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
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[0032] Example 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 provided in the input part 1. A bearing 4 is provided between the input part 1 and the output part 2 to withstand the non-torque load of the entire module and to enable the input part 1 and the output part 2 to rotate relatively.
[0034] Specifically, the input part 1 includes a housing 11 and a housing bearing retaining ring 12. The housing bearing retaining ring 12 is arranged on the housing 11 and is fixedly connected with the housing 11. The casing 11 is provided with a guide groove for restraining the compression spring 35 and the rigidity adjusting fulcrum 39. The guide groove is located at the bottom of the housing 11; the housing 11 is provided with necessary installa...
Example Embodiment
[0043] Example 2:
[0044] Figure 1 to Figure 3 As shown, this embodiment discloses a robot joint variable stiffness module based on a cam-type lever structure, which includes an input part 1, an output part 2 and a stiffness adjustment part 3. The rigidity adjustment part 3 includes a compression spring 35, a cam lever 31 and a rigidity adjustment fulcrum 39; the cam lever 31 rotates around the rigidity adjustment fulcrum 39, and one end thereof is matched with the output disk 21 and the other end is matched with the compression spring 35. When an external load is loaded on the output disc 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 external force and the cam lever 31 is deflected by an angle. Due to the change of the angle of the cam lever 31, the output disk 21 is eventually deflected. This process is equivalent to when the v...
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