CN109877808B - A kind of stiffness variable driving actuator and robot - Google Patents

Abstract

The invention discloses a kind of stiffness variable driving actuator and robots, including support component, stiffness tuning component, power drive assem and sensor-based system；The support component provides support for stiffness tuning component, power drive assem and sensor-based system；The sensor-based system obtains the corner of power drive assem output end, corrects for feedback control；The output rigidity of the output end of power drive assem is adjusted in the stiffness tuning component.The synchronous belt drive mechanism combination turbine and worm decelerator being laid out using planet, is not only avoided the weight and size disadvantage of traditional retarder, the independently synchronous adjustment to elastic element is also realized in extremely compact space.

Description

A kind of stiffness variable driving actuator and robot

Technical field

The invention belongs to robotic actuator fields, and in particular to a kind of stiffness variable driving actuator and robot.

Background technique

With the continuous development of robot technology, traditional robot has been unable to satisfy all trades and professions to automated arm institute The new demand of proposition.Robot also from application scenarios such as traditional automobile manufacture, production carryings, is expanded more and more to life The fields such as service, medical rehabilitation, military cooperation.These new robot application fields belong to the human-computer interaction occasion of height, right The safety of robot and flexibility require high.Robot can meet safety and the two of flexibility from two general orientation to be wanted greatly It asks, first, using the complicated control algolithm such as traditional high rigidity robot and the control of multipoint sensor combined impedance, robot A degree of compliant movement can be achieved, belong to the solution of algorithm (software) level；But the direction is not only to hardware The required precision of (robot body+sensor-based system) is higher, crucial Shared control algorithm performance (adaptivity+highly reliable Property+high speed real-time) it is even more extremely to be difficult to realize；Comprehensive difficulty and cost are high, significantly limit its development and application.Its Two, in the robotic actuator of hardware view exploitation novel changable rigidity driving, by the rigidity of separately adjustable robot, so that Robot can adjust in real time interactive forces in human-computer interaction process, i.e., when reciprocal force is larger, robot suitably reduces certainly Body exports rigidity, on the contrary then appropriate increase output rigidity, to realize safe submissive reciprocal motion；The driving of robot variation rigidity Mainly realize that there is excellent dynamic characteristic from hardware view, adaptive performance is preferable, and control difficulty is lower, low in cost；This Outside, the elastic element in variation rigidity mechanism also has the mechanical advantage of energy storage and release, can significantly reduce system energy consumption；Cause This, the robot of variation rigidity driving has obtained pursuing for researchers at home and abroad.

Existing variation rigidity driver is broadly divided into four major class according to principle: (1) become elastic element equilbrium position (structure), (2) become transmission levers ratio, (3) become elastic element pretightning force, (4) antagonism variation rigidity.Although variation rigidity drives actuator Applying has many advantages, such as on robot；

But it is found by the applicant that: existing variation rigidity driver have the shortcomings that it is different, it is such as flat based on elastic element is become The non-linear elastic element of weighing apparatus position belongs to the scope of passive stiffness-shift, and then stiffness characteristics depend entirely on after the completion of mechanism design The adaptability of non-linear elastic element itself, mechanism is extremely limited；The actuator of change elastic element pretightning force is limited by pre- mostly The adjusting surplus of tight mechanism, although relatively compact in structure, movement flexibility is poor, and the accurate acquisition of pretightning force is more It is difficult；Antagonism variation rigidity actuator is a kind of bionic device for imitating human muscle's characteristic, but mechanism is extremely too fat to move, antagonism The control of active force is relatively difficult, and coupled interference is difficult to eliminate, and system stability is poor, and accurate control is the most difficult；Become transmission The variation rigidity driver of Leveraged rate principle is mostly based on cantilever beam theory, acts on elastic element (mostly blade by changing Spring) on point of force application or levers support point or elastic element fixed pivot realize output stiffness tuning, control is simple, realizes Mode is relatively easy；But the existing variation rigidity driver for becoming transmission levers ratio principle exists: element with variable rigidity, which exists, to be posted Raw movement, volume, weight is larger, structure is complicated, appearance does not have aesthetic feeling, friction is larger, adjusting rigidity is limited, joint rotation angle The problems such as smaller, limits its application in robot.

