CN106737819B - Variation rigidity flexible actuator based on fulcrum-variable - Google Patents
Variation rigidity flexible actuator based on fulcrum-variable Download PDFInfo
- Publication number
- CN106737819B CN106737819B CN201611248593.9A CN201611248593A CN106737819B CN 106737819 B CN106737819 B CN 106737819B CN 201611248593 A CN201611248593 A CN 201611248593A CN 106737819 B CN106737819 B CN 106737819B
- Authority
- CN
- China
- Prior art keywords
- fulcrum
- variable
- driver
- slot
- linear guide
- 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.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of variation rigidity flexible actuator based on fulcrum-variable, including power input mechanism, stiffness tuning mechanism and power take-off mechanism, the stiffness tuning mechanism includes lever, pivot pole, sliding block and linear guide, described lever one end is hinged on power take-off mechanism, the lever top and bottom are respectively arranged with top surface sliding slot and bottom surface sliding slot, described pivot pole one end and top surface sliding slot are cooperatively connected, the other end is connected on power input mechanism, and fulcrum adjustment structure is provided between power input mechanism, the fulcrum adjustment structure is used to adjust the position of drive shaft of the pivot pole relative to power input mechanism, the sliding block and bottom surface sliding slot are cooperatively connected and are socketed in linear guide, the linear guide is connected on power take-off mechanism, two sections of springs are also socketed in the linear guide, two sections of springs It is located at sliding block two sides.The invention is compact-sized, stiffness tuning range is wide.
Description
Technical field
The present invention relates to variation rigidity drivers, in particular to a kind of variation rigidity flexible actuator based on fulcrum-variable.
Background technique
In robot field, the mode for moving driving has hydraulic-driven, air pressure driving and motor driven etc., and motor driven
With precision height, precise control, the advantages such as rapid are responded, become a kind of main driving method.With the hair of robot technology
Exhibition, the research of rehabilitation auxiliary robot and power-assisting robot also increasingly receive attention, these robots are in human-computer interaction
Higher safety is required in the process and to the better adaptability of environment.And traditional motor driven is rigid, man-machine
It is possible to cause harm to the human body in interactive process, and poor to the adaptability of environment.Using the flexible drive of stiffness variable
Device can be very good to solve the problems, such as this.
During designing variation rigidity driver, possible application environment is considered, it is compact-sized, reasonable to make, simultaneously
There should be biggish stiffness tuning range, regulatory function is easily achieved, and there are also than faster response characteristic.Currently, existing both at home and abroad
This field of variation rigidity driver has some good achievements, but still there are some problems: variation rigidity actuator mechanism
Complexity, stiffness tuning range are small.
It finds by prior art documents, Chinese invention patent application number 201010283564.2, the technical staff
A kind of variation rigidity flexible joint, including miniature drive units, electric machine support, Flexible element are opened, by changing having for elastic element
Length is imitated to change rigidity, but the effective length change of elasticity is limited, stiffness change is limited in scope.
Chinese Patent Application No. 20150355179.7, the technology disclose a kind of adjustable flexible joint driving machine of rigidity
Structure, including driving end, adjustment end and flexible joint, realize variation rigidity using bent inclined-plane-runner fit structure, can be realized driving
The rigidity of device is from the very big flexible change to perfect rigidity, but the mechanism structure is complicated, and size is bigger than normal.
Chinese Patent Application No. 201310119858.5, the technology disclose a kind of joint of robot driving of stiffness variable
Device, including joint drive motor, stiffness tuning component, output end, the adjusting of rigidity, structure are realized using metal flexible rack gear
Compact, range in stiffness is bigger, but structure is more complicated, and the process of stiffness tuning is complicated.
Summary of the invention
The present invention aiming at the deficiencies in the prior art, provide a kind of compact-sized, adjustable range it is big based on variable
The variation rigidity flexible actuator of fulcrum.
