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[CN 202110701982.7] a continuously rotating passive follow-up hydraulic robot rotary joint
[CN 202110701982.7] A continuously rotatable passive follow-up hydraulic robot rotary joint Title: A continuously rotatable passive follow-up hydraulic robot rotary joint Application Number: CN 202110701982.7 Applicant: Wuhan University of Science and Technology Application Date: 2021-6-24 Patent Type: Invention Application The invention discloses a continuously rotatable passive follow-up hydraulic robot rotary joint, including valve core, valve sleeve, valve body, hydraulic cylinder, hydraulic motor and variable stiffness mechanism, the valve core, valve sleeve and valve body are coaxially installed in the hydraulic cylinder in turn. The output shaft of the valve core and valve body extends from the right end of the hydraulic cylinder through the hydraulic motor and is connected with the flexible output mechanism. The valve core, valve sleeve, valve body, hydraulic cylinder, hydraulic motor and high and low pressure oil circuits form a hydraulic angle self-servo mechanism. The variable stiffness mechanism includes a separating disc, a sweeping arm disc and a load disc, power is transmitted between the sweeping arm disc and the separation disc through a primary flexible mechanism, and power is transmitted between the load disc and the sweeping arm disc through a secondary flexible mechanism; the present invention can quickly switch to a low stiffness mode when the joint encounters an accidental collision, To ensure the safety of the outside world and the entire mechanism, after the collision, the joint can automatically restore the high stiffness mode and continue normal operation.
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