CN106914917B - Compact type rigidity-variable rotary flexible joint - Google Patents
Compact type rigidity-variable rotary flexible joint Download PDFInfo
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- CN106914917B CN106914917B CN201710289744.3A CN201710289744A CN106914917B CN 106914917 B CN106914917 B CN 106914917B CN 201710289744 A CN201710289744 A CN 201710289744A CN 106914917 B CN106914917 B CN 106914917B
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
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Abstract
The invention discloses a compact variable stiffness rotary flexible joint which comprises a joint driving disc, a joint output disc, a joint passive inner disc, a first cam, a first passive variable stiffness adjusting seat, a first group of compression springs, an optical axis, a first variable stiffness adjusting seat, a turbine screw rod structure, a second variable stiffness adjusting seat, a second group of compression springs, a second passive variable stiffness adjusting seat, a second cam, a cylindrical gear, a worm, an absolute encoder, a motor and a circular arc rack. The flexible joint not only can realize flexible driving output, reduce external impact and prolong the service life of the robot, but also can realize that the joint rigidity is increased and then reduced along with the increase of the flexible deformation angle of the joint, improve the robustness and the running stability of the robot, actively adjust the joint rigidity through self-driving, and better adapt to different work tasks, and the flexible joint has an online flexible deformation detection function, can obtain the feedback result of flexible deformation and output moment, and realize the online adjustment of the rigidity.
Description
Technical Field
The invention relates to the field of robots, in particular to a compact rigidity-variable rotary flexible joint.
Background
The bionic foot robot has better dynamic performance and stronger environment adaptability, is increasingly applied in the field complex and changeable environment, and becomes a hotspot for the extensive research of domestic and foreign scholars. However, most of the robot rotary joints are driven rigidly, and the robot is greatly limited in medium-high speed gait jumping motion due to large energy consumption and ground contact impact. At present, the research on biological motion mechanism is not deep, and most of structural design, material application, driving and control modes are more traditional, so that the bionic robot has large difference from macroscopic to microscopic and biological, and the practical application degree is far not reached. The problems of poor stability and poor adaptability of the rigid joint are urgently needed to be solved. Therefore, a scientist provides a variable stiffness design for introducing a single rotary joint, has the characteristics of high control precision and wide application range, and has important practical significance for researching the influence of the variable stiffness design on the dynamic characteristics of the jumping motion of the robot, and meanwhile, the variable stiffness design has the passive safety of a flexible mechanism.
Through studies of canine and human leg structures, it has been shown that muscle is composed of muscle tissue, connective tissue and nerve tissue, wherein connective tissue plays a regulatory, supportive and elastic role. Gordon experiments have shown that the cause of muscle force generation is due to stretching of the muscle outside the stretchable range, the greater the amount of stretching of the muscle, the greater the muscle tension generated and also the increased stiffness found to be associated with passive stretching of the muscle. During the support phase of jumping, the lower extensor MTU (e.g., quadriceps and triceps femoris MTU) is first passively lengthened and the TA and Triceps Surae (TS) co-contracted to enable the ankle stiffness to be increased to cushion the impact of GRF on the body, establishing appropriate pedaling conditions for later pedaling. Meanwhile, in order to adapt to different conditions, the animal can adjust the rigidity of muscle-tendon tissues, and improve the exercise stability and the energy optimization characteristic.
Application number 201520148572.4 discloses a flexible joint with variable rigidity, which realizes the aim of outputting active-passive variable rigidity, but adopts a series of gear transmission, has a complex structure, requires higher manufacturing and installation precision, and is driven by a flexible rope, cannot better adapt to rapid movement and impact action, and is limited in application to various articulated robots. The existing rigidity-variable joint has the defects of relatively complex structure, poor rigidity-variable characteristic, complex control, large energy consumption, lower safety, limited application field and the like, and based on the reasons, the design of the compact rigidity-variable rotary flexible joint which has simple structure, high transmission efficiency and rigidity realization of passive and linear adjustment has very strong practical significance.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide the compact type rigidity-variable rotary flexible joint. The flexible joint not only can realize flexible driving output, reduce external impact and friction, prolong the service life of the robot and improve the safety of the robot, but also can realize that the joint rigidity is firstly increased and then reduced along with the increase of the flexible deformation angle of the joint, and improve the robustness and the running stability of the robot, and can actively adjust the joint rigidity through self driving, thereby being better suitable for different external environments or different working tasks, and the flexible joint has an online flexible deformation detection function, can obtain the feedback result of flexible deformation and output moment, and can realize accurate online adjustment of the rigidity.
