CN120816530A - A two-degree-of-freedom flexible joint with variable stiffness - Google Patents
A two-degree-of-freedom flexible joint with variable stiffnessInfo
- Publication number
- CN120816530A CN120816530A CN202511339646.7A CN202511339646A CN120816530A CN 120816530 A CN120816530 A CN 120816530A CN 202511339646 A CN202511339646 A CN 202511339646A CN 120816530 A CN120816530 A CN 120816530A
- Authority
- CN
- China
- Prior art keywords
- platform
- slide block
- rigidity
- degree
- adjusting slide
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Pivots And Pivotal Connections (AREA)
Abstract
The invention belongs to the technical field of robots, and discloses a rigidity-variable two-degree-of-freedom flexible joint which comprises a mounting platform connected to a working platform or a base, wherein a center column is arranged in the center of the surface of the mounting platform, the top of the center column is connected with a rotating platform, a plurality of rigidity adjusting mechanisms and identification modules are uniformly arranged between the rotating platform and the mounting platform, each rigidity adjusting mechanism comprises a driving unit uniformly arranged at the outer edge of the top of the mounting platform, an adjusting slide block assembly is movably connected to the driving end of the driving unit, and the adjusting slide block assembly is also connected to the rotating platform through a flexible rod piece. The rigidity of the flexible joint can be flexibly changed through the rigidity adjusting mechanism. The driving unit drives the adjusting slide block component to move, and the stress state of the flexible rod piece is changed, so that the rigidity is adjusted in real time, the device can adapt to the scenes of different contact force changes, and the problem that the traditional rigid mechanical arm cannot adapt to the contact force changes is solved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a two-degree-of-freedom flexible joint with variable rigidity.
Background
A flexible joint is a mechanical connection means that enables movement by elastic deformation of a material or a flexible structure. Compared with the traditional mechanical arm joint, the mechanical arm joint does not need to use a traditional hinge, relies on elasticity or geometric deformation of the material, is suitable for a scene interacting with people or fragile objects, and has strong potential in the fields of biomedical treatment, aerospace, bionic robots and the like.
At present, when the mechanical arm with a rigid structure is adopted for assembly, the mechanical arm cannot adapt to the change of contact force depending on the accurate control of the position, and the assembly part or the mechanical arm is easy to damage due to lack of real-time force feedback. And in the event of collision, the impact force is large, and the damage to people or equipment is easy to occur. The traditional mechanical arm lacks of terminal contact flexibility, lacks of passive compensation capability for position deviation and geometric errors of parts and fixtures, and needs to deploy high-precision fixtures to meet assembly function requirements.
Disclosure of Invention
The present invention is directed to a two-degree-of-freedom flexible joint with variable stiffness to solve the above-mentioned problems.
In order to achieve the above purpose, the present invention provides the following technical solutions:
The two-degree-of-freedom flexible joint with variable rigidity comprises an installation platform connected to a working platform or a base, wherein a central column is arranged in the center of the surface of the installation platform, the top of the central column is connected with a rotating platform, and a plurality of rigidity adjusting mechanisms and identification modules are uniformly arranged between the rotating platform and the installation platform;
The rigidity adjusting mechanism comprises driving units which are uniformly arranged at the outer edge of the top of the mounting platform, the driving ends of the driving units are movably connected with adjusting slide block assemblies, and the adjusting slide block assemblies are further connected to the rotating platform through flexible rod pieces.
Still preferably, the drive unit is including evenly setting up in a plurality of connection bases of mounting platform top outer edge department, every the connection base outside all is connected with direct current motor through unable adjustment base, direct current motor drive end runs through unable adjustment base surface and is connected with down bevel gear, down bevel gear with connect the last bevel gear intermeshing setting in the base outside, it is connected with the lead screw to go up the bevel gear other end through connection base, the lead screw surface cover is equipped with slide nut, the one end bottom that the connection base is close to the lead screw still symmetry is provided with the guide rail, the lead screw is kept away from the one end of connection base with the guide rail and is all connected in the surface of center cylinder.
