CN115556137A - Flexible joint of space manipulator based on left-right-handed screw-plate spring mechanism - Google Patents

Abstract

The invention provides a flexible joint of a space manipulator based on a left-right rotation lead screw-plate spring mechanism, which comprises a joint driving component, a rigidity adjusting component and a flexible joint output component, wherein the rigidity adjusting component is provided with a first end and a second end which are oppositely arranged, the first end of the rigidity adjusting component is fixedly connected with the joint driving component, the second end of the rigidity adjusting component is connected with the flexible joint output component, and the rigidity adjusting component is configured to adjust the rigidity value of the flexible joint of the manipulator. The invention can adjust the rigidity in real time, and has the advantages of large rigidity adjusting range, compact structure and small energy loss.

Description

Flexible joint of space manipulator based on left-right-handed screw-plate spring mechanism

Technical Field

The invention relates to the technical field of robots, in particular to a flexible joint of a space manipulator based on a left-right-handed screw-plate spring mechanism.

Background

In order to enable the precision of the tail end output position of the mechanical arm to be high, the traditional mechanical arm generally requires that a joint has a high rigidity characteristic. However, in the process, the mechanical arm is easy to generate larger output force and larger response speed, and great uncertainty and danger are brought to the conditions of human-computer interaction safety, unknown environmental adaptation and the like. In a space task, the mechanical arm needs to have strong adaptability and high safety, stability, efficiency and other characteristics, and the flexible mechanical arm has great application value in the special fields of aerospace, nuclear power plants and the like. However, the flexible mechanical arm has the characteristics of high redundant degree of freedom, strong coupling, nonlinearity and the like, and the system is extremely complex and has high design difficulty. Therefore, flexible joints with variable stiffness characteristics have been the focus of research.

Aiming at the complex scene with narrow space constraint and multi-index coupling, the output rigidity of the flexible joint can change along with the change of the load, the flexible joint is suitable for the field of space fine operation, the variable-rigidity flexible joint can reduce the impact force during contact collision, and the problems of high dynamic response, nonlinear contact collision, transient distributed acting force and the like in the butt joint process of a spacecraft can be effectively solved.

The flexible plate spring is used as a special flexible part, can generate different rigidity values when the effective working length is unchanged, and can also be used as a part for transmitting torque. And a plate spring is added between the input and the output of the joint, so that the output rigidity of the joint can be effectively changed, and the flexibility of the joint is improved. In order to meet the requirements of adjustable rigidity, accurate positioning and the like of the flexible joint, various rigidity-variable flexible joints are researched and developed at home and abroad. Chinese utility model patent like publication No. CN206561438U discloses a rigidity continuously adjustable's flexible joint of robot based on spring leaf, and this mechanism adds band pulley transmission group in lead screw motor and lead screw, and transmission efficiency is lower, and lead screw motor output shaft and lead screw bear radial pressure great, and the phenomenon of skidding easily appears, are difficult to realize the accurate adjustment of joint rigidity. Chinese patent publication No. CN104669261A discloses an adjusting method for synchronously adjusting displacement type variable stiffness joint driver and robot joint stiffness, the mechanism uses archimedes spiral disk to change the position of the plate spring fulcrum, when the fulcrum position needs to be changed, the moving transmission angle is small, and simultaneously the archimedes spiral disk can bear larger force.

Therefore, the flexible joint of the space manipulator based on the left-right rotation lead screw-plate spring mechanism is compact in structure, large in rigidity adjusting range and small in energy loss, and the rigidity can be adjusted in real time.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide a flexible joint of a space manipulator based on a left-right-handed screw-plate spring mechanism.

The invention provides a flexible joint of a space manipulator based on a left-right rotating lead screw-plate spring mechanism, which comprises a joint driving component, a rigidity adjusting component and a flexible joint output component, wherein the rigidity adjusting component is provided with a first end and a second end which are oppositely arranged, the first end of the rigidity adjusting component is fixedly connected with the joint driving component, the second end of the rigidity adjusting component is connected with the flexible joint output component, and the rigidity adjusting component is configured to adjust the rigidity value of the flexible joint of the manipulator.

