Collaborative robot joint with force perceiving function

Abstract

The invention belongs to the technical field of robots, and particularly relates to a collaborative robot joint with a force perceiving function. An output flange, a torque sensor, a harmonic speed reducer, a frameless direct drive torque motor, an input flange and a wire penetrating pipe are included. The harmonic speed reducer and the frameless direct drive torque motor are contained in a cavityformed by the output flange and the input flange. The output flange and the input flange can oppositely rotate, and the harmonic speed reducer and the frameless direct drive torque motor sleeve the wire penetrating pipe. The output end of the frameless direct drive torque motor is connected with the wire penetrating pipe through the harmonic speed reducer, and the wire penetrating pipe is connected with the output flange through the torque sensor. The collaborative robot joint has the force perceiving function, a collaborative robot composed of the collaborative robot joint can work in cooperation with people in the half structure environment, and the collaborative robot joint has the advantages that the high-precision force perceiving function is achieved, the structure is compact, rigidity is high, and expandability is good.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a collaborative robot joint with a force-sensing function. Background technique [0002] Traditional industrial robots adapt to the structured production environment and mass production mode, and have been widely used in the automotive, electrical and electronic, rubber and plastic industries. In recent years, with the transformation of market demand to user customization, multi-variety, and small and medium-sized batch production, the application requirements for robots have also changed, requiring robots to be able to adapt to flexible tasks and semi-structured working environments. [0003] In recent years, collaborative robots have been paid more and more attention by people. Many robot manufacturers have developed this new type of robot that can work with people and is safer and more flexible. This robot has been used in precision assembly, packaging, grinding, te...

AI Technical Summary

Problems solved by technology

The former has the disadvantages of poor detection accuracy and inaccuracy, and the latter has difficulties in improving the rigidity performance of the robot due to the introduction of components such as torque sensors and encoders.

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