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Robot joint actuator with soft feature

A robot joint and driver technology, applied in the field of service robots, can solve problems such as the inability to meet robot requirements, and achieve the effects of easy processing, energy saving, and protection of human-machine safety.

Inactive Publication Date: 2013-05-22
HANGZHOU DIANZI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

But also due to some limitations of the pneumatic muscle itself, it cannot meet the increasing requirements for robots

Method used

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  • Robot joint actuator with soft feature
  • Robot joint actuator with soft feature
  • Robot joint actuator with soft feature

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0019] Further illustrate the present invention below in conjunction with accompanying drawing.

[0020] Such as figure 1 , figure 2 with image 3 As shown, the present invention includes a harmonic reduction motor 1, an input turntable 2, a screw 3, a flexible part 4, an output shaft 5, a crossed roller bearing 6, an outer shell 7, and a screw 8; The end face of the geared motor 1 is positioned and fixed with screws 3 and through holes 9, see Fig. 4(a) and Fig. 4(b); The sides of the three evenly distributed fan-shaped bosses 10 are close to each other, and ensure that the threading hole 12 and the base ring 13 are coaxial, see Figure 5 (a) and Figure 5 (b), to position and install the flexible part 4; use auxiliary The mounting part 19 squeezes the thin-walled ring 14 to cause a radial displacement of several millimeters, so that the fan-shaped boss 15 on the output shaft 5 is pressed into the positioned flexible part 4 between the thin-walled rings 14, see Figure 8 (a) ...

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Abstract

The invention discloses a robot joint actuator with a soft feature. The robot joint actuator with the soft feature comprises a harmonic gear motor, an input turntable, a soft part, an output turntable, a crossed roller bearing and an outer shell body. The input turntable is connected with the harmonic gear motor through first bolts, the soft part is located and installed through a fan-shaped boss on the relative end face of the input turntable and the output turntable, the outer shell body is connected with the end face of a motor through second bolts, and a threaded hole is formed in the end face of an output rotating shaft to be used for being connected with a joint output piece. The robot joint actuator with the soft feature has the advantages of being simple and compact in structure and design, easy to process, beneficial for improving an energy storage feature of a robot and capable of improving safety of human-computer interaction.

Description

technical field [0001] The invention belongs to the technical field of service robots and relates to a robot joint driver with compliance characteristics. Background technique [0002] Robot technology involves many disciplines and fields such as machinery, electronics, communications, computers, automation, sensors and bionics, and is a synthesis of advanced technologies in various fields. Traditional robots are mainly used in the field of industrial robots, and their working environment is relatively fixed, and they do not need to work collaboratively with humans. Therefore, the robot used in these occasions is designed to be bulky and rigid. It is a high-bandwidth fast response system to ensure that the robot has high position accuracy and realizes precise tracking of the running trajectory, and can efficiently realize repeatability. Work. [0003] With the continuous development of robot technology, robots have not only existed in traditional industrial fields. In rec...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00F16F15/10
Inventor 周建军张亚平王瑶炜林阿斌
Owner HANGZHOU DIANZI UNIV
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