CN114905541A - Variable rigidity robot joint - Google Patents
Variable rigidity robot joint Download PDFInfo
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- CN114905541A CN114905541A CN202210355916.3A CN202210355916A CN114905541A CN 114905541 A CN114905541 A CN 114905541A CN 202210355916 A CN202210355916 A CN 202210355916A CN 114905541 A CN114905541 A CN 114905541A
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- 230000000712 assembly Effects 0.000 claims abstract description 30
- 238000000429 assembly Methods 0.000 claims abstract description 30
- 238000005452 bending Methods 0.000 claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 20
- 238000000034 method Methods 0.000 claims abstract description 6
- 238000005096 rolling process Methods 0.000 claims description 26
- 239000003638 chemical reducing agent Substances 0.000 claims description 13
- 210000000689 upper leg Anatomy 0.000 claims description 12
- 230000000149 penetrating effect Effects 0.000 claims description 10
- 230000008859 change Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 description 4
- 230000003750 conditioning effect Effects 0.000 description 2
- 206010023230 Joint stiffness Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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Abstract
The invention provides a variable-rigidity robot joint which comprises a shell, a fulcrum shaft, a joint bending driving mechanism, a connecting piece, a plurality of elastic pieces, a plurality of sliding assemblies, two groups of rigidity adjusting assemblies and adjusting driving assemblies. The variable-rigidity robot joint realizes active adjustment of the length of the elastic sheet in the joint through the mutual matching of the two groups of rigidity adjusting assemblies and the plurality of sliding assemblies, and further realizes active adjustment of the rigidity of the robot joint. Meanwhile, two groups of rigidity adjusting assemblies are designed to act on each sliding assembly, so that the stress on two sides of each sliding assembly is more stable, the smoothness and the stability in the rigidity adjusting process are ensured, and the device has the advantages of simple structure, large rigidity adjusting range, high reliability and the like.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a variable-rigidity robot joint.
Background
At present, robot joints are almost pure rigid structures composed of traditional driving motors and transmissions, elastic elements are not arranged, and the robot joints are large in impact force, lagged in transmission, easy to damage after being collided and difficult to repair. Even if the flexible joint of the harmonic reducer is adopted, the rigidity adjusting range is limited, the flexibility is poor, and the safety of man-machine cooperation and the flexibility of the mechanical arm cannot be completely met.
Although some robot joints with passive variable stiffness also appear, the passive variable stiffness joints are mostly series elastic drivers, and after the elastic elements are determined, the stiffness characteristics of the drivers are also determined, so that the stiffness cannot be actively adjusted. Therefore, how to realize the active variable stiffness adjustment of the robot joint is a problem to be solved urgently by those skilled in the art.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a variable-rigidity robot joint so as to realize active adjustment of the rigidity of the robot joint.
In order to achieve the above object, the present invention provides a variable stiffness robot joint, including a housing; a fulcrum shaft rotatably inserted into the housing; a joint bending drive mechanism for driving the fulcrum shaft to rotate; the connecting piece is arranged on the fulcrum shaft in a penetrating way and is positioned in the shell; one end of each elastic piece is connected with the connecting piece, and the other end of each elastic piece extends along the radial direction of the fulcrum shaft; the sliding assemblies correspond to the number of the elastic sheets and can be slidably arranged on the elastic sheets in a penetrating way; two groups of rigidity adjusting assemblies are respectively arranged on two sides of the connecting piece and connected with each sliding assembly, and the rigidity adjusting assemblies are rotatably sleeved on the fulcrum shafts; and the adjusting driving assembly is arranged in the shell and used for synchronously driving all the sliding assemblies to slide along the elastic sheet by the two groups of rigidity adjusting assemblies so as to change the effective length of the elastic sheet.
