CN105171771A - Variable-rigidity elastic joint of cam structure - Google Patents
Variable-rigidity elastic joint of cam structure Download PDFInfo
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- CN105171771A CN105171771A CN201510715690.3A CN201510715690A CN105171771A CN 105171771 A CN105171771 A CN 105171771A CN 201510715690 A CN201510715690 A CN 201510715690A CN 105171771 A CN105171771 A CN 105171771A
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Abstract
The invention discloses a variable-rigidity elastic joint of a cam structure. The variable-rigidity 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 symmetrical leaf springs are arranged on the outer ring in the radial direction. One end of each leaf spring is fixedly connected with the outer ring, and the other end of each leaf spring penetrates through a spring to be fixedly connected with the shaft. One end of each spring is connected to the shaft, and the other end of each spring is connected to a sliding block. The sliding blocks are arranged in the middles of the leaf springs and connected with the leaf springs in a sliding mode. A cam disk is arranged on the shaft, of a central symmetry structure and connected with the shaft through a rotation pair. A cam roller is arranged at the upper end of each sliding block. Cam transmission is achieved through the cam disk and the cam rollers. The variable-rigidity elastic joint solves the problems that an existing structure is relatively complex and the variable-rigidity characteristic is poor, and the variable-rigidity elastic joint which is simple in structure and allows the rigidity to be regulated in real time in the movement process can be obtained.
Description
Technical field
The present invention relates to robotics, be specifically related to a kind of cam structure variation rigidity 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 cam structure variation rigidity elastic joint, is made up of shell (1), axle (5) and outer ring (2); It is characterized in that described axle (5) 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); The upper radial direction in described outer ring (2) is provided with symmetrical multiple spring leafs (7), and each spring leaf (7) one end and outer ring (2) connect firmly, and the other end connects firmly through spring (3) and axle (5); Described spring (3) one end is connected on axle (5), and the other end is connected on sliding shoe (8); Described sliding shoe (8) is arranged on spring leaf (7) middle part, symmetrical with spring leaf (7), and and for being slidably connected between spring leaf (7); Described axle (5) is provided with cam disc (6), symmetrical structure centered by cam disc (6), and for revolute pair is connected between cam disc (6) with axle (5); Described each sliding shoe (8) upper end is provided with cam bawl (9), and cam disc (6) and cam bawl (9) form cam drive.
In such scheme, described a kind of cam structure variation rigidity elastic joint also comprises fixed block (4) structure, fixed block (4) is fixedly connected on axle (5), and centre is provided with the sliding tray of slide block (8), and slide block (8) can slide relative to fixed block (4) in sliding tray.
In such scheme, the centrosymmetric structure of described cam disc is specially: on cam disc, corresponding to the cam bawl place on sliding shoe, is provided with cam stroke profile, and multiple cam stroke profile distributes with cam disc Central Symmetry.
In such scheme, it is cam drive between cam bawl (9) on described cam disc (6) and sliding shoe (8), the lift profile of cam disc (6) is polynomial curve profile, sinusoidal profile, cosine curve profile, helix profile etc., and different lift profile determines the curve characteristic of elastic joint different-stiffness.
In such scheme, described sliding shoe (8) determines the rigidity controlled range of spring leaf (7) in the upper effective length of sliding of spring leaf (7).
In such scheme, described spring (3), for drawing spring, has pretension effect for the cam drive between cam disc (6) and sliding shoe (8) overhead cam roller (9), simultaneously when cam circles round, has return action to sliding shoe.
In such scheme, described sliding shoe (8) inside groove two ends are provided with roller, and in the process that sliding shoe (8) slides along spring leaf (7), realizing becoming sliding friction is rolling friction, efficiently reduces the loss of energy, reduces the starting torque of drive motors.
In such scheme, further, two ends, described sliding shoe (8) outside are also provided with roller, and in the process that sliding shoe (8) slides along the sliding tray on fixed block (4), realizing becoming sliding friction is rolling friction.
In such scheme, described spring leaf (7) is the overlaying structure of multiple spring thin slice, makes the mechanical property of variation rigidity elastic joint better.
The operation principle that variation rigidity Robot elastic joint of the present invention realizes variation rigidity is: described shell (1) maintains static, rotated by additional motor driving cam dish (6), when additional motor driving cam dish (6) is rotated along clockwise direction, pass through cam drive, under the effect of spring (3) pretightning force, sliding shoe (8) moves to side, axle center along spring leaf (7) simultaneously, thus change the effective length of spring leaf (7) between outer ring (2) and sliding shoe (8), the effective length of spring leaf (7) is made to become large, thus the rigidity in joint is diminished.When additional motor driving cam dish (6) is rotated in the counterclockwise direction, sliding shoe (8) can move under the reverse drive of cam disc (6) simultaneously laterally, and the effective length of spring leaf (7) is reduced, thus makes joint stiffness become large.
