Robot Joint Device

Robot Joint Device

This technology is a joint structure that implements 6-degree-of-freedom motion between a first base and a second base based on a parallel mechanism, and calculates rotation angles and torque through a sensor unit that includes a rotation angle measurement component and an elastic component disposed on the rotation axis.

Conventional torque measurement methods require separate torque sensors, which complicates the device structure, increases manufacturing costs, and reduces the overall price competitiveness of the robot due to the use of expensive components.

This technology simplifies the structure by coaxially arranging a torsion spring (elastic component) and a rotation angle measurement component on the link rotation axis. By calculating the measured rotation angle and a predefined elastic coefficient in the control unit, it precisely measures joint torque without the need for a separate torque sensor. It can be applied to robot gripping, precision measurement, and automation equipment, providing a compact and cost-effective robot knuckle device for measuring rotation angles, linear displacement, and power or torque, thereby improving the accuracy and cost-efficiency of robot systems.

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Key Features:

• A robot joint device, wherein a plurality of sensor units each comprise a rotation angle measurement component for measuring the rotation angle of a rotor with respect to a rotation axis, and an elastic component for providing elastic force to a connecting member with respect to the rotation axis.
• A plurality of connecting members connecting the first base and the second base to enable 6-degree-of-freedom rotational movement of the second base relative to the first base
• A plurality of sensor units connected to each of the plurality of connecting members to measure the rotation angle of the rotor with respect to the rotation axis and the torque acting on the rotation axis
• A second base disposed spaced apart from the first base