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Robot joint variable stiffness actuator

A technology of robot joints and variable stiffness, applied in manipulators, manufacturing tools, joints, etc., can solve the problems of large volume of variable stiffness joints, low motor utilization rate, heavy weight, etc., and achieve the effect of small volume and improved utilization rate

Active Publication Date: 2018-07-10
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Abstract
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Problems solved by technology

[0005] In view of the above problems, the object of the present invention is to provide a robot joint variable stiffness actuator to solve the problems of the existing variable stiffness joints such as large volume, heavy mass and low utilization rate of motors.

Method used

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  • Robot joint variable stiffness actuator

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Embodiment Construction

[0026] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0027] Such as Figure 1-2 , Figure 4 As shown, a robot joint variable stiffness actuator provided by the present invention includes a power output device and two sets of power input devices, wherein the power output device includes a power output frame 9, a lead screw 10 and a friction circular table 11, and the lead screw 10 is installed on On the power take-off frame 9, and be threadedly connected with two friction round tables 11, the small diameter ends of two friction round tables 11 are corresponding, two groups of power output devices are rotatably installed in the both sides of power take-off frame 9, and all with two The two friction round tables 11 are frictionally connected; by changing the relative steering of the two groups of powe...

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Abstract

The invention belongs to the technical field of robot joints, and particularly relates to a robot joint variable stiffness actuator. The robot joint variable stiffness actuator comprises a power output device and two power input devices. The power output device comprises a power output rack, a screw rod and friction circular truncated cones. The screw rod is installed on the power output rack andis in thread connection with the two friction circular truncated cones. The small diameter ends of the two friction circular truncated cones correspond to each other. The two power input devices are rotationally installed on the two sides of the power output rack respectively and are both connected with the two friction circular truncated cones. The joint turning angles and the joint stiffness arecontrolled by changing the relative turning directions of the two power input devices. According to the robot joint variable stiffness actuator, the two power input devices are symmetrically arrangedon the two sides of the power output device, the joint turning angles and the joint stiffness are controlled by changing the relative turning directions of two power input shafts. Furthermore, it canbe realized that a motor or joint components are protected by adopting the friction manner.

Description

technical field [0001] The invention belongs to the technical field of robot joints, in particular to a robot joint variable stiffness actuator. Background technique [0002] Robots are no longer limited to replace humans in traditional industrial production in a structured environment, but are gradually liberated from closed work spaces and enter unstructured environments to integrate and work collaboratively with humans. Human-machine collaboration has become an inevitable trend in the development of robots. [0003] The high-stiffness joints of traditional industrial robots lack cushioning and energy-absorbing energy storage functions, and are easily damaged by strong impacts, and even cause fatal injuries to humans. In the current robot joints that achieve joint compliance through active control, the joint stiffness adjustment response is very limited due to the impact of bandwidth. At the same time, the compliance performance of this type of joint mainly depends on th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/02B25J19/06
CPCB25J17/0258B25J19/068
Inventor 刘玉旺刘霞刚陈吉彪程强杨尚奎
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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