CN114193505B - Rotating shaft rigidity adjusting device and application thereof - Google Patents
Rotating shaft rigidity adjusting device and application thereof Download PDFInfo
- Publication number
- CN114193505B CN114193505B CN202111563065.3A CN202111563065A CN114193505B CN 114193505 B CN114193505 B CN 114193505B CN 202111563065 A CN202111563065 A CN 202111563065A CN 114193505 B CN114193505 B CN 114193505B
- Authority
- CN
- China
- Prior art keywords
- fulcrum
- sliding
- rigidity
- lever
- spring
- 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
- 230000005540 biological transmission Effects 0.000 claims abstract description 25
- 238000013016 damping Methods 0.000 claims abstract description 23
- 238000006073 displacement reaction Methods 0.000 claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims description 13
- 230000001360 synchronised effect Effects 0.000 claims description 6
- 230000000737 periodic effect Effects 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 2
- 230000001105 regulatory effect Effects 0.000 claims 1
- 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
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- 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 rotating shaft rigidity adjusting device and application thereof. The rotating shaft rigidity adjusting device comprises an adjustable rigidity spring mechanism, a fulcrum displacement mechanism and a rigidity transmission assembly. The spring mechanism with adjustable rigidity comprises a guide rail, a sliding plate, a lever, a fixing frame, a fulcrum changing block, a fulcrum shaft, a spring mounting block and a damping applying shell. A guide rail is fixed on the fixing frame; the guide rail is connected with a sliding plate in a sliding way. One end of the lever is rotationally connected with the sliding plate. The fulcrum changing block and the fixing frame form a sliding pair. The fulcrum changing block is driven to slide by the fulcrum changing mechanism. The rod is provided with a chute. The fulcrum changing block is fixed with a fulcrum shaft. The fulcrum shaft passes through a sliding groove on the lever. The dynamic adjustment of the rotation rigidity of the rotating shaft is realized by adjusting the fulcrum position on the lever. In addition, it can be directly installed in the pivot of all kinds of revolute joints, and does not need to reform transform the revolute joint, uses very convenient.
Description
Technical Field
The invention belongs to the technical field of man-machine interaction, and particularly relates to a rotating shaft rigidity adjusting device and application thereof.
Background
Modern robots are to operate under unknown and complex conditions and must meet various challenging requirements. One of the requirements is that the robot has a high level of robustness against impacts and the ability to physically interact in a secure way. One way to achieve this is to integrate a variable stiffness actuator into the robotic system, achieve compatible behavior through the elastic components, and provide additional flexibility in impedance.
Disclosure of Invention
The invention aims to provide a novel linear stiffness-adjustable spring mechanism which adopts differential elastic arrangement and is applied to a spinal rotary joint of a robot. The mechanism is important to the whole working space of the robot and the energy-saving natural motion such as dynamic operation.
In a first aspect, the present invention provides a spindle stiffness adjustment device comprising an adjustable stiffness spring mechanism, a fulcrum displacement mechanism, and a stiffness transfer assembly. The spring mechanism with adjustable rigidity comprises a guide rail, a sliding plate, a lever, a fixing frame, a fulcrum changing block, a fulcrum shaft, a spring mounting block and a damping applying shell. A guide rail is fixed on the fixing frame; the guide rail is connected with a sliding plate in a sliding way. One end of the lever is rotationally connected with the sliding plate. The fulcrum changing block and the fixing frame form a sliding pair. The fulcrum changing block is driven to slide by the fulcrum changing mechanism.
The lever is provided with a sliding groove. The fulcrum changing block is fixed with a fulcrum shaft. The fulcrum shaft passes through a sliding groove on the lever. The fulcrum shaft can slide in the sliding groove of the lever along with the sliding of the fulcrum displacement block. Two spring mounting blocks which are oppositely arranged are fixed on the fixing frame; the damping applying housing is disposed between the two spring mounting blocks. One end of the two springs is fixed with the opposite ends of the two spring mounting blocks respectively. The other ends of the two springs are respectively fixed with the two sides of the damping applying shell. The end of the lever, which is far away from the sliding plate, extends into the damping applying 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 rigidity-adjusted rotating shaft through a rigidity transmission assembly.
