Symmetrical type variable-pivot rigidity regulating module capable of realizing full-range rigidity regulation

An adjustment module and symmetrical technology, applied in the field of robotics, can solve the problems that the stiffness adjustment mechanism cannot be modularized, and the VSJ stiffness adjustment range is limited, so as to achieve the effect of improving reliability and stability, fewer parts, and simple and compact structure

Active Publication Date: 2021-01-01
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problems that the existing VSJ stiffness adjustment range is limited and the stiffness adjustment mechanism cannot be modularized, the present invention further proposes a symmetrical variable fulcrum stiffness adjustment module that can realize full-range stiffness adjustment

Method used

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  • Symmetrical type variable-pivot rigidity regulating module capable of realizing full-range rigidity regulation
  • Symmetrical type variable-pivot rigidity regulating module capable of realizing full-range rigidity regulation
  • Symmetrical type variable-pivot rigidity regulating module capable of realizing full-range rigidity regulation

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specific Embodiment approach 1

[0022] Specific implementation mode one: combine Figure 1 to Figure 8 Describe this embodiment. A symmetrical variable fulcrum stiffness adjustment module described in this embodiment that can realize full-range stiffness adjustment includes a fulcrum adjustment mechanism 1, an elastic transmission mechanism 2, and a pair of first bearings 3. The fulcrum adjustment mechanism 1 and the elastic The transmission mechanisms 2 are rotationally connected by a pair of first bearings 3 .

[0023] In this embodiment, the outer ring of the first bearing 3 is fixed by screws through the spigot and retaining ring processed by the module input 1-1, and the inner ring of the first bearing 3 is fixed by the notch and retaining ring processed by the module output 2-1. Fixed, the fulcrum adjustment mechanism 1 and the elastic transmission mechanism 2 can relatively rotate through the first bearing 3 .

specific Embodiment approach 2

[0024] Specific implementation mode two: combination Figure 1 to Figure 8 Describe this embodiment, the fulcrum adjustment mechanism 1 described in this embodiment includes a module input terminal 1-1, an Archimedes spiral coil 1-2, a stiffness adjustment motor 1-5, a harmonic reducer 1-6, a motor base Seats 1-7 and two fulcrums 1-4,

[0025] The module input terminal 1-1 is fixedly connected to the end of the motor base 1-7, and the Archimedes spiral coil 1-2 is arranged on the inner side of the motor base 1-7 and rotates between the motor base 1-7 connection, the inner end surface of the module input end 1-1 is symmetrically provided with two linear through grooves 1-1-1 along the axial direction, and the outer end surface of the Archimedes spiral coil 1-2 is symmetrically arranged along the axial direction. a curved groove 1-2-1, two fulcrums 1-4 are set between the module input end 1-1 and the Archimedes spiral coil 1-2, and one end of each fulcrum 1-4 is respectively in...

specific Embodiment approach 3

[0028] Specific implementation mode three: combination Figure 1 to Figure 8 To illustrate this embodiment, the motor shaft of the stiffness adjustment motor 1-5 in this embodiment is connected to the wave generator of the harmonic reducer 1-6 through the motor shaft connector 1-8. Other compositions and connection methods are the same as those in the second embodiment.

[0029] In this embodiment, the D-type motor shaft of the stiffness adjustment motor 1-5 is inserted into the D-type hole processed by the motor shaft connector 1-8; the axial position of the motor shaft connector 1-8 is determined by the support stiffness adjustment motor 1-5 The deep groove ball bearing of the motor shaft is fixed through the retaining ring and the rigidity adjustment motor 1-5; the motor shaft connector 1-8 is connected with the wave generator of the harmonic reducer 1-6 by screws.

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Abstract

The invention discloses a symmetrical type variable-pivot rigidity regulating module capable of realizing full-range rigidity regulation, relates to the technical field of robots, and aims to solve the problems that an existing VSJ rigidity regulation range is limited, and a rigidity regulating mechanism cannot realize modularization. The symmetrical type variable-pivot rigidity regulating modulecomprises a pivot regulating mechanism, an elastic transmitting mechanism and a pair of first bearings, wherein the pivot regulating mechanism is rotatably connected to the elastic transmitting mechanism through one pair of first bearings. The symmetrical type variable-pivot rigidity regulating module is used for a flexible robot.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a symmetrical variable fulcrum stiffness adjustment module that can realize full-range stiffness adjustment. Background technique [0002] Traditional robots are mostly used in industrial production, and they move according to established trajectories in a structured environment to complete specific tasks. In order to make the robot have high repeat positioning accuracy, better trajectory tracking effect and faster response speed, and at the same time ensure a certain degree of safety, the robot system usually adopts the design scheme of "rigid mechanical structure and active compliance control". However, when a robot collides with a rigid object in an unstructured environment, the robot based on "active compliance control" still exhibits a rigid state at the moment of collision. With the continuous expansion of the application range of robots, especially in public services, medi...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/16B25J17/02
CPCB25J9/1633B25J17/0208
Inventor 刘宏崔士鹏刘伊威胡汉东孙永军
Owner HARBIN INST OF TECH
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