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Flexible joint controlled in mixing mode

A flexible joint and hybrid control technology, applied in the field of robotics, can solve the problems of no limit device, high cost, and complicated design of flexible joints, and achieve the effect of protecting torsion springs and improving reliability

Active Publication Date: 2014-05-28
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This flexible joint combines the needs of practical applications and solves the problems of complex design, high cost and no limit device in the existing flexible joints

Method used

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  • Flexible joint controlled in mixing mode
  • Flexible joint controlled in mixing mode
  • Flexible joint controlled in mixing mode

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0036] Such as figure 1 , 2 As shown, a flexible joint with hybrid control, including:

[0037] Motors with harmonic drive reducers;

[0038] A torsion spring 5 connected to the output shaft 7 of the harmonic drive reducer;

[0039] A rotary mechanism driven by torsion spring 5;

[0040] The measuring mechanism is composed of a motor encoder 29 for measuring the rotation angle of the motor shaft 18 and an absolute angle sensor 28 for measuring the rotation angle of the rotating mechanism.

[0041] The motor includes a motor shaft 18 , a motor housing 30 , a motor rotor 14 mounted on the motor shaft, and a motor stator 13 cooperating with the motor rotor, and a Hall sensor 15 is installed on the motor stator 13 . The motor shaft 18 is coaxial with the motor casing 30 through the second bearing 16 in the end cover 21 and the first bearing 4 in the transmission disc 3 .

[0042] The harmonic drive reducer includes a wave generator 12 , a rigid spline 11 fixed to the motor ho...

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Abstract

The invention discloses a flexible joint controlled in a mixing mode. The flexible joint comprises a motor with a harmonic drive speed reducer, a tornsional spring, a rotating mechanism and a measurement mechanism, wherein the is connected with an output shaft of the harmonic drive speed reducer, the rotating mechanism is driven by the tornsional spring, and the measurement mechanism is used for measuring torque of the rotating mechanism and is formed by a motor coder and an absolute type angle sensor, wherein the motor coder is used for measuring a rotating angle of a rotating shaft of the motor, and the absolute type angle sensor is used for measuring a rotating angle of the rotating mechanism. The rotating angle of the tensional spring is obtained through the motor coder and the absolute type angle sensor, the moment of force is obtained by multiplying the torsion angle by an elastic coefficient of the tornsional spring, and the measurement mechanism is simple in structure and low in cost. A relative rotating angle of an inner ring and an outer ring is limited through a limit cable or a limit block, so that the torsional spring is protected, and reliability of the joint is improved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a hybrid controlled flexible joint. Background technique [0002] After nearly 60 years of development, the technology of industrial robots has been relatively mature and has been widely used in many fields. However, at present, the degree of intelligence of industrial robots is low. In actual industrial production, industrial robots and operators must be physically separated. The promotion and application of industrial robots in small and medium-sized enterprises and high-end assembly. In recent years, robot companies represented by KUKA, ABB and BAXTER have established themselves in the research and development of a new generation of industrial robot interaction methods, and human-machine collaboration has become the goal and representative of the intelligentization of a new generation of industrial robots. Therefore, it is of great strategic significance for the development o...

Claims

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Application Information

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IPC IPC(8): B25J9/18B25J19/00
Inventor 朱秋国熊蓉
Owner ZHEJIANG UNIV
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