CN107856018B - Variable-rigidity flexible driver - Google Patents
Variable-rigidity flexible driver Download PDFInfo
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- CN107856018B CN107856018B CN201711053413.6A CN201711053413A CN107856018B CN 107856018 B CN107856018 B CN 107856018B CN 201711053413 A CN201711053413 A CN 201711053413A CN 107856018 B CN107856018 B CN 107856018B
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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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- General Engineering & Computer Science (AREA)
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Abstract
The invention discloses a variable stiffness flexible driver, which comprises a variable stiffness mechanism, a variable fulcrum planetary gear train, a differential planetary gear train and a driver supporting mechanism used as a support, wherein the variable stiffness mechanism comprises an output shaft, an output connecting rod and three discs, the output connecting rod, the first disc and the third disc are fixedly connected with the output shaft, the second disc is movably linked with the output shaft, the first disc and the third disc are provided with two arc-shaped slotted holes with the same size, the second disc is provided with slotted holes corresponding to the arc-shaped slotted holes, guide rails and springs are arranged in the slotted holes, sliding blocks on the guide rails respectively extend into the arc-shaped slotted holes of the first disc and the third disc, one end of a lever is fixedly connected with the output connecting rod, the other end of the lever is movably arranged on the third disc through a first fulcrum, the lever is also movably connected with the variable fulcrum planetary gear train through a sliding groove arranged in the middle part, the invention can realize the simultaneous adjustment of variable rigidity and fixed position, and the variable rigidity change has continuity.
Description
Technical Field
The invention belongs to the field of robots, relates to a driver, and particularly relates to a variable-rigidity flexible driver.
Background
With the rapid development of modern robot technology, the application of novel intelligent robots in various aspects of human society shows a rapid growth trend in the future. The novel intelligent robot can assist human beings even completely replace human beings to work, complete rehabilitation medical tasks or enhance human activity and the like. The traditional rigid direct-drive robot joint has the defects of high energy consumption, insufficient flexibility, incapability of avoiding external impact, easiness in causing injury when human-computer interaction is realized and the like. The motor drive has the advantages of large speed change range, high efficiency, small rotation inertia, high speed and position precision and the like, and the variable-rigidity flexible driver driven by the motor can well solve the problems.
At present, the research on variable-rigidity drivers at home and abroad has achieved a plurality of good results, and whether the variable-rigidity drivers have problems: the variable-rigidity driver has a small rigidity adjustable range, a complex and not compact mechanism and is difficult to realize continuous rotation.
Through the search of the prior art documents, the inventor of the Chinese patent application No. 201010283564.2 discloses a variable-rigidity flexible joint, which comprises a micro-driving unit, a motor bracket and an elastic unit, wherein the rigidity is changed by changing the effective length of an elastic element, but the change of the effective length of the elasticity is limited, and the change range of the rigidity is limited.
Chinese patent application No. 20150355179.7, this technique discloses a flexible joint actuating mechanism with adjustable rigidity, including drive end, adjustment end and flexible joint, adopts curved inclined plane-runner cooperation structure to realize changing rigidity, can realize the rigidity of driver from very big flexibility to the change of complete rigidity, but this mechanism structure is complicated, and the size is on the large side.
Chinese patent application No. 201510072095.2, this technique discloses a but synchronous adjustment displacement formula becomes rigidity joint driver, including the base, rocking arm position control subassembly, become rigidity adjustment subassembly, angular deviation measuring component, utilize Archimedes spiral coil to change the second fulcrum position of plate spring atress and reach the purpose of becoming rigidity, and the structure is compacter, and the rigidity scope is great, but is difficult to realize the continuous rotation of output.
Disclosure of Invention
The invention aims to develop a novel variable-rigidity flexible driving device aiming at the defects of the prior art, and the core is to develop a groove cam disc and double-planetary-gear-train variable-rigidity flexible driver based on a variable second fulcrum. The design changes the arm of force length of the lever by adjusting the position of the second fulcrum of the lever, further changes the output rigidity of the driver, realizes the large-range adjustment of the rigidity, theoretically can realize zero rigidity and complete rigidity of the driver, and can realize the real-time synchronous adjustment of the output position and the output rigidity of the driver through two direct current servo motors.
