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Leaf-spring-based robot flexile joint with continuously-adjustable rigidity

A technology of flexible joints and spring sheets, which is applied in the field of robot bionic joints, can solve the problems of high manufacturing and installation precision, large vibration and noise, and reduced versatility, and achieve continuous adjustment of stiffness, slow down external impact forces, and improve safety. Effect

Inactive Publication Date: 2017-03-22
SOUTH CHINA UNIV OF TECH +1
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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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  • Leaf-spring-based robot flexile joint with continuously-adjustable rigidity
  • Leaf-spring-based robot flexile joint with continuously-adjustable rigidity
  • Leaf-spring-based robot flexile joint with continuously-adjustable rigidity

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Embodiment Construction

[0020] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be further described in detail below in conjunction with the drawings and specific embodiments.

[0021] Such as figure 1 with 2 As shown, a robot flexible joint with continuously adjustable stiffness based on a spring sheet includes a driving end, a stiffness adjustment mechanism, a spring sheet 6 , an output flange 2 , an output shaft 1 and a joint housing 3 .

[0022] Described driving end comprises drive motor 10, speed reducer holder 16, harmonic speed reducer 9, and the shell of described harmonic speed reducer 9 is fixed on the speed reducer holder 16 by screw, and the output shaft of described drive motor 10 It is drivingly connected to the input end of the harmonic reducer 9, and the output end of the harmonic reducer 9 is connected to the stiffness adjustment mechanism...

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Abstract

The invention provides a leaf-spring-based robot flexile joint with continuously-adjustable rigidity. The leaf-spring-based robot flexile joint comprises a drive end, a rigidity adjustment mechanism and an output flange. The drive end is used for providing joint driving force. The rigidity adjustment mechanism is connected to the drive end and used for transmitting the driving force of the drive end to the output flange. By means of the rigidity adjustment mechanism, rigidity adjustment of the joint is achieved by changing the valid working strength of a leaf spring. The leaf-spring-based robot flexile joint is compact in structure and good in universality, has the continuously-adjustable rigidity and can effectively reduce the external compact force; the precision and the height can both meet the requirements for the low vibration noise and the low manufacture and installation requirements while the safety and environment friendliness of a robot are improved; and cost is low, the application range is wide, and wide market application prospects are achieved.

Description

technical field [0001] The invention relates to a robot bionic joint, in particular to a robot flexible joint with continuously adjustable stiffness based on a spring sheet, and the device can be applied to various joint robots. 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 design of robot joints generally adopts the drive mode of rigid connection between the motor output shaft and the joint mechanism. High and can respond instantly, but due to the lack of flexibility, the robot is more susceptible to damage from external impacts, and it is also prone to safety hazards when collaborating with humans. [0003] People ha...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/02
CPCB25J17/0225
Inventor 彭芳李智军石潮
Owner SOUTH CHINA UNIV OF TECH
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