Stiffness-adjustable flexible joint actuator mechanism

A flexible joint and driver technology, applied in the field of robotics, can solve the problems of difficult to achieve linear control, inability to achieve stiffness characteristics, complex overall structure, etc., and achieve the effect of compact structure, low friction resistance, and linearly controllable changes in joint stiffness.

Active Publication Date: 2015-10-21
ZHEJIANG UNIV
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  • Abstract
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  • Application Information

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Problems solved by technology

However, friction parts are consumables that need to be replaced regularly, and cannot achieve linearly adjustable stiffness characteristics; some joints are controlled by pneumatics, such as Chinese patent CN87107075A, "a flexible cylinder and bending and torsion joints", which are driven by pneumatics. The structure is relatively complex, it is difficult to achieve linear control, and it is difficult to adjust the flexibility

Method used

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  • Stiffness-adjustable flexible joint actuator mechanism
  • Stiffness-adjustable flexible joint actuator mechanism
  • Stiffness-adjustable flexible joint actuator mechanism

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Embodiment Construction

[0033] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0034] Such as Figure 1-Figure 2 As shown, a flexible joint driver mechanism with adjustable stiffness in the present invention includes: a drive end encoder 1, a drive end encoder flange 2, a drive end motor shaft 3, a drive end motor flange 4, a drive end motor 5, Drive end harmonic 6, drive end harmonic flange 7, drive end harmonic output shaft 8, front encoder seat 9, spring shaft 10, fastening pin 11, front encoder 12, front cam plate 13, front bearing 14 , base flange 15, front cam plate flange 16, rear encoder seat 17, middle turntable 18, rear encoder 19, runner 20, rear cam plate flange 21, flexible joint shell 22, adjustment end harmonics 23, Rear bearing 24, adjusting end motor flange 25, rear cam plate 26, adjusting end motor shaft 27, adjusting end harmonic output flange 28, adjusting end encoder flange 29, adjusting end motor 30, adjusti...

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Abstract

The invention discloses a stiffness-adjustable flexible joint actuator mechanism. The actuator mechanism is divided into an actuation end, an adjustment end and a flexible joint. The actuation end provides power for movement of the flexible joint, the adjustment end is responsible for changing stiffness of the flexible joint, and the flexible joint has the functions of relieving impact and adjusting stiffness. The actuator mechanism is additionally provided with a drive motor, and the joint can be actively driven to move. By the adoption of a variable-stiffness system in a curved bevel and rotary wheel matching structure, friction resistance is little and transmission is precise. Four absolute type encoders are installed, effective detection is achieved in the work process, sensitivity is high, and the fault rate is low. A shell is fully closed, the structure is compact, and the actuator mechanism can work in the severe environment. Changes of joint stiffness are linearly controllable from great flexibility to complete stiffness.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to the design of a humanoid robot joint mechanism capable of actively adjusting stiffness. Background technique [0002] In recent years, with the development of industrial technology, intelligent robots have more contact with people in the fields of industry, medical treatment and service. Traditional robots use rigid joints with motor-reducer-load linear transmission. Rigid joints have the advantages of simple structure, compact size, and precise positioning, which can meet the requirements of industrial production. However, rigid joints cannot respond passively to the external environment in a timely manner, which makes robots equipped with rigid joints poorly compatible with the environment, low energy efficiency and high energy consumption, which are problems that need to be overcome in the development of robots. Compared with rigid joints, flexible joints are much friendlier ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/02B25J13/08
Inventor 朱秋国赵逸栋熊蓉
Owner ZHEJIANG UNIV
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