CN108943008A - A kind of hand-adjusting type robot variation rigidity joint - Google Patents
A kind of hand-adjusting type robot variation rigidity joint Download PDFInfo
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- CN108943008A CN108943008A CN201810845707.0A CN201810845707A CN108943008A CN 108943008 A CN108943008 A CN 108943008A CN 201810845707 A CN201810845707 A CN 201810845707A CN 108943008 A CN108943008 A CN 108943008A
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- main motor
- index dial
- module
- convex wheel
- wheel disc
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of hand-adjusting type robot variation rigidity joints, including main motor module, intermediate cam roller module, hand adjustment rigidity module, output flange in main motor module is fixedly connected with the splined shaft in intermediate cam roller module, and the torque of main motor module is transmitted to intermediate cam roller module；Cam bawl module includes convex wheel disc, intermediate disc and lower cam disk, design has identical curve form on convex wheel disc and lower cam disk, convex wheel disc can slide axially on splined shaft to be rolled with circumferential, die springs are installed, convex wheel disc compression mould spring causes itself torque of convex wheel disc to change between the output flange in convex wheel disc and main motor module；Lower cam disk is fixedly connected with the inner ring fixed disk in stiffness tuning module；Hand adjustment rigidity module includes inner ring index dial, outer ring index dial, and inner ring index dial is fixedly connected with lower cam disk, and outer ring index dial is fixedly connected with convex wheel disc.
Description
Technical field
The present invention relates to a kind of hand-adjusting type robot variation rigidity joints, and in particular to it is a kind of using disk cam, roller and
Spring realizes the joint of robot of stiffness variable as core component, suitable for the shoulder joint and elbow joint of bio-robot, belongs to
In robot field.
Background technique
Since the sixties in last century, robot technology has obtained significant progress, the hair of industrial robot in industrial circle
Exhibition and application, ensure that the quality of product significantly, improve production efficiency, reduce production cost.However, as robot is answered
Constantly expanded with field, robot also frees in traditional industrial circle, enters other non-industrial circles, such as takes
Business, medical treatment, amusement etc..In these areas, especially in the case where needing to change operating position or unknown environment, traditional Gao Gang
The industrial robot not competent work in property joint；And robot, which unavoidably exists with the mankind, to be contacted, there is
Various collisions, the robot in high rigidity joint cannot ensure safety when human-computer interaction.
Currently, flexible robot has become the important development direction of future robot, and variation rigidity joint is as important set
At partially just as the hot fields studied both at home and abroad.Flexible robot mainly obtains flexibility by joint, therefore, from bionical
Angle is set out, and develops the variation rigidity joint with similar human muscular's characteristic to safety, the environment for improving robot
Adaptability and following more preferably mankind's service have important practical significance.
Currently, being directed to different application fields, domestic and international researcher has developed the variation rigidity joint based on different principle.Tool
Body, there is the variation rigidity joint based on torsional spring characteristic not have the disadvantage is that torsional spring characteristic determines the stiffness characteristics in entire joint
There is the function of continuously adjusting rigidity, the change of rigidity is needed using different torsional springs；There is the variation rigidity joint using flat spring,
The problems such as that there are structures is more complex, not compact, control is more difficult；Have based on the variation rigidity joint for becoming lever principle, mobile fulcrum
The mode of position is sliding, there are capacity usage ratios lower, joint can not big angle rotary the problems such as.
Summary of the invention
Technical problem solved by the present invention is in order to overcome the deficiencies of the prior art, it is simple, reliable, defeated to provide a kind of structure
The robot variation rigidity joint that rigidity can be adjusted on a large scale manually out effectively improves safety and environment when human-computer interaction and adapts to
Property.
