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Variable stiffness unidirectional drive swing joint for large load and high dynamic legged robot

A robot and high dynamic technology, applied in the direction of manipulators, manufacturing tools, joints, etc., can solve the problems of limited joint output work space, mechanism performance is difficult to adapt to high dynamic control, etc., to achieve the effect of ensuring mechanical smoothness and simple structure

Active Publication Date: 2021-07-23
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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.

Method used

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  • Variable stiffness unidirectional drive swing joint for large load and high dynamic legged robot
  • Variable stiffness unidirectional drive swing joint for large load and high dynamic legged robot
  • Variable stiffness unidirectional drive swing joint for large load and high dynamic legged robot

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Embodiment Construction

[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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Abstract

The invention provides a variable-stiffness one-way drive swing joint for a large-load and high-dynamic footed robot, which includes a drive module, a mechanical transmission module and a joint shell. The drive module is installed outside the joint shell, and the mechanical transmission module is installed inside the joint shell. The output shaft of the drive module is connected with the mechanical transmission module, and the drive module provides a continuously variable transmission ratio through stepless transmission to realize the first speed output and the second speed output; the output end of the mechanical transmission module is the power output end of the swing joint, and The robot leg structure is connected and drives the robot leg structure to swing back and forth at high frequency. The invention has a simple and compact structure and is easy to be integrated and applied in a legged robot system.

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...

Claims

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Application Information

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Patent Type & Authority Patents(China)
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