CN113334424A - Robot safety joint device based on variable stiffness principle - Google Patents
Robot safety joint device based on variable stiffness principle Download PDFInfo
- Publication number
- CN113334424A CN113334424A CN202110702488.2A CN202110702488A CN113334424A CN 113334424 A CN113334424 A CN 113334424A CN 202110702488 A CN202110702488 A CN 202110702488A CN 113334424 A CN113334424 A CN 113334424A
- Authority
- CN
- China
- Prior art keywords
- module
- spring
- safety joint
- base
- machinable
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot safety joint device based on a variable stiffness principle, which is mainly used for protecting a human and a machine in sudden accidents such as overload and the like of the robot. The safety joint mainly comprises five parts, namely a rotating module, a supporting frame, an elastic body module, a guide module and a base module. The invention combines the concepts of a variable stiffness mechanism and a robot joint, has a rigid-flexible coupling effect, obtains good stress boundary conditions by designing a cam profile, ensures that the safety joint has higher stiffness threshold control precision and operation stability, adopts a novel machinable spring, ensures more accurate stiffness, higher strength and better stability, and is convenient for miniaturization of the whole structure.
Description
The technical field is as follows:the invention belongs to the technical field of precision transmission, relates to a mechanism safety protection device, and particularly relates to a robot safety joint device based on a variable stiffness principle.
Technical background:as industrial processes develop, robots are used in large quantities. At present, most mechanical arms are connected by rigid joints to ensure the positioning accuracy, but along with the tendency of the robot towards service and the universality of man-machine interaction, the rigid safety joints have great risks under the conditions of misoperation, man-machine mistaken collision and the like, and the safety protection capability of the mechanical arms on people and the environment in sudden accidents such as overload and the like gradually enters the consideration range of designers. The variable-rigidity safety joint is in a rigid state when the robot works normally; once the above mentioned risk situation arises, the joint stiffness quickly goes to zero to protect the safety of people and machines. Therefore, a variable stiffness safety joint with high reliability and high precision should be designed to meet the requirements of man-machine-new requirements of environment interaction.
Compared with the active variable-stiffness safety joint, the passive safety joint adopts a pure mechanical structure, and has the advantages of compact size, high reliability, low manufacturing and maintenance cost and the like, so that the passive variable-stiffness safety joint has a wide application prospect.
The invention content is as follows:
(1) technical problem to be solved
The invention provides a rotary variable-stiffness safety joint with high precision and high reliability by combining an elastic body and a cam mechanism, so that the rotary variable-stiffness safety joint is used for transmission structures of precision instruments, industrial robots and the like.
(2) Technical scheme
The invention provides a design of a variable-stiffness safety joint, namely, the joint is in a rigid state in a normal working state, the stiffness rapidly responds to zero in a dangerous state, a linear spring restoring force is converted into a torsional joint torque by utilizing a cam device, and the aim of rapidly changing the stiffness of the joint is fulfilled by utilizing the resting characteristic of a cam mechanism.
Optionally, the spring size and material are determined based on joint size and stiffness thresholds, and the profile size is determined based on the design of the cam curve.
Optionally, mounting holes are designed on the fixed end and the rotating end bracket, so as to ensure that the relative positions of the rigid bodies are not influenced and the joint rotation is not interfered.
(3) Advantages of the invention
The variable-rigidity safety joint combines the variable-rigidity mechanism and the robot joint, and has the effect of rigid-flexible coupling;
good stress boundary conditions are obtained through the design of the cam profile, so that the safety joint has higher rigidity threshold control precision and operation stability;
adopt neotype workable spring, guaranteed more accurate rigidity, higher intensity and better stability, the overall structure's of being convenient for miniaturization simultaneously.
