CN110065057A - A kind of variation rigidity driving device - Google Patents
A kind of variation rigidity driving device Download PDFInfo
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- CN110065057A CN110065057A CN201910470795.5A CN201910470795A CN110065057A CN 110065057 A CN110065057 A CN 110065057A CN 201910470795 A CN201910470795 A CN 201910470795A CN 110065057 A CN110065057 A CN 110065057A
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- cam disc
- sliding block
- sliding slot
- rigidity
- variation rigidity
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- 125000006850 spacer group Chemical group 0.000 claims description 11
- 230000003447 ipsilateral effect Effects 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 230000004888 barrier function Effects 0.000 claims 1
- 239000011229 interlayer Substances 0.000 claims 1
- 239000010410 layer Substances 0.000 claims 1
- 230000008859 change Effects 0.000 abstract description 13
- 230000006835 compression Effects 0.000 abstract description 6
- 238000007906 compression Methods 0.000 abstract description 6
- 238000010586 diagram Methods 0.000 description 11
- 238000000034 method Methods 0.000 description 7
- 230000033001 locomotion Effects 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000011258 core-shell material Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000005303 weighing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kind of variation rigidity driving devices, including shell, output shaft and element with variable rigidity, the first cam disc and the second cam disc in element with variable rigidity are able to be rotated, since sliding block is kept in contact with the first cam disc or the second cam disc always, the rotation of first cam disc can be such that the sliding block on central plate top slides along sliding slot, linear spring matches the nonlinear change that can be realized amount of spring compression with the first cam disc, by the relative rotation angle for controlling the first cam disc and the second cam disc, rigidity and the position of the output of variation rigidity driving device can be changed, to realize flexible output, and apparatus structure is simple, rigidity position adjusts fast and flexible.
Description
Technical field
The present invention relates to robot flexibility actuation techniques field, in particular to a kind of variation rigidity driving device.
Background technique
With the extensive use of robot technology, traditional rigid actuation techniques have been unable to satisfy the function of some application fields
It can require, such as some when robot being needed to cooperate in circumstances not known with people, extraneous interference or collision can be to people and machine
It damages, it is desirable that the dynamic change of driver dynamics is to guarantee man-machine safety.It is accessed between driving and load soft
Property element can improve the safety of system to a certain extent, and the stability of power control can be improved in the reduction of rigidity, but
The rigidity of such driving is non-adjustable, and the natural mode shape of system and the rigidity of elastic element are related, during joint motions,
Energy loss for elimination spring free oscillation is larger, and the flexibility of system is lower.
To solve the above problems, variation rigidity is driven into research hotspot in recent years, rigidity driving can reach specific
Position, once reaching designated position, no matter whether there is or not external forces to be applied to driver, and rigid driver can be maintained at this position
Set, though variation rigidity driver after reaching designated position, as its power for applying of outer bound pair, generates flat relative to oneself
The displacement of weighing apparatus position, variation rigidity driving can be according to mission requirements regulating system rigidity, and movement is more flexible, therefore is answered extensively
With.
Therefore, how the variation rigidity driver that a kind of structure is simple, stiffness variation range is wide, stiffness tuning is fast is provided, is
The important technological problems that those skilled in the art need to solve at present.
Summary of the invention
The object of the present invention is to provide a kind of variation rigidity driving devices, and the variation rigidity driving device structure is simple, can be right
The rigidity of output shaft and position are controlled simultaneously, and stiffness tuning fast and flexible.