Still preferably, the adjusting slide block assembly comprises a rigidity adjusting slide block and a sliding adjusting slide block, the rigidity adjusting slide block and the sliding adjusting slide block are fixedly connected through bolts, a rolling bearing is arranged at the center of the surface of the rigidity adjusting slide block, a step hole and a sliding bearing are respectively arranged on the surface of the sliding adjusting slide block corresponding to the screw rod and the guide rail, sliding nuts are fixedly connected to the inside of the step hole through a plurality of uniformly arranged screws, and the guide rail is movably connected to the inside of the sliding bearing.
Still preferably, the rolling bearing is internally and fixedly connected with a flexible rod, one end of the flexible rod is fixedly connected with a fixed block, the other end of the flexible rod is fixedly connected with a central column body, the fixed block is fixedly connected with the bottom of the L-shaped connecting block through a bolt, and the position of the L-shaped connecting block corresponding to the rigidity adjusting mechanism is arranged at the edge of the bottom of the rotating platform.
Further preferably, the rotating platform comprises a moving platform, a spring cavity is fixedly connected to the center of the bottom of the moving platform, and the tail end of the bottom of the spring cavity is connected to the center of the top of the central column body through a ball joint.
Still preferably, the spring cavity comprises an upper cavity fixedly connected to the center of the bottom of the movable platform through bolts, a damping spring is arranged in the upper cavity, a lower cavity is further arranged at the bottom of the damping spring, one end of the lower cavity is sleeved in the upper cavity, the tail end of the bottom of the upper cavity is fixedly connected with a connecting gasket through bolts, and the other end of the lower cavity is arranged through the connecting gasket.
Further preferably, the central column body comprises a lower column body arranged at the center of the surface of the mounting platform, the top of the lower column body is connected with an upper column body, a joint base is arranged at the center of the surface of the upper column body, and the joint base is hinged with the ball joint.
Still preferably, the mounting platform comprises a fixed platform, the bottom of the fixed platform is connected with a mounting gasket through a plurality of uniformly arranged screws, a plurality of mounting studs are uniformly distributed on the mounting gasket, and the mounting studs are in threaded connection with the working platform or the base.
Still preferably, the identification module comprises a plurality of visual sensing modules arranged on the surface of the fixed platform and a plurality of coding identification patches arranged on the bottom surface of the movable platform, the visual sensing modules and the coding identification patches are correspondingly arranged with each other, and the included angle between the visual sensing modules and the coding identification patches in the same longitudinal direction and the adjacent rigidity adjusting mechanisms is 45 degrees.
Further preferably, the visual sensing module is formed by adopting a Raspberry Pi camera module, and the visual sensing module is used for recognizing the change of the coded identification patch to judge the gesture of the movable platform.
Compared with the prior art, the invention has the beneficial effects that:
The rigidity of the flexible joint can be flexibly changed through the rigidity adjusting mechanism. The driving unit drives the adjusting slide block component to move, and the stress state of the flexible rod piece is changed, so that the rigidity is adjusted in real time, the device can adapt to the scenes of different contact force changes, and the problem that the traditional rigid mechanical arm cannot adapt to the contact force changes is solved.
The rotating platform is connected with the central column body through the ball joint, and can realize multidirectional rotation by combining the deformation of the flexible rod piece, so that the rotating platform has two degrees of freedom of motion, the flexibility of the joint is improved, and the operation capability under a complex environment is enhanced.
The damping springs are arranged in the spring cavity body in the rotating platform, so that impact force can be effectively buffered when the joint moves or collides, the risk of damage to people or equipment is reduced, and the defect of high impact force when the traditional mechanical arm collides is overcome.
The visual sensing module in the identification module can identify the change of the code identification patch, so that the gesture of the movable platform is accurately judged, a basis is provided for accurate control of joints, and the improvement of operation precision is facilitated.
