CN106763589B - The flexible mechanical arm joint arrangement of controllable damping and rigidity - Google Patents
The flexible mechanical arm joint arrangement of controllable damping and rigidity Download PDFInfo
- Publication number
- CN106763589B CN106763589B CN201611189852.5A CN201611189852A CN106763589B CN 106763589 B CN106763589 B CN 106763589B CN 201611189852 A CN201611189852 A CN 201611189852A CN 106763589 B CN106763589 B CN 106763589B
- Authority
- CN
- China
- Prior art keywords
- transmission line
- cylinder
- radial transmission
- output
- input
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H13/00—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members
- F16H13/02—Gearing for conveying rotary motion with constant gear ratio by friction between rotary members without members having orbital motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
- B25J17/0233—Compliance devices with radial compliance, i.e. perpendicular to the longitudinal wrist axis
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F9/00—Springs, vibration-dampers, shock-absorbers, or similarly-constructed movement-dampers using a fluid or the equivalent as damping medium
- F16F9/32—Details
- F16F9/53—Means for adjusting damping characteristics by varying fluid viscosity, e.g. electromagnetically
- F16F9/535—Magnetorheological [MR] fluid dampers
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Fluid-Damping Devices (AREA)
- Combined Devices Of Dampers And Springs (AREA)
Abstract
The invention discloses the flexible mechanical arm joint arrangements of a kind of controllable damping and rigidity, rotation input module, intermediate module and rotation output precision including transmission connection；Rotation input module includes input shaft and input cylinder；Rotation output precision includes output shaft and output cylinder, and output cylinder is located in input cylinder；Intermediate module includes jackshaft and intermediate axis connection and the first radial transmission line and the second radial transmission line that can rotate synchronously, and jackshaft, the first radial transmission line and the second radial transmission line are each provided in output cylinder；First radial transmission line inputs cylinder by the first elastic element and drives the first radial disc spins close to input shaft；Second radial transmission line drives output cylinder rotation by the second elastic element close to output shaft, the second radial transmission line；It is equipped with cavity I between first radial transmission line and the second radial transmission line, is equipped with magnet exciting coil I in cavity I, jackshaft is located at being partially submerged in magnetorheological fluid I of cavity I；Present invention damping and stiffness tuning range are big, compact-sized, can meet the needs of flexible mechanical arm.
Description
Technical field
The present invention relates to a kind of joint arrangement, in particular to the flexible mechanical shoulder joint of a kind of controllable damping and rigidity fills
It sets.
Background technique
With the continuous development of robot technology, the type of robot is more and more, will be used wider and wider general, such as clothes
Robot, robot for space, industrial robot etc. be engaged in the fields such as service trade, space exploration and industrial operations extensive utilization, this
Allowing for chance that machine man-hour is contacted with people will be more and more.This when, just there is an urgent need to a kind of safe machines
People's system guarantees the safety of operator and reduces damage to ambient enviroment, can be widely used in machine person to person collaboration
In the case where work, it is ensured that the safety of worker or surrounding devices.
In traditional industrial production environment, external environment be it is known, robot rely on accurate position control, according to
Optimization route pre-planned is acted, and dull and duplicate work is just completed.For this industrial robot,
The control to its end effector position or each of which freedom degree track is overweighted, that is, focuses on the control of accurate point movement
System, therefore the driver used lacks the safeguard protection to the mankind or environment for rigid driver.Environment amenable robot
It is substantially exactly that collision can be buffered when machine person to person or ambient enviroment collide to system, and detection collision stops
Damage.So how to realize that the buffering nature of collision becomes the main problem of research robot safety.Adaptive damping and just
Degree flexible mechanical arm also becomes one of present every country main direction of studying, and the realization of this mechanical arm relies primarily on controllably
The joint arrangement of damping and rigidity.
Summary of the invention
In view of this, the purpose of the present invention is to provide the flexible mechanical arm joint arrangement of a kind of controllable damping and rigidity,
It is damped and stiffness tuning range is big, compact-sized, meets the needs of flexible mechanical arm, improves safety of the robot in movement
Performance reduces the damage to worker or ambient enviroment.
