CN205614698U - Rigidity adjustable elastic joint of robot - Google Patents

Abstract

The utility model discloses a rigidity adjustable elastic joint of robot, including the joint skeleton, set up to be in respectively joint framework two ends's drive end and output shaft, still including set up in just connect the rigidity adjusting device between drive end and output shaft in the skeleton of joint, the rigidity adjusting device including the rotator of connecting the drive end, connect in between rotator and the output shaft and the promotion at the rotator down around the elasticity force transferring part of the axis rotation of output shaft the output shaft is used for adjusting the rotator drive when receiving different load impact the adjustment mechanism of the arm of force length when elasticity force transferring part rotates, the utility model discloses can carry out the linear of rigidity according to external load's impact size and adjust, have compact structure, light, a great deal of advantage such as the commonality is strong, the precision is high, control range is big, wearing and tearing are little, the commonality is good, improve robot joint's compliance, it is applicable in various revolute robot.

Description

A kind of adjustable Robot elastic joint of rigidity

Technical field

The utility model relates to a kind of robot bionic joint, be specially a kind of adjustable robot elastic of rigidity and close Joint, this device goes for various revolute robot, improves the compliance of joint of robot.

Background technology

For a long time, traditional joint of robot design theory is thought, between Power Drive Unit and joint hinge Mechanical connection manner should pay the utmost attention to the drive mechanism that rigidity is bigger.Therefore, at industrial machine arm, bionical multi-foot robot And in the research of the articulated robot such as rehabilitation medical artificial limb, commonly used motor output shaft is rigidly connected with articulation mechanism Drive scheme, it is advantageous that simple in construction, accurate positioning, response are quick, thus meet the demand of various operation and application. But this drive scheme makes robot be affected more susceptible to external impact owing to lacking compliance and damages, even to The mankind of cooperation damage, realize the target such as self-adjusting contact, low energy consumption campaign simultaneously for robot and there is also deficiency And shortcoming.People gain enlightenment from biological tendon, and from the eighties in last century, the scholar of Massachusetts science and engineering proposes series connection bullet Property driver concept, it is series elastic component between drive mechanism and load end, by load output with motor inertia every From, it is achieved accurately power controls, and has the features such as Low ESR, energy density is high, output is stable, can effectively increase the steady of system Qualitative, reduce interference effect and shielding under external impact.

In recent years, external scholar proposed some elastic driver joint designs methods in succession, representative Have: N.G.Tsagarakis et al. devises a kind of rotation elastic driver, utilizes wire spring circumferentially triangular shape to arrange, This apparatus structure is compact, but can not carry out stiffness tuning according to impact size；Amir Jafari et al. devises a kind of employing and rolls Ballscrew changes the rigidity adjustable elastic driver of arm of force size, is applied by Hookean spring on cradle head, and this driver is tied Structure is loose, bulky；Fabrizio et al. devises a kind of rotation elastic driver using torque spring, its flexible member Being the discoid torque spring sheet that makes of independent design, the size of flexible drive module can be effectively reduced in this design, but spring Sheet is elastic little, and range of movement is very limited.

At present, the domestic research to elastic joint is the most considerably less.Find by prior art documents, from existing public affairs The series connection elastic driving joint opened is seen, major part does not have stiffness tuning function, as Jiangsu University's Yang Qi will etc. proposes a kind of base In the soft elastic joint of Archimedes spiral elastomer, patent publication No. CN105082170A, its elastomer uses two panels circular Spring leaf, reed has archimedes spiral groove to increase flexibility of joint, although this device compact conformation but range of movement have Limit and stiffness tuning can not be carried out.Once in a while with stiffness tuning, there is also that integrated level is relatively low, more heavy, versatility is poor Etc. problem, the joint of robot of strong et al. a kind of stiffness variable proposed as yellow in Beijing Institute of Technology, patent publication No. CN104440936A, joint is mounted with a piece of main friction plate and two panels pair friction plate, produces under bolt applies pretightning force effect Raw frictional force, utilizes the frictional behavior of friction plate to carry out stiffness tuning, but friction plate belongs to consumable goods, after using a period of time Original function will be lost and need periodic replacement, and it sets two stage stiffness regulation, it is impossible to realize linear adjustable stiffness characteristics； Zhu Qiu state of Zhejiang University et al. proposes rigidity adjustable flexible joint actuator mechanism, patent publication No. CN104985608A, The mode using bent inclined-plane-runner fit structure extruding Rectangular Spring realizes the function of flexible joint, according to the direction of motion with outer The difference of section load size, the preload pressure of Rectangular Spring will be changed by the runner front and back placed on lobe plate song inclined-plane, Thus realizing the stiffness tuning in joint, this apparatus structure is complicated, and bulky, application is very limited.