Summary of the invention

In order to solve the above-mentioned technical problem, an object of the present disclosure is to provide a kind of stiffness variable driving execution to the present invention Device, especially suitable for robot in human-computer interaction timely adjustment interactive forces, can satisfy the safety of human-computer interaction occasion Property and flexibility demand；The second object of the present invention is to provide a kind of robot using above-mentioned stiffness variable actuator.

In order to achieve the above object, the invention adopts the following technical scheme:

A kind of stiffness variable driving actuator, including support component, stiffness tuning component, power drive assem and sensing system System；

The support component provides support for stiffness tuning component, power drive assem and sensor-based system；

The sensor-based system obtains the corner of power drive assem output end, corrects for feedback control；

The power drive assem rotates to drive load by power output element；

The output rigidity of the output end of power drive assem is adjusted in the stiffness tuning component, stiffness tuning component It is described including first motor, the first worm gear mechanism, load-bearing axle, toothed belt transmission module, elastic element and main drive shaft frame One end of load-bearing axle is directly installed in support component by first bearing, and the other end is mounted on main drive shaft by second bearing The other end of one end of frame, main drive shaft frame is mounted on power output element by 5th bearing, the power output element It is mounted in support component by fourth bearing, the load-bearing axle, main drive shaft frame and power output element three coaxial arrangement； The periphery of the main drive shaft frame is equipped with synchronous belt wheel shaft, and the elastic element is mounted on synchronous belt wheel shaft, the first motor The rotation of toothed belt transmission module input is driven by the first worm gear mechanism, the output end of synchronous pulley module drives elasticity Element is rotated around synchronous belt wheel shaft, is changed the contact point of elastic element and power output element, is realized the adjusting of rigidity.

Further, the power drive assem includes the second motor, the second worm gear mechanism, deceleration mechanism and moves Power output element, second motor are mounted in support component, and the end of power output element is connected with load, and described second Motor is rotated by the second worm gear mechanism drive deceleration mechanism input terminal, and the output end of deceleration mechanism drives main drive shaft frame Rotation, the main drive shaft frame is transferred power on power output element by the elastic element, to drive load Rotation.

Further, the main drive shaft is provided with first section, belt wheel beam and support shaft, first section periphery It is provided with belt wheel beam, the belt wheel beam includes spaced synchronous pulley beam and I/ARM, is provided on synchronous pulley beam same Pulley shaft is walked, the output end of toothed belt transmission module is installed on one of synchronous belt wheel shaft, the main driving arm passes through Support shaft cooperation 3rd bearing is mounted on power output element, and one end of first section is provided with axial counterbore, institute It states first section and cooperates second bearing to realize the connection with load-bearing axle by the counterbore.

Further, the Synchronous Transmission module includes the first synchronous pulley, the second synchronous pulley and the first synchronous belt, Input terminal of first synchronous pulley as Synchronous Transmission module, is mounted in load-bearing axle and rotates coaxially with load-bearing axle, and lead to It crosses the first synchronous belt and drives the second synchronous pulley rotation, second synchronous pulley is mounted on synchronous belt wheel shaft, and band Dynamic elasticity element is rotated with angular speed.

Further, second synchronous pulley and elastic element have several, several second synchronous pulleys It connects one to one with several elastic elements, and planet distributing installation is on the synchronous belt wheel shaft, one of them is second same Walking belt wheel is the double-deck synchronous pulley, and the outer layer of the bilayer synchronous pulley is passed by the first synchronous belt and the cooperation of the first synchronous pulley Dynamic, internal layer drives other all second synchronous pulleys to rotate by the second synchronous belt；It is also equipped with idle pulley on the I/ARM, uses In tensioning first synchronous belt.

Further, the elastic element and power output element cooperation are driven, and the power output element includes branch Support plate and the cylinder section being mounted on outside support plate, the support plate two sides are respectively equipped with load connecting shaft section and internal support shaft part, The load connecting shaft section is mounted in support component by fourth bearing, and the part stretched out outside fourth bearing drives load, institute It states internal support shaft part to connect by the 3rd bearing with main driving arm, inside support shaft part coaxially connects with main driving arm It connects；Cylinder section is located in support component, and the driving pedestal part is located in cylinder section, to reduce the occupancy of power output element radial direction Space, cylinder section is interior to be arranged the pressing plate that has elastic component, for cooperating transmission, turn of transmitting main drive shaft frame with the elastic element Square.

