Y (en) | Knee-joint mechanism of humanoid robot | |
| CN104742152A (en) | Tandem type multi-joint mechanical arm | |
| CN101380739A (en) | Multi-foot robot bionic elastic driving joint module | |
| CN206544177U (en) | Single substandard product detection device for packaging production line | |
| CN108481359A (en) | A kind of compact stiffness variable series connection elastic driving joint | |
| CN100382938C (en) | Pitching transferring integrated waist structure of human-like robot | |
| CN206406083U (en) | A kind of single shaft Two dimension of freedom robot joint | |
| CN106514702B (en) | A kind of single shaft Two dimension of freedom robot joint | |
| CN109877808A (en) | A kind of stiffness variable driving actuator and robot | |
| CN112847425B (en) | Series plane torsion spring motor module suitable for robot joint drive | |
| CN206628939U (en) | Flexbile gear output harmonic wave all-in-one | |
| CN105364925B (en) | High voltage power transmission line walking and work machine human arm based on servo driving | |
| CN111376303B (en) | Three-degree-of-freedom rope wheel driving joint and mechanical arm | |
| CN115016562B (en) | Device and method for realizing Bang-Bang semi-active control | |
| CN116492061A (en) | Mechanical arm joint with elastic force assisting and reversing balance function |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110608 Termination date: 20120722 |