A tensile online variable stiffness flexible joint

Abstract

The application relates to the technical field of robots, in particular to a tension type online variable stiffness flexible joint, which comprises a first tension joint structure and a second tension joint structure, a main drive steering engine is fixedly connected to the first tension joint structure, a first steering engine arm is fixedly connected to an output shaft of the main drive steering engine, a pre-tension force adjusting steering engine is fixedly connected to the second tension joint structure, a second steering engine arm is fixedly connected to an output shaft of the pre-tension force adjusting steering engine, a sliding hole is arranged on the second tension joint structure, a first rope is fixedly connected to the first steering engine arm, a spring is fixedly connected to the first rope, a second rope is fixedly connected to the spring, and the second rope is fixedly connected to the second steering engine arm and passes through the sliding hole arranged on the second tension joint structure; the friction and the gap problem of a traditional robot joint are overcome, the efficiency and the reliability of the structure are remarkably improved, and the compliance of the elastic joint is possessed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a tension type online variable stiffness flexible joint. BACKGROUND

[0002] In the field of robots, the traditional joint is generally a rigid hinge form, i.e. a face contact rotating pair. There is relative rotation between the rods and direct mechanical contact, which will inevitably cause mechanical friction loss. Once the degree of freedom of the mechanism increases, the increase in the number of joints will inevitably lead to a significant decrease in mechanical efficiency. In addition, the higher the driving frequency, the more serious this phenomenon will be. For bionic swing propulsion mechanisms or mechanical arms, in order to adapt to different scenes, not only is it required that the rotating joint can realize the basic rotating function, but also it is required that it has a certain flexibility; the stiffness can be adjusted online and the variable stiffness range is as large as possible; the mechanical efficiency is as high as possible; it should be easy to expand to multiple degrees of freedom; and it should be as simple and convenient as possible in terms of control. Therefore, a new type of variable stiffness flexible joint needs to be designed to meet the above new requirements for rotating joints. SUMMARY

[0003] The purpose of the present application is to provide a tension type online variable stiffness flexible joint, which overcomes the friction and gap problems of traditional robot joints, significantly improves the efficiency and reliability of the structure and has the flexibility of an elastic joint.

[0004] The purpose of the present application is achieved by the following technical solutions:

[0005] A tension type online variable stiffness flexible joint, comprising a first tension joint structure and a second tension joint structure, a main drive steering gear is fixedly connected to the first tension joint structure, a first steering gear arm is fixedly connected to the output shaft of the main drive steering gear, a pre-tension force adjusting steering gear is fixedly connected to the second tension joint structure, a second steering gear arm is fixedly connected to the output shaft of the pre-tension force adjusting steering gear, a sliding hole is arranged on the second tension joint structure, a first rope is fixedly connected to the first steering gear arm, a spring is fixedly connected to the first rope, a second rope is fixedly connected to the spring, the second rope is fixedly connected to the second steering gear arm through the sliding hole arranged on the second tension joint structure, two first support arms are fixedly connected to the second tension joint structure, a third rope is arranged between the upper and lower ends of the first tension joint structure and the second tension joint structure, a fourth rope is arranged between the two first support arms and the first tension joint structure, and the two third ropes and the two fourth ropes are in a state of tension to generate antagonistic forces to make the first tension joint structure and the second tension joint structure in static balance.

[0006] The end of the first rope is fixedly connected to the first steering gear arm through a first lock rope buckle, and the end of the second rope is fixedly connected to the second steering gear arm through a second lock rope buckle.

[0007] Two ends of the third rope are fixedly connected to the first tension joint and the second tension joint through two third rope buckles respectively;

[0008] The middle part and the front end of the first support arm are provided with holes, two ends of the fourth rope are fixedly connected to the first tension joint through two fourth rope buckles respectively, the middle part of the fourth rope passes through the hole in the front end of the first support arm and extends into the hole in the middle part of the first support arm, and the middle part of the fourth rope is fixedly connected to the middle part of the first support arm through a fifth rope buckle;

[0009] A plurality of the tension type online variable stiffness flexible joints are provided, and the plurality of tension type online variable stiffness flexible joints are fixedly connected in parallel to constitute a variable stiffness series swing propulsion mechanism;