In order to solve the above technical problems, the present invention provides a kind of variation rigidity driving device, including shell, output shaft and change are just
Unit is spent, the element with variable rigidity is set in the inner cavity of the shell, and the interior of the shell is protruded into one end of the output shaft
It is connected in chamber and with the element with variable rigidity；
The element with variable rigidity includes being coaxially disposed in interior of shell and being connected with the output shaft coaxial linkage
Central core is provided with central plate in the middle part of the central core with being connected, and the top of the central plate is rotationally coaxially disposed
There is the first cam disc, the bottom of the central plate is rotationally coaxially arranged with the second cam disc, first cam disc and institute
It states between central plate, be respectively arranged with elastic parts between second cam disc and the central plate, further include driving respectively
Move the driving unit of first cam disc and the second cam disc fixed-axis rotation；
The elastic parts include be placed in first cam disc two sides and be placed in the two of second cam disc
The sliding block of side, the sliding block are abutted against with the periphery wall of first cam disc and the periphery wall of second cam disc, institute
It states and is connected with spring between the inner wall of sliding block and the ipsilateral central core of the sliding block, the radial direction of the central plate, which is arranged, to be slided
Slot, the axis perpendicular of the sliding slot and the central plate, the sliding block are slideably positioned in the sliding slot, first cam
The periphery wall of the periphery wall of disk and second cam disc all has planar section and curved sections, and under original state, the sliding block
The planar section of its corresponding first cam disc or the second cam disc abuts against.
Preferably, the sliding block is cylindrical-shaped structure, the outer peripheral surface of the sliding block and first cam disc or described the
Two cam discs abut against.
Preferably, the bottom of the sliding block, which abuts, is movably arranged in the sliding slot and rolls with the sliding slot inner wall
The ball of dynamic cooperation.
Preferably, the bottom width of the opening width of the sliding slot sliding slot is narrow, the opening width of the sliding slot compared with
The diameter of the ball is small, and spacer bar is arranged in the sliding slot, and the spacer bar can prevent the ball and the sliding block from skidding off
The sliding slot, the spacer bar is parallel with the axis of the sliding slot, and the sliding block has week compatible with the spacer bar
To annular recess.
Preferably, the shell includes outer casing upper cover, valve jacket and shell lower cover, and the valve jacket is hollow cylinder, described
Outer casing upper cover and the shell lower cover are respectively arranged at the both ends of the valve jacket, and the element with variable rigidity is set on the shell
In lid, the space that surrounds of the valve jacket and the shell lower cover, the outer casing upper cover and the shell lower cover respectively with the shell
Set is detachably connected.
Preferably, the driving unit includes the first driving motor connecting with first cam disc, and described first drives
Dynamic motor is fixed on the outer casing upper cover, and the output shaft passes through the outer casing upper cover, first driving motor and described
First cam disc is connected with the central plate, and first driving motor is core motor；
The driving unit further includes the second driving motor connecting with second cam disc, second driving motor
It is fixed under the shell on lid.
Preferably, annular brace, and the annular brace and the central core are coaxially arranged with below the central core
Between be rotatably adapted.
Preferably, the annular brace is fixed by screws on the inner wall of the shell, the outer casing upper cover and described
Shell lower cover is connected by screw to the central core respectively.
Preferably, first cam disc is identical with the shape of second cam disc, first cam disc and described
The side elevation that second cam disc and the sliding block abut against all has two symmetrical cambered surfaces and two symmetrical planes, and
The arc top spacing of two cambered surfaces is greater than the spacing of two planes.
Relatively above-mentioned background technique, variation rigidity driving device provided by the present invention, the first cam disc and the second cam disc
It is able to be rotated, since sliding block is kept in contact with the first cam disc or the second cam disc always, the rotation of the first cam disc
The sliding block on central plate top can be made to slide along sliding slot, linear spring is matched with the first cam disc can be realized spring-compressed
The nonlinear change of amount can change variation rigidity drive by controlling the relative rotation angle of the first cam disc and the second cam disc
The rigidity of dynamic device output and position, to realize flexible output, and apparatus structure is simple, rigidity position adjusts fast and flexible.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of variation rigidity driving device of the invention；
Fig. 2 is the structural schematic diagram of the shell of variation rigidity driving device of the invention；
Fig. 3 is the element with variable rigidity of variation rigidity driving device of the invention and the structural schematic diagram of output shaft；
Fig. 4 is the present invention looks up structural representation of the element with variable rigidity of variation rigidity driving device of the invention；
Fig. 5 is the central plate of variation rigidity driving device of the invention and the structural schematic diagram of central core；
Fig. 6 is the structural schematic diagram of the annular brace of variation rigidity driving device of the invention；
Fig. 7 is the schematic illustration of the spring non-linear compression of variation rigidity driving device of the invention；
Schematic illustration when Fig. 8 is the operation of variation rigidity driving device of the invention.
