CN109227596A - A kind of variation rigidity flexible joint device - Google Patents
A kind of variation rigidity flexible joint device Download PDFInfo
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- CN109227596A CN109227596A CN201811229430.5A CN201811229430A CN109227596A CN 109227596 A CN109227596 A CN 109227596A CN 201811229430 A CN201811229430 A CN 201811229430A CN 109227596 A CN109227596 A CN 109227596A
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- leaf spring
- sliding block
- variation rigidity
- shell
- roller stand
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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
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Abstract
The present invention provides a kind of variation rigidity flexible joint device, including input control end, output control terminal and variation rigidity module, input control end includes input flange and shell, and input flange drive shell is rotated around its centre of gyration；Variation rigidity adjustment module includes leaf spring support, multiple leaf springs, roller stand and position adjusting mechanism, is connected with each other between leaf spring support and shell by connecting plate, and multiple leaf springs are distributed in the periphery of leaf spring support, and each leaf spring is equipped with roller stand；Position adjusting mechanism includes two-way lead screw, the first sliding block and the second sliding block, connection rod set, wherein the first sliding block and the second sliding block are respectively provided at the two sides of connecting plate, and output control terminal includes output flange circle and push plate, and push plate is corresponded and contacted with each other with roller stand；The present invention is capable of the relative position of active accommodation roller stand and leaf spring, big with stiffness tuning range, be able to achieve the advantage of unlimited rigidity output, and have many advantages, such as it is compact-sized, rub small, stiffness equivalent is convenient.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to one kind can actively adjust the variation rigidity flexible joint of rigidity
Device.
Background technique
Conventional machines person joint does not have elastic element, and rigidity is excessive, not can guarantee safety and the mechanical arm of man-machine collaboration
Flexibility, can not be competent at such as human-computer interaction, welding spraying, field shaft hole matching；Correspondingly, simple flexible series connection mould
Block (SEA), which cannot achieve, actively to be changed rigidity or even can not change rigidity, this means that no image of Buddha biology equally makes full use of
Elastic energy storage, is unable to reach the attainable kinematics and dynamics performance of natural biology, i.e., can not complete to run well, jump, throw away,
The movement such as pass.
In terms of flexible joint, it is divided into single motor driving and two kinds of joints of multi-motor driving；The research of single motor driving is most
That more is series elastic driver (SEA), is to connect an elastic element between conventional rigid driver and extraneous load,
After elastic element determines, the stiffness characteristics of SEA are also determined that；SEA uses impedance control, but does not need miscellaneous biography
Sensor, it is only necessary to measure the deflection of elastic element, output can relatively accurately be realized by being then fed back to control system
The control of power；Bi-motor is submissive to refer to that a joint using two motor drivens, may be implemented independent or respectively adjust pass
Rigidity and output position are saved, this is also " variation rigidity " flexible joint truly.
The variation rigidity joint of the Yi Sheng section research of studies in China such as Harbin Institute of Technology, utilizes cam bawl ledger line
Property spring realize stiffness variation, then such as Yin Peng exists that " monopodia hopping robot stiffness variable flexibility turns round hip joint and its spy
" the variation rigidity mechanism introduced in a text, output stiffness characteristics mainly pass through two drives with different sliding slot types to Journal of Sex Research
Moving plate is completed, wherein when drive disk moves synchronously, each section is rotated integrally in mechanism, and relative position does not change, and output is rigid
It spends constant.When drive disk asynchronous movement, fulcrum slide block movement in output par, c is changed intra-articular defeated by a link mechanism
Part forced position out, so that output rigidity changes.But that there is variation rigidity ranges is small for the above-mentioned prior art, whole
The poor defect of the rigidity of structure, at the same using rope driving by the way of can generate creep after prolonged use the problems such as.
Based on this, it is desirable to provide one kind can actively adjust the variation rigidity flexible joint device of rigidity.
Summary of the invention
In view of the drawbacks of the prior art, the present invention provides a kind of variation rigidity flexible joint device, which passes through position
The relative position of regulating mechanism active accommodation roller stand and leaf spring changes the output rigidity of output flange circle, tight with structure
It gathers, rub small, the advantages that stiffness equivalent facilitates.