Preferably, the stiffness adjusting assembly includes: the first adjusting disc is rotatably sleeved on the fulcrum shaft and is provided with a plurality of curve slideways; the second adjusting disc is arranged on one side, away from the connecting piece, of the first adjusting disc, the second adjusting disc is arranged on the shell and is rotatably sleeved on the fulcrum shaft, the second adjusting disc is provided with a plurality of radial slideways, each radial slideway corresponds to one curve slideway, and the projection of each radial slideway on the first adjusting disc is overlapped with the curve slideway; the adjusting driving assembly is used for driving the two first adjusting discs to rotate, and the sliding assembly is respectively matched with the curve slideway and the radial sliding way.
Preferably, the adjustment drive assembly comprises a worm wheel, a worm and an adjustment drive motor; the worm wheel is of a hollow structure, the two first adjusting plates are respectively arranged on two sides of the worm wheel and connected with the worm wheel, the worm wheel is positioned between the two second adjusting plates, and the worm wheel, the first adjusting plates, the second adjusting plates and the fulcrum shaft are coaxially arranged; the worm is rotationally arranged in the shell and meshed with the worm wheel, and the adjusting driving motor is arranged on the shell and connected with the worm.
Preferably, the sliding assembly comprises a supporting seat, a first sliding unit and two groups of second sliding units; the supporting seat is of a hollow structure, the first sliding units are arranged in the supporting seat, gaps are formed among the first sliding units, and the elastic sheets penetrate through the gaps and are in sliding fit with the first sliding units; the two groups of second sliding units are respectively arranged at two sides of the supporting seat, and the second sliding units are respectively in sliding fit with the curve slideway and the radial slideway at one corresponding side.
Preferably, the first sliding unit comprises two pulleys, the two pulleys are rotatably arranged in the supporting seat and respectively attached to two sides of the elastic sheet, and the rotating axis of the pulley is parallel to the fulcrum shaft; the second sliding unit comprises a support column, a first rolling bearing and a second rolling bearing, one end of the support column is connected with the supporting seat, and the other end of the support shaft sequentially penetrates through the curved slideway and the radial slideway; the first rolling bearing and the second rolling bearing are fixedly arranged on the support in a penetrating mode respectively, the first rolling bearing is in sliding fit in the curve slideway, and the second rolling bearing is in sliding fit in the radial slideway.
Preferably, the joint bending driving mechanism comprises a bending driving motor, a first encoder, a mounting seat, a harmonic reducer and a second encoder; first encoder respectively with crooked driving motor with the mount pad is connected, the mount pad sets up on the harmonic speed reducer ware and with casing normal running fit, the second encoder sets up the casing deviates from crooked driving motor's one side, crooked driving motor first encoder harmonic speed reducer ware the fulcrum shaft with the second encoder connects gradually. .
Preferably, the bending device further comprises a thigh support and a shank support, the thigh support is arranged on the mounting base and is in running fit with the shell, the shank support is arranged on one second adjusting disc far away from the bending driving motor, and the second encoder is arranged on the shank support; the thigh support is provided with a thigh wearing piece, and the shank support is provided with a shank wearing piece.
The invention has the beneficial effects that:
the invention discloses a variable-rigidity robot joint, which realizes the active adjustment of the length of an elastic sheet in the joint by respectively adjusting a driving assembly through two groups of rigidity adjusting assemblies and mutually matching a plurality of sliding assemblies, thereby realizing the active adjustment of the rigidity of the robot joint. Meanwhile, two groups of rigidity adjusting assemblies are designed to act on each sliding assembly, so that the stress on two sides of each sliding assembly is more stable, the smoothness and the stability in the rigidity adjusting process are ensured, and the device has the advantages of simple structure, large rigidity adjusting range, high reliability and the like.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
Fig. 1 is a schematic structural diagram of a variable stiffness robot joint according to an embodiment of the present invention;
FIG. 2 is a schematic view of the structure of the pivot, the connecting member, the elastic sheet and the sliding member;
FIG. 3 is a schematic view of the stiffness adjustment assembly cooperating with the adjustment drive assembly;
FIG. 4 is a schematic cross-sectional view of the housing;
FIG. 5 is a schematic view of the interior of the worm gear;
FIG. 6 is a front view of the first conditioning disk;
FIG. 7 is a front view of the second adjustment disk;
FIG. 8 is a schematic view of a curvilinear ramp mated with a radial ramp;
FIG. 9 is a schematic structural view of the slide assembly;
FIG. 10 is an exploded view of one side of the lower leg support;
fig. 11 is a schematic cross-sectional view of the variable stiffness robotic joint.
