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A Cylinder-Based Variable Stiffness Joint System

A technology of variable stiffness and cylinder, applied in the field of robots, can solve the problems of narrow joint deformation range, large joint size, and many parts, and achieve the effect of reducing joint weight, reducing joint size, and high adaptability

Active Publication Date: 2022-04-01
BEIJING UNIV OF POSTS & TELECOMM
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

The main problem with antagonistic variable stiffness joints is that the range of joint deformation narrows as the stiffness of the system increases
The main problem of the variable transmission rate variable stiffness joint is: in order to realize the variable transmission rate function, the joint size is large and many parts are used

Method used

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  • A Cylinder-Based Variable Stiffness Joint System
  • A Cylinder-Based Variable Stiffness Joint System
  • A Cylinder-Based Variable Stiffness Joint System

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Embodiment Construction

[0023] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.

[0024] The present invention is a cylinder-based variable stiffness joint system, such as figure 1 As shown, it includes: cylinder support plate 1, upper cylinder 2, support plate connecting rod 3, lower cylinder 4, lower linear displacement sensor 5, transmission spindle 6, arm connection block 7, rack support plate 8, upper linear displacement sensor 9 , upper proportional valve 10, air source 11, computer 12, lower proportional valve 13, upper sensor connection block 14, upper sensor connection base 15, upper rack 16, transmission gear 17, lower rack 18, lower sensor connection base 19, Lower sensor connection block 20, lower cylinder connection block 21, lower linear guide rail 22, lower cylinder connection base 23, upper cylinder connection block 24, upper linear guide rail 25, upper cylinder connection base 26, motor 27;

[0025] The cylinder-b...

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Abstract

The invention discloses a cylinder-based variable stiffness joint system. The joint system includes a cylinder support plate (1), an upper air cylinder (2), a support plate connecting rod (3), a lower air cylinder (4), a lower linear displacement sensor (5), a transmission spindle (6), and an arm connection block (7 ), rack support plate (8), upper linear displacement sensor (9), upper proportional valve (10), air source (11), computer (12), lower proportional valve (13), upper sensor connection block (14) , upper sensor connection base (15), upper rack (16), transmission gear (17), lower rack (18), lower sensor connection base (19), lower sensor connection block (20), lower cylinder connection block ( 21), lower linear guide rail (22), lower cylinder connection base (23), upper cylinder connection block (24), upper linear guide rail (25), upper cylinder connection base (26), motor (27); the upper position of the present invention The cylinder and the lower cylinder can effectively solve the problem that the deformation range of the antagonistic variable stiffness joint will be severely limited when the stiffness is high. The invention has high output torque precision, wide stiffness control range and excellent dynamic response performance.

Description

technical field [0001] The invention relates to a robot joint with variable stiffness, which belongs to the technical field of robots, in particular to the structural design of robot parts. Background technique [0002] At present, the mechanism design of variable stiffness robot joints is mainly divided into three categories, antagonistic mechanism, single spring mechanism and variable transmission rate mechanism. The principle adopted by the antagonistic variable stiffness joint to adjust the stiffness is mainly as follows: multiple elastic elements are connected in parallel and pull each other to change the preload force of the joint at the equilibrium position. The main problem with antagonistic variable stiffness joints is that the range of joint deformation narrows as the stiffness of the system increases. The principle adopted by the single spring type variable stiffness joint to adjust the stiffness is mainly to change the preload force of the joint by pulling the e...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00B25J9/10B25J9/14B25J19/00
CPCB25J17/00B25J9/14B25J9/1035B25J19/00
Inventor 吴昊城苏柏泉刘了了闫昊姚炜刘文勇
Owner BEIJING UNIV OF POSTS & TELECOMM
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