The technical scheme for solving the technical problems is that the compact type rigidity-variable rotary flexible joint is provided and is characterized by comprising a joint driving disc, a joint output disc, a joint driven inner disc, a thrust roller pin bearing, an angular contact ball bearing, a clamp spring for a shaft, a first cam, a first driven rigidity-variable adjusting seat, a first group of compression springs, an optical axis, a first rigidity-variable adjusting seat, an optical axis supporting seat, a turbine screw structure, a second rigidity-variable adjusting seat, a second group of compression springs, a second driven rigidity-variable adjusting seat, a second cam, a cylindrical gear, a worm, an absolute encoder, an encoder supporting seat, a worm supporting seat, a motor mounting seat, a motor and a rack;
the joint output disc is fixed with the joint passive inner disc; the joint driven inner disc is connected with a connecting shaft of the joint driving disc through an angular contact ball bearing, and the surface of the joint driven inner disc is contacted with the surface of the joint driving disc through a thrust rolling needle bearing; the shaft is connected with an angular contact ball bearing through a clamp spring; the inner wall of the joint driving disc is provided with a cam groove which is matched with the first cam and the second cam; a limit boss is arranged on the cam groove; the contour line of the cam groove is formed by two obtuse angles taking an eccentric arc as a ray;
the worm support seat is fixed on the joint passive inner disc; the worm is arranged on the worm support seat through a bearing; the motor is arranged on the joint driven inner disc through a motor mounting seat, and the output end of the motor is connected with the worm; the middle part of the turbine screw rod structure is provided with a turbine which is meshed with a worm for transmission; the turbine screw structure is characterized in that screws are arranged at two ends of the turbine screw structure, one end of the turbine screw structure is arranged in the first variable-rigidity adjusting seat, the other end of the turbine screw structure is arranged in the second variable-rigidity adjusting seat, and the rotation directions of the two ends of the turbine screw structure are opposite;
two ends of the first variable stiffness adjusting seat are respectively connected with two optical axes through bearings; two ends of the second variable stiffness adjusting seat are respectively connected with two optical axes through bearings; the two optical axes are both arranged on the joint passive inner disc through an optical axis supporting seat; one end of each optical axis is provided with a first passive variable stiffness adjusting seat through a bearing, and the other end of each optical axis is provided with a second passive variable stiffness adjusting seat through a bearing; a first group of compression springs and a second group of compression springs are nested on the two optical axes; the first group of compression springs are positioned between the first passive variable stiffness adjustment seat and the first variable stiffness adjustment seat; the second group of compression springs are positioned between the second passive variable stiffness adjustment seat and the second variable stiffness adjustment seat; the first cam is arranged on the first passive variable stiffness adjusting seat; the second cam is arranged on the second passive variable stiffness adjusting seat; the first cam and the second cam are both in contact with the cam groove;
the absolute encoder is arranged on the joint passive inner disc through an encoder supporting seat; the cylindrical gear is arranged on an output shaft of the absolute encoder; the arc rack is arranged in the inner wall of the joint driving disc and meshed with the cylindrical gear.
Compared with the prior art, the invention has the beneficial effects that:
1. the flexible joint skillfully combines the cam mechanism and the screw nut mechanism, is designed and arranged on the inner disc of the passive joint, and realizes the functions of passive variable stiffness, active variable stiffness and online flexible deformation detection of the joint; the elastic plane adopts a linear spring, has compact structure, is simplified and miniaturized, and is suitable for key parts of joint robots such as arm joints of various humanoid robots, leg joints of foot robots and the like.
