CN107856018A - A kind of variation rigidity flexible actuator - Google Patents
A kind of variation rigidity flexible actuator Download PDFInfo
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- CN107856018A CN107856018A CN201711053413.6A CN201711053413A CN107856018A CN 107856018 A CN107856018 A CN 107856018A CN 201711053413 A CN201711053413 A CN 201711053413A CN 107856018 A CN107856018 A CN 107856018A
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- disk
- fulcrum
- gear
- variation rigidity
- planetary gear
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- 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
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Retarders (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kind of variation rigidity flexible actuator,Including variation rigidity mechanism,Become fulcrum planetary gear train,Differential planetary gear train and the driver supporting mechanism as support,Variation rigidity mechanism includes output shaft,Export connecting rod and three disks,Wherein,Export connecting rod,It is connected between disk one and disk three and output shaft,Disk two and output shaft active link,Disk one and disk three are provided with two arc-shaped slots of size identical,Disk two is provided with slotted eye corresponding with arc-shaped slot,Guide rail and spring are installed in slotted eye,Guide rail top shoe is respectively protruding into the arc-shaped slot of disk one and disk three,Lever one end is fixedly linked with output connecting rod,The other end passes through in the first fulcrum activity mounting disc three,Lever is also by the chute that middle part is set with becoming fulcrum planetary gear train loose joint,Changed by becoming fulcrum planetary gear train lever arm of force,So as to change output rigidity,The present invention can realize variation rigidity and fixed position while adjust,The change of its variation rigidity has continuity.
Description
Technical field
The invention belongs to robot field, is related to a kind of driver, and in particular to a kind of variation rigidity flexible actuator.
Background technology
With the fast development of modern machines people's technology, following Intelligent Robot should in the various aspects of human society
With presentation rapid growth trend.Intelligent Robot can assist the mankind even to substitute human work completely, complete rehabilitation medical
Task or enhancing mankind's activity ability etc..And the joint of robot that conventional rigid is directly driven, exist more energy consumption, flexible deficiency, can not
The deficiencies of avoiding foreign impacts, being easily caused injury when realizing man-machine interaction.Motor driving has that speed variation is big, efficiency
High, the advantages that rotator inertia is small, speed and positional precision are high, it can be very good using motor-driven variation rigidity flexible actuator
Solve the above problems.
At present, the research for variation rigidity driver both at home and abroad, has obtained that some are good, is or is asked in the presence of some
Topic：Variation rigidity driver rigidity can adjusting range is smaller, mechanism it is complicated it is not compact enough, be difficult to continuously rotate.
Find by prior art documents, Chinese invention patent application number 201010283564.2, the technical staff
A kind of variation rigidity flexible joint, including miniature drive units, electric machine support, Flexible element are opened, by changing having for flexible member
Length is imitated to change rigidity, but the effective length change of elasticity is limited, stiffness change is limited in scope.
Chinese Patent Application No. 20150355179.7, the technology disclose a kind of adjustable flexible joint driving machine of rigidity
Structure, including drive end, adjustment end and flexible joint, variation rigidity is realized using bent inclined-plane-runner fit structure, driving can be realized
The rigidity of device is from the very big flexible change to perfect rigidity, but the mechanism structure is complicated, and size is bigger than normal.
Chinese Patent Application No. 201510072095.2, the technology discloses one kind can synchronous adjustment displacement-type variation rigidity pass
Driver, including pedestal are saved, rocking arm position control assembly, variation rigidity adjustment component, angular deviation measurement assembly, utilizes A Ji meter
Moral spiral drum changes leaf spring the second position of the fulcrum of stress and reaches variation rigidity purpose, and structure is compact, and range in stiffness is larger, but
It is difficult to the continuous rotation of output.
The content of the invention
It is an object of the invention to for above-mentioned the deficiencies in the prior art, a kind of new variation rigidity soft drive dress of exploitation
Put, core is a kind of grooved cam disc based on variable second fulcrum+double-planet train formula variation rigidity flexible actuator of exploitation.Should
The second position of the fulcrum by adjusting lever is designed, changes the torque arm length of lever, and then changes the output rigidity of driver, it is real
The a wide range of regulation of existing rigidity, can realize the zero stiffness and perfect rigidity of driver, pass through two DC servo motors in theory
The regulation of the outgoing position of driver and the real-time synchronization of output rigidity can be realized.
