CN104985608B - Stiffness-adjustable flexible joint actuator mechanism - Google Patents
Stiffness-adjustable flexible joint actuator mechanism Download PDFInfo
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- CN104985608B CN104985608B CN201510355179.7A CN201510355179A CN104985608B CN 104985608 B CN104985608 B CN 104985608B CN 201510355179 A CN201510355179 A CN 201510355179A CN 104985608 B CN104985608 B CN 104985608B
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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, more particularly, to a kind of robot joints that can actively adjust rigidity
The design of mechanism.
Background technology
In the last few years, with the development of industrial technology, intelligent robot has in the fields such as industry, medical treatment, service and people
More contacts.Conventional machines people adopts the rigid joint of motor-decelerator-load linearity transmission.Rigid joint has structure
Simply, the advantages of volume compact, accurate positioning, disclosure satisfy that industrial requirement.But rigid joint can not environment to external world
Make timely passive response, this makes to carry the poor compatibility of the machine human and environment in rigid joint, low energy efficiency and
Energy consumption is very big, and this is the problem needing in robot development to overcome.Compared with rigid joint, flexible joint with external environment
Seem friendly a lot of in interaction.
Find in exploring further, in motion, the toughness in the joint of human body is not unalterable.When such as leg is landed,
Knee joint, ankle joint assume the characteristic of softness；And leg when pedaling after having an effect joint extremely firm.In order to simulate biological joint this
Plant characteristic, on the basis of series connection elastic driving joint, increase the function of its stiffness variable, this is the series connection bullet of stiffness variable
Property drive joint.The function of flexible joint can not only be realized additionally it is possible to according to the kinestate of robot in this joint, stepless
Change the stiffness factor in joint, or even be adjusted to rigid joint.Variation rigidity joint being capable of the adaptability to environment for the hoisting machine people
With the application expanding robot, there is the application prospect of broadness.
For the flexible joint of adjustable rigidity, can its performance quality determine robot and normally run.At present, there is one
Point adjustable joint of rigidity is using the structure having grade variation rigidity." a kind of variable firm as disclosed in application number 201410821096.8
The joint of robot of degree ", installs a piece of main friction plate and two panels pair friction plate in joint, produces friction by the pretension of bolt
Power realizes soft drive.But friction member belongs to consumable goodss, need to regularly replace, and it is special not enable linearly adjustable rigidity
Property；Some joint adopts pneumatic control, such as Chinese patent cn87107075a, and " a kind of flexible cylinder and bending, torsion are closed
Section ", using pneumatic actuation, population structure is complex it is difficult to realization linearly manipulates, more difficult to flexible regulation.
Content of the invention
Present invention aims to the deficiencies in the prior art, a kind of rigidity adjustable flexible joint driver machine is proposed
Structure.Sensitivity of the present invention is high, and stiffness equivalent is accurately reliable, compact conformation.This actuator mechanism is divided into drive end, adjustment end and soft
Property joint three part.Wherein drive end moves for flexible joint and provides power, and adjustment end is responsible for changing the rigidity of flexible joint, soft
Property joint then play slow down impact, adjust rigidity effect.
In order to achieve the above object, the technical solution used in the present invention is as follows: a kind of adjustable flexible joint of rigidity drives
Device mechanism, comprising: drive end encoder, drive end encoder flange, drive end motor shaft, drive end motor flange, drive end
Motor, drive end harmonic speed reducer, drive end harmonic speed reducer flange, drive end harmonic speed reducer output shaft, 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 speed reducer, rear bearing, adjustment end electricity
Machine flange, rear lobe plate, adjustment end motor shaft, adjustment end harmonic speed reducer output 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 subtract
Fast device flange.
Drive end encoder is provided with described drive end encoder flange, drive end encoder flange is provided with inside
The drive end motor flange of drive end motor 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 speed reducer, rotor clamping, rear end and the driving of stage casing and drive end motor
The rotor clamping of end encoder；Drive end harmonic speed reducer is arranged on drive end harmonic speed reducer flange, outfan and driving
End harmonic speed reducer output shaft is affixed.
