CN212578642U - Robot joint with torsion flexibility - Google Patents
Robot joint with torsion flexibility Download PDFInfo
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- CN212578642U CN212578642U CN202020814490.XU CN202020814490U CN212578642U CN 212578642 U CN212578642 U CN 212578642U CN 202020814490 U CN202020814490 U CN 202020814490U CN 212578642 U CN212578642 U CN 212578642U
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Abstract
The utility model discloses a robot joint with torsion flexibility, which is provided with a motor output shaft and an output flange, and also comprises an integrated control unit, a frameless torque motor, a multi-stage speed reduction structure, an absolute value encoder and a torque tube; the integrated control unit, the frameless torque motor, the multi-stage speed reduction structure and the absolute value encoder are respectively sleeved on the motor output shaft and the output flange; the torque tube penetrates through the inner cavity of the motor output shaft; the torque sensor and the temperature sensor are arranged on the frameless torque motor; the integrated control unit is in signal connection with the absolute value encoder, the torque sensor and the temperature sensor, and a signal output closed loop is formed among the integrated control unit, the absolute value encoder, the torque sensor and the temperature sensor; the integrated control unit controls the multi-stage deceleration structure. The utility model discloses a robot joint can make the optimal real-time reply action according to the real-time condition, can protect robot joint to avoid great impact load.
Description
Technical Field
The utility model relates to a technical field of robot especially relates to a robot joint with twist reverse flexibility.
Background
With the development of robotics in recent years, robots have made great progress in the field of automatically driving automobiles. Similar competitions were raised upon the first nuclear disaster in fukushima in 2011. To accelerate the development of robotics in areas dealing with nature and thought disasters.
To perform complex tasks in environments that are dangerous for humans instead of humans, it is necessary to design a robot that is nearly as large in size and shape as humans, with a similar workspace. These robots are required to be both robust and flexible to work effectively in these environments, while at the same time he must have static stability rather than dynamic stability to avoid the need for complex controls. Bipedal machines, such as a typical humanoid robot, must be balanced when walking. If the terrain under the feet of the robot is uneven or moving, the humanoid robot runs the risk of tipping over and falling, which in turn becomes a problem rather than a solution.
With the increasing development of the automation industry and intelligent robots, and in order to solve the requirement of executing complex tasks in dangerous environments, the market requirements on the performance of the robot joint and the operating system thereof increasingly present the trend of high integration and high standardization, and particularly, a robot joint and a corresponding control method are required to be capable of realizing the autonomous adaptation to the complex tasks, the complex environments and the complex operating objects under the premise of precise control and high output energy, which requires that the robot joint can make optimal real-time response actions according to the real-time conditions, and the performance requirements are difficult to achieve by the prior art.
SUMMERY OF THE UTILITY MODEL
In view of the above, an object of the present invention is to provide a robot joint having torsional flexibility, especially a robot joint applicable to a robot arm or a robot leg.
In order to realize the purpose, the utility model discloses the technical scheme who takes does:
a torsionally flexible robotic joint, comprising:
the torque tube type motor comprises a motor output shaft and an output flange, and further comprises an integrated control unit, a frameless torque motor, a multi-stage speed reduction structure, an absolute value encoder and a torque tube;
the integrated control unit, the frameless torque motor, the multistage speed reduction structure and the absolute value encoder are respectively sleeved on the motor output shaft and the output flange; the torque tube penetrates through the inner cavity of the output shaft of the motor;
the frameless torque motor also comprises a torque sensor and a temperature sensor which are arranged on the frameless torque motor;
the integrated control unit is in signal connection with the absolute value encoder, the torque sensor and the temperature sensor, and a signal output closed loop is formed among the integrated control unit, the absolute value encoder, the torque sensor and the temperature sensor; the integrated control unit controls the multi-stage deceleration structure.
The above-mentioned robot joint having torsional flexibility, wherein the multi-stage deceleration structure comprises: precision harmonic reducers, friction brakes, brake pads, and torque limiting clutches.
The above-mentioned robot joint having torsional flexibility further includes: an actuator, the integrated control unit controlling the actuator.
The above-mentioned robot joint having torsional flexibility, wherein, when the integrated control unit does not receive any instruction, the brake pad maintains a locked state.
In the above robot joint with torsional flexibility, when the integrated control unit receives an operation signal from external software, the brake pad releases the locking state, and the frameless torque motor realizes the action of a corresponding signal.
When the robot joint with torsional flexibility is subjected to dynamic variable load, the integrated control unit requests signal feedback of the absolute value encoder, the torque sensor and the precise harmonic reducer in real time, acquires instantaneous speed, instantaneous acceleration, load and three-dimensional position, and controls the precise harmonic reducer, the friction brake, the brake pad and the torque limiting clutch to make corresponding coping postures.