2. The inner wall of the joint driving disc in the flexible joint is provided with the cam groove, 45-degree flexible deformation is realized, the rigidity of the contour line of the cam groove is increased and then reduced along with the increase of the flexible deformation through the obtuse angle and eccentric arc comprehensive design, and the cam can roll only by a larger moment when the joint is output due to the obtuse angle design, so that the safety protection effect is realized. The moment with small flexible deformation to the foot type robot initially causes the joint to vibrate and deform, so that the motion stability of the foot type robot is improved.
3. The limiting boss is arranged on the cam groove on the inner wall of the joint driving disc in the flexible joint, one side of the limiting boss, which is in contact with the cam, is provided with a curved surface which is completely matched with the cam, and when the flexible deformation reaches a limit value of 45 degrees, the cam on one side is in stable contact collision with the boss, so that the limiting protection effect is achieved, and the joint has higher safety and reliability.
4. Four linear springs are installed on the flexible joint, flexible output of driving force is achieved, higher safety, reliability and stability are achieved, and personnel or robot body damage caused by sudden external impact, collision and other unexpected conditions is prevented.
5. The turbine screw rod structure in the flexible joint skillfully designs the turbine and the screw rod into a whole, one end is left-handed and one section is right-handed, the worm is driven by the motor to rotate, power is transmitted to the turbine screw rod structure with one end which is right-handed and one end which is left-handed by the worm, the two groups of variable stiffness adjusting seats with screw nuts respectively compress springs simultaneously, the compression amount of the two groups of springs is the same, the structure is simple and compact, the active adjustment of the elastic stiffness of the joint is skillfully realized, the higher adaptability is realized, the robot can adapt to different external environments and working requirements, and the application field of the joint robot is enlarged.
6. The flexible joint can measure the flexible deformation of the joint through the absolute encoder, realize the real-time feedback of the flexible deformation and the output moment, and adjust the rigidity on line according to different actual conditions. When the foot-type robot actually walks, under the condition of meeting different road conditions, namely under the condition of changing the equivalent stiffness value of the contact ground, the stiffness value can be adjusted on line through flexible detection, so that the robot has higher stability and adaptability in the motion process. The protection effect on the flexible joint is also achieved to a certain extent, and the service life of the flexible joint is prolonged.
7. The invention adopts the cam-cam groove to amplify the elastic force of the two groups of springs, reduces the volume of the springs, adopts the screw nut and the worm gear to amplify the output torque of the motor, reduces the power requirement of the motor, and simplifies the design of the robot body by intensively installing all mechanisms on the passive inner disc of the robot joint.
Drawings
FIG. 1 is a schematic view of the overall structure of one embodiment of a compact, stiffness-reducing rotary joint of the present invention;
FIG. 2 is a schematic diagram of a passive inner disk of a joint of one embodiment of a compact stiffness rotary flexible joint of the present invention without producing a flexible output;
FIG. 3 is a schematic diagram of a 45 degree compliant output of a passive inner plate of a joint of one embodiment of a compact stiffness rotary compliant joint of the present invention;
FIG. 4 is a schematic view of the interior of the overall structure of one embodiment of the compact, stiffness rotary flexible joint of the present invention;
FIG. 5 is a schematic cross-sectional view of the compact, stiffness-reducing rotary joint of the present invention taken along the direction A-A of FIG. 2;
FIG. 6 is a schematic view of the cross-sectional structure of the compact variable stiffness rotary flexible joint of the present invention (omitting the worm, worm support, motor mount and motor) of FIG. 4 with the axis of the optical axis as the cross-section;
FIG. 7 is a diagram of the structure of a joint driving disc of one embodiment of a compact, stiffness-reducing rotary flexible joint of the present invention;
FIG. 8 is a schematic view of a worm screw structure of an embodiment of the compact stiffness rotary compliant joint of the present invention; ( In the figure: 1. a joint driving disc; 2. a joint output disc; 3. a passive inner disc of the joint; 4. thrust rolling needle bearings; 5. angular contact ball bearings; 6. clamping springs for shafts; 7. a first cam; 8. the first passive rigidity-changing adjusting seat; 9. a first set of compression springs; 10. an optical axis; 11. a first variable stiffness adjustment seat; 12. an optical axis supporting seat; 13. a turbine screw structure; 14. a second variable stiffness adjustment seat; 15. a second set of compression springs; 16. the second passive rigidity-changing adjusting seat; 17. a second cam; 18. a cylindrical gear; 19. a worm; 20. an absolute encoder; 21. an encoder support; 22. a worm support base; 23. a motor mounting seat; 24. a motor; 25. arc racks; 101. cam grooves; 102. a limit boss; 103. connecting shaft )
Detailed Description
Specific examples of the present invention are given below. The specific examples are provided only for further elaboration of the invention and do not limit the scope of the claims of the present application.