The flexible mechanical arm joint arrangement of controllable damping and rigidity of the invention, the rotation input group including transmission connection
Part, intermediate module and rotation output precision；
The rotation input module include input shaft and with input axis connection and the input cylinder that can rotate synchronously；
The output cylinder for rotating output precision and including output shaft and being connected with exporting axis and can rotate synchronously, the output
Cylinder is located in input cylinder；
The intermediate module includes that jackshaft and intermediate axis connection and the first radial transmission line that can be rotated synchronously and second are radial
Disk, the jackshaft, the first radial transmission line and the second radial transmission line are each provided in output cylinder；First radial transmission line close to input shaft,
The input cylinder drives the first radial disc spins by the first elastic element；Second radial transmission line is close to output shaft, and described
Two radial transmission lines drive output cylinder rotation by the second elastic element；
The cavity I for accommodating magnetorheological fluid I, the cavity I are equipped between first radial transmission line and the second radial transmission line
In be equipped with magnet exciting coil I for generating externally-applied magnetic field, the jackshaft is located at being partially submerged in magnetorheological fluid I of cavity I.
Further, the cavity I is formed between first radial transmission line, the second radial transmission line, jackshaft and output cylinder；It is described
The partition for separating cavity I is radially equipped on jackshaft, the partition is equipped with valve opening and the valve opening with valve opening cooperation
Axis is isolated between the magnet exciting coil I and magnetorheological fluid I by support ring, and the support ring is fixed on valve by the pressing of valve opening axis
In hole；The valve opening axis is fixed on partition by fastener, and the effect for flowing through for magnetorheological fluid I is equipped in the valve opening
Channel is answered, the valve opening axis is equipped with the recirculation hole being connected to effect channel.
Further, the jackshaft be equipped with two pieces of extension plates radially extended, two extension plates be symmetrical arranged and with
Cavity I is separated into four cavities together by two symmetrically arranged partitions；The jackshaft drives extension plate to move towards partition direction
During, extension plate driving magnetorheological fluid I is flowed by the cavity that valve opening increases from a reduced volume of cavity toward volume.
Further, the partition radially extends to form protrusion far from one end of central axis, sets on the inside of the output cylinder
Have for the groove with male cooperation fixing assembling.
Further, the jackshaft, the first radial transmission line, the second radial transmission line and support ring are all made of non-magnet material and are made.
Further, the cavity II for accommodating magnetorheological fluid II, the cavity are equipped between the output cylinder and input cylinder
The magnet exciting coil II for generating externally-applied magnetic field is equipped in II.
Further, the rear end of the input shaft radially extends to be formed for the front opening cooperation fixation with input cylinder
First end cover；The front end of the output shaft radially extends to be formed for the second end fixed with the cooperation of the open rearward end of output cylinder
Lid；First elastic element and the second elastic element are arc spring structure；First radial transmission line and first end cover it
Between be equipped with for accommodating the first accommodation groove of the first elastic element；It is equipped between second radial transmission line and second end cover for holding
Set the second accommodation groove of the second elastic element.
Further, the circumferentially arranged core slot having for mounting ring shape field core in the outer surface of the output cylinder, it is described
The circumferentially arranged annular groove having for winding magnet exciting coil II in the outer surface of field core；The output cylinder, second end cover with it is defeated
Enter and forms the cavity II between cylinder.
Further, the open rearward end of the input cylinder is connected with third end cap, and the third end cap is annular in shape and with second
End cap coaxial arrangement；The input shaft, jackshaft and output shaft coaxial arrangement.
Further, between input cylinder and the output cylinder, between first radial transmission line and output cylinder, described second is radial
The transverse bearing for being used to support positioning is equipped between disk and third end cap.
Beneficial effects of the present invention: the flexible mechanical arm joint arrangement of controllable damping and rigidity of the invention, input shaft are
Power intake, output shaft are power output end, and input shaft passes through the first elastic element for power transmission to jackshaft, jackshaft
By the second elastic element by power transmission to output shaft；Due to the second elastic element and it is located at the first radial transmission line and the second radial direction
Magnetorheological mechanism between disk is parallel between output shaft and jackshaft, and the first elastic element of connecting, by adjusting excitation
The magnetic field strength that coil I generates, to change the rheological behavior of magnetorheological fluid I, between regulation output shaft and jackshaft etc.