The technical solution of the invention is as follows:
A kind of hand-adjusting type robot variation rigidity joint, including main motor module, intermediate cam roller module, hand adjustment rigidity mould
Block, the output flange in main motor module is fixedly connected with the splined shaft in intermediate cam roller module, by main motor module
Torque be transmitted to intermediate cam roller module；Cam bawl module includes convex wheel disc, intermediate disc and lower cam disk, convex
Design has identical curve form on wheel disc and lower cam disk, and convex wheel disc can slide axially on splined shaft to be rolled with circumferential
It is dynamic, die springs, convex wheel disc compression mould spring are installed between the output flange in convex wheel disc and main motor module
Itself torque of convex wheel disc is caused to change；Lower cam disk is fixedly connected with the inner ring fixed disk in stiffness tuning module；
Hand adjustment rigidity module includes inner ring index dial, outer ring index dial, and inner ring index dial is fixedly connected with lower cam disk, outside
Circle index dial is fixedly connected with convex wheel disc.
When work, joint stiffness size according to demand, first the inner ring index dial of adjustment hand adjustment rigidity module and outer ring
Angle between index dial determines angle and rigidity between convex wheel disc and lower cam disk；
Then main motor module drives splined shaft rotation, and then drives intermediate disc synchronous rotary, and convex wheel disc is convex under
Wheel coiling splined shaft synchronous rotary, convex wheel disc and intermediate disc slide axially along splined shaft and circumferential asynchronous rotation, on
Cam disc compression mould spring realizes appointed task.
Main motor module include main motor, main motor support, harmonic speed reducer, main motor axle sleeve, wave producer, firm gear,
Output panel and output flange, the shell of main motor are fixed on main motor support, and the output shaft of main motor passes through main motor shaft
Set is connect with the wave producer of harmonic speed reducer, and the firm gear of harmonic speed reducer is fixedly connected with main motor support, harmonic speed reducer
Flexbile gear be fixedly connected with output panel, the output shaft of main motor is fixedly connected with main motor axle sleeve.
Intermediate cam roller module includes splined shaft, convex wheel disc, intermediate disc, lower cam disk, bolt axle, small-sized deep groove
Ball bearing, spherical roller set and sleeve I, the circumferencial direction of intermediate disc are opened there are six isometrical threaded hole, in spherical roller set
Face forms roller assembly equipped with small-sized deep groove ball bearing, and six roller assemblies are fixed on intermediate disc by bolt axle, and with sleeve I
Carry out radial positioning.
The intermediate disc with splined shaft is connect by spline form, and splined shaft drives intermediate disc rotation, in
Between disk can slide axially along splined shaft.
Cam disc is axially fixed up and down, and when lower cam disk does not rotate, convex wheel disc can only be axial with respect to lower cam disk
It is mobile.
When lower cam disc spins, the variation of overhead cam disk axial distance is resulted in, then compressed spring；Due to counter spring force
With the effect of curved surface so that convex wheel disc, intermediate disc and lower cam disk produce the torque around respective rotary shaft.
Hand adjustment rigidity module includes inner ring index dial, outer ring index dial, hand the turn of the screw and inner ring fixed disk, inner ring index dial
With identical angle-differentiated value is carved on the index dial of outer ring respectively, have corresponding installation on inner ring index dial and outer ring index dial
Hole.
The center of inner ring distributing disc is screw wrench hole, to adjust the angle of inner ring index dial with spanner；Outer ring indexing
Four identical threaded holes are uniformly distributed on the excircle of disk, after angular adjustment is complete, hand the turn of the screw screws in threaded hole and realizes inner ring
The fixation of index dial and outer ring index dial.
It further include measuring system comprising magnetic grating reading head and magnet ring, magnetic grating reading head are fixed on arthrodesis disk
On, magnet ring is bonded on outer ring compression ring II.