Further, the joint driving component comprises a joint driver and an output flange plate, the joint driver is connected with the first side of the output flange plate, the second side of the output flange plate is connected with the first end of the rigidity adjusting component, and the joint driver is of a motor-harmonic reducer integrated structure.

Furthermore, the joint driving component further comprises a motor bottom connecting piece, wherein the motor bottom connecting piece comprises an upper end flange plate, an input shaft, a third rolling bearing, a first shaft end elastic retainer ring, a first gasket, a chassis shell and a joint input disk, the upper end flange plate is fixedly connected with the joint driver, one end of the chassis shell is connected with the joint input disk, the other end of the chassis shell is connected with the upper end flange plate, the third rolling bearing is arranged in the chassis shell, one end of the input shaft is sleeved in the third rolling bearing, the first shaft end elastic retainer ring is arranged between the first end of the third rolling bearing and the chassis shell, the first gasket is arranged between the second end of the third rolling bearing and the upper end flange plate, and the upper end flange plate is fixedly connected with the joint driver.

Further, the rigidity adjusting component comprises a rigidity changing mechanism and a screw rod mechanism, a moving part of the screw rod mechanism is arranged in the rigidity changing mechanism, and the moving part of the screw rod mechanism is matched with the rigidity changing mechanism.

Further, become rigidity mechanism including rigidity adjustment disk, first leaf spring, second leaf spring are located in the rigidity adjustment disk, the one end of first leaf spring, second leaf spring with rigidity adjustment disk fixed connection, the other end of first leaf spring, second leaf spring is unsettled, first leaf spring with the second leaf spring winds the central symmetry of rigidity adjustment disk sets up.

The screw mechanism comprises a screw motor, a left-right rotating screw, a first screw nut, a second screw nut, a first sliding block, a second sliding block, a sliding block moving guide rail, a first rolling bearing, a second rolling bearing, a first rigidity adjusting fulcrum component and a second rigidity adjusting fulcrum component, wherein the first rolling bearing and the second rolling bearing are fixedly arranged on the rigidity adjusting disk, two ends of the left-right rotating screw are respectively sleeved in the first rolling bearing and the second rolling bearing, the output end of the screw motor is connected with the left-right rotating screw, the left-right rotating screw is provided with a left-rotating thread section and a right-rotating thread section, the first screw nut is connected with the left-rotating thread section, the second screw nut is connected with the right-rotating thread section, the first sliding block is slidably arranged on the sliding block moving guide rail, the first sliding block is connected with the first screw nut, the first rigidity adjusting fulcrum component is slidably arranged on the sliding block moving guide rail, the second sliding block is connected with the second screw nut, and the second rigidity adjusting fulcrum component is connected with the first sliding block; the first stiffness adjustment fulcrum member is slidably connected to the first leaf spring, and the second stiffness adjustment fulcrum member is slidably connected to the second leaf spring.

Furthermore, the output end of the screw motor is connected with a first bevel gear, the end part of the left-handed screw close to the screw motor is connected with a second bevel gear, and the first bevel gear is meshed with the second bevel gear.

Further, the flexible joint output component comprises an output part, a joint output disc, an input/output connecting disc and an output shaft, wherein the input/output connecting disc is connected with the second end of the rigidity adjusting disc, the joint output disc is connected with the input/output connecting disc, and one end of the output shaft penetrates through the joint output disc and is positioned in the input/output connecting disc; one end of the output component is connected with the suspended ends of the first plate spring and the second plate spring respectively, and the other end of the output component is connected with the joint output disc respectively.

