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一种具有力感知功能的协作机器人关节
Authors
凌烈
刘爱华
+9 more
姜勇
孔繁旭
孙鹏
宋屹峰
景凤仁
潘新安
王洪光
田勇
胡明伟
Publication date
18 June 2019
Publisher
Abstract
本发明属于机器人技术领域,特别涉及一种具有力感知功能的协作机器人关节。包括输出法兰、力矩传感器、谐波减速器、无框直驱力矩电机、输入法兰及穿线管,其中谐波减速器和无框直驱力矩电机容置于由输出法兰和输入法兰形成的腔体内,输出法兰和输入法兰可相对转动,谐波减速器和无框直驱力矩电机均套设于穿线管上,无框直驱力矩电机的输出端通过谐波减速器与穿线管连接,穿线管通过力矩传感器与输出法兰连接。本发明具有力感知功能,由其组成的协作机器人能够在半结构环境下与人协同作业,该协作机器人关节具有高精度力感知功能、结构紧凑、刚度高、可扩展性好的优点
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Last time updated on 16/09/2020