CN110091353A - A kind of interior cabling variation rigidity joint of robot module - Google Patents
A kind of interior cabling variation rigidity joint of robot module Download PDFInfo
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- CN110091353A CN110091353A CN201910315049.9A CN201910315049A CN110091353A CN 110091353 A CN110091353 A CN 110091353A CN 201910315049 A CN201910315049 A CN 201910315049A CN 110091353 A CN110091353 A CN 110091353A
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- 238000013461 design Methods 0.000 claims description 11
- 238000007789 sealing Methods 0.000 claims description 6
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- 230000006835 compression Effects 0.000 description 4
- 238000007906 compression Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 208000037873 arthrodesis Diseases 0.000 description 2
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- 230000003993 interaction Effects 0.000 description 2
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- 238000012827 research and development Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 206010023230 Joint stiffness Diseases 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kind of interior cabling variation rigidity joint of robot modules, mainly include importation, output par, c and stiffness tuning part；The adjusting of module rigidity can be realized by adjusting balance pivot, when balance pivot position changes, the arm of force of lever can change zero between infinity than can also change zero between infinity so as to cause the rigidity value of this module.Bearing is equipped between importation and output par, c to bear non-torque load and make to relatively rotate between the two.When the output par, c of variation rigidity module is by external transient load, load is absorbed by cam-type lever transmission to spring, to reduce external impact, realize flexible drive output, improves the robustness and operation stability of robot.The compact-sized, at low cost of this programme, rigidity realize linear regulation within the specified range, and can be with hollow cabling, therefore what be can be convenient applies in various interactive devices, especially in flexible machine person joint.
Description
Technical field
The present invention relates to robot field more particularly to a kind of interior cabling variation rigidity joint of robot modules.
Background technique
With the high speed development of modern industrial technology, the application range of robot sharply extends, and man-machine collaboration is increasingly close.
Along with deepening continuously for human-computer interaction degree, the working environment of robot becomes complicated and there is very big uncertainty, with
Shi Keneng collides with the object in ambient enviroment, people, this proposes very high requirement to the safety of robot.Such as machine
People need to adjust joint stiffness, the active/passive flexibility of joint of robot according to the variation dynamic of external environment and own load.Cause
This, is added high-performance, compact-sized variation rigidity mechanism in cooperation joint of robot to make robot have flexibility
Become cooperation one technological difficulties of robot field.So being badly in need of the superior variation rigidity module of a batch to promote the robot that cooperates
Constantly advance.
At the same time, Robot industry is quickly grown, and demand is big, the design cycle is long.Therefore modular design philosophy
It is increasingly used, is decomposed from mechanism and control by the common function to robot, shape by everybody in robot field
At multiple functional modules with standalone feature, by reconstruct, composition applies required robot modeling.To a certain extent
The application cost of robot is reduced, research and development speed is accelerated and reduces R&D risk.
In terms of variation rigidity, domestic and international researcher has been developed that much variation rigidity mechanisms based on different principle.But
The design of existing variation rigidity is more or less there is some shortcomings, for example volume, weight is larger or versatility is not high or rigidity
Adjustable range is small, or can not hollow cabling etc..In this case being difficult to be applied to compact-sized, quality needs as light as possible, rigidity
In the big joint of robot of adjustable range.
Through retrieving, the Chinese invention patent of Publication No. CN106914917A, a kind of compact variation rigidity of the patent disclosure
Rotate flexible joint, it is characterised in that the flexible joint includes joint drive disk, joint output panel, the passive inner disc in joint, first
Cam, the first passive stiffness-shift adjusting seat, first group of compressed spring, optical axis, the first variation rigidity adjusting seat, worm screw structure,
Second variation rigidity adjusting seat, second group of compressed spring, the second passive stiffness-shift adjusting seat, the second cam, roller gear, worm screw,
Absolute type encoder, motor and arc rack.The patent realizes variation rigidity using two pairs of compressed springs and cam structure, by convex
The passive decrement for changing spring of wheel and motor change amount of spring compression actively to change rigidity.But the patent does not have rigidity to put
Big structure causes stiffness tuning range smaller, using two pairs of compressed springs but also the volume of variation rigidity rotation flexible joint
It is larger.At the same time, the joint structure is complicated, and inside can not hollow cabling.
