CN105171771B - Variable-rigidity elastic joint of cam structure - Google Patents
Variable-rigidity elastic joint of cam structure Download PDFInfo
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- CN105171771B CN105171771B CN201510715690.3A CN201510715690A CN105171771B CN 105171771 B CN105171771 B CN 105171771B CN 201510715690 A CN201510715690 A CN 201510715690A CN 105171771 B CN105171771 B CN 105171771B
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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, and in particular to a kind of cam structure variation rigidity elastic joint.
Background technology
With developing rapidly for science and technology, roboticses are very extensive in application at this stage, especially in industry
In field.At present, the development with roboticses in terms of flexibility, the collaborative work of multiple stage robot, and robot with
Reciprocal action between people etc. is more and more universal.The appearance of this phenomenon, will want to the Technology of Flexibility of robot and adaptability
Ask and increase.This is also the focus studied outside Current Domestic.
From the point of view of the whole composition structure of robot, joint of robot is the key zero that robot realizes various motions
Part.The more mainly rigid joint of existing roboticses application and elastic joint.Answering for variation rigidity joint of robot
It is fewer with technology.
Variation rigidity Robot elastic joint can be according to mission requirements, real-time regulation joint stiffness, so as to improve robot
Adaptability.The possible application of variation rigidity joint driver includes：Lift the safety of service robot man-machine interaction；
Application in joint of artificial limb can be reasonably resistant to the impact of external force, and Saving cortilage exempts from destruction.Variation rigidity Robot elastic joint
Robot can be effectively improved to the adaptability of environment and expand the application of robot, be with a wide range of applications.
Research how to improve robot it is adaptive during.Passive flexible and active force control is usually used to improve
The adaptability of robot.Passive flexibility is difficult to active control, and application surface is narrower.Active force controls the essence to force transducer
The requirement of real-time of degree, the bandwidth of sample frequency and control algolithm is higher；Its safety is difficult to ensure that, and robustness is relatively low, energy
Amount consumes larger.
It is external relatively more to the research of variation rigidity Robot elastic joint, it is concentrated mainly on the variation rigidity for realizing structure, energy
The optimization of amount efficiency, and the research of control method.But from the point of view of many structures designed by foreign countries, its structure is still present a lot
Problem, such as variation rigidity robot joint structure are complicated, and variation rigidity characteristic is poor, and control is complicated, and energy expenditure is big, and safety is relatively low
Deng.
The content of the invention
The invention aims to overcome the structure of existing variation rigidity Robot elastic joint relative complex, variation rigidity is special
Property it is poor, control is complicated, and energy expenditure is big, and safety is relatively low, there is provided a kind of simple structure, it is possible to achieve in joint of robot motion
During rigidity real-time, tunable robot stiffness changing structure.
The purpose of the present invention is 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 institute
State the centre of gyration that axle (5) is arranged at shell (1), and to be fixedly connected between shell (1), shell (1) and outer ring (2) it
Between to rotate secondary connection；Radially installed has symmetrical multiple spring leafs (7) on the outer ring (2), each spring leaf (7) one end with
Outer ring (2) connects firmly, and the other end is connected firmly through spring (3) with axle (5)；Described spring (3) one end is connected on axle (5), the other end
It is connected on sliding shoe (8)；The sliding shoe (8) is symmetrical with spring leaf (7) installed in spring leaf (7) middle part, and
It is to be slidably connected between spring leaf (7)；Cam disc (6) is installed on the axle (5), symmetrical structure centered on cam disc (6),
And be connected to rotate pair between cam disc (6) and axle (5)；Described each sliding shoe (8) upper end is provided with cam bawl (9),
Cam disc (6) constitutes cam drive with cam bawl (9).
In such scheme, a kind of cam structure variation rigidity elastic joint also includes fixed block (4) structure, fixed block
(4) it is fixedly connected on axle (5), and middle setting has the sliding groove of sliding shoe (8), sliding shoe (8) can be relative in sliding groove
Slide in fixed block (4).
In such scheme, the centrosymmetric structure of the cam disc is specially：On cam disc, corresponding to convex on sliding shoe
At wheel roller, cam stroke profile is provided with, multiple cam stroke profiles are with the distribution of cam disc centrosymmetry.
