CN114932576B - Compact integrated variable stiffness joint based on plate spring deformation and method - Google Patents
Compact integrated variable stiffness joint based on plate spring deformation and method Download PDFInfo
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- CN114932576B CN114932576B CN202210526098.9A CN202210526098A CN114932576B CN 114932576 B CN114932576 B CN 114932576B CN 202210526098 A CN202210526098 A CN 202210526098A CN 114932576 B CN114932576 B CN 114932576B
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- 206010023230 Joint stiffness Diseases 0.000 title claims abstract description 30
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- 230000006698 induction Effects 0.000 claims description 5
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- 239000000463 material Substances 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 229920000271 Kevlar® Polymers 0.000 description 1
- 229910000639 Spring steel Inorganic materials 0.000 description 1
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- 238000012512 characterization method Methods 0.000 description 1
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- 238000001914 filtration Methods 0.000 description 1
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- 239000004761 kevlar Substances 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- CWQXQMHSOZUFJS-UHFFFAOYSA-N molybdenum disulfide Chemical compound S=[Mo]=S CWQXQMHSOZUFJS-UHFFFAOYSA-N 0.000 description 1
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- 239000010959 steel Substances 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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Abstract
The invention provides a compact integrated variable stiffness joint based on plate spring deformation and a method thereof, belonging to the field of intelligent robots. Solves the problems of complex structure, huge volume and small rigidity adjusting range of the existing rigidity-variable joint mechanism. The power input assembly is connected with the variable-rigidity driving assembly, the variable-rigidity driving assembly is connected with the power output assembly, the power input assembly comprises a driving shaft, the variable-rigidity driving assembly comprises a mounting plate, a roller A and a roller B, the power output assembly comprises an output shaft, a plate spring A and a plate spring B, the plate spring A and the plate spring B are symmetrically arranged on the output shaft, the roller A and the roller B are respectively matched with the plate spring A and the plate spring B, the driving shaft is fixedly connected with the mounting plate to enable the variable-rigidity driving assembly to integrally rotate along with the driving shaft, and the roller A and the roller B rotate to squeeze the plate spring A and the plate spring B to drive the output shaft to rotate. The invention is suitable for the robot variable stiffness joint.
Description
Technical Field
The invention belongs to the field of intelligent robots, and particularly relates to a compact integrated rigidity-variable joint based on plate spring deformation and a method thereof.
Background
In face of the continuous diversification of human demands on industry, life, military and the like, new generation intelligent robots (such as medical robots, obstacle surmounting robots, intelligent wearable robots and the like) are more intensively researched. The joint is a structural basis for realizing movement of the robot, the joint with high rigidity can bear higher load, has high response speed, can ensure the accuracy of the position, but at the same time, the impact and vibration caused by the joint are not negligible. Aiming at complex application scenes, in order to ensure that the robot joint can better adapt to the environment, the variable stiffness design becomes a research hot spot. The rigidity-variable joint meeting the requirements is developed, so that the robot can properly adjust the rigidity according to the environment change, the self demand and the interference of external factors, and the robot can work safely, efficiently and stably. The existing variable stiffness joint is complex in mechanism and huge in size, and needs to be accompanied with a complex motion or force detection system, so that severe reverse requirements are put forward on the quality and the size of a robot body, and the development of miniaturization, light weight and intellectualization of the robot is not facilitated. Therefore, it is an urgent task to develop a compact integrated joint that meets the requirements of high load bearing, rapid and large-scale stiffness adjustment, intelligent self-sensing, and the like.
Disclosure of Invention
In view of the above, the invention aims to provide a compact integrated variable stiffness joint based on plate spring deformation and a method thereof, so as to solve the problems of complex mechanism, huge volume and small stiffness adjustment range of the existing variable stiffness joint.
In order to achieve the above purpose, the technical scheme of the invention is realized as follows:
the utility model provides a compact integration becomes rigidity joint based on leaf spring warp, includes from the top down arranges power input subassembly, the rigidity that changes drive assembly and the power take off subassembly in the shell in proper order, power input subassembly links to each other with the rigidity that changes drive assembly, rigidity that changes drive assembly links to each other with the power take off subassembly, power input subassembly be the input of external power, power input subassembly is used for giving external power transmission rigidity drive assembly, power input subassembly includes the driving shaft, rigidity that changes drive assembly includes mounting panel, roller A and roller B, power take off subassembly includes output shaft, leaf spring A and leaf spring B symmetry set up on the output shaft, roller A and roller B cooperate with leaf spring A and leaf spring B respectively, the driving shaft in the power input subassembly links firmly with the mounting panel, makes rigidity that changes drive assembly whole rotation along with the driving shaft, roller A and leaf spring B rotate extrusion A and leaf spring B, converts rigid motion into flexible motion and gives the output shaft of power take off assembly, the output shaft gives external load with power transmission again.
