CN117817710A - Novel super flexible joint - Google Patents
Novel super flexible joint Download PDFInfo
- Publication number
- CN117817710A CN117817710A CN202310453943.9A CN202310453943A CN117817710A CN 117817710 A CN117817710 A CN 117817710A CN 202310453943 A CN202310453943 A CN 202310453943A CN 117817710 A CN117817710 A CN 117817710A
- Authority
- CN
- China
- Prior art keywords
- flexible
- joint
- main shaft
- rigidity
- variable
- 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.)
- Pending
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 63
- 230000005540 biological transmission Effects 0.000 claims abstract description 43
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 230000001360 synchronised effect Effects 0.000 claims description 8
- 150000001875 compounds Chemical class 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 11
- 238000005516 engineering process Methods 0.000 description 5
- 230000008859 change Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000003993 interaction Effects 0.000 description 4
- 230000008485 antagonism Effects 0.000 description 2
- 230000002146 bilateral effect Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
Abstract
The invention provides a novel super-flexible joint, which consists of a joint main shaft (21), a rigidity active adjusting mechanism (22), a flexible transmission mechanism (23) and flexible output legs (24); the joint main shaft (21) is coaxially arranged in the expansion connecting sleeve (210); the rigid active adjusting mechanism (22) comprises an adjusting bracket (221), a screw rod (222) and a connecting sliding block (223); the flexible transmission mechanisms (23) are two groups and are symmetrically arranged about the joint main shaft (21), one end of each flexible transmission mechanism (23) is connected with the corresponding connecting sliding block (223), and the other end of each flexible transmission mechanism is connected with the corresponding flexible output leg (24). The joint can realize active and passive compound adjustment of rigidity, and has good output stability and high safety.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a novel super-flexible joint.
Background
In recent years, with rapid development of robotics, advances in intelligent technologies (e.g., computer technology, electronic component technology, motor technology, new material technology, etc.), and widespread use of robotics, various institutions related to robots have been receiving great attention. Compared with a rigid joint, the flexible joint can overcome the defects of large mass, high energy consumption and low flexibility, and has the effects of reducing impact and absorbing vibration; for robots, flexible joints with variable rigidity are required to be adopted in the design process so as to meet the flexible output characteristics of collision contact at the joints of the robots and ensure the safety of the robots in a man-machine interaction environment, thereby improving the motion performance and environmental adaptation performance of each mechanism of the robots. The Chinese patent document CN114131645A discloses a variable-rigidity flexible joint based on a through shaft, which reduces the radial dimension of the variable-rigidity flexible joint, can enable the variable-rigidity flexible joint and a common integrated joint to share a mounting surface, further realize interchange, and is beneficial to the modularized design and use of the variable-rigidity flexible joint; meanwhile, the hollow shaft of the joint motor is fully expanded and utilized, and the installation space is saved to the greatest extent, wherein the installation space comprises the installation space of the variable-rigidity flexible joint and the installation space of the rigidity adjusting motor; in addition, the appearance of the variable-rigidity flexible joint can be more similar to a mature integrated product, rather than stacking two functional modules, under the condition of not increasing extra space by adjusting the external dimensions of the joint motor and the rigidity adjusting motor. However, the variable-rigidity flexible joint realizes active adjustment, and can not effectively complete passive adjustment of rigidity, so that vibration and energy generated during collision of the joint can not be effectively ensured to be suppressed, the stability of joint output is poor, and the safety in the human-machine-environment interaction process is low.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention aims to provide a novel super-flexible joint which can realize active and passive compound adjustment of rigidity, can meet the super-flexible output characteristic of collision contact, has good output stability and further ensures the safety of a robot in the man-machine-environment interaction process.
