CN105171769A - Variable-rigidity robot elastic joint - Google Patents
Variable-rigidity robot elastic joint Download PDFInfo
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- CN105171769A CN105171769A CN201510621201.8A CN201510621201A CN105171769A CN 105171769 A CN105171769 A CN 105171769A CN 201510621201 A CN201510621201 A CN 201510621201A CN 105171769 A CN105171769 A CN 105171769A
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- spring leaf
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Abstract
The invention discloses a variable-rigidity robot elastic joint. The variable-rigidity robot elastic joint is composed of a shell, a shaft and an outer ring. The shaft is arranged at the rotation center of the shell and fixed to the shell. The shell and the outer ring are connected through a rotation pair. A plurality of leaf springs are arranged on the outer ring. One end of each leaf spring is fixedly connected with the outer ring, and the other end of each leaf spring is fixedly connected with the shaft. A movable clamping jaw is arranged in the middle of each leaf spring and connected with the leaf spring in a sliding manner. The bottoms of the movable clamping jaws are in spiral transmission connection with a toothed plate. End face teeth are arranged at the bottom of the toothed plate and are in gear transmission connection with bevel teeth. The shaft penetrates the rotation center of the toothed plate and is connected with the toothed plate through a rotation pair. The bevel teeth penetrate the shell in the radial direction and are connected with the shell through rotation pairs. The variable-rigidity robot elastic joint solves the problems that an existing structure is relatively complex and the variable-rigidity characteristic is poor, is simple in structure and can achieve real-time rigidity regulation in the movement process of the robot joint.
Description
Technical field
The present invention relates to robotics, be specifically related to a kind of variation rigidity Robot elastic joint.
Background technology
Along with the develop rapidly of science and technology, Robotics is very widely in the application of present stage, especially in industrial circle.At present, along with Robotics is to the development of flexible aspect, the collaborative work of multiple stage robot, and the interpersonal reciprocation of machine etc. is more and more general.The appearance of this phenomenon, will require to increase to the Technology of Flexibility of robot and adaptability.This is also the focus that Current Domestic is studied outward.
From the whole composition structure of robot, joint of robot is the key components and parts that robot realizes various motion.The existing Robotics more mainly rigidity joint of application and elastic joint.Application technology for variation rigidity joint of robot is fewer.
Variation rigidity Robot elastic joint can according to mission requirements, real-time adjusting joint rigidity, thus improves the adaptability of robot.The possible application of variation rigidity joint driver comprises: the security promoting service robot man-machine interaction; In joint of artificial limb, application can resist the impact of external force effectively, and Saving cortilage exempts from destruction.Variation rigidity Robot elastic joint effectively can improve robot to the adaptability of environment and expand the application of robot, is with a wide range of applications.
How research improves in the adaptive process of robot.The passive flexibility of usual use and active force control the adaptability improving robot.Passive flexibility is difficult to carry out ACTIVE CONTROL, and application surface is narrower.Active force controls higher to the requirement of real-time of the precision of force snesor, the bandwidth sum control algolithm of sample frequency; Its security is difficult to ensure, and robustness is lower, and energy ezpenditure is larger.
Many to the research of variation rigidity Robot elastic joint abroad, mainly concentrate on the variation rigidity realizing structure, the optimization of energy efficiency, and the research of control method.But from external designed a lot of structure, still there is a lot of problem in its structure, as variation rigidity robot joint structure is complicated, variation rigidity characteristic is poor, and control complicated, energy ezpenditure is large, and security is lower.
Summary of the invention
The object of the invention is the structure relative complex in order to overcome existing variation rigidity Robot elastic joint, variation rigidity characteristic is poor, control complicated, energy ezpenditure is large, security is lower, there is provided a kind of structure simple, can be implemented in the robot stiffness changing structure of rigidity real-time, tunable in joint of robot motion process.
The object of the invention is to be realized by following technical proposals:
A kind of variation rigidity Robot elastic joint, is made up of shell (1), axle (4) and outer ring (2); It is characterized in that described axle (4) is arranged at the centre of gyration of shell (1), and with between shell (1) for being fixedly connected with, for revolute pair is connected between shell (1) with outer ring (2); Described outer ring (2) is provided with multiple spring leafs (3) of radial symmetric, each spring leaf (3) one end and outer ring (2) connect firmly, and the other end and axle (4) connect firmly; In the middle of described spring leaf (3), a movable jaw (5) is all installed, movable jaw (5) is symmetrical with spring leaf (3), and and for being slidably connected between spring leaf (3), movable jaw (5) bottom with between fluted disc (6) for worm drive are connected; Described fluted disc (6) bottom is provided with end-tooth, and forms gear drive between end-tooth with umbrella tooth (7) and be connected; Described axle (4) further passs through the pivot of fluted disc (6), and with between fluted disc (6) for revolute pair is connected; Described umbrella tooth (7) radially across shell (1), and with between shell (1) for revolute pair is connected.
