CN208759605U - Electromechanical integration passive compliance controls joint of robot - Google Patents
Electromechanical integration passive compliance controls joint of robot Download PDFInfo
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- CN208759605U CN208759605U CN201821438485.2U CN201821438485U CN208759605U CN 208759605 U CN208759605 U CN 208759605U CN 201821438485 U CN201821438485 U CN 201821438485U CN 208759605 U CN208759605 U CN 208759605U
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- 230000010354 integration Effects 0.000 title claims abstract description 17
- 238000013016 damping Methods 0.000 claims abstract description 21
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 18
- 230000005540 biological transmission Effects 0.000 claims abstract description 8
- 229920001971 elastomer Polymers 0.000 claims abstract description 5
- 239000000806 elastomer Substances 0.000 claims abstract description 5
- 239000012530 fluid Substances 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 4
- 230000015572 biosynthetic process Effects 0.000 claims 1
- 230000005611 electricity Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000005259 measurement Methods 0.000 abstract description 2
- 238000006073 displacement reaction Methods 0.000 abstract 1
- 238000013461 design Methods 0.000 description 10
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000005483 Hooke's law Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000000518 rheometry Methods 0.000 description 1
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Abstract
The utility model relates to a kind of electromechanical integration passive compliances to control joint of robot, belong to robotic technology field.Including drive system, sensor-based system, connection transmission system.Device, motor and harmonic speed reducer composition is driven by motor in the drive system；The sensor-based system is made of angular displacement sensor, the motor encoder of measurement elastomer deformation；The elastic bodies of revolution is made of inner ring, outer ring, Flexible element；The rotary magneto-rheological damper is made of shell, non-magnetic washer, magnetic conduction washer, coil, damping fin, input shaft, output shaft and attenuator end cap.The highly integrated elastomer of the utility model and MR damper physics flexibility, joint of robot is small in size, light-weight, not only has good interactivity and safety between environment, can also bear external impact and disturbance, it is installed and used convenient for all kinds of robots, versatility and practicability are stronger.
Description
Technical field
The utility model relates to robotic technology fields, are related to a kind of use elastic bodies of revolution and rotary magneto-rheological damper
The electromechanical integration passive compliance control joint of robot being formed in parallel.
Background technique
As human society develops to increasingly automated, information-based and mechanization direction, shadow of the robot to human lives
Sound is deeper and deeper, and robot is generally divided into industrial robot and service robot two major classes because of the difference of its purposes, either
Industrial robot or service trade robot, submissive, safe man-machine interaction are particularly important.
Robot Design still uses the rigid design of " motor+retarder+load " at present, they by be mounted on joint or
The force snesor of executor tail end perceives the contact information of environment.This kind of mechanical arm although certain flexibility may be implemented,
But damage is all be easy to cause to mechanical arm motor itself and environment when by external impact due to lacking physics compliant component.
In view of the raising of robot interactive, in recent years, the design of more and more experts and scholars' concern flexible joints, and bullet of connecting
Property driver as a kind of novel joint driver, more application, but most applications have been obtained in robot field
The disadvantages of joint of robot flexible finite, impact resistance be poor, response lag, while some product structure sizes are big, close
Section is difficult to meet people's normal demand from weight height.Some series elastic drivers are non-linear by gravity, friction and damping etc.
The influence of factor leads to the accuracy and robustness decline of control, both at home and abroad common series elastic driver speed control side
Method does not combine the design feature of series elastic driver itself, significantly limits series elastic driver application scenarios.
Summary of the invention
The purpose of this utility model is to provide a kind of electromechanical integration passive compliances to control joint of robot, solves existing
There is the above problem existing for technology.The utility model degree integrates that high, compact-sized, low weight, flexibility are high, damping is adjustable.
