CN104985608A - Stiffness-adjustable flexible joint actuator mechanism - Google Patents
Stiffness-adjustable flexible joint actuator mechanism Download PDFInfo
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- 230000033001 locomotion Effects 0.000 abstract description 8
- 230000005540 biological transmission Effects 0.000 abstract description 3
- 206010023230 Joint stiffness Diseases 0.000 abstract description 2
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- FGRBYDKOBBBPOI-UHFFFAOYSA-N 10,10-dioxo-2-[4-(N-phenylanilino)phenyl]thioxanthen-9-one Chemical compound O=C1c2ccccc2S(=O)(=O)c2ccc(cc12)-c1ccc(cc1)N(c1ccccc1)c1ccccc1 FGRBYDKOBBBPOI-UHFFFAOYSA-N 0.000 description 1
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- 238000005265 energy consumption Methods 0.000 description 1
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Abstract
The invention discloses a stiffness-adjustable flexible joint actuator mechanism. The actuator mechanism is divided into an actuation end, an adjustment end and a flexible joint. The actuation end provides power for movement of the flexible joint, the adjustment end is responsible for changing stiffness of the flexible joint, and the flexible joint has the functions of relieving impact and adjusting stiffness. The actuator mechanism is additionally provided with a drive motor, and the joint can be actively driven to move. By the adoption of a variable-stiffness system in a curved bevel and rotary wheel matching structure, friction resistance is little and transmission is precise. Four absolute type encoders are installed, effective detection is achieved in the work process, sensitivity is high, and the fault rate is low. A shell is fully closed, the structure is compact, and the actuator mechanism can work in the severe environment. Changes of joint stiffness are linearly controllable from great flexibility to complete stiffness.
Description
Technical field
The present invention relates to robotics, particularly relate to a kind of can the design of robot joints mechanism of active adjustment rigidity.
Background technology
In the last few years, along with the development of industrial technology, intelligent robot to have more contact with people in fields such as industry, medical treatment, services.Conventional machines people adopts the rigidity joint of motor-decelerator-load linearity transmission.Rigidity joint has the advantages such as structure is simple, volume compact, accurate positioning, can meet industrial requirement.But passive response timely can not be made by environment to external world in rigidity joint, this makes the poor compatibility of machine human and environment of carrying rigidity joint, low energy efficiency and energy consumption is very large, and this is the problem needing in robot development to overcome.Compared with rigidity joint, flexible joint with the interaction of external environment in seem friendly a lot.
Find in further exploration, when moving, the toughness in the joint of human body is not unalterable.When such as leg lands, knee joint, ankle-joint present soft characteristic; And leg when pedaling after having an effect joint extremely firm.In order to simulate this characteristic in biological joint, on the basis of series connection elastic driving joint, increase the function of its stiffness variable, this is the series connection elastic driving joint of stiffness variable.This joint can not only realize the function of flexible joint, can also according to the motion state of robot, and the stiffness factor in stepless change joint, even adjusts to rigidity joint.Variation rigidity joint can hoisting machine people to the adaptability of environment with expand the application of robot, there is broad application prospect.
For the flexible joint of adjustable rigidity, can its performance quality determine robot and normally run.At present, the joint that some rigidity is adjustable adopts the structure having grade variation rigidity.As application number 201410821096.8 disclosed " a kind of joint of robot of stiffness variable ", the main friction plate of a slice and the secondary friction plate of two panels are installed in joint, produce frictional force by the pretension of bolt and realize soft drive.But friction member belongs to running stores, need periodic replacement, and linearly adjustable stiffness characteristics can not be realized; Some joint adopts pneumatic control, and as Chinese patent CN87107075A, " a kind of flexible cylinder and bending, torsion knuckle ", adopt pneumatic actuation, general structure is comparatively complicated, is difficult to realize linear manipulation, comparatively difficult to the adjustment of flexibility.
