CN113334355B - Modular variable-rigidity driver with low energy consumption - Google Patents
Modular variable-rigidity driver with low energy consumption Download PDFInfo
- Publication number
- CN113334355B CN113334355B CN202110665948.9A CN202110665948A CN113334355B CN 113334355 B CN113334355 B CN 113334355B CN 202110665948 A CN202110665948 A CN 202110665948A CN 113334355 B CN113334355 B CN 113334355B
- Authority
- CN
- China
- Prior art keywords
- rod
- lead screw
- base
- rigidity
- screw nut
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
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
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a modularized variable-stiffness driver with low energy consumption, which comprises a base arranged in a driving shell, a joint motor hinged with the base through a rotating pair, a first lead screw, a lead screw nut and an output rod, wherein one end of the first lead screw is fixedly connected with an output shaft of the joint motor, the lead screw nut and the first lead screw form a screw pair, and the output rod is hinged with the base. Wherein, one end of the input rod is hinged with the screw nut, and the other end is tied with a big force horse wire. The big power horse line passes through the preload bolt of spring coupling, can realize off-line adjustment of preload power through adjusting preload bolt position. Meanwhile, a big force horse wire is arranged between the two rollers; the rigidity of the driver can be adjusted on line by adjusting the contact positions of the two rollers and the big guy. The invention can realize off-line and on-line rigidity adjustment and is suitable for different working conditions, the energy consumption of rigidity adjustment is low, meanwhile, the passive deformation with larger amplitude can be realized, and the energy storage performance is strong.
Description
Technical Field
The invention belongs to the technical field of flexible driving, and particularly relates to a modular low-energy-consumption variable-stiffness driver applied to exoskeleton robot joints.
Background
With the aging of the population becoming more and more serious, the population of the elderly is increasing, and a series of nervous system diseases appear more and more frequently; on the other hand, there are also a few people who suffer from spinal cord injuries due to accidents. Most of patients have lower limb movement dysfunction, early-stage operations and drug treatment are removed, the lower limb rehabilitation exoskeleton robot with the affected limb gradually having the movement capability is required to be continuously used for rehabilitation training, and the lower limb rehabilitation exoskeleton robot can effectively help patients with cerebral apoplexy or spinal cord injury to carry out rehabilitation training.
The exoskeleton is a highly man-machine interactive product, has attracted extensive attention in the fields of rehabilitation, function enhancement, assisted sports and the like in recent years, and a plurality of prototypes and products with novel structures and strong functions appear, but have some technical problems. Currently, many exoskeleton robot products still adopt rigid drivers, and although accurate speed and position control can be easily realized, a torque sensor is needed to realize accurate force control, so that the exoskeleton robot is high in price and complex in structure, and risks are easily caused due to the fact that the flexible buffering characteristic cannot be realized. In addition, the existing flexible driver mostly adopts a fixed-rigidity series elastomer, so that different rehabilitation requirements of rehabilitation in each stage are difficult to adapt to.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a modularized variable-stiffness driver, which can realize off-line and on-line stiffness adjustment and is suitable for different working conditions, has low energy consumption of stiffness adjustment, can realize large-amplitude passive deformation and has strong energy storage performance.
The invention relates to a modularized variable-stiffness driver with low energy consumption, which is provided with a base and an output rod which rotate relatively, and a plurality of input rods are arranged between the base and the output rod. The input rod is provided with a left side rod and a right side rod; wherein the left side lever is rotated by a screw nut driving mechanism arranged on the base; the right rod is connected with the spring through a high horsepower wire. Therefore, the input rod is driven to rotate by the lead screw nut driving mechanism, and meanwhile, the high-horsepower wire connected with the right rod pulls the extension spring and further drives the output rod to move.
The spring is connected with the preloading bolt, and the axial position of the preloading bolt is adjusted to realize the adjustment of the preloading force of the tension spring by rotating the preloading bolt, so that the off-line adjustment of the rigidity is realized.
A screw nut structure is arranged on the output rod and positioned on the side of the high-horsepower line; wherein, a sliding block is designed on the nut and is arranged in a slideway designed on the output rod; meanwhile, a high-horsepower line is designed to be positioned between two rollers which are arranged in a tangent mode; the two rollers are arranged on the movable platform through a rotating shaft, and the movable platform is fixed with the sliding block; the motor drives the screw nut structure to drive the sliding block to move along the slide way, and simultaneously drives the two limiting rollers to slide on the output rod, so that the transmission ratio of the relative rotation angle of the right rod and the output rod relative to the elongation of the extension spring is adjusted, and the rigidity of the driver is adjusted on line.