Rigidity is imitated, to achieve the purpose that adjust overall stiffness between input shaft and output shaft, stiffness tuning range is big；In addition, by
It is located in input cylinder in output cylinder, intermediate module is located in output cylinder and realizes power by the first radial transmission line and the second radial transmission line
Transmitting, so that the present apparatus is compact-sized；The present invention can satisfy the demand of flexible mechanical arm, improve robot movement when
Security performance reduces the damage to worker or ambient enviroment.
Detailed description of the invention
The invention will be further described with reference to the accompanying drawings and examples:
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is A-A cross-sectional view in Fig. 1；
Fig. 3 is the connection schematic diagram of jackshaft of the invention and the second radial transmission line；
Fig. 4 is the connection schematic diagram of the first radial transmission line of the invention；
Fig. 5 is the connection schematic diagram of output shaft and second end cover of the invention；
Fig. 6 is working principle simplified mechanical model figure of the present invention；
Fig. 7 is real work Equivalent Mechanical simplified model figure of the present invention.
Specific embodiment
It is as shown in Figures 1 to 7: the controllable damping of the present embodiment and the flexible mechanical arm joint arrangement of rigidity, including successively
Rotation input module, intermediate module and the rotation output precision of transmission connection；Transmission connection i.e. by way of transmitting power into
Row connection.
The input cylinder 2 that the rotation input module includes input shaft 1 and connect and can rotate synchronously with input shaft 1, input
Axis 1；Input shaft 1 is power intake, the specially input terminal of rotational power；Input cylinder 2 is cylindrical, inputs the axis of cylinder 2
It is overlapped with the axis of input shaft 1；The input shaft 1 rear end (direction with the close left side in Fig. 1 be before, close to rear side
Direction is rear) it radially extends to be formed for the first end cover 3 fixed with the front opening cooperation of input cylinder 2；First end cover 3 is in
Discoid, the front end face of circumferentially arranged several screw holes in first end cover 3, input cylinder 2 is also provided with corresponding screw hole, screw
It successively penetrates so that first end cover 3 to be fixed on input cylinder 2, first end cover 3 and input cylinder 2 is driven when input shaft 1 rotates together
Rotation.
The output cylinder 5 that the rotation output precision includes output shaft 4 and connect and can rotate synchronously with output shaft 4, it is described
Output cylinder 5 is located in input cylinder 2；Output shaft 4 is power output end, specially rotational power
Output end；Output cylinder 5 is cylindrical, and the axis of output cylinder 5 is overlapped with the axis of output shaft 4；The diameter of output cylinder 5
Less than the diameter of input cylinder 2；The front end of the output shaft 4 radially extends to be formed for cooperating with the open rearward end of output cylinder 5
Fixed second end cover 6；Second end cover 6 is in the form of annular discs, circumferentially arranged several screw holes in second end cover 6, after output cylinder 5
End face is also provided with corresponding screw hole, and screw is successively penetrated so that second end cover 6 to be fixed in output cylinder 5, when output shaft 4 rotates
Second end cover 6 and output cylinder 5 also rotate together.
The first radial transmission line 8 and second that the intermediate module includes jackshaft 7, connect with jackshaft 7 and can rotate synchronously
Radial transmission line 9, the jackshaft 7, the first radial transmission line 8 and the second radial transmission line 9 are each provided in output cylinder 5；First radial transmission line 8 leans on
Nearly input shaft 1, the input cylinder 2 drive the rotation of the first radial transmission line 8 by the first elastic element 10；Second radial transmission line 9 leans on
Nearly output shaft 4, second radial transmission line 9 drive output cylinder 5 to rotate by the second elastic element 11；First radial transmission line 8, the second diameter
It is in the form of annular discs to disk 9, and being arranged radially along jackshaft 7；First radial transmission line 8, the second radial transmission line 9 can by with jackshaft
7 integrally formed modes are arranged, and split settings and can also be fixedly connected by relevant fixing piece；Input shaft 1 passes through the first bullet
Property element 10 by power transmission to jackshaft 7, jackshaft 7 is by the second elastic element 11 by power transmission to output shaft 4；First
Elastic element 10, the second elastic element 11 are that power can be achieved to transmit and have the elastic component of accumulation of energy function, it is preferable that described the
One elastic element 10 and the second elastic element 11 are arc spring structure, at this point, first radial transmission line 8 and first end cover 3
Between be equipped with for accommodating the first accommodation groove 12 of the first elastic element 10, set between second radial transmission line 9 and second end cover 6
There is the second accommodation groove 13 for accommodating the second elastic element 11；For example, in the first radial transmission line 8 close to the end face of first end cover 3
Two the first symmetrical and recessed accommodation grooves 12 of upper setting, first end cover 3 are then arranged two on the end face of the first radial transmission line 8
It can be placed in the convex block of the first accommodation groove 12, the first elastic element 10 is squeezed by convex block when first end cover 3 rotates, thus by power
It is transmitted；Second radial transmission line 9 can also realize power transmitting with second end cover 6 by same structure, and details are not described herein.