Wherein, 1 is output shaft, and 2 be outer casing upper cover, and 3 be shell, and 4 be shell lower cover, and 5 be the first driving motor, and 6 be the
One cam disc, layer centered on 7,8 be the second cam disc, and 9 be annular brace, and 10 be the second driving motor, and 11 be center plate, and 12 are
Sliding block, 13 be spring.
Specific embodiment
Core of the invention is to provide a kind of variation rigidity driving device, and the variation rigidity driving device structure is simple, can be right
The rigidity of output shaft and position are controlled simultaneously, and stiffness tuning fast and flexible.
In order to enable those skilled in the art to better understand the solution of the present invention, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.
Fig. 1 to Fig. 8 is please referred to, Fig. 1 is the structural schematic diagram of variation rigidity driving device of the invention, and Fig. 2 is of the invention
The structural schematic diagram of the shell of variation rigidity driving device, Fig. 3 are the element with variable rigidity of variation rigidity driving device of the invention and defeated
The structural schematic diagram of shaft, Fig. 4 are the present invention looks up structural representation of the element with variable rigidity of variation rigidity driving device of the invention, Fig. 5
For the central plate of variation rigidity driving device of the invention and the structural schematic diagram of central core, Fig. 6 is that variation rigidity of the invention drives
The structural schematic diagram of the annular brace of device, Fig. 7 are the principle of the spring non-linear compression of variation rigidity driving device of the invention
Schematic diagram, schematic illustration when Fig. 8 is the operation of variation rigidity driving device of the invention.
In a specific embodiment, variation rigidity driving device provided by the present invention, including shell 3, output shaft 1 and change are rigid
Unit is spent, element with variable rigidity is set in the inner cavity of shell 3, and one end of output shaft 1 is protruded into the inner cavity of shell 3 and and variation rigidity
Unit is connected；
Element with variable rigidity includes being coaxially disposed in central core shell 3 inside and be connected with 1 coaxial linkage of output shaft
7, the middle part of central core 7 is provided with central plate 11, and the top of central plate 11 is rotationally coaxially arranged with the first cam disc 6, in
The bottom of core 11 is rotationally coaxially arranged with the second cam disc 8, between the first cam disc 6 and central plate 11, the second cam
It is respectively arranged with elastic parts between disk 8 and central plate 11, further includes that can respectively drive the first cam disc 6 and the second cam disc 8
The driving unit of fixed-axis rotation；
Elastic parts include be placed in the first cam disc 6 two sides and second cam disc 8 that is placed in two sides sliding block 12,
Sliding block 12 is abutted against with the periphery wall of the first cam disc 6 and the periphery wall of the second cam disc 8, and sliding block 12 and the sliding block 12 are ipsilateral
Central core 7 inner wall between be connected with spring 13, sliding slot, the axis of sliding slot and central plate 11 is arranged in the radial direction of central plate 11
Perpendicular, sliding block 12 is slideably positioned in sliding slot, and the periphery wall of the periphery wall of the first cam disc 6 and the second cam disc 8 all has
Planar section and curved sections, and under original state, the planar section of its corresponding first cam disc 6 of sliding block 12 or the second cam disc 8
It abuts against.
Variation rigidity driving device provided by the present invention, the first cam disc 6 and the second cam disc 8 are able to single in driving
It is rotated under the drive of member, since sliding block 12 is kept in contact with the first cam disc 6 or the second cam disc 8 always, the first cam
The rotation of disk 6 can be such that the sliding block 12 on 11 top of central plate slides along sliding slot, and linear spring 13 matches energy with the first cam disc 6
The nonlinear change for enough realizing 13 decrement of spring, by the relative rotation angle for controlling the first cam disc 6 and the second cam disc 8
Degree can change rigidity and the position of the output of variation rigidity driving device, to realize flexible output, and apparatus structure is simple, just
It spends position and adjusts fast and flexible.