Further, the elastic element is made of several " S " type elastic plates, and centre is rigid plate, is mounted on On the synchronous belt wheel shaft of the main drive shaft frame, and rotated under toothed belt transmission module drive.

Further, the sensor-based system is mainly by the first encoder, second encoder, third encoder, the 4th Encoder composition；First encoder is for measuring the second motor and first motor corner and being controlled；Described Two encoders are for the rotation angle of elastic element and the corner of the main drive shaft frame described in survey calculation；The third Encoder is used to measure main drive shaft frame and the relative rotation of power output element is poor, finally calculates the elastic element Deflection；4th encoder is used to measure the corner of the power output element, corrects for feedback control.

Further, the support component is equipped with bearing frame and motor mount；Described bearing frame one end is band There is the semicircular ring of bolt mounting lug, the other end is curved slab, and whole in approximate L shape, two bearing frames are symmetrical arranged, semicircle End is embraced by bolt and clamps fourth bearing outer ring where ring, the curved surface connecting plate of the other end and the load-bearing circle of the motor mount Cylinder outer ring coaxial cooperation simultaneously connects；The end of the load-bearing cylinder is provided with cover board, the output end of the power drive assem Across the fourth bearing inner ring rear-guard dynamic load.

The present invention also provides a kind of robots, drive actuator including any of the above-described stiffness variable.

Compared to the prior art the present invention, possesses following advantageous effects:

1. " S " type elastic element of the invention in stiffness tuning motor driven rotary course, utilizes change cantilever beam branch The principle of point, from elastic element pressing plate in different point contacts, at the end of " S " type elastic plate, system stiffness is minimum, when " S " type Elastic plate intermediate plate and elastic element pressing plate contact, the two belong to rigid contact, at this time system stiffness highest, to realize The independent variation rigidity feature of the biggish active of adjustable range；

2. not only avoiding traditional deceleration using the synchronous belt drive mechanism combination turbine and worm decelerator of planet layout The weight and size disadvantage of device, also realize the independently synchronous adjustment to elastic element in extremely compact space；

3. main driving and the public transmission shaft design of stiffness tuning mechanism, significantly simple by the size of entire actuator Change, main driving can not only be made to run independently of each other with variation rigidity mechanism, more enables the output shaft of actuator extremely tight Complete cycle movement is realized in the space gathered, and more than the rotation angle in similar variation rigidity actuator joint, enhances the actuator in machine Adaptability in people's application；

4. the bearing of power output element front end of the present invention and bearing the holding as total for adjusting rigid load-bearing shaft rear end Element is carried, actuator mounting hole is designed in nearly fourth bearing side, and the stress of whole system is made to have focused largely on comprehensive load capacity At stronger crossed roller bearing, the weight of structural complexity and actuator is substantially reduced；

5. structure of the invention is compact, the compactedness especially on axial dimension is more than similar variation rigidity actuator, whole weight Amount is light, and small in size, power density is larger, and demolition and maintenance are convenient.

Detailed description of the invention

The accompanying drawings constituting a part of this application is used to provide further understanding of the present application, and the application's shows Meaning property embodiment and its explanation are not constituted an undue limitation on the present application for explaining the application.

Fig. 1 (a) is whole axonometric drawing of the invention.

Fig. 1 (b) is mid section figure of the invention.

Fig. 2 (a) is the structural schematic diagram concealed after motor mount of the invention.

Fig. 2 (b) is the rearview concealed after motor mount of the invention.

Fig. 3 (a) is the front view of motor mount of the invention.

Fig. 3 (b) is the left view of motor mount of the invention.

Fig. 3 (c) is the top view of motor mount of the invention.

Fig. 3 (d) is the axonometric drawing of motor mount of the invention.

Fig. 4 is " S " type elastic element structure schematic diagram of the invention.

Fig. 5 (a) is the front view of main drive shaft frame of the invention.