The above-mentioned purpose of the utility model is achieved through the following technical solutions:
Electromechanical integration passive compliance controls joint of robot, including drive system, sensor-based system, connection transmission system,
The drive system includes motor driver 1, motor 2 and harmonic speed reducer 3, and the sensor-based system includes first angle sensor
4, motor encoder 5, second angle sensor 6, the connection transmission system include output flange 7, left side articular shell body
8, right side articular shell body 9, rotary magneto-rheological damper 10, elastic bodies of revolution 11, the first mounting flange 12, the second connection method
Blue disk 13,15 second cylinder roller bearing 16 of the first cylinder roller bearing；
The output flange 7 is fixedly connected with left side articular shell body 8, and rotary magneto-rheological damper 10 is set to left side
Inside articular shell body 8, and it is connect with output flange 7, meanwhile, 10 other end of rotary magneto-rheological damper is connect with first
Ring flange 12 is fixedly connected, and first mounting flange 12 is connect with elastic bodies of revolution 11；First angle sensor 4 is mounted on
Between first mounting flange 12 and elastic bodies of revolution 11, the elastic bodies of revolution 11 is connect with the second mounting flange 13, institute
It states 13 inner ring of the second mounting flange to connect with the flexbile gear 3-2 of harmonic speed reducer 3, second angle sensor 6 is mounted on the second company
Between acting flange disk 13 and elastic bodies of revolution 11；The motor center axis of motor 2 is fixed on rotor, motor center axis left end
It is fixed on the wave producer 3-3 of harmonic speed reducer 3, the harmonic speed reducer 3 is fixedly mounted on motor by firm gear 3-1
On shell, the motor encoder rotor 5-2 of motor center axis right end and motor encoder 5 is fixed to be set with, the motor encoder
Rotor 5-2 is matched with motor encoder stator 5-3, and the motor encoder stator 5-3 is fixed on motor encoder support 5-1
On, the motor encoder support 5-1 is fixedly mounted on electric machine casing；Motor driver 1 is fixed at outside the joint of right side
On shell 9, the right side articular shell body 9 is fixedly connected with joint right end cap 14.
The elastic bodies of revolution 11 is made of inner ring 11-1, outer ring 11-2, Flexible element 11-3；The inner ring 11-1 with
Outer ring 11-2 is concentric, and the Flexible element 11-3 is fixed between inner ring 11-1 and outer ring 11-2；Three groups of Flexible elements along
The even circumferential of inner ring 11-1 is distributed, and the inner ring 11-1 is connect with the first mounting flange 12, the outer ring 11-2 and second
Mounting flange 13 connects.
The Flexible element 11-3 is that stacking is circular.
The rotary magneto-rheological damper 10 is by shell body 10-1, non-magnetic washer 10-2, magnetic conduction washer 10-
3, coil 10-4, damping fin 10-5, input shaft 10-6, output shaft 10-7 and attenuator end cap 10-8 composition, the damper end
Lid 10-8 is mounted on shell body 10-1, and the damping fin 10-5 is fixed on input shaft 10-6, the coil 10-4
The two sides damping fin 10-5 are mounted on magnetic conduction washer 10-3；The output shaft 10-7 is connect with output flange 7, input shaft 10-6
It is fixedly connected with the first mounting flange 12；The non-magnetic washer 10-2 is arranged on the inner wall of shell body 10-1；
The magnetic loop of the rotary magneto-rheological damper 10 is successively by shell body 10-1, coil 10-4, magnetic conduction washer 10-3, magnetic
Rheology liquid, damping fin 10-5, magnetorheological fluid, magnetic conduction washer 10-3, coil 10-4, shell body 10-1 are formed.
The first angle sensor includes first angle rotor sensor 4-1 and first angle sensor stator 4-2,
The first angle rotor sensor 4-1 is connect with the inner ring 11-1 of elastic bodies of revolution 11, first angle sensor stator 4-2 with
Left side articular shell body 8 is fixedly connected；First cylinder roller bearing 15 is mounted on first angle rotor sensor 4-1；It is described
Second angle sensor 6 include second angle rotor sensor 6-1 and second angle sensor stator 6-2, described second jiao
Degree rotor sensor 6-1 is connect with the outer ring 11-2 of elastic bodies of revolution 11, and second angle sensor stator 6-2 and second angle pass
Sensor rotor 6-1 is cooperatively connected, and the second cylinder roller bearing 16 is mounted on second angle rotor sensor 6-1.
