CN103753598B - Hard and soft automatic switchover stiffness variable soft drive apparatus - Google Patents
Hard and soft automatic switchover stiffness variable soft drive apparatus Download PDFInfo
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- CN103753598B CN103753598B CN201310538679.5A CN201310538679A CN103753598B CN 103753598 B CN103753598 B CN 103753598B CN 201310538679 A CN201310538679 A CN 201310538679A CN 103753598 B CN103753598 B CN 103753598B
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Abstract
The present invention relates to a kind of hard and soft automatic switchover stiffness variable soft drive apparatus.This device comprises stiffness tuning mechanism, hard and soft switching mechanism and transmission mechanism.Stiffness tuning motor changes the distance in Compress Spring and output shaft axle center by the displacement of stiffness tuning mechanism controls slide block in stiffness tuning mechanism, thus the size of adjusting driver rigidity; Being moved axially by ring electromagnet control lower chuck in hard and soft switching mechanism makes itself and upper chuck realize clamping and being separated, and realizes hard and soft automatic switching function; Mair motor is by the output of transmission mechanism control output shaft.The present invention is used for the soft drive of joint of robot, need not realize the compliance of drive system, thus in interactive process, improve the security of people by increasing sensor on controlling.
Description
Technical field
The present invention relates to a kind of hard and soft automatic switchover stiffness variable soft drive apparatus, for the soft drive of joint of robot, belong to robot field.
Background technology
Robot field, the normal motion adopting motor to drive control machine person joint.Motor drives to be had that precision is high, precise control, responds advantage rapidly, but due to motor-driven mechanism be pure rigidity, be unfavorable for the safety of human and computer people in the process of human-computer exchange, decrease the possibility of human-computer interaction.
Along with the development of Robotics, Robotics applies to rehabilitation by increasing researcher, look after the field of old man and disabled person, carrying etc. and people's close contact, require that machine person to person can get along amiably and peacefully, make the design of robot must have enough securities, this just requires that joint of robot motion has certain compliance.The common solution of pure rigidity driven for conventional motors increases sensor, realizes the flexibility of drive system on controlling, but the difficulty added in control and result in the appearance of the unreliable problems such as signal transacting delay.Therefore, the driver with flexibility becomes drive system of robot and better selects.
At present, antagonism formula and Seriation Design two class is substantially divided into about the research of flexible actuator both at home and abroad.The design and research of Pneumatic artificial muscle and nonlinear spring is partial in the design of antagonism formula, being deformed into of Pneumatic artificial muscle is non-linear, make accurate command displacement very difficult, there is error in nonlinear spring, be difficult to obtain desirable non-linear relation in design and manufacture processing; Seriation Design is divided into the starting force adjusting rigidity and change spring by changing position to adjust rigidity.Although relevant Seriation Design reaches the requirement of variation rigidity soft drive, do not have hard and soft automatic switching function, insufficient rigidity when in the face of emergency situations, does not have enough securities.And there are some structures not have interchangeability, specific drives structure can only be applied to, limit range of application.
Summary of the invention
The object of the invention is to the defect existed for prior art, a kind of hard and soft automatic switchover stiffness variable soft drive apparatus is provided, to solve defect and the potential safety hazard of drive system of robot Flexible Control existence all the time.
For solving the problems of the technologies described above design of the present invention be:
A kind of hard and soft automatic switchover stiffness variable flexible actuator, it changes the distance in Compress Spring and output shaft axle center thus the size of governor motion rigidity primarily of a stiffness tuning motor by the displacement of stiffness tuning mechanism controls slide block on matrix; By the adhesive of ring electromagnet, control lower chuck and make itself and upper chuck realize clamping and being separated thus realizing hard and soft automatic switching function along moving axially of the centre of location.