It is cam drive between the cam bawl (9) on the cam disc (6) and sliding shoe (8) in such scheme, cam
The lift profile of disk (6) is polynomial curve profile, sinusoidal profile, cosine curve profile, helix profile etc., different
Lift profile determines the curve characteristic of elastic joint different-stiffness.
In such scheme, the effective length that the sliding shoe (8) is slided on spring leaf (7) determines spring leaf (7)
Rigidity controlled range.
In such scheme, the spring (3) is drawing spring, for cam disc (6) and sliding shoe (8) overhead cam roller (9)
Between cam drive there is pretension to act on, while when cam circles round, having return action to sliding shoe.
In such scheme, sliding shoe (8) the inside groove two ends are provided with roller, slide along spring leaf (7) in sliding shoe (8)
During, realize becoming that sliding friction, into rolling friction, efficiently reduces the loss of energy, reduce the starting of motor
Torque.
In such scheme, further, sliding shoe (8) outside two ends are also provided with roller, in sliding shoe (8) along solid
During determining the sliding groove slip on block (4), realize becoming sliding friction into rolling friction.
In such scheme, the spring leaf (7) is the overlaying structure of multiple spring thin slices so that variation rigidity elastic joint
Mechanical property is more preferable.
A kind of cam structure variation rigidity elastic joint of the present invention realizes that the operation principle of variation rigidity is：The shell
(1) maintain static, by additional Motor drive cam disc (6) rotate, when additional Motor drive cam disc (6) along clockwise direction
During rotation, by cam drive, in the presence of spring (3) pretightning force, sliding shoe (8) is along spring leaf (7) while to axle center one
Side shifting, so as to change the effective length of spring leaf (7) between outer ring (2) and sliding shoe (8), makes effective length of spring leaf (7)
Degree becomes big, so that the rigidity in joint diminishes.When additional Motor drive cam disc (6) rotates in the counterclockwise direction, sliding shoe
(8) can laterally move simultaneously under the reverse drive of cam disc (6), the effective length for making spring leaf (7) reduces, so that closing
Section rigidity becomes big.
A kind of cam structure variation rigidity elastic joint of the present invention can be used in the system of various Robot elastic joints, special
It is not in the adjustable Robot elastic joint system of rigidity.Its feature is using cam disc and sliding shoe overhead cam roller
Between the mode of cam drive realize relative movement of the sliding shoe along spring leaf, control effective active length of spring leaf, so as to
Realize that the rigidity of the elastic joint structure is adjustable.The regulation of spring plate rigidity by external Motor drive cam disc, by motor
Rotating, such that it is able to control the change of spring plate rigidity.
A kind of cam structure variation rigidity elastic joint proposed by the present invention, overcomes the structure of original Robot elastic joint
Relative complex, control mode is complicated, and the defect such as use occasion is limited.This structure has structure relatively easy, it is possible to achieve
The impact property of articulation both direction, and control joint position with it is just relatively independent the characteristics of.In such scheme, make
With spring leaf, its simple structure, handling ease is manufactured, be easy to the replacing of structure itself, and total stiffness reliability mode phase
To simple.Using cam drive structure, its compact conformation, transmission efficiency is high, and variation rigidity response is fast, and variation rigidity process is steady
It is fixed.Cause variation rigidity process continuously reliable using spring-return structure.Profile is formed by changing cam disc, thus it is possible to vary elasticity
The load-deflection curve in joint, to adapt to different workplaces.
Description of the drawings
Fig. 1 is the schematic diagram of the present invention.
Fig. 2 is the cam disc schematic diagram of the present invention.
Fig. 3 is the sliding shoe schematic diagram of the present invention.
Fig. 4 is the outer ring schematic diagram of the present invention.
Fig. 5 is the shell schematic diagram of the present invention.
Fig. 6 is the axle schematic diagram of the present invention.
Fig. 7 is the fixed block schematic diagram of the present invention.
Fig. 8 is the spring leaf schematic diagram of the present invention.
Fig. 9 is the spring schematic diagram of the present invention.
Figure 10 is the cam bawl schematic diagram of the present invention.