The invention provides a compact rigidity-variable rotary flexible joint (refer to fig. 1-8, which is called joint for short), comprising a joint driving disc 1, a joint output disc 2, a joint driven inner disc 3, a thrust roller needle bearing 4, an angular contact ball bearing 5, a clamp spring 6 for a shaft, a first cam 7, a first driven rigidity-variable adjusting seat 8, a first group of compression springs 9, an optical axis 10, a first rigidity-variable adjusting seat 11, an optical axis supporting seat 12, a turbine screw structure 13, a second rigidity-variable adjusting seat 14, a second group of compression springs 15, a second driven rigidity-variable adjusting seat 16, a second cam 17, a cylindrical gear 18, a worm 19, an absolute encoder 20, an encoder supporting seat 21, a worm supporting seat 22, a motor mounting seat 23, a motor 24 and a circular arc rack 25;
the joint output disc 2 and the joint passive inner disc 3 are fixed through four groups of countersunk head screws; the joint driven inner disc 3 is connected with a connecting shaft 103 of the joint driving disc 1 through an angular contact ball bearing 5, and the surface of the joint driven inner disc 3 is contacted with the surface of the joint driving disc 1 through a thrust roller needle bearing 4, so that the relative rotation between the joint driving disc 1 and the joint driven inner disc 3 is realized; the shaft is connected with the angular contact ball bearing 5 through the clamp spring 6, so that the axial fixation of the angular contact ball bearing 5 is realized; the joint output disc 2 is connected with an external output joint through a flange; the joint driving disc 1 is connected with an external input joint through a flange; the inner wall of the joint driving disc 1 is provided with a cam groove 101 which is matched with the first cam 7 and the second cam 17; the cam groove 101 is provided with a limit boss 102 for limiting the positions of the first cam 7 and the second cam 17, so as to limit the relative rotation between the joint driving disc 1 and the joint driven inner disc 3; the contour line of the cam groove 101 is symmetrical about the connecting shaft 103, and the contour line of the cam groove 101 is formed by two obtuse angles with an eccentric arc as a ray; the shape of the contour line of the cam groove 101 realizes that the rigidity is increased and then reduced along with the increase of the flexible deformation, and the output joint initially needs a larger moment to roll the two cams due to the obtuse angle design, so that the stabilizing and protecting effects are realized;
the worm support seat 22 is fixed on the joint passive inner disc 3; the worm 19 is arranged on the worm support seat 22 through a bearing; the motor 24 is arranged on the joint driven inner disc 3 through a motor mounting seat 23, the output end of the motor 24 is connected with the worm 19, and the motor is fixed through a jackscrew to drive the worm 19 to rotate; the turbine screw rod structure 13 is of an axisymmetric structure, the middle part of the turbine screw rod structure is a turbine, and the turbine screw rod structure is meshed with the worm 19 for transmission; the two ends of the turbine screw rod structure 13 are screw rods, one end of the turbine screw rod structure is screwed left and is arranged in a screw rod nut structure in the middle of the first variable stiffness adjusting seat 11, the other end of the turbine screw rod structure is screwed right and is arranged in a screw rod nut structure in the middle of the second variable stiffness adjusting seat 14, and the screw rods screwed left and right at one end drive the first variable stiffness adjusting seat 11 and the second variable stiffness adjusting seat 14 which are matched with the turbine screw rod structure to move, so that the precompression amount of the first group of compression springs 9 and the second group of compression springs 15 is changed, and the active variable stiffness function of the joint is realized;
