CN106426267A - Floating-spring-based joint with rigidity adjustable continuously - Google Patents
Floating-spring-based joint with rigidity adjustable continuously Download PDFInfo
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- CN106426267A CN106426267A CN201610799641.7A CN201610799641A CN106426267A CN 106426267 A CN106426267 A CN 106426267A CN 201610799641 A CN201610799641 A CN 201610799641A CN 106426267 A CN106426267 A CN 106426267A
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- spring
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- floating spring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
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- Robotics (AREA)
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Abstract
The invention discloses a floating-spring-based joint with rigidity adjustable continuously. The floating-spring-based joint comprises a main shaft driving motor, a harmonic wave reducer, a joint outer shell and an output flange. The main shaft driving motor is in driving connection with the input end of the harmonic wave reducer. The joint outer shell is fixedly connected with an outer shell of the harmonic wave reducer. A floating spring rigidity adjustment device is arranged on the joint outer shell. One end of the floating spring rigidity adjustment device is connected with the output end of the harmonic wave reducer, and the other end of the floating spring rigidity adjustment device is connected with the output flange. According to the floating-spring-based joint with rigidity adjustable continuously, working length of a rectangular floating spring is adjusted, and therefore linear adjustment, from global rigidity to global flexibility, of the joint can be achieved; elastic buffering is achieved; safety and environment-friendliness of a robot are improved; and the floating-spring-based joint is compact in structure, regular in shape and good in universality.
Description
Technical field
The present invention relates to a kind of robot bionic joint, specially a kind of rigidity continuously adjustabe pass based on floating spring
Section, this device goes for various revolute robots, improves the safety of robot and the friendliness to environment.
Technical background
At present, the joint drive mode of industrial robot is most of directly drives joint for drive shaft, is larger rigidity
Connect.Although this mode is simple and compact for structure, positional precision is high, energy summary responses, larger rigidity also results in
Problem, for example, be easily damaged mechanism when the external impacts that mechanical arm is happened suddenly, also easily exist when being cooperated with people simultaneously
Potential safety hazard.In recent years, a kind of elastic driving joint with compliance caused widely studied, variation rigidity elasticity drive in the world
Movable joint can simulate human muscular's Telescopic, by buffering the energy producing during collision when impacting, obtain life simultaneously
The same tactile of object, perception external resistance, to produce reaction, thus avoiding the damage of robot mechanism, improves and people
Safety during cooperation.
The domestic research to stiffness variable elastic joint is less, finds by prior art documents, from existing public affairs
The series connection elastic driving joint opened is seen, generally existing integrated level is relatively low, volume is more huge, complex structure, versatility are poor etc.
Problem.BJ University of Aeronautics ＆ Astronautics proposes a kind of distributed flat spring variation rigidity based on left-right turning screw rod-sliding-block linkage
Joint driver, patent publication No. CN105584551A, this device makes slide block in bullet by leading screw, feed screw nut drive link
Contact point on reed changes and thus changes rigidity, and this structural volume is extremely huge, and the load capacity of unit volume is relatively
Low, almost cannot use on the robotic arm, and the bumper angle of spring leaf is limited, easily produce fatigue rupture.Zhejiang University proposes
A kind of adjustable flexible joint actuator mechanism of rigidity, patent publication No. CN104985608A, this device utilizes roller upper and lower
Roll on two skew surface disks and cause the change of axial distance of upper and lower two skew surface disks and compression spring is buffered, pass through
Adjust the offset angular of upper and lower two skew surface disks come to adjust rigidity it is desirable to the output torque adjusting motor larger and it needs to sufficient
The auto-lock function of enough intensity, the output torque of this balance of mechanism position is always zero, which results in positioning accurate during low-load
Spend poor problem.The position that this structure leaves spring installation for is more narrow and small, although total is compact, profile pole is not advised
Then, versatility is poor.
Content of the invention
It is an object of the invention to overcoming the shortcomings of, in existing joint of robot design, to propose a kind of new adjustable rigidity
Robot soft elastic joint, it is based on floating spring and designs, and has compact conformation, load capacity is strong, buffering range is wide, rigidity is adjusted
The wide advantage of adjusting range.It is changed into the axial moment exporting by the axial elastic force that rolling on inclined-plane for the roller makes floating spring,
Buffered, the pre compressed magnitude changing floating spring changes rigidity.
The present invention is achieved by the following technical solutions：
A kind of rigidity continuously adjustabe joint based on floating spring, including spindle drive motor, harmonic speed reducer, articular shell,
Input drive connection, described articular shell and the harmonic wave of output flange, described spindle drive motor and described harmonic speed reducer
Speed reducer housing is fixedly connected, and is provided with floating spring rigidity adjuster, described floating spring rigidity in described articular shell
Adjusting means one end is connected with described harmonic speed reducer outfan, and the other end is connected with output flange.