[0010] The tension type online variable stiffness flexible joints constituting the variable stiffness series swing propulsion mechanism are fixedly connected with a rotating wheel support at the bottom, and a joint roller is rotatably connected to the rotating wheel support;

[0011] The rotating wheel support is fixedly connected to the first tension joint, a pre-tensioning force adjusting steering wheel located at the front side in the plurality of parallel tension type online variable stiffness flexible joints is fixedly connected to the second tension joint located at the rear side, and the connection of the plurality of tension type online variable stiffness flexible joints is completed;

[0012] The rear end of the tension type online variable stiffness flexible joint is provided with a plurality of swing members capable of swinging with the second tension joint, and a variable stiffness multi-joint passive swing mechanism is constituted;

[0013] The second tension joint of the tension type online variable stiffness flexible joint is fixedly connected with a swing rod, and the swing rod is fixedly connected to the last swing member through the plurality of swing members;

[0014] Two second support arms are fixedly connected to the swing member, and a fifth rope is arranged between the two second support arms and the first tension joint of the tension type online variable stiffness flexible joint, two ends of the fifth rope are fixedly connected to the first tension joint through two sixth rope buckles respectively, the front end and the middle part of the second support arm are provided with holes, the middle part of the fifth rope passes through the hole in the front end of the second support arm and extends into the hole in the middle part of the second support arm, the middle part of the fifth rope is fixedly connected to the middle part of the first support arm through a seventh rope buckle, a sixth rope is arranged between the upper end and the lower end of the swing member and the first tension joint, two ends of the sixth rope are fixedly connected to the swing member and the first tension joint through two eighth rope buckles respectively, the two fifth ropes and the two sixth ropes are in a tension state to generate antagonistic forces, so that the first tension joint and the swing member are in static balance;

[0015] The seventh rope is arranged between the swing member and the upper and lower ends of the swing member, the two ends of the seventh rope are fixedly connected to the two swing members through two ninth rope buckles, the eighth rope is arranged between the two second support arms on the swing member on the rear side and the swing member on the front side, the two ends of the eighth rope are fixedly connected to the swing member on the front side through a tenth rope buckle, the middle part of the eighth rope penetrates through the hole on the front side of the second support arm on the rear side and extends into the hole in the middle part of the second support arm on the rear side, and the middle part of the eighth rope is fixedly connected to the hole in the middle part of the second support arm on the rear side through an eleventh rope buckle, the two seventh ropes and the two eighth ropes are in a tension state and generate antagonistic forces to make the two swing members on the front and rear sides be in static balance.

[0016] The beneficial effects of the present application are:

[0017] By driving the active driving rudder to move, the active driving rudder drives the second tensile joint structure to swing relative to the first tensile joint structure, so that the tensile online variable stiffness flexible joint swings, and since there is no direct contact between the components, the mechanical friction loss of the mechanism is small, the friction and gap problems of the traditional robot joint are overcome, the efficiency and reliability of the structure are significantly improved, and the flexibility of the elastic joint is also improved.

[0018] A plurality of tensile online variable stiffness flexible joints are fixedly connected side by side to form a variable stiffness series swing propulsion mechanism, and the variable stiffness series swing propulsion mechanism can be applied in the fields of pipeline inspection, underwater bionic propulsion and the like, such as a variable stiffness mechanical snake and a variable stiffness bionic anguillidae machine fish, and the propulsion performance can be improved by changing the stiffness distribution of the joints.

[0019] A plurality of swing members capable of swinging with the second tensile joint structure are arranged at the rear end of the tensile online variable stiffness flexible joint to form a variable stiffness multi-joint passive swing mechanism, and the variable stiffness multi-joint passive swing mechanism can be applied in the fields of variable stiffness mechanical arms, bionic machine fish and the like. BRIEF DESCRIPTION OF DRAWINGS

[0020] The present application will be further described in detail below in combination with the drawings and specific implementation methods.