two ends of the first variable stiffness adjusting seat 11 are respectively connected with two optical axes 10 through bearings; two ends of the second variable stiffness adjustment seat 14 are respectively connected with the two optical axes 10 through bearings; the two optical axes 10 are both arranged on the joint passive inner disc 3 through an optical axis supporting seat 12; one end of each optical axis 10 is provided with a first passive variable stiffness adjusting seat 8 through a bearing, and the other end is provided with a second passive variable stiffness adjusting seat 16 through a bearing; the first group of compression springs 9 and the second group of compression springs 15 are nested on the two optical axes 10; the axes of the first group of compression springs 9 and the second group of compression springs 15 coincide with the axis of the optical axis 10; the first group of compression springs 9 are positioned between the first passive variable stiffness adjustment seat 8 and the first variable stiffness adjustment seat 11; the second group of compression springs 15 is positioned between the second passive variable stiffness adjustment seat 16 and the second variable stiffness adjustment seat 14; the first cam 7 is arranged on the first passive variable stiffness adjusting seat 8; the second cam 17 is arranged on the second passive variable stiffness adjustment seat 16; the first cam 7 and the second cam 17 are both in contact with the cam groove 101; when the joint driving disc 1 and the joint driven inner disc 3 do not rotate relatively, the first cam 7 and the second cam 17 are positioned at the obtuse angle position of the contour line of the cam groove 101, and the first group of compression springs 9 and the second group of compression springs 15 are not compressed and do not generate flexible deformation; when the joint driving disc 1 and the joint passive inner disc 3 relatively rotate, the first cam 7 and the second cam 17 are contacted with the cam groove 101 and rotate, the first group of passive variable stiffness adjusting seats 8 and the second group of passive variable stiffness adjusting seats 20 are extruded to move along the optical axis, the first group of compression springs 9 and the second group of compression springs 15 are compressed, the joint driving disc 1 and the joint passive inner disc 3 are prevented from relatively rotating, flexible output of the joint is realized, and the passive variable stiffness function of the joint is realized; when the flexible deformation reaches the limit position, the first cam 7 and the second cam 17 are respectively contacted with the limit boss 102 on the cam groove 101, so that the limit safety protection effect is achieved;
the absolute encoder 20 is arranged on the joint passive inner disc 3 through an encoder supporting seat 21; the cylindrical gear 18 is mounted on the output shaft of the absolute encoder 20; the arc rack 25 is installed in the inner wall of the joint driving disc 1 and meshed with the cylindrical gear 18, when the joint driving disc 1 and the joint passive inner disc 3 rotate relatively, namely, generate flexible deformation, the absolute encoder 20 can measure in real time, obtain the feedback result of the flexible deformation and the output moment, and realize the flexible deformation detection function of the joint.
The motor 24 is a dc servo motor.
The overall dimension of the joint preliminarily designed in the embodiment of the invention is 160mm in diameter, 45mm in height, the maximum angle of flexible deformation is 45 degrees, the cam groove 101 is designed to be connected with an obtuse angle and an eccentric arc in a tangent way, the maximum elastic output of the joint is 120 N.m, the shaft diameter of the joint driving disc is designed to be 12mm, and the diameters of the first cam and the second cam are 12mm. The motor external diameter is 3mm, maximum rated torque is 6mNm, the turbine lead screw structure is selected to be 5mm, 30 degree lead screws (one end lead screw is left-handed, the other end lead screw is right-handed), the maximum allowable thrust of the lead screw is 3kN, the first group of compression springs and the second group of compression springs are rectangular grinding tool springs with the external diameter of 10mm and the internal diameter of 5mm, the free length of the springs is 28mm, the elastic coefficient is 40N/mm, and the pre-compression amount of the spring installation is 1mm.