Furthermore, the flexible joint output component further comprises a second shaft end elastic retainer ring, a second gasket and a fourth rolling bearing, the fourth rolling bearing is arranged in the input and output connecting disc and sleeved on the output shaft, the second shaft end elastic retainer ring is arranged at one end of the fourth rolling bearing, and the second gasket is arranged between the second shaft end elastic washer and the fourth rolling bearing.

Furthermore, a compression spring is arranged between the rigidity adjusting disc and the joint output disc.

Compared with the prior art, the invention has the following beneficial effects:

according to the flexible joint of the space manipulator based on the left-right-handed screw rod-plate spring mechanism, the left-right-handed screw rod has self-locking performance, and when the integral fulcrum position adjusting mechanism is in a target position and the rigidity output reaches a target value, the rigidity is kept stable without depending on external force; the plate spring is used as a flexible body, so that the joint is flexible, the moment is transmitted, the joint vibration phenomenon is inhibited, the system stability is improved, and the structure compactness is improved.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a general schematic diagram of a flexible joint of a space manipulator based on a left-right screw-plate spring mechanism according to an embodiment of the invention;

FIG. 2 is a schematic diagram of a joint driving component of a flexible joint of a space manipulator based on a left-right screw-plate spring mechanism according to an embodiment of the invention;

FIG. 3 is a schematic diagram of a motor bottom connecting piece of a space manipulator flexible joint based on a left-right screw rod-plate spring mechanism according to an embodiment of the invention;

FIG. 4 is a schematic diagram of a stiffness adjustment component of a flexible joint of a space manipulator based on a left-right screw-plate spring mechanism according to an embodiment of the invention;

FIG. 5 is a schematic diagram of a variable stiffness mechanism of a flexible joint of a space manipulator based on a left-right screw-plate spring mechanism according to an embodiment of the invention;

FIG. 6 is a schematic view of a screw mechanism of a flexible joint of a space manipulator based on a left-right screw-plate spring mechanism according to an embodiment of the invention;

FIG. 7 is a schematic view of a fulcrum position adjusting mechanism of a flexible joint of a space manipulator based on a left-right screw rod-plate spring mechanism according to an embodiment of the invention;

FIG. 8 is a schematic diagram of a flexible joint output component of a flexible joint of a space manipulator based on a left-right screw-plate spring mechanism according to an embodiment of the invention;

FIG. 9 is a sectional view of the flexible joint output member of the flexible joint of the space manipulator based on the left-right screw-plate spring mechanism according to the embodiment of the invention;

FIG. 10 is a schematic diagram of a rigidity adjusting component and a variable rigidity mechanism of a flexible joint of a space manipulator based on a left-right screw-plate spring mechanism according to an embodiment of the invention;

fig. 11 is an assembly schematic diagram of an input/output connection disc and a rigidity adjusting disc of a flexible joint of a space manipulator based on a left-right screw-plate spring mechanism according to an embodiment of the invention.

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will aid those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any manner. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the concept of the invention. All falling within the scope of the present invention.

The invention provides a flexible joint of a space manipulator based on a left-right rotating lead screw-plate spring, which can realize large-range rigidity adjustment and real-time rigidity adjustment, and has the advantages of compact structure and small energy loss.

As shown in fig. 1, the flexible joint of the mechanical arm of the present invention includes a joint driving member 1, a stiffness adjusting member 2, and a flexible joint output member 3, wherein the joint driving member 1 is used for driving the joint to move, and the stiffness adjusting member 2 drives the stiffness adjusting fulcrum part to move through the rotation of the lead screw, so as to change the effective working length of the leaf spring and realize the change of the output stiffness of the whole joint. One embodiment of the present invention is as follows.

As shown in fig. 2, the joint driving member 1 comprises a joint driver 11, a motor bottom connecting piece 12 and an output flange 13; the joint driving member 1 is used to drive the whole joint to rotate around the axis, and the bottom of the joint driving member is used to connect the previous joint.

In this embodiment, the joint driver 11 is a motor-harmonic reducer integrated joint driver, and the output flange 13 is a harmonic reducer output flange.

