CN109732641B - Two-state variable-rigidity compliant joint and operation method - Google Patents
Two-state variable-rigidity compliant joint and operation method Download PDFInfo
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- CN109732641B CN109732641B CN201910081240.1A CN201910081240A CN109732641B CN 109732641 B CN109732641 B CN 109732641B CN 201910081240 A CN201910081240 A CN 201910081240A CN 109732641 B CN109732641 B CN 109732641B
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Abstract
The invention discloses a two-state variable-rigidity compliant joint and an operation method thereof. The input shaft is arranged at the rotation center of the output outer ring and fixedly connected with the input disc; two elastic reeds are arranged between the input disc and the output outer ring, one end of each elastic reed is connected with the output outer ring through a bearing, the other end of each elastic reed is fixedly connected with a small bevel gear shaft, and the small bevel gear shaft is connected with the input disc through a bearing; the rigidity adjusting mechanism is fixedly connected with a large bevel gear through a rigidity adjusting motor; the large bevel gear is meshed with two small bevel gears fixedly connected with the elastic reeds. The invention has good impact resistance and flexible dynamic characteristics, belongs to an active variable-rigidity flexible joint, and can be used for joints and drivers of various robots such as bionics, service, rehabilitation and the like.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a two-state variable-rigidity compliant joint and an operation method.
Background
With the development of robotics, towards the aspect of flexibility, the cooperative work of multiple robots, the interaction between robots, and the like are becoming more and more common. The robot is applied to other non-industrial fields from the traditional field, particularly the rise of a bionic robot, a service robot and a rehabilitation robot, and the joint of the robot is forced to have certain flexibility so as to ensure the improvement of the energy utilization rate and the safety guarantee during the human-computer interaction.
From the overall structure of the robot, the robot joint is a key part of the robot for realizing various target motions. The existing robot technology is mainly applied to rigid joints and elastic joints. The applied technology aiming at the variable-rigidity robot joint is relatively less.
The rigidity of the variable-rigidity flexible joint can be converted in real time according to requirements by using a switching device with special design, so that the adaptability of the robot to the environment and tasks is improved. The existing robot joint mainly has the defects of relatively complex structure, complex control, high energy consumption, incapability of actively outputting required rigidity and the like, so that the application effect and compact design of the robot joint are limited to a certain extent. Through retrieval, the invention patent with the publication number of CN205614699U discloses a rigidity-variable elastic joint of a robot driven by two motors, which is characterized in that two driving motors simultaneously drive the joint, the effective length of a spring piece is adjusted through a four-bar mechanism to change the rigidity of the joint, so that elastic buffering is realized, but the two motors need more energy input when being driven simultaneously. More importantly, the rigidity of the rigidity adjustable joints disclosed at present is continuously adjustable, so that the rigidity of the joints can be adjusted to a required value accurately in time, and the rigidity value is required to be converted extremely quickly in practical application.
Disclosure of Invention
The invention aims to provide a two-state variable-rigidity compliant joint and an operation method thereof, so as to solve the problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
a two-state variable-rigidity compliant joint comprises a rigidity adjusting mechanism, an elastic reed, an input disc and an output outer ring; the output outer ring is annular, the input disc is coaxially arranged at the center of the output outer ring, and a plurality of elastic reeds are arranged between the input disc and the inner wall of the output outer ring; the rigidity adjusting mechanism is arranged at the center of the input disc, one end of the elastic reed is connected with the rigidity adjusting mechanism, and the other end of the elastic reed is connected with the inner side wall of the output outer ring;
the rigidity adjusting mechanism comprises a rigidity adjusting motor, a first bevel gear and a second bevel gear; the rigidity adjusting motor is fixedly arranged in the center of the input disc, the output end of the rigidity adjusting motor is fixedly connected with a second bevel gear, one end, close to the input disc, of each elastic reed is fixedly provided with a first bevel gear, and each first bevel gear is meshed with the second bevel gear.