The embodiment of the invention is applied to knee joints and hip joints of bionic quadruped robots, alternating current servo motors 400W are selected, the maximum output torque is 1.27 N.m, 1:120 harmonic reducers are selected, output flanges of the reducers are connected with joint driving discs, and input of the reducers is connected with the alternating current servo motors through synchronous belts; wherein, the alternating current servo motor is 2kg, the harmonic reducer is 1.5kg, the mass of one leg is about 10kg, and the mass of the robot body is 20kg. When the joints output maximum torque, the quadruped robot can be ensured to travel in a diagonal gait.
The working principle and working flow of the compact rigidity-variable rotary flexible joint are as follows: the flexible joint can realize three functions of active variable stiffness, passive variable stiffness and flexible deformation detection.
The worm support seat 22 is fixed on the joint passive inner disc 3; the worm 19 is arranged on the worm support seat 22 through a bearing; the motor 24 is arranged on the joint driven inner disc 3 through a motor mounting seat 23, the output end of the motor 24 is connected with the worm 19, and the motor is fixed through a jackscrew to drive the worm 19 to rotate; the turbine screw rod structure 13 is of an axisymmetric structure, the middle part of the turbine screw rod structure is a turbine, and the turbine screw rod structure is meshed with the worm 19 for transmission; the two ends of the turbine screw rod structure 13 are screw rods, one end of the turbine screw rod structure is screwed left and is arranged in a screw rod nut structure in the middle of the first variable stiffness adjusting seat 11, the other end of the turbine screw rod structure is screwed right and is arranged in a screw rod nut structure in the middle of the second variable stiffness adjusting seat 14, and the screw rods screwed left and right at one end drive the first variable stiffness adjusting seat 11 and the second variable stiffness adjusting seat 14 which are matched with the turbine screw rod structure to move, so that the precompression amount of the first group of compression springs 9 and the second group of compression springs 15 is changed, and the active variable stiffness function of the joint is realized;
two ends of the first variable stiffness adjusting seat 11 are respectively connected with two optical axes 10 through bearings; two ends of the second variable stiffness adjustment seat 14 are respectively connected with the two optical axes 10 through bearings; the two optical axes 10 are both arranged on the joint passive inner disc 3 through an optical axis supporting seat 12; one end of each optical axis 10 is provided with a first passive variable stiffness adjusting seat 8 through a bearing, and the other end is provided with a second passive variable stiffness adjusting seat 16 through a bearing; the first group of compression springs 9 and the second group of compression springs 15 are nested on the two optical axes 10; the axes of the first group of compression springs 9 and the second group of compression springs 15 coincide with the axis of the optical axis 10; the first group of compression springs 9 are positioned between the first passive variable stiffness adjustment seat 8 and the first variable stiffness adjustment seat 11; the second group of compression springs 15 is positioned between the second passive variable stiffness adjustment seat 16 and the second variable stiffness adjustment seat 14; the first cam 7 is arranged on the first passive variable stiffness adjusting seat 8; the second cam 17 is arranged on the second passive variable stiffness adjustment seat 16; the first cam 7 and the second cam 17 are both in contact with the cam groove 101; when the joint driving disc 1 and the joint driven inner disc 3 do not rotate relatively, the first cam 7 and the second cam 17 are positioned at the obtuse angle position of the contour line of the cam groove 101, and the first group of compression springs 9 and the second group of compression springs 15 are not compressed and do not generate flexible deformation; when the joint driving disc 1 and the joint passive inner disc 3 relatively rotate, the first cam 7 and the second cam 17 are contacted with the cam groove 101 and rotate, the first group of passive variable stiffness adjusting seats 8 and the second group of passive variable stiffness adjusting seats 20 are extruded to move along the optical axis 10, the first group of compression springs 9 and the second group of compression springs 15 are compressed, the joint driving disc 1 and the joint passive inner disc 3 are prevented from relatively rotating, flexible output of the joint is realized, and the passive variable stiffness function of the joint is realized; when the flexible deformation reaches the limit position, the first cam 7 and the second cam 17 are respectively contacted with the limit boss 102 on the cam groove 101, so that the limit safety protection effect is achieved;
the absolute encoder 20 is arranged on the joint passive inner disc 3 through an encoder supporting seat 21; the cylindrical gear 18 is mounted on the output shaft of the absolute encoder 20; the arc rack 25 is installed in the groove on the inner wall of the joint driving disc 1 and meshed with the cylindrical gear 18, when the joint driving disc 1 and the joint driven inner disc 3 rotate relatively, namely, generate flexible deformation, the absolute encoder 20 can measure in real time, obtain the feedback result of the flexible deformation and the output moment, and realize the flexible deformation detection function of the joint.
