CN107662222A - A kind of stiffness variable flexible joint based on single power source - Google Patents
A kind of stiffness variable flexible joint based on single power source Download PDFInfo
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- CN107662222A CN107662222A CN201711153126.2A CN201711153126A CN107662222A CN 107662222 A CN107662222 A CN 107662222A CN 201711153126 A CN201711153126 A CN 201711153126A CN 107662222 A CN107662222 A CN 107662222A
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- 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
- B25J17/0258—Two-dimensional joints
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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Abstract
The present invention relates to a kind of stiffness variable flexible joint based on single power source, joint drive end includes knuckle support, reducer stent, interlocking clutch configuration, harmonic speed reducer and the joint drive motor for being provided with encoder；The knuckle support is a U-shaped structure part, and harmonic speed reducer is connected by reducer stent with knuckle support left end, and the output end of joint drive motor is connected by interlocking clutch configuration with stiffness tuning mechanism；The reducer stent is a hollow circuit cylinder housing, and reducer stent one end is provided with the mounting hole for connecting harmonic speed reducer, and the other end is provided with the screwed hole for connecting joint support left end, the shaft shoulder is additionally provided with reducer stent；The interlocking clutch configuration is located in the cavity of reducer stent.The joint using single motor realize joint drive and stiffness tuning, compact-sized, integrated level is high, positioning precision is high, rigidity can significantly continuously linear accurate adjustment, possess a variety of stiffness tuning patterns.
Description
Technical field
The present invention relates to robotic technology field, specially a kind of stiffness variable flexible joint based on single power source.
Background technology
With the high speed development of modern industrial technology, the application of robot drastically extends, and man-machine collaboration is increasingly close,
Along with deepening continuously for man-machine interaction degree, the safety issue of robot becomes increasingly conspicuous.At present, robot generally use with
" simple in construction, volume compact, easy to control, accurate positioning, response are timely " is the rigid joint of outstanding feature, it is difficult to according to outer
The change dynamic of portion's environment and own load adjusts joint stiffness to meet the security requirement of man-machine collaboration.At the same time, with
The specialized robot development of the artificial Typical Representative of bionic machine is swift and violent, the active/passive flexibility of joint of robot it is also proposed compared with
High requirement.Therefore, the flexible joint with variable stiffness characteristic has turned into the focus of robot research field.
For stiffness variable flexible joint, the work of system in-depth study is carried out both at home and abroad, have developed more money typical cases and close
Section, as patent document " a kind of flexible joint variation rigidity mechanism (CN106695870A) " is related to a kind of flexible joint variation rigidity machine
Structure, adjusting two set of rollers positions using stiffness tuning motor, circumferentially two amount of spring compression realize joint stiffness to change joint
Effective regulation, due to the joint configure two motors be respectively used to joint drive and stiffness tuning so that structure control is excessively
Complexity, cost is of a relatively high, while is influenceed by lever regulation Rigidity Theory and circumferential spring arrangement form, it is difficult to realizes that joint is firm
The linear accurate adjustment of degree；Patent document " the adjustable flexible joint drive mechanism (CN104985608A) of rigidity " discloses one kind
The adjustable flexible joint of rigidity, the joint are provided with two skew surface disks of spring connection, are synchronized with the movement using with joint output end
Rolling of the roller between two skew surface disks produce flexibility of joint, though the joint is compact-sized, rigidity is accurately adjustable, to joint
The structural strength and adjustment torque requirement of stiffness equivalent structure are higher, and are difficult to joint balance position stiffness i.e. joint
By effective regulation of dynamic stiffness；Patent document " the robot flexibility joint (CN106142132A) of rigidity continuously adjustabe " discloses
A kind of rigidity continuously controllable robot flexibility joint, spring bracing and connecting rod are installed on by the adjustment of stiffness tuning motor
The pre compressed magnitude of floating spring between drop-down sleeve, realize significantly continuously adjusting for joint stiffness, but the joint equally configuration two
The motor of joint drive and stiffness tuning is respectively used to, structure control is complex, simultaneously because lacking corresponding position detection
System, joint orientation precision and stiffness tuning precision are relatively low.
In summary, though existing flexible joint can tentatively realize effective regulation of joint stiffness, joint common configuration two
Individual motor is respectively used to joint drive and stiffness tuning, there is that structure control is complicated, positioning precision is not high, stiffness tuning mode list
Many deficiencies such as the first, the linear accurate adjustment of rigidity is difficult and adjusting range is limited to.Therefore, it is a kind of real using single motor that research and development are needed badly
Existing joint drive and stiffness tuning, compact-sized, integrated level is high, positioning precision is high, rigidity can significantly continuously linear accurate adjustment,
Possess a variety of stiffness tuning patterns and easily controllable stiffness variable flexible joint.
The content of the invention
In view of the shortcomings of the prior art, the technical problem to be solved in the present invention is：A kind of realize using single motor is provided to close
Section driving with stiffness tuning, compact-sized, integrated level is high, positioning precision is high, rigidity can significantly continuously linear accurate adjustment, possess
A variety of stiffness tuning patterns and easily controllable stiffness variable flexible joint.
