CN105520821B - A kind of spring energy storage device of continuous variable-stiffness - Google Patents
A kind of spring energy storage device of continuous variable-stiffness Download PDFInfo
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- CN105520821B CN105520821B CN201610052510.2A CN201610052510A CN105520821B CN 105520821 B CN105520821 B CN 105520821B CN 201610052510 A CN201610052510 A CN 201610052510A CN 105520821 B CN105520821 B CN 105520821B
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- 238000004146 energy storage Methods 0.000 title claims abstract description 19
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 65
- 239000010959 steel Substances 0.000 claims abstract description 65
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 4
- 230000008859 change Effects 0.000 claims description 6
- 210000001364 upper extremity Anatomy 0.000 abstract description 7
- 238000005265 energy consumption Methods 0.000 abstract description 6
- 239000000203 mixture Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 238000009776 industrial production Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 230000003321 amplification Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000004220 muscle function Effects 0.000 description 1
- 238000003199 nucleic acid amplification method Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/009—Programme-controlled manipulators comprising a plurality of manipulators being mechanically linked with one another at their distal ends
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
A kind of spring energy storage device of continuous variable-stiffness, it is related to a kind of spring energy storage device, and in particular to a kind of spring energy storage device of continuous variable-stiffness.The present invention is larger in order to solve traditional upper limbs ectoskeleton volume and quality, and circuit is complicated, poor reliability, the problem of energy consumption is big.The present invention includes spring seat, lower spring hook, upper spring carrier arm, the first steel wire rope, spring top base, the second steel wire rope, motor, the first belt wheel, electric machine support, leading screw pedestal, bottom plate, first axle, the second belt wheel, the 3rd belt wheel, the 4th belt wheel, the second axle, right lead screw assembly A, left lead screw assembly B, the first steel plate and multiple springs, bottom plate is horizontally disposed with, and the right lead screw assembly A, the left lead screw assembly B, the first steel plate are vertically arranged on the upper surface of bottom plate side by side.The invention belongs to medical instruments field.
Description
Technical field
The present invention relates to a kind of spring energy storage device, and in particular to a kind of spring energy storage device of continuous variable-stiffness, belongs to
Medical machinery field.
Background technology
At present, the research of ectoskeleton power assisting device is gradually risen, and is with a wide range of applications, and is such as helped the elderly and is help the disabled, medical treatment
Rehabilitation, industrial production, earthquake rescue, the field such as individual combat.General assistance exoskeleton has the characteristics that：People can be detected
The motion intention of body；The joint freedom degrees similar with human body and articulation space；With necessary joint active drive with auxiliary
Help and exert oneself；Carry control system and energy resource system；With certain Security mechanism.
The purpose that assistance exoskeleton is transmitted according to power, can be divided into two kinds of situations:Ectoskeleton drives human motion, and human body
Drive ectoskeleton motion.Its main distinction is embodied in the design and system control strategy of " people-machine " link information interactive device
In formulation.
Help the disabled for helping the elderly or medical rehabilitation field, the purpose of ectoskeleton is to aid in the motion of human body itself muscle, with up to
To helping old man's lift leg, or help patient to do muscle function the purpose such as to resume training.Ectoskeleton is needed to set the fortune in each joint
Dynamic planning, or detect that electromyographic signal, limb motion direction of human body etc. judge the motion intention of human body, wearer motion is driven,
The transmission of power is now needed between human body and ectoskeleton, is therefore the relation that is closely connected between " people-machine "；
For industrial production, the application field such as earthquake rescue or individual combat, what is faced is normal healthy workers or disappears
Anti- soldier, the purpose of ectoskeleton is not the motion for aiding in human body itself muscle, but the effect of exerting oneself of enhancing amplification human body.
In traditional upper limbs ectoskeleton, power-assisted is realized using motor driving mostly, i.e., set in the free degree in each joint
There is motor, drive ectoskeleton to move using motor.But so causing volume and quality larger, circuit is complicated, reliability drop
Low, energy consumption is larger.
For these reasons, a kind of varying load low energy consumption upper limbs power-assisted based on ditetragon gravitational equilibrium principle is devised
A kind of ectoskeleton, the mode balanced with machine power provides power-assisted to be driven instead of motor to upper limbs ectoskeleton.The present invention is exactly
A kind of spring energy storage device of energy continuous variable-stiffness, is the power set of balancing gravity in above-mentioned upper limbs assistance exoskeleton.
The content of the invention
The present invention is larger to solve traditional upper limbs ectoskeleton volume and quality, and circuit is complicated, poor reliability, energy consumption asking greatly
Topic, and then propose a kind of spring energy storage device of continuous variable-stiffness.