[0021] Figure 1 is a tensile online variable stiffness flexible joint structure schematic diagram of the present application;

[0022] Figure 2 is a side view of the tensile online variable stiffness flexible joint of the present application;

[0023] Figure 3 is a top view structure schematic diagram of the tensile online variable stiffness flexible joint of the present application;

[0024] Figure 4 is a support arm structure schematic diagram of the present application;

[0025] Figure 5 is the support arm of the present application, bottom view;

[0026] Figure 6 is the support arm of the present application, top view;

[0027] Figure 7 is the variable stiffness series swing propulsion mechanism of the present application, structural schematic diagram;

[0028] Figure 8 is the variable stiffness series swing propulsion mechanism of the present application, side view;

[0029] Figure 9 is the variable stiffness series swing propulsion mechanism of the present application, top view;

[0030] Figure 10 is the variable stiffness series swing propulsion mechanism of the present application, partial schematic diagram;

[0031] Figure 11 is the variable stiffness multi-joint passive swing mechanism of the present application, structural schematic diagram;

[0032] Figure 12 is the variable stiffness multi-joint passive swing mechanism of the present application, side view;

[0033] Figure 13 is the variable stiffness multi-joint passive swing mechanism of the present application, top view;

[0034] Figure 14 is the second tensile joint structure of the present application, structural schematic diagram;

[0035] Figure 15 is the swing member structure of the present application, structural schematic diagram.

[0036] In the figure: first tensile joint structure 1; second tensile joint structure 2; active drive steering gear 3; pre-tensioning force adjusting steering gear 4; first steering gear arm 5; second steering gear arm 6; first rope 7; spring 8; second rope 9; first rope lock buckle 10; second rope lock buckle 11; third rope 12; third rope lock buckle 13; fourth rope 14; fourth rope lock buckle 15; fifth rope lock buckle 16; first support arm 17; rotating wheel support 18; joint roller 19; swing member 20; second support arm 21; fifth rope 22; sixth rope lock buckle 23; seventh rope lock buckle 24; sixth rope 25; eighth rope lock buckle 26; swing rod 27; seventh rope 28; ninth rope lock buckle 29; eighth rope 30; tenth rope lock buckle 31; eleventh rope lock buckle 32. DETAILED DESCRIPTION

[0037] The present application will be further described in detail below in combination with the drawings.

[0038] As Figures 1 to 6As shown, in order to achieve the technical effect of "overcoming the friction and clearance problems of traditional robot joints, significantly improving the efficiency and reliability of the structure and having the flexibility of elastic joints", the structure and function of the tension type online variable stiffness flexible joint are described in detail as follows;

[0039] A tension type online variable stiffness flexible joint, comprising a first tension joint structure 1 and a second tension joint structure 2, a main drive steering gear 3 is fixedly connected to the first tension joint structure 1, a first steering gear arm 5 is fixedly connected to the output shaft of the main drive steering gear 3, a pre-tension force adjusting steering gear 4 is fixedly connected to the second tension joint structure 2, a second steering gear arm 6 is fixedly connected to the output shaft of the pre-tension force adjusting steering gear 4, a sliding hole is arranged on the second tension joint structure 2, a first rope 7 is fixedly connected to the first steering gear arm 5, a spring 8 is fixedly connected to the first rope 7, a second rope 9 is fixedly connected to the spring 8, the second rope 9 is fixedly connected to the second steering gear arm 6 through the sliding hole arranged on the second tension joint structure 2, two first support arms 17 are fixedly connected to the second tension joint structure 2, a third rope 12 is arranged between the upper and lower ends of the first tension joint structure 1 and the second tension joint structure 2, a fourth rope 14 is arranged between the two first support arms 17 and the first tension joint structure 1, the two third ropes 12 and the two fourth ropes 14 are in a state of tension to generate antagonistic forces to make the first tension joint structure 1 and the second tension joint structure 2 in static equilibrium;

[0040] The end of the first rope 7 is fixedly connected to the first steering gear arm 5 through a first rope lock 10, and the end of the second rope 9 is fixedly connected to the second steering gear arm 6 through a second rope lock 11;

[0041] The two ends of the third rope 12 are fixedly connected to the first tension joint structure 1 and the second tension joint structure 2 through two third rope locks 13 respectively;

