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A robot elastic joint with adjustable stiffness

A technology of elastic joints and robots, applied in the directions of manipulators, manufacturing tools, joints, etc., can solve the problems of poor versatility, non-linear adjustment of stiffness, loose flexible joint structure, etc.

Active Publication Date: 2017-06-20
SOUTH CHINA UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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 can perform compliance control with adjustable stiffness according to the impact of external loads, which is helpful to promote the upgrading of various joint robots

Method used

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  • A robot elastic joint with adjustable stiffness
  • A robot elastic joint with adjustable stiffness
  • A robot elastic joint with adjustable stiffness

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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] like 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.

[002...

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Abstract

Disclosed is a robot elastic joint with an adjustable rigidity, comprising a joint skeleton, and a drive end and an output shaft (1) respectively arranged at two ends of the joint skeleton; and further comprising a rigidity adjusting device provided in the joint skeleton and connected between the drive end and the output shaft. The rigidity adjusting device comprises a rotator connected to the drive end, an elastic force-transmission component connected between the rotator and the output shaft and rotating around the axis of the output shaft under the drive of the rotator, and an adjustment mechanism for adjusting the length of a force arm when the rotator drives the elastic force-transmission component to rotate when the output shaft is affected by different load impacts, and the adjustment mechanism can perform linear adjustment of rigidity according to the magnitude of impact of external loads. The robot elastic joint has advantages such as a compact and lightweight structure, high universality, high precision, a large adjustment range and less abrasion, thereby improving the flexibility of the robot joint, and being applicable in various articulated 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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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/02
CPCB25J17/02B25J19/00
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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