The components are reliably connected, the layout is compact, the mounting platform is convenient to connect with a working platform or a base through the mounting studs, the disassembly and the maintenance are convenient, and the device is suitable for application in various fields such as biomedical, aerospace, bionic robots and the like.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is an exploded view of the structure of the rotary platform of the present invention;
FIG. 3 is a schematic diagram of a driving unit according to the present invention;
FIG. 4 is a schematic view of the structure of the adjusting slide assembly of the present invention;
FIG. 5 is a schematic view of the structure of the center column of the present invention;
The device comprises a rotating platform, 11, a movable platform, 12, an L-shaped connecting block, 13, a spring cavity, 131, an upper cavity, 132, a lower cavity, 133, a connecting gasket, 14, a damping spring, 15, a ball joint, 16, a fixed block, 21, an upper cylinder, 22, a lower cylinder, 23, a joint base, 3, a flexible rod, 411, a rigidity adjusting slide block, 412, a sliding adjusting slide block, 413, a sliding bearing, 414, a rolling bearing, 421, a screw rod, 422, a sliding nut, 423, a guide rail, 424, an upper bevel gear, 425, a lower bevel gear, 426, a fixed base, 427, a connecting base, 428, a direct current motor, 5, a mounting platform, 51, a fixed platform, 52, a mounting gasket, 53, a mounting stud, 61, a visual sensing module, 62, a coding identification patch, 7, a bolt and 8 and a screw.
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. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-5, the present invention provides a technical solution:
The two-degree-of-freedom flexible joint with variable rigidity comprises a mounting platform 5 connected to a working platform or a base, wherein a central column is arranged in the center of the surface of the mounting platform 5, the top of the central column is connected with a rotating platform 1, and a plurality of rigidity adjusting mechanisms and identification modules are uniformly arranged between the rotating platform 1 and the mounting platform 5;
the rigidity adjusting mechanism comprises driving units which are uniformly arranged at the outer edge of the top of the mounting platform 5, the driving ends of the driving units are movably connected with adjusting slide block assemblies, and the adjusting slide block assemblies are further connected to the rotating platform 1 through flexible rod pieces 3.
In the invention, the driving unit comprises a plurality of connecting bases 427 uniformly arranged at the outer edge of the top of the mounting platform 5, the outer side of each connecting base 427 is connected with a direct current motor 428 through a fixed base 426, the driving end of the direct current motor 428 penetrates through the surface of the fixed base 426 and is connected with a lower bevel gear 425, the lower bevel gear 425 is meshed with an upper bevel gear 424 arranged at the outer side of the connecting base 427, the other end of the upper bevel gear 424 penetrates through the connecting base 427 and is connected with a screw rod 421, a sliding nut 422 is sleeved on the surface of the screw rod 421, the bottom of one end, close to the screw rod 421, of the connecting base 427 is symmetrically provided with a guide rail 423, and one ends, far away from the connecting base 427, of the screw rod 421 and the guide rail 423 are connected to the surface of a central cylinder. The adjusting slide block assembly comprises a rigidity adjusting slide block 411 and a sliding adjusting slide block 412, the rigidity adjusting slide block 411 and the sliding adjusting slide block 412 are fixedly connected through a bolt 7, a rolling bearing 414 is arranged at the center of the surface of the rigidity adjusting slide block 411, a stepped hole and a sliding bearing 413 are respectively arranged on the surface of the sliding adjusting slide block 412 corresponding to a screw rod 421 and a guide rail 423, a sliding nut 422 is fixedly connected to the inside of the stepped hole through a plurality of uniformly arranged screws 8, and the guide rail 423 is movably connected to the inside of the sliding bearing 413. The rolling bearing 414 is internally and fixedly connected with a flexible rod piece 3 in a penetrating way, one end of the flexible rod piece 3 is fixedly connected with a fixed block 16, the other end of the flexible rod piece 3 is fixedly connected with a central column body, the fixed block 16 is fixedly connected with the bottom of the L-shaped connecting block 12 through a bolt 7, and the position of the L-shaped connecting block 12 corresponding to the rigidity adjusting mechanism is arranged at the edge of the bottom of the rotary platform 1.
