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Flexible hinge with double-direction variable rigidity

A flexible hinge and stiffness technology, applied in the field of service robots, can solve problems such as increased control difficulty and complex structure, and achieve the effect of improving self-adjustment ability and smooth walking

Inactive Publication Date: 2013-05-22
HANGZHOU DIANZI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This invention can realize the flexible movement of the three-axis concentricity of the ankle joint, which is beneficial to reduce energy loss and achieve the effect of buffering. However, this joint achieves these functions through the combined use of parts starting from the structure, which makes the structure complicated and controllable virtually. more difficult

Method used

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  • Flexible hinge with double-direction variable rigidity
  • Flexible hinge with double-direction variable rigidity
  • Flexible hinge with double-direction variable rigidity

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Embodiment Construction

[0015] The present invention will be further described below in conjunction with accompanying drawing.

[0016] like figure 1 and figure 2 As shown, the present invention is made up of disc 4 and four flexible supporting units, and four flexible supporting units are evenly distributed along the circumferential direction of disc 4, constitutes a parallel mechanism; Each flexible supporting unit comprises support plate 1, flexible connecting rod 7. The connecting plate 2 and the flexible connecting rod 8, there is a flexible connecting rod 7 between the support plate 1 and the connecting plate 2, and there is a flexible connecting rod 8 between the connecting plate 2 and the disc 4.

[0017] The working process of the present invention is as follows, the flexible hinge is fixed on the sole plate of the robot through the fixing hole 6 on the support plate 1, and the ankle joint support seat is connected with the whole flexible hinge through the connecting hole 5 on the disc 4; ...

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Abstract

The invention discloses a flexible hinge with double-direction variable rigidity. The flexible hinge mainly comprises a circular disc and four flexible support units which are evenly distributed along the circumference direction of the circular disc to form a parallel mechanism. Each flexible support unit comprises a support plate, a first flexible connecting rod, a connecting plate and a second flexible connecting rod. The first flexible connecting rod is arranged between the support plate and the connecting plate. The second flexible connecting rod is arranged between the connecting plate and the circular disc. Arc notches are formed in the first flexible connecting rod and the second flexible connecting rod. A fixing hole is formed in the support plate. A connecting hole is formed in the circular disc. The flexible hinge with double-direction variable rigidity improves self-adjusting capacity of a robot when the robot copes with impact generated during feet landing, and accordingly the humanoid robot can be stable and comfortable when walking.

Description

technical field [0001] The invention belongs to the technical field of service robots and relates to a flexible hinge with bidirectional variable stiffness. Background technique [0002] A service robot is different from a general industrial robot because it is not fixed in one position. Emphasize that the toy robot has a flexible walking system, which can reach some places that are difficult or difficult for people to reach, and complete the work preset by humans or intelligent systems. Compared with wheeled or tracked robots, it has good flexibility, wide working space, small mobile "blind zone", low energy consumption, strong ability to overcome obstacles, and can adapt to complex grounds. These characteristics determine the practical application of biped walking robots. Incomparable superiority, so, biped walking robot has broader development prospects. [0003] One of the key technologies of the biped walking robot is to have a reliable walking mechanism, and its walk...

Claims

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Application Information

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IPC IPC(8): B62D57/032
Inventor 周建军张亚平明瑞松
Owner HANGZHOU DIANZI UNIV
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