A Variable Stiffness Flexible Rotary Joint

Abstract

The invention discloses a variable rigidity flexible rotating joint. The variable rigidity flexible rotating joint comprises a rigidity and flexibility control module (1) for linearly adjusting the output rigidity value change of the joint to realize free conversion of the joint in a large range from pure rigidity to flexibility, a rocker arm position control module (2) for realizing adjustment and control of a balance position of a light rocker arm (4), and an angle displacement detecting module (3) for detecting and acquiring angle signals of the light rocker arm (4) rotating corresponding to the balance position; the rigidity and flexibility control module is serially connected between the light rocker arm and the rocker arm position control module; the angle displacement detecting module is mounted on a combination part of the rigidity and flexibility control module and the rocker arm position control module and on the light rocker arm; and meanwhile, a load is fixed at the tail end of the light rocker arm. The variable rigidity flexible rotating joint is particularly suitable for a flexible joint of a service robot, improves the safety of human-computer interaction, and has such advantages as compact structure, easiness in rigidity linear adjustment, wide rigidity change range and high energy efficiency.

Description

technical field [0001] The invention relates to a variable rigidity flexible rotary joint which adopts a thin flexible rod with a circular section as an elastic element and controls the bending deformation length of the thin flexible rod with a circular section to adjust the output stiffness of the joint, belonging to the technical field of service robots. Background technique [0002] The driving joint is an important part of the robot. Rigid driving joints can ensure the accuracy of the robot's movements, but at the same time it brings safety hazards in human-computer interaction, and it is also difficult to perform tasks that require dexterous control such as grasping and grasping; while compliant driving joints Joints can realize the compliant control of robots, but there are also problems of low energy efficiency and unsuitability for heavy-duty tasks. [0003] In recent years, bionic research has found that the joint toughness of animals has good nonlinear characterist...

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Problems solved by technology

[0007] Furthermore, the application number is 201410062727.2 (publication number CN104863982A) discloses a variable stiffness coupling and a variable stiffness drive mechanism, the mechanism uses an elastic reed as the elastic element, when the first half coupling and the second half coupling When there is relative rotation between them, the elastic reed produces both bending deformation and torsional deformation, resulting in a nonlinear change in stiffness, and it is difficult to achieve linear adjustment of stiffness, and considering that the design does not install an angle limit mechanism, when the torque is too large It is easy to cause plastic distortion of the elastic reed, resulting in joint failure

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