In such scheme, be worm drive between described movable jaw (5) and fluted disc (6), movable jaw (5) and fluted disc (6) profile of tooth can be rectangular teeth, or stepped tooth.
In such scheme, described movable jaw (5) determines the rigidity controlled range of spring leaf (3) in the upper effective length of sliding of spring leaf (3).
In such scheme, the worm drive angle between described movable jaw (5) and fluted disc (6) preferably makes its worm drive have the angle of auto-lock function.
In such scheme, self-locking mechanism is provided with between described movable jaw (5) and fluted disc (6), self-locking mechanism can make movable jaw (5) can keep constant relative to the relative position of spring leaf (3), thus effectively improves the precision and stability of stiffness reliability.
In such scheme, described movable jaw (5) two ends are provided with roller, and in the process that movable jaw (5) slides along reed (3), realizing becoming sliding friction is rolling friction, efficiently reduce the loss of energy, reduce the staring torque of drive motors.
In such scheme, the overlaying structure that described spring leaf (3) is multiple thin slice, mechanical property is better.
The operation principle that variation rigidity Robot elastic joint of the present invention realizes variation rigidity is: described shell (1) maintains static, umbrella tooth (7) is driven to rotate by additional motor, when additional motor drives umbrella tooth (7) to rotate along clockwise direction, active toothed disk (6) can be with to rotate around axle (4), the rotation of fluted disc (6) can be with active toothed disk (6) the movable hock in upside (5) radially to move to away from axle (4) side, center, and the mobile of movable jaw (5) can be moved laterally along spring leaf (3), thus change the effective length of spring leaf (3) between outer ring (2) and movable jaw (5), the effective length of spring leaf (3) is reduced, thus make the rigidity in joint become large.When additional motor drives umbrella tooth (7) to rotate in the counterclockwise direction, movable jaw (5) can shrink under the reverse drive of fluted disc (6) simultaneously to the inside, the effective length of spring leaf (3) is increased, thus joint stiffness is reduced.
A kind of variation rigidity Robot elastic joint of the present invention can be used in the system of various Robot elastic joint, especially in the Robot elastic joint system that rigidity is adjustable.Its feature is to adopt the mode of movable jaw and fluted disc worm drive to realize effective active length of movable jaw control spring sheet, thus the rigidity realizing this elastic joint structure is adjustable.The adjustment of spring plate rigidity drives umbrella tooth to rotate by external motor, and is realized the rotation of fluted disc by umbrella tooth, so the rotating of fluted disc can be realized by the rotating of motor, thus can the change of control spring sheet rigidity.
A kind of variation rigidity Robot elastic joint that the present invention proposes, overcomes the structure relative complex of original Robot elastic joint, and control mode is complicated, and the defect such as use occasion is limited.It is relatively simple that this structure has structure, can realize the impact property of articulation both direction, and control joint position and just relatively independent feature.In such scheme, use spring leaf, its structure is simple, manufactures handling ease, be convenient to the replacing of structure self, and total stiffness reliability mode is relatively simple.
Accompanying drawing explanation
Fig. 1 is schematic diagram of the present invention.
Fig. 2 is fluted disc schematic diagram of the present invention.
Fig. 3 is movable jaw schematic diagram of the present invention.
Fig. 4 is outer ring of the present invention schematic diagram.
Fig. 5 is shell schematic diagram of the present invention.
Fig. 6 is axle schematic diagram of the present invention.
Fig. 7 is umbrella tooth schematic diagram of the present invention.
Fig. 8 is spring leaf schematic diagram of the present invention.
Fig. 9 is 6 shaft industrial robot embodiment schematic diagrames of the present invention.
Figure 10 is bio-robot embodiment schematic diagram of the present invention.
Figure 11 is human body artificial limb leg embodiment schematic diagram of the present invention.
