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A Modular Variable Stiffness Robot Joint

A technology of robot joints and variable stiffness, applied in the field of robotics, can solve the problems of mutual coupling of variable stiffness components, strong coupling of stiffness-adjusted motors, and poor passive stiffness characteristics, achieving simple construction, small interaction force, and improved energy efficiency. Effect

Active Publication Date: 2019-01-25
泉州通维科技有限责任公司
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  • Abstract
  • Description
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  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art, provide a modular variable stiffness robot joint, solve the problem of strong coupling between the position motor and the stiffness adjustment motor, small stiffness variation range, large energy consumption for stiffness adjustment, and variable stiffness. The components are coupled to each other, the passive stiffness characteristics are not good, and other equipment needs to be connected externally

Method used

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  • A Modular Variable Stiffness Robot Joint
  • A Modular Variable Stiffness Robot Joint
  • A Modular Variable Stiffness Robot Joint

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Embodiment Construction

[0030] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

[0031] Combine figure 1 , figure 2 , image 3 , Figure 4 , Figure 5 and Image 6 , A modular variable stiffness robot joint, including a position motor module 1, an input module 2 and an output module 3. The position motor module 1 is connected to the input module 2 through a shaft sleeve 13, and the input module 2 and the output module 3 are up and down Corresponding connection

[0032] The position motor module 1 includes a motor assembly 11, a j...

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Abstract

The invention provides a modularized variable-stiffness robot joint. The modularized variable-stiffness robot joint comprises a position motor module (1), an input module (2) and an output module (3); the position motor module (1) is connected with the input module (2) through a shaft sleeve (13), and the input module (2) is connected with the output module (3) in a vertically corresponding mode. According to the modularized variable-stiffness robot joint, the problems that in the prior art, the coupling of a position motor and a stiffness-adjustable motor is high, the changing range of stiffness is small, energy consumption for stiffness adjustment is high, variable-stiffness parts are coupled with one another, the passive stiffness characteristics are poor, and connected with other external equipment is needed are solved.

Description

Technical field [0001] The invention belongs to the technical field of robots, and particularly relates to a modular variable stiffness robot joint. Background technique [0002] Traditional industrial robot technology is relatively mature and can achieve high-precision trajectory reproduction and force control. The applicable occasions of industrial robots are relatively simple, and some production lines have low degree of human-computer interaction and relatively low requirements for safety. In recent years, service robots and human-machine collaborative robots have become one of the main research directions of robots. Scholars have carried out a lot of research on how robots can directly interact with humans and complete certain tasks together. The main factor restricting the development of service robots and collaborative robots is that the occasions are changeable and the safety performance is difficult to guarantee. In order to realize the reliability and safety of robot...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/02B25J9/08
CPCB25J9/08B25J17/0233
Inventor 李瑞峰孙世超赵立军王淑英
Owner 泉州通维科技有限责任公司
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