Utility model content

The purpose of this utility model is to overcome the deficiency in the design of existing joint of robot, propose a kind of novel adjustable just The Robot elastic joint of degree, it can be installed on great majority and use in the robot of cradle head.This utility model effectively solves Existing robot flexibility articulation structure is loose, the rigidity not problem such as linear adjustable, poor universality, can be according to external loading Impact size carries out the adjustable Shared control of rigidity, contributes to promoting the upgrading of various articulated robot.

This utility model is achieved through the following technical solutions:

A kind of adjustable Robot elastic joint of rigidity, including joint skeleton, is separately positioned on described joint skeleton two ends Drive end and output shaft, in also including being arranged at described joint skeleton and the rigidity that is connected between drive end and output shaft is adjusted Regulating device, described rigidity adjuster includes connecting the rotary body of drive end, being connected between rotary body and output shaft and in rotation Use when being impacted by different loads around the elastic force transferring part of axis rotation of output shaft, described output shaft under the promotion turned The governor motion of torque arm length in time regulating rotary body and drive described elastic force transferring part to rotate.

This programme realizes the linear regulation of rigidity by the active length of spring leaf in the elastic force transferring part of regulation, has knot The plurality of advantages such as structure is simple, volume is little, precision is high, range of accommodation is big, it is little to wear and tear, versatility is good, can realize linear adjustable just Degree characteristic.

Further, described elastic force transferring part includes that the spring leaf chuck being fixed on output shaft, one end are along output Axial and radial is uniformly fixed on the some spring leafs on spring leaf chuck；Described rotary body include the rotation body that is vertically connected with and Rotating body drain pan, described rotation body upper surface is radially even has a number of and that direction is consistent with spring leaf cunning Groove；Described governor motion includes the claw being movably arranged in each chute and the flat thread card matched bottom each claw Dish, the spring stand assembly being fixed on each claw, the regulation actuating unit of driving flat thread card disc spins, described spring leaf It is in close contact through spring stand assembly and its two sides with spring stand assembly.This programme further reduces the mill of spring leaf Damaging, improve its service life and stability, meanwhile, the governor motion possessing latching characteristics is the compactest, and precision is high, reliable and stable Easily implement.

Further, described spring stand assembly includes the spring stand being fixed on claw, in the middle part of described spring stand It is symmetrically arranged with by two bearing fixed screws in being penetratingly provided with the cavern part passed for described spring leaf, described cavern part Two the second bearings rolled along spring leaf two sides, by the second bearing and the rolling friction of spring leaf two sides, to greatest extent Reduce abrasion to spring leaf, extend the service life of spring leaf, ensure job stability and the reliability of spring leaf.

Further, the edge of described rotation body upper surface is provided with for limiting spring stand assembly shift position Limited screw, effectively control spring stand assembly displacement, prevent from coming off and wait accident.

Further, regulation actuating unit includes being arranged on the gear driving pair on described rotation body drain pan and rigidity is adjusted Joint motor, the synchronous belt pulley transmission being connected between described gear driving pair and stiffness tuning motor are secondary, described gear driving pair Outfan and flat thread chuck fixing be connected by trip bolt is vertical, it is achieved to flat thread chuck quickly and efficiently Driving, simple and compact for structure.

Further, described gear driving pair is that Worm Wheel System is secondary, and compact conformation, working stability, gear ratio are high.

Further, described rotation body drain pan is provided with for installing gear driving pair and the work of stiffness tuning motor Font fin, described rotation body lower end is provided with and the notch part of described I-shaped fin two ends mating shapes, facilitates tooth Wheel transmission and stiffness tuning motor are installed and rotate body drain pan and rotate body rapid-aligning, improve efficiency of assembling.

Further, described joint skeleton includes joint drain pan and the joint face-piece being provided with hollow out, and joint face-piece passes through Fastening screw and drain pan upper end, joint are fastenedly connected, and described output shaft is installed on the face-piece of joint by clutch shaft bearing, structure letter Single, lightweight, be convenient to mount and dismount.

