CN105171769B - Variable-rigidity robot elastic joint - Google Patents
Variable-rigidity robot elastic joint Download PDFInfo
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- CN105171769B CN105171769B CN201510621201.8A CN201510621201A CN105171769B CN 105171769 B CN105171769 B CN 105171769B CN 201510621201 A CN201510621201 A CN 201510621201A CN 105171769 B CN105171769 B CN 105171769B
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- movable jaw
- spring leaf
- elastic joint
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Abstract
The invention discloses a variable-rigidity robot elastic joint. The variable-rigidity robot elastic joint is composed of a shell, a shaft and an outer ring. The shaft is arranged at the rotation center of the shell and fixed to the shell. The shell and the outer ring are connected through a rotation pair. A plurality of leaf springs are arranged on the outer ring. One end of each leaf spring is fixedly connected with the outer ring, and the other end of each leaf spring is fixedly connected with the shaft. A movable clamping jaw is arranged in the middle of each leaf spring and connected with the leaf spring in a sliding manner. The bottoms of the movable clamping jaws are in spiral transmission connection with a toothed plate. End face teeth are arranged at the bottom of the toothed plate and are in gear transmission connection with bevel teeth. The shaft penetrates the rotation center of the toothed plate and is connected with the toothed plate through a rotation pair. The bevel teeth penetrate the shell in the radial direction and are connected with the shell through rotation pairs. The variable-rigidity robot elastic joint solves the problems that an existing structure is relatively complex and the variable-rigidity characteristic is poor, is simple in structure and can achieve real-time rigidity regulation in the movement process of the robot joint.
Description
Technical field
The present invention relates to robotics, and in particular to a kind of variation rigidity Robot elastic joint.
Background technology
With developing rapidly for science and technology, roboticses are very extensive in application at this stage, especially in industry
In field.At present, with roboticses to the development in terms of flexibility, the collaborative work of multiple stage robot, and robot with
Reciprocal action between people etc. is more and more universal.The appearance of this phenomenon, will want to the Technology of Flexibility of robot and adaptability
Ask and increase.This is also the focus studied outside Current Domestic.
From the point of view of the whole composition structure of robot, joint of robot is the key zero that robot realizes various motions
Part.The more mainly rigid joint of existing roboticses application and elastic joint.Answering for variation rigidity joint of robot
It is fewer with technology.
Variation rigidity Robot elastic joint can be according to mission requirements, real-time regulation joint stiffness, so as to improve robot
Adaptability.The possible application of variation rigidity joint driver includes：Lift the safety of service robot man-machine interaction；
Application in joint of artificial limb can be reasonably resistant to the impact of external force, and Saving cortilage exempts from destruction.Variation rigidity Robot elastic joint
Robot can be effectively improved to the adaptability of environment and expand the application of robot, be with a wide range of applications.
Research how to improve robot it is adaptive during.Passive flexible and active force is usually used to control to improve
The adaptability of robot.Passive flexibility is difficult to active control, and application surface is narrower.Active force controls the essence to force transducer
The requirement of real-time of degree, the bandwidth of sample frequency and control algolithm is higher；Its safety is difficult to ensure that, and robustness is relatively low, energy
Amount consumes larger.
It is external relatively more to the research of variation rigidity Robot elastic joint, it is concentrated mainly on the variation rigidity for realizing structure, energy
The optimization of amount efficiency, and the research of control method.But from the point of view of many structures designed by foreign countries, its structure is still present a lot
Problem, such as variation rigidity robot joint structure are complicated, and variation rigidity characteristic is poor, and control is complicated, and energy expenditure is big, and safety is relatively low
Deng.
The content of the invention
The invention aims to overcome the structure of existing variation rigidity Robot elastic joint relative complex, variation rigidity is special
Property it is poor, control is complicated, and energy expenditure is big, and safety is relatively low, there is provided a kind of simple structure, it is possible to achieve move in joint of robot
During rigidity real-time, tunable robot stiffness changing structure.
