CN110744584A - Flexible active-passive variable stiffness joint - Google Patents
Flexible active-passive variable stiffness joint Download PDFInfo
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- CN110744584A CN110744584A CN201911199869.2A CN201911199869A CN110744584A CN 110744584 A CN110744584 A CN 110744584A CN 201911199869 A CN201911199869 A CN 201911199869A CN 110744584 A CN110744584 A CN 110744584A
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- 206010023230 Joint stiffness Diseases 0.000 title claims abstract description 25
- 230000003287 optical effect Effects 0.000 claims description 36
- 230000005540 biological transmission Effects 0.000 claims description 18
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 230000008859 change Effects 0.000 abstract description 8
- 230000003993 interaction Effects 0.000 abstract description 6
- 230000009467 reduction Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 229910000639 Spring steel Inorganic materials 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
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Abstract
The invention discloses a flexible active-passive variable stiffness joint which comprises a stepping motor, a motor mounting seat, a first fixing plate, a micro straight gear set, an outer shell, a second fixing plate, an output disc, an output plate, a central shaft, a first pressing block, a first plate spring, a first side plate, a first sliding block, a first micro bearing, a lead screw sliding block, a first shaft sleeve, a second pressing block, a second plate spring, a second sliding block, a second micro bearing, a third shaft sleeve, a second side plate, a second micro shaft group, a first micro shaft group and a nut; the joint outputs flexible driving torque by realizing the deflection change of the plate spring and the change of the supporting point, realizes the active-passive stiffness changing function of the joint, and improves the safety of human body during human-computer interaction. The plate spring adopts a symmetrical design, so that the output torque of the joint is improved, the rigidity change range is enlarged, and meanwhile, the joint adopts a reduction form of a screw nut and a micro gear set to amplify the axial force, so that the structure is compact, and the power requirement of a motor is reduced.
Description
Technical Field
The invention relates to the technical field of robot joints, in particular to a flexible active-passive variable stiffness joint.
Background
With the rapid development of science and technology, the traditional rigid robot design can not meet the requirements of human-computer interaction. At present, the service medical robot is raised, and in the field of man-machine interaction, safety constraint is an important aspect of interaction between the robot and human. With the continuous innovative development of the robot towards the flexible direction, the traditional rigid robot has slow movement and insufficient power, and cannot meet the practical application condition; in the fields of robots, flexible assembly and fixed load assembly, the flexibility is sensitive to interaction force, and the application of high-precision torque sensors has the defects of high cost and high real-time requirement of a control system.
The patent with the application number of 201510715690.3 discloses a variable stiffness joint with a simple structure and capable of realizing real-time adjustment in the motion process, which mainly comprises a shell, a shaft, an outer ring, a spring piece, a sliding block, a cam disc and a driving motor, wherein the mechanism can realize stiffness change, but the angle of the joint for realizing flexible deformation is smaller, the structure is relatively complex, and the condition cannot be met when the angle rotation of the joint in a larger range is realized.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a flexible active-passive variable stiffness joint. The joint can be used for a rotary joint robot, has a simple structure, a large rigidity adjusting range, easy control and small size, and can adapt to large-angle rotation.
