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Machine safety variable-rigidity elastic joint and rigidity adjustment method

An elastic joint and variable stiffness technology, applied in the field of robotics, can solve the problems of poor variable stiffness characteristics, large energy consumption, and low safety, and achieve the effects of stiffness adjustment, fast response speed, and low reliability

Active Publication Date: 2015-12-23
SICHUAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] Aiming at the disadvantages of the above-mentioned existing elastic joints of variable stiffness robots, such as relatively complicated structure, poor variable stiffness characteristics, complex control, large energy consumption, and low safety, the present invention aims to propose a mechanically safe variable stiffness elastic joint

Method used

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  • Machine safety variable-rigidity elastic joint and rigidity adjustment method
  • Machine safety variable-rigidity elastic joint and rigidity adjustment method
  • Machine safety variable-rigidity elastic joint and rigidity adjustment method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0045] A mechanical safety variable stiffness elastic joint, specifically comprising: a first joint output shaft 1, a second joint output shaft 3, a linear motor 4, a spring 5, and a push plate 6; it is characterized in that: the first joint output shaft 1 The inner surface is provided with a motor mounting seat, and the linear motor 4 is fixed on the motor mounting seat; the moving part of the linear motor 4 is connected with the spring 5; the other end of the spring 5 is connected with the push plate 6; the second The joint output shaft 3 is a cam shaft, and forms a cam transmission with the push plate 6; the second joint output shaft 3 forms a rotary pair connection with the first joint output shaft 1 .

[0046] A mechanical safety variable stiffness elastic joint of this example. The working principle of realizing the variable stiffness is as follows: the first joint output shaft 1 is connected to the output end of the harmonic or reducer, the second joint output shaft 3 i...

Embodiment 2

[0049] Such as Figure 8 As shown, in the field of bionic robots, the variable stiffness robot elastic joints of this example are installed at the leg joints of the hexapod bionic robot, and the input end 10 of the bionic robot leg is fixedly connected with the first joint output shaft 1 of the elastic joint, and the second The joint output shaft 3 is fixedly connected with the output end 11 of the leg of the bionic robot. In the application process, the stiffness characteristics of the elastic joint are set in advance according to the working condition information. During the walking process of the bionic robot, when the motor drives the input end 10 of the leg of the bionic robot to rotate, the external load will affect the output end 11 of the leg of the bionic robot. When the impact occurs, the elastic joint in this example will produce a buffering effect through the elastic action of the spring 5, so that there is an elastic action between the output shaft 1 of the first ...

Embodiment 3

[0051] Such as Figure 9 As shown, in the medical field, the elastic joint of the variable stiffness robot in this example can be installed at the joint of the human prosthesis leg, and the joint between the thigh and the calf of the human prosthesis is equipped with an elastic joint, and the input end of the human prosthesis leg that drives the calf 12 is fixedly connected to the first joint output shaft 1 of the elastic joint, and the second joint output shaft 3 is fixedly connected to the output end 13 of the human prosthetic leg. During the application process, the stiffness characteristics of the elastic joint are set in advance according to the working condition information. During the prosthetic walking process, when the motor drives the input end 12 of the human prosthetic leg to rotate, the external load will have an impact on the output end 13 of the human prosthetic leg. There is an elastic effect between the first joint output shaft 1 and the second joint output sh...

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Abstract

The invention discloses a machine safety variable-rigidity elastic joint. The machine safety variable-rigidity elastic joint concretely comprises a first joint output shaft, a second joint output shaft, a linear motor, a spring and a push disc. The machine safety variable-rigidity elastic joint is characterized in that a motor installation base is arranged on the inner side face of the first joint output shaft, the linear motor is fixed to the motor installation base, a moving component of the linear motor is fixedly connected with the spring, the other end of the spring is fixedly connected with the push disc, the second joint output shaft is a cam shaft and is in cam shaft transmission with the push disc, and the second joint output shaft is in revolute pair connection with the first joint output shaft.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a mechanical safety variable stiffness elastic joint and a stiffness adjustment method. Background technique [0002] With the rapid development of robot technology, robots are more and more widely used in industries such as industry, medical treatment and service. However, human beings have higher and higher requirements for robots, so a large number of robots that can coexist with people are required to engage in more complex advanced labor with people. However, the robot composed of rigid joints is not suitable for this kind of work at this stage, so the development of elastic joints with variable stiffness is a research hotspot at this stage. [0003] Since the variable stiffness elastic joint is equipped with elastic elements, it can absorb external shocks, reduce damage to the joints, and ensure the safety of interacting with people. At the same time, the variable stiffnes...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00G01M5/00
Inventor 汤卿高文翔李超叶北发王袈欢姚进
Owner SICHUAN UNIV
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