CN209036534U - The disengaging type flexible actuator of stiffness variable wind spring and motor parallel - Google Patents
The disengaging type flexible actuator of stiffness variable wind spring and motor parallel Download PDFInfo
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Abstract
The utility model proposes the disengaging type flexible actuators of a kind of stiffness variable wind spring and motor parallel, wherein it includes motor that the disengaging type flexible actuator, which includes: driving part, for providing power for driving load rotation；Compliant member includes stiffness variable wind spring, the access and release of wind spring are controlled by moving operation bar, and stiffness variable wind spring is pre-tightened by ratchet and pawl arrangement, wind spring common output torque in parallel with motor shaft, so that motor output torque, output power are reduced；Transmission parts are used to for the torque of the output torque of motor and stiffness variable wind spring being transferred to the input terminal of deceleration component, and make the flat structure of entire driver；Deceleration component is used for amplifying moment, and rotates with dynamic load；Support member plays a supportive role.The space layout of the disengaging type flexible actuator is compact, and overall dimensions are small, can meet the high-torque demand of load, have a wide range of application, and can largely reduce the peak torque of motor, reduces power of motor, saves energy consumption.
Description
Technical field
The utility model relates to bio-robot technical field, in particular to a kind of stiffness variable wind spring and motor parallel
Disengaging type flexible actuator (Clutched VariableParallel Elastic Actuator, CVPEA).
Background technique
Anthropomorphic robot requires the driving element of joint of robot that can export biggish instantaneous power, to meet the drive of joint height
Kinetic moment and the requirement of high driving speed, but that there are output powers is small, energy conversion efficiency is low, crashworthiness is poor etc. for traditional element
Technical problem, therefore to meet high-power, the high-torque demand of robot, usually using big and weight legacy drive.
From the angle of biomethanics, it is small to insect arrive mammal greatly all and be distributed in by it leg, trunk or
The muscle tendon at other positions of body etc. is flexible or elastic fibrous tissue realizes brilliant movenent performance.What animal use was coupled hardness with softness
Musculoskeletal system is stored and is released energy during the motion, improves joint prompt explosion power, and efficient circulation utilizes energy, together
When can be realized landing and buffering.Designer starts with from bionics angle, introduces driving joint flexible, is used to effectively simulation biology
The musculoskeletal system coupled hardness with softness.For flexible drive joint, conventional ADS driving element is provided needed for the joint motions of leg
Whole energy realize movement by the compliant mechanism that increase mechanism and flexible material are composed between driving element and joint
With the conversion of power, changes energy stream situation, so as to improve output characteristics and improve energy utilization efficiency.Conventional ADS driving element and soft
Property mechanism combination constitute flexible actuator (Elastic Actuator, also referred to as elastic driver), it be capable of providing joint fortune
Energy required for dynamic, and realize energy adjustment, energy utilization efficiency is improved, the spy with collision safety and self-protection
Property.
According to drive mode, flexible actuator be divided into series connection flexible actuator (Serial Elastic Actuators,
) and parallel flexible driver (Parallel Elastic Actuator, PEA) SEA.
Series connection flexible drive technology is considered as the key technology of healing robot, by flexible member (such as spring) and transmission
Driving element (such as motor) is in series.In the related technology, the pocket flexible actuator (A of variable physical damp type is had developed
Compact Compliant Actuator(CompActTM) with Variable Physical Damping) i.e. a kind of series connection
Flexible actuator, CompActTMClutch is controlled using piezoelectric type compact actuator, and with clutch in traditional rigidity driver and soft
It is converted between property driver.Flexible member in SEA can be used as the low-pass filter of motor and load-side, utilize its own flexibility
Guarantee in motion process human-computer interaction safety, and impact is greatly reduced.In addition, flexible member is alternatively arranged as energy storing members,
In rehabilitation training quasi-periodic motion process, periodically stores and release energy in particular phases, disappear to reduce driver
Wasted work rate.But flexible member also brings along side effect: introduce certain frequency (with joint stiffness and load inertia in relation to) dynamic
Oscillation, causes stability margin to reduce, motion tracking accuracy；If the rigidity selection of flexible member is unreasonable, may lead
Cause more dangerous situation (such as resonance)；SEA bandwidth is small, and response speed is slow, and does not have the spy for reducing motor peak torque
Point, and the quadratic power of copper loss and motor output torque is positively correlated, therefore SEA limited for the effect for reducing motor power consumption.
