Complete-modularized flexible joint based on high-speed serial communication

Abstract

The invention belongs to the technical field of robot modularized joints, and discloses a complete-modularized flexible joint based on high-speed serial communication. The complete-modularized flexible joint comprises a brushless direct-current servo motor, a hollowed brake, a hollowed harmonic speed reducer, a disc brake, a hollowed encoder, a hollowed torque sensor, a hollowed input / output shaftand a cable protection hollow shaft; and a PCB integrating a power supply, driving and control is designed in the joint to realize independent power supply, motor driving and real-time control of thejoint and to achieve complete modularization. The whole joint is reasonable in internal structure layout and wire arrangement, low in mass, high in performance, excellent in interchangeability, suitable for robot assembly according to specific demands, quick in communication with the internal and the external and suitable for mating with human-computer cooperation mechanical arms and joints of other intelligent robots.

Description

technical field [0001] The invention belongs to the technical field of modular joints, in particular to a fully modular flexible joint based on high-speed serial communication. Background technique [0002] At present, the closest existing technology: Since Germany proposed the era of Industry 4.0 in 2013, the development of industrial robotic arms has advanced by leaps and bounds. Major universities, research institutes and technology companies at home and abroad have continuously developed and updated robotic arms. Many manufacturing companies have adopted industrial robotic arms instead of humans to complete some operations in harsh environments, and the development of industrial robotic arms has reached a relatively mature stage. With the advancement of society, the innovation of science and technology and the improvement of human needs, traditional industrial manufacturing robots cannot meet the short cycle of some small and medium-sized enterprises and emerging markets...

AI Technical Summary

Problems solved by technology

[0003] To sum up, the problem existing in the existing technology is: the integration degree in the joint is not high enough, a complete power supply system and drive control system other than the basic mechanical system should be integrated in a joint, and the complete integration has not been achieved. Small, dexterous and safe robotic arm joints, so that the joints cannot be freely assembled according to needs to complete the work

[0004] The data acquisition system in the joint is not perfect, and the processing speed of the collected information is not fast enough, so the control communication system of the joint needs to improve the data collection and processing speed

The above problems will further lead to insufficient joint integration, insufficient internal data acquisition system, insufficient transmission speed of the collected position, speed and torque information, and how to combine with drive control, the control communication board occupies a large space

The control communication system integrated in the joint is usually integrated on several PCB boards, occupying a large space, which is not conducive to the integration and layout of the integrated joint

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