CN115741771B - Unidirectional compaction bilateral friction variable-rigidity compliant joint and working method - Google Patents
Unidirectional compaction bilateral friction variable-rigidity compliant joint and working method Download PDFInfo
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- CN115741771B CN115741771B CN202211434700.2A CN202211434700A CN115741771B CN 115741771 B CN115741771 B CN 115741771B CN 202211434700 A CN202211434700 A CN 202211434700A CN 115741771 B CN115741771 B CN 115741771B
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- 238000007906 compression Methods 0.000 claims abstract description 83
- 230000005540 biological transmission Effects 0.000 claims abstract description 67
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Abstract
The invention discloses a unidirectional compaction bilateral friction variable stiffness compliant joint and a working method thereof, which are applicable to the technical field of robot control. The mechanical arm comprises a power source arranged at the end part of a mechanical arm I, wherein the power source is connected with a friction variable stiffness module through a support shaft, a compression ring is arranged between the support shaft and the friction variable stiffness module, and the friction variable stiffness module is connected with the end part of a mechanical arm II through a countershaft sleeved on the support shaft; the power source comprises a transmission motor arranged on the mechanical arm I through a motor mounting frame, an output shaft of the transmission motor is connected with a main gear, the main gear is meshed with a driven gear, the axle center of the driven gear is connected with a support shaft, and the power of the transmission motor is transmitted to the support shaft connected with the driven gear; the position adjusting motor is sequentially connected with a servo driver, a position controller and an expert knowledge base through wires. The structure is simple, the joint has overload protection capability, and the overload protection capability of the joint is ensured through friction transmission.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a unidirectional compaction bilateral friction variable-rigidity compliant joint and a working method.
Background
With the continuous development of robot technology, the application range of robots is wider and wider, and along with the richer scenes of robot man-machine interaction, a robot system which can perform safe man-machine interaction, is friendly to the environment and does not harm to the external environment is urgently needed. The rigidity-variable flexible joint can effectively reduce the damage of impact to human bodies and fully ensure the safety of human-computer interaction because the flexible element is contained in the rigidity-variable flexible joint, so the rigidity-variable flexible joint becomes a research hot spot in the field of human-computer interaction robots.
The current robot variable stiffness compliant joint is mainly divided into from the structural principle: equilibrium position regulation, antagonism, variable structure, and mechanical. For example, a variable stiffness flexible rotary joint (CN 201610538322.0) in chinese patent proposes that the variable stiffness output of the joint is realized by changing the effective deformation pivot of the flexible rod, which is a typical variable structural formula, and is limited by the structural strength of the flexible rod, and the flexible rod is easy to be subjected to fatigue deformation and damage under the action of external load, and in addition, the flexible rod can be subjected to bending-torsion coupling deformation in the variable stiffness transmission process, so that the output stiffness is nonlinear and difficult to control; in another example, the Chinese patent provides a variable stiffness flexible joint system based on an electromagnetic buckling beam structure and a control method (CN 201811323942.8), which realize variable stiffness of an output mechanism through the electromagnetic buckling beam structure, and the strength of the buckling beam structure is limited, fatigue damage is easy to occur to the frequently deformed lower beam structure, and the device has no overload protection capability, so that the application scene is limited.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention aims to provide a unidirectional compaction bilateral friction variable stiffness compliant joint and a working method thereof, which overcome the problems of complex variable stiffness principle and poor joint overload protection capability in the prior art, and ensure the joint overload protection capability through friction transmission in the design process.
In order to achieve the purpose, the invention provides a unidirectional compaction bilateral friction variable stiffness compliant joint, which is characterized in that: the mechanical arm comprises a power source arranged at the end part of a mechanical arm I, wherein the power source is connected with a friction variable stiffness module through a support shaft, a compression ring is arranged between the support shaft and the friction variable stiffness module, and the friction variable stiffness module is connected with the end part of a mechanical arm II through a countershaft sleeved on the support shaft;
the power source comprises a transmission motor arranged on the mechanical arm I through a motor mounting frame, an output shaft of the transmission motor is connected with a main gear, the main gear is meshed with a driven gear, the axle center of the driven gear is connected with a support shaft, and the power of the transmission motor is transmitted to the support shaft connected with the driven gear;
the support shaft is sequentially provided with a bearing I, a tubular auxiliary shaft and a bearing II, wherein the support shaft is connected with a mechanical arm I through the bearing I, the end part of the tubular auxiliary shaft is provided with a spline connected with a friction variable stiffness module, the tail part of the auxiliary shaft is provided with an inner hole matched with the outer ring of the bearing II, the outer ring of the bearing II is matched with the inner hole at the tail end of the auxiliary shaft, the auxiliary shaft is supported on the support shaft, a compression ring is sleeved at the front end of the auxiliary shaft, the end part of the mechanical arm II is sleeved at the rear end of the auxiliary shaft, the end part of the mechanical arm II is provided with a sleeve structure fixed with the auxiliary shaft, one side of the compression ring, which is close to the mechanical arm II, is provided with a disc surface, and a pushing structure is arranged between the disc surface and the mechanical arm II;
the friction stiffness-changing module comprises a friction disc group I and a friction disc group II, wherein a connecting disc and a spring disc are arranged between the friction disc group I and the friction disc group II, the friction disc group I comprises an outer friction disc I and an inner friction disc I which are matched, the friction disc group II comprises an inner friction disc II and an outer friction disc II which are matched, the arrangement sequence close to the side of the mechanical arm I is that the outer friction disc I, the inner friction disc I, the connecting disc, a rim II, the spring disc, the rim I, the inner friction disc II and the outer friction disc II are sequentially arranged, the inner friction disc I, the connecting disc, the rim II, the spring disc and the rim I are fixedly connected through a plurality of rivets, a plurality of flexible webs which are equivalent to spokes are arranged between the rivet fixing position and the supporting shaft, a plurality of groups of transmission pins are arranged on the connecting disc and are matched with a plurality of groups of transmission sleeves on the inner friction disc II, and the outer friction disc I is connected with the supporting shaft through keys and is axially fixed through shaft shoulders on the supporting shaft; the outer edges of the outer friction disk II and the outer friction disk I are provided with washers to wrap parts between the outer friction disk II and the outer friction disk I to form an axial space, the coupling disk is provided with spline grooves for being matched with splines on the auxiliary shaft, the outer ring of the spring disk and the flexible web of the spring disk are utilized to deform under the action of a compression ring, the flexible web in the middle of the spring disk is pressed against the inner friction disk I under the action of the compression ring, the support ring I and the support ring II are used as lever fulcrums, the flexible web in the middle of the spring disk and the outer ring of the spring disk are respectively positioned at two ends of a lever, and the outer ring of the spring disk is reversely deformed to press against the inner friction disk II, so that the inner friction disk I compresses the outer friction disk I and the inner friction disk II to compress the outer friction disk II;
the position adjusting motor is sequentially connected with a servo driver, a position controller and an expert knowledge base through wires.