To solve the problems, such as that SEA exists, flexible member and conventional ADS driving element in parallel are constituted parallel flexible and driven by scholar
Dynamic device.PEA stores mechanical energy by parallel flexible element and influences mechanical output impedance, improves bandwidth, PEA by topological structure
It can be more quickly completed in moving process and act and still maintain energy-saving potential.In the related technology, it is double to devise controllable type
To brake clutch parallel flexible driver (Bidirectional Clutched Parallel Elastic Actuator,
BIC-PEA).Based on difference mechanism principle, BIC-PEA provides 4 kinds of drive modes by engaging or being detached from double-brake clutch, real
When to the input of energy, output, locked, the release of torsional spring are controlled.BIC-PEA light structure, quality 0.202kg, length
51mm, diameter 45mmm.Supported Comparison, which tests display, can reduce by 53% energy compared to Maxon RE-30 DC motor, BIC-PEA
Consumption.The shortcomings that BIC-PEA is that attainable peak torque is lower, and optimal peak torque only 27Nm causes its application range small；And
And structure is complicated, control complexity is high, and manufacture and assembly cost are high.
In the related technology, wearable lower limb exoskeleton rehabilitation robot hip joint spring motor parallel drivers are had developed.
The driver is in parallel with tension spring by motor, the rigidity of tension spring is adjustable and have energy storage and release function, use steering engine as
The engagement and disengaging of clutch for clutch control tension spring end, to control the energy flow of motor, tension spring, human body lower limbs.It is deposited by tension spring
The gravitional force of shaking peroid lower limb loss is stored up, and energy is fed back into lower limb in the support phase, so that reaching reduces driving motor function
The purpose of consumption and peak torque.But the driver size is larger, and various components are more discrete, accounts for big quantity space, structure is complicated.
Utility model content
The utility model is intended to solve at least some of the technical problems in related technologies.
For this purpose, the purpose of this utility model is that proposing the disengaging type flexibility drive of a kind of stiffness variable wind spring and motor parallel
Dynamic device.
In order to achieve the above objectives, the utility model proposes the disengaging type flexible drives of stiffness variable wind spring and motor parallel
Device, comprising: driving part, the driving part include motor, for providing power for driving load rotation；Compliant member, institute
Stating compliant member includes stiffness variable wind spring, and the motor is in parallel with the stiffness variable wind spring, passes through moving operation bar
The access and release of wind spring are controlled, and stiffness variable wind spring is pre-tightened by ratchet and pawl arrangement, wind spring and motor shaft are simultaneously
Connection, the common output torque of the two, while wind spring can store the negative work of dissipation, then re-used, discharged in the form of positive work,
So that motor output torque, output power are reduced, and convert the mechanical energy of moment load loss in cycle movement to
Elastic potential energy is stored in the stiffness variable wind spring, discharges the elastic potential energy in next stage, with the motor simultaneously
For load energy supply；Transmission parts, for transmitting the torque of the output torque of the motor and the stiffness variable wind spring
To the input terminal of deceleration component, and make the flat structure of entire driver；Deceleration component is used for amplifying moment, and drives institute
State load rotation；Support member, for playing a supportive role.
The stiffness variable wind spring of the utility model and the disengaging type flexible actuator of motor parallel, pass through stiffness variable wind spring
With motor parallel, so that CVPEA's is simple and compact for structure, size is smaller, wind spring variable rigidity, and manual clutch control wind spring connects
Enter and discharge, and wind spring is pre-tightened by ratchet and pawl arrangement, can meet the needs of load high-torque, thus use scope
Extensively, moreover it is possible to the peak torque for largely reducing motor, it can be by the mechanical energy of moment load loss in cycle movement
(gravitional force, kinetic energy etc.) is converted into elastic potential energy and is stored in wind spring, discharges elastic potential energy and motor simultaneously in next stage
It is energized to load, to reduce power of motor, saves energy consumption.
In addition, may be used also according to the disengaging type flexible actuator of the above-mentioned stiffness variable wind spring of the utility model and motor parallel
With following additional technical characteristic:
Further, when the driver as hip joint, wherein in the support later period and after swinging early period, and swing
Phase and the intersection for supporting early period, the motor are specifically used for providing the maximum moment for meeting the maximum peak torque in joint, and
The compliant member is specifically used for providing the stabilizing moment of periodic transformation, plays average torque to be superimposed with current moment vector
Effect, so that the two sides peak torque of the motor is reached balance, to reduce the peak torque of motor output；In people's leg branch
It supports the later period, the moment of resistance of torque and hip joint that the compliant member is generated due to deformation, with the gravity sufficient around support with human body
Square and moment of inertia keep balance.
Further, before the driving part operating, by ratchet and click-fit, and screwing operations bar is close to its inner end
Shaft, and rotate operating stick and drive shaft rotation, to drive the stock of the shaft to rotate, stretch the outermost of the wind spring
End, so that the most inboard generation of the wind spring and the consistent initial prefastening torque of the outermost end draw direction.
Further, when the driving part operates, the inboard of the wind spring follows the motor shaft to rotate and stretch, with
The elastic potential energy of the wind spring is stored, and then when load movement direction is reversed, the wind spring is gradually recovered nature, so that
The torque and the Motor torque in the same direction one that the innermost end of the wind spring generates react on the load, by the elastic potential energy
Feed back to the load.
