CN117921736A - Reconfigurable mechanical arm based on variable stiffness joint - Google Patents
Reconfigurable mechanical arm based on variable stiffness joint Download PDFInfo
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- CN117921736A CN117921736A CN202410343415.2A CN202410343415A CN117921736A CN 117921736 A CN117921736 A CN 117921736A CN 202410343415 A CN202410343415 A CN 202410343415A CN 117921736 A CN117921736 A CN 117921736A
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Abstract
The invention relates to the technical field of mechanical arms, in particular to a reconfigurable mechanical arm based on a variable-stiffness joint, which comprises a central controller, the variable-stiffness joint and arm rods, wherein the number of the variable-stiffness joint and the number of the arm rods are not less than two, and each variable-stiffness joint is provided with a joint connecting piece; wherein, the central controller, the variable stiffness joint and the arm lever are detachably connected through the joint connecting piece; the output of the variable stiffness joint directly drives or indirectly drives the adjacent variable stiffness joint to rotate through the arm rod. According to the invention, the variable stiffness joint is adopted as the joint module of the mechanical arm, so that the stiffness adjustment operation of the mechanical arm occurs in the rotation process of the joint internal mechanism, and the working stability of the mechanical arm is further improved; the stiffness-variable joint is matched with the detachable connecting piece such as the arm rod, so that the self-definition of the mechanical arm configuration is realized, and the degree of freedom and flexibility of the mechanical arm are greatly increased.
Description
Technical Field
The invention relates to the technical field of mechanical arms, in particular to a reconfigurable mechanical arm based on a variable-stiffness joint.
Background
With the progress of scientific technology, robot technology is rapidly developed, and simple and boring work stations are gradually replaced by robots or mechanical arms. Compared with the traditional mechanical arm with fixed configuration, the modularized mechanical arm has the characteristics of reconfigurability, self-repairing property, self-adaptability and the like, and has stronger environmental adaptability, so that the modularized mechanical arm has good application prospects in the fields of deep sea operation, deep space exploration, rehabilitation medical treatment and the like.
The modularized mechanical arm consists of a plurality of mechanical interfaces and joint modules, wherein the mechanical interfaces and the joint modules have the same structure, and various configurations are formed through the connection between the modules so as to adapt to the working and environment requirements, and the core of the modularized mechanical arm is the joint module. Most of the joint modules belong to rigid driving joints, are extremely easy to damage the mechanical arm when moving at high speed or facing emergency, and are difficult to stop the damage immediately. To avoid such damage, the installation of variable stiffness joints in robotic arms has also become an important direction of investigation.
The existing rigidity-variable joint has the problem that a rigidity adjusting mechanism control system is complex, most of rigidity adjusting mechanisms are in a working mode of separating rigidity adjusting from driving, namely, a rigidity adjusting motor and a driving motor are controlled separately, namely, the rigidity adjusting motor is responsible for rigidity adjusting, the output motor is responsible for driving, and if rigidity adjusting is needed, the whole structure is required to be stopped and then rigidity adjusting is needed, so that the working efficiency of the whole structure can be definitely reduced.
Meanwhile, the modularized design of the mechanical arm is that the mechanical arm and the joint assembly thereof are controlled by using a modularized software system, and the installation of the joint assembly and the whole structure of the mechanical arm are mostly kept in rigid and fixedly connected, so that the problem that the internal structure of the mechanical arm cannot be replaced is caused, and if one part fails, the whole structure needs to be replaced together, thereby increasing the use cost.
Disclosure of Invention
The invention aims to solve the problems and provide a reconfigurable mechanical arm based on a variable stiffness joint, wherein the variable stiffness joint is adopted as a joint module of the mechanical arm, so that the stiffness adjustment operation of the mechanical arm occurs in the rotation process of an internal mechanism of the joint, and the working stability of the mechanical arm is further improved. Meanwhile, the variable stiffness joints are matched with the detachable connecting pieces such as the arm rods and the like, and the variable stiffness joints are communicated and controlled through the central controller, so that the mechanical arm with various configurations can be customized according to different application scenes, the degree of freedom and flexibility of the mechanical arm are greatly increased, the man-machine interaction is more flexible, and the safety to people and the mechanical arm is improved.
The invention provides a reconfigurable mechanical arm based on a variable stiffness joint, which comprises a central controller, the variable stiffness joint and arm rods, wherein the number of the variable stiffness joint and the arm rods is not less than two, and each variable stiffness joint is provided with a joint connecting piece; wherein, the central controller is detachably connected with the variable stiffness joint through the joint connecting piece; the output of the variable stiffness joint directly drives or indirectly drives the adjacent variable stiffness joint to rotate through the arm lever; two adjacent rigidity-variable joints are detachably connected through an arm rod.
