CN109623871A - A kind of master-passive stiffness-shift joint and its stiffness tuning method - Google Patents
A kind of master-passive stiffness-shift joint and its stiffness tuning method Download PDFInfo
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- CN109623871A CN109623871A CN201910154197.7A CN201910154197A CN109623871A CN 109623871 A CN109623871 A CN 109623871A CN 201910154197 A CN201910154197 A CN 201910154197A CN 109623871 A CN109623871 A CN 109623871A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/068—Actuating means with variable stiffness
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Abstract
The present invention is a kind of master-passive stiffness-shift joint and its stiffness tuning method, including joint output rod, joint drive bar, central axis, stepper motor, motor mount, helical teeth gear wheel, torsional spring, helical pinion, first group of steel ball, the first cone disk, the first disc spring, the first sliding block, the second sliding block, the second disc spring, the second cone disk, second group of steel ball, left end cap, the first pressure spring, right-handed nut, left-handed nut, sleeve, the second pressure spring, the first axle sleeve, the second axle sleeve.By adjusting the decrement of two disc springs, so that joint stiffness changes, the active variable stiffness function in joint is realized；When joint occurs to turn clock synchronization relatively, torsional spring twists, sleeve is deformed, so that first group of steel ball and the first cone disk and second group of steel ball and the second cone disk cooperate two-by-two, radial displacement is converted into axial displacement, the first disc spring and the second disc spring are compressed, the relative rotation of joint drive bar and joint output rod is hindered, realizes the flexible output in joint.
Description
Technical field
The present invention relates to joint of robot technical field, in particular to a kind of master-passive stiffness-shift joint and its rigidity tune
Section method.
Background technique
With the fast development of science and technology, traditional rigid machine people design has had reached the limit.Service therapeutic machine at present
Device people is risen, and in field of human-computer interaction, security constraint is robot and the importance of human interaction, and conventional rigid robot
Movement is slow and is short of power, and practical application is difficult；In industrial production, flexible assembly, determine load assembling field, flexibility is to mutual
Active force is more sensitive and the application of high-precision torque sensor is lacked there are at high cost, control system requirement of real-time are high
Point.
Application number 201710289744.3 discloses a kind of compact variation rigidity rotation flexible joint, including joint drive
Disk, joint output panel, the passive inner disc in joint, the first cam, the first passive stiffness-shift adjusting seat, first group of compressed spring, optical axis,
First variation rigidity adjusting seat, worm screw structure, the second variation rigidity adjusting seat, second group of compressed spring, the second passive stiffness-shift
Adjusting seat, the second cam, roller gear, worm screw, absolute type encoder, motor and arc rack, although the mechanism has master-quilt
The dynamic function of adjusting joint stiffness, but structure is relative complex, designed joint overall dimension are diameter 160mm, high 45mm, soft
Property deformation maximum angle be 45 °, volume is larger and relative rotation is smaller, be applied to popularity on various medium and small humanoid robots by
To limitation.The structure in existing variation rigidity joint is relative complex, and volume is larger, and control is complicated, and variation rigidity characteristic is poor, based on above-mentioned
Reason, designing the variation rigidity joint that a kind of structure is simple, small in size, active stiffness control characteristic is good has important reality meaning
Justice.
Summary of the invention
In view of the deficiencies of the prior art, the technical problem to be solved by the present invention is to provide a kind of master-passive stiffness-shift joint
And its stiffness tuning method, the joint can be used for joint revolute robot, structure is simple, small and exquisite, adjustment quickly, energy conservation and
With biggish stiffness equivalent range.