A kind of cam structure variation rigidity 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 cam drive between cam disc and sliding shoe overhead cam roller to realize the relative movement of sliding shoe along spring leaf, effective active length of control spring sheet, thus the rigidity realizing this elastic joint structure is adjustable.The adjustment of spring plate rigidity by external motor driving cam dish, 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.Use cam drive structure, its compact conformation, transmission efficiency is high, and variation rigidity response is fast, variation rigidity process stabilization.Spring-return structure is adopted to make variation rigidity process reliable continuously.Forming profile by changing cam disc, the load-deflection curve of elastic joint can be changed, to adapt to different workplaces.
Accompanying drawing explanation
Fig. 1 is schematic diagram of the present invention.
Fig. 2 is cam disc schematic diagram of the present invention.
Fig. 3 is sliding shoe 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 fixed block schematic diagram of the present invention.
Fig. 8 is spring leaf schematic diagram of the present invention.
Fig. 9 is spring schematic diagram of the present invention.
Figure 10 is cam bawl schematic diagram of the present invention.
Figure 11 is 6 shaft industrial robot embodiment schematic diagrames of the present invention.
Figure 12 is bio-robot embodiment schematic diagram of the present invention.
Figure 13 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; 4: fixed block; 5: axle; 6: cam disc; 7: spring leaf; 8: sliding shoe; 9: cam bawl; 10: input; 11: output; 12: bio-robot leg input; 13: bio-robot leg output; 14: human body artificial limb thigh; 15: 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
A kind of cam structure variation rigidity elastic joint, is made up of shell (1), axle (5) and outer ring (2); It is characterized in that described axle (5) 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); The upper radial direction in described outer ring (2) is provided with symmetrical multiple spring leafs (7), and each spring leaf (7) one end and outer ring (2) connect firmly, and the other end connects firmly through spring (3) and axle (5); Described spring (3) one end is connected on axle (5), and the other end is connected on sliding shoe (8); Described sliding shoe (8) is arranged on spring leaf (7) middle part, symmetrical with spring leaf (7), and and for being slidably connected between spring leaf (7); Described axle (5) is provided with cam disc (6), symmetrical structure centered by cam disc (6), and for revolute pair is connected between cam disc (6) with axle (5); Described each sliding shoe (8) upper end is provided with cam bawl (9), and cam disc (6) and cam bawl (9) form cam drive.
In the present embodiment, be cam drive between described cam disc (6) and sliding shoe (8), the contour shape of cam disc (6) determines the curve characteristic of joint variation rigidity.
The variation rigidity process of the variation rigidity Robot elastic joint of this example is: described shell (1) maintains static, rotated by additional motor driving cam dish (6), when additional motor driving cam dish (6) is rotated along clockwise direction, under the effect of spring (3) pretightning force, sliding shoe (8) moves to side, axle center along spring leaf (7) simultaneously, thus change the effective length of spring leaf (7) between outer ring (2) and sliding shoe (8), make the effective length of spring leaf (7) become large, thus the rigidity in joint is diminished.When additional motor driving cam dish (6) is rotated in the counterclockwise direction, sliding shoe (8) can move under the reverse drive of cam disc (6) simultaneously laterally, and the effective length of spring leaf (7) is reduced, thus makes joint stiffness become large.
As shown in figure 11, 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 11.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 11 to be impacted; the elastic joint of this example can produce cushioning effect by the elastic reaction of spring leaf 7; make, between outer ring 2 and shell 1, there is elastic reaction, effectively protect industrial robot joint, improve its service life.
Embodiment two
As shown in figure 12, 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 12 is fixedly connected with the shell 1 of elastic joint, and outer ring 2 is fixedly connected with bio-robot leg output 13.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 12 rotates; outer load can produce bio-robot leg output 13 to be impacted, and the elastic joint of this example can produce cushioning effect by the elastic reaction of spring leaf 7, 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 13, 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 15, 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 15 input rotates, outer load can produce artificial limb shank 15 to be impacted, the elastic joint of this example can produce cushioning effect by the elastic reaction of spring leaf 7, 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 sliding shoe 8 inside groove of this example and two ends, outside are all provided with roller, in the process that sliding shoe 8 slides along spring leaf 7, realizing becoming sliding friction is rolling friction, efficiently reduce the loss of energy, reduce the starting 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 7 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 7 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 7 of this example, and all the other are with embodiment five.