Further, described floating spring rigidity adjuster includes connecting the type of described harmonic speed reducer outfan
Lid, roller cage, convex annular wheel disc, floating spring are supported on shape input rotation body, spring, adjusts motor support base, rigidity
Adjust motor, in described input rotating machine body, side is provided with female thread, described spring supports lid periphery wall be provided with connection
Described input rotates the female thread of body, and described regulation motor support base is the hollow multidiameter with two kinds of diameter external splines, institute
State stiffness tuning motor to be fixedly installed in the cavity of described regulation motor support base, the described input external perisporium of rotating machine is provided with
External splines, described roller cage top is connected with the described input external spline of rotating machine by internal spline, described cam disc
Articular shell bottom is arranged on by bearing, the upper surface of described cam disc is circumferentially uniformly arranged some skew surfaces, described convex
The centre bore of wheel disc is provided with and adjusts, with described, the internal spline that motor support base larger diameter external splines matches, and described roller keeps
Frame bottom is circumferentially evenly arranged with some groups of through holes, and every group of through hole setting is passed through equipped with the Roller Shaft of roller, roller cage
Roller rolls on the skew surface of cam disc, and the center in the hole of described roller cage bottom is provided with is propped up with described regulation motor
The internal spline that seat small diameter external splines matches, described cam tray bottom passes through some screwed holes and fixed screw is defeated with main shaft
Go out flange to be fastenedly connected；The centre bore interference fit of lid is supported to form rigid company on described stiffness tuning motor output shaft and spring
Connect, drive its rotation；Described floating spring passes through regulation motor support base to be arranged on spring and supports lid and roller cage bottom
Between, mutually slided with the upper and lower end face of floating spring rotation respectively in both spring supporting faces.
Further, integrally disposed in described stiffness tuning motor have gear reduction box.
Further, described floating spring is Rectangular Spring.
Further, the upper surface of described cam disc is circumferentially uniformly arranged three skew surfaces, under described roller cage
Portion is circumferentially evenly arranged with three groups of through holes, and every group of through hole arranges the Roller Shaft equipped with roller.
Further, every group of described three groups of through holes have four through holes, and four through holes install two rollings equipped with roller side by side
Sub- axle.
Further, there is the axially-movable ditch constraining Roller Shaft for installation axle circlip at described Roller Shaft two ends
Groove.
Further, described input rotate support on the female thread of body and described spring lid periphery wall external screw thread equal
For trapezoidal thread.
The present invention has advantages below compared to existing technology：
（1）Equilbrium position roller during flexible working state is not zero with cam ramp contact point slope, thus when spring have pre-
There is a pretightning force during compression, when moment of face load exceedes this pretightning force, could start to buffer an angle；Solve flat
The problem that weighing apparatus position is rocked, improves the positional precision of mechanical arm during low-load.
（2）Just can quickly enter as long as running into during full rigidity work and adjusting motor work a small distance during emergency case
Big flexible working state, joint operation is sensitive, greatly improves safety.
Brief description
Fig. 1 shows the overall construction drawing in rigidity continuously adjustabe joint.
Fig. 2 shows the sectional view in rigidity continuously adjustabe joint.
Fig. 3 shows the roller skew surface schematic diagram in rigidity continuously adjustabe joint.
Fig. 4 shows the major part explosive view in rigidity continuously adjustabe joint.
In figure：1- spindle drive motor；2- harmonic speed reducer；Lid is supported on 3- spring；4- input rotates body；5- joint
Shell；6- roller cage；7- cam disc；8- bearing；9- output flange 10- floating spring；11- adjusts motor support base；12-
Stiffness tuning motor；13- roller；14- circlip for shaft；15- Roller Shaft；16- fixed screw.
Specific implementation
Below by specific embodiment, the purpose of the present invention is described in further detail, embodiment is unable to here and goes to live in the household of one's in-laws on getting married one by one
State, but embodiments of the present invention are not therefore defined in following examples.
As shown in Figures 1 to 4, a kind of rigidity continuously adjustabe joint based on floating spring, including spindle drive motor 1,
Harmonic speed reducer 2, articular shell 5, output flange 9, described spindle drive motor 1 is driven with the input of described harmonic speed reducer 2
It is dynamically connected, described articular shell 5 is fixedly connected by eight fixing screws 16 with harmonic speed reducer 2 shell, described articular shell 5
Inside it is provided with floating spring rigidity adjuster, described floating spring rigidity adjuster one end is defeated with described harmonic speed reducer 2
Go out end to be connected, the other end is connected with output flange 9.
