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An energy-saving elastic joint with variable stiffness based on differential gear train

A differential gear train and elastic joint technology, applied in the field of robotics, can solve the problems of large volume of variable stiffness joints, small range of variable stiffness, complex control, etc., and achieve the effect of small size, compact structure, and faster adjustment speed

Active Publication Date: 2020-04-07
HARBIN INST OF TECH
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  • Abstract
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  • Claims
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Problems solved by technology

[0006] The content of the present invention is to solve the problems of large volume, complex control, small variable stiffness range and high energy consumption caused by overcoming spring resistance in the process of stiffness adjustment, and further provides a differential gear train based joint Energy-saving variable stiffness elastic joint

Method used

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  • An energy-saving elastic joint with variable stiffness based on differential gear train
  • An energy-saving elastic joint with variable stiffness based on differential gear train
  • An energy-saving elastic joint with variable stiffness based on differential gear train

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Embodiment Construction

[0029] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and through specific implementation methods.

[0030] see Figure 1-Figure 6 Explain that an energy-saving variable stiffness elastic joint based on a differential gear train includes a housing A, a lever mechanism B, a differential gear train C, an input gear train D and an input gear train E;

[0031] The lever mechanism B includes an output rod B1, a lever arm B2, a lever fulcrum column B3 and a spring B4;

[0032] The differential gear train C includes differential planetary carrier C1, differential planetary gear C2 and differential sun gear C3;

[0033] The input gear train-D includes the ring gear-D1, the planetary carrier-D4 and the gear train-H;

[0034] The input gear train 2 E includes the ring gear 2 E1 and the gear train 2 K;

[0035] One end of the output rod B1 is rotatably connected to one end of the lever arm B2, the other en...

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Abstract

The invention discloses an energy-saving variable-stiffness elastic joint based on a differential gear system, and relates to a variable-stiffness joint. The problems that an existing variable-stiffness joint is large in size, complicated in control and small in variable-stiffness range as well as more energy consumption caused by overcoming the action of spring resistance in a stiffness regulation process can be solved. The energy-saving variable-stiffness elastic joint comprises a shell, a lever structure, the differential gear system, an input gear system 1 and an input gear system 2; the lever mechanism comprises an output rod, a lever arm, a lever fulcrum and a spring; the differential gear system comprises a differential planetary frame, a differential planetary wheel and a differential solar wheel; the differential gear system is arranged on the input gear system 1; the input gear system 1 is arranged on the input gear system 2; the differential planetary wheel is meshed with the differential solar wheel; the planetary frame 1 is connected with the gear system 1; the planetary frame 1 is mounted on an output shaft of a stiffness regulation motor. The energy-saving variable-stiffness elastic joint is used for manufacturing robot joints.

Description

technical field [0001] The invention relates to a variable stiffness joint, in particular to an energy-saving variable stiffness elastic joint based on a differential gear train. In the field of robotics. Background technique [0002] Traditional industrial robots are mainly used in structured environments. The working mode is relatively fixed and generally has high rigidity. This can not only ensure the precise positioning of the actuator and the precise tracking of the motion trajectory, but also perform repetitive tasks efficiently. Work. [0003] With the rapid development of the robot industry, the application field of robots is constantly expanding, and new requirements are put forward for its performance in all aspects. From the perspective of bionics, when the human musculoskeletal system is subjected to external forces, it can quickly adjust its own rigidity according to its deformation, so as to adapt to different working environments. Therefore, it is of great ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/02F16H37/08F16H48/10
CPCB25J17/02F16H37/0806F16H48/10
Inventor 金弘哲徐威铭刘玉斌赵杰
Owner HARBIN INST OF TECH
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