Safety type rigidity variable mechanical joint

Abstract

The invention relates to a safe rigidity changeable mechanical joint, which comprises generator, generator output shaft, mechanical arm, generator connecting shaft, fixed base and several restraining cylinders for rigidity changing. The output shaft of the generator connects tightly with the mechanical arm. The cross section of the generator linking shaft is a regular polygon prism with one end tightly connected with the generator, and the side inserted into the fixed base. The fixed base is a hollow cylinder structure, connecting with several restraining cylinders along the circumference directions in same angles. It realizes the tightening and support of the generator linking shaft through the restraint cylinders. It reduces the loading and consumption of the mechanical arm, improving the safety of outside operation, with higher precision.

Description

technical field [0001] The invention relates to a device in the technical field of robots, in particular to a safe variable stiffness mechanical joint that can be widely used in mechanical arms. Background technique [0002] In occasions that require large-scale equipment for fine operation, such as using a robotic arm for external inspection, etc., the robotic arm is several meters long, which requires the arm itself to have high rigidity, and at the same time avoid the high rigidity of the robotic arm. The outer wall of the detected pipeline collides and causes pipeline damage. The usual method is to realize it through the servo control of the motor. This method is less effective for systems with lagging response, and once the sensor fails, this sensor-based servo control method will fail. Therefore, there are certain potential safety hazards. If the method of installing elastic buffer devices on the joints to absorb the impact force can avoid a certain degree of damage...

AI Technical Summary

Problems solved by technology

Due to the use of a pressure accumulator, this method has a large volume, and at the same time, due to reasons such as hydraulic oil, the additional weight is seriously increased, so it is only suitable for occasions that do not have strict requirements on volume and weight. The contact stiffness reduces the effective working force of the end effector. Because the hydraulic oil is used as the buffer medium, the nonlinear and hysteresis factors of the system are increased, and the control accuracy is difficult to guarantee. Therefore, this method is not suitable for fine work. Occasions, it can only be applied in the working environment that only needs simple buffer

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