Preferably, the stiffness-adjustable spring mechanism further comprises a guide rail mounting frame and a stiffness-variable spring mounting frame. The guide rail mounting frame and the variable stiffness spring mounting frame are both fixed on the fixing frame. The guide rail mounting frame is positioned at one end of the variable stiffness spring mounting frame. The two groups of guide rails are fixed on the guide rail mounting frame and are oppositely arranged; the two groups of guide rails are connected with sliding blocks in a sliding way; the two sliding plates and the two sliding blocks are respectively fixed and are 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 variable position block and the variable stiffness spring mounting frame form a sliding pair.
Preferably, the sliding direction of the fulcrum changing block is perpendicular to the sliding direction of the sliding plate.
Preferably, the damping applying housing includes two coamings and two spring connecting plates. The two coamings and the two spring connecting plates are enclosed into a square frame shape. The opposite sides of the spring mounting block and the corresponding spring connecting plate are provided with mounting columns for connecting springs. The two ends of the spring are respectively sleeved on the two corresponding mounting posts.
Preferably, the damping applying housing and the variable stiffness spring mounting frame form a sliding pair, and the sliding direction of the damping applying housing 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 pulley, a synchronous belt, an input shaft, an input belt pulley, a motor mounting frame, a belt pulley mounting table, an adjusting motor, a nut and a screw. The screw rod is rotationally connected to the fixing frame. The nut is fixed on the fulcrum changing block; the screw rod 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 pulley is connected with the output belt pulley through a synchronous belt.
Preferably, the rigidity transmission assembly comprises a straight rack and a transmission gear. The straight rack is fixed with one sliding plate; the transmission gear is connected with the rotating shaft with the rigidity being adjusted. The transmission gear is meshed with the straight rack.
In a second aspect, the present invention provides a robot spine rotation joint comprising a harmonic motion assembly and a rotation shaft stiffness adjustment device as described above. The harmonic motion component comprises a rotating shaft, a flexspline and a harmonic generator. The rotating shaft is rotatably connected to the frame and is fixed with a transmission gear in the rotating shaft rigidity adjusting device. An output shaft of the harmonic generator is connected with the flexible gear. The flexible wheel 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 rotation rigidity of the rotating shaft is realized by adjusting the fulcrum position on the lever. In addition, it can be directly installed in the pivot of all kinds of revolute joints, and does not need to reform transform the revolute joint, uses very convenient.
2. The variable rate spring mechanism of the present invention can absorb energy during dynamic impact and can temporarily store energy. In addition, the invention adopts the linear spring, which is easier to excite resonance and store energy; modeling and control are less complex.
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 overall structure of embodiment 1 of the present invention.
FIG. 2 is a schematic diagram of the structure of the 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 a fulcrum displacement mechanism 2 in embodiment 1 of the present invention;
fig. 5 is a schematic diagram of the combination of the stiffness transfer assembly of example 1 and the harmonic motion assembly of example 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 rotation shaft rigidity adjusting apparatus includes an adjustable rigidity spring mechanism 1, a fulcrum displacement mechanism 2 and a rigidity transmitting assembly 3. The stiffness-adjustable 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 frame 1-5, a fixing frame 1-6, a stiffness-variable spring mounting frame 1-7, a fulcrum changing 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 frames 1-5 and the variable stiffness spring mounting frames 1-7 are both fixed on the fixing frames 1-6. The rail mount 1-5 is located at one end of the variable rate spring mount 1-7. The two groups of guide rails 1-1 are fixed on the guide rail mounting frames 1-5 and are oppositely arranged; the two groups of guide rails 1-1 are 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 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 changing block 1-8 and the variable stiffness spring mounting frame 1-7 form a sliding pair. The sliding direction of the fulcrum changing block 1-8 is mutually perpendicular to the sliding direction of the sliding plate 1-2. The lever 1-3 is provided with a chute along the length direction. The fulcrum changing block 1-8 is fixed with a fulcrum shaft. The fulcrum shaft passes through a 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 changing block 1-8, the fulcrum shaft can slide in the sliding groove of the lever 1-3, so that the fulcrum position of the lever 1-3 is 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.
