The invention discloses a variable stiffness flexible joint of a wall-climbing robot based on a variable fulcrum. The rigidity adjusting mechanism comprises a driving disc, a driven disc, a steering engine fixedly arranged on the driving disc, a gear fixedly arranged on an output shaft of the steering engine, a rack meshed with the gear, a connecting piece fixedly connected with the rack, a second sliding block fixedly connected with the connecting piece and a second linear sliding rail arranged on the driven disc. The steering engine drives the second sliding block to move along the second linear sliding rail through a gear rack, one end of the second linear sliding rail is connected with the driven disc through a tension spring, and the other end is rotationally connected with the driven disc through a rotating shaft. The power input mechanism drives the driving disc to rotate, and the power output mechanism is used for outputting rotation of the driven disc. The steering engine is matched with the gear and the rack to change the position of the sliding block, so that the length of the arm of force of the lever is changed, and the joint rigidity is adjusted. The linear sliding rail structure is used, friction of the device is greatly reduced, energy dissipation is reduced, and the service life of the device is prolonged.

    本发明公开了一种基于可变支点的爬壁机器人的变刚度柔性关节,刚度调节机构包括主动盘、从动盘、固定设置于主动盘上的舵机、固定设置于舵机输出轴上的齿轮、与齿轮啮合的齿条、与齿条固定连接的连接件、与连接件固定连接的第二滑块、设置于从动盘上的第二直线滑轨,舵机通过齿轮齿条带动第二滑块沿第二直线滑轨移动,第二直线滑轨一端通过拉簧与从动盘连接,另一端通过转动轴与从动盘转动连接;动力输入机构带动主动盘转动,动力输出机构用于将从动盘的转动输出。使用舵机与齿轮齿条配合,改变滑块的位置,从而改变杠杆的力臂长度,实现关节刚度的调节。使用直线滑轨结构使得装置摩擦大幅减小,能量耗散降低,进而提高装置寿命。


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    Title :

    Variable-stiffness flexible joint of wall-climbing robot based on variable fulcrums


    Additional title:

    一种基于可变支点的爬壁机器人的变刚度柔性关节


    Contributors:
    ZHANG LAIXI (author) / MAO LINGXIANG (author) / ZHU SHENGJIE (author)

    Publication date :

    2024-08-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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