The technical solution that the present invention solves the technical problem is to provide a kind of master-passive stiffness-shift joint, including joint
Output rod, joint drive bar, central axis, stepper motor, motor mount, the both ends of central axis be separately connected joint output rod and
Joint drive bar, stepper motor are fixed on the output rod of joint by motor mount；It is characterized in that, the joint further includes oblique
Tooth gear wheel, torsional spring, helical pinion, first group of steel ball, the first cone disk, the first disc spring, the first sliding block, the second sliding block, second
Disc spring, the second cone disk, second group of steel ball, left end cap, the first pressure spring, right-handed nut, left-handed nut, sleeve, the second pressure spring, first
Axle sleeve, the second axle sleeve；
It is above-mentioned first cone disk, the first sliding block, the first disc spring, the first pressure spring respectively with it is corresponding second cone disk, the second sliding block,
Second disc spring, the second pressure spring shape and structure are identical；
The output end of stepper motor is connected by key helical pinion, and helical pinion is meshed with helical teeth gear wheel, tiltedly
Tooth gear wheel and central axis cooperate, and fix with joint output rod；Torsional spring, one end and joint of the torsional spring are wound outside sleeve
Output rod is fixed, and the other end is fixed with joint drive bar；
It is the center shaft shoulder in the middle part of the central axis, the shaft part at center shaft shoulder both ends is lead screw, and two lead screws are oppositely oriented, silk
It is primary optic axis on the outside of thick stick；The outside of primary optic axis is the second optical axis, and keyway is equipped on the second optical axis of side；Second light
The outside of axis is third optical axis, and the outside of third optical axis is thread spindle, primary optic axis, the second optical axis, third optical axis, thread spindle two
There is the shaft shoulder between two；
Left end cap, the second pressure spring, the second cone disk, the second dish are successively nested on the central axis from driving end to output end
Spring, left-handed nut, right-handed nut, the first disc spring, the first cone disk, the first pressure spring, helical teeth gear wheel, the left-handed nut, dextrorotation
Nut is threadedly attached on the corresponding lead screw of central axis, and the second cone disk, the first cone disk are separately fixed at the first of central axis
On optical axis；On second optical axis of the central axis that helical teeth gear wheel is mounted on the outside of the first cone disk by keyway, left end cap is located at the
On second optical axis of the central axis on the outside of plug tap disk；First disc spring, the first pressure spring, the second disc spring, the second pressure spring are in
There are gaps between mandrel；The left end cap is mounted on the second optical axis of central axis by interference fit, passes through the second axis
Set carries out axially position to it；
The first cone disk is circular platform type, has been evenly arranged multiple steel bead grooves, the larger diameter end of rotary table on the side of rotary table
Close to adjacent right-handed nut, rotary table center is through-hole, is covered on the primary optic axis of central axis, and the smaller diameter end of rotary table is equipped with pressure
Spring slot；
The sleeve covers on first group of steel ball and second group of steel ball, and uniformly distributed multiple cunnings are provided on the circumference of left and right ends
Slot, while a through slot is provided on the circumference side of sleeve；First group of steel ball is located in the steel bead groove of the first cone disk, leads to
The flange for crossing left end cap stretching limits its axial displacement；Second group of steel ball is located in the steel bead groove of the second cone disk, by oblique
Tooth gear wheel limits its axial displacement；
First slide block set limits its rotation on right-handed nut, and the lateral surface of the first sliding block is axially equal along the first sliding block
Even to be provided with multiple protrusions, convex shape is matched with the sliding slot on sleeve, and protrusion can horizontally slip in sliding slot；Described second
Slide block set limits its rotation on left-handed nut.
Above-mentioned master-passive stiffness-shift joint stiffness tuning method, the process of this method is: stepper motor passes through gear
Transmission drives central axis rotation, and the left and right spin nut on central axis is axially moveable to both ends respectively, so that the first cone disk and the
Steel ball on plug tap disk it is mobile in steel bead groove and then and barrel contacts, and then the torsion of torsional spring is hindered, by adjusting two dish
The decrement of spring realizes the active variable stiffness function in joint so that joint stiffness changes；When joint occurs opposite turn pair
When, torsional spring twists, and radial deformation occurs for internal diameter, and sleeve is deformed, so that first group of steel ball and the first cone
Disk and second group of steel ball and the second cone disk cooperate two-by-two, and radial displacement is converted to axial displacement, compresses the first disc spring
With the second disc spring, the relative rotation of joint drive bar and joint output rod is hindered, realizes the flexible output in joint, i.e. realization joint
Passive stiffness-shift function.