Figure 11 is 6 shaft industrial robot embodiment schematic diagram 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：Outfan；12：Bio-robot leg input；13：It is imitative
Raw robot leg outfan；14：Human body artificial limb thigh；15：Human body artificial limb shank.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment is described in further detail the present invention, but the present invention is not limited only to the 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 institute
State the centre of gyration that axle (5) is arranged at shell (1), and to be fixedly connected between shell (1), shell (1) and outer ring (2) it
Between to rotate secondary connection；Radially installed has symmetrical multiple spring leafs (7) on the outer ring (2), each spring leaf (7) one end with
Outer ring (2) connects firmly, and the other end is connected firmly through spring (3) with axle (5)；Described spring (3) one end is connected on axle (5), the other end
It is connected on sliding shoe (8)；The sliding shoe (8) is symmetrical with spring leaf (7) installed in spring leaf (7) middle part, and
It is to be slidably connected between spring leaf (7)；Cam disc (6) is installed on the axle (5), symmetrical structure centered on cam disc (6),
And be connected to rotate pair between cam disc (6) and axle (5)；Described each sliding shoe (8) upper end is provided with cam bawl (9),
Cam disc (6) constitutes cam drive with cam bawl (9).
It is cam drive between the cam disc (6) and sliding shoe (8) in the present embodiment, the contour shape of cam disc (6)
Determine the curve characteristic of joint variation rigidity.
A kind of variation rigidity process of cam structure variation rigidity elastic joint of this example is：The shell (1) maintains static, and leads to
Cross additional Motor drive cam disc (6) to rotate, when additional Motor drive cam disc (6) is rotated in the clockwise direction, in spring
(3) in the presence of pretightning force, sliding shoe (8) along spring leaf (7) while to the side shifting of axle center one, so as to change outer ring (2) with it is sliding
The effective length of spring leaf (7) between motion block (8), the effective length for making spring leaf (7) becomes big, so that the rigidity in joint becomes
It is little.When additional Motor drive cam disc (6) rotates in the counterclockwise direction, sliding shoe (8) can be in the reverse drive of cam disc (6)
Lower to move laterally simultaneously, the effective length for making spring leaf (7) reduces, so that joint stiffness becomes big.
As shown in figure 11, a kind of cam structure variation rigidity elastic joint of this example is arranged on 6 shaft industrial robot ends, defeated
Enter end 8 to be fixedly connected with the shell 1 of elastic joint, outer ring 2 is fixedly connected with outfan 11.In application process, previously according to
Work information sets the stiffness characteristics of this elastic joint, and when motor drives input 8 to rotate, outer load can be to outfan 11
Produce impact, the elastic joint of this example can produce cushioning effect by the elastic reaction of spring leaf 7 so that outer ring 2 and shell 1 it
Between have elastic reaction, be effectively protected industrial robot joint, improve its service life.
Embodiment two
As shown in figure 12, a kind of cam structure variation rigidity elastic joint of this example is arranged on the leg of bionic 6-leg robot
Joint, bio-robot leg input 12 is fixedly connected with the shell 1 of elastic joint, outer ring 2 and bio-robot leg
Outfan 13 is fixedly connected.In application process, the stiffness characteristics of this elastic joint are set previously according to work information, imitative
During raw robot ambulation, when motor drives bio-robot leg input 12 to rotate, outer load can be to bionic machine
People leg outfan 13 produces impact, and the elastic joint of this example can produce cushioning effect by the elastic reaction of spring leaf 7 so that
There is elastic reaction between outer ring 2 and shell 1, bio-robot leg joint is effectively protected, its service life is improved.
Embodiment three
As shown in figure 13, a kind of cam structure variation rigidity elastic joint of this example is arranged on human body artificial limb leg joint,
Human body artificial limb thigh to the joint between shank is provided with elastic joint, drives the input of shank and the shell of elastic joint
1 is fixedly connected, and outer ring 2 is fixedly connected with artificial limb shank 15, in application process, previously according to work information this elasticity is set
The stiffness characteristics in joint, during prosthetic walking, when motor drives the input of artificial limb shank 15 to rotate, outer load can be to vacation
Primary minimum lower limb 15 produces impact, and the elastic joint of this example can produce cushioning effect by the elastic reaction of spring leaf 7 so that outer ring 2
There is elastic reaction between shell 1, artificial limb leg joint is effectively protected, its service life is improved.
