CN104863982A - Variable stiffness shaft coupling and variable stiffness driving mechanism - Google Patents
Variable stiffness shaft coupling and variable stiffness driving mechanism Download PDFInfo
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- CN104863982A CN104863982A CN201410062727.2A CN201410062727A CN104863982A CN 104863982 A CN104863982 A CN 104863982A CN 201410062727 A CN201410062727 A CN 201410062727A CN 104863982 A CN104863982 A CN 104863982A
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- coupling
- variation rigidity
- elastic spring
- reed
- shaft joint
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Abstract
The invention discloses a variable stiffness shaft coupling and a variable stiffness driving mechanism, relates to the field of compliance control of robots and aims to simplify the structure of a VSA (variable stiffness actuator) and increase the adjustable range of transmission stiffness. The variable stiffness shaft coupling comprises a first half coupling and a second half coupling, wherein torque is transmitted between the first half coupling and the second half coupling through elastic reeds, the first half coupling and the second half coupling are supported through an elastic support body, one end of each elastic reed is fixedly connected with the first half coupling, the other end of the elastic reed is glidingly connected with the second half coupling, and the first half coupling can drive the elastic reeds to axially slide relative to the second half coupling. The variable stiffness shaft coupling and the variable stiffness driving mechanism can be used for joint design of a service robot.
Description
Technical field
The present invention relates to robot Shared control field, particularly relate to a kind of variation rigidity shaft joint and variation rigidity driving mechanism.
Background technique
Variation rigidity driver (VSA:Variable Stiffness Actuator) is an important topic of current robot Shared control, is mainly used in the joint designs of service class machine, the driving of man-machine safety interactive class electromechanical equipment and perception.In recent years, European Union, the U.S., Japan is all at the various VSA of develop actively.
Realized at present variation rigidity driver mainly contain following a few class mode:
1, the confrontation type VSA of 2 nonlinear spring tensioning degrees is regulated by a pair motor;
2, the VSA of driver connection rigidity realization is changed by cam mechanism compressive non-linearity spring;
3, VSA is realized by hold-down mechanism adjusting belt tension degree;
4, nonlinear spring is regulated to change the VSA of driver means of fixation realization by a tensioning motor.
Also have the new design of some mutation, such as compressing rubber ball changes the connection rigidity etc. of transmission shaft.
But the VSA complex structure of prior art, takes up room large and transmission rigidity adjustable extent is little.
Summary of the invention
Embodiments of the invention provide a kind of variation rigidity shaft joint and variation rigidity driving mechanism, can make the designs simplification of VSA and transmit rigidity adjustable extent to increase.
For achieving the above object, the embodiment of the present invention provides a kind of variation rigidity shaft joint on the one hand: comprise the first half-coupling and the second half-coupling, supported by elastic support by elastic spring transmitting torque between described first half-coupling and the second half-coupling, described elastic spring one end is fixedly connected with the first half-coupling, the other end is slidably connected with the second half-coupling, and described first half-coupling can drive described elastic spring to slide axially relative to described second half-coupling.
Further, described elastic support is spring, and described spring one end is fixed on the first half-coupling, and the other end is fixed on the second half-coupling.
Further, described elastic spring is many groups and is evenly arranged at a week of described first half-coupling.
Further, described first half-coupling is provided with the first reed grip block, and described elastic spring is clamped and is fixed by reed pressing plate by described first reed grip block.
Further, described second half-coupling is provided with the second reed grip block, and described second reed grip block is clamped by described elastic spring and described elastic spring can slide axially relative to described second reed grip block.
The embodiment of the present invention provides a kind of variation rigidity driving mechanism on the other hand, comprise drive motor, stiffness equivalent assembly and variation rigidity shaft joint, described variation rigidity shaft joint is the variation rigidity shaft joint described in above-mentioned arbitrary technological scheme, described drive motor is connected with described second half-coupling, and can to described second half-coupling transmitting torque, described first half-coupling is used for being connected with output shaft and can to output shaft transmitting torque, and described stiffness equivalent assembly is connected with described first half-coupling and described first half-coupling can be driven to move vertically.
Further, for key is connected between described drive motor with described second half-coupling, described second half-coupling is connected with adopting key between output shaft.
