Bionic compound drive robot joint

Abstract

The invention discloses a bionic compound drive robot joint, which comprises a joint arm and a drive assembly, wherein the drive assembly comprises a motor drive part and a pneumatic drive part started for auxiliary movement when the motor drive part exceeds a rated load. The motor drive part is used for mainly driving the joint arm to ensure high-accuracy drive, and when the motor drive part exceeds the rated load, the pneumatic drive part is started to work to assist in the drive work of the motor drive part to meet a heavy-load working requirement. According to the bionic compound drive robot joint, the technical problem that an existing mechanical arm cannot eliminate the conflict of simultaneous realization of high accuracy and heavy load can be solved, heavy load can be ensured under the condition of ensuring high-accuracy drive, and the bionic compound drive robot joint has a relatively broad application prospect.

Description

technical field [0001] The invention relates to the field of robots, in particular to a bionic composite drive robot joint. Background technique [0002] With the development of robot technology, people hope that the new robot arm will have high precision, fast response, good quality, long life, low energy consumption, small size, light weight, large torque, strong carrying capacity, high reliability, and intelligence. , modularity, reconfigurability, etc., but also hope to have good flexibility to obtain better security and self-recovery capabilities. [0003] There are mainly two drive modes for the drive joints of existing robot arms. One is motor drive, which is a relatively traditional drive mode with large drive displacement, high drive precision, simple drive circuit, low energy consumption, and convenient control. However, there is a defect of small driving torque; in order to provide a larger torque to facilitate the use under heavy-duty conditions, someone has des...

AI Technical Summary

Problems solved by technology

[0003] There are mainly two drive modes for the drive joints of existing robot arms. One is motor drive, which is a relatively traditional drive mode with large drive displacement, high drive precision, simple drive circuit, low energy consumption, and convenient control. However, there is a defect of small driving torque; in order to provide a larger torque to facilitate the use under heavy-duty conditions, someone has designed another pneumatic muscle drive mode, which belongs to a relatively new type of pneumatic actuator. It has a simple structure, It has the advantages of large power / weight ratio, good flexibility, and close to the characteristics of biological muscles. It has broad application prospects in the fields of bionic robots, bionic medicine, and service robots, but it mainly has the disadvantage of insufficient precision.

That is to say, in the prior art, the drive of the robot arm has the problem that heavy load and high precision cannot be guaranteed at the same time, how to solve this technical problem has become an imminent challenge

Images