CN203460186U - Elastic component capable of providing non-linear variable stiffness - Google Patents
Elastic component capable of providing non-linear variable stiffness Download PDFInfo
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- CN203460186U CN203460186U CN201320419295.7U CN201320419295U CN203460186U CN 203460186 U CN203460186 U CN 203460186U CN 201320419295 U CN201320419295 U CN 201320419295U CN 203460186 U CN203460186 U CN 203460186U
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Abstract
The utility model discloses an elastic component capable of providing non-linear variable stiffness. The elastic component comprises a housing, a clamping component connected with the housing and providing variable clamping force, and a clamped member, the clamping component is provided with an elastic member providing all or a part of clamping force, the clamped member is provided with a clamped surface enabling change of the clamped thickness, and the clamped member outputs non-linear change stiffness/force under the effect of the variable clamping force provided by the clamping component. The elastic component is advantaged by compact structure and reliable operation, can be applied in an occasion requiring non-linear stiffness, can provide fixed non-linear stiffness, can actively perform stiffness adjustment, and is easily arranged at the joint of a robot. Through the elasticity and the variable stiffness, the safety of contact between the robot and a person or an unknown environment and simulation of the variable stiffness of a person or animal limb are facilitated, the robot is made to display a variable stiffness closer to that of the person or animal in motion, motion energy efficiency of the robot is improved, and dynamic high speed motion is achieved.
Description
Technical field
The utility model relates to a kind of elastic parts that non-linear stiffness variable can be provided, belong to the adjustable elastic device technical field of rectilinear motion rigidity, can, for robot, especially can, for joint of robot, also can be applied to have with it the field of similar structures or specification requirement.
Background technology
External appearance characteristic and animal or human are similar in development, have highly intelligent, flexible movements, and the bio-robot that can adapt to complex environment is the mankind's dream always.A most noticeable aspect of bio-robot is its mobile technology: walking.With most of traditional comparing based on wheeled or caterpillar mobile robot, the feature of bio-robot is to have leg.Although wheeled or caterpillar mobile robot has and controls simple, efficiency high under usual conditions, for the poor environment of condition, legged robot has better adaptability, and still has very high efficiency.
Walking robot research relates to bionics, mechanics, electronic engineering, control theory, artificial intelligence, a plurality of ambits of sensor, is the cross discipline of a Multidisciplinary Integration.Research walking robot is explored the physiological mechanism of walking on the one hand by the walking of simulating human or animal, to as the design of walking auxiliary machinery robot system etc. offer help; On the other hand, the running machine robot system of design can be used as artificial limb and helps disabled people scholar's walking, or as exoskeleton system, strengthens the mankind's long-time walking and heavy burden ability.Therefore, walking robot research has important learning value and practical value, has become the research branch that robot field enlivens.
The existing most of high rigidity joint that adopts of robot that can stabilized walking, makes robot in gait processes, accurately follow the tracks of predefined joint angles track by accurate SERVO CONTROL, realizes stabilized walking.Zhe Lei robot is can not only amount efficiency low, and makes nature of robot gait, has gap with the real mankind or animal walking, is unfavorable for disclosing the intrinsic propesties of walking.Meanwhile, the height reflection inertia that the reductor of rigidity joint and high speed reducing ratio causes can not stably be walked robot fast, and cannot effectively utilize energy and easily damage.In the danger that wants really to make this class biped robot to be applied to mankind's true environment or the mankind can not to arrive, complex environment, must improve its walking energy efficiency and environmental suitability thereof.Passive dynamic walking robot is a kind of legged mobile robot of similar mankind's walking, only in the part free degree, applies driving, by passive joint, the energy consumption in gait processes is compensated, and can access high energy efficiency, natural gait, and control structure is simple.Facts have proved that ，Zhe class robot can obtain more easy to control, more high efficiency stabilized walking, and gait stability.In addition, by configuration, can provide the elastic parts of non-linear stiffness variable, change joint of robot rigidity, the change stiffness characteristics of the safety issue in the time of can solving machine person to person or circumstances not known contact and simulation human or animal limbs.
Because Robotics belongs to, have the high-end machinery that personalizes and require, therefore, the above-mentioned technical problem in robot architecture, is present in the field that has with it similar structures or specification requirement equally.
Summary of the invention
The purpose of this utility model is for above-mentioned the deficiencies in the prior art, a kind of elastic parts that non-linear stiffness variable more effectively can be provided is provided, it has non-linear rigidity, and can regulate on one's own initiative, can realize the storage/release of energy, contribute to solve high energy consumption and the poor problem of environmental suitability of existing robot; In addition, can also avoid the rigid collision of robot and circumstances not known, guarantee the security of machine person to person or circumstances not known contact and the change stiffness characteristics of simulation human or animal limbs, simultaneously, its volume is small and exquisite, compact conformation, easy for installation, reliable, can be for the occasion that volume and quality are had higher requirements.
