CN114193505A - Rotating shaft rigidity adjusting device and application thereof - Google Patents
Rotating shaft rigidity adjusting device and application thereof Download PDFInfo
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- CN114193505A CN114193505A CN202111563065.3A CN202111563065A CN114193505A CN 114193505 A CN114193505 A CN 114193505A CN 202111563065 A CN202111563065 A CN 202111563065A CN 114193505 A CN114193505 A CN 114193505A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 29
- 238000006073 displacement reaction Methods 0.000 claims abstract description 29
- 238000013016 damping Methods 0.000 claims abstract description 24
- 230000033001 locomotion Effects 0.000 claims description 11
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005265 energy consumption Methods 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
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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Abstract
The invention discloses a rotating shaft rigidity adjusting device and application thereof. The rotating shaft rigidity adjusting device comprises a rigidity-adjustable spring mechanism, a fulcrum deflection mechanism and a rigidity transmission assembly. The adjustable stiffness spring mechanism comprises a guide rail, a sliding plate, a lever, a fixing frame, a fulcrum shifting block, a fulcrum shaft, a spring mounting block and a damping applying shell. A guide rail is fixed on the fixed frame; the guide rail is connected with a sliding plate in a sliding way. One end of the lever is rotatably connected with the sliding plate. The fulcrum displacement block and the fixed frame form a sliding pair. The fulcrum displacement block is driven by the fulcrum displacement mechanism to slide. The rod is provided with a sliding groove. The fulcrum shifting block is fixed with a fulcrum shaft. The fulcrum shaft passes through the chute on the lever. The dynamic adjustment of the rotating rigidity of the rotating shaft is realized by adjusting the position of the fulcrum on the lever. In addition, it can direct mount in all kinds of revolute joint's pivot, and need not transform revolute joint, and it is very convenient to use.
Description
Technical Field
The invention belongs to the technical field of human-computer interaction, and particularly relates to a rotating shaft rigidity adjusting device and application thereof.
Background
Modern robots are required to work under unknown and complex conditions and to meet a variety of challenging requirements. One of the requirements is that the robot has a high level of robustness to withstand impacts and the ability to physically interact in a safe way. One way to achieve this goal is to integrate variable stiffness actuators into the robotic system, achieve compatible behavior through elastic components, and provide additional adaptability of impedance.
Disclosure of Invention
The invention aims to provide a novel linear adjustable stiffness spring mechanism which adopts differential elastic arrangement and is applied to a spine rotary joint of a robot. The mechanism is of great importance to the overall working space of the robot and the energy-saving natural motion of realizing dynamic running and the like.
In a first aspect, the present invention provides a device for adjusting stiffness of a rotating shaft, which includes a spring mechanism with adjustable stiffness, a fulcrum displacement mechanism, and a stiffness transmission assembly. The adjustable stiffness spring mechanism comprises a guide rail, a sliding plate, a lever, a fixing frame, a fulcrum shifting block, a fulcrum shaft, a spring mounting block and a damping applying shell. A guide rail is fixed on the fixed frame; the guide rail is connected with a sliding plate in a sliding way. One end of the lever is rotatably connected with the sliding plate. The fulcrum displacement block and the fixed frame form a sliding pair. The fulcrum displacement block is driven by the fulcrum displacement mechanism to slide.
The lever is provided with a sliding groove. The fulcrum shifting block is fixed with a fulcrum shaft. The fulcrum shaft passes through the chute on the lever. Along with the sliding of the fulcrum deflection block, the fulcrum shaft can slide in the sliding groove of the lever. Two spring mounting blocks which are oppositely arranged are fixed on the fixing frame; a damping application housing is disposed between the two spring mounting blocks. One end of each spring is fixed with the opposite end of each spring mounting block. The other ends of the two springs are respectively fixed with the two sides of the damping applying shell. The end part of the lever far away from the sliding plate extends into the damping application shell; the lever swings to drive the damping applying shell to move between the two springs. The sliding plate is in transmission connection with the rotating shaft with the rigidity adjusted through the rigidity transmission assembly.