Further, the driving shaft extends out of the upper end of the shell, the output shaft extends out of the lower end of the shell, the rigidity-changing driving assembly further comprises a rope winding mechanism and a rope pulling mechanism, the driving shaft is fixedly connected with the upper end face of the mounting plate, the rope winding mechanism and the rope pulling mechanism are respectively arranged on the upper end face and the lower end face of the mounting plate, the rope pulling mechanism is respectively hinged with a roller A and a roller B, the free end of the roller A is matched with a plate spring A, the free end of the roller B is matched with the plate spring B, and the plate spring A, the plate spring B, the roller A and the roller B jointly form a rigidity-changing module;
the rope winding mechanism drives the rope pulling mechanism to move through the rope, so that the distance between the roller A and the roller B is adjusted, the driving shaft rotates to drive the roller A and the roller B fixed on the mounting plate to rotate around the joint rotation center, the roller A and the roller B respectively squeeze the corresponding plate spring A and the plate spring B to move, and the plate spring A and the plate spring B move to drive the output shaft to move.
Still further, power input subassembly still includes input end cover, input encoder, input bearing, initiative axle sleeve, retaining ring for the driving shaft and foil gage group, the driving shaft is rotated by external device drive, is external power's input, the input encoder can survey the corner displacement of driving shaft, realizes the real-time supervision of driving end state, the input bearing sets up two, and the inner circle and the driving shaft cooperation of input bearing, the outer lane and the input end cover cooperation of input bearing, initiative axle sleeve and retaining ring for the driving shaft are used for the axial fixity of driving shaft, foil gage group includes a plurality of foil gage, and the foil gage pastes on the driving shaft.
Furthermore, the strain gauge group forms a self-made stress strain type torque sensor, and the torque transmitted by the joint can be reflected in real time by measuring the deformation of the specific position of the driving shaft, so that the stress state of the joint is monitored.
Still further, the rope pulling mechanism comprises a return spring left end cover, a linear chute, a return spring A, a supporting seat, a return spring B, a return spring right end cover, a transmission rod, a guide groove, a rope pressing terminal, a rope and a cross arm, wherein the supporting seat and the guide groove are all arranged on a mounting plate, the supporting seat is arranged in the middle of the mounting plate, the guide groove is arranged on one side of the supporting seat, the linear chute is arranged on the supporting seat, the return spring A and the return spring B are arranged in the linear chute, the transmission rods are arranged in two, one ends of the two transmission rods are respectively hinged with two ends of the cross arm, the other ends of the two transmission rods are respectively hinged with the roller A and the roller B, cylindrical boss structures are respectively arranged on the roller A and the roller B, one ends of the return spring A and the return spring B respectively penetrate through bosses on the roller A and the roller B, the other ends of the return spring A and the return spring right end cover are respectively arranged in the return spring left end cover and the return spring right end cover, the return spring left end cover and the return spring right end cover are respectively arranged on the left side and right side of the linear chute, and the return spring A and the return spring B are respectively in a compression state; the cross arm is arranged in the guide groove in a sliding way, and the guide roller penetrates through the cross arm and is inserted into the guide groove, so that the cross arm can move along the guide groove and can drive the roller A and the roller B to move along the linear sliding groove through the transmission rod;
the rope winding mechanism comprises pulley seats A, pulley B, pulley seat B, pulley C, rope winding pulley support, rope winding pulley, rigidity adjusting motor support, speed reducer, rigidity adjusting motor and rigidity adjusting motor encoder, wherein the pulley seats A and the rope winding pulley support are two, the pulley A is arranged on the two pulley seats A, the pulley B and the pulley C are arranged on the pulley seat B, the rope winding pulley is arranged on the two rope winding pulley support, and the pulley seats A, the pulley seats B and the rope winding pulley support are all arranged on the mounting plate; one end of the rope passes through the cross arm, is connected with the rope pressing terminal, and is wound on the rope winding pulley after bypassing the pulley A, the pulley B and the pulley C; the speed reducer, the rigidity adjusting motor and the rigidity adjusting motor encoder form a rigidity adjusting motor module, the rigidity adjusting motor module is arranged on the mounting plate through the rigidity adjusting motor support, and an output shaft of the speed reducer is connected with the rope winding pulley.
Still further, the power take off subassembly still includes output end cover, output bearing, retaining ring for the output shaft, output shaft sleeve and output encoder, and wherein output bearing sets up two, and output bearing's inner circle and output shaft cooperation, output bearing's outer lane and output end cover cooperation, output shaft retaining ring and output shaft sleeve are used for the axial fixity of output shaft.
Furthermore, the roller A and the roller B are of semi-cylindrical structures, the roller A and the roller B are symmetrically arranged relative to the joint rotation center O, the distance between the roller A and the roller B and the joint rotation center O is L, the plate spring A and the plate spring B are of U-shaped structures, the free end of the roller A stretches into the plate spring A of the U-shaped structure, the free end of the roller B stretches into the plate spring B of the U-shaped structure, and the lengths of the plate spring A and the plate spring B are L, wherein L is more than or equal to 0 and less than or equal to L.
Furthermore, the input end encoder and the output end encoder are hollow magneto-electric encoders, the driving shaft penetrates through the middle of the input end encoder, the magnetic ring of the input end encoder is arranged on the driving shaft, and the induction end of the input end encoder is arranged on the input end cover; the output shaft passes through the middle of the output end encoder, the magnetic ring of the output end encoder is arranged on the output shaft, the induction end of the output end encoder is arranged on the output end cover, the output end encoder can detect the rotation angle of the output shaft relative to the output end cover, and the rotation angle difference between the driving shaft and the output shaft can be obtained by subtracting the reading of the joint input end encoder.