As shown in fig. 3, the motor bottom connecting piece 12 is composed of a flange 12-1 at the upper end of the connecting piece, an input shaft 12-2, a third rolling bearing 12-3, a first shaft end elastic retainer ring 12-4, a first gasket 12-5, a chassis shell 12-6 and a joint input disc 12-7, wherein the outer ring of the third rolling bearing 12-3 is fixed, a gap exists between the inner ring and the input shaft 12-2, the upper end of the third rolling bearing 12-3 is abutted against a shaft shoulder of the input shaft 12-2, and the lower end of the third rolling bearing 12-3 is abutted against a boss of the chassis shell 12-6; the boss of the chassis shell 12-6 is fixedly connected with the joint input disc 12-7 through a threaded part; the flange 12-1 at the upper end of the connecting piece is fixedly connected with the bottom of the joint driver 11 through a threaded piece.

As shown in fig. 4, the rigidity adjusting member 2 includes a variable rigidity mechanism 21 and a lead screw mechanism 22.

As shown in FIG. 5, the variable stiffness mechanism is composed of a stiffness adjusting disk 21-1, a first plate spring 21-2A and a second plate spring 21-2B; the first plate spring 21-2A and the second plate spring 21-2B are arranged in the rigidity adjusting disc 21-1, one end of each of the first plate spring 21-2A and the second plate spring 21-2B is fixedly connected with the rigidity adjusting disc 21-1, and the other end of each of the first plate spring 21-2A and the second plate spring 21-2B is suspended. The first plate spring 21-2A and the second plate spring 21-2B are arranged in central symmetry around the rigidity adjusting disc 21-1.

The connecting parts of the first plate spring 21-2A, the second plate spring 21-2B and the rigidity adjusting disk 21-1 are in an I shape, the rigidity adjusting disk is provided with symmetrical I-shaped grooves, the first plate spring 21-2A, the second plate spring 21-2B and the rigidity adjusting disk 21-1 are provided with threaded holes, and the first plate spring 21-2A, the second plate spring 21-2B and the rigidity adjusting disk 21-1 are fixed through the threaded holes.

Two opposite sides of the side wall of the rigidity adjusting disc 21-1 are provided with holes for installing a screw mechanism 22.

As shown in FIG. 6, the screw mechanism 22 is composed of a screw motor 22-1, a first bevel gear 22-2A, a second bevel gear 22-2B, a first rolling bearing 22-3A, a second rolling bearing 22-3B, a sleeve 22-4, a first shaft end retainer 22-5A, a second shaft end retainer 22-5B, a left-right rotating screw 22-6, a first screw nut 22-7A, a second screw nut 22-7B, a first slider 22-8A, a second slider 22-8B, a slider moving guide rail 22-9, a slider moving platform 22-10, a first rigidity adjusting fulcrum component 22-11A and a second rigidity adjusting fulcrum component 22-11B. The rigidity adjusting disc 21-1 is installed on the output flange disc 13, the sliding block moving platform 22-10 is installed on the rigidity adjusting disc 21-1, the lead screw motor 22-1 is installed on the sliding block moving platform 22-10, a key groove is formed in an output shaft of the lead screw motor 22-1, the lead screw motor 22-1 transmits torque to the first bevel gear 22-2A through the key groove of the output shaft, and the first shaft end baffle ring 22-5A is installed on the lower side of the first bevel gear 22-2A; the second bevel gears 22-2B are arranged at the end parts of the left-right rotating screw rod 22-6, the first bevel gears 22-2A and the second bevel gears 22-2B are meshed with each other, the axes of the bevel gear sets are intersected, and the shaft intersection angle is 90 degrees. The first rolling bearing 22-3A and the second rolling bearing 22-3B which are installed in the opposite directions limit the axial movement of the left-handed and right-handed lead screw 22-6, the outer rings of the first rolling bearing 22-3A and the second rolling bearing 22-3B are fixed on the rigidity adjusting disc 21-1, and the inner ring rotates relative to the outer ring; the left-right screw 22-6 is arranged on the first rolling bearing 22-3A and the second rolling bearing 22-3B and is positioned at the central position of the sliding block moving platform 22-10.