Summary of the invention
The object of the invention is to for the deficiencies in the prior art, propose the flexible joint actuator mechanism that a kind of rigidity is adjustable.The present invention is highly sensitive, and stiffness equivalent is accurately reliable, compact conformation.This actuator mechanism is divided into drive end, adjustment end and flexible joint three part.Wherein drive end provides power for flexible joint motion, and adjust the rigidity that end is responsible for changing flexible joint, flexible joint then plays the effect slowing down impact, regulate rigidity.
In order to achieve the above object, the technical solution used in the present invention is as follows: the flexible joint actuator mechanism that a kind of rigidity is adjustable, comprise: drive end encoder, drive end encoder flange, drive end motor shaft, drive end motor flange, drive end motor, drive end harmonic wave, drive end harmonic wave flange, drive end harmonic wave axle, front encoder seat, spring shaft, affixed pin, front encoder, lordosis wheel plate, fore bearing, base flange, lordosis wheel plate flange, rear encoder seat, middle part rotating disk, rear encoder, runner, rear lobe plate flange, flexible joint shell, adjustment end harmonic wave, rear bearing, adjustment end motor flange, rear lobe plate, adjustment end motor shaft, adjustment end harmonic wave flange, adjustment end encoder flange, adjustment end motor, adjustment end encoder, base after-poppet, base plate, base fore-stock, swing arm, counterweight, rectangle stage clip and adjustment end harmonic wave flange.
Described drive end encoder flange is provided with drive end encoder, and the drive end motor flange that drive end encoder flange is provided with drive end motor with inside is affixed; It is affixed that drive end motor flange and base plate pass through base after-poppet; Drive end motor shaft front end connects the input of drive end harmonic wave, and the rotor of stage casing and drive end motor clamps, and the rotor of rear end and drive end encoder clamps; Drive end harmonic wave is arranged on drive end harmonic wave flange, output and drive end harmonic wave axle affixed.
Described adjustment end encoder flange is provided with and adjusts end encoder, adjustment end encoder flange is provided with to adjust with inside holds the adjustment end motor flange of motor affixed; Adjustment end motor shaft front end connects the input of adjustment end harmonic wave, and stage casing holds the rotor of motor to clamp with adjustment, and rear end holds the rotor of encoder to clamp with adjustment; Adjustment end harmonic wave is arranged on adjustment end harmonic wave flange, and output holds harmonic wave flange affixed with adjustment.
Described drive end harmonic wave shaft end is fixedly connected with affixed pin, and the other end of affixed pin connects firmly through lordosis wheel plate flange and middle part rotating disk; Six runners are divided into three groups, and two is one group of side being evenly hinged on middle part rotating disk, and two runners often organized are parallel with the Plane of rotation of middle part rotating disk, and six runners all can rotate freely; The inner ring of lordosis wheel plate is pressed on lordosis wheel plate flange, and outer ring is fixing by the inner ring circumference of three groups of grooves and flexible joint shell, and lordosis wheel plate can slide axially by relative flexibility articular shell, but both can not occur to rotate relative to circumference; Flexible joint shell and rear encoder seat connect firmly, and swing arm is arranged on rear encoder seat; Swing arm end is fixedly connected with counterweight.
The inner ring of described rear lobe plate is pressed on rear lobe plate flange, outer ring holds the inner ring circumference of harmonic wave flange fixing by three groups of grooves and adjustment, rear lobe plate relatively can adjust end harmonic wave flange and slide axially, but both can not occur to rotate relative to circumference; Adjustment end harmonic wave flange holds harmonic wave end to connect with adjustment, and rear encoder seat holds harmonic wave steel wheel to connect with adjustment.
Described rectangle stage clip one end and spring shaft end compress, and compress in the middle part of the other end and lordosis wheel plate flange; Spring shaft root and rear lobe plate flange screw, the inner surface skew surface of lordosis wheel plate, rear lobe plate offsets with the runner both sides being arranged on middle part rotating disk side.
