Rotating type varying stiffness flexible joint

Abstract

The invention relates to a rotating type varying stiffness flexible joint. The joint is characterized by comprising a driving disc, an end cover, a torsional spring, a special-shaped gear set, a standard gear set, a first shaft, a second shaft, an output shaft, a shaft end fixed frame, a worm, a worm gear, a direct-current speed reduction motor, a coupler, a connecting plate, a worm fixing block, a clamping spring, a motor mounting base, fixing blocks and a bearing pedestal; the driving disc is fixed to the end cover, the end of the driving disc is connected with an outer motor directly through a speed reducer to serve as input of the flexible joint, the bearing pedestal and the shaft end fixing frame are arranged in the driving disc, the bearing pedestal and the driving disc are of an integral structure, the driving disc and the end cover are connected through a bolt to serve as a shell of the joint, the two ends of the shaft end fixing frame are fixed to the driving disc through the fixing blocks, the output shaft is fixedly arranged between the end cover and the shaft end foxing frame through a deep groove ball bearing, and the output shaft is connected with an outer component; the first shaft and the second shaft are fixed to the driving disc and the end cover through the deep groove ball bearing and the bearing pedestal.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a rotary variable stiffness flexible joint. Background technique [0002] In recent years, articulated robots have been widely used in earthquake relief, medical treatment, industrial production and many other fields due to their flexible activities, simple structure, strong environmental adaptability and large working space. The rotary joint is one of the important components of the robot, which is of great significance to the stability and accuracy of the robot's movement. Traditional robot joints adopt rigid design, and the movement speed and precision have reached a high level. However, with the continuous popularization of robots, in the face of new tasks, rigid joints can no longer meet the requirements: working in places with many obstacles or other complex In an unknown environment, rigid robots are vulnerable to reduced accuracy or damage due to unknown collisions. For h...

AI Technical Summary

Problems solved by technology

However, its structure also has certain shortcomings. There will be friction during the sliding process of the cam along the cam groove, resulting in energy loss and low efficiency.

The stress on the cam and the cam connection is relatively large, and the working life is short

The characteristic of variable stiffness is determined by the cam groove. The design of the cam groove is relatively complicated, which makes it difficult to guarantee the transmission accuracy.

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