The invention provides a flexible active-passive variable stiffness joint, which is characterized by comprising a stepping motor, a motor mounting seat, a first fixing plate, a micro straight gear set, an outer shell, a second fixing plate, an output disc, an output plate, a central shaft, a first pressing block, a first plate spring, a first side plate, a first sliding block, a first micro bearing, a square lead screw sliding block, a first shaft sleeve, a second pressing block, a second plate spring, a second sliding block, a second micro bearing, a third shaft sleeve, a second side plate, a second micro shaft set, a first micro shaft set and a nut;
the stepping motor is arranged on the first fixing plate through a motor mounting seat, the output end of the stepping motor is connected with one end of the miniature direct gear set, and the other end of the miniature direct gear set is connected with the central shaft; the peripheral end faces of the first fixing plate and the second fixing plate are connected through two arc-shaped outer shells which are oppositely arranged; the first micro shaft group, the square lead screw sliding block and the second micro shaft group are sequentially and uniformly arranged between the first side plate and the second side plate which are arranged in parallel from top to bottom; the square lead screw sliding block is arranged between the first fixing plate and the second fixing plate through a central shaft, the first side plate and the second side plate are perpendicular to the central shaft and do not intersect with the central shaft, and the first side plate and the second side plate are higher than the outer shell;
the first micro shaft group and the second micro shaft group both comprise two shafts, the middle part of the first plate spring is arranged between the two shafts of the first micro shaft group, the middle part of the second plate spring is arranged between the two shafts of the second micro shaft group, the first plate spring and the second plate spring have the same structure, and the distance between the two shafts is the thickness of the plate spring; one end of the first plate spring is arranged on one side of the second fixing plate, and the other end of the first plate spring is fixed on one side of the first fixing plate through the first pressing block; one end of the second plate spring is arranged on the other side of the second fixing plate, and the other end of the second plate spring is fixed on the other side of the first fixing plate through a second pressing block;
the micro-straight gear set comprises a driven gear fixed on the central shaft, a transmission gear arranged on the outer side surface of the first fixing plate and a driving gear fixed on the output end of the stepping motor, the driving gear is meshed with the transmission gear, and the transmission gear is meshed with the driven gear;
the central shaft is a stepped shaft, the middle part of the central shaft is a threaded screw shaft section, two sides of the screw shaft section are respectively connected with a section of first optical shaft, and the tail end of the first optical shaft on the right side is provided with a through hole which is used for mounting a driven gear; the tail end of the first optical axis on the left side is connected with a second optical axis, threads are arranged on the periphery of the tail end part of the second optical axis, and shaft shoulders are arranged between every two first optical axis, the second optical axis and the lead screw shaft section; the central shaft is horizontally arranged in the middle of the output disc, the second fixing plate, the square lead screw sliding block and the first fixing plate, wherein the middle section of the second optical axis is arranged in the middle of the output disc through a third shaft sleeve, and the tail end of the second optical axis is provided with a nut; the first optical axis on the left side is installed in the middle of the second fixing plate through a second shaft sleeve; the screw shaft section is positioned in the middle through hole of the square screw sliding block and is meshed with the square screw sliding block; the first optical axis on the right side is arranged in the middle of the first fixing plate through the first shaft sleeve; one end of the outer side surface of the first fixing plate is provided with a mounting hole for mounting a transmission gear, a driven gear mounted on a through hole at the tail end of the first optical axis on the right side is circumferentially meshed with the periphery of one side of the transmission gear, and the periphery of the other side of the transmission gear is circumferentially meshed with a driving gear mounted on the output end of the stepping motor;
the middle part of the output disc is provided with a through hole for mounting a central shaft; two curved slideways are arranged on two sides of the through hole around the through hole, the midpoint of a connecting line of one ends of the two curved slideways close to the through hole is the circle center of the through hole, and the midpoint of a connecting line of one ends of the two curved slideways far away from the through hole is also the circle center of the through hole; the edge position of one side of the output disc is provided with a mounting hole for connecting an output plate;
the middle part of the second fixed plate is provided with a through hole for mounting a central shaft, the upper side and the lower side of the second fixed plate are oppositely provided with rectangular channels which are a first slideway and a second slideway respectively, the right side of the first sliding block is positioned in the first slideway, and the left side of the first sliding block is mounted in a curved slideway through a first miniature bearing; the right side of the second sliding block is positioned in the second slideway, and the left side of the second sliding block is arranged in the other curve slideway through a second miniature bearing; the outer side of the first sliding block is in contact with the inner side of the first plate spring, and the outer side of the second sliding block is in contact with the inner side of the second plate spring;
the middle part of the first fixing plate is provided with a through hole for installing a central shaft, the upper side and the lower side of the first fixing plate are oppositely provided with a T-shaped channel, and the steps at the two sides of the two T-shaped channels are respectively provided with an installation hole for respectively installing a first pressing block and a second pressing block.
Compared with the prior art, the invention has the beneficial effects that:
1. the flexibility of a plate spring is changed by the joint in an output disc through a roller sliding block by utilizing an Archimedes spiral rule track, so that the function of passively changing the rigidity of the joint is realized; the plate spring is simple and compact in structure, is suitable for the torsion type joint robot, and has an energy storage function in the torsion process.
2. The variable-stiffness joint outputs flexible driving torque by realizing the deflection change of the plate spring and the change of the supporting point, realizes the active-passive variable-stiffness function of the joint, and improves the safety of a human body during human-computer interaction.