In device original state, spring 13 is in compressive state, to guarantee sliding block 12 and the first cam disc 6 and second
Cam disc 8 can contact always, when there is external force F to act on output shaft 1, since output shaft 1 is fixedly connected with central plate 11, make
Obtain the passively deflection θ of central plate 11p(angle between 8 surface normal of central plate 11 and the first cam disc 6 or the second cam disc), bullet
Spring 13 is compressed, and corresponding torque τ is generated1, when passive rotational angle thetapIncrease, 13 non-linear compression of spring, the elastic force F of generationsFor
Fs=ks[lp+(d-d0)]=ks(lp+d0secθp-d0)
Wherein, ksFor 13 rigidity of spring, lpFor the initial compression amount of spring 13, doFor 12 center of sliding block to the first cam disc 6
Or the distance of 8 rotation center of the second cam disc.
13 elastic force of spring is converted into the directed force F perpendicular to central plate 11r
Fr=Fssinθpcosθp
Joint moment is accordingly
τ1=-2d × Fr=-2dks[lp+d(secθp-1)]sinθp
It additionally needs, it is emphasized that the junction that offsets of the first cam disc 6 and the second cam disc 8 and sliding block 12 includes plane
And cambered surface, two kinds of operating modes may be implemented, when the deflection angle that external force generates is not above preset threshold, the first cam disc
6 and second the plane of cam disc 8 abutted against with sliding block 12, make 13 non-linear compression of spring, change rigidity；When deflection angle is more than
When threshold value, cambered surface and the sliding block 12 of the first cam disc 6 and the second cam disc 8 are abutted against, can be realized rigidity quickly substantially under
Drop guarantees crashworthiness.
Specifically, sliding block 12 is cylindrical-shaped structure, the outer peripheral surface of sliding block 12 and 8 phase of the first cam disc 6 or the second cam disc
It abuts, when sliding block 12 and the first cam disc 6 or the second cam disc 8 abut against and generate relative displacement, sliding block 12 is cylindric
Structure reduces frictional resistance, guarantees that the first cam disc 6 and the second cam disc 8 being capable of smooth rotations.
In other specific embodiments of the invention, the bottom of sliding block 12, which abuts, to be movably arranged in sliding slot simultaneously
The ball that cooperation is rolled with sliding slot inner wall is cooperated by the rolling of ball and sliding slot inner wall, sliding block 12 and the sliding of sliding slot is rubbed
The rolling friction for being changed to sliding block 12 Yu ball is wiped, the frictional force between sliding block 12 and sliding slot is reduced, keeps the sliding of sliding block 12 more smooth,
Then flexibility when adjusting output rigidity is improved, adjustment speed is improved, reduces energy loss.
In order to avoid sliding block 12 in sliding process by deviating from sliding slot, the bottom width of the opening width of sliding slot compared with sliding slot
Narrow, the opening width of sliding slot is small compared with the diameter of ball, and ball is avoided to slip, and spacer bar is arranged in sliding slot, and spacer bar can prevent from rolling
Pearl and sliding block 12 skid off sliding slot, and spacer bar is parallel with the axis of sliding slot, and sliding block 12 has circumferential ring compatible with spacer bar
Shape groove avoids sliding block 12 from popping up from sliding slot in the power applied by the first cam disc 6 or the second cam disc 8 to it.
More specifically, shell 3 includes outer casing upper cover 2, valve jacket and shell lower cover 4, valve jacket is hollow cylinder, outer casing upper cover
2 and shell lower cover 4 be respectively arranged at the both ends of valve jacket, element with variable rigidity is set to outer casing upper cover 2, valve jacket and shell lower cover 4 and encloses
At space in, provide support and installation space for element with variable rigidity, and shell 3 is split type structure, outer casing upper cover 2 and outer
Shell lower cover 4 is detachably connected with valve jacket respectively, easy disassembly repair and maintenance.
Further, driving unit includes the first driving motor 5 connecting with the first cam disc 6, and the first driving motor 5 is solid
Due on outer casing upper cover 2, output shaft 1 passes through outer casing upper cover 2, the first driving motor 5 and the first cam disc 6 and 11 phase of central plate
Even, the first driving motor 5 is core motor；The driving unit further includes the second driving motor 10 connecting with the second cam disc 8,
Second driving motor 10 is fixed on shell lower cover 4, and outer casing upper cover 2 and shell lower cover 4 are the first driving motor 5 and the second driving
Motor 10 provides installation foundation, and central core 7 and central plate 11 are reliably fixed linkage cooperation.
