CN109895122B - Cooperative robot joint with force sensing function - Google Patents
Cooperative robot joint with force sensing function Download PDFInfo
- Publication number
- CN109895122B CN109895122B CN201711283195.5A CN201711283195A CN109895122B CN 109895122 B CN109895122 B CN 109895122B CN 201711283195 A CN201711283195 A CN 201711283195A CN 109895122 B CN109895122 B CN 109895122B
- Authority
- CN
- China
- Prior art keywords
- torque motor
- drive torque
- flange
- harmonic reducer
- frameless
- 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.)
- Active
Links
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 51
- 230000033001 locomotion Effects 0.000 claims description 14
- 210000004907 gland Anatomy 0.000 claims description 10
- 230000006835 compression Effects 0.000 claims description 9
- 238000007906 compression Methods 0.000 claims description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- 230000006870 function Effects 0.000 description 16
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 239000000853 adhesive Substances 0.000 description 2
- 230000001070 adhesive effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of robots, and particularly relates to a cooperative robot joint with a force sensing function. The device comprises an output flange, a torque sensor, a harmonic speed reducer, a frameless direct-drive torque motor, an input flange and a threading pipe, wherein the harmonic speed reducer and the frameless direct-drive torque motor are accommodated in a cavity formed by the output flange and the input flange, the output flange and the input flange can rotate relatively, the harmonic speed reducer and the frameless direct-drive torque motor are both sleeved on the threading pipe, the output end of the frameless direct-drive torque motor is connected with the threading pipe through the harmonic speed reducer, and the threading pipe is connected with the output flange through the torque sensor. The invention has the force sensing function, the cooperative robot formed by the force sensing function can work cooperatively with a person in a semi-structural environment, and the joint of the cooperative robot has the advantages of high-precision force sensing function, compact structure, high rigidity and good expandability.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a cooperative robot joint with a force sensing function.
Background
The traditional industrial robot is suitable for a structural production environment and a large-batch manufacturing mode, and has been widely applied to industries such as automobiles, electronics and electrics, rubber, plastics and the like. In recent years, with the shift of market demands to custom-made, multi-variety, medium-small mass production, the application demands for robots have also changed, and robots are required to be applicable to flexible work tasks, semi-structured work environments, and the like.
In recent years, cooperative robots are increasingly receiving attention, and a plurality of robot manufacturers develop novel robots which can work cooperatively with people, are safer and more flexible, and are applied to the production and manufacturing fields of precision assembly, packaging, polishing, detection, machine tool feeding and discharging and the like. The cooperative robot has the characteristics of light weight, high load-weight ratio, flexibility, easiness in use, high safety, capability of cooperating with people and the like. The technology is beneficial to improving the production efficiency of large enterprises and also provides technical support for small and medium-sized enterprises to improve the automation operation level.
At present, the methods for realizing the force sensing function of the cooperative robot joint are mainly divided into two types, namely force sensing based on motor current intensity detection and force sensing based on a sensor. The former has the defects of poor detection precision and inaccuracy, and the latter has difficulty in improving the rigidity performance of the robot due to the introduction of components such as a moment sensor, an encoder and the like.
Therefore, how to introduce a sensor and ensure the rigidity of a robot joint and even a robot, and improve the compactness of the structure is a problem to be solved by the person skilled in the art.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a cooperative robot joint with a force sensing function, the device has a force sensing function, a cooperative robot composed of the device can work cooperatively with a person in a semi-structural environment, and the cooperative robot joint has the advantages of high precision force sensing function, compact structure, high rigidity and expandability.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the utility model provides a cooperation robot joint with power perception function, includes output flange, torque sensor, harmonic speed reducer, frameless direct drive torque motor, input flange and threading pipe, and wherein harmonic speed reducer and frameless direct drive torque motor holding are in the cavity that forms by output flange and input flange, output flange with but input flange relative rotation, harmonic speed reducer and frameless direct drive torque motor all overlap and locate on the threading pipe, the output of frameless direct drive torque motor pass through harmonic speed reducer with threading pipe connection, the threading pipe pass through torque sensor with output flange connection.
The frameless direct-drive torque motor comprises a frameless direct-drive torque motor stator, a frameless direct-drive torque motor rotor and a rotor mounting shaft, wherein the frameless direct-drive torque motor stator is fixedly connected with the input flange, the frameless direct-drive torque motor rotor is sleeved on the rotor mounting shaft, and the output end of the rotor mounting shaft is connected with the harmonic reducer.