Therefore, the prior art requires further improvement and perfect.
Summary of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of interaction peaces that machine human and environment can be improved
Quan Xing, robustness and operation stability it is hollow walk wire type joint of robot variation rigidity module.
The purpose of the invention is achieved by the following technical solution:
A kind of interior cabling variation rigidity joint of robot module, the joint module mainly include for connecting motor power output
The importation at end, the output par, c for connecting next joint module and for adjust importation and output section point it
Between rigidity stiffness tuning part.First bearing is equipped between the importation and output par, c, to bear entire module
Non-torque load and relatively rotate importation can with output par, c.
Specifically, the importation includes pedestal and base bearing retaining ring.The base bearing retaining ring and pedestal are solid
It connects, and is fixed together with the outer ring of first bearing.The guide groove for constraining stiffness tuning part is additionally provided in the pedestal.It leads
To sliding block and the guide groove of roller mounting rack.
Specifically, the output par, c include output panel, output panel end ring, it is hollow walk spool two, hollow chute
And it is hollow walk spool.The inner ring of first bearing is fixed together by the output panel with output panel end ring.In output panel
Center be equipped with centre bore, by interior six point cylindrical head bolt respectively by the hollow chute on top and it is hollow walk spool two connect
Together, the half opening of lower part it is hollow walk spool be fixed together with hollow chute.
Specifically, the stiffness tuning part includes fulcrum fine tuning cam, spring sealing plate, spring mounting seat, spring, roller
Mounting rack, roller, shaft block ring, cam-type lever, axle sleeve, guide runner, the second shaft and roller bearing follower.Institute
It states roller bearing follower, the second shaft and guide runner to set gradually from top to bottom, and is integrally formed for adjusting rigidity
Stiffness tuning fulcrum.Cam-type lever bottom is equipped with the cavity for adjusting stiffness tuning fulcrum.The roller bearing
It is arranged in cavity at the top of follower, and can be slided in cavity, and cam-type lever can be rotated around stiffness tuning fulcrum.It is described
Fulcrum fine tuning cam is located at below cam-type lever, and one end is equipped with the sliding for adjusting stiffness tuning position of the fulcrum and slots.
Second shaft is nested in sliding fluting.Cam-type lever one end is equipped with boss, and passes through axle sleeve and shaft block ring
It is driven and cooperates with output panel.The outer profile of the cam-type lever is cam curve, and outer surface is installed by roller and roller
Frame acts on spring.One end of the spring is fixed on spring sealing plate by spring mounting seat, and the other end is fixed in roller peace
It shelves.The roller is arranged in roller mounting rack, and can relatively rotate.The roller is located at the two sides of cam-type lever,
Abut it with the cam end of cam-type lever by the pressure of spring, so that importation be made to act on the power on roller convex
It is output on the output panel of output par, c under the action of wheeled lever principle.
Further, the rigidity of joint module is adjusted at any time for convenience, stiffness tuning part of the present invention further includes
For the second bearing of manual fine-tuning rigidity, closely-pitched adjustment bolt, backing plate, adjustment gear, adjusting gear rack, first rotating shaft, small tooth
Wheel and sector rack.The backing plate is fixed on the bottom of base.The pinion gear, second bearing, adjustment gear are mutually solid
Determine and be arranged in first rotating shaft from top to bottom, can be rotated around first rotating shaft, the first rotating shaft is fixed on backing plate.The fan
Shape rack gear is fixed on the other end of fulcrum fine tuning cam, with adjustment gear engaged transmission, is realized and is driven branch by adjustment gear
Point fine tuning cam rotation, to change the position of stiffness tuning fulcrum.One end of the closely-pitched adjustment bolt and adjusting gear rack spiral shell
Line connection, driving adjusting gear rack are moved forward and backward, and the other end extends on base.The adjusting gear rack and pinion gear engaged transmission,
Realize driving adjustment gear rotation.
As a preferred solution of the present invention, it is influenced to avoid roller bearing follower from moving left and right when adjusting rigidity
The precision of rigidity is adjusted, the shape of cavity of the present invention is class elliptic design, to limit the left and right of roller bearing follower
Offset.