The present invention compared with the existing technology, has the advantages that
1. central diameter in torsional spring twist process, which is dexterously utilized, in the joint changes this characteristic, it is hindered by combining mechanism
Variation, realizes the master-passive stiffness-shift function in joint；Since torsional spring is simple and compact for structure, it is suitable for twist mode joint machine
People, and spring has energy-storage function in twist process.
2. the rotation in joint is realized in the variation rigidity joint by the torsion of torsional spring, the flexible output of driving moment is realized,
So that joint has higher safety in human-computer interaction process.
3. central axis two symmetrical shaft parts cleverly be machined into oppositely oriented screw thread in the joint, it can be logical by motor
The rotation of gear set drive axis is crossed, two oppositely oriented nuts compress disc spring simultaneously, and the decrement of two disc springs is identical, structure
Simply, compact, dexterously realize master-passive stiffness-shift function.
4. dexterously hindering the variation of torsional spring central diameter in the joint using the compressive deformation of disc spring, main-passive become is realized
Rigidity function, compared with pressure spring, have many advantages, such as bearing capacity is big, occupy little space with it is compact-sized.
5. the present invention amplifies axial force using the form of feed screw nut and reduction gearing, compact-sized, reduce
The power demand of motor.
6. designed joint overall dimension is diameter 42mm, high 52mm, plastic deformation maximum angular in the embodiment of the present invention
Degree is 100 °, small in size with compact-sized compared with existing variation rigidity joint, and strong applicability, stiffness equivalent range are big etc.
Advantage.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of embodiment in master-passive stiffness-shift of the invention joint；
Fig. 2 is that a kind of structure of the joint implementation stiffness tuning part of the embodiment in master-passive stiffness-shift joint of the invention is shown
It is intended to；
Fig. 3 is that the internal junction of stiffness tuning part is implemented in a kind of joint of the embodiment in master-passive stiffness-shift joint of the invention
Structure schematic diagram；
Fig. 4 is A-A direction flexibility the schematic diagram of the section structure of the master-passive stiffness-shift joint of the invention along Fig. 2；
Fig. 5 is a kind of schematic perspective view of the sleeve 21 of the embodiment in master-passive stiffness-shift joint of the invention；
Fig. 6 is a kind of schematic perspective view of the first sliding block 21 of the embodiment in master-passive stiffness-shift joint of the invention；
Fig. 7 is a kind of schematic perspective view of the first cone disk 10 of the embodiment in master-passive stiffness-shift joint of the invention；
Fig. 8 is a kind of 8 structural schematic diagram of central axis of the embodiment in master-passive stiffness-shift joint of the invention；
(1, stepper motor in figure；2, motor mount；3, joint output rod；4, helical teeth gear wheel；5, torsional spring；6, joint
Drive rod；7, helical pinion；8, central axis；9, first group of steel ball；10, the first cone disk；11, the first disc spring；12, first is sliding
Block；13, the second sliding block；14, the second disc spring；15, the second cone disk；16, second group of steel ball；17, left end cap；18, the first pressure spring；
19, right-handed nut；20, left-handed nut；21, sleeve；22, the second pressure spring；23 first axle sleeves, 24 second axle sleeves；211, sliding slot,
212, through slot；102, steel bead groove)
Specific embodiment
Specific embodiments of the present invention are given below.Specific embodiment is only used for that present invention be described in more detail, unlimited
The protection scope of the application processed.