The invention adopts a structure which realizes symmetrical compression springs by utilizing relative deflection between grooved cam disks and a double-planetary gear train (a variable fulcrum planetary gear train and a differential planetary gear train). Wherein: the variable fulcrum planetary gear train is used for adjusting the position of a second fulcrum, changing the lever force arm and realizing the change of output rigidity; the differential planetary gear train is used for coordinating the independent control of the output position and the output rigidity, and is convenient for realizing continuous rotation output. Compared with other variable-rigidity flexible drivers, the variable-rigidity flexible driver has a wider rigidity adjusting range, theoretically, output from zero rigidity to complete rigidity adjustable output can be realized, the shape of the grooved cam can be used for trimming and optimizing an output rigidity curve according to different application targets, continuous rotation output can be realized, and meanwhile, the design structure is compact, and the double planetary gear trains are matched for use, so that the motion control of the driver is more accurate and the reliability is higher.
The invention is realized by the following technical scheme:
a variable stiffness flexible drive characterized by: the variable-stiffness variable-fulcrum linear actuator comprises an actuator supporting mechanism, a variable-stiffness mechanism and a variable-fulcrum mechanism, wherein the actuator supporting mechanism comprises an actuator supporting seat, an actuator front cover, an actuator shell and an actuator rear cover;
the rigidity-variable mechanism comprises an output shaft, a lever, an output connecting rod, a first disk, a second disk and a third disk, wherein the output connecting rod, the first disk, the third disk and the output shaft are fixedly connected, the second disk is connected with the output shaft through a bearing, two arc-shaped slotted holes which are identical in size and are symmetrically arranged are formed in the disk surfaces of the first disk and the third disk, two slotted holes corresponding to the arc-shaped slotted holes are formed in the second disk, a guide rail sleeved with a spring is arranged in each slotted hole, two ends of the spring are respectively provided with a sliding block capable of freely sliding on the guide rail, two ends of the sliding block respectively extend into the arc-shaped slotted holes of the first disk and the third disk, the sliding block is driven by the spring to act on the inner walls of the arc-shaped slotted holes of the first disk and the third disk, so that the first disk, the third disk and the second disk tend to relatively fixed assembly positions, a strip-shaped sliding groove is formed, the other end of the lever is arranged on a first fulcrum arranged behind the three opposite sides of the disc, and the first fulcrum can freely slide in a sliding groove of the lever;
the variable fulcrum mechanism comprises a variable fulcrum planetary gear train and a differential planetary gear train, the variable fulcrum planetary gear train comprises a first inner gear ring, a disc and a fulcrum gear, the fulcrum gear is engaged with the first inner gear ring and meets the requirement that the radius of a reference circle of the fulcrum gear is equal to half of the radius of a reference circle of the first inner gear ring, a second fulcrum perpendicular to the disc surface of the fulcrum gear is arranged on the reference circle of the fulcrum gear, the second fulcrum can be freely and slidably arranged in a chute of a lever, the fulcrum gear is eccentrically arranged on the disc through a fulcrum gear connecting shaft, the disc and the inner gear ring are coaxially arranged, and the first inner gear ring is fixedly arranged with the second disc through a connecting piece; the differential planetary gear train comprises a planetary gear, an inner gear ring II, a planetary carrier and two input gears, wherein a planetary gear train central shaft, a first sun gear and a second sun gear are fixedly arranged on the planetary gear train central shaft;
as an improvement, the front end of the driver supporting mechanism is further provided with a power output mechanism, the power output mechanism comprises an output rod and a rotary encoder, the rotary encoder is fixedly installed at the end part of the output shaft and used for measuring the output position, and the output rod is in power transmission connection with the output shaft.
As an improvement, the output shaft and the front cover of the driver are installed through a bearing.
As an improvement, two ends of the guide rail in the arc-shaped slotted hole of the second disk are respectively provided with an anti-thrust sliding block, and the anti-thrust sliding blocks are positioned between the sliding blocks and the inner wall of the arc-shaped slotted hole.