To achieve the goals above, the present invention provides a kind of variation rigidity flexible joint device, including it is input control end, defeated
Control terminal and variation rigidity module out, in which:
Input control end includes input flange and the shell that is fixedly connected with input flange, and input flange drive shell surrounds
The rotation of its centre of gyration；
Variation rigidity adjustment module includes leaf spring support, multiple leaf springs, roller stand and the position for adjusting roller rack position
Regulating mechanism is connected with each other between leaf spring support and shell by connecting plate, and multiple leaf springs are uniform around the centre of gyration of shell
It is distributed in the periphery of leaf spring support, each leaf spring is equipped with roller stand；
Position adjusting mechanism include the lead screw for being located at the shell centre of gyration, the first sliding block for being located at lead screw and the second sliding block,
Connection rod set, wherein the first sliding block and the second sliding block are respectively provided at the two sides of connecting plate, and one end of connecting rod is hinged in the connection rod set of part
In the first sliding block, the other end is articulated with roller stand close to the end of the first sliding block；One end hinge of connecting rod in remainder connection rod set
It is connected to the second sliding block, the other end is articulated with roller stand close to the end of the second sliding block；
Output control terminal includes that the output flange circle of opposite housing into rotation setting and fixation are located at pushing away in output flange circle
Plate, push plate is corresponded and is contacted with each other with roller stand, and output flange is rotated synchronously with roller stand.
In above scheme of the invention, shell is specifically as follows cylindrical shape, and variation rigidity adjustment module is set to shell
Inside is conducive to whole modularized design；Specifically, can be integrated molding between leaf spring support, connecting plate and shell,
It is fixed together after can be production respectively using the connection type such as bolt, welding.
Further, in multiple leaf springs that are circumferentially with of leaf spring support, such as 3-6 leaf spring of setting, then for example it is arranged 4
Leaf spring；Wherein, it is preferred that be equipped with mounting groove for fixing leaf spring in the periphery of leaf spring support, the slot of mounting groove to shell
The centre of gyration it is identical, leaf spring fixation is located among mounting groove.Specifically, being equipped with roller stand in each leaf spring, wherein each
Circumferentially array distribution, each roller stand are identical at a distance from the shell centre of gyration for roller stand.
Again specifically, an end of the connecting rod respectively with the first sliding block, roller stand in the connection rod set of part is hinged, formed
The umbrella-shaped structure of umbrella frame is realized the expansion of the structure and is closed up in similar umbrella by adjusting the position of sliding block, and then changes
The specific location that is in contact between roller stand and leaf spring (as position of the fulcrum of the change roller stand with respect to leaf spring), realizes change
The effect of rigidity；In order to avoid moved during changing position steady of roller stand and not by non-along leaf spring length direction
Power effect, the length direction of leaf spring and the radial direction of shell identical (direction of the centre of gyration of shell and axial direction
It is identical), in the present invention, using two symmetrical umbrella-shaped structures, i.e. the first sliding block and the second sliding block pass through connecting rod respectively and connect
To roller stand.
Wherein, position adjusting mechanism is additionally provided with the motor for driving two-way lead screw rotation, further, two-way lead screw tool
There are the first thread segment and the second thread segment, the thread rotary orientation of the first thread segment and the second thread segment is on the contrary, the first sliding block is located at turns
Dynamic to be located on the first thread segment, the second sliding block is located on the second thread segment, is existed by the first sliding block of motor driven and the second sliding block
Opposite or dorsal glide is synchronized on two-way lead screw.
It output flange circle in the present invention and is relatively rotated between shell, can have certain gap therebetween,
Rotation connection can be realized for example, by the mode that is arranged or the mode for example, by crossed roller bearing is arranged.Push plate is fixed
It is located within output flange circle, is in contact with roller stand, specifically, all having push plate, nothing in the two sides of roller stand rotation direction
It rotates forward or inverts by roller stand, push plate may make to rotate synchronously with roller stand.
Another kind specific embodiment according to the present invention, push plate are arranged perpendicular to the centre of gyration of shell, and adjacent pushes away
There is gap between plate and form through slot, roller stand is in contact through upper through slot with push plate, wherein roller stand and push plate it
Between contact can be the complete gapless way of contact, be also possible to the way of contact there are small gap, it is between the two
Rotation is synchronous progress, is not in because the difference of velocity of rotation is that differential occurs to rotate or generate segregation phenomenon
Rotation process.
