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Variable stiffness transmission joint based on cam mechanism and switching control method

A technology of transmission joints and cam mechanisms, which is applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., can solve the problems of difficult control and poor stiffness retention of variable stiffness joints, and achieve high stiffness retention, compact structure, and simple control. Effect

Active Publication Date: 2021-11-09
ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The purpose is to overcome the problems of poor stiffness retention and difficult control of variable stiffness joints existing in the prior art

Method used

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  • Variable stiffness transmission joint based on cam mechanism and switching control method
  • Variable stiffness transmission joint based on cam mechanism and switching control method
  • Variable stiffness transmission joint based on cam mechanism and switching control method

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Embodiment Construction

[0050] In order to make the technical means, creative features, goals and effects achieved by the present invention easy to understand, the present invention will be further elaborated below in conjunction with the accompanying drawings and embodiments.

[0051] Such as Figure 1 to Figure 9 As shown, a variable stiffness transmission joint based on a cam mechanism includes a transmission module, a variable stiffness module, a large electromagnet 9 , a large spring 10 , a variable stiffness motor 19 and a reducer 21 located in the transmission module.

[0052] Specifically, such as figure 2 with image 3 As shown, the transmission module includes a rear axle I1, a front axle I5, an end cover 6, an axle II8, and a torsion bar 16.

[0053] Further, the rear axle I1 and the front axle I5 are fixedly connected by four sets of bolts 2 , washers 3 and nuts 4 uniformly distributed in the circumferential direction.

[0054] Both the rear axle I1 and the front axle I5 have cavities...

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Abstract

The invention relates to the technical field of variable stiffness transmission of robots, in particular to a variable stiffness transmission joint based on a cam mechanism and a switching control method. The variable stiffness transmission joint comprises a transmission module and a variable stiffness module, wherein the transmission module comprises a back shaft I which is provided with a cavity and is internally provided with a large electromagnet, a large spring, a variable stiffness motor and a speed reducer which are connected in sequence, a front shaft I which is provided with a cavity and is fixedly connected with the back shaft I, a shaft II which is arranged in the cavity of the front shaft I and rotates relative to the front shaft I, and a torsion bar which is arranged in the cavity of the front shaft I, and of which two ends are connected with the back shaft I and the shaft II; and the variable stiffness module comprises a cylindrical cam mechanism, a movable platform, and a guide rail mechanism. The variable stiffness transmission joint based on the cam mechanism is compact in structure and light in weight, has the capability of achieving locking of the position of a push rod positioning piece and the position of the movable platform, achieving switching between the transmission function and the variable rigidity function, and has the advantages of being easy to control and high in rigidity retentivity.

Description

technical field [0001] The invention relates to the technical field of robot variable stiffness transmission, in particular to a cam mechanism-based variable stiffness transmission joint and a switching control method. Background technique [0002] In the fields of robotics and vehicle transmission, as an important part of power transmission, the transmission joint plays a very important role in the kinematics and dynamics of the mechanism. In order to ensure the accuracy of the output position, the traditional transmission joint pursues high stiffness of the transmission joint or keeps the stiffness constant, but this results in poor adaptability and weak human-computer interaction ability of the traditional transmission joint. In recent years, in order to improve the human-computer interaction ability of the transmission joint in the field of robotics and the load adaptability of the transmission joint under different working conditions, variable stiffness rotary joints ha...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J17/00B25J9/10B25J9/16B25J13/00
CPCB25J17/00B25J9/10B25J9/1602B25J13/00
Inventor 鞠锦勇黄少奇张春蕊刘玉飞訾斌苏学满汤东陈剑波聂洋
Owner ANHUI UNIVERSITY OF TECHNOLOGY AND SCIENCE
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