Master-passive stiffness-shift joint in the present invention, including stepper motor, motor mount, joint output rod, helical teeth canine tooth
Wheel, torsional spring, joint drive bar, helical pinion, central axis, first group of steel ball, the first cone disk, the first disc spring, the first sliding block, the
Two sliding blocks, the second disc spring, the second cone disk, second group of steel ball, left end cap, the first pressure spring, right-handed nut, left-handed nut, sleeve, the
Two pressure springs, the first axle sleeve, the second axle sleeve；
The stepper motor is mounted on the output rod of joint by motor mount, and the output end of stepper motor is connected by key
Helical pinion is connect, one end and the joint output rod of the torsional spring are fixed, and the other end is fixed with joint drive bar；The joint is defeated
Rod is fixed with helical teeth gear wheel, and the helical teeth gear wheel and central axis cooperate；
Be the center shaft shoulder 801 in the middle part of the central axis, the shaft part at center shaft shoulder both ends is lead screw 802, two lead screws it is outer
Side is primary optic axis 803；The outside of primary optic axis is the second optical axis 804, and keyway 805 is equipped on the second optical axis of side；The
The outside of two optical axises is third optical axis 806, and the outside of third optical axis is thread spindle 807, primary optic axis, the second optical axis, third light
There is the shaft shoulder between any two in axis, thread spindle；
Left end cap 17, the second pressure spring 22, second cone disk are successively nested on the central axis 8 from driving end to output end
15, the second disc spring 14, left-handed nut 20, right-handed nut 19, the first disc spring 11, first bore disk 10, the first pressure spring 18, helical teeth canine tooth
Wheel 4, the left-handed nut 20, right-handed nut 19 are threadedly attached on the lead screw of central axis 8, and the second cone disk 15, first is bored
Disk 10 is separately fixed on the primary optic axis of central axis 8；During helical teeth gear wheel is mounted on the outside of the first cone disk by keyway 805
On second optical axis of mandrel 8, left end cap 17 is located on the second optical axis of the central axis on the outside of the second cone disk；First disc spring
11, there are gaps between central axis 8 for the first pressure spring 18, the second disc spring 14, the second pressure spring 22；The left end cap 17 passed through
It is full of and is fitted on the second optical axis 804 of central axis 8, axially position is carried out to it by the second axle sleeve 24；
The first cone disk 10 is identical with the second cone dish structure, is circular platform type, has been evenly arranged on the side of rotary table more
A steel bead groove 102, for the larger diameter end of rotary table close to adjacent right-handed nut 19 or left-handed nut, rotary table center is through-hole, is covered
On the primary optic axis of central axis, the smaller diameter end of rotary table is equipped with pressure spring slot 101；
The sleeve 21 is covered (referring to Fig. 5) on first group of steel ball 9 and second group of steel ball 16, is opened on the circumference of left and right ends
There are uniformly distributed multiple sliding slots 211, multiple sliding slot interlaced arrangements of left and right ends, while being provided with one on the circumference side of sleeve
Through slot 212；First group of steel ball 9 is located in the steel bead groove 102 of the first cone disk 10, is limited by the flange that left end cap 17 stretches out
Its axial displacement；Second group of steel ball 16 is located in the steel bead groove 102 of the second cone disk 15, limits it by helical teeth gear wheel 4
Axial displacement；
12 sets of first sliding block limits its rotation on right-handed nut 19, and the lateral surface of sliding block is axially uniformly set along sliding block
Multiple raised 122 are equipped with, convex shape is matched with the sliding slot on sleeve, and protrusion can horizontally slip in sliding slot；Described second
13 sets of sliding block limit its rotation on left-handed nut 20, and the second sliding block is identical as the first slider shape structure.
Be by the stiffness tuning method that above-mentioned master-passive stiffness-shift joint is realized: stepper motor is driven by gear drive
Central axis rotation, the left and right spin nut on central axis are axially moveable to both ends respectively, so that on the first cone disk and the second cone disk
Steel ball it is mobile in steel bead groove and then and barrel contacts, and then the torsion of torsional spring is hindered, by adjusting the compression of two disc springs
Amount, so that joint stiffness changes, realizes the active variable stiffness function in joint；When joint occurs to turn clock synchronization relatively, torsional spring is sent out
Radial deformation occurs for raw torsion, internal diameter, and sleeve is deformed, so that first group of steel ball and the first cone disk and second
Group steel ball and the second cone disk cooperate two-by-two, and radial displacement is converted to axial displacement, compresses the first disc spring and the second disc spring,
The relative rotation for hindering joint drive bar and joint output rod realizes that the flexible output in joint, the i.e. passive change in realization joint are rigid
Spend function.