In accompanying drawing, the implication of each numeral is: 1: shell; 2: outer ring; 3: spring leaf; 4: axle; 5: movable jaw; 6: fluted disc; 7: umbrella tooth; 8: input; 9: output; 10: bio-robot leg input; 11: bio-robot leg output; 12: human body artificial limb thigh; 13: human body artificial limb shank.
Detailed description of the invention
Be described in further detail the present invention below in conjunction with drawings and Examples, but the present invention is not limited only to described embodiment.
Embodiment one
As shown in Figure 1, a kind of variation rigidity Robot elastic joint, is made up of shell (1), axle (4) and outer ring (2) a kind of variation rigidity Robot elastic joint of this example; It is characterized in that described axle (4) is arranged at the centre of gyration of shell (1), and with between shell (1) for being fixedly connected with, for revolute pair is connected between shell (1) with outer ring (2); Described outer ring (2) is provided with multiple spring leafs (3) of radial symmetric, each spring leaf (3) one end and outer ring (2) connect firmly, and the other end and axle (4) connect firmly; In the middle of described spring leaf (3), a movable jaw (5) is all installed, movable jaw (5) is symmetrical with spring leaf (3), and and for being slidably connected between spring leaf (3), movable jaw (5) bottom with between fluted disc (6) for worm drive are connected; Described fluted disc (6) bottom is provided with end-tooth, and forms gear drive between end-tooth with umbrella tooth (7) and be connected; Described axle (4) further passs through the pivot of fluted disc (6), and with between fluted disc (6) for revolute pair is connected; Described umbrella tooth (7) radially across shell (1), and with between shell (1) for revolute pair is connected.
In the present embodiment, described movable jaw (5) is stepped tooth with the profile of tooth of fluted disc (6), and the worm drive angle of this stepped tooth profile of tooth has self-locking action.
The variation rigidity process of the variation rigidity Robot elastic joint of this example is: described shell 1 maintains static, umbrella tooth 7 is driven to rotate by additional motor, when additional motor drives umbrella tooth 7 to rotate along clockwise direction, active toothed disk 6 can be with to rotate around axle 4, the rotation of fluted disc 6 can be with movable hock 5 on the upside of active toothed disk 6 radially to move to away from side, axle 4 center, and the mobile of movable jaw 5 can be moved laterally along spring leaf 3, thus change the effective length of spring leaf 3 between outer ring 2 and movable jaw 5, the effective length of spring leaf 3 is reduced, thus makes the rigidity in joint become large.When additional motor drives umbrella tooth 7 to rotate in the counterclockwise direction, movable jaw 5 can shrink under the reverse drive of fluted disc 6 simultaneously to the inside, the effective length of spring leaf 3 is increased, thus joint stiffness is reduced.
As shown in Figure 9, the variation rigidity Robot elastic joint of this example is arranged on 6 shaft industrial robot ends, and input 8 is fixedly connected with the shell 1 of elastic joint, and outer ring 2 is fixedly connected with output 9.In application process; the stiffness characteristics of this elastic joint is set in advance according to work information; when driven by motor input 8 rotates; outer load can produce output 9 to be impacted; the elastic joint of this example can produce cushioning effect by the elastic reaction of spring leaf 3; make, between outer ring 2 and shell 1, there is elastic reaction, effectively protect bio-robot leg joint, improve its service life.
Embodiment two
As shown in Figure 10, the variation rigidity Robot elastic joint of this example is arranged on the leg joint of bionic 6-leg robot, and bio-robot leg input 10 is fixedly connected with the shell 1 of elastic joint, and outer ring 2 is fixedly connected with bio-robot leg output 11.In application process; the stiffness characteristics of this elastic joint is set in advance according to work information; in the process of bio-robot walking; when driven by motor bio-robot leg input 10 rotates; outer load can produce bio-robot leg output 11 to be impacted, and the elastic joint of this example can produce cushioning effect by the elastic reaction of spring leaf 3, makes to have elastic reaction between outer ring 2 and shell 1; effectively protect bio-robot leg joint, improve its service life.
Embodiment three
As shown in figure 11, the variation rigidity Robot elastic joint of this example is arranged on human body artificial limb leg joint, joint between human body artificial limb thigh to shank is provided with elastic joint, the input of shank is driven to be fixedly connected with the shell 1 of elastic joint, outer ring 2 is fixedly connected with artificial limb shank 13, in application process, the stiffness characteristics of this elastic joint is set in advance according to work information, in the process of prosthetic walking, when driven by motor artificial limb shank 13 input rotates, outer load can produce artificial limb shank 13 to be impacted, the elastic joint of this example can produce cushioning effect by the elastic reaction of spring leaf 3, make, between outer ring 2 and shell 1, there is elastic reaction, effectively protect artificial limb leg joint, improve its service life.