Technical scheme is used by the present invention solves the technical problem：Design a kind of variable firm based on single power source
Spend flexible joint, including joint drive end, stiffness tuning mechanism and joint output end；The joint output end and joint loads phase
Connection, stiffness tuning mechanism both ends are rigidly connected with joint drive end and joint output end respectively；It is characterized in that：
The joint drive end includes knuckle support, reducer stent, interlocking clutch configuration, harmonic speed reducer and installation
There is the joint drive motor of encoder；The knuckle support is a U-shaped structure part, harmonic speed reducer by reducer stent with
Knuckle support left end is connected, and the output end of joint drive motor is connected by interlocking clutch configuration with stiffness tuning mechanism, is closed
Section motor is fixed on knuckle support, and joint drive motor is co-axially mounted with harmonic speed reducer；The reducer stent
For a hollow circuit cylinder housing, reducer stent one end is provided with the mounting hole for connecting harmonic speed reducer, and the other end is provided with
For the screwed hole of connecting joint support left end, the shaft shoulder is additionally provided with reducer stent；The interlocking clutch configuration is located at
In the cavity of reducer stent；
The joint output end includes output housing, output panel and output end encoder；The output housing and output panel
Surround the shaft shoulder position installation drive end bearing of closing space, output housing left end and reducer stent, output housing right-hand member end
Face is fixedly and coaxially connected with output panel；The output disk center connection output end encoder, between output panel and knuckle support
Installation output end bearing；
It is described interlocking clutch configuration include motor installation disc, spline slider, electromagnet, output end cap, axle sleeve, sliding block and
Clutch spring；The motor installation disc is the cylindrical shell of an internal surface configurations spline, motor installation disc left end and joint
Motor, knuckle support link together, and are connected by screw and are fixed on motor installation disc and joint drive motor coaxle
Knuckle support；The spline slider is a hollow disk-like accessory, and spline slider outer surface is provided with and motor installation disc inner surface
The spline that is engaged of spline, radial positioning and the axially shifting between spline slider and motor installation disc are realized by spline connection
It is dynamic；The right flank of spline slider is embedded with electromagnet, and spline slider center is provided with groove；The output end cap is a circular cylindrical shell
Body, in the cavity of reducer stent, the input of output end cap one end connection harmonic speed reducer, magnetic is passed through in other end end face
Change is handled, and is coordinated with electromagnet, and carries out increase coefficient of friction by the surfaces externally and internally of magnetization treatment one end in output end cap
Surface treatment；
For the axle sleeve coaxial package on the output shaft of joint drive motor, sleeve outer surface opens up spline, the sliding block
For hollow circular cylinder structure, including big column part and roundlet post part, roundlet post part sets one and spline slider central fovea
The shaft shoulder that groove is engaged, the end face of left and right two of big column part carry out increasing the surface treatment of coefficient of friction, sliding block great circle
The left end end face of post part is connected with the output end interior surface after increasing the surface treatment of coefficient of friction by friction-driven
Connect, its center opens up the spline being engaged with sleeve outer surface spline, and sliding block and shaft room are realized by spline connection
Synchronous axial system and axial movement, are provided with clutch spring between sliding block and axle sleeve, clutch spring both ends respectively with axle sleeve
Right-hand member end face and sliding block inner face are completely attached to, and sliding block is pressed in into output end cap left end inner surface；
The stiffness tuning mechanism includes fixed shell, adjustment housings, adjustment disk, adjustment disk back-up ring, lead, buphthalmos
Wheel, stiffness tuning spring, trapezoidal screw, leading screw bearing, feed screw nut and leading screw end；
The trapezoidal screw includes optical axis portion and threaded portion, and optical axis portion one end is coaxially installed on by leading screw bearing
In harmonic speed reducer, the other end passes through the center of harmonic speed reducer, and penetrates the centre bore of fixed shell and adjustment housings, passes through
Another leading screw bearing is coaxially installed in fixed shell；The leading screw end is a disk part by performing, is coaxially fixedly installed in
Trapezoidal screw optical axis end, the left side of leading screw end increase the surface treatment of coefficient of friction, and sliding block is realized by friction
With the drive connection of leading screw end；
The fixed shell is a cylindrical housings, and fixed shell inner surface setting has a spline, fixed shell left end with
The output end of harmonic speed reducer is coaxially connected, realizes synchronous axial system of the fixed shell with harmonic speed reducer output end；The regulation
Housing is a cylindrical housings, and adjustment housings outer surface is provided with the spline being engaged with the spline of fixed shell inner surface,
Synchronous axial system and axial movement between adjustment housings and fixed shell is realized by spline connection, adjustment housings inner surface setting has
Spline, adjustment housings one end are provided with feed screw nut connection screw thread hole, and the mounting flange of feed screw nut is connected with feed screw nut
Screwed hole, which is connected by screw, is fixed on adjustment housings inner surface, and feed screw nut is engaged with the threaded portion of trapezoidal screw, structure
Into a thread transmission；Adjustment housings have circumferentially been evenly arranged three leads centered on feed screw nut connection screw thread hole
Connection screw thread hole, lead are inserted in lead connection screw thread hole and fixed with adjustment housings, the axis and adjustment housings of lead
Diameter parallel, the right-hand member of lead are provided with buphthalmos groove；
The adjustment disk is a disk part by performing, and adjustment disk outer surface is provided with to match with adjustment housings inner surface spline
The spline of conjunction, for adjustment disk in adjustment housings, adjustment disk back-up ring is fixedly mounted in adjustment housings right side, is connected by spline real
Existing synchronous axial system and axial movement between adjustment disk and adjustment housings, adjustment disk are circumferentially evenly arranged with three buphthalmos wheel connections
Screwed hole；The bottom of the buphthalmos wheel is made up of optical axis and installation stud, in the buphthalmos groove of optical axis insertion lead, installs spiral shell
Post is engaged with the buphthalmos wheel connection screw thread hole of adjustment disk, and lead and buphthalmos wheel form a prismatic pair；On each lead
Equal nesting is provided with stiffness tuning spring, and stiffness tuning both ends of the spring connects completely with adjustment housings end face and regulation side surface respectively
Touch；The top roller of the buphthalmos wheel and output panel Special composition cam mechanism.
Compared with prior art, the beneficial effect of the flexible joint of adjustable rigidity of the present invention is：
(1) flexible joint of stiffness variable of the present invention is using interlocking clutch configuration, only with a joint drive motor
Joint drive and stiffness tuning can be achieved：The flexible joint of the present invention configures mutual lock clutch knot in joint drive motor side
Structure, interlocking clutch configuration pass through tune between electromagnet and output end cap under the mating reaction of magnetic field force and clutch spring elastic force
Whole sliding block axial location realizes switching of the joint drive motor between joint drive and stiffness tuning pattern；
(2) the flexible joint rigidity of stiffness variable of the present invention significantly continuously adjustabe, joint stiffness can be realized from completely just
Adjustment of the property to full flexible：The stiffness tuning mechanism of the flexible joint of the present invention forms a spatial cam with output panel,
Wherein the output panel with curved indentations can be considered cam, and buphthalmos wheel can be considered roller in stiffness tuning mechanism, and stiffness tuning
Fixed shell then can be considered frame in mechanism, and stiffness tuning mechanism leads under the driving of joint drive motor through thread transmission
Cross between adjustment adjustment housings and adjustment disk that distance is to change stiffness tuning spring pre compressed magnitude, so as to change the buphthalmos as roller
Take turns and as normal pressure between the output panel of cam, and coordinate the curved indentations for meeting that joint stiffness regulation requires, realize that joint is firm
Spend significantly continuously adjusting from perfect rigidity to full flexible；
(3) flexible joint of stiffness variable of the present invention can realize the high-precision linear regulation of joint stiffness：The present invention's is soft
Property joint by the thread transmission being made up of trapezoidal screw and feed screw nut with self-locking property, coordinate using with compiling
The joint drive motor of code device realizes the high-precision control of stiffness tuning amount of spring compression to adjust joint stiffness, while rigidity is adjusted
Save amount of spring compression and elastic force is linear, output panel curved indentations Curvature varying meets that the linear regulation of joint stiffness will
Ask, the high-precision linear regulation of joint stiffness can be achieved；
(4) flexible joint of stiffness variable of the present invention is easy to the accurate control of joint stiffness：In the flexible joint of the present invention
Among being nested in the lead groove installed with adjustment housings diameter parallel with the optical axis of the vertically arranged buphthalmos wheel of adjustment disk, just
Degree regulation spring is nested on lead, and stiffness tuning both ends of the spring is complete with adjustment housings end face and regulation side surface respectively
Contact, make stiffness tuning spring and adjustment housings end face and regulation side surface vertical, coordinate fixed shell, adjustment housings and tune
The spline connection between disk is saved, ensures that stiffness tuning spring remains positive compression, makes the stiffness tuning amount of spring compression be in elastic force
Existing linear relationship, while output panel curved indentations Curvature varying meets the linear regulation requirement of joint stiffness, buphthalmos wheel and output
Disk curved indentations point contacts, and can accurately determine the position of contact point, is easy to reduce calculation error, can be accurate using Dual-encoder structure
Buphthalmos wheel position in output panel curved indentations is really calculated, consequently facilitating the foundation of high-precision stiffness tuning model, and then be easy to
The accurate control of joint stiffness；
(5) flexible joint of stiffness variable of the present invention uses the structure type of Dual-encoder, greatly improves the positioning in joint
Precision：Joint drive motor of the joint drive end configuration with encoder of the flexible joint of the present invention, can be achieved fixed shell
Controlled with the high precision position of feed screw nut, meanwhile, output end encoder is configured between knuckle support and output panel, for detecting
Relative rotation between joint output panel and knuckle support, by using the structure type of Dual-encoder, joint drive can realized
While end is detected with joint output end relative position, the Full Closed-loop Position of output end feedback position of encoder information structure one is utilized
Servo-drive system, greatly improve the positioning precision in joint；
(6) flexible joint of stiffness variable of the present invention has a variety of stiffness tuning patterns, can meet the active/passive rigidity in joint
Regulatory demand：The flexible joint of the present invention can drive trapezoidal silk under the cooperation of interlocking clutch configuration by joint drive motor
Thick stick is rotated, and then distance is adjusted between adjustment housings and adjustment disk in the presence of the feed screw nut to change stiffness tuning spring precompressed
Contracting amount, so as to change the regulation that normal pressure between buphthalmos wheel and output panel curved indentations realizes joint stiffness, such a stiffness tuning mould
Formula is particularly suitable for use in the situation for needing under the non-loaded operative condition of flexible joint output end passively to adjust joint stiffness；This
Outside, flexible joint of the invention can also control joint drive end by adjusting the electric current of joint drive end joint drive motor
Output torque, by torque adjustment control joint stiffness, output end encoder detection joint drive end and joint can also be utilized
Relative position between output end, exported by adjusting the change buphthalmos wheel of the relative position between joint drive end and joint output end
Position in disk curved indentations, so as to change joint stiffness, above two stiffness tuning pattern is relative to be applied to joint output end
The situation to joint stiffness progress active regulation is needed in the case of having load effect.