The invention has the advantages that:
1. the modularized variable-stiffness driver with low energy consumption can realize online adjustment of the stiffness of the driver by adjusting the position of the sliding block in real time through the motor, can also realize offline adjustment of the stiffness by adjusting the prepressing of the spring, and can change the adjustment range of the online stiffness adjustment by the offline stiffness adjustment, thereby being suitable for different working conditions;
2. according to the modularized variable-stiffness driver with low energy consumption, when the stiffness of the driver is adjusted through the motor at a balance position, the external load borne by the motor is theoretically zero, and the energy consumption for adjusting the stiffness is low;
3. the modularized variable-stiffness driver with low energy consumption can effectively reduce the width and the thickness of the driver, is suitable for being applied to an exoskeleton robot, can realize large-amplitude passive deformation, and has strong energy storage performance.
Drawings
Fig. 1 is a schematic front view of the modular low-power consumption variable stiffness driver of the present invention.
Fig. 2 is a rear view schematic diagram of the modular low-power consumption variable stiffness driver of the present invention.
Fig. 3 is an exploded view of the modular low power consumption variable stiffness drive configuration of the present invention.
In the figure:
1-base 2-output rod 3-input rod 4-joint motor
5-first lead screw 6-second lead screw 7-rigidity adjusting motor 8-preloading bolt
9-extension spring 10-high-horsepower wire 11-roller 12-moving platform
13-encoder A14-encoder B101-motor connecting shaft 201-slideway
301-input rod left side rod 302-input rod right side rod 303-connecting shaft 304-plug
501-first lead screw nut 601-second lead screw nut 602-sliding block
Detailed Description
The present invention will be described in further detail below with reference to the accompanying drawings.
The invention relates to a modularized low-energy-consumption variable stiffness driver, which comprises a base 1, an output rod 2, an input rod 3, a joint motor 4, a first lead screw 5, a second lead screw 6, a stiffness adjusting motor 7, a preloading bolt 8, a tension spring 9, a high-horsepower wire 10, a roller 11, a moving platform 12, an encoder A13 and an encoder B14, and is shown in figures 1 to 3.
The motor connecting shaft 101 perpendicular to the base 1 is installed on the outer side of the base 1, and the motor connecting shaft 101 is hinged to a hinge joint designed at the end of the joint motor 4 to form a revolute pair. The first lead screw 5 is arranged in parallel to the base 1, and the tail end of the first lead screw is coaxially fixed with an output shaft of the joint motor 4. The first lead screw 5 is connected with a first lead screw nut 501 in a threaded manner, and the first lead screw nut 501 is fixed at the input end of the input rod left side rod 301. Therefore, the first lead screw 5 is driven to rotate by the joint motor 4, and further the first lead screw nut 501 is driven to move axially along the first lead screw 5, so that the left rod 301 of the input rod can be pushed to rotate around the axis of the tail end connecting shaft 303 of the input rod.
Supporting tables are arranged at the middle part and the rear part of the outer side surface of the output rod 2. Set up second lead screw 6 between two supporting platforms, second lead screw 6 sets up along output rod 201 fore-and-aft direction, and both ends are connected with the bearing of trompil interior installation on two supporting platforms 201 respectively. The body end of the rigidity adjusting motor 7 is fixedly arranged on the support table 201 in the middle of the output rod 2, the output shaft and the second lead screw 6 are coaxially fixed, and the rigidity adjusting motor drives the second lead screw 6 to rotate. A second lead screw nut 601 is mounted on the second lead screw 6, and a sliding block 602 is designed on the second lead screw nut 601. The slide block 602 is disposed in a slide 201 designed on the output rod 2 and designed along the front-back direction of the output rod 2, and the slide 201 is located between the two support tables. Therefore, the rotation of the second lead screw 6 can drive the sliding block 602 to move along the slideway 201.