As an improvement, the inner surfaces of the arc-shaped slotted holes in the first disc and the third disc are both arc-shaped, and the shapes of the arc-shaped slotted holes are used for trimming and optimizing an output rigidity curve according to different application targets.
As an improvement, two arc-shaped surfaces of the arc-shaped slotted hole in the radial direction are concentric arc surfaces.
As an improvement, two guide rails in two slotted holes of the disc are arranged in parallel.
As an improvement, the height of the arc-shaped slotted holes in the first plate and the third plate in the length direction of the guide rail is larger than the width of the arc-shaped slotted holes in the direction perpendicular to the length direction of the guide rail.
As an improvement, the rigidity servo motor is fixedly arranged on the driver supporting mechanism.
Compared with the prior art, the invention has the following advantages:
the variable-rigidity mechanism is novel in structure, the groove cam discs which can be optimized according to application targets are used for symmetrically compressing the springs, and the variable rigidity is realized by utilizing the principle that the lever changes the second fulcrum. The design can realize adjustable output of the rigidity of the driver from zero rigidity to complete rigidity theoretically, and the rigidity adjusting range is large. The motor for controlling rigidity can be fixedly installed by adopting a differential planetary gear train without rotating along with output, and continuous rotary output is realized. The double planetary gear trains are matched for use, so that the linear movement of the second fulcrum can be accurately controlled, the motion control of the driver is more accurate, and the reliability is higher. Meanwhile, the design structure is compact, and the size of the driver is reduced.
Drawings
FIG. 1 is a schematic diagram of a variable stiffness flexible actuator of the present invention;
FIG. 2 is an exploded view of the main structure of the present invention;
FIG. 3 is an exploded view of the variable stiffness flexible actuator configuration of the present invention;
FIG. 4 is a cross-sectional view in the axial direction of the variable stiffness flexible drive of the present invention;
FIG. 5 is a schematic view of a variable stiffness mechanism of the present invention;
FIG. 6 is an exploded view of the variable stiffness mechanism of the present invention;
FIG. 7 is a cross-sectional view of a variable stiffness flexible drive of the present invention at the front end faces of the discs;
FIG. 8 is a schematic view of a variable fulcrum planetary gear train of the present invention;
FIG. 9 is an exploded view of the variable fulcrum planetary gear train of the present invention;
FIG. 10 is a schematic view of the differential planetary gear train of the present invention in partial cutaway;
FIG. 11 is a partially assembled schematic view of the differential planetary gear train.
Reference numerals, 1-a rotary encoder, 2-an output rod, 3-a driver front cover, 4-a driver shell, 5-a driver rear cover, 6-a rigidity servo motor, 7-a position servo motor, 8-a driver support seat, 9-an encoder support frame, 10-an output shaft, 11-a first disk, 12-a second disk, 13-a third disk, 14-a lever, 15-an output connecting rod, 16 and 27-a guide rail, 17, 21, 22 and 26-a thrust sliding block, 18, 20, 23 and 25-a sliding block, 19 and 24-a spring, 28-an inner gear ring I, 29-a fulcrum gear, 30-a fulcrum gear connecting shaft, 31-a second fulcrum, 32-a disk, 33-a connecting block, 34-a gear connecting disk and 35-an inner gear ring II, 36-planet wheel, 37-planet carrier, 38-input gear II, 39-sun gear II, 40-input gear I, 41-sun gear I, 42-planet gear system central shaft, 43-planet gear shaft, 44-first pivot, I-variable stiffness mechanism, II-variable pivot mechanism, i-variable pivot planet gear system and ii-differential planet gear system.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
As shown in fig. 1 to 10, a variable stiffness flexible drive based on the present grooved cam disc + double planetary gear train type includes: the device comprises a driver supporting mechanism, a variable stiffness mechanism I, a variable fulcrum mechanism II (a double-planetary-gear train comprising power input) and a power output mechanism.
As shown in fig. 1, the drive support mechanism includes: drive support base 8, drive front cover 3, drive housing 4 and drive rear cover 5.
Wherein the drive support 8 is fixedly connected to the drive housing 4. Both ends are respectively with 5 fixed connection of driver protecgulum 3, driver back cover around the driver shell 4, become rigidity mechanism I and become fulcrum mechanism II and install in driver shell 4 through clearance fit, play the effect to support, fixed, the protection of driver.
