CN206561438U - A kind of robot flexibility joint of the rigidity continuously adjustabe based on spring leaf - Google Patents
A kind of robot flexibility joint of the rigidity continuously adjustabe based on spring leaf Download PDFInfo
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- CN206561438U CN206561438U CN201621397282.4U CN201621397282U CN206561438U CN 206561438 U CN206561438 U CN 206561438U CN 201621397282 U CN201621397282 U CN 201621397282U CN 206561438 U CN206561438 U CN 206561438U
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Abstract
The utility model provides a kind of robot flexibility joint of the rigidity continuously adjustabe based on spring leaf, including drive end, stiffness tuning mechanism and output flange, the drive end is used to provide joint active force, the stiffness tuning mechanism is connected to the drive end, for the active force of drive end to be transmitted to the output flange, the stiffness tuning mechanism realizes the stiffness tuning to the joint by changing effective active length of spring leaf.The utility model compact conformation, versatility are good, rigidity continuously adjustabe, effectively slow down external impact force, while the security of robot is improved with the friendliness to environment, no matter precision height, small vibrating noise and manufacture and the low requirement of installation requirement can be met, it is with low cost, it is widely used, with wide market application foreground.
Description
Technical field
The utility model is related to a kind of robot bionic joint, specially a kind of rigidity continuously adjustabe based on spring leaf
Robot flexibility joint, the device goes for various revolute robots.
Background technology
For a long time, traditional joint of robot design theory thinks, between power drive unit and joint hinge
Mechanical connection manner should pay the utmost attention to the larger transmission mechanism of rigidity.Therefore, in industrial machine arm, bionical multi-foot robot
And in the research of articulated robot such as rehabilitation medical artificial limb, joint of robot design is generally using motor output shaft and joint machine
Structure carries out rigidly connected type of drive, and this mode is although simple and compact for structure, positioning precision is high, energy summary responses, but by
Robot is caused to be easier to be damaged by the influence of external impact in lacking compliance, while also easily being deposited when being cooperated with people
In potential safety hazard.
People gain enlightenment from biological tendon, since the eighties in last century, and external scholar starts to propose series connection bullet
Property driver concept, it is the series elastic component between drive mechanism and load end, will load output with motor inertia every
From, realize the control of accurate power, with Low ESR, energy density is high, output is stable the features such as, can effectively increase the steady of system
Qualitative, reduction and shields at interference effect under external impact.At present, it is this that there is simulation human muscular to stretch work(
Compliance elastic driving joint turns into international study hotspot, and soft drive joint can be according to suffered external impact force
Size changes joint stiffness, and self-adjusting contact in joint realizes that self is buffered, so as to avoid the damage of robot mechanism, is improved
Security when being cooperated with people.
The domestic research to stiffness variable elastic joint is less, finds by prior art documents, from existing public affairs
The series connection elastic driving joint opened sees, generally existing integrated level is relatively low, volume is more huge, complicated, versatility is poor etc.
Problem.No. 104985608, which is announced, such as Chinese utility model patent discloses a kind of adjustable flexible joint driver machine of rigidity
Structure, the mechanism using roller roll up and down on two skew surface disks cause above and below two skew surface disks axial distance change
And compression spring is buffered, rigidity is adjusted by the offset angular of two skew surface disks above and below adjustment, it is desirable to regulation motor
Output torque it is larger, and need the auto-lock function of sufficient intensity, the output torque of the balance of mechanism position is always zero, and this is just
The problem of positioning precision when result in low-load is poor.The position that the structure leaves spring installation for is more narrow and small, total
Although compact, profile irregular, versatility is poor.And Chinese utility model patent Granted publication the 104647397th is then
A kind of stiffness variable flexible joint based on stage-geared is disclosed, speed change, then profit are realized in the joint using two-stage gear
Connected with third level gear and realize that the pre compressed magnitude of series connection torsion spring is adjusted, so that output rigidity changes.Although the device
Overall structure is compact, but is due to all to use gear drive, and when precision is low, vibration and noise are larger, when precision is high, system
Make and then require higher with installation accuracy, cost is higher, and the device is mainly used in legged type robot joint, also reduces its general
Property.