Adjustment end encoder is provided with described adjustment end encoder flange, adjustment end encoder flange is provided with inside
The adjustment end motor flange of adjustment end motor is affixed；Adjustment end motor shaft front end connects the input of adjustment end harmonic speed reducer,
Stage casing is clamped with the rotor of adjustment end motor, and rear end is clamped with the rotor of adjustment end encoder；Adjustment end harmonic speed reducer is installed
On adjustment end harmonic speed reducer flange, outfan is affixed with adjustment end harmonic speed reducer output flange.
Described drive end harmonic speed reducer output shaft end is fixedly connected with affixed pin, and the other end of affixed pin passes through lordosis wheel plate
Flange is connected firmly with middle part rotating disk；Six runners are divided into three groups, two for one group be uniformly hinged on middle part rotating disk side, every group
Two runners 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
On lordosis wheel plate flange, outer ring is circumferentially fixed with the inner ring of flexible joint shell by three groups of grooves, and lordosis wheel plate can be relatively
Flexible joint shell slides axially, but both can not occur relatively to circumferentially rotate；Flexible joint shell is connected firmly with rear encoder seat,
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, and outer ring is subtracted by three groups of grooves and adjustment end harmonic wave
The inner ring of fast device output flange is circumferentially fixed, and rear lobe plate can adjustment end harmonic speed reducer output flange relatively slide axially,
But both can not occur relatively to circumferentially rotate；Adjustment end harmonic speed reducer output flange is joined with adjustment end harmonic speed reducer outfan
Connect, rear encoder seat is coupled with adjustment end Rigid Gear of Harmonic Reducer.
Described rectangle stage clip one end is compressed with spring shaft end, compresses in the middle part of the other end and lordosis wheel plate flange；Spring shaft
Root and rear lobe plate flange screw, lordosis wheel plate, the inner surface skew surface of rear lobe plate be arranged on middle part rotating disk side
Runner both sides offset.
Described front encoder outer ring is arranged on front encoder seat, and inner ring is affixed with flexible joint shell, front encoder seat,
Base flange is affixed with the outer ring of fore bearing；The small end of flexible joint shell is affixed with the inner ring of fore bearing；Front encoder seat one
End is affixed with drive end harmonic speed reducer flange, and the other end is affixed with base flange；Base flange and base plate pass through to prop up before base
Frame is affixed；Encoder outer ring is arranged on the rear encoder seat being provided with swing arm afterwards, and inner ring is exported with adjustment end harmonic speed reducer
Flange is affixed, and the big end of flexible joint shell, rear encoder seat are affixed with the outer ring of rear bearing；Adjustment end harmonic speed reducer exports
Flange is affixed with the inner ring of rear bearing；Adjustment end harmonic speed reducer output flange is circumferentially fixed with rear lobe plate.
The present invention, compared with background technology, has the beneficial effect that
1st, it is accompanied with motor, being capable of active drive joint motions；
2nd, using the stiffness-changing system of bent inclined-plane-runner fit structure, frictional resistance is little, transmission precision；
3rd, shell is totally-enclosed, compact conformation, can work under rugged environment；
The 4th, four absolute type encoders are installed, in work process, realize effective detection, sensitivity is high, fault rate is low.
5th, from greatly flexibility to perfect rigidity, the change of joint stiffness is linearly controlled.
Brief description
Fig. 1 is a kind of installation axonometric chart of rigidity adjustable flexible joint actuator mechanism；
Fig. 2 is a kind of overall sectional view of rigidity adjustable flexible joint actuator mechanism；
Fig. 3 is a kind of flexible joint part planar installation diagram of rigidity adjustable flexible joint actuator mechanism；
Fig. 4 is a kind of flexible joint phantom of rigidity adjustable flexible joint actuator mechanism；
Fig. 5 is a kind of flexible joint partial perspective view of rigidity adjustable flexible joint actuator mechanism；
Fig. 6 is a kind of adjustment end interface axonometric chart of rigidity adjustable flexible joint actuator mechanism；
Fig. 7 is a kind of driving end interface axonometric chart of rigidity adjustable flexible joint actuator mechanism；
Fig. 8 is lobe plate and adjustment end interface installation diagram under a kind of rigidity adjustable flexible joint actuator mechanism；
Fig. 9 is a kind of convex wheel plate of rigidity adjustable flexible joint actuator mechanism and driving end interface installation diagram；
Figure 10 is schematic diagram under a kind of rigidity adjustable flexible joint actuator mechanism resting state in Low rigidity；
Figure 11 is schematic diagram under a kind of rigidity adjustable flexible joint actuator mechanism twisting states in Low rigidity；
Figure 12 is schematic diagram under a kind of rigidity adjustable flexible joint actuator mechanism resting state in high rigidity；
Figure 13 is schematic diagram under a kind of rigidity adjustable flexible joint actuator mechanism twisting states in high rigidity；
In figure, drive end encoder 1, drive end encoder flange 2, drive end motor shaft 3, drive end motor flange 4, drive
Moved end motor 5, drive end harmonic speed reducer 6, drive end harmonic speed reducer flange 7, drive end harmonic speed reducer output shaft 8, front
Encoder seat 9, spring shaft 10, affixed pin 11, front encoder 12, lordosis wheel plate 13, fore bearing 14, base flange 15, front cam
Outside 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 speed reducer 23, rear bearing 24, adjustment end motor flange 25, rear lobe plate 26, adjustment end motor shaft 27,
Adjustment end harmonic speed reducer output flange 28, adjustment end encoder flange 29, adjustment end motor 30, adjustment end encoder 31, bottom
Seat after-poppet 32, base plate 33, base fore-stock 34, swing arm 35, counterweight 36, rectangle stage clip 37, adjustment end harmonic speed reducer flange
38.