(7) flexible joint of stiffness variable of the present invention is simple and compact for structure, and integrated level is high, and range of movement is big, universal strong：
The flexible knuckle support closed and output panel of the present invention is respectively provided with for connecting pedestal, load and the general connection in other joints
Hole, versatility is stronger, and each part in joint is by the way of spline is connected and nesting is installed so that joint compact overall structure, closes
Range of movement is larger between section drive end and joint output end, and joint over all Integration degree is higher.
Brief description of the drawings
Accompanying drawing 1 is a kind of a kind of general structure sectional view schematic diagram of embodiment of the flexible joint of stiffness variable of the present invention；
Accompanying drawing 2 is a kind of a kind of general structure schematic diagram of embodiment of the flexible joint of stiffness variable of the present invention；
Accompanying drawing 3 is a kind of a kind of interlocking clutch configuration schematic diagram of embodiment of the flexible joint of stiffness variable of the present invention；
Accompanying drawing 4 is illustrated for a kind of a kind of stiffness tuning mechanism structure of embodiment of the flexible joint of stiffness variable of the present invention
Figure；
Accompanying drawing 5 is illustrated for a kind of a kind of stereochemical structure of knuckle support of embodiment of the flexible joint of stiffness variable of the present invention
Figure；
Accompanying drawing 6 is a kind of a kind of reducer stent structural representation of embodiment of the flexible joint of stiffness variable of the present invention；
Accompanying drawing 7 is a kind of a kind of slide block structure schematic diagram figure of embodiment of the flexible joint of stiffness variable of the present invention；
Accompanying drawing 8 is a kind of a kind of fixed shell structural representation of embodiment of the flexible joint of stiffness variable of the present invention；
Accompanying drawing 9 is a kind of a kind of adjustment housings structural representation of embodiment of the flexible joint of stiffness variable of the present invention；
Accompanying drawing 10 is a kind of a kind of buphthalmos wheel construction schematic diagram of embodiment of the flexible joint of stiffness variable of the present invention；
In figure, 1 knuckle support, 2 reducer stents, 3 motor installation discs, 4 spline sliders, 5 electromagnet, 6 output end caps, 7
Axle sleeve, 8 sliding blocks, 9 clutch springs, 10 harmonic speed reducers, 11 joint drive motors, 12 fixed shells, 13 adjustment housings, 14 are adjusted
Save disk, 15 adjustment disk back-up rings, 16 leads, 17 buphthalmos wheels, 18 stiffness tuning springs, 19 trapezoidal screws, 20 leading screw bearings, 21
Thick stick nut, 22 leading screw ends, 23 output housings, 24 output panels, 25 drive end bearings, 26 output end bearings, 27 output ends coding
Device, 101 supports connection through hole, 102 motor installation disc through holes, 103 bearing holes, 104 connecting holes, 201 mounting holes, 202 screwed holes,
203 shaft shoulders, 801 big column parts, 802 roundlet post parts, 1301 feed screw nut connection screw thread holes, 1302 lead connection screw threads
Hole, 1701 installation studs, 1702 optical axises, 2401 cylindrical bosses, 2402 curved indentations, 2403L shape structures.
Embodiment
The present invention is described in detail with reference to embodiment and its accompanying drawing.Embodiment be using technical scheme of the present invention before
The specific implementation of progress is proposed, gives detailed embodiment and process.But the claims of the present patent application are not
It is limited to following embodiment descriptions.
