CN109441978B - Variable damping driver based on fluid viscosity - Google Patents
Variable damping driver based on fluid viscosity Download PDFInfo
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- CN109441978B CN109441978B CN201811327940.6A CN201811327940A CN109441978B CN 109441978 B CN109441978 B CN 109441978B CN 201811327940 A CN201811327940 A CN 201811327940A CN 109441978 B CN109441978 B CN 109441978B
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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
- F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
- F16D57/00—Liquid-resistance brakes; Brakes using the internal friction of fluids or fluid-like media, e.g. powders
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Abstract
The invention discloses a variable damping driver based on fluid viscosity, which comprises a shell, wherein a hydraulic cylinder is arranged in the shell, a fixed bracket is arranged at the upper end of the hydraulic cylinder, and one end of the fixed bracket is fixed at the inner side of the shell; a hydraulic cavity is arranged in the hydraulic cylinder, a rotary piston is arranged in the hydraulic cavity, an input shaft is connected in the middle of the rotary piston, and a driving motor is installed at the end part of the input shaft; a hydraulic cavity fixing partition plate is connected in the hydraulic cavity, and a tension and compression spring is connected between the rotary piston and the hydraulic cavity fixing partition plate; the rotary piston is provided with a piston small hole, the piston small hole is provided with a damping hole stop block, and the damping hole stop block is connected with a damping adjusting device; the hydraulic cavity is internally provided with fluid, and the bottom of the hydraulic cylinder is connected with an output shaft. The variable damping driver based on fluid viscosity provided by the invention realizes real direct control of variable viscosity damping by changing the size of the damping small hole through the damping adjusting motor, and achieves random conversion between compliant driving and rigid driving.
Description
Technical Field
The invention relates to the technical field of variable damping drivers, in particular to a variable damping driver based on fluid viscosity.
Background
With the development of the robot industry and the application field, new requirements are put on various aspects of performances of the robot, and human-computer interaction is more and more frequent in life. The safety problem of human-computer interaction is more and more emphasized by people, and the compliance is introduced into the robot, but the compliance brings system oscillation to make the control of the robot more difficult, so that the compliance drive with adjustable impedance is very important.
The variable viscosity damping driver is a novel mechanical impedance adjustable compliant driver. In order to realize compliant driving, a common solution is to add an elastic element between the output end of the motor of the rigid driver and the load to form the compliant driver. Further, in order to realize adjustable mechanical impedance, most of the prior proposals are to add a stiffness changing mechanism on the basis of a compliant actuator. The research of the variable-rigidity compliant driver becomes a hot research field at home and abroad (for example, the Chinese patent with the publication number of CN 105345839A). Generally, the variable stiffness is realized by changing the fulcrum of the elastic element based on the lever principle. Some other researchers have proposed the idea of changing the physical damping, but the viscous damping of the actuator is simulated by changing the coulomb friction between the output of the motor and the load, and the physical damping is not really changed.
The existing variable-stiffness joint driver changes the position of a fulcrum of an elastic element through a lever principle so as to change the force required by rotating different angles, thereby realizing variable stiffness, being incapable of inhibiting system oscillation and realizing conversion between flexible drive and rigid drive, and having the defects of energy waste of an elastic unit, small variable-stiffness range, energy consumption and the like.
The existing variable damping scheme based on coulomb friction force does not really change the viscous damping of the system. But the coulomb friction force of the system is in proportional relation with the movement speed by a measuring and controlling method, thereby simulating the effect of viscous damping. There is a great deal of uncertainty in this indirect control. Under the working condition of large damping, the friction loss is extremely large, the energy consumption is high, and the driver cannot be completely locked.
