Railless Variable Stiffness Driver

Abstract

The invention provides a guide-rail-free variable-rigidity driver comprising a drive shell, a leaf spring base, leaf springs, moving clamp assemblies and a transmission assembly, wherein the leaf spring base is located at the symmetry center of the drive shell and fixedly connected with the drive shell, the rigid end of each leaf spring is installed on the leaf spring base, each moving clamping assembly movably restrains the deformable length between the suspended end and the rigid end of the corresponding leaf spring, the transmission assembly is in transmission connection with the moving clamping assemblies, and the transmission assembly drives the moving clamping assemblies to horizontally move and rotate around the symmetry axis of the leaf spring base. According to the guide-rail-freevariable-rigidity driver, the leaf spring base is arranged at the symmetry position of the drive shell, the transmission assembly drives the moving clamp assemblies to horizontally move so as to change the deformable length of the leaf springs, so that the leaf springs can absorb energy when the driver collides with the outside, then collision can be soft collision, and therefore good safety is achieved.

Description

technical field

[0001] The invention relates to the technical field of flexible driving, in particular to a guide rail-less variable stiffness driver. Background technique

[0002] With the continuous development of the robot industry, the application of robots is no longer limited to fixed industrial places, but has gradually entered people's daily life, working together with people in more complex environments, which means that the work of robots The environment is no longer simply determined, and it is necessary to face many unpredictable disturbances and obstacles. In order to ensure the accuracy and speed of operation, traditional industrial robots design and manufacture the robot body as rigidly as possible, and use high-rigidity drivers to avoid deformation and vibration of the robot under load, but this will lead to danger when the robot and humans work together , for example, when a robot collides with a human, due to the high rigidity of the robot, the robot canno...

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