Described front encoder outer ring is arranged on front encoder seat, inner ring and flexible joint shell affixed, the outer ring of front encoder seat, base flange and fore bearing is affixed; The small end of flexible joint shell and the inner ring of fore bearing affixed; Front encoder seat one end and drive end harmonic wave flange affixed, the other end and base flange affixed; It is affixed that base flange and base plate pass through base fore-stock; Rear encoder outer ring is arranged on and is provided with on the rear encoder seat of swing arm, and inner ring holds harmonic wave flange affixed with adjustment, and the outer ring of the large end of flexible joint shell, rear encoder seat and rear bearing is affixed; The inner ring of adjustment end harmonic wave flange and rear bearing is affixed; Adjustment end harmonic wave flange and rear lobe plate circumference are fixed.
The present invention is compared with background technology, and the beneficial effect had is:
1, drive motors is accompanied with, can active drive joint motions;
2, adopt the stiffness-changing system of bent inclined-plane-runner fit structure, frictional resistance is little, transmission precision;
3, shell is totally-enclosed, compact conformation, can work under rugged environment;
4, four absolute type encoders are installed, realize in the course of work effectively detecting, highly sensitive, failure rate is low.
5, from greatly flexible to perfect rigidity, the change of joint stiffness is linearly controlled.
Accompanying drawing explanation
Fig. 1 is the installation stereogram of the adjustable flexible joint actuator mechanism of a kind of rigidity;
Fig. 2 is the overall sectional view of the adjustable flexible joint actuator mechanism of a kind of rigidity;
Fig. 3 is the flexible joint part planar installation diagram of the adjustable flexible joint actuator mechanism of a kind of rigidity;
Fig. 4 is the flexible joint phantom of the adjustable flexible joint actuator mechanism of a kind of rigidity;
Fig. 5 is the flexible joint partial perspective view of the adjustable flexible joint actuator mechanism of a kind of rigidity;
Fig. 6 is the adjustment end interface stereogram of the adjustable flexible joint actuator mechanism of a kind of rigidity;
Fig. 7 is the drive end interface stereogram of the adjustable flexible joint actuator mechanism of a kind of rigidity;
Fig. 8 is lobe plate and adjustment end interface installation diagram under the adjustable flexible joint actuator mechanism of a kind of rigidity;
Fig. 9 is the adjustable flexible joint actuator mechanism epirelief wheel plate of a kind of rigidity and drive end interface installation diagram;
Figure 10 is the adjustable flexible joint actuator mechanism of a kind of rigidity schematic diagram under inactive state when Low rigidity;
Figure 11 is the adjustable flexible joint actuator mechanism of a kind of rigidity schematic diagram under twisting states when Low rigidity;
Figure 12 is the adjustable flexible joint actuator mechanism of a kind of rigidity schematic diagram under inactive state when high rigidity;
Figure 13 is the adjustable flexible joint actuator mechanism of a kind of rigidity schematic diagram under twisting states when high rigidity;
In figure, drive end encoder 1, drive end encoder flange 2, drive end motor shaft 3, drive end motor flange 4, drive end motor 5, drive end harmonic wave 6, drive end harmonic wave flange 7, drive end harmonic wave axle 8, front encoder seat 9, spring shaft 10, affixed pin 11, front encoder 12, lordosis wheel plate 13, fore bearing 14, base flange 15, lordosis wheel plate flange 16, rear encoder seat 17, middle part rotating disk 18, rear encoder 19, runner 20, rear lobe plate flange 21, flexible joint shell 22, adjustment end harmonic wave 23, rear bearing 24, adjustment end motor flange 25, rear lobe plate 26, adjustment end motor shaft 27, adjustment end harmonic wave flange 28, adjustment end encoder flange 29, adjustment end motor 30, adjustment end encoder 31, base after-poppet 32, base plate 33, base fore-stock 34, swing arm 35, counterweight 36, rectangle stage clip 37, adjustment end harmonic wave flange 38.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further illustrated.
As Figure 1-Figure 2, the flexible joint actuator mechanism that a kind of rigidity of the present invention is adjustable, comprise: drive end encoder 1, drive end encoder flange 2, drive end motor shaft 3, drive end motor flange 4, drive end motor 5, drive end harmonic wave 6, drive end harmonic wave flange 7, drive end harmonic wave axle 8, front encoder seat 9, spring shaft 10, affixed pin 11, front encoder 12, lordosis wheel plate 13, fore bearing 14, base flange 15, lordosis wheel plate flange 16, rear encoder seat 17, middle part rotating disk 18, rear encoder 19, runner 20, rear lobe plate flange 21, flexible joint shell 22, adjustment end harmonic wave 23, rear bearing 24, adjustment end motor flange 25, rear lobe plate 26, adjustment end motor shaft 27, adjustment end harmonic wave flange 28, adjustment end encoder flange 29, adjustment end motor 30, adjustment end encoder 31, base after-poppet 32, base plate 33, base fore-stock 34, swing arm 35, counterweight 36, rectangle stage clip 37 and adjustment end harmonic wave flange 38.
As shown in Fig. 2, Fig. 7, drive end encoder flange 2 is provided with drive end encoder 1, the drive end motor flange 4 that drive end encoder flange 2 is provided with drive end motor 5 with inside is affixed; Drive end motor flange 4 is affixed by base after-poppet 32 with base plate 33; Drive end motor shaft 3 front end connects the input of drive end harmonic wave 6, and the rotor of stage casing and drive end motor 5 clamps, and the rotor of rear end and drive end encoder 1 clamps.Drive end harmonic wave 6 is arranged on drive end harmonic wave flange 7, output and drive end harmonic wave axle 8 affixed.
As shown in Fig. 2, Fig. 6, adjustment end encoder flange 29 is provided with and adjusts end encoder 31, adjustment end encoder flange 29 is provided with to adjust with inside holds the adjustment end motor flange 25 of motor 30 affixed.Adjustment end motor shaft 27 front end connects the input of adjustment end harmonic wave 23, and stage casing holds the rotor of motor 30 to clamp with adjustment, and rear end holds the rotor of encoder 31 to clamp with adjustment.Adjustment end harmonic wave 23 is arranged on adjustment end harmonic wave flange 38, and output holds harmonic wave flange 28 affixed with adjustment.
As shown in Figure 2 and Figure 3, drive end harmonic wave axle 8 end is fixedly connected with affixed pin 11, and the other end of affixed pin 11 connects firmly through lordosis wheel plate flange 16 and middle part rotating disk 18.Six runners 20 are divided into three groups, and two is one group of side being evenly hinged on middle part rotating disk 18, and two runners 20 often organized are parallel with the Plane of rotation of middle part rotating disk 18, and six runners 20 all can rotate freely.The inner ring of lordosis wheel plate 13 is pressed on lordosis wheel plate flange 16, outer ring is as shown in Fig. 7, Fig. 9, fixing by the inner ring circumference of three groups of grooves and flexible joint shell 22, lordosis wheel plate 13 can slide axially by relative flexibility articular shell 22, but both can not occur to rotate relative to circumference.Flexible joint shell 22 and rear encoder seat 17 connect firmly, and swing arm 35 is arranged on rear encoder seat 17.Therefore swing arm 35 and whole adjustment end motion will be driven when lordosis wheel plate 13 rotates; Swing arm 35 end is fixedly connected with counterweight 36, for increasing the rotary inertia of swing arm 35.
