CN111015730A - Compact robot variable-stiffness joint - Google Patents
Compact robot variable-stiffness joint Download PDFInfo
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- CN111015730A CN111015730A CN201911355491.0A CN201911355491A CN111015730A CN 111015730 A CN111015730 A CN 111015730A CN 201911355491 A CN201911355491 A CN 201911355491A CN 111015730 A CN111015730 A CN 111015730A
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- rigidity
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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
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- Engineering & Computer Science (AREA)
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Abstract
The invention relates to the technical field of robots, in particular to a variable stiffness joint of a compact robot, which comprises a driving mechanism, a stiffness adjusting mechanism and a variable stiffness unit, wherein the variable stiffness unit comprises an input shaft, a connecting frame and an output disc, the input shaft is connected with the connecting frame, a lead screw is arranged in the middle of the connecting frame, input support rods are arranged on two sides of the connecting frame, two nuts with opposite screw directions are arranged on the lead screw, two pulley frames are arranged on the input support rods and fixedly connected with the corresponding nuts, output support rods are arranged on two sides of the output disc, two sliding blocks are arranged on the output support rods, two ends of each pulley frame are provided with pulleys, the pulley and the sliding block which are positioned on the same side are connected through a steel wire rope, a spring is sleeved between the two sliding blocks of the output support rods, the input shaft is driven to rotate through the driving mechanism, one end of, and the screw rod is driven to rotate by the rigidity adjusting mechanism. The invention can actively realize the joint rigidity adjustment.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a variable-stiffness joint of a compact robot.
Background
The traditional rigid joint has excellent track tracking and end positioning capabilities, but lacks buffering, energy absorbing and storing functions, is extremely easy to damage by strong impact and even causes fatal damage to human beings. Along with the robot no longer limits to and replaces the human to accomplish traditional industrial production under the structured environment, and gradually liberate from the closed operation space, get into unstructured environment and merge and the collaborative operation with the people, traditional rigid joint has been difficult to adapt to the requirement of human-computer interaction security. In this context, variable stiffness joints have received considerable attention as a primary form of achieving joint compliance. The rigidity-variable joint of the robot is formed by adding a rigidity-variable elastic element between the rigid input end and the rigid output end of the joint of a mechanical arm so as to realize the rigidity adjustment of the joint. The control mode has an elastic element and can absorb energy and relieve impact, but most of the current variable stiffness joints are passive flexible joints, and the current variable stiffness joints have the defects of difficult principle breakthrough, complex and large structure and the like.
Disclosure of Invention
The invention aims to provide a variable-stiffness joint of a compact robot, which can actively realize joint stiffness adjustment, has good man-machine interaction and is compact in structure.
The purpose of the invention is realized by the following technical scheme:
a compact type robot rigidity-variable joint comprises a driving mechanism, a rigidity-adjusting mechanism and a rigidity-changing unit, wherein the rigidity-changing unit comprises an input shaft, a connecting frame and an output disc, the input shaft is connected with the connecting frame, the output disc is rotatably sleeved on the input shaft, a lead screw is arranged in the middle of the connecting frame, input supporting rods are arranged on two sides of the connecting frame, two nuts with opposite screw directions are arranged on the lead screw, two movable pulley frames are arranged on the input supporting rods and fixedly connected with the corresponding nuts, output supporting rods are arranged on two sides of the output disc, two sliding blocks are arranged on the output supporting rods, pulleys are arranged at two ends of each pulley frame, the pulleys and the sliding blocks on the same side are connected through steel wire ropes, a spring is sleeved between the two sliding blocks of the output supporting rods, the input shaft is driven to rotate through the driving mechanism, and a rigidity-adjusting fixing plate is, the rigidity adjusting mechanism is arranged on the rigidity adjusting fixing plate, and the screw rod is driven to rotate through the rigidity adjusting mechanism.
The pulley yoke is arranged on the corresponding input supporting rod through a sliding bearing.
