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Changeable rigidity flexibility actuator

A flexible driver and variable stiffness technology, which is applied in the direction of manipulators, joints, manufacturing tools, etc., can solve the problems of small stiffness adjustment range, limited application effect, miniaturized joint design, complex structure, etc., and achieve fast adjustment and significant social and economic benefits and application prospects, the effect of simple structure

Inactive Publication Date: 2015-05-20
NORTH CHINA ELECTRIC POWER UNIV (BAODING)
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The existing variable stiffness flexible actuators mainly have shortcomings such as small stiffness adjustment range and complex structure, which limit their application effect and miniaturized joint design to a certain extent.

Method used

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Embodiment Construction

[0019] The invention provides a variable stiffness flexible driver. The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0020] The variable stiffness flexible driver is composed of a power transmission mechanism and a stiffness adjustment mechanism.

[0021] powertrain such as figure 1 and figure 2 As shown, the main frame of the present invention is a frame 1, and a motor support 2 is installed on the frame 1; the main motor 3 is fixed on the motor support 2 through a flange, and is connected to the power input shaft 5 through the main motor coupling 4; The cross-section of the power input shaft 5 is square, on which a sliding sleeve 6 with an annular groove is slidably arranged; the power output shaft 9 is installed on the frame 1 through the bearing seat 8, and a bearing 10 is installed at the bottom of the power output shaft 9; The circular top end of the power input shaft 5 is connected to the bearing ...

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Abstract

The invention belongs to the technical field of the flexibility actuator, and particularly relates to a changeable rigidity flexibility actuator. The actuator comprises a rack. A power input shaft with a square cross section is arranged on the rack, and a sliding sleeve with annular grooves is arranged on the power input shaft in a sliding mode. A power output shaft and the power input shaft are the coaxially arranged. The sliding sleeve is connected with the power output shaft through multiple extension springs. The input shaft can drive the sliding sleeve to rotate and drive the extension springs to twist, and then drive the power output shaft to rotate, so that the power flexible output is achieved. A lead screw parallel to the power input shaft is arranged on the rack. A shifting fork is connected with the lead screw in a threaded mode. Two extending arms of the shifting fork are arranged in the annular grooves of the sliding sleeve in an inserting mode. When the lead screw rotates, the sliding sleeve is driven by the shifting fork to slide along the power input shaft, so that the pre-load of the extension springs is changed, and the rigidity adjustment is achieved. The changeable rigidity flexibility actuator has the advantages of being simple in structure, rapid in adjustment, easy to control, and capable of being widely applied to various researches and applications such as bionics, service and rehabilitating robots.

Description

technical field [0001] The invention belongs to the technical field of flexible driving, in particular to a variable stiffness flexible driver, which can be used for flexible driving of robot joints. Background technique [0002] In the field of robotics, a servo drive system with high torque and high gain feedback is usually used to control the movement of joints to achieve precise tracking of predefined trajectories. This kind of joint has good mechanical rigidity, can move at high speed and high precision, and can effectively suppress external disturbances within the load-bearing range. With the rapid development of bionic robots, service robots, and rehabilitation robots, there is an urgent need for robot joints to have a certain degree of compliance in order to improve energy efficiency, improve system dynamic characteristics, and ensure the safety of human-computer interaction. The flexible actuator can convert the rigid output of the joint into flexible output by int...

Claims

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Application Information

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IPC IPC(8): B25J19/00B25J17/02
Inventor 胡永辉何宇婷
Owner NORTH CHINA ELECTRIC POWER UNIV (BAODING)
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