CN114905541B - Variable-rigidity robot joint - Google Patents
Variable-rigidity robot joint Download PDFInfo
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- CN114905541B CN114905541B CN202210355916.3A CN202210355916A CN114905541B CN 114905541 B CN114905541 B CN 114905541B CN 202210355916 A CN202210355916 A CN 202210355916A CN 114905541 B CN114905541 B CN 114905541B
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- 238000005452 bending Methods 0.000 claims abstract description 33
- 230000000712 assembly Effects 0.000 claims abstract description 29
- 238000000429 assembly Methods 0.000 claims abstract description 29
- 230000007246 mechanism Effects 0.000 claims abstract description 18
- 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 11
- 230000000149 penetrating effect Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 3
- 230000008859 change Effects 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 2
- 244000309466 calf Species 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 230000013011 mating Effects 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
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
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 an adjusting driving assembly. The rigidity-variable robot joint is characterized in that the driving assembly and the sliding assemblies are respectively adjusted through the two groups of rigidity adjusting assemblies to be matched with each other, so that the active adjustment of the length of the elastic piece inside the joint is realized, and the active adjustment of the rigidity of the robot joint is further realized. Meanwhile, by designing two groups of rigidity adjusting assemblies to act on each sliding assembly, the stress on two sides of each sliding assembly is more stable, smoothness and stability in the rigidity adjusting process are guaranteed, and the device has the advantages of being simple in structure, large in rigidity adjusting range, high in 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, most of robot joints are almost pure rigid structural bodies consisting of traditional driving motors and transmissions, and the robot joints are free of elastic elements, large in impact force, hysteresis in transmission and easy to damage and repair after collision. 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 can not be completely met.
Although some passive stiffness-changing robot joints are also appeared, most of the passive stiffness-changing joints are connected with elastic drivers in series, and when 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 by the person skilled in the art.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the robot joint with variable rigidity so as to realize the active adjustment of the rigidity of the robot joint.
In order to achieve the above object, the present invention provides a variable stiffness robotic joint comprising a housing; a support shaft rotatably penetrating the housing; a joint bending drive mechanism for driving the pivot shaft to rotate; a connecting member penetrating the support shaft and positioned in the housing; a plurality of elastic pieces, one ends of which are connected with the connecting piece, and the other ends of which extend along the radial direction of the support shaft; the sliding assemblies are corresponding to the elastic sheets in number and can be slidably arranged on the elastic sheets in a penetrating manner; the 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 support shafts; and the adjusting driving assembly is arranged in the shell and is used for enabling the two groups of rigidity adjusting assemblies to synchronously drive all the sliding assemblies to slide along the elastic sheet so as to change the effective length of the elastic sheet.
Preferably, the stiffness adjustment assembly comprises: the first adjusting disc is rotatably sleeved on the supporting shaft and is provided with a plurality of curve slideways; the second adjusting disc is arranged on one side of the first adjusting disc, which is away from the connecting piece, and is arranged on the shell and is rotationally sleeved on the supporting shaft, the second adjusting disc is provided with a plurality of radial slide ways, each radial slide way corresponds to one curve slide way, and the projection of the radial slide way on the first adjusting disc is overlapped with the curve slide way; the adjusting driving assembly is used for driving the two first adjusting discs to rotate, and the sliding assembly is respectively in sliding fit with the curved slideway and the radial direction.
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 support shaft are coaxially arranged; the worm is rotatably 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 arranged between 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 sides.
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 piece, and the rotation axis of each pulley is parallel to the supporting 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 curve slideway and the radial slideway; the first rolling bearing and the second rolling bearing are respectively and fixedly arranged on the support column in a penetrating mode, 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; the first encoder is respectively connected with the bending drive motor and the mounting seat, the mounting seat is arranged on the harmonic reducer and is in running fit with the shell, the second encoder is arranged on one side, deviating from the bending drive motor, of the shell, and the bending drive motor, the first encoder, the harmonic reducer, the support shaft and the second encoder are sequentially connected. .
Preferably, the device further comprises a thigh bracket and a shank bracket, wherein the thigh bracket is arranged on the mounting seat and is in running fit with the shell, the shank bracket is arranged on one second adjusting disc far away from the bending driving motor, and the second encoder is arranged on the shank bracket; thigh wearing pieces are arranged on the thigh support, and shank wearing pieces are arranged on the shank support.
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 mutually matching two groups of rigidity adjusting components for respectively adjusting a driving component and a plurality of sliding components, thereby realizing the active adjustment of the rigidity of the robot joint. Meanwhile, by designing two groups of rigidity adjusting assemblies to act on each sliding assembly, the stress on two sides of each sliding assembly is more stable, smoothness and stability in the rigidity adjusting process are guaranteed, and the device has the advantages of being simple in structure, large in rigidity adjusting range, high in reliability and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Like elements or portions are generally identified by like reference numerals throughout the several figures. In the drawings, elements or portions thereof are not necessarily drawn to scale.
Fig. 1 is a schematic structural view of a variable stiffness robot joint according to an embodiment of the present invention;
FIG. 2 is a schematic view of the mating structure of the fulcrum, connector, resilient tab and slider assembly;
FIG. 3 is a schematic view of the configuration of the stiffness adjustment assembly in cooperation with the adjustment drive assembly;
FIG. 4 is a schematic cross-sectional view within the housing;
FIG. 5 is a schematic view of the structure of the inside of the worm gear;
FIG. 6 is a front view of the first dial;
FIG. 7 is a front view of a second dial;
FIG. 8 is a schematic view of a curved ramp mated with a radial ramp;
FIG. 9 is a schematic view of a slide assembly;
FIG. 10 is an exploded view of one side of the lower leg rest;
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-connecting piece;
50-an elastic sheet;
60-sliding components, 61-supporting seats, 62-first sliding units, 621-pulleys, 63-second sliding units, 631-struts, 632-first rolling bearings and 633-second rolling bearings;
70-stiffness adjustment assembly, 71-first adjustment disc, 711-curved ramp, 72-second adjustment disc, 721-radial ramp;
80-adjusting driving components, 81-worm wheels, 82-worm and 83-adjusting driving motors;
91-thigh support, 92-calf support, 93-thigh wear, 94-calf wear.
Detailed Description
Embodiments of the technical scheme of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and thus are merely examples, and are not intended to limit the scope of the present invention.
It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.
In the description of the present application, it should be understood that the terms "center," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," etc. indicate orientations or positional relationships based on the orientation or positional relationships shown in the drawings, are merely for convenience in describing the present invention and to simplify the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. In the description of the present invention, the meaning of "plurality" is two or more unless specifically defined otherwise.
In this application, unless specifically stated and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In this application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
1-11, in one embodiment of the present invention, a variable stiffness robotic joint is provided that includes a housing 10, a fulcrum 20, a joint bending drive mechanism 30, a link 40, a plurality of resilient tabs 50, a plurality of slide assemblies 60, two sets of stiffness adjustment assemblies 70, and an adjustment drive assembly 80.
The support shaft 20 is rotatably inserted into the housing 10, the joint bending driving mechanism 30 is used for driving the support shaft 20 to rotate, the connecting piece 40 is inserted into the support shaft 20 and is positioned in the housing 10, the number of the elastic piece 50 and the sliding component 60 is three, the connecting piece 40 is provided with three slots, one end of the elastic piece 50 is inserted into the slots and is tightly connected with the connecting piece 40 through bolts, and the other end of the elastic piece 50 extends along the radial direction of the support shaft 20. The sliding components 60 are slidably disposed on the elastic sheet 50, two sets of stiffness adjusting components 70 are respectively disposed on two sides of the connecting piece 40 and connected to each sliding component 60, and the stiffness adjusting components 70 are rotatably sleeved on the support shaft 20. An adjustment drive assembly 80 is disposed within the housing 10, the adjustment drive assembly 80 being configured to synchronize the two sets of stiffness adjustment assemblies 70 to drive all of the slide assemblies 60 along the resilient sheet 50 to vary the effective length of the resilient sheet 50.