As shown in Figure 2 and Figure 3, the inner ring of rear lobe plate 26 is pressed on rear lobe plate flange 21, outer ring is as shown in Fig. 6, Fig. 8, hold the inner ring circumference of harmonic wave flange 28 fixing by three groups of grooves and adjustment, rear lobe plate 26 relatively can adjust end harmonic wave flange 28 and slide axially, but both can not occur to rotate relative to circumference.Adjustment end harmonic wave flange 28 holds harmonic wave 23 output to connect with adjustment, and rear encoder seat 17 holds harmonic wave 23 steel wheel to connect with adjustment.Therefore, when adjustment end motor 30 is static, rear lobe plate 26 can not produce circumferential displacement with rear encoder seat 17; When adjusting end motor 30 and working, rear lobe plate 26 produces circumferential displacement relative to rear encoder seat 17, and then produces relative circumferential displacement with lordosis wheel plate 13.
Rectangle stage clip 37 one end and spring shaft 10 end compress, and compress in the middle part of the other end and lordosis wheel plate flange 16.Spring shaft 10 root and rear lobe plate flange 21 compress, and the inner surface skew surface of lordosis wheel plate 13, rear lobe plate 26 offsets with runner 20 both sides being arranged on middle part rotating disk 18 side.Like this, lordosis wheel plate 13 and rear lobe plate 26 can axially-movables, but can be withstood by runner 20 when closing up, and can extrude rectangle stage clip 37, make its deformation produce elastic force time separately.
As shown in Figure 2, front encoder 12 outer ring is arranged on front encoder seat 9, inner ring and flexible joint shell 22 affixed, front encoder seat 9, base flange 15 are affixed with the outer ring of fore bearing 14; The small end of flexible joint shell 22 and the inner ring of fore bearing 14 affixed.Front encoder seat 9 one end and drive end harmonic wave flange 7 affixed, the other end and base flange 15 affixed.Base flange 15 is affixed by base fore-stock 34 with base plate 33.The relative rotation between lordosis wheel plate 13 and base plate 33 is measured by front encoder 12; Rear encoder 19 outer ring is arranged on and is provided with on the rear encoder seat 17 of swing arm 35, and inner ring holds harmonic wave flange 28 affixed with adjustment, and the large end of flexible joint shell 22, rear encoder seat 17 are affixed with the outer ring of rear bearing 24; Adjustment end harmonic wave flange 28 is affixed with the inner ring of rear bearing 24.Adjustment end harmonic wave flange 28 is fixing with rear lobe plate 26 circumference, because after this encoder 19 can measure the relative rotation between lordosis wheel plate 13 and rear lobe plate 26.Drive end encoder 1 can measure the corner of drive end motor 5, and adjustment end encoder 31 can measure the corner of adjustment end motor 30.
As shown in Figure 3, when drive end motor 5 works, middle part rotating disk 18 is driven to rotate by drive end harmonic wave 6.If turn right, then three runners 20 being positioned at right side move right relative to lordosis wheel plate 13 in figure 3, the bent inclined-plane of extruding lordosis wheel plate 13.Lordosis wheel plate 13 is followed and is moved right, and drives swing arm 35 to rotate.If load end is stressed, then lordosis wheel plate 13 will move upward; Rectangular Spring 37 is squeezed, and after driving, lobe plate 26 moves upward, and the bent inclined-plane of rear lobe plate 26 inner surface tightly withstands three runners 20 being arranged in Fig. 3 left side and cannot move upward further; If turn left, then three runners 20 being positioned at left side in figure 3 relative to rear lobe plate 26 to left movement, the bent inclined-plane of lobe plate 26 after extruding.Lordosis wheel plate 13 is followed to left movement, drives rear encoder seat 17 and swing arm 35 to rotate by adjustment end motor 30.If load end is stressed, then after, lobe plate 26 will move downward; Rectangular Spring 37 is squeezed, and drives lordosis wheel plate 13 to move downward, and the bent inclined-plane of lordosis wheel plate 13 inner surface tightly withstands three runners 20 being arranged in Fig. 3 right side and cannot move downward further.
