Variable-rigidity swing joint and rigidity control method thereof

Abstract

The invention discloses a variable-rigidity swing joint. The variable-rigidity swing joint comprises a fixing frame and a swing shaft, a swing plate is arranged on one side of the swing shaft, a left side plate and a right side plate are arranged on the two sides of the swing plate correspondingly and can concentrically rotate relative to the swing shaft, an air bag I is arranged between the swing plate and the right side plate, and an air bag II is arranged between the swing plate and the left side plate; a gear I is arranged on the swing shaft, and a gear II and a gear III which are meshed with the gear I are arranged on the fixing frame; a right swing rod is fixedly connected to the gear II, a right connecting rod is hinged to the end, away from the gear II, of the right swing rod, and the end, away from the right swing rod, of the right connecting rod is hinged to the right side plate; and a left swing rod is fixedly connected to the gear III, a left connecting rod is hinged to the end, away from the gear III, of the left swing rod, and the end, away from the left swing rod, of the left connecting rod is hinged to the left side plate. The swing joint has good rigidity, the rigidity is adjustable, the mechanical structure is simple and practical, the reliability is high, and the high application value is achieved.

Description

technical field [0001] The invention relates to the technical field of mechanical joints, in particular to a variable stiffness swing joint and a stiffness control method thereof, which are suitable for making flexible swing joints of flexible mechanical arms, manipulators, upper and lower limb rehabilitation robots, and the like. Background technique [0002] The flexibility of the joint and the complexity of the joint structure directly determine the structure and size of the mechanical joint. Most of them adopt a purely mechanical structure, use motor or hydraulic pressure as the drive, and use mechanical parts as the execution end. The flexibility of the joint is not good, and the stiffness of the joint is basically not good. Tune. Utilizing elastic elements to achieve mechanism compliance, the National University of Singapore designed a flexible joint with two levels of stiffness. With a brushless DC motor for driving a load, a microactuator for adjusting the stiffness...

AI Technical Summary

Problems solved by technology

However, the above-mentioned flexible joint structure is relatively complex, and the stiffness is difficult to be effectively controlled.

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