The pulley yoke corresponding to the two sides of the connecting frame is fixedly connected with the corresponding nut through an adjusting connecting plate, and the adjusting connecting plate is provided with a through hole for the lead screw to pass through.
An input auxiliary shaft is arranged at one end, far away from the input shaft, of the connecting frame, and the end of the lead screw shaft penetrates through the input auxiliary shaft and is in rotary connection with the input auxiliary shaft.
The slider is installed on the corresponding output support rod through a linear bearing, and the slider is provided with a rope threading hole.
The driving mechanism comprises a driving motor and a harmonic reducer which are connected, and the harmonic reducer is connected with an input shaft in the variable stiffness unit.
The rigidity adjusting mechanism comprises a rigidity adjusting motor and a rigidity adjusting transmission assembly, a lead screw in the rigidity changing unit is driven to rotate through the rigidity adjusting motor, and the rigidity adjusting motor transmits torque through the rigidity adjusting transmission assembly.
The rigidity adjusting transmission assembly comprises a rigidity adjusting driving gear and a rigidity adjusting driven gear, wherein the rigidity adjusting driving gear is installed on an output shaft of a rigidity adjusting motor, and the rigidity adjusting driven gear is installed at the end of the screw shaft.
The output disc is provided with an encoder, the input shaft is provided with a measuring driving gear, and the encoder is provided with a measuring driven gear meshed with the measuring driving gear.
The invention has the advantages and positive effects that:
1. the screw rod in the rigidity-variable unit is driven to rotate by the rigidity-adjusting mechanism, so that joint rigidity adjustment can be actively realized, and the rigidity-variable unit has good interpersonal interactivity.
2. The driving mechanism, the rigidity adjusting mechanism and the variable rigidity unit are compact in overall structure and concise in appearance.
Drawings
Figure 1 is a schematic structural view of the present invention,
figure 2 is a schematic structural diagram of the variable stiffness unit in figure 1,
figure 3 is a cross-sectional view of the variable stiffness unit of figure 2,
figure 4 is a front view of the present invention,
fig. 5 is a schematic view of the rigidity adjusting mechanism in fig. 1.
The device comprises a driving mechanism 1, a driving motor 101, a harmonic reducer 102, a stiffness adjusting mechanism 2, a stiffness adjusting motor 201, a stiffness adjusting transmission assembly 202, a stiffness adjusting driving gear 2021, a stiffness adjusting driven gear 2022, a stiffness changing unit 3, an output disc 301, an input support rod 302, a sliding bearing 303, a pulley frame 304, an adjusting connecting plate 305, a lead screw 306, an input auxiliary shaft 307, an output support rod 308, a sliding block 309, a threading hole 3091, a spring 310, a linear bearing 311, a steel wire rope 312, a pulley 313, an input shaft 314, a connecting frame 315, a nut 316, a stiffness adjusting fixing plate 4, an encoder 5, a measuring driving gear 501 and a measuring driven gear 502.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 5, the present invention includes a driving mechanism 1, a stiffness adjusting mechanism 2 and a stiffness changing unit 3, as shown in fig. 2 to 3, the stiffness changing unit 3 includes an input shaft 314, a connecting frame 315 and an output disc 301, wherein the input shaft 314 is connected with the connecting frame 315, the output disc 301 is sleeved on the input shaft 314 through a bearing support, a lead screw 306 is disposed in the middle of the connecting frame 315, the input support rods 302 are disposed on both sides, two nuts 316 with opposite screw directions are disposed on the lead screw 306, two movable pulley frames 304 are disposed on each input support rod 302, the pulley frames 304 are fixedly connected with the nuts 316 on the corresponding sides, the lead screw 306 rotates to drive the two nuts 316 to move in opposite directions, so as to drive the two pulley frames 304 on each output support rod 308 to move in opposite directions, output support rods 308 are disposed on both sides of the output disc 301, and two sliders 309 are disposed on each output support rod 308, the two ends of each pulley frame 304 are provided with pulleys 313, the pulleys 313 and the sliding blocks 309 on the same side are connected through a steel