The harmonic reducer comprises a harmonic reducer flexible wheel, a harmonic reducer wave generator and a harmonic reducer steel wheel, wherein the harmonic reducer wave generator is connected with the rotor mounting shaft, the harmonic reducer steel wheel is connected with the input flange, and the harmonic reducer flexible wheel is connected with the threading pipe.
The input end of the rotor mounting shaft is provided with a brake, the brake comprises a brake mounting seat, a brake friction plate and a brake armature, wherein the brake mounting seat is connected with the input flange, the brake armature is mounted on the brake mounting seat, and the brake friction plate is connected with the rotor mounting shaft.
The input end of the rotor mounting shaft is also provided with an absolute value encoder and an incremental encoder.
The absolute value encoder comprises an absolute value encoder mounting seat, an absolute value encoder rotor and an absolute value encoder stator, wherein the absolute value encoder rotor is mounted on the threading pipe, and the absolute value encoder stator is mounted on the brake mounting seat through the absolute value encoder mounting seat.
The incremental encoder comprises an incremental encoder reading head, an incremental encoder code disc, a reading head mounting seat and a code disc mounting seat, wherein the incremental encoder code disc is mounted on the rotor mounting shaft through the code disc mounting seat, two ends of the rotor mounting shaft are mounted on the input flange through deep groove ball bearings, the input end of the rotor mounting shaft is provided with a bearing gland, the bearing gland is provided with the reading head mounting seat, and the incremental encoder reading head is mounted on the bearing gland through the reading head mounting seat.
The output flange is supported by the cross ball bearing, the inner ring of the cross ball bearing is installed on the input flange and is fixed by a fixed compression ring installed on the input flange, and the outer ring of the cross ball bearing is fixed by the output flange and the collar compression ring.
The input flange is provided with a first limiting block and a second limiting block, and the fixed compression ring is provided with a third limiting block positioned between the first limiting block and the second limiting block.
The cooperative robot joint with the force sensing function further comprises a driver arranged on the input flange, a driver expansion board is arranged on the driver, and the driver expansion board is used for providing a voltage-stabilizing direct-current power supply for the moment sensor and the frameless direct-drive moment motor.
The invention has the advantages and positive effects that:
1. the torque sensor is embedded in the joint, so that the torque born by the joint can be accurately perceived, and the precision is high;
2. the invention adopts a structure with a cross ball bearing support and a rear absolute encoder, shortens the force transmission route and improves the joint rigidity;
3. the invention adopts modularized and integrated design ideas, has simple structure of the module and strong adaptability and expansibility to various complex environments and application requirements;
4. the invention is provided with mechanical limit, and adopts the brake to realize braking protection at the time of power failure, thereby increasing the safety of the module in the use process;
5. the invention adopts the hollow wiring, is convenient for internal wiring, increases the movement range of the joint and has simple structure;
6. the invention has compact overall structural design, and the shell of the all-aluminum alloy has smaller mass and volume.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the overall appearance of the present invention;
FIG. 3 is a schematic diagram of a frameless direct drive torque motor according to the present invention;
FIG. 4 is a schematic diagram of an incremental encoder according to the present invention;
fig. 5 is a schematic diagram of the absolute value encoder of the present invention.
In the figure: 1 is an output flange, 2 is a torque sensor, 3 is a harmonic reducer, 3-1 is a harmonic reducer flexible wheel, 3-2 is a harmonic reducer wave generator, 3-3 is a harmonic reducer steel wheel, 4 is a frameless direct-drive torque motor, 4-1 is a frameless direct-drive torque motor stator, 4-2 is a frameless direct-drive torque motor rotor, 5 is a brake, 5-1 is a brake friction plate, 5-2 is a brake armature, 6 is an incremental encoder, 6-1 is an incremental encoder reading head, 6-2 is an incremental encoder code disc, 7 is an input flange, 8 is a threading tube, 9 is a rotor mounting shaft, 10 is a brake mounting seat, 11 is a cross ball bearing, 12 is a fixed compression ring, 13 is a collar compression ring, 14 is an absolute encoder, 14-1 is an absolute encoder rotor, 14-2 is an absolute encoder stator, 15 is an absolute encoder mounting seat, 16 is a first limit block, 17 is a second limit block, 18 is a third limit block, 19 is a first groove, 20 is a second groove, 20 is a bearing seat, 25 is a deep-groove, and a deep-groove is a bearing seat is a deep-driven.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1-2, the cooperative robot joint with the force sensing function provided by the invention comprises an output flange 1, a torque sensor 2, a harmonic reducer 3, a frameless direct-drive torque motor 4, an input flange 7 and a threading pipe 8, wherein the harmonic reducer 3 and the frameless direct-drive torque motor 4 are accommodated in a cavity formed by the output flange 1 and the input flange 7, the output flange 1 and the input flange 7 can rotate relatively, the harmonic reducer 3 and the frameless direct-drive torque motor 4 are sleeved on the threading pipe 8, the output end of the frameless direct-drive torque motor 4 is connected with the threading pipe 8 through the harmonic reducer 3, and the threading pipe 8 is connected with the output flange 1 through the torque sensor 2.