Embodiment four
A kind of variation rigidity Robot elastic joint movable jaw 5 two ends of this example are provided with roller, in the process that movable jaw 5 slides along reed 3, realizing becoming sliding friction is rolling friction, efficiently reduces the loss of energy, reduce the staring torque of drive motors, all the other are with embodiment one.
Embodiment five
As shown in Figure 8, the material of spring leaf is conventional spring steel material to a kind of variation rigidity Robot elastic joint spring leaf 3 of this example, and all the other are with embodiment four.
Embodiment six
As shown in Figure 8, spring leaf is the stacking pattern of multiple thin slice to a kind of variation rigidity Robot elastic joint spring leaf 3 of this example, and all the other are with embodiment five.
Embodiment seven
As shown in Figure 8, the cross sectional shape of spring leaf is variable to a kind of variation rigidity Robot elastic joint spring leaf 3 of this example, and all the other are with embodiment five.
The design of the cross sectional shape of spring leaf 3, affect its stiffness characteristics, spring leaf cross sectional shape can be designed according to the applicable situation of Robot elastic joint, to meet load-deflection curve needed for elastic joint, elastic joint is made to adapt to different working environments, extend its service life, improve its serviceability.
Claims (6)
1. a variation rigidity Robot elastic joint, is made up of shell (1), axle (4) and outer ring (2); It is characterized in that: described axle (4) is arranged at the centre of gyration of shell (1), and with between shell (1) for being fixedly connected with, for revolute pair is connected between shell (1) with outer ring (2); Described outer ring (2) is provided with multiple spring leafs (3) of radial symmetric, each spring leaf (3) one end and outer ring (2) connect firmly, and the other end and axle (4) connect firmly; All is provided with a movable jaw (5) in the middle of described spring leaf (3), movable jaw (5) is symmetrical with spring leaf (3), and and for being slidably connected between spring leaf (3), movable jaw (5) bottom with between fluted disc (6) for worm drive are connected; Described fluted disc (6) bottom is provided with end-tooth, and forms gear drive between end-tooth with umbrella tooth (7) and be connected; Described axle (4) further passs through the pivot of fluted disc (6), and with between fluted disc (6) for revolute pair is connected; Described umbrella tooth (7) radially across shell (1), and with between shell (1) for revolute pair is connected.
2. a kind of variation rigidity Robot elastic joint as claimed in claim 1, is characterized in that: be worm drive between described movable jaw (5) and fluted disc (6), movable jaw (5) and fluted disc (6) profile of tooth can be rectangular teeth, or stepped tooth.
3. a kind of variation rigidity Robot elastic joint as claimed in claim 1, is characterized in that: the worm drive angle between described movable jaw (5) and fluted disc (6) is configured such that its worm drive have the angle of auto-lock function.
4. a kind of variation rigidity Robot elastic joint as claimed in claim 1, it is characterized in that: be provided with self-locking mechanism between described movable jaw (5) and fluted disc (6), self-locking mechanism can make movable jaw (5) can keep constant relative to the relative position of spring leaf (3).
5. a kind of variation rigidity Robot elastic joint as claimed in claim 1, is characterized in that: upper described movable jaw (5) two ends are provided with roller, and in the process that movable jaw (5) slides along reed (3), realizing becoming sliding friction is rolling friction.
