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A variable stiffness elastic joint of flexible cable-driven robot

A flexible cable-driven, elastic joint technology, applied in the field of robots, can solve the problems of complex joint structure, high energy consumption and low safety of variable stiffness robot joints, and achieve the effects of easy replacement, maintenance and inspection, easy manufacturing and processing, and simple structure.

Active Publication Date: 2020-05-01
SICHUAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, judging from the many structures designed abroad, there are still many problems in its structure, such as the complex joint structure of variable stiffness robots, poor variable stiffness characteristics, complex control, large energy consumption, and low safety, etc.

Method used

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  • A variable stiffness elastic joint of flexible cable-driven robot
  • A variable stiffness elastic joint of flexible cable-driven robot
  • A variable stiffness elastic joint of flexible cable-driven robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0036] A variable stiffness elastic joint of a cable-driven robot, consisting of a casing 1, a shaft 5 and an outer ring 2; it is characterized in that the shaft 5 is arranged at the center of rotation of the casing 1, and is fixedly connected with the casing 1, and the casing 1 It is connected with the outer ring 2 by a rotating pair; the outer ring 2 is radially installed with a plurality of symmetrical spring pieces 7, one end of each spring piece 7 is fixedly connected with the outer ring 2, and the other end passes through the compression spring 3 and The shaft 5 is fixedly connected; one end of the compression spring 3 is connected to the shaft 5, and the other end is connected to the sliding block 8; the sliding block 8 is installed in the middle of the spring sheet 7, distributed symmetrically with the spring sheet 7, and connected to the spring sheet 7 is a sliding connection; a driving wheel 6 is installed on the shaft 5, and the driving wheel 6 is provided with a dri...

Embodiment 2

[0041] Such as Figure 12 As shown, a flexible cable-driven robot variable stiffness elastic joint in this example is installed at the leg joint of the hexapod bionic robot, the input end 13 of the bionic robot leg is fixedly connected with the shell 1 of the elastic joint, and the outer ring 2 is connected with the bionic robot The leg output 14 is fixedly connected. In the application process, the stiffness characteristics of the elastic joint are set in advance according to the working condition information. During the walking process of the bionic robot, when the motor drives the input end 13 of the leg of the bionic robot to rotate, the external load will affect the output end 14 of the leg of the bionic robot. When an impact occurs, the elastic joint in this example will produce a buffering effect through the elastic action of the spring leaf 7, so that there is an elastic action between the outer ring 2 and the shell 1, which effectively protects the leg joints of the b...

Embodiment 3

[0043] Such as Figure 13 As shown, in this example, a flexible cable-driven robot with variable stiffness elastic joints is installed at the joints of the human prosthetic leg, and an elastic joint is installed at the joint between the thigh and the calf of the human prosthesis, and the input end of the driving calf is connected to the shell of the elastic joint 1 is fixedly connected, and the outer ring 2 is fixedly connected to the prosthetic leg 16. During the application process, the stiffness characteristics of the elastic joint are set in advance according to the working condition information. When the prosthetic leg is walking, the motor drives the input end of the prosthetic leg 16 to rotate. The external load will have an impact on the prosthetic calf 16, and the elastic joint in this example will have a buffering effect through the elastic action of the spring leaf 7, so that there is an elastic action between the outer ring 2 and the shell 1, which effectively prote...

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Abstract

The invention discloses a variable-rigidity elastic joint of a flexible rope driving robot. The variable-rigidity elastic joint of the flexible rope driving robot consists of a shell, a shaft and an outer ring; the shaft is arranged in a revolving center of the shell, and is fixed with the shell; the shell and the outer ring are connected by a rotating pair; a spring piece is mounted on the outer ring; one end of the spring piece is fixed with the outer ring, and the other end is fixed with the shaft; a compression spring is fixed between the shaft and a slide block; the slide block and the spring piece are slidingly connected; a driving wheel is mounted on the shaft; a pulley is arranged at the upper end of the slide block; the pulley and the slide block are connected by a rotating pair; the driving wheel and the pulley are connected through a rope; one end of the rope is fixed on the shaft or the shell, and the other end is fixed on the driving wheel; and the driving wheel and the pulley form movable pulley transmission. The variable-rigidity elastic joint of the robot overcomes such problems as relatively complicated structure and weak variable-rigidity characteristic, and can realize a robot rigidity change structure for real-time rigidity adjustability in the robot joint moving process.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a variable stiffness elastic joint of a cable-driven robot. Background technique [0002] With the rapid development of science and technology, the application of robot technology at this stage is very extensive, especially in the industrial field. At present, with the development of robot technology towards flexibility, the collaborative work of multiple robots and the interaction between robots and humans are becoming more and more common. The emergence of this phenomenon will inevitably increase the requirements for flexible technology and adaptability of robots. This is also a hot spot of domestic and foreign research at this stage. [0003] From the perspective of the entire composition of the robot, the robot joints are the key components for the robot to achieve various movements. Rigid joints and elastic joints are mostly used in existing robot technology, and the stiff...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/10B25J17/00
CPCB25J9/104B25J17/00
Inventor 汤卿高文翔杨亚茹姚进
Owner SICHUAN UNIV
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