Further, in order to make roller, smooth sliding is without running out of outside roller mounting rack in roller mounting rack, the present invention
The upper end of the roller is additionally provided with boss, and the boss and roller mounting rack are clamped, and realization prevents roller in roller mounting rack
Axial movement.
As a preferred solution of the present invention, in order to improve the precision of stiffness tuning, sliding fluting of the present invention is arc
Design, the distance between the slot heart and fulcrum fine tuning cam center are gradually reduced or increase to the other end from one end of sliding fluting
Greatly.
As a preferred solution of the present invention, the side of the hollow chute is C-shaped design, and the upper end is located at cam-type thick stick
The top of bar, with it is hollow walk spool two connect, lower end is located at the lower section of cam-type lever, with hollow cabling axis connection.
The implementation of variation rigidity of the present invention uses lever principle, and module rigidity can be realized by adjusting balance pivot
It adjusts, when balance pivot position changes, the arm of force of lever leads to this module than can also change zero between infinity
Rigidity value can change zero between infinity.Bearing is equipped between importation and output par, c to bear non-torque load
And make to relatively rotate between the two.When the output par, c of variation rigidity module is by external transient load, cam is passed through in load
Formula lever transmission is absorbed to spring, to reduce external impact, realize flexible drive output, improves the robust of robot
Property and operation stability.The present invention also has the advantages that compact-sized, at low cost, and rigidity can be realized linearly within the specified range
It adjusts, and can be with hollow cabling, therefore what be can be convenient applies in various interactive devices, especially flexible robot is closed
In section.
Working process and principle of the invention are: in actual work, variation rigidity module provided by the present invention is mainly applied
In joint of robot, the pedestal of variation rigidity module is mounted on the retarder output end of joint of robot, output panel by bolt
By bolt and next arthrodesis, the cable in next joint may pass through hollow chute, it is hollow walk spool and hollow cabling
Axis two carries out internal cabling, and when being loaded into robot by the interference in external environment or suddenly by load, load passes through
Output panel passes at spring after cam-type lever and smooths out the function and effect of load, so that robot be protected not broken
Operation stability that is bad, improving robot etc..In variation rigidity module works, output par, c, cam-type lever can be relative to flat
The deflection of certain angle occurs for weighing apparatus position, increases so as to cause an amount of spring compression, the decrement of another opposite spring
It reduces, is loaded by the force balance external world generated between spring.Also there is structure to be simple and convenient to operate, be easy in fact by the present invention
The advantages of applying.
Compared with prior art, it also have the advantage that
(1) fulcrum that interior cabling variation rigidity joint of robot module provided by the present invention uses specific profile is finely tuned convex
Wheel, so that the rigidity value of module is linear with the rotation angle of fulcrum fine tuning cam in a certain range.
(2) interior cabling variation rigidity joint of robot module provided by the present invention uses the two of cam-type lever and output panel
Grade amplification, can export big rigidity value to need to only fight spring and provide small rigidity value, therefore can be great
Reduce the overall dimensions of entire variation rigidity module.
(3) spring that interior cabling variation rigidity joint of robot module provided by the present invention is equipped with can be applied with buffering external
Load while improving the robust of robot so as to reduce the external impact of joint of robot, realize flexible drive output
Property and operation stability.
(4) it is provided by the present invention it is hollow walk wire type joint of robot variation rigidity module novelty use cam-type lever
Structure, the position of the fulcrum that need to only change lever can change the rigidity of module.Therefore variation rigidity machine can be considerably reduced
The number of parts of structure, to accomplish compact-sized, light quality, stiffness tuning range is big.
(5) it is provided by the present invention it is hollow walk wire type joint of robot variation rigidity module use modular design side
Method, to reduce application cost of the invention to a certain extent and can quickly be applied in other equipment.Such as in machine
The function of series elastic driver can be realized after exporting mating reaction with traditional retarder in person joint.
(6) it is provided by the present invention it is hollow walk wire type joint of robot variation rigidity module adjusted by using bolt of serration
The fulcrum of lever both can guarantee the fine tuning of rigidity while can use the constant of the self-locking performance guarantee position of the fulcrum of fine thread
Property.By changing the position of fulcrum to change the ratio of resistance arm Yu main force's arm, therefore rigidity value can be from zero to infinity.
