A series reconfigurable variable stiffness robot joint structure based on permanent magnet spring

Abstract

A serially reconfigurable variable stiffness robot joint structure based on permanent magnet springs, comprising a base, a rope, and a variable stiffness motor; one end of the vertical base of the base is processed into a waist-shaped blind hole, and the other end is processed with a waist-shaped blind hole. The upper through hole and the lower through hole are connected by the blind hole. The shaft I is installed in the lower through hole through the bearing. One end of the shaft I is connected with the reducer and the position servo motor in turn, and the other end is located in the waist-shaped blind hole. A small pulley is installed. ;In the upper through hole, the cross roller bearing I and the shaft body of the output disc are rotated and installed, and the end face of the cross roller bearing I is fixedly connected with one end of the disc of the output disc, and the shaft body of the output disc is located in the waist-shaped blind. A large pulley is installed in the hole, a synchronous belt is installed between the large pulley and the small pulley, and the disk of the output disk is connected with the connecting rod disk and the variable stiffness device in turn through the crossed roller bearing II. The variable stiffness device changes the stiffness adjustment range by quickly adjusting the permanent magnet spring and rope arrangement, and has a wider range of applications.

Description

technical field [0001] The invention belongs to the technical field of a series reconfigurable variable stiffness joint structure of a flexible robot system, in particular to a series reconfigurable variable stiffness robot joint structure based on a permanent magnet spring. Background technique [0002] At present, robots have penetrated into all aspects of people's daily production and life and have shown an explosive growth trend. The demand for robots to integrate with people in the fields of smart factories, elderly and disabled services, medical care, education and entertainment is gradually increasing. The safety of human-computer interaction has gradually been paid more and more attention. The use of flexible variable-stiffness joint actuators to realize the compliance and active adaptability of robots has attracted more and more researchers' attention. [0003] At present, the variable stiffness joint driver mainly adopts the following schemes: (1) Impedance contro...

AI Technical Summary

Problems solved by technology

1) There is a contradiction between the stiffness adjustment range and the stiffness adjustment accuracy of variable stiffness joints. For example, the spring pre-stretching length, the position of the lever loading point, and the effective length of the reed are all limited to a limited range by the joint size constraints. Therefore, the stiffness adjustment The larger the range, the lower the adjustment resolution

2) The bearing capacity of large variable stiffness joints is insufficient in the low stiffness state

3) The range of stiffness adjustment cannot be changed as the internal structure of the variable stiffness device is determined, and the scope of application is small

4) The variable stiffness devices of most joints have complex structures, which increase the mass and inertia of the joints

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