CN109732641A - A kind of submissive joint of bifurcation formula variation rigidity and operating method - Google Patents
A kind of submissive joint of bifurcation formula variation rigidity and operating method Download PDFInfo
- Publication number
- CN109732641A CN109732641A CN201910081240.1A CN201910081240A CN109732641A CN 109732641 A CN109732641 A CN 109732641A CN 201910081240 A CN201910081240 A CN 201910081240A CN 109732641 A CN109732641 A CN 109732641A
- Authority
- CN
- China
- Prior art keywords
- bevel gear
- outer ring
- elastic spring
- input disc
- stiffness tuning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The invention discloses a kind of submissive joint of bifurcation formula variation rigidity and operating method, which is made of input shaft, output outer ring and stiffness tuning mechanism.Input shaft is placed in the centre of gyration of output outer ring, is connected with input disc；There are two elastic springs, each elastic spring one end to be connected by bearing with output outer ring for installation between input disc and output outer ring, and the other end and a small coning gear shaft are connected, and small coning gear shaft is connected by bearing with input disc；Stiffness tuning mechanism is connected by stiffness tuning motor and a bevel gear wheel；The bevel gear wheel bevel pinion connected with two and elastic spring engages.The present invention has good impact resistance and flexible dynamic characteristic, belongs to the submissive joint of active variable stiffness, can be used for joint and the driver of all kinds of robots such as bionical, service, rehabilitation.
Description
Technical field
The invention belongs to robotic technology field, in particular to the submissive joint of a kind of bifurcation formula variation rigidity and operating method.
Background technique
With the development of robot technology, in terms of flexibility, the collaborative work of more robots and machine person to person
Between reciprocation etc. it is more and more common.Robot is applied to other non-industrial circles from traditional field, especially bionical
The emergence of robot, service robot and healing robot forces joint of robot that need to have certain flexibility, to guarantee
The safety guarantee when raising and raising human-computer interaction of capacity usage ratio.
From the point of view of the overall structure of robot, joint of robot is the key that robot realizes that various targets move zero
Part.Existing robot technology is using more mainly rigid joint and elastic joint.For answering for variation rigidity joint of robot
It is relatively fewer with technology.
The submissive joint of variation rigidity utilizes the switching device of special designing, can convert rigidity, in real time as needed to improve machine
Adaptability of the device people to environment, task.Existing joint of robot is primarily present relative complex structure, control complexity, energy and disappears
Consumption is big, cannot actively export the disadvantages of required rigidity, to limit its application effect and compact design to a certain extent.
Through retrieving, the patent of invention of Publication No. CN205614699U, a kind of robot variation rigidity of Dual-motors Driving of the patent disclosure
Elastic joint is changed it is characterized in that two driving motors drive joint simultaneously by the effective length of four-bar mechanism adjustment spring piece
Become joint stiffness, realizes elastic buffer, but two motors drive be necessarily required to more energy inputs simultaneously.Importantly,
What published rigidity adjustable joint was realized at present is that rigidity is continuously adjustable, be necessarily difficult to ensure joint stiffness can in time and
It is accurately adjusted to required numerical value, and required more the extreme of only rigidity value are quickly converted in practical application.
Summary of the invention
The purpose of the present invention is to provide a kind of submissive joint of bifurcation formula variation rigidity and operating methods, to solve above-mentioned ask
Topic.
To achieve the above object, the invention adopts the following technical scheme:
A kind of submissive joint of bifurcation formula variation rigidity, including stiffness tuning mechanism, elastic spring, input disc and output outer ring；
Exporting outer ring is annular shape, and input disc is co-axially located at the center of output outer ring, between input disc and the inner wall for exporting outer ring
It is provided with several elastic springs；Stiffness tuning mechanism is arranged at the center of input disc, one end coupling stiffness tune of elastic spring
Save mechanism, the inner sidewall of other end connection output outer ring；
Stiffness tuning mechanism includes stiffness tuning motor, first bevel gear and second bevel gear；Stiffness tuning motor is fixed
The central interior of input disc is set, and the output end of stiffness tuning motor is fixedly connected with second bevel gear, each elastic spring
One end close to input disc is fixedly installed first bevel gear, and each first bevel gear is engaged with second bevel gear.
