CN206643958U - A kind of compact variation rigidity rotates flexible joint - Google Patents
A kind of compact variation rigidity rotates flexible joint Download PDFInfo
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- CN206643958U CN206643958U CN201720456294.8U CN201720456294U CN206643958U CN 206643958 U CN206643958 U CN 206643958U CN 201720456294 U CN201720456294 U CN 201720456294U CN 206643958 U CN206643958 U CN 206643958U
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- joint
- adjusting seat
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- cam
- variation rigidity
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Abstract
The utility model discloses a kind of compact variation rigidity to rotate flexible joint, including joint drive disk, joint output panel, the passive inner disc in joint, the first cam, the first passive stiffness-shift adjusting seat, first group of compression spring, optical axis, the first variation rigidity adjusting seat, worm screw structure, the second variation rigidity adjusting seat, second group of compression spring, the second passive stiffness-shift adjusting seat, the second cam, roller gear, worm screw, absolute type encoder, motor and arc rack.The flexible joint can not only realize that soft drive exports, reduce external impact, extend robot service life, increase first increases and then decreases of the joint stiffness with flexibility of joint deformation angle can be realized simultaneously, improve Robot Robust and operation stability, and active accommodation joint stiffness can be driven by itself, preferably adapt to different operating task, and the flexible joint has online plastic deformation detection function, can obtain plastic deformation and output torque feedback result, realizes rigidity on-line control.
Description
Technical field
Robot field is the utility model is related to, specially a kind of compact variation rigidity rotation flexible joint.
Background technology
Bionical legged type robot is complicated and changeable in the wild with its good dynamic property, stronger adaptive capacity to environment
Increasing application has been obtained in environment, has turned into the widely studied focus of domestic and foreign scholars.However, these robot revolutes close
Section is most using rigidity driving, larger energy consumption and impact of contacting to earth cause robot in high speed Dynamic gait jumping by
Great limitation.Do not go deep into also in the research of biological motion mechanism currently, structure design, materials application, driving and controlling party
Formula is mostly more traditional, result in bio-robot and larger difference all be present with biological from macroscopic view to microcosmic, reaches actual far away
Level of application.Rigid stability of joint in the urgent need to address, the problem of bad adaptability.Therefore, introduced for single revolute joint
Flexible element, scientist propose the design of variation rigidity, while have the passive security of compliant mechanism, have control accuracy again
Characteristic that is high, having a wide range of application, studies its influence to robot jumping dynamic characteristic and has important practical significance.
It is by muscular tissue, connective tissue and nerve fiber by the leg structure studies have shown that muscle to canine and the mankind
Form, wherein connective tissue plays regulation, support and elastic reaction.Gordon experiments show that muscular force Producing reason is
Caused by stretching of the muscle outside stretchable scope, the amount of tension of muscle is bigger, caused muscle tone it is bigger and it has also been found that
Improved constantly with the passive elongation rigidity of muscle.In the driving phase of jump, extensor of leg MTU (such as quadriceps muscle of thigh MTU and
Triceps MTU) passively elongate first, TA and triceps (triceps surae, TS) co-contraction, it can make
Ankle-joint rigidity increase, to buffer impacts of the GRF to body, for the later stage pedal stretch foundation suitably pedal the condition of stretching.Meanwhile it is suitable
Different situations are answered, animal can adjust muscle-tendon tissue rigidity, improve kinetic stability and energy-optimised characteristic.
Application number 201520148572.4 discloses a kind of flexible joint of stiffness variable, although realizing main-passive become
The purpose of rigidity output, but use series of gears to be driven, same structure is complicated, it is desirable to higher manufacture and installation accuracy,
And driving relies on flexible cable, it is impossible to preferably adapts to quick motion and percussion, is applied to wide on various revolute robots
General property is restricted.The structure in existing variation rigidity joint is relative complex, and variation rigidity characteristic is poor, and control is complicated, and energy expenditure is big, peace
The shortcomings of full property is relatively low, and application field is limited, for these reasons, a kind of simple in construction, transmission efficiency of design, rigidity are realized
Passive and linear regulation compact variation rigidity rotation flexible joint has very strong realistic meaning.
