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A Cascadable Expandable Variable Stiffness Robot Joint

A robot joint and variable stiffness technology, applied in the field of robotics, can solve the problems of large joint rotational inertia, limited use occasions, and lack of consistent standards, etc., and achieve the effect of large stiffness adjustment range, reduced rotational inertia, and high adjustment accuracy

Active Publication Date: 2019-01-25
BEIJING INST OF CONTROL ENG
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Judging from the current situation, the existing variable stiffness joints of various robots have complex structures and control methods, limited use occasions, poor versatility, lack of consistent standards, and have shortcomings such as inability to adjust energy storage capacity and large additional joint rotational inertia. High reliability, low additional moment of inertia, scalable and cascadable general-purpose variable stiffness joints to meet the needs of different stiffness adjustment ranges and different energy storage capabilities, which can effectively improve the environmental adaptability and safety of the robot and reduce the cost of the robot , Expand the application field of robots

Method used

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  • A Cascadable Expandable Variable Stiffness Robot Joint
  • A Cascadable Expandable Variable Stiffness Robot Joint
  • A Cascadable Expandable Variable Stiffness Robot Joint

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Embodiment Construction

[0019] Embodiments of the present invention are described below with reference to the drawings.

[0020] Such as figure 1 , 2 , 3, 4, and 5, the variable stiffness robot joint that can be cascaded and expanded in the present invention includes a flexible shaft-disk mechanism 26, a differential gear mechanism 33, a rotating support mechanism 36, a top cover 21, a bottom shell 13, and a gear holder shell 31. Among them, the number of 26 flexible shaft disk mechanisms can be greater than 1, and the number is determined by the energy storage requirements of the system. figure 1 , 2 The illustrated embodiment employs two identical flexible disc mechanisms 26 and 26' mounted in cascade.

[0021] Such as image 3 As shown, the structural main body of the flexible shaft-disc mechanism 26 is an arc leaf spring mounting seat 8, and three arc leaf springs 9 symmetrically distributed are installed on the inside of the arc leaf spring mounting seat 8, and one end of each arc leaf sprin...

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PUM

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Abstract

The invention relates to a cascadable variable-stiffness robot joint. High-precision adjustment of the stiffness of the joint is conducted by using flexible shaft disc mechanisms composed of sheaves, steel wires and bent leaf springs for providing variable torque and using a rotary supporting mechanism composed of a supporting frame, a gear worm and a servo motor for uniquely determining the positions of working end points of the arc-shaped bent leaf springs which are symmetrically distributed on the shaft disc mechanisms; the energy storage capacity of the joint can be adjusted by changing the cascade number of the flexible shaft disc mechanisms; and a differential gear set mechanism is used for achieving coupled motions including rotation of the robot joint, rotation of the joint motor and rotation of an elastic mechanism, so that the balance position and stiffness of the joint are changed at the same time, and forward-rotation stiffness and reversed-rotation stiffness are made adjustable.

Description

technical field [0001] The invention relates to a cascade-expandable variable stiffness robot joint, which belongs to the field of robots. Background technique [0002] When the robot performs various operations or movements, it will have various interactions with the surrounding environment, and the stiffness of its joints can indirectly adjust the strength of this interaction. When the elastic mechanism with a certain stiffness coefficient is installed on the joint of the robot, it will significantly increase its ability to adapt to the environment and reduce the unmeasurable damage caused by its unexpected collision; , the mechanical energy of the system can be stored and released through the deformation of the elastic element, and with a reasonable control method, the energy consumption of the robot's movement can be greatly reduced, which is conducive to improving the movement efficiency. For different motion styles of the robot, such as the efficient adjustment of the...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00
CPCB25J17/00
Inventor 胡勇张世俊王勇王丽娇
Owner BEIJING INST OF CONTROL ENG
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