Passive robot joint with adjustable rigidity elasticity

A technology of robot joints and stiffness, which is applied in the direction of manipulators, manufacturing tools, joints, etc., can solve the problems of energy loss and time-consuming, and achieve the effect of improving energy efficiency of motion and realizing dynamic high-speed motion

Inactive Publication Date: 2011-12-21
NORTH CHINA UNIVERSITY OF TECHNOLOGY
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the process of studying the walking process of passive dynamic walking robots, it is a very difficult problem to adjust only by adjusting the parameters of the robot itself. The adjustment process is not only time-consuming, but also requires a lot of experiments
In addition, passive dynamic walking robots will inevitably collide with the ground during walking, and the rapid changes in the velocity of the center of mass of the robot's feet during this process will lose considerable energy

Method used

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  • Passive robot joint with adjustable rigidity elasticity
  • Passive robot joint with adjustable rigidity elasticity
  • Passive robot joint with adjustable rigidity elasticity

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Embodiment Construction

[0023] The passive robot joint with adjustable stiffness and elasticity of the present invention, its preferred specific implementation is as follows figure 1 , Figure 2a , Figure 2b As shown, the passive robot joints are respectively connected with the calf support base 5 and the thigh support base 1, the passive robot joints include a spring drum 3, and the joint stiffness elastic adjustment device is installed inside the spring drum 3, and the spring drum 3 3 is connected with the thigh support seat 1, and the protruding end of the joint stiffness elastic adjustment device is connected with the calf support plate 7, and the joint stiffness elastic adjustment device includes a planar non-contact scroll spring 20, the planar The inner end of the non-contact scroll spring 20 is connected to the spring reel 16, and the outer end is connected to the spring reel 3. The middle of the planar non-contact scroll spring pitch is supported by a support rod 17, and the support rod is...

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Abstract

The invention discloses a passive robot joint with adjustable rigidity elasticity, comprising a spring reel and a joint rigidity elasticity adjustment device arranged inside the spring reel, wherein the spring reel is connected with thigh support seats; an extended end of the joint rigidity elasticity adjustment device is connected with crus support seats by crus support plates; the joint rigidity elasticity adjustment device comprises a non-contact plane volute spring of which the inner end is connected with a spring scroll and the outer end is connected with the spring reel; the middle of the spring scroll is hollow and is internally provided with a rigidity adjustment motor; one end of the spring scroll is connected with the rigidity adjustment motor; and the middle of the non-contact plane volute spring pitch is supported by a bracing piece which is connected with a rigidity adjustment reducer by a transmission gear. The bracing piece and the transmission gear perform radial motion, thus improving motion energy efficiency of the robot, realizing dynamically high-speed motion, and having good performance, compact structure and reliable operation.

Description

technical field [0001] The invention relates to a robot joint, in particular to a passive robot joint with adjustable stiffness and elasticity. Background technique [0002] Inspired by the way of jumping and walking animals in nature, the study of passive dynamic walking robots is promoted. Passive dynamic walking robot is a legged robot similar to human walking. The legs of the legged robot have multiple degrees of freedom, flexible movement and high stability. Its trajectory is a series of discrete footprints, which can reach wheeled and tracked robots Where robots can't go. In the process of studying the walking process of passive dynamic walking robots, it is a very difficult problem to adjust only by adjusting the parameters of the robot itself. The adjustment process is not only time-consuming, but also requires a lot of experiments. In addition, the passive dynamic walking robot will inevitably collide with the ground during walking, and the rapid change of the cen...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00
Inventor 何广平李士明
Owner NORTH CHINA UNIVERSITY OF TECHNOLOGY
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