Further, the output flange 1 is a cap-type output flange, and the output flange 1 is supported by the crisscross ball bearing 11 to perform rotary motion, so that the harmonic reducer 3 and the torsion sensor 2 are prevented from being overturned. The inner ring of the cross ball bearing 11 is mounted on the input flange 7 and is fixed by a fixed pressure ring 12 mounted on the input flange 7, and the outer ring of the cross ball bearing 11 is fixed by the output flange 1 and a collar pressure ring 13. The crisscross ball bearing 11 is able to provide high stiffness, low damping rotational movement, further reducing joint mass and volume.
Further, a first limiting block 16 and a second limiting block 17 are installed on the input flange 7, a third limiting block 18 positioned between the first limiting block 16 and the second limiting block 17 is arranged on the fixed compression ring 12, and the first limiting block 16, the second limiting block 17 and the third limiting block 18 form mechanical limiting.
As shown in fig. 1 and 3, the frameless direct-drive torque motor 4 comprises a frameless direct-drive torque motor stator 4-1, a frameless direct-drive torque motor rotor 4-2 and a rotor mounting shaft 9, wherein the frameless direct-drive torque motor stator 4-1 is fixedly connected with an input flange 7 through an adhesive, the frameless direct-drive torque motor rotor 4-2 is sleeved on the rotor mounting shaft 9 and is fixedly connected with the rotor mounting shaft 9 through the adhesive, and the output end of the rotor mounting shaft 9 is connected with the harmonic reducer 3. The brushless direct-drive torque motor 4 has the characteristics of small volume, light weight and power density.
The input flange 7 and the rotor mounting shaft 9 have positioning bosses thereon for positioning of the stator and the rotor, as shown in fig. 3. The support of the rotor mounting shaft 9 is realized through a first deep groove ball bearing 19 and a second deep groove ball bearing 20, the two deep groove ball bearings are respectively positioned at the output end and the input end of the rotor mounting shaft 9, the positioning of the bearings is realized by means of the positioning boss on the input flange 7 and the rotor mounting shaft 9 and the bearing gland 21, the code disc mounting seat 23 and the pre-pressing of the deep groove ball bearings is realized by means of tolerance fit. The structural form further improves the structural compactness of the joint of the cooperative robot, and improves the power density and the load self-weight ratio.
As shown in fig. 1, the harmonic reducer 3 comprises a harmonic reducer flexible gear 3-1, a harmonic reducer wave generator 3-2 and a harmonic reducer steel gear 3-3, wherein the harmonic reducer wave generator 3-2 is connected with a rotor mounting shaft 9 through a screw, the harmonic reducer steel gear 3-3 is connected with an input flange 7 through a screw, and the harmonic reducer flexible gear 3-1 is connected with a threading pipe 8. The harmonic reducer 3 has the advantages of small volume, large reduction ratio and high power density.
Further, a brake 5 is arranged at the input end of the rotor mounting shaft 9, the brake 5 comprises a brake mounting seat 10, a brake friction plate 5-1 and a brake armature 5-2, wherein the brake mounting seat 10 is connected with the input flange 7 through screws, the brake armature 5-2 is mounted on the brake mounting seat 10 through screws, and the brake friction plate 5-1 is connected with the rotor mounting shaft 9.
The brake 5 is of the power-down braking type. In normal operation, the brake armature 5-2 is energized and the brake friction plate 5-1 and the brake armature 5-2 are separated. However, when power is lost, the brake armature 5-2 and the brake friction plate 5-1 are attracted together, so that braking is realized.
