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Variable stiffness shaft coupling and variable stiffness driving mechanism

A driving mechanism and variable stiffness technology, applied in the direction of couplings, sliding couplings, elastic couplings, etc., can solve the problems of large space occupation, complex VSA structure, small adjustable range of transmission stiffness, etc., and achieve simple Structure, the effect of extending the adjustment range

Active Publication Date: 2015-08-26
LENOVO (BEIJING) CO LTD
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  • Abstract
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Problems solved by technology

[0009] However, the VSA in the prior art has a complex structure, takes up a lot of space and has a small adjustable range of transmission stiffness

Method used

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Embodiment Construction

[0023] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0024] In the description of the present invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", The orientation or positional relationship indicated by "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying th...

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Abstract

The invention discloses a variable stiffness shaft coupling and a variable stiffness driving mechanism, relates to the field of compliance control of robots and aims to simplify the structure of a VSA (variable stiffness actuator) and increase the adjustable range of transmission stiffness. The variable stiffness shaft coupling comprises a first half coupling and a second half coupling, wherein torque is transmitted between the first half coupling and the second half coupling through elastic reeds, the first half coupling and the second half coupling are supported through an elastic support body, one end of each elastic reed is fixedly connected with the first half coupling, the other end of the elastic reed is glidingly connected with the second half coupling, and the first half coupling can drive the elastic reeds to axially slide relative to the second half coupling. The variable stiffness shaft coupling and the variable stiffness driving mechanism can be used for joint design of a service robot.

Description

technical field [0001] The invention relates to the field of robot compliance control, in particular to a variable stiffness coupling and a variable stiffness driving mechanism. Background technique [0002] Variable Stiffness Actuator (VSA: Variable Stiffness Actuator) is an important subject of robot compliance control. It is mainly used for joint design of service machines and driving and sensing of electromechanical devices for human-machine safety interaction. In recent years, the European Union, the United States, and Japan have been actively developing various VSAs. [0003] The currently realized variable stiffness actuators mainly include the following methods: [0004] 1. An antagonistic VSA that adjusts the tension of two nonlinear springs through a pair of motors; [0005] 2. The VSA realized by compressing the nonlinear spring of the cam mechanism to change the rigidity of the drive connection; [0006] 3. The VSA can be realized by adjusting the tension of t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): F16D3/56F16D7/00
Inventor 宁柯军
Owner LENOVO (BEIJING) CO LTD
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