Variable-stiffness driving and controlling integrated robot rotary joint module
A rotary joint and variable stiffness technology, applied in the field of robotics, can solve the problems of inability to achieve torque control full closed-loop feedback, not very beautiful appearance, and insufficiently compact joint structure, so as to improve joint transmission accuracy and torque output accuracy, and improve safety. sexual effect
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[0031] Please refer to Figure 1 to Figure 4 , a variable stiffness drive control integrated robot rotary joint module, including a joint housing 100, a joint output turntable 200, a drive controller 300, a transmission mechanism, a torque sensor 400, a variable stiffness module 500, a first encoder and a second encoder device;
[0032] The transmission mechanism includes a frameless motor, a transmission shaft 20 and a harmonic reducer 30. The frameless motor includes a stator 11 and a rotor 12. The stator 11 of the frameless motor is fixed in the joint housing 100, and the transmission shaft 20 and the rotor of the frameless motor 12 Cooperate connection, one end of the transmission shaft 20 is connected to the wave generator of the harmonic reducer 30, the steel wheel of the harmonic reducer 30 is fixedly connected to one end of the variable stiffness module 500, and the other end of the variable stiffness module 500 is connected to the joint through the torque sensor 400 ...
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