Further, the tip of clamp ring and the flexible web contact of spring holder are equipped with the disc structure that is used for with II biography power connection of arm on the tail end of clamp ring, the disc structure is equipped with three guide slots of being connected with II biography power of arm, the directional guide slot level of drum of arm tip is provided with two guide arms and a transmission lead screw nut pair that can rotate thereby provides thrust and three guide slot position matches.
Further, the outer friction disc I and the outer friction disc II are fixed through a plurality of groups of bolts arranged on the outermost ring, and the sizes of the inner friction disc I, the connecting disc, the support ring II, the spring disc, the support ring I and the inner friction disc II are smaller than the positions fixed by the bolts.
Further, the end part of the transmission screw-nut pair is provided with a position adjusting motor for driving the transmission screw-nut pair to move, and the position limit of the compression ring, which is driven by the position adjusting motor and the transmission screw-nut pair to move towards the direction of the inner friction disc I, is reached to the connecting disc, so that the outer friction disc I and the inner friction disc I are tightly closed; the end of the auxiliary shaft is fixed with the coupling disc by means of splines.
Further, while the drive pin remains coupled to the drive sleeve, the inner friction disk II is axially movable relative to the coupling disk to compress the outer friction disk II.
Further, the axial widths of the support ring II and the support ring I meet the condition: under the action of the compression ring, the support ring I and the support ring II are used as lever fulcrums, the flexible webs of the outer ring of the spring disc and the spring disc are respectively deformed, so that the inner friction disc II generates pressure to compress the outer friction disc II after the outer ring of the spring disc is reversely deformed, the flexible webs of the spring disc are pressurized by the compression ring, so that the inner friction disc I is pressed to the outer friction disc I, the friction discs formed by the outer friction disc I and the inner friction disc I, and the friction discs formed by the inner friction disc II and the outer friction disc II realize synchronous thrust, and the thrust of the two groups of friction discs can be adjusted according to actual needs, and only one order of magnitude of thrust needs to be controlled.
Further, the transmission screw-nut pair is a movable screw-nut pair with a self-locking function, and the position of the compression ring can be locked after the position adjusting motor is stopped.
Further, the outer sides of the driven gear and the main gear are provided with a shell I which is fixed on the mechanical arm I through screws, the friction variable stiffness module, the compression ring and the mechanical arm II are provided with a shell II for protection, and the shell II is fixedly connected with the auxiliary shaft through screws.
Further, the expert knowledge base is used for converting the rotation rigidity expected value required by input into a position controller to control a position adjusting motor to drive the compression ring to move to a designated axial absolute position through a transmission screw-nut pair, so that the rotation rigidity relation of the mechanical arm II is changed.