Furthermore, a plurality of bearings are fixedly arranged on the input disc around the second bevel gear, a first bevel gear shaft is arranged in each bearing, one end of the first bevel gear shaft is fixedly connected with the first bevel gear, and the other end of the first bevel gear shaft is fixedly connected with the elastic reed.
Furthermore, elastic reeds between the input disc and the inner wall of the output outer ring are arranged at equal intervals, and the number and the positions of the bearings are matched with the elastic reeds; the number of the elastic reeds is 2 to 6.
Furthermore, a bearing is arranged on the inner side wall of the output outer ring, one end, close to the output outer ring, of each elastic reed is inserted into the bearing, and the number and the position of the bearings are matched with the elastic reeds.
Further, a shell is fixedly arranged on the outer side of the rigidity adjusting mechanism on the input disc, and an input shaft is fixedly arranged in the center of the shell.
Further, the diameter of the first bevel gear is smaller than that of the second bevel gear.
Further, an operation method of a two-state variable-stiffness compliant joint is based on the two-state variable-stiffness compliant joint, and comprises the following steps:
step 1, an output arm is arranged on an output outer ring, an input shaft is connected with a driving motor, and when the output arm is acted by an external force, a rigidity adjusting motor is started;
and 2, driving the second bevel gear to rotate through the rigidity adjusting motor, so that the first bevel gear and the elastic spring leaf which are meshed with each other rotate, changing the section inertia moment of the elastic spring leaf and realizing the rigidity switching.
Compared with the prior art, the invention has the following technical effects:
the invention applies the elastic spring, has good moment transmission characteristic in one state, and has good impact resistance characteristic and man-machine interaction safety in the other state.
The rigidity adjusting mechanism is fixedly connected with the input disc, the balance position of the output outer ring is uniquely determined by the working main motor, and the whole-circle continuous motion can be realized.
Drawings
Fig. 1 is a schematic view of a three-dimensional structure of a variable-stiffness compliant joint.
FIG. 2 is a schematic view of the internal principle of a variable stiffness compliant joint variable stiffness mechanism.
Fig. 3 is a schematic view of an embodiment of the two-state variable stiffness compliant joint.
Reference numbers in the figures: 1-an input shaft; 2-output outer ring; 3-a first bevel gear; 4-input disc; 5-an elastic reed; 6-a bearing; 7-a first bevel gear shaft; 8-a stiffness adjustment motor; 9-a second bevel gear; 10-a frame; 11-a motor support; 12-a main motor; 13-harmonic reducers; 14-a power take-off arm; 15-conveyor belt.
Detailed Description
The invention is further described below with reference to the accompanying drawings:
a two-state variable-rigidity compliant joint comprises a rigidity adjusting mechanism, an elastic reed 5, an input disc 4 and an output outer ring 2; the output outer ring 2 is annular, the input disc 4 is coaxially arranged at the center of the output outer ring 2, and a plurality of elastic reeds 5 are arranged between the input disc 4 and the inner wall of the output outer ring 2; the rigidity adjusting mechanism is arranged at the center of the input disc 4, one end of the elastic reed 5 is connected with the rigidity adjusting mechanism, and the other end of the elastic reed is connected with the inner side wall of the output outer ring 2;
the rigidity adjusting mechanism comprises a rigidity adjusting motor 8, a first bevel gear 3 and a second bevel gear 9; the rigidity adjusting motor 8 is fixedly arranged in the center of the input disc 4, the output end of the rigidity adjusting motor 8 is fixedly connected with a second bevel gear 9, one end of each elastic reed 5, which is close to the input disc 4, is fixedly provided with a first bevel gear 3, and each first bevel gear 3 is meshed with the second bevel gear 9.
A plurality of bearings 6 are fixedly arranged on the input disc 4 around the second bevel gear 9, a first bevel gear shaft 7 is arranged in each bearing 6, one end of each first bevel gear shaft 7 is fixedly connected with the first bevel gear 3, and the other end of each first bevel gear shaft 7 is fixedly connected with the elastic spring 5.
