Elastically-driven modular joint with force feedback control

A modular joint and elastic drive technology, applied in the field of robotics, can solve the problems of high rigidity, lack of environmental adaptability and interactivity of robots, and achieve the effects of increasing flexibility and compactness, facilitating wiring, and expanding the range of motion

Active Publication Date: 2012-08-15
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The invention proposes an elastically driven modular joint with force feedback control to solve the problems of high rigidity, lack of environmental adaptability and interactivity in existing robots

Method used

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  • Elastically-driven modular joint with force feedback control
  • Elastically-driven modular joint with force feedback control
  • Elastically-driven modular joint with force feedback control

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Embodiment Construction

[0013] The present invention will be further described below in conjunction with the accompanying drawings, and the purpose and effect of the present invention will become more obvious.

[0014] The elastic drive modular joint with force feedback control of the present invention includes two parts: a joint transmission device and a force signal detection device, specifically, it includes: a motor casing 1, a first end cover 2, an encoder 3, a first bearing 4, a Er sensor 5, motor rotor 6, motor stator 7, motor flange 8, harmonic reducer 9, hollow cable shaft 13, output shaft 15, cross roller bearing 16, first absolute angle sensor 18, joint housing 22 , Elastic torsion spring 25, bearing 26, joint flange 27, output end cover 28, second end cover 29, second bearing 30 and second absolute angle sensor 31, etc.

[0015] The motor stator 7 is installed in the motor casing 1, and its axial position is determined by the first end cover 2 and the motor flange 8. The motor stator 7, t...

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PUM

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Abstract

The invention discloses an elastically-driven modular joint with force feedback control. comprising assembly components such as a motor stator, a motor rotor, a harmonic speed reducer and the like, so that the design flexibility and compactedness of the joint can be increased; and due to the design of an air routing shaft, the joint is convenient to route, so that the joint is more succinct, the moving range of the joint can be preferably enlarged, and the running reliability of the joint can be improved. Due to the introduction of a first absolute type angle sensor and a second absolute type angle sensor, the angle deviation between an output shaft and an output end cover can be obtained, and the angle deviation is multiplied by the elasticity coefficient of an elastic torsion spring, so that a moment value applicable to the joint can be obtained, for an input feedback value of a joint signal; and a reliable moment feedback signal can be provided for the joint, so that the elastic torsion spring can be deformed, the smoothness can be provided for the joint, and an energy storing mechanism can be further provided for the joint, and the elastically-driven modular joint is applicable to a robot, so that the interaction capability between the robot and the environment can be enhanced, and the running efficiency of the robot can be improved.

Description

technical field [0001] The invention belongs to the technical field of robots and relates to an elastically driven modular joint. technical background [0002] As a novel automatic device, robot system has become more and more closely related to people's daily life. People hope that robots, like humans themselves, have fast and dexterous movement capabilities, can adapt to human living environments, and have good interaction capabilities. Especially in recent years, humanoid robots, service robots and special operation robots have developed rapidly, and people have put forward higher requirements for robots. [0003] At present, most of the robots in our country mainly adopt the rigid design method when designing the joints, using motors, reducers, etc. as the driving unit of the robot, and using the position control method to drive the joints. This design makes the robot have high rigidity, but due to the lack of a compliant mechanism and an energy storage mechanism, it i...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00B25J19/00H02K7/10
Inventor 朱秋国熊蓉褚健
Owner ZHEJIANG UNIV
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