Variable-stiffness driving-controlling integrated robot swing rotation joint module

A joint module and variable stiffness technology, applied in the field of robotics, can solve the problems of inability to achieve full closed-loop feedback of torque control, unsightly appearance, and insufficiently compact joint structure, so as to improve torque output accuracy, improve safety, and improve joint performance. The effect of transmission accuracy

Active Publication Date: 2019-04-02
GUANGDONG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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

Method used

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  • Variable-stiffness driving-controlling integrated robot swing rotation joint module
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  • Variable-stiffness driving-controlling integrated robot swing rotation joint module

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Embodiment

[0033] Please refer to Figure 1 to Figure 5 , a variable stiffness drive control integrated robot swing joint module, including a base 100, a joint output member 200, a drive controller 300, a transmission mechanism, a torque sensor 400, a variable stiffness module 500, a first encoder and a second encoder device;

[0034]The base 100 includes a mounting part 10 and a transmission part 20, the transmission part 20 is provided with a transmission chamber 21, the transmission mechanism includes a frameless motor, a transmission shaft 30 and a harmonic reducer 40, the frameless motor includes a stator 51 and a rotor 52, and the frameless The stator 51 of the motor is fixed in the transmission cavity 21, the transmission shaft 30 is connected with the rotor 52 of the frameless motor and the two ends of the transmission shaft 30 are supported in the transmission cavity 21 by bearings 31, and one end of the transmission shaft 30 is connected to the harmonic reducer. The wave gener...

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Abstract

A variable-stiffness driving-controlling integrated robot swing rotation joint module comprises a base, a joint output piece, a driving controller, a transmission mechanism, a torque sensor, a variable-stiffness module, a first encoder and a second encoder; the base comprises an installation part and a transmission part; the transmission part is provided with a transmission cavity; the transmission mechanism comprises a frameless motor, a transmission shaft and a harmonic reducer; a stator of the frameless motor is fixed into the transmission cavity, the transmission shaft is connected with the rotor of the frameless motor in a matched mode, one end of the transmission shaft is transmitted to one end of the variable-stiffness module through the harmonic reducer, and the other end of the variable-stiffness module is fixedly connected with the joint output piece through the torque sensor; the first encoder is used for measuring the angular displacement information of the joint output piece, and the second encoder is used for measuring the angular displacement information of a rotor; and the control end of the frameless motor is electrically connected with the driving controller, andthe torque sensor, the first encoder and the second encoder are electrically connected with the driving controller. According to the variable-stiffness driving-controlling integrated robot swing rotation joint module, stiffness 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 swing joint module of a variable stiffness driving and 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 ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J17/02B25J19/00
CPCB25J9/1638B25J17/0241B25J19/0004
Inventor 管贻生赵波钟玉谷世超朱海飞
Owner GUANGDONG UNIV OF TECH
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