Variable-rigidity flexible joint based on leaf springs and control method of variable-rigidity flexible joint
A flexible joint and variable stiffness technology, applied in the field of robotics, can solve problems such as poor environmental adaptability, complex transmission process, and complex structure, and achieve the effects of preventing the plastic deformation of leaf springs, reducing joint volume, and strong environmental adaptability.
A flexible joint and variable stiffness technology, applied in the field of robotics, can solve problems such as poor environmental adaptability, complex transmission process, and complex structure, and achieve the effects of preventing the plastic deformation of leaf springs, reducing joint volume, and strong environmental adaptability.
CN108000554AActive Publication Date: 2018-05-08CHINA UNIV OF MINING & TECH
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[0035] The present invention will be described in further detail below in conjunction with the accompanying drawings.
[0036] Such as figure 1 , figure 2 As shown, a variable stiffness flexible joint based on a leaf spring includes an input shaft 1, an output shaft 2, a stiffness adjustment mechanism 3, a displacement detection system 4, and a control system 5; the input shaft 1 and the output shaft 2 are connected by rotating The pair is matched and fixed in it, the stiffness adjustment mechanism 3 is installed on the output shaft 2,
[0037] Such as figure 1 , Figure 4As shown, the input shaft 1 includes a first input shaft 1-1 and a second input shaft 1-2, the first input shaft 1-1 is concentrically connected with the second input shaft 1-2, and the second input shaft Axis 1-2 is a square plate-shaped structure, and its four corners are mirrored with hyperboloid grooves respectively. The hyperboloid groove structure can realize the line contact with the leaf spring g...
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The invention discloses a variable-rigidity flexible joint based on leaf springs. The variable-rigidity flexible joint based on the leaf springs comprises an input shaft, an output shaft, a rigidity adjustment mechanism, a displacement detection system and a control system. The input shaft comprises a first input shaft body and a second input shaft body. The output shaft comprises a first output shaft body, a second output shaft body and an output end cover. The rigidity adjustment mechanism comprises a control motor, an indexing disc, a connecting rod set, a leaf spring set and a sliding block set. The input shaft and the output shaft are matched through a revolute pair and are fixed in the revolute pair. The rigidity adjustment mechanism is installed on the output shaft. The control motor of the rigidity adjustment mechanism is fixed to the bottom of the first output shaft body. The leaf spring set is fixed to the inner side of the second output shaft body. The sliding block set is installed in sliding grooves of the second output shaft body. The variable-rigidity flexible joint based on the leaf springs is simple in structure, can be made small and is easy to control; and meanwhile, the rigidity can be adjusted linearly, the adjustment precision is high, errors are small, and the application range is wide.
Description
technical field [0001] The invention relates to a flexible joint, in particular to a flexible joint with variable stiffness based on a leaf spring and a control method thereof, belonging to the technical field of robots. Background technique [0002] Robot technology and its driver technology, as a strategic high-tech technology, have a strong driving force and technical radiation for future emerging industries. It is of far-reaching significance to improve emergency response capabilities and improve people's livelihood. At present, robots have been widely used in the field of human-computer interaction. For example, in the industrial field, robots have begun to participate in human labor and cooperate with people to complete tasks; in the service industry, catering service robots and humanoid robots have also been launched. This shows that the relationship between robots and humans is getting closer and closer, and the reliability and safety of human-computer interaction a...
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Patent Timeline
08 May 2018
Publication
CN108000554A
- IPC
- B25J17/02; B25J9/16
- CPC
- B25J9/1633; B25J17/0258
- Inventors
- 杨雪锋; 郑威