Compact variable-stiffness rotary flexible joint

Abstract

The invention discloses a compact variable-stiffness rotary flexible joint. The compact variable-stiffness rotary flexible joint comprises a joint driving disk, a joint output disk, a joint driven inner disk, a first cam, a first driven variable-stiffness adjusting seat, a first group of compression springs, a plain shaft, a first variable-stiffness adjusting seat, a turbine lead screw structure, a second variable-stiffness adjusting seat, a second group of compression springs, a second driven variable-stiffness adjusting seat, a second cam, a cylindrical gear, a worm, an absolute encoder, a motor and a circular-arc rack. By adopting the flexible joint, flexible driving output can be realized, external impact is reduced, and the service life of a robot is prolonged; meanwhile, joint stiffness can increase and decrease sequentially along with the increase of the flexible deformation angle of the joint, the robustness and running stability of the robot are enhanced, the joint stiffness can be adjusted actively under the own driving action, and the adaptability to different working tasks is enhanced; moreover, the flexible joint has an online flexible deformation detection function, so that feedback results of flexible deformation and output torque can be obtained, and online stiffness adjustment is realized.

Description

technical field [0001] The invention relates to the field of robots, in particular to a compact variable stiffness rotating flexible joint. Background technique [0002] Due to its good dynamic performance and strong environmental adaptability, bionic legged robots have been used more and more in complex and changeable environments in the wild, and have become a hot topic of extensive research by scholars at home and abroad. However, most of the rotary joints of these robots are rigidly driven, and the large energy consumption and impact on the ground greatly restrict the robot's mid-to-high-speed dynamic gait jumping motion. At present, the research on the mechanism of biological movement has not been in-depth, and most of the structural design, material application, driving and control methods are relatively traditional, resulting in a large difference between the bionic robot and the biological from the macro to the micro, and it is far from reaching the level of practica...

AI Technical Summary

Problems solved by technology

[0004] Application number 201520148572.4 discloses a flexible joint with variable stiffness. Although the purpose of active-passive variable stiffness output is achieved, a series of gear transmissions are used, which also have a complex structure and require high manufacturing and installation accuracy, and the drive relies on flexible joints. cable, can not better adapt to fast motion and impact, and the extensiveness of application to various articulated robots is limited

The structure of the existing variable stiffness joint is relatively complex, the variable stiffness characteristics are poor, the control is complicated, the energy consumption is large, the safety is low, and the application field is limited. Based on the above reasons, a simple structure, high transmission efficiency, and stiffness realization Passive and linearly adjustable compact variable-stiffness rotary flexible joints have strong practical significance

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