The brake 5 is used for ensuring the safety of the robot in the use process, and the brake 5 can be used for emergency braking under the conditions of power failure, galloping and out-of-control of the robot, so that the use safety of the robot is improved; furthermore, the joint is provided with a mechanical limit for preventing self-interference and the like generated by overlarge movement angle.
Further, the input end of the rotor mounting shaft 9 is also provided with an absolute value encoder 14 and an incremental encoder 6.
As shown in fig. 1 and 5, the absolute value encoder 14 includes an absolute value encoder mount 15, an absolute value encoder rotor 14-1, and an absolute value encoder stator 14-2, wherein the absolute value encoder rotor 14-1 is mounted on the threading pipe 8 and moves along with the movement of the harmonic reducer flexspline 3-1. The absolute value encoder stator 14-2 is mounted on the brake mount 10 through the absolute value encoder mount 15, and the absolute value encoder 14 can obtain the actual robot movement angle, so that the positioning accuracy of the joint or the robot is improved.
As shown in fig. 1 and 4, the incremental encoder 6 includes an incremental encoder read head 6-1, an incremental encoder code wheel 6-2, a read head mount 22, and a code wheel mount 23, wherein the incremental encoder code wheel 6-2 is mounted on the rotor mounting shaft 9 by the code wheel mount 23 and moves with the motor rotor 4-2. The two ends of the rotor mounting shaft 9 are mounted on the input flange 7 through deep groove ball bearings, the input end is provided with a bearing gland 21, a reading head mounting seat 22 is mounted on the bearing gland 21, the incremental encoder reading head 6-1 is mounted on the bearing gland 21 through the reading head mounting seat 22, and the distance between the reading head and the code disc is adjusted through a gasket, so that motor motion data are obtained.
The cooperative robot joint with the force sensing function further comprises a driver 24 arranged on the input flange 7, wherein a driver expansion plate 25 is arranged on the driver 24, and the driver expansion plate 25 is used for providing a regulated DC power supply for the torque sensor 2 and the frameless direct-drive torque motor 4.
The driver 24 is used for controlling parameters such as movement and speed of the joint, has the characteristics of small volume and high power density, and the driver 24 is connected with the torsion sensor 2, the frameless direct-drive torque motor 4, the incremental encoder 6 and the absolute value encoder 14 through the driver expansion board 25 to provide a regulated power supply for the sensor and the motor, acquire the movement and stress state of the joint and control the movement of the joint.
The output flange 1 is connected with a mechanical arm connecting rod through a screw, and transmits torque and the like; the torque sensor 2 can obtain the torque condition of the joint, so that the joint or the robot has sensing capability. The torque sensor 2 is connected with the output flange 1, the harmonic reducer flexspline 3-1 and the threading pipe 8 through screws and pins, and the power line and the data line thereof are connected with the driver expansion board 25 through the threading pipe 8, as shown in fig. 5.
In order to realize the functions of full dynamic feedback, self calibration, no zero return and the like, the joint of the cooperative robot provided by the embodiment of the invention further comprises an absolute value encoder 14, and the embodiment adopts a rear-mounted scheme of the encoder, so that the joint structure is more compact, the force transmission route is shorter, and the rigidity of the joint of the cooperative robot is improved.
The working principle of the invention is as follows:
the control ends of the frameless direct-drive torque motor 4, the incremental encoder 6, the absolute value encoder 14 and the torque sensor 2 are respectively connected with a driver 24 through a driver expansion board 25, the driver 24 is a cooperative robot joint control core with a force sensing function and is responsible for the functions of program storage, real-time calculation, servo control, signal processing, communication and the like, the driver 24 performs driving control on the frameless direct-drive torque motor 4, the frameless direct-drive torque motor 4 works, a rotor 4-2 of the frameless direct-drive torque motor is connected with a harmonic reducer wave generator 3-2 through a rotor mounting shaft 9, and the harmonic reducer 3 transmits the rotary motion of the motor to the torque sensor 2 and a cap-type output flange 1 in a decelerating manner to provide the motion of joints; the moment sensor 2 can obtain moment born by the joint, data are transmitted to the driver 24 through a signal wire, the driver 24 makes corresponding reaction, the frameless direct-drive moment motor 4 is controlled to move, the flexible control is realized, the joint or the robot can be ensured to work in a non-structural environment, and the joint has force sensing capability; the driver extension board 25 can supply 48V, 24V and 5V regulated dc power to the motor and sensor.