Further, the input end cover and the output end cover are both connected with the shell.
The invention provides a working method of a compact integrated variable stiffness joint based on plate spring deformation, which comprises the following steps:
(1) Variable stiffness adjustment
The rigidity adjusting motor is electrified to drive the output shaft of the speed reducer to rotate, the rope winding pulley winds the rope, and the rope pulls the cross arm to slide along the guide groove, so that the roller A and the roller B slide in the linear chute; when the rigidity adjusting motor is reversed, the roller A and the roller B move in opposite directions under the action of the return spring A and the return spring B, so that the reversible adjustment of the distance l between the roller and the rotation center O is realized, the position of the roller A relative to the plate spring A and the position of the roller B relative to the plate spring B are changed, and the active rigidity changing function is realized; when l=0, the squeezing action of the rotation of the rollers a, B about the rotation center O on the leaf springs a, B is 0, and the joint stiffness characterized externally is 0; when l=l, the rollers a, B are ideally completely locked with the leaf springs a, B, theoretically achieving a completely rigid transmission;
(2) Articulation of joints
After the relative positions of the roller A and the roller B are adjusted, when a driving shaft of the joint rotates, the whole variable rigidity driving assembly 2 rotates along with the rotation of the driving shaft, the roller A and the roller B in the variable rigidity module generate extrusion action on the plate spring A and the plate spring B, so that the relative positions of the roller A and the roller B can be adjusted in real time according to instructions to change the rigidity of the joint in the process of joint movement, and the variable rigidity driving assembly is suitable for complex and variable mechanical environments;
the input end encoder and the output end encoder monitor the motion state of the input end and the motion state of the output end, the torque transmitted by the joint is obtained through the strain gauge group stuck on the driving shaft, the rigidity adjusting motor encoder can reflect the output quantity of the rigidity adjusting motor in real time, the monitoring quantity of the encoder reflects the position and the force state of the joint in real time, and the feedback control of the rigidity and the motion of the joint can be realized.
Compared with the prior art, the compact integrated rigidity-variable joint and the method based on plate spring deformation have the beneficial effects that:
1. in the aspects of size constraint and bearing capacity, the invention adopts the mode of driving the roller to move by the rope and changing the length of the effective force arm of the plate spring to realize the rigidity changing function, has small occupied space and large bearing capacity, and can adjust the bearing range of the joint by changing the structural size of the plate spring.
2. The rigidity-variable joint has the overall structure with the outer diameter of 65mm and the length of 58mm, belongs to a small joint, is internally integrated with an encoder, a rigidity-variable motor and a strain type torque sensor, adopts a rope driving mode, avoids a complex transmission mechanism, and has a compact structure.
3. The invention adopts a mode of clamping the rollers by the double plate springs, and the two plate springs are stressed alternately, so that the probability of creep occurrence is effectively reduced, and the service life of the joint is prolonged.
4. In the rigidity adjusting range and the response speed, the invention adopts the central symmetrical arrangement mode of the two semi-cylindrical rollers, and can realize the rigidity from 0 to 10 3 The response time is within 2s for an adjustment in the Nm/rad range.
5. On the aspect of function integration, the invention integrates an angular displacement sensor (an input end encoder and an output end encoder) and a torque sensor (a stress strain type torque sensor formed by strain gauge groups) inside, thereby realizing the integrated functions of driving, bearing and sensing, being beneficial to the modularization and reconfigurable design of a robot and realizing the accurate control and the motion control of joint rigidity.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute an undue limitation on the invention. In the drawings:
FIG. 1 is a schematic view of the compact integrated variable stiffness joint based on leaf spring deformation according to an embodiment of the present invention;
FIG. 2 is a partial cross-sectional view of a compact integrated variable stiffness joint based on leaf spring deformation according to an embodiment of the present invention;
FIG. 3 is a cross-sectional view of a compact integrated variable stiffness joint based on leaf spring deformation according to an embodiment of the present invention;
FIG. 4 is a schematic view of a power input assembly of a compact integrated variable stiffness joint based on leaf spring deformation according to an embodiment of the present invention;
FIG. 5 is a schematic illustration of the connection between a power input assembly and a mounting plate of a compact integrated variable stiffness joint based on leaf spring deformation according to an embodiment of the present invention;
FIG. 6 is a schematic view of a variable stiffness drive assembly for a compact integrated variable stiffness joint based on leaf spring deflection in accordance with an embodiment of the present invention;
FIG. 7 is a front view of a variable stiffness drive assembly for a compact integrated variable stiffness joint based on leaf spring deformation in accordance with an embodiment of the present invention;
FIG. 8 is a top view of a variable stiffness drive assembly for a compact integrated variable stiffness joint based on leaf spring deflection in accordance with an embodiment of the present invention;
FIG. 9 is a top view of a cable take-up mechanism for a compact integrated variable stiffness joint based on leaf spring deformation according to an embodiment of the present invention;
FIG. 10 is a cross-sectional view of a power take-off assembly of a compact integrated variable stiffness joint based on leaf spring deformation according to an embodiment of the present invention;
FIG. 11 is a schematic illustration of the relative positional relationship between a power take-off assembly and a roller of a compact integrated variable stiffness joint based on leaf spring deformation according to an embodiment of the present invention;
FIG. 12 is a schematic diagram of a balanced position of a stiffness variable module of a compact integrated stiffness variable joint based on leaf spring deformation according to an embodiment of the present invention; wherein, the distance between the rotation centers and the rollers A and B; l-is the length of the plate spring A or the plate spring B;
fig. 13 is a schematic diagram of a non-equilibrium position of a stiffness variable module of a compact integrated stiffness variable joint based on leaf spring deformation according to an embodiment of the present invention.
