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Robot joint structure

A technology of robot joints and joints, applied in the field of robots, can solve problems such as the difficulty of robot joint design, and achieve the effects of reducing design difficulty, simple installation and low design cost

Inactive Publication Date: 2018-11-23
SHANGHAI LINGXIAN ROBOTICS TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
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Problems solved by technology

[0005] In view of this, the object of the present invention is to provide a robot joint structure to solve the problem that the existing robot joint design is difficult

Method used

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Embodiment Construction

[0024] The core idea of ​​the present invention is to use the characteristics of the joint itself to calculate the rotation angle of the joint, so that the measurement of the joint rotation angle can be completed without installing encoders and other equipment at the joint, thereby simplifying the structural design of the robot and reducing the cost. Specifically, the distance between the two adjacent surfaces of the two joints is measured by using the distance measuring sensor. The distance changes periodically, and the rotation angle of the joint is calculated according to the change rule, which is simple and convenient.

[0025] The robot joint structure proposed by the present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments. The advantages and features of the invention will be apparent from the claims and the following description. It should be noted that all the drawings are in a very simplified fo...

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Abstract

The invention provides a robot joint structure. The robot joint structure comprises a first joint, a second joint and at least one distance measuring sensor. The first joint and the second joint are rotatably connected. A predetermined included angle is formed between the two adjacent surfaces of the first joint and the second joint. The at least one distance measuring sensor is fixed to the firstjoint or the second joint to measure the distance between the two adjacent surfaces of the first joint and the second joint. According to the robot joint structure provided by the invention, the distance measuring sensors are used for measuring the distance between the two adjacent surfaces of the first joint and the second joint; the rotating angle of the joints can be read according to the change features of the gap distance; accordingly, the rotating angle of the robot joints can be effectively measured without installing an encoder device. Moreover, the robot joint structure is low in design cost and easy to install, and the design difficulty of a robot is greatly reduced.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot joint structure. Background technique [0002] In recent years, the application of robot technology in both industrial and civilian fields has developed rapidly, and each joint of the robot is the basis of robot control. Therefore, it is very necessary to measure the rotation angle of robot joints with high versatility. [0003] Existing robot joint rotation angles are usually directly measured using angle sensors installed on the joints, which mainly include Hall magnetic angle sensors, optical encoder disks, etc. Although these angle sensors have high precision, they are expensive, have extremely high requirements for installation methods, occupy a large space, and are easily disturbed by environmental factors. [0004] In order to reduce the manufacturing cost of the robot and simplify the structural design of the joint, a new robot joint structure is urgently needed....

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00B25J9/16
CPCB25J9/1633B25J17/00
Inventor 曹俊亮
Owner SHANGHAI LINGXIAN ROBOTICS TECH CO LTD
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