A flexible joint for articulated robots

Abstract

The invention discloses a flexible joint for a joint robot. The flexible joint is characterized by comprising a motor, a joint connecting plate, a motor frame, a coupling, a bevel gear commutator, a first connecting plate, a connecting frame, a flexible output end, a second connecting plate, a support plate, a joint mounting plate and a support end, wherein the joint connecting plate and the joint mounting plate are fixedly connected through the support plate; the motor is fixedly connected with the motor frame through bolts; the motor frame is fixedly connected with the joint mounting plate through bolts; the motor is connected with the bevel gear commutator through the coupling; one end of the output shaft of the bevel gear commutator is connected with the flexible output end through a flexible output end sleeve and a second support bearing sequentially from inside to outside; the other end of the output shaft of the bevel gear commutator is connected with the support end through a support end sleeve and a first support bearing sequentially from inside to outside; the support end is connected with the first connecting plate.

Description

technical field [0001] The invention relates to robot technology, in particular to a flexible joint for an articulated robot. Background technique [0002] With its discrete contact characteristics during walking, quadruped robots have shown strong adaptability in exploring and working in complex environments, especially in passages with obstacles (such as pipes, steps, stairs, slopes). Or inaccessible workplaces have broader prospects for development. At present, the research on quadruped robots is mostly in the experimental stage, especially the reliability, stability, speed and flexibility of the robot in the process of walking still have many problems. During the actual walking process of the quadruped robot, a huge momentum will be generated when the foot hits the ground. This momentum is transmitted from the foot to the joints and the body of the robot through the legs, so that the joints and the body of the robot will vibrate violently. Reduce the sensing accuracy, ...

AI Technical Summary

Problems solved by technology

During the actual walking process of the quadruped robot, a huge momentum will be generated when the foot hits the ground. This momentum is transmitted from the foot to the joints and the body of the robot through the legs, so that the joints and the body of the robot will vibrate violently. Reduce the sensing accuracy, damage some sensitive parts, and affect the stability of the robot movement

Although this structure solves the problem of robot flexibility, it can only produce linear motion, which is not conducive to application on quadruped robots; and the structure is large, which is not conducive to the practical application and miniaturization of robots

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