Reference numerals illustrate:
1. a power input assembly; 101. an input end cap; 102. an input encoder; 103. an input end bearing; 104. a driving shaft; 105. a drive shaft sleeve; 106. a retainer ring for a driving shaft; 107. a group of strain gages; 2. a variable stiffness drive assembly; 21. a rope pulling mechanism; 22. a rope winding mechanism; 201. a left end cover of the return spring; 202. a straight line chute; 203. a return spring A; 204. a roller A; 205. a roller B; 206. a support base; 207. a return spring B; 208. restoring the right end cover of the spring; 209. a transmission rod; 210. a guide groove; 211. a guide roller; 212. a rope pressing terminal; 213. a rope; 214. a cross arm; 215. a mounting plate; 216. pulley seat A; 217. a pulley A; 218. a pulley B; 219. pulley seat B; 220. a pulley C; 221. rope winding pulley support; 222. a rope winding pulley; 223. a rigidity adjusting motor support; 224. a speed reducer; 225. a rigidity adjusting motor; 226. a stiffness adjustment motor encoder; 3. a power take-off assembly; 301. an output end cap; 302. a plate spring A; 303. an output end bearing; 304. an output shaft; 305. a retainer ring for an output shaft; 306. an output shaft sleeve; 307. an output end encoder; 308. a plate spring B; 4. a housing.
Detailed Description
The present invention now will be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention disclosed herein without departing from the scope of the invention.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are based on those shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the creation of the present invention will be understood in a specific case by those skilled in the art.
In addition, the technical features which are described below and which are involved in the various embodiments of the invention can be combined with one another as long as they do not conflict with one another.
As shown in fig. 1-13, a compact integrated stiffness-changing joint based on plate spring deformation comprises a power input assembly 1, a stiffness-changing driving assembly 2 and a power output assembly 3 which are sequentially arranged in a shell 4 from top to bottom, wherein the power input assembly 1 is connected with the stiffness-changing driving assembly 2, the stiffness-changing driving assembly 2 is connected with the power output assembly 3, the power input assembly 1 is an external power input end, the power input assembly 1 is used for transmitting external power to the stiffness-changing driving assembly 2, the power input assembly 1 comprises a driving shaft 104, the stiffness-changing driving assembly 2 comprises a mounting plate 215, a roller A204 and a roller B205, the power output assembly 3 comprises an output shaft 304, a plate spring A302 and a plate spring B308, the plate spring A302 and the plate spring B308 are symmetrically arranged on the output shaft 304, the roller A204 and the roller B205 are respectively matched with the plate spring A302 and the plate spring B308, the driving shaft 104 in the power input assembly 1 is fixedly connected with the mounting plate 215, the whole stiffness-changing driving assembly 2 rotates along with the rotation of the driving shaft 104, the rollers A204 and the roller B205 are used for transmitting external power to the stiffness-changing driving assembly 2, the rigidity to the flexible output shaft 302 is transmitted to the flexible output shaft 308, and the external power is transmitted to the flexible output shaft 304.
The driving shaft 104 extends out of the upper end of the shell, the output shaft 304 extends out of the lower end of the shell, the variable rigidity driving assembly 2 further comprises a rope winding mechanism 22 and a rope pulling mechanism 21, the driving shaft 104 is fixedly connected with the upper end face of the mounting plate 215, the rope winding mechanism 22 and the rope pulling mechanism 21 are respectively arranged on the upper end face and the lower end face of the mounting plate 215, the rope pulling mechanism 21 is respectively hinged with a roller A204 and a roller B205, the free end of the roller A204 is matched with a plate spring A302, the free end of the roller B205 is matched with a plate spring B308, and the plate spring A302, the plate spring B308, the roller A204 and the roller B205 jointly form a variable rigidity module;
the rope winding mechanism 22 drives the rope pulling mechanism 21 to move through the rope 213 so as to adjust the distance between the roller A204 and the roller B205, the driving shaft 104 rotates so as to drive the roller A204 and the roller B205 fixed on the mounting plate 215 to rotate around the joint rotation center, the roller A204 and the roller B205 respectively squeeze the corresponding plate spring A302 and the plate spring B308 to move, and the plate spring A302 and the plate spring B308 move so as to drive the output shaft 304 to move.
The power input assembly 1 further comprises an input end cover 101, an input end encoder 102, an input end bearing 103, a driving shaft sleeve 105, a driving shaft check ring 106 and a strain gauge group 107, the driving shaft 104 is driven to rotate by an external device and is an input end of external power, the input end encoder 102 can measure the angular displacement of the driving shaft 104, real-time monitoring of the state of the driving end is achieved, the input end bearing 103 is provided with two, the inner ring of the input end bearing 103 is matched with the driving shaft 104, the outer ring of the input end bearing 103 is matched with the input end cover 101, the driving shaft sleeve 105 and the driving shaft check ring 106 are used for axially fixing the driving shaft 104, the strain gauge group 107 comprises a plurality of strain gauges, and the strain gauges are attached to the driving shaft 104.