Preferably, the adjustable stiffness spring mechanism further comprises a guide rail mounting frame and a variable stiffness spring mounting frame. The guide rail mounting rack and the variable stiffness spring mounting rack are both fixed on the fixing rack. The guide rail mounting bracket is positioned at one end of the variable stiffness spring mounting bracket. The two groups of guide rails are fixed on the guide rail mounting rack and are arranged oppositely; the two groups of guide rails are both connected with sliding blocks in a sliding manner; the two sliding plates and the two sliding blocks are respectively fixed and are arranged opposite to each other. One end of the lever is positioned between the two sliding plates and is coaxially hinged with the two sliding plates. The fulcrum shifting block and the variable stiffness spring mounting frame form a sliding pair.
Preferably, the sliding direction of the fulcrum displacement block and the sliding direction of the sliding plate are perpendicular to each other.
Preferably, the damping application housing comprises two enclosing plates and two spring connecting plates. The two coamings and the two spring connecting plates are encircled to form a square frame shape. The opposite side surfaces of the spring mounting blocks and the corresponding spring connecting plates are provided with mounting columns for connecting springs. Two ends of the spring are respectively sleeved on the two corresponding mounting columns.
Preferably, the damping applying shell and the variable stiffness spring mounting frame form a sliding pair, and the sliding direction of the damping applying shell and the variable stiffness spring mounting frame is parallel to the sliding direction of the sliding plate.
Preferably, the fulcrum displacement mechanism comprises an output belt wheel, a synchronous belt, an input shaft, an input belt wheel, a motor mounting rack, a belt wheel mounting table, an adjusting motor, a nut and a screw rod. The screw rod is connected on the fixed frame in a rotating way. The nut is fixed on the fulcrum displacement block; the screw and the nut form a screw pair. The belt wheel mounting table is fixed on the fixing frame. The output belt wheel is fixed at the end part of the screw rod; the input belt wheel is rotationally connected to the belt wheel mounting table. The adjusting motor is fixed on the fixing frame through the motor mounting frame. The input shaft of the adjusting motor is fixed with the input belt wheel. The input belt wheel is connected with the output belt wheel through a synchronous belt.
Preferably, the rigidity transmission assembly comprises a spur rack and a transmission gear. The straight rack is fixed with one of the sliding plates; the transmission gear is connected with the rotating shaft with the rigidity adjusted. The transmission gear is meshed with the spur rack.
In a second aspect, the invention provides a robot spine rotary joint, which comprises a harmonic motion assembly and the rotating shaft rigidity adjusting device. The harmonic motion assembly comprises a rotating shaft, a flexible wheel and a harmonic generator. The rotating shaft is rotatably connected to the frame and fixed with a transmission gear in the rotating shaft rigidity adjusting device. The output shaft of the harmonic generator is connected with the flexible gear. The flexible gear is internally meshed with a transmission gear in the rotating shaft rigidity adjusting device.
The invention has the beneficial effects that:
1. the dynamic adjustment of the rotating rigidity of the rotating shaft is realized by adjusting the position of the fulcrum on the lever. In addition, it can direct mount in all kinds of revolute joint's pivot, and need not transform revolute joint, and it is very convenient to use.
2. The variable rate spring mechanism of the present invention can absorb energy in dynamic impacts and can temporarily store energy. In addition, the linear spring is adopted, so that the linear spring is easier to excite resonance and store energy; the complexity of modeling and control is lower.
3. The invention can be applied to the spine rotary joint of the robot, can reduce the energy consumption of the robot and improve the robustness.
Drawings
Fig. 1 is a schematic view of the overall structure of embodiment 1 of the present invention.
FIG. 2 is a schematic structural diagram of a spring mechanism with adjustable stiffness according to embodiment 1 of the present invention;
fig. 3 is a schematic cross-sectional view of embodiment 1 of the present invention.