Optionally, further includes: flexbile gear, firm gear, support plate and rotor, wherein when using flexbile gear as output when, it is described
Power is transmitted to the load by screw by flexbile gear, and the load and the flexbile gear rotate together, associated fixing member Yin Bofa
Raw device rotation direction is contrary with the flexbile gear, then turn of the rotation direction of the rotor, the wind spring innermost end
Dynamic direction is opposite with the rotation direction of load；
For the firm gear as output, the flexbile gear is fixed by screws in external rack, and the firm gear rotates described in drive
All parts turns in addition to flexbile gear of support plate and axial restraint on the supporting plate, support plate are connected with load to described in drive
Load rotation, because wave producer rotation direction is identical as the firm gear rotation direction, then the rotation direction of the rotor, institute
The rotation direction for stating wind spring innermost end is identical as the rotation direction of load.
Optionally, when the driver as hip joint, the thigh bar of the support plate connection ectoskeleton.
The additional aspect of the utility model and advantage will be set forth in part in the description, partially will be from following description
In become obvious, or recognized by the practice of the utility model.
Detailed description of the invention
The utility model is above-mentioned and/or additional aspect and advantage from the following description of the accompanying drawings of embodiments will
Become obvious and be readily appreciated that, in which:
Fig. 1 is according to the stiffness variable wind spring of the utility model embodiment and the disengaging type flexible actuator knot of motor parallel
Structure schematic diagram；
Fig. 2 is the semi-cutaway according to the conventional drive components for having driving capability in the utility model embodiment；
Fig. 3 is the axonometric drawing according to the conventional drive components for having driving capability in the utility model embodiment；
Fig. 4 is according to stiffness variable in the utility model embodiment, can pre-tighten, controllably access/release and deposits with energy
The axonometric drawing of storage and the compliant member of release function；
Fig. 5 is according to stiffness variable in the utility model embodiment, can pre-tighten, controllably access/release and deposits with energy
The semi-cutaway of storage and the compliant member of release function；
Fig. 6 is according in the stiffness variable wind spring of the utility model embodiment and the disengaging type flexible actuator of motor parallel
The axonometric drawing of transmission parts；
Fig. 7 is the half-sectional axonometric drawing according to the deceleration component of moment amplifying power in the utility model embodiment；
Fig. 8 is the axonometric drawing according to the support plate to play a supportive role in the utility model embodiment.
Description of symbols:
The disengaging type flexible actuator of 10- stiffness variable wind spring and motor parallel, 1- driving part, wherein 1.1- motor
Rotor, 1.2- hexagon socket countersunk flat cap head screw, 1.3- motor stator, 1.4- end cap rotor, 1.5- general flat key, hexagonal cylindrical in 1.6-
Head holding screw, 1.7- flat shim, 1.8- motor shaft, 1.9- deep groove ball bearing, 1.10- bearing holder (housing, cover), hexagonal cylindrical head in 1.11-
Screw and 1.12- motor cover；
2- compliant member, wherein the 2.1- ratchet cover plate, 2.2- operating stick, 2.3- hexagon socket cap head screw, 2.4- pawl,
2.5- pawl connecting shaft, 2.6- hexagon socket cap head screw, 2.7- support protection cap, 2.8- plane scroll spring, 2.9- shaft
Stock, 2.10- hexagon socket cap head screw, 2.11- circlip for hole, 2.12- deep groove ball bearing, 2.13- axis elasticity
Retaining ring, 2.14- general flat key, 2.15- shaft and 2.16- straight pin；
3- transmission parts, wherein 3.1- small pulley, 3.2- general flat key, 3.3- synchronous belt, 3.4- big belt wheel and 3.5- are general
Logical flat key；
4- deceleration component, wherein 4.1- harmonic speed reducer, 4.2- hexagon socket cap head screw, 4.3- reducer shaft, 4.4-
General flat key, 4.5- circlip for shaft, 4.6- deep groove ball bearing, 4.7- circlip for hole, 4.8- flat shim, six in 4.9-
Angle fillister head screw, 4.1.1- wave producer, 4.1.2- flexbile gear, 4.1.3- cross roller bearing and 4.1.4- firm gear；
The support plate that 5- plays a supportive role.
Specific embodiment
The embodiments of the present invention are described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, it is intended to for explaining the utility model, and should not be understood as to the utility model
Limitation.
Describe with reference to the accompanying drawings according to the utility model embodiment propose stiffness variable wind spring and motor parallel from
Box-like flexible actuator structural schematic diagram.
As shown in Figure 1, the disengaging type flexible actuator 10 of the stiffness variable wind spring and motor parallel includes: driving part 1,
Compliant member 2, transmission parts 3, deceleration component 4 and support member 5.