First cylinder roller bearing 15 and the second cylinder roller bearing 16 passes through the upper axis of motor center axis respectively
Shoulder carries out axially position.
The rotary magneto-rheological damper 10 is connected in parallel by the first mounting flange 12 with elastic bodies of revolution 11.
The rotary magneto-rheological damper 10 is external double barrels type structure.
The joint right end cap 14 is equipped with COM serial line interface 14-1 and joint power supply line delivery outlet 14-2.
The utility model has the beneficial effects that: compared with existing series connection elastic robot joint, the utility model energy
Enough obtain following technical effect:
1, highly integrated integrated design.In view of the limitation in robot space and weight, joint of robot is using integrated
Driving motor, retarder, sensor, torsionspring and magnetorheological rotary damper are all integrated in machine by the design philosophy of change
Inside person joint, facilitate to improve the design such as the miniaturization, lightweight and high power density in joint in this way.
2, modularized design.The modularized joint for integrating driving, transmission, sensing and communication, by modularized design,
It is conveniently applied in multi-joint mechanical arm, the exploitation that effectively shortens designs and the process-cycle, and the mounting hole uniformity of intermodule
Also contribute to the maintenance and debugging of system.
3, multisensor perceives.Using measurement elastomer deformation angular transducer and motor encoder sensing detection,
Greatly improve the control accuracy and level of operation in joint.
4, the utility model makes full use of elastic bodies of revolution architectural characteristic, special in conjunction with the other reaction of magnetorheological fluid Millisecond
Property, change damping size by adjusting MR damper supply current, it is ensured that joint of robot rapid reaction flexibility it is high and
It damps adjustable.
Detailed description of the invention
Attached drawing described herein is used to provide a further understanding of the present invention, and is constituted part of this application,
The illustrative example and its explanation of the utility model do not constitute the improper limit to the utility model for explaining the utility model
It is fixed.
Fig. 1 is the overall structure schematic cross-sectional view of the utility model；
Fig. 2 is the overall structure isometric view schematic diagram of the utility model；
Fig. 3 is the schematic view of the front view of the elastic bodies of revolution of the utility model；
Fig. 4 is the isometric view up and down of the elastic bodies of revolution of the utility model；
Fig. 5 is the rotary magneto-rheological damper structure isometric view of the utility model.
In figure: 1, motor driver；2, motor；3, harmonic speed reducer；4, first angle sensor；5, motor encoder；
6, second angle sensor；7, output flange；8, left side articular shell body；9, right side articular shell body；10, magnetic current is rotated
Variable damping device；11, elastic bodies of revolution；12, the first mounting flange；13, the second mounting flange；14, joint right end cap；15,
First cylinder roller bearing；16, the second cylinder roller bearing；3-1, firm gear；3-2, flexbile gear；3-3, wave producer；4-1, first
Angular transducer rotor；4-2 first angle sensor stator；5-1, motor encoder support；5-2, motor encoder rotor；5-
3, motor encoder stator；6-1, second angle rotor sensor；6-2 second angle sensor stator；10-1, shell
Body；10-2, non-magnetic washer；10-3, magnetic conduction washer；10-4, coil；10-5, damping fin；10-6, input shaft；10-7, output
Axis；10-8 attenuator end cap；11-1, inner ring；11-2, outer ring；11-3, Flexible element；14-1, COM serial line interface；14-2, pass
Save power supply line delivery outlet.
Specific embodiment
The detailed content and its specific embodiment of the utility model are further illustrated with reference to the accompanying drawing.