Further, described drive end includes driving motor and the harmonic speed reducer being connected, and drives motor to pass through bearing And driving motor fixing screw to be arranged on drain pan lower end, joint, described harmonic speed reducer outfan is fixed even with rotating body drain pan Connect, drive motor to provide joint active force, drive through harmonic speed reducer and rotate the forward and reverse rotation of body, it is achieved elastic joint Forward and reverse motion, integrated level is higher, and compact conformation is simple.

This utility model has the advantage that compared to existing technology

1) flat thread chuck is used to coordinate the mode of claw to regulate the active length of spring leaf, owing to it coordinates Latching characteristics, degree of regulation height, reliable operation, more energy-conservation；

2) stiffness tuning in joint achieves from full rigidity to the most flexible linear regulation, it is possible to according to impact size, Quickly regulate, highly sensitive.

3) incorporating among overall setup by driving motor and decelerator, integrated level is higher；Whole articulation structure is compact, simply Light, highly versatile, have wide range of applications.

Accompanying drawing explanation

Fig. 1 shows the population structure schematic diagram in the rigidity adjustable elastic joint of this utility model embodiment.

Fig. 2 shows the exploded perspective view in the rigidity adjustable elastic joint of this utility model embodiment.

Fig. 3 and Fig. 4 shows the partial schematic sectional view in the rigidity adjustable elastic joint of this utility model embodiment.

In figure: 1-output shaft；2-clutch shaft bearing；3-spring leaf chuck；4-spring leaf；5-spring stand；6-card Pawl；7-flat thread chuck；8-gear driving pair；9-synchronous belt pulley transmission is secondary；10-stiffness tuning motor；11-harmonic wave Decelerator；12-joint drain pan；13-drives motor；14-bearing fixed screw；15-the second bearing；16-rotates body；17- Body lock screw；18-joint face-piece；19-spring stand assembly；20-limited screw；21-rotates body drain pan；22-drives Motor fixing screw.

Detailed description of the invention

Being described in further detail the purpose of this utility model below by specific embodiment, embodiment can not be at this Repeat one by one, but the most therefore embodiment of the present utility model is defined in following example.

As shown in Figures 1 to 4, a kind of adjustable Robot elastic joint of rigidity, including joint skeleton, it is separately positioned on institute State drive end and the output shaft 1 at joint skeleton two ends, in also including being arranged at described joint skeleton and be connected to drive end and defeated Rigidity adjuster between shaft 1, described rigidity adjuster include connect drive end rotary body, be connected to rotary body with The elastic force transferring part that rotates around the axis of output shaft 1 between output shaft 1 and under the promotion of rotary body, described output shaft 1 For regulating the governor motion of torque arm length when rotary body drives described elastic force transferring part to rotate when being impacted by different loads.

Described elastic force transferring part includes that the spring leaf chuck 3 being fixed on output shaft 1, one end are along output shaft 1 radial direction Three spring leafs 4 being uniformly fixed on spring leaf chuck 3；Described rotary body includes the rotation body 16 being vertically connected with and turns Motivation body drain pan 21, rotation body 16 is with output shaft as axle center, and described rotation body 16 upper surface is radially even has three The chute that direction is consistent with spring leaf 4；Described governor motion includes the claw 6 being movably arranged in each chute and respectively blocks The flat thread chuck 7 matched bottom pawl 6, the spring stand assembly 19 being fixed on each claw 6, driving flat thread chuck The 7 regulation actuating units rotated, described spring leaf 4 is tight with spring stand assembly 19 through spring stand assembly 19 and its two sides Contiguity is touched, and described regulation actuating unit includes being arranged on the gear driving pair 8 on described rotation body drain pan 21 and stiffness tuning Motor 10, the synchronous belt pulley transmission pair 9 being connected between described gear driving pair 8 and stiffness tuning motor 10, gear driving pair 8 Secondary for Worm Wheel System, stiffness tuning motor 10 delivers torque to gear driving pair 8, institute by synchronous belt pulley transmission pair 9 The outfan stating gear driving pair 8 is connected by vertical the fixing of trip bolt with flat thread chuck 7.

Spring stand assembly 19, under the drive of claw 6, does only along the direction of chute and back and forth diametrically reciprocates, The edge of described rotation body 16 upper surface is provided with the limited screw 20 for limiting spring stand assembly 19 shift position.

The present embodiment is provided with 4, three claws of three spring leafs 6 and three sleeve spring card holder assemblies 19, in actual application, also The spring leaf 4 of respective numbers, claw 6 and spring stand assembly 19 can be set as required, such as two spring leafs 4, two card Pawl 6 and two sleeve spring card holder assemblies 19, or 4, four claws of four spring leafs 6 and four sleeve spring card holder assemblies 19.

Described spring stand assembly 19 includes the spring stand 5 being fixed on claw 6, runs through in the middle part of described spring stand 5 Be provided with the cavern part passed for described spring leaf 4, described cavern part in is symmetrically arranged with by two bearing fixed screws 14 Two the second bearings 15 rolled along spring leaf 4 two sides, two sides, spring leaf 4 side are in close contact with the second bearing 15, and it is right to think During ground motion, form rolling friction each other, reduce the abrasion of spring leaf 4 to greatest extent, reduce loss, improve life-span and joint Energy.

It is provided with on described rotation body drain pan 21 for installing the I-shaped of gear driving pair 8 and stiffness tuning motor 10 Fin, described rotation body 16 lower end is provided with and the notch part of described I-shaped fin two ends mating shapes, facilitates gear Transmission 8 and stiffness tuning motor 10 are installed and rotate body drain pan 21 and rotate body 16 rapid-aligning, improve efficiency of assembling.

Described joint skeleton includes joint drain pan 12 and the joint face-piece 18 being provided with hollow out, and joint face-piece 12 is by fastening Screw 17 and joint drain pan 12 upper end are fastenedly connected, and described output shaft 1 is installed on joint face-piece 18 by clutch shaft bearing 2.

Described drive end includes driving motor 13 and the harmonic speed reducer 11 being connected, and drives motor 13 by bearing and to drive Dynamic motor fixing screw 22 is arranged on joint drain pan 12 lower end, and harmonic speed reducer 11 is arranged on rotation body drain pan 21 by bearing On, described harmonic speed reducer 11 outfan is fixing with rotation body drain pan 21 to be connected.Drive motor to provide joint active force, pass through Harmonic speed reducer drives and rotates the forward and reverse rotation of body, it is achieved forward and reverse motion of elastic joint.

The operation principle of the present embodiment and process be:

The specific works process of the present embodiment includes that the main motion in joint and joint stiffness adjust and move:

The main motion in joint: drive motor 13 to provide joint main driving force square, drive rotating machine through harmonic speed reducer 11 Body 16 does rotating campaign；The spring stand 5 rotated on the chute of body 16 is closely connect with spring leaf 4 by the second bearing 15 Touch, impart power to output shaft 1 through spring leaf 4, make the rotation that rotation body 16, spring leaf chuck 3, output shaft 1 are coaxial；

Joint stiffness adjusts motion: when single described outfan is impacted by different loads, stiffness tuning motor 10 rotates, band Dynamic synchronous belt pulley transmission secondary 9 and gear driving pair 8 move therewith, thus drive flat thread chuck 7 to rotate so that card thereon Pawl 6 with spring stand 5 along rotating the slide of body 16, two with second bearing 15 of spring leaf 4 close contact Outer ring rolls along spring leaf 4 two sides, and the position of the outer ring of the second bearing 15 and spring leaf 4 two sides contact point is along with spring Deck 5 gradually move close to or away from spring leaf chuck 3, along with the change in location of spring stand 5, spring stand 5 acts on The torque arm length of the point of application on spring leaf 4 changes the most therewith, i.e. the active length of spring leaf 4 will change, when the second axle Hold the outer ring of 15 and the position of spring leaf 4 two sides contact point when moving closer to spring leaf chuck 3, the active length of spring leaf 4 Shortening, spring leaf 4 deformation under external force diminishes, and rigidity becomes big；When the outer ring of the second bearing 15 connects with spring leaf 4 two sides When the position of contact is gradually distance from spring leaf chuck 3, the active length of spring leaf 4 is elongated, spring leaf 4 deformation under external force Becoming big, rigidity diminishes, it is achieved thereby that stepless, the linear rigidity regulation in joint.

The present embodiment is 3 groups of spring leafs 4 of circumference uniform distribution, spring stand 5, claw 6, rigidity centered by the axis of output shaft 1 Regulation use flat thread chuck 7 to rotate to drive claw 6 and the spring stand 5 that is fastened thereon along spring leaf 4 side side To motion, achieved the linear regulation of rigidity by the active length of regulation spring leaf 4, compact conformation, light, highly versatile, Wear and tear little, stiffness tuning can be carried out according to the impact size of external loading, improve the compliance of joint of robot, be applicable to Various revolute robots.

