CN104647397B - A kind of flexible joint of stiffness variable - Google Patents
A kind of flexible joint of stiffness variable Download PDFInfo
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- CN104647397B CN104647397B CN201510114055.XA CN201510114055A CN104647397B CN 104647397 B CN104647397 B CN 104647397B CN 201510114055 A CN201510114055 A CN 201510114055A CN 104647397 B CN104647397 B CN 104647397B
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- 238000005265 energy consumption Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 206010023230 Joint stiffness Diseases 0.000 description 1
- 206010068052 Mosaicism Diseases 0.000 description 1
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Abstract
The present invention discloses a kind of flexible joint of stiffness variable, this flexible joint comprises lower disc, middle disk, upper disk, outer cover, tune rigidity shell, mair motor power shaft, driven shaft, special shape gear power shaft, driven special shape gear power shaft, adjusts rigidity shaft, bearing, one-level input gear, one-level driven gear, secondary input gear, secondary driven gear, three grades of input gears, three grades of driven gears, adjust rigidity input gear, adjust rigidity driven gear, initiatively special shape gear, driven special shape gear, tune rigidity direct current generator, motor fixed rack and torsion spring; Described lower disc, middle disk are fixedly connected with outer cover with upper disk; Described tune rigidity shell is fixedly connected with upper disk; Described mair motor power shaft and mair motor synchronous rotary, and be connected with one-level input gear by key; Described one-level driven gear and one-level input gear are connected; Described secondary input gear is connected with driven shaft; Described three grades of input gears are connected with driven special shape gear power shaft.
Description
Technical field
The present invention relates to legged type robot technology, be specially a kind of flexible joint of stiffness variable.
Background technology
Legged type robot relies on it to show very strong adaptability with the discontinuous contact characteristic on ground in the process of walking, especially on the passage having barrier or on very inapproachable work-yard, has more vast potential for future development.But at present the research of legged type robot is mostly under test, particularly the reliability of robot in gait processes, stability, speed and with the flexibility of earth surface etc. in still there is many technical problems need to solve.
Legged type robot is in actual walking process, the moment that foot lands can produce huge impulse force, this impulse force is passed to each joint of robot and fuselage by foot by leg, to such an extent as to each joint of robot and fuselage all can produce high vibration, reduce sensing accuracy, broken parts sensitive compressible members, and the stability affecting robot motion.On the other hand, the rigid contact on robot foot section and ground, can lose very most energy, like this on running time of robot and service ability causing very large impact.Therefore, how reducing the impulse force produced with earth surface in robot ambulation process, reduce the spoilage of robot fuselage, sensor and each sensitive compressible members, lower energy loss, is one of the important content that will study of current legged type robot.
Joint of robot is the important component part of robot leg, plays very important effect to legged type robot motion.By bionical research, scholars find biological under different motion state the compliance of leg be not unalterable, but constantly to adjust change along with the difference of external environment and displacement mode.For this reason, people have searched out inspiration from living nature, robot leg joint are adopted to the mode of variation rigidity active flexible bionical driving, reduce robot foot section and to land the impulsive force of process, can complete assigned tasks again simultaneously, improve the adaptability of robot.If robot leg has possessed the characteristic of biological leg, the rigidity and flexibility that can change self to conform, so robot is when completing every operation, utilizes variation rigidity flexible structure to carry out storage and the release of energy, just can greatly reduce the energy consumption of vibration and reduction system.
Existing flexible joint adopts Pneumatic flexible joint mostly, actualizing technology more complicated, such as: Chinese patent CN87107075A discloses a kind of flexible cylinder and bending, torsion knuckle, and its swept volume is surrounded by elastic wall.There is not friction at work and reveal, operationally can do flexure operation in simulating human joint.This structure adopts pneumatic actuation, complicated structure, and flexibility also not easily regulates.
Summary of the invention
For the deficiencies in the prior art, the technical problem that quasi-solution of the present invention is determined is, provides a kind of flexible joint of stiffness variable.The flexible joint of this stiffness variable effectively can reduce the impulsive force that robot produces in walking and running process, realizes storage and the release of energy, for solving existing robot high energy consumption and environmental adaptation sex chromosome mosaicism is laid a good foundation, has good application prospect.