Specific embodiment
The present invention is further illustrated with reference to the accompanying drawings and examples.
As Figure 1-Figure 2, the adjustable flexible joint actuator mechanism of a kind of rigidity of the present invention, comprising: drive end encodes
Device 1, drive end encoder flange 2, drive end motor shaft 3, drive end motor flange 4, drive end motor 5, drive end harmonic wave subtract
Fast device 6, drive end harmonic speed reducer flange 7, drive end harmonic speed reducer output shaft 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, in
Portion's rotating disk 18, rear encoder 19, runner 20, rear lobe plate flange 21, flexible joint shell 22, adjustment end harmonic speed reducer 23,
Bearing 24, adjustment end motor flange 25, rear lobe plate 26, adjustment end motor shaft 27, adjustment end harmonic speed reducer output flange afterwards
28th, adjustment end encoder flange 29, adjustment end motor 30, adjustment end encoder 31, base after-poppet 32, base plate 33, before base
Support 34, swing arm 35, counterweight 36, rectangle stage clip 37 and adjustment end harmonic speed reducer flange 38.
As shown in Fig. 2, Fig. 7, drive end encoder flange 2 is provided with drive end encoder 1, drive end encoder flange
2 with inside be provided with drive end motor 5 drive end motor flange 4 affixed；Drive end motor flange 4 passes through base with base plate 33
After-poppet 32 is affixed；Drive end motor shaft 3 front end connects the input of drive end harmonic speed reducer 6, stage casing and drive end motor 5
Rotor clamping, the rotor clamping of rear end and drive end encoder 1.Drive end harmonic speed reducer 6 is arranged on drive end harmonic wave and subtracts
On fast device flange 7, outfan is affixed with drive end harmonic speed reducer output shaft 8.
As shown in Fig. 2, Fig. 6, adjustment end encoder flange 29 is provided with adjustment end encoder 31, adjustment end encoder method
The adjustment end motor flange 25 that orchid 29 is provided with adjustment end motor 30 with inside is affixed.Adjustment end motor shaft 27 front end connects adjustment
The input of end harmonic speed reducer 23, stage casing is clamped with the rotor of adjustment end motor 30, and rear end is turned with adjustment end encoder 31
Sub-folder is tight.Adjustment end harmonic speed reducer 23 is arranged on adjustment end harmonic speed reducer flange 38, and outfan is subtracted with adjustment end harmonic wave
Fast device output flange 28 is affixed.
