ADJUSTABLE STIFFNESS HINGE Russian patent published in 2024 - IPC B25J17/00 F16C11/00 

FIELD: robotics.

SUBSTANCE: invention relates to robotics, namely to drive hinges of robotic manipulators for various purposes, including those operating in a single working area with a person or with objects requiring limitation of the value of possible force action on them. Adjustable stiffness hinge comprises housing, two drive motors, two hinge stiffness adjustment mechanisms and hinge outlet flange. Drive motors are symmetrically fixed on the hinge housing. It contains one common output reduction gear. Stiffness adjustment mechanisms are installed between drive motors and common output reduction gear. Each of the stiffness adjustment mechanisms comprises inlet and outlet rollers, at least one eccentric unit, at least one cable and at least one resilient element. Rollers are installed with possibility of rotation relative to each other around common axis of this mechanism. Eccentric units are installed on output roller with possibility of rotation relative to axis parallel to common axis of stiffness adjustment mechanism. Cables are fixed on one side on the input roller, and on the other side – on the eccentric block. Elastic elements are installed with possibility of transfer of elastic torque from eccentric unit to output roller.

EFFECT: simplified design of hinge, reduced technological complexity of component parts, reduced mechanical losses.

1 cl, 9 dwg