A group of rigidity adjusting assemblies 70 are respectively designed on two sides of the connecting piece 40, and the two groups of rigidity adjusting assemblies 70 can synchronously drive all sliding assemblies 60 to slide along the corresponding elastic sheets 50 through adjusting the driving assemblies 80, so that the positions of the sliding assemblies 60 acting on the elastic sheets 50 are changed, namely the distance between the sliding assemblies 60 and the support shafts 20 is changed, and at the moment, the effective length of the elastic sheets 50 connected into the whole mechanism is also changed, so that the rigidity of the whole mechanism is also changed correspondingly.
The variable stiffness robot joint of the embodiment realizes the active adjustment of the length of the elastic sheet 50 inside the joint by mutually matching the two groups of stiffness adjusting assemblies 70 respectively adjusting the driving assembly 80 and the sliding assemblies 60, and further realizes the active adjustment of the stiffness of the robot joint. Meanwhile, by designing two groups of rigidity adjusting assemblies 70 to act on each sliding assembly 60, the stress on two sides of each sliding assembly 60 is more stable, 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, referring to fig. 5-8, the dashed line in fig. 8 is a first dial 71. The stiffness adjustment assembly 70 includes a first adjustment plate 71 and a second adjustment plate 72. The first adjusting disc 71 and the second adjusting disc 72 are both in disc structures, the first adjusting disc 71 is rotatably sleeved on the support shaft 20 through a bearing, the first adjusting disc 71 is penetrated by three curve slide ways 711, the three curve slide ways 711 are circumferentially arranged along the axis of the support shaft 20, and the adjusting driving assembly 80 is used for driving the two first adjusting discs 71 to rotate.
The second adjusting disc 72 is arranged on one side of the first adjusting disc 71, which is away from the connecting piece 40, the second adjusting disc 72 is fixedly connected to the shell 10 and is rotatably sleeved on the support shaft 20 through a bearing, the second adjusting disc 72 is penetrated with a plurality of radial slide ways 721, each radial slide way 721 corresponds to one curve slide way 711 respectively, and the projection of the radial slide way 721 on the first adjusting disc 71 is overlapped with the curve slide way 711. The sliding assembly 60 passes through the overlapping area of the first adjustment plate 71 and the second adjustment plate 72 and is in sliding engagement with the curvilinear slideway 711 and the radial direction, respectively.
When the pivot 20 is driven to rotate by the joint bending driving mechanism 30, the pivot 20 drives the connecting piece 40 and the elastic piece 50 to rotate synchronously, and the sliding component 60 is slidably matched with the elastic piece 50, so that the sliding component 60 is driven to push the curved slideway 711 and the radial slideway 721 by rotating the elastic piece 50, so that the two first adjusting discs 71, the two second adjusting discs 72, the adjusting driving component 80 and the shell 10 are driven to rotate synchronously integrally, and the bending action of the knee joint is realized.
When rigidity is required to be adjusted, the adjustment driving assembly 80 drives the two first adjustment discs 71 to rotate synchronously, and since the two second adjustment discs 72 are fixedly connected to the housing 10, the position of the first adjustment discs 71 after rotation will change the overlapping area of the curved slideway 711 and the radial slideway 721 correspondingly, the inner wall of the curved slideway 711 will 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 adjustment discs 72, the sliding assembly 60 will slide along the corresponding elastic sheet 50, the position of the sliding assembly 60 acting on the elastic sheet 50 will change, i.e. the distance between the sliding assembly 60 and the support shaft 20 will change, and at this time, the effective length of the elastic sheet 50 connected to the whole mechanism will also change, so that the rigidity of the whole mechanism will change correspondingly.