The cavity I for accommodating magnetorheological fluid I 14, the chamber are equipped between first radial transmission line 8 and the second radial transmission line 9
The magnet exciting coil I 15 for generating externally-applied magnetic field is equipped in body I, it is magnetorheological that the jackshaft 7 is located at being partially submerged in for cavity I
In liquid I 14；Magnetorheological fluid I 14, magnet exciting coil I 15 are a part of magnetorheological mechanism；Magnetorheological mechanism at this is rotation
Formula damper structure (can be using drum-type or tray type structure)；Cavity I is sealing structure, be can be realized by the prior art,
Details are not described herein；Magnetorheological damping due to the second elastic element 11 and between the first radial transmission line 8 and the second radial transmission line 9
Mechanism is parallel between output shaft 4 and jackshaft 7, and the first elastic element 10 of connecting, and is generated by adjusting magnet exciting coil I 15
Magnetic field strength control the damping force between jackshaft 7 and output shaft 4 to change the rheological behavior of magnetorheological fluid I 14, with
Equivalent stiffness between regulation output shaft 4 and jackshaft 7, to reach whole equivalent rigid between adjusting input shaft 1 and output shaft 4
The purpose of degree, stiffness tuning range are big；Further, since output cylinder 5 is located in input cylinder 2, intermediate module is located in output cylinder 5
And power transmitting is realized by the first radial transmission line 8 and the second radial transmission line 9, so that the present apparatus is compact-sized；After the input cylinder 2
End opening is connected with third end cap 16, and the third end cap 16 is annular in shape and is coaxially disposed with second end cover 6；The input shaft 1,
Jackshaft 7 and output shaft 4 are coaxially disposed；The rear end face of the circumferentially arranged several screw holes of third end cap 16, input cylinder 2 is also provided with
Corresponding screw hole, screw are successively penetrated so that third end cap 16 to be fixed on input cylinder 2, third end cap when input shaft 1 rotates
16 also rotate together；Meanwhile in order to guarantee the smooth of rotation, between the input cylinder 2 and output cylinder 5, first radial transmission line 8
The transverse bearing 17 for being used to support positioning is equipped between output cylinder 5, between second radial transmission line 9 and third end cap 16.
In the present embodiment, the chamber is formed between first radial transmission line 8, the second radial transmission line 9, jackshaft 7 and output cylinder 5
Body I；Radially be equipped with partition 18 for separating cavity I on the jackshaft 7, the partition 18 be equipped with valve opening 19 and with
The valve opening axis 20 that valve opening 19 cooperates is isolated between the magnet exciting coil I 15 and magnetorheological fluid I 14 by support ring 21, the branch
Pushing out ring 21 is fixed in valve opening 19 by the pressing of valve opening axis 20；The valve opening axis 20 is fixed on partition 18 by fastener, institute
The effect channel being equipped in valve opening 19 for flowing through for magnetorheological fluid I 14 is stated, the valve opening axis 20 is equipped with to be connected with effect channel
Logical recirculation hole；When output shaft 4 and jackshaft 7 relatively rotate, magnetorheological fluid I 14 will be by valve opening 19 by partition 18
I two sides of cavity of separation are flowed, and by the electric current of adjusting magnet exciting coil I 15, can control the damping force of magnetorheological fluid I 14, from
And achieve the effect that controllable damping and rigidity；Partition 18 is removably attached to jackshaft 7, for example, the partition 18 is remote
One end from central axis radially extends to form protrusion, the inside of the output cylinder 5 be equipped with for male cooperation fixing assembling
Groove；Valve opening axis 20 can be fixed on partition 18 by the fastener of bolt structure；The jackshaft 7 is equipped with two pieces along it
The extension plate 22 radially extended, two extension plates 22 are symmetrical arranged and are together separated into cavity I with two symmetrically arranged partitions 18
Four cavities；During the jackshaft 7 drives extension plate 22 to move towards 18 direction of partition, extension plate 22 drives magnetorheological fluid
The I 14 cavity flowings increased by valve opening 19 from a reduced volume of cavity toward volume；Extension plate 22 is preferably fan-shaped, and from centre
Axis 7 to its sectional area of 5 direction of output cylinder is gradually increased；To realize magnetorheological effect, the jackshaft 7, the first radial transmission line 8, the
Two radial transmission lines 9 and support ring 21 are all made of non-magnet material and are made.