To achieve the goals above, the variation rigidity flexible actuator based on fulcrum-variable designed by the present invention, including it is dynamic
Power input mechanism, stiffness tuning mechanism and power take-off mechanism, it is characterised in that:
The stiffness tuning mechanism includes lever, pivot pole, sliding block and linear guide, and described lever one end is hinged on power
On output mechanism, the lever top and bottom are respectively arranged with top surface sliding slot and bottom surface sliding slot, and described pivot pole one end and top surface are sliding
Slot is cooperatively connected, and the other end is connected on power input mechanism, and fulcrum adjustment structure is provided between power input mechanism,
The fulcrum adjustment structure is used to adjust the position of drive shaft of the pivot pole relative to power input mechanism, the sliding block and bottom surface
Sliding slot is cooperatively connected and is socketed in linear guide, and the linear guide is connected on power take-off mechanism, the linear guide
On be also socketed with two sections of springs, two sections of springs are located at sliding block two sides.Wherein top surface sliding slot and bottom surface sliding slot can be
The same slot.
Further, the fulcrum adjustment structure includes rigidity servo motor, transmission gear and stiffness tuning gear；Institute
It states transmission gear to be connected on the output shaft of rigidity servo motor, be engaged with stiffness tuning gear, the stiffness tuning gear is logical
Chain connection pad axis, needle thrust bearing, link bearing and link last item is crossed to be connected in the drive shaft of power input mechanism, it is described rigid
It is provided with spiral of Archimedes slot in degree adjustment gear, is provided on the end face of the power input mechanism relative to drive shaft
Radiai adjustment slot, the pivot pole other end sequentially passes through spiral of Archimedes slot and radiai adjustment slot, end setting
There is the fulcrum top cover of limit.By Archimedian screw curved groove, the angle that stiffness tuning gear turns over being converted into linearly
Position of the pivot pole in radiai adjustment slot, convenient for the control to pivot pole position.In adjustment process, pivot pole is in A Ji meter
When rotating an angle in moral helical curve wire casing, position slight distance of the pivot pole in radiai adjustment slot improves pivot pole position
The degree of regulation set.
Further, the power input mechanism includes outside position servo motor, shaft coupling, actuator base and tubular
Shell, integrally disc-shaped structure, the shaft coupling are used for the drive shaft and driving of link position servo motor to the actuator base
Device pedestal, the cylindrical case are arranged in actuator base, and the radiai adjustment slot is arranged in actuator base, described rigid
Degree servo motor is fixed in actuator base.By shaft coupling and actuator base, the axis output of power is changed to disk output,
Convenient for the transmitting of follow-up driving force.
Still further, the cylindrical case includes supporting section and linkage section, the supporting section is connect with actuator base,
Support, protection driver, linkage section are flexibly connected with drive enclosure.
Still further, the power take-off mechanism include tubular drive enclosure, driver top cover, rotary encoder and
Connector is deflected, tubular drive enclosure one end is flexibly connected with cylindrical case, and the other end is connect with driver top cover, institute
It states rotary encoder to be arranged on driver top cover, the deflection connector is connected on rotary encoder and cylindrical case, institute
It states lever one end to be hinged on drive enclosure, the linear guide size is identical as drive enclosure internal diameter, and is connected to drive
On dynamic device internal diameter of outer cover, the length of lever is 0.6 to 0.75 times of tubular drive enclosure internal diameter, and power take-off mechanism realizes
Tubular drive enclosure is transmitted power to, and can be exported outward power by the connection type of other export structures.Again into one
Step, it is provided with sliding groove on the linkage section of the cylindrical case, ball, the drive enclosure are inlaid in the sliding groove
It is flexibly connected with cylindrical case by ball realization.
Still further, further including driver supporting mechanism, the driver supporting mechanism includes pedestal and bracket.Bracket
It is provided at two, is connect respectively with the supporting section of position servo motor and cylindrical case, be used to support fixed entire driver,
The even running for guaranteeing driver in driver operational process, reduces vibration.
The present invention has the advantages that
The stiffness tuning mechanism structure of the design is novel, adjusts using the gear with Archimedian screw curved groove
Fulcrum changes lever arm of force length.The a wide range of adjusting that can be realized rigidity, enables driver to be adjusted to complete from zero stiffness
Rigidity, and make structure more compact.Change rigidity by mobile fulcrum, it is easier to control, can be realized the defeated of driver
The adjusting of the real-time synchronization of out position and output rigidity.