Disclosure of Invention
The invention aims to provide a variable damping driver based on fluid viscosity, which aims to solve the problems in the prior art, realize real direct control of variable viscous damping by changing the size of a damping small hole through a damping adjusting motor, and achieve random conversion between flexible driving and rigid driving.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a variable damping driver based on fluid viscosity, which comprises a shell, wherein a hydraulic cylinder is arranged in the shell, a fixed support is arranged at the upper end of the hydraulic cylinder, and one end of the fixed support is fixed on the inner side of the shell; a hydraulic cavity is arranged in the hydraulic cylinder, a rotary piston is movably arranged in the hydraulic cavity, an input shaft is fixedly connected in the middle of the rotary piston, and a driving motor is installed at the end part of the input shaft; a hydraulic cavity fixing partition plate is fixedly connected in the hydraulic cavity, and a tension and compression spring is connected between the rotary piston and the hydraulic cavity fixing partition plate; the rotary piston and the hydraulic cavity partition plate divide the hydraulic cavity into four parts; the rotary piston is provided with a piston small hole, the piston small hole is movably provided with a damping hole stop block, and the damping hole stop block is connected with a damping adjusting device; and fluid is arranged in the hydraulic cavity, and the bottom of the hydraulic cylinder is connected with an output shaft.
Optionally, the damping adjusting device includes a sliding block, a sliding ring is slidably sleeved outside the sliding block, and the damping hole stopper is connected to the bottom of the sliding ring; the fixed bolster includes fixed platform and guide rail, the slider inboard slide set up in on the guide rail, the slider upper end is connected with damping adjustment motor through crank first connecting rod and crank second connecting rod, damping adjustment motor is fixed to be set up in the frame, the frame set up in on the fixed platform.
Optionally, the sliding block comprises a connecting hole at the upper end of the sliding block and a groove at the inner side of the sliding block; the output shaft of the damping adjusting motor is fixedly connected with the upper end of the first crank connecting rod, the lower end of the first crank connecting rod is rotatably connected with the upper end of the second crank connecting rod, and the lower end of the second crank connecting rod is connected to the sliding block through a connecting hole in the upper end of the sliding block.
Optionally, the slip ring comprises a first bearing, a first bearing upper end cover and a first bearing lower end cover; the inner ring of the first bearing is fixedly matched with the lower end of the sliding block, the outer ring of the first bearing is fixedly matched with the lower end cover of the first bearing, the lower end cover of the first bearing is provided with a damping hole stop block mounting hole, and the damping hole stop block mounting hole is connected with the damping hole stop block; and the first bearing upper end cover and the first bearing lower end cover are fixed on two sides of the first bearing.
Optionally, the hydraulic cylinder includes a hydraulic chamber, a cylinder cover of the hydraulic cylinder, a hydraulic cylinder end cover, a second bearing and a second bearing end cover; the hydraulic cylinder cover is arranged above the hydraulic cylinder, the inner ring of the second bearing is fixedly matched with the hydraulic cylinder cover, the outer ring of the second bearing is matched with the hydraulic cylinder end cover, and the second bearing end cover is arranged on the second bearing; and the upper end of the damping hole stop block penetrates through a cylinder cover of the hydraulic cylinder and then is connected with the damping adjusting device.
Optionally, O-shaped rubber rings are respectively arranged between the hydraulic cylinder and the hydraulic cylinder end cover, between the hydraulic cylinder end cover and the hydraulic cylinder cover, between the damping hole block and the hydraulic cylinder cover, and between the input shaft and the hydraulic cylinder cover.
Optionally, an encoder is installed on the fixed support, a pair of meshing teeth is connected to the lower end of the encoder, and the meshing teeth are installed on the second bearing end cover.
Optionally, a third bearing is arranged between the hydraulic cylinder and the shell, the third bearing is connected with the hydraulic cylinder through a third bearing upper end cover, and the third bearing is connected with the shell through a third bearing lower end cover.