wire rope 312, a spring 310 is sleeved between the two sliding blocks 309 of each output supporting rod 308, the output disc 301 is connected with other elements to realize actions, as shown in fig. 1, the input shaft 314 is driven to rotate through the driving mechanism 1, and the lead screw 306 is driven to rotate through the rigidity adjusting mechanism 2. When the rigidity-adjustable joint disclosed by the invention works, as shown in fig. 2-3, the input shaft 314 drives the connecting frame 315 to rotate, the pulley frames 304 on the input supporting rods 302 at two sides of the connecting frame 315 drive the output disc 301 to rotate through the pulleys 313, the steel wire ropes 312 and the corresponding output supporting rods 308 respectively, the output disc 301 drives the elements connected with the output disc 301 to rotate to realize actions, the lead screw 306 drives the lead screw to rotate through the rigidity-adjustable mechanism 2 and drives the two nuts 316 to move in the opposite directions when the rigidity is adjusted, so that the two pulley frames 304 on each output supporting rod 308 are driven to move in the opposite directions, and the two pulley frames 304 further drive the two sliding blocks 309 on the corresponding output supporting rods 308 to move to compress the spring.
As shown in fig. 2 to 3, the pulley yoke 304 is mounted on the corresponding input support rod 302 through a sliding bearing 303, so as to move, and the pulley yokes 304 on both sides are fixedly connected with the corresponding screw nut 316 through an adjusting connecting plate 305, and the adjusting connecting plate 305 is provided with a through hole for the screw 306 to pass through. An input auxiliary shaft 307 is arranged at one end, away from the input shaft 314, of the connecting frame 315, the shaft end of the lead screw 306 penetrates through the input auxiliary shaft 307 and is in rotating connection with the input auxiliary shaft 307, the sliding block 309 is mounted on the corresponding output supporting rod 308 through a linear bearing 311 so as to move, and a rope penetrating hole 3091 is formed in the sliding block 309 and used for being connected with a steel wire rope 312.
As shown in fig. 1, the driving mechanism 1 includes a driving motor 101 and a harmonic reducer 102 connected together, and the harmonic reducer 102 is connected to the input shaft 314.
As shown in fig. 1 and 4, an encoder 5 is disposed on the output disc 301, a measurement driving gear 501 is disposed on the input shaft 314, and a measurement driven gear 502 engaged with the measurement driving gear 501 is disposed on the encoder 5. The encoder 5 is used for monitoring the rotational speed of the mechanism.
As shown in fig. 1 and 5, the stiffness adjusting mechanism 2 includes a stiffness adjusting motor 201 and a stiffness adjusting transmission assembly 202, one stiffness adjusting fixing plate 4 is disposed on one side of the stiffness varying unit 3 away from the driving mechanism 1, and both the stiffness adjusting motor 201 and the stiffness adjusting transmission assembly 202 are disposed on the stiffness adjusting fixing plate 4. In this embodiment, the stiffness adjusting transmission assembly 202 is a gear transmission assembly, wherein a stiffness adjusting driving gear 2021 is mounted on an output shaft of the stiffness adjusting motor 201, and a stiffness adjusting driven gear 2022 is mounted at an end of the lead screw 306.
The working principle of the invention is as follows:
when the variable stiffness unit works, an input shaft 314 in the variable stiffness unit 3 is driven to rotate by a driving mechanism 1, the input shaft 314 rotates to drive a connecting frame 315 to rotate, pulley frames 304 on input supporting rods 302 on two sides of the connecting frame 315 drive an output disc 301 to rotate by pulleys 313, steel wire ropes 312 and corresponding output supporting rods 308 respectively, the output disc 301 is connected with other elements to realize mechanism action, when the stiffness is adjusted, a lead screw 306 in the variable stiffness unit 3 is driven to rotate by a stiffness adjusting mechanism 2, the lead screw 306 rotates to drive two nuts 316 to move in opposite directions, so that the two pulley frames 304 on each output supporting rod 308 are driven to move in opposite directions, and the two pulley frames 304 further drive two sliding blocks 309 on the corresponding output supporting rods 308 to move to compress springs 310 through the steel wire ropes 312, so that the stiffness of joints is changed.