In the invention, the rotary platform 1 comprises a movable platform 11, a spring cavity 13 is fixedly connected to the center of the bottom of the movable platform 11, and the tail end of the bottom of the spring cavity 13 is connected to the center of the top of the central column body through a ball joint 15. The spring cavity 13 includes the upper portion cavity 131 through bolt 7 fixed connection in movable platform 11 bottom center department, and upper portion cavity 131 inside is provided with the bradyseism spring 14, and bradyseism spring 14 bottom still is provided with lower part cavity 132, and upper portion cavity 131 inside is located to lower part cavity 132 one end cover, and upper portion cavity 131 bottom end still is connected with the connection pad 133 through bolt 7 fixedly, and lower part cavity 132 other end through connection pad 133 sets up. The center column comprises a lower column 22 arranged at the center of the surface of the mounting platform 5, an upper column 21 is connected to the top of the lower column 22, a joint base 23 is arranged at the center of the surface of the upper column 21, and the joint base 23 is hinged with the ball joint 15.
In the invention, the mounting platform 5 comprises a fixed platform 51, the bottom of the fixed platform 51 is connected with a mounting gasket 52 through a plurality of uniformly arranged screws 8, a plurality of mounting studs 53 are uniformly distributed on the mounting gasket 52, and the mounting studs 53 are in threaded connection with a working platform or a base.
In the invention, the identification module comprises a plurality of visual sensing modules 61 arranged on the surface of the fixed platform 51 and a plurality of coding identification patches 62 arranged on the bottom surface of the movable platform 11, wherein the visual sensing modules 61 and the coding identification patches 62 are correspondingly arranged, and the included angle between the visual sensing modules 61 and the coding identification patches 62 which are positioned in the same longitudinal direction and the adjacent rigidity adjusting mechanisms is 45 degrees. The visual sensing module 61 is formed by adopting a Raspberry Pi camera module, and the visual sensing module 61 is used for recognizing the change of the code recognition patch 62 and judging the gesture of the movable platform 11.
In the embodiment, the fixed platform 51 of the mounting platform 5 is made of aluminum alloy, is fixed on the working platform through 4 mounting studs 53, and the mounting gasket 52 is made of rubber, so that the effects of buffering and skid resistance are achieved. The lower column 22 and the upper column 21 of the central column are made of stainless steel, the lower column 22 is fixed at the center of the surface of the fixed platform 51 through welding, the upper column 21 and the lower column 22 are connected through bolts 7, and the joint base 23 and the upper column 21 are integrally formed.
The movable platform 11 of the rotary platform 1 is made of aluminum alloy, the L-shaped connecting blocks 12 are fixed at the edge of the bottom of the movable platform 11 through bolts 7, 4 movable platforms 11 are arranged in total, and the movable platforms are uniformly distributed around the movable platform 11. The upper cavity 131 and the lower cavity 132 of the spring cavity 13 are both made of metal, the upper cavity 131 is fixed at the center of the bottom of the movable platform 11 through a bolt 7, the cushioning spring 14 is a cylindrical spiral spring and is made of high-strength spring steel, one end of the lower cavity 132 is sleeved inside the upper cavity 131, the other end of the lower cavity 132 is hinged with the joint base 23 through a ball joint 15, the connecting gasket 133 is made of copper, and abrasion between the lower cavity 132 and the upper cavity 131 is reduced.
The rigidity adjusting mechanisms are 4 in number and are uniformly distributed at the outer edge of the top of the mounting platform 5. The connecting base 427 of the driving unit is fixed on the fixed platform 51 through bolts 7, the fixed base 426 and the connecting base 427 are fixedly connected through bolts 7, the model of the direct current motor 428 is DCX-16-S, the lower bevel gear 425 and the upper bevel gear 424 are made of brass, the lower bevel gear 425 and the upper bevel gear 424 are meshed with each other for transmission, the screw rod 421 is matched with the sliding nut 422 for use, the guide rail 423 is a linear guide rail, and stable movement of the adjusting slide block assembly is guaranteed.