The lower section of central core 7 is coaxially arranged with annular brace 9, and between the annular brace 9 and central core 7 rotatably
Be adapted, annular brace 9 can centered on layer 7 and its related fittings sufficient structural support is provided.
In this embodiment, the first cam disc 6 is identical with the shape of the second cam disc 8, the first cam disc 6 and
Two cam discs 8 all have two symmetrical cambered surfaces and two symmetrical planes, and two with the side elevation that sliding block 12 abuts against
The arc top spacing of cambered surface is greater than the spacing of two planes.First cam disc 6 and the second cam disc 8 are symmetrical structure, have made first
12 uniform force of sliding block of 8 two sides of cam disc 6 or the second cam disc, and then improve the accuracy of output stiffness tuning.
In summary, variation rigidity driving device provided in the present invention, in use process, the first driving motor 5 is driven
The rotation of first cam disc 6, the second driving motor 10 drives the rotation of the second cam disc 8, due to sliding block 12 and the first cam disc 6 or the
Two cam discs 8 remain contact condition, and the rotation of the first cam disc 6 and the second cam disc 8 will drive about 11 central plate
Sliding block 12 is connected along runner movement, 13 one end of spring with sliding block 12, and the other end of spring 13 is connected with central core 7, spring 13
Decrement generates nonlinear change, by the relative angle of the first cam disc 6 of control and the rotation of the second cam disc 8, can change
The rigidity of system and output position.When the first cam disc 6 is identical with the rotational angle of the second cam disc 8, but rotation direction phase
Instead, at this moment the rigidity of output shaft 1 changes；When the rotation angle size and Orientation of the first cam disc 6 and the second cam disc 8 is equal
Identical, the position of output shaft 1 changes；When the rotation angle difference of the first cam disc 6 and the second cam disc 8, device is defeated
The rigidity of shaft 1 and position change.
When the rotation angle of the first cam disc 6 is θ1, the rotation angle of the second cam disc 8 is θ2, and θ1=-θ2, definition the
Angle between one cam disc 6 and the second cam disc 8The first cam disc 6 and the second cam disc are analyzed respectively
The effect of 8 pairs of central plates 11, then 11 deflection angle of central plate beWithAssuming that central plate 11 deflects θ due to external forcep,
Then output torque τ and system stiffness k are
So the rigidity of system output is θpWithFunction, when there is no external force application, θp=0, k represents first at this time
The angle of cam disc 6 and the second cam disc 8 isWhen system initial stiffness.
Specifically in an implementation, the first driving motor 5 of control drives the rotation of the first cam disc 6, and the second driving motor 10 drives
The rotation of second cam disc 8, the angle between the first cam disc 6 and the second cam disc 8 change, and sliding block 12 slides along the chute,
The decrement of spring 13 changes, and output rigidity changes therewith；When external force changes, the passive amount of deflection of central plate 11 changes, output
Rigidity also changes；Particularly, when colliding, the external force being subject to is more than threshold value, the first driving motor 5 and the second driving
Motor 10 contacts the first cam disc 6 and the curvature portion of the second cam disc 8 with sliding block 12, and device output rigidity will substantially drop
It is low.
Variation rigidity driving device provided by the present invention is described in detail above.Specific case used herein
Principle and implementation of the present invention are described, the above embodiments are only used to help understand side of the invention
Method and its core concept.It should be pointed out that for those skilled in the art, not departing from the principle of the invention
Under the premise of, it can be with several improvements and modifications are made to the present invention, these improvement and modification also fall into the claims in the present invention
In protection scope.