Compared with the prior art, the invention has the following technical effects:
the invention realizes the innovation of the principle that the compliance driver changes the compliance. The variable damping of the driver is realized by changing the size of the small hole of the piston. Between the input shaft and the output shaft, the hole stop block moves up and down to change the size of the small hole of the piston through which fluid passes, so that the change of the torque acted on the output shaft by the input shaft is realized. The ratio of the torque to the relative rotational angular velocity of the input shaft and the output shaft is the output damping of the driver relative to the outside, and the change of the torque realizes the change of the output damping. The dynamic characteristic of the driver can be adjusted on line by changing the size of the small hole of the shielding piston, and the dynamic performance is good. This is a true direct variable viscosity damping drive.
The invention innovatively realizes the mutual conversion of the flexible drive and the rigid drive of the variable damping driver device. The actuator is compliant with two degrees of freedom for actuation when the piston orifice is not occluded and rigid with one degree of freedom when the piston orifice is fully occluded. The damping adjusting range is large, and the variable damping mechanism does not have any energy loss after being locked.
The invention innovatively uses a crank connecting rod, a sliding block and a sliding ring, a damping hole stop block and a rotary piston mechanism. The hole baffle bottom area is less, and the hydraulic pressure chamber is less to hole baffle effort. The damping adjusting motor drives the crank connecting rod mechanism to enable the damping hole stop block to shield the small piston hole in the rotary piston, the moving direction of the damping hole stop block is perpendicular to the final output torque direction, and the damping adjusting motor has the characteristic of low damping adjusting energy consumption.
The invention innovatively gets rid of the adjusting mechanism that most of the adjustable impedance flexible drivers are limited to variable stiffness driving. The output torque and the damping coefficient are adjusted by changing the fluid viscosity damping, and the principle is simple and easy to realize.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic view of the transmission of the present invention;
FIG. 2 is a schematic diagram of an input structure of the present invention;
FIG. 3 is a schematic view of the crank link slider mechanism installation of the present invention;
FIG. 4 is a schematic view of the hydraulic cylinder mounting structure of the present invention;
FIG. 5 is a schematic view of a slider slip ring mounting mechanism of the present invention;
FIG. 6 is a schematic view of the tension and compression spring installation of the present invention;
FIG. 7 is a schematic view of the overall structure of the present invention;
FIG. 8 is a geometric schematic of a rotary piston of the present invention;
FIG. 9 is a schematic view showing a change in the operating state of the piston bores of the present invention;
wherein, 1 is an input shaft, 2 is a damping hole stopper, 3 is a rotary piston, 4 is a piston small hole, 5 is an output shaft, 5-1 is a hydraulic cylinder, 5-2 is an oil injection hole, 6 is a hydraulic cavity fixing clapboard, 7 is a tension and compression spring, 7-1 is a spring fixing frame, 8 is a hydraulic cavity, 9 is a driving motor, 10 is a damping adjusting device, 10-1 is a damping adjusting motor, 10-2 is a fixing rod, 10-3 is a crank second connecting rod, 10-4 is a crank first connecting rod, 10-5 is a frame, 11 is a fixing platform, 12 is a guide rail, 13 is a sliding ring, 13-1 is a hole stopper mounting hole, 13-2 is a first bearing upper end cover, 13-3 is a first bearing, 13-4 is a first bearing lower end cover, 14 is a sliding block, 14-1 is a sliding block upper end connecting hole, 14-2 is a sliding block inner side groove, 15 is a hydraulic cylinder cover, 16 is a second bearing end cover, 17 is a hydraulic cylinder end cover, 18 is an O-shaped rubber ring, 19 is a second bearing, 20 is a shell, 21 is an encoder, 22 is a meshing tooth, 23 is a third bearing, 24 is a third bearing lower end cover, 25 is a third bearing upper end cover, and 26 is an elastic coupling.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a variable damping driver based on fluid viscosity, which aims to solve the problems in the prior art, realize real direct control of variable viscous damping by changing the size of a damping small hole through a damping adjusting motor, and achieve random conversion between flexible driving and rigid driving.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The invention provides a variable damping driver based on fluid viscosity, which mainly comprises an input structure and a transmission structure, and particularly comprises a driving motor 9 and a damping adjusting device 10, wherein the damping adjusting device 10 comprises a damping adjusting motor 10-1, a frame 10-5, a first crank connecting rod 10-4, a second crank connecting rod 10-3 and a sliding block 14, as shown in figures 1-9. The variable damping driver based on fluid viscosity further comprises a fixed support, and the fixed support comprises a fixed platform 11 and a guide rail 12. The invention also comprises a slip ring 13, two damping hole stoppers 2, an input shaft 1, a hydraulic cylinder 5-1, a rotary piston 3, two piston small holes 4, a hydraulic cavity fixing partition plate 6, two oil injection holes 5-2, a hydraulic cavity 8, an output shaft 5, two tension and compression springs 7, an encoder 21, a pair of meshing teeth 22, four spring fixing frames 7-1, a hydraulic cylinder end cover 17, a hydraulic cylinder cover 15, two elastic coupling shafts 26 and a shell 20; wherein the hydraulic chamber 8 comprises four divided C1, C2, C3 and C4 hydraulic chambers.