The present invention adopts the technical scheme that to solve the above problems：The present invention include spring seat, lower spring hook, on
Spring carrier arm, the first steel wire rope, spring top base, the second steel wire rope, motor, the first belt wheel, electric machine support, leading screw pedestal, under
Fixed plate, first axle, the second belt wheel, the 3rd belt wheel, the 4th belt wheel, the second axle, right lead screw assembly A, left lead screw assembly B, first
Steel plate and multiple springs, bottom plate are horizontally disposed with, and the right lead screw assembly A, the left lead screw assembly B, the first steel plate are side by side
It is vertically arranged on the upper surface of bottom plate, spring top base is arranged on the upper end of the first steel plate, the fixed peace of lower spring hook
Mounted in the lower end of the first steel plate, lower spring hook is connected by multiple springs with upper spring carrier arm, upper spring carrier arm and the first steel
One end connection of cord, the other end of the first steel wire rope bypass successively pulley on spring top base, the right lead screw assembly A,
The left lead screw assembly B is connected with being arranged on the spring seat of bottom plate upper surface, and motor is arranged on down by electric machine support
The upper surface of fixed plate, first band wheel is sleeved in the rotary shaft of motor, and first axle, the second axle are vertically arranged in lower fixation side by side
On the upper surface of plate, the second belt wheel and the 3rd belt wheel are from top to bottom sleeved in first axle successively, and the 4th belt wheel is sleeved on second
On axle, the upper end of first axle is connected with the left lead screw assembly B, and the upper end of the second axle is connected with the right lead screw assembly A, and first
Belt wheel is connected by belt with the 3rd belt wheel, and the second belt wheel is connected by belt with the 4th belt wheel, one end of the second steel wire rope with
The upper end connection of the left lead screw assembly B, the other end of the second steel wire rope is connected with the external world.
Further, the right lead screw assembly A includes the first sliding block, the first guide rail, the first leading screw, the first nut and first
Screw chuck, the first guide rail and the first leading screw are vertically installed on the first steel plate side by side, and the first sliding block is arranged on the first guide rail,
And first sliding block can be moved linearly along the first guide rail, the first nut be arranged on the first sliding block on, the first nut sleeve be mounted in first
On thick stick, the lower end of the first leading screw is connected with the upper end of the second axle, and the first sliding block is provided with multiple pulleys, and the first screw chuck is clamped
In the lower end of the first leading screw.
Further, the left lead screw assembly B includes the second steel plate, the second leading screw, the second guide rail, the second nut, second
Sliding block, the second screw chuck, bearing (ball) cover, bearing base and universal joint, the lower end of the second steel plate are connected with bearing base, bearing
End cap spiral-lock is on bearing base, and the second leading screw and the second guide rail are mounted side by side on the second steel plate, and the upper end of the second leading screw leads to
Cross bearing to be connected with the second steel plate, the lower end of the second leading screw is connected by the second screw chuck with universal joint, universal joint and first
The upper end connection of axle, the second sliding block is arranged on the second guide rail, and the second sliding block can move linearly along the second guide rail, the second nut
On the second sliding block, the second nut sleeve is on the second leading screw, and the second sliding block is provided with pulley.
Further, retainer clip is arranged in the slideway of spring seat, and screw is inserted into the screw thread of retainer clip
Kong Zhong.
The beneficial effects of the invention are as follows：1st, the present invention provides power for upper limbs ectoskeleton, and energy consumption is substantially reduced；2nd, it is of the invention
Simple in construction, stability is high, easy to control；3rd, the present invention is in the varying load low energy consumption based on ditetragon gravitational equilibrium principle
The power set of balancing gravity in limb assistance exoskeleton.It arranges in pairs or groups with double parallel quadrangular mechanism, can realize in range ability
Any gravity at an arbitrary position on balance.Due to being mechanical mechanism, thus it is high with simple in construction, stability, and more
The advantages of supernumerary segment energy.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention, and Fig. 2 is the overall structure diagram that the present invention is split.