3. The plate spring in the joint structure adopts a symmetrical design, so that the output torque of the joint is improved, the rigidity change range is enlarged, and meanwhile, the joint adopts a reduction form of a screw nut and a micro gear set to amplify the axial force, so that the structure is compact, and the power requirement of a motor is reduced.
4. In the implementation of the invention, the maximum diameter of the total size of the joint structure is 70mm, the length is 73.5mm, and the maximum torsion angle of the joint is 160 degrees; the control mode is simple, and the active rigidity change of the joint can be realized through the driving of a stepping motor; compared with the existing variable-stiffness joint, the variable-stiffness joint has the characteristics of compact structure, small volume, large-angle rotation and large output stiffness range.
5. The joint in the implementation of the invention has simple structure, and the plate spring is adopted as an elastic element, thereby being beneficial to replacing mechanism parts; meanwhile, the characteristic of the plate spring with curve parameters of the Archimedes spiral rule orbit can be adopted by changing to adapt to different working conditions.
Drawings
FIG. 1 is a schematic overall structure diagram of an embodiment of an active-passive variable stiffness joint of the present invention;
FIG. 2 is a schematic structural diagram of a stiffness adjustment portion of an embodiment of an active-passive variable stiffness joint of the present invention;
FIG. 3 is a schematic diagram of the internal structure of the stiffness adjusting part of the active-passive variable stiffness joint according to an embodiment of the present invention;
FIG. 4 is a schematic cross-sectional view taken along a longitudinal plane of symmetry of FIG. 2;
FIG. 5 is a schematic perspective view of an output plate of an embodiment of an active-passive variable stiffness joint of the present invention;
FIG. 6 is a schematic perspective view of a second fixing plate of an active-passive variable stiffness joint according to an embodiment of the present invention;
FIG. 7 is a schematic perspective view of a first fixing plate of an active-passive stiffness-variable joint according to an embodiment of the present invention;
FIG. 8 is a schematic diagram of a central axis of an embodiment of an active-passive variable stiffness joint of the present invention;
(in the figure, the motor comprises a stepping motor 1, a motor mounting seat 2, a motor mounting seat 3, a first fixing plate 4, a micro straight gear set 5, an outer shell 6, a second fixing plate 6, an output disc 7, an output plate 8, a central shaft 9, a first pressing block 10, a first plate spring 11, a first side plate 12, a first sliding block 13, a first micro bearing 14, a square screw sliding block 15, a first shaft sleeve 16, a second shaft sleeve 17, a second pressing block 18, a second plate spring 19, a second plate spring 20, a second sliding block 21, a second micro bearing 22, a third shaft sleeve 23, a second side plate 24, a second micro shaft set 25, a first micro shaft set 25 and a nut 26).
Detailed Description
Specific examples of the present invention are given below. The specific examples are only for illustrating the present invention in further detail and do not limit the scope of protection of the present application.
The invention provides a flexible active-passive variable stiffness joint (refer to fig. 1-8 for short), which comprises a stepping motor 1, a motor mounting seat 2, a first fixing plate 3, a micro-size right-angle gear set 4, an outer shell 5, a second fixing plate 6, an output disc 7, an output plate 8, a central shaft 9, a first pressing block 10, a first plate spring 11, a first side plate 12, a first sliding block 13, a first micro-size bearing 14, a square lead screw sliding block 15, a first shaft sleeve 16, a second shaft sleeve 17, a second pressing block 18, a second plate spring 19, a second sliding block 20, a second micro-size bearing 21, a third shaft sleeve 22, a second side plate 23, a second micro-size shaft set 24, a first micro-size shaft set 25 and a nut 26;
the stepping motor 1 is arranged on the first fixing plate 3 through the motor mounting seat 2, the output end of the stepping motor 1 is connected with one end of the micro-direct-current gear set 4, and the other end of the micro-direct-current gear set 4 is connected with the central shaft 9; the peripheral end surfaces of the first fixing plate 3 and the second fixing plate 6 are connected through two arc-shaped outer shells 5 which are oppositely arranged; the first micro shaft group 25, the square lead screw sliding block 15 and the second micro shaft group 24 are sequentially and uniformly arranged between the first side plate 12 and the second side plate 23 which are arranged in parallel from top to bottom; the square lead screw slider 15 is arranged between the first fixing plate 3 and the second fixing plate 6 through a central shaft 9, the first side plate 12 and the second side plate 23 are perpendicular to the central shaft 9 and do not intersect, and the first side plate 12 and the second side plate 23 are higher than the outer shell 5 in height;