An adjusting method for enabling unidirectional compaction bilateral friction to become rigidity compliant joints comprises the following steps:
calibrating the axial position of a compression ring: when the spring disc is defined to be undeformed, the contact position of the compression ring and the spring disc is a zero point of the compression ring, the compression ring is driven to axially move by the position adjusting motor and the transmission screw nut pair, the rotation angle of the position adjusting motor is measured by the absolute encoder, and the axial absolute position of the compression ring is obtained according to the conversion of the transmission screw nut pair lead and is calibrated;
calibrating the axial absolute position relation of the positive pressure between the outer friction disc I and the inner friction disc I and the positive pressure between the outer friction disc II and the inner friction disc II and the compression ring; respectively installing diaphragm type pressure sensors between an outer friction disk I and an inner friction disk I and between an outer friction disk II and an inner friction disk II, driving a compression ring to axially move through a position adjusting motor and a transmission screw nut pair, obtaining positive pressure between the outer friction disk I and the inner friction disk I and positive pressure between the outer friction disk II and the inner friction disk II by utilizing two groups of diaphragm type pressure sensors adhered to the outer friction disk I and the outer friction disk II, drawing a relation curve of the sum of the axial absolute position of the compression ring and the positive pressure between the outer friction disk I and the inner friction disk I and the positive pressure between the outer friction disk II and the inner friction disk II, intercepting a section with better linearization as a working section, and carrying out linear fitting based on a least square method, so as to obtain an analytic relation of the axial absolute position of the compression ring and the positive pressure between the outer friction disk I and the inner friction disk I and the sum of the positive pressure between the outer friction disk II and the inner friction disk II;
step three, calibrating the relation between the sum of positive pressure between the outer friction disc I and the inner friction disc I and positive pressure between the outer friction disc II and the inner friction disc II and the rotation rigidity of the mechanical arm II, and determining an expert knowledge base of the relation between the axial absolute position signal of the compression ring and the rotation rigidity of the mechanical arm II: according to the actual structural layout of a unidirectional compression bilateral friction variable stiffness compliant joint, an outer friction disc I, an inner friction disc I, an outer friction disc II, an inner friction disc II, a counter shaft and a finite element analysis model of a mechanical arm II are built in software ANSYS, fixed connection is arranged between the inner friction disc I and the inner friction disc II, fixed connection is arranged between the counter shaft and the mechanical arm II, the outer friction disc I and the outer friction disc II are defined as zero displacement constraint, a discrete point is selected by taking/N of a positive pressure change range in a working interval as a step length based on a working interval determined in the step II, N is the difference between the maximum value and the minimum value of positive pressure in the working interval, positive pressure of the inner friction disc I and the inner friction disc II is given, rotational stiffness of the mechanical arm II is obtained through statics analysis, a curve of the sum of positive pressure between the outer friction disc I and the inner friction disc II and the rotational stiffness of the mechanical arm II is drawn, curve fitting is further carried out on the basis of the minimum second method, the absolute relation between the axial absolute position of a tight ring and the positive pressure I and the inner friction disc I and the positive pressure and the absolute position of the mechanical arm II is determined by further combining the absolute relation of the axial relation of the dynamic ring with the dynamic stiffness of the dynamic ring II between the dynamic positioning of the inner friction disc II and the mechanical arm II;
step four, determining an expected value of the rotation rigidity of the mechanical arm II according to actual use requirements, controlling a position adjusting motor by a position controller through a servo driver according to an expert knowledge base, driving a compression ring to move to a designated position, starting a transmission motor, and rotating the mechanical arm II under the expected rotation rigidity:
a working method of a unidirectional compaction bilateral friction variable stiffness compliant joint comprises the following steps:
according to actual use requirements, an expected value of the rotational stiffness of the mechanical arm II is defined, a position controller controls a position adjusting motor through a servo driver according to an expert knowledge base of the recorded relation between the axial absolute position of the compression ring and the rotational stiffness of the mechanical arm II, the compression ring is driven to move to a designated position through a transmission screw-nut pair, a motor band-type brake is adjusted in the position, the end part of the compression ring extrudes a spring disc, a flexible spoke plate in the middle of the spring disc is pressed towards an inner friction disc I to be extruded, and under the action of the support ring I and the support ring II, the outer ring of the spring disc is reversely deformed to press towards the inner friction disc II, so that a set positive pressure is generated between an outer friction disc I and the inner friction disc I, and a set positive pressure is generated between the outer friction disc II and the inner friction disc II;
starting a transmission motor, transmitting power to a supporting shaft through a main gear and a driven gear, transmitting the power to an outer friction disc I through key transmission by the supporting shaft, fixedly connecting an inner friction disc I with a connecting disc through rivets, connecting an inner friction disc II with the connecting disc through matching of a transmission pin and a transmission sleeve, transmitting the power of the outer friction disc I to the connecting disc under the action of the combination of the outer friction disc II and the inner friction disc II of the outer friction disc I and the inner friction disc I, transmitting the power to a countershaft through a spline by the connecting disc, and further transmitting the power to a mechanical arm II fixedly connected with the countershaft, wherein the mechanical arm II rotates under expected rotation rigidity;
the outer friction disk I and the inner friction disk I, and the outer friction disk II and the inner friction disk II can rotate after friction force is generated under the action of positive pressure, and the larger the friction force is, the larger the transmission torque is.
The beneficial effects are that:
1) The variable stiffness output of the mechanical arm II is realized by adopting friction transmission, the variable stiffness principle is simple, and the overload protection capability of joints can be ensured; 2) The purpose of simultaneous friction transmission of the bilateral friction disc under single-side compression is realized by skillfully utilizing the deformation of the spring disc, and the power output capacity of the mechanical arm II under friction transmission is improved; 3) Can guarantee two sets of friction discs simultaneous transmission under the unilateral compresses tightly, the transmission capacity is stronger, compact structure, convenient to use.
Drawings
FIG. 1 is a schematic diagram of a unidirectional compaction bilateral friction variable stiffness compliant joint structure of the present invention;
FIG. 2 is an exploded view of the unidirectional compression bilateral friction variable stiffness compliant joint of the present invention;
FIG. 3 is an exploded view of the friction variable stiffness module of the present invention;
FIG. 4 is a schematic diagram of the coupling relationship between the mechanical arm II and the auxiliary shaft according to the invention;
FIG. 5 is a schematic illustration of the coupling relationship of the coupling disc and countershaft of the present invention;
FIG. 6 is a flow chart of the one-way compression bilateral friction variable stiffness compliant joint of the present invention;
FIG. 7 is a schematic view of an embodiment of a unidirectional compression bilateral friction variable stiffness compliant joint of the present invention.