Present invention employs the structure for realizing symmetrical compression spring between a kind of disc using grooved cam with respect to deflection, Yi Jishuan
Planetary gear train (becomes fulcrum planetary gear train and differential planetary gear train).Wherein：Become fulcrum planetary gear train to be used to adjust the second fulcrum position
Put, change lever arm of force, realize the change of output rigidity；Differential planetary gear train is used to coordinate outgoing position with exporting the only of rigidity
Vertical control, it is easy to implement continuous rotation output.Compared with other variation rigidity flexible actuators, stiffness tuning scope of the invention
It is bigger, the adjustable output from zero stiffness to perfect rigidity can be realized in theory, and grooved cam shape can be according to different application target to defeated
Go out stiffness curve and carry out finishing optimization, continuous rotation output can be achieved, while this design structure is compact, double-planet train coordinates
Using making, the motion control of driver is more accurate, reliability is higher.
The present invention is achieved by the following technical solutions：
A kind of variation rigidity flexible actuator, it is characterised in that：Including driver supporting mechanism, variation rigidity mechanism and become fulcrum
Mechanism, the driver supporting mechanism include driver support base, driver protecgulum, drive enclosure and driver bonnet, institute
State drive enclosure to be fixedly mounted on driver support base, driver protecgulum and driver bonnet are separately mounted to outside driver
Shell rear and front end, the variation rigidity mechanism and change supporting point mechanism are coordinated by gap to be arranged in drive enclosure；
The variation rigidity mechanism includes output shaft, lever and the output connecting rod being sequentially arranged on output shaft, disk one, disk
Two and disk three, wherein, it is fixedly linked between output connecting rod, disk one and disk three and output shaft, disk two passes through bearing and output shaft phase
Even, the disk one is designed with as size in the card of disk three and is symmetrically arranged two arc-shaped slots, and disk two is provided with
Two positions slotted eye corresponding with arc-shaped slot, each slotted eye is interior to be provided with a guide rail for being cased with spring, and both ends of the spring is set respectively
There is a sliding block that can be on guide rail slidably, the sliding block both ends are respectively protruding into the arc-shaped slot of disk one and disk three
It is interior, the inwall of disk one and the arc-shaped slot of disk three is acted on by spring band movable slider so that disk one, disk three and disk two tend to be relative
Fixed rigging position, its intermediate part are provided with the chute of strip, the output that its one end passes through connector and the front side of disk one
Connecting rod is fixedly linked, and the other end is arranged on the first fulcrum that the opposite side rear of disk three is set, and the first fulcrum can be in the cunning of lever
In groove slidably；
The change supporting point mechanism includes becoming fulcrum planetary gear train and differential planetary gear train, and the change fulcrum planetary gear train includes
Ring gear one, disc and fulcrum gear, the fulcrum gear engages installation with the gear ring of ring gear one, and meets fulcrum gear
Reference radius is equal to the half of the reference radius of the gear ring of ring gear one, and the reference circle of fulcrum gear is provided with and its card
The second vertical fulcrum, second fulcrum it is freely slidable in the chute of lever, fulcrum gear passes through fulcrum tooth
Wheel connection eccentric shaft is arranged on disc, and disc is coaxially disposed with ring gear one, and ring gear one is solid by connector and disk two
Dingan County is fitted together；The differential planetary gear train includes planetary gear, ring gear two, planet carrier, two input gears, planetary gear train
Central shaft and the sun gear one and sun gear two being fixedly mounted on planetary gear train central shaft, planetary gear train central shaft middle part are logical
Cross in the middle part of bearing installation planet carrier, two sun gears are located at planet carrier front and rear sides respectively, and disc is fixedly mounted on planetary gear
It is central shaft anterior end, together with planet carrier is fixed by gear terminal pad with ring gear one, before planetary gear installation planet carrier
Side and engaged simultaneously with ring gear two and sun gear one, two input gears on rear side of planetary wheel carrier, and respectively with ring gear
Two and the engaged transmission of sun gear two, it is connected with the input gear that ring gear two engages with position servo motor, is nibbled with sun gear two
The input gear of conjunction is connected with rigidity servomotor；
As an improvement, the driver supporting mechanism front end is additionally provided with power take-off mechanism, the power take-off mechanism bag
Include including take-off lever and rotary encoder, the rotary encoder is fixedly mounted on output shaft end, for being surveyed to outgoing position
Amount, the take-off lever are connected with outputting axial power transmission.
