Robot flexible joint with continuously adjustable stiffness

A flexible joint and robot technology, applied in the field of robots, can solve the problems of high manufacturing and installation accuracy, large vibration and noise, reduce versatility, etc., and achieve the effects of reducing external impact force, continuously adjustable stiffness, and improving safety.

Active Publication Date: 2016-11-23
深圳市登拓云科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although the overall structure of the device is relatively compact, due to the fact that all gears are used for transmission, when the precision is low, the vibration and noise are relatively large; robotic joints, also reducing their versatility

Method used

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  • Robot flexible joint with continuously adjustable stiffness
  • Robot flexible joint with continuously adjustable stiffness
  • Robot flexible joint with continuously adjustable stiffness

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Embodiment Construction

[0029] In order to facilitate the understanding of the present invention, the robot flexible joint with continuously adjustable stiffness will be described more fully below with reference to the relevant drawings. The preferred embodiment of the robot flexible joint with continuously adjustable stiffness is shown in the accompanying drawings. However, the robot flexible joint with continuously adjustable stiffness can be realized in many different forms, and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the robot flexible joint with continuously adjustable stiffness more thorough and comprehensive.

[0030] It should be noted that when an element is referred to as being “fixed” to another element, it can be directly on the other element or there can also be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to...

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Abstract

The invention provides a robot flexible joint with continuously adjustable stiffness and relates to the field of robots. The robot flexible joint with continuously adjustable stiffness comprises a driving end, a buffering mechanism and an output flange as well as a stiffness adjusting mechanism, wherein the driving end is used for providing main power for a joint, the buffering mechanism is connected between the driving end and the output flange, used for transmitting the main power of the driving end to the output flange and comprises an elastic element; and the stiffness adjusting mechanism moves and is connected with the buffering mechanism and changes pre-compression amount of the elastic element by moving toward the buffering mechanism, and stiffness adjustment on the joint is realized. The robot joint provided by the invention has the advantages that the stiffness is continuous and adjustable, the flexible joint can effectively reduce an external impact force, and the security of the robot and environmental friendliness are improved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a robot flexible joint with continuously adjustable stiffness. Background technique [0002] At present, the design of robot joints generally adopts the driving method of rigid connection between the motor output shaft and the joint mechanism. Although this method has a simple and compact structure, high positioning accuracy, and instant response, the lack of flexibility makes the robot more vulnerable to external shocks. And it is damaged, and it is also prone to safety hazards when collaborating with people. [0003] In recent years, a kind of compliant elastically driven joint that simulates the stretching work of human muscles has attracted extensive research in the world. The variable stiffness elastically driven joint can change the joint stiffness according to the magnitude of the external impact force, and the joint self-adjusts and contacts to realize self- Buffering, thereby avoi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/02
CPCB25J17/0258
Inventor 彭芳温海阳丁理家黎萍杨亮
Owner 深圳市登拓云科技有限公司
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