An output shaft of a damping adjusting motor 10-1 is fixedly connected with the upper end of a first crank connecting rod 10-4, the lower end of the first crank connecting rod 10-4 is rotatably connected with the upper end of a second crank connecting rod 10-3, and the lower end of the second crank connecting rod 10-3 is connected with the upper end of a sliding block 14; the input shaft 1 drives the rotary piston 3 to rotate, a pair of tension and compression springs 7 are respectively arranged in a C2 hydraulic cavity and a C4 hydraulic cavity, one end of each tension and compression spring 7 is fixed on the rotary piston 3, the other end of each tension and compression spring is fixed on a hydraulic cavity fixing partition plate 6, the upper end of a damping hole stop block 2 is fixedly connected with a bearing lower end cover 13-4, and the lower end of the damping hole stop block 2 is arranged at two ends of a piston small hole 4. The encoder 21 is installed on the fixed platform 11, the lower end is connected with a meshing tooth 22, and the meshing tooth 22 is installed on the second bearing end cover 16. The third bearing 23 is mounted between the housing 20 and the cylinder 5 by a third bearing upper end cover 25 and a third bearing lower end cover 24.
Preferably, as shown in fig. 1 and fig. 6, the pair of tension and compression springs 7 have the same structure, the pair of tension and compression springs are respectively disposed at two sides of the rotary piston 3 in an axisymmetric manner and in the C2 hydraulic chamber and the C4 hydraulic chamber, respectively, the fixing frames of the pair of tension and compression springs 7 are installed at two ends of the rotary piston 3 and the hydraulic chamber fixing baffle 6 in an axisymmetric manner, and the two tension and compression springs 7 are not stressed at the initial position.
As shown in figure 3, connecting holes are processed on two sides of the upper end of a first connecting rod 10-4 of the crank, a fixing rod 10-2 and the connecting holes are processed at the lower end of the first connecting rod 10-4 of the crank, a convex cylinder connected with the first connecting rod 10-4 of the crank is processed at the upper end of a second connecting rod 10-3 of the crank, a convex cylinder connected with a sliding block 13-1 is arranged at the lower end of the second connecting rod 10-3 of the crank, and a mounting interface connected with the first connecting rod 10-4 of the crank is.
