Two-degree-of-freedom variable-rigidity ball-and-socket joint of robot

Abstract

The invention relates to the field of robots, and particularly relates to a two-degree-of-freedom variable-rigidity ball-and-socket joint of a robot. The two-degree-of-freedom variable-rigidity ball-and-socket joint of the robot comprises a supporting frame, a ball-and-socket mechanism, a leaf spring mechanism and a rigidity adjusting mechanism, wherein a front plate of the supporting frame is provided with the ball-and-socket mechanism; the supporting frame is internally provided with the rigidity adjusting mechanism and the leaf spring mechanism; the leaf spring mechanism comprises a cam following block and two leaf springs; the cam following block is provided with two cams, and two leaf springs are arranged between the two cams; the cam following block is driven to move by the rigidityadjusting mechanism; both ends of a limiting groove semi-ring of the ball-and-socket mechanism and both ends of a power rod seat are hinged on the front plate of the supporting frame through rotatingshafts; a power rod is arranged on the power rod seat, and the front end of the power rod seat is arranged in a groove of the limiting groove semi-ring; each rotating shaft is provided with a spring pressing column; and each spring pressing column is arranged between the front ends of the two leaf springs of the leaf spring mechanism on the corresponding side. The two-degree-of-freedom variable-rigidity ball-and-socket joint of the robot has two characteristics of active rigidity adjustment and passive rigidity adjustment, and realizes large load bearing under the condition of a smaller corner.

Description

technical field [0001] The invention relates to the field of robots, in particular to a two-degree-of-freedom variable stiffness ball 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 industrial production instead of humans in a closed structured environment, but gradually from closed working spaces Liberated from the environment, enter the unstructured environment to integrate and work collaboratively with humans, 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 s...

AI Technical Summary

Problems solved by technology

[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 humans, The most flexible part of the human body is the human joints. The movement of the human joints forms the overall movement of the human body. However, 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 integration. When these rigidity Rigid robotic arms composed of joints are generally isolated from humans during work to prevent harm to humans

Images