CN109465848A - A kind of joint of robot variation rigidity module based on cam-type lever construction - Google Patents
A kind of joint of robot variation rigidity module based on cam-type lever construction Download PDFInfo
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- CN109465848A CN109465848A CN201811455829.5A CN201811455829A CN109465848A CN 109465848 A CN109465848 A CN 109465848A CN 201811455829 A CN201811455829 A CN 201811455829A CN 109465848 A CN109465848 A CN 109465848A
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- cam
- pressure spring
- type lever
- shell
- stiffness tuning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
Abstract
The joint of robot variation rigidity module based on cam-type lever construction that the invention discloses a kind of, including importation, output par, c and stiffness tuning part.Stiffness tuning part includes pressure spring, cam-type lever and stiffness tuning fulcrum；Cam-type lever is rotated around stiffness tuning fulcrum, and one end and output par, c cooperation, the other end and pressure spring cooperate.Bearing is equipped between importation and output par, c to bear the non-torque load of entire module and make importation and output par, c can be with relative rotation.When the output par, c of variation rigidity module is by external transient load, load is absorbed by cam-type lever transmission to pressure spring, to reduce external impact, realize flexible drive output, while improving the robustness and operation stability of robot.Structure of the invention is compact, at low cost and be integrated into a module, therefore can be convenient and apply in various interactive devices, especially in flexible machine person joint.The present invention also has the advantages that easy to operate, easy implement.
Description
Technical field
The present invention relates to robot field more particularly to a kind of joint of robot variation rigidities based on cam-type lever construction
Module.
Background technique
With the high speed development of modern industrial technology, the application range of robot sharply extends, and man-machine collaboration is increasingly close.
Along with deepening continuously for human-computer interaction degree, the working environment of robot becomes complicated and there is very big uncertainty, with
Shi Keneng collides with the object in ambient enviroment, people, this proposes very high requirement to the safety of robot.Such as machine
People need to adjust joint stiffness, the active/passive flexibility of joint of robot according to the variation dynamic of external environment and own load.Cause
This, is added high-performance, compact-sized variation rigidity mechanism in cooperation joint of robot to make robot have flexibility
Become cooperation one technological difficulties of robot field.So being badly in need of the superior variation rigidity module of a batch to promote the robot that cooperates
Constantly advance.
At the same time, Robot industry is quickly grown, and demand is big, the design cycle is long.Therefore modular design philosophy
It is increasingly used, is decomposed from mechanism and control by the common function to robot, shape by everybody in robot field
At multiple functional modules with standalone feature, by reconstruct, composition applies required robot modeling.To a certain extent
The application cost of robot is reduced, research and development speed is accelerated and reduces R&D risk.
In terms of variation rigidity, domestic and international researcher has been developed that much variation rigidity mechanisms based on different principle.But
The design of existing variation rigidity is more or less there is some shortcomings, for example volume, weight is larger or versatility is not high or rigidity
Adjustable range is small etc..In this case it is difficult to be applied to machine compact-sized, that quality need are as light as possible, stiffness tuning range is big
In person joint.
Nowadays existing technology realizes variation rigidity using two pairs of compressed springs and cam structure, passively changes bullet by cam
The decrement and motor of spring change amount of spring compression actively to change rigidity.But lead to stiffness tuning without rigidity enlarged structure
Range is smaller, using two pairs of compressed springs but also the volume of variation rigidity rotation flexible joint is larger.
Therefore, the prior art requires further improvement and perfect.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide the external punchings that one kind can reduce joint of robot
Hit, realize that flexible drive exports, at the same improve robot robustness and operation stability based on cam-type lever construction
Joint of robot variation rigidity module.
The purpose of the invention is achieved by the following technical solution:
A kind of joint of robot variation rigidity module based on cam-type lever construction, the variation rigidity module mainly include input
Partially, output par, c and stiffness tuning part.The output par, c is arranged in importation.The importation with it is defeated
Bearing is equipped between part out, to bear the non-torque load of entire module, and makes importation and output par, c can opposite rotation
Turn.
Specifically, the importation includes shell and shell end ring.The shell end ring is arranged in shell
On, it is fixedly connected with shell.Constraint pressure spring is equipped in the shell and constrains the guide groove of stiffness tuning fulcrum.The guide groove is located at
Outer casing bottom；The shell is equipped with necessary installation hole location and mitigates structure.