Specifically, described floating spring rigidity adjuster includes connecting the convex of described harmonic speed reducer 2 outfan
Lid 3, roller cage 6, convex annular wheel disc 7, floating spring 10, regulation motor is supported to prop up on character pattern input rotation body 4, spring
Seat 11, stiffness tuning motor 12, described input rotates and is provided with female thread inside body 4, and described spring supports lid 3 peripheries
Wall is provided with and connects the female thread that described input rotates body 4, and described regulation motor support base 11 is to have two kinds of diameter external splines
Hollow multidiameter, described stiffness tuning motor 12 be fixedly installed on described adjust motor support base 11 cavity in, described input
Rotate body 4 periphery wall and be provided with external splines so that can mutually axially slide, axial rotation is restrained；Described roller cage 6
Top rotates body 4 external splines by internal spline with described input and is connected, and described cam disc 7 is arranged on joint by bearing 8
Shell 5 bottom is unable to axially-movable so as to can rotate；The upper surface of described cam disc 7 is circumferentially uniformly arranged some skew surfaces,
The centre bore of described cam disc 7 is provided with and adjusts the internal spline that motor support base 11 larger diameter external splines matches, institute with described
State roller cage 6 bottom and be circumferentially evenly arranged with some groups of through holes, every group of through hole setting equipped with the Roller Shaft 15 of roller 13,
Roller cage 6 is rolled on the skew surface of cam disc 7 by 13 rollers, and the center in the hole of described roller cage 6 bottom sets
It is equipped with and adjusts, with described, the internal spline that motor support base 11 small diameter external splines matches, described cam disc 7 bottom passes through eight
Screwed hole and fixed screw 16 tight with main shaft output flange 9 are solidly connected；Described floating spring 10 passes through regulation motor support base 12 to pacify
It is contained in and supports between lid 3 and roller cage 6 bottom on spring, both spring supporting faces are upper and lower with floating spring 10 respectively
End face mutually slides rotation.The centre bore interference fit of lid 3 is supported to be formed on described stiffness tuning motor 11 output shaft and spring
Rigid connection, drives its rotation, so as to make to support lid 3 to produce axial movement on spring by rotary motion, and then compresses floating
Move spring 10.
Adjust motor support base 11 external splines to be connected with the internal spline of roller cage 6, constrain it and mutually rotate but energy phase
Mutually slide axially, adjust the external splines that is also relatively large in diameter of motor support base 11 foot can on demand with equally have be relatively large in diameter convex
The connection of wheel disc 7 internal spline, it is to avoid the internal spline of the less external splines of diameter and cam disc 7 that adjust motor support base 11 top is sent out
Raw interference.
In another embodiment of the invention, integrally disposed in described stiffness tuning motor 12 have gear reduction box, can
Reduce volume, increase integrated level.
In another embodiment of the invention, described floating spring 10 be Rectangular Spring, quality height is durable, stroke length and
Take up space little, have good positioning.
In another embodiment of the invention, the upper surface of described cam disc 7 is circumferentially uniformly arranged three skew surfaces, institute
State roller cage 6 bottom and be circumferentially evenly arranged with three groups of through holes, every group of through hole arranges the Roller Shaft 15 equipped with roller 13.
In another embodiment of the invention, every group of described three groups of through holes have four through holes, and four through holes install two side by side
The individual Roller Shaft 15 equipped with roller 13.
In another embodiment of the invention, described Roller Shaft 15 two ends have for installation axle circlip 14 constraint 15
The axially-movable groove of Roller Shaft.
In another embodiment of the invention, the female thread of described input rotation body 4 and described spring support lid 3
The external screw thread of periphery wall is trapezoidal thread, good manufacturability, and root of the tooth intensity is high, wear-resisting and centering is good.