Detailed description of the invention
Fig. 1 is that the present invention is based on the variation rigidity flexible actuator structural schematic diagrams of fulcrum-variable.
Fig. 2 is that the present invention is based on the cross-sectional views of the variation rigidity flexible actuator of fulcrum-variable.
Fig. 3 is the detailed label structural schematic diagram of Fig. 2 of the present invention.
Fig. 4 is the right view of Fig. 1.
Fig. 5 is the left view the schematic diagram of the section structure of Fig. 1.
Fig. 6 is lever construction schematic diagram of the invention.
In figure: power input mechanism a, stiffness tuning mechanism b, power take-off mechanism c, fulcrum regulating mechanism d, driver branch
Support mechanism e, pedestal 1, rigidity servo motor 2, position servo motor 3, bracket 4, shaft coupling 5, fulcrum top cover 6, actuator base
7, cylindrical case 8, supporting section 9, linkage section 10, drive enclosure 11, wire spool 12, driver top cover 13, encoder 14, A Ji
Mead helix groove 15, transmission gear 16, sliding block 17, stiffness tuning gear 18, lever 19, top surface sliding slot 19.1, bottom surface sliding slot
19.2, pivot pole 20, radiai adjustment slot 21, chain connection pad axis 22, needle thrust bearing 23 links bearing 24, links last item 25, sliding
Dynamic slot 26, drive shaft 27, ball 28, linear guide 29, spring 30, the first spring 31, second spring 32 deflect connector 33.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments:
Variation rigidity flexible actuator shown in figure based on fulcrum-variable, including power input mechanism a, stiffness tuning machine
Structure b and power take-off mechanism c, the stiffness tuning mechanism b include lever 19, pivot pole 20, sliding block 17 and linear guide 29, institute
It states 19 one end of lever to be hinged on power take-off mechanism c, 19 top and bottom of lever are respectively arranged with top surface sliding slot 19.1 and bottom
Face sliding slot 19.2, described 20 one end of pivot pole and top surface sliding slot 19.1 are cooperatively connected, and the other end is connected to power input mechanism a
On, and fulcrum adjustment structure d is provided between power input mechanism a, the fulcrum adjustment structure d is for adjusting pivot pole 20
The position of drive shaft 27 relative to power input mechanism a, the sliding block 17 are cooperatively connected and are socketed in bottom surface sliding slot 19.2
In linear guide 29, the linear guide 29 is connected on power take-off mechanism c, is also socketed with two sections in the linear guide 29
Spring 30, two sections of springs 30 are located at 17 two sides of sliding block.Top surface sliding slot 19.1 and bottom surface sliding slot 19.2 can be same
A slot.
Wherein, fulcrum adjustment structure d includes rigidity servo motor 2, transmission gear 16 and stiffness tuning gear 18, driving cog
Wheel 16 is connected on the output shaft of rigidity servo motor 2, is engaged with stiffness tuning gear 18, stiffness tuning gear 18 passes through link
Pad axis 22, needle thrust bearing 23, link bearing 24 and link last item 25 are connected in the drive shaft 27 of power input mechanism a,
Chain connection pad axis 22, link last item 25 successively cover in drive shaft 27, wherein link 24 Internal and external cycle of bearing respectively with link last item 25 and
Stiffness tuning gear 18 is fixedly connected, and ball thrust bearing 23 is fixed in drive shaft 27, respectively with actuator base 7 and rigidity
18 movable contact of adjustment gear avoids stiffness tuning gear 18 and 7 direct friction of actuator base, link bearing 24 and link pressure
Axis 25 plays a supportive role to stiffness tuning gear 18, and spiral of Archimedes slot 15, power are provided on stiffness tuning gear 18
The radiai adjustment slot 21 relative to drive shaft 27 is provided on the end face of input mechanism a, 20 other end of pivot pole is successively worn
Spiral of Archimedes slot 15 and radiai adjustment slot 21 are crossed, end is provided with the fulcrum top cover 6 of limit.Pass through Archimedes's spiral shell
Revolve curved groove, the angle that stiffness tuning gear turns over it is linear be converted into position of the pivot pole in radiai adjustment slot 21, just
In the control to pivot pole position.In adjustment process, when pivot pole rotates an angle in Archimedian screw curved groove,
Position slight distance of the pivot pole in radiai adjustment slot 21 improves the degree of regulation of pivot pole position.