As an improvement, the output shaft is installed with driver protecgulum by bearing.
As an improvement, the both ends of guide rail are respectively equipped with a thrust sliding block, thrust sliding block in the arc-shaped slot of the disk two
Between sliding block and arc-shaped slot inwall.
As an improvement, arc-shaped slot for inner face is arc on the disk one and disk three, arc-shaped slot shape is not according to
Finishing optimization is carried out to output stiffness curve with application target.
As an improvement, the arc-shaped slot is concentric circle arc plane for two arcwall faces in radial direction.
As an improvement, two guide rails in described 2 two slotted eyes of disk are arranged in parallel.
As an improvement, height of the arc-shaped slot in rail length direction is more than perpendicular to guide rail length on the disk one and disk three
Spend the width in direction.
As an improvement, the rigidity servomotor is fixedly mounted on driver supporting mechanism.
The present invention has advantages below compared with prior art：
The variation rigidity mechanism structure of the design is novel, and employing can be according to the grooved cam disc that application target optimizes come symmetrical
Compression spring, become the second fulcrum principle using lever and realize variation rigidity.The design can realize in theory driver from zero stiffness to
The adjustable output of rigidity of perfect rigidity, stiffness tuning scope are big.The motor for making control rigidity using differential planetary gear train can be fixed
Installation, it is not required to rotate with output, realizes continuous rotation output.It is used cooperatively by double-planet train, can accurately controls second
The rectilinear movement of point, makes that the motion control of driver is more accurate, reliability is higher.This design structure is compact simultaneously, reduces
The size of driver.
Brief description of the drawings
Fig. 1 is the variation rigidity flexible actuator structural representation of the present invention；
Fig. 2 is the agent structure decomposing schematic representation of the present invention；
Fig. 3 is the variation rigidity flexible actuator Structure explosion diagram of the present invention；
Fig. 4 is variation rigidity flexible actuator of the present invention sectional view vertically；
Fig. 5 is variation rigidity structural scheme of mechanism of the present invention；
Fig. 6 is variation rigidity mechanism of the present invention decomposing schematic representation；
Fig. 7 is variation rigidity flexible actuator of the present invention cross sectional figure at the front end face of disk two；
Fig. 8 is the change fulcrum planetary gear train schematic diagram of the present invention；
Fig. 9 is the change fulcrum planetary gear train decomposing schematic representation of the present invention；
Figure 10 is the differential planetary gear train biopsy cavity marker devices schematic diagram of the present invention；
Figure 11 is differential planetary gear train partial assembled schematic diagram.
Reference, 1- rotary encoders, 2- take-off levers, 3- driver protecgulums, 4- drive enclosures, after 5- drivers
Lid, 6- rigidity servomotors, 7- position servo motors, 8- driver support bases, 9- encoder support frames, 10- output shafts, 11-
Disk one, 12- disks two, 13- disks three, 14- levers, 15- output connecting rods, 16,27- guide rails, 17,21,22,26- thrust sliding blocks, 18,
20th, 23,25- sliding blocks, 19,24- springs, 28- ring gears one, 29- fulcrum gears, 30- fulcrum gear connecting shafts, 31- second
Point, 32- discs, 33- contiguous blocks, 34- gear terminal pads, 35- ring gears two, 36- planetary gears, 37- planet carriers, 38- input teeth
Take turns two, 39- sun gears two, 40- input gears one, 41- sun gears one, 42- planetary gear train central shafts, 43- planet wheel spindles, 44-
First fulcrum, I-variation rigidity mechanism, II-become supporting point mechanism, I-change fulcrum planetary gear train, II-differential planetary gear train.