The utility model is mainly achieved through the following technical solutions:
The elastic parts that non-linear stiffness variable can be provided, it mainly comprises:
Housing;
Clamp assemblies, is connected with housing, comprises at least one group of clamping limb group that chucking power is variable, wherein, described clamping limb group comprises at least one elastic clip gripping arm, in described elastic clip gripping arm, is provided with elastic component, and the elastic force of described elastic component forms all or part of of described chucking power;
Be held part, by clamping limb group described at least one group, clamped, and can under the state that is held the clamping of arm group, relative clamping limb group move, comprise that at least one is held face and a working face, the described face that is held is compressed by the contact of the clamping face of described elastic clip gripping arm, the described pressure being held between face and clamping face changes with the change that is held the movement position of part in clamping limb group, output rigidity/the power of described working face exporting change, the size of described output rigidity/power is with being held the change of the movement position of part in clamping limb group and non-linear change, described pressure and described power output be conllinear and not parallel not.
Be preferably, described in be held the thickness that part is held the position of arm group clamping and change with the change that is held the movement position of part in clamping limb group, described in the pressure that is held between face and clamping face with the change that is held the thickness of part, change.
Be preferably, the described face that is held is plane or curved surface, the thickness that is held part described in making increases continuously or reduces continuously, and the slope of the consecutive points on the bus of described curved surface is identical or different, is held the even thickness of part or inhomogeneous continuous increase/reduce continuously described in making.
Be preferably, the bus of described curved surface is the arbitrary part in straight line, circular arc, elliptic arc, hyperbola and parabola, or appoints the combination of several parts.The wire of described curved surface is straight line or curve, and, when bus is different with wire, be straight line.
Be preferably, described in to be held the thickness of part one end maximum, the thickness of the other end is minimum; Or, described in to be held the medium position thickness of part minimum, end positions thickness is maximum.
Be preferably, above-mentioned any can provide the elastic parts of non-linear stiffness variable, also comprise the first guider, described the first guider comprises the first guide groove and the first guide rail coordinating with it, the bearing of trend of described the first guide rail and the first guide groove is with to be held the direction of motion of part in clamping limb group parallel, assurance is held part stable motion in clamping limb group, and the concrete set-up mode of described the first guide rail and the first guide groove comprises:
Described the first guide rail is located at housing, and described the first guide groove is located at and is held part; Or,
Described the first guide rail is located at and is held part, and described the first guide groove is located at housing.。
Be preferably, above-mentioned any can provide the elastic parts of non-linear stiffness variable, the first pedestal that described elastic clip gripping arm comprises cylindrically coiled spring and is located at cylindrically coiled spring one end, described cylindrically coiled spring forms described elastic component, and described clamping face is located at the first pedestal.
Be preferably, described clamp assemblies also comprises the second guider and the second pedestal, described the second pedestal is located at cylindrically coiled spring away from one end of the first pedestal, the bearing of trend of described the second guider is parallel with the bearing of trend of cylindrically coiled spring, the stability of elastic clip gripping arm motion when guaranteeing that cylindrically coiled spring compresses/loosens, described the second guider comprises the second guide rail and the second guide groove, the one or both ends of the second guide rail are fixedly connected with housing, a part for described the second guide groove is located at the first pedestal, another part is located at the second pedestal, described the second guide rail is successively through a part the second guide groove on the first pedestal, a part the second guide groove on the center of cylindrically coiled spring and the second pedestal, and be slidably located in the second guide groove.
Be preferably, described face and the described clamping face close contact of being held, the two is sliding-contact or the contact of rolling, when for rolling contact, the first pedestal of described elastic clip gripping arm is also provided with roller, the surface of this roller form described clamping face and be pressed in described in be held face.Described roller comprises roller bearing and camshaft bearing.
Be preferably, above-mentioned any can provide the elastic parts of non-linear stiffness variable, and it is symmetrical and symmetrical before and after axle that the described elastic parts that non-linear stiffness variable can be provided be take the center line that is held part.
Be preferably, above-mentioned any can provide the elastic parts of non-linear stiffness variable, described clamp assemblies is provided with can be by driving described elastic clip gripping arm to come active accommodation clamping face to compress the corresponding active stiffness adjusting device that is held the pressure size of face, and it is that straight line directly drives described elastic clip gripping arm maybe will rotatablely move to be converted to the rectilinear motion described elastic clip gripping arm of driving indirectly that described active stiffness adjusting device drives the mode of described elastic clip gripping arm.