Reference numerals:
10-a housing;
20-fulcrum;
30-joint bending driving mechanism, 31-bending driving motor, 32-first encoder, 33-mounting seat, 34-harmonic reducer, 35-second encoder and 36-connector;
40-a connector;
50-an elastic sheet;
60-sliding assembly, 61-support base, 62-first sliding unit, 621-pulley, 63-second sliding unit, 631-prop, 632-first rolling bearing, 633-second rolling bearing;
70-stiffness adjustment assembly, 71-first adjustment disc, 711-curved ramp, 72-second adjustment disc, 721-radial ramp;
80-adjusting driving component, 81-worm wheel, 82-worm and 83-adjusting driving motor;
91-thigh support, 92-shank support, 93-thigh wearing piece and 94-shank wearing piece.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only examples, and the protection scope of the present invention is not limited thereby.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which the invention pertains.
In the description of the present application, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral parts; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
As shown in fig. 1 to 11, in one embodiment of the present invention, there is provided a variable stiffness robot joint including a housing 10, a fulcrum 20, a joint bending driving mechanism 30, a connecting member 40, a plurality of elastic pieces 50, a plurality of sliding members 60, two sets of stiffness adjusting members 70, and an adjusting driving member 80.
The support shaft 20 is rotatably arranged in the housing 10, the joint bending driving mechanism 30 is used for driving the support shaft 20 to rotate, the connecting piece 40 is arranged on the support shaft 20 in a penetrating manner and is positioned in the housing 10, the number of the elastic pieces 50 and the sliding assembly 60 is three, the connecting piece 40 is provided with three slots, one end of each elastic piece 50 is inserted into the corresponding slot and is fixedly connected with the corresponding connecting piece 40 through a bolt, and the other end of each elastic piece 50 extends along the radial direction of the support shaft 20. The sliding components 60 are slidably arranged on the elastic sheet 50 in a penetrating manner, two groups of rigidity adjusting components 70 are respectively arranged at two sides of the connecting piece 40 and connected with each sliding component 60, and the rigidity adjusting components 70 are rotatably sleeved on the fulcrum shaft 20. An adjustment drive assembly 80 is disposed in the housing 10, and the adjustment drive assembly 80 is used for enabling the two sets of stiffness adjusting assemblies 70 to synchronously drive all the sliding assemblies 60 to slide along the elastic sheet 50 so as to change the effective length of the elastic sheet 50.
Two sets of rigidity adjusting assemblies 70 are respectively designed on two sides of the connecting member 40, and the two sets of rigidity adjusting assemblies 70 can synchronously drive all the sliding assemblies 60 to slide along the corresponding elastic pieces 50 by adjusting the driving assemblies 80, so that the positions of the sliding assemblies 60 acting on the elastic pieces 50 are changed, namely, the distance between the sliding assemblies 60 and the fulcrum shaft 20 is changed, at the moment, the effective length of the elastic pieces 50 connected into the whole mechanism is changed along with the change of the effective length of the elastic pieces 50, and the rigidity of the whole mechanism is correspondingly changed.