Further, the rigidity-variable joint comprises a joint shell, a rigidity-adjusting mechanism, a rigidity-adjusting motor, a rotating mechanism and a rotating motor; the rigid adjusting mechanism and the rotating mechanism are coaxially arranged in the joint shell, the output shafts of the rigid adjusting motor and the rotating motor extend into the joint shell, the rotating speeds of the rigid adjusting mechanism and the rotating mechanism are controlled through the coupler and the worm respectively, and the rigid adjusting mechanism and the rotating mechanism keep relatively static rotation when the rigid adjusting mechanism and the rotating mechanism keep a specific rotating speed ratio through adjusting the rotating speed ratio between the rigid adjusting mechanism and the rotating mechanism; when the rotation speed ratio of the rigidity adjusting mechanism and the rotating mechanism deviates from a specific rotation speed ratio, the rigidity adjusting mechanism is matched with the rotating mechanism to adjust the rotation rigidity.
Further, the rigidity adjusting mechanism comprises a central shaft, a rigidity adjusting turbine, a sun gear, a planet gear, a retainer and a roller slide block group; the rigidity adjusting turbine is coaxially fixed at one end of the central shaft, and an output shaft of the rigidity adjusting motor drives the rigidity adjusting turbine to rotate through the coupler and the worm so as to drive the central shaft to rotate; the retainer is coaxially sleeved on the central shaft through a bearing, and at least 2 planetary gears are uniformly arranged along the circumferential direction of the retainer, so that the planetary gears are meshed with a sun gear fixed on the central shaft; the roller slide block group is contacted with the rotating mechanism and the joint shell; the number of the roller slide block groups is consistent with that of the planetary gears and meshed with the planetary gear teeth.
Further, the roller slide block group comprises rollers, a pressing block, a rack slide block, a meshing slide block and a slide rail; the rack sliding block is arranged on the sliding rail, and one side of the rack sliding block is provided with side teeth meshed with the planet gears; the meshing sliding block is positioned above the rack sliding block, the bottom surface of the meshing sliding block and the top surface of the rack sliding block are uniformly provided with matched inclined sliding grooves, and the two sides of the meshing sliding block are provided with retaining sliding grooves, so that the meshing sliding block can be decomposed into the translation of the rack sliding block along the sliding rail and the translation of the meshing sliding block facing the planet wheel under the cooperation of the clamping position and the retaining sliding grooves; the roller is arranged on the meshing sliding block through the pressing block, so that the roller is contacted with the rotating mechanism.
Further, the rotating mechanism comprises a rotating worm wheel, a rotating gear shaft, a transmission gear, a rotating frame, a rotating hinge and an output end; the sliding rail is fixed on the rotating frame, the transmission gear is fixedly connected with the rotating frame coaxially, the rotating frame is sleeved on the central shaft through a bearing, the transmission gear is meshed with a rotating gear shaft sleeved with a rotating worm wheel, an output shaft of the rotating motor drives the rotating worm wheel to rotate through a coupler and a worm, and the transmission gear and the rotating frame are driven to rotate through the rotating gear shaft; the rotating hinge is coaxially sleeved on the central shaft through a bearing and is contacted with the roller; the output end is sleeved on the central shaft through a bearing and is connected with the rotating hinge for outputting rotation to the outside.
Further, an assembly hole is formed in one side of the output end and is matched with a protruding block arranged on the surface of one side of the rotary hinge, so that the protruding block is inserted into the assembly hole to complete connection between the rotary hinge and the output end; the circumference at the rotation hinge is provided with flexible part, and the group number of flexible part is the same with the quantity of planet wheel, and every flexible part of group includes two flexible pieces, and the gyro wheel stretches into between two flexible pieces and with two flexible piece contacts, through the rotation rigidity of two flexible piece support position adjustment output of gyro wheel outwards.
Further, the joint shell comprises an output connecting disc, a front end cover, a motor front shell and a motor rear shell; wherein, the inner wall of the motor front shell is provided with a clamping position corresponding to the retaining chute, the rigidity adjusting mechanism and the rotating mechanism are placed in an inner space formed by connecting the motor front shell and the motor rear shell, and the output shaft of the rigidity adjusting motor and the output shaft of the rotating motor respectively drive the rigidity adjusting turbine and the rotating worm wheel after extending into the motor rear shell; the front end cover is arranged on the front shell of the motor, and the output connecting disc is coaxially and fixedly connected on the output end.