Utility model content
In view of the shortcomings of the prior art, the technical problem that the utility model intends to solve is to provide a kind of compact variation rigidity
Rotate flexible joint.The flexible joint can not only realize that soft drive exports, and reduce external impact, friction, extend robot
Service life, robot safety is improved, while can realize that joint stiffness first increases with the increase of flexibility of joint deformation angle
After reduce, improve Robot Robust and operation stability, and active accommodation joint stiffness can be driven by itself, it is preferably suitable
Different external environments or different operating task are answered, and the flexible joint has online plastic deformation detection function, can obtain flexibility
Deformation and output torque feedback result, you can realize the accurate on-line control of rigidity.
The technical scheme that the utility model solves the technical problem is to provide a kind of flexible pass of compact variation rigidity rotation
Section, it is characterised in that the flexible joint includes joint drive disk, joint output panel, the passive inner disc in joint, needle roller thrust bearing, angle
Contact ball bearing, axle jump ring, the first cam, the first passive stiffness-shift adjusting seat, first group of compression spring, optical axis, first become
Stiffness equivalent seat, optical axis support base, worm screw structure, the second variation rigidity adjusting seat, second group of compression spring, the second passive change
Stiffness equivalent seat, the second cam, roller gear, worm screw, absolute type encoder, encoder support base, worm screw support base, motor peace
Fill seat, motor and arc rack；
The joint output panel is fixed with the passive inner disc in joint；The passive inner disc in joint is by angular contact ball bearing with closing
The connection axis connection of drive disk is saved, the surface of the passive inner disc in joint is connect by the surface of needle roller thrust bearing and joint drive disk
Touch；The axle jump ring is connected with angular contact ball bearing；The inwall of the joint drive disk is provided with cam path, with the first cam and
Second cam engagement；Positive stop lug boss is installed on the cam path；The contour line of the cam path is to be used as to penetrate by eccentric arc
What two obtuse angles of line were formed；
The worm screw support base is fixed on the passive inner disc in joint；The worm screw is arranged on worm screw support base by bearing
On；The motor is arranged on the passive inner disc in joint by motor mount, and the output end of motor is connected with worm screw；The turbine
It is turbine in the middle part of screw structure, is driven with worm engaging；Worm screw structure both ends are leading screws, and one end is arranged on the first variation rigidity
In adjusting seat, the other end be arranged on the second variation rigidity adjusting seat in, both ends it is oppositely oriented；
The both ends of the first variation rigidity adjusting seat are connected by bearing with two optical axises respectively；Second variation rigidity is adjusted
The both ends of bed rearrangement are connected by bearing with two optical axises respectively；Two optical axises are arranged on joint quilt by optical axis support base
On dynamic inner disc；One end of two optical axises is provided with the first passive stiffness-shift adjusting seat by bearing, and the other end is installed by bearing
There is the second passive stiffness-shift adjusting seat；First group of compression spring and second group of compression spring are nested with two optical axises；
First group of compression spring is between the first passive stiffness-shift adjusting seat and the first variation rigidity adjusting seat；Second group of pressure
Contracting spring is between the second passive stiffness-shift adjusting seat and the second variation rigidity adjusting seat；First cam is arranged on the first quilt
In dynamic variation rigidity adjusting seat；Second cam is arranged in the second passive stiffness-shift adjusting seat；First cam and second
Cam contacts with cam path；
The absolute type encoder is arranged on the passive inner disc in joint by encoder support base；The roller gear installation
On the output shaft of absolute type encoder；The arc rack is arranged in the inwall of joint drive disk, is engaged with roller gear.