Compared with the prior art, the invention has the advantages that:
(1) present invention realizes the innovation of variation rigidity joint principle and structure, is realized using cam bawl spring mechanism
The change of joint stiffness, designed unique cam bawl spring mechanism make the structure in entire joint it is simpler, it is compact, can
It leans on, solves the problems, such as that generally existing structure is complicated, bulky in existing joint；The module in joint is realized using less part
Change so that joint be installed on maintenance it is easier；
(2) present invention has showed the simplification of joint stiffness adjusting, and joint has the characteristic close to perfect rigidity, while also having
There is the characteristic of Low rigidity, when needing with different rigidity size operation objects, need to only manually adjust inner ring index dial and outer ring
Relative angle angle value between index dial, is then locked, so that it may realize the variation of joint stiffness, this mode of operation have it is simple,
Reliable feature.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of main motor module of the present invention；
Fig. 2 is the structural schematic diagram of intermediate cam roller module of the present invention；
Fig. 3 is intermediate cam roller module movement force analysis figure of the present invention；
Fig. 4 is the structural schematic diagram of hand adjustment rigidity module of the present invention；
Fig. 5 is the vertical view and front cross sectional view of entire variation rigidity joint structure of the invention；
Fig. 6 is the axonometric drawing of entire variation rigidity joint structure of the invention.
Specific embodiment
Below with reference to Fig. 1~6 pair, the present invention is described in further details, but not as a limitation of the invention.A kind of hand
Mode robot variation rigidity joint, using Modular Structure Design method, be divided into main motor module, intermediate cam roller module,
Hand adjustment rigidity module.Main motor module controls the output position in joint, and intermediate cam roller module is that joint stiffness generates variation
Physical cause, hand adjustment rigidity module adjust joint output rigidity.
Specific embodiment 1: being illustrated in conjunction with Fig. 1, a kind of structure of main motor module, including main motor 1, main electricity
Machine support 2, retarder 3, main motor axle sleeve 4.The retarder 3 is harmonic speed reducer, inside contains crossed roller bearing, super flat
Flat hollow structure, small in size, large carrying capacity, meet actual motion requirement.The shell of main motor 1 is fixed on main motor support 2
On, the output shaft of main motor 1 is connect by main motor axle sleeve 4 with the wave producer 5 of harmonic speed reducer 3, harmonic speed reducer 3 it is rigid
Wheel 6 is fixed by screws in together with main motor support 2, and the flexbile gear of harmonic speed reducer 3 is connect with output panel 7.Main motor 1 it is defeated
Shaft and main motor axle sleeve 4 are to carry out circumferential and axially position by general flat key and screw, this is directly connected to mode and reduces
The entire length in joint.Main motor 1 in present embodiment comes with encoder, in order to measure the angle of motor output shaft
And angular speed.
Specific embodiment 2: being illustrated in conjunction with Fig. 2, intermediate cam roller module is the core in variation rigidity joint, it
Including splined shaft 8, convex wheel disc 9, intermediate disc 10, lower cam disk 11.The circumferencial direction of intermediate disc 10 is opened there are six identical
Threaded hole, 14 the inside of spherical roller set forms roller assembly equipped with small-sized deep groove ball bearing 13, and bolt axle 12 is by six rollers
Component is fixed on intermediate disc 10, and carries out radial positioning with sleeve 15.
The intermediate disc 10 is connect by spline form with splined shaft 8, and intermediate disc 10 can due to responsive to axial force
To slide axially along splined shaft 8, spline play the guiding role.Convex wheel disc 9 and the design of lower cam disk 11 have identical curve form,
Convex wheel disc 9 can slide axially on splined shaft 8 with circumferential rolling and top is equipped with die springs.Lower cam disk 11 is axial
Be it is fixed, when lower cam disk 11 does not rotate, the opposite lower cam disk 11 of convex wheel disc 9 can only be moved axially；Lower cam disk 11 revolves
When turning, the variation of convex 9 axial distance of wheel disc is resulted in, then compressed spring.Due to the effect of counter spring force and curved surface, so that
Convex wheel disc 9, intermediate disc 10 and lower cam disk 11 produce the torque around respective rotary shaft.