The inner side wall of the output outer ring 2 is provided with a bearing 6, one end of the elastic reed 5 close to the output outer ring 2 is inserted into the bearing 6, and the number and the position of the bearing 6 are matched with the elastic reed 5.
The outer side of the rigidity adjusting mechanism on the input disc 4 is fixedly provided with a shell, and the center of the shell is fixedly provided with an input shaft 1.
The diameter of the first bevel gear 3 is smaller than the diameter of the second bevel gear 9.
An operation method of a two-state variable-rigidity compliant joint comprises the following steps:
step 1, an output arm is arranged on an output outer ring, an input shaft is connected with a driving motor, and when the output arm is acted by an external force, a rigidity adjusting motor is started;
and 2, driving the second bevel gear to rotate through the rigidity adjusting motor, so that the first bevel gear and the elastic spring leaf which are meshed with each other rotate, changing the section inertia moment of the elastic spring leaf and realizing the rigidity switching.
Example 1
As shown in fig. 1 and fig. 2, a two-state variable-stiffness compliant joint at least comprises an input shaft 1, an output outer ring 2 and a stiffness adjusting mechanism: the input shaft 1 is arranged at the rotation center of the output outer ring 2 and is fixedly connected with an input disc 4 which is coaxial with the input shaft 1, and the output outer ring 2 is connected with the input disc 4 through a revolute pair; the input disc 4 is connected with the output outer ring 2 through a supporting elastic reed 5; the rigidity adjusting mechanism comprises a rigidity adjusting motor 8, a second bevel gear 9 and a first bevel gear 3; the motor 8 is fixedly connected with a second bevel gear 9; the second bevel gear 9 is meshed with two first bevel gears 3 fixedly connected with the elastic reeds 5 to form gear transmission connection.
The elastic reeds 5 are multiple (3-6), the elastic reeds 5 are uniformly distributed, an extension line passes through the axis of the input shaft 1, one end of each elastic reed 5 is connected with the output outer ring 2 through a bearing 6, and the other end of each elastic reed is fixedly connected with the first bevel gear shaft 7.
The first bevel gear shaft 7 is connected to the input disc 4 via a bearing 6.
The working principle of the invention is as follows: the rigidity adjusting mechanism drives the second bevel gear 9 to rotate through the rigidity adjusting motor 8, so that the first bevel gear 3 and the elastic spring 5 which are fixedly connected with each other rotate, the section inertia moment of the elastic spring is changed, and the rigidity switching is realized. Wherein the geometrical dimensions of the spring 5 determine the controllable value of the stiffness.
Example 2
As shown in fig. 3, the main body frame of this embodiment is a frame 10, and a motor bracket 11 is mounted on the frame 10; the main motor 12 is fixed on the motor support 11 through a flange, is connected with the input shaft 1 through a conveyor belt 15, passes through a harmonic reducer 13 to reach a transmission mechanism, the transmission shaft is connected with the input disc 4, and is connected with the power output outer ring 2 through an elastic reed 5, and the elastic reed 5 is connected with the input disc 4 and the output outer ring 2 through a bearing 6.
The adjusting motor 8 is fixed on the input disc 4 through a flange and is connected with a second bevel gear 9 through an adjusting motor coupler, and the first bevel gear 3 is fixedly connected with the elastic reed 5.
When the rigidity adjusting motor 8 runs, the second bevel gear 9 is driven to rotate through the adjusting motor coupler, so that the rotational inertia of the elastic spring 5 is changed, and the output rigidity is further changed.
If the main motor 12 does not work, the power output arm 14 deflects when receiving unexpected impact force, the elastic spring 5 deforms to generate a buffering effect, so that the elastic performance is achieved between the input disc 4 and the output outer ring 2, meanwhile, the rotational inertia of the elastic spring 5 is changed through the rigidity adjusting motor 8, the rigidity of the whole system is further reduced, and the power input mechanism and the output arm are effectively protected.
