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Variable-rigidity elastic driver

A drive and variable stiffness technology, applied in transmissions, manipulators, program-controlled manipulators, etc., can solve the problems of large energy loss, complex structure, and low energy utilization rate.

Active Publication Date: 2021-09-21
ZHENGZHOU UNIVERSITY OF LIGHT INDUSTRY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0011] Based on the comparison of representative robot flexible joints at home and abroad, the following problems can be seen: (1) The structure and control are relatively simple, but the energy loss is large and the performance is unstable; (2) The control is simple, but the structure is complex and takes up a lot of space. The energy utilization rate is low; (3) For the scheme with simple variable stiffness structure and less energy loss, its control is complicated; (4) The stress concentration phenomenon of non-spring special elastic elements is difficult to avoid

Method used

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Embodiment Construction

[0060] Embodiments of the invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0061] Such as Figure 1-Figure 10 As shown, the variable stiffness elastic driver according to the embodiment of the present invention includes a first rotary member 100, a second rotary member 200, an elastic assembly 300, a transmission wheel 410, a planetary gear set, a support frame 450, an input shaft 400, a first roller Sub 610, second roller 620 and drive assembly 500.

[0062] The first rotating member 100 can rotate around the first axis, and the second rotating member 200 can rotate around the first axis, that is to say, the first rotating member 100 and the second rotating member 200 are arranged coaxially. Specifically, the first rotating member 10...

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Abstract

The invention discloses a variable-rigidity elastic driver. The variable-rigidity elastic driver comprises a first rotating piece, a second rotating piece, an elastic assembly, a transmission wheel, a planet wheel set, a supporting frame, an input shaft, a first roller, a second roller and a driving assembly. The first rotating piece and the second rotating piece are coaxially arranged, the elastic assembly is eccentrically arranged relative to a first axis, at least one end of the elastic assembly is connected with the first rotating piece, the transmission wheel is matched with the elastic assembly, and a sun gear can rotate around the first axis. Each of a first planet gear and a second planet gear meshes with each of the sun gear and the first rotating piece, the input shaft is connected with each of the transmission wheel and the sun gear, the first roller and the second roller are symmetrically arranged on the two sides of the sun gear, the driving assembly is arranged on the second rotating piece, and the driving assembly can drive the first roller and the second roller to move by the same distance in the same direction or in the back-to-back direction at the same time. The variable-rigidity elastic driver can achieve rigidity regulation and control.

Description

technical field [0001] The invention relates to the technical field of robot driving, in particular to a variable stiffness elastic driver. Background technique [0002] The development of robots in the direction of flexibility has become an inevitable trend, and flexible joints account for 80%-90% of robot flexible systems. From this point of view, improving joint flexibility is of great significance to improving the safety, compliance and adaptability of robots. Due to their excellent mechanical properties, animal joints have attracted much attention from scholars at home and abroad, and are currently the main bionic research objects. Among them, variable stiffness elastic actuators are the most researched and have achieved many results. [0003] The German Aerospace Center has designed an antagonistic flexible joint QA (Quasi Antagonistic). The elastic drive realizes the flexible drive of the joint through the coordinated action of two motors. In order to better imitate...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10F16H37/12
CPCB25J9/1035F16H37/12
Inventor 王才东刘晓丽肖艳秋王新杰郑华栋董祥升刘建秀王翊臣牛震许武威
Owner ZHENGZHOU UNIVERSITY OF LIGHT INDUSTRY