Compared with prior art, the utility model beneficial effect is：
1st, the flexible joint dexterously combines cam mechanism and screw-nut body, and design is arranged in passive pass
Save on inner disc, realize joint passive stiffness-shift, active variable stiffness and online plastic deformation detection function；And elastic linear uses
Hookean spring, it is compact-sized, simplify, miniaturization, be applicable various anthropomorphic robot arm joints, legged type robot leg joint
Deng revolute robot's key position.
2nd, the joint drive disk inwall in the flexible joint is provided with cam path, realizes 45 ° of plastic deformation, its cam sheave
Profile realizes increase first increases and then decreases of the rigidity with plastic deformation amount by obtuse angle and eccentric arc comprehensive Design, and due to
Obtuse angle designs, and the one larger torque of needs of output joint originally can just roll cam, serve safeguard protection effect.It is right
The less torque of plastic deformation, which originally occurs, in legged type robot causes joint that vibration deformation occurs, and improves legged type robot
Kinetic stability.
3rd, the joint drive disk inwall cam path in the flexible joint is provided with positive stop lug boss, and positive stop lug boss connects with cam
Tactile side is provided with a curved surface to be fitted like a glove with cam, when submissive be deformed to up to 45 ° of limiting value, side cam and boss
Stable contact-impact occurs, plays position limitation protection effect so that joint has higher security reliability.
4th, the flexible joint is provided with four Hookean springs, realizes the flexible output of driving force, has higher safety
Property, reliability and stability, prevent from causing personnel or robot body damage under the external impact of burst, the fortuitous event such as collision
Wound.
5th, the worm screw clever structure in the flexible joint turbine and leading screw are designed integrally, and one end left-handed one
Section dextrorotation, can be rotated by motor driven worm screw, and power is transmitted to the left-handed worm screw structure in one end dextrorotation one end by worm screw, and two
Group carries the variation rigidity adjusting seat of feed screw nut respectively while compression spring, and the decrement of two groups of springs is identical, simple in construction,
It is compact, active accommodation joint elasticity rigidity is dexterously realized, there is higher adaptability so that robot can adapt to different
External environment and work requirements, expand the application field of revolute robot.
6th, the flexible joint can measure the plastic deformation in joint by absolute type encoder, realize plastic deformation and power output
The Real-time Feedback of square, on-line tuning is carried out to rigidity according to different realities.During walking actual for legged type robot, meet
In the case of contacting ground equivalent stiffness value size variation to different road conditions, it can be detected by flexibility, on-line control rigidity value,
With higher stability, adaptability when making robot motion.Also flexible joint is played a protective role to a certain extent, prolonged
Its long working life.
7th, the utility model is amplified using cam-cam path to the elastic force of two groups of springs, is reduced spring volume, is adopted
Motor output torque is amplified with feed screw nut and Worm Wheel System, reduces the power demand of motor, all mechanisms
Install concentratedly on the passive inner disc of joint of robot, to simplify robot body design.