The design of the cross sectional shape of spring leaf 7, 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 (8)
1. a cam structure variation rigidity elastic joint, is made up of shell (1), axle (5) and outer ring (2); It is characterized in that described axle (5) 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); The upper radial direction in described outer ring (2) is provided with symmetrical multiple spring leafs (7), and each spring leaf (7) one end and outer ring (2) connect firmly, and the other end connects firmly through spring (3) and axle (5); Described spring (3) one end is connected on axle (5), and the other end is connected on sliding shoe (8); Described sliding shoe (8) is arranged on spring leaf (7) middle part, symmetrical with spring leaf (7), and and for being slidably connected between spring leaf (7); Described axle (5) is provided with cam disc (6), symmetrical structure centered by cam disc (6), and for revolute pair is connected between cam disc (6) with axle (5); Described each sliding shoe (8) upper end is provided with cam bawl (9), and cam disc (6) and cam bawl (9) form cam drive.
2. a kind of variation rigidity Robot elastic joint as claimed in claim 1, it is characterized in that: described a kind of cam structure variation rigidity elastic joint also comprises fixed block (4) structure, fixed block (4) is fixedly connected on axle (5), and centre is provided with the sliding tray of slide block (8), slide block (8) can slide relative to fixed block (4) in sliding tray.
3. a kind of variation rigidity Robot elastic joint as claimed in claim 1, it is characterized in that: the centrosymmetric structure of described cam disc is specially: on cam disc, corresponding to the cam bawl place on sliding shoe, be provided with cam stroke profile, multiple cam stroke profile distributes with cam disc Central Symmetry.
4. a kind of variation rigidity Robot elastic joint as claimed in claim 1, it is characterized in that: be cam drive between the cam bawl (9) on described cam disc (6) and sliding shoe (8), the lift profile of cam disc (6) is polynomial curve profile, sinusoidal profile, cosine curve profile, helix profile etc.
5. a kind of variation rigidity Robot elastic joint as claimed in claim 1, it is characterized in that: described spring (3) is for drawing spring, for the cam drive between cam disc (6) and sliding shoe (8) overhead cam roller (9), there is pretension effect, simultaneously when cam circles round, there is return action to sliding shoe.
6. a kind of variation rigidity Robot elastic joint as claimed in claim 1, is characterized in that: described sliding shoe (8) inside groove two ends are provided with roller, and in the process that sliding shoe (8) slides along spring leaf (7), realizing becoming sliding friction is rolling friction.
7. a kind of variation rigidity Robot elastic joint as claimed in claim 1, it is characterized in that: two ends, described sliding shoe (8) outside are also provided with roller, in the process that sliding shoe (8) slides along the sliding tray on fixed block (4), realizing becoming sliding friction is rolling friction.
8. a kind of variation rigidity Robot elastic joint as claimed in claim 1, is characterized in that: described spring leaf (7) is the overlaying structure of multiple spring thin slice.
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| CN201510715690.3A CN105171771B (en) | 2015-10-30 | 2015-10-30 | Variable-rigidity elastic joint of cam structure |
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| CN201510715690.3A CN105171771B (en) | 2015-10-30 | 2015-10-30 | Variable-rigidity elastic joint of cam structure |
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| CN105171771B CN105171771B (en) | 2017-05-03 |
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Cited By (19)
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| CN105563468A (en) * | 2016-02-04 | 2016-05-11 | 陕西科技大学 | Parallel mechanical arm controlled by cams |
| CN105599006A (en) * | 2016-03-23 | 2016-05-25 | 华南理工大学 | Two-motor driven variable-stiffness elastic joint of robot |
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| CN106239554A (en) * | 2016-10-10 | 2016-12-21 | 中国科学院宁波材料技术与工程研究所 | The conduction mechanism of a kind of stiffness variable and joint of robot |
| CN108608458A (en) * | 2018-07-26 | 2018-10-02 | 中国石油大学(华东) | A kind of submissive joint of mechanical arm of tandem drive |