As shown in Figure 2 and Figure 3, drive end harmonic speed reducer output shaft 8 end is fixedly connected with affixed pin 11, affixed pin 11 another
One end is connected firmly through lordosis wheel plate flange 16 with middle part rotating disk 18.Six runners 20 are divided into three groups, and two uniformly hinged for one group
In the side of middle part rotating disk 18, every group of two runners 20 are parallel with the Plane of rotation of middle part rotating disk 18, six runners 20
To rotate freely.The inner ring of lordosis wheel plate 13 is pressed on lordosis wheel plate flange 16, outer ring as shown in Fig. 7, Fig. 9, by three groups
Groove is circumferentially fixed with the inner ring of flexible joint shell 22, and lordosis wheel plate 13 can be slid axially with relative flexibility articular shell 22,
But both can not occur relatively to circumferentially rotate.Flexible joint shell 22 is connected firmly with rear encoder seat 17, and swing arm 35 is compiled after being arranged on
On code device seat 17.Therefore lordosis wheel plate 13 will drive swing arm 35 and entirely adjust end motion when rotating；Swing arm 35 end connects firmly
There is 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 such as Fig. 6, Fig. 8 institute
Show, circumferentially fixed with the inner ring of adjustment end harmonic speed reducer output flange 28 by three groups of grooves, rear lobe plate 26 can be relatively
Adjustment end harmonic speed reducer output flange 28 slides axially, but both can not occur relatively to circumferentially rotate.Adjustment end harmonic reduction
Device output flange 28 is coupled with adjustment end harmonic speed reducer 23 outfan, and rear encoder seat 17 is firm with adjustment end harmonic speed reducer 23
Wheel connection.When therefore adjustment end motor 30 is static, rear lobe plate 26 and rear encoder seat 17 will not produce circumferentially displaced；Work as adjustment
During motor 30 work of end, rear lobe plate 26 produces circumferentially displaced with respect to rear encoder seat 17, and then produces with lordosis wheel plate 13
Relatively circumferentially displaced.
Rectangle stage clip 37 one end is compressed with spring shaft 10 end, and the other end is compressed with lordosis wheel plate flange 16 middle part.Spring
Axle 10 root is compressed with rear lobe plate flange 21, lordosis wheel plate 13, the inner surface skew surface of rear lobe plate 26 be arranged on middle part
Runner 20 both sides of rotating disk 18 side offset.So, lordosis wheel plate 13 and rear lobe plate 26 can with axially-movable, but when closing up
Can be withstood by runner 20, rectangle stage clip 37 can be extruded when separately so as to deformation produces elastic force.
As shown in Fig. 2 front encoder 12 outer ring is arranged on front encoder seat 9, inner ring is affixed with flexible joint shell 22,
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 is interior with fore bearing 14
Circle is affixed.Front encoder seat 9 one end is affixed with drive end harmonic speed reducer flange 7, and the other end is affixed with base flange 15.Base
It is affixed that flange 15 and base plate 33 pass through base fore-stock 34.Measured between lordosis wheel plate 13 and base plate 33 by front encoder 12
Relative rotation；Encoder 19 outer ring is arranged on the rear encoder seat 17 being provided with swing arm 35 afterwards, and inner ring is subtracted with adjustment end harmonic wave
Fast device output flange 28 is affixed, and the big end of flexible joint shell 22, rear encoder seat 17 are affixed with the outer ring of rear bearing 24；Adjustment
End harmonic speed reducer output flange 28 is affixed with the inner ring of rear bearing 24.Adjustment end harmonic speed reducer output flange 28 and rear cam
Plate 26 is circumferentially fixed, and therefore rear 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, during drive end motor 5 work, driving middle part rotating disk 18 to rotate by drive end harmonic speed reducer 6.
If turning right, three runners 20 being located at right side move right with respect to lordosis wheel plate 13 in figure 3, extrude lordosis wheel plate
13 bent inclined-plane.Lordosis wheel plate 13 is followed and is moved right, and drives swing arm 35 to rotate.If load end stress, lordosis wheel plate 13 will
Move upwards；Rectangular Spring 37 is squeezed, and after drive, lobe plate 26 moves upwards, and the bent inclined-plane of rear lobe plate 26 inner surface is tight
Press closer three runners 20 being located at left side in Fig. 3 cannot move further up；If turning left, three are located at left side
Runner 20 in figure 3 with respect to rear lobe plate 26 to left movement, the bent inclined-plane of lobe plate 26 after extruding.Lordosis wheel plate 13 follow to
Left movement, encoder seat 17 and swing arm 35 after adjustment end motor 30 drives rotates.If load end stress, rear lobe plate
26 will move downward；Rectangular Spring 37 is squeezed, and drives lordosis wheel plate 13 to move downward, and the song of lordosis wheel plate 13 inner surface is tiltedly
Face is tightly withstood three runners 20 being located at right side in Fig. 3 and cannot be moved further downward.
