Collaborative robot joint with force sensing function and collaborative robot

Abstract

The invention discloses a collaborative robot joint with a force sensing function and a collaborative robot. The joint comprises a torque sensor, a crossed roller bearing, a harmonic reducer assembly, a reducer shell and a motor assembly. An outer ring of the crossed roller bearing is fixed to one end of the speed reducer shell, and the torque sensor is fixed to an inner ring of the crossed roller bearing. The harmonic reducer assembly comprises a flexible gear, a steel wheel and a wave generator, the steel wheel is fixed in the reducer shell, the torque sensor is connected with the flexible gear, and the motor assembly drives the wave generator to rotate. The torque of the motor is amplified through the harmonic reducer assembly, real-time torque can be accurately obtained through the high-performance torque sensor, the collaborative robot can sense external force, and the influence of bending moment on the torque sensor is avoided by arranging the crossed roller bearing. And the installation difficulty is reduced by the split-type encoder. And a bolt type braking mode is adopted, so that the joint structure of the collaborative robot is more compact.

Description

technical field [0001] The invention relates to the technical field of collaborative robots, in particular to a force-sensing collaborative robot joint and a collaborative robot. Background technique [0002] The main features of collaborative robots are: lightweight, friendliness, perception, human-machine collaboration, and easy programming. [0003] For lightweight processing, the current mainstream solution is to use aluminum alloy or carbon fiber materials, and reduce weight through integrated design, program optimization and other means to achieve lightweight. The demand for perception ability, the external force value is measured by current feedback or integrated torque sensor and low-stiffness elastic body measurement in the market; for the design scheme of the collaborative robot encoder, the current mainstream technical scheme is to use a single-turn absolute sensor with a battery Type encoder or two single-turn absolute encoders, one end of the two single-turn ab...

AI Technical Summary

Problems solved by technology

[0005] 1) The torque is estimated by the current. Due to the relationship between the friction force, the dynamic parameters cannot be effectively estimated, resulting in the lack of high-precision performance of the torque estimation, especially the range estimation of the small torque. The estimation by the motor current has a large fluctuation range , the lack of accuracy

[0006] 2) The joint weight of collaborative robots is relatively large, and the design must follow the lightweight safety design principles. Therefore, very high requirements are put forward for the integration of collaborative robots. At present, the integration of collaborative robots needs to be improved

[0007] 3) The use of two single-turn absolute encoders has certain difficulties in terms of structure and lightweight design, especially the assembly and layout of related cables, which have a great impact on cost and production

[0008] 4) The brake structure of the friction plate is adopted. When the robot presses the human hand or equipment, the robot cannot move in a small range when the power is off. For the collaborative robot, there are obvious loopholes in its safety

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