The strain gauge group 107 forms a self-made stress strain type torque sensor, and can reflect the torque transmitted by the joint in real time by measuring the deformation of a specific position of the driving shaft 104, for example, as shown in fig. 5, and the specific position is located between the installation position of the magneto-electric encoder and the rolling bearing on the driving shaft.
The rope pulling mechanism 21 comprises a left end cover 201 of a restoring spring, a linear sliding groove 202, a restoring spring A203, a supporting seat 206, a restoring spring B207, a right end cover 208 of the restoring spring, a transmission rod 209, a guide groove 210, a rope pressing terminal 212, a rope 213 and a cross arm 214, wherein the supporting seat 206 and the guide groove 210 are both arranged on a mounting plate 215, the supporting seat 206 is arranged at the middle position of the mounting plate 215, the guide groove 210 is arranged at one side of the supporting seat 206, the linear sliding groove 202 is arranged on the supporting seat 206, the restoring spring A203 and the restoring spring B207 are placed in the linear sliding groove 202, the transmission rods 209 are arranged in two, one ends of the two transmission rods 209 are respectively hinged with two ends of the cross arm 214, the other ends of the two transmission rods 209 are respectively hinged with the roller A204 and the roller B205, the roller A204 and the roller B205 are respectively provided with cylindrical boss structures, one ends of the restoring spring A203 and the restoring spring B207 respectively penetrate through bosses on the roller A204 and the roller B205, the other ends of the restoring spring A201 and the restoring spring B end cover 208 are respectively, the left end cover 201 and the restoring spring B end 202 are respectively, the left end cover 201 and the right end cover 202 are respectively, the right end cover 202 and the restoring spring is respectively in a compression state, the left end and the right end cover is always in a compression state, and the state and the compression state is always in the state, and the state is always in a compression state; the cross arm 214 is slidably arranged in the guide groove 210, the guide roller 211 passes through the cross arm 214 and is inserted into the guide groove 210, so that the cross arm 214 can move along the guide groove 210 and drive the roller A204 and the roller B205 to move along the linear chute 202 through the transmission rod 209;
the rope winding mechanism 22 comprises a pulley seat A216, a pulley A217, a pulley B218, a pulley seat B219, a pulley C220, a rope winding pulley support 221, a rope winding pulley 222, a rigidity adjusting motor support 223, a speed reducer 224, a rigidity adjusting motor 225 and a rigidity adjusting motor encoder 226, wherein the pulley seat A216 and the rope winding pulley support 221 are respectively provided with two, the pulley A217 is arranged on the two pulley seats A216, the pulley B218 and the pulley C220 are arranged on the pulley seat B219, the rope winding pulley 222 is arranged on the two rope winding pulley supports 221, and the pulley seat A216, the pulley seat B219 and the rope winding pulley support 221 are respectively arranged on the mounting plate 215; one end of the rope 213 passes through the cross arm 214, is connected with the rope pressing terminal 212, and the other end of the rope passes through the pulley A217, the pulley B218 and the pulley C220 and is wound on the rope winding pulley 222; the speed reducer 224, the rigidity adjusting motor 225 and the rigidity adjusting motor encoder 226 form a rigidity adjusting motor module, the rigidity adjusting motor module is arranged on the mounting plate 215 through the rigidity adjusting motor support 223, and an output shaft of the speed reducer 224 is connected with the rope winding pulley 222.
The power output assembly 3 further comprises an output end cover 301, an output end bearing 303, a check ring 305 for the output shaft, an output shaft sleeve 306 and an output end encoder 307, wherein the output end bearings 303 are arranged in two, the inner ring of the output end bearing 303 is matched with the output shaft 304, the outer ring of the output end bearing 303 is matched with the output end cover 301, and the check ring 305 for the output shaft and the output shaft sleeve 306 are used for axially fixing the output shaft 304; the input end cap 101 and the output end cap 301 are both connected to the housing 4.
The roller A204 and the roller B205 are of semi-cylindrical structures, the roller A204 and the roller B205 are symmetrically arranged relative to the joint rotation center O, the distance between the roller A204 and the roller B205 and the joint rotation center O is L, the plate spring A302 and the plate spring B308 are of U-shaped structures, the free end of the roller A204 stretches into the plate spring A302 of the U-shaped structure, the free end of the roller B205 stretches into the plate spring B308 of the U-shaped structure, and the lengths of the plate spring A302 and the plate spring B308 are L, wherein L is more than or equal to 0 and less than or equal to L.
The input end encoder 102 and the output end encoder 307 are hollow magneto-electric encoders, the driving shaft 104 passes through the middle of the input end encoder 102, the magnetic ring of the input end encoder 102 is arranged on the driving shaft 104, and the induction end of the input end encoder 102 is arranged on the input end cover 101; the output shaft 304 passes through the middle of the output end encoder 307, the magnetic ring of the output end encoder 307 is arranged on the output shaft 304, the sensing end of the output end encoder 307 is arranged on the output end cover 301, the output end encoder 307 can detect the rotation angle of the output shaft 304 relative to the output end cover 301, and then the rotation angle difference between the driving shaft 104 and the output shaft 304 can be obtained by subtracting the reading of the joint input end encoder 102.
