Rigidity-adjustable robot elastic joint

A technology of elastic joints and robots, which is applied in the direction of manipulators, manufacturing tools, joints, etc., can solve the problems of poor versatility, non-linear adjustment of stiffness, loose flexible joint structure, etc., and achieve the effect of simplicity, portability, strong versatility, and compact joint structure

Active Publication Date: 2016-05-25
SOUTH CHINA UNIV OF TECH
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  • Abstract
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  • Application Information

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Problems solved by technology

The invention effectively solves the problems of loose flexible joint structure, non-linear adjustment of stiffness and poor versatility of existing robots, and...

Method used

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  • Rigidity-adjustable robot elastic joint
  • Rigidity-adjustable robot elastic joint
  • Rigidity-adjustable robot elastic joint

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Embodiment Construction

[0025] The purpose of the present invention will be further described in detail through specific examples below, and the examples cannot be repeated here one by one, but the implementation of the present invention is not therefore limited to the following examples.

[0026] Such as Figure 1 to Figure 4 As shown, a robot elastic joint with adjustable stiffness includes a joint skeleton, a driving end and an output shaft 1 respectively arranged at both ends of the joint skeleton, and also includes a 1, the stiffness adjusting device includes a rotating body connected to the driving end, an elastic force transmission member connected between the rotating body and the output shaft 1 and rotating around the axis of the output shaft 1 under the push of the rotating body, When the output shaft 1 is impacted by different loads, it is an adjustment mechanism for adjusting the length of the force arm when the rotating body drives the elastic force transmission component to rotate.

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Abstract

The invention discloses a rigidity-adjustable robot elastic joint which comprises a joint skeleton, a driving end, an output shaft and a rigidity adjustment device, wherein the driving end and the output shaft are respectively arranged at two ends of the joint skeleton; the rigidity adjustment device is arranged in the joint skeleton and connected between the driving end and the output shaft; the rigidity adjustment device comprises a rotating body connected with the driving end, an elastic force transmission component and an adjustment mechanism; the elastic force transmission component is connected between the rotating body and the output shaft and is pushed by the rotating body to rotate around the axis of the output shaft; and the adjustment mechanism is used for adjusting the length of a force arm of the rotating body which drives the elastic force transmission component to rotate while the output shaft suffers from different load impacts. The rigidity-adjustable robot elastic joint is capable of performing linear adjustment on rigidity according to impacts of external loads, has multiple advantages of compact structure, portability, high universality, high precision, large adjustment range, less abrasion, good universality and the like, is capable of improving the flexibility of robot joints, and is applicable to various joint-type robots.

Description

technical field [0001] The invention relates to a robot bionic joint, in particular to a robot elastic joint with adjustable stiffness. The device can be applied to various articulated robots and improves the flexibility of the robot joint. Background technique [0002] For a long time, the traditional robot joint design theory believes that the transmission mechanism with higher stiffness should be given priority to the mechanical connection mode between the power drive device and the joint hinge. Therefore, in the research of joint robots such as industrial robot arms, bionic multi-legged robots, and rehabilitation medical prostheses, the driving scheme of rigid connection between the motor output shaft and the joint mechanism is generally used. Its advantages lie in simple structure, precise positioning, and fast response. Meet the needs of various operations and applications. However, due to the lack of compliance of this driving scheme, the robot is more vulnerable to ...

Claims

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Application Information

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IPC IPC(8): B25J17/02
CPCB25J17/02B25J19/00B25J17/0208
Inventor 彭芳李智军叶雯珺杨辰光章隆彬
Owner SOUTH CHINA UNIV OF TECH
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