The technical scheme that the present invention solve the technical problem is, design a kind of flexible joint of stiffness variable, this flexible joint comprises lower disc, middle disk, upper disk, outer cover, adjust rigidity shell, mair motor power shaft, driven shaft, special shape gear power shaft, driven special shape gear power shaft, adjust rigidity shaft, bearing, one-level input gear, one-level driven gear, secondary input gear, secondary driven gear, three grades of input gears, three grades of driven gears, adjust rigidity input gear, adjust rigidity driven gear, initiatively special shape gear, driven special shape gear, adjust rigidity direct current generator, motor fixed rack and torsion spring,
Described lower disc, middle disk are fixedly connected with outer cover by bolt with upper disk; Described tune rigidity shell is fixedly connected with upper disk by bolt; Described mair motor power shaft by flange and mair motor synchronous rotary, and is connected with one-level input gear by key; Described one-level driven gear is connected by gears meshing and one-level input gear; Described one-level driven gear is connected with driven shaft by key; Described secondary input gear is connected with driven shaft by key; Described secondary driven gear is connected by gears meshing and secondary input gear; Described active special shape gear power shaft is connected with secondary driven gear by key; Described active special shape gear is connected with active special shape gear power shaft by key; Described driven special shape gear is connected by gears meshing and active special shape gear; Described driven special shape gear power shaft is connected with driven special shape gear by key; Described three grades of input gears are connected with driven special shape gear power shaft by key; Described three grades of driven gears are connected with three grades of input gears by gears meshing; Described tune rigidity shaft and three grades of driven gears are that on-fixed is connected, and can rotate relative to three grades of driven gears; Described tune rigidity direct current generator is fixedly connected on upper disk by bolt and motor fixed rack; Described tune rigidity input gear is connected with tune rigidity direct current arbor by key; Described tune rigidity driven gear is connected with adjusting rigidity input gear by gears meshing, is that on-fixed is connected with tune rigidity shaft, can exchange rigidity shaft mutually and rotate; Described torsion spring is coaxial with tune rigidity shaft, and one end is fixedly connected with three grades of driven gears, and the other end is fixedly connected with tune rigidity driven gear.
Compared with prior art, the flexible joint of stiffness variable of the present invention has the following advantages and beneficial effect: 1, designed stiffness variable flexible joint, by twice gear speed change, the anglec of rotation of special shape gear can be strengthened, even if articulation angle is less like this, rigidity adjustment in a big way also can be realized; 2, the present invention devises special elastic mechanism (i.e. special shape gear and torsion spring), compared with being rigidly connected, can storing/release energy and absorb impact; 3, the present invention has the characteristic of passive stiffness-shift, when joint rotates, drive a pair special shape gear to rotate, change gearratio, driven special shape gear is connected with torsion spring indirectly by gear, thus the change of special shape gear gearratio causes flexible member to export the change of rigidity; 4, the present invention also has active variable stiffness characteristic, adjusts rigidity direct current generator to be rotated the pretension amount changing flexible member by gear, and then changes joint output rigidity, to adapt to different walking phase joint stiffness needs; 5, the stiffness variable flexible joint structure of the present invention's proposition is simple, and volume is little, is easy to install, has good application prospect.
Accompanying drawing explanation
Fig. 1 is the external form perspective view of a kind of embodiment of flexible joint of stiffness variable of the present invention;
Fig. 2 is the removal outer cover of a kind of embodiment of flexible joint of stiffness variable of the present invention and the perspective view after adjusting rigidity shell;
Fig. 3 is the perspective view after the removal tune rigidity shell of a kind of embodiment of flexible joint of stiffness variable of the present invention;
Fig. 4 is the partial enlargement structural representation of a pair special shape gear of a kind of embodiment of flexible joint of stiffness variable of the present invention;
Fig. 5 is the overall cross-sectional view of a kind of embodiment of flexible joint of stiffness variable of the present invention.
Detailed description of the invention
The present invention is described further below in conjunction with embodiment and accompanying drawing thereof.But the claims of the application is not limited to the description scope of described embodiment.