The invention has the force sensing function, the cooperative robot formed by the force sensing function can work cooperatively with a person in a semi-structural environment, and the joint of the cooperative robot has the advantages of high-precision force sensing function, compact structure, high rigidity and expandability.
The foregoing is merely an embodiment of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.
Claims (3)
1. The utility model provides a cooperation robot joint with force sensing function, its characterized in that includes output flange (1), torque sensor (2), harmonic reducer (3), frameless directly drives torque motor (4), input flange (7) and threading pipe (8), wherein harmonic reducer (3) and frameless directly drive torque motor (4) hold in the cavity that is formed by output flange (1) and input flange (7), output flange (1) with input flange (7) can rotate relatively, harmonic reducer (3) and frameless directly drive torque motor (4) all overlap and locate on threading pipe (8), the output of frameless directly drive torque motor (4) pass through harmonic reducer (3) and threading pipe (8) are connected, threading pipe (8) pass through torque sensor (2) and output flange (1) are connected;
the frameless direct-drive torque motor (4) comprises a frameless direct-drive torque motor stator (4-1), a frameless direct-drive torque motor rotor (4-2) and a rotor mounting shaft (9), wherein the frameless direct-drive torque motor stator (4-1) is fixedly connected with the input flange (7), the frameless direct-drive torque motor rotor (4-2) is sleeved on the rotor mounting shaft (9), and the output end of the rotor mounting shaft (9) is connected with the harmonic reducer (3);
the cooperative robot joint with the force sensing function further comprises a driver (24) arranged on the input flange (7), wherein a driver expansion plate (25) is arranged on the driver (24), and the driver expansion plate (25) is used for providing a voltage-stabilizing direct-current power supply for the torque sensor (2) and the frameless direct-drive torque motor (4);
the input end of the rotor mounting shaft (9) is provided with a brake (5), the brake (5) comprises a brake mounting seat (10), a brake friction plate (5-1) and a brake armature (5-2), wherein the brake mounting seat (10) is connected with the input flange (7), the brake armature (5-2) is mounted on the brake mounting seat (10), and the brake friction plate (5-1) is connected with the rotor mounting shaft (9);
the input end of the rotor mounting shaft (9) is also provided with an absolute value encoder (14) and an incremental encoder (6);
the driver (24) performs driving control on the frameless direct-drive torque motor (4), the frameless direct-drive torque motor (4) works, and the harmonic reducer (3) transmits rotation motion of the frameless direct-drive torque motor (4) to the torque sensor (2) and the output flange (1) in a decelerating manner to provide joint motion; the moment sensor (2) can obtain moment born by the joint, data are transmitted to the driver (24) through the signal wire, the driver (24) makes corresponding reaction, and the frameless direct-drive moment motor (4) is controlled to move so as to realize compliant control;
the absolute value encoder (14) comprises an absolute value encoder mounting seat (15), an absolute value encoder rotor (14-1) and an absolute value encoder stator (14-2), wherein the absolute value encoder rotor (14-1) is mounted on the threading pipe (8), and the absolute value encoder stator (14-2) is mounted on the brake mounting seat (10) through the absolute value encoder mounting seat (15);
the output flange (1) is supported by a cross ball bearing (11), the inner ring of the cross ball bearing (11) is mounted on the input flange (7) and is fixed by a fixed compression ring (12) mounted on the input flange (7), and the outer ring of the cross ball bearing (11) is fixed by the output flange (1) and a collar compression ring (13);
the input flange (7) is provided with a first limiting block (16) and a second limiting block (17), and the fixed compression ring (12) is provided with a third limiting block (18) arranged between the first limiting block (16) and the second limiting block (17).
2. The cooperative robot joint with a force sensing function according to claim 1, characterized in that the harmonic reducer (3) comprises a harmonic reducer flexspline (3-1), a harmonic reducer wave generator (3-2) and a harmonic reducer steel spline (3-3), wherein the harmonic reducer wave generator (3-2) is connected with the rotor mounting shaft (9), the harmonic reducer steel spline (3-3) is connected with an input flange (7), and the harmonic reducer flexspline (3-1) is connected with the threading pipe (8).
