Flexible variable-stiffness joint mechanism

Abstract

The invention provides a flexible variable-stiffness joint mechanism. The flexible variable-stiffness joint mechanism comprises an input structure and an output structure. The input structure and the output structure are connected and vertically corresponding. The input structure comprises a pair of guide rod shafts, a pair of guide rods, a pair of compression springs, a pair of spring installation seats and an input plate. The output structure comprises a pair of linear guide rail assemblies, a pair of roller sets, a pair of roller installation frames, a linear displacement sensor push rod, a pair of racks, a driven gear, a drive gear, a linear displacement sensor, an output plate, multiple bearings, multiple clamp springs and multiple bolts. The flexible variable-stiffness joint mechanism solves the problems that in the prior art, the loading capacity is poor, the stiffness adjustment range is narrow, the energy consumption of stiffness adjustment is large, the coupling performance is high, the passive stiffness performance is poor, and external connection with an air cylinder is needed.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a flexible joint stiffness variable mechanism. Background technique [0002] With the development of robot technology, the scope of application of robots has been broadened. Robots have gradually entered human society from the original factory isolation area. Robots not only need to cooperate with humans when working, but sometimes even need to come into contact with humans. With the deepening of human-computer interaction, the uncertain factors of the external environment are also increasing, the working environment becomes complex, and it may collide with objects in the surrounding environment at any time, which puts forward high requirements for the safety of the robot. Traditional industrial robots are rigid, and can achieve a certain level of soft control on the basis of using a large number of sensors and complex control algorithms. However, it is difficult to establish a...

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to overcome the shortcomings and deficiencies of the prior art, and provide a flexible joint variable stiffness mechanism to solve the above-mentioned poor load capacity, small stiffness adjustment range, large energy consumption for adjusting stiffness, strong coupling, poor passive stiffness characteristics, The problem of needing an external cylinder

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