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
CN106514700AInactive Publication Date: 2017-03-22SOUTH CHINA UNIV OF TECH +1
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
SOUTH CHINA UNIV OF TECH
Publication Date
2017-03-22
Estimated Expiration
Not applicable · inactive patent

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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.
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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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