Variable rigidity service robot joint

A service robot and variable stiffness technology, applied in the field of service robots, can solve the problems of large-range movement of flexible joints, small shrinkage rate of shape memory alloy wire, large driver design, etc., to achieve high output power, simple drive mode, and small size small effect

CN107243920AInactive Publication Date: 2017-10-13WUHAN UNIV OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2017-10-13
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention relates to the technical field of service robots, in particular to a service robot joint with variable stiffness, including a base, a drive unit, a position information collection unit, a rotary joint unit and a drive force collection unit, and the position information collection unit is coaxial with the upper end of the rotary joint unit Connection, the position information collection unit and the lower end of the rotary joint unit are respectively fixed on the base, the driving force collection unit is fixed on the rotary joint unit, one end of the driving unit is connected to the rotary joint unit, and the other end is connected to the driving force collection unit. The position information acquisition unit and the driving force acquisition unit are used to obtain the real-time stiffness of the variable stiffness joint system, and the accuracy of the stiffness of the flexible joint is guaranteed through a negative feedback system.
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Description

technical field

[0001] The invention relates to the technical field of service robots, in particular to a service robot joint with variable stiffness. Background technique

[0002] At present, most of the robots on the market are composed of rigid materials and rigid drives. They have the advantages of good mechanical properties, execution speed, and simple precision control. However, this kind of rigid robot has limited flexibility and cannot adapt to the current increasingly complex working conditions. This also makes rigid robots only perform preset tasks in simple working environments such as specific production workshops and laboratories. It is difficult to apply in some complex, narrow and changeable environments. In an environment where human-computer interaction is required at any time, it is difficult for rigid robots to guarantee the personal safety of users. The variable stiffness flexible drive robot designed according to bionics can work well in such a complex...

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Embodiment Construction

[0022] The technical solutions of the present invention will be described below in conjunction with the accompanying drawings and embodiments.

[0023] Such as figure 1 with Figure 5 As shown, a variable stiffness service robot joint according to the present invention includes a base 1, a drive unit 2, a position information collection unit 3, a rotary joint unit 4 and a driving force collection unit 5, a position information collection unit 3 and a rotary joint unit The upper ends of 4 are coaxially connected, the lower ends of the position information collection unit 3 and the rotary joint unit 4 are respectively fixed on the base 1, the driving force collection unit 5 is fixed on the rotary joint unit 4, and one end of the driving unit 2 is connected to the rotary joint unit 4, The other end is connected to the driving force acquisition unit 5. The driving unit 2 includes a shape memory alloy spring 20, an adjustable digital power supply, a voltage control module and a co...