Claims (9)
1. A compact robot becomes rigidity joint which characterized in that: the rigidity-variable device comprises a driving mechanism (1), a rigidity-adjusting mechanism (2) and a rigidity-variable unit (3), wherein the rigidity-variable unit (3) comprises an input shaft (314), a connecting frame (315) and an output disc (301), the input shaft (314) is connected with the connecting frame (315), the output disc (301) is rotatably sleeved on the input shaft (314), a lead screw (306) is arranged in the middle of the connecting frame (315), input support rods (302) are arranged on two sides of the connecting frame (315), two screw nuts (316) with opposite screw directions are arranged on the lead screw (306), two movable pulley frames (304) are arranged on the input support rods (302), the pulley frames (304) are fixedly connected with the corresponding screw nuts (316), output support rods (308) are arranged on two sides of the output disc (301), two sliding blocks (309) are arranged on the output support rods (308), pulleys (313) are arranged at two ends of each pulley frame (304), and a pulley (313) and a pulley, a spring (310) is sleeved between two sliding blocks (309) of an output supporting rod (308), an input shaft (314) is driven to rotate by the driving mechanism (1), one side, far away from the driving mechanism (1), of the stiffness changing unit (3) is provided with a stiffness adjusting fixing plate (4), the stiffness adjusting mechanism (2) is arranged on the stiffness adjusting fixing plate (4), and the lead screw (306) is driven to rotate by the stiffness adjusting mechanism (2).
2. The compact robotic variable stiffness joint of claim 1, wherein: the pulley yoke (304) is arranged on the corresponding input support rod (302) through a sliding bearing (303).
3. The compact robotic variable stiffness joint of claim 1, wherein: pulley frames (304) corresponding to two sides of the connecting frame (315) are fixedly connected with corresponding nuts (316) through an adjusting connecting plate (305), and through holes for the lead screws (306) to pass through are formed in the adjusting connecting plate (305).
4. The compact robotic variable stiffness joint of claim 1, wherein: an input auxiliary shaft (307) is arranged at one end, away from the input shaft (314), of the connecting frame (315), and the shaft end of the lead screw (306) penetrates through the input auxiliary shaft (307) and is in rotary connection with the input auxiliary shaft (307).
5. The compact robotic variable stiffness joint of claim 1, wherein: the sliding block (309) is installed on the corresponding output supporting rod (308) through a linear bearing (311), and a rope threading hole (3091) is formed in the sliding block (309).
6. The compact robotic variable stiffness joint of claim 1, wherein: the driving mechanism (1) comprises a driving motor (101) and a harmonic reducer (102) which are connected, and the harmonic reducer (102) is connected with an input shaft (314) in the variable stiffness unit (3).
7. The compact robotic variable stiffness joint of claim 1, wherein: the rigidity adjusting mechanism (2) comprises a rigidity adjusting motor (201) and a rigidity adjusting transmission assembly (202), a lead screw (306) in the rigidity changing unit (3) is driven to rotate through the rigidity adjusting motor (201), and the rigidity adjusting motor (201) transmits torque through the rigidity adjusting transmission assembly (202).
8. The compact robotic variable stiffness joint of claim 7, wherein: the rigidity adjusting transmission assembly (202) comprises a rigidity adjusting driving gear (2021) and a rigidity adjusting driven gear (2022), wherein the rigidity adjusting driving gear (2021) is installed on an output shaft of the rigidity adjusting motor (201), and the rigidity adjusting driven gear (2022) is installed at the shaft end of the lead screw (306).