Fig. 4 is a schematic structural view of the fulcrum displacement mechanism 2 in embodiment 1 of the present invention;
fig. 5 is a combination schematic diagram of the rigidity transmission assembly in embodiment 1 and the harmonic motion assembly in embodiment 2 of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Example 1
As shown in fig. 1, 2 and 3, a device for adjusting the stiffness of a rotating shaft comprises a spring mechanism 1 with adjustable stiffness, a fulcrum deflection mechanism 2 and a stiffness transmission assembly 3. The adjustable stiffness spring mechanism 1 comprises a guide rail 1-1, a sliding plate 1-2, a lever 1-3, a sliding block 1-4, a guide rail mounting rack 1-5, a fixing rack 1-6, a variable stiffness spring mounting rack 1-7, a fulcrum displacement block 1-8, a fulcrum shaft 1-9, a spring 1-10, a spring mounting block 1-13 and a damping applying shell. The guide rail mounting rack 1-5 and the variable stiffness spring mounting rack 1-7 are fixed on the fixing rack 1-6. The rail mounts 1-5 are located at one end of the variable rate spring mounts 1-7. The two groups of guide rails 1-1 are fixed on the guide rail mounting frames 1-5 and are arranged oppositely; the two groups of guide rails 1-1 are both connected with sliding blocks 1-4 in a sliding manner; the two sliding plates 1-2 and the two sliding blocks 1-4 are respectively fixed and are arranged opposite to each other.
One end of the lever 1-3 is positioned between the two sliding plates 1-2 and is coaxially hinged with the two sliding plates 1-2. The fulcrum shifting blocks 1-8 and the variable stiffness spring mounting frames 1-7 form a sliding pair. The sliding direction of the fulcrum shifting block 1-8 is vertical to the sliding direction of the sliding plate 1-2. The lever 1-3 is provided with a sliding groove along the length direction. The fulcrum shifting blocks 1-8 are fixed with fulcrum shafts. The fulcrum shaft passes through the sliding groove on the lever 1-3. The lever 1-3 can rotate around the fulcrum shaft 1-9; along with the sliding of the fulcrum displacement blocks 1-8, the fulcrum shaft can slide in the sliding grooves of the levers 1-3, so that the fulcrum positions of the levers 1-3 are adjusted; the end parts of the fulcrum shafts 1-9 are fixed with mounting plates; so as to facilitate the disassembly and assembly of the fulcrum shafts 1-9.
Two spring mounting blocks 1-13 which are oppositely arranged are fixed at the end parts of the variable stiffness spring mounting frames 1-7 far away from the guide rail mounting frames 1-5; the damping application shell comprises two enclosing plates 1-12 and two spring connecting plates 1-11. The two enclosing plates 1-12 and the two spring connecting plates 1-11 are enclosed to form a square frame. A damping application housing is disposed between the two spring mounting blocks 1-13. The damping applying shell and the variable stiffness spring mounting rack 1-7 form a sliding pair, and the sliding direction of the damping applying shell and the variable stiffness spring mounting rack is parallel to the sliding direction of the sliding plate 1-2. One ends of the two springs 1-10 are respectively fixed with the opposite ends of the two spring mounting blocks 1-13. The other ends of the two springs 1-10 are respectively fixed with the opposite side surfaces of the two spring connecting plates 1-11. The opposite side surfaces of the spring mounting blocks 1-13 and the corresponding spring connecting plates 1-11 are provided with mounting columns for connecting the springs 1-10. Two ends of the springs 1-10 are respectively sleeved on the two corresponding mounting columns.
The end part of the lever 1-3 far away from the sliding plate 1-2 extends into the space between the two spring connecting plates 1-11; when the sliding plate 1-2 drives the lever 1-3 to turn, the two springs 1-10 generate resistance to the turning of the lever 1-3, so as to generate resistance to the movement of the sliding plate 1-2, and finally, the rigidity of the rotating shaft is adjusted.
