CN114131646B - Variable rigidity mechanism and flexible joint based on axial force - Google Patents
Variable rigidity mechanism and flexible joint based on axial force Download PDFInfo
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- CN114131646B CN114131646B CN202111479739.1A CN202111479739A CN114131646B CN 114131646 B CN114131646 B CN 114131646B CN 202111479739 A CN202111479739 A CN 202111479739A CN 114131646 B CN114131646 B CN 114131646B
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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
Abstract
The invention discloses a variable stiffness mechanism and a flexible joint based on axial force, which solve the problems of complex and large volume of a flexible joint stiffness adjusting mechanism.
Description
Technical Field
The invention relates to the field of robots, in particular to a variable stiffness mechanism based on axial force and a flexible joint.
Background
Compared with the traditional flexible joint, the variable-rigidity flexible joint can realize the change of the joint rigidity of the robot in different working states through a certain control strategy, has similar characteristics with human muscles, namely keeps higher rigidity in a common working state, can generate certain flexibility when collision occurs, relieves collision impact, and prevents further damage to a contact object. In addition, due to the introduction of the elastic element, the joint can store energy during collision, and the utilization efficiency of the energy is improved to a certain extent, so that due to the introduction of the flexible joint with variable rigidity, the robot has environmental safety while ensuring the movement performance of the joint, and has wide application background and important research significance.
In the patent of 201711239915.8, a variable-stiffness flexible joint based on a leaf spring is provided, and the purpose is to solve the problems of complex structure, large volume, complex control process and difficult stiffness linear control of the variable-stiffness flexible joint, and the method comprises the following steps: the device comprises an input shaft (1), an output shaft (2), a rigidity adjusting mechanism (3), a displacement detection system (4), a control system (5) and a limiting protection mechanism (6); the input shaft (1) comprises a first input shaft (1-1) and a second input shaft (1-2), the first input shaft (1-1) and the second input shaft (1-2) are concentrically connected, the second input shaft (1-2) is of a square plate-shaped structure, and hyperboloid grooves are formed in four corners of the second input shaft in a mirror image mode; the output shaft (2) comprises a first output shaft (2-1), a second output shaft (2-2) and an output end cover (2-3), the first output shaft (2-1) and the second output shaft (2-2) are both of a cylindrical structure with one closed end, the closed end of the second output shaft (2-2) is provided with sliding groove groups (2-4) which are distributed at equal intervals along the circumference and extend towards the direction of the circle center, and the first output shaft (2-1), the second output shaft (2-2) and the output end cover (2-3) are sequentially buckled and fixed; the rigidity adjusting mechanism (3) comprises a control motor (3-1), a dial (3-2), a connecting rod group (3-3), a leaf spring group (3-4) and a sliding block group (3-5). The scheme needs a rigidity adjusting motor (3-1), rigidity adjustment is achieved through mechanisms such as the adjusting disc (3-2), the connecting rod group (3-3), the leaf spring group (3-4) and the sliding block group (3-5), and the mechanisms are still complex.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a variable stiffness mechanism based on axial force and a flexible joint.
In order to realize the purpose of the invention, the invention adopts the following technical scheme: a variable stiffness mechanism based on axial force comprises a base, a power unit, a driving rod, a stiffness adjusting piece, a reed and a joint output end; the power unit is fixedly arranged on the base and is connected with the rigidity adjusting piece through the driving rod, and the rigidity adjusting piece is provided with a reed restricting hole for restricting the reed and is positioned between the base and the joint output end; one end of the reed is connected with the base, and the other end of the reed is movably connected with the joint output end.
Furthermore, the number of the reeds is at least two, and the reeds are uniformly arranged around the driving rod; one end of the reed penetrates through the reed restricting hole and is fixedly arranged on the base, and the other end of the reed penetrates through the reed restricting hole and is hinged to the joint output end.
Further, the other end of the reed penetrates through the reed restricting hole and is preferably connected with the joint output end through a spherical hinge.
Furthermore, a joint output end restraining shaft is arranged on the base; and the joint output end is correspondingly provided with a joint output end restriction hole so as to ensure that the joint output end coaxially rotates relative to the base.
Further, the base is provided with a key slot; the driving rod is correspondingly provided with a key to prevent the driving rod from axially rotating; and the end part of one end of the driving rod is movably connected with the rigidity adjusting piece.
