Joint driving device of robot

Abstract

The invention belongs to a robot, in particular to a joint driving device of a robot, comprising a pneumatic artificial muscle driving part, a direct-current servo motor driving part, a robot joint part, a robot joint corner measuring part, a first limb and a second limb. The joint driving device is characterized in that the pneumatic artificial muscle driving part is fixed on the second limb through a fixing member, the direct-current servo motor driving part is fixed on the second limb through a fastening sleeve, the robot joint part is fixed at the back end of the first limb through screws and is articulated with the front end of the second limb through a rotating shaft, the robot joint corner measuring part is fixed on the robot joint part through a supporting plate by the screws, and the fist limbs rotate around the robot joint part. The invention can carry larger load, has the advantages of smooth movement, rapid response, good flexibility and high positioning precision and most approaches the movement characteristics of muscles of human bodies; and besides, the invention can be widely applied to the fields of industries, service trades and rehabilitation treatment and daily life and is especially suitable for rehabilitation robots and simulated robots.

Description

technical field [0001] The invention belongs to robots, in particular to a robot joint drive device, that is, a robot joint drive device combined with a DC servo motor and a pneumatic artificial muscle. Background technique [0002] The limb joints of a human or a robot that simulates the functions of the human limbs, in a certain motion plane, exhibit rotational motion in positive and negative directions. At present, there are mainly two types of joint drive devices for robots: 1. Motors are used to drive gears. This kind of drive device has high positioning accuracy, good rigidity, and strong load-bearing capacity, but the power / weight ratio of the motor is small, the output torque is small, and it is fast. It is easy to cause a large impact when stopping and moving quickly, and the smoothness of the movement is poor; 2. It is driven by pneumatic artificial muscles and driven by stretching steel cables. This kind of driving device has good flexibility, large power / weight r...

AI Technical Summary

Problems solved by technology

At present, there are mainly two types of joint drive devices for robots: 1. Motors are used to drive gears. This kind of drive device has high positioning accuracy, good rigidity, and strong load-bearing capacity, but the power/weight ratio of the motor is small, the output torque is small, and it is fast. It is easy to cause a large impact when stopping and moving quickly, and the smoothness of the movement is poor; 2. It is driven by pneumatic artificial muscles and driven by stretching steel cables. This kind of driving device has good flexibility, large power/weight ratio, smooth movement, and fast response. It is also the closest to the movement characteristics of human muscles, but pneumatic artificial muscles are a typical one-way flexible drive device, and their scaling motion is greatly affected by changes in external loads.

[0003] Due to the small power/weight ratio and small output torque

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