And it is as shown in Figure 10, because the inclined-plane curvature of lordosis wheel plate 13, rear lobe plate 26 is different, when runner 20 off-center
During position, the positive inclined-plane curvature of offset direction is more than the reverse inclined-plane curvature of offset direction, and therefore lordosis wheel plate 13 is convex with rear
The axial distance of wheel plate 26 will increase, and extruding rectangle stage clip 37 shrinks, and produces restoring force, realizes the function of flexible joint whereby.
When adjustment end motor 30 is static, as shown in Figure 10, lordosis wheel plate 13 is only capable of axial phase with rear lobe plate 26
To motion, now the rigidity of flexible joint is to determine；When adjustment end motor 30 works, lordosis wheel plate 13 and rear lobe plate 26
Between occur circumferentially displaced.It is if lordosis wheel plate 13 is close with the bent inclined-plane spacing of rear lobe plate 26, spacing due to runner 20,
Lordosis wheel plate 13 is farther with the axial spacing of rear lobe plate 26, and the preload pressure of rectangle stage clip 37 is increased, and and lordosis wheel plate
13rd, the bent inclined-plane spacing of rear lobe plate 26 contrast when becoming estranged, now lordosis wheel plate 13 is respective with rear lobe plate 26 and runner 18 phase
The bent inclined-plane slope connecing place's point is bigger, and in the middle part of drive end motor 5 drives, rotating disk 18 rotates same angular with respect to lordosis wheel plate 13
In the case of degree, lordosis wheel plate 13 is changed more greatly with the axial distance of rear lobe plate 26, and the rigidity of flexible joint just increases.Logical
The work crossing adjustment end motor 30 changes the circumferential angle of lordosis wheel plate 13 and rear lobe plate 26, and adjustment changes the firm of flexible joint
Degree.
When current lobe plate 13 is minimum with rear lobe plate 26 corner, the bent inclined-plane highest point inside two plates and runner 20 phase
Cut, outside lordosis wheel plate 13, withstand flexible joint shell 22, outside rear lobe plate 26, withstand adjustment end harmonic speed reducer output method
Blue 28, now middle part rotating disk 18 is circumferentially fixed with rear lobe plate 26 with respect to lordosis wheel plate 13, and now joint manifestations are completely firm
The structure of property.
Claims (1)
1. a kind of adjustable flexible joint actuator mechanism of rigidity is it is characterised in that include: 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 reduction
Device (6), drive end harmonic speed reducer flange (7), drive end harmonic speed reducer output shaft (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 method
Blue (16), rear encoder seat (17), middle part rotating disk (18), rear encoder (19), runner (20), rear lobe plate flange (21), soft
Property articular shell (22), adjustment end harmonic speed reducer (23), rear bearing (24), adjustment end motor flange (25), rear lobe plate
(26), adjustment end motor shaft (27), adjustment end harmonic speed reducer output 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 speed reducer flange (38)；
Drive end encoder (1), drive end encoder flange (2) and inside are provided with described drive end encoder flange (2)
The drive end motor flange (4) being provided with drive end motor (5) is affixed；Drive end motor flange (4) passes through bottom with base plate (33)
Seat after-poppet (32) is affixed；Drive end motor shaft (3) front end connects input, stage casing and the drive of drive end harmonic speed reducer (6)
The rotor clamping of moved end motor (5), rear end is clamped with the rotor of drive end encoder (1)；Drive end harmonic speed reducer (6) is installed
On drive end harmonic speed reducer flange (7), outfan is affixed with drive end harmonic speed reducer output shaft (8)；
Adjustment end encoder (31) is provided with described adjustment end encoder flange (29), adjustment end encoder flange (29) with interior
The adjustment end motor flange (25) that portion is provided with adjustment end motor (30) is affixed；Adjustment end motor shaft (27) front end connects adjustment end
Rotor clamping, rear end and the adjustment end encoder (31) of the input of harmonic speed reducer (23), stage casing and adjustment end motor (30)
Rotor clamping；Adjustment end harmonic speed reducer (23) is arranged in adjustment end harmonic speed reducer flange (38), outfan and adjustment
End harmonic speed reducer output flange (28) is affixed；
Described drive end harmonic speed reducer output shaft (8) end is fixedly connected with affixed pin (11), and the other end of affixed pin (11) passes through