The purpose of the present invention is realized by following technical proposals：
A kind of variation rigidity Robot elastic joint, is made up of shell (1), axle (4) and outer ring (2)；It is characterized in that described
Axle (4) is arranged at the centre of gyration of shell (1), and to be fixedly connected between shell (1), between shell (1) and outer ring (2)
To rotate secondary connection；Multiple spring leafs (3) of radial symmetric are installed on the outer ring (2), each spring leaf (3) one end with it is outer
Circle (2) is connected firmly, and the other end is connected firmly with axle (4)；A movable jaw (5), movable jaw are mounted in the middle of the spring leaf (3)
(5) it is symmetrical with spring leaf (3), and to be slidably connected between spring leaf (3), movable jaw (5) bottom and fluted disc (6) it
Between for worm drive connect；Fluted disc (6) bottom is provided between end-tooth, and end-tooth and umbrella tooth (7) and constitutes gear biography
Dynamic connection；The axle (4) further passs through the center of rotation of fluted disc (6), and is connected to rotate pair between fluted disc (6)；It is described
Umbrella tooth (7) is radially across shell (1), and is connected to rotate pair between shell (1).
In such scheme, it is worm drive, movable jaw (5) and fluted disc between the movable jaw (5) and fluted disc (6)
(6) profile of tooth can be rectangular teeth, or stepped tooth.
In such scheme, the effective length that the movable jaw (5) is slided on spring leaf (3) determines spring leaf (3)
Rigidity controlled range.
In such scheme, the worm drive angle between the movable jaw (5) and fluted disc (6) preferably has its worm drive
There is the angle of auto-lock function.
In such scheme, between the movable jaw (5) and fluted disc (6), self-locking mechanism is provided with, self-locking mechanism can make
Movable jaw (5) can keep the relative position relative to spring leaf (3) constant, so as to be effectively improved the essence of stiffness reliability
Degree and stability.
In such scheme, movable jaw (5) two ends are provided with roller, slide along reed (3) in movable jaw (5)
During, realize becoming that sliding friction, into rolling friction, efficiently reduces the loss of energy, reduces the startup power of motor
Square.
In such scheme, the spring leaf (3) is the overlaying structure of multiple thin slices, and mechanical property is more preferable.
Variation rigidity Robot elastic joint of the present invention realizes that the operation principle of variation rigidity is：The shell (1) is solid
It is fixed motionless, rotated by additional Motor drive umbrella tooth (7), when additional Motor drive umbrella tooth (7) is rotated in the clockwise direction, meeting
Band active toothed disk (6) is rotated around axle (4), the rotation of fluted disc (6) can on the upside of band active toothed disk (6) movable hock (5) radially to away from
One side shifting of axle (4) center, and the mobile of movable jaw (5) can be along the outside side shifting of spring leaf (3), so as to change outer ring
(2) and movable jaw (5) between spring leaf (3) effective length, reduce the effective length of spring leaf (3), so that joint
Rigidity become big.When additional Motor drive umbrella tooth (7) rotates in the counterclockwise direction, movable jaw (5) can be in the anti-of fluted disc (6)
To under driving while inwardly side is shunk, increase the effective length of spring leaf (3), so that joint stiffness reduces.
A kind of variation rigidity Robot elastic joint of the present invention can be used in the system of various Robot elastic joints, especially
It is in the adjustable Robot elastic joint system of rigidity.Its feature is the side using movable jaw with fluted disc worm drive
Formula realizes that movable jaw controls effective active length of spring leaf, so as to the rigidity for realizing the elastic joint structure is adjustable.Spring
The regulation of piece rigidity is rotated by external Motor drive umbrella tooth, and the rotation of fluted disc is realized by umbrella tooth, so by motor
Rotating can realize the rotating of fluted disc, such that it is able to control the change of spring plate rigidity.
A kind of variation rigidity Robot elastic joint proposed by the present invention, overcomes the structure phase of original Robot elastic joint
To complexity, control mode is complicated, and the defect such as use occasion is limited.This structure has structure relatively easy, it is possible to achieve close
Section rotates the impact property of both direction, and control joint position with it is just relatively independent the characteristics of.In such scheme, use
Spring leaf, its simple structure manufacture handling ease, are easy to the replacing of structure itself, and total stiffness reliability mode is relative
Simply.