Fig. 5 (b) is the upper axonometric drawing of main drive shaft frame of the invention.

Fig. 5 (c) is the top view of main drive shaft frame of the invention.

Fig. 5 (d) is the lower axonometric drawing of main drive shaft frame of the invention.

Fig. 6 is bearing frame structural schematic diagram of the invention.

Fig. 7 (a) is the front view of power output element of the invention.

Fig. 7 (b) be in Fig. 7 (a) of the invention along the sectional view of A-A.

Fig. 7 (c) is the top view of power output element of the invention.

Fig. 7 (d) is the axonometric drawing of power output element of the invention.

Wherein: Z1 bearing frame, Z1.1 semicircular ring, Z1.2 curved slab, Z2 motor mount, Z2.1 load-bearing cylinder, Z2.2 are held Weight plate, Z2.3 cover board, Z2.4 block cylinder section, Z3 fourth bearing, Z4.1 first bearing, Z4.2 3rd bearing, Z4.3 second bearing, Z5 5th bearing, the Z6 support of bearing, G1 first motor, the first worm screw of G2, the first worm gear of G3, G4 load-bearing axle, the first synchronous belt of G5 Wheel, the second synchronous pulley of G6, the first synchronous belt of G7, the second synchronous belt of G8, G9 elastic element, G10 main drive shaft frame, G10.1 the A tin section, G10.2 belt wheel beam, G10.3 support shaft, G11 idle pulley, the first encoder of C1, the 4th reading head of C2.1, the 4th magnetic of C2.2 Ring, C3.1 third reading head, C3.2 third magnet ring, the second reading head of C4.1, C4.2 the second excitation body, the second motor of D1, D2 Two worm screws, the second worm gear of D3, the first reduction gearing of D4, the second reduction gearing of D5, D6 reduction gear shaft, D7 power output element, D7.1 elastic element pressing plate, D7.2 sections, the inside D7.3 support shaft part, and D7.4 loads connecting shaft section, D7.5 support plate, and FZ is born It carries.

Specific embodiment

It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless another It indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical field The identical meanings of understanding.

It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted root According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singular Also it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packet Include " " when, indicate existing characteristics, step, operation, device, component and/or their combination.

In order to facilitate narration, if there is "upper", "lower", " left side " " right side " printed words in the present invention, only expression and attached drawing itself Upper and lower, left and right direction it is consistent, not to structure rise restriction effect, it is only for convenient for description the present invention and simplification retouch It states, rather than the equipment of indication or suggestion meaning or element must have a particular orientation, and be constructed and operated in a specific orientation, Therefore it is not considered as limiting the invention.

Term explains part: the terms such as term " installation ", " connected ", " connection ", " fixation " in the present invention should do broad sense Understand, for example, it may be being fixedly connected, may be a detachable connection, or be integrated；It can be mechanical connection, be also possible to Electrical connection, can be and be directly connected to, and be also possible to indirectly connected through an intermediary, can be connection inside two elements, or The interaction relationship of two elements of person, for the ordinary skill in the art, can understand as the case may be on Term is stated in concrete meaning of the invention.

As described in background technique, the existing variation rigidity driver for becoming transmission levers ratio principle exists: becoming Rigidity unit there are hunt effect, volume, weight is larger, structure is complicated, appearance does not have aesthetic feeling, friction it is larger, adjust rigidity have Limit, the problems such as joint rotation angle is smaller, limit its application in robot, in order to solve the above-mentioned technical problem, this Shen It please propose a kind of stiffness variable end effector and robot.

Embodiment 1: as a kind of exemplary embodiments of the invention: as shown in Fig. 1 (a) and Fig. 1 (b), giving the present invention Whole axis surveys view and mid section figure.

In Fig. 1 (a), 2 the first encoder C1 are separately mounted to the tail portion of the second motor D1 and first motor G1, in real time The corner of first motor and the second motor is measured, 2 motors are then fixed on motor mount Z2, motor mount Z2 It is considered as being connected as fixing piece with ground, the bearing frame Z1 is clipping type bearing frame, one end of 2 bearing frame Z1 and motor The periphery mounting base Z2 coaxial cooperation, and by a pair of of aperture connection thereon, the other end of 2 bearing frame Z1, which is then embraced, clamps the 4th Bearing Z3, the bearing are crossed roller bearing, and power output element D7 is installed in inner ring side, are pacified in the end power output element D7 Equipped with load FZ, the bearing relation of an entirety is constituted.

