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Flexible variable-stiffness joint mechanism

A flexible joint and variable stiffness technology, applied in the field of robotics, can solve the problems of large energy consumption for adjusting stiffness, poor passive stiffness characteristics, and small stiffness adjustment range, and achieves a large stiffness adjustment range, small friction, and enhanced load capacity. Effect

Active Publication Date: 2017-05-24
泉州通维科技有限责任公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art, and provide a flexible joint variable stiffness mechanism to solve the above-mentioned poor load capacity, small stiffness adjustment range, large energy consumption for adjusting stiffness, strong coupling, poor passive stiffness characteristics, The problem of needing an external cylinder

Method used

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Embodiment Construction

[0024] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0025] combine figure 1 , figure 2 , image 3 , Figure 4, a flexible joint variable stiffness mechanism, including an input structure 1 and an output structure 2, the input structure 1 and the output structure 2 are connected up and down correspondingly; the input structure 1 includes a pair of guide rod shafts 11-1, 11-2, A pair of guide rods 12-1, 12-2, a pair of compression springs 13-1, 13-2, a pair of spring mounts 14-1, 14-2 and an input...

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Abstract

The invention provides a flexible variable-stiffness joint mechanism. The flexible variable-stiffness joint mechanism comprises an input structure and an output structure. The input structure and the output structure are connected and vertically corresponding. The input structure comprises a pair of guide rod shafts, a pair of guide rods, a pair of compression springs, a pair of spring installation seats and an input plate. The output structure comprises a pair of linear guide rail assemblies, a pair of roller sets, a pair of roller installation frames, a linear displacement sensor push rod, a pair of racks, a driven gear, a drive gear, a linear displacement sensor, an output plate, multiple bearings, multiple clamp springs and multiple bolts. The flexible variable-stiffness joint mechanism solves the problems that in the prior art, the loading capacity is poor, the stiffness adjustment range is narrow, the energy consumption of stiffness adjustment is large, the coupling performance is high, the passive stiffness performance is poor, and external connection with an air cylinder is needed.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a flexible joint stiffness variable mechanism. Background technique [0002] With the development of robot technology, the scope of application of robots has been broadened. Robots have gradually entered human society from the original factory isolation area. Robots not only need to cooperate with humans when working, but sometimes even need to come into contact with humans. With the deepening of human-computer interaction, the uncertain factors of the external environment are also increasing, the working environment becomes complex, and it may collide with objects in the surrounding environment at any time, which puts forward high requirements for the safety of the robot. Traditional industrial robots are rigid, and can achieve a certain level of soft control on the basis of using a large number of sensors and complex control algorithms. However, it is difficult to establish a...

Claims

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Application Information

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IPC IPC(8): B25J17/02
CPCB25J17/0208
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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