Further, the power unit is an electromagnet, an air cylinder or a hydraulic cylinder; the driving rod is an iron core or a piston rod.
Further, the driving rod is a screw rod; the rigidity adjusting piece is provided with a threaded hole corresponding to the screw rod; the screw rod penetrates through the threaded hole to be fixedly connected with the rigidity adjusting piece.
Furthermore, a guide pin is also arranged on the base; the rigidity adjusting piece is provided with a guide hole matched with the guide pin so as to ensure that the rigidity adjusting piece rotates synchronously with the base through the guide pin.
The invention provides a flexible joint based on axial force, which comprises the variable stiffness mechanism, a joint motor and a stiffness adjusting motor; the rigidity adjusting motor is connected with the joint motor; the joint motor is provided with a motor output end; and the base of the variable stiffness mechanism is fixedly connected with the output end of the motor.
Furthermore, a driving rod of the variable stiffness mechanism is a screw rod, the screw rod is connected with a stiffness adjusting motor, a first slide way and a first slide way are arranged on the joint motor and the stiffness adjusting motor correspondingly, and the first slide way is matched with the first slide way; the end part of the screw is rotationally connected with the rigidity adjusting piece.
Compared with the prior art, the variable rigidity mechanism and the flexible joint adopting the technical scheme have the following beneficial effects:
1. by adopting the variable rigidity mechanism based on the axial force and the flexible joint, the power units are distributed along the axis of the joint motor, so that the diameter of the variable rigidity flexible joint is reduced;
2. by adopting the variable stiffness mechanism and the flexible joint based on the axial force, the technical route that a motor is used as a power source of the variable stiffness mechanism is broken;
3. by adopting the variable rigidity mechanism based on the axial force and the flexible joint, as the driving unit (the electromagnet, the air cylinder or the hydraulic cylinder) and the driving shaft (the iron core and the piston rod) are restrained similarly to a cylindrical surface, the electromagnet can be arranged on the output end of the joint motor to rotate relative to the shell of the joint motor and can also be arranged on the joint motor to stand relative to the joint motor, thus providing more flexible layout mode selection for a power source of the variable rigidity mechanism;
4. by adopting the variable-rigidity mechanism based on the axial force and the flexible joint, the electromagnet is relatively easy to customize, the shape is not limited, the user can customize at low cost, and the electromagnet can be embedded into the joint motor, so that the integrated design of the flexible joint is realized.
Drawings
FIG. 1 is a schematic structural section view of a variable stiffness mechanism based on axial force according to the present invention;
FIG. 2 is a schematic diagram of a three-dimensional structure of a variable stiffness mechanism based on axial force according to the present invention;
FIG. 3 is a schematic structural diagram of a variable stiffness flexible joint based on axial force according to the present invention;
FIG. 4 is a cross-sectional view of a variable stiffness flexible joint based on axial force in accordance with the present invention;
FIG. 5 is an axial schematic view of a stiffness adjustment motor for a variable stiffness flexible joint based on axial force according to the present invention;
FIG. 6 is a schematic structural diagram of a variable stiffness flexible joint with a second slide rail based on axial force according to the present invention;
FIG. 7 is a schematic structural view of example 2 of the present invention;
reference numerals are as follows: 1. a base; 2. an electromagnet; 3. an iron core; 4. a stiffness adjustment member; 5. a reed; 6. a joint output end; 7. spherical hinge; 8. a joint motor; 9. a stiffness adjustment motor; 101. a keyway; 102. a joint output end constraint shaft; 103. a guide pin; 301. a key; 401. a reed restraining hole; 402. a guide hole; 601. a joint output mounting hole; 602. a joint output shaft hole; 603. a joint output end restriction hole; 801. a motor output end; 802. a hollow shaft; 902. a screw; 903. spherical hinge of the screw rod; 904. A first slide rail; 8021. a first slideway.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
A variable rigidity mechanism based on axial force comprises a base 1, a power unit, a driving rod, a rigidity adjusting piece 4, a reed 5 and a joint output end 6. The power unit is fixedly arranged on the base 1 and is connected with the rigidity adjusting piece 4 through the driving rod, and the connection mode depends on the type of the power unit. The rigidity adjusting piece 4 is provided with a reed restricting hole 401 for restricting the reed 5, and the rigidity adjusting piece 4 is arranged between the base and the joint output end. At least two reeds 5 are uniformly arranged around the shaft, one end of each reed 5 is fixedly arranged on the base 1, and the other end of each reed 5 penetrates through the reed limiting hole 401 to be hinged to the joint output end 6.
