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Flexible drive unit for robot joints with tension and joint position feedback

A technology of robot joints and drive units, which is applied in the direction of manipulators, manufacturing tools, joints, etc., can solve the problems of no stepless two-way locking and safety protection of moving pulley blocks, and the inability to realize tension feedback and full closed-loop control of joints. Excellent performance, simplified joint mechanism, and convenient use

Active Publication Date: 2016-02-24
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problems that the existing flexible drive device for robot joints driven by steel wire ropes cannot realize tension feedback and full-closed-loop control of joints, and there is no stepless bidirectional locking and safety protection of movable pulley blocks, it further provides a flexible driving device with tension and joint positions. Feedback flexible drive unit for robot joints

Method used

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  • Flexible drive unit for robot joints with tension and joint position feedback
  • Flexible drive unit for robot joints with tension and joint position feedback
  • Flexible drive unit for robot joints with tension and joint position feedback

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specific Embodiment approach 1

[0018] Specific implementation mode one: combine Figure 1-Figure 8 Explain that the flexible drive unit for robot joints with tension and joint position feedback in this embodiment includes a drive unit frame, a drive device, a transmission device, and an output device 1; the drive unit frame includes a base 8 and an output device fixing plate 9 and drive unit fixed plate 13;

[0019]The drive unit also includes a motor code disc 2, a joint encoder 19, two tension sensors 20 and two limit switches 21;

[0020] The driving device is composed of a servo motor 10, a reducer 12 and an output bushing 14;

[0021] The transmission device consists of a bottom wire rope two-way locking device 15, two sets of bottom guide fixed pulley devices 7, two side guide fixed pulley devices 16, two movable pulley devices, four cylindrical guide rails for four movable pulley blocks, and a first pulley for the output device. The traction wire rope 3-1, the output device are made of the second t...

specific Embodiment approach 2

[0032] Specific implementation mode two: combination figure 1 and Figure 6 To illustrate, the speed reducer 12 in this embodiment is a planetary speed reducer. In this way, the planetary reducer has the advantages of light weight, high load capacity, large output torque, large speed ratio, long service life and safe and reliable performance, and is suitable for applications such as the hip joint of biped robots. Others are the same as in the first embodiment.

specific Embodiment approach 3

[0033] Specific implementation mode three: combination figure 1 Note that the axis of the servo motor 10 of the driving device of this embodiment is perpendicular to the axis of the output sheave support shaft 1 - 5 of the output device 1 . With such arrangement, the servo motor 10 can make full use of the space between the two movable pulley devices, ensuring that the unit has a compact structure and a smaller volume. Others are the same as in the first or second embodiment.

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Abstract

The invention relates to a flexible robot joint drive unit with a tension and joint position feedback function, so as to solve the problems that a flexible drive mechanism for existing wire rope driven robot joints cannot realize tension feedback, fully-closed joint control, stepless bidirectional locking and movable pulley set safety protection. The flexible robot joint drive unit comprises a drive unit rack, a driving device, a transmission device, an output device, a motor coded disc, a joint encoder, two tension sensors and two limit switches, and the transmission device is composed of a bottom wire rope bidirectional locking device, two sets of bottom guide fixed pulley devices, two lateral guide fixed pulley devices, two fixed pulley devices, two movable pulley devices, four movable pulley set cylindrical guides, a first traction wire rope for the output device, a second traction wire rope for the second traction wire rope, a first fixed pulley traction wire rope and a second fixed pulley traction wire rope. The flexible robot joint drive unit is used for driving robot joints.

Description

technical field [0001] The invention relates to a flexible drive unit for robot joints, in particular to a flexible drive unit for robot joints with tension and joint position feedback functions, and belongs to the field of robot applications. Background technique [0002] Biped walking robots are mostly driven by rigid transmission. When the robot walks, it will generate a large landing impact, while flexible drive can absorb vibration and reduce impact. The flexible driving methods are pneumatic, hydraulic, rigid body flexible connection, and wire rope traction. After literature search, the Chinese utility model patent with the announcement number CN202862215U provides a flexible pneumatic actuator, which includes an air supply pipe, a flexible driving body, a connector, an axial limiting module, and a radial limiting module. By assembling the axial limiting module or Radial limit module, the flexible pneumatic actuator can realize radial drive or axial drive. The utilit...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/02B25J13/00
Inventor 吴伟国侯月阳
Owner HARBIN INST OF TECH
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