Leaf springs A302 and B308 are made of high-performance spring steel materials, rollers A204 and B205 are made of high-performance alloy steel materials, and ropes 213 are made of Kevlar ropes or high-force Ma Sheng.
The contact surfaces of the rollers A204 and B205 and the linear chute 202, the contact surfaces of the guide groove 210 and the guide roller 211 and the cross arm 214, the relative rotation surfaces of the transmission rod 209 and the cross arm 214, the rollers A204 and B205 and the like are coated with molybdenum disulfide lubrication spray.
The power input assembly 1 of the rigidity-variable joint is an input end of external power, the external power is transmitted to the rigidity-variable driving assembly 2, the rigidity-variable driving assembly 2 serves as a rigidity-variable executing component, rigid motion is converted into flexible motion to be output to the power output assembly 3, the power output assembly 3 transmits the power to external load, and a certain force and motion output function is achieved.
The compact integrated variable stiffness joint based on plate spring deformation has the characteristics of miniaturization, large bearing, quick response, repeatable variable stiffness and self-sensing, and meets the application requirements of a novel intelligent robot.
The compact integrated joint meets the requirements of high bearing, rapid large-scale rigidity adjustment, intelligent self-perception and the like.
A working method of a compact integrated variable stiffness joint based on plate spring deformation specifically comprises the following steps:
(1) Variable stiffness adjustment
The rigidity adjusting motor 225 is electrified to drive the output shaft of the speed reducer 224 to rotate, the rope 213 is wound by the rope winding pulley 222, and the rope 213 pulls the cross arm 214 to slide along the guide groove 210, so that the roller A204 and the roller B205 slide in the linear chute 202; when the rigidity adjusting motor 225 is reversed, the roller A204 and the roller B205 move in opposite directions under the action of the return spring A203 and the return spring B207, so that the reversible adjustment of the distance l between the roller and the rotation center O is realized, the change of the position of the roller A204 relative to the plate spring A302 and the change of the position of the roller B205 relative to the plate spring B308 are realized, and the active rigidity changing function is realized; when l=0, the squeezing action of the rotation of the rollers a204, B205 around the rotation center O on the leaf springs a302, B308 is 0, and the joint rigidity to external characterization is 0; when l=l, the rollers a204, B205 are ideally completely locked with the leaf springs a302, B308, theoretically achieving a completely rigid transmission;
(2) Articulation of joints
After the relative positions of the roller A204 and the roller B205 are adjusted, when the driving shaft 104 of the joint rotates, the whole variable rigidity driving assembly 22 rotates along with the rotation, the roller A204 and the roller B205 in the variable rigidity module generate extrusion action on the plate spring A302 and the plate spring B308, so that torque transmission is realized, and the relative positions of the roller A204 and the roller B205 can be adjusted in real time according to instructions in the process of joint movement so as to change the rigidity of the joint, thereby adapting to complex and changeable mechanical environments;
the input end movement state and the output end movement state are monitored through the input end encoder 102 and the output end encoder 307, the torque transmitted by the joint is obtained through the strain gauge group 107 stuck on the driving shaft 104, the data acquisition is realized through the means of operational amplification, filtering and the like after the single relation between the strain and the torque is established, the output quantity of the rigidity adjusting motor 225 can be reflected by the rigidity adjusting motor encoder 226 in real time, the monitoring quantity of the encoder reflects the position and the force state of the joint in real time, and the feedback control of the rigidity and the movement of the joint can be realized.
The inventive embodiments of the present invention disclosed above are merely intended to help illustrate the present invention. The examples are not intended to be exhaustive or to limit the invention to the precise form disclosed. Many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention.
