LU504256B1 - A JOINT MODULE WITH ADJUSTABLE STIFFNESS - Google Patents

Abstract

The invention discloses an adjustable stiffness joint module comprising the rotor, the stator, the connecting column, the spring plate, the rotor with the connecting plate mounted at one end, and the spacer plate mounted inside the rotor, wherein one end of the connecting column is assembled with the mounting plate and is fixed, the other end passes through the spacer plate and the rotor and is assembled with the nut; the fixing plate is connected to the stator by means of the connection frame, and the stator is provided with the connection box, the inside of which is provided with the hollow connection space; the connection box is attached to one end of the spring plate, and the end of the spring plate remote from the connection box is the open end; the spring plate is provided with a hollow spring plate cavity inside the spring plate, and the spring plate cavity is connected to the connection space by means of a connector; the spring plate cavity and the connection cavity are filled with hydraulic oil; the spring plate passes through the adjustment seat and snaps and slides into the adjustment seat mounted directly or indirectly on the rotor. The elastic modulus of the spring plate can be quickly adjusted by regulating the oil pressure in the spring plate space to regulate the damping of the rotation of the rotor relative to the stator.

Description

A joint module with adjustable stiffness LU504256

Technical part

The present invention relates to the field of mechanical design, particularly to a joint module with adjustable stiffness.

Technology in the background

With the increasing use of robots in various industries such as industrial, aerospace, medical and service sectors, more and more are emerging

Opportunities for human interaction and ensuring the safety of

Robots interacting with the environment or humans has become an important one

become a research goal at home and abroad. Traditional robots are designed to be rigid to ensure an accurate final position and follow a pre-planned route to complete a monotonous and repetitive task. However, when the robot's end effectors come into contact with the environment, even the most precise position control can be inadequate. By combining it with one

Contact force control can relax the position accuracy requirement. For this reason, scientists have developed variable stiffness designs that provide not only the passive safety of a flexible mechanism, but also high

Control accuracy and a wide range of applications. You can like a biological one

Muscles absorb shocks, absorb, store and utilize energy. Such devices are referred to as adjustable stiffness or variable stiffness joint modules.

Most of the adjustable stiffness joint module use the spring plate to dampen the rotation of stator and rotor, this is a simple design, but it depends too much on the elastic modulus of the spring plate and therefore cannot be adapted to a wide range of applications, at the same time Too high a speed and too much torque during rotation can easily cause a collision between the rotor and

Stator lead, which affects the service life of the module. An urgent technical one

The problem is how to achieve the controlled elastic modulus of the spring plate and damping between the rotor and stator.

Content of the invention

In view of the above-mentioned shortcomings of the prior art, the technical

The object of the present invention is to provide a joint module with adjustable stiffness, which adjusts the elastic modulus of the spring plate with the help of the oil pressure inside the

Spring plate controls.

In order to achieve the above-mentioned purpose, the invention provides a joint module with adjustable rigidity, which includes the rotor, the stator, the connecting column, the spring plate, the

Rotor with the connection plate mounted at one end and the spacer plate mounted inside the rotor, one end of the connection column with the

mounting plate is assembled and fixed, the other end passes through the spacer plate and the rotor and is assembled with the nut;

Said fixing plate is connected to the stator by means of the connection frame, and said stator is provided with the connection box, the inside of which is provided with the hollow connection space; the connection box mentioned is on one

End of the spring plate attached, and the end remote from the connection box

Spring plate is the open end; the spring plate with a hollow spring plate cavity in the

Inside the spring plate is provided and the spring plate cavity is connected to the connection space by means of a connector, said spring plate has elasticity; de} J504256 called spring plate cavity and the connecting cavity are filled with hydraulic oil;

Said spring plate passes through the adjustment seat and snaps and slides into it

Adjustment seat mounted directly or indirectly on the rotor.

As a further improvement of the present invention, the adjustment seat mentioned is with the

Screw sleeve seat, the sliding block seat and the rotation axis, the mentioned

Rotary axis is equipped with the bearing, the bearing is pressed onto the spring plate; said pivot axis and bearing being at least two and symmetrically mounted on each side of the spring plate, the bearings on each side of the spring plate being pressed against the side walls of the spring plate;

The slide block seat is placed and slidably mounted on the slide rail, said slide rail being connected to the spacer plate by means of the slide rail connecting plate; said screw sleeve seat is provided with the screw sleeve mounted outside the screw and connected thereto by means of the screw thread, said screw being circumferentially and not axially movable on the first

Screw seat is mounted, wherein the second screw seat, said first screw seat and said second screw seat are mounted on the spacer plate.

As a further improvement of the present invention, the connection column is further equipped with the encoder plate on the part of the spacer plate located near the side of the connection disk, with the edge of the encoder plate fitted into the encoder mounted on the spacer plate.

As a further improvement of the present invention, said stator flanges are used for assembly and attachment with external adjustments.

As a further improvement of the present invention, said screw is equipped with the first gear, the first gear meshing with the second gear for transmission, said second gear being mounted on the motor shaft, the

Motor shaft is mounted in the motor and the motor is mounted on the first screw seat.

As a further improvement of the present invention, said stator is further provided with the

Limitation table equipped, with the said rotor with the limit slot in

Agreement with the limitation table is provided, the said

Limit table is fitted into the limit slot, the limit table, the limit slot is used to determine the maximum rotation angle of the rotor and the

Stator to limit.

As a further improvement of the present invention, said connecting column is equipped with the press plate, said connecting space being connected to the oil space of the buffer cylinder via the oil line, said buffer cylinders being two and being adjusted to the two maximum rotation angles of the press plate, the

Buffer cylinders are mounted on the rotor;

The buffer cylinder mentioned is provided with the hollow oil space inside, the mentioned

Oil space is sealed and axially displaceable with the piston, the piston is assembled with one end of the piston rod, the other end of the piston rod is assembled with the thrust ring after entering the buffer cylinder, the said oil space is away from the end of the piston and the Piston is installed with the spring, the spring exerts a

Spring force on the piston to push towards the thrust ring, said

Oil chamber, the mentioned oil line is filled with hydraulic oil.

The beneficial effects of the present invention are: LU504256

The invention provides the spring plate cavity inside the spring plate, which with

Hydraulic oil is filled so that the elastic modulus of the spring plate is adjusted by regulating the

Oil pressure in the spring plate cavity can be quickly adjusted to achieve a

To achieve damping adjustment of the rotor in relation to the stator rotation. This

Design has a wide range of dampening adjustment and can be flexibly adapted to most financial environments and meet most requirements, thereby extending the possibilities of the invention as a standard part and the adjustability of its

Function can be significantly increased. By adding the buffer cylinder to the

Invention the impact between the rotor and the stator is reduced to a greater extent during the

Elastic modulus of the spring plate is increased during the impact in order to achieve further buffering and thus avoid a direct impact of the rotor on the stator.

Description of the accompanying drawings

Figure 1 is a schematic representation 1 of the structure of the present invention;

Figure 2 is a schematic representation 2 of the structure of the present invention;

Figure 3 is a schematic representation 3 of the structure of the present invention (sectional view in the center plane in which the connecting column axis 620 is located);

Figure 4 is a schematic representation 4 of the structure of the present invention (cross-section through the other central surface in which the connecting support axis 620 is disposed);

Figure 5 is a schematic representation 1 of part of the structure of the present

Invention;

Figure 6 is a schematic representation 2 of part of the structure of the present

Invention;

Figure 7 is a schematic representation 3 of part of the structure of the present

Invention;

Figure 8 is a schematic representation of the structure on the spring plate 510, the

adjustment seat 310, the motor 570 and the screw 610;

Figure 9 is a schematic representation of the structure on the spring plate 510

adjustment seat 310;

Figure 10 is a sectional view of the buffer cylinder 560 at the center surface where the axis of the piston 564 is located.

Detailed description

The technical solutions in embodiments of the invention are described below

In conjunction with the accompanying drawings, the embodiments of the invention are clearly and completely described.

See pictures 1 to 9, the joint module of this embodiment includes the rotor 110, the stator 120, the connecting column 620, the spring plate 510, the said rotor 110 has a

Connection plate 130 attached to one end of the rotor 110 and the spacer 112 attached inside the rotor 110, said connection column 620 is mounted and fixed at one end to the mounting plate 621, the other end passes through the spacer 112 and the rotor 110 and is mounted on the nut 230, so that the connecting column 620 and the rotor 110 are not axially movable, but with relative

Circumferential rotation can be mounted; the said connecting column 620 is on the part of the spacer 112 near the side of the connecting plate 130, or on the

Coding plate 550, press plate 622, the mentioned coding plate 550 edge in the encoder 540-U504256

Encoder 540 mounted on the spacer 112, when the connecting column 620 rotates relative to the rotor 110, the encoder plate 550 can drive synchronous rotation, so that through the encoder 540 to detect the rotation angle.

The said mounting plate 621 is connected to the stator 120 through the

Connection frame 140 assembled, said stator 120 is provided with the stator flange 121 or the connection box 530, said stator flange 121 is used for

Assembly and fastening with the external adjustment used, the mentioned

Connection box 530 is provided inside with a hollow connection cavity 531; the

Connection box 530 is mounted and fixed to one end of the spring plate 510, with the end of the spring plate 510 remote from the connection box 530 being the open end; the

Spring plate 510 is provided with a hollow spring plate cavity 511 inside the spring plate 510, the spring plate cavity 511 being connected to the connecting cavity 531 through one

Connector 520 is connected, with the spring plate 510 being flexible. The spring plate cavity 511 and the connecting cavity 531 are filled with hydraulic oil, and the elastic modulus of the spring plates 510, i.e. H. The damping to be overcome as the rotor rotates with respect to the stator is determined by increasing or decreasing the hydraulic oil pressure during the

Operationally controlled.

Said spring plate 510 passes through said adjustment seat 310

adjusting seat 310 is provided with the screw sleeve seat 320, the slider seat 330 and the rotating shaft 630, said rotating shaft 630 is provided with the bearing 340 and the bearing 340 is pressed against the spring plate 510; said rotating shaft 630 and bearings 340 are mounted at least two and symmetrically on each side of the spring plate 510, the

Bearings 340 on each side of the spring plate 510 are pressed against the side walls of the spring plate 510.

The slider seat 330 is slidably mounted on the slide rail 170, said

slide rail 170 is attached to the spacer 112 by means of the slide rail connecting plate 171; said screw sleeve seat 320 is provided with a screw sleeve which is placed on the screw 610 and connected thereto by means of a thread, said screw 610 being movable in the circumferential direction and not axially on the first

Screw seat 150, the second screw seat 160 is mounted, said first

screw seat 150, the second screw seat 160 is mounted on the spacer 112; said screw 610 is equipped with the first gear 711 meshing with the second gear 712, said second gear 712 being mounted on the motor shaft 571, the motor shaft 571 being mounted in the motor 570 mounted on the first screw seat 150 is mounted.

The said stator 120 is further equipped with the limitation table 122, the said rotor 110 is equipped with the limitation slot 111 in accordance with the

Limit table 122 provided, said limit table 122 is in the

Limiting slot 111 fitted, when the rotation angle of the rotor relative to the stator reaches the maximum time, the limiting table 122 is pressed against the inner wall of the

Limiting slot 111 pressed to achieve locking positioning, then the rotor can no longer rotate relative to the stator 120 in this direction of rotation.

See pictures 8 to 10, the connection space 531 mentioned is connected to the oil space 563 of the buffer cylinder 560 via the oil line 501, the buffer cylinder 560 mentioned is provided in two parts and each in two maximum rotation angles of the press plate 622, de-/504256

Buffer cylinder 560 is mounted on the rotor 110. The buffer cylinder 560 mentioned is with the

Hollow oil chamber 563 provided, the said oil chamber 563 is sealed and axially displaceably installed the piston 564, the piston 564 and one end of the piston rod 561, the 5 other end of the piston rod 561 through the buffer cylinder 560 and the pressure ring 562, the said oil chamber 563 away from the end of the piston 564 and the piston 564 installed between the spring 565, the spring 565 to the piston 564 to push the elastic force to the pressure ring 562, the said oil chamber 563, the oil pipe 501 filled with hydraulic oil. When the rotor overcomes the spring force and reaches the maximum rotation angle, the press plate 622 is pressed against the pressure ring 562 of one of the buffer cylinders 560, thereby pressing the piston 564 against the spring force of the spring 565 to release the hydraulic oil in the oil space 563 into the spring plate space 511 to press and thus increase the oil pressure in the spring plate space 511, at this time, the elastic modulus of the spring plate 510 increases, thereby providing greater rotational damping for the rotor to prevent the

Rotor impacts directly on the stator, while the buffer cylinder 560 also provides a damping effect

has an effect and prevents the rotor from hitting the stator directly. While the

As the rotational force of the rotor decreases, the spring plate gradually deforms again and the

Piston 564 of the buffer cylinder 560 is reset by the action of the spring 565, whereby the pressed hydraulic oil is withdrawn. In practice, the oil chamber 563 can be connected to the external oil circuit and the adjustment of the initial

The elastic modulus of the spring plate can be adjusted by increasing or decreasing the oil pressure in the spring plate

Oil chamber 563 can be reached during operation.

Claims (7)

Claims LU504256 1. A joint module with adjustable rigidity, characterized in that: comprising the rotor, the stator, the connecting column, the spring plate, the rotor with the connecting plate mounted at one end and the spacer plate mounted inside said rotor, one end of which said connecting column is assembled and fixed with the mounting plate, the other end passes through the spacer plate and the rotor and is assembled with the nut; Said fixing plate is connected to the stator by means of the connection frame, and said stator is provided with the connection box, the inside of which is provided with the hollow connection space; said junction box is attached to one end of the spring plate, and the end of the spring plate remote from the junction box is the open end; the spring plate is provided with a hollow spring plate cavity inside the spring plate and the spring plate cavity is connected to the connecting space by means of a connector, said spring plate has elasticity; said spring plate cavity and the connection cavity are filled with hydraulic oil; The said spring plate passes through the adjustment seat and snaps and slides into the adjustment seat mounted directly or indirectly on the rotor. 2. A joint module according to claim 1, characterized in that: said adjustment seat is equipped with the screw sleeve seat, the sliding block seat and the rotation axis, said rotation axis being equipped with the bearing, the bearing is pressed onto the spring plate; said axis of rotation and the bearing are at least two and symmetrically mounted on each side of the spring plate, the bearings on each side of the spring plate being pressed against the side walls of the spring plate; The slide block seat is placed and slidably mounted on the slide rail, said slide rail being connected to the spacer plate by means of the slide rail connecting plate; said screw sleeve seat is provided with the screw sleeve mounted outside the screw and connected to it by means of the screw thread, said screw being mounted on the first screw seat in a circumferential direction and not axially movable, the second screw seat, said first screw seat and the mentioned second screw seat is mounted on the spacer plate. 3. A joint module according to claim 1, characterized in that: the connecting column is further equipped with the encoder plate on the part of the spacer plate located near the side of the connecting disk, the edge of the encoder plate being fitted into the encoder located on the Spacer plate is mounted. 4. A joint module according to claim 1, characterized in that: said stator is provided with separate stator flanges, said stator flanges being used for assembly and attachment with external adjustments. 5. A joint module according to claim 2, characterized in that: said screw is equipped with the first gear, the first gear meshes with the second gear for transmission, said second gear is mounted on the motor shaft, the motor shaft is mounted in the motor and the motor is mounted on the first screw seat. 6. A joint module according to claim 1, characterized in that: said stator is further provided with the limitation table, said rotor is provided with the limitation slot in accordance with the limitation table, said Limiting table is fitted into the limiting slot, the limiting table, de} J504256 Limiting slot is used to limit the maximum rotation angle of the rotor and the stator. 7. A joint module according to claim 1, characterized in that: said connecting column is equipped with the press plate, said connecting space is connected to the oil space of the buffer cylinder via the oil pipe, said buffer cylinders are two and adjusted to the two maximum rotation angles of the press plate are, the buffer cylinders are mounted on the rotor; The said buffer cylinder is provided with the hollow oil space inside, the said oil space is sealed and axially displaceable with the piston, the piston is assembled with one end of the piston rod, the other end of the piston rod is assembled with the thrust ring after entering the buffer cylinder is, the said oil chamber is away from the end of the piston and the piston is installed with the spring, the spring applies spring force to the piston to push towards the thrust ring, the named oil chamber, the named oil pipe is filled with hydraulic oil.