Embodiment
Embodiments of the invention are elaborated below, the present embodiment is carried out lower premised on technical solution of the present invention
Implement, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to following implementation
Example.
As shown in Figures 1 to 10, a kind of variation rigidity flexible actuator bag based on this grooved cam disc+double-planet train formula
Include：Driver supporting mechanism, variation rigidity mechanism I, become supporting point mechanism II (double-planet train, being inputted comprising power), power output
Mechanism.
As shown in figure 1, described driver supporting mechanism includes：Driver support base 8, driver protecgulum 3, outside driver
Shell 4 and driver bonnet 5.
Wherein, driver support base 8 is fixedly connected with drive enclosure 4.The rear and front end of drive enclosure 4 respectively with driving
Device protecgulum 3, driver bonnet 5 are fixedly connected, and the variation rigidity mechanism I and change supporting point mechanism II are coordinated installed in drive by gap
In dynamic device shell 4, play a part of to the supporting of driver, fix, protect.
As shown in Figures 4 to 7, the variation rigidity mechanism I includes output shaft 10, lever 14 and is sequentially arranged at output shaft
Output connecting rod 15, disk 1, disk 2 12 and disk 3 13 on 10, wherein, output connecting rod 15, disk 1 and disk 3 13 pass through bolt
It is fixed together and is fixedly linked between output shaft 10, disk 2 12 is connected by thrust bearing with output shaft 10, and disk 2 12 is logical
Cross contiguous block 33 to be fixed as one with ring gear 1, the disk 1 is designed with as size in the card of disk 3 13 and is
Symmetrically arranged two arc-shaped slots, disk 2 12 are provided with two positions slotted eye corresponding with arc-shaped slot, set in each slotted eye
There is a guide rail for being cased with spring, both ends of the spring is respectively equipped with a sliding block that can be on guide rail slidably, the sliding block
Both ends are respectively protruding into the arc-shaped slot of disk 1 and disk 3 13, and disk 1 and disk 3 13 are acted on by spring band movable slider
The inwall of arc-shaped slot so that disk 1, disk 3 13 and disk 2 12 tend to relatively-stationary rigging position, the middle part of lever 14
Chute provided with strip, its one end are fixedly linked by connector and the end of output connecting rod 15 of the front side of disk 1, the other end
On the first fulcrum 44 set installed in the opposite side rear of disk 3 13, the first fulcrum 44 can the free skating in the chute of lever 14
It is dynamic；
As shown in fig. 7, sliding block 18,20 it is freely slidable be enclosed on the both ends of guide rail 16, and the both ends of sliding block 18,20 are stretched
Enter to in the arc-shaped slot on disk 1 and disk 3 13, guide rail 16 is fixedly mounted in a slotted eye of disk 2 12, spring 19
On guide rail 16 between sliding block 18 and sliding block 20, sliding block 18,20 can be along the linear slide of guide rail 16, thrust sliding block 17,21
The both ends of guide rail 16 are fixedly mounted on, and are fixedly linked with disk 2 12；Sliding block 23,25 it is freely slidable be enclosed on the both ends of guide rail 27,
And the both ends of sliding block 23,25 are extend into and in the arc-shaped slot on disk 1 and disk 3 13, spring 24 is arranged on sliding block 23
On guide rail 27 between sliding block 25, sliding block 23,25 can be along the linear slide of guide rail 27, and thrust sliding block 22,26, which is fixedly mounted on, leads
The both ends of rail 27, and be fixedly linked with disk 2 12；Arc-shaped slot inwall balanced action on disk 1 and disk 3 13 in sliding block 18,
20th, on 23,25, the balance compression of spring 19,24 is realized.