Splined shaft 8, intermediate disc 10, bolt axle 12 and sleeve 15 in present embodiment use alloy steel material, meet
The strength and stiffness requirement of structure；It is to reduce roller assembly when moving on cam curved surface using small-sized deep groove ball bearing 13
Friction, prevent intermediate disc 10 from blocking during the motion, reduce influence to output torque；Convex wheel disc 9 and splined shaft 8
Between be designed as sliding friction be in order to increase damping, reduce the vibration of spring.
Specific embodiment 3: illustrate the torque in the variation rigidity joint and the relationship of rigidity and passive corner in conjunction with Fig. 3, it should
Figure is that drawn intermediate cam roller module is unfolded along cam circumferencial direction to move force analysis figure.Roller is along cam curved surface
Sliding, the curved surface of cam are generated by curve, and curve Γ is Y=f (θ) in coordinate system θ Y-O, can further be acquired:
YB=f (θB), Y3=YB+rcos(αB)
YD=f (θD), Y4=YD+rcos(αD)
Climb: Δ y1=Y3-Y1, dropping distance: Δ y2=Y4-Y2
The total compression amount of spring: Δ y=Δ y1+Δy2
Spring force: Fa=Kspring*Δy
Convex wheel disc torque: TConvex wheel disc=Fτ* R=FaRtan(αD)
Lower cam disk torque: TLower cam disk=Fτ* R=FaRtan(αB)
Joint output torque: T=TLower cam disk-TConvex wheel disc
Joint stiffness:
Wherein: r is radius of roller, and R is that the radius (contact point of roller and cam disc to articulation center axis is unfolded in cam disc
Distance),For joint Passive deformation angle, KspringFor the coefficient of elasticity of die springs, f (θ),WithIt is Known designs
Function.Other are identical with embodiment two.
Specific embodiment 4: illustrating the structure of hand adjustment rigidity module in conjunction with Fig. 4, including inner ring index dial 16, outer ring point
Scale 17 and hand the turn of the screw 18.Identical angle-differentiated value (indexing is carved on inner ring index dial 16 and outer ring index dial 17 respectively
Value is 1 °), to adjust angle between the two.There is corresponding mounting hole on inner ring index dial 16 and outer ring index dial 17,
To be fixed on the other component in variation rigidity joint；The center of inner ring distributing disc 16 is screw wrench hole, to use spanner tune
The angle for saving inner ring index dial 16, realizes the adjusting of joint angles.Four phases are uniformly distributed on the excircle of outer ring index dial 17
With threaded hole, after angular adjustment is complete, hand the turn of the screw 18 screws in threaded hole and realizes inner ring index dial 16 and outer ring index dial 17
It is fixed.
Specific embodiment 5: being illustrated a kind of whole knot in hand-adjusting type robot variation rigidity joint in conjunction with Fig. 1~6
Structure.A1 is main motor module in figure, and A2 is intermediate cam roller module, and A3 is hand adjustment rigidity module.Output panel 7 in A1 with it is defeated
Ring flange 19 connects out, in 8 sets of the splined shaft circular holes among output flange 19 in A2 and is screwed, by main motor
1 torque is transmitted to the intermediate disc 10 in A2.Die springs 20 and 21 sets of the thrust ball bearing outsides in splined shaft 8, and mould
Have spring 20 can on splined shaft 8 free extension, deep groove ball bearing 22 is housed between the splined shaft 8 and lower cam disk 11 in A2,
Inner ring index dial 16 in A3 is connect by inner ring fixed disk 24 with the lower cam disk 11 in A2, and the outer ring index dial 17 in A3 is logical
It crosses screw to be fixed on outer ring compression ring I 25, outer ring compression ring I 25 is fixed by screws on fixing sleeve 26, and fixing sleeve 26 is logical
Screw is crossed to be fixed on joint output set 27.Outer ring index dial 17, outer ring compression ring I 25, fixing sleeve 26 and joint output set 27
It is connected.Crossed roller bearing 23 is installed between fixing sleeve 26 and inner ring fixed disk 24.
