Variable-rigidity robot joint structure

A technology of robot joints and stiffness, applied in the field of robots, can solve the problems of poor joint compliance, sacrifice cost, increased energy consumption, etc., and achieve the effects of compact adjustment mechanism, large transmission power, and improved accuracy

Active Publication Date: 2021-07-09
CHONGQING UNIV OF TECH
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  • Abstract
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Problems solved by technology

[0003] At present, the research field of robot joints mainly considers the flexibility of the joints. Traditional robot joints often use rigid structures, and the flexibility of the joints is poor. At the same time, the human-machine safety of their use also needs to be improved. The way of safety is to realize high-quality sensors and control algorithms on the basis of existing rigid robots, but this sacrifices a lot of cost and increases energy consumption

Method used

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  • Variable-rigidity robot joint structure
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  • Variable-rigidity robot joint structure

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Embodiment Construction

[0041] The present invention will be further described below with reference to the accompanying drawings and examples.

[0042] Append figure 1 Accompany Figure 5 As shown, a variable stereotic robot joint structure includes joint mechanism and variable rigidity adjustment mechanism 4, joint mechanism including first joint 1 and second joint 2, first joint 1 and second joint 2 passing A drive assembly 3 is connected such that the first joint 1 and the second joint 2 can be relatively rotated under the action of the first driving assembly 3;

[0043] The variable rigidity adjustment mechanism 4 includes a housing 41 and a gear rack assembly, and the outer casing 41 is fixedly coupled to the second joint 2, and the gear rack assembly includes mutually engaging gear 47 and the rack 46, and the variable rigidity adjustment mechanism 4 also includes can be driven. The second drive assembly 42 rotates of the gear 47, the second drive assembly 42 is mounted on the joint mechanism, and th...

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Abstract

The invention discloses a variable-rigidity robot joint structure which comprises a joint mechanism and a variable-rigidity adjusting mechanism. The joint mechanism comprises a first joint and a second joint, and the first joint and the second joint are connected through a first driving assembly; the variable-rigidity adjusting mechanism comprises a shell and a gear and rack assembly, the gear and rack assembly comprises a gear and a rack which are meshed with each other, the variable-rigidity adjusting mechanism further comprises a second driving assembly capable of driving the gear to rotate, the rack is slidably connected to the shell, and an elastic piece is further arranged on a moving path of the rack; and the two ends of the elastic piece abut against the rack and the shell correspondingly, so that the rack can compress the elastic piece when sliding along the shell. By means of the variable-rigidity robot joint structure, rigidity adjustment can be achieved, so that the using safety of a robot is improved, further damage to people and the surrounding environment is avoided, and man-machine safety is achieved.

Description

Technical field [0001] The present invention relates to the field of robotics, and more particularly to a variable diverting robot joint structure. Background technique [0002] With the development of electromechanical integration technology, the industrial upgrading and the needs of robotic industry development. In recent years, robot technology has been developed rapidly. The robot joint is an important part of the robot structure, and its structural design has also become an important research direction of robots. [0003] At present, the research field of robot joints is mainly considering the use of the use of the joint, and the traditional robot joints are often used in rigid structures. The softness of the joint use is poor, and the human-machine safety it uses needs to improve, and the current common robust The method of security is to achieve high-quality sensors and control algorithms based on existing rigid robots, but thereby sacrifices a lot of cost and increases. T...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/02
CPCB25J17/02
Inventor 金辉罗木林路世青何清松何苗胡方超
Owner CHONGQING UNIV OF TECH
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