[0042] The middle and front end of the first support arm 17 are provided with holes, the two ends of the fourth rope 14 are fixedly connected to the first tension joint structure 1 through two fourth rope locks 15 respectively, the middle of the fourth rope 14 passes through the hole in the front end of the first support arm 17 and extends into the hole in the middle of the first support arm 17, and the middle of the fourth rope 14 is fixedly connected to the middle of the first support arm 17 through a fifth rope lock 16;

[0043] As Figure 1 shown, in the initial state, the first steering gear arm 5, the first rope 7, the spring 8, the second rope 9 and the second steering gear arm 6 are on the same axis, when the mechanism moves, the main drive steering gear 3 drives the first steering gear arm 5 to rotate to form a certain angle with the above-mentioned axis, and drives the first rope 7, the spring 8 and the second rope 9 to move, the tension in the second rope 9 drives the second tension joint structure 2 to rotate, so as to realize the rotation of the flexible joint;

[0044] The pre-tension adjusting rudder 4 drives the second rudder arm 6 to rotate to change the pre-stretching amount of the spring 8, so the rotation angle of the second rudder arm 6 determines the pre-tension of the spring 8, the rotation stiffness of the joint is in direct proportion to the pre-tension, and the proportion coefficient is only related to the structural parameters; this shows that the rotation stiffness does not change with the change of the rotation angle of the flexible joint, that is, the rotation stiffness and the rotation angle are independent of each other. In the case that the structural size and the spring type are determined, the rotation stiffness can be changed in a wide range by controlling the rotation angle of the second rudder arm 6;

[0045] The first tension joint structure 1, the second tension joint structure 2, the second rope 9, the first rope buckle 10, the second rope buckle 11, the third rope 12, the third rope buckle 13, the fourth rope 14, the fourth rope buckle 15 and the fifth rope buckle 16 constitute a tension type flexible joint;

[0046] The two third ropes 12 connect the first tension joint structure 1 and the second tension joint structure 2 in the axial direction, and the two fourth ropes 14 connect the first tension joint structure 1 and the second tension joint structure 2 in the radial direction. Both the two third ropes 12 and the two fourth ropes 14 are under tension and form a tension network, so that the joint has a certain flexibility. By adjusting the structural parameters, the tension joint can approximately form an automatic rotation shaft at the center of the small hole at the front end of the first support arm 17 on the second tension joint structure 2, and the rotation stiffness of the joint in the rotation direction is zero. The tension flexible joint combines the MACCEPA variant mechanism and the tension joint to form a virtual rotation pair, and the motion is equivalent to the rotation of a traditional rigid joint. The rotation stiffness is simply controlled by the pre-tension adjusting rudder 4. There is no direct contact between the first tension joint structure 1 and the second tension joint structure 2, and the friction loss of the joint is small;

[0047] The hollow inner cavity of the first tension joint structure 1 reserves space for the online variable stiffness module to avoid interference with the tension flexible joint. In specific applications, it is difficult to ensure that the virtual rotation shaft of the joint remains unchanged. The concept of shaft drift can be used to evaluate the joint equivalence of the mechanism. It is generally believed that when the dimensionless shaft drift is less than 5%, the tension flexible joint still has good joint equivalence;

[0048] As shown in Figures 7 to 10 , a plurality of tension type online variable stiffness flexible joints are provided, and the plurality of tension type online variable stiffness flexible joints are fixedly connected in parallel to constitute a variable stiffness series swing propulsion mechanism. The tension type online variable stiffness flexible joints exemplified here are arranged in parallel in four groups;

[0049] The tension type online variable stiffness flexible joints constituting the variable stiffness series swing propulsion mechanism are all fixedly connected with a rotating wheel support 18 at the bottom, and the rotating wheel support 18 is rotatably connected with a joint roller 19;

[0050] The rotating wheel support 18 is fixedly connected to the first tension joint structure 1, the pre-tightening force adjusting steering wheel 4 located at the front side of the plurality of side-by-side arranged tension type online variable stiffness flexible joints is fixedly connected to the second tension joint structure 2 located at the rear side, and the connection of the plurality of tension type online variable stiffness flexible joints is completed;