The hinge is preferably connected with a spherical hinge, and when the joint output end 6 rotates relative to the base 1, the reed 5 is simultaneously provided with force and torsion along the tangential direction of the joint output end 6, so that the spherical hinge can eliminate the action of the torsion, the stress of the reed is simplified, and the stress analysis of the reed is convenient.
The variable stiffness mechanism based on the axial force can be divided into the following schemes according to the types of power units.
Example 1
The power unit is an electromagnet, and the driving rod is an iron core. The method specifically comprises the following steps:
the variable stiffness mechanism based on the axial force as shown in fig. 1 and 2 comprises a base 1, an electromagnet 2, an iron core 3, a stiffness adjusting piece 4, a reed 5, a joint output end 6 and a spherical hinge 7. The electromagnet 2 is fixedly arranged on the base 1, and the iron core 3 penetrates through the electromagnet 2 and is fixedly connected with the rigidity adjusting piece 4. The rigidity adjusting piece 4 is provided with a reed restricting hole 401 for restricting the reed 5 and is provided between the base 1 and the joint output end 6. The iron core 3 and the base 1 are correspondingly provided with a key 301 and a key groove 101 for restricting the iron core 3 to move along the axial direction. There may be several groups of the key 301 and the key slot 101 for preventing the iron core 3 and the base 1 from rotating relatively, and there are at least two spring leaves 5 uniformly arranged around the driving rod. One end of the reed 5 is arranged on the base 1, and the other end of the reed 5 penetrates through the reed restriction hole 401 and is movably arranged on the joint output end 7 through the spherical hinge 7. The base 1 and the joint output end 6 are correspondingly provided with a joint output end constraint shaft 102 and a joint output end constraint hole 603, which are used for ensuring that the joint output end 6 coaxially rotates relative to the base 1. When the base rotates, the iron core rotates together with the rigidity adjusting member.
A rigidity adjusting method of a variable rigidity mechanism based on axial force comprises the following steps:
firstly, the electromagnet 2 drives the iron core 3 to axially move;
secondly, the iron core 3 drives the rigidity adjusting piece 4 to move axially;
thirdly, the reed restricting hole 401 on the rigidity adjusting piece 4 moves relative to the reed 5, so that the effective working length of the reed 5 is changed, and the purpose of changing the rigidity of the rigidity changing mechanism is achieved.
Example 2
As shown in fig. 7, the power unit is a stiffness adjusting motor 9, and the driving rod is a screw 902. The method specifically comprises the following steps: the rigidity adjusting motor 9 is fixedly connected with the screw 902. Threaded holes corresponding to the threaded rods are formed in the base 1 and the rigidity adjusting piece 4, and the threaded rods 902 are matched with the threaded holes to drive the rigidity adjusting piece 4 to move axially so as to change the effective working length of the reed 5.
Example 3
As shown in fig. 4, the power unit is a stiffness adjustment motor, and the driving rod is a screw rod. The method specifically comprises the following steps: the base 1 is provided with a threaded hole corresponding to the screw rod, the hollow shaft 802 of the joint motor and the rigidity adjusting motor 9 are correspondingly provided with a first slide rail 8021 and a first slide rail 904 which are used for axial movement of the rigidity adjusting motor, the first slide rail 8021 is matched with the first slide rail 904, the screw rod penetrates through the threaded hole, the end part of the other end of the threaded hole is rotationally connected with the rigidity adjusting piece through a screw rod spherical hinge 903, namely, the rigidity adjusting motor drives the self axial movement through a kinematic pair formed by the screw rod, and then the axial movement of the rigidity adjusting piece is driven through the screw rod, so that the purpose of changing the effective working length of the reed is realized.
Example 4
The power unit is a cylinder or a hydraulic cylinder, the driving rod is a piston rod, and the power unit specifically comprises:
the end part of one end of the piston rod is fixedly connected with the rigidity adjusting part 4, the piston rod and the base 1 are correspondingly provided with a key 301 and a key groove 101 for preventing the piston rod from axially rotating, the number of the keys 101 and the key grooves 301 can be multiple, and the cylinder or the hydraulic cylinder drives the piston rod to further drive the rigidity adjusting part 4 to move along the shaft, so that the purpose of changing the effective working length of the reed 5 and further changing the rigidity of the variable rigidity mechanism is achieved, and when the base 1 rotates, the piston rod and the rigidity adjusting part 4 synchronously rotate.