Further, described stiffness equivalent assembly comprises motor and Linear transmission assembly, and the output shaft of described motor is connected with the input end of described Linear transmission assembly, and the output terminal of described Linear transmission assembly is connected with described first half-coupling.
The variation rigidity shaft joint that the embodiment of the present invention provides and variation rigidity driving mechanism, during use, one of them half-coupling connects input shaft, another half-coupling connects output shaft, because elastic spring one end is fixedly connected with the first half-coupling, the other end is slidably connected with the second half-coupling, therefore when needs regulate transmission rigidity, only need control the first half-coupling drives elastic spring to slide axially relative to the second half-coupling, in sliding process, because the distance between the first half-coupling and the second half-coupling there occurs change, therefore elastic spring is made to there occurs change in the length (i.e. effective length) between the first half-coupling and the second half-coupling, and by elastic spring transmitting torque between the first half-coupling and the second half-coupling, the change of elastic spring effective length directly can cause the change transmitting rigidity.Thus, the adjustable of transmission rigidity is achieved by simple structure.In addition, transmission rigidity also with the relating to parameters such as the quantity of elastic spring, arrangement and material, by changing any one or several parameters above-mentioned to change transmission rigidity, have greatly expanded the regulation range of transmission rigidity thus.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technological scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the overall structure schematic diagram of embodiment of the present invention variation rigidity shaft joint;
Fig. 2 is the sectional view of embodiment of the present invention variation rigidity shaft joint.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technological scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
In describing the invention, it will be appreciated that, orientation or the position relationship of the instruction such as term " " center ", " on ", D score, "front", "rear", "left", "right", " vertically ", " level ", " top ", " end ", " interior ", " outward " they be based on orientation shown in the drawings or position relationship; be only the present invention for convenience of description and simplified characterization; instead of instruction or imply the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore can not be interpreted as limitation of the present invention.In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance or imply the quantity indicating indicated technical characteristics.Thus, be limited with " first ", the feature of " second " can express or impliedly comprise one or more these features.
In describing the invention, it should be noted that, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, concrete condition above-mentioned term concrete meaning in the present invention can be understood.
Fig. 1 is a specific embodiment of embodiment of the present invention variation rigidity shaft joint; With reference to Fig. 1, the shaft joint of variation rigidity described in the present embodiment comprises the first half-coupling 1 and the second half-coupling 2, supported by elastic support 4 by elastic spring 3 transmitting torque between described first half-coupling 1 and the second half-coupling 2, described elastic spring 3 one end is fixedly connected with the first half-coupling 1, the other end is slidably connected with the second half-coupling 2, and described first half-coupling 1 can drive described elastic spring 3 to slide axially relative to described second half-coupling 2.
The variation rigidity shaft joint that the embodiment of the present invention provides, during use, one of them half-coupling connects input shaft, another half-coupling connects output shaft, because elastic spring 3 one end is fixedly connected with the first half-coupling 1, the other end is slidably connected with the second half-coupling 2, therefore when needs regulate transmission rigidity, only need control the first half-coupling 1 drives elastic spring 3 to slide axially relative to the second half-coupling 2, in sliding process, because the distance between the first half-coupling 1 and the second half-coupling 2 there occurs change, therefore elastic spring 3 is made to there occurs change in the length (i.e. effective length) between the first half-coupling 1 and the second half-coupling 2, and by elastic spring 3 transmitting torque between the first half-coupling 1 and the second half-coupling 2, the change of elastic spring 3 effective length directly can cause the change transmitting rigidity.Thus, the adjustable of transmission rigidity is achieved by simple structure.In addition, transmission rigidity also with the relating to parameters such as the quantity of elastic spring 3, arrangement and material, by changing any one or several parameters above-mentioned to change transmission rigidity, have greatly expanded the regulation range of transmission rigidity thus.
In order to the distance between firm first half-coupling 1 and the second half-coupling 2, make transmission rigidity stable and cost-saving, described elastic support 4 preferably uses spring, particularly, spring one end can be fixed on the first half-coupling 1, the other end is fixed on the second half-coupling 2.Thus, when the distance between the first half-coupling 1 and the second half-coupling 2 changes, spring can unidirectional push-tight first half-coupling 1, makes the distance not malleable between the first half-coupling 1 and the second half-coupling 2, and transmission rigidity is more stable.