According to the variable-rigidity robot joint, the driving assembly 80 and the plurality of sliding assemblies 60 are respectively adjusted through the two sets of rigidity adjusting assemblies 70 to be matched with each other, so that the length of the elastic sheet 50 in the joint is actively adjusted, and the rigidity of the robot joint is actively adjusted. Meanwhile, two sets of rigidity adjusting assemblies 70 are designed to act on each sliding assembly 60, so that the two sides of each sliding assembly 60 are stressed more stably, smoothness and stability in the rigidity adjusting process are guaranteed, and the rigidity adjusting mechanism has the advantages of being simple in structure, large in rigidity adjusting range, high in reliability and the like.
In one embodiment, reference is made to fig. 5-8, wherein the dashed line shown in fig. 8 is the first conditioning disk 71. The stiffness adjustment assembly 70 includes a first adjustment disc 71 and a second adjustment disc 72. The first adjusting disk 71 and the second adjusting disk 72 are both in a disk structure, the first adjusting disk 71 is rotatably sleeved on the support shaft 20 through a bearing, three curved slideways 711 penetrate through the first adjusting disk 71, the three curved slideways 711 are circumferentially arranged along the axis of the support shaft 20, and the adjusting and driving assembly 80 is used for driving the two first adjusting disks 71 to rotate.
The second adjusting plate 72 is disposed on a side of the first adjusting plate 71 away from the connecting member 40, the second adjusting plate 72 is fixedly connected to the housing 10 and rotatably sleeved on the supporting shaft 20 through a bearing, the second adjusting plate 72 has a plurality of radial slideways 721 extending therethrough, each radial slideway 721 corresponds to one curved slideway 711, and a projection of the radial slideway 721 on the first adjusting plate 71 overlaps with the curved slideway 711. The sliding assembly 60 passes through the overlapping area of the first dial 71 and the second dial 72 and is slidably engaged with the curved slideway 711 and the radial direction, respectively.
When the joint flexion driving mechanism 30 drives the fulcrum shaft 20 to rotate, the fulcrum shaft 20 will drive the connecting member 40 and the elastic sheet 50 to rotate synchronously, and since the sliding assembly 60 is in sliding fit with the elastic sheet 50, the sliding assembly 60 will be driven by rotating the elastic sheet 50 to push against the curved slideway 711 and the radial slideway 721, so as to drive the two first adjusting discs 71, the two second adjusting discs 72, the adjustment driving assembly 80 and the housing 10 to rotate integrally and synchronously, thereby realizing the flexion of the knee joint.
When the rigidity needs to be adjusted, the adjusting and driving assembly 80 drives the two first adjusting disks 71 to rotate synchronously, and because the two second adjusting disks 72 are fixedly connected to the housing 10, the overlapping area of the curved slideway 711 and the radial slideway 721 can be changed correspondingly after the first adjusting disks 71 rotate, the inner wall of the curved slideway 711 can push the sliding assembly 60 to slide to the corresponding position, meanwhile, the sliding assembly 60 is limited by the radial slideway 721 on the second adjusting disks 72, the sliding assembly 60 can slide along the corresponding elastic sheets 50, the position of the sliding assembly 60 acting on the elastic sheets 50 is changed, that is, the distance between the sliding assembly 60 and the fulcrum shaft 20 is changed, at this time, the effective length of the elastic sheets 50 connected into the whole mechanism is changed accordingly, so that the rigidity of the whole mechanism is changed correspondingly.
In one embodiment, adjustment drive assembly 80 includes a worm gear 81, a worm 82, and an adjustment drive motor 83. The worm wheel 81 is of a hollow structure, the two first adjusting plates are respectively arranged on two sides of the worm wheel 81 and fixedly connected with the worm wheel 81, the worm wheel 81 is positioned between the two second adjusting discs 72, and the worm wheel 81, the first adjusting disc 71, the second adjusting disc 72 and the fulcrum shaft 20 are coaxially arranged. A worm 82 is rotatably provided in the housing 10 and engaged with the worm wheel 81, and an adjustment drive motor 83 is provided on the housing 10 and connected to the worm 82.
Since the two first adjustment disks 71 are rotatably fitted to the support shaft 20, the hollow worm wheel 81 is connected to the two first adjustment disks 71, thereby supporting the worm wheel 81. When the adjusting and driving motor 83 drives the worm 82 to rotate, the worm 82 drives the worm wheel 81 to rotate and synchronously drives the two first adjusting discs 71 to rotate relative to the housing 10, the position of the first adjusting discs 71 is changed, so that the overlapping area of the curved slideway 711 and the radial slideway 721 is also changed, the inner wall of the curved slideway 711 pushes the sliding assembly 60 to slide to a corresponding position along the elastic sheet 50, the effective length of the elastic sheet 50 connected into the whole mechanism is changed accordingly, and the rigidity adjustment is realized.
Because worm wheel 81 worm 82 has big drive ratio, the characteristics that the reduction ratio is big can increase the moment of torsion to can realize rigidity adjustment better. Because the worm 82 can drive the worm wheel 81 to rotate, but the worm wheel 81 cannot drive the worm 82 to rotate, that is, the worm wheel 81 and the worm 82 have the characteristic of excellent self-locking performance, after the adjusting and driving motor 83 stops working, the two first adjusting discs 71 can be locked at the required positions by utilizing the self-locking characteristic of the worm wheel 81 and the worm 82, so that the working positions of the first adjusting discs 71 can be accurately and reliably adjusted. Moreover, the structure design is compact, and the first adjusting disk 71 is locked without the need of adjusting the driving motor 83 to be in a working state all the time, so that the whole energy consumption requirement is reduced.
In one embodiment, the sliding assembly 60 includes a support base 61, a first sliding unit 62, and two sets of second sliding units 63. The supporting seat 61 is a hollow structure, the first sliding units 62 are disposed in the supporting seat 61, a gap is disposed between the first sliding units 62, and the elastic piece 50 passes through the gap and is in sliding fit with the first sliding units 62. Two sets of second sliding units 63 are respectively arranged at two sides of the supporting seat 61, and the second sliding units 63 are respectively in sliding fit in the curved slideway 711 and the radial slideway 721 at one corresponding side.
Specifically, the first sliding unit 62 includes two pulleys 621, the two pulleys 621 are rotatably disposed in the support base 61 and respectively attached to both sides of the elastic piece 50, and a rotation axis of the pulley 621 is parallel to the fulcrum shaft 20. The second sliding unit 63 includes a support post 631, a first rolling bearing 632, and a second rolling bearing 633, one end of the support post 631 is connected to the support base 61, and the other end of the support shaft 20 sequentially passes through the curved slide 711 and the radial slide 721. The first rolling bearing 632 and the second rolling bearing 633 are respectively and fixedly arranged on the support 631 in a penetrating way, the first rolling bearing 632 is in sliding fit in the curved slideway 711, and the second rolling bearing 633 is in sliding fit in the radial slideway 721.
When the adjusting and driving motor 83 drives the worm 82 to rotate, the worm 82 drives the worm wheel 81 to rotate and synchronously drives the two first adjusting discs 71 to rotate relative to the second adjusting disc 72, the position of the first adjusting disc 71 changes so that the overlapping area of the curved slideway 711 and the radial slideway 721 also changes, the inner wall of the curved slideway 711 pushes against the first rolling bearing 632, the second rolling bearing 633 is limited in the radial slideway 721, and the elastic sheet 50 is arranged in the gap between the two pulleys 621 in a penetrating manner, so that the sliding assembly 60 slides along the elastic sheet 50 under the driving of the first rolling bearing 632 and the second rolling bearing 633, the position of the sliding assembly 60 acting on the elastic sheet 50 also changes, namely the distance between the sliding assembly 60 and the fulcrum shaft 20 changes, and at the moment, the effective length of the elastic sheet 50 connected into the whole mechanism also changes accordingly, so that the rigidity of the whole mechanism can be changed correspondingly.
Meanwhile, by designing two sliding parts to be respectively clung to the elastic sheet 50, designing the first rolling bearing 632 to be in sliding fit in the curved slideway 711, and designing the second rolling bearing 633 to be in sliding fit in the radial slideway 721, the smoothness of mutual matching between the sliding assembly 60 and the elastic sheet 50, and between the first adjusting disk 71 and the second adjusting disk 72 is improved, so that the mutual matching friction resistance is reduced, further, the power requirement for adjusting the driving motor 83 can be reduced, and the size of the driving motor cannot be overlarge.
In one embodiment, the articulation bending drive mechanism 30 includes a bending drive motor 31, a first encoder 32, a mount 33, a harmonic reducer 34, and a second encoder 35. The first encoder 32 is respectively connected with the bending driving motor 31 and the mounting seat 33, the mounting seat 33 is arranged on the harmonic reducer 34 and is in running fit with the shell 10, the second encoder 35 is arranged on one side of the shell 10, which is far away from the bending driving motor 31, and the bending driving motor 31, the first encoder 32, the harmonic reducer 34, the fulcrum shaft 20 and the second encoder 35 are sequentially in transmission connection.
The robot joint further comprises a thigh support 91 and a shank support 92, wherein the thigh support 91 is sleeved on the mounting base 32 and is in running fit with the shell 10, the shank support 92 is arranged on a second adjusting disc 72 far away from the bending driving motor 31, and the second encoder 35 is arranged on the shank support 92. The thigh support 91 is provided with a thigh wearing part 93, and the shank support 92 is provided with a shank wearing part 94.
The support shaft 20 is in transmission connection with the harmonic reducer 34 through the connector 36, a power source of the robot joint is mainly realized by driving the bending driving motor 31, the first encoder 32 is used for detecting a rotation position of the bending driving motor 31, the support shaft 20, the elastic sheet 50, the sliding assembly 60, the rigidity adjusting assembly 70, the adjusting driving assembly 80 and the like form a rigidity varying mechanism, the second encoder 35 is used for detecting a torsional deformation amount of the rigidity varying mechanism so as to calculate a joint torque, and mutual matching of the first encoder 32, the second encoder 35 and the bending driving motor 31 is prior art and will not be described herein again.
The rotation of the fulcrum shaft 20 is controlled by the bending driving motor 31 through the harmonic reducer 34 and the connector 36, when the bending driving motor 31 drives the fulcrum shaft 20 to rotate, the sliding assembly 60 on the elastic sheet 50 drives the housing 10, the two first adjusting discs 71, the adjusting driving assembly 80 and the two second adjusting discs 72 to integrally rotate, so that the rotation of the housing 10 drives the lower leg support 92 to rotate, the lower leg support 92 rotates relative to the thigh support 91, the bending action of the robot joint is completed, and then the rigidity of the whole joint can be adjusted according to requirements.
In the description of the present invention, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention, and they should be construed as being included in the following claims and description.
Claims (7)
1. A variable stiffness robotic joint, characterized by: the method comprises the following steps:
a housing;
a fulcrum shaft rotatably inserted into the housing;
a joint bending drive mechanism for driving the fulcrum shaft to rotate;
the connecting piece is arranged on the fulcrum shaft in a penetrating way and is positioned in the shell;
one end of each elastic piece is connected with the connecting piece, and the other end of each elastic piece extends along the radial direction of the fulcrum shaft;
the sliding assemblies correspond to the number of the elastic sheets and can be slidably arranged on the elastic sheets in a penetrating way;
two groups of rigidity adjusting assemblies are respectively arranged on two sides of the connecting piece and connected with each sliding assembly, and the rigidity adjusting assemblies are rotatably sleeved on the fulcrum shafts; and
and the adjusting driving assembly is arranged in the shell and used for synchronously driving all the sliding assemblies to slide along the elastic sheet by the two groups of rigidity adjusting assemblies so as to change the effective length of the elastic sheet.