The aim of the invention is achieved by the following technical scheme:
a novel super-flexible joint, which is characterized in that: the device consists of a joint main shaft, a rigidity active adjusting mechanism, a flexible transmission mechanism and flexible output legs; the joint main shaft is coaxially arranged in the expansion connecting sleeve and can freely rotate in the expansion connecting sleeve; the rigid active adjusting mechanism comprises an adjusting bracket, a screw and a connecting sliding block, one end of the adjusting bracket is sleeved on the outer wall of the joint spindle, the screw is rotationally arranged in the adjusting bracket, the connecting sliding block is arranged on the outer wall of the screw and is in threaded connection with the screw, and the outer wall of the connecting sliding block is in sliding connection with the adjusting bracket; the flexible transmission mechanisms are two groups and are symmetrically arranged about the joint main shaft, one end of each flexible transmission mechanism is connected with the corresponding connecting sliding block, and the other end of each flexible transmission mechanism is connected with the corresponding flexible output leg; one end of the flexible output leg, which is close to the joint spindle, is provided with a connecting rod which is fixedly sleeved on the outer wall of the joint spindle.
Further optimizing, the super-flexible joint is arranged on a joint mounting bracket, and specifically comprises the following steps: the expansion connecting sleeves on two sides of the super-flexible joint are rotatably arranged on the joint mounting bracket, the expansion connecting sleeves are controlled to rotate through a driving mechanism, and the joint main shaft is controlled to rotate through a rotating motor fixedly arranged on the joint mounting bracket.
And the driving mechanism comprises a driven wheel, a driving wheel, a synchronous belt, a planetary reducer and a driving motor, wherein the driven wheel is fixedly sleeved on the outer wall of the expansion connecting sleeve at one side far away from the rotating motor, the driving motor is fixedly arranged on the joint mounting support, the planetary reducer is arranged at the output end of the driving motor, the output end of the planetary reducer is fixedly sleeved with the driving wheel corresponding to the driven wheel, and the driving wheel is connected with the driven wheel through the synchronous belt.
The flexible transmission mechanism is further optimized, the flexible transmission mechanism consists of three sections of rigidity-variable connecting components and a rotating rod, the six sections of rigidity-variable connecting components form a regular hexagon structure, the rigidity-variable connecting components are in rotary connection with each other and are close to the connecting sliding block, the rigidity-variable connecting components are in rotary connection with the connecting sliding block, and the rigidity-variable connecting components close to the flexible output legs are in rotary connection with one end of the flexible output legs close to the joint main shaft; one end of the rotating rod is rotationally connected with a connecting point between two sections of variable stiffness connecting components of one group of flexible transmission mechanisms, the other end of the rotating rod is rotationally connected with a connecting point between two sections of variable stiffness connecting components of the other group of flexible transmission mechanisms, the middle part of the rotating rod is rotationally sleeved on the outer wall of the joint spindle, and the two rotating rods form an X-shaped structure.
And the variable stiffness connecting assembly is further optimized, the variable stiffness connecting assembly consists of two spring seats and a spring, the spring is fixedly arranged between the two spring seats, and one ends of the two spring seats, which are far away from the spring, are respectively connected with a corresponding mechanism (namely a connecting sliding block, or a flexible output leg or another section of variable stiffness connecting assembly) in a rotating way.
And the outer wall of one of the positioning pins is respectively rotationally sleeved with corresponding spring seats of two groups of flexible transmission mechanisms.
The invention has the following technical effects:
according to the device, a 'reverse antagonism' bilateral symmetry structure of the joint is formed by the two groups of flexible transmission mechanisms, on one hand, when the joint rotates anticlockwise or clockwise, springs in the flexible transmission mechanisms are compressed or stretched due to the relative rotation angle generated by the flexible output legs, and then the passive adjustment of rigidity in the rotation process of the flexible output legs is completed; on the other hand, the rigidity active adjusting mechanism synchronously adjusts the compression or extension of the spring in the flexible transmission mechanism, so that the active adjustment of the rigidity in the rotation process of the flexible output leg is realized, and the stability of the joint in the rotation process of the flexible output leg is effectively ensured by utilizing the combination of the active adjustment and the passive adjustment. In the process, the spring seats of the two groups of flexible transmission structures are respectively hinged with the rotating rod to form an X-shaped structure, so that the springs are ensured to always bear axial force and not to bear overturning moment; along with the change of curvature radius in the joint rotation process, the whole equivalent rigidity of the whole flexible joint can be changed along with the relative rotation angle of the flexible output leg and continuously changed in a nonlinear way according to a preset rule, so that the super-flexible adjustment of the joint rigidity is formed.
