CN105584551A - Distributed leaf spring variable-rigidity joint driver based on left-hand rotation and right-hand rotation lead screw-sliding block connecting rod mechanism - Google Patents
Distributed leaf spring variable-rigidity joint driver based on left-hand rotation and right-hand rotation lead screw-sliding block connecting rod mechanism Download PDFInfo
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- CN105584551A CN105584551A CN201610012656.4A CN201610012656A CN105584551A CN 105584551 A CN105584551 A CN 105584551A CN 201610012656 A CN201610012656 A CN 201610012656A CN 105584551 A CN105584551 A CN 105584551A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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Abstract
The invention discloses a distributed leaf spring variable-rigidity joint driver based on a left-hand rotation and right-hand rotation lead screw-sliding block connecting rod mechanism. The distributed leaf spring variable-rigidity joint driver comprises three sets of elastic elements, a drive assembly and a joint framework. A lead screw in the drive assembly is driven by a motor to move, so that sliding blocks arranged on the lead screw in a sleeving manner move up and down along the lead screw. The sliding blocks moving up and down drive connecting rods to move in the directions of guide rods, so that a first supporting piece moves up and down along the lead screw. A lead screw-sliding block-connecting rod-sliding block structure is adopted by each elastic element, so that the vibration restraining effect can be achieved through the flexibility of the elastic elements in the moving process of the variable-rigidity joint driver. Rotation of the motor is converted into the movement of the lead screw sliding blocks in the direction perpendicular to an output shaft of the motor, the sliding blocks move to drive the elastic elements to move, and therefore the stability of the joint driver is achieved.
Description
Technical field
The present invention relates to a kind of rigidity joint driver that becomes, more particularly, refer to a kind of based on left-right turning screw rod-slide blockThe distributed flat spring of linkage becomes rigidity joint driver.
Background technology
Become rigidity joint driver and be applied in such as machine fish, on the bio-robots such as robot dog, can realize joint hasThe change of effect output rigidity and system stiffness, can reduce system capacity consumption. Energy-saving principle is following two aspects:
(1) strain of flexible member can storage elasticity potential energy, in a motion process, and the kinetic energy that part is unnecessaryOr gravitional force is converted into elastic potential energy, and in ensuing motion process, elastic potential energy and then be converted into again motion instituteThe kinetic energy needing, considers from long-term motion, can make full use of excess energy, reduces energy loss.
(2) research shows, in the time that the frequency of tache motorice natural frequency and current motion matches, can effectively reduce and makeThe energy consumption of this motion. The natural frequency of tache motorice is the rigidity of tache motorice and the function of inertia. By in motion processChange in real time joint stiffness, can make tache motorice natural frequency change thereupon. Disappear making in total movement thereby realizeThe minimum energy of consumption.
Summary of the invention
In order how to change the technical problem of torsional rigidity of output, the present invention has designed a kind of based on left-right rotary silkThe distributed flat spring of thick stick-sliding-block linkage becomes rigidity joint driver. This change rigidity joint driver is by " leading screw-cunningPiece-connecting rod-slide block " mechanism makes output rigidity controlled, and the compliance of " connecting rod-slide block " can reduce the vibrations of whole deviceAnd then raising stability, the security can guarantee man-machine interaction by control output end rigidity time, enters by real-time adjustment rigidityAnd can change tache motorice natural frequency, thereby low-energy-consumption can fall.
The advantage that the present invention becomes rigidity joint driver is:
1. the change rigidity joint driver of the present invention's design keeps the stage not need the power that provides extra to tie up in rigidityHold.
2. the change rigidity joint driver of the present invention's design is in stiffness tuning process, and motor output torque is final only need driveThe moving slide position that changes, the resistance that deformation of elastic element produces is vertical with slide block movement direction, thereby does not need to overcomeThe elastic force that flexible member produces.
3. the change rigidity joint driver of the present invention's design has been applied " leading screw-slide block-connecting rod-slide block " mechanism, Neng GoushiExisting electric machine rotation is converted into the slide block of motor output shaft vertical direction and moves.
4. the compliance of the flexible member in the present invention can play inhibition in change rigidity joint driver system motionShock effect, thus the stability of a system can be improved.
5. the change rigidity joint driver of the present invention's design can be applied in machine movement end joint, its elastic buffer effectCan reduce the momentary action power of tache motorice, thereby improve security.
Brief description of the drawings
Fig. 1 is the external structure that the present invention becomes rigidity joint driver.
Figure 1A is the top view that the present invention becomes rigidity joint driver.
Figure 1B is the nearly heart or the centrifugal schematic diagram that the present invention becomes rigidity joint driver.
Fig. 2 is the structure chart that the present invention becomes the drive part of rigidity joint driver.
Fig. 2 A is the structure chart that the present invention becomes upper screw slider in the drive part of rigidity joint driver.
Fig. 2 B is the structure chart that the present invention becomes lower screw slider in the drive part of rigidity joint driver.
Fig. 2 C is the structure chart that the present invention becomes DA electric machine support in the drive part of rigidity joint driver.
Fig. 2 D is the structure chart that the present invention becomes DB electric machine support in the drive part of rigidity joint driver.
Fig. 3 is the front view that the present invention becomes the joint skeleton of rigidity joint driver.
Fig. 3 A is the structure chart that the present invention becomes the first support member in the joint skeleton of rigidity joint driver.
Fig. 3 B is another visual angle structure chart that the present invention becomes the first support member in the joint skeleton of rigidity joint driver.
Fig. 3 C is the structure chart that the present invention becomes the second support member in the joint skeleton of rigidity joint driver.
Fig. 3 D is another visual angle structure chart that the present invention becomes the second support member in the joint skeleton of rigidity joint driver.
Fig. 3 E is the structure chart that the present invention becomes the 3rd support member in the joint skeleton of rigidity joint driver.
Fig. 3 F is another visual angle structure chart that the present invention becomes the 3rd support member in the joint skeleton of rigidity joint driver.
Fig. 3 G is the structure chart that the present invention becomes the 4th support member in the joint skeleton of rigidity joint driver.
Fig. 3 H is another visual angle structure chart that the present invention becomes the 4th support member in the joint skeleton of rigidity joint driver.
Fig. 3 I is the structure chart that the present invention becomes the 5th support member in the joint skeleton of rigidity joint driver.
Fig. 3 J is another visual angle structure chart that the present invention becomes the 5th support member in the joint skeleton of rigidity joint driver.
Fig. 3 K is the structure chart that the present invention becomes the 6th support member in the joint skeleton of rigidity joint driver.
Fig. 3 L is another visual angle structure chart that the present invention becomes the 6th support member in the joint skeleton of rigidity joint driver.
Fig. 3 M is the structure chart that the present invention becomes the 7th support member in the joint skeleton of rigidity joint driver.
Fig. 3 N is another visual angle structure chart that the present invention becomes the 7th support member in the joint skeleton of rigidity joint driver.
Fig. 4 is the structure chart that the present invention becomes the flexible member of rigidity joint driver.
Fig. 4 A is the exploded view that the present invention becomes the first flexible member of rigidity joint driver.
Fig. 4 B is the cutaway view of outer slide in the present invention becomes in the first flexible member of rigidity joint driver.
Fig. 4 C is the structure chart that the present invention becomes inner slide in the first flexible member of rigidity joint driver.
Fig. 4 D is the structure chart that the present invention becomes outer slide in the first flexible member of rigidity joint driver.
Fig. 5 is the exploded view that the present invention becomes the second flexible member of rigidity joint driver.
Fig. 5 A is the cutaway view of outer slide in the present invention becomes in the second flexible member of rigidity joint driver.
Fig. 5 B is the structure chart that the present invention becomes inner slide in the second flexible member of rigidity joint driver.
Fig. 5 C is the structure chart that the present invention becomes outer slide in the second flexible member of rigidity joint driver.
Fig. 6 is the exploded view that the present invention becomes the 3rd flexible member of rigidity joint driver.
Fig. 6 A is the cutaway view of outer slide in the present invention becomes in the 3rd flexible member of rigidity joint driver.
Fig. 6 B is the structure chart that the present invention becomes inner slide in the 3rd flexible member of rigidity joint driver.
Fig. 6 C is the structure chart that the present invention becomes outer slide in the 3rd flexible member of rigidity joint driver.
Fig. 7 is the structure chart that the present invention becomes the nearly heart motion state of rigidity joint driver.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail.
Shown in Fig. 1, Figure 1A, the present invention has designed a kind of distributed based on left-right turning screw rod-sliding-block linkageFlat spring becomes rigidity joint driver, and it includes the first flexible member 1, the second flexible member 2, the 3rd flexible member 3, drivesAssembly 4 and joint skeleton 5. Wherein, the first flexible member 1, the second flexible member 2 are identical with the structure of the 3rd flexible member 3.