Description of the drawings:
FIG. 1 is a working principle diagram of a safety joint based on a variable stiffness principle
FIG. 2 is a schematic diagram of the explosion structure of the safety joint based on the variable stiffness principle of the present invention
FIG. 3 is a schematic view of an explosion structure of the rotating module
FIG. 4 is a schematic view of a supporting frame
FIG. 5 is a schematic diagram of an explosive structure of an elastomer module
FIG. 6 is a block diagram of a machinable spring stand-alone unit
FIG. 7 is an exploded view of a guide module
FIG. 8a is a schematic diagram of an exploded structure of a base module
FIG. 8b is a schematic view of a base structure
FIG. 9 is a schematic view of the relationship between the roller and the rotating cover in the state of the stiffness and zero stiffness of the safety joint
In the figure:
1-rotating module 11-axial displacement limiting bolt 12-axial displacement limiting gasket
13-bearing 14-rotating cover 14 a-rotating cover connecting threaded hole
2-support frame 21-support frame shaft 2 a-threaded hole for limiting axial displacement
2 b-support frame fixing threaded hole 3-elastomer module 31-roller
32-machinable spring 32 a-roller fixing attachment hole 32 b-machinable spring fixing attachment hole
33-machinable spring fixing bolt 4-guide module 41-slider adapter fixing bolt
42-slider adapter 42 a-roller fixing threaded hole 42 b-slider adapter fixing hole
43-slide block 43 a-slide block adapter fixing threaded hole 44-guide rail fixing bolt
45-guide rail 45 a-guide rail fixing hole 5-base module
51-base 51 a-guide fixing threaded hole 51 b-support frame fixing hole
51 c-machinable spring fixing threaded hole 51 d-base fixing hole 52-support frame fixing bolt
t 1-rigid State roller and rotating Cap position t 2-zero stiffness State roller and rotating Cap l-Beam Length
Positional relationship
h-beam thickness m-workable spring thickness
The specific implementation mode is as follows:
the invention will be further explained with reference to the drawings.
Principle introduction of safety joint based on variable stiffness principle
As shown in FIG. 1, wherein
T is external torque;
Fe-the reaction of the rotating cap (14) to the roller (31);
Fs-the resilience of a machinable spring (32)
α -Tilt Angle;
o-center of rotation of the safety joint;
b-the center distance between the rotating cover (14) and the roller (31);
b——Fethe force arm of the rotating center.
The safety joint can be regarded as a series of equilibrium states in the process of realizing the variable rigidity. In each state of equilibrium there will be an angle of inclination alpha and a centre-to-centre distance B of the safety joint centre from the roller (31). It is through the change of alpha and B that the torque reacted by the safety joint remains unchanged during the abrupt change of stiffness. The relation between the input torque and the elastic force of the machinable spring (32), the center distance between the safety joint and the roller (31) and the plane contact angle alpha can be obtained through calculation and derivation:
in the above formula, K is the rigidity of the machinable spring (32), and e is the compression amount of the machinable spring (32).
Wherein the spring force is the key of variable stiffness. The magnitude of the spring force depends on the external torque, which is generated by the accidental impact and the payload. Whether a safety joint functions as a rigid link depends on the external torque applied to the joint. When the external torque is less than or equal to the preset torque, the safety joint cannot perform relative rotation movement, and the safety joint is rigid at the moment; when the external torque is larger than the preset torque, the safety joint can perform relative rotary motion, and the safety joint is at zero rigidity at the moment.
(II) introduction of integral Structure
The invention discloses a robot safety joint based on a variable stiffness principle, as shown in figure 2, in the structural aspect, the robot safety joint comprises the following components: the device comprises a rotating module (1), a support frame (2), an elastic body module (3), a guide module (4) and a base module (5). The whole safety joint is of a rotary structure, and under the condition of not bearing external load or smaller external load, the rotating module (1) and the base module (5) are in a relatively static rigid state and can be regarded as rigid connection; when the torque reaches the design threshold, the safety joint is in a flexible state, the integral rigidity is suddenly changed to zero, and relative rotation motion is generated between the rotating cover (14) of the rotating module (1) and the base (51) of the base module (5).
The direction of the rotation shaft of the safety joint is defined as a Z axis, the compression direction of the spring is defined as a-Y axis, and an axis perpendicular to a YZ plane is defined as an X axis, namely a space coordinate system XYZ is formed.
(1) Rotating module
As shown in fig. 3, the rotating module (1) includes an axial displacement restricting bolt (11), an axial displacement restricting washer (12), a bearing (13), and a rotating cover (14). Wherein the rotating cover (14) and the bearing (13) are concentrically assembled in an interference fit manner; the axial displacement limiting bolt (11) and the axial displacement limiting gasket (12) are used for limiting the axial movement of the rotating cover (14) and the bearing (13). The rotary cover connecting hole (14a) is an interface for connecting the safety joint with an external part, and the size, the position and the number of the rotary cover connecting holes can be adjusted freely within the size range of the rotary cover (14) according to the specific shape, the size, the action mode and the like of the connecting part.
