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Railless Variable Stiffness Driver

A technology of variable stiffness and drive, applied in the direction of manufacturing tools, manipulators, etc., can solve the problems of danger, robots cannot achieve flexible buffering, human danger, etc., and achieve the effect of good safety.

Active Publication Date: 2020-12-29
TSINGHUA UNIV
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  • Abstract
  • Description
  • Claims
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AI Technical Summary

Problems solved by technology

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 cannot achieve flexible cushioning during the collision, which will cause great danger to humans

Method used

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  • Railless Variable Stiffness Driver
  • Railless Variable Stiffness Driver
  • Railless Variable Stiffness Driver

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Embodiment Construction

[0047] In order to have a clearer understanding of the technical features, purposes and effects of the invention, the specific implementation manners of the present invention will now be described with reference to the accompanying drawings, in which the same reference numerals represent the same parts.

[0048] In this article, "schematic" means "serving as an example, example or illustration", and any illustration or implementation described as "schematic" in this article should not be interpreted as a more preferred or more advantageous Technical solutions.

[0049] In order to make the drawings concise, the figures in each figure only schematically show the relevant parts of the present invention, and do not represent the actual structure of the product. In addition, to make the drawings concise and easy to understand, in some drawings, only one of the components having the same structure or function is schematically shown, or only one of them is marked.

[0050] In this ...

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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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/06
Inventor 姜峣田向宇冯一骁李铁民
Owner TSINGHUA UNIV
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