Specifically, the output par, c includes output panel and output panel end ring.The output panel is arranged in output panel
In end ring, it is arranged concentrically with output panel end ring.The bearing is arranged inside the shell, outer ring and shell end ring
It is fixedly connected, inner ring is connect with output panel end ring.
Specifically, the stiffness tuning part include pressure spring, cam-type lever, needle roller, pressure spring support, pressure spring mounting base,
Axle sleeve and stiffness tuning fulcrum.The stiffness tuning fixed pivot is on cam-type lever.The cam-type lever setting exists
It can rotate in shell and around stiffness tuning fulcrum, one end is cooperatively connected by axle sleeve and output panel, band when rotating output panel
Cam-type lever rotation, the other end abutted with pressure spring by needle roller.The needle roller is mounted in pressure spring support, and bottom card is set
In guide groove, it can move along a straight line in guide groove.The pressure spring mounting base is fixed inside the shell, and one end of the pressure spring is fixed on pressure
In spring mounting base, the other end is abutted with pressure spring support, and needle roller is forced to resist cam-type lever.The pressure spring is arranged in pairs with needle roller
In cam-type lever two sides, and it is symmetrical arranged.
Further, in order to facilitate the rigidity in fine tuned robot joint, stiffness tuning part of the present invention further includes rigid
Degree adjusts bolt and sliding block.The sliding block is mounted in the guide groove axially vertical with pressure spring, and is connected with stiffness tuning fixed pivot
It connects.The stiffness tuning bolt is separately positioned on the rear and front end of sliding block, and one end of stiffness tuning bolt and sliding block are cooperatively connected,
The other end is pierced by shell, and connect with outer casing screw.
As a preferred solution of the present invention, in order to keep the adjusting of side rigidity module more linear, effect is more preferable, the present invention two
A pressure spring is positioned opposite on the same axis, and the pressure spring decrement having the same in initial position.
As a preferred solution of the present invention, in order to improve the fine tuning effect of rigidity, stiffness tuning bolt of the present invention is adopted
With bolt of serration, screw pitch is set as 0.5 millimeter.
As a preferred solution of the present invention, in order to further limit the motion range of needle roller and pressure spring, make the adjusting of rigidity
Effect is more preferable, and the front end of pressure spring support of the present invention is set as U-shaped structure to block needle roller and needle roller is resisted cam-type lever
Outer circumference surface, rear end be equipped with recess and with pressure spring cooperate with spacing compression spring end.
Further, in order to make the non-bulging outer surface in shell of stiffness tuning bolt, the activity of joint of robot is influenced
It is equipped at range, stiffness tuning bolt of the present invention and cage connection convenient for hiding the pit for adjusting fulcrum；The pit
Longitudinal section is rectangle.
Working process and principle of the invention are: in actual work, variation rigidity module provided by the present invention is mainly applied
In joint of robot.The shell of variation rigidity module is mounted on the retarder output end of joint of robot, output panel by bolt
Pass through bolt and next arthrodesis.When being loaded into robot by the interference in external environment or suddenly by load, bear
Load passes to the response at pressure spring and to load by output panel after cam-type lever and becomes submissive, so that robot be protected not broken
Operation stability that is bad, improving robot etc..In variation rigidity module works, output par, c, stiffness tuning lever can be relative to
The deflection of certain angle occurs for equilbrium position, and so as to cause a pressure spring, the amount of compression increases, the compression of another opposite pressure spring
Amount is reduced, and is loaded outside by the force balance generated between pressure spring.Also there is structure to be simple and convenient to operate, be easy in fact by the present invention
The advantages of applying.
Compared with prior art, it also have the advantage that
(1) the joint of robot variation rigidity module provided by the present invention based on cam-type lever construction is by using cam
The two-stage amplification of formula lever and output panel can export big rigidity to need to only fight spring and provide small rigidity value
Value, therefore can reduce the overall dimensions of entire variation rigidity module.
(2) pressure spring that the joint of robot variation rigidity module provided by the present invention based on cam-type lever construction is equipped with can
It is mentioned simultaneously with the load that buffering external applies so as to reduce the external impact of joint of robot, realize flexible drive output
The robustness and operation stability of high robot.
(3) use of the joint of robot variation rigidity module novelty provided by the present invention based on cam-type lever construction
Cam-type lever construction, the position of the fulcrum that need to only change lever can change the rigidity of module.Therefore it can greatly reduce
The number of parts of variation rigidity mechanism, to accomplish compact-sized, light quality, stiffness tuning range is big.