In the figure: 1-driving motor, 2-shell I, 3-mechanical arm I, 4-supporting shaft, 5-shell II, 6-mechanical arm II, 7-motor mounting frame, 8-driven gear, 9-main gear, 10-friction rigidity changing module, 10-1-outer friction disk I, 10-2-outer friction disk II, 10-3-inner friction disk I, 10-4-inner friction disk II, 10-5-connecting disk, 10-6-spring disk, 10-7-supporting ring I, 10-8-supporting ring II, 10-9-rivet, 10-bolt, 10-11-driving pin, 10-12-driving sleeve, 10-13-gasket, 11-clamp ring, 12-auxiliary shaft, 13-driving screw nut pair, 14-position adjusting motor, 15-bearing I, 16-bearing II, 17-guide rod, 18-guide groove, 19-expert knowledge base, 20-servo driver and 21-position controller.
Detailed Description
The invention will be described in detail below with reference to the drawings and examples, but the practice of the invention is not limited thereto.
As shown in fig. 1 and 2, the unidirectional compaction bilateral friction variable stiffness compliant joint of the invention is characterized in that: the mechanical arm comprises a transmission motor 1, a shell I2, a mechanical arm I3, a supporting shaft 4, a shell II 5, a mechanical arm II 6, a motor mounting frame 7, a driven gear 8, a main gear 9, a friction variable stiffness module 10, a compression ring 11, a countershaft 12, a transmission screw nut pair 13, a position adjusting motor 14, a bearing I15, a bearing II 16, a guide rod 17 and a guide groove 18.
As shown in fig. 2, the transmission motor 1 is mounted on the mechanical arm i 3 through a motor mounting frame 7, a main gear 9 is fixed on an output shaft of the transmission motor 1 and is meshed with a driven gear 8, and the power of the transmission motor 1 is transmitted to a support shaft 4 connected with the driven gear 8; the shell I2 is fixed on the mechanical arm I3 through a screw, and the driven gear 8 and the main gear 9 are arranged between the shell I2 and the mechanical arm I3; the supporting shaft 4 is sequentially provided with a bearing I15 and a bearing II 16, the outer ring of the bearing I15 is arranged on the mechanical arm I3, and the outer ring of the bearing II 16 is arranged on the inner hole surface of the auxiliary shaft 12; the mechanical arm II 6 is sleeved on the auxiliary shaft 12 and fixedly connected with the auxiliary shaft 12 through a screw; the mechanical arm II 6 is provided with 2 groups of guide rods 17 and a position adjusting motor 14, and the transmission screw nut pair 13 is connected with an output shaft of the position adjusting motor 14 and transmits power to the compression ring 11; the compression ring 11 is also sleeved on the auxiliary shaft 12 and is positioned between the friction variable stiffness module 10 and the mechanical arm II 6, 2 groups of guide grooves 18 are formed in the compression ring 11 and are matched with 2 groups of guide rods 17 to limit the compression ring 11 to move along the axis of the auxiliary shaft 12; the housing ii 5 is likewise fixedly coupled to the auxiliary shaft 12 by means of screws.
As shown in FIG. 3, the friction variable stiffness module 10 comprises an outer friction disc I10-1, an outer friction disc II 10-2, an inner friction disc I10-3, an inner friction disc II 10-4, a connecting disc 10-5, a spring disc 10-6, a support ring I10-7, a support ring II 10-8, rivets 10-9, bolts 10-10, transmission pins 10-11, a transmission sleeve 10-12 and a gasket 10-13; the external friction disk I10-1 is matched with the support shaft 4 through key connection, and is axially fixed through a shaft shoulder on the support shaft 4; the gasket 10-13 is arranged between the outer friction disc II 10-2 and the outer friction disc I10-1 to form an axial space, and is fixedly connected through 6 groups of bolts, and the 6 groups of bolts are arranged on the outer friction disc II 10-2, the outer friction disc I10-1 and the gasket 10-13 in a central symmetry manner; an inner friction disc I10-3, a connecting disc 10-5, a support ring II 10-8, a spring disc 10-6, a support ring I10-7 and an inner friction disc II 10-4 are sequentially arranged between the outer friction disc II 10-2 and the outer friction disc I10-1; the end surfaces of the inner friction disc I10-3, the connecting disc 10-5, the rim II 10-8, the spring disc 10-6 and the rim I10-7 are contacted, the inner friction disc I10-3, the connecting disc 10-5, the rim II 10-8, the spring disc 10-6 and the rim I10-7 are fixedly connected through 6 groups of rivets 10-9, and the 6 groups of rivets 10-9 are arranged on the inner friction disc I10-3, the connecting disc 10-5, the rim II 10-8, the spring disc 10-6 and the rim I10-7 in a central symmetry manner; the connecting disc 10-5 is provided with 6 groups of transmission pins 10-11 which are matched with 6 groups of transmission sleeves 10-12 on the inner friction disc II 10-4 to realize the connection between the connecting disc 10-5 and the inner friction disc II 10-4; the coupling disc 10-5 is provided with spline grooves for engagement with splines on the layshaft 12.