The invention has good impact resistance and flexible dynamic characteristics, belongs to an active variable-rigidity flexible joint, and can be used for joints and drivers of various robots such as bionics, service, rehabilitation and the like.
The present invention should not be limited by the above embodiments, and any replacement or improvement of the components according to the technical solution of the present invention without creative efforts should be included in the protection scope of the present invention.
Claims (4)
1. A two-state variable-rigidity compliant joint is characterized by comprising a rigidity adjusting mechanism, an elastic reed (5), an input disc (4) and an output outer ring (2); the output outer ring (2) is annular, the input disc (4) is coaxially arranged at the center of the output outer ring (2), and a plurality of elastic reeds (5) are arranged between the input disc (4) and the inner wall of the output outer ring (2); the rigidity adjusting mechanism is arranged at the center of the input disc (4), one end of the elastic reed (5) is connected with the rigidity adjusting mechanism, and the other end of the elastic reed is connected with the inner side wall of the output outer ring (2);
the rigidity adjusting mechanism comprises a rigidity adjusting motor (8), a first bevel gear (3) and a second bevel gear (9); the rigidity adjusting motor (8) is fixedly arranged in the center of the input disc (4), the output end of the rigidity adjusting motor (8) is fixedly connected with a second bevel gear (9), one end, close to the input disc (4), of each elastic reed (5) is fixedly provided with a first bevel gear (3), and each first bevel gear (3) is meshed with the second bevel gear (9);
a plurality of bearings (6) are fixedly arranged on the input disc (4) around the second bevel gear (9), a first bevel gear shaft (7) is arranged in each bearing (6), one end of each first bevel gear shaft (7) is fixedly connected with the first bevel gear (3), and the other end of each first bevel gear shaft is fixedly connected with the elastic spring piece (5);
elastic reeds (5) between the input disc (4) and the inner wall of the output outer ring (2) are arranged at equal intervals, and the number and the positions of the bearings (6) are matched with the elastic reeds (5); the number of the elastic reeds (5) is 2-6;
the bearing (6) is arranged on the inner side wall of the output outer ring (2), one end, close to the output outer ring (2), of the elastic reed (5) is inserted into the bearing (6), and the number and the position of the bearing (6) are matched with those of the elastic reed (5).
2. The bi-state variable-stiffness compliant joint as claimed in claim 1, wherein the outer side of the stiffness adjusting mechanism on the input disc (4) is fixedly provided with a housing, and the center of the housing is fixedly provided with the input shaft (1).
3. A two-state variable stiffness compliant joint as claimed in claim 1 wherein the diameter of the first bevel gear (3) is smaller than the diameter of the second bevel gear (9).
4. An operation method of a two-state variable-stiffness compliant joint, which is based on any one of claims 1 to 3, and comprises the following steps:
step 1, an output arm is arranged on an output outer ring, an input shaft is connected with a driving motor, and when the output arm is acted by an external force, a rigidity adjusting motor is started;
and 2, driving the second bevel gear to rotate through the rigidity adjusting motor, so that the first bevel gear and the elastic spring leaf which are meshed with each other rotate, changing the section inertia moment of the elastic spring leaf and realizing the rigidity switching.
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| CN201910081240.1A CN109732641B (en) | 2019-01-28 | 2019-01-28 | Two-state variable-rigidity compliant joint and operation method |
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| CN201910081240.1A CN109732641B (en) | 2019-01-28 | 2019-01-28 | Two-state variable-rigidity compliant joint and operation method |
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| CN109732641B true CN109732641B (en) | 2021-09-07 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112372626B (en) * | 2020-09-23 | 2022-03-11 | 天津大学 | Series elastic driver with given moment deformation rule and design method |
| CN114670237B (en) * | 2022-03-25 | 2023-09-01 | 复旦大学 | High flexible robot joint of heavy-load |
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