The specific work process of the present invention includes main motion and the joint stiffness adjustment motion in joint.The main motion in joint：
Spindle drive motor 1 provides joint main driving force square, drives input to rotate body 4 through harmonic speed reducer 2 and does rotating campaign；
Spring supporting lid 3 rotates body 4 with input and is connected, and during the work of the full rigidity in joint, spring supporting lid 3 is in the top of main shaft input
During end, the external splines adjusting motor support base 11 foot is connected with the internal spline of cam disc 7, now main shaft input rotation body 4,
Roller cage 6, regulation motor support base 11, cam disc 7, output flange 9 follow spindle drive motor 1 synchronous axial system；
When needing to enter flexible working state, stiffness tuning motor 12 is started working to drive and is supported lid 3 downward spirals on spring
Motion, and compresses floating spring 10, whole stiffness tuning motor 12 and adjust motor support base 11 move downwardly together a bit of away from
From rear, adjust the larger external splines of motor support base 11 lower diameter and the internal spline of cam disc 7 departs from, main shaft input torque is no longer
It is directly passed to output flange 9, now due to supporting lid 3 compression floating spring 10 on spring, floating spring 10 pushes roller and protects
Hold frame 6, roller cage 6 drives roller 13 to compress the skew surface of cam disc 7 so that roller cage 6 and cam disc 7 follow master
Axle motor 1 synchronous axial system, thus finally pass torque to the output flange 9 being fastenedly connected with cam disc 7.When output method
Blue 9 by, during greater impact load, 10 times pressure of floating spring can not be resisted outer by the moment that roller 13 produces on inclined-plane
Moment, roller 13 starts to scroll up along on cam disc 7 skew surface, and roller cage 6 also moves upwards and presses further simultaneously
Contracting floating spring 10, floating spring 10 elastic force is gradually increased, and roller 13 is also increased therewith by lower pressure, when this power and external force
When quite, roller cage 6 and cam disc 7 stop relatively rotating, and now mutually stagger between them an angle, thus obtains
Buffering；When this moment of face is too big, because the slope of skew surface is gradually increased to vertical, roller cannot further scroll through, now
The moment output of this position tends to infinitely great, and this is maximum cushioning angle.When moment of face reduces to a certain extent, floating spring
10 are depressed into cam disc 7 skew surface minimum point roller 13 again, and now roller cage 6 reverts to no relative mistake with cam disc 7
The initial position of angle of release degree.
Joint stiffness adjustment motion：Stiffness tuning motor 12 rotates, and drives and supports lid 3 to rotate body along input on spring
4 up and down motions, adjust the decrement of floating spring 10, it is achieved thereby that the stiffness tuning in joint.
The above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not to the present invention
Embodiment restriction.For those of ordinary skill in the field, can also make on the basis of the above description
The change of other multi-forms or variation.There is no need to be exhaustive to all of embodiment.All the present invention's
Any modification, equivalent and improvement made within spirit and principle etc., should be included in the protection of the claims in the present invention
Within the scope of.
Claims (8)
1. a kind of rigidity continuously adjustabe joint based on floating spring, including spindle drive motor (1), harmonic speed reducer (2), closes
Section shell (5), output flange (9) it is characterised in that：Described spindle drive motor (1) and the input of described harmonic speed reducer (2)
End drive connection, described articular shell (5) is fixedly connected with harmonic speed reducer (2) shell, is provided with described articular shell (5)
Floating spring rigidity adjuster, described floating spring rigidity adjuster one end and described harmonic speed reducer (2) outfan phase
Connect, the other end is connected with output flange (9).
2. a kind of rigidity continuously adjustabe joint based on floating spring according to claim 1 it is characterised in that：Described
The convex shape input that floating spring rigidity adjuster includes connecting described harmonic speed reducer (2) outfan rotates body (4), bullet
Lid (3), roller cage (6), convex annular wheel disc (7), floating spring (10) are supported on spring, adjusts motor support base (11), rigidity
Adjust motor (12), described input rotates and is provided with female thread inside body (4), and described spring supports lid (3) periphery wall
It is provided with and connects the female thread that described input rotates body (4), described regulation motor support base (11) is to have flower outside two kinds of diameters
The hollow multidiameter of key, described stiffness tuning motor (12) is fixedly installed in the cavity of described regulation motor support base (11), institute
State input rotation body (4) periphery wall and be provided with external splines, internal spline and described input are passed through in described roller cage (6) top
Rotate body (4) external splines to be connected, described cam disc (7) is arranged on articular shell (5) bottom by bearing (8), described convex
The upper surface of wheel disc (7) is circumferentially uniformly arranged some skew surfaces, and the centre bore of described cam disc (7) is provided with and described regulation
The internal spline that motor support base (11) larger diameter external splines matches, described roller cage (6) bottom is circumferentially uniformly arranged
There are some groups of through holes, every group of through hole setting is existed by (13) roller equipped with the Roller Shaft (15) of roller (13), roller cage (6)
Roll on the skew surface of cam disc (7), the center in the hole of described roller cage (6) bottom is provided with is propped up with described regulation motor
The internal spline that seat (11) small diameter external splines matches, some screwed holes and fixed screw are passed through in described cam disc (7) bottom
(16) it is solidly connected with main shaft output flange tight (9)；Support in lid (3) on described stiffness tuning motor (11) output shaft and spring
Heart hole interference fit forms rigid connection, drives its rotation；Described floating spring (10) passes through and adjusts motor support base (12) installation
On spring support lid (3) and roller cage (6) bottom between, both spring supporting faces respectively with floating spring (10)
Upper and lower end face mutually slides rotation.