In one embodiment, adjustment drive assembly 80 includes a worm gear 81, a worm 82, and an adjustment drive motor 83. The worm gear 81 is of a hollow structure, the two first adjusting plates are respectively arranged on two sides of the worm gear 81 and fixedly connected with the worm gear 81, the worm gear 81 is positioned between the two second adjusting plates 72, and the worm gear 81, the first adjusting plates 71, the second adjusting plates 72 and the support 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 regulating disks 71 are rotatably fitted on the support shaft 20, the hollow worm wheel 81 is connected to the two first regulating disks 71, thereby supporting the worm wheel 81. When the adjusting 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 disks 71 to rotate relative to the housing 10, the position of the first adjusting disk 71 changes to change the overlapping area of the curved slide 711 and the radial slide 721, the inner wall of the curved slide 711 pushes the sliding assembly 60 to slide along the elastic sheet 50 to a corresponding position, and the effective length of the elastic sheet 50 connected to the whole mechanism changes accordingly, so as to realize rigidity adjustment.
Because the worm gear 81 and the worm 82 have the characteristics of large transmission ratio and large reduction ratio, the torque can be increased, and therefore, the rigidity adjustment can be better realized. Since the worm 82 can drive the worm wheel 81 to rotate, but the worm wheel 81 cannot drive the worm wheel 82 to rotate, that is, the worm wheel 81 and the worm 82 have the characteristic of excellent self-locking performance, after the adjustment driving motor 83 stops working, the two first adjustment 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 adjustment discs 71 can be accurately and reliably adjusted. Moreover, this structural design is compact and does not require the adjustment drive motor 83 to be in operation at all times to lock the first adjustment plate 71, thereby reducing overall energy consumption requirements.
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 of a hollow structure, the first sliding units 62 are arranged in the supporting seat 61, gaps are arranged between the first sliding units 62, and the elastic sheets 50 penetrate through the gaps and are 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 a curved slideway 711 and a radial slideway 721 at corresponding sides.
Specifically, the first sliding unit 62 includes two pulleys 621, and the two pulleys 621 are rotatably disposed in the support base 61 and respectively fitted on both sides of the elastic sheet 50, and the rotation axis of the pulleys 621 is parallel to the fulcrum 20. The second sliding unit 63 includes a stay 631, a first rolling bearing 632, and a second rolling bearing 633, one end of the stay 631 is connected to the support 61, and the other end of the fulcrum 20 sequentially passes through the curved ramp 711 and the radial ramp 721. The first rolling bearing 632 and the second rolling bearing 633 are fixedly arranged on the supporting column 631 respectively, 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 worm 82 is driven by the adjusting driving motor 83 to rotate by the worm 82, 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 sliding track 711 and the radial sliding track 721 also changes, the inner wall of the curved sliding track 711 pushes the first rolling bearing 632, and the second rolling bearing 633 is limited in the radial sliding track 721, and the elastic sheet 50 is inserted into the gap between the two pulleys 621, 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, and the position of the sliding assembly 60 acting on the elastic sheet 50 changes, i.e. the distance between the sliding assembly 60 and the support shaft 20 changes.
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 the second rolling bearing 633 to be in sliding fit in the radial slideway 721, the smoothness of the matching between the sliding assembly 60 and the elastic sheet 50 as well as between the first adjusting disk 71 and the second adjusting disk 72 is improved, so that the friction resistance of the matching between the sliding assembly and the elastic sheet 50 is reduced, and further, the power requirement of the adjusting driving motor 83 is also reduced, so that the size of the adjusting driving motor is not excessively large.
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 drive 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 away from the bending drive motor 31, and the bending drive motor 31, the first encoder 32, the harmonic reducer 34, the support shaft 20 and the second encoder 35 are sequentially in transmission connection.
The robot joint further includes a thigh support 91 and a shank support 92, the thigh support 91 is sleeved on the mounting base 32 and is in running fit with the housing 10, the shank support 92 is provided on a second adjusting plate 72 remote from the bending drive motor 31, and the second encoder 35 is provided on the shank support 92. Thigh wearing pieces 93 are provided on the thigh brackets 91, and calf wearing pieces 94 are provided on the calf brackets 92.
The support shaft 20 is in transmission connection with the harmonic reducer 34 through a connector 36, a power source of the robot joint is mainly implemented by driving the bending driving motor 31, the first encoder 32 is used for detecting the rotation position of the bending driving motor 31, the support shaft 20, the elastic sheet 50, the sliding component 60, the rigidity adjusting component 70, the adjusting driving component 80 and the like form a rigidity-changing mechanism, the second encoder 35 is used for detecting the torsional deformation of the rigidity-changing mechanism so as to calculate joint torque, and the first encoder 32, the second encoder 35 and the bending driving motor 31 are mutually matched in the prior art and are not repeated herein.
The bending drive motor 31 controls the rotation of the support shaft 20 through the harmonic reducer 34 and the connector 36, when the bending drive motor 31 drives the support shaft 20 to rotate, the sliding component 60 on the elastic piece 50 drives the housing 10, the two first adjusting discs 71, the adjusting drive component 80 and the two second adjusting discs 72 to integrally rotate, so that the housing 10 rotates to drive 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. However, it is understood 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 for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention, and are intended to be included within the scope of the appended claims and description.
Claims (5)
1. A variable stiffness robotic joint, characterized by: comprising the following steps:
a housing;
a support shaft rotatably penetrating the housing;
a joint bending drive mechanism for driving the pivot shaft to rotate;
a connecting member penetrating the support shaft and positioned in the housing;
a plurality of elastic pieces, one ends of which are connected with the connecting piece, and the other ends of which extend along the radial direction of the support shaft;
the sliding assemblies are corresponding to the elastic sheets in number and can be slidably arranged on the elastic sheets in a penetrating manner;
the 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 support shafts; and
an adjustment drive assembly disposed within said housing for synchronizing two sets of said stiffness adjustment assemblies to drive all of said slide assemblies along said elastic sheet to vary the effective length of said elastic sheet;
the stiffness adjustment assembly includes:
the first adjusting disc is rotatably sleeved on the supporting shaft and is provided with a plurality of curve slideways; and
the second adjusting disc is arranged on one side of the first adjusting disc, which is away from the connecting piece, the second adjusting disc is arranged on the shell and is rotationally sleeved on the supporting shaft, the second adjusting disc is provided with a plurality of radial slide ways, each radial slide way corresponds to one curve slide way, and the projection of the radial slide way on the first adjusting disc is overlapped with the curve slide way;
the adjusting driving assembly is used for driving the two first adjusting discs to rotate, and the sliding assembly is in sliding fit with the curve slideway and the radial slideway respectively;
the adjusting driving assembly comprises a worm wheel, a worm and an adjusting driving motor;
the worm wheel is of a hollow structure, the two first adjusting discs 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 discs, and the worm wheel, the first adjusting discs, the second adjusting discs and the supporting shaft are coaxially arranged;
the worm is rotatably 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.
2. The variable stiffness robotic joint of claim 1, 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 unit is arranged in the supporting seat, a gap is formed in the first sliding unit, and the elastic sheet penetrates through the gap and is in sliding fit with the first sliding unit;
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 sides.
3. The variable stiffness robotic joint of claim 2, 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 piece, and the rotation axis of each pulley is parallel to the supporting 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 curve slideway and the radial slideway;
the first rolling bearing and the second rolling bearing are respectively and fixedly arranged on the support column in a penetrating mode, 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.
4. The variable stiffness robotic joint of claim 1, wherein: the joint bending driving mechanism comprises a bending driving motor, a first encoder, a mounting seat, a harmonic reducer and a second encoder;
the first encoder is respectively connected with the bending drive motor and the mounting seat, the mounting seat is arranged on the harmonic reducer and is in running fit with the shell, the second encoder is arranged on one side, deviating from the bending drive motor, of the shell, and the bending drive motor, the first encoder, the harmonic reducer, the support shaft and the second encoder are sequentially connected.
5. The variable stiffness robotic joint of claim 4, wherein: the lower leg support is arranged on one second adjusting disc far away from the bending driving motor, and the second encoder is arranged on the lower leg support;
thigh wearing pieces are arranged on the thigh support, and shank wearing pieces are arranged on the shank support.
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 CN114905541A (en) | 2022-08-16 |
| CN114905541B true 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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| CN103624797A (en) * | 2013-12-16 | 2014-03-12 | 哈尔滨工业大学 | Rotary-type rigidity- adjustable serial elastic robot joint |
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