Collaborative robot joint with single encoder

Abstract

The invention discloses a collaborative robot joint with a single encoder, and belongs to the technical field of robots. The joint comprises an output flange, a torque sensor, a harmonic reducer, a frameless direct-drive torque motor, an input flange, a multi-turn absolute value encoder and a brake, wherein an output flange and the input flange can rotate relatively; the output end of the frameless direct-drive torque motor is connected with the torque sensor and the output flange through the harmonic reducer; and the input end of the frameless direct-drive torque motor is connected with the brake and the absolute value encoder. The collaborative robot joint provided by the invention has the functions of force sensing, absolute position memory, zero returning and the like, a collaborativerobot composed of the joint can work cooperatively with people in a semi-structure environment, and the the collaborative robot joint has the advantages of being high in precision force sensing function, compact in structure, high in rigidity, good in expandability and the like.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a collaborative robot joint with a single encoder. Background technique [0002] Collaborative robots can combine their own high precision and high tolerance with the flexible adaptability of humans. They have the characteristics of human-machine integration, safety and ease of use, sensitivity, precision, and flexibility. They are not only suitable for small and medium batches, multi-variety, and user customization in the industrial field. It also has potential application prospects in the fields of social services and rehabilitation medicine in response to aging. In recent years, the research and development of modular integrated joints, which are an important part of collaborative robots, has attracted increasing attention. Robotic joints with light weight and high energy density can realize the lightweight, large load-to-weight ratio, flexibility, ease of use, and safety of co...

AI Technical Summary

Problems solved by technology

However, this dual-encoder structure makes the joint structure complex, requires a high diameter of the joint center cable tube, and has low force sensing accuracy, making it difficult to achieve high-precision compliant control

In order to solve the problem, the patent CN210061184U uses a multi-turn absolute value encoder to realize the motion control of the robot joint, but this method cannot realize the high-precision force sensing function

Patents such as CN109895122A use absolute encoders and torque sensors to realize the motion control and force perception of the driving device, but this device cannot realize the absolute position memory (power-off protection) and zero return function, and at the same time, the lack of brakes causes the joints to be unable to perform emergency braking. Move and maintain, there are certain safety hazards

Patents such as CN108015799A use encoders and torque sensors to realize motion control and force perception of the driving device, but this device cannot realize absolute position memory (power-off protection) and zero return functions, and at the same time, due to the staggered setting of the axes of the motor and the reducer, resulting in structural Complicated and difficult for hollow wiring

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