Referring to figs. 1 to 5, the electromechanical integration passive compliance of the utility model controls joint of robot, including drives
Dynamic system, sensor-based system, connection transmission system.Device, motor and harmonic speed reducer composition is driven by motor in the drive system；Institute
Sensor-based system is stated to be made of angular transducer, motor encoder；The elastic bodies of revolution is made of inner ring, outer ring, Flexible element；
The rotary magneto-rheological damper is by shell, non-magnetic washer, magnetic conduction washer, coil, damping fin, input shaft, output shaft and end
Lid composition.The highly integrated elastomer of the utility model and MR damper physics flexibility, joint of robot is small in size, weight
Gently, not only there is between environment good interactivity and safety, external impact and disturbance can also be born, be convenient for all kinds of machines
Device people installs and uses, and versatility and practicability are stronger.
Referring to shown in Fig. 1 and Fig. 2, the electromechanical integration passive compliance of the utility model controls joint of robot, including drives
Dynamic system, sensor-based system, connection transmission system, it is described
Drive system includes motor driver 1, motor 2 and harmonic speed reducer 3, the servo motor include rotor,
Motor stator, motor center axis and electric machine casing, the harmonic speed reducer 3 include firm gear 3-1, flexbile gear 3-2 and wave producer 3-
3；The sensor-based system includes first angle sensor 4, motor encoder 5, second angle sensor 6, and the motor is compiled
Code device includes motor encoder support 5-1, motor encoder rotor 5-2 and motor encoder stator 5-3；The connection power train
System includes output flange 7, left side articular shell body 8, right side articular shell body 9, rotary magneto-rheological damper 10, turnable elastic
Body 11, the first mounting flange 12, the second mounting flange 13,15 second cylinder roller bearing 16 of the first cylinder roller bearing；
The output flange 7 is fixedly connected with left side articular shell body 8, and rotary magneto-rheological damper 10 is set to left side
Inside articular shell body 8, and it is connect with output flange 7, meanwhile, 10 other end of rotary magneto-rheological damper is connect with first
Ring flange 12 is fixedly connected, and first mounting flange 12 is connect with elastic bodies of revolution 11；First angle sensor 4 is mounted on
Between first mounting flange 12 and elastic bodies of revolution 11, the elastic bodies of revolution 11 is connect with the second mounting flange 13, institute
It states 13 inner ring of the second mounting flange to connect with the flexbile gear 3-2 of harmonic speed reducer 3, second angle sensor 6 is mounted on the second company
Between acting flange disk 13 and elastic bodies of revolution 11；The motor center axis of motor 2 is fixed on rotor, motor center axis left end
It is fixed on the wave producer 3-3 of harmonic speed reducer 3, harmonic speed reducer 3 is fixedly mounted on electric machine casing by firm gear 3-1
On, the motor encoder rotor 5-2 of motor center axis right end and motor encoder 5 is fixed to be set with, the motor encoder rotor
5-2 is matched with motor encoder stator 5-3, and the motor encoder stator 5-3 is fixed on motor encoder support 5-1,
The motor encoder support 5-1 is fixedly mounted on electric machine casing；Motor driver 1 is fixed at right side articular shell body
On 9, the right side articular shell body 9 is fixedly connected with joint right end cap 14.
Referring to shown in Fig. 3 and Fig. 4, elastic bodies of revolution 11 described in the utility model is by inner ring 11-1, outer ring 11-2, elasticity
Unit 11-3 composition；The inner ring 11-1 and outer ring 11-2 are concentric, and the Flexible element 11-3 is fixed on inner ring 11-1 and outer
It encloses between 11-2；Three groups of Flexible elements are distributed along the even circumferential of inner ring 11-1, the inner ring 11-1 and the first connecting flange
Disk 12 connects, and the outer ring 11-2 is connect with 13 outer ring of the second mounting flange, and elastic bodies of revolution 11 can effectively improve machine
Person joint's flexibility, while elastic bodies of revolution 11 is used as mechanical filter, and the suffered impact of load can be absorbed.Work as frequency of impact
When greater than joint of robot frequency, system impedance be will drop to as the rigidity of elastic bodies of revolution 11.
The Flexible element 11-3 is that stacking is circular.