(2) Supporting frame
As shown in fig. 4, the supporting frame (2) is an integral member for connecting the rotating module (1) and the base module (5). The shaft of the support frame (2) has the same size as the bearing (13) in the rotating module (1), is concentrically matched and is used for connecting the rotating module (1); the support frame fixing threaded hole (2b) is in threaded fit with a support frame fixing bolt (52) in the base module (5) and is used for connecting the base module (5). The shape and the size of the safety joint can be adjusted according to the overall size of the safety joint and the rotating module (1) and the base module (5). The axial displacement limiting threaded hole (2a) and the axial displacement limiting bolt (11) in the rotating module (1) are the same in specification and are coaxially assembled to achieve axial limiting of the rotating module (1), and the size of the axial displacement limiting threaded hole is determined according to the model of the selected bearing (13) and the model of the selected axial displacement limiting gasket (12). The support frame fixing threaded hole (2b) is assembled with the support frame fixing hole (51c) and the support frame fixing bolt (52) in the same specification and coaxially, so that the support frame (2) is fixed on the base (51).
(3) Elastomer module
As shown in fig. 5, the elastomer module (3) includes a roller (31), a machinable spring (32), and a machinable spring fixing bolt (33). The elastomer module (3) is a core component of the safety joint, and the variable stiffness moment threshold of the safety joint is mainly influenced by the stiffness of the machinable spring (32), so that high requirements are made on material selection, structural design, machining precision and assembly precision. The roller (31) shaft is assembled with the same specification and concentric shafts as the roller fixing connection hole (32a) and the roller fixing threaded hole (42a) so as to realize the connection of the elastomer module (3) and the guide module (4), and the size of the roller (31) is selected according to the external dimension of the rotating cover (14) in the rotating module (1). The machinable spring fixing bolt (33) fixedly connects the machinable spring (32) and the base module (5) together through the machinable spring fixing hole (32 b).
The machinable spring (32) is an integral part, the main machining method is wire cutting, and the structure, the shape and the size of the machinable spring are determined by the overall size of the safety joint, the threshold value of the limited moment and the like. The size of the machinable spring (32) determines the size of the whole structure of the safety joint, and the spring with smaller size needs to be designed as far as possible on the premise of meeting the requirements of accurately controlling the peak moment and the joint angle precision. The independent unit which can process the spring (32) is shown in figure 6, and can be regarded as a cantilever beam model, and the allowable stress [ F ] of the spring can be obtained through calculation:
the maximum deflection size formula of the material is as follows:
wherein sigmayIs the yield limit of the material, m is the spring thickness, h is the beam thickness, lambda is the safety factor, l is the beam length, E is the Young's modulus of the material, wmaxIs the maximum deflection of the material.
Meanwhile, in order to ensure the processing precision, the number of units of the machinable spring (32) is limited within 8. The design of the machinable spring (32) is done according to the above conditions and following the principles of as small as possible force in the mechanism, as small as possible number of units and as small as possible dimensions.
(4) Guide module
As shown in fig. 7, the guide module (4) includes a slider adapter fixing bolt (41), a slider adapter (42), a slider (43), a guide rail fixing bolt (44), and a guide rail (45). The guide module (4) has the functions of ensuring that the machinable spring (32) only deforms along the-Y direction without bending and torsional deformation, prolonging the service life of the machinable spring, ensuring the overall performance of the safety joint and converting the pressure on the machinable spring (32) into the limitation of the safety joint on the torque. The slider adapter (42) is used for connecting the roller (31) and the slider (43), wherein the roller (31) is directly connected with the roller fixing threaded hole (42a), and the slider adapter fixing bolt (41) is fixedly connected with the slider adapter fixing hole (42) and the slider adapter fixing threaded hole (43a) in the same specification and assembled by a concentric shaft. The slider (43) and the guide rail (45) are engaged by a dovetail groove structure therebetween. The guide rail fixing bolt (44) fixedly connects the guide rail (45) and the base module (5) together through the guide rail fixing hole (45 a). The types and the sizes of the sliding block (43) and the guide rail (45) are selected according to the overall size of the safety joint.
(5) Base module
As shown in fig. 8a, the base module (5) includes a base (51) and a support bracket fixing bolt (52). The base (51) is fixedly connected with an external fixed end and connected with the elastomer module (2), the support frame (3) and the guide module (4). As shown in fig. 8b, the guide rail fixing threaded hole (51a) is used for fixing the guide module (4) on the base (51), the support frame fixing threaded hole (51b) is used for fixing the support frame (2) on the base (51), the machinable spring fixing threaded hole (51c) is used for fixing the elastomer module (2) on the base (51), and the base fixing hole (51d) is used for connecting the base (51) with an external fixing end. The position accuracy of the guide rail fixing threaded hole (51a), the support frame fixing threaded hole (51b) and the machinable spring fixing threaded hole (51c) directly influences the accuracy and performance of the safety joint, and therefore the machining accuracy of the positions of the guide rail fixing threaded hole, the support frame fixing threaded hole (51b) and the machinable spring fixing threaded hole is high in requirement. The size, position and number of the base fixing holes (51d) can be adjusted within the size range of the base (51) according to the specific shape, size, action mode and the like of the external fixing end part. Each spare part link firmly through bolt and screw hole realization among the safety joint, must guarantee that each junction does not have relative slip, when needing higher accuracy requirement, also can carry out integration processing with base and support frame.
(III) use process of safety joint based on variable stiffness principle
When the safety joint based on the variable stiffness principle is used, a base (51) in a base module (5) is used as a fixed end to be connected with an external fixed part, and a rotating cover (14) in a rotator module (1) is used as a torque input end to be connected with an external load end.
As shown in fig. 9, when the input torque of the rotating cover (14) is smaller than the design torque, the relative movement between the rotating cover (14) and the base (51) can not occur, and the safety joint at this time is in a rigid state; when the input torque of the rotating cover (14) reaches the design torque, the roller (31) carries the movable end of the machinable spring (32) to move under the action of the rotating cover (14). Due to the limitation of the sliding block (43) and the guide rail (45), the machinable spring (32) can be compressed only along the-Y direction. After a small relative movement between the rotary cover (14) and the base (51), the roller (31) will disengage from the cam portion of the rotary cover (14) and enter a rest position, i.e., change from the t1 state to the t2 state. The direction of the acting force received by the roller (31) moving at the resting end passes through the rotation center, so that the rotation rigidity of the safety joint is suddenly changed to zero at the moment when the roller (31) enters the resting end. The pure rolling contact surfaces between the cam part and the resting part of the rotating cover (14) and the roller (31) need to ensure higher processing precision, ensure the rolling smoothness and avoid pitting corrosion.
In the process that the roller (31) moves in the cam part of the rotating cover (14), the designed cam curve can ensure that the feedback torque of the safety joint in the process is kept unchanged, and meanwhile, the shorter cam curve can ensure that the safety joint has high response speed to achieve the purpose of quickly changing the rigidity. On the premise of ensuring the integral structure, the threshold moment required by the variable stiffness can be adjusted by changing the stiffness of the novel spring (32), the appearance of the cam profile and the sizes of all parts.
Claims (8)
1. A safety joint based on the variable stiffness principle, comprising:
in terms of structure, the component modules are as follows: the device comprises a rotating module (1), a support frame (2), an elastic body module (3), a guide module (4) and a base module (5). The direction of the rotation shaft of the safety joint is defined as a Z axis, the compression direction of the spring is defined as a-Y axis, and an axis perpendicular to a YZ plane is defined as an X axis, namely a space coordinate system XYZ is formed.
The rotating module (1) comprises an axial displacement limiting bolt (11), an axial displacement limiting gasket (12), a bearing (13) and a rotating cover (14). Wherein the rotating cover (14) and the bearing (13) are concentrically assembled in an interference fit manner; the axial displacement limiting bolt (11) and the axial displacement limiting gasket (12) are used for limiting the axial movement of the rotating cover (14) and the bearing (13). The rotary cover connecting hole (14a) is an interface for connecting the safety joint with an external part, and the size, the position and the number of the rotary cover connecting holes can be adjusted freely within the size range of the rotary cover (14) according to the specific shape, the size, the action mode and the like of the connecting part.
The support frame (2) is an integrated part and is used for connecting the rotating module (1) and the base module (5). The shaft of the support frame (2) has the same size as the bearing (13) in the rotating module (1), and is concentrically matched with the shaft for connecting the rotating module (1); the support frame fixing threaded hole (2b) is in threaded fit with a support frame fixing bolt (52) in the base module (5) and is used for connecting the base module (5). The shape and the size of the safety joint can be adjusted according to the overall size of the safety joint and the rotating module (1) and the base module (5). The axial displacement limiting threaded hole (2a) and the axial displacement limiting bolt (11) in the rotating module (1) are the same in specification and are coaxially assembled to achieve axial limiting of the rotating module (1), and the size of the axial displacement limiting threaded hole is determined according to the model of the selected bearing (13) and the model of the selected axial displacement limiting gasket (12). The support frame fixing threaded hole (2b) is assembled with the support frame fixing hole (51c) and the support frame fixing bolt (52) in the same specification and coaxially, so that the support frame (2) is fixed on the base (51).
The elastomer module (3) comprises a roller (31), a machinable spring (32) and a machinable spring fixing bolt (33). The elastomer module (3) is a core component of the safety joint, and the variable stiffness moment threshold of the safety joint is mainly influenced by the stiffness of the machinable spring (32), so that high requirements are made on material selection, structural design, machining precision and assembly precision. The roller (31) shaft is assembled with the same specification and concentric shafts as the roller fixing connection hole (32a) and the roller fixing threaded hole (42a) so as to realize the connection of the elastomer module (3) and the guide module (4), and the size of the roller (31) is selected according to the external dimension of the rotating cover (14) in the rotating module (1). The machinable spring fixing bolt (33) fixedly connects the machinable spring (32) and the base module (5) together through the machinable spring fixing hole (32 b). The machinable spring (32) is an integral part, the main machining method is wire cutting, and the structure, the shape and the size of the machinable spring are determined by the overall size of the safety joint, the threshold value of the limited moment and the like. The size of the machinable spring (32) determines the size of the whole structure of the safety joint, and the spring with smaller size needs to be designed as far as possible on the premise of meeting the requirements of accurately controlling the peak moment and the joint angle precision.
The guide module (4) comprises a sliding block adapter fixing bolt (41), a sliding block adapter (42), a sliding block (43), a guide rail fixing bolt (44) and a guide rail (45). The guide module (4) converts the pressure on the machinable spring (32) into the limit of the safety joint to the torque. The slider adapter (42) is used for connecting the roller (31) and the slider (43), wherein the roller (31) is directly connected with the roller fixing threaded hole (42a), and the slider adapter fixing bolt (41) is fixedly connected with the slider adapter fixing hole (42) and the slider adapter fixing threaded hole (43a) in the same specification and assembled by a concentric shaft. The slider (43) and the guide rail (45) are engaged by a dovetail groove structure therebetween. The guide rail fixing bolt (44) fixedly connects the guide rail (45) and the base module (5) together through the guide rail fixing hole (45 a). The types and the sizes of the sliding block (43) and the guide rail (45) are selected according to the overall size of the safety joint.
The base module (5) includes a base (51) and a support bracket fixing bolt (52). The base (51) is fixedly connected with an external fixed end and connected with the elastomer module (2), the support frame (3) and the guide module (4). The guide rail fixing threaded holes (51a) are used for fixing the guide module (4) on the base (51), the support frame fixing threaded holes (51b) are used for fixing the support frame (2) on the base (51), the machinable spring fixing threaded holes (51c) are used for fixing the elastic body module (2) on the base (51), and the base fixing holes (51d) are used for connecting the base (51) with an external fixing end. The position accuracy of the guide rail fixing threaded hole (51a), the support frame fixing threaded hole (51b) and the machinable spring fixing threaded hole (51c) directly influences the accuracy and performance of the safety joint, and therefore the machining accuracy of the positions of the guide rail fixing threaded hole, the support frame fixing threaded hole (51b) and the machinable spring fixing threaded hole is high in requirement. The size, position and number of the base fixing holes (51d) can be adjusted within the size range of the base (51) according to the specific shape, size, action mode and the like of the external fixing end part.
2. The safety joint of claim 1, which is of a rotary structure as a whole, wherein the rotary module (1) and the base module (5) are in a relatively static rigid state and can be regarded as rigidly connected under the condition of no external load or small external load; when the torque reaches the design threshold, the safety joint is in a flexible state, the integral rigidity is suddenly changed to zero, and relative rotation motion is generated between the rotating cover (14) of the rotating module (1) and the base (51) of the base module (5).