the first micro shaft group 25 and the second micro shaft group 24 both comprise two shafts, the middle part of the first plate spring 11 is arranged between the two shafts of the first micro shaft group 25, the middle part of the second plate spring 19 is arranged between the two shafts of the second micro shaft group 24, the first plate spring 11 and the second plate spring 19 have the same structure, and the distance between the two shafts is the thickness of the plate spring; one end of the first plate spring 11 is disposed on one side of the second fixing plate 6, and the other end thereof is fixed on one side of the first fixing plate 3 by the first pressing block 10; one end of the second plate spring 19 is disposed on the other side of the second fixing plate 6, and the other end thereof is fixed on the other side of the first fixing plate 3 through the second pressing block 18;
the micro-size spur gear set 4 comprises a driven gear fixed on the central shaft 9, a transmission gear installed on the outer side surface of the first fixing plate 3 and a driving gear fixed on the output end of the stepping motor 1, the driving gear is meshed with the transmission gear, and the transmission gear is meshed with the driven gear.
The central shaft 9 (see fig. 8) is a stepped shaft, the middle part is a threaded lead screw shaft section 901, two sides of the lead screw shaft section 901 are both connected with a section of first optical axis 904, and the tail end of the first optical axis on the right side is provided with a through hole 902 for installing a driven gear; the tail end of the first optical axis on the left side is connected with a second optical axis 905, the periphery of the tail end part of the second optical axis 905 is provided with a thread 903, and shaft shoulders are arranged between every two of the first optical axis 904, the second optical axis 905 and the lead screw shaft section 901; the central shaft 9 is horizontally arranged in the middle of the output disc 7, the second fixing plate 6, the square lead screw slide block 15 and the first fixing plate 3, wherein the middle section of the second optical axis 905 is arranged in the middle of the output disc 7 through a third shaft sleeve 22, and the tail end of the second optical axis is provided with a nut 26; the first optical axis 904 on the left side is installed in the middle of the second fixing plate 6 through the second shaft sleeve 17; the lead screw shaft section 901 is positioned in the middle through hole of the square lead screw slider 15 and is meshed with the lead screw shaft section; the right first optical axis 904 is installed in the middle of the first fixing plate 3 through the first shaft sleeve 16; one end of the outer side surface of the first fixing plate 3 is provided with a mounting hole for mounting a transmission gear, a driven gear mounted on a through hole 902 at the tail end of the first optical axis 904 on the right side is circumferentially meshed with the periphery of one side of the transmission gear, and the periphery of the other side of the transmission gear is circumferentially meshed with a driving gear mounted on the output end of the stepping motor 1.
The middle part of the output disc 7 is provided with a through hole 703 for installing a central shaft 9; two curved slideways 701 are arranged on two sides of the through hole 703 around the through hole 703, the midpoint of a connecting line of one ends of the two curved slideways 701 close to the through hole 703 is the circle center of the through hole 703, and the midpoint of a connecting line of one ends of the two curved slideways 701 far away from the through hole 703 is also the circle center of the through hole 703. The edge position of one side of the output disc 7 is provided with a mounting hole for connecting an output plate 8.
The shape of the curved slideway 701 conforms to the archimedes' spiral rule.
The middle part of the second fixing plate 6 is provided with a through hole 601 for installing the central shaft 9, the upper and lower sides of the second fixing plate are oppositely provided with rectangular channels which are a first slide way 602 and a second slide way 604 respectively, the right side of the first slide block 13 is positioned in the first slide way 602, and the left side of the first slide block is installed in a curved slide way 701 through a first miniature bearing 14; the right side of the second slide block 20 is positioned in the second slideway 604, and the left side thereof is arranged in the other curve slideway 701 through the second miniature bearing 21; the outer side of the first slider 13 contacts the inner side of the first plate spring 11, and the outer side of the second slider 20 contacts the inner side of the second plate spring 19;
an arc-shaped opening 603 with a radial mounting hole inside is arranged on the circumferential end surface of the second fixing plate 6 and is used for being fixedly connected with one end of the outer shell 5.