The left-right-handed screw rod 22-6 comprises a left-handed polished rod, a left-handed thread section, a right-handed thread section and a right-handed polished rod, and the polished rod is used for being matched with the second bevel gear 22-2B, the first rolling bearing 22-3A and the second rolling bearing 22-3B; a first lead screw nut 22-7A and a second lead screw nut 22-7B are assembled on the left and right lead screw 22-6; the first lead screw nut 22-7A is connected with the first slider 22-8A through a threaded part, the second lead screw nut 22-7B is connected with the second slider 22-8B through a threaded part, the first slider 22-8A is fixedly connected with the first rigidity adjusting fulcrum part 22-11A through the threaded part, and the second slider 22-8B is fixedly connected with the second rigidity adjusting fulcrum part 22-11B through the threaded part. When the left-right rotating screw rod 22-6 rotates, the screw rod nut, the slide block and the rigidity adjusting fulcrum component form an integral fulcrum position adjusting mechanism and do reciprocating linear motion; the first screw nut 22-7A, the first slider 22-8A and the first rigidity adjusting fulcrum 22-11A form a first integral fulcrum position adjusting mechanism, the second screw nut 22-7B, the second slider 22-7B and the second rigidity adjusting fulcrum 22-7B form a second integral fulcrum position adjusting mechanism, and the first integral fulcrum position adjusting mechanism and the second integral fulcrum position adjusting mechanism are always kept in a symmetrical state. The rotation of the left-right lead screw 22-6 drives the first integral fulcrum position adjusting mechanism and the second integral fulcrum position adjusting mechanism to simultaneously approach or depart from the centre of gyration at the same speed.

The screw motor 22-1 can rotate in a positive and negative direction, namely, the left and right screw shafts 22-6 can be driven to rotate clockwise or anticlockwise, so that the two integral fulcrum position adjusting mechanisms are driven to move forwards and backwards. The screw motor 22-1 is a bidirectional servo stepper motor with a step angle of 1.8 °. The first rolling bearing 22-3A and the second rolling bearing 22-3B are angular contact ball bearings which are installed reversely and used for limiting the axial movement of the left-right screw rod 22-6.

The bottom of the rigidity adjusting disc 21-1 is hollow, space is provided for wiring of the lead screw motor 22-1, and the rigidity adjusting disc is used for reducing self weight; the bottom of the rigidity adjusting disc 21-1 is circumferentially provided with a plurality of threaded holes and bosses, and the rigidity adjusting disc 21-1 and the joint driving member 1 are fixed through threaded pieces.

The screw mechanism 22 of the present embodiment further includes a microswitch 22-12, which can be powered off in an emergency when a collision occurs, thereby preventing the collision of the entire fulcrum position adjusting mechanism under the condition that the screw motor 22-1 fails.

As shown in fig. 7, the notch of the first stiffness adjustment fulcrum 22-11A can be engaged with the first plate spring 21-2A, and the notch of the second stiffness adjustment fulcrum 22-11B can be engaged with the second plate spring 21-2B, so that the stiffness adjustment fulcrum can move relative to the plate spring.