As shown in Figure 8 and Figure 9, the change supporting point mechanism II includes becoming fulcrum planetary gear train I and differential planetary gear train II two
Most of, the change fulcrum planetary gear train I includes ring gear 1, disc 32 and fulcrum gear 29, the fulcrum gear 29 and
The gear ring engagement installation of ring gear 1, and meet that the reference radius of fulcrum gear 29 is equal to point of the gear ring of ring gear 1
The half of radius of circle is spent, the reference circle of fulcrum gear 29 is provided with second fulcrum 31 vertical with its card, second fulcrum
31 is freely slidable in the chute of lever 14, and fulcrum gear 29 is arranged on by the way that fulcrum gear connecting shaft 30 is eccentric
On disc 32, disc 32 is coaxially disposed with ring gear 1, and ring gear 1 is fixedly mounted on by contiguous block 33 and disk 2 12
Together, when disc 32 rotates, fulcrum gear 29 is driven to rotate, because the reference radius of fulcrum gear 29 is equal to one 28 points of ring gear
The half of radius of circle is spent, and is engaged with, so the rotation of fulcrum gear 29 causes the second fulcrum 31 set on its reference circle
Moved reciprocatingly along the diametric(al) of ring gear 1, therefore the relative deflection angle for changing change disc 32 and ring gear 1 can
The second fulcrum 31 position in the chute of lever 14 is adjusted, and then changes the torque arm length of lever 14；
As shown in Figure 10 and Figure 11, the differential planetary gear train II include planetary gear 36, ring gear 2 35, planet carrier 37,
Two input gears, planetary gear train central shaft 42 and the sun gear 1 being fixedly mounted on planetary gear train central shaft 42 and too
The middle part of planet carrier 37 is installed in sun wheel 2 39, the middle part of planetary gear train central shaft 42 by bearing, and two sun gears are respectively positioned at row
The front and rear sides of carrier 37, disc 32 are fixedly mounted on the anterior end of planetary gear train central shaft 42, and planet carrier 37 is connected by gear
Disk 34 is fixed together with ring gear 1, and the present embodiment planetary gear 36 has three, and three planetary gears 36 pass through planetary gear respectively
Axle 43 installs the front side of planet carrier 37, and all planetary gears 36 are engaged, it is necessary to refer to ring gear 2 35 and sun gear 1 simultaneously
What is gone out is the quantity of planetary gear 36 according to being not necessarily three, design as needed, is met and ring gear 2 35 and sun gear 1
Simultaneous Stabilization engages passing power, two input gears on rear side of the frame of planetary gear 36, and respectively with ring gear 2 35 and
The engaged transmission of sun gear 2 39, wherein the output of the input gear 1 engaged with ring gear 2 35 and position servo motor 7 turns
Axle is connected, and the input gear 2 38 engaged with sun gear 2 39 is connected with the output revolving shaft of rigidity servomotor 6.
Another embodiment is done, the variation rigidity flexible actuator includes power take-off mechanism, described power output
Mechanism includes：Take-off lever 2, encoder support frame 9 and rotary encoder 1.
Wherein, rotary encoder 1 is fixedly connected with output shaft 10, realizes the measurement of outgoing position.Take-off lever 2 and output shaft
10 are fixedly connected, and realize the output of power.Encoder support frame 9 is fixedly connected with rotary encoder 1.The present embodiment is based on geosynclinal convex
When taking turns the variation rigidity flexible actuator work of disc+double-planet train：A target location and target rigidity are set to driver,
Driver controls position servomotor 7 and rigidity servomotor 6 to rotate using certain control algolithm, according to rotary encoder 1
The position of return, the quick outgoing position that adjusts is until target location；Lever can be calculated to obtain according to the position of the second fulcrum 31 simultaneously
14 arm of force, further calculates rigidity, so as to which quickly adjustment exports rigidity until target rigidity.