The above-mentioned robot joint having torsional flexibility, wherein the torque tube is a flexible torque tube.
The above-mentioned robot joint having torsional flexibility, wherein the integrated control unit supports EtherCAT and CANopen communication protocols,
the robot joint with torsional flexibility is described above, wherein the integrated control unit can perform PID real-time adjustment.
The above-described torsionally flexible robotic joint, wherein the torque limiting clutch provides torque limitation by limiting slippage of the joint without damaging internal components.
The above-mentioned robot joint having torsional flexibility further includes: and the magnetic control parking brake is used for enabling the robot joint to keep the position when the robot is powered off under the static stable state.
The above-described robot joint having torsional flexibility, wherein the absolute value encoder comprises: the motor end absolute value encoder and the output end multi-turn absolute value encoder.
The utility model discloses owing to adopted above-mentioned technique, make it compare the positive effect that has with prior art and be:
(1) the utility model discloses a robot joint can make the optimal real-time reply action according to the real-time condition, can protect robot joint to avoid great impact load.
Drawings
Fig. 1 is an exploded view of a robot joint having torsional flexibility according to the present invention.
Fig. 2 is a schematic cross-sectional view of a robot joint having torsional flexibility according to the present invention.
In the drawings: 1. a frameless torque motor; 2. a multi-stage deceleration structure; 21. a precision harmonic reducer; 22. a friction brake; 24. a torque limiting clutch; 3. an absolute value encoder; 4. a torque tube.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific embodiments, but the present invention is not limited thereto.
Fig. 1 is an explosion diagram of the robot joint with torsional flexibility according to the present invention, fig. 2 is a cross-sectional diagram of the robot joint with torsional flexibility according to the present invention, please refer to fig. 1 to 2, which illustrate a robot joint with torsional flexibility according to a preferred embodiment, including: the torque tube type motor comprises a motor output shaft and an output flange, and further comprises an integrated control unit, a frameless torque motor 1, a multi-stage speed reducing structure 2, an absolute value encoder 3 and a torque tube 4; the integrated control unit, the frameless torque motor 1, the multistage speed reducing structure 2 and the absolute value encoder 3 are respectively sleeved on the motor output shaft and the output flange; the torque tube 4 penetrates through the inner cavity of the output shaft of the motor.
Further, as a preferred embodiment, the robot joint having torsional flexibility further includes: a torque sensor and a temperature sensor which are arranged on the frameless torque motor 1;
further, as a preferred embodiment, the integrated control unit is in signal connection with the absolute value encoder 3, the torque sensor and the temperature sensor, and a signal output closed loop is formed among the integrated control unit, the absolute value encoder 3, the torque sensor and the temperature sensor, so that the robot joint is adjusted in a self-adaptive manner; the integrated control unit controls the multi-stage reduction structure 2.
Further, as a preferred embodiment, the multistage deceleration structure 2 includes: a precision harmonic reducer 21, a friction brake 22, a brake pad (not shown), and a torque limiting clutch 24.
By presetting parameters in the integrated control unit, the precision harmonic reducer 21 can reduce the output rotation speed of the motor of, for example, 1000 revolutions by a desired factor.
Further, as a preferred embodiment, the torque limiting clutch 24 includes a spring reed, a compression plate, and a friction material, which are arranged in this order.
Preferably, the friction material is maintained at a static coefficient of friction of 0.6 at each temperature (200F and 600F).
Further, as a preferred embodiment, the robot joint having torsional flexibility further includes: and the integrated control unit controls the actuator.
Further, as a preferred embodiment, when the integrated control unit does not receive any command, the brake pad is kept in a locked state.
Further, as a preferred embodiment, when the integrated control unit receives an operation signal from external software, the brake pad is released from the locking state, and the frameless torque motor 1 implements an action corresponding to the signal.
Further, as a preferred embodiment, when receiving a dynamic variable load, the integrated control unit requests the absolute value encoder 3, the torque sensor, and the precision harmonic reducer 21 to perform signal feedback in real time, collects an instantaneous speed, an instantaneous acceleration, a load, and a three-dimensional position, and controls the precision harmonic reducer 21, the friction brake 22, the brake pad, and the torque limiting clutch 24 to perform corresponding responding postures.
Further, as a preferred embodiment, the above-mentioned coping gesture includes operations of deceleration, acceleration, stop, and the like.
Further, as a preferred embodiment, the integrated control unit can control one or more of the fine harmonic reducer 21, the friction brake 22, the brake pad, and the torque limiting clutch 24 to perform the above operations of deceleration, acceleration, and stop in a combination of various control manners.
For example, the integrated control unit may perform the deceleration operation by simultaneously controlling the actions of the precision harmonic reducer 21 and the friction brake 22.