According to foregoing invention design, the present invention adopts following technical proposals:
A kind of hard and soft automatic switchover stiffness variable soft drive apparatus, comprises stiffness tuning mechanism, hard and soft switching mechanism and transmission mechanism,
1) described stiffness tuning mechanism is by stiffness tuning motor, harmonic speed reducer, pinion shaft, bottom closure flap, first pinion, gear wheel, bearing, matrix, bevel gear shaft, second pinion, bevel pinion, bevel gear wheel, stiffness tuning axle, sleeve, stiffness tuning axle fixed block, slide block, spring fitting axle, linear compression spring, spring block, output shaft connecting rod, the output shaft centre of location, output shaft forms, described stiffness tuning motor is connected by harmonic speed reducer with pinion shaft, described pinion shaft is arranged in bottom closure flap by bearing, described first pinion and pinion shaft are that interference is connected, described gear wheel is arranged on the axle of matrix by bearing, described gear wheel lower end is meshed with the first pinion, upper end is meshed with the second pinion, described second pinion and bevel pinion are monoblock type and are arranged on bevel gear shaft by bearing, described bevel gear shaft is connected and fixed by interference and is arranged on matrix, described bevel gear wheel and stiffness tuning axle are that interference is connected, described sleeve and stiffness tuning axle are matched in clearance, be used for regulating the axial position of bevel gear wheel, described matrix has dovetail groove, stiffness tuning axle fixed block is fixedly mounted on matrix dovetail groove two ends by screw, described stiffness tuning axle is connected by revolute with two stiffness tuning axle fixed blocks, described stiffness tuning axle is connected by left hand thread with left slider, be connected by right-handed thread with right side slide block, described slide block is moved to both sides by the rotation of stiffness tuning axle in dovetail groove, described linear compression spring, spring block is connected by cylindrical moving sets with spring fitting axle, two ends, linear compression spring left and right directly contact with sliding block spring slide block respectively, described spring fitting axle and slide block are threaded connection, described output shaft connecting rod and output shaft are that interference is connected, described spring block contacts with output shaft connecting rod, described matrix band movable slider, spring block rotates, promote output shaft connecting rod to rotate, output shaft connecting rod drives output shaft rotation, spring block is subject to the thrust of output shaft connecting rod thus makes linear compression spring-compressed, therefore system has flexibility, described stiffness tuning axle is connected by left hand thread with left slider, is connected by right-handed thread with right side slide block, bevel gear wheel drives stiffness tuning axle to rotate, left and right two slide blocks move axially along stiffness tuning axle, spring block and output shaft connecting rod contact position change, therefore the rigidity of system changes, by the contact position of stiffness tuning Electric Machine Control spring block and output shaft connecting rod, realize the control to system stiffness size,
2) described hard and soft switching mechanism is by the output shaft centre of location, output shaft, top cover plate, ring electromagnet, inhale iron block, upper chuck, lower chuck, extension spring forms, the described output shaft centre of location is arranged on matrix center by screw, output shaft centre of location upper end has hole, revolute pair is formed with output shaft lower end, described output shaft upper end is arranged on on the cover plate of top by bearing, described upper chuck and output shaft are that interference is connected, described lower chuck and the output shaft centre of location adopt regular hexagon profile to be connected, lower chuck moves axially along the output shaft centre of location, described ring electromagnet and top cover plate are that screw is connected, described suction iron block and lower chuck are for welding, lower chuck bottom is connected with extension spring, extension spring bottom is connected with the output shaft centre of location, described ring electromagnet is in normally off, attract iron block to move up during work to drive lower chuck to move up mutually to clamp with upper chuck, now output shaft and matrix are for being rigidly connected, system does not have flexibility, after described ring electromagnet power-off, lower chuck moves down under the pulling force effect of extension spring, make System recover flexible,
3) described transmission mechanism is made up of mair motor, harmonic speed reducer, needle bearing, shell, and described mair motor is connected with the power shaft of matrix by harmonic speed reducer, and described matrix and needle bearing inner ring are fixed, and described needle bearing outer ring is arranged on shell.
The present invention compared with prior art, has following outstanding inner characteristic point and remarkable advantage:
This hard and soft automatic switchover stiffness variable flexible actuator can realize the adjustment of rigidity and hard and soft automatic switching function by frame for movement.First, stiffness tuning mechanism can realize the stiffness tuning between mair motor and output shaft; Secondly, hard and soft switching mechanism can realize the hard and soft handoff functionality between mair motor and output shaft; In addition, this apparatus structure is simple, is easy to control, can be directly installed on mechanical joint, need not realize the flexibility of drive system by increasing sensor on controlling.
Accompanying drawing explanation
Fig. 1 is that hard and soft automatic switchover stiffness variable flexible actuator is always schemed.
Fig. 2, Fig. 3 are stiffness tuning structural scheme of mechanism.
Fig. 4 is hard and soft switching mechanism schematic diagram.
Detailed description of the invention
The preferred embodiments of the present invention accompanying drawings is as follows:
As shown in Figures 1 to 4, a kind of hard and soft automatic switchover stiffness variable soft drive apparatus, comprises stiffness tuning mechanism, hard and soft switching mechanism and transmission mechanism:
1) described stiffness tuning mechanism is by stiffness tuning motor 1, harmonic speed reducer 2, pinion shaft 3, bottom closure flap 4, first pinion 5, gear wheel 6, bearing 7, matrix 8, bevel gear shaft 9, second pinion 10, bevel pinion 11, bevel gear wheel 12, stiffness tuning axle 13, sleeve 14, stiffness tuning axle fixed block 15, slide block 16, spring fitting axle 17, linear compression spring 18, spring block 19, output shaft connecting rod 20, output shaft 22 forms, described stiffness tuning motor 1 is connected by harmonic speed reducer 2 with pinion shaft 3, described pinion shaft 3 is arranged in bottom closure flap 4 by bearing, described first pinion 5 with pinion shaft 3 for interference is connected, described gear wheel 6 is arranged on by bearing 7 on the axle of matrix 8, described gear wheel 6 lower end is meshed with the first pinion 5, upper end is meshed with the second pinion 10, described second pinion 10 is monoblock type with bevel pinion 11 and is arranged on bevel gear shaft 9 by bearing, described bevel gear shaft 9 is connected and fixed by interference and is arranged on matrix 8, described bevel gear wheel 12 with stiffness tuning axle 13 for interference is connected, described sleeve 14 is matched in clearance with stiffness tuning axle 13, be used for regulating bevel gear wheel 12 axial location, described matrix 8 has dovetail groove, stiffness tuning axle fixed block 15 is fixedly mounted on matrix 8 dovetail groove two ends by screw, described stiffness tuning axle 13 is connected by revolute with two stiffness tuning axle fixed blocks 15, described stiffness tuning axle 13 is connected by left hand thread with left slider 16, be connected by right-handed thread with right side slide block 16, described slide block 16 is moved to both sides by the rotation of stiffness tuning axle 13 in dovetail groove, described linear compression spring 18, spring block 19 are connected by cylindrical moving sets with spring fitting axle 17, linear compression spring about 18 two ends directly contact with slide block 16 spring block 19 respectively, described spring fitting axle 17 is threaded connection with slide block 16, described output shaft connecting rod 20 is with output shaft 22 for interference is connected, and described spring block 19 contacts with output shaft connecting rod 20, described matrix 8 is with movable slider 16, spring block 19 rotates, promote output shaft connecting rod 20 to rotate, output shaft connecting rod 20 drives output shaft 22 to rotate, and spring block 19 is subject to the thrust of output shaft connecting rod 20 thus linear compression spring 18 is compressed, and therefore system has flexibility, described stiffness tuning axle 13 is connected by left hand thread with left slider 16, is connected by right-handed thread with right side slide block 16, bevel gear wheel 12 drives stiffness tuning axle 13 to rotate, left and right two slide blocks 16 move axially along stiffness tuning axle 13, spring block 19 and output shaft connecting rod 20 contact position change, therefore the rigidity of system changes, by the contact position of stiffness tuning motor 1 control spring slide block 19 with output shaft connecting rod 20, realize the control to system stiffness size,
2) described hard and soft switching mechanism is by the output shaft centre of location 21, output shaft 22, top cover plate 23, ring electromagnet 24, inhale iron block 25, upper chuck 26, lower chuck 27, extension spring 28 forms, the described output shaft centre of location 21 is arranged on matrix 8 center by screw, the output shaft centre of location 21 upper end has hole, revolute pair is formed with output shaft 22 lower end, described output shaft 22 upper end to be arranged on the cover plate of top on 23 by bearing, described upper chuck 26 with output shaft 22 for interference is connected, described lower chuck 27 and the output shaft centre of location 21 adopt regular hexagon profile to be connected, lower chuck 27 moves axially along the output shaft centre of location 21, described ring electromagnet 24 with top cover plate 23 for screw is connected, described suction iron block 25 and lower chuck 27 are for welding, lower chuck 27 bottom is connected with extension spring 28, extension spring 28 bottom is connected with the output shaft centre of location 21, described ring electromagnet 24 is in normally off, attract iron block 25 to move up during work to drive lower chuck 27 to move up mutually to clamp with upper chuck 26, now output shaft 22 and matrix 8 are for being rigidly connected, system does not have flexibility, after the power-off of described ring electromagnet 24, lower chuck 27 moves down under the pulling force effect of extension spring 28, make System recover flexible,
3) described transmission mechanism is made up of mair motor 29, harmonic speed reducer 30, needle bearing 31, shell 32, described mair motor 29 is connected by the power shaft of harmonic speed reducer 30 with matrix 8, described matrix 8 is fixed with needle bearing 31 inner ring, and described needle bearing 31 outer ring is arranged on shell 32.
This hard and soft automatic switchover stiffness variable flexible actuator Use Adjustment process is as follows:
See Fig. 3, ring electromagnet 24 power-off, is in normally off.Matrix 8 around axis rotation band movable slider 16 around axis rotation, the spring block 19 be arranged on slide block 16 follows slide block 16 together around axis rotation, because spring block 19 contacts with output shaft connecting rod 20, therefore spring block 19 promotes output shaft connecting rod 20 and to rotate together around output shaft axle center and along spring fitting axle 17 axial compression spring 18, the compression of spring 18 makes to have flexibility between matrix 8 and output shaft 22, makes system be provided with flexibility.
See Fig. 2, ring electromagnet 24 power-off, be in normally off, system has flexibility.Stiffness tuning motor 1 drives the first pinion 5 to rotate by harmonic speed reducer 2, first pinion 5 is by gear wheel 6, second pinion 10 and bevel pinion 11, bevel gear wheel 12 drives stiffness tuning axle 13 to rotate, stiffness tuning axle 13 is connected by left hand thread with left slider 16, be connected by right-handed thread with right side slide block 16, therefore left and right two slide blocks 16 move in opposite directions or dorsad with the rotation of stiffness tuning axle 13, the mobile distance changing linear compression spring 18 and output shaft 22 axle center of slide block 16, therefore system stiffness is changed, achieve the adjustment of system stiffness variable.
See Fig. 1, ring electromagnet 24 power-off, be in normally off, system has flexibility.Mair motor 29 is with kinetoplast 8 to rotate on needle bearing 31 by harmonic speed reducer 30, and matrix 8 drives output shaft 22 to rotate by stiffness tuning mechanism urges output shaft connecting rod 20, achieves the input and output of mair motor 29 to output shaft 22; Now bevel gear wheel 12 is followed matrix 8 and is rotated, and drive stiffness tuning motor 1 passive rotation through stiffness tuning mechanism, the passive rotation of stiffness tuning motor 1 does not affect the movement of slide block 16.
See Fig. 4, ring electromagnet 24 is energized, adhesive is inhaled iron block 25 and is driven lower chuck 27 to move upward along the output shaft centre of location 21 to clamp with upper chuck 26, because the output shaft centre of location 21 is fixedly connected with by screw with matrix 8, the lower chuck 27 output shaft centre of location 21 adopts regular hexagon profile to connect, therefore now output shaft 22 and matrix 8 can not relatively rotate, system has pure rigidity, when ring electromagnet 24 power-off, lower chuck 27 is separated with upper chuck 26 at the pulling force moved downward of extension spring 28, and System recover is flexible.
Claims (1)
1. a hard and soft automatic switchover stiffness variable soft drive apparatus, comprises stiffness tuning mechanism, hard and soft switching mechanism and transmission mechanism, it is characterized in that:
1) described stiffness tuning mechanism is by stiffness tuning motor (1), harmonic speed reducer (2), pinion shaft (3), bottom closure flap (4), first pinion (5), gear wheel (6), bearing (7), matrix (8), bevel gear shaft (9), second pinion (10), bevel pinion (11), bevel gear wheel (12), stiffness tuning axle (13), sleeve (14), stiffness tuning axle fixed block (15), slide block (16), spring fitting axle (17), linear compression spring (18), spring block (19), output shaft connecting rod (20), output shaft (22) forms, described stiffness tuning motor (1) is connected by harmonic speed reducer (2) with pinion shaft (3), described pinion shaft (3) is arranged in bottom closure flap (4) by bearing, described first pinion (5) with pinion shaft (3) for interference is connected, described gear wheel (6) is arranged on the axle of matrix (8) by bearing (7), described gear wheel (6) lower end is meshed with the first pinion (5), and upper end is meshed with the second pinion (10), described second pinion (10) and bevel pinion (11) are for monoblock type and be arranged on bevel gear shaft (9) by bearing, described bevel gear shaft (9) is connected and fixed by interference and is arranged on matrix (8), described bevel gear wheel (12) with stiffness tuning axle (13) for interference is connected, described sleeve (14) and stiffness tuning axle (13) are matched in clearance, be used for regulating bevel gear wheel (12) axial location, described matrix (8) has dovetail groove, stiffness tuning axle fixed block (15) is fixedly mounted on matrix (8) dovetail groove two ends by screw, described stiffness tuning axle (13) is connected by revolute with two stiffness tuning axle fixed blocks (15), described stiffness tuning axle (13) is connected by left hand thread with left slider (16), be connected by right-handed thread with right side slide block (16), described slide block (16) is moved to both sides by the rotation of stiffness tuning axle (13) in dovetail groove, described linear compression spring (18), spring block (19) is connected by cylindrical moving sets with spring fitting axle (17), linear compression spring (18) two ends, left and right directly contact with slide block (16) spring block (19) respectively, described spring fitting axle (17) and slide block (16) are threaded connection, described output shaft connecting rod (20) with output shaft (22) for interference is connected, output shaft connecting rod (20) is contacted with described spring block (19) by two vertical cylindrical vertical column, during rotation, spring block (19) is subject to the thrust of output shaft connecting rod (20) thus linear compression spring (18) is compressed, therefore system has flexibility, described stiffness tuning axle (13) is connected by left hand thread with left slider (16), is connected by right-handed thread with right side slide block (16), bevel gear wheel (12) drives stiffness tuning axle (13) to rotate, left and right two slide blocks (16) moves axially along stiffness tuning axle (13), spring block (19) and output shaft connecting rod (20) contact position change, therefore the rigidity of system changes, by the contact position of stiffness tuning motor (1) control spring slide block (19) with output shaft connecting rod (20), realize the control to system stiffness size,
2) described hard and soft switching mechanism is by the output shaft centre of location (21), output shaft (22), top cover plate (23), ring electromagnet (24), inhale iron block (25), upper chuck (26), lower chuck (27), extension spring (28) forms, the described output shaft centre of location (21) is arranged on matrix (8) center by screw, the output shaft centre of location (21) upper end has hole, revolute pair is formed with output shaft (22) lower end, described output shaft (22) upper end is arranged on top cover plate (23) by bearing, described upper chuck (26) with output shaft (22) for interference is connected, described lower chuck (27) adopts regular hexagon profile to be connected with the output shaft centre of location (21), lower chuck (27) moves axially along the output shaft centre of location (21), described ring electromagnet (24) with top cover plate (23) for screw is connected, described suction iron block (25) and lower chuck (27) are for welding, lower chuck (27) bottom is connected with extension spring (28), extension spring (28) bottom is connected with the output shaft centre of location (21), described ring electromagnet (24) is in normally off, attract iron block (25) to move up during work to drive lower chuck (27) to move up mutually to clamp with upper chuck (26), now output shaft (22) and matrix (8) are for being rigidly connected, system does not have flexibility, after described ring electromagnet (24) power-off, lower chuck (27) moves down under the pulling force effect of extension spring (28), make System recover flexible,
3) described transmission mechanism is made up of mair motor (29), harmonic speed reducer (30), needle bearing (31), shell (32), described mair motor (29) is connected by the power shaft of harmonic speed reducer (30) with matrix (8), described matrix (8) and needle bearing (31) inner ring are fixed, and described needle bearing (31) outer ring is arranged on shell (32).
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| CN201310538679.5A CN103753598B (en) | 2013-11-05 | 2013-11-05 | Hard and soft automatic switchover stiffness variable soft drive apparatus |
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| CN201310538679.5A CN103753598B (en) | 2013-11-05 | 2013-11-05 | Hard and soft automatic switchover stiffness variable soft drive apparatus |
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| CN103753598B true CN103753598B (en) | 2016-01-20 |
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| CN104647397B (en) * | 2015-03-17 | 2016-02-03 | 河北工业大学 | A kind of flexible joint of stiffness variable |
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| CN106737818B (en) * | 2016-12-26 | 2019-04-12 | 哈尔滨工业大学 | A kind of flexible machine person joint of stiffness variable |
| CN106514701B (en) * | 2017-01-12 | 2018-11-02 | 哈尔滨工业大学 | A kind of flexible joint of stiffness variable |
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| CN109877808B (en) * | 2019-04-08 | 2019-09-24 | 山东大学 | A kind of stiffness variable driving actuator and robot |
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| CN112757277A (en) * | 2021-01-07 | 2021-05-07 | 之江实验室 | Variable-rigidity flexible joint |
| CN114152381B (en) * | 2021-12-09 | 2023-07-07 | 河北科技大学 | Rigidity-adjustable force measuring branch and corresponding parallel multidimensional force sensor |
| CN114932558B (en) * | 2022-06-27 | 2024-04-23 | 联想(北京)有限公司 | Mechanical arm, joint mechanism and joint mechanism control method |
| CN117921745B (en) * | 2024-03-25 | 2024-05-24 | 中国科学院长春光学精密机械与物理研究所 | Time-varying stiffness base system for multidirectional motion conversion |
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