Brief description of the drawings
Fig. 1 is that the utility model compact variation rigidity rotates a kind of overall structure diagram of embodiment of flexible joint；
Fig. 2 is that a kind of the utility model compact variation rigidity rotation passive inner disc in the joint of embodiment of flexible joint does not produce
The schematic diagram of flexibility output；
Fig. 3 is that the utility model compact variation rigidity rotates a kind of passive inner disc generation in joint of embodiment of flexible joint
The schematic diagram of 45 ° of flexible output；
Fig. 4 is that the utility model compact variation rigidity rotates signal inside a kind of overall structure of embodiment of flexible joint
Figure；
Fig. 5 is the cross-section structure signal that the utility model compact variation rigidity rotates A-A direction of the flexible joint along Fig. 2
Figure；
Fig. 6 is Fig. 4 cutting using the axle center of optical axis as cross section of the utility model compact variation rigidity rotation flexible joint
Face structural representation (omits worm screw, worm screw support base, motor mount and motor)；
Fig. 7 is the joint drive dish structure figure that the utility model compact variation rigidity rotates a kind of embodiment of flexible joint；
Fig. 8 is the worm screw structural representation that the utility model compact variation rigidity rotates a kind of embodiment of flexible joint
Figure；(in figure：1st, joint drive disk；2nd, joint output panel；3rd, the passive inner disc in joint；4th, needle roller thrust bearing；5th, angular contact ball axle
Hold；6th, axle jump ring；7th, the first cam；8th, the first passive stiffness-shift adjusting seat；9th, first group of compression spring；10th, optical axis；11、
First variation rigidity adjusting seat；12nd, optical axis support base；13rd, worm screw structure；14th, the second variation rigidity adjusting seat；15th, second group
Compression spring；16th, the second passive stiffness-shift adjusting seat；17th, the second cam；18th, roller gear；19th, worm screw；20th, absolute type is compiled
Code device；21st, encoder support base；22nd, worm screw support base；23rd, motor mount；24th, motor；25th, arc rack；101st, cam
Groove；102nd, positive stop lug boss；103rd, connecting shaft)
Embodiment
Specific embodiment of the utility model is given below.Specific embodiment is only used for being further described this practicality newly
Type, the application scope of the claims is not limited.
The utility model provides a kind of compact variation rigidity rotation flexible joint (referring to Fig. 1-8, abbreviation joint), including
Joint drive disk 1, joint output panel 2, the passive inner disc 3 in joint, needle roller thrust bearing 4, angular contact ball bearing 5, axle jump ring 6,
First cam 7,8, first groups of compression springs 9 of the first passive stiffness-shift adjusting seat, optical axis 10, the first variation rigidity adjusting seat 11, light
Axle support base 12, worm screw structure 13, the second variation rigidity adjusting seat 14, second groups of compression springs 15, second passive stiffness-shifts
Adjusting seat 16, the second cam 17, roller gear 18, worm screw 19, absolute type encoder 20, encoder support base 21, worm screw support
Seat 22, motor mount 23, motor 24 and arc rack 25；
The inner disc 3 passive with joint of joint output panel 2 is fixed by four groups of sunk screws；The passive inner disc 3 in joint
It is connected by angular contact ball bearing 5 with the connecting shaft 103 of joint drive disk 1, the surface of the passive inner disc 3 in joint passes through thrust needle roller
Bearing 4 contacts with the surface of joint drive disk 1, realizes the relative rotation between the passive inner disc 3 of joint drive disk 1 and joint；Institute
State axle jump ring 6 to be connected with angular contact ball bearing 5, realize the axial restraint of angular contact ball bearing 5；The joint output panel 2 is logical
Flange is crossed to be connected with external output joint；The joint drive disk 1 is connected by flange with external input joint；Drive in the joint
The inwall of Moving plate 1 is provided with cam path 101, coordinates with the first cam 7 and the second cam 17；Installed on the cam path 101 limited
Position boss 102, for limiting the position of the first cam 7 and the second cam 17, and then limitation joint drive disk 1 and joint are passively interior
Relative rotation between disk 3；The contour line of the cam path 101 is symmetrical on connecting shaft 103, and the contour line of cam path 101 is
It is made up of eccentric arc as two obtuse angles of ray；The shape of the contour line of cam path 101 realizes rigidity with plastic deformation