The flexible joint (abbreviation flexible joint, referring to Fig. 1-10) of stiffness variable of the invention based on single power source, including
Joint drive end, stiffness tuning mechanism and joint output end；The joint output end is connected with joint loads, and the rigidity is adjusted
Section mechanism both ends are rigidly connected with joint drive end and joint output end respectively；It is characterized in that：
The joint drive end includes knuckle support 1, reducer stent 2, interlocking clutch configuration, the and of harmonic speed reducer 10
The joint drive motor 11 of encoder is installed；The knuckle support 1 is a U-shaped structure part, and harmonic speed reducer 10 is by subtracting
Fast device support 2 is connected with the left end of knuckle support 1, and the output end of joint drive motor 11 is adjusted by interlocking clutch configuration with rigidity
Mechanism connection is saved, joint drive motor 11 is fixed on knuckle support 1, and joint drive motor is coaxially pacified with harmonic speed reducer 10
Dress；The reducer stent 2 is a hollow circuit cylinder housing, and the one end of reducer stent 2 is provided with for connecting harmonic speed reducer 10
Mounting hole 201, the other end is provided with the screwed hole 202 for being connected through hole with the support of the left end of knuckle support 1 and being engaged, decelerator
The shaft shoulder 203 is additionally provided with support 2；The interlocking clutch configuration is located in the cavity of reducer stent；
The joint output end includes output housing 23, output panel 24 and output end encoder 27；The output housing 23
Closing space is surrounded with output panel, the shaft shoulder position installation drive end bearing 25 of the left end of output housing 23 and reducer stent 2 is defeated
Go out the right-hand member end face of housing 23 to be fixedly and coaxially connected with output panel 24；The center of the output panel 24 connection output end encoder 27,
Installation output end bearing 26 between output panel and knuckle support；
It is described interlocking clutch configuration include motor installation disc 3, spline slider 4, electromagnet 5, output end cap 6, axle sleeve 7,
Sliding block 8 and clutch spring 9；The motor installation disc 3 be an internal surface configurations spline cylindrical shell, motor installation disc 3
Left end links together with joint drive motor 11, knuckle support 1, is connected by screw motor installation disc 3 and joint drive
Motor 11 is coaxially fixed on knuckle support 1；The spline slider 4 is a hollow disk-like accessory, and the outer surface of spline slider 4 is provided with
The spline being engaged with the spline of the inner surface of motor installation disc 3, spline slider 4 and motor installation disc are realized by spline connection
Radial positioning and axial movement between 3；The right flank of spline slider 4 is embedded with electromagnet 5, and spline slider center is provided with groove；Institute
It is a cylindrical housings to state output end cap 6, in the cavity of reducer stent, output end cap 6 one end connection harmonic speed reducer
Magnetization treatment is passed through in 10 input, other end end face, coordinates with electromagnet, and in output end cap 6 by magnetization treatment one end
Surfaces externally and internally carry out increase coefficient of friction surface treatment；
For the coaxial package of axle sleeve 7 on the output shaft of joint drive motor 11, the outer surface of axle sleeve 7 opens up spline, described
Sliding block 8 is hollow circular cylinder structure, including big column part and roundlet post part, and roundlet post part sets one and spline slider 4
The shaft shoulder that central recess is engaged, the end face of left and right two of big column part carries out increasing the surface treatment of coefficient of friction, sliding
The left end end face of the big column part of block passes through friction with the output end interior surface after increasing the surface treatment of coefficient of friction
Drive connection, the center of sliding block 8 open up the spline being engaged with the outer surface spline of axle sleeve 7, by spline connection realize sliding block 8 with
Synchronous axial system and axial movement between axle sleeve 7, clutch spring 9,9 liang of clutch spring are installed between sliding block 8 and axle sleeve
End is completely attached to the right-hand member end face of axle sleeve 7 and the inner face of sliding block 8 respectively, and sliding block 8 is pressed in into the output left end inner surface of end cap 6；
The stiffness tuning mechanism includes fixed shell 12, adjustment housings 13, adjustment disk 14, adjustment disk back-up ring 15, guiding
Post 16, buphthalmos wheel 17, stiffness tuning spring 18, trapezoidal screw 19, leading screw bearing 20, feed screw nut 21 and leading screw end 22；
The trapezoidal screw 19 includes optical axis portion and threaded portion, and optical axis portion one end is coaxially pacified by leading screw bearing 20
Loaded in harmonic speed reducer, the other end passes through the center of harmonic speed reducer 10, and penetrates the center of fixed shell and adjustment housings
Hole, it is coaxially installed on by another leading screw bearing 20 in fixed shell；The leading screw end 22 is a disk part by performing, coaxially
The optical axis end of trapezoidal screw 19 is fixedly installed in, the left side of leading screw end 22 increase the surface treatment of coefficient of friction, led to
Cross friction and realize sliding block 8 and the drive connection of leading screw end 22；
The fixed shell 12 is a cylindrical housings, and the inner surface setting of fixed shell 12 has spline, fixed shell 12
The output end of left end and harmonic speed reducer 10 is coaxially connected, realizes that fixed shell 12 turns with the synchronization of the output end of harmonic speed reducer 10
It is dynamic；The adjustment housings 13 are a cylindrical housings, and the outer surface of adjustment housings 13 is provided with the flower with the inner surface of fixed shell 12
The spline that keyway is engaged, synchronous axial system and axially shifting between adjustment housings 13 and fixed shell 12 are realized by spline connection
Dynamic, the inner surface setting of adjustment housings 13 has spline, and the one end of adjustment housings 13 is provided with feed screw nut connection screw thread hole 1301, silk
The mounting flange of thick stick nut 21 is connected by screw with feed screw nut connection screw thread hole is fixed on adjustment housings inner surface, leading screw spiral shell
Mother is engaged with the threaded portion of trapezoidal screw 19, forms a thread transmission；Adjustment housings 13 connect spiral shell with feed screw nut
Three lead connection screw thread holes 1302, lead insertion lead connection screw thread hole have circumferentially been evenly arranged centered on pit
In fixed with adjustment housings, the axis of lead and adjustment housings diameter parallel, the right-hand member of lead are provided with buphthalmos groove；
The adjustment disk 14 is a disk part by performing, and the outer surface of adjustment disk 14 is provided with and the inner surface spline of adjustment housings 13
The spline that groove is engaged, for adjustment disk 14 in adjustment housings, adjustment disk back-up ring 15 is fixedly mounted in adjustment housings right side, passes through
Synchronous axial system and the axial movement between adjustment disk 14 and adjustment housings 13 are realized in spline connection, and adjustment disk 14 is circumferentially uniformly arranged
There are three buphthalmos wheel connection screw thread holes；The bottom of the buphthalmos wheel 17 is made up of optical axis 1702 and installation stud 1701, and optical axis is inserted
In the buphthalmos groove for entering lead, installation stud is engaged with the buphthalmos wheel connection screw thread hole of adjustment disk, lead and buphthalmos wheel
Form a prismatic pair；Equal nesting is provided with stiffness tuning spring 18, the both ends of stiffness tuning spring 18 difference on each lead
Completely attached to the end face of adjustment housings 13 and the end face of adjustment disk 14；The top roller of the buphthalmos wheel and the Special composition of output panel 24
Cam mechanism.
The operation principle and process of the flexible joint of stiffness variable of the present invention be：Joint drive motor is used to provide joint drive
Torque needed for dynamic and stiffness tuning, when the electromagnet for being installed on spline slider powers off, joint drive motor works in joint drive
Dynamic model formula, sliding block separates with leading screw end under the effect of clutch spring elastic force and is pressed in output end cap, in sliding block and output
Under the effect of end cap frictional connection, warp beam sleeve, sliding block and output end cap are transferred to harmonic wave and subtracted joint drive motor output torque successively
Fast device, harmonic speed reducer output end driving fixed shell synchronous axial system, fixed shell are successively transmitted torque by spline connection
To adjustment housings and adjustment disk, adjustment disk passes through the spatial cam driving being made up of buphthalmos wheel and output panel and output panel phase
The load of connection rotates, and realizes joint drive.For the regulation of joint stiffness, a variety of stiffness tuning patterns can be used to meet to close
The master of section rigidity is passively adjusted：First, when the electromagnet for being installed on spline slider is powered, joint drive motor works in rigidity
Shaping modes, spline slider frictional connection under magnetic field force effect with output end cap, are limited to spline slider and are fixed on joint
Spline connection between the motor installation disc of support, harmonic speed reducer input transfixion, to avoid joint motions from adjusting rigidity
The influence of section, at the same time, spline slider is in electromagnet with overcoming clutch spring elastic force to push away under output end cap magnetic field force effect
Movable slider axial movement realizes sliding block with exporting separation and sliding block and the frictional connection of leading screw end of end cap, joint drive motor
Warp beam sleeve, sliding block and leading screw end are transferred to trapezoidal screw to output torque successively, by being made up of trapezoidal screw and feed screw nut
Thread transmission regulation adjustment housings and adjustment disk between distance to change stiffness tuning spring pre compressed magnitude, so as to change ox
Normal pressure between eye wheel and output panel curved indentations, realizes the regulation of joint stiffness；Second, regulation joint drive end joint drive electricity
The electric current of machine controls joint drive end output torque, passes through torque adjustment control joint stiffness；Third, encoded using output end
Device detects the relative position between joint drive end and joint output end, by adjusting the phase between joint drive end and joint output end
Change position of the buphthalmos wheel in output panel curved indentations to position, so as to realize the regulation of joint stiffness.
Joint can be achieved only with a joint drive motor and driven using interlocking clutch configuration for flexible joint of the present invention
Dynamic and stiffness tuning, interlocking clutch configuration magnetic field force and matching somebody with somebody for clutch spring elastic force between electromagnet and output end cap cooperate
Switching of the joint drive motor between joint drive and stiffness tuning pattern is realized by adjusting sliding block axial location with lower, works as electricity
When magnet powers off, sliding block separates with leading screw end under the effect of clutch spring elastic force and is pressed in output end cap, sliding block with
Export under the effect of end cap frictional connection, joint drive motor output torque successively warp beam sleeve, sliding block and output end cap be transferred to it is humorous
Ripple decelerator, for driving joint motions, joint drive motor works in joint drive pattern, when the solenoid is energized, spline
Sliding block is in electromagnet with overcoming clutch spring elastic force to promote sliding block axial movement to realize sliding block under the magnetic field force effect of output end cap
With exporting the separation of end cap and the frictional connection of sliding block and leading screw end, joint drive motor output torque warp beam sleeve, cunning successively
Block and leading screw end are transferred to stiffness tuning mechanism, are adjusted for joint stiffness, and at the same time spline slider exists with output end cap
The lower frictional connection of magnetic field force effect, the spline connection being limited between spline slider and the motor installation disc for being fixed on knuckle support,
Harmonic speed reducer input transfixion, so as to avoid influence of the joint motions to stiffness tuning, the work of joint drive motor
In stiffness tuning pattern.
Stiffness tuning mechanism of the present invention forms a spatial cam with output panel, wherein the output panel with curved indentations
It can be considered cam, buphthalmos wheel can be considered roller in stiffness tuning mechanism, and fixed shell then can be considered machine in stiffness tuning mechanism
Frame, stiffness tuning mechanism is under the driving of joint drive motor through thread transmission by adjusting between adjustment housings and adjustment disk
Distance to change stiffness tuning spring pre compressed magnitude, so as to change as roller buphthalmos wheel and as between the output panel of cam just
Pressure, and coordinate the groove curved surface for meeting that joint stiffness regulation requires, realize joint stiffness from perfect rigidity to full flexible
Significantly continuously adjust.
Joint drive motor of the joint drive end configuration with encoder of the present invention, can be achieved fixed shell and feed screw nut
High precision position control, meanwhile, output end encoder is configured between knuckle support and output panel, for detecting joint output panel
Relative rotation between knuckle support, by using the structure type of Dual-encoder, it can realize that joint drive end and joint are defeated
While going out to hold the relative position detect, using the Full Closed-loop Position Servo System of output end feedback position of encoder information structure one,
Greatly improve the positioning precision in joint.
Matched somebody with somebody by the thread transmission being made up of trapezoidal screw and feed screw nut with self-locking property in joint of the present invention
Close and use the joint drive motor with encoder to realize that the high-precision control of stiffness tuning amount of spring compression is firm to adjust joint
Degree, while stiffness tuning amount of spring compression and elastic force are linear, the change of output panel groove curvature of curved surface meets joint stiffness
Linear regulation requirement, can be achieved joint stiffness high-precision linear regulation.
The optical axis of the vertically arranged buphthalmos wheel of adjustment disk is nested in the present invention leads with what adjustment housings diameter parallel was installed
To among post buphthalmos groove, stiffness tuning spring is nested on lead, stiffness tuning both ends of the spring respectively with adjustment housings
End face and regulation side surface completely attach to, and make stiffness tuning spring and adjustment housings end face and regulation side surface vertical, coordinate
Spline between fixed shell, adjustment housings and adjustment disk connects, and ensures the adjustment housings direction of motion and stiffness tuning spring stress
Direction remains point-blank, stiffness tuning spring is remained positive compression, avoids stiffness tuning spring-compressed mistake
The problem of causing Impact direction and compression direction to produce angle because of bending in journey, reduce because of force resolution and caused by calculate and miss
Difference, make stiffness tuning amount of spring compression that linear relationship be presented with elastic force, while the curved indentations curvature of curved surface change of output panel is full
The linear regulation requirement of podarthrum rigidity, buphthalmos wheel contact with output panel curved indentations point, can accurately determine the position of contact point,
Reduce calculation error, buphthalmos wheel position in output panel curved indentations can accurately be calculated using Dual-encoder structure, consequently facilitating
The foundation of high-precision stiffness tuning model, and then it is easy to the accurate control of joint stiffness.
Embodiment 1
Stiffness variable flexible joint of the present embodiment based on single power source includes joint drive end, stiffness tuning mechanism and pass
Save output end；The joint drive end is used to provide torque needed for joint drive and stiffness tuning；The joint output end is with closing
Section load is connected, for driving load movement；Stiffness tuning mechanism both ends export with joint drive end and joint respectively
End is rigidly connected, and for adjusting the coupling stiffness between joint drive end and joint output end, joint drive end output torque is passed
Joint output end is handed to, realizes that the stiffness tuning in joint exports with flexible.