Embodiment
Embodiment one：Illustrate present embodiment with reference to Fig. 1 and Fig. 2, a kind of continuous change described in present embodiment is firm
The spring energy storage device of degree includes spring seat 1, lower spring hook 2, upper spring carrier arm 4, the first steel wire rope 5, spring top base
6th, the second steel wire rope 7, motor 8, the first belt wheel 9, electric machine support 10, leading screw pedestal 11, bottom plate 12, first axle 15, second
Belt wheel 16, the 3rd belt wheel 17, the 4th belt wheel 18, the second axle 19, right lead screw assembly A, left lead screw assembly B, the first steel plate A2 and many
Individual spring 3, bottom plate 12 is horizontally disposed with, and the right lead screw assembly A, the left lead screw assembly B, the first steel plate A2 are vertical side by side
On the upper surface for being arranged on bottom plate 12, spring top base 6 is arranged on the first steel plate A2 upper end, and lower spring hook 2 is fixed
Installed in the first steel plate A2 lower end, lower spring hook 2 is connected by multiple springs 3 with upper spring carrier arm 4, upper spring carrier arm 4
It is connected with one end of the first steel wire rope 5, the other end of the first steel wire rope 5 bypasses pulley on spring top base 6, the right side successively
Lead screw assembly A, the left lead screw assembly B are connected with being arranged on the spring seat 1 of the upper surface of bottom plate 12, and motor 8 passes through electricity
Machine support 10 is arranged on the upper surface of bottom plate 12, and the first belt wheel 9 is sleeved in the rotary shaft of motor 8, first axle 15, second
Axle 19 is vertically arranged on the upper surface of bottom plate 12 side by side, and the second belt wheel 16 and the 3rd belt wheel 17 are from top to bottom set with successively
In first axle 15, the 4th belt wheel 18 is sleeved on the second axle 19, and the upper end of first axle 15 is connected with the left lead screw assembly B,
The upper end of second axle 19 is connected with the right lead screw assembly A, and the first belt wheel 9 is connected by belt with the 3rd belt wheel 17, the second band
Wheel 16 is connected by belt with the 4th belt wheel 18, and one end of the second steel wire rope 7 is connected with the upper end of the left lead screw assembly B, the
The other end of two steel wire ropes 7 is connected with the external world.
Embodiment two：Illustrate present embodiment with reference to Fig. 1 and Fig. 2, a kind of continuous change described in present embodiment is firm
The right lead screw assembly A of the spring energy storage device of degree includes the first sliding block A1, the first guide rail A3, the first leading screw A4, the first nut A5
It is vertically installed at side by side on the first steel plate A2 with the first screw chuck A6, the first guide rail A3 and the first leading screw A4, the first sliding block A1
On the first guide rail A3, and the first sliding block A1 can move linearly along the first guide rail A3, and the first nut A5 is arranged on first and slided
On block A1, the first nut A5 is sleeved on the first leading screw A4, and the first leading screw A4 lower end is connected with the upper end of the second axle 19, and first
Leading screw A4 upper end is connected by bearing with the first steel plate A2 upper end, and the first leading screw A4 lower end passes through the first screw chuck A6
It is connected with the first steel plate A2 lower end, the first sliding block A1 is provided with multiple pulleys.
First guide rail A3 and the first leading screw A4 are vertically installed on the first steel plate A2 side by side, and first screw mandrel A4 one end passes through axle
Hold and be connected with the first steel plate A2, one end is fixed on the first screw mandrel chuck A6, and the first screw mandrel chuck A6 passes through bearing and steel plate A2
It is connected, and is connected with first axle 19 by pin.First nut A5 is screwed on the first leading screw A4, is connected with the first sliding block A1,
First sliding block A1 is also enclosed on the first guide rail A3.When first screw mandrel A4 is rotated, the first nut A5 is driven to move up and down, so that
First sliding block A1 can be moved on the first guide rail A3.Other compositions and annexation are identical with embodiment one.
Embodiment three：Illustrate present embodiment with reference to Fig. 1 and Fig. 2, a kind of continuous change described in present embodiment is firm
The left lead screw assembly B of the spring energy storage device of degree include the second steel plate B1, the second leading screw B2, the second guide rail B3, the second nut B4,
Second slide block B 5, the second screw chuck B6, bearing (ball) cover B7, bearing base B8 and universal joint B9, the second steel plate B1 lower end with
Bearing base B8 connections, bearing (ball) cover B7 spiral-locks are on bearing base B8, and the second leading screw B2 and the second guide rail B3 are mounted side by side on
On second steel plate B1, the second leading screw B2 upper end is connected by bearing with the second steel plate B1, and the second leading screw B2 lower end passes through
Two screw chuck B6 are connected with universal joint B9, and universal joint B9 is connected with the upper end of first axle 15, and the second slide block B 5 is arranged on second
On guide rail B3, and the second slide block B 5 can be moved linearly along the second guide rail B3, and the second nut B4 is arranged in the second slide block B 5, and second
Nut B4 is sleeved on the second leading screw B2, and the second slide block B 5 is provided with pulley.
Second guide rail B3 is connected on the second steel plate B1.Second screw mandrel B2 one end is connected by bearing with the second steel plate B1,
One end is fixed on the second screw mandrel chuck B6, and the second screw mandrel chuck B6 is connected by bearing with the second steel plate B1, and with it is universal
Section B9 is connected by pin.Universal joint B9 is connected by bearing with bearing (ball) cover B7, and bearing (ball) cover B7 and bearing base B8 is connected,
Universal joint B9 one end is connected with the second screw mandrel chuck B6, and the other end is connected with first axle 15 by pin, and universal joint B9 ensure that
Second screw mandrel B2 can rotation also can planar rotate.Second nut B4 is screwed on the second leading screw B2, solid with the second slide block B 5
Even, the second slide block B 5 is also enclosed on the second guide rail B3.When first axle 15 is rotated, the second screw mandrel B2 is driven also to send out by universal joint B9
Raw to rotate, the change of team certainly of screw mandrel causes the second nut B4 to move up and down, and the second nut B4 drives the first sliding block A1 to be led first again
Moved on rail A3.Other compositions and annexation are identical with embodiment one.
Embodiment four：Illustrate present embodiment, a kind of bullet of continuous variable-stiffness described in present embodiment with reference to Fig. 1
Spring energy storing device also includes screw 13 and retainer clip 14, and retainer clip 14 is arranged in the slideway of spring seat 1, screw
13 are inserted into the screwed hole of retainer clip 14.By turning the slideway that screw 13 makes retainer clip 14 in spring seat 1
In slide, so as to adjust the elastic of the first steel wire rope 5.Other compositions and annexation are identical with embodiment one.
Operation principle
O points be the first screw mandrel A4 and the second screw mandrel B2 intersection point, the first sliding block A1, the second slide block B 5 respectively with the first nut
A5, the 2nd B4 are connected, and the first nut A5 and the second nut B4 are respectively fitted on the first screw mandrel A4 and the second screw mandrel B2, universal joint B9
By the second screw mandrel chuck B6 and the second screw mandrel B2 be connected, it is ensured that the second screw mandrel B2 can rotation also can planar rotate.
By controlling screw mandrel to keep identical rotating speed so that the first sliding block A1, the second slide block B 5 are equal all the time with the distance of O points.First
The centre of steel wire rope 5 is wound on spring carrier arm 4, and two ends are wound on the first sliding block A1, the second sliding block again after being gone out from spring carrier arm 4
On B5 pulley, finally it is connected on retainer clip 14.The one end of second steel wire rope 7 is connected in left screw component B top, separately
One end is connected with the external world.When being acted on from extraneous power F on the second steel wire rope 7, it is set to produce displacement.If sliding block is to center
Point O distance is a times of the distance that the second steel wire rope 7 arrives O points, then relative displacement a is produced between sliding block, so spring also has 2a
Elongation, the first steel wire rope 5 produce 6ka pulling force.For left lead screw assembly B square is taken in O points；It can be seen that whole device phase
When in the spring that a coefficient of elasticity is a, so when the size rotated to continuously adjust ratio a by leading screw, entirely filling
The rigidity put also is changed therewith, so being a kind of spring energy storage device of energy continuous variable-stiffness.
The above described is only a preferred embodiment of the present invention, any formal limitation not is made to the present invention, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any to be familiar with this professional technology people
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, as long as be without departing from technical solution of the present invention content, according to the technical spirit of the present invention,
Within the spirit and principles in the present invention, any simple modification, equivalent substitution and improvement for being made to above example etc., still
Belong within the protection domain of technical solution of the present invention.