(7) it is provided by the present invention it is hollow walk wire type joint of robot variation rigidity module output disk center be equipped with happy hole,
Hollow chute and it is hollow walk spool be connected by bolt, by both ends it is hollow walk spool and intermediate hollow chute, can
It is convenient to carry out the hollow cabling of robot interior, keep structure more compact.
Detailed description of the invention
Fig. 1 be it is provided by the present invention it is hollow walk wire type joint of robot variation rigidity module overall structure diagram.
Fig. 2 be it is provided by the present invention it is hollow walk wire type joint of robot variation rigidity module schematic diagram of internal structure 1.
Fig. 3 be it is provided by the present invention it is hollow walk wire type joint of robot variation rigidity module schematic diagram of internal structure 2；
Fig. 4 be it is provided by the present invention it is hollow walk wire type joint of robot variation rigidity module schematic diagram of internal structure 3；
Fig. 5 be it is provided by the present invention it is hollow walk wire type joint of robot variation rigidity module schematic diagram of internal structure 4.
Fig. 6 be it is provided by the present invention it is hollow walk wire type joint of robot variation rigidity module hollow Wiring structure signal
Figure.
Fig. 7 is the perspective view one of cam-type lever provided by the present invention.
Fig. 8 is the perspective view two of cam-type lever provided by the present invention.
Fig. 9 is the main view that fulcrum provided by the present invention finely tunes cam.
Figure 10 is the perspective view that fulcrum provided by the present invention finely tunes cam.
Figure 11 is the partial schematic diagram one at cam-type lever provided by the present invention.
Figure 12 is the partial schematic diagram two at cam-type lever provided by the present invention.
Figure 13 is the partial schematic diagram three at cam-type lever provided by the present invention.
Figure 14 is the partial schematic diagram four at cam-type lever provided by the present invention.
Label declaration in above-mentioned attached drawing:
The importation 1-, 2- output par, c, 3- stiffness tuning part, 4- first bearing, 101- pedestal, 102- base bearing
Retaining ring, six point cylindrical head bolt in 103-, 201- output panel, 202- output panel end ring, the hollow chute of 203-, in 204-
Sky walks spool, six point cylindrical head bolt in 205-, 206- it is hollow walk spool two, 301- second bearing, 302- closely-pitched adjustment bolt,
303- backing plate, 304- adjustment gear, 305- adjusting gear rack, 306- first rotating shaft, 307- pinion gear, 308- fan rack gear, 309-
Fulcrum fine tuning cam, 310- spring sealing plate, 311- spring mounting seat, 312- spring, 313- roller mounting rack, 314- roller,
315- shaft block ring, 316- cam-type lever, 317- axle sleeve, 318- guide runner, the second shaft of 319-, 320- roller bearing with
Dynamic device.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer and more explicit, right as follows in conjunction with drawings and embodiments
The present invention is described further.
Embodiment 1:
As shown in figs. 1 to 14, present embodiment discloses a kind of interior cabling variation rigidity joint of robot module, the variation rigidities
Module mainly includes importation 1, output par, c 2 and stiffness tuning part 3.The importation 1 and output par, c 2 it
Between be equipped with first bearing 4, to bear the non-torque load of entire module and make importation 1 and output par, c 2 can relatively rotate
The importation 1 is connect by stiffness tuning part 3 with output par, c 2, realizes that the variation rigidity between joint module is adjusted.
Specifically, the importation 1 includes pedestal 101 and base bearing retaining ring 102, the base bearing retaining ring
102 are bolted with pedestal 101, and are fixed together with the outer ring of first bearing 4.The pedestal 101 is equipped with necessity
Installation hole location and mitigate structure.The guide groove of constraint guide runner 318 and roller mounting rack 313 is additionally provided in the pedestal 101.
102 surface of base bearing retaining ring is equipped with positive stop lug boss, to constrain maximum rotation angle.