After electricity on position servo motor 7 and rigidity servomotor 6, outgoing position and rigidity, position servo motor 7 are given
Start to rotate with rigidity servomotor 6.Position servo motor 7 drives input gear 1 to rotate, in the drive of input gear 1
Gear ring 2 35 rotates around the axial line of planetary gear train central shaft 42, and rigidity servomotor 6 drives input gear 2 38 to revolve
Turning, input gear 2 38 drives sun gear 2 39 to be rotated around the axial line of planetary gear train central shaft 42, sun gear 1,
Sun gear 2 39 and the synchronous rotary of disc 32.Ring gear 2 35 and one 41 two parts of sun gear in differential planetary gear train II is same
When Shi Zuowei is actively entered, planet carrier 37 has unique output, planet carrier 37 and gear terminal pad 34, internal tooth as passive components
1 are enclosed to be connected to one.When with ring gear 1 relative deflection occurs for disc 32, fulcrum gear 29 and ring gear 1
Relative motion is produced, the second fulcrum 31 on the reference circle of fulcrum gear 29 is done back and forth along the diametric(al) of ring gear 1
Linear motion, position of second fulcrum 31 in the chute of lever 14 changes, so as to change the torque arm length of lever 14, and then
Change rigidity.Because the second fulcrum 31 does periodic linear reciprocating motion in the chute of lever 14, therefore it need to only set one
Initial point, the second fulcrum 31 can be controlled in the chute of lever 14 by adjusting the relative deflection angle of disc 32 and ring gear 1
In position.Using 360 ° of relative deflection angles as a cycle, if 0 ° of position when be rigidity minimum, selected positive direction, then disc
32 rigidity when being increased to 180 ° by 0 ° with respect to deflection angle with ring gear 1 or be decreased to 180 ° by 360 ° increase, and maximum can make drive
Device is moved to perfect rigidity；Rigidity reduces when being increased to 360 ° by 180 ° with respect to deflection angle or be decreased to 0 ° by 180 °, and most I is extremely
Zero stiffness.
When position servo motor 7 rotates forward, rigidity servomotor 6 keeps certain angular speed ratio rotation with position servo motor 7
Turn so that the relative position of the second fulcrum 31 and lever 14 is fixed, i.e. driver constant rigidity, when output shaft 10 has reversal trend,
Due to the presence of outer load impedance effect, take-off lever 2 or output shaft 10 do not rotate temporarily, now spring 19,24, the symmetrical compression of beginning
The angle of deviation of (decrement is equal), disk 2 12 and take-off lever 2 starts to produce and gradually increase.When the decrement of spring 19,24 reaches
When being enough to promote the rotation of take-off lever 2 to certain value, output shaft 10 drives take-off lever 2 to start to invert in the presence of spring 19,24.
Due to the cushioning effect of spring, so as to realize the function of soft drive.
When position servo motor 7 inverts, rigidity servomotor 6 keeps certain angular speed ratio rotation with position servo motor 7
Turn so that the second fulcrum 31 is fixed with the relative position of lever 14, i.e. driver constant rigidity, when output shaft 10 has rotating forward trend, by
In the presence of outer load impedance effect, take-off lever 2 or output shaft 10 do not rotate temporarily, and now spring 19,24 starts symmetrical compression (pressure
Contracting amount is equal), the angle of deviation of disk 2 12 and take-off lever 2 starts to produce and gradually increase.When the decrement of spring 19,24 reaches one
When definite value is enough to promote the motion of take-off lever 2, output shaft 10 drives take-off lever 2 to start to rotate forward in the presence of spring 19,24.Due to
The cushioning effect of spring, so as to realize the function of soft drive.
Arc-shaped slot shape is identical on disk 1, disk 2 12 and disk 3 13, is to be arranged symmetrically, guide rail 16,27 and spring
19th, 24 be all symmetrical centered on the axial line of output shaft 10, and when adjusting rigidity, symmetrical structure can make spring
19th, 24 decrement is consistent, makes disk 1, disk 2 12 and the producing balanced forces of disk 3 13, makes stiffness tuning process more stable.