Power input mechanism a includes position servo motor 3, shaft coupling 5, actuator base 7 and cylindrical case 8, driver
Pedestal 7 is whole in the form of annular discs, and shaft coupling 5 is used for the drive shaft 27 and actuator base 7 of link position servo motor 3, power
Axis output be changed to disk output, convenient for the transmitting of follow-up driving force.Cylindrical case 8 is arranged in actuator base 7, radiai adjustment slot
21 are arranged in actuator base 7, and rigidity servo motor 3 is fixed in actuator base 7.Wherein, cylindrical case 8 is by supporting section
9 and linkage section 10 form, supporting section 9 connect with actuator base 7, supports, protects driver.
Power take-off mechanism c includes tubular drive enclosure 11, driver top cover 13, rotary encoder 14 and deflection connection
Part 33, described 11 one end of tubular drive enclosure are flexibly connected with cylindrical case 8, and the other end is connect with driver top cover 13, institute
It states rotary encoder 14 to be arranged on driver top cover 13, the deflection connector 33 is connected to outside rotary encoder 14 and tubular
On shell 8,19 one end of lever is hinged on drive enclosure 11, and linkage section 10 is flexibly connected with drive enclosure 11, linear guide
29 sizes are identical as 11 internal diameter of drive enclosure, and are connected on 11 internal diameter of drive enclosure, and the length of lever 19 is tubular drive
0.6 to 0.75 times of dynamic 11 internal diameter of device shell, power take-off mechanism, which realizes, transmits power to tubular drive enclosure 11, and
Power can be exported outward by the connection type of other export structures.Wire spool 12 is installed such as on drive enclosure 11, is being driven
Wire spool 12 can be connected by flexible strand when starting building to make to connect with joint of robot, to transmit power to joint of robot.
Wherein it is total to be located at actuator base 7, cylindrical case 8, drive enclosure 11 and driver top cover by stiffness tuning mechanism b
In closed cavity with composition.
It is provided with sliding groove 26 on the linkage section 10 of cylindrical case 8, ball 28, drive enclosure are inlaid in sliding groove 26
11 are flexibly connected with cylindrical case 8 by the realization of ball 28.For convenience of the installation of ball 28, linkage section 10 is typically designed as two valves
Composite structure, for convenience of installation and fixed, the present invention is also devised with driver supporting mechanism e, and driver supporting mechanism e includes
Pedestal 1 and bracket 4.Bracket 4 is provided at two, is connect, is used for the supporting section of position servo motor 3 and cylindrical case 8 respectively
The fixed entire driver of support, guarantees the even running of driver in driver operational process, reduces vibration.
When the invention works, a target position and target rigidity are set to driver, according to given position and given
Rigidity, driver rotates according to certain algorithm control position servo motor and rigidity servo motor, rapidly and accurately adjusts
The output position of driver and output rigidity, make up to target position and target rigidity, generally use PID control calculation at present
Method.Specially process is as follows:
After position servo motor 3 and rigidity servo motor 2 power on, in given position and rigidity, position servo motor 3
It is started turning with rigidity servo motor 2, rigidity servo motor 2 makes rotating motion with nutating gear 16, and transmission gear 16 drives
Stiffness tuning gear 18 makes rotating motion around drive shaft 27, pushes rigidity tune pivot pole 20 along rigid when stiffness tuning gear 18 moves
The Archimedian screw curved groove in adjustment gear 18 and the straight-line groove movement in actuator base 7 are spent, the position of pivot pole 20 is made
It sets and changes.When rigidity servo motor 2 rotates forward, stiffness tuning gear 18 is inverted, and drives pivot pole 20 to 27 axis of drive shaft
The movement of heart direction, in actuator base 7 and constant 13 angle of deviation of driver top cover, rigidity reduces.When rigidity servo motor 2 is anti-
When turning, stiffness tuning gear 18 is rotated forward, and drives pivot pole 20 to move to 27 axle center opposite direction of drive shaft, in 7 He of actuator base
When 13 angle of deviation of driver top cover is constant, rigidity increases.