As shown in fig. 4 to 7, the stiffness varying mechanism i includes an output shaft 10, a lever 14, and an output link 15, a first disk 11, a second disk 12, and a third disk 13 sequentially mounted on the output shaft 10, wherein the output link 15, the first disk 11, and the third disk 13 are fixed together by bolts and fixedly connected with the output shaft 10, the second disk 12 is connected with the output shaft 10 by a thrust bearing, the second disk 12 is fixed with a first ring gear 28 by a connecting block 33, the disk surfaces of the first disk 11 and the third disk 13 are respectively provided with two arc-shaped slots with the same size and symmetrically arranged, the second disk 12 is provided with two slots corresponding to the arc-shaped slots, each slot is internally provided with a guide rail sleeved with a spring, two ends of the spring are respectively provided with a slider capable of freely sliding on the guide rail, two ends of the slider respectively extend into the arc-shaped slots of the first disk 11 and the third disk 13, the slider is driven by the spring to act on the inner walls of the arc, the first disk 11, the third disk 13 and the second disk 12 tend to be relatively fixed, a long strip-shaped sliding groove is arranged in the middle of the lever 14, one end of the long strip-shaped sliding groove is fixedly connected with the end part of the output connecting rod 15 on the front side of the first disk 11 through a connecting piece, the other end of the long strip-shaped sliding groove is installed on a first fulcrum 44 arranged behind the opposite side of the third disk 13, and the first fulcrum 44 can freely slide in the sliding groove of the lever 14;
as shown in fig. 7, the sliders 18 and 20 are freely slidably sleeved at two ends of the guide rail 16, and two ends of the sliders 18 and 20 extend into the arc-shaped slotted holes on the first disk 11 and the third disk 13, the guide rail 16 is fixedly installed in one slotted hole of the second disk 12, the spring 19 is installed on the guide rail 16 between the slider 18 and the slider 20, the sliders 18 and 20 can linearly slide along the guide rail 16, and the anti-thrust sliders 17 and 21 are fixedly installed at two ends of the guide rail 16 and fixedly connected with the second disk 12; the sliding blocks 23 and 25 can be freely sleeved at two ends of the guide rail 27 in a sliding mode, the two ends of the sliding blocks 23 and 25 extend into arc-shaped groove holes formed in the first disk 11 and the third disk 13, the spring 24 is installed on the guide rail 27 between the sliding block 23 and the sliding block 25, the sliding blocks 23 and 25 can linearly slide along the guide rail 27, and the anti-thrust sliding blocks 22 and 26 are fixedly installed at two ends of the guide rail 27 and fixedly connected with the second disk 12; the inner walls of the arc-shaped slot holes on the first disk 11 and the third disk 13 act on the sliders 18, 20, 23 and 25 in a balanced manner, so that the springs 19 and 24 are compressed in a balanced manner.