In Fig. 1 (b), first motor G1 drives the input terminal of toothed belt transmission module by the first worm gear mechanism, First worm gear mechanism includes the first worm screw G2 and the first worm gear G3, and the first worm screw is installed in the front end first motor G1 G2, driving the first worm gear G3 rotation, the first worm gear G3 are mounted on load-bearing axle G4 by holding screw, and the two coaxially turns together Dynamic, the toothed belt transmission module includes the first synchronous pulley, the second synchronous pulley and the first synchronous belt, first synchronous belt Wheel is K-type small synchronous pulley, and the first synchronous pulley G5 is mounted on load-bearing axle G4 with same scheme, second synchronous pulley Have multiple, by the first synchronous belt G7 driving, wherein 1 the second synchronous pulley G6 rotation, remaining multiple second synchronous pulley G6 are pressed Uniformly be mounted on according to planet layout type on the synchronous belt wheel shaft of main drive shaft frame G10, only wherein one group be the double-deck configuration, it is described The outer layer of the double-deck synchronous pulley is driven by the first synchronous belt and the cooperation of the first synchronous pulley, and internal layer is driven by the second synchronous belt The rotation of other all second synchronous pulleys；It is also equipped with idle pulley on the I/ARM, for being tensioned first synchronous belt.

Several the second synchronous pulley G6 connect one to one with several elastic elements G9, and planet distributing installation is in main drive On moving axis frame G10, the shaft end of " S " type elastic element G9 is then connect with the second synchronous pulley G6, and synchronous rotation.

Further, one end of load-bearing axle G4 is equipped with first bearing Z4.1, and the other end is then equipped with second bearing Z4.3, And second bearing Z4.3 outer ring is then mounted on the inside of main drive shaft frame G10, the other end of main support bracket G10 then passes through the 5th Bearing Z5 is supported on the inside of power output element D7, and the first bearing and second bearing are angular contact ball bearing, described 5th bearing is load-bearing side angle contact ball bearing, using the good bearing capacity of angular contact ball bearing, load-bearing axle G4 and main driving Axial force and radial force that may be present are carried on pedestal G10, and the two can be rotated with individual coaxial, realize that second is same Belt wheel G6 is walked with the rotation of " S " type elastic element G9 and around the revolution of central axis.

Further, 3rd bearing Z4.2 is installed outside the boss section of the first synchronous pulley G5, for carrying the second motor The power of transmitting, the 3rd bearing Z4.2 select deep groove ball bearing.

Further, the third reading head C3.1 of third encoder is mounted on one end of main drive shaft frame G10, and the two is coaxial Cooperation, synchronous rotary, third magnet ring are then mounted on the inside of power output element D7, belong to coaxial match with third reading head C3.1 It closes, when " S " type elastic element G9 compressive deformation, corner difference is had between main drive shaft frame G10 and power output element D7, this The third encoder at place can measure the corner difference, so can be used for calculating in real time current actuator output rigidity value and Output torque.

Further, the second reading head C4.1 of second encoder is mounted in the cover board Z2.3 of motor mount Z2 The heart, the second excitation body C4.2, which is then mounted on, to be adjusted inside rigid load-bearing axle G4, and the two mutual induction measures the corner for adjusting rigid load-bearing axle, should Corner information is mainly used for compensating the driving error of the first worm gear mechanism.

The number of above-mentioned second synchronous pulley G6 and " S " type elastic element G9 can be according to the size spirit of actuator output torque Configuration living can be using the second synchronous pulley G6 synchronous rotary of multiple planets layout when for heavily loaded occasion.

As shown in Fig. 2 (a) and Fig. 2 (b), gives the present invention and conceal the positive schematic diagram after motor mount Z2 and oblique To schematic diagram, which more fully illustrates the element installation situation and correlation at each position.