The joint drive end include knuckle support 1, reducer stent 2, interlocking clutch configuration, harmonic speed reducer 10,
Joint drive motor 11；The knuckle support 1 (referring to Fig. 5) is a U-shaped structure part, and the left end of knuckle support 1, which is provided with, to be used for
The support connection through hole 101 of connection reducer support 2 and the motor installation disc through hole 102 for connecting motor installation disc 3, pass through
Reducer stent 2 and motor installation disc 3 are coaxially fixed on knuckle support 1 by mode connects for screw, the right-hand member of reducer stent 2 and harmonic wave
Decelerator 10 is connected, and the joint drive motor 11 is coaxially fixed with motor installation disc, is installed by reducer stent and motor
Disk coaxially fixes harmonic speed reducer 10 and joint drive motor 11 with knuckle support 1；The right-hand member of knuckle support 1 is provided with for connecting
The encoder connection through hole of output end encoder 27 is connect, output end encoder 27 and knuckle support 1 are rigidly connected by screw,
The right-hand member center of knuckle support 1 offers a bearing hole 103 being engaged with exporting the outer ring of end bearing 26, for exporting end bearing
26 positioning and installation；The lower end plane of knuckle support 1, which opens up, some is used to realizing consolidating for flexible joint and pedestal or other joints
Surely the connecting hole 104 connected；The reducer stent 2 (referring to Fig. 6) is a hollow circuit cylinder housing, and the one end of reducer stent 2 is set
The mounting hole 201 for connecting harmonic speed reducer 10 is equipped with, the other end is provided with is connected through hole with the support of the left end of knuckle support 1
The screwed hole 202 being engaged, it is connected by screw and realizes the coaxial of harmonic speed reducer 10 and knuckle support 1 through reducer stent 2
It is fixedly connected, while the shaft shoulder 203 positioned for drive end bearing 25 with installing is additionally provided with reducer stent 2；
It is described interlocking clutch configuration include motor installation disc 3, spline slider 4, electromagnet 5, output end cap 6, axle sleeve 7,
Sliding block 8 and clutch spring 9；The motor installation disc 3 be an internal surface configurations spline cylindrical shell, motor installation disc 3
Left end opens up two and is connected through hole 102 with the mounting flange of joint drive motor 11 and the motor installation disc of knuckle support 1 respectively
The adpting flange being engaged, motor installation disc 3 and joint drive motor 11 are coaxially fixed on joint for being connected by screw
Support 1；The spline slider 4 is a hollow disk-like accessory, and the outer surface of spline slider 4 is provided with and the inner surface of motor installation disc 3
The spline that is engaged of spline, radial positioning and the axial direction between spline slider 4 and motor installation disc 3 are realized by spline connection
Mobile, the side of spline slider 4 is embedded with electromagnet 5, and spline slider 4 is controlled with exporting end cap 6 by the current switching of electromagnet 5
It separate to realize switching of the joint drive motor 11 between joint drive and stiffness tuning pattern, the center of spline slider 4 is set
The groove being engaged with the shaft shoulder of sliding block 8 is equipped with, for overcoming clutch bullet under being acted in electromagnet 5 with output end cap 6 attraction
The elastic force of spring 9 promotes sliding block 8 to move axially, and realizes sliding block 8 with exporting the separation of end cap 6；The output end cap 6 is a cylinder
Housing, the output right-hand member of end cap 6 are provided with the end cap connecting hole for connecting the input of harmonic speed reducer 10, are connected by screw solid
Dingan County is loaded on the input of harmonic speed reducer 10, and the output left end of end cap 6 opens up centre bore, and the output left end surfaces externally and internally of end cap 6 is through table
Face is handled to increase coefficient of friction, for realizing drive connection between output end cap 6 and sliding block 8 by rubbing, exports the left end of end cap 6
It can be moved axially, pass through along axle sleeve 7 for band movable slider 8 with being arranged in the adhesive of electromagnet 5 of spline slider 4 through magnetization treatment
Sliding block 8 and the drive connection of leading screw end 22 are realized in friction；The axle sleeve 7 is a hollow axial workpiece, is coaxially fixedly installed in
On the output shaft of joint drive motor 11, the outer surface of axle sleeve 7 opens up spline；The sliding block 8 is hollow circular cylinder structure, including big
Column part 801 and roundlet post part 802, roundlet post part left end set an axle being engaged with the central recess of spline slider 4
Shoulder, realize sliding block 8 with exporting connecing for end cap 6 for promoting spline slider 4 to move axially under the effect of the elastic force of clutch spring 9
Touch, roundlet post part right-hand member is connected with big column part；The equal surface treated in left and right ends face of the big column part of sliding block 8 with
Increase coefficient of friction, for realizing sliding block 8 and leading screw end 22 and the drive connection of output end cap 6, sliding block 8 respectively by friction
Center opens up the spline being engaged with the outer surface spline of axle sleeve 7, for being realized by spline connection between sliding block 8 and axle sleeve 7
Synchronous axial system and axial movement；The nesting of clutch spring 9 is installed on axle sleeve 7, the both ends of clutch spring 9 respectively with axle sleeve
7 right-hand member end faces and the inner face of sliding block 8 completely attach to, and for sliding block 8 to be pressed in into the output left end inner surface of end cap 6, pass through friction
Realize sliding block 8 with exporting the drive connection of end cap 6；
The interlocking clutch configuration is used to switch joint drive motor 11 and harmonic speed reducer 10 and stiffness tuning mechanism
Between drive connection, switching of the joint drive motor 11 between joint drive and stiffness tuning pattern is realized, when embedded spline is slided
When the electromagnet 5 of block 4 powers off, sliding block 8 is pressed in output end cap 6 under the effect of the elastic force of clutch spring 9, in sliding block 8 and output
Under the effect of the frictional connection of end cap 6, warp beam sleeve 7, sliding block 8 and output end cap 6 are transferred to the output torque of joint drive motor 11 successively
Harmonic speed reducer 10, for driving joint motions, joint drive motor 11 works in joint drive pattern, when electromagnet 5 is powered
When, spline slider 4 is in electromagnet 5 with overcoming the elastic force of clutch spring 9 to promote sliding block 8 axially under the magnetic field force effect of output end cap 6
The mobile separation for realizing sliding block 8 and output end cap 6 and sliding block 8 and the frictional connection of leading screw end 22, joint drive motor 11 are defeated
Going out torque, warp beam sleeve 7, sliding block 8 and leading screw end 22 are transferred to stiffness tuning mechanism successively, are adjusted for joint stiffness, same with this
When spline slider 4 with output end cap 6 frictional connection under magnetic field force effect, be limited to spline slider 4 and be fixed on knuckle support 1
Motor installation disc 3 between spline connection, the input transfixion of harmonic speed reducer 10, so as to avoid joint motions to rigidity
The influence of regulation, joint drive motor 11 work in stiffness tuning pattern；The harmonic speed reducer 10, which is coaxially fixedly installed in, to be subtracted
On fast device support 2, wherein the input of harmonic speed reducer 10 is fixedly connected with interlocking the output end cap 6 of clutch configuration, harmonic wave
The fixed shell 12 of the output end of decelerator 10 and the stiffness tuning mechanism is rigidly connected；Drive in the joint for being provided with encoder
Dynamic motor 11 is fixedly installed in motor installation disc 3, and its output shaft is fixedly connected with the axle sleeve 7 of interlocking clutch configuration, for
Interlock and realize high-precision joint drive and stiffness tuning under the switching of clutch configuration.
