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A system for adjusting the required torque of a robotic drive

A driving device and robot technology, applied in the field of mobile robots, can solve the problems that the center of gravity and the moment of inertia cannot be adjusted, the main structure is fixed, and the torque requirements of the rotary joint driver are high, and the effect of improving the operation performance, reducing the work intensity and improving the control accuracy is achieved.

Active Publication Date: 2016-12-07
ANHUI COWAROBOT CO LTD
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  • Abstract
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Problems solved by technology

[0004] The present invention aims at the technical problems existing in the above-mentioned prior art, and provides a system for adjusting the required torque of the robot driving device, which solves the problems in the prior art that the main body structure of the mobile robot is fixed, the center of gravity and the moment of inertia cannot be adjusted, and the drive of the rotating joint cannot be adjusted. high torque requirements

Method used

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  • A system for adjusting the required torque of a robotic drive
  • A system for adjusting the required torque of a robotic drive
  • A system for adjusting the required torque of a robotic drive

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Embodiment Construction

[0019] The technical solution of the present invention will be described in further detail below through specific embodiments in conjunction with the accompanying drawings.

[0020] The system for adjusting the moment of inertia of a single-arm suspended mobile robot and the torque required by the driving parts by adjusting the center of gravity provided by the present invention includes: a counterweight, a counterweight supporting part and a counterweight moving part, and the counterweight passes through the counterweight The supporting part is connected to the moving part of the counterweight, which is able to change position within the robot structure.

[0021] The counterweight is a rigid box, and the power supply and controller are fixed inside, and the counterweight bears the weight of the main body of the robot structure. Components such as power supply and controller are symmetrically placed in the counterweight box to ensure a compact overall structure and the coincid...

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Abstract

A system for adjusting the required torque of a robot driving device, belonging to the technical field of mobile robots, solving the problems of fixed main structure, unadjustable center of gravity, and excessive moment of inertia of existing mobile robots, including counterweights, counterweight support parts and counterweights The moving part, the counterweight is connected with the counterweight moving part through the counterweight supporting part, and the counterweight can change position within the robot structure. The control performance of the system provided by the present invention is significantly improved compared with the traditional structural fixed system. On the one hand, it can controllably change the center of gravity of the robot system, adjust the moment of inertia of the overall system, reduce the torque, and reduce the working intensity of the driver; on the other hand, it can be more Precisely control the attitude of the robot to improve the operational performance of the robot.

Description

technical field [0001] The invention relates to the technical field of mobile robots, and more specifically relates to a system for adjusting the required torque of a driver by adjusting the center of gravity of the robot. Background technique [0002] Generally, the body part of a mobile robot is a fixed structure, and the robot adjusts its pose through a wheeled structure or a mechanical arm structure. The mobile robot rotates during the pose adjustment process. Since the center of gravity cannot coincide with all the rotation axes, when the robot rotates along a specific rotation axis, the driver must provide a large torque, often requiring devices such as a gearbox, which greatly increases the structure of the robot. speed and energy loss, but also reduces the robot's operational performance. [0003] As for the center of gravity adjustment mechanism, it is rarely used in the field of mobile robots in China. The gearbox mechanism is used to increase the driving torque, ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J11/00B25J19/00
Inventor 何弢
Owner ANHUI COWAROBOT CO LTD
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