The end part of the variable stiffness spring mounting frame 1-7 far away from the guide rail mounting frame 1-5 is fixedly provided with two spring mounting blocks 1-13 which are oppositely arranged; the damping applying housing comprises two coamings 1-12 and two spring webs 1-11. The two coamings 1-12 and the two spring connecting plates 1-11 are enclosed to form a square frame. The damping applying housing is arranged between the two spring mounting blocks 1-13. The damping applying housing and the variable stiffness spring mounting bracket 1-7 constitute a sliding pair, and the sliding direction thereof is parallel to the sliding direction of the sliding plate 1-2. One end of the two springs 1-10 is fixed with the opposite end of the two spring mounting blocks 1-13, respectively. 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 sides of the spring mounting blocks 1-13 and the corresponding spring connecting plates 1-11 are provided with mounting posts for connecting the springs 1-10. The two ends of the springs 1-10 are respectively sleeved on the two corresponding mounting posts.
The end of the lever 1-3 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 over, the two springs 1-10 generate resistance to the turning over of the lever 1-3, so that resistance to the movement of the sliding plate 1-2 is generated, and finally the rigidity of the rotating shaft is adjusted.
As shown in fig. 4, the fulcrum changing pieces 1-8 are driven by the fulcrum changing mechanism 2 to perform position adjustment. The fulcrum displacement mechanism 2 comprises an output belt pulley 2-1, a synchronous belt 2-2, an input shaft 2-3, an input belt pulley 2-4, a motor mounting frame 2-5, a belt pulley mounting table 2-6, an adjusting motor 2-7, a nut 2-8 and a screw rod 2-9. The screw rod 2-9 is rotatably connected to the variable stiffness spring mounting frame 1-7 and the slide rail mounting frame 1-5. The nut 2-8 is fixed on the fulcrum changing block 1-8; the screw rod 2-9 and the nut 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 2-9; the input pulley 2-4 is rotatably connected to the pulley mount 2-6. The adjusting motor 2-7 is fixed on the fixing frame 1-6 through the motor mounting frame 2-5. The input shaft 2-3 of the adjustment motor 2-7 is fixed to the input pulley 2-4. The input belt pulley 2-4 is connected with the output belt pulley 2-1 through a synchronous belt 2-2.
As shown in fig. 5, one of the slip plates 1-2 is connected with the rigidity-adjusted rotating shaft through a rigidity transmission assembly 3. The stiffness transfer assembly 3 includes a spur rack 3-2 and a transfer gear 3-1. The straight rack 3-2 is fixed with one sliding plate 1-2; the transmission gear 3-1 is fixed on the rotation shaft of which the rigidity is adjusted. The transmission gear 3-1 is meshed with the straight rack 3-2. When the sliding plate 1-2 is driven by the rotating shaft to do reciprocating vibration motion, the lever 1-3 is driven to do reciprocating vibration motion, so that the spring 1-10 does reciprocating vibration motion. The position of the fulcrum changing block 1-8 is adjusted, so that the arm of force of the lever 1-3 can be changed, and the rotation rigidity of the rotating shaft is changed. When the vibration frequency of the slip 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 rotation rigidity of the rotating shaft needs to be increased, the fulcrum displacement mechanism 2 drives the fulcrum displacement block 1-8 to move in the direction away from the damping applying shell, so that the compression amount of the spring 1-10 is increased when the sliding plate 1-2 slides by the same distance, the rotating resistance of the rotating shaft is increased, and the effect of increasing the rotation rigidity of the rotating shaft is achieved.