The utlity model has following advantage and particularity effect: the elastic parts of non-linear stiffness variable that can provide of the present utility model can obtain abundant non-linear rigidity according to actual needs.Can carry out on one's own initiative the adjusting of rigidity according to the different demands of application scenario etc., can obtain the non-linear rigidity of different range, be also the key character that the utility model is different from existing achievement in research; The utility model volume is small and exquisite, and compact conformation is easy for installation, reliable, is convenient to be integrated in joint of robot; Especially can be arranged in walking robot person joint, and can the energy consumption in gait processes be compensated, make full use of the intrinsic characteristic of robot self, make robot there is the close energy efficiency of walking with the mankind, realization on level land, the dynamic walking of ascents and descents, be conducive to further explore walking mechanism; Simultaneously, have on the basis of non-linear passive change stiffness characteristics, introducing active stiffness adjusting device, by continuous adjustment amount of spring compression, changing the rigidity of mechanism, to adapt to asynchronous row order section or varying environment joint stiffness needs, and can store/release energy and impact-absorbing; Having higher shock resistance and security, is the development of the auxiliary walking arrangements such as ectoskeleton, and new solution is provided.
Accompanying drawing explanation
Fig. 1 is the overall structure front view (wherein, two elastic clip gripping arms form a clamping limb group) of an embodiment of the utility model.
Fig. 2 is the A-A cutaway view of Fig. 1.
Fig. 3 is the schematic perspective view of the elastic clip gripping arm in embodiment of the utility model.
Fig. 4 is the right side view of Fig. 3.
Fig. 5 is the front view of Fig. 3.
Fig. 6 is the left side view of Fig. 3.
Fig. 7 is the schematic perspective view that is held part (be mainly to illustrate the face of being held, the bus that is held face is parabola) in embodiment of the utility model.
Fig. 8 is the side view of Fig. 7.
Fig. 9 is the schematic perspective view that is held part (be mainly to illustrate the face of being held, the bus that is held face is an oval part) in embodiment of the utility model.
Figure 10 is the side view of Fig. 9.
Figure 11 is the schematic perspective view that is held part (be mainly to illustrate the face of being held, the face of being held is plane) in embodiment of the utility model.
Figure 12 is the side view of Figure 11.
Figure 13 is the structural representation (simultaneously showing left-right and front-back baffle plate, motor and adjusting screw) of the clamping limb group that consists of four clamping limbs in embodiment of the utility model.
Figure 14 is the schematic diagram of a kind of embodiment of the utility model: be (a) equilbrium position; (b) be position after distortion.
Figure 15 is the power output of an embodiment of the utility model and the graph of a relation of output rigidity and displacement.
[main element symbol description]
1. adjusting screw, 2. motor, 3. right baffle-plate, 4. pedestal, 5. horizontal guide rail, 6. spring pedestal slide block, 7. cylindrically coiled spring, 8. roller pedestal, 9. camshaft bearing, 10. output board, 11. upright guide rails, 12. upper cover plates, 13. right baffle plates, 17. elastic clip gripping arms, 18. backboards, 19. front aprons, 20. are held face, 30. clamping faces, 40. working faces, a part the second guide groove on a part the second guide groove 61. nut 80. first pedestals on 60. second pedestals.
The specific embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the present utility model is elaborated.Should be understood that, the specific embodiment described herein only, for description and interpretation the utility model, is not limited to the utility model.
Referring to Fig. 1 to Figure 15, the utility model provides a kind of elastic parts that non-linear stiffness variable can be provided, and it mainly comprises clamp assemblies and is held part.
Wherein, described clamp assemblies, comprises the clamping limb group consisting of some clamping limbs, and at least one group in clamping limb group is that chucking power is variable, and wherein, the variable described clamping limb group of chucking power comprises at least one elastic clip gripping arm 17;
The described part that is held, by clamping limb group described at least one group, clamped, and clamping limb group rectilinear motion relatively can be held under the state of arm group clamping, comprise that at least one is held face 20 and a working face 40, the described face that is held is compressed by clamping face 30 contacts of described elastic clip gripping arm 17, the described pressure being held between face 20 and clamping face 30 changes with the change that is held the movement position of part in clamping limb group, output rigidity/the power of described working face 40 exporting changes, the size of described output rigidity/power is with being held the change of the movement position of part in clamping limb group and non-linear change, described pressure and described power output be conllinear and not parallel not.
By said structure, arrange, the working face that is held part described in making both can load the passive size of adjusting actual output rigidity/power of force application/reaction thereon, the required output rigidity/power of output rigidity/active force active accommodation that can need to load according to the external world again according to the external world.
Especially, actual output rigidity/power size while changing in working order can be adjusted according to actual needs, and the actual output rigidity/power of the size of the actual output rigidity/power in this time period can continue to carry out with work time varies in size,, when practical matter need to become rigidity, the demand of the high rigidity in the time of both can meeting operation, the demand of the low rigidity in the time of can meeting damping of shocks again.
For example, while continuing in working order, need larger rigidity output, and when work starts, need less rigidity output, or while needing certain buffer stage in rigidity transfer process, technique scheme of the present utility model can address this problem preferably.
