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A cam structure variable stiffness elastic joint

An elastic joint and variable stiffness technology, applied in the field of robotics, can solve the problems of complex joint structure, poor variable stiffness characteristics, and large energy consumption of variable stiffness robots, and achieve continuous and reliable variable stiffness process, stable variable stiffness process, and easy manufacturing and processing Effect

Active Publication Date: 2017-05-03
SICHUAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, judging from the many structures designed abroad, there are still many problems in its structure, such as the complex joint structure of variable stiffness robots, poor variable stiffness characteristics, complex control, large energy consumption, and low safety, etc.

Method used

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  • A cam structure variable stiffness elastic joint
  • A cam structure variable stiffness elastic joint
  • A cam structure variable stiffness elastic joint

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0037] A cam structure variable stiffness elastic joint is composed of a casing (1), a shaft (5) and an outer ring (2); it is characterized in that the shaft (5) is arranged at the center of rotation of the casing (1), and is connected to the casing ( 1) are fixedly connected, and the housing (1) and the outer ring (2) are connected by a rotating pair; the outer ring (2) is radially installed with a plurality of symmetrical spring pieces (7), and each spring One end of the piece (7) is fixedly connected to the outer ring (2), and the other end is fixedly connected to the shaft (5) through the spring (3); one end of the spring (3) is connected to the shaft (5), and the other end is connected to the sliding on the block (8); the sliding block (8) is installed in the middle of the leaf spring (7), distributed symmetrically with the leaf spring (7), and is slidingly connected with the leaf spring (7); the shaft (5 ) is equipped with a cam disc (6), the cam disc (6) is a center sym...

Embodiment 2

[0042] Such as Figure 12 As shown, a cam structure variable stiffness elastic joint of this example is installed at the leg joint of the hexapod bionic robot, the input end 12 of the bionic robot leg is fixedly connected with the shell 1 of the elastic joint, and the outer ring 2 is connected with the leg of the bionic robot The output terminal 13 is permanently connected. 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 12 of the leg of the bionic robot to rotate, the external load will affect the output end 13 of the leg of the bionic robot. When an impact occurs, the elastic joint in this example will produce a buffering effect through the elastic action of the spring leaf 7, so that there is an elastic action between the outer ring 2 and the shell 1, which effectively protects the leg joints of...

Embodiment 3

[0044] Such as Figure 13 As shown, a cam structure variable stiffness elastic joint in this example is installed at the leg joint of the human prosthesis, and an elastic joint is installed at the joint between the thigh and the calf of the human prosthesis, and the input end of the driving calf is fixed to the shell 1 of the elastic joint Connection, the outer ring 2 is fixedly connected with the prosthetic calf 15. 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 of the prosthetic calf 15 to rotate, the external load It will have an impact on the prosthetic calf 15, and the elastic joint in this example will have a buffering effect through the elastic action of the spring leaf 7, so that there is an elastic action between the outer ring 2 and the shell 1, which effectively protects the joints of the pro...

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Abstract

The invention discloses a variable-rigidity elastic joint of a cam structure. The variable-rigidity elastic joint is composed of a shell, a shaft and an outer ring. The shaft is arranged at the rotation center of the shell and fixed to the shell. The shell and the outer ring are connected through a rotation pair. A plurality of symmetrical leaf springs are arranged on the outer ring in the radial direction. One end of each leaf spring is fixedly connected with the outer ring, and the other end of each leaf spring penetrates through a spring to be fixedly connected with the shaft. One end of each spring is connected to the shaft, and the other end of each spring is connected to a sliding block. The sliding blocks are arranged in the middles of the leaf springs and connected with the leaf springs in a sliding mode. A cam disk is arranged on the shaft, of a central symmetry structure and connected with the shaft through a rotation pair. A cam roller is arranged at the upper end of each sliding block. Cam transmission is achieved through the cam disk and the cam rollers. The variable-rigidity elastic joint solves the problems that an existing structure is relatively complex and the variable-rigidity characteristic is poor, and the variable-rigidity elastic joint which is simple in structure and allows the rigidity to be regulated in real time in the movement process can be obtained.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a variable stiffness elastic joint with a cam structure. Background technique [0002] With the rapid development of science and technology, the application of robot technology at this stage is very extensive, especially in the industrial field. At present, with the development of robot technology towards flexibility, the collaborative work of multiple robots and the interaction between robots and humans are becoming more and more common. The emergence of this phenomenon will inevitably increase the requirements for flexible technology and adaptability of robots. This is also a hot spot of domestic and foreign research at this stage. [0003] From the perspective of the entire composition of the robot, the robot joints are the key components for the robot to achieve various movements. Rigid joints and elastic joints are mainly used in the existing robot technology. There are r...

Claims

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Application Information

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