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Passive robot joint with adjustable rigidity elasticity

A technology of robot joints and stiffness, applied in the directions of manipulators, manufacturing tools, joints, etc., can solve the problems of energy loss and time-consuming, and achieve the effect of improving the energy efficiency of motion and realizing dynamic high-speed motion.

Inactive Publication Date: 2011-02-16
NORTH CHINA UNIVERSITY OF TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the process of studying the walking process of passive dynamic walking robots, it is a very difficult problem to adjust only by adjusting the parameters of the robot itself. The adjustment process is not only time-consuming, but also requires a lot of experiments
In addition, passive dynamic walking robots will inevitably collide with the ground during walking, and the rapid changes in the velocity of the center of mass of the robot's feet during this process will lose considerable energy

Method used

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  • Passive robot joint with adjustable rigidity elasticity
  • Passive robot joint with adjustable rigidity elasticity
  • Passive robot joint with adjustable rigidity elasticity

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Embodiment Construction

[0023] The preferred embodiments of the passive robot joint with adjustable stiffness and elasticity of the present invention are as follows: figure 1 , Figure 2a , Figure 2b As shown, the passive robot joints are respectively connected to the calf support base 5 and the thigh support base 1. The passive robot joint includes a spring reel 3, inside which is equipped with a joint stiffness elastic adjustment device, the spring reel 3 is connected to the thigh support seat 1, the protruding end of the joint stiffness elastic adjustment device is connected to the lower leg support plate 7, and the joint stiffness elastic adjustment device includes a flat non-contact scroll spring 20, and the flat surface The inner end of the non-contact scroll spring 20 is connected with a spring reel 16 and the outer end is connected with a spring reel 3. The plane non-contact scroll spring is supported by a support rod 17 in the middle of the pitch, and the support rod is connected to the main t...

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Abstract

The invention discloses a passive robot joint with adjustable rigidity elasticity, comprising a spring reel and a joint rigidity elasticity adjustment device arranged inside the spring reel, wherein the spring reel is connected with thigh support seats; an extended end of the joint rigidity elasticity adjustment device is connected with crus support seats by crus support plates; the joint rigidity elasticity adjustment device comprises a non-contact plane volute spring of which the inner end is connected with a spring scroll and the outer end is connected with the spring reel; the middle of the spring scroll is hollow and is internally provided with a rigidity adjustment motor; one end of the spring scroll is connected with the rigidity adjustment motor; and the middle of the non-contact plane volute spring pitch is supported by a bracing piece which is connected with a rigidity adjustment reducer by a transmission gear. The bracing piece and the transmission gear perform radial motion, thus improving motion energy efficiency of the robot, realizing dynamically high-speed motion, and having good performance, compact structure and reliable operation.

Description

Technical field [0001] The invention relates to a robot joint, in particular to a passive robot joint with adjustable stiffness and elasticity. Background technique [0002] Inspired by the walking ways of jumping and walking animals in nature, the research on passive dynamic walking robots has been promoted. The passive dynamic walking robot is a legged robot similar to human walking. The legged robot has multiple degrees of freedom, flexible movement and high stability. Its trajectory is a series of discrete footprints, which can reach wheeled and crawler types. Places that robots cannot reach. In the study of the walking process of passive dynamic walking robots, it is a very difficult problem to adjust the parameters of the robot itself. The adjustment process is not only time-consuming, but also requires a lot of experiments. In addition, the passive dynamic walking robot will inevitably collide with the ground during walking. In this process, the rapid change of the cente...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00
Inventor 何广平李士明
Owner NORTH CHINA UNIVERSITY OF TECHNOLOGY
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