Claims (4)
1. a kind of spring energy storage device of continuous variable-stiffness, it is characterised in that：A kind of spring energy-storage dress of the continuous variable-stiffness
Put including spring seat (1), lower spring hook (2), upper spring carrier arm (4), the first steel wire rope (5), spring top base (6), the
Two steel wire ropes (7), motor (8), the first belt wheel (9), electric machine support (10), leading screw pedestal (11), bottom plate (12), first axle
(15), the second belt wheel (16), the 3rd belt wheel (17), the 4th belt wheel (18), the second axle (19), right lead screw assembly A, left lead screw assembly
B, the first steel plate (A2) and multiple springs (3), bottom plate (12) are horizontally disposed with, the right lead screw assembly A, the left leading screw group
Part B, the first steel plate (A2) are vertically arranged on the upper surface of bottom plate (12) side by side, and spring top base (6) is arranged on first
The upper end of steel plate (A2), lower spring hook (2) is fixedly mounted on the first steel plate (A2) lower end, and lower spring links up with (2) by many
Individual spring (3) is connected with upper spring carrier arm (4), and upper spring carrier arm (4) is connected with one end of the first steel wire rope (5), the first steel wire
The other end of rope (5) bypass successively pulley on spring top base (6), the right lead screw assembly A, the left lead screw assembly B with
Spring seat (1) connection of bottom plate (12) upper surface is arranged on, motor (8) is arranged on lower fixation by electric machine support (10)
The upper surface of plate (12), the first belt wheel (9) is sleeved in the rotary shaft of motor (8), and first axle (15), the second axle (19) are erected side by side
Directly it is arranged on the upper surface of bottom plate (12), the second belt wheel (16) and the 3rd belt wheel (17) are from top to bottom sleeved on successively
On one axle (15), the 4th belt wheel (18) is sleeved on the second axle (19), and the upper end of first axle (15) connects with the left lead screw assembly B
Connect, the upper end of the second axle (19) is connected with the right lead screw assembly A, the first belt wheel (9) is connected by belt and the 3rd belt wheel (17)
Connect, the second belt wheel (16) is connected by belt with the 4th belt wheel (18), one end of the second steel wire rope (7) and the left lead screw assembly
B upper end connection, the other end of the second steel wire rope (7) is connected with the external world.
2. a kind of spring energy storage device of continuous variable-stiffness according to claim 1, it is characterised in that：The right lead screw assembly
A includes the first sliding block (A1), the first guide rail (A3), the first leading screw (A4), the first nut (A5) and the first screw chuck (A6), the
One guide rail (A3) and the first leading screw (A4) are vertically installed on the first steel plate (A2) side by side, and the first sliding block (A1) is led installed in first
On rail (A3), and the first sliding block (A1) can move linearly along the first guide rail (A3), and the first nut (A5) is arranged on the first sliding block
(A1) on, the first nut (A5) is sleeved on the first leading screw (A4), the lower end of the first leading screw (A4) and the upper end of the second axle (19)
Connection, the upper end of the first leading screw (A4) is connected by bearing with the upper end of the first steel plate (A2), and the lower end of the first leading screw (A4) leads to
The lower end that the first screw chuck (A6) is crossed with the first steel plate (A2) is connected, and the first sliding block (A1) is provided with multiple pulleys.
3. a kind of spring energy storage device of continuous variable-stiffness according to claim 1, it is characterised in that：The left lead screw assembly
B include the second steel plate (B1), the second leading screw (B2), the second guide rail (B3), the second nut (B4), the second sliding block (B5), second
Thick stick chuck (B6), bearing (ball) cover (B7), bearing base (B8) and universal joint (B9), the lower end of the second steel plate (B1) and bearing base
(B8) connect, bearing (ball) cover (B7) spiral-lock is on bearing base (B8), and the second leading screw (B2) and the second guide rail (B3) are mounted side by side
On the second steel plate (B1), the upper end of the second leading screw (B2) is connected by bearing with the second steel plate (B1), the second leading screw (B2)
Lower end is connected by the second screw chuck (B6) with universal joint (B9), and universal joint (B9) is connected with the upper end of first axle (15), the
Two sliding blocks (B5) are arranged on the second guide rail (B3), and the second sliding block (B5) can move linearly along the second guide rail (B3), the second spiral shell
Female (B4) is arranged on the second sliding block (B5), and the second nut (B4) is sleeved on the second leading screw (B2), is set on the second sliding block (B5)
There is pulley.
4. a kind of spring energy storage device of continuous variable-stiffness according to claim 1, it is characterised in that：A kind of continuous change
The spring energy storage device of rigidity also includes screw (13) and retainer clip (14), and retainer clip (14) is arranged on spring seat
(1) in slideway, screw (13) is inserted into the screwed hole of retainer clip (14).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610052510.2A CN105520821B (en) | 2016-01-26 | 2016-01-26 | A kind of spring energy storage device of continuous variable-stiffness |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610052510.2A CN105520821B (en) | 2016-01-26 | 2016-01-26 | A kind of spring energy storage device of continuous variable-stiffness |
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| Publication Number | Publication Date |
|---|---|
| CN105520821A CN105520821A (en) | 2016-04-27 |
| CN105520821B true CN105520821B (en) | 2017-11-03 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111673781B (en) * | 2020-06-10 | 2022-06-03 | 哈尔滨工业大学 | Variable-rigidity humanoid robot paw |
| CN111775176B (en) * | 2020-06-10 | 2022-05-31 | 哈尔滨工业大学 | Variable-rigidity linear driving device and variable-rigidity method |
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