The rigidity adjusting slide 411 and the sliding adjusting slide 412 of the adjusting slide assembly are made of aluminum alloy materials, and are fixedly connected through 4 bolts 7. The rolling bearing 414 adopts a deep groove ball bearing, the sliding bearing 413 is a linear bearing, and the sliding nut 422 is fixed in the stepped hole of the sliding adjusting slide block 412 through 3 screws 8. The flexible rod 3 is made of ABS plastic or carbon fiber materials, has high strength and elasticity, one end of the flexible rod 3 is fixed on the surface of the fixed block 16, the fixed block 16 is fixed at the bottom of the L-shaped connecting block 12 through the bolt 7, and the other end of the flexible rod 3 is fixed on the surface of the upper column 21.
In the identification module, the visual sensing module 61 adopts a Raspberry Pi camera module, the model is Raspberry PI CAMERA V, 4 of the visual sensing modules are uniformly distributed on the surface of the fixed platform 51, the coding identification patch 62 is a black-white two-dimensional code patch, the positions corresponding to the visual sensing module 61 are arranged on the bottom surface of the movable platform 11, and the included angle between the visual sensing module 61 and the coding identification patch 62 which are positioned in the same longitudinal direction and the adjacent rigidity adjusting mechanism is 45 degrees, so that the visual sensing module 61 can clearly shoot images of the coding identification patch 62.
When the two-degree-of-freedom flexible joint with variable rigidity works, when the rigidity of the joint needs to be changed, the direct current motor 428 is started to drive the lower bevel gear 425 to rotate, the lower bevel gear 425 drives the upper bevel gear 424 to rotate, so that the screw rod 421 rotates, the sliding nut 422 moves on the screw rod 421 to drive the adjusting slide block assembly to move along the guide rail 423, the bending degree and the stress state of the flexible rod 3 are further changed, and the rigidity adjustment is realized. When the rotating platform 1 receives external force, the moving platform 11 rotates through the ball joint 15, meanwhile, the cushioning spring 14 compresses or extends to play a role of buffering, the visual sensing module 61 shoots the coding identification patch 62 in real time and transmits image information to the control system, and the control system judges the posture of the moving platform 11 according to image change, so that accurate control of joints is achieved.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (10)
1. The two-degree-of-freedom flexible joint with variable rigidity comprises a mounting platform (5) connected to a working platform or a base, and is characterized in that a central column is arranged in the center of the surface of the mounting platform (5), the top of the central column is connected with a rotating platform (1), and a plurality of rigidity adjusting mechanisms and identification modules are uniformly arranged between the rotating platform (1) and the mounting platform (5);
the rigidity adjusting mechanism comprises driving units which are uniformly arranged at the outer edge of the top of the mounting platform (5), the driving ends of the driving units are movably connected with adjusting slide block assemblies, and the adjusting slide block assemblies are further connected to the rotating platform (1) through flexible rod pieces (3).
2. The two-degree-of-freedom flexible joint with variable rigidity according to claim 1, wherein the driving unit comprises a plurality of connecting bases (427) uniformly arranged at the outer edges of the top of the mounting platform (5), each connecting base (427) is connected with a direct current motor (428) through a fixed base (426), the driving end of the direct current motor (428) penetrates through the surface of the fixed base (426) to be connected with a lower bevel gear (425), the lower bevel gear (425) is meshed with an upper bevel gear (424) on the outer side of the connecting base (427), the other end of the upper bevel gear (424) penetrates through the connecting base (427) to be connected with a screw rod (421), sliding nuts (422) are sleeved on the surface of the screw rod (421), one end, close to the screw rod (421), of the connecting base (427) is symmetrically provided with guide rails (423), and one ends, far away from the connecting base (427), of the screw rod (421) are connected to the surface of a central cylinder.
3. The two-degree-of-freedom flexible joint with variable rigidity according to claim 2, wherein the rigidity adjusting slide block assembly comprises a rigidity adjusting slide block (411) and a sliding adjusting slide block (412), the rigidity adjusting slide block (411) and the sliding adjusting slide block (412) are fixedly connected through a bolt (7), a rolling bearing (414) is arranged at the center of the surface of the rigidity adjusting slide block (411), a step hole and a sliding bearing (413) are respectively arranged on the surface of the sliding adjusting slide block (412) corresponding to the screw rod (421) and the guide rail (423), a sliding nut (422) is fixedly connected inside the step hole through a plurality of uniformly arranged screws (8), and the guide rail (423) is movably connected inside the sliding bearing (413).