Utility model content
Technical problem to be solved in the utility model is the robot flexibility joint there is provided a kind of adjustable rigidity, should
Flexible joint can effectively slow down external impact force, improve the security and the friendliness to environment of robot.
In order to solve the above technical problems, the utility model adopts the following technical scheme that realization：
A kind of robot flexibility joint of the rigidity continuously adjustabe based on spring leaf, including drive end, stiffness tuning mechanism
And output flange, the drive end is for providing joint active force, and the stiffness tuning mechanism is connected to the drive end, uses
Transmitted in by the active force of drive end to the output flange, the stiffness tuning mechanism is by changing effective work of spring leaf
Length, realizes the stiffness tuning to the joint.
Further, the drive end includes motor, decelerator fixed seat, harmonic speed reducer, the harmonic reduction
The housing of device is fixed by screws in decelerator fixed seat, the output shaft of the motor and the input of harmonic speed reducer
Drive connection, the output end of the harmonic speed reducer connects the stiffness tuning mechanism.
Further, the stiffness tuning mechanism includes joint base, synchronous belt pulley transmission group, spring stand, Spring Card
Seat fixed seat, spring leaf, feed screw nut, leading screw, stiffness tuning motor, guide rail slide block, a pair of bearings, a pair of axle sleeve screws, institute
State joint base be fixed to by multiple screws on harmonic speed reducer output end, the joint base be provided with how soon baffle plate, and
Some screw holes and through hole are provided with baffle plate, is arranged on available for by the stiffness tuning motor on the base of joint, it is described
Synchronous belt pulley transmission group is also mounted on the baffle plate of the joint base, and the input of synchronous belt pulley transmission group is adjusted with the rigidity
Save motor to be connected, output end connection leading screw, assembled on the leading screw and individual lead to is provided with the middle of feed screw nut, the spring stand
Hole, the bearing is symmetrically fixed on below spring stand by the axle sleeve screw, and spring stand two ends are solid by multiple screws
It is scheduled in the spring stand fixed seat, spring stand fixed seat one end is connected by screw and feed screw nut, and other end is set
It is equipped with one and carries out the sliding-rail groove that is slidably connected with described guide rail slide block；Processed on the joint base for installing guide rail slide block
Block, be provided with the block on multiple screwed holes for being used to fix guide rail slide block, the side inwall of the output flange
It is provided with and two screw threads for stationary spring is then provided with outside the mounting groove of the spring leaf, a side shield of joint base
Hole, described spring leaf one end is fixed by screw on the base of joint, and the other end is placed in output flange through a pair of bearings
In inwall mounting groove.
Further, described stiffness tuning motor is either-rotation motor.
Further, in addition to hollow articular shell, the rear end of the articular shell connects the decelerator fixed seat,
Front end is centrally located the through hole stretched out for output flange.
Further, the decelerator fixed seat edge is circumferentially arranged some arc boss, on each boss
Screwed hole is provided with, and the articular shell rear end offers corresponding some screwed holes, articular shell is fixed to by screw
On the boss of decelerator fixed seat.
Further, the hollow-out parts for mitigating deadweight and radiating are provided with described articular shell.
Further, in addition to output shaft, output shaft fixed seat, output bearing, the output shaft passes through the output shaft
Hold in the output shaft fixed seat, the output shaft fixed seat is connected by fastening screw and joint base, described defeated
Shaft front end is provided with 4 screwed holes, and the output flange front end passes through screw and output shaft fixed connection.
Compared with prior art, after adopting the above technical scheme, the utility model at least has the advantages that：Structure is tight
Gather, versatility is good, rigidity continuously adjustabe, effectively slow down external impact force, improving the security of robot and the friend to environment
While spending well, no matter precision just, can meet small vibrating noise and manufacture and the low requirement of installation requirement, and cost is low
It is honest and clean, it is widely used, with wide market application foreground.
Brief description of the drawings
Fig. 1 is the stereoscopic schematic diagram in the robot flexibility joint of the utility model embodiment rigidity continuously adjustabe.
Fig. 2 is the schematic cross-sectional view in the robot flexibility joint of the utility model embodiment rigidity continuously adjustabe；
Fig. 3 is the perspective exploded view in the robot flexibility joint of the utility model embodiment rigidity continuously adjustabe.