There are 0.3 between central axis 8 for above-mentioned first disc spring 11, the first pressure spring 18, the second disc spring 14, the second pressure spring 22
The gap of~0.6mm.
8,10,11,12,13,14 are evenly distributed on the circular platform type circumference of first cone disk and the second cone disk
A or 15 equal different numbers steel bead grooves, first group of steel ball are respectively placed in corresponding steel bead groove with second group of steel ball, when
Steel ball when carrying out the adjusting of master-passive stiffness-shift in difference steel bead groove is just applied to sleeve lining generation and is uniformly distributed power realization pass
Save stiffness variation.
21 both ends of sleeve are distributed identical quantity, but the sliding slot that position is staggered, the every end of sleeve can have 3,4,5,6
Equal different numbers sliding slot, while the convex shaped with adjacent sleeve end upper hopper chute equivalent amount being distributed on the outside of left and right end nut
Shape, when carrying out master-passive stiffness-shift and adjusting, left and right end nut can be moved axially by convex shape along different slideways real
Existing joint stiffness variation.
The use process or working principle in joint of the present invention: the flexible joint can realize active variable stiffness and passive stiffness-shift
Function:
The stepper motor 1 is mounted on joint output rod 3 by motor mount 2, and the helical pinion 7 passes through key
It is connect with the output end of motor 1, one end of the torsionspring 5 is stuck in the slot of joint output rod 3 by torque arm, the joint
Output rod 3 is fixed by two groups of sunk screws and helical teeth gear wheel 4, and the helical teeth gear wheel 4 is cooperated by key and central axis 8；
Described 8 one end of central axis is mounted on joint drive bar 6 by clearance fit, carries out axially position to it by hex nut,
The other end is connect by pin shaft with joint output rod, carries out axially position to it by hex nut；It is in the middle part of 8 structure of central axis
The center shaft shoulder, the axially position for left-handed nut 20 and right-handed nut 19；The shaft part at center shaft shoulder both ends is lead screw, passes through one
Hold the lead screw of left-handed one end dextrorotation to drive cooperates corresponding left-handed nut 20 and right-handed nut 19 to move with it, so that first
Group steel ball 9 and second group of steel ball 16 are contacted with sleeve 21, and the decrement by changing the first disc spring 11 and the second disc spring 14, real
The active variable stiffness function in existing joint；
When not relatively rotating between joint drive bar 6 and joint output rod 3, torsionspring 5 does not twist,
No change has taken place for internal diameter, and the first disc spring 11 and the second disc spring 15 are uncompressed, and does not also generate plastic deformation；When joint drive bar
When relatively rotating between 6 and joint output rod 3, torsional spring 5 twists, and radial deformation occurs for internal diameter, and sleeve 21 is squeezed
Compressive strain, so that first group of steel ball 9 and the first cone disk 10 and second group of steel ball 16 and second bore the phase interworking two-by-two of disk 15
It closes, radial displacement is converted into axial displacement, compresses the first disc spring 11 and the second disc spring 14, hinders joint drive bar 6 and joint
The relative rotation of output rod 3 realizes the flexible output in joint, that is, realizes the passive stiffness-shift function in joint.
Embodiment 1
The present embodiment provides a kind of master-passive stiffness-shift joint, which includes stepper motor 1, motor mount 2, closes
Save output rod 3, helical teeth gear wheel 4, torsional spring 5, joint drive bar 6,8, first groups of helical pinion 7, central axis steel balls 9, first
Bore disk 10, the first disc spring 11, the first sliding block 12, the second sliding block 13, the second disc spring 14, second cone 15, second groups of steel balls 16 of disk, a left side
End cap 17, the first pressure spring 18, right-handed nut 19, left-handed nut 20, sleeve 21, the second pressure spring 22, the first axle sleeve 23, the second axle sleeve
24, sliding slot 211, steel bead groove 102；
The stepper motor 1 is mounted on joint output rod 3 by motor mount 2, and the output end of stepper motor 1 passes through
It is keyed helical pinion 7；Torsionspring 5 is wound in 21 outer surface of sleeve, one end of the torsionspring 5 is stuck in by torque arm
In the slot of joint output rod 3, the other end is stuck in the slot of joint drive bar 6 by torque arm；The top of the joint output rod 3 is logical
It crosses two groups of sunk screws and helical teeth gear wheel 4 is fixed, the helical teeth gear wheel 4 is cooperated by key and central axis 8, helical teeth gear wheel
4 are meshed with helical pinion；Described 8 one end of central axis is mounted on joint drive bar 6 by the second axle sleeve 24, and passes through six
Angle nut carries out axially position to it, and the other end is connect by the first axle sleeve 23 with joint output rod 3, by hex nut to it
Carry out axially position；
Central axis 8 (referring to Fig. 8) middle part is the center shaft shoulder 801, the axis for left-handed nut 20 and right-handed nut 19
To positioning；The shaft part at center shaft shoulder both ends is lead screw 802, driven by the lead screw of the left-handed one end dextrorotation in one end cooperate with it is corresponding
Left-handed nut 20 and right-handed nut 19 move so that second group of steel ball 16 and first group of steel ball 9 are contacted with sleeve 21, and
By changing the decrement of the first disc spring 11 and the second disc spring 14, the active variable stiffness function in joint is realized；Two lead screws it is outer
Side is primary optic axis 803, for fixing the first cone disk 10, second cone disk 15；The outside of primary optic axis is the second optical axis 804,
Second optical axis of side is equipped with keyway 805, for fixing helical teeth gear wheel 4；The outside of second optical axis is third optical axis 806,
The outside of third optical axis is thread spindle 807, and primary optic axis, the second optical axis, third optical axis, thread spindle have axis between any two
Shoulder；
Left end cap 17, the second pressure spring 22, second cone disk are successively nested on the central axis 8 from driving end to output end
15, the second disc spring 14, left-handed nut 20, right-handed nut 19, the first disc spring 11, first bore disk 10, the first pressure spring 18, helical teeth canine tooth
Wheel 4, the left-handed nut 20, right-handed nut 19 are threadedly attached on the lead screw of central axis 8, and the second cone disk 15, first is bored
Disk 10 is separately fixed on the primary optic axis of central axis 8；During helical teeth gear wheel is mounted on the outside of the first cone disk by keyway 805
On second optical axis of mandrel 8, left end cap 17 is located on the second optical axis of the central axis on the outside of the second cone disk；First disc spring 11
Between right-handed nut 19 and the first cone disk 10, there are the gaps of 0.3~0.5mm between central axis 8；First pressure spring 18
Between the first cone disk 10 and helical teeth gear wheel 4, there are the gaps of 0.3~0.5mm between central axis 8；
First cone disk 10 (referring to Fig. 7) and the second cone dish structure are identical, are circular platform type, uniform on the side of rotary table
Multiple steel bead grooves 102 are disposed with, for the larger diameter end of rotary table close to adjacent right-handed nut 19 or left-handed nut, rotary table center is logical
Hole covers on the primary optic axis of central axis, and the smaller diameter end of rotary table is equipped with pressure spring slot 101；First group of steel ball 9 and second group of steel ball
16 are separately mounted in the steel bead groove of the first cone disk and the second cone disk；
Described first pressure spring, 18 one end is located in the pressure spring slot of the first cone disk 10, and the other end is connect with helical teeth gear wheel 4, is used
In the reset of the first cone disk 10；
Second disc spring 14 is located between left-handed nut 20 and the second cone disk 15, between central axis 8 there are 0.3~
The gap of 0.5mm；Second pressure spring 22 is located between the second cone disk 15 and left end cap 17, between central axis 8 there are 0.3~
The gap of 0.5mm；Described second pressure spring, 22 one end is located in the pressure spring slot of the second cone disk 15, and the other end is connect with left end cap 17,
Reset for the second cone disk 15；The left end cap 17 is mounted on the second optical axis 804 of central axis 8 by interference fit, is led to
It crosses the second axle sleeve 24 and axially position is carried out to it；
The sleeve 21 is covered (referring to Fig. 5) on first group of steel ball 9 and second group of steel ball 16, is opened on the circumference of left and right ends
There are uniformly distributed sliding slot 211, the sliding slot interlaced arrangement of left and right ends, while being provided with through slot 212, sliding slot on the circumference side of sleeve
For limiting the rotation of the first sliding block 12 and the second sliding block 13, and through slot easily deforms for the internal diameter that is pressurized；Described first
Group steel ball 9 is located in the steel bead groove 102 of the first cone disk 10, limits its axial displacement by the flange that left end cap 17 stretches out；It is described
Second group of steel ball 16 is located in the steel bead groove 102 of the second cone disk 15, limits its axial displacement by helical teeth gear wheel 4；Described
One sliding block 12 covers (referring to Fig. 6) limits its rotation on right-handed nut 19, is equipped in the middle part of the first sliding block and matches with right-handed nut
Nut bore 121, the lateral surface of sliding block is axially evenly arranged with multiple raised 122 along sliding block, the cunning in convex shape and sleeve
Slot matches, and protrusion can horizontally slip in sliding slot；13 sets of second sliding block limits its rotation on left-handed nut 20, and second
Sliding block is identical as the first slider shape structure.
The joint overall dimension of the present embodiment design is diameter 42mm, and high 52mm, plastic deformation maximum angle is 100 °, institute
The torque for stating stepper motor is 0.8Nm；Torsional spring 5 selects spring filament diameter 3.5mm, central diameter 38.5mm, the cylinder torsion of circle number 11
Spring, spring material select carbon spring steel wires, and the first pressure spring 18 and the second pressure spring 22 select spring filament diameter 1mm, central diameter 18mm,
Enclose the cylindrical compression spring of number 4.5；Sleeve 21 selects outer diameter 35mm, high 46mm, with a thickness of the cylindrical type sleeve of 2mm；First group
Disc spring 11 and second group of disc spring 12 select B28 butterfly spring, material 50CrVA；In first sliding block 12 and the second sliding block 13 respectively
It is cased with right-handed nut 19 and the left-handed nut 20 of M14X1, the quantity of steel bead groove 102 is on the first cone disk 10 and the second cone disk 15
10.
Joint of the present invention is suitable for joint revolute robot.
The present invention does not address place and is suitable for the prior art.
Claims (6)
1. a kind of master-passive stiffness-shift joint, including joint output rod, joint drive bar, central axis, stepper motor, motor peace
Seat is filled, the both ends of central axis are separately connected joint output rod and joint drive bar, and stepper motor is fixed on by motor mount
On the output rod of joint；It is characterized in that, the joint further includes helical teeth gear wheel, torsional spring, helical pinion, first group of steel ball,
One cone disk, the first disc spring, the first sliding block, the second sliding block, the second disc spring, the second cone disk, second group of steel ball, left end cap, the first pressure
Spring, right-handed nut, left-handed nut, sleeve, the second pressure spring, the first axle sleeve, the second axle sleeve；
Above-mentioned first cone disk, the first sliding block, the first disc spring, the first pressure spring bore disk, the second sliding block, second with corresponding second respectively
Disc spring, the second pressure spring shape and structure are identical；
The output end of stepper motor is connected by key helical pinion, and helical pinion is meshed with helical teeth gear wheel, and helical teeth is big
Gear and central axis cooperate, and fix with joint output rod；Torsional spring is wound outside sleeve, one end and joint of the torsional spring export
Bar is fixed, and the other end is fixed with joint drive bar；
It is the center shaft shoulder in the middle part of the central axis, the shaft part at center shaft shoulder both ends is lead screw, and two lead screws are oppositely oriented, lead screw
Outside is primary optic axis；The outside of primary optic axis is the second optical axis, and keyway is equipped on the second optical axis of side；Second optical axis
Outside is third optical axis, and the outside of third optical axis is thread spindle, primary optic axis, the second optical axis, third optical axis, thread spindle two-by-two it