In the present embodiment, the cavity II for accommodating magnetorheological fluid II 23 is equipped between the output cylinder 5 and input cylinder 2,
The magnet exciting coil II 24 for generating externally-applied magnetic field is equipped in the cavity II；Magnetorheological fluid II 23, magnet exciting coil II 24 are
A part of magnetorheological mechanism；Cavity II is sealing structure, be can be realized by the prior art, details are not described herein；Work as input
When Relative Vibration occurring between axis 1 and output shaft 4, the achievable effect of magnetorheological mechanism at this passes through magnet exciting coil II
The damping force of 24 control magnetorheological fluids II 23, elimination is reached by control damping force and control is vibrated；Preferably, the output
The circumferentially arranged core slot having for mounting ring shape field core 25 in outer surface of cylinder 5, the outer surface edge of the field core 25
Circumferentially it is provided with the annular groove for winding magnet exciting coil II 24；Institute is formed between the output cylinder 5, second end cover 6 and input cylinder 2
State cavity II.
Finally, it is stated that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to compared with
Good embodiment describes the invention in detail, those skilled in the art should understand that, it can be to skill of the invention
Art scheme is modified or replaced equivalently, and without departing from the objective and range of technical solution of the present invention, should all be covered at this
In the scope of the claims of invention.
Claims (10)
1. the flexible mechanical arm joint arrangement of a kind of controllable damping and rigidity, it is characterised in that: the rotation including transmission connection is defeated
Enter component, intermediate module and rotation output precision；
The rotation input module include input shaft and with input axis connection and the input cylinder that can rotate synchronously；
The output cylinder for rotating output precision and including output shaft and being connected with exporting axis and can rotate synchronously, the output cylinder are set
In input cylinder；
The intermediate module include jackshaft, with intermediate axis connection and the first radial transmission line and the second radial transmission line that can rotate synchronously,
The jackshaft, the first radial transmission line and the second radial transmission line are each provided in output cylinder；First radial transmission line is described close to input shaft
It inputs cylinder and the first radial disc spins is driven by the first elastic element；Second radial transmission line is close to output shaft, second diameter
Output cylinder rotation is driven by the second elastic element to disk；
It is equipped with the cavity I for accommodating magnetorheological fluid I between first radial transmission line and the second radial transmission line, is set in the cavity I
There is a magnet exciting coil I for generating externally-applied magnetic field, the jackshaft is located at being partially submerged in magnetorheological fluid I of cavity I.
2. the flexible mechanical arm joint arrangement of controllable damping according to claim 1 and rigidity, it is characterised in that: described
The cavity I is formed between one radial transmission line, the second radial transmission line, jackshaft and output cylinder；It is radially equipped with and uses on the jackshaft
In the partition for separating cavity I, the partition is equipped with valve opening and the valve opening axis with valve opening cooperation, the magnet exciting coil I and magnetic
It is isolated between rheology liquid I by support ring, the support ring is fixed in valve opening by the pressing of valve opening axis；The valve opening axis passes through
Fastener is fixed on partition, and the effect channel for flowing through for magnetorheological fluid I is equipped in the valve opening, is set on the valve opening axis
There is the recirculation hole being connected to effect channel.
3. the flexible mechanical arm joint arrangement of controllable damping according to claim 2 and rigidity, it is characterised in that: in described
Between axis be equipped with two pieces of extension plates radially extended, two extension plates be symmetrical arranged and together with two symmetrically arranged partitions will
Cavity I is separated into four cavities；During the jackshaft drives extension plate to move towards partition direction, extension plate drives magnetic current
Become the cavity flowing that liquid I is increased by valve opening from a reduced volume of cavity toward volume.