In figure：1- output shafts；2- output flanges；3- articular shells；4- output shaft fixed seats；5- spring stands；6- springs
Piece；7- stiffness tuning motors；8- joints base；9- harmonic speed reducers；10- motors；11- exports bearing；12- axle sleeve spiral shells
Silk；13- synchronous belt pulley transmission groups；14- fastening screws；15 motor output flanges；16- decelerator fixed seats；17- bearings；
18- feed screw nut；19- guide rail slide blocks；20- spring stand fixed seats；21- fixed screws；22- screw mandrels.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combine, the application is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
As illustrated in fig. 1 and 2, a kind of robot flexibility joint of the rigidity continuously adjustabe based on spring leaf, including drive end,
Stiffness tuning mechanism, spring leaf 6, output flange 2, output shaft 1 and articular shell 3.
The drive end includes motor 10, decelerator fixed seat 16, harmonic speed reducer 9, the harmonic speed reducer 9
Housing is fixed by screws in decelerator fixed seat 16, the output shaft of the motor 10 and the input of harmonic speed reducer 9
Drive connection is held, the output end of the harmonic speed reducer 9 connects the stiffness tuning mechanism.The motor 1 and harmonic wave
Decelerator 9 is used for providing active force for the flexible joint.The edge of decelerator fixed seat 16 is circumferentially arranged 6 arcs
Screwed hole is provided with boss, each boss, the rear end of articular shell 3 offers corresponding 6 screwed holes, passes through spiral shell
Articular shell 3 is fixed on the boss of decelerator fixed seat 16 by silk.
As shown in Figures 2 and 3, the stiffness tuning mechanism is fixedly connected on drive end, and the power of the drive end is passed
Transport to the output flange 2, including joint base 8, synchronous belt pulley transmission group 13, spring stand 5, spring stand fixed seat 20,
Spring leaf 6, feed screw nut 18, leading screw 22, stiffness tuning motor 7, guide rail slide block 19, a pair of bearings 17, a pair of axle sleeve screws 12,
The joint base 8 be fixed to by multiple screws on the output end of harmonic speed reducer 9, the joint base 8 be provided with how soon
Baffle plate, and multiple screw holes and through hole are offered on baffle plate, it is arranged on joint base available for by the stiffness tuning motor 7
On, the synchronous belt pulley transmission group 13 is also mounted on the baffle plate of the joint base 8, the input of synchronous belt pulley transmission group 13
It is connected with the stiffness tuning motor 7, output end connection leading screw 22.Feed screw nut 18 is equipped with the leading screw 22, specifically,
The regulation motor 7 is rotated, and synchronous belt pulley transmission group 13 will be driven to rotate, and synchronous belt pulley transmission group 13 rotates then 22 turns of leading screw
Dynamic, leading screw 22, which will be rotated, to cause feed screw nut 18 to move laterally.2 through holes, the axle are provided with the middle of the spring stand 5
Hold 17 and the lower section of spring stand 5 is symmetrically fixed on by the axle sleeve screw 12, the two ends of spring stand 5 pass through multiple screws again
It is fixed in the spring stand fixed seat 20, the one end of spring stand fixed seat 20 is connected by screw and feed screw nut 18, separately
Outer one end is provided with a sliding-rail groove, and the sliding-rail groove is slidably connected with described guide rail slide block 19.On the joint base 8
Process and multiple screwed holes are provided with the block for installing guide rail slide block 19, block, for fixing guide rail slide block 19, so,
Guide rail slide block 19 and leading screw 22 are installed in parallel between 8 liang of side shields of joint base, when feed screw nut 18 moves laterally, by band
Dynamic spring stand fixed seat 20 moves laterally together along guide rail slide block 19, the further band of the movement of spring stand fixed seat 20
Spring stand 5 mounted thereto is moved to move laterally.The spring leaf 6 is provided with the side inwall of the output flange 2
Mounting groove, two screwed holes are then provided with outside a side shield of joint base 8 is used for stationary spring 6, and spring leaf 6 passes through spiral shell
Silk one end is fastened on joint base 8, and the other end is placed in the inwall mounting groove of output flange 2 through bearing 17.The spring
The transverse shifting of deck 5 causes the contact position of bearing 17 and spring leaf 6 to change, from contact of the spring leaf 6 with bearing 17
The distance of position spring leaf 6 and the contact position of output flange 2 into mounting groove on output flange 2, as spring leaf is effective
Active length.
