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A shock-resistant bionic series elastic joint of a humanoid robot

A technology of humanoid robot and serial elasticity, which is applied in the field of humanoid robot, can solve the problems of torsion spring deformation limitation, excessive range of motion of series drive, etc., and achieve the effect of increasing the rotation range

Active Publication Date: 2017-07-21
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] The purpose of the present invention is to apply the bionic series elastic joint to the protection of the elbow joint when the robot falls, and solve the problem that the traditional series driver is too large and the range of motion is limited by the deformation of the torsion spring

Method used

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  • A shock-resistant bionic series elastic joint of a humanoid robot
  • A shock-resistant bionic series elastic joint of a humanoid robot

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Experimental program
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Effect test

Embodiment Construction

[0027] The invention is an impact-resistant series elastic driver applied to a robot arm.

[0028] An impact-resistant bionic series elastic joint of a humanoid robot, which includes a large arm exoskeleton 3, a small arm 14, and a bearing 9; the large arm exoskeleton 3 and the small arm 14 are rotatably connected through the bearing 9; It is characterized in that: the bionic series elastic joint also has a series elastic driver, and the two ends of the series elastic driver are respectively connected to the outer frame 3 of the big arm and the small arm 14 .

[0029] The series elastic driver further includes a servo motor assembly, a transmission mechanism, and a piston assembly.

[0030] The servo motor assembly further includes a servo motor 2, an encoder 1 at the end of the servo motor 2, and an output shaft of the servo motor. The servo motor 2 is used as a power source, and the end of the servo motor 2 is connected to the encoder 1, and is fixedly connected to the oute...

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Abstract

The invention provides an impact-resistant bionic series elastic joint of a humanoid robot. The impact-resistant bionic series elastic joint comprises a large-arm outer framework, a small arm, a bearing and a series elastic driver. The large-arm outer framework is connected with the small arm in a rotary mode through the bearing. The two ends of the series elastic driver are connected to the large-arm outer framework and the small arm respectively. Space is better used, and meanwhile the arm movement range is expanded. The series elastic driver further comprises a servo motor assembly, a transmission mechanism and a piston assembly. The piston assembly compresses an internal spring to store elastic potential energy, the action time is prolonged, the damage caused by peak-value impacting force is reduced, and the bionic series elastic joint is protected.

Description

technical field [0001] The invention relates to a humanoid robot, in particular to an impact-resistant bionic series elastic joint of the humanoid robot. Background technique [0002] Humanoid robots are the closest robots to humans. Compared with other robots, humanoid robots are more friendly in appearance, and can easily use various tools designed for human inventions, making it easier to adapt to human life. surroundings. [0003] With the development of science and technology, people's demand for intelligent robots is increasing day by day. Robots are used in space experiments, environmental exploration, emergency and disaster relief, medical operations, and family services. To serve humans, robots must adapt to the complexity and unpredictability of the human living environment. Only robots that can work normally and safely in complex and changeable environments can perform tasks well. [0004] In order for humanoid robots to be used in various industries, it is ne...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 张伟民刘华欣佘浩田黄强余张国陈学超陈晓鹏
Owner BEIJING INSTITUTE OF TECHNOLOGYGY