2. The variable stiffness robotic joint of claim 1, wherein: the stiffness adjustment assembly includes:
the first adjusting disc is rotatably sleeved on the fulcrum shaft and is provided with a plurality of curve slideways; and
the second adjusting disc is arranged on one side, away from the connecting piece, of the first adjusting disc, the second adjusting disc is arranged on the shell and is rotatably sleeved on the fulcrum shaft, the second adjusting disc is provided with a plurality of radial slideways, each radial slideway corresponds to one curve slideway, and the projection of each radial slideway on the first adjusting disc is overlapped with the curve slideway;
the adjusting driving assembly is used for driving the two first adjusting discs to rotate, and the sliding assembly is respectively matched with the curve slideway and the radial sliding way.
3. The variable stiffness robotic joint of claim 2, wherein: the adjusting driving component comprises a worm wheel, a worm and an adjusting driving motor;
the worm wheel is of a hollow structure, the two first adjusting plates are respectively arranged on two sides of the worm wheel and connected with the worm wheel, the worm wheel is positioned between the two second adjusting plates, and the worm wheel, the first adjusting plates, the second adjusting plates and the fulcrum shaft are coaxially arranged;
the worm is rotationally arranged in the shell and meshed with the worm wheel, and the adjusting driving motor is arranged on the shell and connected with the worm.
4. A variable stiffness robotic joint according to claim 2 or 3, wherein: the sliding assembly comprises a supporting seat, a first sliding unit and two groups of second sliding units;
the supporting seat is of a hollow structure, the first sliding units are arranged in the supporting seat, gaps are formed among the first sliding units, and the elastic sheets penetrate through the gaps and are in sliding fit with the first sliding units;
the two groups of second sliding units are respectively arranged on two sides of the supporting seat, and the second sliding units are respectively in sliding fit with the curved slideway and the radial slideway on the corresponding side.
5. The variable stiffness robotic joint of claim 4, wherein: the first sliding unit comprises two pulleys, the two pulleys are rotatably arranged in the supporting seat and respectively attached to two sides of the elastic sheet, and the rotating axis of each pulley is parallel to the fulcrum shaft;
the second sliding unit comprises a supporting column, a first rolling bearing and a second rolling bearing, one end of the supporting column is connected with the supporting seat, and the other end of the supporting shaft sequentially penetrates through the curve slideway and the radial slideway;
the first rolling bearing and the second rolling bearing are fixedly arranged on the support in a penetrating mode respectively, the first rolling bearing is in sliding fit in the curve slideway, and the second rolling bearing is in sliding fit in the radial slideway.
6. The variable stiffness robotic joint of claim 2, wherein: the joint bending driving mechanism comprises a bending driving motor, a first encoder, a mounting seat, a harmonic reducer and a second encoder;
first encoder respectively with crooked driving motor with the mount pad is connected, the mount pad sets up on the harmonic speed reducer ware and with casing normal running fit, the second encoder sets up the casing deviates from crooked driving motor's one side, crooked driving motor first encoder harmonic speed reducer ware the fulcrum shaft with the second encoder connects gradually.
7. The variable stiffness robotic joint of claim 6, wherein: the thigh support is arranged on the mounting seat and is in running fit with the shell, the shank support is arranged on one second adjusting disc far away from the bending driving motor, and the second encoder is arranged on the shank support;
the thigh support is provided with a thigh wearing piece, and the shank support is provided with a shank wearing piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210355916.3A CN114905541B (en) | 2022-04-06 | 2022-04-06 | Variable-rigidity robot joint |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210355916.3A CN114905541B (en) | 2022-04-06 | 2022-04-06 | Variable-rigidity robot joint |
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| CN114905541A true CN114905541A (en) | 2022-08-16 |
| CN114905541B CN114905541B (en) | 2024-03-22 |
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| CN202210355916.3A Active CN114905541B (en) | 2022-04-06 | 2022-04-06 | Variable-rigidity robot joint |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114905541B (en) | 2024-03-22 |
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