Further, the initial installation position of the compression ring 11 is contacted with the flexible web of the spring disc 10-6, and the compression ring 11 is driven by the position adjusting motor 14 to move inwards in the direction of the friction disc I10-3 to the position limit of the coupling disc 10-5;
further, while the 6 sets of drive pins 10-11 remain coupled to the 6 sets of drive bushings 10-12, the inner friction disk II 10-4 is axially movable relative to the coupling disk 10-5 to compress the outer friction disk II 10-2;
furthermore, the axial widths of the support ring II 10-8 and the support ring I10-7 are required to be met, and under the action of the compression ring 11, the flexible radial plate of the spring disc 10-6 deforms to cause the outer ring of the spring disc 10-6 to reversely deform and then contact with the inner friction disc II 10-4, and pressure is generated to compress the outer friction disc II 10-2;
further, the transmission screw-nut pair 13 has a self-locking function, and the position adjusting motor 14 can lock the position of the compression ring 11 after being stopped;
as shown in fig. 4, the mechanical arm ii 6 is connected with the auxiliary shaft 12, the mechanical arm ii 6 is sleeved on the auxiliary shaft 12, the mechanical arm ii 6 and the auxiliary shaft 12 are coaxial, and the mechanical arm ii 6 and the auxiliary shaft 12 are fixedly connected through screws.
As shown in FIG. 5, in the coupling relationship between the coupling disc 10-5 and the auxiliary shaft 12, the coupling disc 10-5 is provided with spline grooves for spline engagement with the auxiliary shaft 12, and the coupling disc 10-5 is axially movable on the auxiliary shaft 12 to change the positive pressure between the outer friction disc I10-1 and the inner friction disc I10-3 and between the outer friction disc II 10-2 and the inner friction disc II 10-4, thereby changing the rotational stiffness of the mechanical arm II 6.
As shown in FIG. 6, the working method of the variable stiffness compliant joint based on unidirectional compaction bilateral friction comprises the following steps:
step one, calibrating the axial position of the compression ring 11;
when the spring disc 10-6 is defined to be undeformed, the contact position of the compression ring 11 and the spring disc 10-6 is a zero point of the compression ring 11, the compression ring 11 is driven to axially move by the position adjusting motor 14 and the transmission screw nut pair 13, the rotation angle of the position adjusting motor 14 is measured by using an absolute encoder, and the axial absolute position of the compression ring 11 is obtained and calibrated according to the lead conversion of the transmission screw nut pair 13;
step two, calibrating the positive pressure between the outer friction disc I10-1 and the inner friction disc I10-3, and the positive pressure between the outer friction disc II 10-2 and the inner friction disc II 10-4 and the axial absolute position relation of the compression ring 11
Respectively installing diaphragm type pressure sensors between an outer friction disc I10-1 and an inner friction disc I10-3 and between an outer friction disc II 10-2 and an inner friction disc II 10-4, driving a compression ring 11 to axially move through a position adjusting motor 14 and a transmission screw nut pair 13, obtaining positive pressure between the outer friction disc I10-1 and the inner friction disc I10-3, positive pressure between the outer friction disc II 10-2 and the inner friction disc II 10-4 by using the diaphragm type pressure sensors, drawing a relation curve of the sum of the axial absolute position of the compression ring 11 and the positive pressure between the outer friction disc I10-1 and the inner friction disc I10-3 and the positive pressure between the outer friction disc II 10-2 and the inner friction disc II 10-4, intercepting a section of the relation as a working interval, taking the linearization better, and carrying out linear fitting based on a least square method, and obtaining the analysis of the sum of the axial absolute position of the compression ring 11 and the positive pressure between the outer friction disc I10-1 and the inner friction disc I10-3 and the positive pressure between the outer friction disc II 10-2 and the inner friction disc II 10-4;
step three, calibrating the relation between the positive pressure between the outer friction disc I10-1 and the inner friction disc I10-3 and the relation between the sum of the positive pressures between the outer friction disc II 10-2 and the inner friction disc II 10-4 and the rotation stiffness of the mechanical arm II 6, and determining an expert knowledge base 19 of the relation between the axial absolute position signal of the compression ring 11 and the rotation stiffness of the mechanical arm II 6
According to the actual structural layout of the unidirectional compaction bilateral friction variable stiffness compliant joint, an outer friction disk I10-1, an inner friction disk I10-3, an outer friction disk II 10-2, an inner friction disk II 10-4, a countershaft 12 and a mechanical arm II 6 are constructed in an ANSYS, a fixed connection is arranged between the inner friction disk I10-3 and the inner friction disk II 10-4, a fixed connection is arranged between the countershaft 12 and the mechanical arm II 6, the outer friction disk I10-1 and the outer friction disk II 10-2 are defined as zero displacement constraint, based on a working interval determined in the step two, a discrete point is selected by taking 1/N of the variation range of the positive pressure in the working interval as a step length, wherein N is the difference value between the maximum value and the minimum value of the positive pressure in the working interval, giving positive pressure of the inner friction disc I10-3 and the inner friction disc II 10-4, obtaining the rotation rigidity of the mechanical arm II 6 through statics analysis, plotting a curve of the relationship between the positive pressure between the outer friction disc I10-1 and the inner friction disc I10-3 and the sum of the positive pressure between the outer friction disc II 10-2 and the inner friction disc II 10-4 and the rotation rigidity of the mechanical arm II 6, performing curve fitting based on a least square method, further combining the analysis relationship between the axial absolute position of the compression ring 11 and the positive pressure between the outer friction disc I10-1 and the inner friction disc I10-3 and the sum of the positive pressure between the outer friction disc II 10-2 and the inner friction disc II 10-4, mapping the relationship between the axial absolute position of the compression ring 11 and the rotation rigidity of the mechanical arm II 6, an expert knowledge base 19 for determining the relation between the axial absolute position of the clamp ring 11 and the rotational stiffness of the mechanical arm II 6;
and fourthly, determining an expected value of the rotation rigidity of the mechanical arm II 6 according to actual use requirements, and controlling the position adjusting motor 14 by the position controller 21 through the servo driver 20 according to the expert knowledge base 19 to drive the clamp ring 11 to move to a specified position.