Further, the variable stiffness joint is sleeved on the joint connecting piece, so that the output connecting disc passes through one side of the joint connecting piece and is directly and detachably connected with the central controller, the arm lever or the adjacent variable stiffness joint.
Compared with the prior art, the invention has the following beneficial effects:
1) The invention adopts a plurality of variable stiffness joints and arm rods, and is matched with a detachable connecting piece to form the reconfigurable mechanical arm based on the variable stiffness joints, so that the degree of freedom of the mechanical arm can be freely increased or decreased, the configuration can be changed, and meanwhile, the invention has the characteristic of variable stiffness adjustment, so that the man-machine interaction is more flexible, and the safety to both people and the mechanical arm is improved;
2) According to the rigidity-variable joint, the positions and the structures of the sun wheel, the planet wheel and the roller slide block group are designed, the rigidity-variable motor and the rotating motor are used for changing the relative motion state of the sun wheel and the roller slide block group around the central axis, so that the motion state of the planet wheel is changed, the follow-up rigidity-variable operation is completed under the cooperation of the planet wheel and the roller slide block group, the rigidity-variable motor and the rotating motor continuously keep the working state in the process, the proposed rigidity-variable joint also always keeps the working state of outputting rotation, the technical effect of regulating rigidity while working is truly realized, and the joint and external equipment connected with the joint are enabled to run more stably;
3) The rigidity-variable joint provided by the invention changes the motion state of the planet wheel through the rotation speed ratio of the rigidity-variable motor and the rotation motor, and further completes the subsequent rigidity-variable work by utilizing the matching of the planet wheel and the roller slider group, so that compared with the traditional manual rigidity-variable adjustment mode and the mode of stopping rotation and then adjusting rigidity, the rigidity-variable joint provided by the invention can realize rigidity adjustment by only adjusting the rotation speed ratio of the rigidity-variable motor and the rotation motor without excessive manual participation in adjustment, and further improves the accuracy and convenience of rigidity adjustment of the reconfigurable mechanical arm.
Drawings
FIG. 1 is a schematic illustration of a first configuration of a reconfigurable mechanical arm based on a variable stiffness joint provided in accordance with an embodiment of the present invention;
FIG. 2 is a schematic view of a direct connection of two adjacent variable stiffness joints provided in accordance with an embodiment of the present invention;
FIG. 3 is a schematic illustration of a connection of a variable stiffness joint to an arm bar provided in accordance with an embodiment of the present invention;
FIG. 4 is a schematic illustration of the connection of two adjacent arm links provided in accordance with an embodiment of the present invention;
FIG. 5 is a schematic view of the overall structure of a variable stiffness joint provided in accordance with an embodiment of the present invention;
FIG. 6 is a schematic illustration of the external configuration of a variable stiffness joint provided in accordance with an embodiment of the present invention;
FIG. 7 is a schematic view of a portion of the internal structure of a variable stiffness joint provided in accordance with an embodiment of the present invention;
FIG. 8 is a schematic diagram of a combined structure of a stiffening mechanism and a rotation mechanism provided in accordance with an embodiment of the present invention;
FIG. 9 is a schematic structural view of a rigidity adjusting mechanism according to an embodiment of the present invention;
fig. 10 is a schematic structural view of a roller slider group according to an embodiment of the present invention;
fig. 11 is a schematic view of a second configuration of a reconfigurable mechanical arm based on a variable stiffness joint according to an embodiment of the present invention.
Reference numerals: the device comprises a central controller 1, a variable stiffness joint 2, a joint shell 201, an output connecting disc 201_1, a front end cover 201_2, a motor front shell 201_3, a motor rear shell 201_4, a clamping position 201_5, a limiting groove 201_6, a stiffness adjusting mechanism 202, a central shaft 202_1, a stiffness adjusting turbine 202_2, a sun gear 202_3, a planet gear 202_4, a retainer 202_5, a sliding rail 202_6, a rack sliding block 202_7, an engagement sliding block 202_8, an inclined sliding groove 202_9, a retaining sliding groove 202_10, a roller 202_11, a pressing block 202_12, a rotating mechanism 203, a rotating worm wheel 203_1, a rotating gear shaft 203_2, a transmission gear 203_3, a rotating frame 203_4, a rotating hinge 203_5, an output end 203_6, a stiffness adjusting motor 204, a rotating motor 205, an arm rod 3, a joint connector 4, an output quick-change interface 502 and a female output quick-change interface.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not to be construed as limiting the invention.