3. The cooperative robot joint with a force sensing function according to claim 1, characterized in that the incremental encoder (6) comprises an incremental encoder reading head (6-1), an incremental encoder code wheel (6-2), a reading head mounting seat (22) and a code wheel mounting seat (23), wherein the incremental encoder code wheel (6-2) is mounted on the rotor mounting shaft (9) through the code wheel mounting seat (23), two ends of the rotor mounting shaft (9) are mounted on the input flange (7) through deep groove ball bearings, and the input end is provided with a bearing gland (21), the bearing gland (21) is provided with the reading head mounting seat (22), and the incremental encoder reading head (6-1) is mounted on the bearing gland (21) through the reading head mounting seat (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711283195.5A CN109895122B (en) | 2017-12-07 | 2017-12-07 | Cooperative robot joint with force sensing function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711283195.5A CN109895122B (en) | 2017-12-07 | 2017-12-07 | Cooperative robot joint with force sensing function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109895122A CN109895122A (en) | 2019-06-18 |
| CN109895122B true CN109895122B (en) | 2023-12-26 |
Family
ID=66938950
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711283195.5A Active CN109895122B (en) | 2017-12-07 | 2017-12-07 | Cooperative robot joint with force sensing function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109895122B (en) |
Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561484A (en) * | 2019-08-27 | 2019-12-13 | 安徽工程大学 | joint device of cooperative robot |
| CN112888536B (en) * | 2019-09-30 | 2023-03-24 | 深圳市优必选科技股份有限公司 | Robot and integrated joint thereof |
| CN111037547A (en) * | 2019-12-16 | 2020-04-21 | 深圳市佳士科技股份有限公司 | Cooperation robot transmission structure and cooperation robot |
| CN111347446A (en) * | 2020-04-17 | 2020-06-30 | 成都卡诺普自动化控制技术有限公司 | Hollow type cooperative robot mechanical arm joint |
| TWM615880U (en) * | 2020-08-19 | 2021-08-21 | 盟英科技股份有限公司 | Drive system and motor actuator |
| CN112104149A (en) * | 2020-09-17 | 2020-12-18 | 之江实验室 | Modular joint of biped robot |
| CN112372664B (en) * | 2020-11-02 | 2021-08-06 | 伯朗特机器人股份有限公司 | High-integration modular cooperative robot joint module |
| CN112454419B (en) * | 2020-11-13 | 2024-05-03 | 中国船舶集团有限公司第七一六研究所 | Cooperative robot joint with single encoder |
| CN114643594A (en) * | 2020-12-18 | 2022-06-21 | 山东新松工业软件研究院股份有限公司 | Novel robot integrated joint and control method thereof |
| CN112968585B (en) * | 2021-02-05 | 2022-09-23 | 上海理工大学 | High-reduction-ratio harmonic magnetic gear reducer with torque measurement capability |
| CN112936334B (en) * | 2021-02-10 | 2022-07-12 | 镇江星河机器人有限公司 | Robot joint module motor and accurate control method thereof |
| TWI772118B (en) * | 2021-07-21 | 2022-07-21 | 中強光電股份有限公司 | Joint actuator of robot |
| CN114017622B (en) * | 2021-11-22 | 2023-06-20 | 无锡巨蟹智能驱动科技有限公司 | Harmonic reducer for monitoring cradle head and cradle head |
| TWI790034B (en) * | 2021-12-10 | 2023-01-11 | 中光電智能感測股份有限公司 | Joint actuator of robot |
| CN114227715A (en) * | 2021-12-31 | 2022-03-25 | 核动力运行研究所 | Heat exchanger tube sheet robot of crawling directly drives drive mechanism |
| CN114603596A (en) * | 2022-04-22 | 2022-06-10 | 广州广电运通金融电子股份有限公司 | Joint module of cooperative robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102101298A (en) * | 2009-12-18 | 2011-06-22 | 中国科学院沈阳自动化研究所 | Rotational joint module of modularized reconfigurable robot |
| CN104400794A (en) * | 2014-10-29 | 2015-03-11 | 常州先进制造技术研究所 | Double-arm robot modularized joint with hollow structure |
| CN104416579A (en) * | 2013-09-03 | 2015-03-18 | 中国科学院沈阳自动化研究所 | Intelligent modular hollow joint |
| CN106217405A (en) * | 2016-08-26 | 2016-12-14 | 苏州元谋智能机器人***有限公司 | A kind of robot modularized series connection joint that cooperates |
| CN107150355A (en) * | 2017-07-03 | 2017-09-12 | 华南理工大学 | A kind of lightweight modules joint of mechanical arm |
| KR101793141B1 (en) * | 2016-06-10 | 2017-11-03 | 한국기계연구원 | Joint driving module and compliant type robot artificial ankle |