Example 5
The power unit is the electro-magnet, the actuating lever is the iron core, specifically does: one end part of the iron core is rotatably connected with the rigidity adjusting part 4, and the base 1 is also provided with a guide pin 103; the rigidity adjusting part 4 is provided with a guide hole 402 matched with the guide pin 103 to ensure that the rigidity adjusting part 4 rotates synchronously with the base 1 through the guide pin 103. The guide pins 103 and the guide holes 402 can be provided with a plurality of groups, the electromagnet drives the rigidity adjusting piece to move along the shaft by driving the iron core, so that the purpose of changing the effective working length of the reed and further changing the rigidity of the variable rigidity mechanism is achieved, when the base rotates, the iron core does not rotate, and the rigidity adjusting piece synchronously rotates.
Example 6
The power unit is a cylinder or a hydraulic cylinder, the driving rod is a piston rod, and the power unit is specifically as follows: one end part of the piston rod is rotatably connected with the rigidity adjusting part, and the base 1 is also provided with a guide pin 103; the rigidity adjusting part 4 is provided with a guide hole 402 matched with the guide pin 103 to ensure that the rigidity adjusting part 4 rotates synchronously with the base 1 through the guide pin 103. The guide pins 103 and the guide holes 402 can be provided with a plurality of groups, the air cylinder or the hydraulic cylinder drives the rigidity adjusting piece to move along the shaft by driving the piston rod, so that the purpose of changing the effective working length of the reed and further changing the rigidity of the variable rigidity mechanism is achieved, when the base rotates, the piston rod does not rotate, and the rigidity adjusting piece synchronously rotates.
Because the space between the electromagnet and the iron core, and the space between the air cylinder or the hydraulic cylinder (power unit) and the piston rod (driving rod) can be equivalent to the cylindrical surface constraint, and the power unit only provides the axial force of the movement of the iron core, the power unit can rotate relative to the driving rod (at the moment, the power unit is arranged on the shell of the joint motor or a part fixed with the shell), and can also not rotate relative to the driving rod (at the moment, the power unit is arranged on the output end of the joint motor).
Preferably, the base 1 is provided with an annular groove, the joint output end is correspondingly provided with an annular protrusion, and the annular groove and the annular protrusion are matched to serve as a joint output end constraint mechanism 603 for ensuring that the joint output end rotates around a central shaft.
As shown in fig. 3, the present invention further provides a flexible joint of a variable stiffness mechanism based on axial force, which includes a joint motor 8, a stiffness adjustment motor 9 and the variable stiffness mechanism. The rigidity adjusting motor 9 is connected with the joint motor 8. The joint motor 8 is provided with a motor output end 801, and the base 1 is fixedly arranged on the motor output end 801.
Preferably, the joint motor 8 is provided with a hollow shaft for accommodating a power unit in the variable stiffness mechanism, the hollow shaft is fixedly connected with the output end of the joint motor, and the hollow shaft extends to the outer end face of the output end of the joint motor and is used for accommodating a driving rod in the variable stiffness mechanism.
Preferably, the joint motor 8 is provided with a hollow shaft for accommodating a driving rod in the variable stiffness mechanism, one end of the hollow shaft with hollow characteristics extends to the outer end face of the output end of the joint motor, the other end of the hollow shaft is a through hole, a power unit of the variable stiffness mechanism is fixedly arranged on a tail shell of the motor, and two ends of the driving rod are respectively connected with the power unit and the stiffness adjusting member 4.
The invention discloses a variable stiffness mechanism based on axial force, which comprises the following working processes: firstly, the power unit drives the driving rod to provide axial force; the driving rod drives the dynamic stiffness adjusting piece to axially move; and finally, the reed restricting hole on the rigidity adjusting piece moves relative to the reed, so that the effective working length of the reed is changed, and the aim of changing the rigidity of the variable rigidity mechanism is fulfilled.
The foregoing is a preferred embodiment of the present invention, and it will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit of the invention, and these should be considered to be within the scope of the invention.
