CN115338901A - Series elastic driver with continuously adjustable rigidity - Google Patents
Series elastic driver with continuously adjustable rigidity Download PDFInfo
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- CN115338901A CN115338901A CN202211121607.6A CN202211121607A CN115338901A CN 115338901 A CN115338901 A CN 115338901A CN 202211121607 A CN202211121607 A CN 202211121607A CN 115338901 A CN115338901 A CN 115338901A
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- 230000008901 benefit Effects 0.000 description 10
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- 230000009471 action Effects 0.000 description 7
- 238000005265 energy consumption Methods 0.000 description 6
- 239000012634 fragment Substances 0.000 description 5
- 230000003993 interaction Effects 0.000 description 5
- 238000004088 simulation Methods 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 4
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- 238000010586 diagram Methods 0.000 description 4
- 210000000544 articulatio talocruralis Anatomy 0.000 description 3
- 230000003247 decreasing effect Effects 0.000 description 3
- 238000005381 potential energy Methods 0.000 description 3
- 230000002035 prolonged effect Effects 0.000 description 3
- 210000003423 ankle Anatomy 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 210000001503 joint Anatomy 0.000 description 2
- 230000008485 antagonism Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The invention discloses a series elastic driver capable of continuously adjusting rigidity, which comprises a shell, a torque input shaft, a driving motor, an elastic piece, a sliding piece and a rigidity adjusting mechanism, wherein the driving motor is used for driving the torque input shaft to rotate; the elastic piece is located inside the shell and drives the shell to rotate in the same direction. The invention provides a series elastic driver capable of continuously adjusting rigidity, which aims to solve the problems that a flexible driver in the prior art is complex in structure, complicated in rigidity adjusting process and incapable of simulating the bidirectional asymmetry of a biological joint, and achieves the purposes of compact structure, large rigidity adjusting range, allowance of bidirectional asymmetric rigidity and capability of better simulating the shape and function of the biological joint.
Description
Technical Field
The invention relates to the field of robots, in particular to a series elastic driver capable of continuously adjusting rigidity.
Background
In the field of robots, motion driving modes include hydraulic driving, pneumatic driving, motor driving and the like, and motor driving has the advantages of high precision, accurate control, quick response and the like, and becomes a main driving mode. With the development of the robot technology, the research on the rehabilitation assisting robot and the power-assisted robot is more and more focused, and the robots have higher requirements on the safety and the adaptability to the environment in the human-computer interaction process. The traditional motor drive is rigid drive, the possibility of rigid collision with the environment in the human-computer interaction process is high, mechanical damage is caused to a robot, and the human body can be damaged. And the use of a flexible actuator may well solve this problem.
The flexible driver changes the rigid output of the driver into the flexible output by adding the elastic element into the transmission ring section, and the rigidity value can be changed in real time. The flexible driver can utilize the elastic element to carry out the interconversion of kinetic energy and potential energy, thus reducing the energy consumption of the system and improving the utilization efficiency of the energy; by introducing the elastic element, the dynamic performance of the system can be improved, so that the motion of the robot becomes more coordinated, stable and natural; by utilizing the buffer action of the elastic element, the rigid collision between the robot and the environment can be avoided, the damage to parts of the robot is reduced, the service life of the robot is prolonged, and the safety of human-computer interaction is improved. However, most of the flexible drivers for robots in the prior art have complex structures and complex stiffness adjustment processes, and can not simulate the two-way asymmetry of biological joints.
Disclosure of Invention
The invention provides a series elastic driver capable of continuously adjusting rigidity, which aims to solve the problems of complex structure and complex rigidity adjusting process of a flexible driver in the prior art, and achieves the purposes of compact structure, wide rigidity adjusting range, allowance of bidirectional asymmetric rigidity and better simulation of the shape and function of a biological joint.
The invention is realized by the following technical scheme:
a series elastic driver capable of continuously adjusting rigidity comprises a shell, a torque input shaft, a driving motor for driving the torque input shaft to rotate, an elastic piece rigidly connected with the torque input shaft, a sliding piece in radial sliding fit with the elastic piece, and a rigidity adjusting mechanism for adjusting the sliding position of the sliding piece; the elastic piece is located inside the shell and drives the shell to rotate in the same direction.
