A flexible variable stiffness mechanism with human-computer interaction safety
A technology of human-computer interaction and variable stiffness, applied in the field of robotics, can solve problems such as human collisions, achieve fast adjustment, meet the requirements of accuracy and adaptability, and reduce damage
Inactive Publication Date: 2021-07-09
北航(天津武清)智能制造研究院有限公司
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[0005] The invention provides a flexible variable stiffness mechanism with human-computer interaction safety, which uses a flexible structure to replace the rigid structure in the prior art, and solves the problem that the rigid structure robot in the prior art is difficult to change when it comes into contact with people. Technical Problems That Injure People
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[0041] In order to make the purpose, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are the Some, but not all, embodiments are invented. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0042] This embodiment provides a flexible and variable stiffness mechanism 1 with human-computer interaction safety, such as figure 1 with figure 2As shown, it includes: an upper adjustment device 10, a lower adjustment device 30 and a plurality of variable stiffness reeds 20, and the upper adjustment device 10 and the lower adjustment device 30 are symmetrically arrange...
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The invention provides a flexible variable stiffness mechanism with human-computer interaction safety, comprising: an upper adjustment device, a lower adjustment device and a plurality of reeds with variable stiffness, and the two ends of the reeds are respectively connected with the upper adjustment device Connected with the lower adjustment device, at least one of the upper adjustment device and the lower adjustment device can drive the reed to twist and deform when rotating, so that the stiffness of the reed can be changed. The flexible variable stiffness mechanism with the safety of human-computer interaction provided by the present invention quickly changes the stiffness of the reed so that the overall stiffness of the mechanism can be changed rapidly, which reduces the damage caused to people when the mechanism contacts people, and improves the response of the mechanism to various adaptability to the situation.
Description
technical field [0001] The invention relates to the field of robots, in particular to a flexible and variable stiffness mechanism with human-computer interaction safety. Background technique [0002] In recent years, robots have been more and more widely used in daily life. Many complex operations in real life often require robots and humans to be in the same workspace and cooperate with each other to complete. In this case, in addition to ensuring In order to ensure the safety of oneself and the operating workpiece, at the same time, it is necessary to ensure the safety of people, and to avoid injury to people due to contact with people during work. [0003] At present, the method of reducing the rigidity of the robot is used to reduce the degree of damage to the human body when the robot collides with the human body. It is necessary to maintain a large rigidity, and when the robot is running at a high speed, the robot needs to ensure a low rigidity in order to ensure the ...
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IPC IPC(8): B25J9/00B25J19/00B25J19/06
CPCB25J9/00B25J9/0009B25J19/00B25J19/06B25J19/068
Inventor 裴旭范晓铎黄凯鸿
Owner 北航(天津武清)智能制造研究院有限公司