Variable-stiffness joint of robot

A technology of variable stiffness and robotics, applied in the field of robotics, can solve problems such as compliance is difficult to meet the requirements of human-machine integration

Active Publication Date: 2020-07-07
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Nowadays, the traditional robot joints are almost all rigid joints, and their flexibility and other aspects are still difficult to meet the requirements of human-machine

Method used

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  • Variable-stiffness joint of robot

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Embodiment Construction

[0025] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0026] Such as Figure 1-7 As shown, the present invention includes a support frame 1, an adapter seat 2, a rotating drive structure, a leaf spring mechanism and a stiffness adjustment mechanism. In the mouth, and the two sides of the adapter seat 2 are rotatably connected to the side plates on both sides of the support frame 1 through the rotating shaft 3, the rotation driving mechanism is arranged on the support frame 1, and the adapter seat 2 passes through the The rotation driving mechanism drives the rotation, and the blade spring mechanism and the stiffness adjustment mechanism are all arranged in the adapter seat 2, such as Figure 5-7 As shown, the leaf spring mechanism includes a cam follower block 211 and two leaf springs 203. The cam follower block 211 is driven to move in the adapter seat 2 by the stiffness adjustment mechanism. Two cams 213 are...

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Abstract

The invention relates to the field of robots, in particular to a variable-stiffness joint of a robot. The variable-stiffness joint comprises a supporting frame, a rotating connection seat, a rotatingdriving mechanism, a blade spring mechanism and a stiffness adjustment mechanism; the rotating connection seat is rotationally connected with the supporting frame; the rotating driving mechanism is arranged in the supporting frame; the rotating connection seat is driven by the rotating driving mechanism to rotate; the blade spring mechanism and the stiffness adjustment mechanism are arranged inside the rotating connection seat; the blade spring mechanism comprises a cam follow-up block and two blade springs; the cam follow-up block is driven by the stiffness adjustment mechanism to move; two cams are arranged on the cam follow-up block; the two blade springs are arranged between the two cams; a rotatable side cover is arranged on one side of the rotating connection seat; a side cover pressing column is arranged on the inner side of the side cover; and the side cover pressing column is arranged between the two blade springs. According to the variable-stiffness joint, energy buffering ofthe robot during jumping or collisions can be guaranteed, the cam follow-up block can be driven by the stiffness adjustment mechanism to move to change the radian of the blade springs, and nonlinearadjustment of the stiffness is realized.

Description

technical field [0001] The invention relates to the field of robots, in particular to a variable stiffness joint of a robot. Background technique [0002] After half a century of development, robot technology has become increasingly mature, and has been widely used in human production and life, and robots are no longer limited to complete traditional industrial production in a closed structured environment, but gradually from closed operations Freed from the space, enter the unstructured environment to integrate and work collaboratively with people, so the contact between robots and humans is getting closer and closer, and improving the safety of human-computer interaction has become the primary factor in the design of future robots. [0003] Future robots should be safe in nature, and interacting with them should not be more risky than a conscious person, which requires that future machines should have characteristics such as size, speed, strength and compliance similar to ...

Claims

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Application Information

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IPC IPC(8): B25J17/02B25J19/06
CPCB25J17/0258B25J19/068
Inventor 刘玉旺杨尚奎王冬琦王鹏
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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