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Robot right-angle shaft linkage flexible servo device

A technology of servo devices and robots, applied in manipulators, program-controlled manipulators, joints, etc., can solve the problems of large size, insufficient reliability guarantee, lack of separation of drive and detection, etc.

Inactive Publication Date: 2017-07-07
苏茂
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Due to the development of science and technology, more and more small robots are gradually being widely used in various dangerous, complicated and inaccessible environments. People need to perform a certain task through the movement or action of the robot, which requires the use of the joint drive device of the robot. As a joint drive device for small robots, it is required to have a mature technology, reliable performance, high driving precision, and torque. Large, fast response, small size servo device, this device generally adopts closed-loop control and can feed back the angle of robot joint movement to the control system, so that the operator can better understand and control the robot to perform tasks, but small The driving device of the robot is too large, the driving accuracy is not high, the function is single, the integration level is not high, and it does not have the function of separating the driving and detection, so that the reliability cannot be fully guaranteed

Method used

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  • Robot right-angle shaft linkage flexible servo device
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  • Robot right-angle shaft linkage flexible servo device

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0008] Specific implementation mode one: as image 3 and Figure 4 As shown, the right-angle shaft linkage flexible servo device of the robot includes a drive part 111, and the drive part 111 includes a micro motor 40 and a clutch, and the clutch is composed of a clutch friction plate 41, a friction plate slide bar 42, and a return tension spring 43. , clutch cover 44, the friction plate slide bar 42 is fixedly connected to the shaft of the micro motor 40, the two clutch friction plates 41 are respectively inserted into the two ends of the friction plate slide bar 42, and a return pull is connected between the two clutch friction plates 41. Spring 43, clutch cover 44 is inserted into the axle of micromotor 40, is sliding contact between the axle of clutch cover 44 and micromotor 40, and clutch cover 44 is provided with transmission gear. Action implementation process: when the rotation speed of the micro motor 40 is higher than a certain value, the two clutch friction plates ...

specific Embodiment approach 2

[0009] Specific implementation mode two: as figure 1 , figure 2 and Figure 4 As shown, the right-angle axis linkage flexible servo device of the robot includes top covers 1, 12, output shafts A, B, gears 2, 3, 6, reduction gear sets 4, 5, potentiometer 7, base 9, and driving components 111 and bottom cover 11. The output shaft A is affixed to the gear 2, the output shaft A coincides with the rotation axis of the gear 2, the gear 2 is affixed to the rotation axis of the first potentiometer 7, and the axis of the gear 2 is aligned with the first potentiometer 7. The axis of a potentiometer 7 coincides, the first potentiometer 7 is fixed in the hole seat C of the base 9, the output shaft B is fixedly connected to the gear 3, and the rotation axis of the output shaft B and the gear 3 Coinciding, the gear 3 is affixed to the rotating shaft of the second potentiometer 7, the axis of the gear 3 coincides with the axis of the second potentiometer 7, and the second potentiometer 7...

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Abstract

The invention relates to a right-angle shaft linkage flexible servo device of a robot, which relates to a driving device of a small robot. The present invention aims to solve the problem that the drive device of the existing small robot is too large, the drive precision is not high, the function is single, the integration degree is not high, and it does not have the function of separation of drive and detection, and proposes a dual-axis output in the same direction. The servo device detected by the double potentiometer forms a closed-loop control mode of the driving motor and the output shaft, and the closed-loop control of the output shaft and the control system, so that the control system can implement precise force feedback control on the robot joint motion. The invention has the advantages of reliable performance, high driving precision, large torque, fast response, small size, high integration, and can feed back the rotational position of the output shaft to the control system.

Description

technical field [0001] The invention relates to a small robot servo device capable of outputting torque with flexible dual shafts and feeding back the rotational position of the output shafts to a control system. Background technique [0002] Due to the development of science and technology, more and more small robots are gradually being widely used in various dangerous, complex, and human-inaccessible environments. People need to perform a specific task through the movement or action of the robot. , which requires the use of the joint drive device of the robot. As a joint drive device for small robots, it is required to be a servo device with mature technology, reliable performance, high driving precision, large torque, fast response, and small size. Closed-loop control is adopted and the angle of robot joint motion can be fed back to the control system, so that the operator can better understand and control the robot to perform tasks. However, the driving devices of small ...

Claims

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Application Information

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IPC IPC(8): B25J9/16B25J17/00
CPCB25J9/1633B25J17/00
Inventor 苏茂
Owner 苏茂