The purpose that deep groove ball bearing 22 and crossed roller bearing 23 are installed in present embodiment be guarantee splined shaft 8, under it is convex
Concentricity between wheel disc 11 and inner ring index dial 16 reduces the wobbler action of components.
The shell of main motor modules A 1 is fixed on arthrodesis disk 31, and arthrodesis disk 31 is entire joint and the external world
Coupling part, it is opposing stationary motionless.Crossed roller bearing 23, outer ring pressure are installed between joint output set 27 and arthrodesis disk 31
Tight ring II 29 and inner ring compression ring 30 are used for the axial restraint of 23 Internal and external cycle of crossed roller bearing, are separately mounted to close by screw
On section output set 27 and arthrodesis disk 31.Joint output 27 inner holes of set are splined hole, so that the convex wheel disc 9 in A2
It can only export in joint and slide axially inside set 27.
Joint link lever 28 and joint output set 27 are fixed, in order to form two-freedom or multivariant mechanical arm system
System.Spring 20 is dies compress spring, has biggish coefficient of elasticity, in order to increase the stiffness variation range in joint.
Joint output angle measurement in present embodiment is using circle magnetic grid displacement coder, the reading of the encoder
First 32 are fixed on arthrodesis disk 31, and magnet ring 33 is fixed on outer ring compression ring II 29 with glue.
Specific embodiment 6: illustrating the safeguard measure in joint in conjunction with Fig. 2, Fig. 5 and Fig. 6,26 left side of fixing sleeve is larger straight
The depth of diameter circular hole has stringent size requirement.Under extraneous load effect, intermediate disc 10 slides axially distance along splined shaft 8
When more than designed size, intermediate disc 10 can encounter the right side wall of joint output set 27, be equivalent to and carried out mechanical hard limit
Position, preventing joint is more than maximum distortion angle.
Illustrate specifically used process of the invention with reference to the accompanying drawing:
Embodiment: when joint does not need to show flexibility, when output position required precision to guarantee joint, that is, with
When operating object close to the state of perfect rigidity, inner ring index dial 16 is first rotated into maximum angle so that mechanical hard limit occurs
Position, then by hand the turn of the screw precession, so that inner ring index dial 16 and outer ring index dial 17 are fixed together, joint at this time is suitable
In traditional high rigidity joint.When joint needs to operate object with a certain constant rate, first according in specific embodiment three
Functional relation calculate required for the angle that rotates, inner ring index dial 16 is rotated into corresponding angle with respect to outer ring index dial 17
After angle value, then hand the turn of the screw is screwed in and is fixed, joint at this time has permanent stiffness characteristics, then goes operation object again.Together
Reason need to only manually adjust inner ring index dial 16 with respect to outer ring index dial 17 when joint needs to operate object with different rigidity
Between angle value, so that it may realize the variation of joint stiffness.
Embodiment described above, only to one kind of more preferably specific embodiment of the invention, the technology of this field
The usual variations and alternatives that personnel carry out within the scope of technical solution of the present invention should be all included within the scope of the present invention.
Claims (10)
1. a kind of hand-adjusting type robot variation rigidity joint, which is characterized in that including main motor module (A1), intermediate cam roller mould
Block (A2), hand adjustment rigidity module (A3), output flange (19) and intermediate cam roller module in main motor module (A1)
(A2) splined shaft (8) in is fixedly connected, and the torque of main motor module (A1) is transmitted to intermediate cam roller module (A2)；It is convex
Wheel roller module (A2) includes convex wheel disc (9), intermediate disc (10) and lower cam disk (11), convex wheel disc (9) and lower cam
Design has identical curve form on disk (11), and convex wheel disc (9) can slide axially on splined shaft (8) to be rolled with circumferential,
Die springs (39), convex wheel disc are installed between output flange (19) in convex wheel disc (9) and main motor module (A1)
(9) compression mould spring (39) causes convex wheel disc (9) itself torque to change；Lower cam disk (11) and stiffness tuning module
(A3) the inner ring fixed disk (24) in is fixedly connected；
Hand adjustment rigidity module (A3) includes inner ring index dial (16), outer ring index dial (17), inner ring index dial (16) and lower cam
Disk (11) is fixedly connected, and outer ring index dial (17) is fixedly connected with convex wheel disc (9).