According to the reconfigurable mechanical arm based on the variable stiffness joint, provided by the invention, by adopting a plurality of variable stiffness joints and arm rods and matching with the detachable connecting piece, the customization of various configurations of the reconfigurable mechanical arm is realized, and the degree of freedom and flexibility of the mechanical arm are greatly improved. Meanwhile, the rigidity-variable joint is adopted as a core joint module of the mechanical arm, so that the rigidity adjustment operation of the mechanical arm occurs in the rotation process of the joint internal mechanism, and the working stability of the mechanical arm is further improved.
To clearly demonstrate the features of the detachable reconstruction of the reconfigurable mechanical arm based on the variable stiffness joint provided by the invention, two configurations of the reconfigurable mechanical arm based on the variable stiffness joint are provided herein.
Specific example 1:
Fig. 1 shows a first configuration of a reconfigurable mechanical arm based on a variable stiffness joint according to an embodiment of the present invention.
As shown in fig. 1, the reconfigurable mechanical arm based on the variable stiffness joint provided by the embodiment of the invention comprises a central controller 1, a variable stiffness joint 2, an arm rod 3 and a joint connector 4 which is installed on an output connecting disc 201_1 of the central controller 1 and the variable stiffness joint 2. In order to output the rotation of the variable stiffness joint 2 and ensure the detachable connection of the central controller 1, the variable stiffness joint 2, the arm rod 3 and the joint connector 4, the embodiment of the invention adopts, but is not limited to, an output quick-change interface 5 to realize the detachable installation and motion transmission of the central controller 1, the variable stiffness joint 2, the arm rod 3 and the joint connector 4.
In this embodiment, the joint connector 4 and the output quick-change interface 5 connect and assemble the central controller 1, the variable stiffness joint 2 and the arm lever 3 to form a single-arm reconfigurable mechanical arm as shown in fig. 1, where the central controller 1 is located at one end of the mechanical arm and controls all the variable stiffness joints 2, and the single mechanical arm with six degrees of freedom is completed under the cooperation of the variable stiffness joints 2 and the arm lever 3. Preferably, the joint connector 4 adopts an L-shaped structure, one side of the joint connector 4 is an output side, and the joint connector is directly arranged on the front end cover 201_2 of the variable stiffness joint 2 or the central controller 1; the other side of the joint connector 4 is a connecting side for connecting with the adjacent variable stiffness joint 2 or arm 3. Threaded holes are formed in the surfaces of the output side and the connection side of the joint connector 4, so that the joint connector can be connected with the adjacent central controller 1, the variable stiffness joint 2 or the arm rod 3 directly.
Figure 2 shows a direct connection of two adjacent variable stiffness joints.
In the single-arm reconfigurable mechanical arm provided in this embodiment, the connection manner of two adjacent variable stiffness joints 2 is shown in fig. 2. The male output quick-change interface 501 of the output quick-change interface 5 is directly fixed on the output connecting disc 201_1 of the variable stiffness joint 2, and the female output quick-change interface 502 of the output quick-change interface 5 is installed on the connecting side of the joint connector 4, so that the male output quick-change interface 501 on the output connecting disc 201_1 passes through the output side of the joint connector 4 and is matched with the female output quick-change interface 502 on the connecting side of the adjacent joint connector 4, and further the motion of two adjacent variable stiffness joints 2 is transmitted.
Fig. 3 shows the connection structure of the variable stiffness joint and the arm lever.
In the single-arm reconfigurable mechanical arm provided in this embodiment, the connection manner between the variable stiffness joint 2 and the adjacent arm rod 3 is shown in fig. 3. The male output quick-change interface 501 is fixed at one end of the arm rod 3, the female output quick-change interface 502 is installed at the connection side of the joint connector 4, and under the cooperation of the male output quick-change interface 501 and the female output quick-change interface 502, the arm rod 3 and the rigidity-variable joint 2 sleeved on the joint connector 4 are connected and move transmitted.
Fig. 4 shows the connection structure of two adjacent arm bars.
In the single-arm reconfigurable mechanical arm provided in this embodiment, the connection manner of two adjacent arm rods is shown in fig. 4. After the arm rod 3 on the left side is connected with the variable stiffness joint 2 as shown in fig. 3, one end of the arm rod 3 on the right side is also fixed with a male output quick-change interface 501, the cooperation of the male output quick-change interface 501 and a female output quick-change interface 502 on the connection side in the joint connector 4 connects the joint connector 4 with the arm rod 3 on the right side, and the female output quick-change interface 502 is installed on the output side of the joint connector 4. The male output quick-change interface 501 mounted on the output connection pad 201_1 of the variable stiffness joint 2 is matched with the female output quick-change interface 502 mounted on the output side of the joint connector 4, the arm rod 3 on the right side is connected with the output connection pad 201_1 of the variable stiffness joint 2, and at the moment, two adjacent arm rods 3 are connected and move transmitted through the variable stiffness joint 2.
In this embodiment, the degree of freedom of the mechanical arm can be customized by increasing or decreasing the number of the variable stiffness joints 2 and the arm bars 3.
Fig. 5 and 6 show the overall structure and the external structure of a variable stiffness joint provided according to an embodiment of the present invention, respectively. Fig. 7 shows a part of the internal structure of a variable stiffness joint according to an embodiment of the present invention.
As shown in fig. 5 to 7, the variable stiffness joint 2 includes a joint housing 201, a rigidity adjusting mechanism 202, a rotation mechanism 203, a rigidity adjusting motor 204, and a rotation motor 205. The rigidity adjusting mechanism 202 and the rotating mechanism 203 are installed inside the joint housing 201, and the output shafts of the rigidity adjusting motor 204 and the rotating motor 205 extend into the joint housing 201.
The joint housing 201 includes an output connection pad 201_1, a front end cover 201_2, a motor front case 201_3, and a motor rear case 201_4. The front end cover 201_2 is mounted on the motor front shell 201_3, and screw holes matched with the joint connector 4 are formed in the surface of the front end cover 201_2, so that the joint connector 4 is mounted on the front end cover 201_2. The output connection disc 201_1 is coaxially and fixedly connected to the output end 203_6 in the rotating mechanism 203, and a limit groove 201_6 for installing the male output quick-change interface 501 is formed in the surface of the output connection disc 201_1. The rigidity adjusting mechanism 202 and the rotating mechanism 203 are placed in an internal space formed by connecting the motor front case 201_3 and the motor rear case 201_4. The connection mode of the motor front shell 201_3 and the motor rear shell 201_4 includes, but is not limited to, connection through bolts, connecting plates and other connecting pieces, and mutually meshed threads are arranged at the connection ports of the motor front shell 201_3 and the motor rear shell 201_4. In the embodiment of the present invention, the motor front case 201_3 and the motor rear case 201_4 are connected in such a manner that screw engagement is arranged at the connection port. A lock 201_5 corresponding to the engagement slider 202_8 of the rigid adjusting mechanism 202 is provided on the inner wall of the motor front case 201_3. The output shaft of the rigidity-adjusting motor 204 and the output shaft of the rotary motor 205 extend into the motor rear case 201_4, and then drive the rigidity-adjusting mechanism 202 and the rotary mechanism 203, respectively. Preferably, a stabilizing frame for assisting in placing the rigidity adjusting mechanism 202 and the rotating mechanism 203 is arranged in the motor rear shell 201_4, and is used for providing stable working positions with a certain movable space for the rigidity adjusting mechanism 202 and the rotating mechanism 203, so that the situation that devices are damaged due to excessive dislocation of the rigidity adjusting mechanism 202 and the rotating mechanism 203 in the rotating process is avoided.
Fig. 8 shows a combined structure of a rigidity adjusting mechanism and a rotating mechanism provided according to an embodiment of the present invention. Fig. 9 shows a structure of a rigidity adjusting mechanism provided according to an embodiment of the present invention.
As shown in fig. 8 and 9, the rigidity adjusting mechanism 202 includes a center shaft 202_1, a rigidity adjusting turbine 202_2, a sun gear 202_3, a planet gear 202_4, a cage 202_5, and a roller slider group.
Wherein, the rigid turbine 202_2 is in interference fit with the central shaft 202_1, so that the rigid turbine 202_2 is coaxially fixed at one end of the central shaft 202_1. An output shaft of the rigidity adjusting motor 204 is connected with the rigidity adjusting turbine 202_2 through a coupler and a worm, so that the rigidity adjusting motor 204 drives the rigidity adjusting turbine 202_2 to rotate, and further drives the central shaft 202_1 to rotate. The cage 202_5 is coaxially sleeved on the central shaft 202_1 through a bearing, and not less than 2 planetary gears 202_4 are uniformly mounted along the circumferential direction of the cage 202_5. Preferably, 3 planet wheels 202_4 are used in the embodiment of the present invention, and the cage 202_5 is configured as an equilateral triangle with curvature in cooperation with the 3 planet wheels 202_4. Sun gear 202_3 is coaxially fixed on central shaft 202_1 and in meshing engagement with planet gears 202_4.
Fig. 10 shows a structure of a roller slider group provided according to an embodiment of the present invention.
As shown in fig. 8 to 10, the number of roller slider sets is identical to that of the planetary gears 202_4, so that 3 roller slider sets are also used in the embodiment of the present invention. The roller slide block group comprises a slide rail 202_6, a rack slide block 202_7, a meshing slide block 202_8, an inclined slide groove 202_9, a holding slide groove 202_10, a roller 202_11 and a pressing block 202_12.
The slide rail 202_6 is mounted on the rotating frame 203_4 in the rotating mechanism 203, and the rack slider 202_7 is mounted on the slide rail 202_6. On one side of the rack slider 202_7, a toothing is provided which meshes with the planet wheel 202_4. The engagement slide block 202_8 is positioned above the rack slide block 202_7, the bottom surface of the engagement slide block 202_8 and the top surface of the rack slide block 202_7 are uniformly provided with matched inclined slide grooves 202_9, two sides of the engagement slide block 202_8 are provided with retaining slide grooves 202_10, so that the movement of the engagement slide block 202_8 along the inclined slide groove 202_9 is decomposed into the translation of the rack slide block 202_7 along the slide rail 202_6 and the translation of the engagement slide block 202_8 facing the planet wheel 202_4 under the cooperation of the clamping position 201_5 and the retaining slide groove 202_10. The roller 202_11 is mounted on the engagement slider 202_8 by the pressing block 202_12.
Therefore, when the output shaft of the rigidity-adjusting motor 204 drives the rigidity-adjusting turbine 202_2 to rotate through the coupling and the worm, the rigidity-adjusting turbine 202_2 drives the central shaft 202_1 to rotate, and further drives the sun gear 202_3 fixed on the central shaft 202_1 to rotate. Since the retainer 202_5 is connected to the central shaft 202_1 through bearings, the central shaft 202_1 does not rotate the retainer 202_5.
As shown in fig. 8, the rotation mechanism 203 includes a rotation worm wheel 203_1, a rotation gear shaft 203_2, a transmission gear 203_3, a rotation frame 203_4, a rotation hinge 203_5, and an output terminal 203_6. Wherein, the rotating worm gear 203_1 is coaxially sleeved on the rotating gear shaft 203_2, and the transmission gear 203_3 is meshed with the rotating gear shaft 203_2. The transmission gear 203_3 is coaxially and fixedly connected with the rotating frame 203_4, the rotating frame 203_4 is sleeved on the central shaft 202_1 through a bearing, the output shaft of the rotating motor 205 drives the rotating worm wheel 203_1 to rotate through a coupler and a worm, and the transmission gear 203_3 and the rotating frame 203_4 are driven to rotate through the rotating gear shaft 203_2. In the embodiment of the present invention, to cooperate with 3 sets of roller slider sets, the rotating frame 203_4 is configured as an equilateral triangle structure with an arc, and 3 sliding rails 202_6 are fixed along 3 straight sides of the rotating frame 203_4. In order to reduce the influence of the gravity of the rotating frame 203_4 on the rotation of the roller slider group, 3 lightening holes are formed in the rotating frame 203_4 according to the mechanical principle, so that the overall gravity of the rotating frame 203_4 and the roller slider group is reduced, and the rotation and adjustment effects are improved.
The rotary hinge 203_5 is coaxially sleeved on the central shaft 202_1 through a bearing. At least 2 protruding blocks are provided on one side surface of the rotating hinge 203_5, and flexible portions are provided in the circumferential direction of the rotating hinge 203_5, the number of groups of flexible portions being the same as the number of the planetary gears 202_4, so that the number of groups of flexible portions is also 3 groups in this specific embodiment. Each set of flexible portions includes two flexible sheets, and the engagement slider 202_8 drives the roller 202_11 to extend between and contact the two flexible sheets.
The output terminal 203_6 is sleeved on the central shaft 202_1 through a bearing, and is connected to the rotation hinge 203_5 for outputting rotation to the outside. An assembly hole is formed in one side of the output end 203_6, and the assembly hole is matched with a protruding block of the rotary hinge 203_5, so that the protruding block is inserted into the assembly hole to finish the fixedly connection between the rotary hinge 203_5 and the output end 203_6. In order to make the connection between the rotary hinge 203_5 and the output end 203_6 stronger, in the embodiment of the present invention, 3 pairs of protruding blocks on the rotary hinge 203_5 and fitting holes on the output end 203_6 are correspondingly arranged along the circumferential direction.