Claims (9)
1. a kind of variation rigidity driving device, it is characterised in that: including shell, output shaft and element with variable rigidity, the variation rigidity list
Member is set in the inner cavity of the shell, one end of the output shaft protrude into the inner cavity of the shell and with the variation rigidity list
Member is connected；
The element with variable rigidity includes being coaxially disposed in interior of shell and the center that is connected with the output shaft coaxial linkage
Layer, is provided with central plate in the middle part of the central core with being connected, and the top of the central plate is rotationally coaxially arranged with the
One cam disc, the bottom of the central plate are rotationally coaxially arranged with the second cam disc, first cam disc and it is described in
It is respectively arranged with elastic parts between core, between second cam disc and the central plate, further includes that can respectively drive institute
State the driving unit of the first cam disc and the second cam disc fixed-axis rotation；
The elastic parts includes the be placed in two sides and the two sides for second cam disc that is placed in of first cam disc
Sliding block, the sliding block are abutted against with the periphery wall of first cam disc and the periphery wall of second cam disc, the cunning
Spring is connected between the inner wall of block and the ipsilateral central core of the sliding block, sliding slot, institute is arranged in the radial direction of the central plate
The axis perpendicular of sliding slot Yu the central plate is stated, the sliding block is slideably positioned in the sliding slot, first cam disc
The periphery wall of periphery wall and second cam disc all has planar section and curved sections, and under original state, the sliding block and its
The planar section of corresponding first cam disc or the second cam disc abuts against.
2. variation rigidity driving device as described in claim 1, it is characterised in that: the sliding block is cylindrical-shaped structure, the cunning
The outer peripheral surface of block is abutted against with first cam disc or second cam disc.
3. variation rigidity driving device as claimed in claim 2, it is characterised in that: the bottom of the sliding block, which abuts, to be had movably
It is set in the sliding slot and rolls with the sliding slot inner wall ball of cooperation.
4. variation rigidity driving device as claimed in claim 3, it is characterised in that: the opening width of the sliding slot sliding slot
Bottom width it is narrow, the opening width of the sliding slot is small compared with the diameter of the ball, and spacer bar, the barrier is arranged in the sliding slot
Item can prevent the ball and the sliding block skids off the sliding slot, and the spacer bar is parallel with the axis of the sliding slot, institute
Stating sliding block has circumferential annular recess compatible with the spacer bar.
5. variation rigidity driving device as described in claim 1, it is characterised in that: the shell include outer casing upper cover, valve jacket and
Shell lower cover, the valve jacket are hollow cylinder, and the outer casing upper cover and the shell lower cover are respectively arranged at the valve jacket
Both ends, the element with variable rigidity is set in the space that the outer casing upper cover, the valve jacket and the shell lower cover surround, described
Outer casing upper cover and the shell lower cover are detachably connected with the valve jacket respectively.
6. variation rigidity driving device as claimed in claim 5, it is characterised in that: the driving unit include with it is described first convex
First driving motor of wheel disc connection, first driving motor are fixed on the outer casing upper cover, and the output shaft passes through institute
It states outer casing upper cover, first driving motor and first cam disc to be connected with the central plate, first driving motor
For core motor；
The driving unit further includes the second driving motor connecting with second cam disc, and second driving motor is fixed
Under the shell on lid.
7. variation rigidity driving device as claimed in claim 6, it is characterised in that: be coaxially arranged with ring below the central core
Shape support, and the annular brace is rotatably adapted with the center interlayer.
8. variation rigidity driving device as claimed in claim 7, it is characterised in that: the annular brace is fixed by screws in institute
It states on the inner wall of shell, the outer casing upper cover and the shell lower cover are connected by screw to the central core respectively.
9. such as the described in any item variation rigidity driving devices of claim 1-8, it is characterised in that: first cam disc and described
The shape of second cam disc is identical, and first cam disc and second cam disc and the side elevation that the sliding block abuts against are equal
There are two symmetrical cambered surface and two symmetrical planes for tool, and the arc top spacing of two cambered surfaces is greater than two planes
Spacing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910470795.5A CN110065057A (en) | 2019-05-31 | 2019-05-31 | A kind of variation rigidity driving device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910470795.5A CN110065057A (en) | 2019-05-31 | 2019-05-31 | A kind of variation rigidity driving device |
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| CN110065057A true CN110065057A (en) | 2019-07-30 |
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| CN201910470795.5A Pending CN110065057A (en) | 2019-05-31 | 2019-05-31 | A kind of variation rigidity driving device |
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