CN114406986B - Pneumatic rigidity-variable joint driver - Google Patents
Pneumatic rigidity-variable joint driver Download PDFInfo
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- CN114406986B CN114406986B CN202210034853.1A CN202210034853A CN114406986B CN 114406986 B CN114406986 B CN 114406986B CN 202210034853 A CN202210034853 A CN 202210034853A CN 114406986 B CN114406986 B CN 114406986B
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- gear
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- transition
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- 230000007704 transition Effects 0.000 claims description 67
- 206010023230 Joint stiffness Diseases 0.000 claims description 10
- 230000013011 mating Effects 0.000 claims description 8
- 230000007246 mechanism Effects 0.000 claims description 6
- 238000005452 bending Methods 0.000 abstract description 21
- 230000000903 blocking effect Effects 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 5
- 230000008859 change Effects 0.000 abstract description 4
- 210000003781 tooth socket Anatomy 0.000 description 6
- 239000000463 material Substances 0.000 description 5
- XECAHXYUAAWDEL-UHFFFAOYSA-N acrylonitrile butadiene styrene Chemical compound C=CC=C.C=CC#N.C=CC1=CC=CC=C1 XECAHXYUAAWDEL-UHFFFAOYSA-N 0.000 description 3
- 239000004676 acrylonitrile butadiene styrene Substances 0.000 description 3
- 229920000122 acrylonitrile butadiene styrene Polymers 0.000 description 3
- 239000004433 Thermoplastic polyurethane Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 229920000747 poly(lactic acid) Polymers 0.000 description 2
- 239000004626 polylactic acid Substances 0.000 description 2
- 229920002803 thermoplastic polyurethane Polymers 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a pneumatic rigidity-variable joint driver, which comprises a vacuum bag and a gear set structure, wherein the gear set structure is oppositely arranged on the upper surface and the lower surface of the gear structure to form a meshed sheet layer, and an air pipe joint is reserved on the vacuum bag; the gear set structure and the occlusion sheet layer are adhered to form a whole at the central position and then are placed into a vacuum bag, and the central positions of the upper surface and the lower surface of the occlusion sheet layer are adhered to the corresponding surfaces of the vacuum bag. The variable stiffness driver combines negative pressure blocking with structural engagement, and provides larger bending stiffness through the structural interlocking effect under the negative pressure state. According to the rigidity-variable driver, the sponge strips are added on the occlusion sheet layers, so that structural occlusion is avoided under normal pressure, and the rigidity of structural bending is reduced under normal pressure. Through the measures, the maximum bending stiffness can be increased, and the minimum bending stiffness can be reduced, so that a larger bending stiffness change ratio is realized.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a pneumatic rigidity-variable joint driver.
Background
The exoskeleton robot is used as wearable equipment, can provide additional exercise assistance for a wearer, and has great application prospects in industries such as rehabilitation, medical treatment, aging assistance, logistics and the like.
Lightweight and wearing comfort are important issues limiting the practical application of exoskeleton robots. Conventional exoskeleton robots often employ rigid structures, while capable of withstanding large loads, are cumbersome and limit the normal movements of the wearer. The flexible exoskeleton has the characteristics of light weight, high wearing comfort level and the like, meets the requirements of practical application, can have some advantages of the rigid exoskeleton by means of the variable stiffness driving structure, and can adapt to different application scenes.
Variable stiffness drives based on the occlusion effect have the advantages of light weight, low cost, ease of manufacture, etc., and have received attention in recent years from soft robotic research. The structure of the vacuum bag is generally composed of a vacuum bag and an inner member wrapped by the vacuum bag, when air in the bag is pumped out, the contact force between the inner members of the bag can be obviously increased due to the action of negative pressure, and larger friction force is generated to prevent the deformation of the structure, so that the structural rigidity and the loading capacity are improved. However, the variable stiffness driver based on the blocking effect is limited by the friction effect, the maximum stiffness and the stiffness variation range which can be realized are difficult to meet the motion auxiliary requirement of the human joint, and the application of the variable stiffness driver in the field of exoskeleton robots is limited.
Disclosure of Invention
The invention aims at overcoming the technical defects in the prior art, and provides a pneumatic rigidity-variable joint driver which is a light rigidity-variable driver capable of realizing a larger rigidity change range and load capacity.
The technical scheme adopted for realizing the purpose of the invention is as follows:
a pneumatic variable stiffness joint driver comprising:
a vacuum bag with an air pipe joint, a gear set mechanism arranged in the vacuum bag, and two occlusion sheets arranged on the upper side and the lower side of the gear set mechanism and adhered together with the gear set mechanism;
the gear set structure is formed by connecting a plurality of gears with connecting rods arranged on the outer side through respective rotating shafts, the gears comprise a central gear, two interlocking gears, two transition gears and two tail gears, the two interlocking gears, the two transition gears and the two tail gears are symmetrically arranged on the center of the axis of the central gear, and the interlocking gears and the transition gears are arranged between the central gear and the tail gears from inside to outside;
the central gear is provided with two central gear limiting tooth grooves which are symmetrical in center and are respectively matched with interlocking gear limiting locking teeth on two interlocking gears which are symmetrically arranged on two sides of the central gear, each interlocking gear is provided with an interlocking gear meshing tooth groove which is matched with transition gear meshing teeth on an outer transition gear, and each transition gear is provided with a transition gear meshing tooth groove which is matched with end gear meshing teeth on an outer end gear;
each occlusion sheet layer comprises a main sheet layer, occlusion teeth and sponge strips, wherein the occlusion teeth and the sponge strips are adhered to the main sheet layer and positioned on the inner surface of the main sheet layer to form two gear matching units which are matched with the gear set structure and are arranged at intervals;
the meshing teeth of each gear matching unit are arranged in parallel and spaced apart, the sponge strips are arranged between adjacent meshing teeth, and in an initial state, three meshing teeth which are arranged from the center of the main sheet layer to the tail end point to interlocking gear meshing tooth grooves between two matching meshing teeth of the interlocking gear, transition gear meshing tooth grooves between two matching meshing teeth of the transition gear and gaps between the transition gear and the tail end gear respectively.
Preferably, in the initial state, a straight line is formed by a central connecting line of the rotating shafts of the gears, and the straight line is used as a symmetrical axis of each cross-section pattern of the central gear limiting tooth groove, the interlocking gear limiting locking tooth, the interlocking gear meshing tooth groove and the tail end gear meshing tooth.
Preferably, the central gear limiting tooth groove, the interlocking gear meshing tooth groove and the transition gear meshing tooth groove are trapezoid tooth grooves with narrow bottom and wide mouth, and the interlocking gear limiting locking tooth, the transition gear meshing tooth and the trapezoid tooth with narrow tooth root and wide tooth tip of the tail end gear meshing tooth.
Preferably, the interlocking gear and the transition gear have the same structure, and the interlocking gear tooth biting tooth grooves and the transition gear tooth biting tooth grooves are respectively two and are symmetrical about the center of each rotating shaft and are respectively opposite to the surface where the biting teeth are located.
Preferably, the length of the matched biting teeth of the interlocking gear is smaller than that of the limiting lock teeth of the interlocking gear, and the length of the matched biting teeth of the transition gear is smaller than that of the meshing teeth of the transition gear. Preferably, the outer diameter of the central gear is larger than the maximum diameter of other gears, the maximum outer diameter of the interlocking gear is the same as the maximum outer diameter of the transition gear, and the maximum outer diameter of the tail gear is slightly smaller than the maximum outer diameters of the interlocking gear and the transition gear.
Preferably, the cross section of the engaging teeth is in an isosceles trapezoid shape, and the thickness of the sponge strip is consistent with or inconsistent with the thickness of the engaging teeth.
The variable stiffness driver combines negative pressure blocking with structural engagement, and provides larger bending stiffness through the structural interlocking effect under the negative pressure state.
According to the rigidity-variable driver, the sponge strips are added on the occlusion sheet layers, so that structural occlusion is avoided under normal pressure, and the rigidity of structural bending is reduced under normal pressure.
Through the measures, the maximum bending stiffness can be increased, and the minimum bending stiffness can be reduced, so that a larger bending stiffness change ratio is realized.
Drawings
FIG. 1 shows a schematic diagram of a pneumatic variable stiffness joint driver of the present invention;
FIG. 2 shows a front view of FIG. 1 (vacuum bag not shown, tie bar in the right half not shown for clarity of illustration);
FIG. 3 shows a schematic diagram of a gearset configuration;
FIGS. 4A-4B show the range of motion of the central gear and the interlocking gears, respectively, of the gearset structure;
FIG. 5 shows a schematic structural view of a bite sheet;
fig. 6 shows a variable stiffness schematic of the actuator.
In the figure: 1-vacuum bag; 2-gear set structure; 3-engaging the sheet; 4-tracheal tube joint; 5-a central gear; 6-interlocking gears; 7-a transition gear; 8-end gear; 9-rotating shaft; 10-connecting rods; 11-main ply; 12-biting teeth; 13-sponge strips.
Detailed Description
The invention is described in further detail below with reference to the drawings and the specific examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In the description of the present invention, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present invention and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention.
The pneumatic variable stiffness joint driver can realize interlocking of internal components under the negative pressure state based on negative pressure blocking and structural occlusion, thereby generating larger blocking moment.
The pneumatic rigidity-variable joint driver has the characteristics of light weight, small volume, high wearing comfort level and the like, and can realize larger maximum bending rigidity and bending rigidity variation range.
As shown in fig. 1-2, the pneumatic variable stiffness joint driver of the embodiment of the invention comprises a vacuum bag 1, a gear set structure 2, and a meshing sheet layer 3 oppositely arranged on the upper surface side and the lower surface side of the gear structure 2, wherein an air pipe joint 4 is reserved on the vacuum bag 1; the gear set structure 2 and the occlusion sheet layer 3 are adhered to form a whole at the central position and then are put into the vacuum bag 1, and the central positions of the upper surface and the lower surface of the occlusion sheet layer 3 are adhered to the corresponding surfaces of the vacuum bag.
When the pressure difference between the inside and the outside of the vacuum bag is changed through the vacuum pump, the engagement state of the gear set structure and the engagement sheet layer can be changed, friction resistance between internal components and tensile tension of the engagement sheet layer are influenced, and therefore bending rigidity of the driver can be controlled by adjusting the pressure difference.
The vacuum bag 1 can be formed by plastic package of TPU (thermoplastic polyurethanes) material, and the air pipe connector is formed by modifying a luer connector.
Referring to fig. 2-3, as an alternative embodiment, the gear set structure 2 includes a central gear 5, two interlocking gears 6 symmetrically arranged around the center axis of the central gear, two transition gears 7 symmetrically arranged around the center axis of the central gear, and two end gears 8 symmetrically arranged around the center axis of the central gear, where adjacent gears are connected to a connecting rod 10 arranged outside through respective shafts 9, so as to be connected to each other through the connecting rod 10 to form a gear set structure.
Wherein the central gear 5 has two central gear limit tooth grooves 51 which are central symmetrical and are respectively matched with the interlocking gear limit locking teeth 61 on the two interlocking gears 6 which are central symmetrical arranged at two sides of the central gear, each interlocking gear 6 has one interlocking gear engagement tooth groove 62 which is formed by two tooth bodies with the same structure (different from the structure of the interlocking gear limit locking teeth 61) which are symmetrical and is matched with one transition gear engagement tooth 71 on the outer transition gear 7, each transition gear 7 has one transition gear engagement tooth groove 72 which is matched with one end gear engagement tooth 81 on the outer end gear 8, and two tooth shapes which form the transition gear engagement tooth groove 72 are the same (different from the structure of the transition gear engagement tooth 71).
Referring to fig. 4A-4B, there are shown an initial position and a limit position of the relative rotation of the center gear 5 and the interlocking gear 6, respectively, wherein the two limit positions (only one side of the limit position is shown in the drawing) determine the relative rotation range.
In the initial state, the central line of the rotating shaft 9 of each gear forms a straight line, and the straight line is used as the symmetry axis of the cross section patterns of the central gear limiting tooth socket, the interlocking gear limiting locking tooth, the interlocking gear meshing tooth socket and the tail end gear meshing tooth.
The central gear limiting tooth groove, the interlocking gear meshing tooth groove and the transition gear meshing tooth groove are trapezoid tooth grooves with narrow bottoms and wide narrow mouths, and the interlocking gear limiting locking tooth, the transition gear meshing tooth and the tail end gear meshing tooth are trapezoid teeth with narrow tooth roots and wide tooth tips.
In the initial state, openings of tooth grooves (including a central gear limit tooth groove, an interlocking gear engagement tooth groove and a transition gear engagement tooth groove) on the central gear 5, the interlocking gear 6 and the transition gear 7 are respectively opposite to the pointing direction of the front end of the corresponding limit lock tooth or engagement tooth, the opening directions of the two limit tooth grooves on the central gear 5 are respectively the same as the opening directions of the interlocking gear 6 and the engagement tooth groove on the transition gear 7 on the corresponding side, and the opening directions of the two sides are opposite. As a preferred embodiment, the outer diameter of the central gear is larger than the maximum diameter of other gears, the maximum outer diameter of the interlocking gear is the same as the maximum outer diameter of the transition gear, and the maximum outer diameter of the end gear is slightly smaller than the maximum outer diameters of the engagement gear and the transition gear.
As an alternative embodiment, the central gear 5, the interlocking gear 6, the transition gear 7 and the end gear 8 are all made of ABS (acrylonitrile butadiene styrene) material by 3D printing and are connected to each other by a stainless steel shaft 9 and an ABS connecting rod 10.
Referring to fig. 5, each of the engaging sheets 3 includes a main sheet 11, engaging teeth 12 and a sponge strip 13, the engaging teeth 12 and the sponge strip 13 are adhered on the main sheet 11 and located on an inner surface of the main sheet 11 and are matched with the gear set structure 2, two gear matching structures or units formed by the engaging teeth 12 and the sponge strip 13 on each of the engaging sheets 3 respectively correspond to the gear units on two sides of the central gear 5 of the gear set structure 2, each gear matching structure or unit is respectively provided with a plurality of engaging teeth 12, the cross sections of which are trapezoidal, preferably isosceles trapezoids, are parallel to each other and are arranged at intervals, the axial directions of which are perpendicular to the axial directions of the main sheet 11, the matched sponge strip 13 is arranged or filled in a space with the cross section of the trapezoid between two adjacent engaging teeth 12, and the thickness of the sponge strip 13 is consistent or inconsistent with that of the engaging teeth 12, preferably consistent with the thickness.
Wherein, the number of the engaging teeth 12 of each gear matching structure or unit is three, in the initial state, the three engaging teeth 12 arranged from the center to the end are respectively pointed to the interlocking gear tooth socket 63 between the two interlocking gear matching engaging teeth 64 of the interlocking gear 6, the transition gear tooth socket 73 between the two transition gear matching engaging teeth 74 of the transition gear 7 and the gap between the transition gear 7 and the end gear 8, and in the process that the two main sheets 11 are forced to relatively move towards the gear set structure 2, the three engaging teeth 12 arranged from the center to the end are respectively embedded into the interlocking gear tooth socket between the two matching engaging teeth of the interlocking gear 6, the transition gear tooth socket between the two matching engaging teeth of the transition gear 7 and the gap between the transition gear 7 and the end gear 8.
Preferably, the end gear 8 forms a mating inclined surface 82 corresponding to one side of the corresponding engagement teeth 12 for facilitating engagement.
The interlocking gear 6 and the transition gear 7 have the same structure, two mating teeth are respectively and symmetrically arranged by a central connecting line of a rotating shaft 9 of each gear in an initial state, and are respectively opposite to the meshing layer 3 where the mating teeth are located, and the length of the mating teeth is smaller than the length of the interlocking gear limiting locking teeth of the interlocking gear 6 and the length of the transition gear engaging teeth of the transition gear 7, but the shapes of the mating teeth can be the same, such as a long ladder-shaped structure or a long ladder-shaped shape.
As an alternative embodiment, the teeth 12 may be 3D printed using PLA (polylactic acid) material.
As a preferred embodiment, the opposite surfaces of the two corresponding engaging sheets 3 on the outer circumference of the central gear 5 form a planar structure 52 which is connected and matched with the engaging sheets 3, so as to be convenient to be connected and fixed with the inner side of the engaging sheets 3, and an arc transition surface is formed between the planar structure and the central gear limiting tooth groove 51.
As an embodiment, a trapezoid groove notch 84 is formed at the outer end of the end gear 8, the axis symmetry line of the trapezoid groove notch is consistent with the axis symmetry line of the end gear engaging tooth 81, and two symmetrical trapezoid groove small notches 83 are symmetrically formed at two sides of the end gear engaging tooth 81 respectively, so as to avoid the tooth body of the transition gear engaging tooth slot 72 on the transition gear, and prevent interference.
The trapezoid groove notch 83 is connected with the matching inclined plane 82, and the matching inclined plane 82 is connected with the trapezoid groove notch 84 through an arc portion.
As an alternative embodiment, the two tooth bodies forming the interlocking gear engagement tooth groove 62 have the same shape, the interlocking gear engagement tooth groove 63 formed by two interlocking gear mating tooth-biting teeth 64 is located between the interlocking gear limit lock tooth 61 and the two tooth bodies forming the interlocking gear engagement tooth groove 62, and the structure of the transition gear is the same as that of the interlocking gear, and will not be repeated.
Under normal pressure conditions, the drive can flex with less resistance over the range of relative rotation determined by the central gear 5 and the interlocking gear 6. The end gear 8 and the sponge strip 13 are effective in reducing the occurrence of an interlocking effect in this state, and the drive thus has a smaller bending stiffness.
Referring to fig. 6, when the normal pressure is changed to the negative pressure state, the engagement teeth 12 move in the direction of the arrow, and lock the interlocking gear 6 and the transition gear 7. Bending the actuator in this state overcomes the tensile tension of the main sheet 11, thereby effectively increasing the bending stiffness of the device.
In the embodiment of the invention, the elastic coefficient of the main sheet layer can be changed by changing the preparation material and the sheet layer thickness adopted by the main sheet layer 11, and further, the bending rigidity of the driver in the negative pressure state can be changed.
According to the embodiment of the invention, the limiting positions of the central gear 5 and the interlocking gear 6 relative to each other can be changed by modifying the shape design parameters of the two gears, so that the non-interlocking low-rigidity bending range of the driver in a normal pressure state is changed.
According to the embodiment of the invention, the bending stiffness change ratio of the driver can be adjusted by changing the maximum bending stiffness and the minimum bending stiffness.
The variable stiffness driver provided by the embodiment of the invention can be custom designed according to specific application objects so as to meet different application requirements, and has good universality.
According to the variable stiffness driver provided by the embodiment of the invention, the shape design parameters of the central gear and the interlocking gear of the gear set structure can be calculated and optimized through the geometric model so as to meet the requirements of different human joints on the movement range.
In the embodiment of the invention, the main sheet layer in the occlusion sheet layer can customize the elastic coefficient of the main sheet layer by selecting proper materials and sheet layer thickness so as to meet the requirements of different human joints on the maximum joint rigidity.
According to the variable stiffness driver provided by the embodiment of the invention, the occlusion of internal components can be realized under the condition of lower pressure difference, the control requirement can be met by a common portable vacuum air pump, the total weight and the volume of the exoskeleton robot can be obviously reduced, and the wearability is improved.
The variable stiffness driver provided by the embodiment of the invention has the advantages of light weight, easiness in manufacturing, low cost and the like, is beneficial to reducing the total cost of the exoskeleton robot and promotes large-scale application.
While the fundamental and principal features of the invention and advantages of the invention have been shown and described, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but may be embodied in other specific forms without departing from the spirit or essential characteristics thereof.
The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.
Claims (7)
1. The pneumatic rigidity-changing joint driver is characterized by comprising a vacuum bag with an air pipe joint, a gear set mechanism arranged in the vacuum bag, and two occlusion sheets which are arranged on the upper side and the lower side of the gear set mechanism and are adhered together with the gear set mechanism;
the gear set structure is formed by connecting a plurality of gears with connecting rods arranged on the outer side through respective rotating shafts, the gears comprise a central gear, two interlocking gears, two transition gears and two tail gears, the two interlocking gears, the two transition gears and the two tail gears are symmetrically arranged on the center of the axis of the central gear, and the interlocking gears and the transition gears are arranged between the central gear and the tail gears from inside to outside;
the central gear is provided with two central gear limiting tooth grooves which are symmetrical in center and are respectively matched with interlocking gear limiting locking teeth on two interlocking gears which are symmetrically arranged on two sides of the central gear, each interlocking gear is provided with an interlocking gear meshing tooth groove which is matched with transition gear meshing teeth on an outer transition gear, and each transition gear is provided with a transition gear meshing tooth groove which is matched with end gear meshing teeth on an outer end gear;
each occlusion sheet layer comprises a main sheet layer, occlusion teeth and sponge strips, wherein the occlusion teeth and the sponge strips are adhered to the main sheet layer and positioned on the inner surface of the main sheet layer to form two gear matching units which are matched with the gear set structure and are arranged at intervals;
the meshing teeth of each gear matching unit are arranged in parallel and spaced apart, the sponge strips are arranged between adjacent meshing teeth, and in an initial state, three meshing teeth which are arranged from the center of the main sheet layer to the tail end point to interlocking gear meshing tooth grooves between two matching meshing teeth of the interlocking gear, transition gear meshing tooth grooves between two matching meshing teeth of the transition gear and gaps between the transition gear and the tail end gear respectively.
2. The pneumatic variable stiffness joint driver of claim 1, wherein in an initial state, a center line of rotation axes of the gears forms a straight line which exists as a symmetry axis of a cross-sectional pattern of each of the central gear limit tooth slot, the interlocking gear limit lock tooth, the interlocking gear engagement tooth slot, and the end gear engagement tooth.
3. The pneumatic variable stiffness joint driver of claim 1, wherein the central gear limit tooth slot, the interlocking gear engagement tooth slot and the transition gear engagement tooth slot are trapezoidal tooth slots with narrow bottom and wide narrow mouth, and the interlocking gear limit lock tooth, the transition gear engagement tooth and the tail end gear engagement tooth are trapezoidal teeth with narrow tooth root and wide tooth tip.
4. The pneumatic variable stiffness joint driver of claim 1, wherein the interlocking gear and the transition gear have the same structure, and the interlocking gear tooth-biting tooth grooves and the transition gear tooth-biting tooth grooves are respectively two and are symmetrical about respective rotation axes and are respectively opposite to the surfaces where the biting teeth are located.
5. The pneumatic variable stiffness joint driver of claim 4 wherein the mating teeth of the interlocking gear have a length less than the length of the interlocking gear limit lock teeth and the mating teeth of the transition gear have a length less than the length of the transition gear teeth.
6. The pneumatic variable stiffness joint driver of claim 1, wherein the central gear has an outer diameter greater than the largest diameter of the other gears, the interlocking gear has the same largest outer diameter as the transition gear, and the end gear has a largest outer diameter slightly smaller than the largest outer diameters of the interlocking gear and the transition gear.
7. The pneumatic variable stiffness joint driver of claim 1 wherein the cross section of the biting teeth is isosceles trapezoid, and the thickness of the sponge strip is consistent or inconsistent with the thickness of the biting teeth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210034853.1A CN114406986B (en) | 2022-01-13 | 2022-01-13 | Pneumatic rigidity-variable joint driver |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210034853.1A CN114406986B (en) | 2022-01-13 | 2022-01-13 | Pneumatic rigidity-variable joint driver |
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| CN114406986A CN114406986A (en) | 2022-04-29 |
| CN114406986B true CN114406986B (en) | 2023-12-29 |
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| CN202210034853.1A Active CN114406986B (en) | 2022-01-13 | 2022-01-13 | Pneumatic rigidity-variable joint driver |
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|---|---|---|---|---|
| US4184380A (en) * | 1978-03-10 | 1980-01-22 | Rivin Evgeny I | Gears having resilient coatings |
| DE4441538A1 (en) * | 1993-11-30 | 1995-06-01 | Roland Eckgold | Cog wheels with asymmetrical curved cogs |
| KR20120048797A (en) * | 2010-11-08 | 2012-05-16 | 현대자동차주식회사 | Stabilizer-bar having variable stiffness for vehicle |
| CN109877874A (en) * | 2019-04-25 | 2019-06-14 | 北京邮电大学 | A kind of variation rigidity joint based on symmetrical slider-crank mechanism |
| CN110497396A (en) * | 2019-08-29 | 2019-11-26 | 南京理工大学 | A kind of enhanced pneumatic software driver of stiffness variable |
| CN113084864A (en) * | 2021-05-07 | 2021-07-09 | 重庆理工大学 | Robot joint structure with variable rigidity |
-
2022
- 2022-01-13 CN CN202210034853.1A patent/CN114406986B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4184380A (en) * | 1978-03-10 | 1980-01-22 | Rivin Evgeny I | Gears having resilient coatings |
| DE4441538A1 (en) * | 1993-11-30 | 1995-06-01 | Roland Eckgold | Cog wheels with asymmetrical curved cogs |
| KR20120048797A (en) * | 2010-11-08 | 2012-05-16 | 현대자동차주식회사 | Stabilizer-bar having variable stiffness for vehicle |
| CN109877874A (en) * | 2019-04-25 | 2019-06-14 | 北京邮电大学 | A kind of variation rigidity joint based on symmetrical slider-crank mechanism |
| CN110497396A (en) * | 2019-08-29 | 2019-11-26 | 南京理工大学 | A kind of enhanced pneumatic software driver of stiffness variable |
| CN113084864A (en) * | 2021-05-07 | 2021-07-09 | 重庆理工大学 | Robot joint structure with variable rigidity |
Non-Patent Citations (1)
| Title |
|---|
| 不同失效形式下齿轮副动态接触特性及时变刚度分析;袁飞;内燃机与配件;全文 * |
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| CN114406986A (en) | 2022-04-29 |
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