The middle part of the first fixing plate 3 is provided with a through hole 304 for mounting the central shaft 9, the upper and lower sides of the through hole are oppositely provided with a T-shaped channel 302, and the steps at the two sides of the two T-shaped channels 302 are respectively provided with a mounting hole 303 for respectively mounting the first pressing block 10 and the second pressing block 18;
first compact 10 and second compact 18 are each of a "T" shaped configuration, the dimensions of which match the dimensions of "T" shaped channel 302.
An arc-shaped opening 301 with a radial mounting hole inside is arranged on the circumferential end surface of the first fixing plate 3 and is used for being fixedly connected with the other end of the outer shell 5.
The principle and the process for realizing variable stiffness of the active-passive variable stiffness joint are as follows: the stepping motor 1 drives the central shaft 9 to rotate through a gear to enable the square lead screw slider 15 to move along the axial direction, so that the first side plate 12 and the second side plate 23 are driven to move, the first micro shaft group 25 and the second micro shaft group 24 are driven to move along the axial direction, the supporting position of the plate spring is further changed, the supporting point positions of the first plate spring 11 and the second plate spring 19 are changed, the effective length is further changed, and the active rigidity changing function is realized; when the joint rotates relatively, the first micro bearing 14 and the second micro bearing 21 are pushed to move along the radial direction of the output disc 7 at the same time, the first sliding block 13 and the second sliding block 20 are driven to move, the first plate spring 11 and the second plate spring 19 are driven to elastically deform, the flexible output of the joint is realized, and the passive rigidity changing function of the joint is realized.
Example 1
The present embodiment provides a flexible active-passive variable stiffness joint suitable for use in a rope-driven robot, characterized in that the joint has the above structure and the following dimensional specifications:
the total size of the joint is 70mm in diameter, the length of the joint is 73.5mm (namely the distance between the left side face of the output disc and the right side face of the first fixing plate), the maximum flexible rotation angle which can be realized is 160 degrees, and the torque of the stepping motor is 0.8 N.m; first leaf spring 11 and second leaf spring 19 thickness 1.5mm, length is 48mm, and the width is 11mm, and the material chooses spring steel 60Si2CrVA for use, and the maximum diameter of output disc 7 is 70mm, and the lead screw shaft section 901 length of center pin 9 is 45mm, and 1 is chosen to the pitch, and miniature spur gear group's reduction ratio is 21: 1.
the joint is suitable for joint rotating robots, in particular to rope-driven robots.
Nothing in this specification is said to apply to the prior art.
Claims (6)
1. A flexible active-passive variable stiffness joint is characterized by comprising a stepping motor, a motor mounting seat, a first fixing plate, a micro-size spur gear set, an outer shell, a second fixing plate, an output disc, an output plate, a central shaft, a first pressing block, a first plate spring, a first side plate, a first sliding block, a first micro-size bearing, a square lead screw sliding block, a first shaft sleeve, a second pressing block, a second plate spring, a second sliding block, a second micro-size bearing, a third shaft sleeve, a second side plate, a second micro-size shaft set, a first micro-size shaft set and a nut;
the stepping motor is arranged on the first fixing plate through a motor mounting seat, the output end of the stepping motor is connected with one end of the miniature direct gear set, and the other end of the miniature direct gear set is connected with the central shaft; the peripheral end faces of the first fixing plate and the second fixing plate are connected through two arc-shaped outer shells which are oppositely arranged; the first micro shaft group, the square lead screw sliding block and the second micro shaft group are sequentially and uniformly arranged between the first side plate and the second side plate which are arranged in parallel from top to bottom; the square lead screw sliding block is arranged between the first fixing plate and the second fixing plate through a central shaft, the first side plate and the second side plate are perpendicular to the central shaft and do not intersect with the central shaft, and the first side plate and the second side plate are higher than the outer shell;
the first micro shaft group and the second micro shaft group both comprise two shafts, the middle part of the first plate spring is arranged between the two shafts of the first micro shaft group, the middle part of the second plate spring is arranged between the two shafts of the second micro shaft group, the first plate spring and the second plate spring have the same structure, and the distance between the two shafts is the thickness of the plate spring; one end of the first plate spring is arranged on one side of the second fixing plate, and the other end of the first plate spring is fixed on one side of the first fixing plate through the first pressing block; one end of the second plate spring is arranged on the other side of the second fixing plate, and the other end of the second plate spring is fixed on the other side of the first fixing plate through a second pressing block;
