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Drive control integration intelligent integrated joint

A technology of drive control and joints, which is applied in the field of robotics, can solve the problems of low integration, low load to weight ratio, and large joint volume, and achieve the effects of high integration, simple wiring, and simplified transmission lines

Active Publication Date: 2016-04-27
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] Aiming at the defects of the prior art, the present invention proposes an intelligent integrated joint, which solves the problems of separation of joint drive and control, large joint volume, heavy weight, low degree of integration and low load-to-weight ratio in traditional robots.

Method used

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Embodiment Construction

[0019] In order to make the objectives, technical solutions and advantages of the present invention clearer, the present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments.

[0020] The drive-control-integrated intelligent integrated joint according to the present invention can be used as a joint component in industrial robots and industrial manipulators in a narrow sense, or in a generalized robot, that is, a machine device that automatically performs work.

[0021] Reference figure 1 In the first embodiment, the housing part of the drive control integrated intelligent integrated joint according to the present invention is composed of the joint output member 1 and the joint housing 4, and the joint output member 1 can rotate relative to the joint housing 4. The joint housing 4 is a cylindrical hollow tubular structure, and its outer diameter is basically the same as that of the joint output member 1. Inside the joint h...

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Abstract

The invention discloses a driving and control integrated type intelligent integration joint, which comprises a joint output member, a harmonic speed reducer, a bearing seat, a joint outer casing, a motor body, a brake mechanism, a motor encoder, an integrated circuit module and a joint encoder. The driving and control integrated type intelligent integration joint has the advantages that the integration degree is high, the motor, the driver, the speed reducer and the sensor module needed by a robot joint part are integrated into the joint, and the size of the robot joint part is more compact at the premise of no overheat of the integration joint; an acceleration sensor is integrated into the integration joint, so the external impact force on the integration joint can be detected, and the advanced technique cannot be realized by the traditional industrial robot; an accurate current detector is integrated into the integration joint, and a controller algorithm is matched to realize the intelligent teaching demonstration function, and improve the human-machine interaction function.

Description

Technical field [0001] The invention relates to an intelligent integrated joint, in particular to a drive control integrated intelligent integrated joint, and belongs to the technical field of robots. Background technique [0002] Robots are important intelligent automation equipment, among which industrial robots are currently widely used in equipment manufacturing, automobile industry, etc. This type of robot is characterized by heavy body size, high power and strong load capacity, but its operation is complicated, bulky and dangerous, and its application in the fields of medical and family services has limitations. Traditional industrial robot joint actuators all use discrete motors and drivers. The motors are installed in the joints, and the drivers are fixed in the control cabinet. The two are connected by cables, resulting in cumbersome electrical circuits of traditional industrial robots, complex maintenance and unknown safety There are many hidden dangers, so lightweight...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00
Inventor 楼云江陆春雨陈光增
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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