Claims (8)
1. A compact integrated variable stiffness joint based on leaf spring deformation is characterized in that: the variable rigidity driving assembly comprises a power input assembly (1), a variable rigidity driving assembly (2) and a power output assembly (3) which are sequentially arranged in a shell (4) from top to bottom, wherein the power input assembly (1) is connected with the variable rigidity driving assembly (2), the variable rigidity driving assembly (2) is connected with the power output assembly (3), the power input assembly (1) is an external power input end, the power input assembly (1) is used for transmitting external power to the variable rigidity driving assembly (2), the power input assembly (1) comprises a driving shaft (104), the variable rigidity driving assembly (2) comprises a mounting plate (215), a roller A (204) and a roller B (205), the power output assembly (3) comprises an output shaft (304), a plate spring A (302) and a plate spring B (308), the plate spring A (302) and the plate spring B (308) are symmetrically arranged on the output shaft (304), the roller A (204) and the roller B (205) are respectively matched with the plate spring A (302) and the plate spring B (308), the driving shaft (104) in the power input assembly (1) is connected with the mounting plate (215) in a rotating mode, the whole variable rigidity driving assembly (2) rotates along with the rotation, the roller A (204) and the roller B (205) rotate to squeeze the plate spring A (302) and the plate spring B (308), rigid motion is converted into flexible motion, the flexible motion is output to an output shaft of the power output assembly (3), and the output shaft (304) transmits power to an external load;
the driving shaft (104) extends out of the upper end of the shell, the output shaft (304) extends out of the lower end of the shell, the variable rigidity driving assembly (2) further comprises a rope winding mechanism (22) and a rope pulling mechanism (21), the driving shaft (104) is fixedly connected with the upper end face of the mounting plate (215), the rope winding mechanism (22) and the rope pulling mechanism (21) are respectively arranged on the upper end face and the lower end face of the mounting plate (215), the rope pulling mechanism (21) is respectively hinged with a roller A (204) and a roller B (205), the free end of the roller A (204) is matched with a plate spring A (302), the free end of the roller B (205) is matched with a plate spring B (308), and the plate spring A (302), the plate spring B (308), the roller A (204) and the roller B (205) jointly form a variable rigidity module;
the rope winding mechanism (22) drives the rope pulling mechanism (21) to move through the rope (213), so that the distance between the roller A (204) and the roller B (205) is adjusted, the driving shaft (104) rotates to drive the roller A (204) and the roller B (205) which are fixed on the mounting plate (215) to rotate around the joint rotation center, and accordingly the roller A (204) and the roller B (205) respectively squeeze the corresponding plate spring A (302) and the plate spring B (308) to move, and the plate spring A (302) and the plate spring B (308) move to drive the output shaft (304) to move;
the rope pulling mechanism (21) comprises a return spring left end cover (201), a linear sliding groove (202), a return spring A (203), a supporting seat (206), a return spring B (207), a return spring right end cover (208), transmission rods (209), guide grooves (210), rope pressing terminals (212), ropes (213) and cross arms (214), wherein the supporting seat (206) and the guide grooves (210) are all arranged on a mounting plate (215), the supporting seat (206) is arranged at the middle position of the mounting plate (215), the guide grooves (210) are arranged on one side of the supporting seat (206), the linear sliding groove (202) is arranged on the supporting seat (206), the return spring A (203) and the return spring B (207) are arranged in the linear sliding groove (202), one ends of the transmission rods (209) are hinged with two ends of the cross arms (214) respectively, the other ends of the two transmission rods (209) are hinged with a roller A (204) and a roller B (205) respectively, a cylindrical boss (204) and a roller B (205) are arranged on the supporting seat (205) respectively, the return spring A (203) and the return spring B (207) penetrate through one end of the roller B (204) respectively, the other ends of the two return springs are respectively positioned in a return spring left end cover (201) and a return spring right end cover (208), the return spring left end cover (201) and the return spring right end are respectively arranged at the left side and the right side of the linear chute (202), and the return spring A (203) and the return spring B (207) are both in a compression state; the cross arm (214) is slidably arranged in the guide groove (210), and the guide roller (211) penetrates through the cross arm (214) and is inserted into the guide groove (210), so that the cross arm (214) can move along the guide groove (210) and drive the roller A (204) and the roller B (205) to move along the linear chute (202) through the transmission rod (209);
the rope winding mechanism (22) comprises a pulley seat A (216), a pulley A (217), a pulley B (218), a pulley seat B (219), a pulley C (220), a rope winding pulley support (221), a rope winding pulley (222), a rigidity adjusting motor support (223), a speed reducer (224), a rigidity adjusting motor (225) and a rigidity adjusting motor encoder (226), wherein the pulley seat A (216) and the rope winding pulley support (221) are arranged in two, the pulley A (217) is arranged on the two pulley seats A (216), the pulley B (218) and the pulley C (220) are arranged on the pulley seat B (219), the rope winding pulley (222) is arranged on the two rope winding pulley supports (221), and the pulley seat A (216), the pulley seat B (219) and the rope winding pulley support (221) are arranged on a mounting plate (215); one end of the rope (213) passes through the cross arm (214) and is connected with the rope pressing terminal (212), and the other end of the rope is wound on the rope winding pulley (222) after bypassing the pulley A (217), the pulley B (218) and the pulley C (220); the speed reducer (224), the rigidity adjusting motor (225) and the rigidity adjusting motor encoder (226) form a rigidity adjusting motor module, the rigidity adjusting motor module is arranged on the mounting plate (215) through the rigidity adjusting motor support (223), and an output shaft of the speed reducer (224) is connected with the rope winding pulley (222).
2. The compact integrated variable stiffness joint based on leaf spring deflection of claim 1, wherein: the power input assembly (1) further comprises an input end cover (101), an input end encoder (102), an input end bearing (103), a driving shaft sleeve (105), a driving shaft retainer ring (106) and a strain gauge group (107), wherein the driving shaft (104) is driven to rotate by an external device and is an input end of external power, the input end encoder (102) can measure the angular displacement of the driving shaft (104) to realize real-time monitoring of the state of the driving end, the input end bearing (103) is provided with two, the inner ring of the input end bearing (103) is matched with the driving shaft (104), the outer ring of the input end bearing (103) is matched with the input end cover (101), the driving shaft sleeve (105) and the driving shaft retainer ring (106) are used for axially fixing the driving shaft (104), and the strain gauge group (107) comprises a plurality of strain gauges which are attached to the driving shaft (104).