3. A machinable spring (32) according to claim 1, wherein the individual elements are considered as cantilever beam models, and the allowable stress [ F ] of the spring is calculated as:
the maximum deflection size formula of the material is as follows:
wherein sigmayIs the yield limit of the material, m is the spring thickness, h is the beam thickness, lambda is the safety factor, l is the beam length, E is the Young's modulus of the material, wmaxIs the maximum deflection of the material. Meanwhile, in order to ensure the processing precision, the number of units of the machinable spring (32) is limited within 8. The design of the machinable spring (32) is done according to the above conditions and following the principles of as small as possible force in the mechanism, as small as possible number of units and as small as possible dimensions.
4. The machinable spring (32) of claim 1 being deformable only in the-Y direction without bending or torsional deformation, and having an extended useful life while maintaining the overall performance of the safety joint.
5. The safety joint of claim 1, wherein the base (51) of the base module (5) is connected as a fixed end to an external fixed part and the rotating cap (14) of the rotor module (1) is connected as a torque input end to an external load end during use. When the input torque of the rotating cover (14) is smaller than the design torque, the rotating cover (14) and the base (51) cannot move relatively, and the safety joint is in a rigid state; when the input torque of the rotating cover (14) reaches the design torque, the roller (31) carries the movable end of the machinable spring (32) to move under the action of the rotating cover (14).
6. The safety joint of claim 1, the machinable spring (32) can only be compressed in the-Y direction due to the constraint of the slider (43) and the guide rail (45). After a slight relative movement between the rotary cover (14) and the base (51), the roller (31) is disengaged from the cam portion of the rotary cover (14) and enters a rest portion. The direction of the acting force received by the roller (31) moving at the resting end passes through the rotation center, so that the rotation rigidity of the safety joint is suddenly changed to zero at the moment when the roller (31) enters the resting end. The pure rolling contact surfaces between the cam part and the resting part of the rotating cover (14) and the roller (31) need to ensure higher processing precision, ensure the rolling smoothness and avoid pitting corrosion.
7. The safety joint of claims 1 to 6, wherein the parts of the safety joint are fixedly connected through bolts and threaded holes, so that the joints are free from relative sliding, and when higher precision is required, the base and the support frame can be integrally machined.
8. The safety joint of claims 1 to 7, wherein the threshold torque required for variable stiffness can be adjusted by changing the stiffness of the novel spring (32), the profile of the cam profile and the dimensions of the components while ensuring a unitary construction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110702488.2A CN113334424B (en) | 2021-06-24 | 2021-06-24 | Robot safety joint device based on variable stiffness principle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110702488.2A CN113334424B (en) | 2021-06-24 | 2021-06-24 | Robot safety joint device based on variable stiffness principle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113334424A true CN113334424A (en) | 2021-09-03 |
| CN113334424B CN113334424B (en) | 2022-07-19 |
Family
ID=77478157
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110702488.2A Active CN113334424B (en) | 2021-06-24 | 2021-06-24 | Robot safety joint device based on variable stiffness principle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113334424B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100912104B1 (en) * | 2008-02-14 | 2009-08-13 | 한국과학기술연구원 | Device for generating stiffness and method for controling stiffness and joint of robot manipulator comprising the same |
| WO2017161927A1 (en) * | 2016-03-23 | 2017-09-28 | 华南理工大学 | Robot elastic joint with adjustable rigidity |
| CN108890689A (en) * | 2018-07-27 | 2018-11-27 | 北京航天控制仪器研究所 | A kind of flexible robot's variation rigidity joint |
| CN109465849A (en) * | 2018-11-30 | 2019-03-15 | 广东工业大学 | It is a kind of can local linear manually adjust the joint of robot variation rigidity module of rigidity value |
| CN109465848A (en) * | 2018-11-30 | 2019-03-15 | 广东工业大学 | A kind of joint of robot variation rigidity module based on cam-type lever construction |