The first flexible member 1
Shown in Fig. 1, Fig. 4, Fig. 4 A, the first flexible member 1 includes AA joint shaft 11, AB joint shaft 12, AC jointAxle 13, AD joint shaft 14, the upper connecting rod 1A of A, A lower link 1B, A outer slide 1C, A inner slide 1D, A reed 1E, AA guide rod 1F, AB leadBar 1G, A support 1H, AA rolling element 1J, AB rolling element 1K.
Shown in Fig. 4, Fig. 4 A, one end of the upper connecting rod 1A of A is provided with the AA through hole 1A1 passing for AA joint shaft 11, on AThe other end of connecting rod 1A is provided with the AB through hole 1A2 passing for AB joint shaft 12.
Shown in Fig. 4, Fig. 4 A, one end of A lower link 1B is provided with the AC through hole 1B1 passing for AC joint shaft 13, under AThe other end of connecting rod 1B is provided with the AD through hole 1B2 passing for AD joint shaft 14.
Shown in Fig. 4, Fig. 4 A, Fig. 4 C, the upper end of A outer slide 1C is provided with AC boss 1C1 and AD boss 1C2, AC bossBetween 1C1 and AD boss 1C2, be AA groove 1C3, this AA groove 1C3 is for placing the other end of the upper connecting rod 1A of A, AC boss 1C1Be provided with AK through hole 1C11, this AK through hole 1C11 passes for AB joint shaft 12, and AD boss 1C2 is provided with AL through hole 1C21, shouldAL through hole 1C21 passes for AB joint shaft 12. The lower end of A outer slide 1C is provided with AE boss 1C4 and AF boss 1C5, AE bossBetween 1C4 and AF boss 1C5, be AB groove 1C6, this AB groove 1C6 one end for placing A lower link 1B, on AE boss 1C4Be provided with the AM through hole 1C41 passing for AD joint shaft 14, AF boss 1C5 is provided with the AN through hole passing for AD joint shaft 141C51, the boss structure of the top and bottom of A outer slide 1C is identical. A outer slide 1C is provided with another for AA guide rod 1FThe AO through hole 1C7 that one end is passed, the AP through hole 1C8 passing for the other end of AB guide rod 1G; The middle part of A outer slide 1C is AB squareShape through hole 1C9, this AB rectangular through-hole 1C9 is for passing for one end of A reed 1E. It is heavy that a panel of A outer slide 1C is provided with AHead cavity 1C-1, is provided with the AC hole clipping 1C-2 for placing AA rolling element 1J in A countersunk head chamber 1C-1, for placing AB rolling element 1K'sAD hole clipping 1C-3; Described A countersunk head chamber 1C-1 is used for placing A inner slide 1D, and AC hole clipping 1C-2 coordinates with AA hole clipping 1D1, AD cardHole 1C-3 coordinates with AB hole clipping 1D2, and AO through hole 1C7 coordinates with AI through hole 1D3, and AP through hole 1C8 coordinates with AJ through hole 1D4.
Shown in Fig. 4, Fig. 4 A, Fig. 4 B, a panel of A inner slide 1D is provided with the AA card for placing AA rolling element 1JHole 1D1, for placing the AB hole clipping 1D2 of AB rolling element 1K; A inner slide 1D is provided with and passes for the other end of AA guide rod 1FAI through hole 1D3, the AJ through hole 1D4 passing for the other end of AB guide rod 1G; The middle part of A inner slide 1D is AA rectangular through-hole 1D5,This AA rectangular through-hole 1D5 passes for one end of A reed 1E.
Shown in Fig. 4, Fig. 4 A, one end of A reed 1E is provided with the AE through hole 1E1 passing for screw.
Shown in Fig. 4, Fig. 4 A, one end of AA guide rod 1F is provided with AA boss post 1F1. This AA boss post 1F1 is used for limiting AInner slide 1D is at the sliding position of AA guide rod 1F.
Shown in Fig. 4, Fig. 4 A, one end of AB guide rod 1G is provided with AB boss post 1G1. This AB boss post 1G1 is used for limiting AInner slide 1D is at the sliding position of AB guide rod 1G.
Shown in Fig. 4, Fig. 4 A, the AA support arm 1H1 of A support 1H is provided with AF through hole 1H11, by this AF through holeIn 1H11, placing A screw 6A realization fixes with the EA support arm 5F1 of the 6th support member 5F upper the AA support arm 1H1 of A support 1H; A props upThe AB support arm 1H2 of frame 1H is provided with AA boss 1H21 and AB boss 1H22, and AA boss 1H21 is provided with for placing AA guide rod 1FThe AG through hole 1H23 of the other end, AB boss 1H22 is provided with the AH through hole 1H24 for placing the AB guide rod 1G other end. At thisIn bright, be arranged on after AG through hole 1H23 at the AA guide rod 1F other end, then adopt pin to hold out against the other end of AA guide rod 1F. In like manner,Be arranged on after AH through hole 1H24 at the AB guide rod 1G other end, then adopt pin to hold out against the other end of AB guide rod 1G.
Shown in Fig. 4, Fig. 4 A, AA rolling element 1J is provided with AC boss post 1J1.
Shown in Fig. 4, Fig. 4 A, AB rolling element 1K is provided with AD boss post 1K1. AC boss post on AA rolling element 1JBetween AD boss post 1K1 on 1J1 and AB rolling element 1K, pass for one end of A reed 1E.
In the present invention, outer slide 1C, the inner slide 1D in the first flexible member 1 and rolling element (1J, 1K) form firstTransverse slider group.
In the present invention, the first transverse slider group is along guide rod (1F, 1G) motion, and the first transverse slider group is at distributedOn spring change rigidity joint driver, do horizontal direction motion.
The second flexible member 2
Shown in Fig. 1, Fig. 5, the second flexible member 2 include BA joint shaft 21, BB joint shaft 22, BC joint shaft 23,BD joint shaft 24, the upper connecting rod 2A of B, B lower link 2B, B outer slide 2C, B inner slide 2D, B reed 2E, BA guide rod 2F, BB guide rod 2G,B support 2H, BA rolling element 2J, BB rolling element 2K.
Shown in Figure 5, one end of the upper connecting rod 2A of B is provided with the BA through hole 2A1 passing for BA joint shaft 21, the upper connecting rod of BThe other end of 2A is provided with the BB through hole 2A2 passing for BB joint shaft 22.
Shown in Figure 5, one end of B lower link 2B is provided with the BC through hole 2B1 passing for BC joint shaft 23, B lower linkThe other end of 2B is provided with the BD through hole 2B2 passing for BD joint shaft 24.
Shown in Fig. 5, Fig. 5 A Fig. 5 C, the upper end of B outer slide 2C is provided with BC boss 2C1 and BD boss 2C2, BC bossBetween 2C1 and BD boss 2C2, be BA groove 2C3, this BA groove 2C3 is for placing the other end of the upper connecting rod 2A of B, BC boss 2C1Be provided with BK through hole 2C11, this BK through hole 2C11 passes for BB joint shaft 22, and BD boss 2C2 is provided with BL through hole 2C21, shouldBL through hole 2C21 passes for BB joint shaft 22. The lower end of B outer slide 2C is provided with BE boss 2C4 and BF boss 2C5, BE bossBetween 2C4 and BF boss 2C5, be BB groove 2C6, this BB groove 2C6 one end for placing B lower link 2B, on BE boss 2C4Be provided with the BM through hole 2C41 passing for BD joint shaft 24, BF boss 2C5 is provided with the BN through hole passing for BD joint shaft 242C51, the boss structure of the top and bottom of B outer slide 2C is identical. B outer slide 2C is provided with another for BA guide rod 2FThe BO through hole 2C7 that one end is passed, the BP through hole 2C8 passing for the other end of BB guide rod 2G; The middle part of B outer slide 2C is BB squareShape through hole 2C9, this BB rectangular through-hole 2C9 is for passing for one end of B reed 2E. It is heavy that a panel of B outer slide 2C is provided with BHead cavity 2C-1, is provided with the BC hole clipping 2C-2 for placing BA rolling element 2J in B countersunk head chamber 2C-1, for placing BB rolling element 2K'sBD hole clipping 2C-3; Described B countersunk head chamber 2C-1 is used for placing B inner slide 2D, and BC hole clipping 2C-2 coordinates with BA hole clipping 2D1, BD cardHole 2C-3 coordinates with BB hole clipping 2D2, and BO through hole 2C7 coordinates with BI through hole 2D3, and BP through hole 2C8 coordinates with BJ through hole 2D4.