Description of the drawings
Fig. 1 is the schematic diagram of the present invention.
Fig. 2 is the fluted disc schematic diagram of the present invention.
Fig. 3 is the movable jaw schematic diagram of the present invention.
Fig. 4 is the outer ring schematic diagram of the present invention.
Fig. 5 is the shell schematic diagram of the present invention.
Fig. 6 is the axle schematic diagram of the present invention.
Fig. 7 is the umbrella tooth schematic diagram of the present invention.
Fig. 8 is the spring leaf schematic diagram of the present invention.
Fig. 9 is 6 shaft industrial robot embodiment schematic diagram of the present invention.
Figure 10 is bio-robot embodiment schematic diagram of the present invention.
Figure 11 is human body artificial limb leg embodiment schematic diagram of the present invention.
In accompanying drawing, the implication of each numeral is：1：Shell；2：Outer ring；3：Spring leaf；4：Axle；5：Movable jaw；6：Fluted disc；
7：Umbrella tooth；8：Input；9：Outfan；10：Bio-robot leg input；11：Bio-robot leg outfan；12：
Human body artificial limb thigh；13：Human body artificial limb shank.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment is described in further detail the present invention, but the present invention is not limited only to the embodiment.
Embodiment one
A kind of variation rigidity Robot elastic joint of this example as shown in figure 1, a kind of variation rigidity Robot elastic joint, by outer
Shell (1), axle (4) and outer ring (2) composition；It is characterized in that the axle (4) is arranged at the centre of gyration of shell (1), and with it is outer
To be fixedly connected between shell (1), it is connected to rotate pair between shell (1) and outer ring (2)；It is provided with the outer ring (2) radially
Symmetrical multiple spring leafs (3), each spring leaf (3) one end are connected firmly with outer ring (2), and the other end is connected firmly with axle (4)；The spring
A movable jaw (5) is mounted in the middle of piece (3), movable jaw (5) is symmetrical with spring leaf (3), and with spring leaf (3)
Between to be slidably connected, be connected for worm drive between movable jaw (5) bottom and fluted disc (6)；Fluted disc (6) bottom is arranged
There is composition gear drive between end-tooth, and end-tooth and umbrella tooth (7) to be connected；The axle (4) further passs through the rotation of fluted disc (6)
Turn center, and be connected to rotate pair between fluted disc (6)；The umbrella tooth (7) radially across shell (1), and between shell (1)
To rotate secondary connection.
In the present embodiment, the profile of tooth of the movable jaw (5) and fluted disc (6) is stepped tooth, and the spiral shell of the stepped tooth profile of tooth
Rotation drive line angle has self-locking action.
The variation rigidity process of the variation rigidity Robot elastic joint of this example is：The shell 1 is maintained static, by outer power-up
Machine drives umbrella tooth 7 to rotate, and when additional Motor drive umbrella tooth 7 is rotated in the clockwise direction, can rotate around axle 4 with active toothed disk 6, tooth
The rotation of disk 6 can on the upside of band active toothed disk 6 movable hock 5 radially to away from 4 center of axle, one side shifting, and the shifting of movable jaw 5
It is dynamic to make bullet along 3 outside side shifting of spring leaf so as to change the effective length of spring leaf 3 between outer ring 2 and movable jaw 5
The effective length of reed 3 reduces, so that the rigidity in joint becomes big.When additional Motor drive umbrella tooth 7 is rotated in the counterclockwise direction
When, movable jaw 5 can inwardly side be shunk simultaneously under the reverse drive of fluted disc 6, increases the effective length of spring leaf 3, so as to
Reduce joint stiffness.
As shown in figure 9, the variation rigidity Robot elastic joint of this example is arranged on 6 shaft industrial robot ends, input 8 with
The shell 1 of elastic joint is fixedly connected, and outer ring 2 is fixedly connected with outfan 9.In application process, previously according to work information
The stiffness characteristics of this elastic joint are set, when motor drives input 8 to rotate, outer load can produce impact to outfan 9,
The elastic joint of this example can produce cushioning effect by the elastic reaction of spring leaf 3 so that have bullet between outer ring 2 and shell 1
Property effect, be effectively protected bio-robot leg joint, improve its service life.
Embodiment two
As shown in Figure 10, the variation rigidity Robot elastic joint of this example is arranged on the leg joint of bionic 6-leg robot
Place, bio-robot leg input 10 are fixedly connected with the shell 1 of elastic joint, and outer ring 2 is exported with bio-robot leg
End 11 is fixedly connected.In application process, the stiffness characteristics of this elastic joint are set previously according to work information, in bionical machine
During device people walks, when motor drives bio-robot leg input 10 to rotate, outer load can be to bio-robot lower limb
Portion's outfan 11 produces impact, and the elastic joint of this example can produce cushioning effect by the elastic reaction of spring leaf 3 so that outer ring
There is between 2 and shell 1 elastic reaction, be effectively protected bio-robot leg joint, improve its service life.
Embodiment three
As shown in figure 11, the variation rigidity Robot elastic joint of this example is arranged on human body artificial limb leg joint, and human body is false
Limb thigh is provided with elastic joint to the joint between shank, drives the input of shank to fix with the shell 1 of elastic joint
Connection, outer ring 2 is fixedly connected with artificial limb shank 13, in application process, sets this elastic joint previously according to work information
Stiffness characteristics, during prosthetic walking, when motor drives 13 input of artificial limb shank to rotate, outer load can be little to artificial limb
Lower limb 13 produces impact, and the elastic joint of this example can produce cushioning effect by the elastic reaction of spring leaf 3 so that outer ring 2 with it is outer
There is between shell 1 elastic reaction, be effectively protected artificial limb leg joint, improve its service life.
Example IV
A kind of 5 two ends of variation rigidity Robot elastic joint movable jaw of this example are provided with roller, in movable jaw 5 along spring
During piece 3 slides, realize becoming that sliding friction, into rolling friction, efficiently reduces the loss of energy, reduce driving electricity
The staring torque of machine, remaining is with embodiment one.
Embodiment five
A kind of variation rigidity Robot elastic joint spring leaf 3 of this example is as shown in figure 8, the material of spring leaf is conventional bullet
Spring Steel material, remaining same example IV.
Embodiment six
A kind of variation rigidity Robot elastic joint spring leaf 3 of this example is as shown in figure 8, spring leaf is the superposition of multiple thin slices
Form, remaining is with embodiment five.
Embodiment seven
A kind of variation rigidity Robot elastic joint spring leaf 3 of this example is as shown in figure 8, the cross sectional shape of spring leaf is variable
, remaining is with embodiment five.
The design of the cross sectional shape of spring leaf 3, affects its stiffness characteristics, can be according to the applicable field of Robot elastic joint
Close to design spring leaf cross sectional shape, to meet load-deflection curve needed for elastic joint, make elastic joint adapt to different works
Make environment, extend its service life, improve its performance.
Claims (6)
1. a kind of variation rigidity Robot elastic joint, by shell（1）, axle（4）And outer ring（2）Composition；It is characterized in that：The axle
（4）It is arranged at shell（1）The centre of gyration, and and shell（1）Between to be fixedly connected, shell（1）With outer ring（2）Between be
Rotate secondary connection；The outer ring（2）On multiple spring leafs of radial symmetric are installed（3）, each spring leaf（3）One end and outer ring
（2）Connect firmly, the other end and axle（4）Connect firmly；The spring leaf（3）Centre is mounted on a movable jaw（5）, movable jaw
（5）With spring leaf（3）It is symmetrical, and and spring leaf（3）Between to be slidably connected, movable jaw（5）Bottom and fluted disc（6）It
Between for worm drive connect；The fluted disc（6）Bottom is provided with end-tooth, and end-tooth and umbrella tooth（7）Between constitute gear pass
Dynamic connection；The axle（4）Further pass through fluted disc（6）Center of rotation, and and fluted disc（6）Between to rotate secondary connection；It is described
Umbrella tooth（7）Radially across shell（1）, and and shell（1）Between to rotate secondary connection.
2. a kind of variation rigidity Robot elastic joint as claimed in claim 1, it is characterised in that：The movable jaw（5）With
Fluted disc（6）Between be worm drive, movable jaw（5）With fluted disc（6）Profile of tooth can be rectangular teeth, or stepped tooth.
3. a kind of variation rigidity Robot elastic joint as claimed in claim 1, it is characterised in that：The movable jaw（5）With
Fluted disc（6）Between worm drive angle be set to the angle for making its worm drive that there is auto-lock function.
4. a kind of variation rigidity Robot elastic joint as claimed in claim 1, it is characterised in that：The movable jaw（5）With
Fluted disc（6）Between be provided with self-locking mechanism, self-locking mechanism makes movable jaw（5）Can keep relative to spring leaf（3）It is relative
Position is constant.
5. a kind of variation rigidity Robot elastic joint as claimed in claim 1, it is characterised in that：The movable jaw（5）With
Spring leaf（3）On the inside of contact portion, two ends are provided with roller, specially：In movable jaw（5）Spring leaf is installed（3）Trough in
Side two ends are respectively mounted roller, in movable jaw（5）Along spring leaf（3）During slip, realize becoming sliding friction to roll
Friction.
6. a kind of variation rigidity Robot elastic joint as claimed in claim 1, it is characterised in that：The spring leaf（3）For many
The overlaying structure of individual thin slice.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510621201.8A CN105171769B (en) | 2015-09-28 | 2015-09-28 | Variable-rigidity robot elastic joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510621201.8A CN105171769B (en) | 2015-09-28 | 2015-09-28 | Variable-rigidity robot elastic joint |
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| Publication Number | Publication Date |
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| CN105171769A CN105171769A (en) | 2015-12-23 |
| CN105171769B true CN105171769B (en) | 2017-03-22 |
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| CN201510621201.8A Active CN105171769B (en) | 2015-09-28 | 2015-09-28 | Variable-rigidity robot elastic joint |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105599004B (en) * | 2016-03-23 | 2017-06-20 | 华南理工大学 | A kind of adjustable Robot elastic joint of rigidity |
| CN107486850B (en) * | 2017-09-08 | 2020-05-01 | 四川大学 | Variable-rigidity elastic joint of flexible cable driven robot |
| CN108032331B (en) * | 2017-11-27 | 2019-09-27 | 清华大学 | A kind of variation rigidity flexible mechanical arm |
| CN108000554B (en) * | 2017-11-30 | 2021-07-06 | 中国矿业大学 | Leaf spring-based variable-rigidity flexible joint and control method thereof |
| CN109227596B (en) * | 2018-10-22 | 2022-02-22 | 哈尔滨工业大学（深圳） | Variable-rigidity flexible joint device |
| CN109732641B (en) * | 2019-01-28 | 2021-09-07 | 西安交通大学 | Two-state variable-rigidity compliant joint and operation method |
| CN109807938B (en) * | 2019-03-26 | 2020-12-29 | 清华大学 | Non-guide rail type variable stiffness driver |
| CN110480675B (en) * | 2019-08-28 | 2021-03-30 | 王光远 | Piezoelectric type variable-rigidity elastic joint |
| CN112757277A (en) * | 2021-01-07 | 2021-05-07 | 之江实验室 | Variable-rigidity flexible joint |
| CN113231798B (en) * | 2021-04-30 | 2022-06-14 | 成都飞机工业（集团）有限责任公司 | Automatic rivet dismounting device and using method thereof |
| CN114131647B (en) * | 2021-12-06 | 2022-08-26 | 之江实验室 | Lever type rigidity-variable flexible joint based on cam |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6368012B1 (en) * | 1999-12-22 | 2002-04-09 | Abb Flexible Automation, Inc. | Compliant end effector |
| KR100912104B1 (en) * | 2008-02-14 | 2009-08-13 | 한국과학기술연구원 | Device for generating stiffness and method for controling stiffness and joint of robot manipulator comprising the same |
| CN203371555U (en) * | 2013-05-27 | 2014-01-01 | 北京理工大学 | Elastic torque transmission module and integral flexible rotary joint |
| CN104669261B (en) * | 2015-02-11 | 2016-08-17 | 北京航空航天大学 | A kind of can synchronization control displacement-type variation rigidity joint driver and a kind of method of adjustment of joint of robot rigidity |
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