2. a kind of hand-adjusting type robot variation rigidity joint as described in claim 1, which is characterized in that when work, according to demand
Joint stiffness size, first adjustment hand adjustment rigidity module (A3) inner ring index dial (16) and outer ring index dial (17) between
Angle determines angle and rigidity between convex wheel disc (9) and lower cam disk (11)；
Then main motor module (A1) drives splined shaft (8) rotation, and then drives intermediate disc (10) synchronous rotary, convex wheel disc
(9) and lower cam disk (11) is around splined shaft (8) synchronous rotary, and convex wheel disc (9) and intermediate disc (10) are along splined shaft (8) axis
Appointed task is realized to sliding and circumferential asynchronous rotation, convex wheel disc (9) compression mould spring (39).
3. a kind of hand-adjusting type robot variation rigidity joint as described in claim 1, which is characterized in that main motor module (A1) packet
Include main motor (1), main motor support (2), harmonic speed reducer (3), main motor axle sleeve (4), wave producer (5), firm gear (6), defeated
Placing (7) and output flange (19), the shell of main motor (1) are fixed on main motor support (2), the output of main motor (1)
Axis is connect by main motor axle sleeve (4) with the wave producer (5) of harmonic speed reducer (3), the firm gear (6) of harmonic speed reducer (3) and
Main motor support (2) is fixedly connected, and the flexbile gear of harmonic speed reducer (3) is fixedly connected with output panel (7), the output of main motor (1)
Axis is fixedly connected with main motor axle sleeve (4).
4. a kind of hand-adjusting type robot variation rigidity joint as described in claim 1, which is characterized in that intermediate cam roller module
It (A2) include splined shaft (8), convex wheel disc (9), intermediate disc (10), lower cam disk (11), bolt axle (12), small-sized deep groove ball
Bearing (13), spherical roller set (14) and sleeve I (15), the circumferencial direction of intermediate disc (10) are opened there are six isometrical screw thread
Hole forms roller assembly equipped with small-sized deep groove ball bearing (13) inside spherical roller set (14), and bolt axle (12) is by six rollers
Component is fixed on intermediate disc (10), and carries out radial positioning with sleeve I (15).
5. a kind of hand-adjusting type robot variation rigidity joint as claimed in claim 4, which is characterized in that the intermediate disc
It (10) with splined shaft (8) is connect by spline form, splined shaft (8) drives intermediate disc (10) rotation, intermediate disc
(10) it can slide axially along splined shaft (8).
6. a kind of hand-adjusting type robot variation rigidity joint as claimed in claim 5, which is characterized in that upper and lower cam disc (11) axis
To be it is fixed, when lower cam disk (11) does not rotate, convex wheel disc (9) can only be moved axially with respect to lower cam disk (11).
7. a kind of hand-adjusting type robot variation rigidity joint as claimed in claim 6, which is characterized in that lower cam disk (11) rotation
When, the variation of convex wheel disc (9) axial distance is resulted in, then compressed spring；Due to the effect of counter spring force and curved surface, so that
Convex wheel disc (9), intermediate disc (10) and lower cam disk (11) produce the torque around respective rotary shaft.
