Variable rigidity unidirectionally driven oscillating joint for large load bearing highly dynamic foot type robot
A robot and variable stiffness technology, applied in the direction of manipulators, manufacturing tools, joints, etc., can solve the problems that the mechanism performance is difficult to adapt to high dynamic control, limit the output work space of joints, etc., and achieve the effect of ensuring mechanical smoothness and simple structure
Active Publication Date: 2020-12-15
SHANGHAI UNIV
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Problems solved by technology
However, the reversing scheme of the multi-link mechanism mainly used in the prior art limits the working space of the joint output, and it is difficult to adapt to high dynamic control because the performance of the mechanism varies with the posture.
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[0049] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. 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.
[0050] Embodiments of the present invention are described in detail below in conjunction with accompanying drawings:
[0051] Such as Figure 1-7 As shown, a variable-stiffness unidirectional drive swing joint for a large-load and high-dynamic footed robot includes a drive module 1 , a mechanical transmission module 2 and a joint housing 3 . The joint housing 3 includes a front end cover 31, a main housing 32 and a rear end cover 33, wherein the front end cov...
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The invention provides a variable rigidity unidirectionally driven oscillating joint for a large load bearing highly dynamic foot type robot. The joint comprises a driving module, a mechanical transmission module and a joint housing. The driving module is mounted on the outer side of the joint housing, and the mechanical transmission module is mounted in the joint housing. An output shaft of the driving module is connected to the mechanical transmission module, and the driving module provides continuously changing transmission ratios by means of stepless speed change to output first and secondrotating speeds; and an output end of the mechanical transmission module is a power output end of the oscillating joint and is connected to a leg structure of the robot and drives the leg structure of the robot to oscillate in a reciprocating manner at high frequency. The joint is simple and compact in structure and is easily applied in a foot type robot system integrally.
Description
technical field [0001] The invention relates to the technical field of legged robots, in particular to a one-way driving swing joint with variable stiffness that meets the design requirements of a large-load and high-dynamic legged robot. Background technique [0002] Joints are the core moving parts for the bionic movement of legged robot limbs. [0003] The movement characteristics of legged robot limbs are continuous reciprocating motion. As the overall motion performance of legged robots develops towards high dynamics, the high-frequency reciprocating motion capability and the dynamic adjustment ability of their own stiffness have become important design requirements for joint components. [0004] On the other hand, large load-carrying capacity is also becoming a requirement to promote the development of legged robot applications, which poses great technical challenges to conventional joint solutions that mainly rely on motors and reducers for drive transmission. The in...
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Login to View More IPC IPC(8): B25J17/02
CPCB25J17/02
Inventor 贾文川王泽宇张宇马书根孙翊袁建军蒲华燕
Owner SHANGHAI UNIV