A flexible joint of a modular manipulator

Abstract

The invention provides a modular mechanical arm flexible joint which comprises a joint input device, a speed reduction device, a series-connection elastic driver, a joint output device, a joint shell and a base. One end of the joint input device is connected with the speed reduction device, the other end of the joint input device is connected with the base, the speed reduction device is connected with the series-connection elastic driver, the series-connection elastic driver is connected with the joint output device, and the joint output device is connected with the joint shell. The modular thought is infused into design of a flexible mechanical arm, the flexible mechanical arm of different freedom degrees can be formed through free combination according to actual needs, the force moment of the joint output end is estimated by measuring the rotation angle difference of a disc type elastic inner ring and a disc type elastic outer ring, and the rotation angle difference of the disc type elastic inner ring and the disc type elastic outer ring is converted into a straight-sliding type displacement sensor for measurement.

Description

technical field [0001] The invention belongs to the technical field of robots, and particularly relates to a flexible joint of a modular robot arm. Background technique [0002] The traditional industrial robot technology is relatively mature and can achieve high-precision trajectory tracking and force control. The applicable occasions of industrial robots are relatively simple, some production lines have low human-computer interaction, and the requirements for safety are relatively low. In recent years, human-robot collaborative robots have become one of the main research directions of robots. Scholars have carried out a lot of research on how robots can directly interact with humans and complete certain tasks together. The main factor limiting the development of collaborative robots is the variability of occasions, and the safety performance is difficult to guarantee. In order to realize the reliability and safety of robots in unknown environments, the concept of flexib...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the disadvantages and deficiencies of the prior art, and provide a flexible joint of a modular manipulator, which adopts a modular design concept to solve the problem that the joint structures of the existing manipulators are very different, and the joints cannot be combined And replacement, the flexibility is poor, the mechanical arm is rigidly connected, which makes the safety low and the environmental adaptability is low. At the same time, the torque sensor at the output end of the motor is mostly used to measure the torque sensor, which is expensive.

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