As shown in fig. 4, the fulcrum displacement blocks 1 to 8 are driven by the fulcrum displacement mechanism 2 to perform position adjustment. The fulcrum displacement mechanism 2 comprises an output belt wheel 2-1, a synchronous belt 2-2, an input shaft 2-3, an input belt wheel 2-4, a motor mounting rack 2-5, a belt wheel mounting table 2-6, an adjusting motor 2-7, a nut 2-8 and a screw rod 2-9. The screw rods 2-9 are rotatably connected to the variable stiffness spring mounting racks 1-7 and the slide rail mounting racks 1-5. The nuts 2-8 are fixed on the fulcrum shifting blocks 1-8; the screw rods 2-9 and the nuts 2-8 form a screw pair. The belt wheel mounting table 2-6 is fixed on the fixing frame 1-6. The output belt wheel 2-1 is fixed at the end part of the screw rod 2-8; the input belt wheel 2-4 is rotationally connected to the belt wheel mounting table 2-6. The adjusting motor 2-7 is fixed on the fixing frame 1-6 through the motor mounting frame 2-5. An input shaft 2-3 of the adjusting motor 2-7 is fixed with an input belt wheel 2-4. The input belt wheel 2-4 is connected with the output belt wheel 2-1 through a synchronous belt 2-2.
As shown in fig. 5, one of the sliding plates 1-2 is connected with the rotating shaft with the adjusted rigidity through a rigidity transmission component 3. The stiffness transferring assembly 3 comprises a spur rack 3-2 and a transmission gear 3-1. The straight rack 3-2 is fixed with one of the sliding plates 1-2; the transmission gear 3-1 is fixed on the rotating shaft with the rigidity adjusted. The transmission gear 3-1 is meshed with the spur rack 3-2. When the sliding plate 1-2 is driven by the rotating shaft to do reciprocating oscillation motion, the lever 1-3 is driven to swing in a reciprocating mode, and the spring 1-10 is driven to do reciprocating oscillation motion. The force arm of the lever 1-3 can be changed by adjusting the position of the fulcrum shifting block 1-8, thereby changing the rotation rigidity of the rotating shaft. When the vibration frequency of the slide plate 1-2 and the natural frequency of the spring 1-10 are equal, the spring 1-10 starts to resonate.
The working principle of the rotating shaft rigidity adjusting device is as follows:
when the rotating rigidity of the rotating shaft needs to be increased, the fulcrum displacement mechanism 2 drives the fulcrum displacement blocks 1-8 to move in the direction away from the damping applying shell, so that the compression amount of the springs 1-10 is increased when the sliding plates 1-2 slide for the same distance, the rotating resistance of the rotating shaft is increased, and the effect of increasing the rotating rigidity of the rotating shaft is achieved.
When the rotating rigidity of the rotating shaft needs to be reduced, the fulcrum displacement mechanism 2 drives the fulcrum displacement blocks 1-8 to move towards the direction close to the damping applying shell, so that the compression amount of the springs 1-10 is reduced when the sliding plates 1-2 slide for the same distance, the rotating resistance of the rotating shaft is reduced, and the effect of reducing the rotating rigidity of the rotating shaft is achieved.
Example 2
A spine rotary joint for a robot, comprising a harmonic motion assembly, and a spindle stiffness adjustment device as described in embodiment 1. The harmonic motion assembly comprises a rotating shaft 4, a flexspline 5 and a harmonic generator 6. The rotating shaft 4 is rotatably connected to the frame and is fixed with a transmission gear 3-1 in the rotating shaft rigidity adjusting device. The output shaft of the harmonic generator 6 is connected to the flexspline 5. The flexible gear 5 is internally meshed with a transmission gear 3-1 in the rotating shaft rigidity adjusting device. The harmonic generator 6 makes the flexible wheel 5 periodically deform, and after the harmonic generator 6 rotates for one circle, the transmission gear 3-1 correspondingly rotates for a plurality of teeth, so that the transmission ratio is large.