Aiming at the problems of complex structure, complex stiffness adjusting process and the like of a flexible driver in the prior art, the invention provides a series elastic driver capable of continuously adjusting stiffness, wherein a torque input shaft is elastically connected with an elastic piece, a sliding piece can radially slide along the elastic piece, and the radial direction refers to the radial direction of the torque input shaft. The radial position of the sliding part relative to the elastic part is adjusted through the rigidity adjusting mechanism, so that the effective length of the elastic part is adjusted, and the integral rigidity characteristic of the driver is adjusted. In this application, the casing is as the output member of driver, drives the casing syntropy by the elastic component that is located the casing inside and rotates, can be direct or indirect connection between casing and the elastic component, and specific transmission mode does not do the restriction here.
It can be seen that the present application is a combined active and passive actuator, the active device is a driving motor, and the passive device is an elastic member. The driving motor is connected with the elastic part through a torque input shaft, and the torque is transmitted to the shell through the elastic part; the rigidity adjusting mechanism can be used for realizing the function of continuous rigidity adjustment, and is only started at the timely stage of the series elastic driver in the motion process, and the advantage of energy storage and effective energy release of the elastic part is fully utilized, so that the series elastic driver capable of continuously adjusting the rigidity has the characteristic of low power consumption. The flexible driving device is particularly suitable for flexible driving of the joint part of the robot, and the elastic piece is used for mutual conversion of kinetic energy and potential energy, so that the energy consumption of the system is reduced, and the utilization efficiency of the energy is improved; by introducing the elastic part, the dynamic performance of the system can be improved, so that the motion of the robot becomes more coordinated, stable and natural; by utilizing the buffer action of the elastic piece, the rigid collision between the robot and the environment can be avoided, the damage to parts of the robot is reduced, the service life of the robot is prolonged, and the safety of human-computer interaction is improved.
The ankle joint simulation device is particularly suitable for ankle joints of robots to use, wherein the rigidity adjusting mechanism can be driven in a stage needing ankle assistance, and the shape and the function of a biological joint can be well simulated.
Furthermore, the elastic piece comprises a plurality of elastic sheet groups which are uniformly distributed in an annular mode, each elastic sheet group comprises at least two elastic sheets which are parallel to each other, and the sliding piece is in sliding fit between every two adjacent elastic sheets.
And the elastic sheet sets are annularly and uniformly distributed to realize the integral adjustment of the rigidity of the driver. The number of the elastic sheet groups is not limited, and the energy storage capacity can be changed by increasing or decreasing the number of the elastic sheet groups, so that the rigidity adjusting range is changed, and the application range of the application is expanded. In the shell fragment group of this scheme, including two slice at least shell fragments, the slip subassembly presss from both sides and is established wherein between two adjacent shell fragments, removes in the clearance between these two shell fragments, leads and spacing it by both sides shell fragment. Inevitably, because the sliding part slides along the radial direction, the extending direction of the elastic sheet also extends along the radial direction, and when the position of the sliding part is kept, the rigidity adjusting component is not needed to generate extra moment to counteract the sliding trend caused by the rotation of the torque input shaft, so that the energy consumption can be reduced, the whole structure of the driver is effectively simplified, and the structure of the driver is favorable for being saved and miniaturized.
Of course, the number of the sliding parts corresponding to any elastic sheet group in the scheme is also variable, and a person skilled in the art can increase or decrease the number of the sliding parts according to actual conditions, so as to change the upper limit of the moment borne by the driver and further control the stiffness adjustment range.
Furthermore, the rigidity of the elastic sheets positioned on the two sides of the sliding part is different.
When the existing elastic driver realizes bidirectional asymmetric rigidity adjustment, the rigidity needs to be adjusted rapidly and continuously through a motor when the moving direction is switched; in the scheme, the rigidity is not adjusted by a motor when the movement direction is switched, but discrete switching of the rigidity near the neutral position (the point of switching the movement direction) is realized by springs with different rigidities which are configured in two directions, and compared with the prior art, the switching efficiency can be improved, and further the simulation capability of the biological joint is improved.
Further, the shell comprises an output frame, a front cover and a rear cover which are respectively connected to two opposite sides of the output frame; the output frame is internally provided with a straight groove matched with the sliding piece.
In the scheme, the front cover and the rear cover are respectively output from the two ends in a sealing mode, and the front cover, the rear cover and the rear cover jointly surround the output frame to form a shell structure. The straight groove on the output frame is matched with the sliding part, so that when the driving motor drives the torque input shaft to rotate, the elastic part is driven to rotate, the sliding part is driven to rotate by the elastic part, and at the moment, the sliding part is in contact with the groove wall of the straight groove, so that the output frame can be driven to rotate in the same direction.