The three sections of rigidity-variable connecting components in the flexible transmission mechanism are connected in parallel, and the flexible transmission of the joint is formed through interaction, and the motor power from the joint spindle is transmitted to the flexible output legs of the joint, so that the aim of outputting the flexible force is fulfilled; because the springs in the two groups of flexible transmission mechanisms are synchronous and symmetrical left and right and have consistent performance parameters, and the deformation of the springs is identical under the active adjustment parameters of any rigidity, when the relative rotation angle of flexibility is zero, the circumferential forces generated on the flexible output legs are equal and opposite, and the rigidity of the whole joint system is zero, namely the output characteristic of the super-flexible force of the joint, so that the super-flexible joint whole system is formed.
Drawings
Fig. 1 is a schematic view of the structure of an ultra-flexible joint (including a joint mounting bracket and a driving mechanism) according to an embodiment of the present invention.
Fig. 2 is a schematic view of the structure of the super-flexible joint (alone) according to the embodiment of the present invention.
FIG. 3 is a cross-sectional view of a super-flexible joint according to an embodiment of the present invention.
Wherein, 100, joint mounting bracket; 11. driven wheel; 12. a driving wheel; 13. a synchronous belt; 14. a planetary reducer; 15. a driving motor; 16. a rotating motor; 160. a motor mounting seat; 21. a joint spindle; 210. an expansion connecting sleeve; 22. a rigidity active adjusting mechanism; 221. adjusting the bracket; 222. a screw rod; 223. the connecting slide block; 23. a flexible transmission mechanism; 231. a variable stiffness connection assembly; 2311. a spring seat; 2312. a spring; 232. a rotating lever; 24. a flexible output leg; 240. a connecting rod; 241. and positioning pins.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
Example 1:
as shown in fig. 1 to 3: a novel super-flexible joint, which is characterized in that: the device consists of a joint main shaft 21, a rigidity active adjusting mechanism 22, a flexible transmission mechanism 23 and flexible output legs 24; the joint main shaft 21 is coaxially arranged in the expansion connecting sleeve 210, and the joint main shaft 21 can freely rotate in the expansion connecting sleeve 210 (namely, the joint main shaft 21 is collinear with the central axis of the expansion connecting sleeve 210, the diameter of an inner hole of the expansion connecting sleeve 210 is larger than the outer diameter of the joint main shaft 21, and the outer wall of the joint main shaft 21 is rotationally connected with the inner wall of the expansion connecting sleeve 210, so that the joint main shaft 21 can rotate around the axis of the joint main shaft 21 in the expansion connecting sleeve 210); as shown in fig. 2: the expansion connecting sleeves 210 are respectively sleeved at two ends of the joint main shaft 21.