| CN108714913A (en) * | 2018-06-06 | 2018-10-30 | 清华大学 | Variation rigidity flexible actuator |
| CN108747536A (en) * | 2018-06-08 | 2018-11-06 | 山东大学 | A kind of cam tensioning adjustable fast tool servo system of rigidity |
| CN108858275A (en) * | 2018-07-05 | 2018-11-23 | 哈尔滨工业大学（深圳） | A kind of variation rigidity joint based on cam mechanism |
| CN108908304A (en) * | 2018-09-20 | 2018-11-30 | 哈尔滨理工大学 | A kind of improved sinusoidal acceleration cam lock holding mechanism |
| CN109623871A (en) * | 2019-03-01 | 2019-04-16 | 河北工业大学 | A kind of master-passive stiffness-shift joint and its stiffness tuning method |
| 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 |
| CN110065057A (en) * | 2019-05-31 | 2019-07-30 | 中国科学技术大学 | A kind of variation rigidity driving device |
| CN112757277A (en) * | 2021-01-07 | 2021-05-07 | 之江实验室 | Variable-rigidity flexible joint |
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| CN114131647A (en) * | 2021-12-06 | 2022-03-04 | 之江实验室 | Lever type rigidity-variable flexible joint based on cam |
| CN114209426A (en) * | 2021-11-08 | 2022-03-22 | 哈尔滨工业大学（深圳） | Locking structure for variable-rigidity mechanical arm |
| CN114654496A (en) * | 2022-03-30 | 2022-06-24 | 华中科技大学 | Active variable-stiffness rotary joint based on involute leaf spring |
| CN114770472A (en) * | 2022-04-29 | 2022-07-22 | 华中科技大学 | Bidirectional self-locking non-rear-drive clutch based on wedge-shaped cam and application thereof |
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| CN105599006A (en) * | 2016-03-23 | 2016-05-25 | 华南理工大学 | Two-motor driven variable-stiffness elastic joint of robot |
| CN105599004A (en) * | 2016-03-23 | 2016-05-25 | 华南理工大学 | Rigidity-adjustable robot elastic joint |
| CN106239554A (en) * | 2016-10-10 | 2016-12-21 | 中国科学院宁波材料技术与工程研究所 | The conduction mechanism of a kind of stiffness variable and joint of robot |
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| CN108858275A (en) * | 2018-07-05 | 2018-11-23 | 哈尔滨工业大学（深圳） | A kind of variation rigidity joint based on cam mechanism |
| CN108608458A (en) * | 2018-07-26 | 2018-10-02 | 中国石油大学(华东) | A kind of submissive joint of mechanical arm of tandem drive |
| CN108608458B (en) * | 2018-07-26 | 2021-07-06 | 中国石油大学(华东) | Serial-drive flexible mechanical arm joint |
| CN108908304A (en) * | 2018-09-20 | 2018-11-30 | 哈尔滨理工大学 | A kind of improved sinusoidal acceleration cam lock holding mechanism |
| CN108908304B (en) * | 2018-09-20 | 2023-06-23 | 哈尔滨理工大学 | Improved sinusoidal acceleration cam locking mechanism |
| CN112888537A (en) * | 2018-10-22 | 2021-06-01 | 开姆尼茨工业大学 | Elastic joint |
| 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 |
| CN109623871A (en) * | 2019-03-01 | 2019-04-16 | 河北工业大学 | A kind of master-passive stiffness-shift joint and its stiffness tuning method |
| CN109623871B (en) * | 2019-03-01 | 2023-05-23 | 河北工业大学 | Active-passive rigidity-variable joint and rigidity adjusting method thereof |
| CN110065057A (en) * | 2019-05-31 | 2019-07-30 | 中国科学技术大学 | A kind of variation rigidity driving device |
| CN112757277A (en) * | 2021-01-07 | 2021-05-07 | 之江实验室 | Variable-rigidity flexible joint |
| CN113618774B (en) * | 2021-07-19 | 2023-08-01 | 安徽工程大学 | Variable-rigidity transmission joint based on cam mechanism and switching control method |
| CN113618774A (en) * | 2021-07-19 | 2021-11-09 | 安徽工程大学 | Variable-stiffness transmission joint based on cam mechanism and switching control method |
| CN114209426A (en) * | 2021-11-08 | 2022-03-22 | 哈尔滨工业大学（深圳） | Locking structure for variable-rigidity mechanical arm |
| CN114209426B (en) * | 2021-11-08 | 2023-08-08 | 哈尔滨工业大学（深圳） | Locking structure for stiffness-variable mechanical arm |
| CN114131647A (en) * | 2021-12-06 | 2022-03-04 | 之江实验室 | Lever type rigidity-variable flexible joint based on cam |
| CN114654496A (en) * | 2022-03-30 | 2022-06-24 | 华中科技大学 | Active variable-stiffness rotary joint based on involute leaf spring |
| CN114654496B (en) * | 2022-03-30 | 2023-08-25 | 华中科技大学 | Active rigidity-variable rotary joint based on involute leaf spring |
| CN114770472A (en) * | 2022-04-29 | 2022-07-22 | 华中科技大学 | Bidirectional self-locking non-rear-drive clutch based on wedge-shaped cam and application thereof |
| CN114770472B (en) * | 2022-04-29 | 2023-09-29 | 华中科技大学 | Bidirectional self-locking non-rear-drive clutch based on wedge cam and application thereof |
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