Three-DOF (degree of freedom) flexible joint structure

A technology of flexible joints and degrees of freedom, applied in the field of flexible robots, can solve the problems of joint wear, lack of flexibility, and reduced robot life, and achieve the effect of increasing flexibility, prolonging service life, and good flexibility.

Active Publication Date: 2018-06-01
CHANGZHOU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Although this three-degree-of-freedom joint can be applied to large-scale industrial robot equipment, it is difficult to reflect the flexibility of the joint due to its lack of flexibility. Significantly reduced lifespan

Method used

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  • Three-DOF (degree of freedom) flexible joint structure

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Embodiment Construction

[0017] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0018] see figure 1 As shown, a three-degree-of-freedom flexible joint structure of the present invention includes a first connecting part 1 that can be connected with the robot head, a second connecting part 2 that can be connected with the robot body, and a rotating joint relative to the first connecting part 1. The compound joint main body A3 and the compound joint main body B4 that can be twisted relative to the second connecting member 2, the compound joint main body A3 and the compound joint main body B4 can rotate relative to each other.

[0019] see figure 1 As shown, the bottom of the first connector 1 is provided with a groove with a semicircular cross section, the upper end of the composite joint body A3 is a semi-cylindrical protrusion 32, the lower end is a cylindrical protrusion 31, and the middle is a cylindrical strai...

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Abstract

The invention discloses a three-DOF (degree of freedom) flexible joint structure and belongs to the field of flexible robots. The three-DOF flexible joint structure comprises a first connector connected with a robot head, a second connector connected with a robot body, composite joint body A capable of rotating relative to the first connector, and composite joint body B capable of turning relativethe second connector; the composite joint body A and the composite joint body B can rotate relatively; each rotating portion is mounted by magnetic attraction and is provided with a deformable elastic pad that may compressively deform such that a 3-DOF joint generates minor compressive deformation when rotating, the center of rotation is changed, and joint flexibility is improved. The three-DOF flexible joint is a no-stability rotation center with three orthogonal degrees of rotation and has flexible vibration-isolating and protecting functions.

Description

technical field [0001] The invention mainly relates to the field of flexible robots, in particular to a three-degree-of-freedom flexible joint structure. Background technique [0002] The joints of the robot usually need to have three rotational degrees of freedom, and the rotational degrees of freedom in the prior art have extremely strong rigidity, that is, the two mutually rotating parts have a stable rotational center. Although this three-degree-of-freedom joint can be applied to large-scale industrial robot equipment, it is difficult to reflect the flexibility of the joint due to its lack of flexibility. Life expectancy is significantly reduced. Therefore, designing a flexible joint with three freedoms has important application value. Contents of the invention [0003] The technical problem to be solved by the present invention is: Aiming at the technical problems existing in the prior art, the present invention provides a three-degree-of-freedom flexible motor with...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/02
CPCB25J17/0208
Inventor 班书昊李晓艳席仁强
Owner CHANGZHOU UNIV
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