the micro-straight gear set comprises a driven gear fixed on the central shaft, a transmission gear arranged on the outer side surface of the first fixing plate and a driving gear fixed on the output end of the stepping motor, the driving gear is meshed with the transmission gear, and the transmission gear is meshed with the driven gear;
the central shaft is a stepped shaft, the middle part of the central shaft is a threaded screw shaft section, two sides of the screw shaft section are respectively connected with a section of first optical shaft, and the tail end of the first optical shaft on the right side is provided with a through hole which is used for mounting a driven gear; the tail end of the first optical axis on the left side is connected with a second optical axis, threads are arranged on the periphery of the tail end part of the second optical axis, and shaft shoulders are arranged between every two first optical axis, the second optical axis and the lead screw shaft section; the central shaft is horizontally arranged in the middle of the output disc, the second fixing plate, the square lead screw sliding block and the first fixing plate, wherein the middle section of the second optical axis is arranged in the middle of the output disc through a third shaft sleeve, and the tail end of the second optical axis is provided with a nut; the first optical axis on the left side is installed in the middle of the second fixing plate through a second shaft sleeve; the screw shaft section is positioned in the middle through hole of the square screw sliding block and is meshed with the square screw sliding block; the first optical axis on the right side is arranged in the middle of the first fixing plate through the first shaft sleeve; one end of the outer side surface of the first fixing plate is provided with a mounting hole for mounting a transmission gear, a driven gear mounted on a through hole at the tail end of the first optical axis on the right side is circumferentially meshed with the periphery of one side of the transmission gear, and the periphery of the other side of the transmission gear is circumferentially meshed with a driving gear mounted on the output end of the stepping motor;
the middle part of the output disc is provided with a through hole for mounting a central shaft; two curved slideways are arranged on two sides of the through hole around the through hole, the midpoint of a connecting line of one ends of the two curved slideways close to the through hole is the circle center of the through hole, and the midpoint of a connecting line of one ends of the two curved slideways far away from the through hole is also the circle center of the through hole; the edge position of one side of the output disc is provided with a mounting hole for connecting an output plate;
the middle part of the second fixed plate is provided with a through hole for mounting a central shaft, the upper side and the lower side of the second fixed plate are oppositely provided with rectangular channels which are a first slideway and a second slideway respectively, the right side of the first sliding block is positioned in the first slideway, and the left side of the first sliding block is mounted in a curved slideway through a first miniature bearing; the right side of the second sliding block is positioned in the second slideway, and the left side of the second sliding block is arranged in the other curve slideway through a second miniature bearing; the outer side of the first sliding block is in contact with the inner side of the first plate spring, and the outer side of the second sliding block is in contact with the inner side of the second plate spring;
the middle part of the first fixing plate is provided with a through hole for installing a central shaft, the upper side and the lower side of the first fixing plate are oppositely provided with a T-shaped channel, and the steps at the two sides of the two T-shaped channels are respectively provided with an installation hole for respectively installing a first pressing block and a second pressing block.
2. The flexible active-passive variable stiffness joint of claim 1, wherein the first and second segments are each "T" shaped structures having dimensions that match the dimensions of the "T" shaped channel.
3. The flexible active-passive variable stiffness joint according to claim 1, wherein the circumferential end surface of the second fixing plate is provided with an arc-shaped notch with a radial mounting hole inside for being fixedly connected with one end of the outer shell.
4. The flexible active-passive variable stiffness joint according to claim 1, wherein an arc-shaped notch with a radial mounting hole inside is formed in the circumferential end surface of the first fixing plate and is used for being fixedly connected with the other end of the outer shell.
5. The flexible active-passive variable stiffness joint of claim 1, wherein the curvilinear slide is shaped to conform to Archimedes' spiral rules.
6. A flexible active-passive variable stiffness joint according to any one of claims 1-5, adapted for use in a rope-driven robot.