When position servo motor 3 rotates forward, position motors shaft coupling 5 is rotated forward, and actuator base 7 is driven to rotate forward, due to driving
There is the presence of spring in dynamic device, when actuator base 7 starts turning, since hindrance function driver top cover 13 is not transported temporarily
It is dynamic, and the first spring 31 starts to compress, and second spring 33 starts to extend.The deviation of actuator base 7 and driver top cover 13
Angle starts to generate, and is measured by rotary encoder 14.When the deformation of the first spring 31 and second spring 33 reaches a certain amount of, foot
When pushing driver top cover 13 to move, driver top cover 13 starts to rotate forward in the case where the first spring 31 and second spring 33 act on.
Due to the buffer function of spring, to realize the function of flexible drive.Encoder is surveyed the angle of deviation that 14 obtain and is used for as feedback quantity
The control of position and rigidity.
When position servo motor 3 inverts, position motors shaft coupling 5 is inverted, and actuator base 7 is driven to invert, due to driving
There is the presence of spring in dynamic device, when actuator base 7 starts turning, since hindrance function driver top cover 13 is not transported temporarily
It is dynamic, and the first spring 31 starts to extend, and second spring 33 starts to compress.The deviation of actuator base 7 and driver top cover 13
Angle starts to generate, and is measured by rotary encoder 14.When the deformation of the first spring 31 and second spring 33 reaches a certain amount of, foot
When pushing driver top cover 13 to move, driver top cover 13 starts to invert in the case where the first spring 31 and second spring 33 act on.
Due to the buffer function of spring, to realize the function of flexible drive.Encoder is surveyed the angle of deviation that 14 obtain and is used for as feedback quantity
The control of position and rigidity.
Driver designed by the present invention can be applied to service by 13 output power of cylindrical case 8 and driver top cover
Robot, power-assisting robot, healing robot have very big application value.
Claims (7)
1. a kind of variation rigidity flexible actuator based on fulcrum-variable, including power input mechanism (a), stiffness tuning mechanism (b)
With power take-off mechanism (c), it is characterised in that:
The stiffness tuning mechanism (b) includes lever (19), pivot pole (20), sliding block (17) and linear guide (29), the thick stick
Bar (19) one end is hinged on power take-off mechanism (c), and lever (19) top and bottom are respectively arranged with top surface sliding slot (19.1)
With bottom surface sliding slot (19.2), described pivot pole (20) one end and top surface sliding slot (19.1) are cooperatively connected, and the other end is connected to power
On input mechanism (a), and fulcrum adjustment structure (d) is provided between power input mechanism (a), the fulcrum adjustment structure
(d) for adjusting position of the pivot pole (20) relative to the drive shaft (27) of power input mechanism (a), the sliding block (17) and bottom
Face sliding slot (19.2) is cooperatively connected and is socketed on linear guide (29), and the linear guide (29) is connected to power take-off mechanism
(c) on, two sections of springs (30) are also socketed on the linear guide (29), two sections of springs (30) are located at sliding block (17)
Two sides.
2. the variation rigidity flexible actuator according to claim 1 based on fulcrum-variable, it is characterised in that: the fulcrum
Adjustment structure (d) includes rigidity servo motor (2), transmission gear (16) and stiffness tuning gear (18)；The transmission gear
(16) it is connected on the output shaft of rigidity servo motor (2), is engaged with stiffness tuning gear (18), the stiffness tuning gear
(18) it is connected in the drive shaft (27) of power input mechanism (a) by link bearing (24) and link last item (25), it is described rigid
It is provided with spiral of Archimedes slot (15) on degree adjustment gear (18), is provided on the end face of the power input mechanism (a)
Relative to the radiai adjustment slot (21) of drive shaft (27), pivot pole (20) other end sequentially passes through spiral of Archimedes slot
(15) and radiai adjustment slot (21), end are provided with the fulcrum top cover (6) of limit.