Claims (9)
- A kind of 1. variation rigidity flexible actuator, it is characterised in that：Including driver supporting mechanism, variation rigidity mechanism and become fulcrum machine Structure, the driver supporting mechanism includes driver support base, driver protecgulum, drive enclosure and driver bonnet, described Drive enclosure is fixedly mounted on driver support base, and driver protecgulum and driver bonnet are separately mounted to drive enclosure Rear and front end, the variation rigidity mechanism and change supporting point mechanism are coordinated by gap to be arranged in drive enclosure；The variation rigidity mechanism includes output shaft, lever and the output connecting rod being sequentially arranged on output shaft, disk one, the and of disk two Disk three, wherein, it is fixedly linked between output connecting rod, disk one and disk three and output shaft, disk two is connected by bearing with output shaft, institute State disk one to be designed with the card of disk three as size and be symmetrically arranged two arc-shaped slots, disk two is provided with two positions Slotted eye corresponding with arc-shaped slot is put, is provided with a guide rail for being cased with spring in each slotted eye, both ends of the spring is respectively equipped with one Sliding block that can be on guide rail slidably, the sliding block both ends are respectively protruding into the arc-shaped slot of disk one and disk three, passed through Spring band movable slider acts on the inwall of disk one and the arc-shaped slot of disk three so that disk one, disk three and disk two tend to be relatively-stationary Rigging position, its intermediate part are provided with the chute of strip, and its one end is consolidated by connector and the output connecting rod of the front side of disk one Fixed to be connected, the other end is arranged on the first fulcrum that the opposite side rear of disk three is set, and the first fulcrum can be in the chute of lever certainly By sliding；The change supporting point mechanism includes becoming fulcrum planetary gear train and differential planetary gear train, and the change fulcrum planetary gear train includes internal tooth Circle one, disc and fulcrum gear, the fulcrum gear engage installation with the gear ring of ring gear one, and meet the indexing of fulcrum gear Radius of circle is equal to the half of the reference radius of the gear ring of ring gear one, and the reference circle of fulcrum gear is provided with vertical with its card The second fulcrum, second fulcrum it is freely slidable in the chute of lever, fulcrum gear is connected by fulcrum gear Spindle is eccentric to be arranged on disc, and disc is coaxially disposed with ring gear one, and ring gear one is fixed by connector and disk two pacifies It is fitted together；The differential planetary gear train includes planetary gear, ring gear two, planet carrier, two input gears, planetary gear train center Axle and the sun gear one and sun gear two being fixedly mounted on planetary gear train central shaft, planetary gear train central shaft middle part pass through axle Hold in the middle part of installation planet carrier, two sun gears are located at planet carrier front and rear sides respectively, and disc is fixedly mounted in planetary gear train Mandrel anterior end, together with planet carrier is fixed by gear terminal pad with ring gear one, on front side of planetary gear installation planet carrier and Engaged simultaneously with ring gear two and sun gear one, two input gears on rear side of planetary wheel carrier, and respectively with ring gear two and The engaged transmission of sun gear two, it is connected with the input gear that ring gear two engages with position servo motor, is engaged with sun gear two Input gear is connected with rigidity servomotor.
- A kind of 2. variation rigidity flexible actuator as claimed in claim 1, it is characterised in that：The driver supporting mechanism front end Power take-off mechanism is additionally provided with, the power take-off mechanism includes take-off lever and rotary encoder, the rotary encoder Output shaft end is fixedly mounted on, for measuring outgoing position, the take-off lever is connected with outputting axial power transmission.
- A kind of 3. variation rigidity flexible actuator as claimed in claim 1, it is characterised in that：The output shaft and driver protecgulum Installed by bearing.
- A kind of 4. variation rigidity flexible actuator as claimed in claim 1, it is characterised in that：Guide rail in the slotted eye of the disk two Both ends are respectively equipped with a thrust sliding block, and thrust sliding block is between sliding block and slotted eye inwall.
- A kind of 5. variation rigidity flexible actuator as claimed in claim 1, it is characterised in that：Deep-slotted chip breaker on the disk one and disk three Hole is arc for inner face, and arc-shaped slot shape carries out finishing optimization according to different application target to output stiffness curve.
- A kind of 6. variation rigidity flexible actuator as claimed in claim 5, it is characterised in that：The arc-shaped slot is in radial direction Two arcwall faces are concentric circle arc plane.
- A kind of 7. variation rigidity flexible actuator as claimed in claim 1, it is characterised in that：Two in described 2 two slotted eyes of disk Individual guide rail is arranged in parallel.
- A kind of 8. variation rigidity flexible actuator as claimed in claim 1, it is characterised in that：Deep-slotted chip breaker on the disk one and disk three Height of the hole in rail length direction is more than the width perpendicular to rail length direction.