[0051] By respectively controlling the rotating angles of the output shafts of the plurality of pre-tightening force adjusting steering wheels 4 to change the pre-tightening force of the spring 8, different joint rotating stiffness distributions and a wide range of changes of the rotating stiffness of each joint can be realized; the existence of the plurality of joint rollers 19 enables the mechanism to rely on friction to swing and propel;

[0052] By cooperatively controlling the rotating angles of the output shafts of the plurality of active driving steering wheels 3, a plurality of postures of the variable stiffness series swing propulsion mechanism in swing propulsion can be realized, the tension type flexible joint formed by the third rope 12, the fourth rope 14, the joint front tension member and the corresponding joint rear tension member enables the mechanism to have a certain compliance; since there is no direct contact between the members, the mechanical friction loss of the mechanism is small, and the variable stiffness series swing propulsion mechanism can be applied in the fields of pipeline inspection, underwater bionic propulsion and the like, such as a variable stiffness mechanical snake and a variable stiffness bionic Anguillidae machine fish, and the propulsion performance can be improved by changing the stiffness distribution of each joint;

[0053] As shown in Figures 11 to 15 The rear end of the tension type online variable stiffness flexible joint is provided with a plurality of swing members 20 capable of swinging with the second tension joint structure 2, and a variable stiffness multi-joint passive swing mechanism is formed;

[0054] The second tension joint structure 2 of the tension type online variable stiffness flexible joint is fixedly connected with a swing rod 27, and the swing rod 27 is fixedly connected to the last swing member 20 by penetrating through the plurality of swing members 20;

[0055] The swing member 20 is fixedly connected with two second support arms 21, and the first tension joint structure 1 of the tension type online variable stiffness flexible joint is provided with a fifth rope 22 between the two second support arms 21, the two ends of the fifth rope 22 are fixedly connected to the first tension joint structure 1 by two sixth rope buckles 23, the front end and the middle part of the second support arm 21 are provided with holes, the middle part of the fifth rope 22 penetrates through the hole in the front end of the second support arm 21 and enters the hole in the middle part of the second support arm 21, and the middle part of the fifth rope 22 is fixedly connected to the middle part of the first support arm 17 by a seventh rope buckle 24; the upper and lower ends between the swing member 20 and the first tension joint structure 1 are provided with a sixth rope 25, and the two ends of the sixth rope 25 are fixedly connected to the swing member 20 and the first tension joint structure 1 by two eighth rope buckles 26; the two fifth ropes 22 and the two sixth ropes 25 are in a tension state to generate antagonistic forces, so that the first tension joint structure 1 and the swing member 20 are in static equilibrium.

[0056] The seventh rope 28 is arranged between the swing member 20 and the upper and lower ends of the swing member 20, and the two ends of the seventh rope 28 are fixedly connected to the two swing members 20 through two ninth rope buckles 29 respectively. The eighth rope 30 is arranged between the two second support arms 21 on the rear swing member 20 and the front swing member 20, and the two ends of the eighth rope 30 are fixedly connected to the front swing member 20 through a tenth rope buckle 31 respectively. The middle part of the eighth rope 30 penetrates through the hole on the front side of the rear second support arm 21 and extends into the hole in the middle part of the second support arm 21. The middle part of the eighth rope 30 is fixedly connected to the hole in the middle part of the second support arm 21 on the rear side through an eleventh rope buckle 32. The two seventh ropes 28 and the two eighth ropes 30 are in a tension state and generate antagonistic forces to make the two swing members 20 on the front and rear sides in static balance.

[0057] As shown in Figure 11 and Figure 14 In this embodiment, the structure shape of the second tension joint structure 2 is changed, but does not affect its basic function, which is to generate swing and complete the fixation of the pre-tension adjustment steering gear 4. Those skilled in the art can set the structure shape of the second tension joint structure 2 according to the use requirement. Here, the swing member 20 is set to four, and those skilled in the art can also set it to different numbers according to the use requirement.