6. a kind of variation rigidity Robot elastic joint as claimed in claim 1, is characterized in that: the overlaying structure that described spring leaf (3) is multiple thin slice.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510621201.8A CN105171769B (en) | 2015-09-28 | 2015-09-28 | Variable-rigidity robot elastic joint |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510621201.8A CN105171769B (en) | 2015-09-28 | 2015-09-28 | Variable-rigidity robot elastic joint |
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| CN105171769A true CN105171769A (en) | 2015-12-23 |
| CN105171769B CN105171769B (en) | 2017-03-22 |
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| CN201510621201.8A Active CN105171769B (en) | 2015-09-28 | 2015-09-28 | Variable-rigidity robot elastic joint |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2017161927A1 (en) * | 2016-03-23 | 2017-09-28 | 华南理工大学 | Robot elastic joint with adjustable rigidity |
| CN107486850A (en) * | 2017-09-08 | 2017-12-19 | 四川大学 | A kind of Wire driven robot robot variation rigidity elastic joint |
| CN108000554A (en) * | 2017-11-30 | 2018-05-08 | 中国矿业大学 | A kind of stiffness variable flexible joint and its control method based on leaf spring |
| CN108032331A (en) * | 2017-11-27 | 2018-05-15 | 清华大学 | A kind of variation rigidity flexible mechanical arm |
| CN109227596A (en) * | 2018-10-22 | 2019-01-18 | 哈尔滨工业大学（深圳） | A kind of variation rigidity flexible joint device |
| CN109732641A (en) * | 2019-01-28 | 2019-05-10 | 西安交通大学 | A kind of submissive joint of bifurcation formula variation rigidity and operating method |
| CN109807938A (en) * | 2019-03-26 | 2019-05-28 | 清华大学 | Without guide tracked variation rigidity driver |
| CN110480675A (en) * | 2019-08-28 | 2019-11-22 | 王光远 | A kind of piezoelectric type variation rigidity elastic joint |
| CN112757277A (en) * | 2021-01-07 | 2021-05-07 | 之江实验室 | Variable-rigidity flexible joint |
| CN113231798A (en) * | 2021-04-30 | 2021-08-10 | 成都飞机工业（集团）有限责任公司 | Automatic rivet dismounting device and using method thereof |
| CN114131647A (en) * | 2021-12-06 | 2022-03-04 | 之江实验室 | Lever type rigidity-variable flexible joint based on cam |
| CN115533953A (en) * | 2022-10-19 | 2022-12-30 | 西交利物浦大学 | Variable-rigidity mechanical clamping jaw |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017161927A1 (en) * | 2016-03-23 | 2017-09-28 | 华南理工大学 | Robot elastic joint with adjustable rigidity |
| CN107486850A (en) * | 2017-09-08 | 2017-12-19 | 四川大学 | A kind of Wire driven robot robot variation rigidity elastic joint |
| CN107486850B (en) * | 2017-09-08 | 2020-05-01 | 四川大学 | Variable-rigidity elastic joint of flexible cable driven robot |
| CN108032331B (en) * | 2017-11-27 | 2019-09-27 | 清华大学 | A kind of variation rigidity flexible mechanical arm |
| CN108032331A (en) * | 2017-11-27 | 2018-05-15 | 清华大学 | A kind of variation rigidity flexible mechanical arm |
| CN108000554A (en) * | 2017-11-30 | 2018-05-08 | 中国矿业大学 | A kind of stiffness variable flexible joint and its control method based on leaf spring |
| CN108000554B (en) * | 2017-11-30 | 2021-07-06 | 中国矿业大学 | Leaf spring-based variable-rigidity flexible joint and control method thereof |
| CN109227596A (en) * | 2018-10-22 | 2019-01-18 | 哈尔滨工业大学（深圳） | A kind of variation rigidity flexible joint device |
| CN109732641A (en) * | 2019-01-28 | 2019-05-10 | 西安交通大学 | A kind of submissive joint of bifurcation formula variation rigidity and operating method |
| CN109732641B (en) * | 2019-01-28 | 2021-09-07 | 西安交通大学 | Two-state variable-rigidity compliant joint and operation method |
| CN109807938A (en) * | 2019-03-26 | 2019-05-28 | 清华大学 | Without guide tracked variation rigidity driver |
| CN110480675A (en) * | 2019-08-28 | 2019-11-22 | 王光远 | A kind of piezoelectric type variation rigidity elastic joint |
| CN110480675B (en) * | 2019-08-28 | 2021-03-30 | 王光远 | Piezoelectric type variable-rigidity elastic joint |
| CN112757277A (en) * | 2021-01-07 | 2021-05-07 | 之江实验室 | Variable-rigidity flexible joint |
| CN113231798A (en) * | 2021-04-30 | 2021-08-10 | 成都飞机工业（集团）有限责任公司 | Automatic rivet dismounting device and using method thereof |
| CN113231798B (en) * | 2021-04-30 | 2022-06-14 | 成都飞机工业（集团）有限责任公司 | Automatic rivet dismounting device and using method thereof |
| CN114131647A (en) * | 2021-12-06 | 2022-03-04 | 之江实验室 | Lever type rigidity-variable flexible joint based on cam |
| CN115533953A (en) * | 2022-10-19 | 2022-12-30 | 西交利物浦大学 | Variable-rigidity mechanical clamping jaw |
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