Shown in Figure 5, rotary magneto-rheological damper 10 described in the utility model is external double barrels type structure, rotary magnetic
Rheological damper 10 is connected in parallel by the first mounting flange 12 with elastic bodies of revolution 11.The rotary magneto-rheological damper
10 by shell body 10-1, non-magnetic washer 10-2, magnetic conduction washer 10-3, coil 10-4, damping fin 10-5, input shaft
10-6, output shaft 10-7 and attenuator end cap 10-8 composition, the attenuator end cap 10-8 are mounted on shell body 10-1
On, the damping fin 10-5 is fixed on input shaft 10-6, and the coil 10-4 and magnetic conduction washer 10-3 are mounted on damping fin 10-
5 two sides；The output shaft 10-7 is connect with output flange 7, and input shaft 10-6 is fixedly connected with the first mounting flange 12；Institute
Non-magnetic washer 10-2 is stated to be arranged on the inner wall of shell body 10-1.The rotary magneto-rheological damper 10 forms resistance
Buddhist nun device outer housing 10-1- coil 10-4- magnetic conduction washer 10-3- magnetorheological fluid-damping fin 10-5-magnetorheological fluid-magnetic conduction
Magnetic loop as washer 10-3- coil 10-4- shell body 10-1, rotary magneto-rheological damper 10 can be mentioned further
The flexibility of high joint of robot, human-computer interaction security.
It is shown in Figure 2, first angle sensor described in the utility model include first angle rotor sensor 4-1 and
First angle sensor stator 4-2, the first angle rotor sensor 4-1 are connect with the inner ring 11-1 of elastic bodies of revolution 11,
First angle sensor stator 4-2 is fixedly connected with left side articular shell body 8；First cylinder roller bearing 15 is mounted on first jiao
It spends on rotor sensor 4-1；The second angle sensor 6 includes that second angle rotor sensor 6-1 and second angle pass
Sensor stator 6-2, the second angle rotor sensor 6-1 are connect with the outer ring 11-2 of elastic bodies of revolution 11, and second angle passes
Sensor stator 6-2 and second angle rotor sensor 6-1 is cooperatively connected, and the second cylinder roller bearing 16 is mounted on second angle biography
On sensor rotor 6-1.
First cylinder roller bearing 15 and the second cylinder roller bearing 16 passes through the upper axis of motor center axis respectively
Shoulder carries out axially position.
The joint right end cap 14 is equipped with COM serial line interface 14-1 and joint power supply line delivery outlet 14-2.
Referring to figs. 1 to 5, the working principle of the utility model is as follows:
After joint of robot is powered, motor 2 receives 1 control instruction of motor driver, and rotor drives motor center axis
Rotation, motor power is transferred on harmonic speed reducer 3, by power transmission to elastic bodies of revolution after the deceleration of harmonic speed reducer 3
On 11, the power for acting on the outer ring 11-2 of elastic bodies of revolution passes through the Flexible element 11-3 elastic deformation of three groups of stacking round shape
Afterwards, inner ring 11-1 is delivered power to, power is sent to rotation through input shaft by the first mounting flange 12 by inner ring 11-1
On MR damper 10, the magnetic field that coil 10-4 is generated after rotary magneto-rheological damper 10 is powered is through shell body 10-
1- magnetorheological fluid-damping fin 10-5- magnetorheological fluid-shell body 10-1 forms magnetic loop, and power is by magnetorheological
Damper 10 is finally acted on power in joint of robot load through output flange 7 by output shaft after filtering, and first jiao
It spends sensor 4 and second angle sensor 6 detects elastic bodies of revolution 11 and deforms, can be calculated by Hooke's law through turnable elastic
Institute's output torque size after body effect.
The foregoing is merely the preferred embodiments of the utility model, are not intended to limit the utility model, for ability
For the technical staff in domain, various modifications and changes may be made to the present invention.It is all to made by the utility model it is any modification,
Equivalent replacement, improvement etc., should be included within the scope of protection of this utility model.