9. The compact robotic variable stiffness joint of claim 1, wherein: be equipped with encoder (5) on output dish (301), be equipped with on input shaft (314) and measure driving gear (501), be equipped with on encoder (5) and measure driven gear (502) with measure driving gear (501) meshing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911355491.0A CN111015730A (en) | 2019-12-25 | 2019-12-25 | Compact robot variable-stiffness joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911355491.0A CN111015730A (en) | 2019-12-25 | 2019-12-25 | Compact robot variable-stiffness joint |
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| Publication Number | Publication Date |
|---|---|
| CN111015730A true CN111015730A (en) | 2020-04-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911355491.0A Pending CN111015730A (en) | 2019-12-25 | 2019-12-25 | Compact robot variable-stiffness joint |
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| CN (1) | CN111015730A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112092007A (en) * | 2020-09-16 | 2020-12-18 | 哈尔滨工业大学 | Modular steel wire rope driven variable-rigidity joint |
| CN114851241A (en) * | 2022-05-27 | 2022-08-05 | 沈阳工学院 | Rack-based direct-acting variable-stiffness joint device |
| CN118544395A (en) * | 2024-07-29 | 2024-08-27 | 深圳市陶氏精密技术有限公司 | Operation protection device of heavy-load robot and control method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204414132U (en) * | 2015-01-09 | 2015-06-24 | 河北工业大学 | A kind of flexible joint of stiffness variable |
| CN105328711A (en) * | 2015-11-10 | 2016-02-17 | 哈尔滨工业大学 | Modular rigidity-changing joint |
| CN206643958U (en) * | 2017-04-27 | 2017-11-17 | 河北工业大学 | A kind of compact variation rigidity rotates flexible joint |
| CN207465251U (en) * | 2017-11-20 | 2018-06-08 | 河北工业大学 | A kind of stiffness variable flexible joint based on single power source |
| CN108247666A (en) * | 2017-12-28 | 2018-07-06 | 中国科学院沈阳自动化研究所 | A kind of parallel lightweight robotic joint variation rigidity actuator |
-
2019
- 2019-12-25 CN CN201911355491.0A patent/CN111015730A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204414132U (en) * | 2015-01-09 | 2015-06-24 | 河北工业大学 | A kind of flexible joint of stiffness variable |
| CN105328711A (en) * | 2015-11-10 | 2016-02-17 | 哈尔滨工业大学 | Modular rigidity-changing joint |
| CN206643958U (en) * | 2017-04-27 | 2017-11-17 | 河北工业大学 | A kind of compact variation rigidity rotates flexible joint |
| CN207465251U (en) * | 2017-11-20 | 2018-06-08 | 河北工业大学 | A kind of stiffness variable flexible joint based on single power source |
| CN108247666A (en) * | 2017-12-28 | 2018-07-06 | 中国科学院沈阳自动化研究所 | A kind of parallel lightweight robotic joint variation rigidity actuator |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112092007A (en) * | 2020-09-16 | 2020-12-18 | 哈尔滨工业大学 | Modular steel wire rope driven variable-rigidity joint |
| CN112092007B (en) * | 2020-09-16 | 2021-11-09 | 哈尔滨工业大学 | Modular steel wire rope driven variable-rigidity joint |
| CN114851241A (en) * | 2022-05-27 | 2022-08-05 | 沈阳工学院 | Rack-based direct-acting variable-stiffness joint device |
| CN114851241B (en) * | 2022-05-27 | 2023-09-22 | 沈阳工学院 | Variable-rigidity joint device based on rack direct-acting |
| CN118544395A (en) * | 2024-07-29 | 2024-08-27 | 深圳市陶氏精密技术有限公司 | Operation protection device of heavy-load robot and control method thereof |
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Application publication date: 20200417 |
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