Wherein, driving part 1 includes motor, for providing power for driving load rotation.Compliant member 2 includes variable rigid
Wind spring is spent, and motor is in parallel with stiffness variable wind spring, the access and release of wind spring are controlled by moving operation bar, and passes through spine
Wheel detent mechanism pre-tightens stiffness variable wind spring, and wind spring is in parallel with motor shaft, the common output torque of the two, while wind spring energy
The negative work to dissipate is stored, then re-used, discharged in the form of positive work, so that motor output torque, output power are reduced,
It can be used for converting elastic potential energy for the mechanical energy of moment load loss in cycle movement and be stored in stiffness variable wind spring
In, elastic potential energy is discharged in next stage, to be simultaneously load energy supply with motor.Transmission parts 3 are used to turn round the output of motor
The torque of square and stiffness variable wind spring is transferred to the input terminal of deceleration component, and makes the flat structure of entire driver.Slow down
Component 4 is used for amplifying moment, and rotates with dynamic load.Support member 5 is for playing a supportive role.The utility model embodiment is variable
10 space layout of disengaging type flexible actuator of rigidity wind spring and motor parallel is compact, and overall dimensions are small, can satisfy load
High-torque demand, has a wide range of application, and can largely reduce the peak torque of motor, reduces power of motor, saves energy consumption.
Specifically, the disengaging type flexible actuator of stiffness variable wind spring and motor parallel includes 5 parts: 1) there is driving energy
The conventional drive components of power；2) stiffness variable, can pre-tighten, controllably access/release and soft with energy stores and release function
Property component；3) there are the transmission parts of movement, power transmission ability；4) deceleration component of moment amplifying power, harmonic speed reducer；
5) support plate to play a supportive role.Wherein, there are the conventional drive components of driving capability, i.e. driving part 1 includes the rimless nothing of direct current
It is brush external rotor electric thermomechanical components, end cap rotor, hexagon socket countersunk flat cap head screw, hexagon socket cap head screw, flat shim, motor shaft, common
Flat key, deep groove ball bearing, bearing holder (housing, cover), motor cover, entire driving part are exported by motor shaft.Stiffness variable can pre-tighten, controllably
Access/release and the compliant member with energy stores and release function, i.e. compliant member 2 include plane scroll spring, cylinder
Pin, the stock of shaft, shaft, deep groove ball bearing, circlip for hole, circlip for shaft, support protection cap, general flat key,
Ratchet and pawl arrangement, operating stick, pawl connecting shaft, hexagon socket cap head screw.Transmission parts 3 include small pulley, big belt wheel, same
Band is walked, general flat key, Jimmy's screw, effect is the input terminal that the torque of the output torque of motor and wind spring is transferred to retarder
And make the flat structure of entire driver, for the output torque for increasing driver, toothed belt transmission is equipped with fixed reduction ratio.
The deceleration component of moment amplifying power, i.e. deceleration component 4 include reducer shaft, deep groove ball bearing, circlip for hole, axis use
Circlip, hexagon socket cap head screw, general flat key, flat shim and harmonic speed reducer.
Further, in one embodiment of the utility model, when the driver as hip joint, wherein
In the support later period and early period is swung, and swings the later period and supports the intersection of early period, motor is specifically used for providing
Meet the maximum moment of the maximum peak torque in joint, and compliant member is specifically used for providing the stabilizing moment of periodic transformation,
Play the role of average torque to be superimposed with current moment vector, so that the two sides peak torque of motor is reached balance, to reduce electricity
The peak torque of machine output；
Support the later period in people's leg, the moment of resistance of torque and hip joint that compliant member is generated due to deformation, with human body around
The gravitational moment and moment of inertia for supporting foot keep balance.
For example, if CVPEA is applied to walk help formula or enhanced lower limb walk-aiding exoskeleton, the driving as hip joint
Device firstly, peak torque of the hip joint in a gait cycle appears in later period support phase and early period shaking peroid, and is swung
Later period phase and the intersection for supporting early period phase, and the peak value at two is not of uniform size, therefore it is required that the maximum, force that motor provides
Square meets maximum peak torque.And the addition of compliant member provides the stabilizing moment of periodic transformation, swears with current torque
Amount superposition can play the role of average torque, and motor two sides peak torque is made to reach balance, to reduce the peak of motor output
It is worth torque.Secondly, supporting later period phase, the moment of resistance of torque and hip joint that compliant member is generated due to deformation, with people in people's leg
Body keeps balance around the gravitational moment and moment of inertia of support foot, to reduce the burden of human hip, human body in the process
(when people's normal walking, hip joint is in a gait cycle by human hip absorption for the gravitional force and kinetic energy a part of reduction
The energy that the interior support later period absorbs is most), another part is converted to the elastic potential energy of compliant member.It is provided when compliant member
Torque keeps balancing with human bady gravitational square, moment of inertia as far as possible, i.e. hip joint moment of resistance is as small as possible, meanwhile, human body is reduced
Gravitional force and kinetic energy be all converted to the elastic potential energy of compliant member as far as possible, i.e., the energy that human hip absorbs to the greatest extent may be used
Can be few, then need to only dally in entirely support later period, driving part, it is not necessarily to energy input；Into shaking peroid, before swing
Phase, since hip joint switchs to curvature movement by stretching, the torque that compliant member generates can assist together with the torque of driving part
Hip joint buckling swinging kick, elastic potential energy release and the driving part of compliant member are swinging kick energy supply jointly, therefore reduce driving
The power demand of component and reduce peak torque demand.If CVPEA is applied to trunk support formula ectoskeleton, such as in assembly vehicle
Between underworker bend over to remove weight, as the driver of hip joint, when wearer bends over, compliant member due to deformation generate with
Bend over contrary torque, with back erector spinae around the moment of muscle power of L5/S1 spinal levels together with people's trunk around L5/S1 spinal cord
The gravitational moment and moment of inertia of segment keep balance, and gravitional force a part that trunk reduces during bending over is by erector spinae
Absorb, another part is converted into the elastic potential energy of compliant member, by design, the torque that compliant member provides as far as possible alone with
Gravitational moment, the moment of inertia of trunk keep balance, i.e. the moment of muscle power of erector spinae is as small as possible, meanwhile, the gravitational potential of trunk reduction
The elastic potential energy of compliant member can be all converted to as far as possible, i.e. the energy of human body erector spinae absorption is as few as possible, entire curved
During waist, driving part need to only dally, and be not necessarily to energy input；People has removed the weight stage, since trunk is turned by flexion
Torque for extended state, compliant member can assist erector spinae to shrink jointly with the torque of driving part, stretch trunk, flexible part
The elastic potential energy of part is released, and compensates the energy of a part of driving part output, thus the power demand of driving part reduce,
Peak torque demand reduces.Such trunk support formula ectoskeleton can also be applied to what worker worked under posture of bending over for a long time
Operating condition.
Further, in one embodiment of the utility model, before driving part operating, by ratchet and click-fit,
And screwing operations bar makes its inner end be close to shaft, and rotates operating stick and drive shaft rotation, to drive the stock of shaft to rotate,
The outermost end of tension coil springs, so that the most inboard generation of wind spring and the consistent initial prefastening torque of outermost end draw direction.
Further, in one embodiment of the utility model, when driving part operates, the inboard of wind spring follows motor
Axis is rotated and is stretched, and to store the elastic potential energy of wind spring, and then when load movement direction is reversed, wind spring is gradually recovered nature shape
State feeds back to elastic potential energy negative so that torque and Motor torque in the same direction one that the innermost end of wind spring generates react on load
It carries.
That is, by ratchet and click-fit, and screwing operations bar keeps its inner end tight before driver starts running
Shaft is pasted, operating stick is then rotated, drives shaft rotation, and then drives the stock rotation of shaft, so that tension coil springs is outermost
End, then it is unidirectional using ratchet and pawl arrangement in the most inboard generation of wind spring and the consistent initial prefastening torque of outermost draw direction
The characteristics of driving and reverse locking, maintains the state currently pre-tightened.When driver operates, wind spring is most inboard to follow motor shaft to rotate
And (wind spring outermost is since the reverse locking of ratchet and pawl arrangement is fixed at this time) is stretched, the mechanical energy of load loss is to roll up
The form of spring elastic potential energy stores, and into next stage, load movement direction is reversed, and wind spring gradually returns back to nature, volume
The torque and Motor torque in the same direction one that spring innermost end generates react on load, to the elastic potential energy of storage be fed back to negative
It carries.Screwing out a part of operating stick separates operating stick end and shaft, then is pulled outwardly the ratchet cover plate by operating stick, the ratchet cover plate with turn
Axis is by manual separation, while ratchet and pawl are detached from, and wind spring outermost is free, and wind spring torque is unloaded, and wind spring, turns straight pin
Stock, shaft, deep groove ball bearing inner ring, the circlip for shaft of axis follow motor shaft to rotate under motor driven, and wind spring is at this time
The function of not playing storage energy, release energy；The ratchet cover plate is covered in shaft and is made ratchet and click-fit, wind spring outermost
Can only be elongated cannot retract original place, and wind spring accesses again, the function that can be played storage energy, release energy.By operating stick
And ratchet and pawl arrangement, shaft are, it can be achieved that manual clutch controls wind spring access/release purpose.The compliant member convenient disassembly,
Change wind spring rigidity by changing effective active length of wind spring, to adapt to the load (use of different weight of different quality
Person).
Optionally, in one embodiment of the utility model, further includes: flexbile gear, firm gear, support plate and rotor,
Wherein, if CVPEA is applied to trunk support formula ectoskeleton, when using flexbile gear as when output, power is transmitted to by flexbile gear by screw
Load, load and flexbile gear rotate together, and associated fixing member is contrary because wave producer rotation direction and flexbile gear, then motor
Rotation direction, the rotation direction of wind spring innermost end of rotor are opposite with the rotation direction of load；
If driver CVPEA is applied to walk help formula or enhanced lower limb exoskeleton, firm gear passes through screw as output, flexbile gear
It is fixed on external rack, firm gear rotation drives all parts turns in addition to flexbile gear of support plate and axial restraint on the supporting plate,
Support plate is connected to dynamic load rotation, because wave producer rotation direction is identical as firm gear rotation direction, then motor with load
Rotation direction, the rotation direction of wind spring innermost end of rotor are identical as the rotation direction of load.
Optionally, in one embodiment of the utility model, if driver CVPEA is applied under walk help formula or enhanced
Limb ectoskeleton and trunk support formula ectoskeleton, when the driver as hip joint, support plate connects the thigh bar of ectoskeleton.
The working principle of the disengaging type flexible actuator of stiffness variable wind spring and motor parallel is described in detail below.
As shown in Figure 1, the disengaging type flexible actuator (CVPEA) of i.e. stiffness variable wind spring and motor parallel.CVPEA has 5
A component composition has the conventional drive components 1 of driving capability, stiffness variable, can pre-tighten, controllably access/release and have energy
It stores and has been axially fixed in branch with the deceleration component 4 of the compliant member 2 of release function, transmission parts 3, moment amplifying power
Support effect support plate 5 on, have driving capability conventional drive components 1 and stiffness variable, can pre-tighten, controllably access/release and
Compliant member 2 with energy stores and release function parallel output on motor shaft 1.8, is passed power by transmission parts 3
Pass the deceleration component 4 of moment amplifying power.
As shown in Figures 3 and 4, that is, there are the conventional drive components 1 of driving capability.External rotor electric thermomechanical components include rotor
1.1 and motor stator 1.3, motor stator 1.3 is fixed in support plate 5 by 3 hexagon socket cap head screws 1.11, and motor turns
Son 1.1 imparts power to end cap rotor 1.4 by 3 hexagon socket countersunk flat cap head screws 1.2, and end cap rotor 1.4 passes through general flat key
1.5 impart power to motor shaft 1.8 and are fixed on motor shaft by interior hexagonal cylindrical head holding screw 1.6 and flat shim 1.7
1.8, motor shaft 1.8 rotates under the support of two deep groove ball bearings 1.9, and carries out axially position by it, and pass through two
Deep groove ball bearing 1.9, bearing holder (housing, cover) 1.10, motor stator 1.3 are axially fixed in support plate 5.To guarantee safety and heat dissipation, design
Motor cover 1.12, by two hexagon socket cap head screws and a hexagon socket cap head screw 1.13 is fixed on support plate 5
On.
As shown in Figures 4 and 5, i.e., stiffness variable, can pre-tighten, controllably access/release and have energy stores and release function
Compliant member 2.Pin hole on motor shaft 1.8, the innermost end punching of plane scroll spring 2.8, insertion straight pin 2.16 can incite somebody to action
The power of wind spring inner end passes to motor shaft 1.8.Ratchet and pawl arrangement includes that can cooperate the ratchet cover plate 2.1 and pawl 2.4, pawl
2.4 sets in pawl connecting shaft 2.5, can rotate around pawl connecting shaft 2.5, by the shaft shoulder and hexagon socket cap head screw 2.3 into
Row axial limiting, pawl connecting shaft 2.5 are inserted in support protection cap 2.7 in the form of transition fit, are carried out by the shaft shoulder axial
Positioning carries out axial restraint by interior hexagonal cylindrical head M3 × 5 screw 2.3.Operating stick 2.2 is inserted in the ratchet cover plate by being threadedly engaged
On 2.1, the ratchet cover plate 2.1 is covered in the form of clearance fit in the end of shaft 2.15, carries out axially position by the shaft shoulder.Rotation can be passed through
Tight operating stick 2.2 is close to shaft and is axially fastening the ratchet cover plate 2.1, if wanting to remove the ratchet cover plate 2.1, can screw out a part of operating stick
2.2.Threaded engagement the putting on/removing convenient for the ratchet cover plate 2.1 of operating stick 2.2 and the ratchet cover plate 2.1, consequently facilitating wind spring 2.8
Access/release.The ratchet cover plate 2.1 transmits power to shaft 2.15 by general flat key 2.14, and shaft 2.15 is in deep groove ball bearing
It is rotated under 2.12 support, and axially position is carried out by it, pass through deep groove ball bearing 2.12, circlip for hole 2.11, axis
It is axially fixed in support protection cap 2.7 with circlip 2.13.Protection cap 2.7 is supported to pass through 4 hexagon socket cap head screws
2.10 and 1 hexagon socket cap head screws 2.6 are fixed in support plate 5.Shaft 2.15 is imparted power to by being threadedly engaged
The stock 2.9 of shaft, the extension end of the stock 2.9 of shaft are inserted in the outermost end of wind spring 2.8, therefore the outermost end of wind spring 2.8 can be with
The stock 2.9 of shaft rotates and stretches and generate deformation.
As shown in fig. 6, i.e. transmission parts 3.Between motor shaft 1.8 and small pulley 3.1, reducer shaft 4.3 and big belt wheel 3.4
Between torque transmitted by general flat key 3.2, general flat key 3.5, two belt wheels by Jimmy's screw is carried out on axis it is axial admittedly
It is fixed.The transmission of synchronous belt 3.3 makes the flat structure of entire driver, more meets ergonomics.
As shown in fig. 7, the deceleration component 4 of i.e. moment amplifying power.Reducer shaft 4.3 is in 2 deep groove ball bearings 4.6
The lower rotation of support, carries out axially position by deep groove ball bearing 4.6, passes through 2 deep groove ball bearings 4.6, circlip for holes
4.7, circlip for shaft 4.5 is axially fixed in support plate 5.Harmonic speed reducer 4.1 includes wave producer 4.1.1, flexbile gear
4.1.2, the parts such as firm gear 4.1.4, cross roller bearing 4.1.3, sealing O-ring, wave producer 4.1.1 are used as input,
Flexbile gear 4.1.2 or firm gear 4.1.4 as output, cross roller bearing 4.1.3 bear the radial force of output end, axial force with
And moment of flexure, sealing O-ring protect lubricant grease not leak.Wave producer 4.1.1 carries out axially position by the shaft shoulder, passes through interior six
Angle fillister head screw 4.9 and flat shim 4.8 are axially fixed on reducer shaft, and reducer shaft 4.3 is transmitted by general flat key 4.4
Power to wave producer 4.1.1, firm gear is fixed in support plate 5 by 6 interior 0 screws 4.2 of hexagonal cylindrical head.
As shown in figure 8, the support plate 5 to play a supportive role, above-mentioned 4 components pass through screw to carry out in support plate 5
Axial restraint.
The disengaging type flexible actuator of the stiffness variable wind spring and motor parallel that are proposed according to the utility model embodiment leads to
Cross wind spring it is in parallel with motor, replacement wind spring can be changed its rigidity, ratchet and pawl arrangement it can be carried out pre-tighten and manually from
It closes and controls its access/release, so that motor and wind spring the parallel output power on motor shaft, are inputed to power by synchronous belt
Harmonic speed reducer, and then the space layout of driver is compact, overall dimensions are small, and can meet the high-torque demand of load, from
And use scope is wide, can largely reduce the peak torque of motor, reduces power of motor, saves energy consumption.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.The meaning of " plurality " is at least two, such as two in the description of the present invention,
It is a, three etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " Gu
It is fixed " etc. terms shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be
Mechanical connection, is also possible to be electrically connected；It can be directly connected, two can also be can be indirectly connected through an intermediary
The interaction relationship of connection or two elements inside element, unless otherwise restricted clearly.For the common skill of this field
For art personnel, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the present invention unless specifically defined or limited otherwise, fisrt feature is in the second feature " on " or " down "
It can be that the first and second features directly contact or the first and second features are by intermediary mediate contact.Moreover, first is special
Sign can be fisrt feature above the second feature " above ", " above " and " above " and be directly above or diagonally above the second feature, or only
Indicate that first feature horizontal height is higher than second feature.Fisrt feature under the second feature " below ", " below " and " below " can be with
It is that fisrt feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is contained at least one embodiment or example of the utility model.In the present specification, to the schematic table of above-mentioned term
It states and is necessarily directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be with
It can be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this field
Technical staff can by the feature of different embodiments or examples described in this specification and different embodiments or examples into
Row combination and combination.
Although the embodiments of the present invention have been shown and described above, it is to be understood that above-described embodiment is
Illustratively, it should not be understood as limiting the present invention, those skilled in the art are in the scope of the utility model
Inside it can make changes, modifications, alterations, and variations to the above described embodiments.
Claims (6)
1. the disengaging type flexible actuator of a kind of stiffness variable wind spring and motor parallel characterized by comprising
Driving part, the driving part include motor, for providing power for driving load rotation；
Compliant member, the compliant member includes stiffness variable wind spring, and the motor is in parallel with the stiffness variable wind spring,
The access and release of wind spring are controlled by moving operation bar, and stiffness variable wind spring is pre-tightened by ratchet and pawl arrangement,
Wind spring is in parallel with motor shaft, the common output torque of the two, while wind spring can store the negative work of dissipation, then by it in the form of positive work
It re-uses, release, so that motor output torque, output power are reduced, and by moment load loss in cycle movement
Mechanical energy be converted into elastic potential energy and be stored in the stiffness variable wind spring, discharge the elastic potential energy in next stage, with
It is simultaneously that the load energizes with the motor；
Transmission parts, for the torque of the output torque of the motor and the stiffness variable wind spring to be transferred to deceleration component
Input terminal, and make the flat structure of entire driver；
Deceleration component is used for amplifying moment, and the load is driven to rotate；And
Support member, for playing a supportive role.
2. the disengaging type flexible actuator of stiffness variable wind spring according to claim 1 and motor parallel, which is characterized in that
When the driver as hip joint, wherein
In the support later period and early period is swung, and swings the later period and supports the intersection of early period, the motor is specifically used for providing
Meet the maximum moment of the maximum peak torque in joint, and the compliant member is specifically used for providing the stability force of periodic transformation
Square plays the role of average torque to be superimposed with current moment vector, and the two sides peak torque of the motor is made to reach balance, with
Reduce the peak torque of the motor output；
Support the later period in people's leg, the moment of resistance of torque and hip joint that the compliant member is generated due to deformation, with human body around
The gravitational moment and moment of inertia for supporting foot keep balance.
3. the disengaging type flexible actuator of stiffness variable wind spring according to claim 2 and motor parallel, which is characterized in that
Before the driving part operating, by ratchet and click-fit, and screwing operations bar makes its inner end be close to shaft, and rotates operation
Bar drive shaft rotation, to drive the stock of the shaft to rotate, stretch the outermost end of the wind spring so that the wind spring most in
Side generates and the consistent initial prefastening torque of the outermost end draw direction.
4. the disengaging type flexible actuator of stiffness variable wind spring according to claim 2 or 3 and motor parallel, feature exist
In when the driving part operates, the inboard of the wind spring follows the motor shaft to rotate and stretch, to store the wind spring
Elastic potential energy, and then when load movement direction is reversed, the wind spring is gradually recovered nature so that the wind spring most in
It holds the torque generated and the Motor torque in the same direction one to react on the load, the elastic potential energy is fed back to described negative
It carries.
5. the disengaging type flexible actuator of stiffness variable wind spring according to claim 1 and motor parallel, which is characterized in that
Further include: flexbile gear, firm gear, support plate and rotor, wherein when using flexbile gear as when output, the flexbile gear will by screw
Power is transmitted to the load, and the load and the flexbile gear rotate together, associated fixing member because wave producer rotation direction with
Contrary, the then rotation direction of the rotor, the rotation direction of the wind spring innermost end and the load of the flexbile gear
Rotation direction is opposite；
For the firm gear as output, the flexbile gear is fixed by screws in external rack, and the firm gear rotation drives the support
All parts turns in addition to flexbile gear of plate and axial restraint on the supporting plate, support plate are connected to drive the load with load
Rotation, because wave producer rotation direction is identical as the firm gear rotation direction, then the rotation direction of the rotor, the volume
The rotation direction of spring innermost end and the rotation direction of load are identical.
6. the disengaging type flexible actuator of stiffness variable wind spring according to claim 5 and motor parallel, which is characterized in that
When the driver as hip joint, the thigh bar of the support plate connection ectoskeleton.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821527664.3U CN209036534U (en) | 2018-09-18 | 2018-09-18 | The disengaging type flexible actuator of stiffness variable wind spring and motor parallel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821527664.3U CN209036534U (en) | 2018-09-18 | 2018-09-18 | The disengaging type flexible actuator of stiffness variable wind spring and motor parallel |
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| Publication Number | Publication Date |
|---|---|
| CN209036534U true CN209036534U (en) | 2019-06-28 |
Family
ID=67033633
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821527664.3U Withdrawn - After Issue CN209036534U (en) | 2018-09-18 | 2018-09-18 | The disengaging type flexible actuator of stiffness variable wind spring and motor parallel |
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| CN (1) | CN209036534U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972534A (en) * | 2018-09-18 | 2018-12-11 | 清华大学 | The disengaging type flexible actuator of stiffness variable wind spring and motor parallel |
| CN110559162A (en) * | 2019-08-29 | 2019-12-13 | 清华大学 | Lower limb exoskeleton driver |
-
2018
- 2018-09-18 CN CN201821527664.3U patent/CN209036534U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972534A (en) * | 2018-09-18 | 2018-12-11 | 清华大学 | The disengaging type flexible actuator of stiffness variable wind spring and motor parallel |
| CN108972534B (en) * | 2018-09-18 | 2024-01-30 | 清华大学 | Clutch type flexible driver with variable stiffness coil spring and motor connected in parallel |
| CN110559162A (en) * | 2019-08-29 | 2019-12-13 | 清华大学 | Lower limb exoskeleton driver |
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