Further include idle pulley G11, bearing spider Z6, the second worm screw D2, the second worm gear D3, the first reduction gearing D4, second subtract Fast gear D 5, reduction gear shaft D6, elastic element pressing plate D7.1.Second worm gear D3 and are wherein installed on reduction gear shaft D6 Two reduction gearing D4, both ends are supported on a pair of small angular contact ball bearing, to bear load axially and radially.

The small angular contact ball bearing at reduction gear shaft both ends is mounted on support of bearing Z6, several support of bearing Z6 in figure It is then fixed on the support plate Z2.2 in motor mount Z2.

Second front end motor D1 is equipped with the second worm screw D2, driving the second worm gear D3 rotation, and then drives reduction gear shaft D6 and the rotation of the second reduction gearing D4 coaxial synchronous, then drive the first reduction gearing D5 to rotate.

First reduction gearing D5 is mounted in 3rd bearing Z4.2 (with reference to Fig. 1), and is fixed and connected with main drive shaft frame G10 It connects, for driving main drive shaft frame G10 to rotate.

Referring to Fig. 1 (a)-Fig. 2 (b), specific work process are as follows: the second motor D1 drives main driving worm screw D2, and then drives Second worm gear D3 rotation, and then torque is passed into main drive shaft frame by the second reduction gearing D4 and the first reduction gearing D5 G10, main drive shaft frame G10 are then distributed " S " type elastic element G9 thereon by planet, act on elastic element pressing plate D7.1 On, it finally transfers torque on power output element D7, driving load FZ movement；

When carrying out human-computer interaction with robot, reciprocal force size is measured by sensor, Real-time Feedback to control system, Control system calculates rigidity size needed for system using algorithm, then issues instruction, and control first motor G1 drives the first snail Bar G2 and the first worm gear G3 rotation, and then the first synchronous pulley G5 is driven, it is synchronous by the first synchronous belt G7 driving bilayer second Belt wheel G6 drives all second synchronous pulley G6 and " S " type elastic element G9 eventually by the second synchronous belt G8 cooperation idle pulley G11 Independent rotation, and " S " type elastic element G9 is constantly changing with the elastic element contact point pressing plate D7.1, to be equivalent to change The position of cantilever beam power realizes the adjusting of actuator rigidity；

After setting up rigidity value, when determine rigidity driving, the self-locking performance of the first worm gear mechanism guarantees synchronous pulley G9 and the no longer rotation of " S " type elastic element, but as main drive shaft frame G10 revolves.Stiffness tuning process and main driving torque Output process is mutually indepedent, is mainly reflected in the planet layout of synchronous pulley G6 in transmission, this has benefited from main driving force and tune The public design for adjusting rigid load-bearing axle G4 of the transmitting of rigid driving force.

Embodiment 2: support component of the invention is improved:

The motor mounting seat structure schematic diagram of the invention as shown in Fig. 3 (a), Fig. 3 (b), Fig. 3 (c) and Fig. 3 (d).It is divided into 4 Part, wherein the part load-bearing cylinder Z2.1 mainly undertakes itself distal end load of entire actuator, and wall thickness is thicker, sets on it In respect of connecting hole, it is connect with bearing frame Z1；Design has bearing plate Z2.2 inside it, for installing two motors and the support of bearing Z6, in order to guarantee assembly precision, preferably integrated design；And the cover board Z2.3 of end is then split type with load-bearing cylinder Z2.1 , mainly for the fit-up inspection of actuator inner body is convenient；In order to protect the element inside driving actuator, it is additionally provided with Cylinder section Z2.4 is blocked, blocks an intersegmental part without bearing plate, so wall thickness is smaller；Other parts are same as Example 1.

Fig. 6 is bearing frame structural schematic diagram of the invention.Wherein, semicircular ring Z1.1 and above-mentioned fourth bearing Z3 coaxially matches It closes, curved slab Z1.2 and motor mount Z2 coaxial cooperation, and is linked together by aperture thereon, actuator itself is carried Lotus is transferred on a pair of of clipping type bearing frame；In curved slab Z1.2, there are big fixation holes, for fixing the actuator.