When the rotation rigidity of the rotating shaft needs to be reduced, the fulcrum displacement mechanism 2 drives the fulcrum displacement block 1-8 to move towards the direction close to the damping applying shell, so that the compression amount of the spring 1-10 is reduced when the sliding plate 1-2 slides for the same distance, the resistance of the rotating shaft to rotate is reduced, and the effect of reducing the rotation rigidity of the rotating shaft is achieved.
Example 2
A robot spine rotation joint 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 on the frame and is fixed with a transmission gear 3-1 in the rotating shaft rigidity adjusting device. An output shaft of the harmonic generator 6 is connected with 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 when the harmonic generator 6 rotates for one circle, the transmission gear 3-1 correspondingly rotates for a plurality of teeth, so that the flexible wheel has the characteristic of large transmission ratio.
The working method of the robot spine rotary joint specifically comprises the following steps:
step one, a periodic harmonic wave generator 6 generates periodic harmonic waves to drive the sliding plate 1-2 to vibrate periodically.
Step two, the sliding plate 1-2 drives the lever 1-3 to swing periodically around the fulcrum, and the spring 1-10 performs periodic extension and contraction movement along with the lever 1-3.
And thirdly, adjusting the harmonic frequency generated by the harmonic generator 6 to enable the harmonic frequency to be equal to the resonance frequency of the stiffness-adjustable spring mechanism 1, and enabling the device to generate resonance.
And fourthly, 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 rigidity-adjustable spring mechanism 1 is adapted to the size of external force.
Claims (5)
1. A robot spine rotary joint, characterized in that: the device comprises a harmonic motion assembly and a 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 frame and is connected with a transmission gear (3-1) in the rotating shaft rigidity adjusting device; an output shaft of the harmonic generator (6) is connected with the flexible gear (5); the flexible wheel (5) is internally meshed with a transmission gear (3-1) in the rotating shaft rigidity adjusting device;
the rotating shaft rigidity adjusting device comprises an adjustable rigidity spring mechanism (1), a fulcrum displacement mechanism (2) and a rigidity transmission assembly (3); the stiffness-adjustable 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 changing 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 fixing frame (1-6); the guide rail (1-1) is connected with a sliding plate (1-2) in a sliding way; one end of the lever (1-3) is rotationally connected with the sliding plate (1-2); the fulcrum changing block (1-8) and the fixing frame (1-6) form a sliding pair; the fulcrum changing blocks (1-8) are driven by the fulcrum changing mechanism (2) to slide; the springs (1-10) are linear springs;
the lever (1-3) is provided with a chute; a fulcrum shaft is fixed on the fulcrum changing block (1-8); the fulcrum shaft passes through a chute on the lever (1-3); along with the sliding of the fulcrum changing block (1-8), the fulcrum shaft can slide in the sliding groove of the lever (1-3); two spring mounting blocks (1-13) which are oppositely arranged are fixed on the fixing frame (1-6); the damping applying shell is arranged between the two spring mounting blocks (1-13); one end of each of the two springs (1-10) is fixed with the opposite end of each of the two spring mounting blocks (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 of the lever (1-3) far away from the sliding plate (1-2) stretches into the damping applying shell; when the lever (1-3) swings, the damping applying shell is driven to move between the two springs (1-10); the sliding plate (1-2) is in transmission connection with the rigidity-adjusted rotating shaft through a rigidity transmission assembly (3);
the fulcrum displacement mechanism (2) comprises an output belt pulley (2-1), a synchronous belt (2-2), an input shaft (2-3), an input belt pulley (2-4), a motor mounting frame (2-5), a belt pulley mounting table (2-6), an adjusting motor (2-7), a nut (2-8) and a screw (2-9); the screw (2-9) is rotationally connected to the fixing frame (1-6); the nuts (2-8) are fixed on the fulcrum changing blocks (1-8); the screw rod (2-9) and the nut (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 (2-9); 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 the 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);
the rigidity transmission assembly (3) comprises a straight rack (3-2) and a transmission gear (3-1); the straight rack (3-2) is fixed with one sliding plate (1-2); the transmission gear (3-1) is connected with a rotating shaft with regulated rigidity;
the transmission gear (3-1) is meshed with the straight rack (3-2);
the working method of the robot spine rotary joint specifically comprises the following steps:
step one, a harmonic generator (6) generates periodic harmonic waves to drive a sliding plate (1-2) to vibrate periodically;
step two, the sliding plate (1-2) drives the lever (1-3) to periodically swing around the fulcrum, and the spring (1-10) periodically stretches and contracts along with the lever (1-3);
step three, adjusting the harmonic frequency generated by the harmonic generator (6) to make the harmonic frequency equal to the resonance frequency of the stiffness-adjustable spring mechanism (1), and generating resonance by the device;
and step four, when the stress on the rotating shaft (4) is changed, the rotating rigidity of the rotating shaft (4) is changed by adjusting the position of the fulcrum, so that the rigidity of the rigidity-adjustable spring mechanism (1) is adapted to the size of the external force.
2. A robotic spinal rotation joint as recited in claim 1, wherein: the stiffness-adjustable spring mechanism (1) further comprises a guide rail mounting frame (1-5) and a stiffness-variable spring mounting frame (1-7); the guide rail mounting frame (1-5) and the variable stiffness spring mounting frame (1-7) are both fixed on the fixing frame (1-6); the guide rail mounting frame (1-5) is positioned at one end of the variable stiffness spring mounting frame (1-7); the two groups of guide rails (1-1) are fixed on the guide rail mounting frames (1-5) and are oppositely arranged; the two groups of guide rails (1-1) are connected with sliding blocks (1-4) in a sliding way; the two sliding plates (1-2) and the two sliding blocks (1-4) are respectively fixed and are 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 variable position blocks (1-8) and the variable stiffness spring mounting frames (1-7) form sliding pairs.
3. A robotic spinal rotation joint as recited in claim 1, wherein: the sliding direction of the fulcrum changing block (1-8) is perpendicular to the sliding direction of the sliding plate (1-2).
4. A robotic spinal rotation joint as recited in 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 surrounded into a square frame shape; the opposite sides 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); the two ends of the springs (1-10) are respectively sleeved on the two corresponding mounting posts.
5. A robotic spinal rotation joint as recited in claim 1, wherein: the damping applying shell and the variable stiffness spring mounting frame (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).
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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114193505A CN114193505A (en) | 2022-03-18 |
| CN114193505B true CN114193505B (en) | 2024-01-30 |
Family
ID=80655437
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111563065.3A Active CN114193505B (en) | 2021-12-20 | 2021-12-20 | Rotating shaft rigidity adjusting device and application thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114193505B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009034774A (en) * | 2007-08-02 | 2009-02-19 | Tohoku Univ | Joint mechanism with variable stiffness |