Between there is the shaft shoulder；
On the central axis from driving end be successively nested with to output end left end cap, the second pressure spring, the second cone disk, the second disc spring,
Left-handed nut, right-handed nut, the first disc spring, the first cone disk, the first pressure spring, helical teeth gear wheel, the left-handed nut, right-handed nut
It is threadedly attached on the corresponding lead screw of central axis, the second cone disk, the first cone disk are separately fixed at the primary optic axis of central axis
On；On second optical axis of the central axis that helical teeth gear wheel is mounted on the outside of the first cone disk by keyway, left end cap is located at the second cone
On second optical axis of the central axis on the outside of disk；First disc spring, the first pressure spring, the second disc spring, the second pressure spring are and central axis
Between there are gaps；The left end cap is mounted on the second optical axis of central axis by interference fit, passes through the second axle sleeve pair
It carries out axially position；
The first cone disk is circular platform type, has been evenly arranged multiple steel bead grooves on the side of rotary table, the larger diameter end of rotary table is close
Adjacent right-handed nut, rotary table center are through-hole, are covered on the primary optic axis of central axis, and the smaller diameter end of rotary table is equipped with pressure spring
Slot；
The sleeve covers on first group of steel ball and second group of steel ball, and uniformly distributed multiple sliding slots are provided on the circumference of left and right ends,
A through slot is provided on the circumference side of sleeve simultaneously；First group of steel ball is located in the steel bead groove of the first cone disk, passes through
The flange that left end cap stretches out limits its axial displacement；Second group of steel ball is located in the steel bead groove of the second cone disk, passes through helical teeth
Gear wheel limits its axial displacement；
First slide block set limits its rotation on right-handed nut, and the lateral surface of the first sliding block is axially uniformly set along the first sliding block
Multiple protrusions are equipped with, convex shape is matched with the sliding slot on sleeve, and protrusion can horizontally slip in sliding slot；Second sliding block
It covers and limits its rotation on left-handed nut.
2. master according to claim 1-passive stiffness-shift joint, which is characterized in that the first disc spring, the first pressure spring, second
There are the gaps of 0.3~0.6mm between central axis for disc spring, the second pressure spring.
3. a kind of stiffness tuning method in master of any of claims 1 or 2-passive stiffness-shift joint, the process of this method is: step
Central axis rotation is driven by gear drive into motor, the left and right spin nut on central axis is axially moveable to both ends respectively, makes
Steel ball on the first cone disk and the second cone disk it is mobile in steel bead groove and then and barrel contacts, hinder the torsion of torsional spring, pass through
The decrement of two disc springs is adjusted, so that joint stiffness changes, realizes the active variable stiffness function in joint；When joint occurs
Opposite to turn clock synchronization, torsional spring twists, and radial deformation occurs for internal diameter, and sleeve is deformed, so that first group of steel ball
It cooperates two-by-two with the first cone disk and second group of steel ball and the second cone disk, radial displacement is converted into axial displacement, is compressed
First disc spring and the second disc spring hinder the relative rotation of joint drive bar and joint output rod, realize the flexible output in joint, i.e.,
Realize the passive stiffness-shift function in joint.
4. master according to claim 1-passive stiffness-shift joint, which is characterized in that the circle of the first cone disk and the second cone disk
8,10,11,12,13,14 or 15 steel bead grooves are all evenly distributed on bench-type circumference.
5. master according to claim 1-passive stiffness-shift joint, which is characterized in that sleeve both ends are distributed identical quantity, but
The sliding slot that position is staggered, every end sliding slot quantity are 3,4,5 or 6.
6. master according to claim 1-passive stiffness-shift joint, which is characterized in that it is rotary-type that the joint can be used for joint
In robot.
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| CN113146605A (en) * | 2021-05-06 | 2021-07-23 | 吉林大学 | Compact artificial muscle module with mechanical flexibility |
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| CN109623871B (en) | 2023-05-23 |
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