As shown in fig. 8 and 9, the variable fulcrum mechanism ii includes two major parts, namely a variable fulcrum planetary gear train i and a differential planetary gear train ii, the variable fulcrum planetary gear train i includes a first ring gear 28, a disk 32 and a fulcrum gear 29, the fulcrum gear 29 is engaged with the ring gear of the first ring gear 28 and satisfies that the radius of the pitch circle of the fulcrum gear 29 is equal to half of the radius of the pitch circle of the ring gear of the first ring gear 28, a second fulcrum 31 perpendicular to the disk surface of the fulcrum gear 29 is arranged on the pitch circle of the fulcrum gear 29, the second fulcrum 31 is freely slidably arranged in a chute of the lever 14, the fulcrum gear 29 is eccentrically arranged on the disk 32 through a fulcrum gear connecting shaft 30, the disk 32 is coaxially arranged with the first ring gear 28, the first ring gear 28 is fixedly arranged with the second disk 12 through a connecting block 33, the disk 32 is rotated to drive the fulcrum gear 29 to rotate, because the radius of the fulcrum gear 29 is equal to half of the radius of the, and is engaged with the supporting point gear 29, so that the rotation of the supporting point gear 29 enables the second supporting point 31 arranged on the graduated circle to do reciprocating motion along the diameter direction of the first internal gear ring 28, and therefore the relative deflection angle of the variable disk sheet 32 and the first internal gear ring 28 is changed, the position of the second supporting point 31 in the chute of the lever 14 can be adjusted, and the length of the force arm of the lever 14 is further changed;
as shown in fig. 10 and 11, the differential planetary gear train ii includes planetary gears 36, a second ring gear 35, a planet carrier 37, two input gears, a planetary gear train central shaft 42, and a first sun gear 41 and a second sun gear 39 fixedly mounted on the planetary gear train central shaft 42, the middle of the planetary gear train central shaft 42 is mounted in the middle of the planet carrier 37 through a bearing, the two sun gears are respectively located at the front and rear sides of the planet carrier 37, disks 32 are fixedly mounted at the front end of the planetary gear train central shaft 42, the planet carrier 37 is fixed with the first ring gear 28 through gear connecting discs 34, there are three planetary gears 36 in the present embodiment, three planetary gears 36 are respectively mounted at the front side of the planet carrier 37 through a planetary gear shaft 43, and all planetary gears 36 are simultaneously engaged with the second ring gear 35 and the first sun gear 41, it should be pointed out that the number of planetary gears 36 is not necessarily three, and, two input gears are arranged on the rear side of the planet wheel 36 frame and are respectively in meshed transmission with a second inner gear ring 35 and a second sun gear 39, wherein a first input gear 40 meshed with the second inner gear ring 35 is connected with an output rotating shaft of the position servo motor 7, and a second input gear 38 meshed with the second sun gear 39 is connected with an output rotating shaft of the rigidity servo motor 6.
In another embodiment, the variable stiffness flexible drive includes a power take off mechanism, the power take off mechanism including: output rod 2, encoder support frame 9 and rotary encoder 1.
Wherein, rotary encoder 1 and output shaft 10 fixed connection realize the measurement of output position. The output rod 2 is fixedly connected with the output shaft 10 to realize power output. The encoder support frame 9 is fixedly connected with the rotary encoder 1. In the embodiment, when the variable-rigidity flexible driver based on the grooved cam disc and the double-planetary-gear train works: setting a target position and target rigidity for a driver, controlling the position servo motor 7 and the rigidity servo motor 6 to rotate by the driver by using a certain control algorithm, and quickly adjusting the output position until the target position according to the position returned by the rotary encoder 1; meanwhile, the moment arm of the lever 14 can be calculated according to the position of the second fulcrum 31, and the rigidity is further calculated, so that the output rigidity can be quickly adjusted until the target rigidity is reached.
When the position servo motor 7 and the rigidity servo motor 6 are powered on, the output position and the rigidity are given, and the position servo motor 7 and the rigidity servo motor 6 start to rotate. The position servo motor 7 drives the first input gear 40 to rotate, the first input gear 40 drives the second inner gear ring 35 to rotate around the axis line of the planetary gear system central shaft 42, the rigidity servo motor 6 drives the second input gear 38 to rotate, the second input gear 38 drives the second sun gear 39 to rotate around the axis line of the planetary gear system central shaft 42, and the first sun gear 41, the second sun gear 39 and the disk 32 rotate synchronously. In the differential planetary gear train ii, the two parts of the second ring gear 35 and the first sun gear 41 are simultaneously used as active input, the planet carrier 37 is used as a driven part and has unique output, and the planet carrier 37 is fixedly connected with the gear connecting disc 34 and the first ring gear 28 into a whole. When the disk 32 and the first internal gear 28 deflect relatively, the supporting point gear 29 and the first internal gear 28 move relatively, so that the second supporting point 31 on the reference circle of the supporting point gear 29 makes reciprocating linear motion along the diameter direction of the first internal gear 28, and the position of the second supporting point 31 in the chute of the lever 14 is changed, so that the length of the force arm of the lever 14 is changed, and further the rigidity is changed. Since the second fulcrum 31 makes periodic reciprocating linear motion in the sliding slot of the lever 14, only one initial point needs to be set, and the position of the second fulcrum 31 in the sliding slot of the lever 14 can be controlled by adjusting the relative deflection angle between the disc 32 and the first ring gear 28. The relative deflection angle of 360 degrees is taken as a period, 0 degree is set as the position with the minimum rigidity, and the positive direction is selected, so that the rigidity is increased when the relative deflection angle of the disk 32 and the inner gear ring I28 is increased from 0 degree to 180 degrees or is reduced from 360 degrees to 180 degrees, and the driver can be completely rigid to the maximum extent; the rigidity is reduced when the relative deflection angle is increased from 180 degrees to 360 degrees or is reduced from 180 degrees to 0 degrees, and the minimum rigidity can be zero.