As shown in the left graph of FIG. 7, the initial state compression ring 11 is not in contact with the spring disc 10-6, pressure is not applied to the spring disc 10-6, at the moment, no friction exists between the outer friction disc I10-1 and the inner friction disc I10-3, no friction exists between the outer friction disc II 10-2 and the inner friction disc II 10-4, the power of the transmission motor 1 cannot be transmitted to the mechanical arm II 6, according to actual use requirements, the expected value of the rotational stiffness of the mechanical arm II 6 is determined, according to the expert knowledge base 19 of the relation between the axial absolute position of the compression ring 11 and the rotational stiffness of the mechanical arm II 6 determined in the third step, the position controller 21 drives the position adjusting motor 14 through the servo driver 20, the compression ring 11 is driven to move to a specified position, at the moment, as shown in the right graph of FIG. 7, the flexible web of the spring disc 10-6 is compressed, then the inner friction disc I10-3 is compressed, the flexible web of the spring disc 10-6 is deformed, the outer ring of the spring disc 10-6 is reversely deformed, then the outer friction disc II 10-2 is compressed, the two-1 is compressed, the two-directional friction joint is generated between the outer friction disc I10-1 and the inner friction disc I-3, the two-4 is compressed, and the two-directional friction joint friction is started, and the two-side friction joint is started.
Claims (10)
1. A one-way compaction bilateral friction variable stiffness compliant joint is characterized in that: the mechanical arm comprises a power source arranged at the end part of a mechanical arm I (3), wherein the power source is connected with a friction variable stiffness module (10) through a support shaft (4), a compression ring (11) is arranged between the support shaft (4) and the friction variable stiffness module (10), and the friction variable stiffness module (10) is connected with the end part of a mechanical arm II (6) through a countershaft (12) sleeved on the support shaft (4);
the power source comprises a transmission motor (1) arranged on the mechanical arm I (3) through a motor mounting frame (7), an output shaft of the transmission motor (1) is connected with a main gear (9), the main gear (9) is meshed with a driven gear (8), the axle center of the driven gear (8) is connected with a support shaft (4), and the power of the transmission motor (1) is transmitted to the support shaft (4) connected with the driven gear (8);
the bearing I (15), the tubular auxiliary shaft (12) and the bearing II (16) are sequentially installed on the supporting shaft (4), the supporting shaft (4) is connected with the mechanical arm I (3) through the bearing I (15), a spline connected with the friction variable stiffness module (10) is arranged at the end part of the tubular auxiliary shaft (12), an inner hole matched with an outer ring of the bearing II (16) is formed in the tail part of the auxiliary shaft (12), the outer ring of the bearing II (16) is installed in a matched mode with the inner hole at the tail end of the auxiliary shaft (12), the supporting of the auxiliary shaft (12) on the supporting shaft (4) is achieved, the compression ring (11) is sleeved at the front end of the auxiliary shaft (12), the end part of the mechanical arm II (6) is sleeved on the rear end of the auxiliary shaft (12), a sleeve structure fixed with the auxiliary shaft (12) is arranged at the end part of the mechanical arm II (6), a disc surface is arranged on one side, close to the mechanical arm II (6), and a pushing structure is arranged between the disc surface and the mechanical arm II (6);
the friction stiffness-changing module (10) comprises a friction disc group I and a friction disc group II, a connecting disc (10-5) and a spring disc (10-6) are arranged between the friction disc group I and the friction disc group II, the friction disc group I comprises an outer friction disc I (10-1) and an inner friction disc I (10-3) which are matched, the friction disc group II comprises an inner friction disc II (10-4) and an outer friction disc II (10-2) which are matched, the arrangement sequence close to the mechanical arm I (3) side is that the outer friction disc I (10-1) and the inner friction disc I (10-3), the connecting disc (10-5), a rim II (10-8), the spring disc (10-6), the rim I (10-7), the inner friction disc I (10-3), the connecting disc (10-5), the rim II (10-8), the spring disc (10-6) and the rim I (10-7) are connected and fixed through a plurality of rivets (10-9), the spring disc II (10-6) is arranged between the connecting disc I (10-5) and the connecting disc (10-7) and the connecting disc (10-5) is provided with a plurality of groups of flexible pins (10-5), the outer friction disc I (10-1) is matched with the support shaft (4) through key connection and is axially fixed through a shaft shoulder on the support shaft (4); the outer friction disc II (10-2) and the outer edge of the outer friction disc I (10-1) are provided with washers (10-13) to wrap parts between the two to form an axial space, the connecting disc (10-5) is provided with spline grooves for being matched with splines on the auxiliary shaft (12), the outer ring of the spring disc (10-6) and the flexible web of the spring disc (10-6) deform under the action of a compression ring (11), the flexible web in the middle of the spring disc (10-6) presses against the inner friction disc I (10-3) under the action of the compression ring (11), the branch ring I (10-7) and the branch ring II (10-8) are used as lever fulcrums, the middle flexible web of the spring disc (10-6) and the outer ring of the spring disc (10-6) are respectively positioned at two ends of a lever, and the outer ring of the spring disc (10-6) is reversely deformed to press the inner friction disc II (10-4), so that the inner friction disc I (10-3) compresses the outer friction disc I (10-1) and the inner friction disc II (10-4) to compress the outer friction disc II (10-2);
the position adjusting motor (14) is sequentially connected with a servo driver (20), a position controller (21) and an expert knowledge base (19) through wires.