Further, the rigidity adjusting mechanism comprises a rigidity adjusting motor, a first bevel gear connected to the output end of the rigidity adjusting motor, a second bevel gear meshed with the first bevel gear, and a screw slider mechanism connected with the second bevel gear, wherein the screw slider mechanism is used for driving the sliding part to do linear motion.
In the scheme, the rigidity adjusting mechanism is powered by the rigidity adjusting motor to drive the first bevel gear to rotate, and the first bevel gear drives the second bevel gears meshed with the first bevel gear to rotate, so that the screw rod and slider mechanism is driven to move, and the sliders move linearly on the corresponding screw rods. According to the scheme, the lead screw sliding block mechanism is used as an actuating mechanism of the sliding piece, and the radial adjustment of the sliding block can be controlled by setting the direction of the lead screw, so that the stability and the reliability of the movement of the sliding block are ensured; meanwhile, one first bevel gear can simultaneously drive a plurality of second bevel gears which are annularly and uniformly distributed to rotate, so that the synchronous radial sliding of a plurality of sliding parts is guaranteed while the structure is simplified.
The screw rod sliding block mechanism comprises a screw rod fixedly connected with the second bevel gear and a screw rod sliding block in threaded fit with the screw rod, and the screw rod sliding block is fixedly connected with the sliding piece. Of course, the scheme can limit the screw rod sliding block in the rotating direction according to the actual situation when being implemented.
Further, the lead screw is connected with the inner wall of the shell through a second bearing. The scheme realizes indirect connection between the elastic piece and the shell through the lead screw, and ensures that the shell rotates along with the elastic piece in the same direction. Specifically, when the elastic component rotated under driving motor's drive, because the restriction of elastic component to the slider for the slider rotated thereupon, drove the lead screw slider and rotated, drove the lead screw by the lead screw slider and rotate, and lead screw one end is through second bevel gear around first bevel gear steady walking, the other end can drive the casing and rotate.
Further, the torque transmission device further comprises an encoder for feeding back the relative rotation angle between the torque input shaft and the shell. According to the scheme, the relative rotation angle between the torque input shaft and the shell is acquired in real time through the encoder, closed-loop control on the rigidity of the driver in the working process can be realized, and the biological simulation effect is obviously improved.
Further, the device also comprises an encoder magnet matched with the encoder; the encoder magnet is embedded in the magnet seat, the magnet seat is arranged in the magnet frame, and the magnet frame and the encoder are fixed on the outer wall of the shell; the magnetic iron base is fixedly connected with the magnet base, and the magnetic iron base is fixedly connected with the magnet base.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. according to the series elastic driver capable of continuously adjusting the rigidity, the balance position and the rigidity value of the rigidity output are respectively controlled through the two driving mechanisms, so that the continuous adjustment of the output rigidity of the elastic driver is realized.
2. The invention relates to a series elastic driver capable of continuously adjusting rigidity.A driving motor is connected with an elastic piece through a torque input shaft, and the elastic piece transmits torque to a shell; the rigidity adjusting mechanism can be used for realizing the function of continuous rigidity adjustment, and is only started at the timely stage of the series elastic driver in the motion process, and the advantage of energy storage and effective energy release of the elastic part is fully utilized, so that the series elastic driver capable of continuously adjusting the rigidity has the characteristic of low power consumption.
3. According to the series elastic driver capable of continuously adjusting the rigidity, the elastic piece is utilized to perform mutual conversion of kinetic energy and potential energy, so that the energy consumption of a system is reduced, and the utilization efficiency of the energy is improved; by introducing the elastic part, the dynamic performance of the system can be improved, so that the motion of the robot becomes more coordinated, stable and natural; by utilizing the buffer action of the elastic piece, the rigid collision between the robot and the environment can be avoided, the damage to parts of the robot is reduced, the service life of the robot is prolonged, and the safety of human-computer interaction is improved.
4. The invention relates to a series elastic driver capable of continuously adjusting rigidity, which can change the upper limit of moment born by a device and further change the rigidity adjusting range by increasing or decreasing the number of sliding parts under the condition that the number of elastic parts is not changed.
5. The series elastic driver capable of continuously adjusting the rigidity utilizes the self-locking characteristic of the screw rod sliding block, and does not need the rigidity adjusting assembly to generate extra moment to counteract the sliding trend caused by the rotation of the torque input shaft, so that the energy consumption can be reduced, the integral structure of the driver is effectively simplified, and the structure of the driver is more compact and miniaturized.