Specifically, the output par, c 2 include output panel 201, output panel end ring 202, hollow chute 203 and
It is hollow walk spool 204.The inner ring of first bearing 4 is fixed in output panel end ring 202 by bolt by the output panel 201
Together, 202 edge of output panel end ring is equipped with postive stop baffle, to constrain maximum rotation angle.In output panel 201
Center, which is equipped with, facilitates the centre bore of internal cabling, by interior six point cylindrical head bolt 205 by hollow chute 203 and hollow cabling
Axis 2 206 links together, the half opening of lower part it is hollow walk spool 204 pass through interior six point cylindrical head bolt and hollow chute
203 are connected.
Specifically, the stiffness tuning part 3 includes second bearing 301, closely-pitched adjustment bolt 302, backing plate 303, adjusts
Gear 304, adjusting gear rack 305, first rotating shaft 306, pinion gear 307, sector rack 308, fulcrum fine tuning cam 309, spring envelope
Plate 310, spring mounting seat 311, spring 312, roller mounting rack 313, roller 314, shaft block ring 315, cam-type lever 316,
Axle sleeve 317, guide runner 318, the second shaft 319, roller bearing follower 320 etc..Wherein, roller bearing follower 320,
Two shafts 319 and guide runner 318 are integrally formed stiffness tuning fulcrum, and the cam-type lever 316 can be around stiffness tuning branch
Point is freely rotated, and 316 one end of cam-type lever is equipped with boss and is driven by axle sleeve, shaft block ring 315 and output panel 201
Cooperation, the outer profile of cam-type lever 316 are cam curve, the roller 314 as driven member under the pretightning force of spring 312,
It is bonded with the outer ring of cam-type lever 316, the roller 314 is installed in roller mounting rack 313, and can be relatively rotated, roller
314 upper end is provided with positive stop lug boss, can prevent the axial movement of roller 314, and the lower end of roller mounting rack 313 is limited in
In the guide groove of spring mounting seat 311,312 one end of spring is mounted in spring mounting seat 311, bears elastic force by spring sealing plate 310,
In other end installation and roller mounting rack 313.
Specifically, closely-pitched adjustment bolt 302, backing plate 303, second bearing 301, adjustment gear 304, adjusting gear rack 305,
One shaft 306, pinion gear 307, sector rack 308, the fulcrum fine tuning composition of cam 309 manually adjust rigidity supporting point mechanism, described
Stiffness tuning fulcrum can be adjusted by closely-pitched adjustment bolt 302 via a series of rigidity supporting point mechanism that manually adjusts of transmissions
It is whole.
The guide runner 318 is arranged in 101 guide groove of pedestal and cooperates with guide groove, the roller bearing follower 320
It is arranged in 316 groove of cam-type lever, and cooperates with groove.The middle part of the guide runner 318 passes through threaded hole and second
Shaft 319 connects.
Fulcrum fine tuning cam 309 and importation 1,2 concentric fit of importation are simultaneously fixed on bearing inner race, bearing
Outer ring is installed on pedestal 101.
As a preferred solution of the present invention, two springs 312 of the invention are positioned opposite on the same axis and first
The decrement having the same of spring 312 when beginning position.
As a preferred solution of the present invention, of the present invention by roller bearing follower 320, the second shaft 319 and to lead
The position for being integrally formed stiffness tuning fulcrum to sliding block 318 can be adjusted by manually form, by adjusting bolt of serration
302 can quickly adjust the position of fulcrum.
Specific adjustment is as follows: by adjusting closely-pitched adjustment bolt 302, driving adjusting gear rack 305 mobile, pinion gear 307
With 305 engaged transmission of adjusting gear rack, pinion gear 307 is rotate in same direction with adjustment gear 304 by first rotating shaft 306, adjustment gear
304 engage with sector rack 308, and sector rack 308 and fulcrum fine tuning cam 309 are connected by screw, and band activity supporting point is finely tuned convex
309 rotation of wheel, fulcrum fine tuning cam 309 are provided with variable diameter notch, and the second shaft 319 passes through notch, with 318 phase of guide runner
Even, guide runner 318 moves in the groove of pedestal 101 since fulcrum finely tunes the rotation of cam 309, thus changes fulcrum
Position.
In order to protect variation rigidity module, because the compression distance of spring 312 is certain, the maximum deflection of output panel 201
There is limitation in angle, specially 102 surface of base bearing retaining ring is provided with positive stop lug boss, and 202 edge of output panel end ring is set
There is postive stop baffle, postive stop baffle contacts positive stop lug boss, that is, reaches maximum deflection angle.
Working process and principle of the invention are: in actual work, variation rigidity module provided by the present invention is mainly applied
In joint of robot, the pedestal 101 of variation rigidity module is mounted on the retarder output end of joint of robot by bolt, output
Disk 201 by bolt and next arthrodesis, the cable in next joint may pass through hollow chute 203 and it is hollow walk spool 204
Internal cabling is carried out, when being loaded into robot by the interference in external environment or suddenly by load, load passes through output
Disk 201 passes at spring 312 after cam-type lever 316 and smooths out the function and effect of load, to protect robot not
It is destroyed, improves the operation stability etc. of robot.Output par, c 2,316 meeting of cam-type lever in variation rigidity module works
The deflection of certain angle occurs relative to equilbrium position, the amount of compression increases so as to cause one of spring 312, and opposite is another
The decrement of a spring 312 is reduced, and is loaded by the force balance external world generated between spring 312.The present invention also has structure
It is simple and convenient to operate, is easy the advantages of implementing.
It, can be with when needing to adjust Robot Stiffness it should be further noted that in the technical scheme of this embodiment
By rotating bolt of serration 302, guide runner 318 is quickly adjusted and arrives suitable position, so that module rigidity be made to reach certainly
Own desirable value.
In design, it should be noted that, the quantity of pressure spring should not be limited to two in embodiment, and other quantity is also can
It is capable, it is contemplated that make as far as possible it is compact-sized, two pressure springs in embodiment be it is proper, if necessary to increase load,
It is contemplated that increasing the item number of pressure spring；In stiffness tuning mode, it is also contemplated that making compact-sized adopt as far as possible in embodiment
It is manual form, the adjusting of rigidity can be carried out using electronic form completely when size requires being not very high.
It should be noted that Fig. 1 to embodiment shown in fig. 6 be a preferred embodiment being introduced of the present invention, this
Field technical staff on this basis, can be designed that more embodiments completely.The foregoing description of the disclosed embodiments,
It enables those skilled in the art to implement or use the present invention.Profession of the various modifications to these embodiments to this field
It will be apparent for technical staff, the general principles defined herein can not depart from spirit or model of the invention
In the case where enclosing, realize in other embodiments.Therefore, the present invention will not be limited to the embodiments shown herein,
But the widest range consistent with principles disclosed herein and novel features.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, other any changes, modifications, substitutions, combinations, simplifications made without departing from the spirit and principles of the present invention,
It should be equivalent substitute mode, be included within the scope of the present invention.
Claims (6)
1. a kind of interior cabling variation rigidity joint of robot module, which is characterized in that including for connecting motor power output end
Importation, the output par, c for connecting next joint module and for adjusting between importation and output par, c
The stiffness tuning part of rigidity；First bearing is equipped between the importation and output par, c, to bear the non-of entire module
Torque load simultaneously relatively rotate importation can with output par, c；
The importation includes pedestal and base bearing retaining ring, and the base bearing retaining ring and pedestal are affixed, and with first
The outer ring of bearing is fixed together；The guide groove for constraining stiffness tuning part is additionally provided in the pedestal；Guide runner and rolling
The guide groove of column mounting rack；
The output par, c include output panel, output panel end ring, it is hollow walk spool two, hollow chute and hollow cabling
Axis；The inner ring of first bearing is fixed together by the output panel with output panel end ring；In the center of output panel is equipped with
Heart hole, by interior six point cylindrical head bolt respectively by the hollow chute on top and it is hollow walk spool two link together, lower part
Half opening it is hollow walk spool be fixed together with hollow chute；
The stiffness tuning part includes fulcrum fine tuning cam, spring sealing plate, spring mounting seat, spring, roller mounting rack, rolling
Column, shaft block ring, cam-type lever, axle sleeve, guide runner, the second shaft and roller bearing follower；The roller bearing
Follower, the second shaft and guide runner are set gradually from top to bottom, and are integrally formed the stiffness tuning for adjusting rigidity
Fulcrum；Cam-type lever bottom is equipped with the cavity for adjusting stiffness tuning fulcrum；At the top of the roller bearing follower
It is arranged in cavity, and can be slided in cavity, and cam-type lever can be rotated around stiffness tuning fulcrum；The fulcrum fine tuning is convex
Wheel is located at below cam-type lever, and one end is equipped with the sliding for adjusting stiffness tuning position of the fulcrum and slots；Described second turn
Axis is nested in sliding fluting；Cam-type lever one end is equipped with boss, and is passed by axle sleeve and shaft block ring and output panel
Dynamic cooperation；The outer profile of the cam-type lever is cam curve, and outer surface acts on bullet by roller and roller mounting rack
Spring；One end of the spring is fixed on spring sealing plate by spring mounting seat, and the other end is fixed on roller mounting rack；It is described
Roller is arranged in roller mounting rack, and can relatively rotate；The roller is located at the two sides of cam-type lever, passes through the pressure of spring
Power abuts it with the cam end of cam-type lever, so that importation be made to act on the power on roller in cam-type lever principle
Under the action of be output on the output panel of output par, c.
2. interior cabling variation rigidity joint of robot module according to claim 1, which is characterized in that the stiffness tuning portion
Dividing further includes the second bearing for manual fine-tuning rigidity, closely-pitched adjustment bolt, backing plate, adjustment gear, adjusting gear rack, first turn
Axis, pinion gear and sector rack；The backing plate is fixed on the bottom of base；The pinion gear, second bearing, adjusting tooth
Wheel is fixed to each other and is arranged in first rotating shaft from top to bottom, can rotate around first rotating shaft, the first rotating shaft is fixed on backing plate
On；The sector rack is fixed on the other end of fulcrum fine tuning cam, and with adjustment gear engaged transmission, realization passes through adjusting tooth
Wheel drive fulcrum finely tunes cam rotation, to change the position of stiffness tuning fulcrum；One end of the closely-pitched adjustment bolt and tune
It saves rack gear to be threadedly coupled, driving adjusting gear rack is moved forward and backward, and the other end extends on base；The adjusting gear rack is nibbled with pinion gear
Transmission is closed, realizes driving adjustment gear rotation.
3. interior cabling variation rigidity joint of robot module according to claim 1, which is characterized in that the shape of the cavity
For class elliptic design.
4. interior cabling variation rigidity joint of robot module according to claim 1, which is characterized in that the upper end of the roller
It is additionally provided with boss, the boss and roller mounting rack are clamped, and realization prevents roller from moving axially in roller mounting rack.
5. interior cabling variation rigidity joint of robot module according to claim 1, which is characterized in that the sliding, which is slotted, is
Cambered design, the slot heart and fulcrum fine tuning the distance between cam center be gradually reduced from one end of sliding fluting to the other end or
Increase.
6. interior cabling variation rigidity joint of robot module according to claim 1, which is characterized in that the hollow chute
Side be C-shaped design, the upper end is located at the top of cam-type lever, with it is hollow walk spool two connect, lower end is located at cam
The lower section of formula lever, with hollow cabling axis connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910315049.9A CN110091353B (en) | 2019-04-18 | 2019-04-18 | Internally-wiring rigidity-variable robot joint module |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN111839366A (en) * | 2020-07-29 | 2020-10-30 | 马鞍山迈若斯机器人科技有限公司 | Mobile robot with autonomous following and obstacle avoidance functions |
| CN112297051A (en) * | 2020-05-19 | 2021-02-02 | 北京邮电大学 | Variable-rigidity joint system based on air cylinder |
| CN112643710A (en) * | 2020-12-10 | 2021-04-13 | 深圳市润谊泰益科技有限责任公司 | Variable torque output device and robot |
| CN113334424A (en) * | 2021-06-24 | 2021-09-03 | 北京航空航天大学 | Robot safety joint device based on variable stiffness principle |
| CN113334360A (en) * | 2021-06-25 | 2021-09-03 | 北京航空航天大学 | Reconfigurable compact variable-stiffness driver |
| CN114636711A (en) * | 2022-03-22 | 2022-06-17 | 业成科技（成都）有限公司 | A verifying attachment for display screen |
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| CN114636711B (en) * | 2022-03-22 | 2023-11-21 | 业成科技（成都）有限公司 | Inspection device for display screen |
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