CN112894873B - Active variable-stiffness joint based on gear-rack pair - Google Patents
Active variable-stiffness joint based on gear-rack pair Download PDFInfo
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- CN112894873B CN112894873B CN202110106841.0A CN202110106841A CN112894873B CN 112894873 B CN112894873 B CN 112894873B CN 202110106841 A CN202110106841 A CN 202110106841A CN 112894873 B CN112894873 B CN 112894873B
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- rack
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention provides an active variable stiffness joint based on a rack-and-pinion, which comprises a shell, an input control end and a variable stiffness adjusting component, wherein the shell comprises a fixed first shell and a movable second shell, the second shell is rotatably arranged on the first shell, the input control end is used for driving the second shell to rotate around the rotation center of the second shell, the input control end comprises an input rotating shaft and a fixed frame, the fixed frame is arranged on the input rotating shaft and rotates synchronously with the input rotating shaft, and the variable stiffness adjusting component is used for adjusting the stiffness value of the joint according to the actual requirement of the second shell and comprises a plate spring, a sliding seat, a movable sliding block, a central gear and a rack. The invention changes the output rigidity by actively adjusting the relative position of the sliding seat and the plate spring, and has the advantages of compact structure, large rigidity adjusting range and strong stability.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an active variable stiffness joint based on a rack-and-pinion.
Background
With the increasing diversification of production and living environments of people, the situations of man-machine cooperation and multi-machine cooperation are more and more common, and the problems of ensuring the flexibility among multiple people and reducing the collision safety between people and interaction are more and more prominent. The joint driving module is used as a core structural component of the robot body, not only is a power source for enabling the robot to complete various flexible actions, but also is a controllable key structural point for ensuring the safety of human-computer interaction. The traditional robot driving joint is generally a nearly pure rigid structure body composed of a driving motor and a speed changer, and has no elastic element, so that the safety of man-machine cooperation and the flexibility of a mechanical arm cannot be guaranteed.
Compared with the traditional pure rigidity joint, the variable rigidity joint is changed into a joint with unchanged rigidity along with the change of load, and the variable rigidity joint is divided into a passive variable rigidity joint and an active variable rigidity joint. The most studied passive variable stiffness joint is a series elastic driver, which is an elastic element connected between a common rigid driver and an external load, and after the elastic element is determined, the stiffness characteristic of the series elastic driver is also determined; the active variable-stiffness joint is driven by two motors, so that the stiffness and the output position of the joint can be independently or respectively adjusted, the defect that the stiffness of the passive variable-stiffness joint is not adjustable is overcome, and the active variable-stiffness joint is a 'variable-stiffness flexible' joint in the true sense.
At present, five structural forms of active variable-stiffness joints mainly comprise an antagonistic type, a spring type, a friction sheet type, a variable transmission type and a mixed type, and most of the joints have the problems of complex structure, large volume, poor stability and difficulty in linear control of stiffness, for example, Chinese patent CN201610847050.2 discloses a flexible joint of a robot with continuously adjustable stiffness, which realizes the adjustment of the stiffness through the precompression quantity of a compression floating spring, but has the defects of complex structure, large volume and poor environmental adaptability although the stiffness can be continuously adjusted; chinese patent cn201510114055.x discloses a flexible joint with variable stiffness, which adopts a multi-stage gear transmission mechanism, and has the advantages of complex structure, complex transmission process, low precision, difficulty in controlling stiffness and limited application.
Based on this, it is desirable to provide a compact active variable stiffness joint with a large stiffness adjustment range.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the active variable-stiffness joint based on the rack-and-pinion gear, the output stiffness is changed by actively adjusting the relative position of the sliding seat and the plate spring, and the joint has the advantages of compact structure, large stiffness adjusting range and strong stability.