According to the rigidity requirement of reality, described elastic spring 3 can arrange one or more groups, when elastic spring 3 is set to organize more, preferably each group of elastic spring 3 is evenly arranged at a week of described first half-coupling 1.Thus, make the transmission Stiffness Distribution of variation rigidity shaft joint more even, transmit more stable.
Elastic spring 3 can be multiple with the Placement of half-coupling, the preferred mode of clamping that uses connects, particularly, first reed grip block 11 can be set on the first half-coupling 1, second half-coupling 2 arranges the second reed grip block 21, then one end of elastic spring 3 and the first reed grip block 11 are clamped and connected, the other end of elastic spring 3 and the second reed grip block 21 are clamped and connected, in order to make elastic spring 3 relative fixing with the first half-coupling 1, as shown in Figure 2, elastic spring 3 can be made as L-type structure, and elastic spring 3 is connected with the first reed grip block 11 on the first half-coupling 1 with the one end at L-type turning, then arrange reed pressing plate 12 on the top at L-type turning to be fixed, thus, achieve the relative fixing of elastic spring 3 and the first half-coupling 1.On the other hand, can relative sliding vertically in order to realize elastic spring 3 and the second half-coupling 2, second reed grip block 21 can be set to structure as shown in Figure 1, namely only clamp in the both sides of elastic spring 3, and elastic spring 3 degrees of freedom is not vertically limited.Thus, elastic spring 3 is achieved relative to the second half-coupling 2 vertically slidably.
The embodiment of the present invention provides a kind of variation rigidity driving mechanism on the other hand, comprise drive motor, stiffness equivalent assembly and variation rigidity shaft joint, described variation rigidity shaft joint is the variation rigidity shaft joint described in above-mentioned any embodiment, wherein, described drive motor is connected with described second half-coupling 2, and can to described second half-coupling 2 transmitting torque, during use, described first half-coupling 1 is for be connected with output shaft and can to output shaft transmitting torque, described stiffness equivalent assembly is connected with described first half-coupling 1 and described first half-coupling 1 can be driven to move vertically.
The variation rigidity driving mechanism that the embodiment of the present invention provides, during use, first half-coupling 1 is connected with output shaft, drive motor is connected with the second half-coupling 2, because elastic spring 3 one end is fixedly connected with the first half-coupling 1, the other end is slidably connected with the second half-coupling 2, therefore when needs regulate transmission rigidity, only need control the first half-coupling 1 by stiffness equivalent assembly drives elastic spring 3 to slide axially relative to the second half-coupling 2, in sliding process, because the distance between the first half-coupling 1 and the second half-coupling 2 there occurs change, therefore elastic spring 3 is made to there occurs change in the length (i.e. effective length) between the first half-coupling 1 and the second half-coupling 2, and by elastic spring 3 transmitting torque between the first half-coupling 1 and the second half-coupling 2, the change of elastic spring 3 effective length directly can cause the change transmitting rigidity.Thus, the adjustable of transmission rigidity is achieved by simple structure.In addition, transmission rigidity also with the relating to parameters such as the quantity of elastic spring 3, arrangement and material, by changing any one or several parameters above-mentioned to change transmission rigidity, have greatly expanded the regulation range of transmission rigidity thus.
To the second half-coupling 2 transmitting torque, can be connected being set to key between drive motor with the second half-coupling 2 to make drive motor.In like manner, can by the first half-coupling 1 be set to key between output shaft and be connected, thus, the moment of torsion transmission of the first half-coupling 1 pair of output shaft can be realized, and due to when adjusting transmission rigidity, first half-coupling 1 needs to move vertically, and flat key can also play certain leading role, makes mobile more steady.