The front end of the inner side surface of the output rod 2 is provided with a mounting table, a mounting hole is formed in the mounting table, and a preloading bolt 8 is installed in the mounting hole in a threaded mode. The extension direction of the extension spring 9 is arranged along the front-back direction of the output rod 2; the front end of the tension spring 9 is connected with the preloading bolt 8, the rear end of the tension spring is connected with the input end of the high horsepower wire 10, the output end of the high horsepower wire 10 is fixedly connected with the input end of the input rod right side rod 302, and therefore the axial position of the preloading bolt 8 can be adjusted through rotating the preloading bolt 8, and the preload of the tension spring can be adjusted. Meanwhile, the high horsepower wire 10 is located between two rollers 11 arranged tangentially; the two rollers 11 are provided with grooves in the circumferential direction, so that the high-horsepower wire 10 is placed in a channel formed between the grooves at the tangent positions of the two rollers 11, and the high-horsepower wire 10 is prevented from separating from the two rollers. The two rollers 11 are mounted on the moving platform 12 through a rotating shaft, and the inner side surfaces of the moving platform 12 and the output rod 2 are fitted and positioned through matching and inserting of a plug designed on the inner side surface and a jack designed on the sliding block 601, so that relative positioning between the moving platform 12 and the sliding block 601 is realized.
The left input rod 301 and the right input rod 302 are respectively provided with an encoder a13 and an encoder B14 for measuring the relative displacement between the left input rod 301 and the output rod 2 and the relative displacement between the right input rod 302 and the base 1.
In the variable-rigidity driver, a base 1 is arranged at the symmetrical center of a driving shell and is fixedly connected with the driving shell; the first lead screw 5 is driven to rotate by the joint motor 4, so as to drive the input rod 3 to rotate, and meanwhile, the high-horsepower wire 10 connected with the right rod 302 of the input rod pulls the extension spring 9, and further drives the output rod 2 to move. When a load acts on the actuator, the extension spring 9 is deformed, and the output rod 2 and the input rod 3 generate relative displacement, so that the inherent flexibility of the actuator is embodied. When the rigidity of the driver is adjusted on line, the output shaft of the rigidity adjusting motor 7 rotates and then drives the second lead screw 6 to rotate, the second lead screw 6 drives the sliding block 601 to move along the slideway 202, and meanwhile, the two limiting rollers 11 are driven to slide on the output rod 2, so that the transmission ratio of the relative rotation angle of the right rod 302 of the input rod and the output rod to the elongation of the extension spring is adjusted, and the rigidity adjustment is realized. When the rigidity of the driver is adjusted offline, the preloading bolt rotates and changes the position on the output rod 2, so that the pretension force of the tension spring 9 is adjusted, the offline adjustment of the rigidity is realized, and the adjustment range of the online adjustment of the rigidity is changed.
Claims (3)
1. A modular low-energy-consumption variable-stiffness driver is characterized in that: the device comprises a base and an output rod which rotate relatively; the two are communicated with a plurality of input rods; the input rod is provided with a left side rod and a right side rod; wherein the left side lever is rotated by a screw nut driving mechanism arranged on the base; the screw nut driving mechanism is provided with a screw driven by a motor to rotate, and a screw nut sleeved on the screw is connected with the left side rod; the right rod is connected with a spring through a high-horsepower wire; the input rod is driven to rotate by the screw rod nut driving mechanism, and meanwhile, a high-horsepower wire connected with the right rod pulls the extension spring and further drives the output rod to move;
the spring is connected with the preloading bolt, and the axial position of the preloading bolt is adjusted to realize the adjustment of the preloading force of the tension spring and the off-line adjustment of the rigidity by rotating the preloading bolt;
the high horsepower wire is disposed between two rollers; the two rollers are arranged on a moving platform through a rotating shaft, the moving platform is fixed with a sliding block arranged on a nut in a lead screw nut arranged on the side of a high horsepower line on the output rod, and the sliding block is arranged in a slide way arranged on the output rod; the online adjustment of the rigidity of the driver can be realized by adjusting the contact positions of the two rollers and a high-horsepower wire.
2. The modular low-power variable stiffness drive of claim 1, wherein: in the input rod, a connecting shaft is designed at the connecting end of the left rod, and a jack is coaxially designed at the end of the connecting shaft; the connecting shaft passes through the holes on the base and the output rod and is fixedly connected with a cylindrical plug designed at the connecting end of the right rod at the opposite side through an end jack.
