Single power source-based variable stiffness flexible joint

Abstract

The invention relates to a single power source-based variable stiffness flexible joint. A joint driving end comprises a joint support, a reducer support, an interlocking clutch structure, a harmonic reducer and a joint driving motor with an encoder, wherein the joint support is a U-shaped structure component, and the harmonic reducer is connected with the left end of the joint support through thereducer support; the output end of the joint driving motor is connected with a stiffness adjustment mechanism through the interlocking clutch structure, and the reducer support is of a hollow cylindrical shell; one end of the reducer support is provided with a mounting hole for connecting the harmonic reducer, and the other end of the reducer support is provided with a threaded hole for connectingthe left end of the joint support; a shaft shoulder is also arranged on the reducer support, and the interlocking clutch structure is positioned in a cavity of the reducer support. The joint uses thesingle motor to achieve joint drive and stiffness adjustment, and has the advantages of compact structure, high integration, high positioning accuracy, substantially continuous linear accurate adjustment of stiffness, and various stiffness adjustment modes.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a flexible joint with variable stiffness based on a single power source. Background technique [0002] With the rapid development of modern industrial technology, the scope of application of robots has expanded rapidly, and human-machine collaboration has become increasingly close. With the deepening of human-computer interaction, the safety of robots has become increasingly prominent. At present, robots generally use rigid joints characterized by "simple structure, compact size, convenient control, precise positioning, and timely response". It is difficult to dynamically adjust the joint stiffness according to changes in the external environment and its own load to meet the safety of human-machine collaboration. need. At the same time, the rapid development of special robots represented by bionic robots has also put forward higher requirements for the active / passive flexibility ...

AI Technical Summary

Problems solved by technology

[0003] For variable stiffness flexible joints, systematic and in-depth research work has been carried out at home and abroad, and a variety of typical joints have been developed. For example, the patent document "A Flexible Joint Variable Stiffness Mechanism (CN106695870A)" involves a flexible joint variable Adjust the position of the two roller groups by adjusting the motor to change the compression of the two springs arranged in the circumferential direction of the joint to achieve effective adjustment of the joint stiffness. Since the joint is equipped with two motors for joint drive and stiffness adjustment, the structure control is too complicated and the cost is relatively high. High, and affected by the principle of lever adjustment stiffness and the arrangement of circumferential springs, it is difficult to achieve linear and precise adjustment of joint stiffness; the patent document "Flexible Joint Drive Mechanism with Adjustable Stiffness (CN104985608A)" discloses a flexible joint with adjustable stiffness , the joint is equipped with two inclined curved disks connected by springs, and the joint flexibility is generated by the rolling of the rollers that move synchronously with the output end of the joint between the two inclined curved disks. The structural strength and adjustment torque requirements of the structure are relatively high, and it is difficult to effectively adjust the stiffness of the joint equilibrium position, that is, the passive stiffness of the joint; the patent document "Robot flexible joint with continuously adjustable stiffness (CN106142132A)" discloses a continuously adjustable stiffness The flexible joint of the robot, through the stiffness adjustment motor, adjusts the pre-compression of the floating spring installed between the spring support frame and the connecting rod pull-down sleeve to achieve a large and continuous adjustment of the joint stiffness, but the joint is also equipped with two joints for joint drive and The structure control of the motor with stiffness adjustment is more complicated, and at the same time, due to the lack of corresponding position detection system, the joint positioning accuracy and stiffness adjustment accuracy are relatively low

[0004] To sum up, although the existing flexible joints can preliminarily realize the effective adjustment of joint stiffness, the joints are generally equipped with two motors for joint drive and stiffness adjustment, which have complex structure control, low positioning accuracy, single stiffness adjustment method, It is difficult to adjust the stiffness linearly and accurately, and the adjustment range is limited.

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