Another kind specific embodiment according to the present invention, leaf spring support are equipped with bearing spider, and output control terminal is further
Including the fixed attachment base being located in output flange circle, it is rotatablely connected between attachment base and bearing spider by rolling bearing,
In, the outer ring of attachment base and rolling bearing is interference fitted, and the inner ring of bearing spider and rolling bearing is interference fitted；In the present solution,
By the way that rolling bearing is arranged, the relative rotation between output flange circle and leaf spring support (shell), interference fit here are realized
As tight fit connection relationship, in joint arrangement rotation process, outer ring, bearing spider and the rotation of attachment base and rolling bearing
The phenomenon that will not being produced relative sliding between the inner ring of bearing；
Specifically, being sent out on the centre of gyration of rolling bearing no longer shell to carry out axial limit to rolling bearing
Raw displacement is equipped with retaining ring on bearing spider and rolling bearing is locked on bearing spider.
Another kind specific embodiment according to the present invention, connecting plate are equipped with for the lower through slot across connecting rod, both ends
The connecting rod for being hingedly connected to roller stand and the second sliding block is arranged through lower through slot, specifically, the cell wall of lower through slot and roller stand it
Between do not contact, in this way when adjusting the relative position between roller stand and leaf spring, friction will not be generated to roller stand at lower through slot
It influences.
Another kind specific embodiment according to the present invention, wherein position adjusting mechanism is additionally provided with for driving two-way silk
Thick stick rotation motor, specifically for example, by using stepper motor, wherein stepper motor output end can be equipped with shaft coupling with it is two-way
Lead screw is connected, and is further ensured that the accuracy of stiffness tuning.
Another kind specific embodiment according to the present invention, roller stand includes the articulated stand and difference for being located at two ends
Connect two rollers of two articulated stands；Wherein, articulated stand is equipped with the articulated shaft that is hinged with connecting rod, between two rollers
Sliding slot is formed with gap, leaf spring, which is located at, makes roller sliding along leaf spring in the radial direction in shell in sliding slot, here shell
The radial direction of body refers to the direction that roller slides in leaf spring, is mutually perpendicular to the centre of gyration of shell.
Another kind specific embodiment according to the present invention, the periphery of leaf spring support are equipped with the installation for fixing leaf spring
Slot, the slot of mounting groove is to identical as the centre of gyration of shell.
Another kind specific embodiment according to the present invention, input control end is further provided with bearing mounting base, input method
Orchid is fixedly connected with the casing by bearing mounting base, is equipped with the crossed roller axis for connecting external equipment in bearing mounting base
It holds, can be rotatablely connected with external equipment such as mechanical arm by crossed roller bearing, be conducive to the mould of the flexible joint
Blockization design.
Compared with prior art, the invention has the beneficial effects that: the present invention it is initiative used umbrella rib structure, can be with
The frictional force being effectively prevented from during stiffness tuning, whole device run smoothly, high reliablity；It can by rotating two-way lead screw
With accurately control roller stand in order to and then the accurate output of rigidity be realized, to obtain biggish stiffness tuning range, or even also
Full rigidity output may be implemented.
The present invention is described in further detail with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is the overall structure diagram of 1 variation rigidity flexible joint device of the embodiment of the present invention；
Fig. 2 is the cross section view of 1 variation rigidity flexible joint device of the embodiment of the present invention；
Fig. 3 is the structural schematic diagram of the variation rigidity module of 1 variation rigidity flexible joint device of the embodiment of the present invention；
Fig. 4 is the structural schematic diagram at another visual angle Fig. 3；
Fig. 5 is the structural schematic diagram of stiffness tuning mechanism in 1 variation rigidity flexible joint device of the embodiment of the present invention；
Fig. 6 is the partial structure diagram of Fig. 5；
Fig. 7 is the schematic illustration of stiffness tuning in 1 variation rigidity flexible joint device of the embodiment of the present invention；
Fig. 8 is the cooperation schematic diagram of single roller stand and connecting rod in 1 variation rigidity flexible joint device of the embodiment of the present invention；
Fig. 9 is the structural schematic diagram of roller stand in 1 variation rigidity flexible joint device of the embodiment of the present invention.
Specific embodiment
Embodiment 1
A kind of variation rigidity flexible joint device is present embodiments provided, as shown in figs 1-9, including input control end 1, change are just
Spend module 2 and output control terminal 3.
Input control end 1 includes shell 11 and input flange 12, wherein and the fixation of input flange 12 is located on shell 11, and two
It is attached by the way of such as bolt between person, correspondingly, the rotation of input flange 12 can be driven using external motor,
Shell 11 is driven to be rotated around its centre of gyration.
