Variable-rigidity flexible joint based on leaf springs and control method of variable-rigidity flexible joint

Abstract

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...

AI Technical Summary

Problems solved by technology

At present, the structural forms of flexible joints mainly include five types: antagonistic type, spring type, friction plate type, variable transmission type and hybrid type. Most of them have problems of complex structure, large volume, complicated control process and difficult linear control of stiffness. CN201610847050.2 discloses a robot flexible joint with continuously adjustable stiffness, which realizes adjustable stiffness by compressing the pre-compression amount of the floating spring. Although it can realize continuously adjustable stiffness, its structure is complex, bulky, and poor in environmental adaptability; Chinese patent CN201410062727.2 discloses a variable stiffness coupling and a variable stiffness driving mechanism, which realizes stiffness adjustment through the deformation of the elastic reed, but since the elastic reed has both bending deformation and torsional deformation, its stiffness is very high. Linear change, and then it is difficult to achieve stiffness adjustment; Chinese patent CN201510114055.X discloses a flexible joint with variable stiffness, which uses a multi-stage gear transmission mechanism, the transmission process is complicated and the precision is low, it is difficult to control the stiffness, and the structure is more complicated , with limited application

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