Further, if being fixedly installed dry bearing around second bevel gear on input disc, the first cone is provided in bearing
One end of gear shaft, first bevel gear axis is fixedly connected with first bevel gear, and the other end is fixedly connected with elastic spring.
Further, input disc and export outer ring inner wall between elastic spring spaced set, the number of bearing and
Position matches with elastic spring；The number of elastic spring is 2 to 6.
Further, it exports and is provided with bearing on the inner sidewall of outer ring, elastic spring is inserted in close to one end of output outer ring
In bearing, the number of bearing and position match with elastic spring herein.
Further, it is fixedly installed shell on the outside of stiffness tuning mechanism on input disc, the center of shell is fixedly installed
Input shaft.
Further, the diameter of first bevel gear is less than the diameter of second bevel gear.
Further, a kind of operating method in the submissive joint of bifurcation formula variation rigidity, based on a kind of bifurcation formula described above
The submissive joint of variation rigidity, comprising the following steps:
Step 1, it exports and output arm is set on outer ring, input axis connection driving motor, when output arm is by external force,
Start stiffness tuning motor；
Step 2, second bevel gear rotation is driven by stiffness tuning motor so that the first bevel gear that is meshed and
Elastic spring rotation, changes the cross sectional moment of inertia of elastic spring, realizes the switching of rigidity.
Compared with prior art, the present invention has following technical effect:
Invention applies elastic spring, there is good torque transmission characteristic under a kind of state, have under another state
There are good impact property and human-computer interaction security.
For the present invention since stiffness tuning mechanism and input disc are connected, the equilbrium position for exporting outer ring is unique by work main motor
It determines, and can be realized complete cycle and continuously move.
Detailed description of the invention
Fig. 1 is the submissive joint schematic perspective view of variation rigidity.
Fig. 2 is the submissive joint variation rigidity mechanism principle schematic internal view of variation rigidity.
Fig. 3 submissive joint embodiment schematic diagram of bifurcation formula variation rigidity thus.
Figure label: 1- input shaft；2- exports outer ring；3- first bevel gear；4- input disc；5- elastic spring；6- bearing；
7- first bevel gear axis；8- stiffness tuning motor；9- second bevel gear；10- rack；11- electric machine support；12- main motor；13-
Harmonic speed reducer；14- power output arm；15- conveyer belt.
Specific embodiment
Below in conjunction with attached drawing, the present invention is further described:
A kind of submissive joint of bifurcation formula variation rigidity, including stiffness tuning mechanism, elastic spring 5, input disc 4 and output outer ring
2；Exporting outer ring 2 is annular shape, and input disc 4 is co-axially located at the center of output outer ring 2, and input disc 4 is interior with output outer ring 2
Several elastic springs 5 are provided between wall；Stiffness tuning mechanism is arranged at the center of input disc 4, and one end of elastic spring 5 connects
Connect stiffness tuning mechanism, the inner sidewall of other end connection output outer ring 2；
Stiffness tuning mechanism includes stiffness tuning motor 8, first bevel gear 3 and second bevel gear 9；Stiffness tuning motor 8
It is fixed at the central interior of input disc 4, the output end of stiffness tuning motor 8 is fixedly connected with second bevel gear 9, each bullet
Property reed 5 is fixedly installed first bevel gear 3 close to one end of input disc 4, and each first bevel gear 3 is and second bevel gear
9 engagements.
If being fixedly installed dry bearing 6 around second bevel gear 9 on input disc 4, first bevel gear axis is provided in bearing 6
7, one end of first bevel gear axis 7 is fixedly connected with first bevel gear 3, and the other end is fixedly connected with elastic spring 5.
5 spaced set of elastic spring between input disc 4 and the inner wall for exporting outer ring 2, the number of bearing 6 and position with
Elastic spring 5 matches；The number of elastic spring 5 is 2 to 6.