And as shown in Figure 10, because the inclined-plane curvature of lordosis wheel plate 13, rear lobe plate 26 is different, when runner 20 departs from center, the inclined-plane curvature of offset direction forward is greater than the reverse inclined-plane curvature of offset direction, therefore lordosis wheel plate 13 will increase with the axial distance of rear lobe plate 26, extruding rectangle stage clip 37 shrinks, and produces restoring force, realizes the function of flexible joint whereby.
When adjusting end motor 30 and being static, as shown in Figure 10, only can there is axial relative motion in lordosis wheel plate 13 and rear lobe plate 26, now the rigidity of flexible joint is determined; When adjusting end motor 30 and working, between lordosis wheel plate 13 and rear lobe plate 26, there is circumferential displacement.If lordosis wheel plate 13 is close with the bent inclined-plane spacing of rear lobe plate 26, spacing then due to runner 20, lordosis wheel plate 13 is farther with the axial spacing of rear lobe plate 26, the preload pressure of rectangle stage clip 37 is increased, and and lordosis wheel plate 13, contrast when the bent inclined-plane spacing of rear lobe plate 26 is become estranged, now lordosis wheel plate 13 bent inclined-plane slope that is respective with rear lobe plate 26 and runner 18 joint point is larger, when drive end motor 5 drives middle part rotating disk 18 to rotate equal angular relative to lordosis wheel plate 13, lordosis wheel plate 13 changes larger with the axial distance of rear lobe plate 26, the rigidity of flexible joint just increases.Change lordosis wheel plate 13 and the circumferential angle of rear lobe plate 26 by the work of adjustment end motor 30, adjust the rigidity changing flexible joint.
When current lobe plate 13 is minimum with rear lobe plate 26 corner, bent inclined-plane highest point inside two plates and runner 20 tangent, flexible joint shell 22 is withstood in lordosis wheel plate 13 outside, adjustment end harmonic wave flange 28 is withstood in rear lobe plate 26 outside, now middle part rotating disk 18 is fixing with rear lobe plate 26 circumference relative to lordosis wheel plate 13, and now joint manifestations is the structure of perfect rigidity.
Claims (1)
1. the flexible joint actuator mechanism that rigidity is adjustable, is characterized in that, comprising: drive end encoder (1), drive end encoder flange (2), drive end motor shaft (3), drive end motor flange (4), drive end motor (5), drive end harmonic wave (6), drive end harmonic wave flange (7), drive end harmonic wave axle (8), front encoder seat (9), spring shaft (10), affixed pin (11), front encoder (12), lordosis wheel plate (13), fore bearing (14), base flange (15), lordosis wheel plate flange (16), rear encoder seat (17), middle part rotating disk (18), rear encoder (19), runner (20), rear lobe plate flange (21), flexible joint shell (22), adjustment end harmonic wave (23), rear bearing (24), adjustment end motor flange (25), rear lobe plate (26), adjustment end motor shaft (27), adjustment end harmonic wave flange (28), adjustment end encoder flange (29), adjustment end motor (30), adjustment end encoder (31), base after-poppet (32), base plate (33), base fore-stock (34), swing arm (35), counterweight (36), rectangle stage clip (37) and adjustment end harmonic wave flange (38),
Described drive end encoder flange (2) is provided with drive end encoder (1), and the drive end motor flange (4) that drive end encoder flange (2) and inside are provided with drive end motor (5) is affixed; Drive end motor flange (4) is affixed by base after-poppet (32) with base plate (33); Drive end motor shaft (3) front end connects the input of drive end harmonic wave (6), and the rotor of stage casing and drive end motor (5) clamps, and the rotor of rear end and drive end encoder (1) clamps; Drive end harmonic wave (6) is arranged on drive end harmonic wave flange (7), output and drive end harmonic wave axle (8) affixed;
Described adjustment end encoder flange (29) is provided with adjustment end encoder (31), and adjustment end encoder flange (29) and inside are provided with to adjust holds the adjustment end motor flange (25) of motor (30) affixed; Adjustment end motor shaft (27) front end connects the input of adjustment end harmonic wave (23), and stage casing holds the rotor of motor (30) to clamp with adjustment, and rear end holds the rotor of encoder (31) to clamp with adjustment; Adjustment end harmonic wave (23) is arranged in adjustment end harmonic wave flange (38), and output holds harmonic wave flange (28) affixed with adjustment;
Described drive end harmonic wave axle (8) end is fixedly connected with affixed pin (11), and the other end of affixed pin (11) connects firmly through lordosis wheel plate flange (16) and middle part rotating disk (18); Six runners (20) are divided into three groups, and two is one group of side being evenly hinged on middle part rotating disk (18), and two runners (20) often organized are parallel with the Plane of rotation of middle part rotating disk (18), and six runners (20) all can rotate freely; The inner ring of lordosis wheel plate (13) is pressed on lordosis wheel plate flange (16), outer ring is fixing by the inner ring circumference of three groups of grooves and flexible joint shell (22), lordosis wheel plate (13) can slide axially by relative flexibility articular shell (22), but both can not occur to rotate relative to circumference; Flexible joint shell (22) and rear encoder seat (17) connect firmly, and swing arm (35) is arranged on rear encoder seat (17); Swing arm (35) end is fixedly connected with counterweight (36);
The inner ring of described rear lobe plate (26) is pressed on rear lobe plate flange (21), outer ring holds the inner ring circumference of harmonic wave flange (28) fixing by three groups of grooves and adjustment, rear lobe plate (26) relatively can adjust end harmonic wave flange (28) and slide axially, but both can not occur to rotate relative to circumference; Adjustment end harmonic wave flange (28) holds harmonic wave (23) output to connect with adjustment, and rear encoder seat (17) holds harmonic wave (23) steel wheel to connect with adjustment;
Described rectangle stage clip (37) one end and spring shaft (10) end compress, and the other end and lordosis wheel plate flange (16) middle part compress; Spring shaft (10) root and rear lobe plate flange (21) compress, and the inner surface skew surface of lordosis wheel plate (13), rear lobe plate (26) offsets with runner (20) both sides being arranged on middle part rotating disk (18) side;
Described front encoder (12) outer ring is arranged on front encoder seat (9), inner ring and flexible joint shell (22) affixed, the outer ring of front encoder seat (9), base flange (15) and fore bearing (14) is affixed; The small end of flexible joint shell (22) and the inner ring of fore bearing (14) affixed; Front encoder seat (9) one end and drive end harmonic wave flange (7) affixed, the other end and base flange (15) affixed; Base flange (15) is affixed by base fore-stock (34) with base plate (33); Rear encoder (19) outer ring is arranged on and is provided with on the rear encoder seat (17) of swing arm (35), inner ring holds harmonic wave flange (28) affixed with adjustment, and large end, the rear encoder seat (17) of flexible joint shell (22) are affixed with the outer ring of rear bearing (24); Adjustment end harmonic wave flange (28) is affixed with the inner ring of rear bearing (24); Adjustment end harmonic wave flange (28) is fixing with rear lobe plate (26) circumference.
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| CN201510355179.7A CN104985608B (en) | 2015-06-23 | 2015-06-23 | Stiffness-adjustable flexible joint actuator mechanism |
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| CN201510355179.7A CN104985608B (en) | 2015-06-23 | 2015-06-23 | Stiffness-adjustable flexible joint actuator mechanism |
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| CN113146674A (en) * | 2020-01-22 | 2021-07-23 | 杭州新剑机器人技术股份有限公司 | Large flexible serial elastic unit and robot comprising same |
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| CN114347088A (en) * | 2021-12-06 | 2022-04-15 | 之江实验室 | Variable-stiffness mechanism for realizing variable stiffness by changing pretightening force of spring and flexible joint |
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