| CN107398924A (en) * | 2017-09-20 | 2017-11-28 | 河北工业大学 | A kind of hollow type controls integral intelligent modularized joint |
| CN207534828U (en) * | 2017-12-07 | 2018-06-26 | 中国科学院沈阳自动化研究所 | Cooperation joint of robot with force sensing function |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6053424B2 (en) * | 2012-09-25 | 2016-12-27 | キヤノン株式会社 | Robot apparatus, robot control method, program, and recording medium |
-
2017
- 2017-12-07 CN CN201711283195.5A patent/CN109895122B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102101298A (en) * | 2009-12-18 | 2011-06-22 | 中国科学院沈阳自动化研究所 | Rotational joint module of modularized reconfigurable robot |
| CN104416579A (en) * | 2013-09-03 | 2015-03-18 | 中国科学院沈阳自动化研究所 | Intelligent modular hollow joint |
| CN104400794A (en) * | 2014-10-29 | 2015-03-11 | 常州先进制造技术研究所 | Double-arm robot modularized joint with hollow structure |
| KR101793141B1 (en) * | 2016-06-10 | 2017-11-03 | 한국기계연구원 | Joint driving module and compliant type robot artificial ankle |
| CN106217405A (en) * | 2016-08-26 | 2016-12-14 | 苏州元谋智能机器人***有限公司 | A kind of robot modularized series connection joint that cooperates |
| CN107150355A (en) * | 2017-07-03 | 2017-09-12 | 华南理工大学 | A kind of lightweight modules joint of mechanical arm |
| CN107398924A (en) * | 2017-09-20 | 2017-11-28 | 河北工业大学 | A kind of hollow type controls integral intelligent modularized joint |
| CN207534828U (en) * | 2017-12-07 | 2018-06-26 | 中国科学院沈阳自动化研究所 | Cooperation joint of robot with force sensing function |
Non-Patent Citations (3)
| Title |
|---|
| Research on the Kinematic Calibration of a Modular Reconfigurable Robot;Pan Xinan，Wang Hongguang，Jiang Yong;《2013 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA)》;页562-568 * |
| 江鹏.面向空间应用的人形机器人大负载一体化关节的研制.《中国优秀硕士学位论文全文数据库 信息科技辑》.2016,(第2期),正文第13-33页. * |
| 面向空间应用的人形机器人大负载一体化关节的研制;江鹏;《中国优秀硕士学位论文全文数据库 信息科技辑》(第2期);正文第13-33页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109895122A (en) | 2019-06-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109895122B (en) | Cooperative robot joint with force sensing function | |
| CN207534828U (en) | Cooperation joint of robot with force sensing function | |
| CN112454419B (en) | Cooperative robot joint with single encoder | |
| CN106826906B (en) | A kind of mechanical arm modular joint of non-moment sensor | |
| CN212736068U (en) | Joint with torque sensor | |
| CN104400794A (en) | Double-arm robot modularized joint with hollow structure | |
| WO2018130154A1 (en) | High power mass density linear driving device of simplified structure | |
| CN107186751B (en) | Modularized ball joint of cooperative robot | |
| CN111702804A (en) | Driving joint and robot | |
| CN111890410A (en) | Drive and control integrated cooperative robot joint with running state monitoring function | |
| CN110757497A (en) | Compact structure's cooperation robot modularization joint | |
| CN109551513A (en) | A kind of Multifunctional height integrated modular joint of robot | |
| CN111121832A (en) | Novel double-code-disc nested hollow encoder | |
| CN215093696U (en) | Cooperative robot joint with single encoder | |
| CN114102659B (en) | Integrated robot driving joint based on planetary reducer | |
| CN113977625A (en) | Electric joint module integrating double speed reducers | |
| CN113021404B (en) | Integrated active and passive variable stiffness joint based on cam mechanism | |
| CN110861120B (en) | Driving joint based on double-stator frameless torque motor and application thereof | |
| CN105437255A (en) | Mechatronics joint with hollow wiring | |
| CN209875867U (en) | RV speed reducer capable of realizing closed-loop control | |
| CN214352537U (en) | Joint enveloped by streamline housing | |
| CN214924581U (en) | Encoder assembly and mechanical arm joint | |
| CN103846712A (en) | Combined type rotation driving unit | |
| CN212497829U (en) | High-precision compact type integrated joint structure | |
| CN208801358U (en) | A kind of joint of mechanical arm with torque-feedback |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |