A robot joint with variable stiffness

A technology of robot joints and robots, applied in the field of robots, to achieve the effect of strong practicability, simple structure and small pre-tightening force

Active Publication Date: 2016-04-27
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, most of the existing variable stiffness joint designs are not designed for robots and cannot meet the above requirements.

Method used

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  • A robot joint with variable stiffness
  • A robot joint with variable stiffness
  • A robot joint with variable stiffness

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Experimental program
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Effect test

Embodiment Construction

[0028] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but not as a limitation of the present invention.

[0029] see figure 1 , the robot joint with variable stiffness, including the transition end 1, the transition end 1 is located in the next link of the reducer in the robot joint transmission chain, and plays the role of connecting the reducer and the output end-2, and transmits the motion of the reducer, which is the joint motion input terminal. The auxiliary friction plate 3 is connected with the output end 1 of the reducer through the concave surface and the external teeth, the auxiliary friction plate 5 is connected with the output end 2 6 through the concave surface and the external teeth, and the main friction plate 4 is clamped between the auxiliary friction plate 3 and the auxiliary friction plate 5, wherein the right side of the auxiliary friction plate 3 is attached to the left side of...

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Abstract

The invention discloses a robot joint with variable stiffness, which includes a transition end for connecting a precision reducer and an output end. The output end is composed of two parts, which are connected by bolts, and there is a friction plate in the middle, including two secondary friction plates and a main friction plate. The friction plate has a special texture and is compressed under the pre-tightening force applied by the bolts to produce friction. Use the friction characteristics of the friction plate to adjust the stiffness. The present invention designs a variable stiffness joint, which is characterized by simple structure, light weight, and strong practicability. It can change the stiffness of the joint when the robot falls or collides with a large external force, thereby absorbing the impact energy and avoiding precision deceleration. Damage to important components such as mechanisms and servo motors.

Description

technical field [0001] The invention relates to a robot joint, in particular to a design of a variable rigidity robot joint using a friction plate with a special pattern, and belongs to the field of robots. Background technique [0002] Robots have broad application prospects in industry and service fields. Especially in the field of service robots, the development of robots is getting more and more attention. Improving the environmental adaptability and safety interaction of robots has always been a research hotspot and has achieved certain results. However, due to the fact that most general service robots are complex systems with multiple degrees of freedom and the uncertainty of the external environment, the robot falls due to accidents. Or other situations where a collision with the outside world is unavoidable. [0003] The shock and vibration caused by the collision may cause damage to the robot components, especially the precision reduction mechanism, servo motor, e...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00
Inventor 黄强孟立波余张国汤承龙宋晖陈学超马淦黄湖林高峻峣
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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