Driving joint and robot
A joint and brake technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of reducing the driving efficiency of drive joints, the dynamic response speed of man-machine response performance, the low work efficiency of robots, and the inability to reverse drive. Achieve the effect of supporting reverse drive, fast response, and high load-to-weight ratio
Inactive Publication Date: 2020-09-25
NINGBO INST OF MATERIALS TECH & ENG CHINESE ACADEMY OF SCI
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Problems solved by technology
At present, the driving joints of collaborative robots generally adopt transmission methods such as harmonic reducers or RV reducers, resulting in generally low working efficiency of robots, which cannot be reverse-driven, and have low stiffness or large size, which will reduce the driving efficiency of the driving joints. , dynamic response speed and human-computer response performance
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[0021] The present invention will be more fully understood from the following detailed description, which should be read in conjunction with the accompanying drawings. Detailed embodiments of the present invention are disclosed herein; however, it is to be understood that the disclosed embodiments are merely exemplary of the invention, which may be embodied in various forms. Therefore, specific functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a teaching to one skilled in the art that, in fact, any suitably detailed embodiment may differ in any suitably detailed embodiment. The manner employs the representative basis of the present invention.
[0022] The drive joint disclosed by the present invention mainly applies the planetary gear reducer to the drive joint transmission, and integrates components such as a high-performance torque motor, a servo drive controller, a brake, and a torque sensor to make the dr...
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The invention discloses a driving joint and a robot. The driving joint comprises a motor and a planetary gear reducer integrated in the motor, and further comprises encoders, a brake, driving cards and control cards integrated on the motor; the planetary gear reducer is installed on a motor shaft of the motor, and the motor shaft comprises an input rear end and an output front end which are opposite; and the input rear end and the output front end of the motor shaft are each provided with an encoder, the brake is installed at the input rear end of the motor shaft, and the input end face and the output end face of the driving joint are each provided with a driving card and a control card. According to the driving joint and the robot, the planetary gear reducer is applied to driving joint transmission, integrated design is conducted through the high-performance torque motor, a servo driving controller, the brake, a torque sensor and other components, so that the driving joint has the advantages of being high in efficiency, high in load self-weight ratio, capable of supporting reverse driving, high in response speed, capable of controlling compliant force, capable of achieving real-time bus communication and the like.
Description
technical field [0001] The invention belongs to the technical field of driving joints of robots, and in particular relates to a driving joint and a robot. Background technique [0002] The drive joint is the core component of the robot, which has a decisive influence on the kinematics and dynamic behavior of the manipulator system. At present, the driving joints of collaborative robots generally adopt transmission methods such as harmonic reducers or RV reducers, resulting in generally low working efficiency of robots, which cannot be reverse-driven, and have low stiffness or large size, which will reduce the driving efficiency of the driving joints. , dynamic response speed and human-computer response performance. [0003] How to provide a high-efficiency, high load-to-weight ratio, and support reverse drive is an urgent problem to be solved. Contents of the invention [0004] The main purpose of the present invention is to provide a driving joint so as to overcome the ...
Claims
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IPC IPC(8): B25J17/00B25J9/10B25J9/16
CPCB25J17/00B25J9/1025B25J9/161
Inventor 王慰军杨桂林陈庆盈陈进华方灶军张驰舒鑫东
Owner NINGBO INST OF MATERIALS TECH & ENG CHINESE ACADEMY OF SCI