As shown in fig. 1: the super-flexible joint is disposed on the joint mounting bracket 100, specifically: the expansion connecting sleeves 210 on the two sides of the super-flexible joint are rotatably arranged on the joint mounting bracket 100 (namely, mounting holes are formed on the joint mounting bracket 100 corresponding to the two expansion connecting sleeves 210, the expansion connecting sleeves 210 are clamped in the corresponding mounting holes and can rotate around the axis of the expansion connecting sleeves 210 in the mounting holes), and the expansion connecting sleeves 210 are controlled to rotate through a driving mechanism; the joint spindle 21 is controlled to rotate by a rotation motor 16 fixedly provided on the joint mounting bracket 100, as shown in fig. 1: the rotary motor 16 is fixedly disposed at one side (i.e., the right side in fig. 1) of the joint mounting bracket 100 by an "L" shaped motor mount 160. The driving mechanism comprises a driven wheel 11, a driving wheel 12, a synchronous belt 13, a planetary reducer 14 and a driving motor 15, wherein the driven wheel 11 is fixedly sleeved on the outer wall of an expansion connecting sleeve 210 at one side far away from a rotating motor 16 (namely, the left side shown in fig. 1), the driving motor 15 is fixedly arranged on a joint mounting bracket 100 (as shown in fig. 1, the driving motor 15 is fixedly arranged in the joint mounting bracket 100 at the upper side of an ultra-flexible joint), the output end of the driving motor 15 is provided with the planetary reducer 14, the output end of the planetary reducer 14 is fixedly sleeved with the driving wheel 12 corresponding to the driven wheel 11, and the driving wheel 12 is connected with the driven wheel 11 through the synchronous belt 13, so that the whole rotation of the ultra-flexible joint is controlled through the driving motor 15.
The rigid active adjusting mechanism 22 comprises an adjusting bracket 221, a screw rod 222 and a connecting sliding block 223, wherein one end of the adjusting bracket 221 is sleeved on the outer wall of the joint main shaft 21 (as shown in fig. 2, the adjusting bracket 221 is close to one end of the joint main shaft 21 and is positioned between the two expansion connecting sleeves 210, the rotating bracket is in a door-shaped structure, the joint main shaft 21 penetrates through the rotating bracket, the outer wall of the joint main shaft is rotationally connected with the rotating bracket, the rotating bracket is fixedly connected with the expansion connecting sleeves 210 on two sides of the rotating bracket), and the screw rod 222 is rotationally arranged in the adjusting bracket 221, as shown in fig. 3: one end (i.e. the right side shown in fig. 3) of the adjusting bracket 221, which is far away from the joint main shaft 21, is provided with a seal top cover, one end (i.e. the left end shown in fig. 3) of the screw rod 222 is rotationally connected with the end surface of the rotating bracket, which is far away from the joint main shaft 21, the other end (i.e. the right end shown in fig. 3) penetrates through the seal top cover and is rotationally connected with the seal top cover, one side surface of the seal top cover, which is far away from the rotating bracket, is provided with a screw rod motor, and the screw rod motor is fixedly connected with the right end of the screw rod 222, which is shown in fig. 3, through a coupling, so that the rotation of the screw rod 222 is controlled; the outer wall of the screw rod 222 is provided with a connecting sliding block 223, the connecting sliding block 223 is in threaded connection with the screw rod 222, and the outer wall of the connecting sliding block 223 is in sliding connection with the adjusting bracket 221.
The two groups of flexible transmission mechanisms 23 are symmetrically arranged about the joint main shaft 21, one end of each flexible transmission mechanism 23 penetrates through the side wall of the corresponding adjusting bracket 221 and then is connected with the corresponding connecting sliding block 223 (sliding grooves are formed in the two sides of the corresponding connecting sliding block 223 of the corresponding adjusting bracket 221), and the other end of each flexible transmission mechanism 23 is connected with the corresponding flexible output leg 24; as shown in fig. 2 and 3, the specific steps are: the flexible transmission mechanism 23 is composed of three sections of rigidity-variable connecting components 231 and a rotating rod 232, the six sections of rigidity-variable connecting components 231 form a regular hexagonal structure (as shown in fig. 3), the rigidity-variable connecting components 231 are in rotary connection with each other and are close to the connecting sliding block 223, the rigidity-variable connecting components 231 close to the flexible output legs 24 are in rotary connection with the connecting sliding block 223, and the rigidity-variable connecting components 231 close to the flexible output legs 24 are in rotary connection with one end of the flexible output legs 24 close to the joint main shaft 21; one end of the rotating rod 232 is rotationally connected with a connecting point between two sections of variable stiffness connecting components 231 of one group of flexible transmission mechanisms 23, the other end of the rotating rod 232 is rotationally connected with a connecting point between two sections of variable stiffness connecting components 231 of the other group of flexible transmission mechanisms 23, the middle part of the rotating rod 232 is rotationally sleeved on the outer wall of the joint main shaft 21, and the two rotating rods 232 form an X-shaped structure; the variable stiffness connecting assembly 231 is composed of two spring seats 2311 and a spring 2312, the spring 2312 is fixedly arranged between the two spring seats 2311, and one ends of the two spring seats 2311 far away from the spring 2312 are respectively and rotatably connected with a corresponding mechanism (namely the connecting sliding block 223, the flexible output leg 24 or the other variable stiffness connecting assembly 231).