3. the variation rigidity flexible actuator according to claim 2 based on fulcrum-variable, it is characterised in that: the power is defeated
Entering mechanism (a) includes position servo motor (3), shaft coupling (5), actuator base (7) and cylindrical case (8), the shaft coupling
(5) it is used for the drive shaft (27) and actuator base (7) of link position servo motor (3), cylindrical case (8) setting to be driven
On dynamic device pedestal (7), the radiai adjustment slot (21) is arranged on actuator base (7), and the rigidity servo motor (3) is fixed
On actuator base (7).
4. the variation rigidity flexible actuator according to claim 3 based on fulcrum-variable, it is characterised in that: outside the tubular
Shell (8) includes supporting section (9) and linkage section (10), and the supporting section (9) connect with actuator base (7).
5. the variation rigidity flexible actuator according to claim 4 based on fulcrum-variable, it is characterised in that: the power is defeated
Mechanism (c) includes tubular drive enclosure (11), driver top cover (13), rotary encoder (14) and deflection connector out
(33), described tubular drive enclosure (11) one end is flexibly connected with cylindrical case (8), and the other end and driver top cover (13) are even
It connects, the rotary encoder (14) is arranged on driver top cover (13), and the deflection connector (33) is connected to rotary coding
On device (14) and cylindrical case (8), described lever (19) one end is hinged on drive enclosure (11), the linear guide (29)
Size is identical as drive enclosure (11) internal diameter, and is connected to the length of drive enclosure (11) internal diameter upper lever 19 as tubular drive
0.6 to 0.75 times of dynamic 11 internal diameter of device shell.
6. the variation rigidity flexible actuator according to claim 5 based on fulcrum-variable, it is characterised in that: outside the tubular
It is provided with sliding groove (26) on the linkage section (10) of shell (8), is inlaid with ball (28), the driver in the sliding groove (26)
Shell (11) is realized by ball (28) with cylindrical case (8) and is flexibly connected.
7. the variation rigidity flexible actuator according to claim 6 based on fulcrum-variable, it is characterised in that: further include driving
Device supporting mechanism (e), the driver supporting mechanism (e) include pedestal (1) and bracket (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611248593.9A CN106737819B (en) | 2016-12-29 | 2016-12-29 | Variation rigidity flexible actuator based on fulcrum-variable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611248593.9A CN106737819B (en) | 2016-12-29 | 2016-12-29 | Variation rigidity flexible actuator based on fulcrum-variable |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106737819A CN106737819A (en) | 2017-05-31 |
| CN106737819B true CN106737819B (en) | 2019-02-12 |
Family
ID=58927504
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611248593.9A Active CN106737819B (en) | 2016-12-29 | 2016-12-29 | Variation rigidity flexible actuator based on fulcrum-variable |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737819B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6581235B1 (en) * | 2018-03-30 | 2019-09-25 | 本田技研工業株式会社 | Link mechanism |
| CN108942908B (en) * | 2018-08-03 | 2020-09-22 | 燕山大学 | Rotary joint variable-rigidity actuator |
| CN109465848B (en) * | 2018-11-30 | 2023-10-03 | 广东工业大学 | Robot joint becomes rigidity module based on cam lever structure |
| CN110174945B (en) * | 2019-05-15 | 2020-12-18 | 北京航空航天大学 | Variable-rigidity force feedback glove with adjustable size |
| CN110640784B (en) * | 2019-11-05 | 2020-12-25 | 哈尔滨工业大学（深圳） | Variable-rigidity joint device based on lever mechanism |
| CN112092007B (en) * | 2020-09-16 | 2021-11-09 | 哈尔滨工业大学 | Modular steel wire rope driven variable-rigidity joint |
| CN112757277A (en) * | 2021-01-07 | 2021-05-07 | 之江实验室 | Variable-rigidity flexible joint |