8. a kind of hand-adjusting type robot variation rigidity joint as described in claim 1, which is characterized in that hand adjustment rigidity module (A3)
Including inner ring index dial (16), outer ring index dial (17), hand the turn of the screw (18) and inner ring fixed disk (24), inner ring index dial (16)
Be carved with identical angle-differentiated value on outer ring index dial (17) respectively, on inner ring index dial (16) and outer ring index dial (17) all
There is corresponding mounting hole.
9. a kind of hand-adjusting type robot variation rigidity joint as claimed in claim 8, which is characterized in that inner ring distributing disc (16)
Center is screw wrench hole, to adjust the angle of inner ring index dial (16) with spanner；On the excircle of outer ring index dial (17)
Four identical threaded holes are uniformly distributed, after angular adjustment is complete, hand the turn of the screw (18) screws in threaded hole and realizes inner ring index dial
(16) and the fixation of outer ring index dial (17).
10. a kind of hand-adjusting type robot variation rigidity joint as described in claim 1, which is characterized in that it further include measuring system,
It includes magnetic grating reading head (32) and magnet ring (33), and magnetic grating reading head (32) is fixed on arthrodesis disk (31), magnet ring
(33) it is bonded on outer ring compression ring II (29).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810845707.0A CN108943008A (en) | 2018-07-27 | 2018-07-27 | A kind of hand-adjusting type robot variation rigidity joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810845707.0A CN108943008A (en) | 2018-07-27 | 2018-07-27 | A kind of hand-adjusting type robot variation rigidity joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108943008A true CN108943008A (en) | 2018-12-07 |
Family
ID=64465948
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810845707.0A Pending CN108943008A (en) | 2018-07-27 | 2018-07-27 | A kind of hand-adjusting type robot variation rigidity joint |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110000808A (en) * | 2019-04-28 | 2019-07-12 | 深圳市汇川技术股份有限公司 | The assembly method of robot joint structure and robot joint structure |
| CN113842140A (en) * | 2021-09-18 | 2021-12-28 | 中南大学 | Knee joint postoperative patient function detection device |
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| CN103363005A (en) * | 2013-07-26 | 2013-10-23 | 株洲时代新材料科技股份有限公司 | Cone shock absorber with adjustable stiffness and installation regulating method thereof |
| KR101412130B1 (en) * | 2008-03-14 | 2014-06-27 | 삼성전자주식회사 | Compliant Joint |
| CN104985608A (en) * | 2015-06-23 | 2015-10-21 | 浙江大学 | Stiffness-adjustable flexible joint actuator mechanism |
| CN106426265A (en) * | 2016-11-17 | 2017-02-22 | 中国石油大学(华东) | Variable-rigidity flexible drive joint |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| FR2509654B1 (en) * | 1981-07-17 | 1985-01-11 | Pharemme | |
| CN101032800A (en) * | 2007-03-02 | 2007-09-12 | 张勇毅 | Rigidity locating indexing disc |
| KR101412130B1 (en) * | 2008-03-14 | 2014-06-27 | 삼성전자주식회사 | Compliant Joint |
| CN103363005A (en) * | 2013-07-26 | 2013-10-23 | 株洲时代新材料科技股份有限公司 | Cone shock absorber with adjustable stiffness and installation regulating method thereof |
| CN104985608A (en) * | 2015-06-23 | 2015-10-21 | 浙江大学 | Stiffness-adjustable flexible joint actuator mechanism |
| CN106426265A (en) * | 2016-11-17 | 2017-02-22 | 中国石油大学(华东) | Variable-rigidity flexible drive joint |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110000808A (en) * | 2019-04-28 | 2019-07-12 | 深圳市汇川技术股份有限公司 | The assembly method of robot joint structure and robot joint structure |
| CN113842140A (en) * | 2021-09-18 | 2021-12-28 | 中南大学 | Knee joint postoperative patient function detection device |
| CN113842140B (en) * | 2021-09-18 | 2023-12-08 | 中南大学 | Patient function detection device after knee joint operation |
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Application publication date: 20181207 |