It exports and is provided with bearing 6 on the inner sidewall of outer ring 2, elastic spring 5 is inserted in bearing 6 close to one end of output outer ring 2
Interior, the number of bearing 6 and position match with elastic spring 5 herein.
It is fixedly installed shell on the outside of stiffness tuning mechanism on input disc 4, the center of shell is fixedly installed input shaft 1.
The diameter of first bevel gear 3 is less than the diameter of second bevel gear 9.
A kind of operating method in the submissive joint of bifurcation formula variation rigidity, comprising the following steps:
Step 1, it exports and output arm is set on outer ring, input axis connection driving motor, when output arm is by external force,
Start stiffness tuning motor；
Step 2, second bevel gear rotation is driven by stiffness tuning motor so that the first bevel gear that is meshed and
Elastic spring rotation, changes the cross sectional moment of inertia of elastic spring, realizes the switching of rigidity.
Embodiment 1
As depicted in figs. 1 and 2, a kind of submissive joint of bifurcation formula variation rigidity, include at least input shaft 1, output outer ring 2 and just
Degree regulating mechanism: the input shaft 1 is set to the centre of gyration of output outer ring 2, and the input disc concentric with input shaft 1
4 are connected, and output outer ring 2 is connect with input disc 4 by revolute pair；Pass through support elastic spring between input disc 4 and output outer ring 2
5 connections；Stiffness tuning mechanism includes stiffness tuning motor 8, second bevel gear 9, first bevel gear 3；Motor 8 and one second cone tooth
Wheel 9 is connected；The first bevel gear 3 connected with two and elastic spring 5 of second bevel gear 9 engages, and constitutes gear drive connection.
The elastic spring 5 has multiple (3-6), and multiple elastic springs 5 are uniformly distributed, and extension line passes through input shaft 1
Axle center, 5 one end of elastic spring is connected by bearing 6 with output outer ring 2, and the other end and first bevel gear axis 7 are connected.
First bevel gear axis 7 is connected by bearing 6 with input disc 4.
Working principle of the present invention is: stiffness tuning mechanism drives second bevel gear 9 to rotate by stiffness tuning motor 8, from
And the first bevel gear 3 being fixedly connected with and elastic spring 5 are rotated, change the cross sectional moment of inertia of elastic spring, to realize rigid
The switching of degree.Wherein the geometric dimension of reed 5 determines rigidity controllable value.
Embodiment 2
As shown in figure 3, the main body frame of this example is rack 10, electric machine support 11 is installed in rack 10；Main motor 12 is logical
It crosses flange to be fixed on electric machine support 11, and input shaft 1 is connected by conveyer belt 15, arrive transmission mechanism through harmonic speed reducer 13,
Transmission shaft is connect with input disc 4, is connect through elastic spring 5 with power output outer ring 2, outside elastic spring 5 and input disc 4 and output
Circle 2 is connected by bearing 6.
It adjusts motor 8 to be fixed on input disc 4 by flange, and connect second bevel gear 9 by adjusting motor coupler,
First bevel gear 3 and elastic spring 5 are connected.
When this example is run, input disc 4 is driven by 12 rigidity of main motor, and deformation occurs for elastic spring 5 to drive output outer
2 rotation of circle when stiffness tuning motor 8 is run, drives second bevel gear 9 to rotate, to change bullet by adjusting motor coupler
Property reed 5 rotary inertia, and then change output rigidity.
If main motor 12 does not work, deflect when power output arm 14 is by accidental shock power, shape occurs for elastic spring 5
Raw buffer function is sold of one's property, so that having elastic property between input disc 4 and output outer ring 2, while being changed by stiffness tuning motor 8
Become the rotary inertia of elastic spring 5, and then reduce the rigidity of whole system, is effectively protected power input mechanism and output
Arm.
The present invention has good impact resistance and flexible dynamic characteristic, belongs to the submissive joint of active variable stiffness, can be used for
The joint of all kinds of robots such as bionical, service, rehabilitation and driver.
The present invention should not be restricted to the described embodiments, and all technical solutions according to the present invention do not have to creative work can
To obtain the replacement and improvement of component, should be included within the scope of the present invention.
Claims (7)
1. a kind of submissive joint of bifurcation formula variation rigidity, which is characterized in that including stiffness tuning mechanism, elastic spring (5), input disc
(4) and outer ring (2) are exported；Exporting outer ring (2) is annular shape, and input disc (4) is co-axially located at the center of output outer ring (2),
Several elastic springs (5) are provided between input disc (4) and the inner wall for exporting outer ring (2)；The setting of stiffness tuning mechanism is inputting
At the center of disk (4), one end coupling stiffness regulating mechanism of elastic spring (5), the inside of other end connection output outer ring (2)
Wall；
Stiffness tuning mechanism includes stiffness tuning motor (8), first bevel gear (3) and second bevel gear (9)；Stiffness tuning motor
(8) it is fixed at the central interior of input disc (4), the output end of stiffness tuning motor (8) is fixedly connected with second bevel gear
(9), each elastic spring (5) is fixedly installed first bevel gear (3) close to the one end of input disc (4), each first cone tooth
Wheel (3) is engaged with second bevel gear (9).
2. a kind of submissive joint of bifurcation formula variation rigidity according to claim 1, which is characterized in that input disc surrounds on (4)
Second bevel gear (9) is provided with first bevel gear axis (7), first bevel gear in bearing (6) if being fixedly installed dry bearing (6)
One end of axis (7) is fixedly connected with first bevel gear (3), and the other end is fixedly connected with elastic spring (5).
3. a kind of submissive joint of bifurcation formula variation rigidity according to claim 2, which is characterized in that input disc (4) and output
Elastic spring (5) spaced set between the inner wall of outer ring (2), the number of bearing (6) and position and elastic spring (5) phase
Match；The number of elastic spring (5) is 2 to 6.
4. a kind of submissive joint of bifurcation formula variation rigidity according to claim 1, which is characterized in that export the interior of outer ring (2)
It is provided on side wall bearing (6), elastic spring (5) is inserted in bearing (6) close to one end of output outer ring (2), herein bearing (6)
Number and position match with elastic spring (5).
5. a kind of submissive joint of bifurcation formula variation rigidity according to claim 1, which is characterized in that rigidity on input disc (4)
It is fixedly installed shell on the outside of regulating mechanism, the center of shell is fixedly installed input shaft (1).
6. a kind of submissive joint of bifurcation formula variation rigidity according to claim 1, which is characterized in that first bevel gear (3)
Diameter is less than the diameter of second bevel gear (9).
7. a kind of operating method in the submissive joint of bifurcation formula variation rigidity, which is characterized in that based on one described in claim 1 to 6
The kind submissive joint of bifurcation formula variation rigidity, comprising the following steps:
Step 1, it exports and output arm is set on outer ring, input axis connection driving motor, when output arm is by external force, starting
Stiffness tuning motor；
Step 2, second bevel gear rotation is driven by stiffness tuning motor, so that the first bevel gear and elasticity that are meshed
Reed rotation, changes the cross sectional moment of inertia of elastic spring, realizes the switching of rigidity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910081240.1A CN109732641B (en) | 2019-01-28 | 2019-01-28 | Two-state variable-rigidity compliant joint and operation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910081240.1A CN109732641B (en) | 2019-01-28 | 2019-01-28 | Two-state variable-rigidity compliant joint and operation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109732641A true CN109732641A (en) | 2019-05-10 |
| CN109732641B CN109732641B (en) | 2021-09-07 |
Family
ID=66366422
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910081240.1A Active CN109732641B (en) | 2019-01-28 | 2019-01-28 | Two-state variable-rigidity compliant joint and operation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109732641B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112372626A (en) * | 2020-09-23 | 2021-02-19 | 天津大学 | Series elastic driver with given moment deformation rule and design method |
| CN114670237A (en) * | 2022-03-25 | 2022-06-28 | 复旦大学 | High-load and high-flexibility robot joint |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104626196A (en) * | 2014-12-12 | 2015-05-20 | 华北电力大学 | Changeable rigidity flexibility actuator |
| US20150219186A1 (en) * | 2013-03-02 | 2015-08-06 | Zhejiang Hengfengtai Reducer Mfg.Co., Ltd | Rigid speed reducer with internal and external tooth profile tooth-enveloping |
| CN105171771A (en) * | 2015-10-30 | 2015-12-23 | 四川大学 | Variable-rigidity elastic joint of cam structure |
| CN105171769A (en) * | 2015-09-28 | 2015-12-23 | 四川大学 | Variable-rigidity robot elastic joint |
| CN105599004A (en) * | 2016-03-23 | 2016-05-25 | 华南理工大学 | Rigidity-adjustable robot elastic joint |
| CN106182067A (en) * | 2016-07-11 | 2016-12-07 | 中国矿业大学 | A kind of stiffness variable flexible rotational joint |
| CN106584505A (en) * | 2017-01-19 | 2017-04-26 | 哈尔滨工业大学 | Modularized variable-stiffness robot joint |
| CN107053245A (en) * | 2017-03-13 | 2017-08-18 | 河北工业大学 | A kind of rotary-type variation rigidity flexible joint |
| CN206536503U (en) * | 2017-03-13 | 2017-10-03 | 河北工业大学 | A kind of rotary-type variation rigidity flexible joint |
| CN107486850A (en) * | 2017-09-08 | 2017-12-19 | 四川大学 | A kind of Wire driven robot robot variation rigidity elastic joint |
| CN107953325A (en) * | 2018-01-10 | 2018-04-24 | 北京化工大学 | A kind of snake-shaped robot articulation mechanism of hard and soft integral stiffness variable |
| CN108297127A (en) * | 2018-02-27 | 2018-07-20 | 哈尔滨工业大学 | A kind of stiffness variable passive compliance joint based on elastic element |
| EP3378609A1 (en) * | 2017-03-23 | 2018-09-26 | Delta Electronics, Inc. | Passive compliance mechanism |
| JP2019147243A (en) * | 2018-02-27 | 2019-09-05 | 前沿駆動（北京）技術有限公司ＩＮＮＦＯＳ Ｄｒｉｖｅ（Ｂｅｉｊｉｎｇ）Ｔｅｃｈｎｏｌｏｇｉｅｓ Ｃｏ．，Ｌｔｄ． | Effector, mechanical arm and robot |
-
2019
- 2019-01-28 CN CN201910081240.1A patent/CN109732641B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150219186A1 (en) * | 2013-03-02 | 2015-08-06 | Zhejiang Hengfengtai Reducer Mfg.Co., Ltd | Rigid speed reducer with internal and external tooth profile tooth-enveloping |
| US9206881B2 (en) * | 2013-03-02 | 2015-12-08 | Zhejiang Hengfengtai Reducer Mfg.Co., Ltd | Rigid speed reducer with internal and external tooth profile tooth-enveloping |
| CN104626196A (en) * | 2014-12-12 | 2015-05-20 | 华北电力大学 | Changeable rigidity flexibility actuator |
| CN105171769A (en) * | 2015-09-28 | 2015-12-23 | 四川大学 | Variable-rigidity robot elastic joint |
| CN105171771A (en) * | 2015-10-30 | 2015-12-23 | 四川大学 | Variable-rigidity elastic joint of cam structure |
| CN105599004A (en) * | 2016-03-23 | 2016-05-25 | 华南理工大学 | Rigidity-adjustable robot elastic joint |
| CN106182067A (en) * | 2016-07-11 | 2016-12-07 | 中国矿业大学 | A kind of stiffness variable flexible rotational joint |
