Robot joint driver with variable rigidity
A technology of robot joints and drives, applied in the directions of manipulators, manufacturing tools, joints, etc., can solve the problems of independent elastic links and adjustment mechanisms.
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[0014] Embodiments of the present invention are described below in conjunction with the accompanying drawings.
[0015] A typical feature of the variable stiffness robot joint driver is that the elastic link and the adjustment mechanism are combined into one by using a metal flexible rack mechanism. A metal flexible rack is connected in series between the output end of the rigid reducer of the joint driver and the shutdown link. The flexible rack itself has a certain degree of elasticity, which can effectively store and release energy, so as to avoid the rigid collision between the joint connecting rod and the environment; the flexible rack has its own gear pair, which is convenient for the adjustment of joint stiffness. Need to quickly increase or decrease joint stiffness.
[0016] In the process of man-machine collaborative operation, contact or even collision between humans and robots is inevitable. Therefore, how to ensure that the impact force does not harm the human bod...
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