Variation rigidity module 2 includes leaf spring support 21, multiple leaf springs 22, roller stand 23 and position adjusting mechanism 24；Leaf spring branch
Seat 21 is connected by connecting plate 25 with shell 11, and multiple leaf springs 22 are uniformly distributed in leaf spring branch around the centre of gyration of shell 11
The periphery of seat 21, wherein preferably, such as equipped with three to six leaf springs 22, four leaf springs 22 shown in such as Fig. 1, each
Leaf spring 22 is equipped with roller stand 23；Specifically, position adjusting mechanism 24 is used to adjust position of the roller stand 23 in leaf spring 22, into
And change the effective interaction length of leaf spring 22.
Referring to Fig. 5, position adjusting mechanism 24 includes the two-way lead screw 241 for being located at 11 centre of gyration of shell, is located at two-way silk
243, four upper connecting rods 244 of first sliding block 242 of thick stick 241 and the second sliding block and four lower links 245, wherein the first sliding block 242
Upper umbrella rib structure is formed between four upper connecting rods 244, and lower umbrella frame knot is formed between four lower links 245 and the second sliding block 243
Structure, by adjusting the position of the first sliding block 242 and the second sliding block 243 on two-way lead screw 241, realize respectively upper umbrella rib structure and
The expansion of lower umbrella rib structure and close up, by the effect of upper connecting rod 244 and lower link 245, change roller stand 23 and leaf spring 22 it
Between contact position, change leaf spring 22 position of the fulcrum, thus realize change rigidity effect.
Referring to Fig. 6, it illustrates single leaf spring 22, roller stand 23, upper connecting rod 244 and lower link 245 connection relationship, on
One end of connecting rod 244 and the first sliding block 242 are hinged, and the other end of upper connecting rod 244 and the upper end of roller stand 23 are hinged, lower link
245 one end and the second sliding block 243 are hinged, and the other end of upper connecting rod 244 and the lower end of roller stand 23 are hinged.
The principle of the stiffness tuning of the variation rigidity flexible joint device are as follows: by changing diameter of the roller stand 23 in leaf spring 22
The length for changing the leaf spring 22 of access conveyer chain, i.e., the rigidity in changeable joint are realized to position；Referring to Fig. 7, D is centre in figure
The diameter of axis, the then effective length of leaf spring 22 are as follows: l+D/2 changes the rigidity that effective length is changeable joint.
Specific Rigidity Calculation formula is as follows:
Had according to locked rotor torque balance:
Wherein, σiFor the rotational stiffness of leaf spring；
The amount of deflection of single leaf spring can be estimated according to deformation constraint equation are as follows:
D δ=(1+D/2) d θ (2)
It can be obtained according to deflection formula:
Simultaneous (1) (2) (3) can obtain the rigidity of single leaf spring are as follows:
Further, using four leaf spring parallel connections to get the flexible joint device global stiffness into Fig. 1 are as follows:
Wherein, l be leaf spring access length and roller arrive jackshaft distance, it can be seen that change l i.e. can be changed
The rigidity in joint, and when l tends to infinitesimal, the rigidity in joint level off to infinity, and it is defeated that pure rigidity may be implemented in joint at this time
Out.
Output control terminal 3 includes that output flange circle 31 and push plate 32, wherein output flange circle 31 and shell 11 relatively rotate,
The fixed inside for being located at output flange circle 31 of push plate 32, push plate 32 are corresponded and are contacted with each other with roller stand 23, pass through roller
The rotation of frame 23 drives push plate 32 and output flange circle 31 to synchronize rotation.
Referring to Fig. 3, it is also fixed with attachment base 33 in the inside of output flange circle 31, push plate 32 is located at output flange circle 31
Between attachment base 33, and push plate 32 is fixedly connected with output flange circle 31, attachment base 33 respectively, wherein push plate 32 perpendicular to
The centre of gyration of shell 11 is arranged, and has gap between adjacent push plate 32 and forms through slot 34, roller stand 23 is through upper logical
Slot 34 and be in contact with push plate 32；Specifically, the contact between roller stand 23 and push plate 32 can be completely gapless contact
Mode is also possible to the way of contact there are small gap, wherein Fig. 3 shows the state there are small gap.
It is equipped with bearing spider 211 in leaf spring support 21, passes through rolling bearing 212 between attachment base 33 and bearing spider 211
Rotation connection, wherein the outer ring of attachment base 33 and rolling bearing 212 is interference fitted, bearing spider 211 and rolling bearing 212
Inner ring interference fit.
Correspondingly, referring to fig. 4, being equipped on connecting plate 25 for the lower through slot 251 across lower link 245, both ends difference
The connecting rod for being articulated with roller stand 23 and the second sliding block 243 is arranged through lower through slot 251.Correspondingly, cell wall and the rolling of lower through slot 251
Gap is larger between pylon 23.