Wherein, stiffness equivalent assembly can be any one linear transmission mechanism, as long as it can drive the first half-coupling 1 to move linearly, such as, optional motor and Linear transmission assembly, also can select cylinder or oil hydraulic cylinder isoline driving mechanism, in order to save cost and be convenient to control, preferably can use the structure of motor and Linear transmission assembly, the input end of the output shaft of motor with Linear transmission assembly can be connected, then the output terminal of Linear transmission assembly is connected with described first half-coupling 1.Thus, by control motor turn to the movement direction and distance that control the first half-coupling 1 with rotating speed.Wherein, Linear transmission assembly can be turbine and worm transmitting assemblies, screw nut driven assembly or rack pinion assembly etc.
In the description of this specification, specific features, structure, material or feature can combine in an appropriate manner in any one or more embodiment or example.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; change can be expected easily or replace, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of described claim.
Claims (8)
1. a variation rigidity shaft joint, it is characterized in that, comprise the first half-coupling and the second half-coupling, supported by elastic support by elastic spring transmitting torque between described first half-coupling and the second half-coupling, described elastic spring one end is fixedly connected with the first half-coupling, the other end is slidably connected with the second half-coupling, and described first half-coupling can drive described elastic spring to slide axially relative to described second half-coupling.
2. variation rigidity shaft joint according to claim 1, is characterized in that, described elastic support is spring, and described spring one end is fixed on the first half-coupling, and the other end is fixed on the second half-coupling.
3. variation rigidity shaft joint according to claim 1, is characterized in that, described elastic spring is many groups and is evenly arranged at a week of described first half-coupling.
4. variation rigidity shaft joint according to claim 1, is characterized in that, described first half-coupling is provided with the first reed grip block, and described elastic spring is clamped and is fixed by reed pressing plate by described first reed grip block.
5. variation rigidity shaft joint according to claim 4, it is characterized in that, described second half-coupling is provided with the second reed grip block, and described second reed grip block is clamped by described elastic spring and described elastic spring can slide axially relative to described second reed grip block.
6. a variation rigidity driving mechanism, it is characterized in that, comprise drive motor, stiffness equivalent assembly and variation rigidity shaft joint, the variation rigidity shaft joint of described variation rigidity shaft joint according to any one of Claims 1 to 5, described drive motor is connected with described second half-coupling, and can to described second half-coupling transmitting torque, described first half-coupling is used for being connected with output shaft and can to output shaft transmitting torque, and described stiffness equivalent assembly is connected with described first half-coupling and described first half-coupling can be driven to move vertically.
7. variation rigidity driving mechanism according to claim 6, is characterized in that, for key is connected between described drive motor with described second half-coupling, described second half-coupling is connected with adopting key between output shaft.
8. variation rigidity driving mechanism according to claim 6, it is characterized in that, described stiffness equivalent assembly comprises motor and Linear transmission assembly, the output shaft of described motor is connected with the input end of described Linear transmission assembly, and the output terminal of described Linear transmission assembly is connected with described first half-coupling.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410062727.2A CN104863982B (en) | 2014-02-24 | 2014-02-24 | A kind of variation rigidity shaft joint and variation rigidity driving mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410062727.2A CN104863982B (en) | 2014-02-24 | 2014-02-24 | A kind of variation rigidity shaft joint and variation rigidity driving mechanism |