As shown in fig. 3: the six sections of rigidity-changing connecting components 231 are respectively marked as A, B, C, D, E, F, the two rotating rods 232 are respectively marked as a and b, A, B, C form one group of flexible transmission mechanisms 23 and D, E, F form the other group of flexible transmission mechanisms 23; one end A penetrates through the side wall of the adjusting bracket 221 and is rotationally connected with the connecting sliding block 223, the other end B is rotationally connected with one end C, and the other end C is rotationally connected with the flexible output leg 24; one end D penetrates through the side wall of the adjusting bracket 221 and is rotationally connected with the connecting sliding block 223, the other end E is rotationally connected with one end of the F, and the other end F is rotationally connected with the flexible output leg 24; one end of a is rotationally connected with the connecting point of A and B, the other end of a is rotationally connected with the connecting point of E and F, one end of B is rotationally connected with the connecting point of B and C, and the other end of B is rotationally connected with the connecting point of D and E.
The flexible output leg 24 is near the one end of joint main shaft 21 and sets up connecting rod 241 and connecting rod 241 is fixed cup joint at joint main shaft 21 outer wall (i.e. connecting rod 241 rotates along with joint main shaft 21). The flexible joint leg 24 is connected with the connecting rod 240 through at least two positioning pins 241, as shown in fig. 2 and 3, in this embodiment, the two positioning pins 241 are used to realize rotation limitation between the flexible joint leg 24 and the connecting rod 241, and the outer wall of one positioning pin 241 (i.e. the positioning pin 241 far away from one end of the joint spindle 21 and the leftmost positioning pin 241 shown in fig. 3) respectively rotates and sleeves the corresponding spring seats 2311 of the two sets of flexible transmission mechanisms 23 (i.e. C and F).
Working principle:
in use, the joint spindle 21 is driven to rotate by the rotating motor 16, so that the flexible output leg 24 is driven by the connecting rod 241; in the rotation process of the flexible output leg 24, a reverse antagonism bilateral symmetry structure is formed by three sections of rigidity-changing connecting assemblies 231 between two groups of flexible transmission mechanisms 23, so that each section of spring 2312 is compressed or stretched relative to the rotation angle generated by the flexible output leg 24, and further the influence caused by deformation in the rotation process of the flexible output leg 24 is effectively reduced; meanwhile, through the arrangement of the two rotating rods 232, the spring 2312 is synchronously compressed or stretched, so that the buffer capacity is further realized, and the spring is ensured to always bear axial force and not to bear overturning moment. With the change of the curvature radius in the joint rotation process, the overall equivalent stiffness of the super-flexible joint system can continuously and nonlinearly change along with the change of the relative rotation angle of the flexible output leg 24 according to a preset rule, so that the passive adjustment of the stiffness of the joint is formed.
Simultaneously, the screw motor drives the screw 221 to rotate synchronously, and then the connecting slide block 223 is driven to move along the axial direction of the screw 221, and the compression amount of the springs 2312 of the two groups of flexible transmission mechanisms 23 is regulated through the connecting slide block 223, so that the aim of actively regulating the equivalent rigidity of the joint is fulfilled. Under the action of the connecting slide block 223, the force is transmitted to the flexible transmission mechanism 23 and is matched with the rotating rod 2311, each spring 2312 in the flexible transmission mechanism 23 is compressed or stretched at the same time, the expansion degree is always consistent, and in the process, the super-flexible joint realizes active adjustment of rigidity.