3. a kind of rigidity continuously adjustabe joint based on floating spring according to claim 2 it is characterised in that：Described
Integrally disposed in stiffness tuning motor (12) have gear reduction box.
4. a kind of rigidity continuously adjustabe joint based on floating spring according to claim (2) it is characterised in that：Described
Floating spring (10) be Rectangular Spring.
5. a kind of rigidity continuously adjustabe joint based on floating spring according to claim (2) it is characterised in that：Described
The upper surface of cam disc (7) is circumferentially uniformly arranged three skew surfaces, and described roller cage (6) bottom is circumferentially uniformly arranged
There are three groups of through holes, every group of through hole arranges the Roller Shaft (15) equipped with roller (13).
6. a kind of rigidity continuously adjustabe joint based on floating spring according to claim 5 it is characterised in that：Described three
Every group of through hole of group has four through holes, and four through holes install two Roller Shaft (15) equipped with roller (13) side by side.
7. a kind of rigidity continuously adjustabe joint based on floating spring according to claim 2 it is characterised in that：Described rolling
There is the axially-movable groove constraining Roller Shaft (15) for installation axle circlip (14) at sub- axle (15) two ends.
8. a kind of rigidity continuously adjustabe joint based on floating spring according to claim 2 it is characterised in that：Described defeated
Enter to rotate to support on the female thread of body (4) and described spring the external screw thread of lid (3) periphery wall to be trapezoidal thread.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610799641.7A CN106426267B (en) | 2016-08-31 | 2016-08-31 | A kind of continuously adjustable joint of the rigidity based on floating spring |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610799641.7A CN106426267B (en) | 2016-08-31 | 2016-08-31 | A kind of continuously adjustable joint of the rigidity based on floating spring |
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| CN106426267B CN106426267B (en) | 2018-09-14 |
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| CN106142132A (en) * | 2016-09-22 | 2016-11-23 | 电子科技大学中山学院 | Robot flexible joint with continuously adjustable rigidity |
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| CN107186695A (en) * | 2017-05-25 | 2017-09-22 | 广州瑞松智能科技股份有限公司 | The attachment structure and its installation method of a kind of mechanical joint |
| CN107485471A (en) * | 2017-08-22 | 2017-12-19 | 电子科技大学中山学院 | Elastic-driven power type bionic knee joint |
| CN107553495A (en) * | 2017-09-27 | 2018-01-09 | 北京理工大学 | One kind rotation puies forward robot cervical vertebra joint control device and control method |
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| CN107662222B (en) * | 2017-11-20 | 2023-05-23 | 河北工业大学 | Variable-rigidity flexible joint based on single power source |
| CN108098757B (en) * | 2018-02-01 | 2024-04-02 | 深圳市兆威机电股份有限公司 | Flexible self-positioning mechanism and manipulator |
| CN108098757A (en) * | 2018-02-01 | 2018-06-01 | 深圳市兆威机电股份有限公司 | Flexible self-positioning mechanism and manipulator |
| CN108422413B (en) * | 2018-06-19 | 2020-01-07 | 哈尔滨工业大学 | Rigidity-variable flexible continuous parallel robot |
| CN108422413A (en) * | 2018-06-19 | 2018-08-21 | 哈尔滨工业大学 | A kind of continuous parallel robot of flexibility of variation rigidity |
| CN108890689A (en) * | 2018-07-27 | 2018-11-27 | 北京航天控制仪器研究所 | A kind of flexible robot's variation rigidity joint |
| CN111390965A (en) * | 2020-03-23 | 2020-07-10 | 北京控制工程研究所 | Novel general variable-rigidity mechanical arm joint |
| CN111390965B (en) * | 2020-03-23 | 2021-10-01 | 北京控制工程研究所 | Novel general variable-rigidity mechanical arm joint |
| CN112276994A (en) * | 2020-09-25 | 2021-01-29 | 江苏大学 | Variable-stiffness joint of symmetrical compression spring |
| CN112648345A (en) * | 2020-12-10 | 2021-04-13 | 深圳市润谊泰益科技有限责任公司 | Variable torque output device and robot |
| CN112648345B (en) * | 2020-12-10 | 2022-05-13 | 深圳市润谊泰益科技有限责任公司 | Variable torque output device and robot |
| CN113146605A (en) * | 2021-05-06 | 2021-07-23 | 吉林大学 | Compact artificial muscle module with mechanical flexibility |
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