As another example, the integrated control unit may effect a shutdown operation by controlling the brake pads and the torque limiting clutch 24 simultaneously.
The above description is only an example of the preferred embodiments of the present invention, and the embodiments and the protection scope of the present invention are not limited thereby.
The utility model discloses still have following embodiment on above-mentioned basis:
in a further embodiment of the present invention, please continue to refer to fig. 1 to fig. 2, the torque tube 4 is a flexible torque tube.
Some torsional flexibility is provided by the flexible torque tube. A safety mechanism in the form of a flexible torque tube over the entire length of the robot joint is provided to protect the joint from large impact loads while also simplifying the operation when performing force control.
In a further embodiment of the utility model, the integrated control unit supports the EtherCAT and CANopen communication protocols,
in a further embodiment of the present invention, the integrated control unit can perform PID real-time adjustment.
In a further embodiment of the present invention, the mechanical clutch mounted on the output flange, i.e. the torque limiting clutch described above, preferably provides torque limitation by limiting slippage of the joint rather than damaging the internal components.
The utility model discloses a further embodiment, still include: and the magnetic control parking brake is used for enabling the robot joint to keep the position when the robot is powered off under the static stable state.
In a further embodiment of the present invention, the absolute value encoder 3 includes: the motor end absolute value encoder and the output end multi-turn absolute value encoder.
In another preferred embodiment, a precise harmonic reducer is arranged at the rear end of the frameless torque motor, and a friction type brake holder, an output end multi-turn absolute value encoder, a direct current driver temperature sensor and a motor end absolute value encoder are sequentially arranged on an output shaft of the frameless torque motor.
The above description is only an example of the preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and those skilled in the art should be able to realize the equivalent alternatives and obvious variations of the present invention.
Claims (10)
1. A robot joint having torsional flexibility, comprising:
the torque tube type motor comprises a motor output shaft and an output flange, and further comprises an integrated control unit, a frameless torque motor, a multi-stage speed reduction structure, an absolute value encoder and a torque tube;
the integrated control unit, the frameless torque motor, the multistage speed reduction structure and the absolute value encoder are respectively sleeved on the motor output shaft and the output flange; the torque tube penetrates through the inner cavity of the output shaft of the motor;
the frameless torque motor also comprises a torque sensor and a temperature sensor which are arranged on the frameless torque motor;
the integrated control unit is in signal connection with the absolute value encoder, the torque sensor and the temperature sensor, and a signal output closed loop is formed among the integrated control unit, the absolute value encoder, the torque sensor and the temperature sensor; the integrated control unit controls the multi-stage deceleration structure.
2. A torsionally flexible robotic joint according to claim 1, wherein the multi-stage deceleration structure comprises: precision harmonic reducers, friction brakes, brake pads, and torque limiting clutches.
3. A torsionally flexible robotic joint according to claim 1, further comprising: an actuator, the integrated control unit controlling the actuator.
4. A torsionally flexible robotic joint according to claim 2, wherein the brake pads remain in a locked state when no command is received by the integrated control unit.
5. A torsionally flexible robotic joint according to claim 2, wherein when the integrated control unit receives an operating signal from external software, the brake pads are unlocked and the frameless torque motor effects action in response to the signal.
6. The torsionally flexible robotic joint of claim 2, wherein when subjected to a dynamically varying load, the integrated control unit requests signal feedback of the absolute value encoder, the torque sensor, the precision harmonic reducer in real time, acquires instantaneous speed, instantaneous acceleration, load, three-dimensional position, controls the precision harmonic reducer, the friction brake, the brake pad, and the torque limiting clutch to make corresponding countergestures.
7. A torsionally flexible robotic joint according to claim 1, wherein the torque tube is a flexible torque tube.
8. A torsionally flexible robotic joint according to claim 1, wherein the integrated control unit supports EtherCAT and CANopen communication protocols.
9. A torsionally flexible robotic joint according to claim 1, wherein the integrated control unit is PID adjustable in real time.
10. A torsionally flexible robotic joint according to claim 1, wherein the absolute value encoder comprises: the motor end absolute value encoder and the output end multi-turn absolute value encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020814490.XU CN212578642U (en) | 2020-05-15 | 2020-05-15 | Robot joint with torsion flexibility |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020814490.XU CN212578642U (en) | 2020-05-15 | 2020-05-15 | Robot joint with torsion flexibility |
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| CN212578642U true CN212578642U (en) | 2021-02-23 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111482984A (en) * | 2020-05-15 | 2020-08-04 | 深圳国信泰富科技有限公司 | A torsionally flexible robot joint |
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- 2020-05-15 CN CN202020814490.XU patent/CN212578642U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111482984A (en) * | 2020-05-15 | 2020-08-04 | 深圳国信泰富科技有限公司 | A torsionally flexible robot joint |
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