Claims (3)
1. A variable stiffness mechanism based on axial force is characterized in that: comprises a base (1), a power unit, a driving rod, a rigidity adjusting piece (4), a reed (5) and a joint output end (6); the power unit is a rigidity adjusting motor (9), and the rigidity adjusting motor (9) is connected with the joint motor (8); the joint motor (8) is provided with a motor output end (801), and the base (1) is fixedly connected with the motor output end (801); the power unit is connected with the rigidity adjusting piece (4) through the driving rod, and the rigidity adjusting piece (4) is provided with a reed restricting hole (401) for restricting the reed (5) and is positioned between the base (1) and the joint output end (6); one end of the reed (5) is connected with the base (1), and the other end of the reed is movably connected with the joint output end (6); the number of the reeds (5) is at least two, and the reeds are uniformly arranged around the driving rod; one end of the reed (5) penetrates through the reed limiting hole (401) and is fixedly arranged on the base (1), and the other end of the reed (5) penetrates through the reed limiting hole (401) and is hinged to the joint output end (6); the driving rod is a screw rod, and the screw rod is connected with a rigidity adjusting motor (9); the base (1) is provided with a threaded hole corresponding to the screw; a hollow shaft (802) is arranged in the joint motor (8); a first slideway (8021) and a first sliding rail (904) which are used for axial movement of the rigidity adjusting motor are correspondingly arranged on the hollow shaft (802) and the rigidity adjusting motor (9), and the first slideway (8021) is matched with the first sliding rail (904); the screw penetrates through the threaded hole, the end part of the other end of the screw is rotatably connected with the rigidity adjusting piece, namely, the rigidity adjusting motor drives the rigidity adjusting piece to axially move through a kinematic pair formed by the screw, and then the rigidity adjusting piece is driven to axially move through the screw, so that the purpose of changing the effective working length of the reed is achieved.
2. The axial force based variable stiffness mechanism of claim 1, wherein: the base (1) is also provided with a guide pin (103); the rigidity adjusting piece (4) is provided with a guide hole (402) matched with the guide pin (103) so as to ensure that the rigidity adjusting piece (4) rotates synchronously with the base (1) through the guide pin (103).
3. A flexible joint based on axial forces comprising a variable stiffness mechanism according to any one of claims 1-2.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111479739.1A CN114131646B (en) | 2021-12-06 | 2021-12-06 | Variable rigidity mechanism and flexible joint based on axial force |
| CN202310003457.7A CN116372975A (en) | 2021-12-06 | 2021-12-06 | Variable stiffness mechanism and flexible joint based on axial force |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111479739.1A CN114131646B (en) | 2021-12-06 | 2021-12-06 | Variable rigidity mechanism and flexible joint based on axial force |
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| CN202310003457.7A Division CN116372975A (en) | 2021-12-06 | 2021-12-06 | Variable stiffness mechanism and flexible joint based on axial force |
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| CN114131646A CN114131646A (en) | 2022-03-04 |
| CN114131646B true CN114131646B (en) | 2023-02-14 |
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| CN202111479739.1A Active CN114131646B (en) | 2021-12-06 | 2021-12-06 | Variable rigidity mechanism and flexible joint based on axial force |
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| CN110744584A (en) * | 2019-11-29 | 2020-02-04 | 河北工业大学 | Flexible active-passive variable stiffness joint |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101379810B1 (en) * | 2012-12-21 | 2014-04-01 | 한국과학기술연구원 | Device for regulating stiffness |
| KR101684761B1 (en) * | 2015-01-05 | 2016-12-08 | 고려대학교 산학협력단 | Variable stiffness robotic joint system |
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2021
- 2021-12-06 CN CN202310003457.7A patent/CN116372975A/en active Pending
- 2021-12-06 CN CN202111479739.1A patent/CN114131646B/en active Active
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| JP2014097550A (en) * | 2012-11-15 | 2014-05-29 | Canon Inc | Rigidity variable driving device and joint driving mechanism |
| CN103286790A (en) * | 2013-05-27 | 2013-09-11 | 北京航空航天大学 | Quick connecting device with changeable rigidity |
| CN104863982A (en) * | 2014-02-24 | 2015-08-26 | 联想(北京)有限公司 | Variable stiffness shaft coupling and variable stiffness driving mechanism |
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| CN114131646A (en) | 2022-03-04 |
| CN116372975A (en) | 2023-07-04 |
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