4. the flexible mechanical arm joint arrangement of controllable damping according to claim 2 and rigidity, it is characterised in that: it is described every
Plate radially extends to form protrusion far from one end of central axis, and the inside of the output cylinder is equipped with to be filled for fixing with male cooperation
The groove matched.
5. the flexible mechanical arm joint arrangement of controllable damping according to claim 4 and rigidity, it is characterised in that: in described
Between axis, the first radial transmission line, the second radial transmission line and support ring be all made of non-magnet material and be made.
6. the flexible mechanical arm joint arrangement of controllable damping according to any one of claims 2 to 5 and rigidity, feature exist
In: it is equipped with the cavity II for accommodating magnetorheological fluid II between the output cylinder and input cylinder, is equipped with and is used in the cavity II
Generate the magnet exciting coil II of externally-applied magnetic field.
7. the flexible mechanical arm joint arrangement of controllable damping according to claim 6 and rigidity, it is characterised in that: described defeated
The rear end for entering axis radially extends to be formed for the first end cover fixed with the front opening cooperation of input cylinder；The output shaft
Front end radially extends to be formed for the second end cover fixed with the cooperation of the open rearward end of output cylinder；First elastic element with
Second elastic element is arc spring structure；It is equipped between first radial transmission line and first end cover for accommodating the first elasticity
First accommodation groove of element；Second for accommodating the second elastic element is equipped between second radial transmission line and second end cover to hold
Set slot.
8. the flexible mechanical arm joint arrangement of controllable damping according to claim 7 and rigidity, it is characterised in that: described defeated
The circumferentially arranged core slot having for mounting ring shape field core in the outer surface of cylinder out, the outer surface of the field core is circumferentially
It is provided with the annular groove for winding magnet exciting coil II；The cavity II is formed between the output cylinder, second end cover and input cylinder.
9. the flexible mechanical arm joint arrangement of controllable damping according to claim 8 and rigidity, it is characterised in that: described defeated
The open rearward end for entering cylinder is connected with third end cap, and the third end cap is annular in shape and is coaxially disposed with second end cover；The input
Axis, jackshaft and output shaft coaxial arrangement.
10. the flexible mechanical arm joint arrangement of controllable damping according to claim 9 and rigidity, it is characterised in that: described
Input between cylinder and output cylinder, between first radial transmission line and output cylinder, between second radial transmission line and third end cap
Equipped with the transverse bearing for being used to support positioning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611189852.5A CN106763589B (en) | 2016-12-21 | 2016-12-21 | The flexible mechanical arm joint arrangement of controllable damping and rigidity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611189852.5A CN106763589B (en) | 2016-12-21 | 2016-12-21 | The flexible mechanical arm joint arrangement of controllable damping and rigidity |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106763589A CN106763589A (en) | 2017-05-31 |
| CN106763589B true CN106763589B (en) | 2019-03-22 |
Family
ID=58896664
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611189852.5A Active CN106763589B (en) | 2016-12-21 | 2016-12-21 | The flexible mechanical arm joint arrangement of controllable damping and rigidity |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106763589B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107253043B (en) * | 2017-06-29 | 2019-02-26 | 重庆大学 | A kind of variable flexibility mechanical arm tool for twisting screw of Three Degree Of Freedom |
| CN107571255B (en) * | 2017-10-20 | 2019-11-05 | 杭州电子科技大学 | A kind of submissive driver of the controllable damping for joint of robot |
| CN108527435B (en) * | 2018-03-26 | 2022-03-22 | 哈尔滨工业大学深圳研究生院 | Magnetorheological fluid-based continuous controllable stiffness-variable robot flexible joint |