The flexible joint of the stiffness variable of the present invention's design (is called for short flexible joint, see Fig. 1-5), it is characterized in that this flexible joint comprises lower disc 1, middle disk 2, upper disk 3, outer cover 4, adjust rigidity shell 5, mair motor power shaft 6, driven shaft 7, initiatively special shape gear power shaft 8, driven special shape gear power shaft 9, adjust rigidity shaft 10, bearing 11, one-level input gear 12, one-level driven gear 13, secondary input gear 14, secondary driven gear 15, three grades of input gears 16, three grades of driven gears 17, adjust rigidity input gear 18, adjust rigidity driven gear 19, initiatively special shape gear 20, driven special shape gear 21, adjust rigidity direct current generator 22, motor fixed rack 23 and torsion spring 24,
Described lower disc 1, middle disk 2 are fixedly connected with outer cover 4 by bolt with upper disk 3; Described tune rigidity shell 5 is fixedly connected with upper disk 1 by bolt; Described mair motor power shaft 6 by flange and mair motor synchronous rotary, and is connected with one-level input gear 12 by key; Described one-level driven gear 13 is connected by gears meshing and one-level input gear 12; Described one-level driven gear 13 is connected with driven shaft 7 by key; Described secondary input gear 14 is connected with driven shaft 7 by key; Described secondary driven gear 15 is connected by gears meshing and secondary input gear 14; Described active special shape gear power shaft 8 is connected with secondary driven gear 15 by key; Described active special shape gear 20 is connected with active special shape gear power shaft 8 by key; Described driven special shape gear 21 is connected by gears meshing and active special shape gear 20; Described driven special shape gear power shaft 9 is connected with driven special shape gear 21 by key; Described three grades of input gears 16 are connected with driven special shape gear power shaft 9 by key; Described three grades of driven gears 17 to be engaged with three grades of input gears 16 by gears meshing and are connected with three grades of input gears 16; Described tune rigidity shaft 10 is connected for on-fixed with three grades of driven gears 17, can relatively rotate; Described tune rigidity direct current generator 22 is fixedly connected on upper disk 3 by bolt and motor fixed rack 23; Described tune rigidity input gear 18 is connected with tune rigidity direct current generator 22 axle by key; Described tune rigidity driven gear 19 is connected with adjusting rigidity input gear 18 by gears meshing, is connected, can relatively rotates with tune rigidity shaft 10 for on-fixed; Described torsion spring 24 is coaxial with tune rigidity shaft 10, and torsion spring 24 one end is fixedly connected with three grades of driven gears 17, and the other end is fixedly connected with tune rigidity driven gear 19.
The operation principle of flexible joint of the present invention and process are: when flexible joint works, and the present invention can realize passive stiffness-shift and active variable stiffness two kinds of situations:
1. during passive stiffness-shift, adjust rigidity direct current generator 22 not work, initiatively driven by motor mair motor power shaft 6 rotates, and by key, power is reached one-level input gear 12; Moment of torsion is reached one-level driven gear 13 by gears meshing by one-level input gear 12, and by key connection, power is reached driven shaft 7; Power is reached secondary input gear 14 by key by driven shaft 7; Moment of torsion is reached secondary driven gear 15 by gears meshing by secondary input gear 14, and is reached power from active special shape gear power shaft 8 by key connection, and by key, power is reached initiatively special shape gear 20; Initiatively moment of torsion is reached driven special shape gear 21 by gears meshing by special shape gear 20; Driven special shape gear 21 is fixedly connected with torsion spring 24 one end, therefore torsion spring 24 rotational deformation can be driven when driven special shape gear 21 rotates, export flexible force, during the rotation of simultaneously a pair special shape gear, gearratio changes, the opplied moment of torsion spring 24 also can change simultaneously, and then the output rigidity of mechanism is changed.
2. during active variable stiffness, adjust rigidity direct current generator 22 to work, and by key, moment of torsion is reached tune rigidity input gear 18; Adjust rigidity input gear 18, by gears meshing, power is reached tune rigidity driven gear 19; Adjust rigidity driven gear 19 to be fixedly connected with torsion spring 24 one end, when adjusting rigidity driven gear 19 to rotate, driving torsion spring 24 to rotate, changing its pre compressed magnitude, and then change output rigidity.
The present invention does not address part and is applicable to prior art.