In order to achieve the above object, the present invention provides an active variable stiffness joint based on a rack and pinion pair, which includes a housing, an input control end and a variable stiffness adjustment assembly, wherein the housing includes a fixed first housing and a movable second housing, the second housing is rotatably disposed on the first housing, the input control end is configured to drive the second housing to rotate around a rotation center thereof, the input control end includes an input rotation shaft and a fixed mount, the fixed mount is disposed on the input rotation shaft and rotates synchronously with the input rotation shaft, the variable stiffness adjustment assembly is configured to adjust a stiffness value of the joint according to actual needs of the second housing, and the active variable stiffness joint includes:
more than one plate spring is arranged on the fixed frame;
a slider slidably disposed on the plate spring;
the movable sliding block is fixedly connected with the sliding seat;
a sun gear located on the second housing and capable of rotating;
the rack can drive the movable sliding block to slide, the rack is meshed with the central gear, a guide rod is arranged on the second shell, and the rack is arranged on the guide rod in a sliding manner;
wherein the movable sliding block is provided with rectangular teeth which are inclined compared with the guide rod, the rack is provided with a connecting groove,
the movable sliding block is connected to the rack in a sliding manner through the matching of the rectangular teeth on the movable sliding block and the connecting grooves;
the rotating central gear can drive the rack to slide on the guide rod, and the sliding rack drives the movable sliding block and the sliding seat to slide along the length direction of the plate spring so as to adjust the effective length of the plate spring to realize the change of the joint rigidity.
According to another embodiment of the present invention, the sliding base is a roller sliding base, which includes a base body fixedly connected to the movable slider and two rollers sleeved on the plate spring.
According to another embodiment of the invention, the axis of the guide rod is perpendicular to the longitudinal direction of the leaf spring.
According to another embodiment of the invention, the second housing has a first recess in which the guide bar is supported, the rack being slidable in the first recess.
According to another embodiment of the invention, the second housing has a second groove in which the mobile slider can slide.
According to another embodiment of the invention, the number of the plate springs is two or more, and the two or more plate springs are distributed on the fixing frame around the input rotating shaft array or oppositely.
According to another embodiment of the invention, the carriages on different leaf springs are at the same distance from the input shaft.
According to another embodiment of the invention, the second housing is rotatably arranged in the first housing by means of two four-point contact thin-walled bearings.
According to another specific embodiment of the present invention, the variable stiffness adjustment assembly further includes a pressure plate fixed on the second housing and a stiffness adjustment motor disposed on the pressure plate, and the sun gear is disposed on an output shaft of the stiffness adjustment motor through a key connection.
According to another specific embodiment of the present invention, the input control end further includes a driving disk, the driving disk is fixedly connected to the first housing, the input rotating shaft is a stepped shaft, the driving disk is provided with a mounting slot hole, one end of the input rotating shaft is connected to the driving disk through a first bearing located in the mounting slot hole, and the other end of the input rotating shaft is connected to the second housing through a second bearing.
Compared with the prior art, the invention has the beneficial effects that:
the invention creatively uses a gear-rack transmission mode, the rack meshed with the central gear transversely moves along the corresponding guide rod through the rotation of the central gear, the movement of the rack drives the movable sliding block and the sliding seat fixed with the movable sliding block to move, and further the effective length of the plate spring is changed.
According to the invention, the central gear and each rack are in meshing transmission, and the racks are matched with the movable sliding block through the rectangular teeth and the connecting grooves, so that the sliding seat is moved, each rack can synchronously drive the corresponding movable sliding block and the sliding seat to move, and the variable-stiffness joint has high reliability and strong stability.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic view of the overall structure of a variable stiffness joint of the present invention;
FIG. 2 is a cross-sectional view of a variable stiffness joint of the present invention;
FIG. 3 is a schematic view of the internal structure of the variable stiffness joint of the present invention;
FIG. 4 is a schematic structural diagram of a central gear and a rack in the variable stiffness joint of the present invention;
FIG. 5 is a schematic view of the movable slider and the second groove in the variable stiffness joint of the present invention;
FIG. 6 is a schematic structural view of an inner shell in the variable stiffness joint of the present invention;
FIG. 7 is a schematic diagram of the distribution of three leaf springs in the variable stiffness joint of the present invention;
FIG. 8 is a schematic structural view of a single rack in the variable stiffness joint of the present invention;
FIG. 9 is a schematic structural diagram of a movable slider in the variable stiffness joint of the present invention.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
Example 1
The present embodiment provides a rack and pinion based active variable stiffness joint, as shown in fig. 1-9, comprising a housing 100, an input control end 200, and a variable stiffness adjustment assembly 300.
The housing 100 includes a first housing 110 and a second housing 120 nested together, wherein the first housing 110 is an outer housing and the second housing 120 is an inner housing, and the second housing 120 is preferably rotatably disposed within the first housing 110 using two four-point contact thin-walled bearings 130.
The input control end 200 is used for driving the second housing 120 to rotate around its rotation center, and includes a driving disc 210, a position motor 220, an input rotation shaft 230, and a fixing frame 240.