Described variable chucking power mainly realizes by following three kinds of modes:
Mode one, along with being held the motion of part in clamping limb group, change the thickness that is held position that is held part, this thickness refers to two distances that are held between face that are held position, or, refer to the span between the clamping limb that forms clamping to being held part;
Mode two, active accommodation clamping limb put on the pressure of the face of being held;
Mode three, mode one and mode two are combined.In an embodiment of the present utility model, also comprise housing, this housing comprises pedestal 4 and baffle plate.This housing can be symmetrical structure, and baffle plate comprises right baffle-plate 3 and right baffle plate 13, and pedestal 4 is connected in same one end of right baffle-plate 3 and right baffle plate 13, forms the square box shape of U-shaped (three plates).This housing can also comprise upper cover plate 12, forms square shape (as shown in Figure 1); Also can also comprise front apron 19 and backboard 18, form the housing of sealing.When being provided with upper cover plate 12, be preferably on upper cover plate 12 and offer through hole, to be held the working face of part, expose, thereby be connected with other devices.
Described in every group, clamping limb group can comprise two, three, four, five or more clamping limb, and form respectively one to being held the clamping limb group of part formation stable holding, wherein, can be uniformly distributed also can non-uniform Distribution for the clamping limb in every group of clamping limb group.Be preferably, the clamping limb in clamping limb group is distributed in and is held around part uniformly.
In an embodiment of the present utility model, two clamping limbs form one group described in clamping limb group, these two clamping limbs are connected with two baffle plates of left/right respectively, and form being held the clamping of part, these two clamping limbs are relatively arranged on straight line, and form take and be held the symmetrical structure (as shown in Figure 1) that part is symmetry axis.
In an embodiment of the present utility model, described in every group, clamping limb group comprises three clamping limbs, and these three clamping limbs are to each other 120 degree and are distributed on same disc, forms being held the stable holding of part.
In an embodiment of the present utility model, described in every group, clamping limb group comprises four clamping limbs, and these four clamping limbs can be cross setting by interval 90 degree, also can be X-shaped setting, form to being held the stable holding of part, as shown in figure 13.
In an embodiment of the present utility model, described in every group, clamping limb group comprises five clamping limbs, and these five clamping limbs can be uniformly distributed on same disc by interval 72 degree, form being held the stable holding of part.
In an embodiment of the present utility model, described in be held the thickness that part is held the position of arm group clamping and change with the change that is held the movement position of part in clamping limb group.This be held position can for solid also can be for hollow, as honeycomb.
Be preferably, described in the pressure that is held between face 20 and clamping face 30 with the change that is held the thickness of part, change.
The described face that is held can be plane (as Figure 11 and Figure 12) or curved surface.
Be preferably, described in to be held face be curved surface so that described in be held part thickness increase continuously or reduce continuously.
Be preferably, described in to be held the slope of the consecutive points on face identical or different, described in making, be held the even thickness of part or inhomogeneous increase/reduce.
Described curved surface can be the arbitrary part with in straight line, circular arc (as Fig. 1 and Figure 14), elliptic arc (as Fig. 9 and Figure 10), hyperbola and parabola (as Fig. 7 and Fig. 8), or the bus constituting of appointing several parts moves formation, its wire moving can be straight line or curve.Described curved surface comprises sphere.
Be preferably, described in to be held the thickness of part one end maximum, the thickness of the other end is minimum; Or, described in to be held the medium position thickness of part minimum, end positions thickness maximum (as Fig. 1, Fig. 7, Fig. 8, Fig. 9, Figure 10 and Figure 14).
As shown in Figure 1, in an embodiment of the present utility model, described in to be held part be output board 10, this output board 10 is provided with curved surface groove, the groove bottom of curved surface groove forms described compacted, and this curved surface groove is progressive recesses, and its groove bottom is curved surface (as the arc radius arc surface that is R).
In an embodiment of the present utility model, described in be held face and described clamping face and contact for rolling.
Wherein, can be held face and/or clamping face arranges roller.
Described roller comprises roller bearing and camshaft bearing 9.
For example, described in, being held part can be the camshaft bearing group of some camshaft bearing 9 permutation and combination one-tenth.And form by the part or all of surface of some camshaft bearings 9 face of being held.
Be preferably, described clamping limb is provided with camshaft bearing 9, and the surface of this camshaft bearing 9 forms described clamping face and rolls described in being pressed in and is held face.
In an embodiment of the present utility model, two described clamping limbs are respectively equipped with two camshaft bearings 9, these two camshaft bearings 9 are located at the same thickness position that is held part (output board 10), and be synchronized with the movement, camshaft bearing 9 surfaces contact (as shown in Figure 1) with the groove bottom of the curved surface groove of output board 10 all the time.
In an embodiment of the present utility model, also comprise the first guider, described the first guider is located at and is held between part and housing, so that be held part stable motion in clamping limb group.
Described the first guider is preferably is located at symmetry axis or symmetrical centre position.
In an embodiment of the present utility model, described the first guider comprises the first guide rail (or being called upright guide rail 11) being fixedly connected with housing and is located at the first guide groove that is held part, and described the first guide rail slides and is located in this first guide groove.