The increase first increases and then decreases of amount, and because obtuse angle designs, output joint initially needs a larger torque just to make two
Individual cam rolls, and plays stable protective effect；
The worm screw support base 22 is fixed on the passive inner disc 3 in joint；The worm screw 19 is arranged on worm screw branch by bearing
Support on seat 22；The motor 24 is arranged on the passive inner disc 3 in joint by motor mount 23, the output end of motor 24 and worm screw
19 connections, are fixed by jackscrew, drive worm screw 19 to rotate；The worm screw structure 13 is axially symmetric structure, and middle part is turbine,
With the engaged transmission of worm screw 19；The both ends of worm screw structure 13 are leading screws, and one end is left-handed and is arranged on the first variation rigidity adjusting seat 11
In the screw-nut structure at middle part, other end dextrorotation and the screw-nut structure in the middle part of the second variation rigidity adjusting seat 14
In, driven by the leading screw of the left-handed one end dextrorotation in one end and coordinate corresponding first variation rigidity adjusting seat 11 and the second variation rigidity with it
Adjusting seat 14 is moved, and then changes the pre compressed magnitude of first group of compression spring 9 and second group of compression spring 15, realizes the master in joint
Dynamic variation rigidity function；
The both ends of the first variation rigidity adjusting seat 11 are connected by bearing with two optical axises 10 respectively；Described second becomes firm
The both ends of degree adjusting seat 14 are connected by bearing with two optical axises 10 respectively；Two optical axises 10 pass through optical axis support base 12
On the passive inner disc 3 in joint；One end of two optical axises 10 is provided with the first passive stiffness-shift adjusting seat 8 by bearing, separately
One end is provided with the second passive stiffness-shift adjusting seat 16 by bearing；First group of compression bullet is nested with two optical axises 10
Spring 9 and second group of compression spring 15；First group of compression spring 9 and second group of axis of compression spring 15 overlap with the axis of optical axis 10；
First group of compression spring 9 is between the first passive stiffness-shift adjusting seat 8 and the first variation rigidity adjusting seat 11；Described second
Group compression spring 15 is between the second passive stiffness-shift adjusting seat 16 and the second variation rigidity adjusting seat 14；First cam 7
In the first passive stiffness-shift adjusting seat 8；Second cam 17 is arranged in the second passive stiffness-shift adjusting seat 16；Institute
State the first cam 7 and the second cam 17 contacts with cam path 101；When the passive inner disc 3 of joint drive disk 1 and joint does not produce phase
During to rotating, the first cam 7 and the second cam 17 are respectively positioned on the obtuse angle position of the contour line of cam path 101, first group of compression spring 9
It is uncompressed with second group of compression spring 15, does not also produce plastic deformation；When the passive inner disc 3 of joint drive disk 1 and joint is relative
During rotation, the first cam 7 and the second cam 17 are contacted and rotated with cam path 101, extrude first group of passive stiffness-shift adjusting seat 8
Moved with second group of passive stiffness-shift adjusting seat 20 along optical axis, compress first group of compression spring 9 and second group of compression spring 15,
Hinder 1 inner disc 3 passive with joint of joint drive disk to relatively rotate, realize the flexible output in joint, that is, realize the passive change in joint
Rigidity function；When plastic deformation reaches capacity position, the first cam 7 and the second cam 17 respectively with the limit on cam path 101
Position boss 102 contacts, and plays spacing safeguard protection effect；
The absolute type encoder 20 is arranged on the passive inner disc 3 in joint by encoder support base 21；The Cylinder Gear
Wheel 18 is arranged on the output shaft of absolute type encoder 20；The arc rack 25 is arranged in the inwall of joint drive disk 1, with
Roller gear 18 engages, when joint drive disk 1 relatively rotates with the passive inner disc 3 in joint, that is, when producing plastic deformation, absolutely
Formula encoder 20 can in real time be measured, plastic deformation and output torque feedback result is obtained, realize the plastic deformation in joint
Detection function.
The motor 24 is DC servo motor.
The joint overall dimension of the utility model embodiment Preliminary design is diameter 160mm, high 45mm, and plastic deformation is maximum
Angle is 45 °, and cam path 101 is designed as obtuse angle and the tangent connection of eccentric arc, and maximum flexibility output in joint is 120Nm, is closed
The section drive disk diameter of axle is designed as 12mm, the first cam and the second cam diameter 12mm.Motor external diameter 3mm, maximum rated torque
6mNm, worm screw structure elect 5mm, 30 degree of leading screws (one end leading screw is left-handed, the dextrorotation of other end leading screw) as, and leading screw is maximum allowable to be pushed away
Power is 3kN, and first group of compression spring and second group of compression spring select external diameter 10mm Inner footpath 5mm rectangle grinding tool spring, spring
Drift 28mm, coefficient of elasticity 40N/mm, spring installation pre compressed magnitude is 1mm.
The utility model embodiment is applied in the knee joint of bionical quadruped robot, hip joint, matches AC servo
Motor 400W, max. output torque 1.27Nm, apolegamy 1:120 harmonic speed reducers, reducer output flange and joint drive
Disk is connected, and decelerator input is connected by timing belt with AC servo motor；Wherein AC servo motor 2kg, harmonic speed reducer
1.5kg, one leg quality substantially 10kg or so, robot body quality are 20kg., can when joint maximum output torque
Ensure that quadruped robot is advanced with diagonal gait.
The utility model compact variation rigidity rotates the operation principle of flexible joint and workflow：The flexible joint can
Realize that active variable stiffness, passive stiffness-shift and plastic deformation detect three functions.
The worm screw support base 22 is fixed on the passive inner disc 3 in joint；The worm screw 19 is arranged on worm screw branch by bearing
Support on seat 22；The motor 24 is arranged on the passive inner disc 3 in joint by motor mount 23, the output end of motor 24 and worm screw
19 connections, are fixed by jackscrew, drive worm screw 19 to rotate；The worm screw structure 13 is axially symmetric structure, and middle part is turbine,
With the engaged transmission of worm screw 19；The both ends of worm screw structure 13 are leading screws, and one end is left-handed and is arranged on the first variation rigidity adjusting seat 11
In the screw-nut structure at middle part, other end dextrorotation and the screw-nut structure in the middle part of the second variation rigidity adjusting seat 14
In, driven by the leading screw of the left-handed one end dextrorotation in one end and coordinate corresponding first variation rigidity adjusting seat 11 and the second variation rigidity with it
Adjusting seat 14 is moved, and then changes the pre compressed magnitude of first group of compression spring 9 and second group of compression spring 15, realizes the master in joint
Dynamic variation rigidity function；
The both ends of the first variation rigidity adjusting seat 11 are connected by bearing with two optical axises 10 respectively；Described second becomes firm
The both ends of degree adjusting seat 14 are connected by bearing with two optical axises 10 respectively；Two optical axises 10 pass through optical axis support base 12
On the passive inner disc 3 in joint；One end of two optical axises 10 is provided with the first passive stiffness-shift adjusting seat 8 by bearing, separately
One end is provided with the second passive stiffness-shift adjusting seat 16 by bearing；First group of compression bullet is nested with two optical axises 10
Spring 9 and second group of compression spring 15；First group of compression spring 9 and second group of axis of compression spring 15 overlap with the axis of optical axis 10；
First group of compression spring 9 is between the first passive stiffness-shift adjusting seat 8 and the first variation rigidity adjusting seat 11；Described second
Group compression spring 15 is between the second passive stiffness-shift adjusting seat 16 and the second variation rigidity adjusting seat 14；First cam 7
In the first passive stiffness-shift adjusting seat 8；Second cam 17 is arranged in the second passive stiffness-shift adjusting seat 16；Institute
State the first cam 7 and the second cam 17 contacts with cam path 101；When the passive inner disc 3 of joint drive disk 1 and joint does not produce phase
During to rotating, the first cam 7 and the second cam 17 are respectively positioned on the obtuse angle position of the contour line of cam path 101, first group of compression spring 9
It is uncompressed with second group of compression spring 15, does not also produce plastic deformation；When the passive inner disc 3 of joint drive disk 1 and joint is relative
During rotation, the first cam 7 and the second cam 17 are contacted and rotated with cam path 101, extrude first group of passive stiffness-shift adjusting seat 8
Moved with second group of passive stiffness-shift adjusting seat 20 along optical axis 10, compress first group of compression spring 9 and second group of compression spring
15, hinder 1 inner disc 3 passive with joint of joint drive disk to relatively rotate, realize the flexible output in joint, that is, realize the passive of joint
Variation rigidity function；When plastic deformation reaches capacity position, the first cam 7 and the second cam 17 respectively with cam path 101
Positive stop lug boss 102 contacts, and plays spacing safeguard protection effect；
The absolute type encoder 20 is arranged on the passive inner disc 3 in joint by encoder support base 21；The Cylinder Gear
Wheel 18 is arranged on the output shaft of absolute type encoder 20；The arc rack 25 is arranged on the inboard wall groove of joint drive disk 1
It is interior, engaged with roller gear 18, when joint drive disk 1 relatively rotates with the passive inner disc 3 in joint, that is, produce plastic deformation
When, absolute type encoder 20 can measure in real time, obtain plastic deformation and output torque feedback result, realize the flexibility in joint
Deformation detection function.
The utility model does not address part and is applied to prior art.
Claims (3)
1. a kind of compact variation rigidity rotates flexible joint, it is characterised in that the flexible joint is defeated including joint drive disk, joint
Placing, the passive inner disc in joint, needle roller thrust bearing, angular contact ball bearing, axle jump ring, the first cam, the first passive stiffness-shift
Adjusting seat, first group of compression spring, optical axis, the first variation rigidity adjusting seat, optical axis support base, worm screw structure, second become firm
Adjusting seat, second group of compression spring, the second passive stiffness-shift adjusting seat, the second cam, roller gear, worm screw, absolute type is spent to compile
Code device, encoder support base, worm screw support base, motor mount, motor and arc rack；
The joint output panel is fixed with the passive inner disc in joint；The passive inner disc in joint is driven by angular contact ball bearing and joint
The connection axis connection of Moving plate, the surface of the passive inner disc in joint are contacted by needle roller thrust bearing with the surface of joint drive disk；Institute
Axle jump ring is stated to be connected with angular contact ball bearing；The inwall of the joint drive disk is provided with cam path, with the first cam and second
Cam engagement；Positive stop lug boss is installed on the cam path；The contour line of the cam path is as ray by eccentric arc
What two obtuse angles were formed；
The worm screw support base is fixed on the passive inner disc in joint；The worm screw is arranged on worm screw support base by bearing；Institute
State motor to be arranged on the passive inner disc in joint by motor mount, the output end of motor is connected with worm screw；The worm screw
It is turbine in the middle part of structure, is driven with worm engaging；Worm screw structure both ends are leading screws, and one end adjusts installed in the first variation rigidity
Seat in, the other end be arranged on the second variation rigidity adjusting seat in, both ends it is oppositely oriented；
The both ends of the first variation rigidity adjusting seat are connected by bearing with two optical axises respectively；The second variation rigidity adjusting seat
Both ends be connected respectively by bearing with two optical axises；It is passively interior that two optical axises are arranged on joint by optical axis support base
On disk；One end of two optical axises is provided with the first passive stiffness-shift adjusting seat by bearing, and the other end is provided with by bearing
Two passive stiffness-shift adjusting seats；First group of compression spring and second group of compression spring are nested with two optical axises；It is described
First group of compression spring is between the first passive stiffness-shift adjusting seat and the first variation rigidity adjusting seat；Second group of compression bullet
Spring is between the second passive stiffness-shift adjusting seat and the second variation rigidity adjusting seat；First cam is arranged on the first passive change
On stiffness equivalent seat；Second cam is arranged in the second passive stiffness-shift adjusting seat；First cam and the second cam
Contacted with cam path；
The absolute type encoder is arranged on the passive inner disc in joint by encoder support base；The roller gear is arranged on exhausted
To on the output shaft of formula encoder；The arc rack is arranged in the inwall of joint drive disk, is engaged with roller gear.
2. compact variation rigidity according to claim 1 rotates flexible joint, it is characterised in that first group of compression spring and
Second group of compression spring axis overlaps with optical axis axis.
3. compact variation rigidity according to claim 1 rotates flexible joint, it is characterised in that the motor is that direct current is watched
Take motor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720456294.8U CN206643958U (en) | 2017-04-27 | 2017-04-27 | A kind of compact variation rigidity rotates flexible joint |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720456294.8U CN206643958U (en) | 2017-04-27 | 2017-04-27 | A kind of compact variation rigidity rotates flexible joint |
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| CN206643958U true CN206643958U (en) | 2017-11-17 |
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| CN201720456294.8U Withdrawn - After Issue CN206643958U (en) | 2017-04-27 | 2017-04-27 | A kind of compact variation rigidity rotates flexible joint |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106914917A (en) * | 2017-04-27 | 2017-07-04 | 河北工业大学 | A kind of compact variation rigidity rotates flexible joint |
| CN108262763A (en) * | 2017-12-28 | 2018-07-10 | 中国科学院沈阳自动化研究所 | A kind of joint of robot variation rigidity actuator |
| CN108747536A (en) * | 2018-06-08 | 2018-11-06 | 山东大学 | A kind of cam tensioning adjustable fast tool servo system of rigidity |
| CN109172286A (en) * | 2018-07-25 | 2019-01-11 | 福州大学 | A kind of lower limb rehabilitation walking aid device and its working method |
| CN109465848A (en) * | 2018-11-30 | 2019-03-15 | 广东工业大学 | A kind of joint of robot variation rigidity module based on cam-type lever construction |
| CN111015730A (en) * | 2019-12-25 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Compact robot variable-stiffness joint |
| CN112621808A (en) * | 2020-11-06 | 2021-04-09 | 天津理工大学 | Joint robot series elastic driving structure |
| CN113084864A (en) * | 2021-05-07 | 2021-07-09 | 重庆理工大学 | Robot joint structure with variable rigidity |
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2017
- 2017-04-27 CN CN201720456294.8U patent/CN206643958U/en not_active Withdrawn - After Issue
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106914917A (en) * | 2017-04-27 | 2017-07-04 | 河北工业大学 | A kind of compact variation rigidity rotates flexible joint |
| CN106914917B (en) * | 2017-04-27 | 2023-07-18 | 河北工业大学 | Compact type rigidity-variable rotary flexible joint |
| CN108262763A (en) * | 2017-12-28 | 2018-07-10 | 中国科学院沈阳自动化研究所 | A kind of joint of robot variation rigidity actuator |
| CN108747536A (en) * | 2018-06-08 | 2018-11-06 | 山东大学 | A kind of cam tensioning adjustable fast tool servo system of rigidity |
| CN109172286A (en) * | 2018-07-25 | 2019-01-11 | 福州大学 | A kind of lower limb rehabilitation walking aid device and its working method |
| CN109172286B (en) * | 2018-07-25 | 2020-10-02 | 福州大学 | Lower limb rehabilitation walking aid device and working method thereof |
| CN109465848A (en) * | 2018-11-30 | 2019-03-15 | 广东工业大学 | A kind of joint of robot variation rigidity module based on cam-type lever construction |
| CN109465848B (en) * | 2018-11-30 | 2023-10-03 | 广东工业大学 | Robot joint becomes rigidity module based on cam lever structure |
| CN111015730A (en) * | 2019-12-25 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Compact robot variable-stiffness joint |
| CN112621808A (en) * | 2020-11-06 | 2021-04-09 | 天津理工大学 | Joint robot series elastic driving structure |
| CN113084864A (en) * | 2021-05-07 | 2021-07-09 | 重庆理工大学 | Robot joint structure with variable rigidity |
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