[0058] By controlling the pre-tension adjustment steering gear 4 to rotate a certain angle to realize the pre-stretching of the spring 8, the rotational stiffness of the internal tension type flexible joint of the mechanism can be controlled. By driving the active driving steering gear 3, the internal tension type flexible joint of the mechanism can be rotated, so as to drive the swing rod 27 to rotate. The end of the swing rod 27 can move freely in the central hole penetrating through the plurality of swing members 20, so that the swing rod 27 can drive the last swing member 20 to rotate, so that the plurality of swing members 20 swing, thereby realizing the bending or swinging function of the variable stiffness multi-joint passive swing mechanism.

[0059] During the rotation, the second support arm 21 on the rear swing member 20 will interfere with the front swing member 20 after rotating a certain angle, and the variable stiffness multi-joint passive swing mechanism reaches the maximum rotation angle. The maximum rotation angle of the joint can be limited by the structure design, and the rotation angle limitation of the plurality of swing members 20 is realized by the above-mentioned manner. The variable stiffness multi-joint passive swing mechanism can generate a specific swing curve.

[0060] The variable stiffness multi-joint passive swing mechanism converts the broken line motion form of the single degree of freedom tensile flexible joint inside the variable stiffness multi-joint passive swing mechanism into the smooth compliant motion of the four serial swing members 20 outside the mechanism through the swing rod 27; the fifth rope 22, the sixth rope 25, the seventh rope 28 and the eighth rope 30 inside the variable stiffness multi-joint passive swing mechanism ensure that the overall rotational stiffness of the mechanism changes in a large range, the variable stiffness multi-joint passive swing mechanism is compact in structure and simple in control, the mechanical friction is greatly reduced due to the non-interaction between the members, and the tensile flexible joint ensures the high compliance of the variable stiffness multi-joint passive swing mechanism;

[0061] The variable stiffness multi-joint passive swing mechanism can be applied in the fields of variable stiffness mechanical arm, bionic robot fish and the like; for the bionic robot fish, the swing rod 27 of the variable stiffness multi-joint passive swing mechanism simulates the spine of the fish, the variable stiffness module inside the variable stiffness multi-joint passive swing mechanism imitates the variable stiffness mechanism inside the fish body, and the four serial swing members 20 outside the mechanism imitate the multi-joint fish body structure.

[0062] The principles and implementation manners of the present application are described by applying specific examples in the present application, and the above description of the examples is only for helping to understand the method of the present application and the core idea thereof; meanwhile, according to the idea of the present application, the specific implementation manners and application ranges will be changed by the person skilled in the art. In conclusion, the content of the present description should not be understood as the limitation of the present application.

Claims

1. A tensile online variable stiffness flexible joint comprising a first tensile joint member (1) and a second tensile joint member (2), characterized in that: The first tension joint structure (1) is fixedly connected with a main drive steering engine (3), the output shaft of the main drive steering engine (3) is fixedly connected with a first steering engine arm (5), the second tension joint structure (2) is fixedly connected with a pre-tightening force adjusting steering engine (4), the output shaft of the pre-tightening force adjusting steering engine (4) is fixedly connected with a second steering engine arm (6), the second tension joint structure (2) is provided with a sliding hole, the first steering engine arm (5) is fixedly connected with a first rope (7), the first rope (7) is fixedly connected with a spring (8), the spring (8) is fixedly connected with a second rope (9), the second rope (9) passes through the sliding hole arranged on the second tension joint structure (2) and is fixedly connected with the second steering engine arm (6), the second tension joint structure (2) is fixedly connected with two first support arms (17), the upper and lower ends of the first tension joint structure (1) and the second tension joint structure (2) are both provided with a third rope (12), the two first support arms (17) and the first tension joint structure (1) are both provided with a fourth rope (14), the two third ropes (12) and the two fourth ropes (14) are in a tension state and generate antagonistic forces to make the first tension joint structure (1) and the second tension joint structure (2) in static balance.

2. A tensile online variable stiffness flexible joint according to claim 1, characterized in that: The end of the first rope (7) is fixedly connected with the first steering engine arm (5) through a first rope lock (10), and the end of the second rope (9) is fixedly connected with the second steering engine arm (6) through a second rope lock (11).

3. The tension-based online variable stiffness flexible joint of claim 1, wherein: The two ends of the third rope (12) are fixedly connected with the first tension joint structure (1) and the second tension joint structure (2) through two third rope locks (13) respectively.