The driving disc 210 is fixedly connected with the first casing 110, the position motor 220 is assembled on the driving disc 210, wherein the output shaft of the position motor 220 is a D-shaped shaft, the input rotating shaft 230 is provided with a D-shaped hole to be fixedly connected with one end of the output shaft of the position motor 220, the input rotating shaft 230 is arranged on the rotation center line of the second casing 120, and the fixing frame 240 is arranged on the input rotating shaft 230 and rotates synchronously with the input rotating shaft 230.
Specifically, the input shaft 230 is a stepped shaft, the driving disc 210 is provided with a mounting slot hole 211, one end of the input shaft 230 is rotatably supported and connected to the driving disc 210 through a first bearing 250 located in the mounting slot hole 211, and the other end of the input shaft 230 is rotatably supported and connected to the second housing 120 through a second bearing 260.
The variable stiffness adjustment assembly 300 is used for adjusting the stiffness value of the joint according to the actual requirement of the second housing 120, and comprises a pressure plate 310, a stiffness adjustment motor 320, a plate spring 330, a sliding seat 340, a moving slider 350, a guide rod 360, a central gear 370 and a rack 380.
Wherein the number of the plate springs 330 is preferably at least three, for example, three plate springs 330 distributed on the outer circumference of the input rotation shaft 230 in an array as shown in fig. 3; the sliding base 340 is slidably disposed on the plate spring 330, one end of the movable slider 350 is fixedly connected to the sliding base 340, and the other end is connected to the rack 380 in a sliding fit manner.
The second housing 120 is provided with a central groove 121, a first groove 122 and a second groove 123, the pressure plate 310 is fixed on the second housing 120, the stiffness adjusting motor 320 is arranged on the pressure plate 310, the central gear 370 is arranged on the output shaft of the stiffness adjusting motor 320 through a key connection, and the central gear 370 is located in the central groove 121 and rotates forward or backward under the driving of the stiffness adjusting motor 320.
As shown in fig. 4, the guide rod 360 is supported in the first groove 122 in a direction perpendicular to the length direction of the plate spring 330, the rack 380 is sleeved on the guide rod 360 and can slide in the first groove 122, and is always meshed with the central gear 370 during the sliding process of the rack 380, and when the central gear 370 rotates, each rack 380 is driven by the gear and rack 380 pair to slide linearly along the guide rod 360;
as shown in fig. 5, the movable slider 350 is slidably disposed in the second groove 123, and the movable slider 350 is driven by the rack 380 to slide outwards or inwards.
In this embodiment, the matching connection between the rack 380 and the movable slider 350 is as follows: as shown in fig. 8-9, the movable slider 350 is provided with a rectangular tooth 351 inclined relative to the guide rod 360, the rack 380 is provided with a connecting groove 381, the movable slider 350 is slidably connected to the rack 380 through the matching between the rectangular tooth 351 on the movable slider 350 and the connecting groove 381, and the rack 380 can drive the movable slider 350 to slide outwards or inwards along the second groove 123 when sliding.
Further, the sliding seats 340 on different leaf springs 330 are at the same distance from the input rotating shaft 230, so that the sliding motion of the movable slider 350 is symmetrical and constant, and the sliding motion of the sliding seats 340 is also symmetrical and constant.
The sliding seat 340 in this embodiment is preferably a roller sliding seat, and includes a seat body 341 and two rollers 342, the seat body 341 is fixedly connected to the movable slider 350, and the two rollers 342 are sleeved on the plate spring 330, wherein the distance between the two rollers 342 is the thickness of the plate spring 330.
The position transmission process of this embodiment is:
the position motor 220 drives the input shaft 230 to rotate, the input shaft 230 drives the three plate springs 330 fixedly connected with the input shaft 230 to rotate through the fixing frame 240, then drives the sliding seat 340 sleeved on the plate springs 330 to rotate around the rotation center of the first shell 110, and as the sliding seat 340 is fixedly connected with the movable sliding block 350, the sliding seat 340 drives the movable sliding block 350 to rotate around the rotation center of the first shell 110, and drives the second shell 120 to rotate around the rotation center of the second shell through the movable sliding block 350, and finally, the output shaft rotates through the output link arm 140 arranged on the second shell 120.
The active stiffness changing process of the embodiment is as follows:
the stiffness adjusting motor 320 drives the central gear 370 to rotate relative to the rotation center of the second housing 120, the central gear 370 drives the three racks 380 to respectively slide linearly along the guide rods 360 matched with the three racks through the gear and rack 380 pair, and drives the movable slider 350 to slide along the second groove 123 through the racks 380, and finally drives the sliding base 340 to move outwards or inwards along the length direction of the plate spring 330, so that the effective length of the plate spring 330 is adjusted, and the joint stiffness is changed.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that changes may be made without departing from the scope of the invention, and it is intended that all matter contained in the above description or shown in the accompanying drawings shall be interpreted as illustrative and not in a limiting sense.