Example 2:
as a further optimization of the scheme of the application, a spring sleeve is arranged between two spring seats 2311 of the same section of variable stiffness connecting assembly 231 and positioned on the outer ring of the spring 2312, so as to protect the spring 2312 and further avoid deflection when the spring 2312 deforms (stretches or compresses); one end of the spring sleeve is fixedly connected with the outer wall of one spring seat 2311, and the other end of the spring sleeve is rotatably connected with the outer wall of the other spring seat 2311.
Example 3:
as a further optimization of the scheme of the application, on the basis of embodiment 2, the two sides of the flexible transmission mechanism 23 are provided with a protection shell, the side walls of the corresponding sides of the protection shell and the adjusting bracket 221 are fixedly connected, the middle part of the protection shell is penetrated by the expansion connecting sleeve 210, and the protection shell is fixedly connected with the expansion connecting sleeve 210, so that the protection of the rigidity active adjusting mechanism 22 is realized, and meanwhile, the strength of the whole super-flexible joint is increased.
Claims (5)
1. A novel super-flexible joint, which is characterized in that: consists of a joint main shaft (21), a rigidity active adjusting mechanism (22), a flexible transmission mechanism (23) and flexible output legs (24); the joint main shaft (21) is coaxially arranged in the expansion connecting sleeve (210), and the joint main shaft (21) can freely rotate in the expansion connecting sleeve (210); the rigid active adjusting mechanism (22) comprises an adjusting bracket (221), a screw rod (222) and a connecting sliding block (223), one end of the adjusting bracket (221) is sleeved on the outer wall of the joint main shaft (21), the screw rod (222) is rotationally arranged on the adjusting bracket (221), the connecting sliding block (223) is arranged on the outer wall of the screw rod (222), the connecting sliding block (223) is in threaded connection with the screw rod (222), and the outer wall of the connecting sliding block (223) is in sliding connection with the adjusting bracket (221); the flexible transmission mechanisms (23) are two groups and are symmetrically arranged about the joint main shaft (21), one end of each flexible transmission mechanism (23) is connected with the corresponding connecting sliding block (223), and the other end of each flexible transmission mechanism is connected with the corresponding flexible output leg (24); one end of the flexible output leg (24) close to the joint main shaft (21) is provided with a connecting rod (240), and the connecting rod (240) is fixedly sleeved on the outer wall of the joint main shaft (21).
2. The novel super-flexible joint as claimed in claim 1, wherein: the super-flexible joint is arranged on the joint mounting bracket (100), namely expansion connecting sleeves (210) on two sides of the super-flexible joint are rotatably arranged on the joint mounting bracket (100), the expansion connecting sleeves (210) are controlled to rotate through a driving mechanism, and a joint main shaft (21) is controlled to rotate through a rotating motor (16) fixedly arranged on the joint mounting bracket (100).
3. A novel super-flexible joint according to claim 1 or 2, characterized in that: the driving mechanism comprises a driven wheel (11), a driving wheel (12), a synchronous belt (13), a planetary reducer (14) and a driving motor (15), wherein the driven wheel (11) is fixedly sleeved on the outer wall of an expansion connecting sleeve (210) at one side far away from a rotating motor (16), the driving motor (15) is fixedly arranged on a joint mounting bracket (100) and the output end of the driving motor is provided with the planetary reducer (14), the output end of the planetary reducer (14) is fixedly sleeved with the driving wheel (12) corresponding to the driven wheel (11), and the driving wheel (12) is connected with the driven wheel (11) through the synchronous belt (13).