- A kind of 9. variation rigidity flexible actuator as claimed in claim 1, it is characterised in that：The rigidity servomotor fixes peace On driver supporting mechanism.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711053413.6A CN107856018B (en) | 2017-10-31 | 2017-10-31 | Variable-rigidity flexible driver |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711053413.6A CN107856018B (en) | 2017-10-31 | 2017-10-31 | Variable-rigidity flexible driver |
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| CN107856018A true CN107856018A (en) | 2018-03-30 |
| CN107856018B CN107856018B (en) | 2020-05-08 |
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| CN201711053413.6A Active CN107856018B (en) | 2017-10-31 | 2017-10-31 | Variable-rigidity flexible driver |
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Cited By (8)
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| CN109676600A (en) * | 2019-01-21 | 2019-04-26 | 合肥工业大学 | A kind of variation rigidity flexible actuator and its motion control method based on reed-type |
| CN110053076A (en) * | 2019-03-26 | 2019-07-26 | 清华大学 | Variation rigidity driver |
| CN110065057A (en) * | 2019-05-31 | 2019-07-30 | 中国科学技术大学 | A kind of variation rigidity driving device |
| CN110174945A (en) * | 2019-05-15 | 2019-08-27 | 北京航空航天大学 | A kind of variation rigidity force feedback gloves of adjustable dimension |
| CN110640784A (en) * | 2019-11-05 | 2020-01-03 | 哈尔滨工业大学（深圳） | Variable-rigidity joint device based on lever mechanism |
| CN112888537A (en) * | 2018-10-22 | 2021-06-01 | 开姆尼茨工业大学 | Elastic joint |
| CN113464543A (en) * | 2021-06-29 | 2021-10-01 | 西北大学 | Radial unfolding mechanism |
| CN115366086A (en) * | 2022-09-20 | 2022-11-22 | 武汉大学 | Antagonistic variable-stiffness structure and antagonistic variable-stiffness flexible driver |
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| CN107234632A (en) * | 2017-06-26 | 2017-10-10 | 哈尔滨工业大学 | A kind of energy-conservation variation rigidity elastic joint based on differential gear train |
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| CN106737586A (en) * | 2016-12-29 | 2017-05-31 | 武汉大学 | Symmetrical expression variation rigidity flexible actuator based on fulcrum-variable |
| CN107234632A (en) * | 2017-06-26 | 2017-10-10 | 哈尔滨工业大学 | A kind of energy-conservation variation rigidity elastic joint based on differential gear train |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112888537A (en) * | 2018-10-22 | 2021-06-01 | 开姆尼茨工业大学 | Elastic joint |
| CN109676600A (en) * | 2019-01-21 | 2019-04-26 | 合肥工业大学 | A kind of variation rigidity flexible actuator and its motion control method based on reed-type |
| CN109676600B (en) * | 2019-01-21 | 2021-12-14 | 合肥工业大学 | Reed type variable-rigidity flexible driver and motion control method thereof |
| CN110053076A (en) * | 2019-03-26 | 2019-07-26 | 清华大学 | Variation rigidity driver |
| CN110174945A (en) * | 2019-05-15 | 2019-08-27 | 北京航空航天大学 | A kind of variation rigidity force feedback gloves of adjustable dimension |
| CN110174945B (en) * | 2019-05-15 | 2020-12-18 | 北京航空航天大学 | Variable-rigidity force feedback glove with adjustable size |
| CN110065057A (en) * | 2019-05-31 | 2019-07-30 | 中国科学技术大学 | A kind of variation rigidity driving device |
| CN110640784A (en) * | 2019-11-05 | 2020-01-03 | 哈尔滨工业大学（深圳） | Variable-rigidity joint device based on lever mechanism |
| CN110640784B (en) * | 2019-11-05 | 2020-12-25 | 哈尔滨工业大学（深圳） | Variable-rigidity joint device based on lever mechanism |
| CN113464543A (en) * | 2021-06-29 | 2021-10-01 | 西北大学 | Radial unfolding mechanism |
| CN115366086A (en) * | 2022-09-20 | 2022-11-22 | 武汉大学 | Antagonistic variable-stiffness structure and antagonistic variable-stiffness flexible driver |
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