Example IV
A kind of inside groove of cam structure variation rigidity elastic joint sliding shoe 8 of this example is mounted on roller with outside two ends,
During sliding shoe 8 slides along spring leaf 7, realize becoming that sliding friction, into rolling friction, efficiently reduces the loss of energy,
The starting torque of motor is reduced, remaining is with embodiment one.
Embodiment five
A kind of cam structure variation rigidity elastic joint spring leaf 7 of this example is as shown in figure 8, the material of spring leaf is conventional
Spring steel material, remaining same example IV.
Embodiment six
A kind of cam structure variation rigidity elastic joint spring leaf 7 of this example is as shown in figure 8, spring leaf is the folded of multiple thin slices
Plus form, remaining is with embodiment five.
Embodiment seven
A kind of cam structure variation rigidity elastic joint spring leaf 7 of this example is as shown in figure 8, the cross sectional shape of spring leaf is can
Become, remaining is with embodiment five.
The design of the cross sectional shape of spring leaf 7, affects its stiffness characteristics, can be according to the applicable field of Robot elastic joint
Close to design spring leaf cross sectional shape, load-deflection curve needed for meet elastic joint, make elastic joint adapt to different works
Make environment, extend its service life, improve its performance.
Claims (8)
1. a kind of cam structure variation rigidity elastic joint, by shell（1）, axle（5）And outer ring（2）Composition；It is characterized in that described
Axle（5）It is arranged at shell（1）The centre of gyration, and and shell（1）Between to be fixedly connected, shell（1）With outer ring（2）Between
To rotate secondary connection；The outer ring（2）Upper radially installed has symmetrical multiple spring leafs（7）, each spring leaf（7）One end with it is outer
Circle（2）Connect firmly, the other end passes through spring（3）With axle（5）Connect firmly；The spring（3）One end is connected to axle（5）On, the other end connects
It is connected on sliding shoe（8）On；The sliding shoe（8）Installed in spring leaf（7）Middle part, with spring leaf（7）It is symmetrical, and with
Spring leaf（7）Between to be slidably connected；The axle（5）On cam disc is installed（6）, cam disc（6）Centered on symmetrical structure, and
Cam disc（6）With axle（5）Between to rotate secondary connection；Described each sliding shoe（8）Upper end is provided with cam bawl（9）, it is convex
Wheel disc（6）With cam bawl（9）Constitute cam drive.
2. a kind of cam structure variation rigidity elastic joint as claimed in claim 1, it is characterised in that：A kind of cam structure
Variation rigidity elastic joint also includes fixed block（4）Structure, fixed block（4）It is fixedly connected on axle（5）On, and middle setting has slip
Block（8）Sliding groove, sliding shoe（8）Can be in sliding groove relative to fixed block（4）Slide.
3. a kind of cam structure variation rigidity elastic joint as claimed in claim 1, it is characterised in that：The center of the cam disc
Symmetrical structure is specially：On cam disc, at the cam bawl on sliding shoe, cam stroke profile is provided with, it is multiple convex
Wheel lift profile is with the distribution of cam disc centrosymmetry.
4. a kind of cam structure variation rigidity elastic joint as claimed in claim 1, it is characterised in that：The cam disc（6）With
Sliding shoe（8）On cam bawl（9）Between be cam drive, cam disc（6）Lift profile be polynomial curve profile, just
Chord curve profile, cosine curve profile, helix profile.
5. a kind of cam structure variation rigidity elastic joint as claimed in claim 1, it is characterised in that：The spring（3）To draw
Spring, for cam disc（6）With sliding shoe（8）Overhead cam roller（9）Between cam drive there is pretension to act on, while convex
During wheel convolution, there is return action to sliding shoe.
6. a kind of cam structure variation rigidity elastic joint as claimed in claim 1, it is characterised in that：The sliding shoe（8）It is interior
Groove two ends are provided with roller, in sliding shoe（8）Along spring leaf（7）During slip, realize becoming sliding friction into rolling friction.