2. The unidirectional compaction bilateral friction variable stiffness compliant joint of claim 1, wherein: the end of the compression ring (11) is in contact with a flexible web of the spring disc (10-6), a disc structure used for being in force transmission connection with the mechanical arm II (6) is arranged on the tail end of the compression ring (11), three groups of guide grooves (18) in force transmission connection with the mechanical arm II (6) are arranged on the disc structure, two guide rods (17) and a transmission screw nut pair (13) capable of rotating to provide thrust are horizontally arranged on the cylinder-pointing guide groove (18) at the end of the mechanical arm II (6), and the positions of the three groups of guide grooves (18) are matched.
3. The unidirectional compaction bilateral friction variable stiffness compliant joint of claim 1, wherein: the outer friction disc I (10-1) and the outer friction disc II (10-2) are fixed through a plurality of groups of bolts (10-10) arranged on the outermost ring, and the sizes of the inner friction disc I (10-3), the connecting disc (10-5), the support ring II (10-8), the spring disc (10-6), the support ring I (10-7) and the inner friction disc II (10-4) are smaller than the fixed positions of the bolts (10-10).
4. The unidirectional compaction bilateral friction variable stiffness compliant joint of claim 2, wherein: the end part of the transmission screw-nut pair (13) is provided with a position adjusting motor (14) for driving the transmission screw-nut pair to move, and the position limit of the compression ring (11) which is driven by the position adjusting motor (14) and the transmission screw-nut pair (13) to move towards the direction of the inner friction disc I (10-3) is reached to the position of the connecting disc (10-5), so that the outer friction disc I (10-1) and the inner friction disc I (10-3) are tightly closed; the end of the auxiliary shaft (12) is fixed with the coupling disc (10-5) through a spline.
5. The unidirectional compaction bilateral friction variable stiffness compliant joint of claim 1, wherein: while the drive pin (10-11) is held in engagement with the drive sleeve (10-12), the inner friction disk (10-4) can be moved axially relative to the coupling disk (10-5) in order to press the outer friction disk (10-2).
6. The unidirectional compaction bilateral friction variable stiffness compliant joint of claim 1, wherein the axial widths of rim ii (10-8) and rim i (10-7) satisfy the condition: under the action of a compression ring (11), a rim I (10-7) and a rim II (10-8) are used as lever fulcrums, the outer ring of a spring disc (10-6) and flexible webs of the spring disc (10-6) are respectively deformed, so that the outer ring of the spring disc (10-6) is reversely deformed to generate pressure to the inner friction disc II (10-4) to compress the outer friction disc II (10-2), the flexible webs of the spring disc (10-6) are pressurized by the compression ring (11) so that the inner friction disc I (10-3) is pressed against the outer friction disc I (10-1), the friction disc formed by the outer friction disc I (10-1) and the inner friction disc I (10-3), and the friction disc formed by the inner friction disc II (10-4) and the outer friction disc II (10-2) can realize synchronous thrust, and the thrust of the two groups of friction discs can be adjusted according to actual needs only by controlling at one order of magnitude.
7. The unidirectional compaction bilateral friction variable stiffness compliant joint of claim 1, wherein: the transmission screw-nut pair (13) is a movable screw-nut pair (13) with a self-locking function, and the position of the compression ring (11) can be locked after the position adjusting motor (14) stops.
8. The unidirectional compaction bilateral friction variable stiffness compliant joint of claim 1, wherein: the outer sides of the driven gear (8) and the main gear (9) are provided with a shell I (2) fixed on the mechanical arm I (3) through screws, the friction variable stiffness module (10), the compression ring (11) and the outer side of the mechanical arm II (6) are provided with a shell II (5) for protection, and the shell II (5) is fixedly connected with the auxiliary shaft (12) through screws.