4. The tension-based online variable stiffness flexible joint of claim 1, wherein: The middle part and the front end of the first support arm (17) are both provided with holes, the two ends of the fourth rope (14) are fixedly connected with the first tension joint structure (1) through two fourth rope locks (15) respectively, the middle part of the fourth rope (14) passes through the hole in the front end of the first support arm (17) and extends into the hole in the middle part of the first support arm (17), and the middle part of the fourth rope (14) is fixedly connected with the middle part of the first support arm (17) through a fifth rope lock (16).

5. The tension-based online variable stiffness flexible joint of claim 1, wherein: The tension type online variable stiffness flexible joint is provided with a plurality of tension type online variable stiffness flexible joints which are fixedly connected in parallel to constitute a variable stiffness series swing propulsion mechanism.

6. A tensile online variable stiffness flexible joint according to claim 5, characterized in that: The bottom of the tension type online variable stiffness flexible joint constituting the variable stiffness series swing propulsion mechanism is fixedly connected with a rotating wheel support (18), and the rotating wheel support (18) is rotatably connected with a joint roller (19).

7. A tensile online variable stiffness flexible joint according to claim 6, characterized in that: The rotating wheel support (18) is fixedly connected with the first tension joint structure (1), the pre-tightening force adjusting steering engine (4) located at the front side in the plurality of parallel tension type online variable stiffness flexible joints is fixedly connected with the second tension joint structure (2) located at the rear side, and the connection of the plurality of tension type online variable stiffness flexible joints is completed.

8. The tensioned online variable stiffness flexible joint of claim 1, wherein: The rear end of the tension type online variable stiffness flexible joint is provided with a plurality of swing members (20) capable of swinging with the second tension joint structure (2) to constitute a variable stiffness multi-joint passive swing mechanism.

9. A tensile online variable stiffness flexible joint according to claim 8, characterized in that: The second tension joint structure (2) of the tension type online variable stiffness flexible joint is fixedly connected with a swing rod (27), and the swing rod (27) is fixedly connected to the last swing member (20) through a plurality of swing members (20).

10. A tensile online variable stiffness flexible joint according to claim 9, characterized in that: The swing member (20) is fixedly connected with two second support arms (21), and the fifth rope (22) is arranged between the two second support arms (21) and the first tension joint structure (1) of the tension type online variable stiffness flexible joint. The two ends of the fifth rope (22) are fixedly connected to the first tension joint structure (1) through two sixth rope buckles (23). The front end and the middle part of the second support arm (21) are provided with holes, the middle part of the fifth rope (22) is inserted into the hole in the middle part of the second support arm (21) through the hole in the front end of the second support arm (21), and the middle part of the fifth rope (22) is fixedly connected to the middle part of the first support arm (17) through a seventh rope buckle (24). The sixth rope (25) is arranged between the upper and lower ends of the swing member (20) and the first tension joint structure (1). The two ends of the sixth rope (25) are fixedly connected to the swing member (20) and the first tension joint structure (1) through two eighth rope buckles (26). The two fifth ropes (22) and the two sixth ropes (25) are in a tension state to generate antagonistic forces, so that the first tension joint structure (1) and the swing member (20) are in static balance. The seventh rope (28) is arranged between the swing member (20) and the upper and lower ends of the swing member (20). The two ends of the seventh rope (28) are fixedly connected to the two swing members (20) through two ninth rope buckles (29). The eighth rope (30) is arranged between the two second support arms (21) on the swing member (20) at the rear side and the swing member (20) at the front side. The two ends of the eighth rope (30) are fixedly connected to the swing member (20) at the front side through a tenth rope buckle (31). The middle part of the eighth rope (30) is inserted into the hole in the middle part of the second support arm (21) at the rear side through the hole in the front side of the second support arm (21) at the rear side. The middle part of the eighth rope (30) is fixedly connected to the hole in the middle part of the second support arm (21) at the rear side through an eleventh rope buckle (32). The two seventh ropes (28) and the two eighth ropes (30) are in a tension state to generate antagonistic forces, so that the two swing members (20) on the front side and the rear side are in static balance.

Images