| CN108818612A (en) * | 2018-09-04 | 2018-11-16 | 长春大学 | Electromechanical integration passive compliance controls joint of robot |
| CN109822615B (en) * | 2019-03-28 | 2022-02-08 | 重庆大学 | Damping and rigidity controllable magneto-rheological damping joint device |
| CN110605739A (en) * | 2019-09-18 | 2019-12-24 | 珠海格力电器股份有限公司 | Active vibration damping device for joints of industrial robot and robot |
| CN111839846B (en) * | 2020-07-27 | 2022-10-18 | 深圳市健行仿生科技有限公司 | Bionic ankle joint artificial limb |
| CN115163724B (en) * | 2022-08-11 | 2024-06-04 | 重庆大学 | Magneto-rheological inertia damper |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101293351A (en) * | 2008-06-05 | 2008-10-29 | 上海交通大学 | Safe mechanical joint with adjustable stiffness of magnetorheological fluid clutch |
| JP4885292B2 (en) * | 2010-07-09 | 2012-02-29 | 本田技研工業株式会社 | Drive device |
| CN103192406A (en) * | 2013-04-08 | 2013-07-10 | 北京航空航天大学 | Robot joint driver with variable rigidity |
| CN103273502A (en) * | 2013-06-19 | 2013-09-04 | 北京航空航天大学 | Flexible mechanical arm vibration reducing device and method based on controllable rigidity and controllable damp |
| CN104723354A (en) * | 2013-12-20 | 2015-06-24 | 中国科学院沈阳自动化研究所 | Mechanical impedance parameter adjustable flexible-drive rotary joint of robot |
-
2016
- 2016-12-21 CN CN201611189852.5A patent/CN106763589B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101293351A (en) * | 2008-06-05 | 2008-10-29 | 上海交通大学 | Safe mechanical joint with adjustable stiffness of magnetorheological fluid clutch |
| JP4885292B2 (en) * | 2010-07-09 | 2012-02-29 | 本田技研工業株式会社 | Drive device |
| CN103192406A (en) * | 2013-04-08 | 2013-07-10 | 北京航空航天大学 | Robot joint driver with variable rigidity |
| CN103273502A (en) * | 2013-06-19 | 2013-09-04 | 北京航空航天大学 | Flexible mechanical arm vibration reducing device and method based on controllable rigidity and controllable damp |
| CN104723354A (en) * | 2013-12-20 | 2015-06-24 | 中国科学院沈阳自动化研究所 | Mechanical impedance parameter adjustable flexible-drive rotary joint of robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106763589A (en) | 2017-05-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106763589B (en) | The flexible mechanical arm joint arrangement of controllable damping and rigidity | |
| KR100722830B1 (en) | Actuator capable of reciprocating linear device and rolling drive, and toothbrush using the same | |
| US10786338B2 (en) | Fixing structure for use in driver apparatus of electric cleaning appliance | |
| EP2727557B1 (en) | Actuator and electric beauty appliance | |
| CN109822615B (en) | Damping and rigidity controllable magneto-rheological damping joint device | |
| US11229963B2 (en) | Force and moment canceling reciprocating mechanism and power tool having same | |
| US11646650B2 (en) | Swing motor with two movable members having elastic support members and torsion elastic members | |
| US10615677B2 (en) | Actuator, air pump, beauty treatment device, and laser scanning device | |
| CN108134537B (en) | A kind of built-in piezo-electric type on-line dynamic balancing executive device | |
| CN106558965A (en) | Electric machine and drive mechanism | |
| RU2020100075A (en) | HYDRAULIC UNIT FOR HYDRAULIC RESCUE TOOL, AS WELL AS SUPPLIED WITH RESCUE TOOL | |
| CN107947525A (en) | A kind of contactless nutating decelerating motor of novel two-stage and its method of work | |
| CN111846266A (en) | Novel multi freedom ultrasonic motor's unmanned aerial vehicle camera cloud platform modular structure | |
| CN110454526B (en) | Magneto-rheological braking system based on wearable exoskeleton | |
| CN208483168U (en) | Pressure riveting device | |
| CN103023373A (en) | Two-freedom-degree rotation-line motion micro ultrasonic motor | |
| US4365179A (en) | Pulse motor | |
| CN203406802U (en) | Single electric signal driving bidirectional rotary ultrasonic motor | |
| WO2015155137A1 (en) | Drive arrangement with integrated damper and clutch | |
| CN105204524B (en) | Control distant bar | |
| CN209457659U (en) | A kind of opening and closing is gentle to brake accurately fast open gate machine core | |
| CN104960246A (en) | Shakeproof bag manufacturing machine | |
| CN216261792U (en) | Rebound vibration device based on bidirectional coupling force | |
| WO2012161575A1 (en) | A free piston type torsion drive compressor | |
| CN101145741B (en) | Dual-stator 3-freedom ultrasonic motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |