CN114654496A - Active variable-stiffness rotary joint based on involute leaf spring - Google Patents
Active variable-stiffness rotary joint based on involute leaf spring Download PDFInfo
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- CN114654496A CN114654496A CN202210333631.XA CN202210333631A CN114654496A CN 114654496 A CN114654496 A CN 114654496A CN 202210333631 A CN202210333631 A CN 202210333631A CN 114654496 A CN114654496 A CN 114654496A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/54—Artificial arms or hands or parts thereof
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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Abstract
The invention belongs to the technical field related to variable stiffness joint design, and discloses an active variable stiffness rotary joint based on an involute leaf spring, which comprises: the motor driving module comprises a central shaft, an upper joint bottom plate and an upper joint connecting plate; the involute leaf spring module comprises a leaf spring fixing piece and a plurality of involute leaf springs; the variable-rigidity pressure spring roller modules are arranged in parallel with the central shaft and are uniformly arranged between the two upper joint bottom plates; the linear bearing driving module comprises a variable-rigidity external gear, a variable-rigidity mechanism bearing and a plurality of guide rods; the central shaft rotation output module comprises two lower joint bottom plates and a lower joint connecting plate, the surfaces of the lower joint bottom plates are provided with a plurality of run-through involute channels, and two ends of the variable-rigidity pressure spring roller module are respectively arranged in the involute channels. This application designs the leaf spring through the peculiar nature of involute, can realize that big rigidity variation range, rigidity change control are simple and whole joint volume weight is little.
Description
Technical Field
The invention belongs to the technical field related to variable stiffness joint design, and particularly relates to an active variable stiffness rotary joint based on an involute leaf spring.
Background
With the continuous improvement of the international scientific level, the flexible joint is a research hotspot in the field of humanoid robots or artificial limb arms, and has the games of relieving collision, avoiding damage, accumulating energy, changing the force output characteristic at any time and the like. The current solutions are convenient: the elastic element is connected in series, but the rigidity of the elastic element is not changed, namely, the elastic element only plays the role of an elastic driver; the medium of magneto-rheological or electro-rheological is introduced for control, but the liquid characteristics in the medium need to be completely researched; a pneumatic muscle model is utilized, but the device is too large in size; shape memory alloys are used, but the stiffness cannot be made to change at any time with its own requirements. The existing single-degree-of-freedom rotary joint is designed with a rigidity change device, an antagonistic type is adopted in the field of active rigidity change, the control difficulty is high, the size of a motor is large, the weight of the whole joint is large, and the rigidity change range is small.
Disclosure of Invention
Aiming at the defects or improvement requirements in the prior art, the invention provides the active variable-stiffness rotary joint based on the involute leaf spring, and the leaf spring is designed through the special properties of the involute, so that the large stiffness change range, the simple stiffness change control and the small volume and weight of the whole joint can be realized.
To achieve the above object, according to one aspect of the present invention, there is provided an active variable stiffness rotary joint based on an involute leaf spring, the joint including a motor driving module, an involute leaf spring module, a plurality of variable stiffness compressed spring roller modules, a linear bearing driving module, and a central shaft rotation output module, wherein: the motor driving module comprises a central shaft, an upper joint bottom plate and an upper joint connecting plate, wherein two ends of the central shaft are respectively connected with the upper joint bottom plate through bearings, a motor driving assembly is arranged on one upper joint bottom plate and used for driving the central shaft to rotate, the upper joint connecting plate is U-shaped, and two sides of the U-shaped are respectively connected with the upper joint bottom plate; the involute leaf spring module comprises a leaf spring fixing piece and a plurality of involute leaf springs, one ends of the involute leaf springs are uniformly fixed on the leaf spring fixing piece, and the leaf spring fixing piece is sleeved and fixed on the central shaft; the variable-rigidity pressure spring roller modules are arranged in parallel with the central shaft and are uniformly arranged between the two upper joint bottom plates, each variable-rigidity pressure spring roller module comprises a pressure spring roller fixing piece and a linear bearing fixing piece, each pressure spring roller fixing piece comprises two cylinders, and the involute leaf springs penetrate through gaps between the two cylinders and are used for clamping the involute leaf springs; the linear bearing fixing piece is provided with a central hole, and the axis of the central hole is parallel to the arrangement direction of the two columns; the linear bearing driving module comprises a variable-stiffness external gear, a variable-stiffness mechanism bearing and a plurality of guide rods, wherein the variable-stiffness external gear is connected with the variable-stiffness mechanism bearing through a plurality of straight rods, and the variable-stiffness mechanism bearing is sleeved on the central shaft; one end of the guide rod is fixed on the variable stiffness external gear, and the other end of the guide rod is fixed on the variable stiffness mechanism bearing; the guide rod is provided with a linear bearing, and the linear bearing is sleeved and fixed in a central hole of the linear bearing fixing piece; the central shaft rotation output module comprises two lower joint bottom plates and a lower joint connecting plate, the two lower joint bottom plates are respectively arranged on the inner surfaces of the upper joint bottom plates, the surfaces of the lower joint bottom plates are provided with a plurality of through involute channels, and two ends of the variable-rigidity pressure spring roller module are respectively arranged in the involute channels; a pinion and a second motor are arranged on the lower joint bottom plate, the pinion is meshed with the variable-rigidity external gear, and the second motor is used for driving the pinion; the lower joint connecting plate is U-shaped, and two sides of the U-shaped lower joint connecting plate are respectively connected with the lower joint bottom plate.
Preferably, the variable-stiffness pressure spring roller module further comprises two micro flange bearings, the two micro flange bearings are respectively connected with one end of the pressure spring roller fixing piece and one end of the linear bearing fixing piece through a straight rod, and the two micro flange bearings are arranged in the involute channel to slide in the involute channel.
Preferably, a guide rod fixing seat is arranged outside the variable stiffness mechanism bearing, one end of the guide rod is fixed to the variable stiffness outer gear, and the other end of the guide rod is fixed to the guide rod fixing seat.
Preferably, the number of the guide rods, the involute leaf springs and the variable-stiffness pressure spring roller modules is 4.
Preferably, 4 guide rods are arranged perpendicular to each other in the linear bearing drive module.
Preferably, the free end of each involute leaf spring is provided with a leaf spring end fixing piece.
Preferably, the variable-rigidity pressure spring roller module further comprises an aluminum sleeve, the connection surface of the pressure spring roller fixing piece and the linear bearing fixing piece is provided with a concave hole, and the aluminum sleeve is arranged in the concave hole to realize axial positioning of the pressure spring roller fixing piece and the linear bearing fixing piece.
Preferably, the motor drive assembly includes rotating electrical machines, little band pulley, big band pulley and hold-in range, wherein, rotating electrical machines is used for little band pulley to rotate, big band pulley is fixed in the center pin, little band pulley and big band pulley pass through the hold-in range and connect.
Preferably, a rotation direction of the plurality of involute channels coincides with a rotation direction of the plurality of involute leaf springs.
Preferably, the compressed spring roller fixing piece comprises a compressed spring roller lower fixing piece and a compressed spring roller upper fixing piece, two cylindrical bosses are arranged on one surface of the compressed spring roller lower fixing piece, two cylindrical sleeves are arranged on one surface of the compressed spring roller upper fixing piece, and the cylindrical bosses are matched with the cylindrical sleeves; the linear bearing fixing part comprises a linear bearing lower fixing part and a linear bearing upper fixing part, and the linear bearing lower fixing part is connected with the linear bearing upper fixing part through a bolt.
Generally, compared with the prior art, the active variable-stiffness rotary joint based on the involute leaf spring has the following beneficial effects that through the technical scheme of the invention, the active variable-stiffness rotary joint based on the involute leaf spring has the following advantages:
1. the application provides the active variable stiffness rotary joint based on the leaf spring that gradually bursts at seams through the variable stiffness motor that small weight is little and gear engagement transmission, can realize the function that joint rigidity adjusted in real time, and when its core spare part page spring that gradually bursts at seams had the novelty, whole elastic element can play outstanding effects such as buffering, energy storage, gentle and agreeable.
2. When the joint is impacted, the joint can bear certain impact due to the elastic property of the involute leaf spring, and the involute leaf spring has the functions of buffering and storing energy.
3. Under different action scenes, the involute leaf springs with different thicknesses and materials are replaced to ensure that the rigidity change output characteristics of the whole joint are inconsistent, so that the involute leaf springs are suitable for different action environments.
4. Compared with a variable-stiffness joint controlled in an antagonistic mode, the control method is simpler, the two motors do not have coupling, and the control is more free and flexible.
Drawings
FIG. 1 is an oblique view of an active variable stiffness rotary joint based on an involute leaf spring according to the present application;
FIG. 2 is a side view of an active variable stiffness rotary joint based on involute leaf springs according to the present application;
FIG. 3 is an oblique view of the motor drive module of the present application;
FIG. 4 is a front view of the motor drive module of the present application;
FIG. 5 is an oblique view of the involute leaf spring module of the present application;
fig. 6 is an oblique view of the variable-stiffness pressure spring roller module according to the present application;
fig. 7 is an exploded view of the variable stiffness compression spring roller module of the present application;
FIG. 8 is an oblique view of the linear bearing drive module of the present application;
FIG. 9 is an exploded view of the linear bearing drive module of the present application;
FIG. 10 is a schematic view of the present application illustrating the installation of a central shaft rotation output module;
fig. 11 is a schematic view of an involute leaf spring module, a plurality of variable stiffness compressed spring roller modules, a linear bearing drive module, and a partial central shaft rotation output module according to the present application.
The same reference numbers will be used throughout the drawings to refer to the same or like elements or structures, wherein:
100-motor drive module:
101-a central axis; 102-upper joint bottom plate; 103-a rotating electrical machine; 104-small belt wheel; 105-large pulley; 106-a synchronous belt; 107-upper joint tie plate; 108-upper joint bearing housing;
200-involute leaf spring module:
201-leaf spring fixing piece; 202-involute leaf springs; 203-leaf spring end mounts;
300-variable rigidity pressure spring roller module:
301-linear bearing lower fastening member; 302-a linear bearing upper fixing piece; 303-an aluminum sleeve; 304-a lower fixing piece of a pressure spring roller; 305-fixing parts on the pressure spring roller; 306-micro flange bearings;
400-linear bearing drive module:
401-variable stiffness external gear; 402-an outer gear fixing ring; 403-linear bearings; 404-a guide bar; 405-guide rod holders; 406-variable stiffness mechanism bearings;
500-central axis rotation output module:
501-lower joint bottom plate; 502-a second electric machine; 503-pinion gear; 504-lower articulating plate.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Referring to fig. 1 and 2, the present invention provides an active variable stiffness rotary joint based on an involute leaf spring, which is characterized in that the joint includes a motor driving module 100, an involute leaf spring module 200, a plurality of variable stiffness compressed spring roller modules 300, a linear bearing driving module 400, and a central shaft rotation output module 500, and the specific structure is as follows.
As shown in fig. 3 and 4, the motor driving module 100 includes a central shaft 101, an upper joint base plate 102, and an upper joint connecting plate 107, wherein two ends of the central shaft 101 are respectively connected to one upper joint base plate 102 through bearings, a motor driving assembly is disposed on one upper joint base plate 102 and is used for driving the central shaft 101 to rotate, the upper joint connecting plate 107 is U-shaped, and two sides of the U-shape are respectively connected to the upper joint base plate 102. The motor drive modules 100 as a whole are based on exhibiting a symmetrical distribution. The upper joint bottom plate 102 is preferably disc-shaped. Specifically, the central shaft 101 and the upper joint bearing seat 108 are connected through an upper joint bearing, so that friction is reduced. The upper joint coupling plate 107 is used to connect one end joint of the rotary joint.
In a further preferred embodiment, the motor driving assembly comprises a rotating motor 103, a small pulley 104, a large pulley 105 and a timing belt 106, wherein the rotating motor 103 is used for rotating the small pulley 104, the large pulley 105 is fixed on the central shaft 101, and the small pulley 104 and the large pulley 105 are connected through the timing belt 106.
As shown in the figure, the involute leaf spring module 200 includes a leaf spring fixing member 201 and a plurality of involute leaf springs 202, one end of each of the involute leaf springs 202 is uniformly fixed to the leaf spring fixing member 201, and the leaf spring fixing member 201 is sleeved and fixed to the central shaft 101. The leaf spring fixing member 201 may be composed of a plurality of arc-shaped units, and an involute leaf spring 202 is clamped and fixed between every two arc-shaped units. In the embodiment of the present application, the number of the involute leaf springs 202 is 4, and there are 4 arc units correspondingly. The leaf spring fixing member 201 may be fixed to the center shaft 101 by a bolt. The problems of the change range of the rigidity of the joints and the overall size are fully considered by the sketch shape of the involute leaf springs 202, when the relative position of the variable-rigidity pressure spring roller plate blocks 300 on the two sides of each involute leaf spring 202 is kept unchanged, the four involute leaf springs 202 are equivalent to serial elastic drivers SEA with constant rigidity values, and the characteristic of passive flexibility in the rotary joint motion process can be realized. When the variable-stiffness pressure spring roller plate blocks 300 on the two sides of the involute leaf spring 202 perform tangential motion along an involute curve, the stiffness value is changed, and therefore the whole rotary joint achieves an active variable-stiffness function.
The free end of each involute leaf spring 202 is provided with a leaf spring end fixing piece 203. The leaf spring end fixing member 203 can restrict the maximum movable range of the variable stiffness compression spring roller plate 300.
The variable-stiffness pressure spring roller modules 300 are arranged in parallel with the central shaft 101 and are uniformly arranged between the two upper joint bottom plates 102, each variable-stiffness pressure spring roller module 300 comprises a pressure spring roller fixing piece and a linear bearing fixing piece, each pressure spring roller fixing piece comprises two cylinders, and the involute leaf spring 202 penetrates through a gap between the two cylinders and is used for clamping the involute leaf spring 202; the linear bearing fixing piece is provided with a center hole, and the axis of the center hole is parallel to the arrangement direction of the two columns.
As shown in fig. 6 and 7, the variable-stiffness pressure spring roller module 300 further includes an aluminum sleeve 303, the connection surfaces of the pressure spring roller fixing member and the linear bearing fixing member are both provided with concave holes, and the aluminum sleeve 303 is disposed in the concave holes to realize axial positioning of the pressure spring roller fixing member and the linear bearing fixing member.
The pressure spring roller fixing piece comprises a pressure spring roller lower fixing piece 304 and a pressure spring roller upper fixing piece 305, wherein two cylindrical bosses are arranged on one surface of the pressure spring roller lower fixing piece 304, two cylindrical sleeves are arranged on one surface of the pressure spring roller upper fixing piece 305, and the cylindrical bosses are matched with the cylindrical sleeves; the linear bearing fixing piece comprises a linear bearing lower fixing piece 301 and a linear bearing upper fixing piece 302, wherein the linear bearing lower fixing piece 301 and the linear bearing upper fixing piece 302 are connected through bolts. The involute leaf spring 202 can be clamped outside the roller of the compression spring roller fixing piece 305, so that the variable-rigidity compression spring roller plate block 300 is always tangent to the involute curve of the involute leaf spring 202 when acting on the involute leaf spring 202, and the variable-rigidity purpose can be achieved by small force transmission.
As shown in fig. 8 and 9, the linear bearing driving module 400 includes an external variable stiffness gear 401, a variable stiffness mechanism bearing 406, and a plurality of guide rods 404, wherein the external variable stiffness gear 401 is connected to the variable stiffness mechanism bearing 406 through a plurality of straight rods, and the variable stiffness mechanism bearing 406 is sleeved on the central shaft 101; one end of the guide rod 404 is fixed to the variable stiffness external gear 401, and the other end of the guide rod is fixed to the variable stiffness mechanism bearing 406; the guide rod 404 is provided with a linear bearing 403, and the linear bearing 403 is sleeved and fixed in a central hole of the linear bearing fixing part, so that the linear bearing 403 can move on the guide rod 404. The stiffness varying outer gear 401 may be fixed to the outer gear fixing ring 402.
In a further preferred embodiment, a guide rod fixing seat 405 is arranged outside the variable stiffness mechanism bearing 406, one end of the guide rod 404 is fixed to the variable stiffness external gear 401, and the other end of the guide rod 404 is fixed to the guide rod fixing seat 405.
In this embodiment, the number of the guide rods 404, the involute leaf springs 202 and the variable-stiffness pressure spring roller modules 300 is 4. The 4 guide rods 404 are arranged perpendicular to each other in the linear bearing drive module 400.
As shown in fig. 10 and 11, the central shaft rotation output module 500 includes two lower joint bottom plates 501 and a lower joint coupling plate 504, the two lower joint bottom plates 501 are respectively disposed on the inner surface of the upper joint bottom plate 102, the surface of the lower joint bottom plate 501 is provided with a plurality of through involute channels, and two ends of the variable stiffness pressure spring roller module 300 are respectively disposed in the involute channels; a pinion 503 and a second motor 502 are arranged on the lower joint bottom plate 501, the pinion 503 is meshed with the variable stiffness external gear 401, and the second motor 502 is used for driving the pinion 503; the lower joint connecting plate 504 is U-shaped, and two sides of the U-shape are respectively connected with the lower joint bottom plate 501.
In a further preferred embodiment, the variable-stiffness pressure spring roller module 300 further includes two micro flange bearings 306, the two micro flange bearings 306 are respectively connected to one end of the pressure spring roller fixing member and one end of the linear bearing fixing member through a straight rod, and the two micro flange bearings 306 are disposed in the involute channel to slide in the involute channel.
In a further preferred embodiment, the rotation direction of the plurality of involute channels coincides with the rotation direction of the plurality of involute leaf springs 202.
Due to the nature of the involute leaf spring 202, the position of the action point of the variable-stiffness pressure spring roller plate 300 can be changed only by a small input force, so that the second motor 502 with low power and small volume can improve the force output through a gear transmission ratio, and the volume can be reduced compared with the traditional antagonistic variable-stiffness dual-motor control.
When the change range of the wrist stiffness needs to be modified according to the working environment, the material and the thickness of the involute leaf spring only need to be changed by combining the relation between the relevant electromyographic signals and the stiffness.
When the movement of the joint needs to be accurately controlled, corresponding force, position, angle, acceleration and other sensors can be added.
It will be understood by those skilled in the art that the foregoing is only a preferred embodiment of the present invention, and is not intended to limit the invention, and that any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. The utility model provides an initiative variable stiffness rotary joint based on leaf spring gradually bursts at seams, its characterized in that, the joint includes motor drive module (100), leaf spring module gradually bursts at seams (200), a plurality of variable stiffness pressure spring roller module (300), linear bearing drive module (400) and center pin rotation output module (500), wherein:
the motor driving module (100) comprises a central shaft (101), upper joint bottom plates (102) and upper joint connecting plates (107), wherein two ends of the central shaft (101) are respectively connected with one upper joint bottom plate (102) through bearings, a motor driving assembly is arranged on one upper joint bottom plate (102) and used for driving the central shaft (101) to rotate, the upper joint connecting plates (107) are U-shaped, and two sides of each U-shaped two sides are respectively connected with the upper joint bottom plates (102);
the involute leaf spring module (200) comprises a leaf spring fixing piece (201) and a plurality of involute leaf springs (202), one ends of the involute leaf springs (202) are uniformly fixed on the leaf spring fixing piece (201), and the leaf spring fixing piece (201) is sleeved and fixed on the central shaft (101);
the variable-rigidity pressure spring roller modules (300) are arranged in parallel with the central shaft (101) and are uniformly arranged between the two upper joint bottom plates (102), each variable-rigidity pressure spring roller module (300) comprises a pressure spring roller fixing piece and a linear bearing fixing piece, each pressure spring roller fixing piece comprises two cylinders, and the involute leaf spring (202) penetrates through a gap between the two cylinders and is used for clamping the involute leaf spring (202); the linear bearing fixing piece is provided with a central hole, and the axis of the central hole is parallel to the arrangement direction of the two columns;
the linear bearing driving module (400) comprises a variable stiffness external gear (401), a variable stiffness mechanism bearing (406) and a plurality of guide rods (404), wherein the variable stiffness external gear (401) is connected with the variable stiffness mechanism bearing (406) through a plurality of straight rods, and the variable stiffness mechanism bearing (406) is sleeved on the central shaft (101); one end of the guide rod (404) is fixed to the variable stiffness external gear (401), and the other end of the guide rod is fixed to the variable stiffness mechanism bearing (406); a linear bearing (403) is arranged on the guide rod (404), and the linear bearing (403) is sleeved and fixed in a central hole of the linear bearing fixing piece;
the central shaft rotation output module (500) comprises two lower joint bottom plates (501) and a lower joint connecting plate (504), the two lower joint bottom plates (501) are respectively arranged on the inner surface of the upper joint bottom plate (102), the surface of each lower joint bottom plate (501) is provided with a plurality of through involute channels, and two ends of the variable-rigidity pressure spring roller module (300) are respectively arranged in the involute channels; a pinion (503) and a second motor (502) are arranged on a lower joint bottom plate (501), the pinion (503) is meshed with the variable stiffness external gear (401), and the second motor (502) is used for driving the pinion (503); the lower joint connecting plate (504) is U-shaped, and two sides of the U-shaped lower joint connecting plate are respectively connected with the lower joint bottom plate (501).
2. The joint of claim 1, wherein the variable-stiffness pressure spring roller module (300) further comprises two micro flange bearings (306), the two micro flange bearings (306) are respectively connected with one end of the pressure spring roller fixing part and one end of the linear bearing fixing part through a straight rod, and the two micro flange bearings (306) are arranged in the involute channel to slide in the involute channel.
3. The joint according to claim 1, wherein a guide rod fixing seat (405) is arranged outside the variable stiffness mechanism bearing (406), one end of the guide rod (404) is fixed to the variable stiffness external gear (401), and the other end of the guide rod (404) is fixed to the guide rod fixing seat (405).
4. A joint according to claim 1 or 3, wherein the number of guide rods (404), involute leaf springs (202) and variable stiffness compression spring roller modules (300) is 4.
5. Joint according to claim 4, wherein 4 guide rods (404) are arranged perpendicular to each other in the linear bearing drive module (400).
6. A joint according to claim 1, wherein each said involute leaf spring (202) is provided with a leaf spring end mount (203) at its free end.
7. The joint according to claim 1, wherein the variable-stiffness pressure spring roller module (300) further comprises an aluminum sleeve (303), the connection surfaces of the pressure spring roller fixing piece and the linear bearing fixing piece are provided with concave holes, and the aluminum sleeve (303) is arranged in the concave holes to realize axial positioning of the pressure spring roller fixing piece and the linear bearing fixing piece.
8. The joint according to claim 1, wherein the motor drive assembly comprises a rotary motor (103), a small pulley (104), a large pulley (105) and a synchronous belt (106), wherein the rotary motor (103) is used for rotating the small pulley (104), the large pulley (105) is fixed on the central shaft (101), and the small pulley (104) and the large pulley (105) are connected through the synchronous belt (106).
9. The joint of claim 1, wherein a direction of rotation of a plurality of said involute channels coincides with a direction of rotation of a plurality of said involute leaf springs (202).
10. The key of claim 1, wherein the compressed spring roller fixing part comprises a compressed spring roller lower fixing part (304) and a compressed spring roller upper fixing part (305), one surface of the compressed spring roller lower fixing part (304) is provided with two cylindrical bosses, one surface of the compressed spring roller upper fixing part (305) is provided with two cylindrical sleeves, and the cylindrical bosses are matched with the cylindrical sleeves; the linear bearing fixing piece comprises a linear bearing lower fixing piece (301) and a linear bearing upper fixing piece (302), wherein the linear bearing lower fixing piece (301) and the linear bearing upper fixing piece (302) are connected through bolts.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210333631.XA CN114654496B (en) | 2022-03-30 | 2022-03-30 | Active rigidity-variable rotary joint based on involute leaf spring |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210333631.XA CN114654496B (en) | 2022-03-30 | 2022-03-30 | Active rigidity-variable rotary joint based on involute leaf spring |
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| CN114654496A true CN114654496A (en) | 2022-06-24 |
| CN114654496B CN114654496B (en) | 2023-08-25 |
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| CN113263519A (en) * | 2021-06-07 | 2021-08-17 | 华中科技大学 | Variable-stiffness rotary joint based on antagonistic control |
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