Therefore, when the rotary motor 205 drives the rotary worm wheel 203_1 to rotate through the coupling and the worm, the rotary worm wheel 203_1 drives the coaxial rotary gear shaft 203_2 to rotate, and the rotary gear shaft 203_2 drives the transmission gear 203_3 and the rotary frame 203_4 fixedly connected with the transmission gear 203_3 to rotate together through the meshing engagement, so that the roller slider group on the rotary frame 203_4 also rotates. While the rotating hinge 203_5 rotates with the roller 202_11, and the rotating hinge 203_5, the output 203_6 connected to the rotating hinge 203_5, and the rotation of the roller 202_11 about the central axis 202_1 are simultaneously affected by the rotating frame 203_4 and the planet 202_4. Since the rotating frame 203_4, the rotating hinge 203_5, and the output end 203_6 are connected to the central shaft 202_1 through bearings, the central shaft 202_1 does not interfere with the rotation of the rotating frame 203_4, the rotating hinge 203_5, and the output end 203_6.
Referring to fig. 5 to 10, when the output shafts of the rigid adjusting motor 204 and the rotating motor 205 output at a specific rotation speed ratio, the rotating frame 203_4 and the sun gear 202_3 rotate at the same angular speed, the planet gear 202_4 between the sun gear 202_3 and the rack slider 202_7 cannot rotate, at this time, the sun gear 202_3 and the rack slider 202_7 remain relatively stationary, and the contact position between the roller 202_11 on the meshing slider 202_8 and the rotating hinge 203_5 remains unchanged, so that the output end 203_6 fixedly connected with the rotating hinge 203_5 drives the output connecting disc 201_1 to perform rotational movement at a constant rigidity.
When the rotation speed ratio of the output of the rigidity adjusting motor 204 and the rotation motor 205 changes, an angular speed difference occurs between the rotating frame 203_4 and the sun gear 202_3, so that the planet gear 202_4 between the sun gear 202_3 and the rack sliding block 202_7 rotates, further, the rack sliding block 202_7 moves along the sliding rail 202_6 on the rotating frame 203_4, the meshing tooth block 202_8 moves relatively to the rack sliding block 202_7 under the cooperation of the clamping position 201_5 and the retaining sliding groove 202_10, the roller 202_11 on the meshing sliding block 202_8 moves back and forth between the flexible parts of the rotating hinge 203_5, the supporting position of the roller 202_11 on the rotating hinge 203_5 is changed, and further, the supporting rigidity provided by the rotating hinge 203_5 to the output end 203_6 is changed, and the output end 203_6 drives the output connecting disc 201_1 to complete rigidity changing adjustment.
Specific example 2:
fig. 11 illustrates a second configuration of a reconfigurable mechanical arm based on a variable stiffness joint provided by an embodiment of the invention.
In this embodiment, the joint connector 4 and the output quick-change interface 5 connect and assemble the central controller 1, the variable stiffness joint 2 and the arm lever 3 to form a double-arm reconfigurable mechanical arm as shown in fig. 11, the central controller 1 is located in the middle of the mechanical arm and controls all the variable stiffness joints 2, the work of the double mechanical arms is completed under the cooperation of the arm lever 3 and the variable stiffness joint 2, and each arm can complete the work of three degrees of freedom.
In this embodiment, the connection modes of two adjacent variable stiffness joints 2, the arm rods 3 and two adjacent arm rods 3 are identical to those in embodiment 1, and the degree of freedom of the mechanical arm is customized by increasing or decreasing the number of the variable stiffness joints 2 and the arm rods 3.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present disclosure may be performed in parallel, sequentially, or in a different order, provided that the desired results of the technical solutions of the present disclosure are achieved, and are not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (8)
1. The reconfigurable mechanical arm based on the variable stiffness joints is characterized by comprising a central controller, the variable stiffness joints and arm rods, wherein the number of the variable stiffness joints and the number of the arm rods are not less than two, and each variable stiffness joint is provided with a joint connecting piece; wherein the central controller is detachably connected with the variable stiffness joint through the joint connector; the output of the variable stiffness joint directly drives or indirectly drives the adjacent variable stiffness joint to rotate through the arm rod; two adjacent variable stiffness joints are detachably connected through the arm rod.
2. The reconfigurable mechanical arm based on a variable stiffness joint of claim 1, wherein the variable stiffness joint comprises a joint housing, a stiffening mechanism, a stiffening motor, a rotating mechanism, and a rotating motor; the rigidity adjusting mechanism and the rotating mechanism are coaxially arranged in the joint shell, output shafts of the rigidity adjusting motor and the rotating motor extend into the joint shell, the rotating speeds of the rigidity adjusting mechanism and the rotating mechanism are controlled through a coupler and a worm respectively, and when the rigidity adjusting mechanism and the rotating mechanism keep a specific rotating speed ratio, the rigidity adjusting mechanism and the rotating mechanism keep relatively static rotation through adjusting the rotating speed ratio between the rigidity adjusting mechanism and the rotating mechanism; when the rotation speed ratio of the rigidity adjusting mechanism and the rotating mechanism deviates from the specific rotation speed ratio, the rigidity adjusting mechanism is matched with the rotating mechanism to adjust the rotation rigidity.