Shown in Fig. 5, Fig. 5 A, Fig. 5 B, a panel of B inner slide 2D is provided with the BA card for placing BA rolling element 2JHole 2D1, for placing the BB hole clipping 2D2 of BB rolling element 2K; B inner slide 2D is provided with and passes for the other end of BA guide rod 2FBI through hole 2D3, the BJ through hole 2D4 passing for the other end of BB guide rod 2G; The middle part of B inner slide 2D is BA rectangular through-hole 2D5,This BA rectangular through-hole 2D5 passes for one end of B reed 2E.
Shown in Figure 5, one end of B reed 2E is provided with the BE through hole 2E1 passing for screw.
Shown in Figure 5, one end of BA guide rod 2F is provided with BA boss post 2F1. This BA boss post 2F1 is used for limiting in B slidingPiece 2D is at the sliding position of BA guide rod 2F.
Shown in Figure 5, one end of BB guide rod 2G is provided with BB boss post 2G1. This BB boss post 2G1 is used for limiting in B slidingPiece 2D is at the sliding position of BB guide rod 2G.
Shown in Figure 5, the BA support arm 2H1 of B support 2H is provided with BF through hole 2H11, by putting in this BF through hole 2H11Putting B screw 6B realization fixes with the EA support arm 5F1 of the 6th support member 5F upper the BA support arm 2H1 of B support 2H; The BB of B support 2HSupport arm 2H2 is provided with BA boss 2H21 and BB boss 2H22, and BA boss 2H21 is provided with for placing the BA guide rod 2F other endBG through hole 2H23, BB boss 2H22 is provided with the BH through hole 2H24 for placing the BB guide rod 2G other end.
Shown in Fig. 5 Fig. 5 A, BA rolling element 2J is provided with BC boss post 2J1.
Shown in Fig. 5, Fig. 5 A, BB rolling element 2K is provided with BD boss post 2K1. BC boss post on BA rolling element 2JBetween BD boss post 2K1 on 2J1 and BB rolling element 2K, pass for one end of B reed 2E.
In the present invention, outer slide 2C, the inner slide 2D in the second flexible member 2 and rolling element (2J, 2K) form secondTransverse slider group.
In the present invention, the second transverse slider group is along guide rod (2F, 2G) motion, and the second transverse slider group is at distributedOn spring change rigidity joint driver, do horizontal direction motion.
The 3rd flexible member 3
Shown in Fig. 1, Fig. 6, the 3rd flexible member 3 include CA joint shaft 31, CB joint shaft 32, CC joint shaft 33,CD joint shaft 34, the upper connecting rod 3A of C, C lower link 3B, C outer slide 3C, C inner slide 3D, C reed 3E, CA guide rod 3F, CB guide rod 3G,C support 3H, CA rolling element 3J, CB rolling element 3K.
Shown in Figure 6, one end of the upper connecting rod 3A of C is provided with the CA through hole 3A1 passing for CA joint shaft 31, the upper connecting rod of CThe other end of 3A is provided with the CB through hole 3A2 passing for CB joint shaft 32.
Shown in Figure 6, one end of C lower link 3B is provided with the CC through hole 3B1 passing for CC joint shaft 33, C lower linkThe other end of 3B is provided with the CD through hole 3B2 passing for CD joint shaft 34.
Shown in Fig. 6, Fig. 6 A, Fig. 6 C, the upper end of C outer slide 3C is provided with CC boss 3C1 and CD boss 3C2, CC bossBetween 3C1 and CD boss 3C2, be CA groove 3C3, this CA groove 3C3 is for placing the other end of the upper connecting rod 3A of C, CC boss 3C1Be provided with CK through hole 3C11, this CK through hole 3C11 passes for CB joint shaft 32, and CD boss 3C2 is provided with CL through hole 3C21, shouldCL through hole 3C21 passes for CB joint shaft 32. The lower end of C outer slide 3C is provided with CE boss 3C4 and CF boss 3C5, CE bossBetween 3C4 and CF boss 3C5, be CB groove 3C6, this CB groove 3C6 one end for placing C lower link 3B, on CE boss 3C4Be provided with the CM through hole 3C41 passing for CD joint shaft 34, CF boss 3C5 is provided with the CN through hole passing for CD joint shaft 343C51, the boss structure of the top and bottom of C outer slide 3C is identical. C outer slide 3C is provided with another for CA guide rod 3FThe CO through hole 3C7 that one end is passed, the CP through hole 3C8 passing for the other end of CB guide rod 3G; The middle part of C outer slide 3C is CB squareShape through hole 3C9, this CB rectangular through-hole 3C9 is for passing for one end of C reed 3E. It is heavy that a panel of C outer slide 3C is provided with CHead cavity 3C-1, is provided with the CC hole clipping 3C-2 for placing CA rolling element 3J in C countersunk head chamber 3C-1, for placing CB rolling element 3K'sCD hole clipping 3C-3; Described C countersunk head chamber 3C-1 is used for placing C inner slide 3D, and CC hole clipping 3C-2 coordinates with CA hole clipping 3D1, CD cardHole 3C-3 coordinates with CB hole clipping 3D2, and CO through hole 3C7 coordinates with CI through hole 3D3, and CP through hole 3C8 coordinates with CJ through hole 3D4.
Shown in Fig. 6, Fig. 6 A, Fig. 6 B, a panel of C inner slide 3D is provided with the CA card for placing CA rolling element 3JHole 3D1, for placing the CB hole clipping 3D2 of CB rolling element 3K; C inner slide 3D is provided with and passes for the other end of CA guide rod 3FCI through hole 3D3, the CJ through hole 3D4 passing for the other end of CB guide rod 3G; The middle part of C inner slide 3D is CA rectangular through-hole 3D5,This CA rectangular through-hole 3D5 passes for one end of C reed 3E.
Shown in Figure 6, one end of C reed 3E is provided with the CE through hole 3E1 passing for screw.
Shown in Figure 6, one end of CA guide rod 3F is provided with CA boss post 3F1. This CA boss post 3F1 is used for limiting in C slidingPiece 3D is at the sliding position of CA guide rod 3F.
Shown in Figure 6, one end of CB guide rod 3G is provided with CB boss post 3G1. This CB boss post 3G1 is used for limiting in C slidingPiece 3D is at the sliding position of CB guide rod 3G.
Shown in Figure 6, the CA support arm 3H1 of C support 3H is provided with CF through hole 3H11, by putting in this CF through hole 3H11Putting C screw 6C realization fixes with the EA support arm 5F1 of the 6th support member 5F upper the CA support arm 3H1 of C support 3H; The CB of C support 3HSupport arm 3H2 is provided with CA boss 3H21 and CB boss 3H22, and CA boss 3H21 is provided with for placing the CA guide rod 3F other endCG through hole 3H23, CB boss 3H22 is provided with the CH through hole 3H24 for placing the CB guide rod 3G other end.
Shown in Fig. 6, Fig. 6 A, CA rolling element 3J is provided with CC boss post 3J1.
Shown in Fig. 6, Fig. 6 A, CB rolling element 3K is provided with CD boss post 3K1. CC boss post on CA rolling element 3JBetween CD boss post 3K1 on 3J1 and CB rolling element 3K, pass for one end of C reed 3E.
In the present invention, outer slide 3C, the inner slide 3D in the 3rd flexible member 3 and rolling element (3J, 3K) form the 3rdTransverse slider group.
In the present invention, the 3rd transverse slider group is along guide rod (3F, 3G) motion, and the 3rd transverse slider group is at distributedOn spring change rigidity joint driver, do horizontal direction motion.
Driven unit 4
Shown in Fig. 1, Fig. 2, driven unit 4 includes motor 4E, electric machine support (4F, 4G), shaft coupling 4D, leading screw4A, screw slider (4B, 4C) and ball bearing (41,42,43,44). DA ball bearing 41 is arranged on the first support member 5A'sIn EA bearing bore 5A5. DB ball bearing 42 is arranged in the ED bearing bore 5G5 of the 7th support member 5G. DC ball bearing 43 is installedIn the EC dead eye 5F44 of the 6th support member 5F. DD ball bearing 44 is arranged in the EB dead eye 5B5 of the second support member 5B.Described motor 4E selects the serial stepper motor of two-phase hybrid 42,1.8 ° of step angles.
