Ball socket type two-degree-of-freedom variable-rigidity robot joint

Abstract

The invention relates to the field of robots, in particular to a ball socket type two-degree-of-freedom variable-rigidity robot joint. The robot joint comprises a ball socket mechanism, a supporting frame, a base and a base driving mechanism, wherein the ball socket mechanism is arranged in the supporting frame, and the ball socket mechanism is provided with a power rod and two rotating shafts with axes intersecting in a cross mode; the power rod extends out of the upper side of the supporting frame, and the shaft ends of the rotating shafts penetrate through side plates on the corresponding sides of the supporting frame; cams are arranged at the positions, on the outer side of the supporting frame, of the shaft ends of the rotating shafts, a guide flange is arranged on the outer side of the lower end of the supporting frame, and the sides of the guide flange are provided with liftable ejector columns abutting against the cams on the corresponding sides; and the other ends of the ejector columns are connected with the base through springs, and the base is driven by the base driving mechanism to move. The ball socket type two-degree-of-freedom variable-rigidity robot joint has the two characteristics of active rigidity adjustment and passive rigidity adjustment, and large-load bearing is achieved under the condition of small deflection angle through nonlinear rigidity changes.

Description

technical field [0001] The invention relates to the field of robots, in particular to a ball-and-socket type two-degree-of-freedom variable stiffness robot joint. 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 characteristic...

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 The rigid mechanical arm composed of joints generally needs to be isolated from people during work to prevent harm to humans

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