6. According to the series elastic driver capable of continuously adjusting the rigidity, the thicknesses of the elastic sheets on the two sides of the sliding part are different, so that the driver has bidirectional asymmetric rigidity, and the simulation capability of the driver on biological joints is remarkably improved.
7. The series elastic driver capable of continuously adjusting the rigidity has the advantages of reducing the thickness of the joint, being low in weight and power consumption, being wide in rigidity adjusting range, allowing bidirectional asymmetric rigidity, being capable of replacing elastic parts with different characteristics and the like, fully utilizes the functions of energy storage and release of the elastic elements in the walking stage, better simulates the shape and the function of a biological joint, and can realize closed-loop control on the rigidity of the driver in the working process.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic partial structure diagram of an embodiment of the present invention;
FIG. 3 is a front view of a resilient member in an embodiment of the invention;
FIG. 4 is a schematic structural diagram of a stiffness adjustment mechanism in an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an output frame according to an embodiment of the present invention.
Reference numbers and corresponding part names in the drawings:
1-shell, 101-output frame, 102-front cover, 103-rear cover, 104-straight groove, 2-driving motor, 3-rigidity adjusting motor, 4-first gear, 5-second gear, 6-elastic piece, 7-torque input shaft, 8-sliding piece, 9-first bevel gear, 10-second bevel gear, 11-lead screw, 12-lead screw sliding block, 13-third bearing, 14-second bearing, 15-encoder, 16-magnet rack, 17-magnet seat and 18-first bearing.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to examples and accompanying drawings, and the exemplary embodiments and descriptions thereof are only used for explaining the present invention and are not meant to limit the present invention. In the description of the present application, it is to be understood that the terms "front", "back", "left", "right", "upper", "lower", "vertical", "horizontal", "high", "low", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, should not be construed as limiting the scope of the present application.
Example 1:
as shown in fig. 1 and fig. 2, the series elastic driver capable of continuously adjusting stiffness comprises a housing 1, and further comprises a torque input shaft 7, a driving motor 2 for driving the torque input shaft 7 to rotate, an elastic member 6 rigidly connected to the torque input shaft 7, a sliding member 8 in radial sliding fit with the elastic member 6, and a stiffness adjusting mechanism for adjusting the sliding position of the sliding member 8; the elastic part 6 is located inside the housing 1 and the elastic part 6 drives the housing 1 to rotate in the same direction.
The elastic piece 6 comprises a plurality of elastic piece groups which are uniformly distributed in an annular mode, each elastic piece group comprises at least two elastic pieces which are parallel to each other, and the sliding piece 8 is in sliding fit between every two adjacent elastic pieces.
The rigidity of the elastic sheets positioned at the two sides of the sliding part 8 is different; preferably, on the premise that the elastic sheets on the two sides are made of the same material, the unequal rigidity can be represented by unequal thickness.
As shown in fig. 1 to 3, the elastic member 6 in the present embodiment is cross-shaped, and can be regarded as four sets of elastic pieces distributed annularly, each set of elastic pieces is composed of two elastic pieces with different thicknesses, and the sliding member 8 is clamped between the two elastic pieces.
In this embodiment, the driving motor 2 is connected to the elastic member 6 through the torque input shaft 7, and the elastic member 6 transmits the torque to the housing 1, and the stiffness adjusting motor 3 outputs the torque to the outside through the stiffness adjusting mechanism, so as to adjust the radial position of the sliding member 8, thereby changing the stressed fulcrum of the housing 1 and changing the overall stiffness of the actuator of this embodiment.
This embodiment is particularly useful for the ankle joint drive of robot, and driving motor 2 only drives in good time at the walking in-process of robot, and it is also that driving motor 2 only drives at the stage that the ankle needs the helping hand, and the elastic drive ware of this embodiment makes full use of elastic component 6 as energy storage device, and elastic component 6 is energy storage and effective energy release in the course of the work for but series connection elastic drive ware that continuous rigidity adjusted has the characteristics of low-power consumption.
In particular, the present embodiment may be provided with a connecting member such as a clip on the housing 1 for fixedly connecting with an external rod member to output power.
Example 2:
on the basis of embodiment 1, as shown in fig. 1 to 4, the sliding member 8 is in contact with the elastic sheets on both sides through the third bearing 13.