3. The modular low-power consumption variable stiffness drive of claim 1, wherein: the left side rod and the right side rod are provided with encoders which are respectively used for measuring the relative displacement between the left side rod and the output rod and the relative displacement between the right side rod and the base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110665948.9A CN113334355B (en) | 2021-06-16 | 2021-06-16 | Modular variable-rigidity driver with low energy consumption |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110665948.9A CN113334355B (en) | 2021-06-16 | 2021-06-16 | Modular variable-rigidity driver with low energy consumption |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113334355A CN113334355A (en) | 2021-09-03 |
| CN113334355B true CN113334355B (en) | 2022-10-25 |
Family
ID=77475479
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110665948.9A Active CN113334355B (en) | 2021-06-16 | 2021-06-16 | Modular variable-rigidity driver with low energy consumption |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113334355B (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1726412A1 (en) * | 2005-05-23 | 2006-11-29 | Vrije Universiteit Brussel | Articulated joint with adjustable stiffness |
| CN104608142B (en) * | 2015-01-09 | 2016-06-08 | 河北工业大学 | A kind of rotary-type variation rigidity flexible joint |
| CN107854284B (en) * | 2017-12-13 | 2019-10-25 | 华中科技大学 | A kind of ankle-joint ectoskeleton based on elastic element rigidity handover mechanism |
| CN110652425B (en) * | 2019-08-20 | 2021-12-17 | 南京航空航天大学 | Variable-rigidity lower limb exoskeleton power-assisted robot |
| CN111015729A (en) * | 2019-12-25 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Human elbow joint-simulated robot variable-stiffness joint |
| CN111113399A (en) * | 2020-01-10 | 2020-05-08 | 山东大学 | Linear motion joint flexible mechanical arm based on series elastic driver |
| CN111481402B (en) * | 2020-04-24 | 2022-02-01 | 合肥工业大学 | Knee joint exoskeleton based on rope variable-stiffness multifunctional driver and control method |
| CN111775176B (en) * | 2020-06-10 | 2022-05-31 | 哈尔滨工业大学 | Variable-rigidity linear driving device and variable-rigidity method |
-
2021
- 2021-06-16 CN CN202110665948.9A patent/CN113334355B/en active Active
Non-Patent Citations (4)
| Title |
|---|
| 主-被动复合变刚度柔性关节设计与分析;史延雷等;《机械工程学报》;20170619(第03期);全文 * |
| 双螺母预紧滚珠丝杠副摩擦力矩与接触刚度波动关系研究;汪远远等;《振动与冲击》;20180615(第11期);全文 * |
| 基于曲柄滑块机构变刚度关节的设计与分析;张坤停等;《机械与电子》;20180924(第09期);全文 * |
| 绳索驱动式变刚度关节柔顺控制与力补偿方法研究;房立金等;《仪器仪表学报》;20191215(第12期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113334355A (en) | 2021-09-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US8479605B2 (en) | Rotary-to-linear mechanism having an isolator | |
| US6761244B2 (en) | Electric power steering apparatus | |
| EP2479084A1 (en) | Electric power steering device | |
| CN207710784U (en) | The bionic arm of Pneumatic artificial muscle driving | |
| CN110091353B (en) | Internally-wiring rigidity-variable robot joint module | |
| JP2866302B2 (en) | Variable steering angle ratio steering device for vehicles | |
| CN205019354U (en) | Booster unit actuating mechanism lightly moves | |
| WO2020011771A8 (en) | Adjustment drive for a steering column, motor-adjustable steering column for a motor vehicle, and method for adjusting a bearing assembly of an adjustment drive | |
| CN108927792A (en) | Wearable power-assisted manipulator device | |
| CN111390892A (en) | Full-drive bionic dexterous hand based on pneumatic muscles | |
| CN113334355B (en) | Modular variable-rigidity driver with low energy consumption | |
| DE102012213365B4 (en) | Piezo-driven exoskeleton | |
| EP3666244A1 (en) | Translational-rotary machine | |
| CN106002962B (en) | A kind of lightness high speed heavy load lower limb exoskeleton robot | |
| CN111390891B (en) | Tensioning structure for robot full-drive finger pneumatic muscle | |
| CN112847425B (en) | Series plane torsion spring motor module suitable for robot joint drive | |
| GB2411874A (en) | Electric power steering device | |
| CN111631925B (en) | Freely-moving type self-adaptive weight reduction trolley for lower limb rehabilitation training | |
| KR20040058364A (en) | Electric power steering device | |
| CN109366463B (en) | Five-degree-of-freedom hybrid robot with double platforms | |
| KR100651139B1 (en) | Double pinion type electric power steering apparatus | |
| JP5491930B2 (en) | Vehicle power steering device | |
| CN114699283B (en) | Desktop type three-degree-of-freedom wrist joint rehabilitation training robot | |
| JP2004001679A (en) | Electric power steering device | |
| CN211729167U (en) | Tensioning structure for pneumatic muscle of dexterous fingers of robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |