CN104863982B - A kind of variation rigidity shaft joint and variation rigidity driving mechanism - Google Patents
A kind of variation rigidity shaft joint and variation rigidity driving mechanism Download PDFInfo
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- CN104863982B CN104863982B CN201410062727.2A CN201410062727A CN104863982B CN 104863982 B CN104863982 B CN 104863982B CN 201410062727 A CN201410062727 A CN 201410062727A CN 104863982 B CN104863982 B CN 104863982B
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Abstract
The invention discloses a kind of variation rigidity shaft joint and variation rigidity driving mechanism, is related to robot Shared control field.Invented to make the structure of VSA simplified and transmitting the increase of rigidity adjustable extent.A kind of variation rigidity shaft joint provided by the invention and variation rigidity driving mechanism：Including the first half a coupler and the second half a coupler, moment of torsion is transmitted by elastic spring between first half a coupler and the second half a coupler and is supported by elastic support, described elastic spring one end is fixedly connected with the first half a coupler, the other end and the second half a coupler slidable connection, first half a coupler can drive the elastic spring to slide axially relative to second half a coupler.The present invention can be used for the joint designs of service class robot.
Description
Technical field
The present invention relates to robot Shared control field, more particularly to a kind of variation rigidity shaft joint and variation rigidity driving machine
Structure.
Background technology
Variation rigidity driver (VSA:Variable Stiffness Actuator), it is current robot Shared control
One important topic, is mainly used for servicing the driving and perception of the joint designs, man-machine safety interactive class electromechanical equipment of class machine.
In recent years, European Union, the U.S., Japan are all actively developing various VSA.
The variation rigidity driver realized at present mainly has following a few class modes：
1st, the confrontation type VSA of 2 nonlinear spring tensioning degrees is adjusted by a pair of of motor；
2nd, driver is changed by cam mechanism compressive non-linearity spring and connects the VSA rigidly realized；
3rd, VSA is realized by hold-down mechanism adjusting belt tension degree；
4th, the VSA of nonlinear spring change driver fixed form realization is adjusted by a tensioning motor.
The also new design of some mutation, such as compressing rubber ball change the connection of transmission shaft rigidity etc..
But the VSA of the prior art is complicated, occupied space is big and transmission rigidity adjustable extent is small.
The content of the invention
The embodiment of the present invention provides a kind of variation rigidity shaft joint and variation rigidity driving mechanism, can simplify the structure of VSA
And transmission rigidity adjustable extent increase.
To reach above-mentioned purpose, on the one hand the embodiment of the present invention provides a kind of variation rigidity shaft joint：Including the first half
Axis device and the second half a coupler, transmit moment of torsion by elastic spring between first half a coupler and the second half a coupler and lead to
Elastic support support is crossed, described elastic spring one end is fixedly connected with the first half a coupler, the other end and the second half a coupler
Slidable connection, first half a coupler can drive the elastic spring to be slided vertically relative to second half a coupler
It is dynamic.
Further, the elastic support is spring, and the spring one end is fixed on the first half a coupler, the other end
It is fixed on the second half a coupler.
Further, the elastic spring is multigroup and being uniformly arranged on first half a coupler one week.
Further, first half a coupler is equipped with the first reed grip block, and the first reed grip block is by institute
Elastic spring is stated to clamp and be fixed by reed pressing plate.
Further, second half a coupler is equipped with the second reed grip block, and the second reed grip block is by institute
State elastic spring clamping and the elastic spring can slide axially relative to the second reed grip block.
On the other hand the embodiment of the present invention provides a kind of variation rigidity driving mechanism, including driving motor, stiffness equivalent group
Part and variation rigidity shaft joint, the variation rigidity shaft joint is the variation rigidity shaft joint described in any of the above-described technical solution, described
Driving motor is connected with second half a coupler, and can be to second half a coupler transmission moment of torsion, the first half shaft coupling
Device is used for exporting axis connection and can transmit moment of torsion to output shaft, and the stiffness equivalent component is connected with first half a coupler
And first half a coupler can be driven to be axially moveable.
Further, it is key connection between the driving motor and second half a coupler, second half a coupler
Key connection is used between output shaft.
Further, the stiffness equivalent component includes motor and Linear transmission component, the output shaft of the motor and institute
The input terminal connection of Linear transmission component is stated, the output terminal of the Linear transmission component is connected with first half a coupler.
Variation rigidity shaft joint provided in an embodiment of the present invention and variation rigidity driving mechanism, in use, one of them half shaft coupling
Device connects input shaft, another half a coupler connection output shaft, since elastic spring one end is fixedly connected with the first half a coupler,
The other end and the second half a coupler slidable connection, therefore when needing to adjust transmission rigidity, the first half a coupler only need to be controlled
Drive elastic spring to slide axially relative to the second half a coupler, in sliding process, due to the first half a coupler and
The distance between second half a coupler is changed, hence in so that elastic spring is positioned at the first half a coupler and the second half
Length between axis device（That is effective length）Changed, and be to pass through bullet between the first half a coupler and the second half a coupler
Property reed transmit moment of torsion, the change of elastic spring effective length can directly result in the change for transmitting rigidity.Thus, by simple
Structure realize transmission rigidity it is adjustable.In addition, quantity, arrangement and the material of transmission rigidity also with elastic spring etc.
Relating to parameters, can change transmission rigidity by varying any of the above-described kind or several parameters, thus have greatly expanded transmission rigidity
Adjustable range.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the overall structure diagram of variation rigidity shaft joint of the embodiment of the present invention；
Fig. 2 is the sectional view of variation rigidity shaft joint of the embodiment of the present invention.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment, belongs to the scope of protection of the invention.
In the description of the present invention, it is to be understood that term " " center ", " on ", " under ", "front", "rear", " left side ",
The orientation or position relationship of the instruction such as " right side ", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are based on shown in the drawings
Orientation or position relationship, are for only for ease of the description present invention and simplify description, rather than instruction or imply signified device or
Element must have specific orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.This
Outside, term " first ", " second " are only used for description purpose, and it is not intended that instruction or hint relative importance or implicit finger
The quantity of bright indicated technical characteristic.Thus, " first " is defined, the feature of " second " can be expressed or implicitly include
One or more this feature.
In the description of the present invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
Fig. 1 is a specific embodiment of variation rigidity shaft joint of the embodiment of the present invention；Reference Fig. 1, described in the present embodiment
Variation rigidity shaft joint includes the first half a coupler 1 and the second half a coupler 2,1 and second half a coupler 2 of the first half a coupler
Between transmitted and moment of torsion and supported by elastic support 4 by elastic spring 3, described 3 one end of elastic spring and the first half shaft couplings
Device 1 is fixedly connected, 2 slidable connection of the other end and the second half a coupler, and first half a coupler 1 can drive the elastic spring
Piece 3 slides axially relative to second half a coupler 2.
Variation rigidity shaft joint provided in an embodiment of the present invention, in use, one of half a coupler connects input shaft, it is another
A half a coupler connects output shaft, since 3 one end of elastic spring is fixedly connected with the first half a coupler 1, the other end and the second half
2 slidable connection of shaft coupling, therefore when needing to adjust transmission rigidity, need to only control the first half a coupler 1 to drive elastic spring 3
Slide axially relative to the second half a coupler 2, in sliding process, due to the first half a coupler 1 and the second half shaft couplings
The distance between device 2 is changed, hence in so that elastic spring 3 positioned at the first half a coupler 1 and the second half a coupler 2 it
Between length（That is effective length）Changed, and be by elastic spring between the first half a coupler 1 and the second half a coupler 2
Piece 3 transmits moment of torsion, and the change of 3 effective length of elastic spring can directly result in the change of transmission rigidity.Thus, by simple
Structure realizes the adjustable of transmission rigidity.In addition, quantity, arrangement and the material of transmission rigidity also with elastic spring 3 etc.
Relating to parameters, can change transmission rigidity by varying any of the above-described kind or several parameters, thus have greatly expanded transmission rigidity
Adjustable range.
In order to consolidate the distance between the first half a coupler 1 and the second half a coupler 2 so that transmission rigidity is stable and saves
Spring one end specifically, can be fixed on the first half a coupler 1, separately by cost, the elastic support 4 preferably using spring
One end is fixed on the second half a coupler 2.Thus, when the distance between the first half a coupler 1 and the second half a coupler 2 change
During change, spring can unidirectional the first half a coupler of push-tight 1 so that the distance between the first half a coupler 1 and the second half a coupler 2 are no
Malleable, transmission rigidity are more stablized.
According to actual rigidity requirement, the elastic spring 3 can set it is one or more groups of, when elastic spring 3 is arranged to
When multigroup, each group elastic spring 3 is preferably uniformly arranged on to one week of first half a coupler 1.As a result, variation rigidity connects
The transmission Stiffness Distribution of axis device is more uniform, and transmission is more stablized.
Elastic spring 3 and the connection mode of half a coupler can be a variety of, be connected preferably using the mode of clamping, specifically
Ground, can set the first reed grip block 11 on the first half a coupler 1, set the second reed to clamp on the second half a coupler 2
One end of elastic spring 3 and the first reed grip block 11, are then clamped and connected by block 21, by the other end of elastic spring 3 and
Two reed grip blocks 21 are clamped and connected, in order to make elastic spring 3 be relatively fixed with the first half a coupler 1, as shown in Fig. 2, can incite somebody to action
Elastic spring 3 is made as L-type structure, and elastic spring 3 is carried the one end at L-type turning and first on the first half a coupler 1
Reed grip block 11 connects, and then sets reed pressing plate 12 to be fixed on the top at L-type turning, hereby it is achieved that elastic spring
Piece 3 is relatively fixed with the first half a coupler 1.On the other hand, in order to realize that 3 and second half a coupler 2 of elastic spring can be along axis
To opposite slip, the second reed grip block 21 can be arranged to structure as shown in Figure 1, i.e., only the both sides of elastic spring 3 into
Row clamping, and be not limited for the free degree of elastic spring 3 vertically.Hereby it is achieved that elastic spring 3 is relative to second
Half a coupler 2 is vertically slidably.
On the other hand the embodiment of the present invention provides a kind of variation rigidity driving mechanism, including driving motor, stiffness equivalent group
Part and variation rigidity shaft joint, the variation rigidity shaft joint are the variation rigidity shaft joint described in any of the above-described embodiment, wherein, it is described
Driving motor is connected with second half a coupler 2, and can be to second half a coupler 2 transmission moment of torsion, in use, described the
One half a coupler 1 is used for and output axis connection and moment of torsion, the stiffness equivalent component and described the first half can be transmitted to output shaft
Shaft coupling 1 connects and first half a coupler 1 can be driven to be axially moveable.
Variation rigidity driving mechanism provided in an embodiment of the present invention, in use, by the first half a coupler 1 with exporting axis connection,
Driving motor is connected with the second half a coupler 2, since 3 one end of elastic spring is fixedly connected with the first half a coupler 1, the other end and
Second half a coupler, 2 slidable connection, therefore when needing to adjust transmission rigidity, only first need to be controlled by stiffness equivalent component
Half a coupler 1 drives elastic spring 3 to slide axially relative to the second half a coupler 2, in sliding process, due to first
The distance between 1 and second half a coupler 2 of half a coupler is changed, hence in so that elastic spring 3 is positioned at the first half
Length between 1 and second half a coupler 2 of axis device（That is effective length）Changed, and the first half a coupler 1 and the second half
It is that moment of torsion is transmitted by elastic spring 3 between shaft coupling 2, the change of 3 effective length of elastic spring can directly result in transmission just
The change of degree.Thus, the adjustable of transmission rigidity is realized by simple structure.In addition, transmission rigidity also with elastic spring 3
The relating to parameters such as quantity, arrangement and material, can change transmission rigidity by varying any of the above-described kind or several parameters,
Thus it have greatly expanded the adjustable range of transmission rigidity.
In order to make driving motor can to the second half a coupler 2 transmit moment of torsion, can will driving motor and the second half a coupler 2 it
Between be arranged to key connection.Similarly, key connection can will be arranged between the first half a coupler 1 and output shaft, thus, it can be achieved that first
Moment of torsion transmission of the half a coupler 1 to output shaft, and since when rigidity is transmitted in adjustment, the first half a coupler 1 needs vertically
It is mobile, and flat key can also play certain guiding role so that movement is more steady.
Wherein, stiffness equivalent component can be any one linear transmission mechanism, as long as it can drive the first half a coupler 1
Rectilinear movement, for example, motor and Linear transmission component can be selected, also can be selected cylinder or hydraulic cylinder isoline driving machine
Structure, can be by the output shaft of motor in order to save cost and easy to control, preferably use the structure of motor and Linear transmission component
It is connected with the input terminal of Linear transmission component, is then connected the output terminal of Linear transmission component with first half a coupler 1.
Thus, the moving direction and distance of the first half a coupler 1 can be controlled by controlling steering and the rotating speed of motor.Wherein, straight line
Transmission component can be turbine and worm transmission component, screw nut driven component or rack pinion component etc..
In the description of this specification, particular features, structures, materials, or characteristics can be real in any one or more
Apply and combined in an appropriate manner in example or example.
The above description is merely a specific embodiment, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (7)
- A kind of 1. variation rigidity shaft joint, it is characterised in that including the first half a coupler and the second half a coupler, described the first half Moment of torsion is transmitted by elastic spring between axis device and the second half a coupler and is supported by elastic support, the elastic spring one End is fixedly connected with the first half a coupler, and the other end and the second half a coupler slidable connection, first half a coupler can band The elastic spring is moved to slide axially relative to second half a coupler；First half a coupler is equipped with the first reed grip block, and the first reed grip block clamps the elastic spring And it is fixed by reed pressing plate；The elastic spring is L-type structure, and the elastic spring is carried on one end and first half a coupler at L-type turning The first reed grip block connection, the reed pressing plate are arranged on the top at L-type turning, the elastic spring are compressed solid It is fixed.
- 2. variation rigidity shaft joint according to claim 1, it is characterised in that the elastic support is spring, the bullet Spring one end is fixed on the first half a coupler, and the other end is fixed on the second half a coupler.
- 3. variation rigidity shaft joint according to claim 1, it is characterised in that the elastic spring is multigroup and is uniformly arranged In one week of first half a coupler.
- 4. variation rigidity shaft joint according to claim 1, it is characterised in that second half a coupler is equipped with the second spring Piece grip block, the second reed grip block clamps the elastic spring and the elastic spring can be relative to second spring Piece grip block slides axially.
- A kind of 5. variation rigidity driving mechanism, it is characterised in that including driving motor, stiffness equivalent component and variation rigidity shaft joint, The variation rigidity shaft joint is variation rigidity shaft joint according to any one of claims 1 to 4, the driving motor and described the Two half a couplers connect, and moment of torsion can be transmitted to second half a coupler, and first half a coupler is used to connect with output shaft Connect and moment of torsion can be transmitted to output shaft, the stiffness equivalent component be connected with first half a coupler and can drive described first Half a coupler is axially moveable.
- 6. variation rigidity driving mechanism according to claim 5, it is characterised in that the driving motor and described the second half It is key connection between axis device, key connection is used between second half a coupler and output shaft.
- 7. variation rigidity driving mechanism according to claim 5, it is characterised in that the stiffness equivalent component include motor and Linear transmission component, the output shaft of the motor are connected with the input terminal of the Linear transmission component, the Linear transmission component Output terminal be connected with first half a coupler.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410062727.2A CN104863982B (en) | 2014-02-24 | 2014-02-24 | A kind of variation rigidity shaft joint and variation rigidity driving mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410062727.2A CN104863982B (en) | 2014-02-24 | 2014-02-24 | A kind of variation rigidity shaft joint and variation rigidity driving mechanism |
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| CN104863982A CN104863982A (en) | 2015-08-26 |
| CN104863982B true CN104863982B (en) | 2018-04-27 |
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| CN106246747A (en) * | 2016-08-08 | 2016-12-21 | 苏州亘富机械科技有限公司 | A kind of shaft coupling |
| US10385926B2 (en) * | 2016-11-15 | 2019-08-20 | Steering Solutions Ip Holding Corporation | Variable stiffness joint assembly having a bushing assembly |
| CN108453721B (en) * | 2018-03-13 | 2021-03-26 | 南京工程学院 | Controllable variable-rigidity flexible driver |
| CN108714913A (en) * | 2018-06-06 | 2018-10-30 | 清华大学 | Variation rigidity flexible actuator |
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| CN108422413B (en) * | 2018-06-19 | 2020-01-07 | 哈尔滨工业大学 | Rigidity-variable flexible continuous parallel robot |
| CN110266144A (en) * | 2019-05-23 | 2019-09-20 | 华为技术有限公司 | A kind of micromotor component and electronic equipment |
| CN111775176B (en) * | 2020-06-10 | 2022-05-31 | 哈尔滨工业大学 | Variable-rigidity linear driving device and variable-rigidity method |
| CN113175484B (en) * | 2021-06-07 | 2024-06-11 | 三峡集团四川能源投资有限公司 | Transmission device |
| CN113334356B (en) * | 2021-06-16 | 2022-06-14 | 北京航空航天大学 | Passive variable-rigidity series elastic driver |
| CN116372975A (en) * | 2021-12-06 | 2023-07-04 | 之江实验室 | Variable stiffness mechanism and flexible joint based on axial force |
| CN115182937B (en) * | 2022-07-18 | 2023-06-02 | 西南石油大学 | Variable-rigidity laminated coupling for crankshaft vibration control |
| CN115371989B (en) * | 2022-10-26 | 2023-03-24 | 中国航发四川燃气涡轮研究院 | Variable supporting rigidity simulation structure of shaft coupling rotor |
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| JPS5316152A (en) * | 1976-07-29 | 1978-02-14 | Kouei Supuringu Kougiyou Kk | Spring type shaft coupling and manufacturing method thereof |
| AT391355B (en) * | 1989-08-17 | 1990-09-25 | Geislinger Co Schwingungstechn | INTERMEDIATE FOR INSTALLATION IN A TORQUE-TRANSFERING DRIVE CONNECTION |
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| CN2326779Y (en) * | 1997-08-24 | 1999-06-30 | 张远明 | Elastic-wire coupling |
| CN2611673Y (en) * | 2002-05-10 | 2004-04-14 | 职莹壁 | Wire rope elastic coupler |
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| CN104863982A (en) | 2015-08-26 |
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