Referring again to Fig. 1, Fig. 2, the position adjusting mechanism 24 in the present embodiment is equipped with motor 246, in order to improve driving essence
Degree, can select stepper motor drive the rotation of two-way lead screw 241, wherein motor 246 can be installed using such as motor
The mode of seat is fixed on the attachment base 33 in output flange circle 31；Specifically, two-way lead screw 241 has the first thread segment and the
The thread rotary orientation of two thread segments, the first thread segment and the second thread segment is located at the first screw thread on the contrary, the first sliding block 242 is located at rotation
Duan Shang, the second sliding block 243 are located on the second thread segment, drive the first sliding block 242 and the second sliding block 243 double by motor 246
Opposite or dorsal glide is synchronized on lead screw 241.
A kind of preferred structure of roller stand 23 is as shown in Figure 8, Figure 9 in variation rigidity flexible joint of the present invention, specifically includes: setting
Two ends articulated stand 231 and be separately connected two rollers 232 of two articulated stands 231；Wherein, articulated stand
231 are equipped with the articulated shaft 233 hinged with 244 phase of upper connecting rod and lower link 245 respectively, there is gap between two rollers 232 and
Sliding slot 234 is formed, leaf spring 22, which is located at, makes the sliding along leaf spring 22 in the radial direction in shell 11 of roller 232, tool in sliding slot 234
Body, the glide direction of roller 232 is as shown by the arrows in fig. 8.
Referring again to Fig. 5, in order to realize the fixation of leaf spring 22, it is preferred that be equipped in the periphery of leaf spring support 21 for solid
The mounting groove 213 of stator spring 22, the slot of mounting groove 213 further preferably, can use example to identical as the centre of gyration of shell 11
Such as bolt or claw mode, circlip 22 is fixed.
Further, referring again to Fig. 1, Fig. 2, in order to realize modularization and more easily for example mechanical with external equipment
Arm is rotatablely connected, and is further provided with bearing mounting base 13 at input control end 1, input flange 12 passes through bearing mounting base 13
It is fixedly connected with shell 11, is bolted for example, by using multiple, correspondingly, being equipped in the periphery of bearing mounting base 13 for connecting
The crossed roller bearing 14 of external equipment, wherein the inner ring tight fit connection of bearing mounting base 13 and crossed roller bearing 14.
The present embodiment is rotated by the crossed roller bearing at input control end 1 with existing first end mechanical arm interface
Connection, input flange 12 are connected to the power source such as driving motor of external equipment, realize the rotation (rotatory force of input flange 12
The input of square), it is fixedly connected by output flange circle 31 with existing second end mechanical arm, for example, by using bolt, be can be completed
The installation of variation rigidity joint arrangement；By adjusting the output angle of motor, that is, the rotation of two-way lead screw 241 is adjusted, first is sliding
" umbrella frame " shape connecting rod in block 242 and the opposite perhaps dorsal glide variation rigidity module 2 of the second sliding block 243 is completed expansion or is received
Hold together, to change the effectiveness of leaf spring 22, that is, changes the rigidity of output.
Although the present invention is disclosed above in the preferred embodiment, it is not intended to limit the invention the range of implementation.Any
The those of ordinary skill in field is not departing from invention scope of the invention, improves when can make a little, i.e., all according to this hair
Bright done same improvement, should be the scope of the present invention and is covered.
Claims (10)
1. a kind of variation rigidity flexible joint device, including input control end, output control terminal and variation rigidity module, feature exist
In:
The input control end includes input flange and the shell that is fixedly connected with the input flange, the input flange driving
The shell is rotated around its centre of gyration；
The variation rigidity adjustment module includes leaf spring support, multiple leaf springs, roller stand and for adjusting the roller rack position
Position adjusting mechanism is connected with each other between the leaf spring support and the shell by connecting plate, and multiple leaf springs surround institute
The centre of gyration for stating shell is uniformly distributed in the periphery of the leaf spring support, and each leaf spring is equipped with the roller stand；
The position adjusting mechanism includes the two-way lead screw for being located at the shell centre of gyration, is located at the first of the two-way lead screw
Sliding block and the second sliding block, connection rod set, wherein first sliding block and second sliding block are respectively provided at the two of the connecting plate
Side, one end of connecting rod is articulated with first sliding block in the connection rod set of part, and the other end is articulated with the roller stand close to institute
State the end of the first sliding block；One end of connecting rod is articulated with second sliding block in connection rod set described in remainder, and the other end is hinged
In the roller stand close to the end of second sliding block；
The output control terminal includes that the output flange circle of the relatively described housing into rotation setting and fixation are located at the output flange
Push plate in circle, the push plate is corresponded and is contacted with each other with the roller stand, and makes the output flange with the rolling
Pylon rotates synchronously.