Shown in Figure 2, leading screw 4A is provided with left-handed thread section 4A1, right-handed thread section 4A2 and smooth section 4A3, smooth section4A3 is between left-handed thread section 4A1 and right-handed thread section 4A2. On left-handed thread section 4A1, be socketed with screw slider 4B, the right sideRevolve and on thread segment 4A2, be socketed with lower screw slider 4C, smooth section 4A3 place be provided with the 3rd support member 5C, the 5th support member 5E andThe 4th support member 5D. Because one end of leading screw 4A is realized and being connected with the output shaft of motor 4E by shaft coupling 4D, motor 4E'sUnder driving, be socketed in upper screw slider 4B on leading screw 4A and lower screw slider 4C and can realize close or from motion, as figure1, shown in Fig. 7.
Shown in Fig. 2 A, upper screw slider 4B is identical with the structure of lower screw slider 4C. The centre of upper screw slider 4BBe left handed threaded hole 4B7, this left handed threaded hole 4B7 is for being connected with the left-handed thread section 4A1 on leading screw 4A; DA screw slider 4BDisk limit be provided with DA support arm 4B1, DB support arm 4B2, DC support arm 4B3, DD support arm 4B4, DE support arm 4B5, DF support arm 4B6; DASupport arm 4B1 is provided with DA through hole 4B11, and this DA through hole 4B11 passes for AA joint shaft 11; DB support arm 4B2 is provided with DB through hole4B21, this DB through hole 4B21 passes for AA joint shaft 11; DC support arm 4B3 is provided with DC through hole 4B31, and this DC through hole 4B31 usesPass in BA joint shaft 21; DD support arm 4B4 is provided with DD through hole 4B41, and this DD through hole 4B41 passes for BA joint shaft 21; DESupport arm 4B5 is provided with DE through hole 4B51, and this DE through hole 4B51 passes for CA joint shaft 31; DF support arm 4B6 is provided with DF through hole4B61, this DF through hole 4B61 passes for CA joint shaft 31.
Shown in Fig. 2 B, the centre of lower screw slider 4C is right-handed thread hole 4C7, this right-handed thread hole 4C7 forRight-handed thread section 4A2 on leading screw 4A connects; The disk limit of DB screw slider 4C is provided with DG support arm 4C1, DH support arm 4C2, DISupport arm 4C3, DJ support arm 4C4, DK support arm 4C5, DL support arm 4C6; DG support arm 4C1 is provided with DG through hole 4C11, this DG through hole 4C11Pass for AD joint shaft 14; DH support arm 4C2 is provided with DH through hole 4C21, and this DH through hole 4C21 passes for AD joint shaft 14;DI support arm 4C3 is provided with DI through hole 4C31, and this DI through hole 4C31 passes for BD joint shaft 24; It is logical that DJ support arm 4C4 is provided with DJHole 4C41, this DJ through hole 4C41 passes for BD joint shaft 24; DK support arm 4C5 is provided with DK through hole 4C51, this DK through hole 4C51Pass for CD joint shaft 34; DL support arm 4C6 is provided with DL through hole 4C61, and this DL through hole 4C61 passes for CD joint shaft 34.
Shown in Fig. 2 C, DA electric machine support 4F is identical with the structure of DB electric machine support 4G. DA electric machine support 4F is " work "Word structure is DA riser 4F1 between the DA transverse slat 4F2 of DA electric machine support 4F and DB transverse slat 4F3. DA transverse slat 4F2 is by screw (FScrew 6F, G screw 6G) be fixed on the lower panel of the second support member 5B, DB transverse slat 4F3 is by screw (D screw 6D, E screw6E) be fixed on the casing of motor 4E.
Shown in Fig. 2 D, DB electric machine support 4G is " work " word structure, the DC transverse slat 4G2 of DB electric machine support 4G and DD transverse slatBetween 4G3, be DB riser 4G1. DC transverse slat 4G2 is fixed on below the second support member 5B by screw (J screw 6J, K screw 6K)On plate, DD transverse slat 4G3 is fixed on the casing of motor 4E by screw (I screw 6I, H screw 6H).
In the present invention, shaft coupling 4D one end of driven unit 4 is fixed on the output shaft of motor 4E, and shaft coupling 4D's is anotherOne end is fixed with one end of leading screw 4A, and through DD ball bearing 44 (pacify in turn by described DD ball bearing 44 for the other end of leading screw 4ABe contained in the EB bearing bore 5B5 of the second support member 5B), (described DC ball bearing 43 is arranged on the 6th support to DC ball bearing 43In the EC bearing bore 5F44 of part 5F), lower screw slider 4C, the 4th support member 5D, the 5th support member 5E, the 3rd support member 5C, on(described DB ball bearing 42 is arranged on the ED bearing bore 5G5 of the 7th support member 5G for screw slider 4B and DB ball bearing 42In).
In the present invention, the screw thread on leading screw 4A is divided into two kinds of structures of left-right rotary, the screw slider coordinating with leading screw 4A(4B, 4C) can axially do close to moving simultaneously along leading screw 4A, screw slider (4B, 4C) becomes just at distributed flat springOn degree joint driver, do longitudinal direction motion.
Joint skeleton 5
Shown in Fig. 1, Fig. 3, joint skeleton 5 includes the fixing outer bar 51 of AA, the fixing outer bar 52 of AB, the fixing outer bar of AC53, the fixing interior bar 54 of BA, the fixing interior bar 55 of BB, the fixing outer bar 56 of BC, the first support member 5A, the second support member 5B, the 3rd supportPart 5C, the 4th support member 5D, the 5th support member 5E, the 6th support member 5F and the 7th support member 5G. Wherein, the fixing outer bar 51 of AA,The fixing outer bar 52 of AB is identical with the structure of the fixing outer bar 53 of AC, and two ends and the middle part of fixing outer bar are provided with screw thread, and this screw thread is usedIn socket screw. In the fixing interior bar 54 of BA, BB fix, bar 55 is identical with the structure of the fixing outer bar 56 of BC, i.e. the two ends of fixing interior barBe provided with screw thread with middle part, this screw thread is used for being socketed screw.
Shown in Fig. 1, Fig. 3 A, Fig. 3 B, the EA disc 5A1 of the first support member 5A is provided with the fixing outer bar 51 for AAThe EA through hole 5A2 that passes of upper end, the EB through hole 5A3 passing for the upper end of the fixing outer bar 52 of AB, fix outer bar 53 for ACThe EC through hole 5A4 that passes of upper end, the lower panel of the EA disc 5A1 of the first support member 5A is provided with for DA ball axle is installedHold 41 EA bearing bore 5A5. In the present invention, the first support member 5A, can be first as first output of driverAny carrier of the upper installation of support member 5A.
Shown in Fig. 1, Fig. 3 C, Fig. 3 D, the EB disc 5B1 of the second support member 5B is provided with the fixing outer bar 51 for AAThe ED through hole 5B2 that passes of lower end, the EE through hole 5B3 passing for the lower end of the fixing outer bar 52 of AB, fix outer bar 53 for ACThe EF through hole 5B4 that passes of lower end, the top panel of the EB disc 5B1 of the second support member 5B is provided with for DD ball axle is installedHold 44 EB bearing bore 5B5. The lower panel of the EB disc 5B1 of the second support member 5B is provided with the center of passing for leading screw 4AThrough hole 5B6, the middle part of EB bearing bore 5B5 is central through hole 5B6, this central through hole 5B6 passes for leading screw 4A.
Shown in Fig. 1, Fig. 3 E, Fig. 3 F, the EC disc 5C1 of the 3rd support member 5C is provided with for leading screw 4A through havingEG through hole 5C2, is uniformly distributed on the circumference panel of the EC disc 5C1 of the 3rd support member 5C and is provided with three for three cunnings are installedThe blind hole of bar, one end of the BA guide rod 2F of the second flexible member 2 is arranged in EA blind hole 5C3.
Shown in Fig. 1, Fig. 3 G, Fig. 3 H, the ED disc 5D1 of the 4th support member 5D is provided with for leading screw 4A through havingEH through hole 5D2, is uniformly distributed on the circumference panel of the ED disc 5D1 of the 4th support member 5D and is provided with three for three cunnings are installedThe blind hole of bar, one end of the BB guide rod 2G of the second flexible member 2 is arranged in EB blind hole 5D3.
Shown in Fig. 1, Fig. 3 I, Fig. 3 J, the 5th support member 5E is triangle configuration. The 5th support member 5E is provided with EA springSheet clamping plate 5E1, the middle part of these EA reed clamping plate 5E1 is provided with EA gap 5E11, and EA gap 5E1 is used for placing the first flexible member 1One end of A reed 1E, the side panel of EA reed clamping plate 5E1 is provided with EA screw through hole 5E12, by EA screw with logicalIn the 5E12 of hole, place screw, then attaching nut is realized one end of the A reed 1E of the first flexible member 1 is clamped in to EA Spring clipOn plate 5E1.
The 5th support member 5E is provided with EB reed clamping plate 5E2, and the middle part of these EB reed clamping plate 5E2 is provided with EB gap 5E21,EB gap 5E2 is for placing the B reed 2E of the second flexible member 2, and the side panel of EB reed clamping plate 5E2 is provided with EB screw with logicalHole 5E22, by EB screw with placing screw in through hole 5E22, then attaching nut is realized the B spring of the second flexible member 2One end of sheet 2E is clamped on EB reed clamping plate 5E2.
The 5th support member 5E is provided with EC reed clamping plate 5E3, and the middle part of these EC reed clamping plate 5E3 is provided with EC gap 5E31,EC gap 5E3 is for placing the C reed 3E of the 3rd flexible member 3, and the side panel of EC reed clamping plate 5E3 is provided with EC screw with logicalHole 5E32, by EC screw with placing screw in through hole 5E32, then attaching nut is realized the C spring of the 3rd flexible member 3One end of sheet 3E is clamped on EC reed clamping plate 5E3.
The 5th support member 5E is provided with the EI through hole 5E4 passing for the fixing outer bar 51 of AA, wears for the fixing outer bar 52 of ABThe EJ through hole 5E5 crossing, the EK through hole 5E6 passing for the fixing outer bar 53 of AC, the EL through hole 5E7 passing for leading screw 4A.
Shown in Fig. 1, Fig. 3 K, Fig. 3 L, the 6th support member 5F is triangle configuration. The 6th support member 5F is provided with EE circleDisk body 5F4, this EE disc 5F4 is provided with the EA countersunk head through hole 5F41 passing for the lower end of the fixing interior bar 54 of BA, for BBThe EB countersunk head through hole 5F42 that in fixing, the lower end of bar 55 is passed, the EC countersunk head through hole passing for the lower end of the fixing interior bar 56 of BC5F43, for placing the EC bearing bore 5F44 of DC ball bearing 43, the EM through hole 5F45 passing for leading screw 4A, this EM through hole5F45 is located at the middle part of EC bearing bore 5F44; The lower panel of EE disc 5F4 is provided with EA bearing annulus 5F46, this EA bearing circleRing 5F46 is socketed on the inner ring of DD ball bearing 44; The 6th support member 5F is provided with EA support arm 5F1, EB support arm 5F2 and EC props upArm 5F3; This EA support arm 5F1 is used for the AA support arm 1H1 of the A support 1H that the first flexible member 1 is installed; This EB support arm 5F2 is for peaceFill the BA arm 2H1 of the B support 2H of the second flexible member 2; This EC support arm 5F3 is for installing the C support 3H of the 3rd flexible member 3CA support arm 3H1. In addition, the EA support arm 5F1 of the 6th support member 5F is provided with the EA installing hole 5F11 with the fixing use of outer carrier, EBSupport arm 5F2 is provided with the EB installing hole 5F21 with the fixing use of outer carrier, and EC support arm 5F3 is provided with the fixing use of outer carrierEC installing hole 5F31. In the present invention, the 6th support member 5F, can be at the 6th support member as second output of driverAny carrier of the upper installation of installing hole (5F11,5F21,5F31) of three support arms (5F1,5F2,5F3) of 5F.
Shown in Fig. 1, Fig. 3 M, Fig. 3 N, the EF disc 5G1 of the 7th support member 5G is provided with the fixing interior bar 54 for BAThe EN through hole 5G2 that passes of upper end, fixing for BB in the EO through hole 5G3 that passes of the upper end of bar 55, fixing for BC in bar 56The EP through hole 5G4 that passes of upper end, the lower panel of EF disc 5G1 is provided with the ED bearing bore for placing DB ball bearing 425G5, the boss body 5G6 of the 7th support member 5G is provided with EB bearing annulus 5G7, and this EB bearing annulus 5G7 is socketed in DA ball axleHold on 41 inner ring.
The motion mode of the change rigidity joint driver of the present invention design into:
In the present invention, under the driving of motor 4A, leading screw 4A moves clockwise, and upper screw slider 4B moves downward, andLower screw slider 4C moves upward, and both speed of motion are identical; Close at upper screw slider 4B and lower screw slider 4CIn motion (shown in Fig. 7) process, three transverse slider groups are made synchronized radially centrifugal motion.
In the present invention, under the driving of motor 4A, leading screw 4A moves counterclockwise, and upper screw slider 4B moves upward, andLower screw slider 4C moves downward, and both speed of motion are identical; Upper screw slider 4B and lower screw slider 4C fromIn motion (shown in Fig. 1) process, three transverse slider groups are done synchronized radially near heart motion. Shown in Figure 1B, described synchronized footpathTo centrifugal or described synchronized radially near in the heart " heart " refers to the central point O of the 5th support member 5E.
A kind of distributed flat spring based on left-right turning screw rod-sliding-block linkage of the present invention's design becomes rigidity joint and drivesMoving device, to be solved is the technical problem that how to change the torsional rigidity of output, drive in the change rigidity joint of the present invention's designMoving device, by " leading screw-slide block-connecting rod-slide block " mechanism, can be realized electric machine rotation and be converted into and motor output shaft vertical directionSlide block move, thereby effective arm of force of reed is changed, the torsional rigidity of output is changed. In the present inventionThe compliance of flexible member can play vibration-inhibition effect becoming in rigidity joint driver system motion, thereby can carryThe high stability of a system. The change rigidity joint driver of the present invention's design can be applied in machine movement end joint, its elastic bufferEffect can reduce the momentary action power of tache motorice, thereby has improved security.
Claims (6)
1. the distributed flat spring based on left-right turning screw rod-sliding-block linkage becomes a rigidity joint driver, and its feature existsIn: this driver includes the first flexible member (1), the second flexible member (2), the 3rd flexible member (3), driven unit (4)And joint skeleton (5); Wherein, the structure phase of the first flexible member (1), the second flexible member (2) and the 3rd flexible member (3)With;
The first flexible member (1) include AA joint shaft (11), AB joint shaft (12), AC joint shaft (13), AD joint shaft (14),The upper connecting rod of A (1A), A lower link (1B), A outer slide (1C), A inner slide (1D), A reed (1E), AA guide rod (1F), AB guide rod(1G), A support (1H), AA rolling element (1J), AB rolling element (1K);
One end of the upper connecting rod of A (1A) is provided with the AA through hole (1A1) passing for AA joint shaft (11), another of the upper connecting rod of A (1A)End is provided with the AB through hole (1A2) passing for AB joint shaft (12);
One end of A lower link (1B) is provided with the AC through hole (1B1) passing for AC joint shaft (13), another of A lower link (1B)End is provided with the AD through hole (1B2) passing for AD joint shaft (14);
The upper end of A outer slide (1C) is provided with AC boss (1C1) and AD boss (1C2), AC boss (1C1) and AD boss (1C2) itBetween be AA groove (1C3), this AA groove (1C3) is for placing the other end of the upper connecting rod (1A) of A, AC boss (1C1) is provided with AKThrough hole (1C11), this AK through hole (1C11) passes for AB joint shaft (12), and AD boss (1C2) is provided with AL through hole (1C21),This AL through hole (1C21) passes for AB joint shaft (12); The lower end of A outer slide (1C) is provided with AE boss (1C4) and AF boss(1C5), between AE boss (1C4) and AF boss (1C5), be AB groove (1C6), this AB groove (1C6) is for placing A lower link(1B) one end, AE boss (1C4) is provided with the AM through hole (1C41) passing for AD joint shaft (14), on AF boss (1C5)Be provided with the AN through hole (1C51) passing for AD joint shaft (14), the boss structure of the top and bottom of A outer slide (1C) is phaseWith; A outer slide (1C) is provided with the AO through hole (1C7) passing for the other end of AA guide rod (1F), for AB guide rod (1G)The AP through hole (1C8) that passes of the other end; The middle part of A outer slide (1C) is AB rectangular through-hole (1C9), this AB rectangular through-hole(1C9) for passing for one end of A reed (1E); One panel of A outer slide (1C) is provided with A countersunk head chamber (1C-1), A countersunk headIn chamber (1C-1), be provided with the AC hole clipping (1C-2) for placing AA rolling element (1J), for placing the AD hole clipping of AB rolling element (1K)(1C-3); Described A countersunk head chamber (1C-1) is for placing A inner slide (1D), and AC hole clipping (1C-2) coordinates with AA hole clipping (1D1),AD hole clipping (1C-3) coordinates with AB hole clipping (1D2), and AO through hole (1C7) coordinates with AI through hole (1D3), and AP through hole (1C8) is logical with AJHole (1D4) coordinates;
One panel of A inner slide (1D) is provided with the AA hole clipping (1D1) for placing AA rolling element (1J), rolls for placing ABThe AB hole clipping (1D2) of kinetoplast (1K); A inner slide (1D) is provided with the AI through hole passing for the other end of AA guide rod (1F)(1D3) the AJ through hole (1D4), passing for the other end of AB guide rod (1G); The middle part of A inner slide (1D) is AA rectangular through-hole(1D5), this AA rectangular through-hole (1D5) is passed for one end of A reed (1E);
One end of A reed (1E) is provided with the AE through hole (1E1) passing for screw;
One end of AA guide rod (1F) is provided with AA boss post (1F1); This AA boss post (1F1) is for limiting A inner slide (1D) at AAThe sliding position of guide rod (1F);
One end of AB guide rod (1G) is provided with AB boss post (1G1); This AB boss post (1G1) is for limiting A inner slide (1D) at ABThe sliding position of guide rod (1G);
The AA support arm (1H1) of A support (1H) is provided with AF through hole (1H11), by place A screw in this AF through hole (1H11)(6A) the EA support arm (5F1) of realizing the AA support arm (1H1) of A support (1H) is upper and the 6th support member (5F) is fixed; A support (1H)AB support arm (1H2) be provided with AA boss (1H21) and AB boss (1H22), AA boss (1H21) is provided with for placing AA and leadsThe AG through hole (1H23) of bar (1F) other end, AB boss (1H22) is provided with the AH through hole for placing AB guide rod (1G) other end(1H24)；
AA rolling element (1J) is provided with AC boss post (1J1);
AB rolling element (1K) is provided with AD boss post (1K1); AC boss post (1J1) on AA rolling element (1J) and AB rolling element(1K) between the AD boss post (1K1) on, pass for one end of A reed (1E);
The second flexible member (2) include BA joint shaft (21), BB joint shaft (22), BC joint shaft (23), BD joint shaft (24),The upper connecting rod of B (2A), B lower link (2B), B outer slide (2C), B inner slide (2D), B reed (2E), BA guide rod (2F), BB guide rod(2G), B support (2H), BA rolling element (2J), BB rolling element (2K);
One end of the upper connecting rod of B (2A) is provided with the BA through hole (2A1) passing for BA joint shaft (21), another of the upper connecting rod of B (2A)End is provided with the BB through hole (2A2) passing for BB joint shaft (22);
One end of B lower link (2B) is provided with the BC through hole (2B1) passing for BC joint shaft (23), another of B lower link (2B)End is provided with the BD through hole (2B2) passing for BD joint shaft (24);
The upper end of B outer slide (2C) is provided with BC boss (2C1) and BD boss (2C2), BC boss (2C1) and BD boss (2C2) itBetween be BA groove (2C3), this BA groove (2C3) is for placing the other end of the upper connecting rod (2A) of B, BC boss (2C1) is provided with BKThrough hole (2C11), this BK through hole (2C11) passes for BB joint shaft (22), and BD boss (2C2) is provided with BL through hole (2C21),This BL through hole (2C21) passes for BB joint shaft (22); The lower end of B outer slide (2C) is provided with BE boss (2C4) and BF boss(2C5), between BE boss (2C4) and BF boss (2C5), be BB groove (2C6), this BB groove (2C6) is for placing B lower link(2B) one end, BE boss (2C4) is provided with the BM through hole (2C41) passing for BD joint shaft (24), on BF boss (2C5)Be provided with the BN through hole (2C51) passing for BD joint shaft (24), the boss structure of the top and bottom of B outer slide (2C) is phaseWith; B outer slide (2C) is provided with the BO through hole (2C7) passing for the other end of BA guide rod (2F), for BB guide rod (2G)The BP through hole (2C8) that passes of the other end; The middle part of B outer slide (2C) is BB rectangular through-hole (2C9), this BB rectangular through-hole(2C9) for passing for one end of B reed (2E); One panel of B outer slide (2C) is provided with B countersunk head chamber (2C-1), B countersunk headIn chamber (2C-1), be provided with the BC hole clipping (2C-2) for placing BA rolling element (2J), for placing the BD hole clipping of BB rolling element (2K)(2C-3); Described B countersunk head chamber (2C-1) is for placing B inner slide (2D), and BC hole clipping (2C-2) coordinates with BA hole clipping (2D1),BD hole clipping (2C-3) coordinates with BB hole clipping (2D2), and BO through hole (2C7) coordinates with BI through hole (2D3), and BP through hole (2C8) is logical with BJHole (2D4) coordinates;
A panel of B inner slide 2D is provided with the BA hole clipping 2D1 for placing BA rolling element 2J, for placing BB rolling element 2KBB hole clipping 2D2; B inner slide 2D is provided with the BI through hole 2D3 passing for the other end of BA guide rod 2F, for BB guide rod 2G'sThe BJ through hole 2D4 that the other end passes; The middle part of B inner slide 2D is BA rectangular through-hole 2D5, and this BA rectangular through-hole 2D5 is for B reedOne end of 2E is passed;
One end of B reed 2E is provided with the BE through hole 2E1 passing for screw;
One end of BA guide rod 2F is provided with BA boss post 2F1; This BA boss post 2F1 is for limiting B inner slide 2D BA guide rod 2F'sSliding position;
One end of BB guide rod 2G is provided with BB boss post 2G1; This BB boss post 2G1 is for limiting B inner slide 2D BB guide rod 2G'sSliding position;
The BA support arm 2H1 of B support 2H is provided with BF through hole 2H11, realizes B by place B screw 6B in this BF through hole 2H11The BA support arm 2H1 EA support arm 5F1 upper and the 6th support member 5F of support 2H fixes; It is protruding that the BB support arm 2H2 of B support 2H is provided with BAPlatform 2H21 and BB boss 2H22, BA boss 2H21 is provided with the BG through hole 2H23 for placing the BA guide rod 2F other end, BB boss2H22 is provided with the BH through hole 2H24 for placing the BB guide rod 2G other end;
BA rolling element 2J is provided with BC boss post 2J1;
BB rolling element 2K is provided with BD boss post 2K1; BD circle on BC boss post 2J1 and BB rolling element 2K on BA rolling element 2JBetween projection 2K1, pass for one end of B reed 2E;
The 3rd flexible member (3) include CA joint shaft (31), CB joint shaft (32), CC joint shaft (33), CD joint shaft (34),The upper connecting rod of C (3A), C lower link (3B), C outer slide (3C), C inner slide (3D), C reed (3E), CA guide rod (3F), CB guide rod(3G), C support (3H), CA rolling element (3J), CB rolling element (3K);
One end of the upper connecting rod 3A of C is provided with the CA through hole 3A1 passing for CA joint shaft 31, and the other end of the upper connecting rod 3A of C is provided with useThe CB through hole 3A2 passing in CB joint shaft 32;
One end of C lower link 3B is provided with the CC through hole 3B1 passing for CC joint shaft 33, and the other end of C lower link 3B is provided with useThe CD through hole 3B2 passing in CD joint shaft 34;
The upper end of C outer slide 3C is provided with CC boss 3C1 and CD boss 3C2, between CC boss 3C1 and CD boss 3C2, is CA groove3C3, this CA groove 3C3 is for placing the other end of the upper connecting rod 3A of C, and CC boss 3C1 is provided with CK through hole 3C11, this CK through hole3C11 passes for CB joint shaft 32, and CD boss 3C2 is provided with CL through hole 3C21, and this CL through hole 3C21 wears for CB joint shaft 32Cross; The lower end of C outer slide 3C is provided with CE boss 3C4 and CF boss 3C5, between CE boss 3C4 and CF boss 3C5, is CB groove3C6, this CB groove 3C6 one end for placing C lower link 3B, CE boss 3C4 is provided with the CM passing for CD joint shaft 34Through hole 3C41, CF boss 3C5 is provided with the CN through hole 3C51 passing for CD joint shaft 34, the top and bottom of C outer slide 3CBoss structure be identical; C outer slide 3C is provided with the CO through hole 3C7 passing for the other end of CA guide rod 3F, for CBThe CP through hole 3C8 that the other end of guide rod 3G passes; The middle part of C outer slide 3C is CB rectangular through-hole 3C9, this CB rectangular through-hole 3C9For passing for one end of C reed 3E; A panel of C outer slide 3C is provided with C countersunk head chamber 3C-1, in C countersunk head chamber 3C-1, establishesBe useful on the CC hole clipping 3C-2 that places CA rolling element 3J, for placing the CD hole clipping 3C-3 of CB rolling element 3K; Described C countersunk head chamber3C-1 is used for placing C inner slide 3D, and CC hole clipping 3C-2 coordinates with CA hole clipping 3D1, and CD hole clipping 3C-3 coordinates with CB hole clipping 3D2,CO through hole 3C7 coordinates with CI through hole 3D3, and CP through hole 3C8 coordinates with CJ through hole 3D4;
