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Robot joint variable rigidity module based on cam type lever structure

A robot joint and cam type technology, applied in the field of robotics, can solve the problems of small stiffness adjustment range, large volume of variable stiffness rotary flexible joints, etc., achieve the effect of large stiffness adjustment range, flexible drive output, and reduce external impact

Pending Publication Date: 2019-03-15
GUANGDONG UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, there is no stiffness amplification structure, resulting in a small stiffness adjustment range, and the use of two pairs of compression springs also makes the volume of the variable stiffness rotary flexible joint larger

Method used

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  • Robot joint variable rigidity module based on cam type lever structure
  • Robot joint variable rigidity module based on cam type lever structure
  • Robot joint variable rigidity module based on cam type lever structure

Examples

Experimental program
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Effect test

Embodiment 1

[0033] Such as Figure 1 to Figure 3 As shown, this embodiment discloses a robot joint variable stiffness module based on a cam-type lever structure. The variable stiffness module mainly includes an input part 1 , an output part 2 , and a stiffness adjustment part 3 . The output part 2 is arranged in the input part 1 . A bearing 4 is provided between the input part 1 and the output part 2 to bear the non-torque load of the whole module and make the input part 1 and the output part 2 relatively rotatable.

[0034] Specifically, the input part 1 includes a housing 11 and a retaining ring 12 for housing bearings. The casing bearing retaining ring 12 is arranged on the casing 11 and is fixedly connected with the casing 11 . The housing 11 is provided with guide grooves for constraining the compression spring 35 and constraining the rigidity adjustment fulcrum 39 . The guide groove is located at the bottom of the casing 11; the casing 11 is provided with necessary mounting holes...

Embodiment 2

[0044] Figure 1 to Figure 3 As shown, this embodiment discloses a robot joint stiffness variable module based on a cam-type lever structure, including an input part 1 , an output part 2 and a stiffness adjustment part 3 . The stiffness adjustment part 3 includes a compression spring 35, a cam lever 31 and a stiffness adjustment fulcrum 39; When the external load is loaded on the output disk 21 of the variable stiffness module, it is transmitted to the compression spring 35 through the action of the cam lever 31. At this time, the compression spring is compressed under the action of the external force and the cam lever 31 is deflected by an angle. The output disk 21 is finally deflected due to the change of the angle of the cam lever 31 . This process is equivalent to when the variable stiffness module is subject to a certain torque load, especially some sudden loads, the compression spring 35 will produce a corresponding force to resist the sudden change of the load through ...

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Abstract

The invention discloses a robot joint variable rigidity module based on a cam type lever structure. The robot joint variable rigidity module comprises an input part, an output part and a rigidity adjusting part. The rigidity adjusting part comprises pressure springs, a cam type lever and a rigidity adjusting supporting point. The cam type lever rotates around the rigidity adjusting supporting point, one end of the cam type lever cooperates with the output part, and the other end of the cam type lever cooperates with the pressure springs. A bearing is arranged between the input part and the output part so as to bear non-torque loads of the whole module and enable the input part and the output part to relatively rotate. When the output part of the variable rigidity module bears outer instantloads, the loads are transmitted to the pressure springs through the cam type lever to be absorbed, and therefore outer impacts are reduced, and flexible drive output is achieved; and meanwhile the robustness and operation stability of a robot are improved. The robot joint variable rigidity module is compact in structure and low in cost and is integrated into a module, and therefore the robot joint variable rigidity module can be conveniently applied to various kinds of interactive equipment, especially, flexible robot joints. The robot joint variable rigidity module further has the advantages of being convenient to operate and easy to implement.

Description

technical field [0001] The invention relates to the field of robots, in particular to a robot joint variable stiffness module based on a cam-type lever structure. Background technique [0002] With the rapid development of modern industrial technology, the scope of application of robots has expanded dramatically, and human-machine collaboration has become increasingly close. With the continuous deepening of human-computer interaction, the working environment of the robot has become complex and has great uncertainty. It may collide with objects and people in the surrounding environment at any time, which poses a high challenge to the safety of the robot. Require. For example, the robot needs to dynamically adjust the joint stiffness and the active / passive flexibility of the robot joint according to the changes of the external environment and its own load. Therefore, it has become a technical difficulty in the field of collaborative robots to add a high-performance, compact ...

Claims

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Application Information

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IPC IPC(8): B25J17/02
CPCB25J17/0208
Inventor 朱海飞钟玉赵波谷世超管贻生
Owner GUANGDONG UNIV OF TECH
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