The stiffness tuning mechanism mainly include fixed shell 12, adjustment housings 13, adjustment disk 14, adjustment disk back-up ring 15,
Lead 16, buphthalmos wheel 17, stiffness tuning spring 18, trapezoidal screw 19, leading screw bearing 20, feed screw nut 21 and leading screw end
22；The fixed shell 12 is a cylindrical housings, and the inner surface setting of fixed shell 12 has spline, and the left end of fixed shell 12 is set
The adpting flange being engaged with the output flange of harmonic speed reducer 10 is equipped with, it is for being connected by screw that fixed shell 12 is coaxial
Harmonic speed reducer 10 is fixed on, realizes synchronous axial system of the fixed shell 12 with the output end of harmonic speed reducer 10；The adjustment housings
13 be a cylindrical housings, and the outer surface of adjustment housings 13 is provided with the spline being engaged with the inner surface spline of fixed shell 12,
For realizing synchronous axial system and axial movement between adjustment housings 13 and fixed shell 12 by spline connection, in adjustment housings 13
Surface is provided with spline, and the left end of adjustment housings 13 is provided with the feed screw nut being engaged with the mounting flange of feed screw nut 21 and is connected
Screwed hole 1301, the mounting flange of feed screw nut 21 is connected by screw with feed screw nut connection screw thread hole to be fixed in adjustment housings
Surface, the left end of adjustment housings 13 are circumferentially evenly arranged with three lead connection screw threads 1302 being engaged with lead 16, use
In being connected through a screw thread the fixed installation of realizing adjustment housings 13 and lead 16；The right-hand member of adjustment housings 13 is provided with and adjustment disk
The adpting flange that the mounting flange of back-up ring 15 is engaged, for adjustment disk back-up ring 15 to be fixedly mounted；The adjustment disk 14 is a disk
Class part, the outer surface of adjustment disk 14 is provided with the spline being engaged with the inner surface spline of adjustment housings 13, for passing through spline
Synchronous axial system and the axial movement between adjustment disk 14 and adjustment housings 13 are realized in connection, and adjustment disk 14 is circumferentially evenly arranged with three
The individual buphthalmos wheel connection screw thread hole being engaged with the installation stud 1701 of buphthalmos wheel 17, adjustment disk 14 is realized for being connected through a screw thread
With being fixedly connected for buphthalmos wheel 17；The adjustment disk back-up ring 15 is fixedly installed on adjustment housings 13, for adjustment disk 14
Position limitation, prevent adjustment disk 14 from being skidded off from adjustment housings 13；The lead 16 is an axial workpiece, and the one end of lead 16 is opened
If screw thread, it is directed to post 16 for being connected through a screw thread and is fixedly installed within adjustment housings 13, makes the axis of lead 16 with adjusting
The diameter parallel of housing 13 is saved, the other end of lead 16 opens up the buphthalmos groove that certain depth is engaged with the optical axis of buphthalmos wheel 17；Institute
State the supporting part of buphthalmos wheel 17 and one section of installation stud 1701 and one section of optical axis 1702 are set, buphthalmos wheel 17 is hung down by installing stud 1701
Directly it is fixed on adjustment disk 14, the position of optical axis 1702 is nested within the buphthalmos groove of lead 16, with the structure of lead 16
Into a prismatic pair；The stiffness tuning spring 18 is nested on lead 16, the both ends of stiffness tuning spring 18 respectively with regulation
The end face of housing 13 and the end face of adjustment disk 14 completely attach to, for realizing joint by adjusting the pre compressed magnitude of stiffness tuning spring 18
Stiffness tuning and flexible output；Described one end of trapezoidal screw 19 sets one section of optical axis, and trapezoidal screw 19 is by being installed on optical axis portion
Two leading screw bearings 20 of position are coaxially fixedly installed in fixed shell 12, and the other end of trapezoidal screw 19 is with being coaxially installed on regulation shell
The feed screw nut 21 of body 13 forms a thread transmission, for adjusting distance and then change between adjustment housings 13 and adjustment disk 14
The pre compressed magnitude of stiffness tuning spring 18 realizes that joint stiffness is adjusted；The leading screw end 22 is a disk part by performing, coaxial fixed
The optical axis end of trapezoidal screw 19 is installed on, the left side of leading screw end 22 increases coefficient of friction through surface through handling, for passing through
Sliding block 8 and the drive connection of leading screw end 22 are realized in friction, and the output torque of joint drive motor 11 is transferred into stiffness tuning machine
Structure is adjusted for joint stiffness；
The torque of joint drive motor 11 can drive trapezoidal under the switching of interlocking clutch configuration through leading screw end 22
Leading screw 19 rotates, and then adjusts distance between adjustment housings 13 and adjustment disk 14 in the presence of feed screw nut 21 and adjusted with changing rigidity
The pre compressed magnitude of spring 18 is saved, so as to change the tune that normal pressure between buphthalmos wheel 17 and the curved indentations of output panel 24 realizes joint stiffness
Section, while fixed shell 12 and the axial movement of adjustment housings 13 distance, trapezoidal screw 19 and feed screw nut in stiffness tuning mechanism
21, which form thread transmission stroke and lead 16, forms the stroke of prismatic pair with buphthalmos wheel 17 while meets in joint drive
The lower buphthalmos wheel 17 of the driving of motor 11 and output panel 24 can completely disengage can be completely firm with output panel 24 with lead 16, buphthalmos wheel 17
Property contact require, the flexible joint full flexible when buphthalmos wheel 17 and output panel 24 completely disengage, when the optical axis end face of buphthalmos wheel 17
It is complete with flexible joint when the buphthalmos groove bottom of lead 16 completely attaches to while buphthalmos wheel 17 contacts with the perfect rigidity of output panel 24
Full rigidity, when buphthalmos wheel 17 is pressed in output panel 24 under the effect of the elastic force of stiffness tuning spring 18, flexible joint rigidity can be continuous
Regulation, the trapezoidal screw 19 used in addition in stiffness tuning mechanism possess mechanical self-latching performance, used to prevent joint drive motor 11
When joint drive between adjustment housings 13 and adjustment disk 14 distance change change joint stiffness.
The joint output end mainly includes output housing 23, output panel 24, drive end bearing 25, output end bearing 26 and
Output end encoder 27；The output housing 23 is a cylindrical shell, and the left end of output housing 23 opens up one with being installed on decelerator
The bearing hole that the outer ring of drive end bearing 25 on the shaft shoulder of support 2 is engaged, the right-hand member end face of output housing 23 is provided with and output panel
The output panel connection screw thread hole that adpting flange is engaged, realize that output housing 23 and output panel 24 are coaxial for being connected by screw
It is fixedly connected；The output panel 24 is a disk part by performing, is fixedly connected with output housing 23, the right-hand member of output panel 24 is centrally disposed
One cylindrical boss 2401, the center of cylindrical boss 2401 open up an axle being engaged with the output shaft of output end encoder 27
Hole, the outer cylinder of cylindrical boss 2401 is engaged with being installed on the inner ring of output end bearing 26 of the right-hand member bearing hole of knuckle support 1, defeated
The left end end face of placing 24 opens up three curved indentations being centrosymmetric 2402, and the change of groove curvature of curved surface meets joint stiffness
Linear regulation requirement, output panel 24 are provided with L-shaped structure 2403, and L-shaped structure lower end plane is provided with some connection through holes, for reality
Existing flexible joint and load or other joints are fixedly connected；The inner ring of drive end bearing 25 is matched somebody with somebody with the shaft shoulder of reducer stent 2
Close, outer ring is engaged with the bearing hole of output housing 23；The cylindrical boss of the output inner ring of end bearing 26 and output panel 24
It is engaged, outer ring is engaged with the right-hand member bearing hole of knuckle support 1, and drive end bearing 25 and output end bearing 26 are engaged common reality
Now to effective fixed support of joint output end；The output end encoder 27 is fixedly connected on knuckle support 1, output end coding
The output shaft of device 27 is connected with the axis hole of the cylindrical boss of output panel 24, realizes the output shaft of output end encoder 27 and output
The synchronous axial system of disk 24, for detecting the relative rotation between output panel 24 and knuckle support 1.
The thickness of knuckle support and the thickness of output panel are 12mm in the present embodiment, fixed shell, adjustment housings, regulation
The thickness of disk is 10mm, and the encoder involved by the present embodiment uses absolute value encoder.
It is it should be added that of the present invention " forward and backward；It is left and right；It is upper and lower " etc. the noun of locality be clear in order to describe
Chu, only there is relative meaning, generally, using one end where joint drive motor as a left side, with where output end encoder
One end be the right side, and as the benchmark of other nouns of locality.
The present invention does not address part and is applied to prior art.