As shown in fig. 8 and 9, the flexible joint output member 3 includes an output part 31, a joint output disc 32, an input-output connection disc 33, an output shaft 34, a second shaft end circlip 35, a second spacer 36, and a fourth rolling bearing 37; three grooves are circumferentially arranged at the top of the rigidity adjusting disc 21-1, the input and output connecting disc 33 is arranged in a herringbone mode and is installed at the top of the rigidity adjusting disc 21-1 through a threaded piece so as to keep radial fixing and axial fixing of a joint output part. The joint output disc 32, the input/output connecting disc 33, the output shaft 34, the second shaft end elastic retainer ring 35, the second gasket 36 and the fourth rolling bearing 37 are coaxially installed, the lower side of the fourth rolling bearing 37 is axially positioned by a shaft shoulder of the output shaft 34, the second shaft end elastic retainer ring 35 is installed on the upper side of the fourth rolling bearing to be axially fixed, and the second gasket 36 is added between the fourth rolling bearing 37 and the second shaft end elastic retainer ring 35 to avoid mutual friction between the fourth rolling bearing 37 and the second shaft end elastic retainer ring 35 and influence the rotary motion of the output shaft; the outer ring of the fourth rolling bearing 37 is fixed, a gap exists between the inner ring and the output shaft 34, and the output shaft 34 can freely rotate relative to the input and output connecting disc 33; the joint output disc 32 reserves an electromechanical connection interface that matches the mounting end load.

As shown in fig. 8 and 10, the output members 31 are provided in two, and the output members 31 are connected to the joint output disc 32 and are located inside the rigidity adjusting disc 21-1. The output member 31 is in the form of a dog-shaped member, i.e. formed by two parts which engage each other, the first output member 31-a comprising dog-shaped members 31-A1 and 31-A2 and the second output member 31-B comprising dog-shaped members 31-B1 and 31-B2.

The tail end of the first plate spring 21-2A is connected with the first output component 31-A, the tail end of the second plate spring 21-2B is connected with the second output component 31-B, the plate spring is occluded by a canine-shaped component, and the plate spring and the canine-shaped component are matched to transmit the moment to the flexible joint output component 3; the concave grooves of the first integral fulcrum position adjusting mechanism pass through both sides of the first plate spring 21-2A, the concave grooves of the second integral fulcrum position adjusting mechanism pass through both sides of the second plate spring 21-2B, and the two integral fulcrum position adjusting mechanisms move in a constant speed and reverse direction simultaneously along the plate spring direction.

As shown in fig. 11, in order to avoid the mutual friction between the joint output disc 32 and the stiffness adjusting disc 21-1 and influence the mutual rotation between the two, a compression spring 38 is added between the joint output disc 32 and the stiffness adjusting disc 21-1 for axially supporting the stiffness adjusting disc 21-1. The compression spring 38 may also be used to assist the canine output member 31 in circumferentially fixing the leaf spring position.

The input shaft 12-2 and the output shaft 33 can freely rotate independently of the flexible joints, and are used for independently testing one or more flexible joints when the integral mechanical arm is built, and also can be used for independently driving one or more flexible joints in a special scene.

In the embodiment, a joint driving motor drives a joint to rotate around a joint rotation center, the joint is connected with a rigidity adjusting disc, one end of a plate spring is fixed on the rigidity adjusting disc, and the other end of the plate spring is clamped on a canine output disc; in the process of joint rotation, the plate spring, the integral fulcrum position adjusting mechanism and the joint rotate integrally, so that the rotation of the output disc is driven; when the output end is loaded, the plate spring is subjected to effective flexible deformation from the position of the integral fulcrum position adjusting mechanism to the tail end part of the plate spring, so that the joint has the characteristic of flexibility; specifically, the degree of deformation of the plate spring when subjected to a load changes with the change of an external load, thereby realizing the flexibility of the overall joint.

The torque transmission path of the present embodiment is: the joint driving motor drives the harmonic reducer and the harmonic reducer output flange plate to rotate, the harmonic reducer output flange plate drives the rigidity adjusting plate to rotate, the rigidity adjusting plate transmits torque to the canine output component through the two symmetrically arranged plate springs, and the canine output component drives the output plate to rotate, so that input and output relative rotation is achieved, and torque transmission of the whole joint is completed.