The working method of the spine rotary joint of the robot comprises the following specific steps:
step one, the harmonic generator 6 generates periodic harmonic waves to drive the sliding plate 1-2 to vibrate periodically.
And step two, the sliding plate 1-2 drives the lever 1-3 to periodically swing around the fulcrum, and the spring 1-10 periodically extends and contracts along with the lever 1-3.
And step three, adjusting the harmonic frequency generated by the harmonic generator 6 to enable the harmonic frequency to be equal to the resonance frequency of the adjustable spring stiffness mechanism 1, and enabling the device to generate resonance.
And step four, the stress at the rotating shaft 4 is changed, and the rotating rigidity of the rotating shaft 4 is changed by adjusting the position of the fulcrum, so that the rigidity of the adjustable spring rigidity mechanism 1 is adaptive to the magnitude of the external force.
Claims (8)
1. A rotating shaft rigidity adjusting device is characterized in that: comprises a spring mechanism (1) with adjustable rigidity, a fulcrum deflection mechanism (2) and a rigidity transmission component (3); the adjustable stiffness spring mechanism (1) comprises a guide rail (1-1), a sliding plate (1-2), a lever (1-3), a fixing frame (1-6), a fulcrum displacement block (1-8), a fulcrum shaft (1-9), a spring (1-10), a spring mounting block (1-13) and a damping applying shell; a guide rail (1-1) is fixed on the fixed frame (1-6); a sliding plate (1-2) is connected on the guide rail (1-1) in a sliding way; one end of the lever (1-3) is rotatably connected with the sliding plate (1-2); the fulcrum displacement blocks (1-8) and the fixed frames (1-6) form a sliding pair; the fulcrum displacement blocks (1-8) are driven by the fulcrum displacement mechanism (2) to slide;
the lever (1-3) is provided with a sliding groove; a fulcrum shaft is fixed on the fulcrum displacement blocks (1-8); the fulcrum shaft passes through the sliding groove on the lever (1-3); along with the sliding of the fulcrum displacement blocks (1-8), the fulcrum shaft can slide in the sliding grooves of the levers (1-3); two spring mounting blocks (1-13) which are oppositely arranged are fixed on the fixed frame (1-6); the damping application shell is arranged between the two spring mounting blocks (1-13); one end of each spring (1-10) is fixed with the opposite end of each spring mounting block (1-13); the other ends of the two springs (1-10) are respectively fixed with the two sides of the damping applying shell; the end part of the lever (1-3) far away from the sliding plate (1-2) extends into the damping application shell; the lever (1-3) drives the damping applying shell to move between the two springs (1-10) when swinging; the sliding plate (1-2) is in transmission connection with the rotating shaft with the rigidity adjusted through the rigidity transmission component (3).
2. A rigidity adjusting apparatus of a rotary shaft according to claim 1, wherein: the adjustable stiffness spring mechanism (1) further comprises a guide rail mounting rack (1-5) and a variable stiffness spring mounting rack (1-7); the guide rail mounting rack (1-5) and the variable stiffness spring mounting rack (1-7) are fixed on the fixed rack (1-6); the guide rail mounting rack (1-5) is positioned at one end of the variable stiffness spring mounting rack (1-7); the two groups of guide rails (1-1) are fixed on the guide rail mounting frames (1-5) and are arranged oppositely; the two groups of guide rails (1-1) are both connected with sliding blocks (1-4) in a sliding manner; the two sliding plates (1-2) and the two sliding blocks (1-4) are respectively fixed and are arranged opposite to each other; one end of the lever (1-3) is positioned between the two sliding plates (1-2) and is coaxially hinged with the two sliding plates (1-2); the fulcrum displacement blocks (1-8) and the variable stiffness spring mounting frames (1-7) form a sliding pair.
3. A rigidity adjusting apparatus of a rotary shaft according to claim 1, wherein: the sliding direction of the fulcrum shifting block (1-8) is perpendicular to the sliding direction of the sliding plate (1-2).