Claims (1)
1. a flexible joint for stiffness variable, this flexible joint comprises lower disc, middle disk, upper disk, outer cover, tune rigidity shell, mair motor power shaft, driven shaft, special shape gear power shaft, driven special shape gear power shaft, adjusts rigidity shaft, bearing, one-level input gear, one-level driven gear, secondary input gear, secondary driven gear, three grades of input gears, three grades of driven gears, adjust rigidity input gear, adjust rigidity driven gear, initiatively special shape gear, driven special shape gear, tune rigidity direct current generator, motor fixed rack and torsion spring;
Described lower disc, middle disk are fixedly connected with outer cover by bolt with upper disk; Described tune rigidity shell is fixedly connected with upper disk by bolt; Described mair motor power shaft by flange and mair motor synchronous rotary, and is connected with one-level input gear by key; Described one-level driven gear is connected by gears meshing and one-level input gear; Described one-level driven gear is connected with driven shaft by key; Described secondary input gear is connected with driven shaft by key; Described secondary driven gear is connected by gears meshing and secondary input gear; Described active special shape gear power shaft is connected with secondary driven gear by key; Described active special shape gear is connected with active special shape gear power shaft by key; Described driven special shape gear is connected by gears meshing and active special shape gear; Described driven special shape gear power shaft is connected with driven special shape gear by key; Described three grades of input gears are connected with driven special shape gear power shaft by key; Described three grades of driven gears are connected with three grades of input gears by gears meshing; Described tune rigidity shaft and three grades of driven gears are that on-fixed is connected, and can rotate relative to three grades of driven gears; Described tune rigidity direct current generator is fixedly connected on upper disk by bolt and motor fixed rack; Described tune rigidity input gear is connected with tune rigidity direct current arbor by key; Described tune rigidity driven gear is connected with adjusting rigidity input gear by gears meshing, is that on-fixed is connected with tune rigidity shaft, can exchange rigidity shaft mutually and rotate; Described torsion spring is coaxial with tune rigidity shaft, and one end is fixedly connected with three grades of driven gears, and the other end is fixedly connected with tune rigidity driven gear.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510114055.XA CN104647397B (en) | 2015-03-17 | 2015-03-17 | A kind of flexible joint of stiffness variable |
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| CN201510114055.XA CN104647397B (en) | 2015-03-17 | 2015-03-17 | A kind of flexible joint of stiffness variable |
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| CN104647397B true CN104647397B (en) | 2016-02-03 |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106272537B (en) | 2015-06-01 | 2018-12-28 | 三纬国际立体列印科技股份有限公司 | joint structure |
| CN105328711B (en) * | 2015-11-10 | 2017-03-29 | 哈尔滨工业大学 | A kind of modularity variation rigidity joint |
| WO2017180968A1 (en) * | 2016-04-14 | 2017-10-19 | Marquette University | Variable stiffness series elastic actuator |
| CN106737818B (en) * | 2016-12-26 | 2019-04-12 | 哈尔滨工业大学 | A kind of flexible machine person joint of stiffness variable |
| WO2018119594A1 (en) * | 2016-12-26 | 2018-07-05 | 深圳配天智能技术研究院有限公司 | Method, system, and device for vibration regulation and industrial robot |
| CN106514701B (en) * | 2017-01-12 | 2018-11-02 | 哈尔滨工业大学 | A kind of flexible joint of stiffness variable |
| CN107053245B (en) * | 2017-03-13 | 2023-06-30 | 河北工业大学 | Rotary variable stiffness flexible joint |
| CN106861200A (en) * | 2017-03-24 | 2017-06-20 | 裴少兵 | 360 degree of flexible joints of image |
| CN108725899A (en) * | 2017-04-21 | 2018-11-02 | 上海洲泰轻工机械制造有限公司 | A kind of package body closing device |
| CN107485471B (en) * | 2017-08-22 | 2019-04-26 | 电子科技大学中山学院 | Elastic-driven power type bionic knee joint |
| CN109877808B (en) * | 2019-04-08 | 2019-09-24 | 山东大学 | A kind of stiffness variable driving actuator and robot |
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| WO2014176423A1 (en) * | 2013-04-24 | 2014-10-30 | Marquette University | Variable stiffness actuator with large range of stiffness |
| CN204487594U (en) * | 2015-03-17 | 2015-07-22 | 河北工业大学 | A kind of flexible joint of stiffness variable |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IT1402194B1 (en) * | 2010-09-23 | 2013-08-28 | Fond Istituto Italiano Di Tecnologia | ROTARY JOINT WITH ADJUSTABLE STIFFNESS. |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101890725A (en) * | 2010-07-07 | 2010-11-24 | 北京航空航天大学 | Embedding driver type active control flexible bionic joint |
| CN103029126A (en) * | 2012-12-21 | 2013-04-10 | 北京大学 | Flexibly controllable joint driver |
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