Claims (9)
1. a kind of electromechanical integration passive compliance controls joint of robot, it is characterised in that: including drive system, sensor-based system,
Connecting transmission system, which is characterized in that the drive system includes motor driver (1), motor (2) and harmonic speed reducer (3),
The sensor-based system includes first angle sensor (4), motor encoder (5), second angle sensor (6), and the connection passes
Dynamic system includes output flange (7), left side articular shell body (8), right side articular shell body (9), rotary magneto-rheological damper
(10), elastic bodies of revolution (11), the first mounting flange (12), the second mounting flange (13), the first cylinder roller bearing
(15) second cylinder roller bearings (16)；
The output flange (7) is fixedly connected with left side articular shell body (8), and rotary magneto-rheological damper (10) is set to a left side
Lateral joint outer housing (8) is internal, and connect with output flange (7), meanwhile, rotary magneto-rheological damper (10) other end and
First mounting flange (12) is fixedly connected, and first mounting flange (12) connect with elastic bodies of revolution (11)；First jiao
Degree sensor (4) be mounted between the first mounting flange (12) and elastic bodies of revolution (11), the elastic bodies of revolution (11) and
Second mounting flange (13) connection, the second mounting flange (13) inner ring and the flexbile gear (3-2) of harmonic speed reducer (3) connect
It connects, second angle sensor (6) is mounted between the second mounting flange (13) and elastic bodies of revolution (11)；The electricity of motor (2)
Machine central axis is fixed on rotor, and motor center axis left end is fixed at the wave producer (3-3) of harmonic speed reducer (3)
On, the harmonic speed reducer (3) is fixedly mounted on electric machine casing by firm gear (3-1), and motor center axis right end and motor are compiled
The fixed suit of the motor encoder rotor (5-2) of code device (5), the motor encoder rotor (5-2) and motor encoder stator
(5-3) is matched, and the motor encoder stator (5-3) is fixed on motor encoder support (5-1), the motor encoder
Support (5-1) is fixedly mounted on electric machine casing；Motor driver (1) is fixed on right side articular shell body (9), described
Right side articular shell body (9) is fixedly connected with joint right end cap (14).
2. electromechanical integration passive compliance according to claim 1 controls joint of robot, it is characterised in that: the rotation
Turn elastomer (11) to be made of inner ring (11-1), outer ring (11-2), Flexible element (11-3)；The inner ring (11-1) and outer ring
(11-2) is concentric, and the Flexible element (11-3) is fixed between inner ring (11-1) and outer ring (11-2)；Three groups of Flexible elements
It is distributed along the even circumferential of inner ring (11-1), the inner ring (11-1) connect with the first mounting flange (12), the outer ring
(11-2) is connect with the second mounting flange (13).
3. electromechanical integration passive compliance according to claim 2 controls joint of robot, it is characterised in that: the bullet
Property unit (11-3) be that stacking is circular.
4. electromechanical integration passive compliance according to claim 1 controls joint of robot, it is characterised in that: the rotation
Turn MR damper (10) by shell body (10-1), non-magnetic washer (10-2), magnetic conduction washer (10-3), coil
(10-4), damping fin (10-5), input shaft (10-6), output shaft (10-7) and attenuator end cap (10-8) composition, the damping
Device end cap (10-8) is mounted on shell body (10-1), and the damping fin (10-5) is fixed on input shaft (10-6),
The coil (10-4) and magnetic conduction washer (10-3) are mounted on the two sides damping fin (10-5)；The output shaft (10-7) and output method
Blue disk (7) connection, input shaft (10-6) are fixedly connected with the first mounting flange (12)；Non-magnetic washer (10-2) setting
On the inner wall of shell body (10-1)；The magnetic loop of the rotary magneto-rheological damper (10) is successively by shell
Body (10-1), coil (10-4), magnetic conduction washer (10-3), magnetorheological fluid, damping fin (10-5), magnetorheological fluid, magnetic conduction washer
(10-3), coil (10-4), shell body (10-1) formation.
