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A universal module with adjustable stiffness, mechanical arm and working method

A general-purpose module and robotic arm technology, applied in the field of robotics, can solve the problems of insufficient robot accuracy and difficulty in achieving accuracy, and achieve the effect of simplifying design tasks and ensuring accuracy

Active Publication Date: 2018-04-17
湖南瑞森可机器人科技有限公司
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This scheme takes into account the safety of the robot, but the elastic components are directly connected in series in the transmission chain, and the subsequent motion compensation is difficult to achieve accurate conversion of nonlinear models and dynamic and potential energy, which directly leads to insufficient precision of the robot.

Method used

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  • A universal module with adjustable stiffness, mechanical arm and working method
  • A universal module with adjustable stiffness, mechanical arm and working method

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Embodiment Construction

[0029] The present invention will be described in detail below with reference to the accompanying drawings and examples. It should be noted that, in the case of no conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. For the convenience of description, if the words "up", "down", "left" and "right" appear in the following, it only means that the directions of up, down, left and right are consistent with the drawings themselves, and do not limit the structure.

[0030] A general-purpose module with adjustable stiffness adopts the coexistence of rigidity and flexibility. On the one hand, it ensures a certain degree of flexibility in the structure to avoid harm to people, and on the other hand, it improves the positioning accuracy.

[0031] Such as figure 1 As shown, the universal module with adjustable stiffness includes a first turntable 1, torsion springs 4, 5, turntable connecting shaft 10, rolling bearings 11...

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Abstract

The invention discloses a rigidity-adjustable universal module, a mechanical arm and a working method. The universal module comprises a first turntable, an intermediate turntable and a second turntable, wherein a first suction component and a first resetting element are arranged between the first turntable and the intermediate turntable; a second suction component and a second resetting element are arranged between the intermediate turntable and the second turntable; the resetting directions of the first and second resetting elements are opposite, so that a rigid-flexible combined power transmission mechanism is formed among the first turntable, the intermediate turntable and the second turntable. The universal module can flexibly move, and is high in accuracy and safety, and rigidity and flexibility conversion can be implemented.

Description

technical field [0001] The invention relates to a universal module with adjustable stiffness, a mechanical arm and a working method, belonging to the field of robots. Background technique [0002] Collaborative robots overcome the disadvantages of traditional industrial robots, expand the field of automation adaptation, liberate these robots without protective cages from the protective net, make them easier to install and use, and are increasingly popular. [0003] At present, the safety design of collaborative robots mainly starts from the following two aspects: [0004] The first is to use sensors to cooperate with the system control. The outside of the robot is wrapped with soft materials. When the operator collides with the robot, it can decelerate or stop through sensing and control. The working stability of the sensor and control system of this scheme has not been effectively guaranteed. In view of this, many manufacturers have adopted multiple sensors, but this will ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00B25J18/00B25J9/08
CPCB25J9/0009B25J9/08B25J17/00B25J18/00
Inventor 胡斌陈桂生龚建球李乐超谭荣兵孙策
Owner 湖南瑞森可机器人科技有限公司
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