When the position servo motor 7 rotates forwards, the stiffness servo motor 6 and the position servo motor 7 rotate at a certain angular velocity ratio to fix the relative position of the second fulcrum 31 and the lever 14, namely the stiffness of the driver is constant, and the output shaft 10 has a reverse rotation trend, the output rod 2 or the output shaft 10 does not rotate temporarily due to the action of external load impedance, at this moment, the springs 19 and 24 start to compress symmetrically (the compression amount is equal), and the deviation angle between the second disk 12 and the output rod 2 starts to generate and gradually increase. When the compression amount of the springs 19 and 24 reaches a certain value to push the output rod 2 to rotate, the output shaft 10 drives the output rod 2 to start to rotate reversely under the action of the springs 19 and 24. Due to the buffering effect of the spring, the function of flexible driving is realized.
When the position servo motor 7 rotates reversely, the stiffness servo motor 6 and the position servo motor 7 rotate at a certain angular velocity ratio to fix the relative position of the second fulcrum 31 and the lever 14, namely the stiffness of the driver is constant, and the output shaft 10 tends to rotate forwards, the output rod 2 or the output shaft 10 is not rotated temporarily due to the action of external load impedance, at the moment, the springs 19 and 24 begin to be compressed symmetrically (the compression amount is equal), and the deviation angle between the second disk 12 and the output rod 2 begins to generate and gradually increase. When the compression amount of the springs 19 and 24 reaches a certain value and is enough to push the output rod 2 to move, the output shaft 10 drives the output rod 2 to start to rotate forwards under the action of the springs 19 and 24. Due to the buffering effect of the spring, the function of flexible driving is realized.
The arc-shaped slotted holes on the first disc 11, the second disc 12 and the third disc 13 are identical in shape and are symmetrically arranged, the guide rails 16 and 27 and the springs 19 and 24 are symmetrically distributed by taking the axial lead of the output shaft 10 as the center, and when the rigidity is adjusted, the compression amount of the springs 19 and 24 can be consistent due to the symmetrical structure, so that the first disc 11, the second disc 12 and the third disc 13 are stressed in a balanced manner, and the rigidity adjusting process is more stable.
Claims (9)
1. A variable stiffness flexible drive characterized by: the variable-stiffness variable-fulcrum linear actuator comprises an actuator supporting mechanism, a variable-stiffness mechanism and a variable-fulcrum mechanism, wherein the actuator supporting mechanism comprises an actuator supporting seat, an actuator front cover, an actuator shell and an actuator rear cover;
the rigidity-variable mechanism comprises an output shaft, a lever, an output connecting rod, a first disk, a second disk and a third disk, wherein the output connecting rod, the first disk, the third disk and the output shaft are fixedly connected, the second disk is connected with the output shaft through a bearing, two arc-shaped slotted holes which are identical in size and are symmetrically arranged are formed in the disk surfaces of the first disk and the third disk, two slotted holes corresponding to the arc-shaped slotted holes are formed in the second disk, a guide rail sleeved with a spring is arranged in each slotted hole, two ends of the spring are respectively provided with a sliding block capable of freely sliding on the guide rail, two ends of the sliding block respectively extend into the arc-shaped slotted holes of the first disk and the third disk, the sliding block is driven by the spring to act on the inner walls of the arc-shaped slotted holes of the first disk and the third disk, so that the first disk, the third disk and the second disk tend to relatively fixed assembly positions, a strip-shaped sliding groove, the other end of the lever is arranged on a first fulcrum arranged behind the three opposite sides of the disc, and the first fulcrum freely slides in a sliding groove of the lever;