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| CN201911199869.2A CN110744584A (en) | 2019-11-29 | 2019-11-29 | Flexible active-passive variable stiffness joint |
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| CN201911199869.2A CN110744584A (en) | 2019-11-29 | 2019-11-29 | Flexible active-passive variable stiffness joint |
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Cited By (9)
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| CN112025763A (en) * | 2020-09-08 | 2020-12-04 | 中南大学 | Robot becomes rigidity mechanism and flexible interaction becomes rigidity grabbing device |
| CN112025684A (en) * | 2020-09-08 | 2020-12-04 | 中南大学 | Under-actuated variable-rigidity flexible robot |
| CN113084701A (en) * | 2021-03-29 | 2021-07-09 | 合肥工业大学 | Variable-rigidity grinding and polishing execution device and execution method thereof |
| CN113231961A (en) * | 2021-04-15 | 2021-08-10 | 青岛森思宝软件有限公司 | Multi-shaft plate spring transmission structure |
| CN113334356A (en) * | 2021-06-16 | 2021-09-03 | 北京航空航天大学 | Passive variable-rigidity series elastic driver |
| CN114131646A (en) * | 2021-12-06 | 2022-03-04 | 之江实验室 | Variable rigidity mechanism and flexible joint based on axial force |
| CN114654496A (en) * | 2022-03-30 | 2022-06-24 | 华中科技大学 | Active variable-stiffness rotary joint based on involute leaf spring |
| CN114932576A (en) * | 2022-05-16 | 2022-08-23 | 哈尔滨工业大学 | Compact integrated variable-stiffness joint based on plate spring deformation and method |
| CN117944092A (en) * | 2024-03-25 | 2024-04-30 | 中国科学院长春光学精密机械与物理研究所 | Instant-time-varying stiffness modular flexible base system |
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| CN112025763A (en) * | 2020-09-08 | 2020-12-04 | 中南大学 | Robot becomes rigidity mechanism and flexible interaction becomes rigidity grabbing device |
| CN112025763B (en) * | 2020-09-08 | 2022-03-18 | 中南大学 | Robot becomes rigidity mechanism and flexible interaction becomes rigidity grabbing device |
| CN112025684B (en) * | 2020-09-08 | 2022-04-05 | 中南大学 | Under-actuated variable-rigidity flexible robot |
| CN113084701B (en) * | 2021-03-29 | 2022-06-14 | 合肥工业大学 | Variable-rigidity grinding and polishing execution device and execution method thereof |
| CN113084701A (en) * | 2021-03-29 | 2021-07-09 | 合肥工业大学 | Variable-rigidity grinding and polishing execution device and execution method thereof |
| CN113231961A (en) * | 2021-04-15 | 2021-08-10 | 青岛森思宝软件有限公司 | Multi-shaft plate spring transmission structure |
| CN113231961B (en) * | 2021-04-15 | 2022-08-12 | 青岛森思宝软件有限公司 | Multi-shaft plate spring transmission structure |
| CN113334356A (en) * | 2021-06-16 | 2021-09-03 | 北京航空航天大学 | Passive variable-rigidity series elastic driver |
| CN114131646A (en) * | 2021-12-06 | 2022-03-04 | 之江实验室 | Variable rigidity mechanism and flexible joint based on axial force |
| CN114131646B (en) * | 2021-12-06 | 2023-02-14 | 之江实验室 | Variable rigidity mechanism and flexible joint based on axial force |
| CN114654496A (en) * | 2022-03-30 | 2022-06-24 | 华中科技大学 | Active variable-stiffness rotary joint based on involute leaf spring |
| CN114654496B (en) * | 2022-03-30 | 2023-08-25 | 华中科技大学 | Active rigidity-variable rotary joint based on involute leaf spring |
| CN114932576A (en) * | 2022-05-16 | 2022-08-23 | 哈尔滨工业大学 | Compact integrated variable-stiffness joint based on plate spring deformation and method |
| CN114932576B (en) * | 2022-05-16 | 2024-04-02 | 哈尔滨工业大学 | Compact integrated variable stiffness joint based on plate spring deformation and method |
| CN117944092A (en) * | 2024-03-25 | 2024-04-30 | 中国科学院长春光学精密机械与物理研究所 | Instant-time-varying stiffness modular flexible base system |
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