A Modular Joint of Manipulator without Torque Sensor

Abstract

The invention discloses a modular mechanical arm joint without a torque sensor. The joint comprises a casing, a braking mechanism, a driving mechanism, an output shaft connected with the driving mechanism and a control mechanism. The joint is characterized in that the driving mechanism comprises a rotating shaft, the braking mechanism and a harmonic reducer are in rigid connection with two ends of the rotating shaft respectively, the harmonic reducer is in rigid connection with the output shaft, the rotating shaft is sleeved with a motor, the control mechanism comprises a controller, a first sensor for detecting displacement of the output shaft relative to the casing and a second sensor for detecting the rotating speed of the rotating shaft, and the first sensor, the second sensor and the motor are all electrically connected with the controller. The torque is estimated by sampling current, the mechanism of the torque sensor is omitted, the joint mass is reduced, a linear driving circuit is adopted, the driving structure is simple, the output shaft is shortened, the output shaft is only supported by a crossed roller bearing, and the structure of the joint is further simplified.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a mechanical arm modular joint without a torque sensor. Background technique [0002] The robot arm is an important tool for the robot system to realize large-scale operation, and has an important impact on the operation ability and operation level of the robot system. In particular, service robots and special robots, which have developed rapidly in recent years, have put forward higher requirements for operating arms. At present, the mature mechanical arms on the market have a relatively complicated transmission structure, and are generally equipped with a torque sensor to cooperate with the control mechanism to control the output torque. Due to the large size and weight of the torque sensor, the weight and volume of the entire joint are too large. For example, the patent number is 201110134811.7, and the patent name is "modular link of mechanical arm with force position sensing...

AI Technical Summary

Problems solved by technology

At present, the mature mechanical arm on the market has a relatively complicated transmission structure, and is generally equipped with a torque sensor to cooperate with the control mechanism to control the output torque. Due to the large size and weight of the torque sensor, the weight and volume of the entire joint are too large.

For example, the patent number is 201110134811.7, and the patent name is "modular link of mechanical arm with force position sensing function". The motor stator is fixed on the fixed casing, the second end cover is installed in the output casing, and the harmonic reducer The steel wheel is set in the second end cover, the second end cover is connected with the harmonic reducer steel wheel and the fixed shell, the central hole wiring shaft is set in the motor stator and the harmonic reducer steel wheel, between the output shell and the fixed shell Equipped with cross roller bearings, the output housing is connected to the outer ring of the torque sensor, and the harmonic reducer flex wheel is installed between the inner ring of the torque sensor and the connecting nut, the third end cover is installed on the output housing, and the limit stop The block is installed on the third end cover, the rotating shaft is fixed in the motor rotor, the rotating magnetic ring of the relative displacement sensor is fixed on the rotating shaft, the wave generator of the harmonic reducer is connected with the rotating shaft, the connection structure is relatively complicated, and A torque sensor with relatively large weight and volume is set, which increases the weight and volume of the joint

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