4. A novel super-flexible joint according to claim 1 or 3, wherein: the flexible transmission mechanism (23) consists of three sections of rigidity-variable connecting components (231) and a rotating rod (232), the six sections of rigidity-variable connecting components (231) form a regular hexagon structure, the rigidity-variable connecting components (231) are in rotary connection with each other and are close to the rigidity-variable connecting components (231) of the connecting sliding blocks (223), the rigidity-variable connecting components (231) of the connecting sliding blocks (223) are in rotary connection, and the rigidity-variable connecting components (231) of the connecting sliding blocks are close to the flexible output legs (24) and are in rotary connection with one end of the flexible output legs (24) close to the joint main shaft (21); one end of a rotating rod (232) is rotationally connected with a connecting point between two sections of variable stiffness connecting components (231) of one group of flexible transmission mechanisms (23), the other end of the rotating rod is rotationally connected with a connecting point between two sections of variable stiffness connecting components (231) of the other group of flexible transmission mechanisms (23), the middle part of the rotating rod (232) is rotationally sleeved on the outer wall of a joint main shaft (21), and the two rotating rods (232) form an X-shaped structure.
5. The novel super-flexible joint as claimed in claim 4, wherein: the variable-rigidity connecting assembly (231) is composed of two spring seats (2311) and a spring (2312), the spring (2312) is fixedly arranged between the two spring seats (2311), and one ends, far away from the spring (2312), of the two spring seats (2311) are respectively connected with corresponding mechanisms in a rotating mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310453943.9A CN117817710A (en) | 2023-04-25 | 2023-04-25 | Novel super flexible joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310453943.9A CN117817710A (en) | 2023-04-25 | 2023-04-25 | Novel super flexible joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117817710A true CN117817710A (en) | 2024-04-05 |
Family
ID=90508578
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310453943.9A Pending CN117817710A (en) | 2023-04-25 | 2023-04-25 | Novel super flexible joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117817710A (en) |
-
2023
- 2023-04-25 CN CN202310453943.9A patent/CN117817710A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106914917B (en) | Compact type rigidity-variable rotary flexible joint | |
| CN1170658C (en) | Four-freedom parallel robot mechanism | |
| CN103029120B (en) | Folding static load balance adjusting parallel platform | |
| CN101698300B (en) | Large-working space parallel robot mechanism | |
| CN106142132B (en) | Robot flexible joint with continuously adjustable rigidity | |
| CN110238821B (en) | High-redundancy-drive fully-symmetrical parallel mechanism with closed-loop unit | |
| CN101244558A (en) | Space three-rotation freedom parallel mechanism | |
| CN112123323B (en) | 4UPU-UP redundant drive parallel robot | |
| CN101214647A (en) | Spherical surface two-freedom symmetrical parallel connection robot mechanism with redundancy drive | |
| CN103302659A (en) | Single-degree-of-freedom metamorphic mechanism | |
| CN102490179A (en) | Parallel mechanism with three rotational degrees of freedom and one translational degree of freedom | |
| CN103302661A (en) | Fully-decoupled one-movement two-rotation and three-degree-of-freedom parallel mechanism | |
| CN103426356A (en) | Coupling movement simulation platform with four degrees of freedom | |
| CN117817710A (en) | Novel super flexible joint | |
| CN103302510A (en) | Parallel mechanism with two floatable staggered spindles | |
| CN111085987B (en) | Two-rotation one-shift parallel mechanism with motion equivalent characteristic and containing middle constraint branch | |
| CN104690743A (en) | Robot wrist joint structure based on single-stator multi-degree-of-freedom ultrasonic motor | |
| CN110355740B (en) | Parallel mechanism with two motion modes of 1R1T and 3T | |
| CN108098831B (en) | Three-degree-of-freedom flexible joint structure | |
| CN216138910U (en) | Six-degree-of-freedom platform | |
| CN110653800A (en) | Parallel robot with large working space and low inertia | |
| CN114031023B (en) | Mechanical driver system | |
| CN204505286U (en) | A kind of wrist joint of robot structure based on single stator multiple freedom degrees ultrasound motor | |
| CN111038613B (en) | Single leg mechanism and leg foot type robot | |
| CN206551012U (en) | A kind of six-degree-of-freedom parallel connection mechanism based on differential driving structure |
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 |