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一种用于机器人关节的串联弹性驱动器
Alternative TitleA series connection elastic drive ware for robot joint
韩建达; 赵新刚; 赵忆文; 林光模
Department机器人学研究室
Rights Holder中国科学院沈阳自动化研究所
Patent Agent沈阳科苑专利商标代理有限公司 21002
Country中国
Subtype实用新型
Status有权
Abstract本实用新型涉及一种用于机器人关节的串联弹性驱动器,包括电机控制器连接旋转编码器,电机控制器连接直流电机;电机控制器连接实时计算机控制系统;数据采集系统的输出端连接实时计算机控制系统,输入端连接模拟多路选择器;旋转编码器、直流电机和减速箱依次连接;换向器的输入端连接减速箱,输出端的输出轴线上设置由依次固定连接的弹性元件、弹簧连杆转接件和机器人关节连杆组成的传动机构;第一绝对角度传感器同轴设置于弹性元件上;第二绝对角度传感器设置于所述机器人关节连杆。本实用新型可应用于需要与人或环境产生直接物理接触的机器人的关节驱动,可以保证人与环境以及机器人自身的安全性和人机接触时的舒适性。
Other AbstractThe utility model relates to a series connection elastic drive ware for robot joint, including machine controller connection rotary encoder, machine controller connects direct current motor, machine controller connects real -time computer control system, real -time computer control system is connected to data acquisition system's output, and the simulation multiple selector is connected to the input, rotary encoder, direct current motor and reducing gear box connect gradually, the reducing gear box is connected to the input of commutator, sets up on the output shaft line of output by fixed connection's elastic element, spring link adaptor and robot joint connecting rod composition's drive mechanism in proper order, the coaxial setting on elastic element of first absolute angle sensor, the absolute angle sensor of second set up in the robot joint connecting rod. The utility model discloses can be applied to the joint drive who needs to produce direct physical contact's robot with people or environment, can the guarantor travelling comfort during with the security of environment and robot self and man -machine contact.
PCT Attributes
Application Date2015-11-10
2016-03-23
Date Available2016-03-23
Application NumberCN201520894992.7
Open (Notice) NumberCN205097207U
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/17749
Collection机器人学研究室
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
韩建达,赵新刚,赵忆文,等. 一种用于机器人关节的串联弹性驱动器[P]. 2016-03-23.
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