While being provided with two clamping limbs in described clamping limb group, described the first guider can comprise two the first parallel guide rails, corresponding, is held part and is provided with two the first guide grooves.
While being provided with two clamping limbs in described clamping limb group, described the first guider can comprise first guide rail, corresponding, is held part and is provided with first guide groove.
In an embodiment of the present utility model, described two the first parallel guide rails are fixedly connected with pedestal 4, on the linear movement direction of output board 10, offer two the first guide grooves, the cooperation of guide rail/guide groove makes output board 10 in rectilinear direction motion steady (as shown in Figure 1).
While being provided with three, four or five clamping limbs in described clamping limb group: described the first guider can only arrange first guide rail or the first guide rail is not set, corresponding, be held part and be provided with first guide groove or guide groove is set; Or, described the first guider (as Figure 13) is not set.
In an embodiment of the present utility model, described clamp assemblies is provided with active stiffness adjusting device, described active stiffness adjusting device is connected with elastic clip gripping arm described at least one, and can be by driving elastic clip gripping arm to come active accommodation clamping face to compress the corresponding pressure size that is held face.
Described active stiffness adjusting device both can directly drive by straight line, also can rotate and turn linear drives.
In an embodiment of the present utility model, described active stiffness adjusting device straight line directly drives clamping limb.For example, can manually directly regulate, also can regulate by linear drive motor.
In an embodiment of the present utility model, described active stiffness adjusting device connects helicoidal gear, described helicoidal gear comprises rotating part and translation portion, rotating part is located at housing, translation portion is connected with elastic clip gripping arm described at least one, by rotating this rotating part, drives this translation portion to drive elastic clip gripping arm to come active accommodation clamping face to compress the corresponding pressure size that is held face.
Described helicoidal gear can be worm gear structure, can be also screw-nut body, can also be pinion and rack, that is, described rotating part can be adjusting screw, worm gear or gear, and described translation portion is nut, worm screw or tooth bar accordingly.
In an embodiment of the present utility model, described helicoidal gear is screw-nut body, and described screw-nut body comprises adjusting screw 1 and nut 61, the two threaded engagement.
Adjusting screw both can manual adjustments, also can automatically regulate by motor 2.Preferably, by motor 2, drive adjusting screw.In an embodiment of the present utility model, described active stiffness adjusting device is motor 2, the output of motor 2 connects described adjusting screw, nut is fixedly connected with elastic clip gripping arm, and motor 2 drives adjusting screw to come the position of adjusting nut to compress the corresponding pressure size that is held face to adjust clamping face.
Screw-nut body can full symmetric,, uses two adjusting screws of identical left/right and corresponding two nuts of left/right that is; Can also be not exclusively symmetrical, that is, adjusting screw be one, and one end is left-hand thread, and the other end is right-hand thread, and coordinates two nuts of left/right, by adjust adjusting screw can adjusted in concert left/right nut inwardly/outer displacement simultaneously.
Preferably, screw-nut body full symmetric (as shown in Figure 1).
In an embodiment of the present utility model, clamp assemblies also comprises the second guider, and the second guider is located between elastic clip gripping arm and housing, and its bearing of trend is parallel with the bearing of trend of adjusting screw, the stability of clamping limb motion when guaranteeing to regulate.
Described the second guider comprises the second guide rail (or being called horizontal guide rail 5) and the second guide groove, the one or both ends of the second guide rail are fixedly connected with housing, described the second guide groove is located at elastic clip gripping arm, described the second guide groove is continuous groove or interrupted groove, and the second guide rail slides and is located in the second guide groove.
Described the second guider comprises the second guide rail described at least one.
Be preferably, described the second guider comprises two the second guide rails parallel to each other.
In an embodiment of the present utility model, described at least one, clamping limb is elastic clip gripping arm, in described elastic clip gripping arm, is provided with elastic component, and the elastic force of described elastic component forms all or part of of described chucking power.
Described elastic component can be cylindrically coiled spring, also can be for producing any device of chucking power.
Described cylindrically coiled spring can be Compress Spring 7 or extension spring.
Described cylindrically coiled spring is preferably Compress Spring 7.
Be preferably, one end of described Compress Spring 7 is provided with first pedestal (or being called roller pedestal 8), and described clamping face is located at described the first pedestal.
In an embodiment of the present utility model, be provided with the second guider, corresponding clamping limb is elastic clip gripping arm, all or part of described the second guide groove is located at the first pedestal.
In an embodiment of the present utility model, elastic clip gripping arm is connected with described camshaft bearing 9, and described camshaft bearing 9 is located at the first pedestal, and the surface of described camshaft bearing 9 forms clamping face.
Be preferably, be held the same thickness position of part, the quantity of described camshaft bearing 9 is more than two.Plural camshaft bearing 9 is preferably and is symmetrical arranged.
In an embodiment of the present utility model, one end of described Compress Spring 7 is provided with second pedestal (or being called spring pedestal slide block 6), and described the second pedestal is connected with clamp assemblies.
In an embodiment of the present utility model, be provided with the second guider, corresponding clamping limb is elastic clip gripping arm, all or part of described the second guide groove is located at described the second pedestal.
In an embodiment of the present utility model, one end of described Compress Spring 7 is provided with first pedestal (or being called roller pedestal 8), the other end of described Compress Spring 7 is provided with second pedestal (or being called spring pedestal slide block 6), be preferably, be provided with the second guider, corresponding clamping limb is elastic clip gripping arm, a part for described the second guide groove is located at the first pedestal, a part is located at the second pedestal, described the second guide rail is successively through a part the second guide groove 80 on the first pedestal, a part the second guide groove 60 on the center of Compress Spring 7 and the second pedestal.
In an embodiment of the present utility model, it is symmetrical and symmetrical before and after axle that the described elastic parts that non-linear stiffness variable can be provided be take the center line that is held part.
Above-mentioned each embodiment, all can be combined as required or replace.
In an embodiment of the present utility model, the elastic parts that non-linear stiffness variable can be provided is full symmetric structure:
It comprises housing, output board 10, elastic clip gripping arm group, screw-nut body, the first guider and the second guider.
Wherein,
Described output board 10 is left and right, front and back, upper and lower symmetrical structure, is symmetrically set with two progressive recesses on it, and the groove bottom of these two progressive recesses is the arcwall face of diameter R;
Described elastic clip gripping arm group comprises two the elastic clip gripping arms in left and right, two described elastic clip gripping arms are symmetrically set in the left and right sides that is held part, described in each, elastic clip gripping arm is front and back symmetrical structure, symmetrically arranged two Compress Springs 7 before and after comprising, the two ends, left and right of Compress Spring 7 are respectively equipped with spring pedestal slide block 6 and roller pedestal 8, described spring pedestal slide block 6 is connected with the left end of two Compress Springs 7, and the medium position at two Compress Springs 7 is respectively provided with first pilot hole (being a part for horizontal guide slot), described roller pedestal 8 is connected with the right-hand member of two Compress Springs 7, and the medium position at two Compress Springs 7 is respectively provided with second pilot hole (being a part for horizontal guide slot), described roller pedestal 8 front and back are arranged with two camshaft bearings 9, two camshaft bearings 9 are pressed in the sustained height position of progressive recesses,
Described screw-nut body is two groups that are symmetrical set, every group comprises an adjusting screw and a nut, described nut is fixed on the medium position of spring pedestal slide block 6, and described adjusting screw is connected with the output shaft of motor 2, and motor 2 bodies are fixed on housing (left/right baffle plate 3,12);
Described housing comprises right baffle-plate 3, right baffle plate 12 and pedestal 4, and one end of left/ right baffle plate 3,12 is connected with pedestal 4 respectively, and is symmetricly set in the two ends, left and right of pedestal 4;
Described the first guider comprises that 11, two upright guide rails 11 of two upright guide rails parallel to each other one end is separately connected with pedestal 4, and front and back are symmetrically fixed on the medium position of pedestal 4;
Described the second guider comprises two horizontal guide rails parallel to each other 5, article two, horizontal guide rail 5 two ends are separately individually fixed in right baffle-plate 3 and right baffle plate 12, and front and back are symmetrical arranged, described two horizontal guide rails 5 by left-to-right difference successively through first pilot hole of spring pedestal slide block 6 in left side, the second pilot hole of the roller pedestal 8 in the Compress Spring 7 in left side, left side, the second pilot hole of the roller pedestal 8 on right side, the first pilot hole of the spring pedestal slide block 6 on the Compress Spring 7 on right side, right side.
Said structure, specific works process can comprise:
One, initial position (thickness that is held the clamping of arm group of output board 10 is minimum) starts, when output board 10 is subject to the pulling force/pressure of up/down, output board 10 is stable motion up or down under the effect of upright guide rail 11, movement along with output board 10, the thickness that is held the output board 10 of arm group clamping increases, due to, Compress Spring 7 is in its pre-compressed state, make camshaft bearing 9 surfaces on clamping limb remain and contact with the groove bottom of output board 10 grooves, therefore the increase of output board 10 thickness increases the pressure that output board 10 is subject to, be equivalent to improve the rigidity/power of output board 10 on its linear movement direction.Now, under the effect of horizontal guide rail 5, roller pedestal 8 moves laterally, and Compress Spring 7 is compressed, plays certain cushioning effect; When the external force being subject to when output board 10 reduces or cancels, spring is relaxed, and promotes roller pedestal 8 motion to the inside, and output board 10 is replied under the pressure of camshaft bearing 9, also plays certain cushioning effect.Difform progressive recesses can be set as required, to obtain different rigidity.