Claims (2)
1. a kind of stiffness variable flexible joint based on single power source, including joint drive end, stiffness tuning mechanism and joint are defeated
Go out end；The joint output end is connected with joint loads, stiffness tuning mechanism both ends respectively with joint drive end and pass
Section output end is rigidly connected；It is characterized in that：
The joint drive end includes knuckle support, reducer stent, interlocking clutch configuration, harmonic speed reducer and is provided with volume
The joint drive motor of code device；The knuckle support is a U-shaped structure part, and harmonic speed reducer passes through reducer stent and joint
Support left end is connected, and the output end of joint drive motor is connected by interlocking clutch configuration with stiffness tuning mechanism, and joint is driven
Dynamic motor is fixed on knuckle support, and joint drive motor is co-axially mounted with harmonic speed reducer；The reducer stent is one
Hollow circuit cylinder housing, reducer stent one end are provided with the mounting hole for connecting harmonic speed reducer, and the other end, which is provided with, to be used for
The screwed hole of connecting joint support left end, the shaft shoulder is additionally provided with reducer stent；The interlocking clutch configuration is positioned at deceleration
In the cavity of device support；
The joint output end includes output housing, output panel and output end encoder；The output housing surrounds with output panel
Closing space, output housing left end and reducer stent the shaft shoulder position installation drive end bearing, output housing right-hand member end face with
Output panel is fixedly and coaxially connected；The output disk center connection output end encoder, is installed between output panel and knuckle support
Export end bearing；
The interlocking clutch configuration includes motor installation disc, spline slider, electromagnet, output end cap, axle sleeve, sliding block and clutch
Device spring；The motor installation disc is the cylindrical shell of an internal surface configurations spline, motor installation disc left end and joint drive
Motor, knuckle support link together, and are connected by screw motor installation disc and joint drive motor coaxle being fixed on joint
Support；The spline slider is a hollow disk-like accessory, and spline slider outer surface is provided with the flower with motor installation disc inner surface
The spline that keyway is engaged, radial positioning and axial movement between spline slider and motor installation disc are realized by spline connection；
The right flank of spline slider is embedded with electromagnet, and spline slider center is provided with groove；The output end cap is a cylindrical housings, position
In in the cavity of reducer stent, the input of output end cap one end connection harmonic speed reducer, other end end face is by magnetization
Reason, coordinate with electromagnet, and carry out increasing the table of coefficient of friction by the surfaces externally and internally of magnetization treatment one end in output end cap
Face is handled；
The axle sleeve coaxial package is on the output shaft of joint drive motor, and sleeve outer surface opens up spline, during the sliding block is
Hollow cylinder structure, including big column part and roundlet post part, roundlet post part set one and spline slider central recess phase
The shaft shoulder of cooperation, the end face of left and right two of big column part carry out increasing the surface treatment of coefficient of friction, the big cylindrical portion of sliding block
The left end end face divided is connected with the output end interior surface after increasing the surface treatment of coefficient of friction by friction-driven, sliding
Block center opens up the spline being engaged with sleeve outer surface spline, and realizing that sliding block is synchronous with shaft room by spline connection turns
Dynamic and axial movement, is provided with clutch spring between sliding block and axle sleeve, clutch spring both ends respectively with axle sleeve right-hand member end
Face and sliding block inner face are completely attached to, and sliding block is pressed in into output end cap left end inner surface；
The stiffness tuning mechanism include fixed shell, adjustment housings, adjustment disk, adjustment disk back-up ring, lead, buphthalmos wheel, just
Degree regulation spring, trapezoidal screw, leading screw bearing, feed screw nut and leading screw end；
The trapezoidal screw includes optical axis portion and threaded portion, and optical axis portion one end is coaxially installed on harmonic wave by leading screw bearing
In decelerator, the other end passes through the center of harmonic speed reducer, and penetrates the centre bore of fixed shell and adjustment housings, by another
Individual leading screw bearing is coaxially installed in fixed shell；The leading screw end is a disk part by performing, is coaxially fixedly installed in trapezoidal
Leading screw optical axis end, the left side of leading screw end increase the surface treatment of coefficient of friction, and sliding block and silk are realized by friction
The drive connection of thick stick end；
The fixed shell is a cylindrical housings, and fixed shell inner surface setting has spline, fixed shell left end and harmonic wave
The output end of decelerator is coaxially connected, realizes synchronous axial system of the fixed shell with harmonic speed reducer output end；The adjustment housings
For a cylindrical housings, adjustment housings outer surface is provided with the spline being engaged with the spline of fixed shell inner surface, passed through
Synchronous axial system and the axial movement between adjustment housings and fixed shell are realized in spline connection, and adjustment housings inner surface setting has spline
Groove, adjustment housings one end are provided with feed screw nut connection screw thread hole, mounting flange and the feed screw nut connection screw thread of feed screw nut
Hole, which is connected by screw, is fixed on adjustment housings inner surface, and feed screw nut is engaged with the threaded portion of trapezoidal screw, forms one
Thread transmission；Adjustment housings have circumferentially been evenly arranged three lead connections centered on feed screw nut connection screw thread hole
Screwed hole, lead are inserted in lead connection screw thread hole and fixed with adjustment housings, axis and the adjustment housings axis of lead
Parallel, the right-hand member of lead is provided with buphthalmos groove；
The adjustment disk is a disk part by performing, and adjustment disk outer surface is provided with what is be engaged with adjustment housings inner surface spline
Spline, for adjustment disk in adjustment housings, adjustment disk back-up ring is fixedly mounted in adjustment housings right side, is connected by spline and realizes tune
Synchronous axial system and axial movement, adjustment disk between section disk and adjustment housings are circumferentially evenly arranged with three buphthalmos wheel connection screw threads
Hole；The bottom of the buphthalmos wheel by optical axis and installation stud form, optical axis insertion lead buphthalmos groove in, installation stud with
The buphthalmos wheel connection screw thread hole of adjustment disk is engaged, and lead and buphthalmos wheel form a prismatic pair；It is embedding on each lead
Set is provided with stiffness tuning spring, and stiffness tuning both ends of the spring completely attaches to adjustment housings end face and regulation side surface respectively；
The top roller of the buphthalmos wheel and output panel Special composition cam mechanism.
2. the stiffness variable flexible joint according to claim 1 based on single power source, it is characterised in that the output panel
It is defeated for a disk part by performing, the centrally disposed cylindrical boss of output panel right-hand member, cylindrical boss connection output end encoder
Placing left end end face opens up three curved indentations being centrosymmetric, and each buphthalmos wheel is in the presence of stiffness tuning spring force
Power can be transmitted with the curved face contact of curved indentations, the Curvature varying of curved indentations meets the linear regulation requirement of joint stiffness,
Output panel is provided with L-shaped structure, is provided with the end face of L-shaped structure and some is used to realizing flexible joint and load or other joints
The connection through hole being fixedly connected.
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| CN201711153126.2A CN107662222B (en) | 2017-11-20 | 2017-11-20 | Variable-rigidity flexible joint based on single power source |
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| CN201711153126.2A CN107662222B (en) | 2017-11-20 | 2017-11-20 | Variable-rigidity flexible joint based on single power source |
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| CN107662222B CN107662222B (en) | 2023-05-23 |
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| CN114131647A (en) * | 2021-12-06 | 2022-03-04 | 之江实验室 | Lever type rigidity-variable flexible joint based on cam |
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