Embodiment 3: to the linkage work process of " S " type elastic element of the invention, main drive shaft frame and power output element It is further described:

Fig. 4 is " S " type elastic element G9 structural schematic diagram of the invention.Intermediate plate is rigid plate, and has connection outstanding Axis, itself is contacted, when the contact point is on the curved surface of the element in jackshaft rotary course with elastic element pressing plate D7.1 When being gradually distance from intermediate rigid plate, system stiffness is reduced；When contact point is mobile towards intermediate rigid plate on the curved surface of the element, System stiffness increases；When contact point is located on intermediate plate, system becomes positive drive；With this, system is may be implemented in the present invention Rigidity is from smaller value to a wide range of adjusting of rigidity.

As shown in Fig. 5 (a), Fig. 5 (b), Fig. 5 (c) and Fig. 5 (d), main drive shaft frame structural schematic diagram of the invention.This zero Part is divided into 3 parts: first section G10.1 is for bearing most main driving torque, first section periphery interval setting There are synchronous belt wheel shaft and I/ARM, the output end of toothed belt transmission module, I/ARM are installed on one of synchronous belt wheel shaft On idle pulley is installed, big cylinder section G10.1 is internally mounted to second bearing Z4.3, and the support shaft G10.3 of the other end is used for the part Support, be mounted on 5th bearing Z5 thereon；So far, main drive shaft frame, which realizes, axially and radially locates.

Fig. 7 is power output element structural schematic diagram of the invention.The part is using integration, lightweight, high-intensitive material Material manufacture, elastic element pressing plate D7.1 is laid out in pairs on the inside of cylinder section D7.2, each pair of elastic element pressing plate D7.1 and one " S " type elastic element G9 (referring to Fig. 2) cooperation, when main drive shaft frame G10 is with " S " type elastic element G9 (referring to Fig. 2) rotation When, " S " type elastic element G9 (referring to Fig. 2) half is pressurized, the other half " loosens ", further propulsion power output element D7 rotation Turn；Inside support shaft part D7.3 carries actuator internal element for installing 5th bearing Z5 (with reference to Fig. 1 (b) cross-sectional view)；It is negative Connecting shaft section D7.4 is carried to be mainly used for that the main load of the entire actuator of fourth bearing Z3 receiving is installed and connect load FZ；Support Disk D7.5 plays output torque, and reduces output shaft diameter, makes compact-sizedization, and installation third encoder and the 4th coding The effect of device may be designed in spoke type and further decrease weight.

The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.

Claims (10)

1. a kind of stiffness variable drives actuator, which is characterized in that including support component, stiffness tuning component, power drive group Part and sensor-based system；

The support component provides support for stiffness tuning component, power drive assem and sensor-based system；

The sensor-based system obtains the corner of power drive assem output end, corrects for feedback control；

The power drive assem rotates to drive load by power output element；

The output rigidity of the output end of power drive assem is adjusted in the stiffness tuning component, and stiffness tuning component includes First motor, the first worm gear mechanism, load-bearing axle, toothed belt transmission module, elastic element and main drive shaft frame, the load-bearing One end of axis is directly installed in support component by first bearing, and the other end is mounted on main drive shaft frame by second bearing The other end of one end, main drive shaft frame is mounted on power output element by 5th bearing, and the power output element passes through Fourth bearing is mounted in support component, the load-bearing axle, main drive shaft frame and power output element three coaxial arrangement；It is described The periphery of main drive shaft frame is equipped with synchronous belt wheel shaft, and the elastic element is mounted on synchronous belt wheel shaft, and the first motor is logical Cross the driving toothed belt transmission module input rotation of the first worm gear mechanism, the output end driving elasticity member of synchronous pulley module Part is rotated around synchronous belt wheel shaft, is changed the contact point of elastic element and power output element, is realized the adjusting of rigidity.

2. stiffness variable as described in claim 1 drives actuator, which is characterized in that the power drive assem includes second Motor, the second worm gear mechanism, deceleration mechanism and power output element, second motor are mounted in support component, are moved The end of power output element is connected with load, and second motor passes through the second worm gear mechanism drive deceleration mechanism input terminal Rotation, the output end of deceleration mechanism drive the rotation of main drive shaft frame, and the main drive shaft frame passes through the elastic element for power It is transmitted on power output element, to drive the rotation of load.