A panel of C inner slide 3D is provided with the CA hole clipping 3D1 for placing CA rolling element 3J, for placing CB rolling element 3KCB hole clipping 3D2; C inner slide 3D is provided with the CI through hole 3D3 passing for the other end of CA guide rod 3F, for CB guide rod 3G'sThe CJ through hole 3D4 that the other end passes; The middle part of C inner slide 3D is CA rectangular through-hole 3D5, and this CA rectangular through-hole 3D5 is for C reedOne end of 3E is passed;
One end of C reed 3E is provided with the CE through hole 3E1 passing for screw;
One end of CA guide rod 3F is provided with CA boss post 3F1; This CA boss post 3F1 is for limiting C inner slide 3D CA guide rod 3F'sSliding position;
One end of CB guide rod 3G is provided with CB boss post 3G1; This CB boss post 3G1 is for limiting C inner slide 3D CB guide rod 3G'sSliding position;
The CA support arm 3H1 of C support 3H is provided with CF through hole 3H11, realizes C by place C screw 6C in this CF through hole 3H11The CA support arm 3H1 EA support arm 5F1 upper and the 6th support member 5F of support 3H fixes; It is protruding that the CB support arm 3H2 of C support 3H is provided with CAPlatform 3H21 and CB boss 3H22, CA boss 3H21 is provided with the CG through hole 3H23 for placing the CA guide rod 3F other end, CB boss3H22 is provided with the CH through hole 3H24 for placing the CB guide rod 3G other end;
CA rolling element 3J is provided with CC boss post 3J1;
CB rolling element 3K is provided with CD boss post 3K1; CD circle on CC boss post 3J1 and CB rolling element 3K on CA rolling element 3JBetween projection 3K1, pass for one end of C reed 3E;
Driven unit (4) includes motor (4E), electric machine support (4F, 4G), shaft coupling (4D), leading screw (4A), screw slider(4B, 4C) and ball bearing (41,42,43,44); DA ball bearing (41) is arranged on the EA bearing of the first support member (5A)In chamber (5A5); DB ball bearing (42) is arranged in the ED bearing bore (5G5) of the 7th support member (5G); DC ball bearing (43)Be arranged in the EC dead eye (5F44) of the 6th support member (5F); DD ball bearing (44) is arranged on the EB of the second support member (5B)In dead eye (5B5);
Leading screw 4A is provided with left-handed thread section 4A1, right-handed thread section 4A2 and smooth section 4A3, and smooth section 4A3 is positioned at left hand threadBetween section 4A1 and right-handed thread section 4A2; On left-handed thread section 4A1, be socketed with screw slider 4B, the upper cover of right-handed thread section 4A2Be connected to lower screw slider 4C, smooth section 4A3 place is provided with the 3rd support member 5C, the 5th support member 5E and the 4th support member 5D;
Upper screw slider 4B is identical with the structure of lower screw slider 4C; The centre of upper screw slider 4B is left handed threaded hole 4B7, shouldLeft handed threaded hole 4B7 is for being connected with the left-handed thread section 4A1 on leading screw 4A; The disk limit of DA screw slider 4B is provided with DA and props upArm 4B1, DB support arm 4B2, DC support arm 4B3, DD support arm 4B4, DE support arm 4B5, DF support arm 4B6; DA support arm 4B1 is provided with DA through hole4B11, this DA through hole 4B11 passes for AA joint shaft 11; DB support arm 4B2 is provided with DB through hole 4B21, and this DB through hole 4B21 usesPass in AA joint shaft 11; DC support arm 4B3 is provided with DC through hole 4B31, and this DC through hole 4B31 passes for BA joint shaft 21; DDSupport arm 4B4 is provided with DD through hole 4B41, and this DD through hole 4B41 passes for BA joint shaft 21; DE support arm 4B5 is provided with DE through hole4B51, this DE through hole 4B51 passes for CA joint shaft 31; DF support arm 4B6 is provided with DF through hole 4B61, and this DF through hole 4B61 usesPass in CA joint shaft 31;
The centre of lower screw slider 4C is right-handed thread hole 4C7, this right-handed thread hole 4C7 for leading screw 4A on right-handed threadSection 4A2 connects; The disk limit of DB screw slider 4C be provided with DG support arm 4C1, DH support arm 4C2, DI support arm 4C3, DJ support arm 4C4,DK support arm 4C5, DL support arm 4C6; DG support arm 4C1 is provided with DG through hole 4C11, and this DG through hole 4C11 passes for AD joint shaft 14;DH support arm 4C2 is provided with DH through hole 4C21, and this DH through hole 4C21 passes for AD joint shaft 14; It is logical that DI support arm 4C3 is provided with DIHole 4C31, this DI through hole 4C31 passes for BD joint shaft 24; DJ support arm 4C4 is provided with DJ through hole 4C41, this DJ through hole 4C41Pass for BD joint shaft 24; DK support arm 4C5 is provided with DK through hole 4C51, and this DK through hole 4C51 passes for CD joint shaft 34;DL support arm 4C6 is provided with DL through hole 4C61, and this DL through hole 4C61 passes for CD joint shaft 34;
DA electric machine support 4F is identical with the structure of DB electric machine support 4G; DA electric machine support 4F is " work " word structure, DA electric machine supportBetween the DA transverse slat 4F2 of 4F and DB transverse slat 4F3, be DA riser 4F1; DA transverse slat 4F2 is solid by screw (F screw 6F, G screw 6G)Fix on the lower panel of the second support member 5B, DB transverse slat 4F3 is fixed on the machine of motor 4E by screw (D screw 6D, E screw 6E)On shell;
DB electric machine support 4G is " work " word structure, between the DC transverse slat 4G2 of DB electric machine support 4G and DD transverse slat 4G3, is DB riser4G1; DC transverse slat 4G2 is fixed on the lower panel of the second support member 5B DD transverse slat 4G3 by screw (J screw 6J, K screw 6K)Be fixed on the casing of motor 4E by screw (I screw 6I, H screw 6H);
Joint skeleton (5) includes the fixing outer bar (51) of AA, the fixing outer bar (52) of AB, the fixing outer bar (53) of AC, the fixing interior bar of BA(54), the fixing interior bar (55) of BB, the fixing outer bar (56) of BC, the first support member (5A), the second support member (5B), the 3rd support member(5C), the 4th support member (5D), the 5th support member (5E), the 6th support member (5F) and the 7th support member (5G); Wherein, AA fixesIt is identical with the structure of the fixing outer bar (53) of AC that outer bar (51), AB fix outer bar (52), and two ends and the middle part of fixing outer bar are provided withScrew thread, this screw thread is used for being socketed screw; The structure phase of bar (54), the fixing interior bar (55) of BB and the fixing outer bar (56) of BC in BA is fixingWith, two ends and the middle part of fixing interior bar are provided with screw thread, and this screw thread is used for being socketed screw;
The EA disc 5A1 of the first support member 5A be provided with the EA through hole 5A2 that passes for the upper end of the fixing outer bar 51 of AA, forThe EB through hole 5A3 that the upper end of the fixing outer bar 52 of AB is passed, the EC through hole 5A4 passing for the upper end of the fixing outer bar 53 of AC, firstThe lower panel of the EA disc 5A1 of support member 5A is provided with the EA bearing bore 5A5 for DA ball bearing 41 is installed;
The EB disc 5B1 of the second support member 5B be provided with the ED through hole 5B2 that passes for the lower end of the fixing outer bar 51 of AA, forThe EE through hole 5B3 that the lower end of the fixing outer bar 52 of AB is passed, the EF through hole 5B4 passing for the lower end of the fixing outer bar 53 of AC, secondThe top panel of the EB disc 5B1 of support member 5B is provided with the EB bearing bore 5B5 for DD ball bearing 44 is installed; Second supportsThe lower panel of the EB disc 5B1 of part 5B is provided with the central through hole 5B6 passing for leading screw 4A, EB bearing bore 5B5 inPortion is central through hole 5B6, and this central through hole 5B6 passes for leading screw 4A;
The EC disc 5C1 of the 3rd support member 5C is provided with for leading screw 4A through having EG through hole 5C2, the EC of the 3rd support member 5COn the circumference panel of disc 5C1, be uniformly distributed and be provided with three for the blind hole of three slide bars is installed, be i.e. the second flexible member 2One end of BA guide rod 2F is arranged in EA blind hole 5C3;
The ED disc 5D1 of the 4th support member 5D is provided with for leading screw 4A through having EH through hole 5D2, the ED of the 4th support member 5DOn the circumference panel of disc 5D1, be uniformly distributed and be provided with three for the blind hole of three slide bars is installed, be i.e. the second flexible member 2One end of BB guide rod 2G is arranged in EB blind hole 5D3;