During work, the regulation motor 7 is rotated, and 22 turns of leading screw is sent power to by the synchronous belt pulley transmission group 13
Dynamic, so that feed screw nut 18 moves laterally, further, the transverse shifting of feed screw nut 18 will drive spring stand to fix
Seat 20 is moved laterally together along guide rail slide block 19, and now the spring stand 5 installed in spring stand fixed seat 20 is also followed
Move laterally, so that the contact position of spring leaf 6 and bearing 17 changes, then effective work of spring leaf 6 is long
Degree will recur change, reach the purpose that rigidity is continuously adjusted.
As shown in Figures 2 and 3, the output shaft 1 is arranged on the output shaft fixed seat 4 by the output bearing 11
On, output shaft fixed seat 4 is connected by fastening screw 14 and joint base 8 again.The front end of output shaft 1 is provided with 4 screw threads
Hole, the front end of output flange 2 is connected by screw and output shaft 1, so as to ensure when output flange 2 is rotated and joint input shaft
With one heart.
The specific work process of the present embodiment includes the main motion and joint stiffness adjustment motion in joint.
The main motion in the joint includes：Motor 10 provides the main driving torque in joint, by harmonic speed reducer 9, drives
The power of dynamic motor 10 passes to the joint base 8 being connected with harmonic speed reducer 9, then passes to again installed in joint base 8
On stiffness tuning mechanism spring stand 5, main driving force square passes through the spring leaf 6 that is in contact with it by the spring stand 5 again
Transmit to output flange 2.
The joint stiffness adjustment motion includes：When the regulation motor 7 is rotated, pass through the synchronous belt pulley transmission group
13, which send power to leading screw 22, rotates, so that feed screw nut 18 moves laterally, further, the transverse direction of feed screw nut 18
It is mobile that spring stand fixed seat 20 will be driven to be moved laterally together along guide rail slide block 19, now fixed installed in spring stand
The spring stand 5 of seat 20 also and then moves laterally, so that the contact position of spring leaf 6 and bearing 17 changes, after
And effective active length of spring leaf 6 will recur change, it is achieved thereby that the stiffness tuning in joint.
Joint of robot of the present utility model can realize the LINEAR CONTINUOUS regulation from full rigidity to Grazing condition, improve robot
Security and the friendliness to environment.
While there has been shown and described that embodiment of the present utility model, for the ordinary skill in the art,
It is appreciated that these embodiments can be carried out in the case where not departing from principle of the present utility model and spirit a variety of changes, repaiies
Change, replace and modification, scope of the present utility model is limited by appended claims and its equivalency range.
Claims (7)
1. a kind of robot flexibility joint of the rigidity continuously adjustabe based on spring leaf, it is characterised in that：Including drive end, rigidity
Governor motion and output flange (2), the drive end are used to provide joint active force, and the stiffness tuning mechanism is connected to institute
Drive end is stated, for the active force of drive end to be transmitted to the output flange (2), the stiffness tuning mechanism is by changing bullet
Effective active length of reed, realizes the stiffness tuning to the joint；The stiffness tuning mechanism include joint base (8),
Synchronous belt pulley transmission group (13), spring stand (5), spring stand fixed seat (20), spring leaf (6), feed screw nut (18), leading screw
(22), stiffness tuning motor (7), guide rail slide block (19), a pair of bearings (17), a pair of axle sleeve screws (12), the joint base
(8) be fixed to by multiple screws on harmonic speed reducer (9) output end, the joint base (8) be provided with how soon baffle plate, and
Some screw holes and through hole are provided with baffle plate, is arranged on available for by the stiffness tuning motor (7) on joint base (8),
The synchronous belt pulley transmission group (13) is also mounted on the baffle plate of the joint base (8), synchronous belt pulley transmission group (13) it is defeated
Enter end to be connected with the stiffness tuning motor (7), output end connection leading screw (22), feed screw nut is assembled on the leading screw (22)
(18) 2 through holes, are provided with the middle of the spring stand (5), the bearing (17) is symmetrically solid by the axle sleeve screw (12)
It is scheduled on below spring stand (5), spring stand (5) two ends are fixed on the spring stand fixed seat (20) by multiple screws
On, spring stand fixed seat (20) one end is connected by screw and feed screw nut (18), other end be provided with one with it is described
Guide rail slide block (19) be slidably connected sliding-rail groove；Processed on the joint base (8) for installing guide rail slide block (19)
It is provided with block, the block in multiple screwed holes for being used to fix guide rail slide block (19), the side of the output flange (2)
It is provided with wall outside the mounting groove of the spring leaf (6), a side shield of joint base (8) and is then provided with two for fixing bullet
The screwed hole of reed (6), described spring leaf (6) one end is fixed by screw on joint base (8), and the other end passes through a pair of axles
(17) are held to be placed in the inwall mounting groove of output flange (2).