The rigidity adjusting mechanism comprises a rigidity adjusting motor 3, a first bevel gear 9 connected to the output end of the rigidity adjusting motor 3, a second bevel gear 10 meshed with the first bevel gear 9, and a screw slider mechanism connected with the second bevel gear 10, and the screw slider mechanism is used for driving a sliding part 8 to do linear motion.
The screw rod sliding block mechanism comprises a screw rod 11 fixedly connected with a second bevel gear 10 and a screw rod sliding block 12 in threaded fit with the screw rod 11, and the screw rod sliding block 12 is fixedly connected with the sliding part 8.
One side surface of the screw rod sliding block 12 is in sliding contact with the inner wall of the shell 1.
In a more preferred embodiment, the end of the slider 8 remote from the screw slider 12 is connected to a first bearing 18, said first bearing 18 being in sliding contact with the inner wall of the housing.
In a more preferred embodiment, the slider 8 is rod-shaped.
In a more preferred embodiment, the threaded spindle 11 is connected to the inner wall of the housing 1 via a second bearing 14.
In a more preferred embodiment, the slide 8 consists of three bearings, two bushings and a shaft fixedly connected to the spindle nut. The three bearings are respectively contacted with the elastic piece 6, the shell inner wall I and the shell inner wall II. The bearing in contact with the elastic member 6 is the third bearing 13 in this embodiment. Of course, each bearing may be positioned using a bushing.
The rigidity adjusting principle of the embodiment is as follows:
when the rigidity adjusting motor 3 rotates, the motion is transmitted to the four second bevel gears 10 through the first bevel gears 9, meanwhile, the second bevel gears 10 drive the screw rod 11 positioned on the bearing seat to rotate, the screw rod 11 converts the rotary motion into the linear motion of the screw rod sliding block 12, so that the contact point of the sliding part 8 and the elastic piece group is changed, and due to the change of the contact point, the force arm of the elastic piece group changes: when the sliding block moves from inside to outside, the force arm of the elastic sheet group is lengthened, and the rigidity of the driver is reduced; when the sliding block moves from outside to inside, the force arm of the elastic sheet group is shortened, the rigidity of the driver is increased, and the function of continuously adjusting the rigidity of the series elastic driver is realized.
In the working process of the embodiment, the elastic driver fully utilizes the characteristics of energy storage and energy release of the elastic sheet set, and the driving motor 2 only performs power compensation at a proper time stage in the walking process of the robot or the lower limb exoskeleton, so that the elastic driver has the advantage of low power consumption.
In the embodiment, the modular structure of the transmission mechanism for the main drive and the rigidity adjusting mechanism has the advantages of easy installation and replacement, no movement interference and antagonism generated in the movement process, reduced energy loss and the like.
In the embodiment, under the condition that the number of the elastic sheet groups is not changed, the upper limit of the moment born by the device can be changed by increasing or decreasing the number of the sliding blocks which are in sliding fit in each elastic sheet group, and the rigidity adjusting range is also changed.
In the embodiment, the moment action direction of the driving motor 2 is set to be perpendicular to the moving direction of the sliding block, and the characteristic of self-locking of the screw sliding block mechanism is utilized, so that when the position of the sliding block is kept unchanged, the rigidity adjusting motor is not required to generate extra moment to counteract the sliding block moving trend caused by driving moment, and therefore, the energy consumption is reduced, and the structure is compact.
The embodiment adopts the cross-shaped elastic sheet and the screw rod sliding block mechanism, reduces the thickness of the joint, has the advantages of low weight, low power consumption, large rigidity adjusting range, bidirectional asymmetric rigidity allowance, capability of replacing springs with different characteristics and the like, fully utilizes the functions of energy storage and release of the elastic element in the walking stage, and better simulates the shape and the function of a biological joint.
Example 3:
on the basis of embodiment 1 or embodiment 2, the housing 1 comprises an output frame 101, and a front cover 102 and a rear cover 103 which are respectively connected to two opposite sides of the output frame 101; the output frame 101 has a straight slot 104 inside which matches the slide 8.
Referring to fig. 5, the specific structure of the output frame 101 in this embodiment is shown, wherein the straight groove 104 is cross-shaped to match the elastic member.
Preferably, the front cover 102, the rear cover 103 and the output frame 101 are connected by bolts.