5. electromechanical integration passive compliance according to claim 1 controls joint of robot, it is characterised in that: described the
One angular transducer includes first angle rotor sensor (4-1) and first angle sensor stator (4-2), the first angle
Rotor sensor (4-1) is connect with the inner ring (11-1) of elastic bodies of revolution (11), first angle sensor stator (4-2) and left side
Articular shell body (8) is fixedly connected；First cylinder roller bearing (15) is mounted on first angle rotor sensor (4-1)；Institute
The second angle sensor (6) stated includes second angle rotor sensor (6-1) and second angle sensor stator (6-2), institute
It states second angle rotor sensor (6-1) to connect with the outer ring (11-2) of elastic bodies of revolution (11), second angle sensor stator
(6-2) and second angle rotor sensor (6-1) is cooperatively connected, and the second cylinder roller bearing (16) is mounted on second angle sensing
On device rotor (6-1).
6. electromechanical integration passive compliance controls joint of robot according to claim 1 or 5, it is characterised in that: described
The first cylinder roller bearing (15) and the second cylinder roller bearing (16) axis is carried out by the upper shaft shoulder of motor center axis respectively
To positioning.
7. electromechanical integration passive compliance according to claim 1 or 4 controls joint of robot, it is characterised in that: described
Rotary magneto-rheological damper (10) be connected in parallel with elastic bodies of revolution (11) by the first mounting flange (12).
8. electromechanical integration passive compliance according to claim 7 controls joint of robot, it is characterised in that: the rotation
Turning MR damper (10) is external double barrels type structure.
9. electromechanical integration passive compliance according to claim 1 controls joint of robot, it is characterised in that: the pass
It saves right end cap (14) and is equipped with COM serial line interface (14-1) and joint power supply line delivery outlet (14-2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821438485.2U CN208759605U (en) | 2018-09-04 | 2018-09-04 | Electromechanical integration passive compliance controls joint of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821438485.2U CN208759605U (en) | 2018-09-04 | 2018-09-04 | Electromechanical integration passive compliance controls joint of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208759605U true CN208759605U (en) | 2019-04-19 |
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| CN201821438485.2U Expired - Fee Related CN208759605U (en) | 2018-09-04 | 2018-09-04 | Electromechanical integration passive compliance controls joint of robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818612A (en) * | 2018-09-04 | 2018-11-16 | 长春大学 | Electromechanical integration passive compliance controls joint of robot |
| KR102031930B1 (en) * | 2019-06-17 | 2019-10-14 | 엘아이지넥스원 주식회사 | Multifunction console |
| CN110815283A (en) * | 2019-11-05 | 2020-02-21 | 天津大学 | Damping-variable compliant joint driver of robot |
| CN112057301A (en) * | 2020-07-21 | 2020-12-11 | 中国科学院深圳先进技术研究院 | Driving device and exoskeleton robot applying same |
| CN114229041A (en) * | 2022-01-14 | 2022-03-25 | 中国科学院沈阳自动化研究所 | Double-freedom-degree solar cell array driving mechanism |
| CN115958624A (en) * | 2022-12-26 | 2023-04-14 | 东华大学 | Robot transmission joint module with intelligent flexible buffering function |
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2018
- 2018-09-04 CN CN201821438485.2U patent/CN208759605U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818612A (en) * | 2018-09-04 | 2018-11-16 | 长春大学 | Electromechanical integration passive compliance controls joint of robot |
| KR102031930B1 (en) * | 2019-06-17 | 2019-10-14 | 엘아이지넥스원 주식회사 | Multifunction console |
| CN110815283A (en) * | 2019-11-05 | 2020-02-21 | 天津大学 | Damping-variable compliant joint driver of robot |
| CN112057301A (en) * | 2020-07-21 | 2020-12-11 | 中国科学院深圳先进技术研究院 | Driving device and exoskeleton robot applying same |
| CN112057301B (en) * | 2020-07-21 | 2022-03-22 | 中国科学院深圳先进技术研究院 | Driving device and exoskeleton robot applying same |
| CN114229041A (en) * | 2022-01-14 | 2022-03-25 | 中国科学院沈阳自动化研究所 | Double-freedom-degree solar cell array driving mechanism |
| CN115958624A (en) * | 2022-12-26 | 2023-04-14 | 东华大学 | Robot transmission joint module with intelligent flexible buffering function |
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