3. The reconfigurable mechanical arm based on a variable stiffness joint according to claim 2, wherein the stiffness adjustment mechanism comprises a central shaft, a stiffness adjustment turbine, a sun gear, a planet gear, a retainer and a roller slider group; the rigidity adjusting turbine is coaxially fixed at one end of the central shaft, and an output shaft of the rigidity adjusting motor drives the rigidity adjusting turbine to rotate through the coupler and the worm so as to drive the central shaft to rotate; the retainer is coaxially sleeved on the central shaft through a bearing, and at least 2 planetary gears are uniformly arranged along the circumferential direction of the retainer, so that the planetary gears are meshed with a sun gear fixed on the central shaft; the roller slide block group is contacted with the rotating mechanism and the joint shell; the number of the roller slide block groups is consistent with that of the planetary gears and meshed with the planetary gear teeth.
4. The reconfigurable mechanical arm based on a variable stiffness joint of claim 3, wherein the roller-slide block set comprises a roller, a press block, a rack slide block, an engagement slide block and a slide rail; the rack sliding block is arranged on the sliding rail, and one side of the rack sliding block is provided with side teeth meshed with the planet gears; the meshing sliding block is positioned above the rack sliding block, the bottom surface of the meshing sliding block and the top surface of the rack sliding block are uniformly provided with matched inclined sliding grooves, and two sides of the meshing sliding block are provided with retaining sliding grooves, so that the meshing sliding block can decompose the movement along the inclined sliding grooves into the translation of the rack sliding block along a sliding rail and the translation of the meshing sliding block facing the planet wheel under the cooperation of the clamping position and the retaining sliding grooves; the roller is arranged on the meshing sliding block through the pressing block, so that the roller is in contact with the rotating mechanism.
5. The variable stiffness joint based reconfigurable mechanical arm of claim 4, wherein the rotating mechanism comprises a rotating worm gear, a rotating gear shaft, a transmission gear, a rotating turret, a rotating hinge, and an output; the sliding rail is fixed on the rotating frame, the transmission gear is fixedly connected with the rotating frame in a coaxial way, the rotating frame is sleeved on the central shaft through a bearing, the transmission gear is meshed with a rotating gear shaft sleeved with the rotating worm wheel, an output shaft of the rotating motor drives the rotating worm wheel to rotate through a coupler and a worm, and the transmission gear and the rotating frame are driven to rotate through the rotating gear shaft; the rotating hinge is coaxially sleeved on the central shaft through a bearing and is in contact with the roller; the output end is sleeved on the central shaft through a bearing and is connected with the rotating hinge for outputting rotation to the outside.
6. The reconfigurable mechanical arm based on the variable stiffness joint according to claim 5, wherein an assembly hole is formed on one side of the output end, and the assembly hole is matched with a protruding block formed on one side surface of the rotating hinge, so that the protruding block is inserted into the assembly hole to complete connection between the rotating hinge and the output end; the circumference of the rotating hinge is provided with flexible parts, the number of groups of flexible parts is the same as that of the planetary gears, each group of flexible parts comprises two flexible sheets, the roller extends into between the two flexible sheets and contacts with the two flexible sheets, and the rotating rigidity of the output end, which is output outwards, is adjusted by changing the supporting positions of the two flexible sheets on the roller.
7. The variable stiffness joint based reconfigurable mechanical arm of claim 6, wherein the joint housing comprises an output connection pad, a front end cap, a motor front housing, and a motor rear housing; the inner wall of the motor front shell is provided with a clamping position corresponding to the retaining chute, the rigidity adjusting mechanism and the rotating mechanism are placed in an inner space formed by connecting the motor front shell and the motor rear shell, and an output shaft of the rigidity adjusting motor and an output shaft of the rotating motor extend into the motor rear shell and respectively drive the rigidity adjusting turbine and the rotating worm wheel; the front end cover is arranged on the motor front shell, and the output connecting disc is coaxially and fixedly connected to the output end.
8. The variable stiffness joint-based reconfigurable mechanical arm of claim 7, wherein the variable stiffness joint is sleeved on the joint connector, such that the output connection pad is directly detachably connected to the central controller, the arm lever or an adjacent variable stiffness joint through one side of the joint connector.
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