2. variation rigidity flexible joint device as described in claim 1, which is characterized in that the push plate is perpendicular to the shell
The centre of gyration is arranged, and has gap between the adjacent push plate and forms through slot, the roller stand runs through the upper through slot
And it is in contact with the push plate.
3. variation rigidity flexible joint device as claimed in claim 2, which is characterized in that the leaf spring support is equipped with bearing branch
Seat, the output control terminal further comprise the fixed attachment base being located in the output flange circle, the attachment base with it is described
It being rotatablely connected between bearing spider by rolling bearing, wherein the outer ring of the attachment base and the rolling bearing is interference fitted,
The inner ring of the bearing spider and the rolling bearing is interference fitted.
4. variation rigidity flexible joint device as described in claim 1, which is characterized in that the connecting plate be equipped with for across
The lower through slot of connecting rod, both ends are hingedly connected to the roller stand and the connecting rod of second sliding block is arranged through the lower through slot.
5. variation rigidity flexible joint device as described in claim 1, which is characterized in that the position adjusting mechanism is additionally provided with use
In the motor for driving the two-way lead screw rotation.
6. variation rigidity flexible joint device as claimed in claim 5, which is characterized in that the two-way lead screw has the first screw thread
Section and the second thread segment, first thread segment are opposite with the thread rotary orientation of second thread segment；Pass through the motor driven
First sliding block synchronous opposite or dorsal glide on the two-way lead screw with second sliding block.
7. variation rigidity flexible joint device as described in claim 1, which is characterized in that the roller stand includes being located at two ends
The articulated stand in portion and two rollers for being separately connected two articulated stands；Wherein, the articulated stand is equipped with and connecting rod
The articulated shaft being hinged has gap between two rollers and forms sliding slot, and the leaf spring, which is located in the sliding slot, to be made
The roller is slided along the leaf spring in the radial direction the shell.
8. variation rigidity flexible joint device as described in claim 1, which is characterized in that the number of the leaf spring is 3-6.
9. variation rigidity flexible joint device as described in claim 1, which is characterized in that the periphery of the leaf spring support, which is equipped with, to be used
In the mounting groove of the fixation leaf spring, the slot of the mounting groove is to identical as the centre of gyration of the shell.
10. variation rigidity flexible joint device as described in claim 1, which is characterized in that the input control end is further set
There is bearing mounting base, the input flange is fixedly connected by the bearing mounting base with the shell, is installed in the bearing
Seat is equipped with the crossed roller bearing for connecting external equipment.
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| CN201811229430.5A CN109227596B (en) | 2018-10-22 | 2018-10-22 | Variable-rigidity flexible joint device |
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| CN201811229430.5A CN109227596B (en) | 2018-10-22 | 2018-10-22 | Variable-rigidity flexible joint device |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110253623A (en) * | 2019-06-21 | 2019-09-20 | 上海交通大学 | A kind of joint of robot module of stiffness variable |
| CN110936363A (en) * | 2019-11-28 | 2020-03-31 | 中山大学 | Rope-driven flexible mechanical arm and robot |
| CN111002341A (en) * | 2019-12-19 | 2020-04-14 | 中国科学院宁波材料技术与工程研究所 | Rope-driven three-degree-of-freedom flexible joint stiffness measurement system and method |
| CN112894790A (en) * | 2021-01-26 | 2021-06-04 | 哈尔滨工业大学（深圳） | Active variable-stiffness joint based on screw rod thread pair |
| CN114571466A (en) * | 2022-04-06 | 2022-06-03 | 广东工业大学 | Variable stiffness device and variable stiffness method thereof, and modeling method of stiffness model |
| CN114750203A (en) * | 2022-04-21 | 2022-07-15 | 中山大学 | Rigid-driving mechanical arm with continuously adjustable diameter |
| CN114905541A (en) * | 2022-04-06 | 2022-08-16 | 重庆奔腾科技发展有限公司 | Variable rigidity robot joint |
| CN115741771A (en) * | 2022-11-16 | 2023-03-07 | 安徽工程大学 | One-way compression double-side friction variable-rigidity flexible joint and working method |
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