| CN102992099A (en) * | 2012-12-26 | 2013-03-27 | 东华大学 | Lever device with adjustable moment arm |
| CN205519130U (en) * | 2016-03-22 | 2016-08-31 | 浙江金昌弹簧有限公司 | Semi -automatic spiral spring make -up machine |
| CN106863348A (en) * | 2017-03-17 | 2017-06-20 | 华南理工大学 | A kind of variation rigidity joint of robot and its stiffness tuning method |
| KR101833635B1 (en) * | 2016-09-08 | 2018-02-28 | 연세대학교 산학협력단 | Variable stiffness apparatus |
| CN110640784A (en) * | 2019-11-05 | 2020-01-03 | 哈尔滨工业大学（深圳） | Variable-rigidity joint device based on lever mechanism |
| CN112092008A (en) * | 2020-09-16 | 2020-12-18 | 哈尔滨工业大学 | Compact modular variable-stiffness joint |
-
2021
- 2021-12-20 CN CN202111563065.3A patent/CN114193505B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009034774A (en) * | 2007-08-02 | 2009-02-19 | Tohoku Univ | Joint mechanism with variable stiffness |
| CN102992099A (en) * | 2012-12-26 | 2013-03-27 | 东华大学 | Lever device with adjustable moment arm |
| CN205519130U (en) * | 2016-03-22 | 2016-08-31 | 浙江金昌弹簧有限公司 | Semi -automatic spiral spring make -up machine |
| KR101833635B1 (en) * | 2016-09-08 | 2018-02-28 | 연세대학교 산학협력단 | Variable stiffness apparatus |
| CN106863348A (en) * | 2017-03-17 | 2017-06-20 | 华南理工大学 | A kind of variation rigidity joint of robot and its stiffness tuning method |
| CN110640784A (en) * | 2019-11-05 | 2020-01-03 | 哈尔滨工业大学（深圳） | Variable-rigidity joint device based on lever mechanism |
| CN112092008A (en) * | 2020-09-16 | 2020-12-18 | 哈尔滨工业大学 | Compact modular variable-stiffness joint |
Non-Patent Citations (1)
| Title |
|---|
| A NEW ACTUATOR WITH ADJUSTABLE STIFFNESS BASED ON A VARAIBLE RATIO LEVER MECHANISM;Amir Jafari;<IEEE/ASME TRANSACTIONS ON MECHATRONICS>;全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114193505A (en) | 2022-03-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105328711A (en) | Modular rigidity-changing joint | |
| JP5222363B2 (en) | Test apparatus having a drive unit for converting rotary motion into reciprocating motion of various amplitudes | |
| CN105082172A (en) | Parallel three-freedom-degree flexible mechanical wrist based on series elastic actuators | |
| CN108453723B (en) | Plate spring type variable-rigidity flexible driver based on six-rod mechanism | |
| CN104669261A (en) | Synchronous displacement adjustment type variable-stiffness joint driver and adjustment method for robot joint stiffness | |
| CN109217167B (en) | Composite clamping device for cable inspection robot and cable inspection robot | |
| CN100580270C (en) | Actuating mechanism of vibration damping device with adjustable force amplitude based on double slider mechanism | |
| CN201432303Y (en) | Knee-joint mechanism of humanoid robot | |
| CN102152319A (en) | Elastically-driven rotational joint | |
| CN110091353A (en) | A kind of interior cabling variation rigidity joint of robot module | |
| CN111571636A (en) | Variable-rigidity flexible driver | |
| CN114193505B (en) | Rotating shaft rigidity adjusting device and application thereof | |
| CN203579658U (en) | Synchronous belt speed reducing plane joint robot | |
| CN113084864B (en) | Robot joint structure with variable rigidity | |
| CN210476951U (en) | Series elastic driving device | |
| CN113001584A (en) | Robot flexible joint with variable rigidity | |
| CN102848382B (en) | High-speed parallel manipulator with three-dimensional translation and one-dimensional rotation | |
| CN101941003B (en) | New-type vibration screen | |
| CN111015730A (en) | Compact robot variable-stiffness joint | |
| CN115095624B (en) | Elastic device, control method, vibration absorber, vibration isolator and vibration energy collector | |
| CN206561438U (en) | A kind of robot flexibility joint of the rigidity continuously adjustabe based on spring leaf | |
| CN104827485A (en) | Linear drive robot joint with bar linkage mechanism | |
| CN114031023B (en) | Mechanical driver system | |
| CN114224679A (en) | Linkage type robot hand driven by bending mode ultrasonic motor | |
| CN202097742U (en) | Elastic driving revolute joint |
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 |