The invention is applicable to the prior art where it is not described.
Claims (3)
1. The compact rigidity-variable rotary flexible joint is characterized by comprising a joint driving disc, a joint output disc, a joint passive inner disc, a thrust roller needle bearing, an angular contact ball bearing, a clamp spring for a shaft, a first cam, a first passive rigidity-variable adjusting seat, a first group of compression springs, an optical axis, a first rigidity-variable adjusting seat, an optical axis supporting seat, a turbine screw structure, a second rigidity-variable adjusting seat, a second group of compression springs, a second passive rigidity-variable adjusting seat, a second cam, a cylindrical gear, a worm, an absolute encoder, an encoder supporting seat, a worm supporting seat, a motor mounting seat, a motor and an arc rack;
the joint output disc is fixed with the joint passive inner disc; the joint driven inner disc is connected with a connecting shaft of the joint driving disc through an angular contact ball bearing, and the surface of the joint driven inner disc is contacted with the surface of the joint driving disc through a thrust rolling needle bearing; the shaft is connected with an angular contact ball bearing through a clamp spring; the inner wall of the joint driving disc is provided with a cam groove which is matched with the first cam and the second cam; a limit boss is arranged on the cam groove; the contour line of the cam groove is formed by two obtuse angles taking an eccentric arc as a ray;
the worm support seat is fixed on the joint passive inner disc; the worm is arranged on the worm support seat through a bearing; the motor is arranged on the joint driven inner disc through a motor mounting seat, and the output end of the motor is connected with the worm; the middle part of the turbine screw rod structure is provided with a turbine which is meshed with a worm for transmission; the turbine screw structure is characterized in that screws are arranged at two ends of the turbine screw structure, one end of the turbine screw structure is arranged in the first variable-rigidity adjusting seat, the other end of the turbine screw structure is arranged in the second variable-rigidity adjusting seat, and the rotation directions of the two ends of the turbine screw structure are opposite;
two ends of the first variable stiffness adjusting seat are respectively connected with two optical axes through bearings; two ends of the second variable stiffness adjusting seat are respectively connected with two optical axes through bearings; the two optical axes are both arranged on the joint passive inner disc through an optical axis supporting seat; one end of each optical axis is provided with a first passive variable stiffness adjusting seat through a bearing, and the other end of each optical axis is provided with a second passive variable stiffness adjusting seat through a bearing; a first group of compression springs and a second group of compression springs are nested on the two optical axes; the first group of compression springs are positioned between the first passive variable stiffness adjustment seat and the first variable stiffness adjustment seat; the second group of compression springs are positioned between the second passive variable stiffness adjustment seat and the second variable stiffness adjustment seat; the first cam is arranged on the first passive variable stiffness adjusting seat; the second cam is arranged on the second passive variable stiffness adjusting seat; the first cam and the second cam are both in contact with the cam groove;
the absolute encoder is arranged on the joint passive inner disc through an encoder supporting seat; the cylindrical gear is arranged on an output shaft of the absolute encoder; the arc rack is arranged in the inner wall of the joint driving disc and meshed with the cylindrical gear.
2. The compact, stiffness rotary flexible joint according to claim 1, wherein the first and second sets of compression springs have axes coincident with the optical axis.
3. A compact form factor rigid rotary flexible joint according to claim 1, wherein said motor is a direct current servo motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710289744.3A CN106914917B (en) | 2017-04-27 | 2017-04-27 | Compact type rigidity-variable rotary flexible joint |
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| CN201710289744.3A CN106914917B (en) | 2017-04-27 | 2017-04-27 | Compact type rigidity-variable rotary flexible joint |
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| CN106914917A CN106914917A (en) | 2017-07-04 |
| CN106914917B true CN106914917B (en) | 2023-07-18 |
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