Mechanical integrated joint with force sensing function

A technology of sensing function and joints, which is applied in the direction of manipulators, manufacturing tools, joints, etc., can solve the problems of low integration, reduce the overall precision of robots, and low rigidity of integrated joints, so as to improve the overall precision, compact structure, and avoid cantilever installation Effect

Pending Publication Date: 2020-05-15
中山市北京理工大学研究院 +1
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Problems solved by technology

[0004] However, the current integrated joints are either not highly integrated, without components such as torque sensors, or the torque sensor is installed at the end of the integrated joint, so that the torque sensor is only supported on one side and forms a cantilever structure, resulting in low rigidity of the integrated joint, which in turn reduces The overall accuracy of the robot

Method used

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  • Mechanical integrated joint with force sensing function
  • Mechanical integrated joint with force sensing function
  • Mechanical integrated joint with force sensing function

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Embodiment Construction

[0023] Below, the present invention will be further described in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of not conflicting, the various embodiments described below or the technical features can be combined arbitrarily to form new embodiments. .

[0024] Such as Figure 1 ~ Figure 2 As shown, in order to improve the overall transmission accuracy of the mechanical arm, make the mechanical integrated joint more compact and have higher precision, the present invention provides a mechanical integrated joint with force sensing function, which includes a joint housing 10, which is used as the joint housing 10 of the present invention. The shell of the mechanically integrated joint with force sensing function has an installation inner cavity 11 for installing joint components inside it, and an opening 12 communicating with the installation inner cavity 11 is opened on the joint shell 10. The opening 12...

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Abstract

The invention discloses a mechanical integrated joint with a force sensing function. A torque sensor can be movably sleeved by an input shaft, and is positioned between a flexible wheel and a motor; the inner side of the torque sensor is fixedly matched with the flexible wheel; and the outer side of the torque sensor is fixed to a stator of the motor. The mechanical integrated joint with the forcesensing function has a torque sensing function, can precisely sense torque borne on a joint, is higher in transmission precision, avoids mounting of a suspension arm of the torque sensor, is compactin structure, and is high in rigidity, so that integral precision of a mechanical arm is improved.

Description

technical field [0001] The invention relates to a mechanical joint structure, in particular to a mechanical integrated joint with force sensing function. Background technique [0002] Jointed robot, also known as jointed arm robot or jointed mechanical arm, is one of the most common forms of industrial robots in today's industrial field, and is suitable for mechanical automation operations in many industrial fields. [0003] Robots are widely used in the automation industry to reduce human labor intensity. In order to reduce costs and shorten the production cycle, and adapt to large-scale production, the harmonic reducer, motor, brake, encoder, and torque sensor are integrated into the joints of the robot. Angle adjustment. [0004] However, the current integrated joints are either not highly integrated, without components such as torque sensors, or the torque sensor is installed at the end of the integrated joint, so that the torque sensor is only supported on one side an...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00
CPCB25J17/00
Inventor 邵立伟黄德皇吴洪德陈志广欧建国陈庆武
Owner 中山市北京理工大学研究院
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