The motion transmission path of the stiffness adjustment module of the embodiment is as follows: the screw motor rotates to drive the first bevel gear to rotate, the first bevel gear is meshed with the second bevel gear, the second bevel gear drives the left-handed screw to rotate, and the two integral fulcrum position adjusting mechanisms move at the same speed and in opposite directions when the left-handed screw and the right-handed screw rotate; under the drive of an external load, the plate spring is flexibly deformed, and the effective working length of the plate spring is the distance between the integral fulcrum position adjusting mechanism and the tail end of the plate spring.

The invention has the advantages that:

the left-right rotating screw rod has self-locking property, and when the integral fulcrum position adjusting mechanism reaches a target position and the rigidity output reaches a target value, the rigidity is kept stable without depending on external force;

the joint driving motor and the screw motor are mutually independent, and the position of the whole fulcrum position adjusting mechanism in the screw mechanism can be changed no matter whether the joint rotates or not, so that the rigidity value of the whole joint is changed;

the plate spring is used as a flexible body, so that the joint is flexible, the moment is transmitted, the joint vibration phenomenon is inhibited, the system stability is improved, and the structure compactness is improved;

a microswitch is arranged on the integral fulcrum position adjusting mechanism, and emergency power-off can be realized when collision occurs; the two integral fulcrum position adjusting mechanisms can be prevented from colliding under the condition that the screw motor driver fails, so that the safety of the whole joint is influenced;

the input and output connecting disc is of a herringbone structure, the cross rods in each direction of the input and output connecting disc are embedded in the corresponding concave grooves of the rigidity adjusting disc and are fixedly connected by the thread piece, so that the input and output connecting disc can be prevented from moving in any direction, and the structural stability of the whole variable-rigidity flexible joint is ensured;

the top of the output disc and the bottom of the joint driving mechanism are respectively provided with a rotating shaft which can freely rotate relatively independently of the flexible joints, so that the output disc can be used for independently testing each flexible joint when the whole mechanical arm is built in the later stage, and can also be used for independently driving one or more flexible joints in the whole mechanical arm in a special scene;

a compression spring is arranged between the rigidity adjusting disc and the joint output disc and is used for axially supporting the joint output disc so as to avoid sliding friction generated when the rigidity adjusting disc and the joint output disc rotate; the spring may also be used to assist the dog-type output disc in fixing the axial position of the leaf spring.

The foregoing description has described specific embodiments of the present invention. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims (10)

1. The space manipulator flexible joint based on the left-right rotation lead screw-plate spring mechanism is characterized by comprising a joint driving member, a rigidity adjusting member and a flexible joint output member, wherein the rigidity adjusting member is provided with a first end and a second end which are arranged oppositely, the first end of the rigidity adjusting member is fixedly connected with the joint driving member, the second end of the rigidity adjusting member is connected with the flexible joint output member, and the rigidity adjusting member is configured to adjust the rigidity value of the manipulator flexible joint.

2. The right-left screw-plate spring mechanism-based space manipulator flexible joint according to claim 1, wherein the joint driving member comprises a joint driver and an output flange plate, the joint driver is connected with a first side of the output flange plate, a second side of the output flange plate is connected with a first end of the rigidity adjusting member, and the joint driver is of a motor-harmonic reducer integrated structure.

3. The flexible joint of space manipulator based on the left-right rotating lead screw-plate spring mechanism as claimed in claim 2, wherein the joint driving component further comprises a motor bottom connecting piece, the motor bottom connecting piece comprises an upper end flange plate, an input shaft, a third rolling bearing, a first shaft end elastic retainer ring, a first gasket, a chassis shell and a joint input plate, the upper end flange plate is fixedly connected with the joint driver, one end of the chassis shell is connected with the joint input plate, the other end of the chassis shell is connected with the upper end flange plate, the third rolling bearing is arranged in the chassis shell, one end of the input shaft is sleeved in the third rolling bearing, the first shaft end elastic retainer ring is arranged between the first end of the third rolling bearing and the chassis shell, the first gasket is arranged between the second end of the third rolling bearing and the upper end flange plate, and the upper end flange plate is fixedly connected with the joint driver.

