Variable-stiffness driving and controlling integrated robot rotary joint module

Abstract

The invention relates to a variable-stiffness driving and controlling integrated robot rotary joint module. The variable-stiffness driving and controlling integrated robot rotary joint module comprises a joint shell, a joint output rotary disc, a drive controller, a transmission mechanism, a torque sensor, a variable-stiffness module, a first encoder and a second encoder; the transmission mechanism comprises a frameless motor, a transmission shaft and a harmonic reducer, the frameless motor includes a stator and a rotor, the stator is fixed in the joint shell, the transmission shaft is connected with the rotor in a matched manner, and one end of the transmission shaft is connected with a wave generator of the harmonic reducer; a steel wheel of the harmonic reducer is fixedly connected withone end of the variable-stiffness module, and the other end of the variable-stiffness module is fixedly connected with the joint output rotary disc through the torque sensor; the first encoder is used for measuring angular displacement information of the joint output rotary disc, and the second encoder is used for measuring the angular displacement information of the rotor; and the control end ofthe frameless motor is electrically connected to the drive controller, and the torque sensor, the first encoder and the second encoder are electrically connected to the drive controller. By means ofthe variable-stiffness driving and controlling integrated robot rotary joint module, rigidity control and torque output control of the joint module are achieved.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a rotary joint module of a variable-stiffness drive-control integrated robot. Background technique [0002] With the rapid development of modern industrial technology, robots have been widely used in various industries. Such as welding, spraying, heat treatment, transportation, automatic assembly, loading and unloading and testing in the automotive field, followed by robots in the fields of transportation, docks, food and medicine, and electronics manufacturing. Robots are gradually replacing manual labor in heavy and tedious packaging, transportation, and handling and other repetitive tasks. However, it is rarely used in tasks such as precision assembly, scraping or grinding workpiece surfaces, polishing and scrubbing, because in similar tasks, the end effector of the robot needs to be in contact with the environment and maintain a certain contact force, which requires the robot...

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Problems solved by technology

Although this invention patent solves the problem of robot joint flexibility, the structure of the entire joint is not compact enough, the appearance is not very beautiful, and it cannot be really applied to robot joints, nor can it achieve full closed-loop feedback of torque control

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