3. stiffness variable as claimed in claim 1 or 2 drives actuator, which is characterized in that the main drive shaft is provided with the A tin section, belt wheel beam and support shaft, first section periphery are provided with belt wheel beam, and the belt wheel beam includes spaced same Belt wheel beam and I/ARM are walked, synchronous belt wheel shaft is provided on synchronous pulley beam, synchronization is installed on one of synchronous belt wheel shaft The output end of V belt translation module, the main drive shaft frame cooperate 3rd bearing to be mounted on power output element by support shaft, One end of first section is provided with axial counterbore, and first section cooperates second bearing to realize and hold by the counterbore The connection of solid axle.

4. stiffness variable as claimed in claim 3 drives actuator, which is characterized in that the toothed belt transmission module includes the One synchronous pulley, the second synchronous pulley and the first synchronous belt, input terminal of first synchronous pulley as Synchronous Transmission module, It is mounted in load-bearing axle and is rotated coaxially with load-bearing axle, and the second synchronous pulley rotation is driven by the first synchronous belt, it is described Second synchronous pulley is mounted on synchronous belt wheel shaft, and elastic element is driven to rotate with angular speed.

5. stiffness variable as claimed in claim 4 drives actuator, which is characterized in that second synchronous pulley and elasticity Element has several, several second synchronous pulleys connect one to one with several elastic elements, and planet distributing installation On the synchronous belt wheel shaft, one of them second synchronous pulley is the double-deck synchronous pulley, the outer layer of the bilayer synchronous pulley It is driven by the first synchronous belt and the cooperation of the first synchronous pulley, internal layer drives other all second synchronous belts by the second synchronous belt Wheel rotation；It is also equipped with idle pulley on the I/ARM, for being tensioned first synchronous belt.

6. stiffness variable as claimed in claim 5 drives actuator, which is characterized in that the elastic element and power output member Part cooperation transmission, the power output element includes support plate and the cylinder section that is mounted on outside support plate, the support plate two sides point Connecting shaft section and internal support shaft part She You not be loaded, the load connecting shaft section is mounted on support component by fourth bearing On, the part stretched out outside fourth bearing drives load, and the internal support shaft part passes through the 3rd bearing and main drive shaft frame Connection, inside support shaft part and main drive shaft frame are coaxially connected；Cylinder section is located in support component, main drive shaft frame part position In in cylinder section, to reduce the occupied space of power output element radial direction, the pressing plate that has elastic component is set in cylinder section, is used for and described Elastic element cooperate transmission, transmit main drive shaft frame torque.

7. stiffness variable as claimed in claim 3 drives actuator, which is characterized in that the elastic element is by several " S " type elastic plate is constituted, and centre is rigid plate, is mounted on the synchronous belt wheel shaft of the main drive shaft frame, and is passed in synchronous belt It is rotated under dynamic module drive.

8. stiffness variable as claimed in claim 3 drives actuator, which is characterized in that the sensor-based system is mainly by first Encoder, second encoder, third encoder, the 4th encoder composition；First encoder is for measuring the second motor With first motor corner and controlled；The second encoder for elastic element described in survey calculation rotation angle and The corner of the main drive shaft frame；The third encoder is used to measure the opposite of main drive shaft frame and power output element Outer corner difference finally calculates the deflection of the elastic element；4th encoder is used to measure the power defeated The corner of element out is corrected for feedback control.

9. stiffness variable as described in claim 1 drives actuator, which is characterized in that the support component is equipped with bearing frame And motor mount；Described bearing frame one end is the semicircular ring with bolt mounting lug, and the other end is curved slab, is integrally in Approximate L shape, two bearing frames are symmetrical arranged, and end is embraced by bolt and clamps fourth bearing outer ring where semicircular ring, the other end Curved surface connecting plate and the load-bearing cylinder outer ring coaxial cooperation of the motor mount are simultaneously connect；The end of the load-bearing cylinder is set It is equipped with cover board, the output end of the power drive assem passes through the fourth bearing inner ring rear-guard dynamic load.

10. a kind of robot drives actuator including any stiffness variable of claim 1-9.