4. The space manipulator flexible joint based on the left-right screw-plate spring mechanism according to claim 1, wherein the rigidity adjusting member comprises a variable rigidity mechanism, a screw mechanism, a moving part of the screw mechanism is arranged in the variable rigidity mechanism, and the moving part of the screw mechanism is matched with the variable rigidity mechanism.

5. The space manipulator flexible joint based on the left-right rotation lead screw-plate spring mechanism according to claim 4, wherein the rigidity varying mechanism comprises a rigidity adjusting disc, a first plate spring and a second plate spring, the first plate spring and the second plate spring are arranged in the rigidity adjusting disc, one end of the first plate spring and one end of the second plate spring are fixedly connected with the rigidity adjusting disc, the other end of the first plate spring and the other end of the second plate spring are suspended, and the first plate spring and the second plate spring are symmetrically arranged around the center of the rigidity adjusting disc.

6. The space manipulator flexible joint based on the left-right rotating lead screw-plate spring mechanism is characterized in that the lead screw mechanism comprises a lead screw motor, a left-right rotating lead screw, a first lead screw nut, a second lead screw nut, a first slider, a second slider, a slider moving guide rail, a first rolling bearing, a second rolling bearing, a first rigidity adjusting fulcrum component and a second rigidity adjusting fulcrum component, wherein the first rolling bearing and the second rolling bearing are fixedly arranged on the rigidity adjusting disc, two ends of the left-right rotating lead screw are respectively sleeved in the first rolling bearing and the second rolling bearing, the output end of the lead screw motor is connected with the left-right rotating lead screw, the left-right rotating lead screw is provided with a left-rotating threaded section and a right-rotating threaded section, the first lead screw nut is connected with the left-rotating threaded section, the second lead screw nut is connected with the right-rotating threaded section, the first slider is slidably arranged on the slider moving guide rail, the first slider is connected with the first lead screw nut, the first rigidity adjusting fulcrum component is connected with the first slider, the second slider is slidably arranged on the slider moving guide rail, the second slider is connected with the second slider moving guide rail, and the second slider is connected with the second rigidity adjusting fulcrum component; the first stiffness adjustment fulcrum member is slidably connected to the first leaf spring, and the second stiffness adjustment fulcrum member is slidably connected to the second leaf spring.

7. The space manipulator flexible joint based on the left-right screw-plate spring mechanism as claimed in claim 6, wherein the output end of the screw motor is connected with a first bevel gear, the end of the left-right screw close to the screw motor is connected with a second bevel gear, and the first bevel gear is meshed with the second bevel gear.

8. The sinistral screw-leaf spring mechanism based space manipulator flexible joint of claim 7, wherein the flexible joint output member comprises an output member, a joint output disc, an input output connection disc, and an output shaft, the input output connection disc is connected to the second end of the stiffness adjustment disc, the joint output disc is connected to the input output connection disc, and one end of the output shaft passes through the joint output disc and is located within the input output connection disc; one end of the output component is connected with the suspended ends of the first plate spring and the second plate spring respectively, and the other end of the output component is connected with the joint output disc respectively.

9. The space manipulator flexible joint based on the left-right rotating lead screw-plate spring mechanism as claimed in claim 8, wherein the flexible joint output component further comprises a second shaft end elastic collar, a second gasket and a fourth rolling bearing, the fourth rolling bearing is arranged in the input and output connecting disc and sleeved on the output shaft, the second shaft end elastic collar is arranged at one end of the fourth rolling bearing, and the second gasket is arranged between the second shaft end elastic collar and the fourth rolling bearing.

10. The right-left screw-leaf spring mechanism-based space manipulator flexible joint as claimed in claim 9, wherein a compression spring is further arranged between the stiffness adjusting disc and the joint output disc.

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