Two, by motor 2, drive adjusting screw, with driving spring pedestal slide block 6, along horizontal guide rail 5, move, compress/loosen Compress Spring 7, Compress Spring 7 compresses/loosens roller pedestal 8 and camshaft bearing 9, to change camshaft bearing 9, act on the pressure on output board 10, make the ratio of output board 10 output action power and displacement keep dynamic relationship, be mechanism's rigidity, so as to changing output board 10 in output rigidity/power scope of upright guide rail 11 directions, when output board 10 is subject to the pulling force/pressure of up/down, by compressing/loosen Compress Spring 7, change the rigidity/power of vertical direction.
Three,, by the different groove shapes of design, then by the pretension amount of adjusting screw regulating spring, realize the rigidity output of different range on output board 10 vertical directions.Can realize wider adjusting, also can realize more accurately and regulating.
According to actual needs, can provide the elastic parts of non-linear stiffness variable both can realize the unidirectional elastic parts that non-linear stiffness variable can be provided, also can realize the two-way elastic parts that non-linear stiffness variable can be provided.
In order to realize the accurate control to output board 10 rigidity, can determine as follows and control parameter (circular groove of only take describes as example, as shown in figure 14).
Output rigidity S can calculate by formula 1:
Wherein, k is spring global stiffness, and R is circular groove radius, and r is camshaft bearing 9 radiuses, and σ is amount of spring compression, and x is output board 10 displacements, and α is the angle between spring force and chucking power, and y is the displacement on camshaft bearing 9 vertical directions, and F is total spring force, F
kcentered by power.
Wherein,
Under external force, output board 10 displacements are x, and angle α can calculate by formula 2 so,
The displacement y of camshaft bearing 9 in the vertical directions can calculate by formula 3,
Y=(R-r) (1-cos α) formula 3
Add the displacement that upper spring pedestal slide block 6 holddown springs produce, total spring force F can calculate by formula 4,
| F=k[(R-r) (1-cos α)+σ] formula 4
Central force F
kcan calculate by formula 5:
F
k=Ftan α=k[(R-r) (1-cos α)+σ] tan α formula 5
In the present embodiment, can provide each parameter of the elastic parts of non-linear stiffness variable to be chosen for: spring global stiffness k=70N/mm, circular groove radius R=170mm, camshaft bearing 9 radius r=8mm, spring maximum compressibility σ=6 π mm.
The elastic parts that non-linear stiffness variable can be provided of the present utility model, by adjustable clamp gripping member to being held the clamping force of part, make to be held part and on its linear movement direction, there is adjustable non-linear rigidity, and its range in stiffness not only can realize corresponding passive stiffness variation by difform seal face, can also by adjusting helicoidal gear, carry out certain active adjustment according to actual needs, obtain active stiffness and change; And the elastic parts that non-linear stiffness variable can be provided of the present utility model has advantages of that compact conformation, volume are small and exquisite, lightweight, easy for installation, reliable; The utility model is particularly useful for walking robot field, realize robot ambulation functional diversities, can avoid the collision of robot and circumstances not known, guaranteed the security that robot contacts with circumstances not known and the change stiffness characteristics of simulating human or animal's limbs simultaneously.
In the utility model, represent the up, down, left, right, before and after of direction etc., only for statement is convenient, the not restriction to practical structures.
Wherein, upper and lower, left and right refer under normality paper, and up and down, " front " refers to vertical paper direction outwardly, and " afterwards " refers to vertical paper direction inwardly.
Claims (10)
1. can provide an elastic parts for non-linear stiffness variable, it is characterized in that, comprise:
Housing;
Clamp assemblies, is connected with housing, comprises at least one group of clamping limb group that chucking power is variable, wherein, described clamping limb group comprises at least one elastic clip gripping arm, in described elastic clip gripping arm, is provided with elastic component, and the elastic force of described elastic component forms all or part of of described chucking power;
Be held part, by clamping limb group described at least one group, clamped, and can under the state that is held the clamping of arm group, relative clamping limb group move, comprise that at least one is held face and a working face, the described face that is held is compressed by the contact of the clamping face of described elastic clip gripping arm, the described pressure being held between face and clamping face changes with the change that is held the movement position of part in clamping limb group, rigidity/the power of described working face exporting change, the size of described output rigidity/power non-linearly changes with being held the change of the movement position of part in clamping limb group, described pressure and described power output be conllinear and not parallel not.
2. the elastic parts that non-linear stiffness variable can be provided as claimed in claim 1, it is characterized in that: described in be held the thickness that part is held the position of arm group clamping and change with the change that is held the movement position of part in clamping limb group, described in the pressure that is held between face and clamping face with the change that is held the thickness of part, change.
3. the elastic parts that non-linear stiffness variable can be provided as claimed in claim 2, it is characterized in that: described in to be held face be plane or curved surface, the thickness that is held part described in making increases continuously or reduces continuously, the slope of the consecutive points on the bus of described curved surface is identical or different, is held even thickness or the inhomogeneous continuous increase of part or reduces continuously described in making.
4. the elastic parts that non-linear stiffness variable can be provided as claimed in claim 3, is characterized in that: the bus of described curved surface is the arbitrary part in straight line, circular arc, elliptic arc, hyperbola and parabola, or the combination of several parts.