7. a kind of cam structure variation rigidity elastic joint as claimed in claim 1, it is characterised in that：The sliding shoe（8）Outward
Side two ends are also provided with roller, in sliding shoe（8）Along fixed block（4）On sliding groove slide during, realize become slip rub
Wipe as rolling friction.
8. a kind of cam structure variation rigidity elastic joint as claimed in claim 1, it is characterised in that：The spring leaf（7）For
The overlaying structure of multiple spring thin slices.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510715690.3A CN105171771B (en) | 2015-10-30 | 2015-10-30 | Variable-rigidity elastic joint of cam structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510715690.3A CN105171771B (en) | 2015-10-30 | 2015-10-30 | Variable-rigidity elastic joint of cam structure |
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| Publication Number | Publication Date |
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| CN105171771A CN105171771A (en) | 2015-12-23 |
| CN105171771B true CN105171771B (en) | 2017-05-03 |
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| CN201510715690.3A Active CN105171771B (en) | 2015-10-30 | 2015-10-30 | Variable-rigidity elastic joint of cam structure |
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| CN105563468B (en) * | 2016-02-04 | 2017-09-22 | 陕西科技大学 | A kind of parallel manipulator of cam control |
| CN105599006A (en) * | 2016-03-23 | 2016-05-25 | 华南理工大学 | Two-motor driven variable-stiffness elastic joint of robot |
| CN105599004B (en) * | 2016-03-23 | 2017-06-20 | 华南理工大学 | A kind of adjustable Robot elastic joint of rigidity |
| CN106239554B (en) * | 2016-10-10 | 2024-03-15 | 中国科学院宁波材料技术与工程研究所 | Conduction mechanism with variable rigidity and robot joint |
| CN108714913A (en) * | 2018-06-06 | 2018-10-30 | 清华大学 | Variation rigidity flexible actuator |
| CN108747536B (en) * | 2018-06-08 | 2020-08-04 | 山东大学 | Cam tensioning rigidity-adjustable fast cutter servo system |
| CN108858275B (en) * | 2018-07-05 | 2020-07-03 | 哈尔滨工业大学（深圳） | Variable-stiffness joint based on cam mechanism |
| CN108608458B (en) * | 2018-07-26 | 2021-07-06 | 中国石油大学(华东) | Serial-drive flexible mechanical arm joint |
| CN108908304B (en) * | 2018-09-20 | 2023-06-23 | 哈尔滨理工大学 | Improved sinusoidal acceleration cam locking mechanism |
| DE102018008378B4 (en) * | 2018-10-22 | 2020-07-23 | Technische Universität Chemnitz | Elastic joint |
| CN109732641B (en) * | 2019-01-28 | 2021-09-07 | 西安交通大学 | Two-state variable-rigidity compliant joint and operation 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 |
| CN114209426B (en) * | 2021-11-08 | 2023-08-08 | 哈尔滨工业大学（深圳） | Locking structure for stiffness-variable mechanical arm |
| CN114131647B (en) * | 2021-12-06 | 2022-08-26 | 之江实验室 | Lever type rigidity-variable flexible joint based on cam |
| CN114654496B (en) * | 2022-03-30 | 2023-08-25 | 华中科技大学 | Active rigidity-variable rotary joint based on involute leaf spring |
| 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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| US6368012B1 (en) * | 1999-12-22 | 2002-04-09 | Abb Flexible Automation, Inc. | Compliant end effector |
| KR100912104B1 (en) * | 2008-02-14 | 2009-08-13 | 한국과학기술연구원 | Device for generating stiffness and method for controling stiffness and joint of robot manipulator comprising the same |
| CN203371555U (en) * | 2013-05-27 | 2014-01-01 | 北京理工大学 | Elastic torque transmission module and integral flexible rotary joint |
| CN104669261B (en) * | 2015-02-11 | 2016-08-17 | 北京航空航天大学 | A kind of can synchronization control displacement-type variation rigidity joint driver and a kind of method of adjustment of joint of robot rigidity |
| CN205201558U (en) * | 2015-10-30 | 2016-05-04 | 四川大学 | Cam structure becomes rigidity elasticity joint |
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