4. A rigidity adjusting apparatus of a rotary shaft according to claim 1, wherein: the damping applying shell comprises two coamings (1-12) and two spring connecting plates (1-11); the two coamings (1-12) and the two spring connecting plates (1-11) are encircled to form a square frame shape; the opposite side surfaces of the spring mounting blocks (1-13) and the corresponding spring connecting plates (1-11) are provided with mounting columns for connecting springs (1-10); two ends of the spring (1-10) are respectively sleeved on the two corresponding mounting columns.
5. A rigidity adjusting apparatus of a rotary shaft according to claim 1, wherein: the damping applying shell and the variable stiffness spring mounting rack (1-7) form a sliding pair, and the sliding direction of the damping applying shell is parallel to the sliding direction of the sliding plate (1-2).
6. A rigidity adjusting apparatus of a rotary shaft according to claim 1, wherein: the fulcrum displacement mechanism (2) comprises an output belt wheel (2-1), a synchronous belt (2-2), an input shaft (2-3), an input belt wheel (2-4), a motor mounting rack (2-5), a belt wheel mounting table (2-6), an adjusting motor (2-7), a nut (2-8) and a screw (2-9); the screw rods (2-9) are rotationally connected to the fixed frames (1-6); the nuts (2-8) are fixed on the fulcrum displacement blocks (1-8); the screw rod (2-9) and the nut (2-8) form a screw pair; the belt wheel mounting tables (2-6) are fixed on the fixed frames (1-6); the output belt wheel (2-1) is fixed at the end part of the screw rod (2-8); the input belt wheel (2-4) is rotationally connected to the belt wheel mounting table (2-6); the adjusting motor (2-7) is fixed on the fixed frame (1-6) through the motor mounting frame (2-5); an input shaft (2-3) of the adjusting motor (2-7) is fixed with an input belt wheel (2-4); the input belt wheel (2-4) is connected with the output belt wheel (2-1) through a synchronous belt (2-2).
7. A rigidity adjusting apparatus of a rotary shaft according to claim 1, wherein: the rigidity transmission assembly (3) comprises a spur rack (3-2) and a transmission gear (3-1); the straight rack (3-2) is fixed with one of the sliding plates (1-2); the transmission gear (3-1) is connected with the rotating shaft with the rigidity adjusted; the transmission gear (3-1) is meshed with the spur rack (3-2).
8. A robot spine revolute joint characterized in that: the device comprises a harmonic motion component and the rotating shaft rigidity adjusting device; the harmonic motion component comprises a rotating shaft (4), a flexible gear (5) and a harmonic generator (6); the rotating shaft (4) is rotationally connected to the rack and is fixed with a transmission gear (3-1) in the rotating shaft rigidity adjusting device; the output shaft of the harmonic generator (6) is connected with the flexible gear (5); the flexible gear (5) is internally meshed with a transmission gear (3-1) in the rotating shaft rigidity adjusting device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111563065.3A CN114193505B (en) | 2021-12-20 | 2021-12-20 | Rotating shaft rigidity adjusting device and application thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111563065.3A CN114193505B (en) | 2021-12-20 | 2021-12-20 | Rotating shaft rigidity adjusting device and application thereof |
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| Publication Number | Publication Date |
|---|---|
| CN114193505A true CN114193505A (en) | 2022-03-18 |
| CN114193505B CN114193505B (en) | 2024-01-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111563065.3A Active CN114193505B (en) | 2021-12-20 | 2021-12-20 | Rotating shaft rigidity adjusting device and application thereof |
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| CN112092008A (en) * | 2020-09-16 | 2020-12-18 | 哈尔滨工业大学 | Compact modular variable-stiffness joint |
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2021
- 2021-12-20 CN CN202111563065.3A patent/CN114193505B/en active Active
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| JP2009034774A (en) * | 2007-08-02 | 2009-02-19 | Tohoku Univ | Joint mechanism with variable stiffness |
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