(4) the joint of robot variation rigidity module provided by the present invention based on cam-type lever construction uses modularization
Design method, to reduce application cost of the invention to a certain extent and can quickly be applied in other equipment.
The function of series elastic driver can be realized after exporting mating reaction with traditional retarder such as in joint of robot.
(5) the joint of robot variation rigidity module provided by the present invention based on cam-type lever construction is by using screw pitch
Only 0.5 millimeter of bolt of serration adjusts the fulcrum of lever, both can guarantee the fine tuning of rigidity while can use closely-pitched spiral shell
The self-locking performance of line guarantees the invariance of position of the fulcrum.
(6) the joint of robot variation rigidity module provided by the present invention based on cam-type lever construction is by changing fulcrum
Position to change the ratio of resistance arm Yu main force's arm, therefore rigidity value can be from zero to infinity.
Detailed description of the invention
Fig. 1 is the overall structure of the joint of robot variation rigidity module provided by the present invention based on cam-type lever construction
Schematic diagram；
Fig. 2 is the internal structure of the joint of robot variation rigidity module provided by the present invention based on cam-type lever construction
Schematic diagram；
Fig. 3 is the partial structurtes of the joint of robot variation rigidity module provided by the present invention based on cam-type lever construction
Schematic diagram.
Label declaration in above-mentioned attached drawing:
The importation 1-, 2- output par, c, 3- stiffness tuning part, 4- bearing, 11- shell, 12- shell end ring,
21- output panel, 22- output panel end ring, 31- cam-type lever, 32- axle sleeve, 33- needle roller, 34- pressure spring support, 35- pressure
Spring, 36- pressure spring mounting base, 37- stiffness tuning bolt, 38- sliding block, 39- stiffness tuning fulcrum.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer and more explicit, right as follows in conjunction with drawings and embodiments
The present invention is described further.
Embodiment 1:
As shown in Figure 1 to Figure 3, present embodiment discloses a kind of joint of robot variation rigidities based on cam-type lever construction
Module, the variation rigidity module mainly include importation 1, output par, c 2 and stiffness tuning part 3.The output par, c 2
It is arranged in importation 1.Bearing 4 is equipped between the importation 1 and output par, c 2, to bear the non-torsion of entire module
Square load, and make importation 1 and output par, c 2 can relative rotation.
Specifically, the importation 1 includes shell 11 and shell end ring 12.The shell end ring 12 is arranged
On shell 11, it is fixedly connected with shell 11.It is equipped with constraint pressure spring 35 in the shell 11 and constrains stiffness tuning fulcrum 39
Guide groove.The guide groove is located at 11 bottom of shell；The shell 11 is equipped with necessary installation hole location and mitigates structure.
Specifically, the output par, c 2 includes output panel 21 and output panel end ring 22.The setting of output panel 21 exists
In output panel end ring 22, it is arranged concentrically with output panel end ring 22.The bearing 4 is arranged in shell 11, outer ring
It is fixedly connected with shell end ring 12, inner ring is connect with output panel end ring 22.
Specifically, the stiffness tuning part 3 includes pressure spring 35, cam-type lever 31, needle roller 33, pressure spring support 34, pressure
Spring mounting base 36, axle sleeve 32 and stiffness tuning fulcrum 39.The stiffness tuning fulcrum 39 is fixed on cam-type lever 31.
The cam-type lever 31 is arranged in shell 11 and can rotate around stiffness tuning fulcrum 39, and one end passes through axle sleeve 32 and output
Disk 21 is cooperatively connected, and rotates output panel 21 when rotating with cam-type lever 31, and the other end is supported by needle roller 33 with pressure spring 35
It connects.The needle roller 33 is mounted in pressure spring support 34, and bottom is fastened in guide groove, can be moved along a straight line in guide groove.The pressure
Spring mounting base 36 is fixed in shell 11, and one end of the pressure spring 35 is fixed in pressure spring mounting base 36, the other end and pressure spring branch
Seat 34 abuts, and needle roller 33 is forced to resist cam-type lever 31.The pressure spring 35 is arranged in pairs at cam-type lever 31 with needle roller 33
Two sides, and be symmetrical arranged.