Lordosis wheel plate flange (16) is connected firmly with middle part rotating disk (18)；Six runners (20) are divided into three groups, and two are uniformly hinged on for one group
The side at middle part rotating disk (18), every group of two runners (20) are parallel with the Plane of rotation of middle part rotating disk (18), six runners
(20) all can rotate freely；The inner ring of lordosis wheel plate (13) is pressed on lordosis wheel plate flange (16), and outer ring is recessed by three groups
Groove is circumferentially fixed with the inner ring of flexible joint shell (22), and lordosis wheel plate (13) can be axially sliding with relative flexibility articular shell (22)
Dynamic, but both can not occur relatively to circumferentially rotate；Flexible joint shell (22) is connected firmly with rear encoder seat (17), and swing arm (35) is pacified
It is contained 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), and it is humorous with adjustment end that three groups of grooves are passed through in outer ring
The inner ring of ripple reducer output flange (28) is circumferentially fixed, and rear lobe plate (26) can export method by adjustment end harmonic speed reducer relatively
Blue (28) slide axially, but both can not occur relatively to circumferentially rotate；Adjustment end harmonic speed reducer output flange (28) and adjustment
End harmonic speed reducer (23) outfan connection, just wheel couples rear encoder seat (17) with adjustment end harmonic speed reducer (23)；
Described rectangle stage clip (37) one end is compressed with spring shaft (10) end, presses in the middle part of the other end and lordosis wheel plate flange (16)
Tightly；Spring shaft (10) root and rear lobe plate flange (21) compression, lordosis wheel plate (13), rear lobe plate (26) inner surface tiltedly bent
Face is offseted 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), and inner ring is affixed with flexible joint shell (22), front volume
Code device seat (9), base flange (15) are affixed with the outer ring of fore bearing (14)；The small end of flexible joint shell (22) and fore bearing
(14) inner ring is affixed；Front encoder seat (9) one end is affixed with drive end harmonic speed reducer flange (7), the other end and base method
Blue (15) are affixed；It is affixed that base flange (15) and base plate (33) pass through base fore-stock (34)；Encoder (19) outer ring is installed afterwards
On the rear encoder seat (17) being provided with swing arm (35), inner ring is affixed with adjustment end harmonic speed reducer output flange (28), soft
The big end of property articular shell (22), rear encoder seat (17) are affixed with the outer ring of rear bearing (24)；Adjustment end harmonic speed reducer is defeated
Go out flange (28) affixed with the inner ring of rear bearing (24)；Adjustment end harmonic speed reducer output flange (28) and rear lobe plate (26) week
To fixation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510355179.7A CN104985608B (en) | 2015-06-23 | 2015-06-23 | Stiffness-adjustable flexible joint actuator mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510355179.7A CN104985608B (en) | 2015-06-23 | 2015-06-23 | Stiffness-adjustable flexible joint actuator mechanism |
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| Publication Number | Publication Date |
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| CN104985608A CN104985608A (en) | 2015-10-21 |
| CN104985608B true CN104985608B (en) | 2017-01-18 |
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| CN201510355179.7A Active CN104985608B (en) | 2015-06-23 | 2015-06-23 | Stiffness-adjustable flexible joint actuator mechanism |
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| JP5016515B2 (en) * | 2008-02-12 | 2012-09-05 | 川崎重工業株式会社 | Friction stir welding apparatus holder, tool mounting structure, friction stir welding apparatus, and friction stir welding equipment |
| DE102010023880A1 (en) * | 2010-05-15 | 2011-11-17 | Hans-Erich Maul | Linear three-jaw electric gripper for gear motor of cam, has servomotor driving eccentric cam gear box, and pivotal levers operating and rotating chuck jaws over joints and swung by circular slide ring |
| CN101973037B (en) * | 2010-11-22 | 2011-12-21 | 北方工业大学 | Passive robot joint with adjustable rigidity elasticity |
| CN203738798U (en) * | 2014-02-28 | 2014-07-30 | 浙江大学 | Hybrid control flexible joint |
| CN104608142B (en) * | 2015-01-09 | 2016-06-08 | 河北工业大学 | A kind of rotary-type variation rigidity flexible joint |
| CN204725510U (en) * | 2015-06-23 | 2015-10-28 | 浙江大学 | The flexible joint actuator mechanism that a kind of rigidity is adjustable |
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2015
- 2015-06-23 CN CN201510355179.7A patent/CN104985608B/en active Active
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