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| CN104863982A true CN104863982A (en) | 2015-08-26 |
| CN104863982B CN104863982B (en) | 2018-04-27 |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105422665A (en) * | 2015-12-30 | 2016-03-23 | 广西玉柴机器股份有限公司 | Coupling of fuel injection pump of diesel engine |
| CN106246747A (en) * | 2016-08-08 | 2016-12-21 | 苏州亘富机械科技有限公司 | A kind of shaft coupling |
| CN108071702A (en) * | 2016-11-15 | 2018-05-25 | 操纵技术Ip控股公司 | The adapter assembly of variable rigidity with bush assembly |
| CN108422413A (en) * | 2018-06-19 | 2018-08-21 | 哈尔滨工业大学 | A kind of continuous parallel robot of flexibility of variation rigidity |
| CN108453721A (en) * | 2018-03-13 | 2018-08-28 | 南京工程学院 | Controllable variation rigidity flexible actuator |
| CN108481311A (en) * | 2018-06-14 | 2018-09-04 | 中国科学院宁波材料技术与工程研究所 | A kind of variation rigidity complaisant grasping device |
| CN108714913A (en) * | 2018-06-06 | 2018-10-30 | 清华大学 | Variation rigidity flexible actuator |
| CN110266144A (en) * | 2019-05-23 | 2019-09-20 | 华为技术有限公司 | A kind of micromotor component and electronic equipment |
| CN111775176A (en) * | 2020-06-10 | 2020-10-16 | 哈尔滨工业大学 | Variable-rigidity linear driving device and variable-rigidity method |
| CN113175484A (en) * | 2021-06-07 | 2021-07-27 | 何健 | Transmission device |
| CN113334356A (en) * | 2021-06-16 | 2021-09-03 | 北京航空航天大学 | Passive variable-rigidity series elastic driver |
| CN114131646A (en) * | 2021-12-06 | 2022-03-04 | 之江实验室 | Variable rigidity mechanism and flexible joint based on axial force |
| CN115182937A (en) * | 2022-07-18 | 2022-10-14 | 西南石油大学 | Rigidity-variable laminated coupler for crankshaft vibration control |
| CN115371989A (en) * | 2022-10-26 | 2022-11-22 | 中国航发四川燃气涡轮研究院 | Variable supporting rigidity simulation structure of shaft coupling rotor |
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| JPS5316152A (en) * | 1976-07-29 | 1978-02-14 | Kouei Supuringu Kougiyou Kk | Spring type shaft coupling and manufacturing method thereof |
| JPH0389028A (en) * | 1989-08-17 | 1991-04-15 | Dr Ing Geislinger & Co Schwingungstechnik Gmbh | Intermediate member combined in oriving joint transferring torque |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105422665A (en) * | 2015-12-30 | 2016-03-23 | 广西玉柴机器股份有限公司 | Coupling of fuel injection pump of diesel engine |
| CN106246747A (en) * | 2016-08-08 | 2016-12-21 | 苏州亘富机械科技有限公司 | A kind of shaft coupling |
| CN108071702A (en) * | 2016-11-15 | 2018-05-25 | 操纵技术Ip控股公司 | The adapter assembly of variable rigidity with bush assembly |
| CN108453721A (en) * | 2018-03-13 | 2018-08-28 | 南京工程学院 | Controllable variation rigidity flexible actuator |
| CN108714913A (en) * | 2018-06-06 | 2018-10-30 | 清华大学 | Variation rigidity flexible actuator |
| CN108481311B (en) * | 2018-06-14 | 2023-09-12 | 中国科学院宁波材料技术与工程研究所 | Variable-rigidity compliant grabbing device |
| CN108481311A (en) * | 2018-06-14 | 2018-09-04 | 中国科学院宁波材料技术与工程研究所 | A kind of variation rigidity complaisant grasping device |
| CN108422413B (en) * | 2018-06-19 | 2020-01-07 | 哈尔滨工业大学 | Rigidity-variable flexible continuous parallel robot |
| CN108422413A (en) * | 2018-06-19 | 2018-08-21 | 哈尔滨工业大学 | A kind of continuous parallel robot of flexibility of variation rigidity |
| CN110266144A (en) * | 2019-05-23 | 2019-09-20 | 华为技术有限公司 | A kind of micromotor component and electronic equipment |
| CN111775176A (en) * | 2020-06-10 | 2020-10-16 | 哈尔滨工业大学 | Variable-rigidity linear driving device and variable-rigidity method |
| CN113175484A (en) * | 2021-06-07 | 2021-07-27 | 何健 | Transmission device |
| CN113334356A (en) * | 2021-06-16 | 2021-09-03 | 北京航空航天大学 | Passive variable-rigidity series elastic driver |
| CN114131646A (en) * | 2021-12-06 | 2022-03-04 | 之江实验室 | Variable rigidity mechanism and flexible joint based on axial force |
| CN114131646B (en) * | 2021-12-06 | 2023-02-14 | 之江实验室 | Variable rigidity mechanism and flexible joint based on axial force |
| CN115182937A (en) * | 2022-07-18 | 2022-10-14 | 西南石油大学 | Rigidity-variable laminated coupler for crankshaft vibration control |
| CN115371989A (en) * | 2022-10-26 | 2022-11-22 | 中国航发四川燃气涡轮研究院 | Variable supporting rigidity simulation structure of shaft coupling rotor |
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