| CN106584505A (en) * | 2017-01-19 | 2017-04-26 | 哈尔滨工业大学 | Modularized variable-stiffness robot joint |
| CN107053245A (en) * | 2017-03-13 | 2017-08-18 | 河北工业大学 | A kind of rotary-type variation rigidity flexible joint |
| CN206536503U (en) * | 2017-03-13 | 2017-10-03 | 河北工业大学 | A kind of rotary-type variation rigidity flexible joint |
| EP3378609A1 (en) * | 2017-03-23 | 2018-09-26 | Delta Electronics, Inc. | Passive compliance mechanism |
| CN107486850A (en) * | 2017-09-08 | 2017-12-19 | 四川大学 | A kind of Wire driven robot robot variation rigidity elastic joint |
| CN107953325A (en) * | 2018-01-10 | 2018-04-24 | 北京化工大学 | A kind of snake-shaped robot articulation mechanism of hard and soft integral stiffness variable |
| CN108297127A (en) * | 2018-02-27 | 2018-07-20 | 哈尔滨工业大学 | A kind of stiffness variable passive compliance joint based on elastic element |
| JP2019147243A (en) * | 2018-02-27 | 2019-09-05 | 前沿駆動（北京）技術有限公司ＩＮＮＦＯＳ Ｄｒｉｖｅ（Ｂｅｉｊｉｎｇ）Ｔｅｃｈｎｏｌｏｇｉｅｓ Ｃｏ．，Ｌｔｄ． | Effector, mechanical arm and robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112372626A (en) * | 2020-09-23 | 2021-02-19 | 天津大学 | Series elastic driver with given moment deformation rule and design method |
| CN112372626B (en) * | 2020-09-23 | 2022-03-11 | 天津大学 | Series elastic driver with given moment deformation rule and design method |
| CN114670237A (en) * | 2022-03-25 | 2022-06-28 | 复旦大学 | High-load and high-flexibility robot joint |
| CN114670237B (en) * | 2022-03-25 | 2023-09-01 | 复旦大学 | High flexible robot joint of heavy-load |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109732641B (en) | 2021-09-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104398366B (en) | A kind of soft elastic joint of torsion spring type being applicable to healing robot | |
| CN102615641B (en) | Five-degree-of-freedom parallel power head | |
| CN109732641A (en) | A kind of submissive joint of bifurcation formula variation rigidity and operating method | |
| CN100581756C (en) | Double bevel wheel under-driven robot finger | |
| CN107053245A (en) | A kind of rotary-type variation rigidity flexible joint | |
| CN106313097B (en) | A kind of unit-combination type robot wrist | |
| CN106015469B (en) | A kind of hollow type harmonic speed reducer | |
| CN205534041U (en) | Two -stage harmonic planetary gear reducer | |
| CN104875215B (en) | A kind of two-freedom apery wrist device | |
| CN105114536B (en) | For robot or the planetary gearing speed reducer of joint of mechanical arm | |
| CN204248906U (en) | A kind of industrial machine human wrist drive mechanism | |
| CN106142117A (en) | Parallel-ordinal shift many belt wheels coupling adaptive robot finger apparatus | |
| CN107355524A (en) | A kind of differential differential speed reducer | |
| CN204852190U (en) | Be used for articular planet transmission reduction gear of robot or arm | |
| CN206257229U (en) | Bidirectional transmission device and the hybrid motion dynamical system using described device | |
| CN201610923U (en) | Double speed ratio harmonic drive reducer | |
| CN208645337U (en) | A kind of motor postposition formula high load mechanical arm | |
| CN207971966U (en) | A kind of nine-degree of freedom picking mechanical arm | |
| CN207715653U (en) | A kind of fast output speed reducer structure and speed reducer at a slow speed | |
| CN206536503U (en) | A kind of rotary-type variation rigidity flexible joint | |
| CN108274483B (en) | Single-drive shape self-adaptive mechanical finger | |
| CN105965499A (en) | Transmission gear of horizontal multi-joint robot wrist rotating shaft | |
| CN209644794U (en) | Multivariant glass cleaning device | |
| CN211820584U (en) | Joint force feedback speed reducer | |
| CN208337332U (en) | A kind of Two axle drive harmonic wave reducing motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |