LU504257B1 - AN ELASTIC JOINT MODULE WITH ADJUSTABLE STIFFNESS - Google Patents

Abstract

The invention discloses an adjustable stiffness elastic joint module comprising the stator, the rotor, the adjustment mechanism and the spring plate, the spring plate being attached to the stator at one end and the open end at the other end, the adjustment mechanism being attached to the rotor and the adjusting mechanism set is clamped to the corresponding spring plate to adjust the spring plate to provide elastic damping to the rotor from rotating; the rotor is mounted on the second connection plate, said second connection plate being equipped with the slide rail holder; the said adjustment mechanism includes the adjustment seat, the clutch holder, the screw, the clutch holder being mounted on the rotor, the screw being assembled with the clutch holder and the screw seat in a circumferential direction and not axially movable, said screw seat being mounted on the slide rail holder, the slide rail holder is also mounted with the slide rail; the said slide rail and the slide seat snap into each other and slide together, the slide seat is mounted on the adjustment seat, the said adjustment seat is also mounted on the screw sleeve seat, the rotating shaft, the said screw sleeve seat is mounted on the screw sleeve, the screw sleeve is placed on the corresponding screw and mounted with it through the threaded screw.

Description

An elastic joint module with adjustable stiffness LU504257

Technical part

The invention relates to the field of mechanical construction, in particular to an elastic 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 to interact with people and ensure the safety of

Robots interacting with the environment or with people has become an important issue

become a research goal at home and abroad. Traditional robots are designed to assume precise final positions, most are rigid robots that follow pre-planned routes to perform monotonous and repetitive tasks.

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 an elastic mechanism, but also high

Control accuracy and a wide range of applications. Like a biological muscle, they can absorb shocks, absorb, store and utilize energy. Such

Devices are referred to as adjustable stiffness or variable stiffness hinge modules.

Most of the current adjustable stiffness joint modules use a single spring to dampen the rotation of the stator and rotor, which is a simple

construction structure, but is not suitable for situations where a high

Damping of rotation is required. In this application an elastic

Introduced adjustable stiffness joint module, which uses two spring plates and adjustable damping provided by each fast spring plate, which can meet more requirements.

Content of the invention

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

Problem to be solved by the present invention is to provide an elastic joint module with adjustable stiffness which uses two spring plates and in which the elastic damping exerted on the rotor by the two spring plates is independently adjustable.

To achieve the above, the invention discloses an elastic joint module with adjustable stiffness, which includes the stator, the rotor, the adjustment mechanism and the

Spring plate comprises, wherein the spring plate is attached to the stator at one end and to the open end at the other end, the adjustment mechanism is attached to the rotor and the

Adjustment mechanism set is clamped to the corresponding spring plate to adjust the spring plate to provide elastic damping to the rotor to prevent it from rotating; the rotor is mounted on the second connection plate, said second

Connecting plate is equipped with the slide rail holder;

The adjustment mechanism mentioned includes the adjustment seat, the clutch holder, the

Screw with the clutch holder mounted on the rotor, the screw with the

Coupling holder and the screw seat are each assembled in a circumferential direction and not axially movable, said screw seat is mounted on the slide rail holder FU904257, the slide rail holder is also mounted with the slide rail; the one mentioned

Slide rail and the sliding seat snap into each other and slide together, the sliding seat is mounted on the adjustment seat, the said adjustment seat is also mounted on the screw sleeve seat, the rotating shaft, the said screw sleeve seat is mounted on the screw sleeve, the screw sleeve is placed on the corresponding screw and with her through the

Threaded screw installed.

As a further improvement of the present invention, said adjustment seat is further equipped with the rotating shaft, at least two of which are symmetrical with respect to the

Spring plate are distributed and each of which is equipped with the bearing, the bearing on each side of the spring plate being pressed against the spring plate to clamp the spring plate.

As a further improvement of the present invention, the above includes

Adjustment mechanism also includes the clutch holder, the adjustment gear, which is located on the

Spring plate mounted adjustment seat and attached snap and slide assembly; said adjusting gear is attached to one end of the adjusting cone sleeve, which

Adjusting cone sleeve is mounted on the rotor so that it can be rotated circumferentially and is not axially movable, said adjusting cone sleeve is provided with the cone hole in its interior, the cone hole is pressed against the coupling cone surface of the coupling cone, said

Coupling cone is mounted on one end of the sleeve, the sleeve on the coupling frame is mounted circumferentially and axially movably, the clutch holder is mounted on the rotor; the sleeve is provided with a magnetic magnet ring at an end remote from the coupling cone, the magnet ring being magnetic;

Said sleeve is provided with the spring on the part of the sleeve which is located between the magnetic ring and the clutch holder, the spring exerting a spring force on the

Magnetic ring, which is removed from the sleeve of the adjustment cone, so that the

Coupling cone in the initial state in the furthest away from the cone hole

Position is when the surface of the coupling cone is not in contact with the

taper hole is;

Said coil is energized to produce a magnetic field that is repulsive

exerts magnetic force on the magnetic ring, causing the magnetic ring ring to move toward the cone via the spring force until the coupling cone surface is pressed against the cone hole;

The said sleeve is provided on the inner wall with the key, which is seated in the keyway and is slidably mounted, the keyway is attached to the screw.

As a further improvement of the present invention, the mentioned

Adjustment mechanism has two spring plates on each, both spring plates are on

Spring plate holders mounted on the stator, each adjustment mechanism corresponds to the spring plate.

As a further improvement of the present invention, two adjustment gears of the mesh

Adjusting mechanism with each other, one of the adjusting gears meshes with the drive gear, the drive gear is mounted on the motor shaft, the motor shaft is fitted into the motor and the motor is mounted on the rotor.

As a further improvement of the present invention is the second one mentioned

Connecting plate further provided with the connecting shaft, said

Connecting shaft passes through the limiting plate and with the first J504257

Connecting plate is assembled, said limiting plate being mounted on the stator, said limiting plate and the connecting shaft having relative

Circumferential rotation can be assembled and the limiting plate with the

boundary arch slot is provided; where the second screw bolt through the second

Connecting plate and the boundary arch slot passes through and with the first

Connection plate is assembled and secured.

As a further improvement of the present invention, said connecting shaft is further provided with the encoder plate, the edge of which is fitted into the encoder mounted on the limit plate.

As a further improvement of the present invention, the first mentioned

Connecting plate fitted into the first flange, the first bolt is assembled and fixed to the first connecting plate after passing the first flange in radial

Direction of the first flange has traversed, whereby the first connecting plate in the first

flange is secured;

Said stator is provided with the second flange at the end remote from the rotor, said first flange and said second flange being used for mounting with external devices.

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

Limiting table and the stator are provided with the limiting slot into which the

Limit table is adjusted to the maximum rotation angle of the rotor with respect to the

Stator to limit.

The beneficial effects of the present invention are:

The present invention uses two spring plates to provide rotational damping

Rotors can be adjusted next to each other, whereby on the one hand the adjustment range of the rotational damping can be increased and on the other hand a high-precision adjustment of the rotational damping can be achieved through the independent adjustment of the rotational damping by the two spring plates. At the same time, the invention sees the taper hole, the coupling cone and the

Electromagnet for the corresponding screw of the two spring plates, through which

Electromagnets drive the coupling cone to couple with the cone hole, this design is not only compact but also simple and robust and can meet most of the current requirements for such flexible joint modules.

Description of the attached drawings

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

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

Figure 3 shows a schematic representation 3 of the structure according to the invention (sectional view in the central plane in which the axis of the connecting shaft 210 is located);

Figure 4 shows an enlarged view of A in Figure 3;

Figure 5 shows a schematic representation 4 of the structure according to the invention (cross-sectional view in the other central plane in which the axis of the connecting shaft 210 is arranged);

Figure 6 shows a schematic representation 1 of part of the structure according to the invention;

Figure 7 shows a schematic representation 2 of part of the structure of the present

Invention;

Figure 8 shows a schematic representation 3 of part of the structure of the present J/504257

Invention;

Figure 9 shows a schematic representation 4 of part of the structure of the present

Invention.

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 Figures 1 to 9, the elastic joint module of this embodiment includes the

Stator 110, the rotor 120, the adjustment mechanism, the spring plate 310, which is mounted on the stator 110 at one end and has an open end at the other end, the

Adjustment mechanism is mounted on the rotor 120 and the adjustment mechanism set is clamped to the corresponding spring plate 310 to adjust the spring plate 310 to provide the rotor 120 with elastic damping to prevent its rotation.

The rotor 120 is mounted on the second connection plate 142, said second

Connecting plate 142 is assembled with the connecting shaft 210 and the slide rail holder 160, said connecting shaft 210 passes through the limiting plate 150 and is assembled with the first connecting plate 141, said limiting plate 150 is mounted on the stator 110, said limiting plate 150 and the

Connecting shaft 210 can be assembled with a relative circumferential rotation, and the restriction plate 150 is provided with the restriction arc slot 151. The second

Screw bolt 230 is through the second connecting plate 142 and the

Boundary arc slot 151 is passed through and mounted and secured to the first connecting plate 141, whereby the second connecting plate 142 and the first

Connecting plate 141 can be assembled into a unit.

Said adjustment mechanism includes the adjustment seat 410, the clutch holder 650 and the adjustment gear 612, the adjustment seat 410 being mounted on the spring plate 310 and provided with a snap lock that slides therewith; the said adjustment gear 612 is assembled with one end of the adjustment cone sleeve 620, the adjustment cone sleeve 620 is assembled with the rotor 120 rotatably and not axially movably, the said

Adjusting cone sleeve 620 is provided with the cone hole 621 inside, the cone hole 621 is pressed and driven with the clutch cone surface 631 of the clutch cone 630, said clutch cone 630 is mounted on one end of the sleeve 640, the shaft sleeve 640 is rotatable and axially movable on the clutch holder 650 , which is mounted on the rotor 120; The sleeve 640 mentioned is provided with an end facing away from the coupling cone 630

Magnet ring 642 mounted, which is magnetic; in this embodiment, the magnetic ring 642 may consist of an aluminum magnet. The part of the sleeve 640 between the

Magnetic ring 642 and the clutch holder 650 is provided with the spring 550, the spring 550 exerts an elastic force on the magnetic ring 642, which is distant from the adjusting cone sleeve 620, so that the clutch cone 630 in the initial state is in the furthest from the cone hole 621 removed position if the clutch conical surface 631 is not in

Contact with the taper hole 621.

Said magnet ring 642 is axially slidably mounted in the inner bore of electromagnet 540, electromagnet 540 is provided with coil 541, coil 541

Magnetic field generated when excited, and this magnetic field creates a repulsive

Magnetic force on the magnetic ring 642, whereby the magnetic ring 642 via the spring 550 ir 504257

Direction of the cone hole 621 is moved until the coupling cone surface 631 against that

Taper hole 621 is pressed.

The said sleeve 640 is provided with the keyway 641 on the inner wall, the keyway 5 641 is seated and is slidably connected to the groove 241, the keyway 241 is attached to the screw 240, the screw 240 is connected to the clutch holder 650 or with the Screw holder 161 connected, which is rotatable in the circumferential direction and not axially movable, said

Screw seat 161 is attached to the slide rail holder 160, which is also connected to the

Slide rail 162 is equipped; said slide rail 162 and sliding seat 430 and sliding

Arrangement, sliding seat 430 mounted on the adjustment seat 410, said adjustment seat 410 is also mounted on the screw sleeve seat 420, the rotating shaft 250, said

Screw sleeve seat 420 is mounted on the screw sleeve 421, the screw sleeve 421 is placed on the corresponding screw 240 and with the screw screw assembly, the

Rotary shaft 250 at least two and symmetrical distribution with respect to the spring plate 310,

Each rotating shaft 250 is mounted on the bearing 440, spring plate 310 on both sides of the

Bearing 440 and spring plate 310 are each pressed to clamp the spring plate 310.

The adjustment gears 612 of the two adjustment mechanisms mesh with one another, one of them

Adjusting gears 612 meshes with the drive gear 611 mounted on the motor shaft 531 installed in the motor 530, and the motor 530 is mounted on the rotor 120. If the motor 530 is activated, it drives the two adjustment gears 612 in synchronism

Reverse rotation while the threads of the two screws 240 are in opposite directions

Direction can be rotated. When it is necessary to adjust the position of one of the adjustment seat 410 and the corresponding spring plate 310, the coil 541 corresponding to this adjustment seat 410 is energized, and the magnetic field generated by the coil 541 pushes the corresponding sleeve 640 and the coupling cone 630 toward the cone hole 621 , until the

Clutch cone surface 631 is pressed against the cone hole 621, then the motor 530 is started, and the motor 530 drives the two adjustment gears 612, and the corresponding one

Adjusting gear 612 drives the sleeve 640, which drives the corresponding screw 240, which

Screw 240 moves the adjustment seat 410 axially through the threaded screw to adjust the position of the adjustment seat 410 with respect to the spring plate 310, which provides the rotational damping of the

Rotor 120 regulated with respect to the stator 110. The independently adjustable

The construction of the two adjustment mechanisms increases the adjustment range

Rotor 120 and on the other hand increases the accuracy of the damping setting, which means some

Precision requirements are met.

Preferably, the adjustment mechanism mentioned has two spring plates 310 each, both spring plates 310 are mounted on spring plate holders 320, the spring plate holder 320 are mounted on the stator 110, each adjustment mechanism corresponding to the spring plate 310.

Preferably, said connecting shaft 210 is further provided with an encoder plate 510, wherein the edge of the encoder plate 510 is fitted into the encoder 520, the encoder 520 is attached to the limit plate 150, and when the rotor 120 is relative to the

Stator 110 rotates, the rotor 120 drives the connecting shaft 210 to rotate, thereby causing the

Encoding plate 510 is driven to rotate relative to encoder 520, the

Angle of rotation of the rotor 120 is detected by the encoder 520.

Preferably, the said first connecting plate 141 is inserted into the first flange 131, the first screw bolt 220 radially penetrates the first flange 131 before the first flange 131 is mounted and fastened to the first connecting plate 141, whereby the first connecting plate 141 inside the first flange 131 is secured;

Preferably, said stator 110 is provided with the second flange 132 at the end remote from rotor 120, said first flange 131 and said second flange 132 being used for mounting with external devices.

Preferably, said rotor is connected to the limiting table and the stator is connected to the

Limit slot into which the limit table is fitted to the maximum

Limit the rotation angle of the rotor in relation to the stator.

Of course, the interaction of the limiting arc slot 151 and the second screw bolt 230 in this embodiment can also limit the maximum

Angle of rotation of the rotor 120 relative to the stator 110 can be achieved. It's just that

Providing the limit table 121 and the limit slot 111, which effectively reduces the impact on the second bolt 230 when the rotor 120 is rotated to its maximum angle, and prevents the second bolt 120 from deforming due to excessive impact.

Claims (9)

Claims LU504257 1. An elastic joint module with adjustable stiffness, characterized in that: it includes the stator, the rotor, the adjustment mechanism and the spring plate, the spring plate being fixed at one end to the stator and at the other end to the open end, the adjustment mechanism is attached to the rotor and the adjusting mechanism set is clamped to the corresponding spring plate to adjust the spring plate to provide elastic damping to the rotor to prevent it from rotating; the rotor is mounted on the second connection plate, said second connection plate being equipped with the slide rail holder; The said adjustment mechanism includes the adjustment seat, the clutch holder, the screw, wherein the clutch holder is mounted on the rotor, the screw is assembled with the clutch holder and the screw seat in a circumferential direction and not axially movable, said screw seat is mounted on the slide rail holder, the slide rail holder is also mounted with the slide rail; the said slide rail and the slide seat snap into each other and slide together, the slide seat is mounted on the adjustment seat, the said adjustment seat is also mounted on the screw sleeve seat, the rotating shaft, the said screw sleeve seat is mounted on the screw sleeve, the screw sleeve is placed on the corresponding screw and mounted with it through the threaded screw. 2. Fin elastic joint module according to claim 1, characterized in that: said adjustment seat is further equipped with the rotating shaft, at least two of which are symmetrically distributed with respect to the spring plate and each of which is equipped with the bearing, the bearing being on each side of the spring plate should be pressed against the spring plate to clamp the spring plate. 3. An elastic joint module according to claim 1, characterized in that: said adjustment mechanism further comprises the clutch holder, the adjustment gear, the adjustment seat mounted on the spring plate, and the snap-and-slide assembly attached thereto; the said adjusting gear is attached to one end of the adjusting cone sleeve, the adjusting cone sleeve is mounted on the rotor in a circumferentially rotatable and non-axially movable manner, the said adjusting cone sleeve is provided in its interior with the cone hole, the cone hole is pressed against the coupling conical surface of the coupling cone, the said clutch cone is mounted on one end of the sleeve, the sleeve is mounted on the coupling frame in a circumferential and axially movable manner, the coupling holder is mounted on the rotor; the sleeve is provided with a magnetic magnet ring at an end remote from the coupling cone, the magnet ring being magnetic; Said sleeve is provided with the spring on the part of the sleeve located between the magnetic ring and the clutch holder, the spring exerting a spring force on the magnetic ring remote from the sleeve of the adjusting cone so that the clutch cone is in the initial state in the position farthest from the taper hole when the surface of the coupling taper is not in contact with the taper hole; Said coil is energized to generate a magnetic field which exerts the repulsive magnetic force on the magnetic ring, causing the magnetic ring ring to move toward the cone via the spring force until the coupling cone surface is pressed against the cone hole; LUS04257 The said sleeve is provided on the inner wall with the key, which sits in the keyway and is mounted slidingly, the keyway is attached to the screw. 4. Fin elastic joint module according to claim 3, characterized in that: said adjustment mechanism each has two spring plates, both spring plates are mounted on spring plate holders mounted on the stator, each adjustment mechanism corresponds to the spring plate. 5. Fin elastic joint module according to claim 4, characterized in that two adjustment gears of the adjustment mechanism mesh with each other, one of the adjustment gears meshes with the drive gear, the drive gear is mounted on the motor shaft, the motor shaft is fitted into the motor and the motor is mounted on the rotor is. 6. An elastic joint module according to claim 1, characterized in that: said second connection plate is further provided with the connection shaft, said connection shaft passes through the restriction plate and is assembled with the first connection plate, said restriction plate is mounted on the stator, the said limiting plate and the connecting shaft can be assembled with relative circumferential rotation and the limiting plate is provided with the limiting arc slot, the second bolt passes through the second connecting plate and the limiting arc slot and is assembled and fixed with the first connecting plate. 7. An elastic joint module according to claim 6, characterized in that: said connecting shaft is further provided with the encoder plate, the edge of which is fitted into the encoder mounted on the limit plate. 8. Fin elastic joint module according to claim 6, characterized in that said first connecting plate is fitted into the first flange and the first screw bolt is assembled and fastened to the first connecting plate after passing through the first flange in the radial direction of the first flange, thereby securing the first connection plate in the first flange; Said stator is provided with the second flange at the end remote from the rotor, said first flange and said second flange being used for mounting with external devices. 9. An elastic joint module according to claim 1, characterized in that: said rotor is provided with the limit table and the stator is provided with the limit slot into which the limit table is fitted to limit the maximum rotation angle of the rotor with respect to the stator.