Referring to fig. 2, 3 and 5, a sliding block 14 comprises a connecting hole 14-1 at the upper end of the sliding block and a groove 14-2 at the inner side of the sliding block, a sliding ring 13 comprises a first bearing 13-3, an upper end cover 13-2 of the first bearing, a lower end cover 13-4 of the first bearing and a hole block mounting hole 13-1, a fixed support comprises a fixed platform 11 and a guide rail 12, the groove 14-2 at the inner side of the sliding block is arranged on the guide rail 12 on the fixed platform 11, the inner ring of the first bearing 13-3 is fixedly matched with the lower end of the sliding block 14, the outer ring of the first bearing 13-3 is fixedly matched with the lower end cover 13-4 of the first bearing, the lower end cover 13-4 of the first bearing is provided with a damping hole block mounting hole 13-1 for connecting the damping hole block 2, the upper end cover 13-2 of the first bearing and the lower end cover 13-4, the upper end cover and the lower end cover of the first bearing can rotate along with the outer ring of the first bearing 13-3.
As shown in fig. 1 and 4, the hydraulic cylinder includes a hydraulic chamber 8, and the hydraulic chamber 8 is divided into four hydraulic chambers C1, C2, C3, and C4 by a hydraulic chamber fixing partition 6 and a rotary piston 3; the hydraulic cylinder also comprises a hydraulic cylinder cover 15, a hydraulic cylinder end cover 17, a second bearing 19 and a second bearing end cover 16; the damping hole block 2 penetrates through a hydraulic cylinder cover 15, the hydraulic cylinder cover 15 is arranged above a hydraulic cylinder, an inner ring of a second bearing 19 is fixedly matched with the hydraulic cylinder cover 15, an outer ring of the second bearing 19 is matched with a hydraulic cylinder end cover 17, a second bearing end cover 16 is arranged on the second bearing 19, the hydraulic cylinder is sealed by adopting an O-shaped rubber ring 18, and O-shaped rubber rings 18 are arranged between the hydraulic cylinder and the hydraulic cylinder end cover, between the hydraulic cylinder end cover and the hydraulic cylinder cover, between the hole block and the hydraulic cylinder cover, and between the input shaft and the hydraulic cylinder cover respectively.
As shown in fig. 8 and 9, in the application of the present invention, the variable damping principle is to change the pressure difference between two sides of the rotary piston by changing the size of the damping hole, and is shown as follows:
orifice flow equation: q-kAp
m；
Flow through the rotary piston orifice:
pressure difference between two sides of the rotary piston:
hydraulic chamber damping moment:
damping coefficient:
wherein k is the shape and size of the damping holeAnd the coefficient of the liquid property, A is the opening area of the damping hole, p is the pressure difference between two sides of the rotary piston, m is determined by the shape and size of the damping hole, h is the height of the rotary piston, R
1,R
2Respectively the outer diameter and the inner diameter of the rotary piston, tau is the damping moment of the hydraulic cavity, D
tAs damping coefficient, K
0Is a system structure parameter, rho is the viscosity coefficient of hydraulic oil, C
dIs the flow coefficient, h
0Δ y is the distance the slider moves downward, which is the height of the orifice.
Specifically, the implementation process of the invention can be divided into two parts, one is driving of the driver, and the other is damping adjustment. The driver drives, namely the driving motor 9 drives the input shaft 1 and the rotary piston 3 to rotate, the rotary piston 3 applies force to a hydraulic cavity fixing partition plate 6 in the hydraulic cylinder through a connected tension and compression spring 7, so that the hydraulic cylinder 5-1 rotates, namely the output shaft 5 rotates; meanwhile, the rotary piston 3 applies force to the fluid in the hydraulic cavity, and the force is transmitted to the hydraulic cylinder 5-1 by the fluid, so that the hydraulic cylinder 5-1 rotates, namely the output shaft 5 rotates.
And in the damping adjustment, a damping adjustment motor 10-1 drives a crank-link mechanism to enable a sliding block 14 and a sliding ring 13 to move downwards, meanwhile, a damping hole baffle block 2 connected to the sliding ring 13 moves downwards, the size of a piston small hole 4 of fluid passing through a rotating piston 3 is changed, so that the torque provided by fluid damping in transmission is changed, and the output damping is expressed as the ratio of the output torque to the relative rotating speed of an input shaft 1 and an output shaft 5, so that the change of the output torque is the change of joint output damping under the condition of a certain relative rotating speed, and the aim of adjusting the damping is fulfilled. It is noted that the present invention can achieve the interconversion between compliant actuation and rigid actuation, compliant actuation when the piston orifice 4 is not fully occluded, and rigid actuation when the piston orifice 4 is fully occluded due to the incompressible nature of the fluid.
