An integrated active and passive variable stiffness joint based on cam mechanism
A cam mechanism, active and passive technology, applied in the field of intelligent robots, can solve the problems of poor dynamic adjustment of joint stiffness, complex structure of stiffness adjustment mechanism, and low degree of modularization, so as to achieve simplified joint interchangeability and enhanced joint interaction. Replaceable and versatile effects
Active Publication Date: 2022-04-08
HEBEI UNIV OF TECH
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Problems solved by technology
In summary, most of the existing variable stiffness joints have problems such as large joint size, complex structure of stiffness adjustment mechanism, poor dynamic adjustment of joint stiffness and low degree of modularization.
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[0030] The present invention will be described in further detail below in conjunction with the accompanying drawings.
[0031] An integrated active and passive variable stiffness joint based on cam mechanism, such as Figure 1 to Figure 7 As shown, it includes a joint active and passive stiffness adjustment module 2, a joint power drive module 1, a joint control feedback module 3 and a frame 4. The joint active and passive stiffness adjustment module 2, the joint power drive module 1 and the joint control feedback module 3 adopt Connected in a series arrangement, the joint control feedback module 3 is installed on the frame 4, and the frame 4 is installed on other connecting components or the robot body.
[0032] The joint active and passive stiffness adjustment module 2 includes a gear 208, a rack 209, a roller frame 206, a spring 204, a spring sleeve rod 205, a cam output disc 202, and a variable stiffness module shell 201, which is connected to the harmonic deceleration Th...
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The invention relates to an integrated active and passive variable stiffness joint based on a cam mechanism, which comprises a joint active and passive stiffness adjustment module, a joint power drive module, a joint control feedback module and a frame which are sequentially connected together; the joint active and passive stiffness adjustment module includes Gears, racks, roller frames, springs, spring sleeve rods, cam output discs, sliders, and shells of variable stiffness modules; joint power drive modules include hollow torque motors, harmonic reducers, and stiffness adjustment motors; joint control modules include magnetic encoding encoders, encoder brackets, control boards, and control board mounting posts. The present invention has a reasonable design, and adopts the way of the planar disc-shaped groove cam mechanism to configure the spring to realize the active and passive adjustment of the joint stiffness. The cam mechanism is used to make the joint more compact. The joint power drive module and the joint active and passive stiffness adjustment module can be disassembled as a separate Modules are used, easy to install and use, and have strong versatility.
Description
technical field [0001] The invention belongs to the technical field of intelligent robots, in particular to an integrated active and passive variable stiffness joint based on a cam mechanism. Background technique [0002] As the core components of robotic arms and legged robots, joints are the key to ensuring their superior motion stability and environmental adaptability. Traditional rigid joints use rigid parts, which have a simple structure, easy installation, and relatively simple joint drive control, but the joint stiffness is fixed, which leads to the robot's environmental adaptability when it is in an unstructured workspace or facing a complex terrain environment. Poor performance, and the presence of external disturbances in the working process, it is easy to impact the robot joints and even cause irreparable damage to the sensitive components inside the body. The joints are raised. [0003] At present, the variable stiffness joints can be roughly divided into two c...
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IPC IPC(8): B25J17/00B25J17/02
CPCB25J17/00B25J17/0233
Inventor 张小俊郭俊改王满李满宏孙凌宇
Owner HEBEI UNIV OF TECH