| CN110091353A (en) * | 2019-04-18 | 2019-08-06 | 广东工业大学 | A kind of interior cabling variation rigidity joint of robot module |
| CN209551773U (en) * | 2018-11-30 | 2019-10-29 | 广东工业大学 | A kind of joint of robot variation rigidity module based on cam-type lever construction |
| CN110978046A (en) * | 2019-12-23 | 2020-04-10 | 中国矿业大学 | Variable-stiffness joint based on cylindrical cam and control method thereof |
| DE102018008378A1 (en) * | 2018-10-22 | 2020-04-23 | Technische Universität Chemnitz | Elastic joint |
| CN112092008A (en) * | 2020-09-16 | 2020-12-18 | 哈尔滨工业大学 | Compact modular variable-stiffness joint |
-
2021
- 2021-06-24 CN CN202110702488.2A patent/CN113334424B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100912104B1 (en) * | 2008-02-14 | 2009-08-13 | 한국과학기술연구원 | Device for generating stiffness and method for controling stiffness and joint of robot manipulator comprising the same |
| WO2017161927A1 (en) * | 2016-03-23 | 2017-09-28 | 华南理工大学 | Robot elastic joint with adjustable rigidity |
| CN108890689A (en) * | 2018-07-27 | 2018-11-27 | 北京航天控制仪器研究所 | A kind of flexible robot's variation rigidity joint |
| DE102018008378A1 (en) * | 2018-10-22 | 2020-04-23 | Technische Universität Chemnitz | Elastic joint |
| CN109465849A (en) * | 2018-11-30 | 2019-03-15 | 广东工业大学 | It is a kind of can local linear manually adjust the joint of robot variation rigidity module of rigidity value |
| CN109465848A (en) * | 2018-11-30 | 2019-03-15 | 广东工业大学 | A kind of joint of robot variation rigidity module based on cam-type lever construction |
| CN209551773U (en) * | 2018-11-30 | 2019-10-29 | 广东工业大学 | A kind of joint of robot variation rigidity module based on cam-type lever construction |
| CN110091353A (en) * | 2019-04-18 | 2019-08-06 | 广东工业大学 | A kind of interior cabling variation rigidity joint of robot module |
| CN110978046A (en) * | 2019-12-23 | 2020-04-10 | 中国矿业大学 | Variable-stiffness joint based on cylindrical cam and control method thereof |
| CN112092008A (en) * | 2020-09-16 | 2020-12-18 | 哈尔滨工业大学 | Compact modular variable-stiffness joint |
Non-Patent Citations (1)
| Title |
|---|
| 史延雷等: "主-被动复合变刚度柔性关节设计与分析", 《机械工程学报》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113334424B (en) | 2022-07-19 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP2011083884A (en) | Variable rigidity mechanism and robot | |
| WO1989008537A1 (en) | Articulatable structure with adjustable end-point compliance | |
| CN109465849B (en) | Robot joint rigidity-changing module capable of locally and linearly manually adjusting rigidity value | |
| CN110091353B (en) | Internally-wiring rigidity-variable robot joint module | |
| CN108386447B (en) | Rigid-flexible coupling sliding block and motion platform | |
| CN113334424B (en) | Robot safety joint device based on variable stiffness principle | |
| KR20030068727A (en) | Working robot, actuator therefor and control method therefor | |
| CN112923012A (en) | Micro-vibration suppression platform based on intelligent piezoelectric array and control method thereof | |
| US6307301B1 (en) | Buckling resistant piezoelectric actuator | |
| CN104259991B (en) | Power control module based on stiffness variable compliant mechanism | |
| CN113021404A (en) | Integrated active and passive variable stiffness joint based on cam mechanism | |
| CN114370481B (en) | Speed reducer | |
| CN114001137B (en) | Movable force limiter | |
| CN218875388U (en) | Plane motion device | |
| CN110928238B (en) | Rigid-flexible coupling rotary platform and control method thereof | |
| CN209919324U (en) | Rigid-flexible coupling platform with cylinder type rigidity switching device and motion platform | |
| CN114952744B (en) | Voice coil motor direct-drive type active vibration isolation and leveling integrated platform | |
| JP2001121460A (en) | Parallel link mechanism for robot | |
| CN112872920B (en) | Robot magnetorheological polishing normal positioning actuator and method based on force feedback | |
| CN112157656B (en) | Symmetrical variable fulcrum rigidity adjusting module capable of realizing full-range rigidity adjustment | |
| CN1788942A (en) | 3-PPTTRS six freedom degree parallel precise jiggle robot | |
| CN110722523B (en) | Macro-micro composite motion platform based on piezoelectric ceramic measurement and compensation and application | |
| Anderson et al. | Hexapods for precision motion and vibration control | |
| CN108655435B (en) | Micro-action platform of lathe and lathe system | |
| CN217207597U (en) | Ball screw |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |