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Compact variable stiffness joint module with flexible element

A technology of flexible components and variable stiffness, which is applied in the field of robots, can solve the problems of not having variable stiffness, universality, and complicated control methods, etc., and achieves the effect of simple installation, smooth and accurate rotation, and preventing shaking

Active Publication Date: 2022-07-29
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most of the existing robot joints do not have the characteristics of variable stiffness, and a small number of variable stiffness joints have problems such as large volume, complex structure, and complex control methods. At the same time, they only target specific robot configurations and cannot be used universally.

Method used

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  • Compact variable stiffness joint module with flexible element
  • Compact variable stiffness joint module with flexible element
  • Compact variable stiffness joint module with flexible element

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Experimental program
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Embodiment Construction

[0046] The present invention will be further described in detail below with reference to the accompanying drawings.

[0047] The present invention has a compact variable stiffness joint module with flexible elements, such as Figure 1 to Figure 5As shown, it includes a front end casing 1, a rear end casing 2, a variable stiffness mechanism 3, a motor end magnetic encoder 4, an output end magnetic encoder 5, a drive unit 6 and a frameless torque motor unit 7. The variable stiffness mechanism 3 further includes a planetary gear reducer 301 , a motor end bearing 302 and a flexible link unit 303 .

[0048] like figure 1 , figure 2 As shown, the front end housing 1 is a circular plate-shaped structure, and the outer circumferential side wall of the outer ring matches the inner diameter of the rear end housing 2 of the cylindrical structure. The front-end housing 1 is embedded in the rear-end housing 2, located at the front end of the rear-end housing 2, and the side wall is flu...

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Abstract

The invention discloses a compact variable stiffness joint module with a flexible element, which is characterized in that a star gear reducer is arranged in a frameless torque motor unit, a driver outputs current to generate a variable magnetic field on a motor stator winding, and a motor outer rotor rotates under the action of the magnetic field; torque generated by the electromagnetic field is converted into input torque of the planetary gear reducer; an output flange mounted on the planetary gear reducer is further driven by the planetary gear reducer to follow up; further, the flexible element installed on the output flange synchronously rotates along with the output flange to generate deformation, torque is generated at the flexible element output hole, and the torque is transmitted to the flexible output flange through the flexible element output hole to drive an external load to move. According to the invention, variable stiffness can be realized, the functions of a biological rigid and flexible musculoskeletal system are effectively simulated, dynamic force interaction in an unknown environment can be allowed, and the reliability and safety of robot operation are improved.

Description

technical field [0001] The invention relates to the field of robots, in particular to a manipulation / transport robot or a robot exoskeleton system, in particular to a compact variable stiffness joint module with flexible elements. Background technique [0002] Nowadays, robots have more and more functions and are widely used in different fields and environments. From helping humans in manufacturing to exploring hard-to-reach areas in harsh environments, robots are becoming increasingly important. [0003] Existing robot joints are designed for precise and repeatable operation of robots in specific environments. Therefore, rigid joint position control is often the basis for achieving target motion. [0004] However, when there is a dynamic force interaction with an unknown environment, such as the collaborative operation of a human and a robotic arm or the dynamic gait of a walking robot in complex terrain, it is necessary to use relatively accurate force / torque control and...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/02B25J9/12
CPCB25J17/0258B25J9/126B25J9/102
Inventor 徐坤汤建胤栗琪凯丁希仑
Owner BEIHANG UNIV
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