Further, in order to facilitate the rigidity in fine tuned robot joint, stiffness tuning part 3 of the present invention further includes rigid
Degree adjusts bolt 37 and sliding block 38.The sliding block 38 is mounted in the guide groove axially vertical with pressure spring 35, and with stiffness tuning branch
Point 39 is fixedly connected.The stiffness tuning bolt 37 is separately positioned on the rear and front end of sliding block 38, and the one of stiffness tuning bolt 37
End is cooperatively connected with sliding block 38, and the other end is pierced by shell 11, and is threadedly coupled with shell 11.
As a preferred solution of the present invention, in order to keep the adjusting of side rigidity module more linear, effect is more preferable, the present invention two
A pressure spring 35 is positioned opposite on the same axis, and the decrement having the same of pressure spring 35 in initial position.
As a preferred solution of the present invention, in order to improve the fine tuning effect of rigidity, stiffness tuning bolt 37 of the present invention
Using bolt of serration, screw pitch is set as 0.5 millimeter.
As a preferred solution of the present invention, in order to further limit the motion range of needle roller 33 and pressure spring 35, make rigidity
Regulating effect is more preferable, and the front end of pressure spring support 34 of the present invention is set as U-shaped structure to block needle roller 33 and resist needle roller 33
The outer circumference surface of cam-type lever 31, rear end are equipped with recess and cooperate with pressure spring 35 with 35 end of spacing compression spring.
Further, in order to make the non-bulging outer surface in shell 11 of stiffness tuning bolt 37, joint of robot is influenced
Scope of activities, stiffness tuning bolt 37 of the present invention are equipped with to hide the pit for adjusting fulcrum with 11 junction of shell；Institute
The longitudinal section for stating pit is rectangle.
Working process and principle of the invention are: in actual work, variation rigidity module provided by the present invention is mainly applied
In joint of robot.The shell 11 of variation rigidity module is mounted on the retarder output end of joint of robot by bolt, output
Disk 21 passes through bolt and next arthrodesis.When load is loaded into robot by the interference in external environment or suddenly
When, load passes to the response at pressure spring 35 and to load by output panel 21 after cam-type lever 31 and becomes submissive, to protect
Robot is not destroyed, improves the operation stability etc. of robot.Output par, c 2, rigidity tune in variation rigidity module works
The deflection of certain angle can be occurred relative to equilbrium position by saving lever, and so as to cause a pressure spring 35, the amount of compression increases, opposite
The decrement of another pressure spring 35 is reduced, and is loaded outside by the force balance generated between pressure spring 35.The present invention also has structure
It is simple and convenient to operate, is easy the advantages of implementing.
Embodiment 2:
Shown in Fig. 1 to Fig. 3, present embodiment discloses a kind of joint of robot variation rigidity mould based on cam-type lever construction
Block, including importation 1, output par, c 2 and stiffness tuning part 3.Stiffness tuning part 3 includes pressure spring 35, cam-type lever
31 and stiffness tuning fulcrum 39；Cam-type lever 31 around stiffness tuning fulcrum 39 rotate, and one end and output panel 21 cooperation,
The other end and pressure spring 35 cooperate.When the external world, load is loaded on the output panel 21 of variation rigidity module, by cam-type lever 31
Effect pass at pressure spring 35, at this time pressure spring occur under the effect of external force compress and make cam-type lever 31 deflect an angle
Degree is deflected due to the variation of the angle of cam-type lever 31 to eventually lead to output panel 21.The just equivalence of this process
In when variation rigidity module is by certain torque load, especially some emergent load, by variation rigidity module
Effect pressure spring 35 can generate a corresponding power to resist the suddenly change of load so that becoming submissive to the response of load.?
Under certain outer load, when the rigidity value of module is big, the deflection angle angle value of output panel 21 is smaller.On the contrary, working as the rigidity of module
It is worth hour, the deflection angle angle value of output panel 21 will be larger, and corresponding load response effect also can be preferable.Exactly because this
Process improves the robustness and operation stability of robot, realizes the flexibility of joint of robot.Importation 1 and output section
Divide between 2 and is equipped with bearing 4 to bear the non-torque load of entire module and allow importation 1 and the opposite rotation of output par, c 2
Turn.Non-torque load is filtered out by the effect of bearing 4, guarantees only have torque load to be loaded into variation rigidity joint.
In the specific technical solution of the present invention, the importation 1 includes module housing 11 and end ring 12, outside
Shell 1 is equipped with constraint pressure spring and constrains the guide groove of stiffness tuning fulcrum, while being equipped with necessary installation hole location on shell 1 and subtracting
Light structure.Pressure spring 35 and stiffness tuning fulcrum 39 it is limited by the effect of guide groove point-blank to move reciprocatingly.It is defeated
Part 2 includes output panel 21 and end ring 22 out.Bearing 4 is fixed on shell 11 and output panel 21 by end ring respectively
On.
In the specific technical solution of the present invention, two pressure springs 35 are positioned opposite on the same axis and in initial position
The decrement having the same of pressure spring 35.By using two pressure springs mode positioned opposite, and there is identical decrement to make machine
Structure can automatically return to gentle point, and rigidity value can also double compared with the scheme of single pressure spring 35.One end of pressure spring 35 is solid
Surely there is mounting base 36, pressure spring mounting base 36 is fixed on the position for guaranteeing pressure spring 35 on shell 11 again；The other end of pressure spring 35
It is fixed with the pressure spring support 34 that a limitation pressure spring can only move in shell guide groove, and is equipped with needle roller on pressure spring support 34
33 mounting holes.The design of the guide groove and needle roller that use in this section, adequately has compressed the space of structure, ensure that entire change
The compact of rigidity module.
In the specific technical solution of the present invention, axle sleeve is used at 31 one end of cam-type lever and 2 cooperation of output par, c
32, needle roller 33 is used at the other end and 35 cooperation of pressure spring.One end of lever is equipped with boss and the hole of output panel 21 cooperates, intermediate
Reduced by axle sleeve 32 and is rubbed；The cam of the other end is engaged with the needle roller 33 being mounted in 34 hole of support.The design of axle sleeve
It is also preferably a kind of design in the technical program, it can be suitable between the boss that guarantee output panel 21 and cam-type lever 31 are equipped with
Smooth rotation, while also improving bearing capacity.
In the specific technical solution of the present invention, stiffness tuning bolt 39 be mounted on sliding block 38 and its position be can
By being adjusted in the form of manually.Sliding block 38 is mounted in 11 guide groove of shell, and the position of sliding block 38 passes through two closely-pitched spiral shells
Bolt 37 adjusts and fixed position.By using the bolt of serration of 0.5mm screw pitch, adjusts bolt and revolve the corresponding stiffness tuning spiral shell that turns around
Bolt 39 just moves 0.5mm, ensure that the fine tuning of stiffness tuning.Simultaneously because the cooperation between fine thread has self-locking performance, because
This can guarantee that stiffness tuning bolt 39 does not occur at work to change.
Referring to figs. 1 to Fig. 3, it should be further noted that in actual work, which is mainly used in joint of robot
In.The shell 11 of variation rigidity module is mounted on the retarder output end of joint of robot by bolt, and output panel 21 passes through bolt
With next arthrodesis.When being loaded into robot by the interference in external environment or suddenly by load, load passes through defeated
Placing 21 passes to the response at pressure spring 35 and to load after cam-type lever 31 and becomes submissive, so that robot be protected not broken
Operation stability that is bad, improving robot etc..In variation rigidity module works, output par, c 2, stiffness tuning lever 31 can phases
Equilbrium position occurs the deflection of certain angle, the amount of compression increases so as to cause a pressure spring 35, another opposite pressure spring
35 decrement is reduced, and is loaded outside by the force balance generated between pressure spring 35.
It, can be with when needing to adjust Robot Stiffness it should be further noted that in the technical scheme of this embodiment
By rotating two bolt of serration 37, sliding block 38 is adjusted to suitable position to make module rigidity reach oneself desirable value,
Then two bolt of serration 37 are tightened and guarantees that the position of sliding block 38 will not change.
In design, it should be noted that, the quantity of pressure spring should not be limited to two in embodiment, and other quantity is also can
It is capable, it is contemplated that make as far as possible it is compact-sized, two pressure springs in embodiment be it is proper, if necessary to increase load,
It is contemplated that increasing the item number of pressure spring；In stiffness tuning mode, it is also contemplated that making compact-sized adopt as far as possible in embodiment
It is manual form, the adjusting of rigidity can be carried out using electronic form completely when size requires being not very high.
It should be noted that Fig. 1 to embodiment shown in Fig. 3 be a preferred embodiment being introduced of the present invention, this
Field technical staff on this basis, can be designed that more embodiments completely.The foregoing description of the disclosed embodiments,
It enables those skilled in the art to implement or use the present invention.Profession of the various modifications to these embodiments to this field
It will be apparent for technical staff, the general principles defined herein can not depart from spirit or model of the invention
In the case where enclosing, realize in other embodiments.Therefore, the present invention will not be limited to the embodiments shown herein,
But the widest range consistent with principles disclosed herein and novel features.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (6)
1. a kind of joint of robot variation rigidity module based on cam-type lever construction, which is characterized in that including importation, defeated
Part and stiffness tuning part out；The output par, c is arranged in importation；It is divided in the importation and output section
Between be equipped with bearing, to bear the non-torque load of entire module, and make importation and output par, c can relative rotation；
The importation includes shell and shell end ring；The shell end ring setting is on the shell, solid with shell
Fixed connection；Constraint pressure spring is equipped in the shell and constrains the guide groove of stiffness tuning fulcrum；The guide groove is located at outer casing bottom；Institute
Shell is stated equipped with necessary installation hole location and mitigates structure；
The output par, c includes output panel and output panel end ring；The output panel is arranged in output panel end ring,
It is arranged concentrically with output panel end ring；Inside the shell, outer ring is fixedly connected with shell end ring, interior for the bearing setting
Circle is connect with output panel end ring；
The stiffness tuning part includes pressure spring, cam-type lever, needle roller, pressure spring support, pressure spring mounting base, axle sleeve, Yi Jigang
Degree adjusts fulcrum；The stiffness tuning fixed pivot is on cam-type lever；Cam-type lever setting is inside the shell and can
It is rotated around stiffness tuning fulcrum, one end is cooperatively connected by axle sleeve and output panel, makes output panel when rotating with cam-type thick stick
Bar rotation, the other end are abutted by needle roller with pressure spring；The needle roller is mounted in pressure spring support, and bottom is fastened in guide groove,
It can move along a straight line in guide groove；The pressure spring mounting base is fixed inside the shell, and one end of the pressure spring is fixed on pressure spring mounting base
On, the other end is abutted with pressure spring support, and needle roller is forced to resist cam-type lever；The pressure spring and needle roller are arranged in pairs at cam-type
Lever two sides, and be symmetrical arranged.
2. the joint of robot variation rigidity module according to claim 1 based on cam-type lever construction, which is characterized in that
The stiffness tuning part further includes stiffness tuning bolt and sliding block；The sliding block is mounted on the guide groove axially vertical with pressure spring
It is interior, and connect with stiffness tuning fixed pivot；The stiffness tuning bolt is separately positioned on the rear and front end of sliding block, stiffness tuning
One end of bolt and sliding block are cooperatively connected, and the other end is pierced by shell, and connect with outer casing screw.
3. the joint of robot variation rigidity module according to claim 1 based on cam-type lever construction, which is characterized in that
Two pressure springs are positioned opposite on the same axis, and the pressure spring decrement having the same in initial position.
4. the joint of robot variation rigidity module according to claim 2 based on cam-type lever construction, which is characterized in that
The stiffness tuning bolt uses bolt of serration, and screw pitch is set as 0.5 millimeter.
5. the joint of robot variation rigidity module according to claim 1 based on cam-type lever construction, which is characterized in that
The front end of the pressure spring support is set as U-shaped structure to block needle roller and needle roller is resisted to the outer circumference surface of cam-type lever, rear end
Cooperate equipped with recess and with pressure spring with spacing compression spring end.
6. the joint of robot variation rigidity module according to claim 1 based on cam-type lever construction, which is characterized in that
It is equipped at the stiffness tuning bolt and cage connection convenient for hiding the pit for adjusting fulcrum；The longitudinal section of the pit is square
Shape.
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| CN201811455829.5A CN109465848B (en) | 2018-11-30 | 2018-11-30 | Robot joint becomes rigidity module based on cam lever structure |
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| CN201811455829.5A CN109465848B (en) | 2018-11-30 | 2018-11-30 | Robot joint becomes rigidity module based on cam lever structure |
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| CN109465848B CN109465848B (en) | 2023-10-03 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| CN112092009A (en) * | 2020-09-16 | 2020-12-18 | 哈尔滨工业大学 | Multi-degree-of-freedom variable-rigidity joint mechanical arm |
| CN113334424A (en) * | 2021-06-24 | 2021-09-03 | 北京航空航天大学 | Robot safety joint device based on variable stiffness principle |
| CN114131647A (en) * | 2021-12-06 | 2022-03-04 | 之江实验室 | Lever type rigidity-variable flexible joint based on cam |
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