Example 4:
on the basis of any one of the above embodiments, as shown in fig. 1, the series elastic driver capable of continuously adjusting the rigidity further comprises an encoder 15 for feeding back the relative rotation angle between the torque input shaft 7 and the housing 1. An encoder magnet matched with the encoder 15; the encoder magnet is embedded in the magnet seat 17, the magnet seat 17 is arranged in the magnet frame 16, and the magnet frame 16 and the encoder 15 are fixed on the outer wall of the shell 1; the magnetic bearing further comprises a first gear 4 fixedly sleeved on the torque input shaft 7 and a second gear 5 meshed with the first gear 4, and the second gear 5 is fixedly connected with the magnet seat 17.
The relative rotation angle between the torque input shaft and the shell can be acquired in real time through the magnetic rotary encoder component so as to realize rigidity closed-loop control. Specifically, the method comprises the following steps:
the torque input shaft 7 transmits the rotation motion to a magnet seat 17 embedded with an encoder magnet through a first gear 4 and a second gear 5, the magnet seat 17 is connected with a magnet frame 16, and the magnet frame 16 is fixedly connected with an encoder 15 and an end cover of the shell 1. In the walking process of the robot, the rotation angle difference between the torque input shaft 7 and the shell 1 can be fed back by the encoder in real time, and then the rigidity adjusting motor is controlled by the controller in real time according to the feedback result.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Further, the term "connected" used herein may be directly connected or indirectly connected via other components without being particularly described.
Claims (10)
1. A series elastic driver capable of continuously adjusting rigidity comprises a shell (1), and is characterized by further comprising a torque input shaft (7), a driving motor (2) for driving the torque input shaft (7) to rotate, an elastic piece (6) rigidly connected with the torque input shaft (7), a sliding piece (8) in radial sliding fit with the elastic piece (6), and a rigidity adjusting mechanism for adjusting the sliding position of the sliding piece (8); the elastic piece (6) is positioned in the shell (1) and the elastic piece (6) drives the shell (1) to rotate in the same direction.
2. A continuously stiffness adjustable series elastic actuator according to claim 1, wherein the elastic member (6) comprises a plurality of annularly and uniformly distributed spring plate groups, each spring plate group comprises at least two spring plates parallel to each other, and the sliding member (8) is slidably fitted between two adjacent spring plates.
3. A continuously stiffness adjustable series elastic driver according to claim 2, characterized in that the spring plates on both sides of the sliding element (8) have different stiffness.
4. A continuously stiffness adjustable series elastic drive according to claim 2, characterized in that the sliding element (8) is in contact with the two spring plates via a third bearing (13).
5. A continuously stiffness adjustable series elastic driver according to claim 1, characterized in that the housing (1) comprises an output frame (101), and a front cover (102) and a rear cover (103) respectively connected to opposite sides of the output frame (101); the output frame (101) is internally provided with a straight groove (104) matched with the sliding piece (8).
6. The series elastic driver capable of continuously adjusting the rigidity is characterized by comprising a rigidity adjusting motor (3), a first bevel gear (9) connected to the output end of the rigidity adjusting motor (3), a second bevel gear (10) meshed with the first bevel gear (9), and a screw slider mechanism connected with the second bevel gear (10), wherein the screw slider mechanism is used for driving a slider (8) to do linear motion.
7. A continuously stiffness adjustable series elastic driver according to claim 6, characterized in that the screw slider mechanism comprises a screw (11) fixedly connected with a second bevel gear (10), a screw slider (12) in threaded fit with the screw (11), the screw slider (12) being fixedly connected with the slider (8).
8. A continuously stiffness adjustable series elastic drive according to claim 6, characterized in that the lead screw (11) is connected to the inner wall of the housing (1) by a second bearing (14).
9. A continuously stiffness adjustable series elastic drive according to claim 1, characterized by an encoder (15) for feedback of the relative rotational angle between the torque input shaft (7) and the housing (1).
10. A continuously stiffness adjustable series elastic drive according to claim 9, characterized by further comprising an encoder magnet associated with the encoder (15); the encoder magnet is embedded in the magnet seat (17), the magnet seat (17) is arranged in the magnet frame (16), and the magnet frame (16) and the encoder (15) are fixed on the outer wall of the shell (1); still establish first gear (4) on moment of torsion input shaft (7), with second gear (5) of first gear (4) meshing including fixed cover, second gear (5) with magnet seat (17) fixed connection.
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| CN202211121607.6A CN115338901A (en) | 2022-09-15 | 2022-09-15 | Series elastic driver with continuously adjustable rigidity |
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| CN202211121607.6A CN115338901A (en) | 2022-09-15 | 2022-09-15 | Series elastic driver with continuously adjustable rigidity |
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