5. the elastic parts that non-linear stiffness variable can be provided as claimed in claim 4, is characterized in that: described in to be held the thickness of part one end maximum, the thickness of the other end is minimum; Or, described in to be held the medium position thickness of part minimum, end positions thickness is maximum.
6. the elastic parts that non-linear stiffness variable can be provided as claimed in claim 1, it is characterized in that: also comprise the first guider, described the first guider comprises the first guide groove and the first guide rail coordinating with it, the bearing of trend of described the first guide rail and the first guide groove is with to be held the direction of motion of part in clamping limb group parallel, assurance is held part stable motion in clamping limb group, and the concrete set-up mode of described the first guide rail and the first guide groove comprises:
Described the first guide rail is located at housing, and described the first guide groove is located at and is held part; Or,
Described the first guide rail is located at and is held part, and described the first guide groove is located at housing.
7. the elastic parts that non-linear stiffness variable can be provided as claimed in claim 1, it is characterized in that: the first pedestal that described elastic clip gripping arm comprises cylindrically coiled spring and is located at cylindrically coiled spring one end, described cylindrically coiled spring forms described elastic component, and described clamping face is located at the first pedestal.
8. the elastic parts that non-linear stiffness variable can be provided as claimed in claim 7, it is characterized in that: described clamp assemblies also comprises the second guider and the second pedestal, described the second pedestal is located at cylindrically coiled spring away from one end of the first pedestal, the bearing of trend of described the second guider is parallel with the bearing of trend of cylindrically coiled spring, the stability of elastic clip gripping arm motion when guaranteeing that cylindrically coiled spring compresses/loosens, described the second guider comprises the second guide rail and the second guide groove, the one or both ends of the second guide rail are fixedly connected with housing, a part for described the second guide groove is located at the first pedestal, another part is located at the second pedestal, described the second guide rail is successively through a part the second guide groove on the first pedestal, a part the second guide groove on the center of cylindrically coiled spring and the second pedestal, and be located at slidably in the second guide groove.
9. the elastic parts that non-linear stiffness variable can be provided as claimed in claim 8, it is characterized in that: described in be held face and described clamping face close contact, the two is sliding-contact or the contact of rolling, when contacting for rolling, the first pedestal of described elastic clip gripping arm is also provided with roller, the surface of this roller form described clamping face and be pressed in described in be held face.
10. the elastic parts of non-linear stiffness variable can be provided as claimed in any one of claims 1-9 wherein, it is characterized in that: described clamp assemblies is provided with can be by driving described elastic clip gripping arm to come active accommodation clamping face to compress the corresponding active stiffness adjusting device that is held the pressure size of face, it is that straight line directly drives described elastic clip gripping arm maybe will rotatablely move to be converted to the rectilinear motion described elastic clip gripping arm of driving indirectly that described active stiffness adjusting device drives the mode of described elastic clip gripping arm.
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| CN201320419295.7U CN203460186U (en) | 2013-07-15 | 2013-07-15 | Elastic component capable of providing non-linear variable stiffness |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103433933A (en) * | 2013-07-15 | 2013-12-11 | 北京理工大学 | Elastic assembly capable of providing non-linear variable rigidity |
| CN106863348A (en) * | 2017-03-17 | 2017-06-20 | 华南理工大学 | A kind of variation rigidity joint of robot and its stiffness tuning method |
| CN112276994A (en) * | 2020-09-25 | 2021-01-29 | 江苏大学 | Variable-stiffness joint of symmetrical compression spring |
| CN113335915A (en) * | 2021-06-07 | 2021-09-03 | 青岛理工大学 | Safety protection structure of carrying manipulator |
| WO2023167075A1 (en) * | 2022-03-04 | 2023-09-07 | 住友重機械工業株式会社 | Drive mechanism and robot arm equipped with same |
-
2013
- 2013-07-15 CN CN201320419295.7U patent/CN203460186U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103433933A (en) * | 2013-07-15 | 2013-12-11 | 北京理工大学 | Elastic assembly capable of providing non-linear variable rigidity |
| CN106863348A (en) * | 2017-03-17 | 2017-06-20 | 华南理工大学 | A kind of variation rigidity joint of robot and its stiffness tuning method |
| CN106863348B (en) * | 2017-03-17 | 2020-05-22 | 华南理工大学 | Variable-stiffness joint for robot and stiffness adjusting method thereof |
| CN112276994A (en) * | 2020-09-25 | 2021-01-29 | 江苏大学 | Variable-stiffness joint of symmetrical compression spring |
| CN113335915A (en) * | 2021-06-07 | 2021-09-03 | 青岛理工大学 | Safety protection structure of carrying manipulator |
| WO2023167075A1 (en) * | 2022-03-04 | 2023-09-07 | 住友重機械工業株式会社 | Drive mechanism and robot arm equipped with same |
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