Rigidity-variable robot flexible joint

Abstract

The invention discloses a rigidity-variable robot flexible joint. A driving motor 110, a harmonic reducer 130, a spring support base 210, a crossed roller bearing 250 and a driving output connecting rod 340 are the same in rotating axis, and the driving output connecting rod 340 and a lower connecting rod 140 serve as the two ends of the flexible joint. When the robot flexible joint moves, the whole driving motor 110 transmits torque and motion to the harmonic reducer 130, the harmonic reducer 130 drives the spring support base 210 to rotate, the spring support base 210 transmits the torque and the motion to a spring set 220, the torque and the motion are finally transmitted to the driving output connecting rod 340 after being buffered by the spring set, and flexible driving of the whole joint is achieved.

Description

technical field [0001] The invention belongs to the technical field of robots, and more specifically relates to a robot flexible joint with variable stiffness. Background technique [0002] At present, in the design of robot kinematic joints, the driving mode of rigid connection is generally adopted between the motor input shaft and the joint output mechanism. The rigidity makes the robot joints more susceptible to damage by external impacts, and the force control accuracy of the rigid drive is low, which makes the human-computer interaction performance poor, and because there is no elastic energy storage like biological tendon between the motor input and the joint output components, making joint energy consumption higher. [0003] In recent years, a series of flexible drive joints that simulate the stretching work of human muscles has attracted extensive research. The series drive flexible drive joints can achieve self-cushioning when subjected to external impacts, thereby...

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Problems solved by technology

[0004] However, different application scenarios have different requirements for the stiffness of series flexible drive joints, so series flexible drive joints with variable stiffness have high application value. At present, the existing methods of variable stiffness of robot joints mostly use complex cam structures, etc. way to change the joint stiffness, and the adjustable range of the joint stiffness is small, and the complex variable stiffness mechanism also makes the volume of the robot joint larger

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