Claims (8)
1. The utility model provides an initiative variable stiffness joint based on rack and pinion, its includes casing, input control end and variable stiffness adjusting part, the casing is including the second casing of fixed first casing and activity, wherein the second casing rotates to set up on the first casing, the input control end is used for the drive the second casing rotates around its centre of gyration, and it includes input pivot and mount, the mount is established input pivot is last and with input pivot synchronous rotation, variable stiffness adjusting part is used for the basis the rigidity value of joint is adjusted to the actual need of second casing, and it includes:
more than one plate spring, set up on the said fixed mount;
a slider slidably disposed on the plate spring;
the movable sliding block is fixedly connected with the sliding seat;
a sun gear positioned on the second housing and capable of rotating;
the rack can drive the movable sliding block to slide, the rack is meshed with the central gear, a guide rod is arranged on the second shell, the rack is arranged on the guide rod in a sliding mode, and the axis of the guide rod is perpendicular to the length direction of the plate spring;
the second shell is provided with a first groove, the guide rod is supported in the first groove, and the rack can slide in the first groove;
the movable sliding block is provided with rectangular teeth which are inclined compared with the guide rod, the rack is provided with a connecting groove, and the movable sliding block is connected to the rack in a sliding mode through the matching of the rectangular teeth on the movable sliding block and the connecting groove; the rotating central gear can drive the rack to slide on the guide rod, and the sliding rack drives the movable sliding block and the sliding seat to slide along the length direction of the plate spring so as to adjust the effective length of the plate spring to realize the change of joint rigidity.
2. The active variable stiffness joint based on a rack and pinion of claim 1 wherein the sliding base is a roller sliding base comprising a base body and two rollers, the base body is fixedly connected with the moving slider, and the two rollers are sleeved on the leaf spring.
3. The rack and pinion based active variable stiffness joint of claim 1 wherein the second housing has a second groove within which the moving slide is slidable.
4. The rack and pinion based active variable stiffness joint of claim 1 wherein the number of leaf springs is two or more, the two or more leaf springs being distributed around the input shaft array or on the mount in opposition.
5. The rack and pinion based active variable stiffness joint of claim 4 wherein the carriages on different leaf springs are the same distance from the input shaft.
6. The rack and pinion based active variable stiffness joint of claim 1 wherein the second housing is rotationally disposed within the first housing by two four point contact thin wall bearings.
7. The active variable stiffness joint based on a rack and pinion gear according to claim 1, wherein the variable stiffness adjustment assembly further comprises a pressure plate fixed on the second housing and a stiffness adjustment motor arranged on the pressure plate, and the central gear is arranged on an output shaft of the stiffness adjustment motor through a key connection.
8. The active variable stiffness joint based on the rack and pinion gear of claim 1, wherein the input control end further comprises a driving disc, the driving disc is fixedly connected with the first housing, the input rotating shaft is a stepped shaft, a mounting slot hole is formed in the driving disc, one end of the input rotating shaft is connected with the driving disc through a first bearing located in the mounting slot hole, and the other end of the input rotating shaft is connected with the second housing through a second bearing.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110106841.0A CN112894873B (en) | 2021-01-26 | 2021-01-26 | Active variable-stiffness joint based on gear-rack pair |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110106841.0A CN112894873B (en) | 2021-01-26 | 2021-01-26 | Active variable-stiffness joint based on gear-rack pair |
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| CN112894873A CN112894873A (en) | 2021-06-04 |
| CN112894873B true CN112894873B (en) | 2022-08-02 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113084864B (en) * | 2021-05-07 | 2022-09-27 | 重庆理工大学 | Robot joint structure with variable rigidity |
| CN114654496B (en) * | 2022-03-30 | 2023-08-25 | 华中科技大学 | Active rigidity-variable rotary joint based on involute leaf spring |
| CN117921746A (en) * | 2024-03-25 | 2024-04-26 | 中国科学院长春光学精密机械与物理研究所 | Controllable time-varying rigidity flexible base |
| CN117921736A (en) * | 2024-03-25 | 2024-04-26 | 中国科学院长春光学精密机械与物理研究所 | Reconfigurable mechanical arm based on variable stiffness joint |
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