the variable fulcrum mechanism comprises a variable fulcrum planetary gear train and a differential planetary gear train, the variable fulcrum planetary gear train comprises a first inner gear ring, a disc and a fulcrum gear, the fulcrum gear is engaged with the first inner gear ring and meets the requirement that the radius of a reference circle of the fulcrum gear is equal to half of the radius of a reference circle of the first inner gear ring, a second fulcrum perpendicular to the disc surface of the fulcrum gear is arranged on the reference circle of the fulcrum gear, the second fulcrum is freely slidably arranged in a chute of a lever, the fulcrum gear is eccentrically arranged on the disc through a fulcrum gear connecting shaft, the disc and the inner gear ring are coaxially arranged, and the first inner gear ring is fixedly arranged with the second disc through a connecting piece; the differential planetary gear train comprises a planetary gear, an inner gear ring II, a planetary carrier, two input gears, a planetary gear train central shaft, a first sun gear and a second sun gear, wherein the first sun gear and the second sun gear are fixedly arranged on the planetary gear train central shaft, the middle part of the planetary gear train central shaft is arranged in the middle part of the planetary carrier through bearings, the two sun gears are respectively positioned on the front side and the rear side of the planetary carrier, a disk is fixedly arranged at the front side end part of the planetary gear train central shaft, the planetary carrier is fixed with the first inner gear ring through a gear connecting plate, the planetary gear is arranged on the front side of the planetary carrier and is simultaneously meshed with the second inner gear ring and the first sun gear ring, the two input gears are arranged on the rear side of the planetary carrier and are.
2. A variable stiffness flexible actuator as claimed in claim 1 wherein: the power output mechanism is arranged at the front end of the driver supporting mechanism and comprises an output rod and a rotary encoder, the rotary encoder is fixedly installed at the end part of the output shaft and used for measuring the output position, and the output rod is connected with the output shaft in a power transmission mode.
3. A variable stiffness flexible actuator as claimed in claim 1 wherein: the output shaft and the front cover of the driver are installed through a bearing.
4. A variable stiffness flexible actuator as claimed in claim 1 wherein: and two ends of the guide rail in the groove hole of the second disk are respectively provided with an anti-thrust sliding block, and the anti-thrust sliding blocks are positioned between the sliding blocks and the inner wall of the groove hole.
5. A variable stiffness flexible actuator as claimed in claim 1 wherein: the inner surfaces of the arc-shaped slotted holes in the first disc and the third disc are both arc-shaped, and the shapes of the arc-shaped slotted holes are used for trimming and optimizing an output rigidity curve according to different application targets.
6. A variable stiffness flexible drive as claimed in claim 5, wherein: two radial arc surfaces of the arc slotted hole are concentric arc surfaces.
7. A variable stiffness flexible actuator as claimed in claim 1 wherein: two guide rails in two slotted holes of the second disc are arranged in parallel.
8. A variable stiffness flexible actuator as claimed in claim 1 wherein: the height of the arc slotted holes in the first disc and the third disc in the length direction of the guide rail is larger than the width of the arc slotted holes in the length direction of the guide rail.
9. A variable stiffness flexible actuator as claimed in claim 1 wherein: and the rigidity servo motor is fixedly arranged on the driver supporting mechanism.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711053413.6A CN107856018B (en) | 2017-10-31 | 2017-10-31 | Variable-rigidity flexible driver |
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| CN201711053413.6A CN107856018B (en) | 2017-10-31 | 2017-10-31 | Variable-rigidity flexible driver |
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| CN107856018A CN107856018A (en) | 2018-03-30 |
| CN107856018B true CN107856018B (en) | 2020-05-08 |
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|---|---|---|---|---|
| DE102018008378B4 (en) * | 2018-10-22 | 2020-07-23 | Technische Universität Chemnitz | Elastic joint |
| 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 |
| CN110053076B (en) * | 2019-03-26 | 2020-11-13 | 清华大学 | Variable stiffness driver |
| 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 |
| 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 |
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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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2017
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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