9. An adjustment method for the unidirectional compaction bilateral friction variable stiffness compliant joint by using the method disclosed in claim 1, which is characterized by comprising the following steps:
calibrating the axial position of a compression ring (11): when the spring disc (10-6) is undeformed, the contact position of the compression ring (11) and the spring disc (10-6) is defined as the zero point of the compression ring (11), the compression ring (11) is driven to axially move through the position adjusting motor (14) and the transmission screw nut pair (13), the rotation angle of the position adjusting motor (14) is measured by using the absolute encoder, and the axial absolute position of the compression ring (11) is obtained and calibrated according to the lead conversion of the transmission screw nut pair (13);
calibrating the axial absolute position relation of the positive pressure between the outer friction disc I (10-1) and the inner friction disc I (10-3), and the positive pressure between the outer friction disc II (10-2) and the inner friction disc II (10-4) and the compression ring (11); the method comprises the steps of respectively installing diaphragm type pressure sensors between an outer friction disc I (10-1) and an inner friction disc I (10-3) and between an outer friction disc II (10-2) and an inner friction disc II (10-4), driving a compression ring (11) to axially move through a position adjusting motor (14) and a transmission screw nut pair (13), obtaining positive pressure between the outer friction disc I (10-1) and the inner friction disc I (10-3) by using two groups of diaphragm type pressure sensors adhered to the outer friction disc I (10-1) and the outer friction disc II (10-2), drawing positive pressure between the axial absolute position of the compression ring (11) and the inner friction disc II (10-3) and a relation curve of the sum of the positive pressure between the axial absolute position of the outer friction ring (11) and the inner friction disc I (10-1) and the positive pressure between the outer friction disc II (10-2) and the inner friction disc II (10-4), wherein linearization is better performed as a working interval and based on a least square fit to obtain an absolute linear section to obtain positive pressure between the axial absolute position of the compression ring (11) and the positive pressure between the outer friction disc I (10-2) and the inner friction disc II (10-4) and an analytic relation between the axial absolute position of the outer friction disc II (10-1) and the positive pressure between the inner friction disc II (10-2) and the positive pressure;
step three, calibrating the relation between the positive pressure between the outer friction disc I (10-1) and the inner friction disc I (10-3) and the relation between the sum of the positive pressure between the outer friction disc II (10-2) and the inner friction disc II (10-4) and the rotation stiffness of the mechanical arm II (6), and determining an expert knowledge base (19) of the relation between the axial absolute position signal of the compression ring (11) and the rotation stiffness of the mechanical arm II (6): according to the actual structural layout of a unidirectional compaction bilateral friction variable stiffness compliant joint, an outer friction disc I (10-1), an inner friction disc I (10-3), an outer friction disc II (10-2), an inner friction disc II (10-4), a countershaft (12) and a finite element analysis model of a mechanical arm II (6) are constructed in software ANSYS, fixed connection is arranged between the inner friction disc I (10-3) and the inner friction disc II (10-4), fixed connection is arranged between the countershaft (12) and the mechanical arm II (6), the outer friction disc I (10-1) and the outer friction disc II (10-2) are defined as zero displacement constraint, a discrete point is selected by taking 1/N of a positive pressure change range in the working interval as a step length, N is a difference value between the maximum value and the minimum value of the positive pressure in the working interval, the positive pressure in the working interval is given, the rotational stiffness of the mechanical arm II (6) is obtained through mechanical analysis, a positive pressure between the outer friction disc I (10-3) and the inner friction disc II (10-4) is plotted on the basis of a small friction curve between the positive pressure I (10-1) and the inner friction disc II (10-3) and the mechanical arm II (10-4) which is plotted on the basis of a small friction curve between the positive pressure II and the inner friction disc II (10-2) which is plotted, further combining the analysis relation of the sum of the positive pressure between the axial absolute position of the compression ring (11) and the external friction disc I (10-1) and the internal friction disc I (10-3) and the positive pressure between the external friction disc II (10-2) and the internal friction disc II (10-4) determined in the second step, mapping the relation between the axial absolute position of the compression ring (11) and the rotational stiffness of the mechanical arm II (6), and determining an expert knowledge base (19) of the relation between the axial absolute position of the compression ring (11) and the rotational stiffness of the mechanical arm II (6);
and fourthly, determining an expected value of the rotation rigidity of the mechanical arm II (6) according to actual use requirements, controlling a position adjusting motor (14) by a position controller (21) through a servo driver (20) according to an expert knowledge base (19), driving a compression ring (11) to move to a designated position, starting a transmission motor (1), and rotating the mechanical arm II (6) under the expected rotation rigidity.
10. A working method of the unidirectional compaction bilateral friction variable stiffness compliant joint according to claim 9, which is characterized by comprising the following steps:
according to actual use requirements, an expected value of rotational rigidity of a mechanical arm II (6) is defined, according to an expert knowledge base (19) of the recorded relation between the axial absolute position of a compression ring (11) and the rotational rigidity of the mechanical arm II (6), a position controller (21) controls a position adjusting motor (14) through a servo driver (20), drives the compression ring (11) to move to a designated position through a transmission screw-nut pair (13), the position adjusting motor (14) band-type brake, a spring disc (10-6) is extruded at the end part of the compression ring (11), a flexible spoke plate in the middle of the spring disc (10-6) is extruded to an inner friction disc I (10-3), and under the action of a rim I (10-7) and a rim II (10-8), the outer ring of the spring disc (10-6) is reversely deformed and pressed to the inner friction disc II (10-4), so that set positive pressure is generated between the outer friction disc I (10-1) and the inner friction disc I (10-3), and set positive pressure is generated between the outer friction disc II (10-2) and the inner friction disc II (10-4);
starting a transmission motor (1), transmitting power to a support shaft (4) through a main gear (9) and a driven gear (8), transmitting power to an outer friction disc I (10-1) through key transmission by the support shaft (4), fixedly connecting an inner friction disc I (10-3) with a connecting disc (10-5) through a rivet (10-9), connecting an inner friction disc II (10-4) with the connecting disc (10-5) through matching of a transmission pin (10-11) and a transmission sleeve (10-12), transmitting power to the connecting disc I (10-5) through a spline under the action of the outer friction disc I (10-1) and the inner friction disc I (10-3) by combining an outer friction disc II (10-2) with the inner friction disc II (10-4), and transmitting power to the connecting disc (10-5) to a subsidiary shaft (12) through the spline and further transmitting power to a mechanical arm II (6) fixedly connected with the subsidiary shaft (12), wherein the mechanical arm II (6) rotates under expected rotation rigidity;
the robot arm II (6) can rotate after friction force is generated between the outer friction disc I (10-1) and the inner friction disc I (10-3), between the outer friction disc II (10-2) and the inner friction disc II (10-4) under the action of positive pressure, and the transmission torque is larger as the friction force is larger.
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