3. The compact integrated variable stiffness joint based on leaf spring deformation of claim 2, wherein: the strain gauge group (107) forms a self-made stress strain type torque sensor, and the torque transmitted by the joint can be reflected in real time by measuring the deformation of the specific position of the driving shaft (104), so that the stress state of the joint can be monitored.
4. The compact integrated variable stiffness joint based on leaf spring deformation of claim 2, wherein: the power output assembly (3) further comprises an output end cover (301), an output end bearing (303), an output shaft retainer ring (305), an output shaft sleeve (306) and an output end encoder (307), wherein the output end bearing (303) is arranged in two, the inner ring of the output end bearing (303) is matched with the output shaft (304), the outer ring of the output end bearing (303) is matched with the output end cover (301), and the output shaft retainer ring (305) and the output shaft sleeve (306) are used for axially fixing the output shaft (304).
5. The compact integrated variable stiffness joint based on leaf spring deflection of claim 1, wherein: the roller A (204) and the roller B (205) are of semi-cylindrical structures, the roller A (204) and the roller B (205) are symmetrically arranged relative to the joint rotation center O, the distance between the roller A (204) and the roller B (205) and the joint rotation center O is L, the plate spring A (302) and the plate spring B (308) are of U-shaped structures, the free end of the roller A (204) stretches into the plate spring A (302) of the U-shaped structure, the free end of the roller B (205) stretches into the plate spring B (308) of the U-shaped structure, and the lengths of the plate spring A (302) and the plate spring B (308) are L, wherein L is more than or equal to 0 and less than or equal to L.
6. The compact integrated variable stiffness joint based on leaf spring deflection of claim 4, wherein: the input end encoder (102) and the output end encoder (307) are hollow magneto-electric encoders, the driving shaft (104) passes through the middle of the input end encoder (102), a magnetic ring of the input end encoder (102) is arranged on the driving shaft (104), and an induction end of the input end encoder (102) is arranged on the input end cover (101); the output shaft (304) passes through the middle of the output end encoder (307), a magnetic ring of the output end encoder (307) is arranged on the output shaft (304), an induction end of the output end encoder (307) is arranged on the output end cover (301), the output end encoder (307) can detect the rotation angle of the output shaft (304) relative to the output end cover (301), and then the rotation angle difference between the driving shaft (104) and the output shaft (304) can be obtained by subtracting the reading of the joint input end encoder (102).
7. The compact integrated variable stiffness joint based on leaf spring deflection of claim 4, wherein: the input end cover (101) and the output end cover (301) are connected with the shell (4).
8. The method of operation of a compact integrated variable stiffness joint based on leaf spring deformation of claim 2, 3, 4, 6 or 7, characterized by: the method specifically comprises the following steps:
(1) Variable stiffness adjustment
The rigidity adjusting motor (225) is electrified to drive the output shaft of the speed reducer (224) to rotate, the rope winding pulley (222) winds the rope (213), and the rope (213) pulls the cross arm (214) to slide along the guide groove (210) so that the roller A (204) and the roller B (205) slide in the linear chute (202); when the rigidity adjusting motor (225) is reversely rotated, the roller A (204) and the roller B (205) move in opposite directions under the action of the return spring A (203) and the return spring B (207), so that the reversible adjustment of the distance l between the roller and the rotation center O is realized, the change of the position of the roller A (204) relative to the plate spring A (302) and the change of the position of the roller B (205) relative to the plate spring B (308) are realized, and the active rigidity changing function is realized; when l=0, the squeezing action of the rotation of the roller a (204) and the roller B (205) around the rotation center O on the plate spring a (302) and the plate spring B (308) is 0, and the joint rigidity characterized by the outside is 0; when l=l, the roller a (204), the roller B (205) are completely locked with the plate spring a (302), the plate spring B (308) in ideal state, and a completely rigid transmission is theoretically realized;
(2) Articulation of joints
After the relative positions of the roller A (204) and the roller B (205) are adjusted, when the driving shaft (104) of the joint rotates, the variable rigidity driving assembly (2) integrally rotates along with the rotation, the roller A (204) and the roller B (205) in the variable rigidity module generate extrusion action on the leaf spring A (302) and the leaf spring B (308), so that torque transmission is realized, and the relative positions of the roller A (204) and the roller B (205) can be adjusted in real time according to instructions in the process of joint movement so as to change the rigidity of the joint, thereby adapting to complex and changeable mechanical environments;
the input end movement state and the output end movement state are monitored through the input end encoder (102) and the output end encoder (307), torque transmitted by a joint is obtained through a strain gauge group (107) stuck on a driving shaft (104), the output quantity of a rigidity adjusting motor (225) can be reflected in real time by a rigidity adjusting motor encoder (226), the monitoring quantity of the encoders reflects the position and the force state of the joint in real time, and the feedback control of the joint rigidity and the joint movement can be realized.
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| CN117944093B (en) * | 2024-03-25 | 2024-09-20 | 中国科学院长春光学精密机械与物理研究所 | Active rigidity-variable modularized base |
| CN117944094B (en) * | 2024-03-25 | 2024-09-13 | 中国科学院长春光学精密机械与物理研究所 | Multi-degree-of-freedom combined time-varying rigidity base system |
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