Above-described embodiment of the present utility model is only for clearly demonstrating this utility model example, and is not Restriction to embodiment of the present utility model.For those of ordinary skill in the field, on the basis of described above On can also make other changes in different forms.Here without also cannot all of embodiment be given exhaustive. All any amendment, equivalent and improvement etc. made within spirit of the present utility model and principle, should be included in this reality Within novel scope of the claims.

Claims (9)

1. the adjustable Robot elastic joint of rigidity, including joint skeleton, is separately positioned on described joint skeleton two ends Drive end and output shaft (1), it is characterised in that: in also including being arranged at described joint skeleton and be connected to drive end and output shaft (1) rigidity adjuster between, described rigidity adjuster includes connecting the rotary body of drive end, being connected to rotary body with defeated The elastic force transferring part rotated around the axis of output shaft (1) between shaft (1) and under the promotion of rotary body, described output shaft (1) for regulating the regulation machine of torque arm length when rotary body drives described elastic force transferring part to rotate when being impacted by different loads Structure.

The adjustable Robot elastic joint of rigidity the most according to claim 1, it is characterised in that: described elastic power transmission portion Part includes that the spring leaf chuck (3) being fixed on output shaft (1), one end are fixed on spring leaf folder along output shaft (1) is radially uniform Some spring leafs (4) on head (3)；Described rotary body includes the rotation body (16) being vertically connected with and rotates body drain pan (21), described rotation body (16) upper surface is radially even has a number of and that direction is consistent with spring leaf (4) cunning Groove；Described governor motion includes the plane that the claw (6) being movably arranged in each chute matches with each claw (6) bottom The regulation that screw thread chuck (7), the spring stand assembly (19) being fixed on each claw (6), driving flat thread chuck (7) rotate Actuating unit, described spring leaf (4) closely connects through spring stand assembly (19) and its two sides with spring stand assembly (19) Touch.

The adjustable Robot elastic joint of rigidity the most according to claim 2, it is characterised in that: described spring stand assembly (19) include that the spring stand (5) being fixed on claw (6), described spring stand (5) middle part are penetratingly provided with for described spring The cavern part that sheet (4) passes, is symmetrically arranged with two along spring leaf by two bearing fixed screws (14) in described cavern part (4) the second bearing (15) that two sides roll.

The adjustable Robot elastic joint of rigidity the most according to claim 2, it is characterised in that: described rotation body (16) The edge of upper surface is provided with the limited screw (20) for limiting spring stand assembly (19) shift position.

The adjustable Robot elastic joint of rigidity the most according to claim 2, it is characterised in that: regulation actuating unit includes It is arranged on the gear driving pair (8) on described rotation body drain pan (21) and stiffness tuning motor (10), is connected to described gear Synchronous belt pulley transmission between transmission (8) and stiffness tuning motor (10) is secondary (9), the outfan of described gear driving pair (8) It is connected by vertical the fixing of trip bolt with flat thread chuck (7).

The adjustable Robot elastic joint of rigidity the most according to claim 5, it is characterised in that: described gear driving pair (8) it is that Worm Wheel System is secondary.

The adjustable Robot elastic joint of rigidity the most according to claim 5, it is characterised in that: described rotation body drain pan (21) it is provided with on for installing gear driving pair (8) and the I-shaped fin of stiffness tuning motor (10), described rotation body (16) lower end is provided with and the notch part of described I-shaped fin two ends mating shapes.

The adjustable Robot elastic joint of rigidity the most according to claim 1, it is characterised in that: described joint skeleton bag Including joint drain pan (12) and the joint face-piece (18) being provided with hollow out, joint face-piece (12) is by fastening screw (17) and joint drain pan (12) upper end is fastenedly connected, and described output shaft (1) is installed on joint face-piece (18) by clutch shaft bearing (2).

The adjustable Robot elastic joint of rigidity the most according to claim 8, it is characterised in that: described drive end includes phase The driving motor (13) connected and harmonic speed reducer (11), drive motor (13) by bearing and to drive motor fixing screw (22) Being arranged on joint drain pan (12) lower end, described harmonic speed reducer (11) outfan is fixing with rotation body drain pan (21) to be connected.