The 5th support member 5E is triangle configuration; The 5th support member 5E is provided with EA reed clamping plate 5E1, these EA reed clamping plate 5E1Middle part be provided with EA gap 5E11, EA gap 5E1 is for placing one end of A reed 1E of the first flexible member 1, EA reed clamping plateThe side panel of 5E1 is provided with EA screw through hole 5E12, by EA screw with placing screw in through hole 5E12, then coordinate spiral shellFemale realization is clamped in one end of the A reed 1E of the first flexible member 1 on EA reed clamping plate 5E1; The 5th support member 5E is provided withEB reed clamping plate 5E2, the middle part of these EB reed clamping plate 5E2 is provided with EB gap 5E21, and EB gap 5E2 is used for placing the second elasticity unitThe B reed 2E of part 2, the side panel of EB reed clamping plate 5E2 is provided with EB screw through hole 5E22, by EB screw through holeIn 5E22, place screw, then attaching nut is realized one end of the B reed 2E of the second flexible member 2 is clamped in to EB reed clamping plateOn 5E2; The 5th support member 5E is provided with EC reed clamping plate 5E3, and the middle part of these EC reed clamping plate 5E3 is provided with EC gap 5E31, ECGap 5E3 is for placing the C reed 3E of the 3rd flexible member 3, and the side panel of EC reed clamping plate 5E3 is provided with EC screw through hole5E32, by EC screw with placing screw in through hole 5E32, then attaching nut is realized the C reed of the 3rd flexible member 3One end of 3E is clamped on EC reed clamping plate 5E3; The 5th support member 5E is provided with the EI through hole passing for the fixing outer bar 51 of AA5E4, the EJ through hole 5E5 passing for the fixing outer bar 52 of AB, the EK through hole 5E6 passing for the fixing outer bar 53 of AC, for leading screwThe EL through hole 5E7 that 4A passes;
The 6th support member 5F is triangle configuration; The 6th support member 5F is provided with EE disc 5F4, on this EE disc 5F4, establishesBe useful on BA fixing in the EA countersunk head through hole 5F41 that passes of the lower end of bar 54, fixing for BB in the EB that passes of the lower end of bar 55 heavyThrough hole 5F42, fixing for BC in the lower end of the bar 56 EC countersunk head through hole 5F43 that passes, for placing DC ball bearing 43EC bearing bore 5F44, the EM through hole 5F45 passing for leading screw 4A, this EM through hole 5F45 is located at the middle part of EC bearing bore 5F44; EEThe lower panel of disc 5F4 is provided with EA bearing annulus 5F46, this EA bearing annulus 5F46 be socketed in DD ball bearing 44 inOn circle; The 6th support member 5F is provided with EA support arm 5F1, EB support arm 5F2 and EC support arm 5F3; This EA support arm 5F1 is used for installing firstThe AA support arm 1H1 of the A support 1H of flexible member 1; This EB support arm 5F2 is used for the BA arm of the B support 2H that the second flexible member 2 is installed2H1; This EC support arm 5F3 is used for the CA support arm 3H1 of the C support 3H that the 3rd flexible member 3 is installed; In addition, the 6th support member 5FEA support arm 5F1 is provided with the EA installing hole 5F11 with the fixing use of outer carrier, and EB support arm 5F2 is provided with outer carrier is fixing and usesEB installing hole 5F21, EC support arm 5F3 is provided with the EC installing hole 5F31 with the fixing use of outer carrier;
The EF disc 5G1 of the 7th support member 5G is provided with the EN through hole 5G2 passing for the upper end of the fixing interior bar 54 of BA, forThe EO through hole 5G3 that in BB is fixing, the upper end of bar 55 is passed, the EP through hole 5G4 passing for the upper end of the fixing interior bar 56 of BC, EF circleThe lower panel of disk body 5G1 is provided with the ED bearing bore 5G5 for placing DB ball bearing 42, the boss body of the 7th support member 5G5G6 is provided with EB bearing annulus 5G7, and this EB bearing annulus 5G7 is socketed on the inner ring of DA ball bearing 41.
2. a kind of distributed flat spring based on left-right turning screw rod-sliding-block linkage according to claim 1 becomes rigidityJoint driver, is characterized in that: outer slide (1C) in the first flexible member (1), inner slide (1D), AA rolling element (1J) andAB rolling element (1K) forms the first transverse slider group; Outer slide (2C) in the second flexible member (2), inner slide (2D), BA rollKinetoplast (2J) and BB rolling element (2K) form the second transverse slider group; Outer slide (3C), inner slide in the 3rd flexible member (3)(3D), CA rolling element (3J) and CB rolling element (3K) form the 3rd transverse slider group; Described the first transverse slider group is at guide rodOn (1F, 1G), do horizontal direction motion; Described the second transverse slider group is done horizontal direction motion on guide rod (2F, 2G); DescribedThe 3rd transverse slider group is done horizontal direction motion on guide rod (3F, 3G); Screw slider (4B, 4C) at the upper work of leading screw (4A) longitudinallyDirection motion.
3. a kind of distributed flat spring based on left-right turning screw rod-sliding-block linkage according to claim 1 becomes rigidityJoint driver, is characterized in that: under the driving of motor (4A), leading screw (4A) moves counterclockwise, upper screw slider (4B) toUpper motion, and lower screw slider (4C) moves downward, and both speed of motion are identical; At upper screw slider (4B) and lower leading screwSlide block (4C) in motion process, three transverse slider groups are done synchronized radially near heart motion.
4. a kind of distributed flat spring based on left-right turning screw rod-sliding-block linkage according to claim 1 becomes rigidityJoint driver, is characterized in that: under the driving of motor (4A), leading screw (4A) moves clockwise, upper screw slider (4B) toLower motion, and lower screw slider (4C) moves upward, and both speed of motion are identical; At upper screw slider (4B) and lower leading screwIn the close motion process of slide block (4C), three transverse slider groups are made synchronized radially centrifugal motion.
5. a kind of distributed flat spring based on left-right turning screw rod-sliding-block linkage according to claim 1 becomes rigidityJoint driver, is characterized in that: the first support member (5A) is as first output of driver, and the 6th support member (5F) is doneFor second output of driver.
6. a kind of distributed flat spring based on left-right turning screw rod-sliding-block linkage according to claim 1 becomes rigidityJoint driver, is characterized in that: motor (4E) is selected the serial stepper motor of two-phase hybrid 42,1.8 ° of step angles.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610012656.4A CN105584551B (en) | 2016-01-10 | 2016-01-10 | A kind of distributed flat spring variation rigidity joint driver |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610012656.4A CN105584551B (en) | 2016-01-10 | 2016-01-10 | A kind of distributed flat spring variation rigidity joint driver |
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| CN105584551A true CN105584551A (en) | 2016-05-18 |
| CN105584551B CN105584551B (en) | 2017-10-31 |
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| CN201610012656.4A Active CN105584551B (en) | 2016-01-10 | 2016-01-10 | A kind of distributed flat spring variation rigidity joint driver |
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| CN107028733A (en) * | 2016-12-16 | 2017-08-11 | 中国科学院沈阳自动化研究所 | A kind of power-assisting robot flexible joint |
| CN109681555A (en) * | 2019-01-08 | 2019-04-26 | 张志刚 | A kind of cylindrically coiled spring device of controllable variation rigidity |
| CN111360870A (en) * | 2020-03-27 | 2020-07-03 | 合肥工业大学 | Multi-stage adjustable robot variable-stiffness joint with buffering function |
| CN114012715A (en) * | 2021-11-29 | 2022-02-08 | 北京航空航天大学杭州创新研究院 | Variable-rigidity driving system for robot joint |
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| CN114012715B (en) * | 2021-11-29 | 2023-03-07 | 北京航空航天大学杭州创新研究院 | Variable-rigidity driving system for robot joint |
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|---|---|
| CN105584551B (en) | 2017-10-31 |
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Effective date of registration: 20211203 Address after: 255086 room 1206, block a, advanced ceramic Innovation Park, No. 125, Liuquan Road, high tech Zone, Zibo City, Shandong Province Patentee after: CETC North digital technology (Shandong) Co.,Ltd. Address before: 100191 No. 37, Haidian District, Beijing, Xueyuan Road Patentee before: BEIHANG University |