4. The two-degree-of-freedom flexible joint with variable rigidity according to claim 3, wherein the flexible rod piece (3) is connected inside the rolling bearing (414) in a penetrating manner, one end of the flexible rod piece (3) is fixedly connected with the fixed block (16), the other end of the flexible rod piece (3) is fixedly connected with the central cylinder, the fixed block (16) is fixedly connected with the bottom of the L-shaped connecting block (12) through the bolt (7), and the position of the L-shaped connecting block (12) corresponding to the rigidity adjusting mechanism is arranged at the edge of the bottom of the rotary platform (1).
5. The two-degree-of-freedom flexible joint with variable rigidity according to claim 1, wherein the rotating platform (1) comprises a moving platform (11), a spring cavity (13) is fixedly connected to the center of the bottom of the moving platform (11), and the tail end of the bottom of the spring cavity (13) is connected to the center of the top of the central column body through a ball joint (15).
6. The two-degree-of-freedom flexible joint with variable rigidity according to claim 5, wherein the spring cavity (13) comprises an upper cavity (131) fixedly connected to the center of the bottom of the movable platform (11) through a bolt (7), a damping spring (14) is arranged in the upper cavity (131), a lower cavity (132) is further arranged at the bottom of the damping spring (14), one end of the lower cavity (132) is sleeved in the upper cavity (131), the tail end of the bottom of the upper cavity (131) is fixedly connected with a connecting gasket (133) through the bolt (7), and the other end of the lower cavity (132) is arranged through the connecting gasket (133).
7. The two-degree-of-freedom flexible joint with variable rigidity according to claim 5, wherein the central column comprises a lower column (22) arranged at the center of the surface of the mounting platform (5), the top of the lower column (22) is connected with an upper column (21), a joint base (23) is arranged at the center of the surface of the upper column (21), and the joint base (23) is hinged with the ball joint (15).
8. The two-degree-of-freedom flexible joint with variable rigidity according to claim 7, wherein the mounting platform (5) comprises a fixed platform (51), a mounting gasket (52) is connected to the bottom of the fixed platform (51) through a plurality of uniformly arranged screws (8), a plurality of mounting studs (53) are uniformly distributed on the mounting gasket (52), and the mounting studs (53) are in threaded connection with the working platform or the base.
9. The two-degree-of-freedom flexible joint with variable rigidity according to claim 8, wherein the identification module comprises a plurality of visual sensing modules (61) arranged on the surface of the fixed platform (51) and a plurality of coding identification patches (62) arranged on the bottom surface of the movable platform (11), the visual sensing modules (61) and the coding identification patches (62) are correspondingly arranged, and an included angle between the visual sensing modules (61) and the coding identification patches (62) in the same longitudinal direction and the adjacent rigidity adjusting mechanism is 45 degrees.
10. The two-degree-of-freedom flexible joint with variable rigidity according to claim 9, wherein the visual sensing module (61) is composed of a Raspberry Pi camera module, and the visual sensing module (61) is used for recognizing the change of the coded recognition patch (62) and judging the gesture of the movable platform (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202511339646.7A CN120816530B (en) | 2025-09-19 | 2025-09-19 | Two-degree-of-freedom flexible joint with variable rigidity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202511339646.7A CN120816530B (en) | 2025-09-19 | 2025-09-19 | Two-degree-of-freedom flexible joint with variable rigidity |
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| CN120816530A true CN120816530A (en) | 2025-10-21 |
| CN120816530B CN120816530B (en) | 2025-11-21 |
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| CN202511339646.7A Active CN120816530B (en) | 2025-09-19 | 2025-09-19 | Two-degree-of-freedom flexible joint with variable rigidity |
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| Publication number | Publication date |
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| CN120816530B (en) | 2025-11-21 |
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