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紧凑型机器人变刚度关节
刘玉旺; 李晓虎; 袁忠秋; 晁俊杰; 刘金国
Department空间自动化技术研究室
Rights Holder中国科学院沈阳自动化研究所
Patent Agent21002 沈阳科苑专利商标代理有限公司
Country中国
Subtype发明
Status公开
Abstract本发明涉及机器人技术领域,具体地说是一种紧凑型机器人变刚度关节,包括驱动机构、调刚机构和变刚度单元,变刚度单元包括输入轴、连接架和输出盘,输入轴与连接架连接,连接架中间设有丝杠、两侧设有输入支撑杆,丝杠上设有两个螺向相反的丝母,输入支撑杆上设有两个滑轮架,且所述滑轮架与对应丝母固连,输出盘两侧设有输出支撑杆,且输出支撑杆上设有两个滑块,每个滑轮架两端设有滑轮,且位于同一侧的滑轮和滑块通过钢丝绳相连,输出支撑杆的两个滑块之间套设有弹簧,输入轴通过驱动机构驱动转动,变刚度单元一端设有调刚固定板,调刚机构设于所述调刚固定板上,且丝杠通过所述调刚机构驱动转动。本发明能够主动实现关节刚度调节。
PCT Attributes
Application Date2019-12-25
2020-04-17
Application NumberCN201911355491.0
Open (Notice) NumberCN111015730A
Language中文
Contribution Rank1
Document Type专利
Identifierhttp://ir.sia.cn/handle/173321/26679
Collection空间自动化技术研究室
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
刘玉旺,李晓虎,袁忠秋,等. 紧凑型机器人变刚度关节[P]. 2020-04-17.
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