The variable damping range is from 0 to infinity, and finally the lock is converted into rigid drive, namely the conversion from series elastic drive to rigid drive can be realized.
Due to the locking function (the small hole of the piston is completely shielded), the elastic potential energy of the elastic element can be stored by proper control, and explosive motion such as jumping, throwing and the like can be realized.
The variable damping can be realized by directly utilizing electrorheological fluid (electrorheological fluid, electromagnetic rheological fluid) and changing the flowing viscosity coefficient of the fluid.
When the strength of the external electric field is greatly lower than a certain critical value, the electrorheological fluid is in a liquid state; when the electric field strength is much higher than this critical value, it becomes solid.
Electrorheological fluids require an external electric field, are complex in structure, and may interfere with certain electronic components.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. A variable damping actuator based on fluid viscosity, characterized by: the hydraulic cylinder is arranged in the shell, a fixed support is arranged at the upper end of the hydraulic cylinder, and one end of the fixed support is fixed on the inner side of the shell; a hydraulic cavity is arranged in the hydraulic cylinder, a rotary piston is movably arranged in the hydraulic cavity, an input shaft is fixedly connected in the middle of the rotary piston, and a driving motor is installed at the end part of the input shaft; a hydraulic cavity fixing partition plate is fixedly connected in the hydraulic cavity, and a tension and compression spring is connected between the rotary piston and the hydraulic cavity fixing partition plate; the rotary piston and the hydraulic cavity partition plate divide the hydraulic cavity into four parts; the rotary piston is provided with a piston small hole, the piston small hole is movably provided with a damping hole stop block, and the damping hole stop block is connected with a damping adjusting device; and fluid is arranged in the hydraulic cavity, and the bottom of the hydraulic cylinder is connected with an output shaft.
2. The fluid viscosity based variable damping drive of claim 1, wherein: the damping adjusting device comprises a sliding block, a sliding ring is sleeved outside the sliding block in a sliding mode, and a damping hole stopper is connected with the bottom of the sliding ring; the fixed bolster includes fixed platform and guide rail, the slider inboard slide set up in on the guide rail, the slider upper end is connected with damping adjustment motor through crank first connecting rod and crank second connecting rod, damping adjustment motor is fixed to be set up in the frame, the frame set up in on the fixed platform.
3. The fluid viscosity based variable damping drive of claim 2, wherein: the sliding block comprises a connecting hole at the upper end of the sliding block and a groove at the inner side of the sliding block; the output shaft of the damping adjusting motor is fixedly connected with the upper end of the first crank connecting rod, the lower end of the first crank connecting rod is rotatably connected with the upper end of the second crank connecting rod, and the lower end of the second crank connecting rod is connected to the sliding block through a connecting hole in the upper end of the sliding block.
4. The fluid viscosity based variable damping drive of claim 2, wherein: the slip ring comprises a first bearing, a first bearing upper end cover and a first bearing lower end cover; the inner ring of the first bearing is fixedly matched with the lower end of the sliding block, the outer ring of the first bearing is fixedly matched with the lower end cover of the first bearing, the lower end cover of the first bearing is provided with a damping hole stop block mounting hole, and the damping hole stop block mounting hole is connected with the damping hole stop block; and the first bearing upper end cover and the first bearing lower end cover are fixed on two sides of the first bearing.