| CN114931456B (en) * | 2022-05-13 | 2024-04-12 | 哈尔滨工业大学 | Variable stiffness unit for artificial limb man-machine physical interface and adjusting method thereof |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103192406A (en) * | 2013-04-08 | 2013-07-10 | 北京航空航天大学 | Robot joint driver with variable rigidity |
| CN103240735A (en) * | 2013-05-16 | 2013-08-14 | 天津洪天自动化设备有限公司 | Precious metal jewelry burnishing robot |
| CN104669261A (en) * | 2015-02-11 | 2015-06-03 | 北京航空航天大学 | Synchronous displacement adjustment type variable-stiffness joint driver and adjustment method for robot joint stiffness |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101710256B1 (en) * | 2015-01-19 | 2017-02-24 | 고려대학교 산학협력단 | Robotic joint device using wire and module-type robotic joint system using wire |
| US10208806B2 (en) * | 2015-04-09 | 2019-02-19 | The Chinese University Of Hong Kong | Compliant safe joint and manufacturing method thereof |
| CN205097207U (en) * | 2015-11-10 | 2016-03-23 | 中国科学院沈阳自动化研究所 | A series connection elastic drive ware for robot joint |
-
2016
- 2016-12-29 CN CN201611248593.9A patent/CN106737819B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103192406A (en) * | 2013-04-08 | 2013-07-10 | 北京航空航天大学 | Robot joint driver with variable rigidity |
| CN103240735A (en) * | 2013-05-16 | 2013-08-14 | 天津洪天自动化设备有限公司 | Precious metal jewelry burnishing robot |
| CN104669261A (en) * | 2015-02-11 | 2015-06-03 | 北京航空航天大学 | Synchronous displacement adjustment type variable-stiffness joint driver and adjustment method for robot joint stiffness |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106737819A (en) | 2017-05-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106737819B (en) | Variation rigidity flexible actuator based on fulcrum-variable | |
| CN106737586B (en) | Symmetrical expression variation rigidity flexible actuator based on fulcrum-variable | |
| JP5560495B2 (en) | Electric joint having two pivot joints and humanoid robot mounted with this joint | |
| AU2002358901A1 (en) | Articulated mechanism comprising a cable reduction gear for use in a robot arm | |
| CN107856018B (en) | Variable-rigidity flexible driver | |
| CN105328711A (en) | Modular rigidity-changing joint | |
| CN108748254A (en) | A kind of drive lacking variation rigidity manipulator based on variation rigidity elastic joint | |
| US20080205975A1 (en) | Articulated Joint | |
| CN106863349B (en) | A kind of modular mechanical arm flexible joint | |
| US20110137423A1 (en) | Mechanical joint imitating creatures' joints | |
| CN104669261A (en) | Synchronous displacement adjustment type variable-stiffness joint driver and adjustment method for robot joint stiffness | |
| CN101670581A (en) | Robot hand and humanoid robot having the same | |
| CN109202956A (en) | A kind of submissive articulated mechanical arm based on series elastic driver | |
| CN107097246A (en) | A kind of adaptive rope drive formula drive lacking three refers to manipulator | |
| CN110744584A (en) | Flexible active-passive variable stiffness joint | |
| CN205254991U (en) | Snakelike robot | |
| CN108422413B (en) | Rigidity-variable flexible continuous parallel robot | |
| US20150096392A1 (en) | Actuator having an offset motor using a flexible transmission, and robotic arm using such an actuator | |
| CN110091353A (en) | A kind of interior cabling variation rigidity joint of robot module | |
| CN107234632B (en) | Energy-saving variable-rigidity elastic joint based on differential gear train | |
| CN105598999A (en) | Step cam output type rotary joint driven by steel wire | |
| CN109719717A (en) | A kind of new energy intelligent robot clamping device | |
| CN109877874A (en) | A kind of variation rigidity joint based on symmetrical slider-crank mechanism | |
| CN1121308C (en) | Dual motor drive system for injection molding machines | |
| CN107863900A (en) | A kind of coupling device of miniature impact type Piezoelectric Driving |
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 |