Robot rotational joint driving device and method

Abstract

The invention discloses a robot rotational joint driving device which comprises a driving mechanism and an execution output mechanism. The driving mechanism comprises a servo motor and a hydraulic pump, the execution output mechanism comprises two hydraulic cylinders arranged in parallel, and a swinging rod is connected between pistons of the two hydraulic cylinders and can swing around the gyration center of the swinging rod under driving of the pistons at the two ends; a robot component is connected to the gyration center of the swinging rod and rotates along with swinging of the swinging rod; the driving device further comprises a detection module, a processing module and a motor controller. The execution output mechanism is driven by the servo motor to conduct outputting, the output power is high, and the requirement that a rotational operation robot needs high-power rotational joints of compact structures can be effectively met. Intermittent one-way turnover movement of a transmission shaft is achieved through one-way bearing transmission. A transmitter is used in cooperation with an amplifier, the rotation amount of the robot component is effectively adjusted, and the rotation accuracy and the rotation reliability are guaranteed. The robot rotational joint driving device is simple in structure and convenient to implement.

Description

technical field [0001] The invention belongs to the technical field of robot joint drive, and in particular relates to a robot rotary joint drive device and a drive method. Background technique [0002] At present, the vast majority of rotating robots use servo motors as the driving components of the joints. Most of the high-performance servo motors sold on the market have the characteristics of high speed and low torque, so they must be properly decelerated before they can be used to drive the various joints of the robot. In order to convert the motion of the driver into the motion of the robot, in addition to direct drive, it is necessary to change the speed of motion, etc., and it is also necessary to transmit the motion of the driver to the transmission mechanism at different locations. The motion transmission of the robot is achieved by combining these motion transformation and transmission mechanisms. [0003] The joint drive of the rotary robot developed by industri...

AI Technical Summary

Problems solved by technology

Although the DC servo motor has the advantages of fast response, large starting torque, small inertia, and smooth rotation, the structure of the DC servo motor is complex and the cost is high.

Some special-purpose rotating robots require a large output power of the drive device and a compact structure, that is, actuators with high power density to deal with the mass distribution of the robot. The current robot joint drive technology cannot solve this problem well.

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