5. The fluid viscosity based variable damping drive of claim 1, wherein: the hydraulic cylinder comprises a hydraulic cavity, a hydraulic cylinder cover, a hydraulic cylinder end cover, a second bearing and a second bearing end cover; the hydraulic cylinder cover is arranged above the hydraulic cylinder, the inner ring of the second bearing is fixedly matched with the hydraulic cylinder cover, the outer ring of the second bearing is matched with the hydraulic cylinder end cover, and the second bearing end cover is arranged on the second bearing; and the upper end of the damping hole stop block penetrates through a cylinder cover of the hydraulic cylinder and then is connected with the damping adjusting device.
6. The fluid viscosity based variable damping drive of claim 5, wherein: o-shaped rubber rings are respectively arranged between the hydraulic cylinder and the hydraulic cylinder end cover, between the hydraulic cylinder end cover and the hydraulic cylinder cover, between the damping hole block and the hydraulic cylinder cover and between the input shaft and the hydraulic cylinder cover.
7. The fluid viscosity based variable damping drive of claim 5, wherein: the encoder is installed on the fixed support, a pair of meshing teeth are connected to the lower end of the encoder, and the meshing teeth are installed on the second bearing end cover.
8. The fluid viscosity based variable damping drive of claim 1, wherein: the pneumatic cylinder with be provided with the third bearing between the shell, the third bearing pass through third bearing upper end cover with the pneumatic cylinder is connected, the third bearing pass through third bearing lower end cover with the shell is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811327940.6A CN109441978B (en) | 2018-11-09 | 2018-11-09 | Variable damping driver based on fluid viscosity |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811327940.6A CN109441978B (en) | 2018-11-09 | 2018-11-09 | Variable damping driver based on fluid viscosity |
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| CN109441978A CN109441978A (en) | 2019-03-08 |
| CN109441978B true CN109441978B (en) | 2020-02-11 |
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| CN201811327940.6A Expired - Fee Related CN109441978B (en) | 2018-11-09 | 2018-11-09 | Variable damping driver based on fluid viscosity |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110815283A (en) * | 2019-11-05 | 2020-02-21 | 天津大学 | Damping-variable compliant joint driver of robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4820114A (en) * | 1985-06-05 | 1989-04-11 | Canon Kabushiki Kaisha | Compliance apparatus of a robot hand |
| CN103753598A (en) * | 2013-11-05 | 2014-04-30 | 上海大学 | Rigidity-flexibility automatic switching variable rigidity flexible driver device |
| CN104029214A (en) * | 2014-05-12 | 2014-09-10 | 杭州电子科技大学 | Controllable rigidity-variable flexible driver |
| CN104626196A (en) * | 2014-12-12 | 2015-05-20 | 华北电力大学 | Changeable rigidity flexibility actuator |
| CN107571255A (en) * | 2017-10-20 | 2018-01-12 | 杭州电子科技大学 | A kind of submissive driver of controllable damping for joint of robot |
| CN108714913A (en) * | 2018-06-06 | 2018-10-30 | 清华大学 | Variation rigidity flexible actuator |
-
2018
- 2018-11-09 CN CN201811327940.6A patent/CN109441978B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4820114A (en) * | 1985-06-05 | 1989-04-11 | Canon Kabushiki Kaisha | Compliance apparatus of a robot hand |
| CN103753598A (en) * | 2013-11-05 | 2014-04-30 | 上海大学 | Rigidity-flexibility automatic switching variable rigidity flexible driver device |
| CN104029214A (en) * | 2014-05-12 | 2014-09-10 | 杭州电子科技大学 | Controllable rigidity-variable flexible driver |
| CN104626196A (en) * | 2014-12-12 | 2015-05-20 | 华北电力大学 | Changeable rigidity flexibility actuator |
| CN107571255A (en) * | 2017-10-20 | 2018-01-12 | 杭州电子科技大学 | A kind of submissive driver of controllable damping for joint of robot |
| CN108714913A (en) * | 2018-06-06 | 2018-10-30 | 清华大学 | Variation rigidity flexible actuator |
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| CN109441978A (en) | 2019-03-08 |
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