2. the robot flexibility joint of the rigidity continuously adjustabe as claimed in claim 1 based on spring leaf, it is characterised in that institute
Stating drive end includes motor (10), decelerator fixed seat (16), harmonic speed reducer (9), the shell of the harmonic speed reducer (9)
Body is fixed by screws in decelerator fixed seat (16), output shaft and the harmonic speed reducer (9) of the motor (10)
Input drive connection, the output end of the harmonic speed reducer (9) connects the stiffness tuning mechanism.
3. the robot flexibility joint of the rigidity continuously adjustabe as claimed in claim 1 based on spring leaf, it is characterised in that：Institute
The stiffness tuning motor (7) stated is either-rotation motor.
4. the robot flexibility joint of the rigidity continuously adjustabe as claimed in claim 2 based on spring leaf, it is characterised in that：Also
Including hollow articular shell (3), the rear end of the articular shell (3) connects the decelerator fixed seat (16), and front end is placed in the middle
It is provided with the through hole stretched out for output flange (2).
5. the robot flexibility joint of the rigidity continuously adjustabe as claimed in claim 4 based on spring leaf, it is characterised in that：Institute
State that decelerator fixed seat (16) edge is circumferentially arranged there are some arc boss, be provided with screwed hole on each boss, institute
State articular shell (3) rear end and offer corresponding some screwed holes, articular shell (3) is fixed into decelerator by screw fixes
On the boss of seat (16).
6. the robot flexibility joint of the rigidity continuously adjustabe as claimed in claim 4 based on spring leaf, it is characterised in that：Institute
The hollow-out parts for mitigating deadweight and radiating are provided with the articular shell (3) stated.
7. the robot flexibility joint of the rigidity continuously adjustabe as claimed in claim 1 based on spring leaf, it is characterised in that：Also
Including output shaft (1), output shaft fixed seat (4), output bearing (11), the output shaft (1) passes through the output bearing (11)
On the output shaft fixed seat (4), the output shaft fixed seat (4) passes through fastening screw (14) and joint base (8)
It is connected, output shaft (1) front end is provided with 4 screwed holes, and output flange (2) front end passes through screw and output shaft (1)
It is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621397282.4U CN206561438U (en) | 2016-12-19 | 2016-12-19 | A kind of robot flexibility joint of the rigidity continuously adjustabe based on spring leaf |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621397282.4U CN206561438U (en) | 2016-12-19 | 2016-12-19 | A kind of robot flexibility joint of the rigidity continuously adjustabe based on spring leaf |
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| Publication Number | Publication Date |
|---|---|
| CN206561438U true CN206561438U (en) | 2017-10-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621397282.4U Active CN206561438U (en) | 2016-12-19 | 2016-12-19 | A kind of robot flexibility joint of the rigidity continuously adjustabe based on spring leaf |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514700A (en) * | 2016-12-19 | 2017-03-22 | 华南理工大学 | Leaf-spring-based robot flexile joint with continuously-adjustable rigidity |
| CN108555947A (en) * | 2018-06-26 | 2018-09-21 | 南京林业大学 | A kind of software manipulator of stiffness variable |
-
2016
- 2016-12-19 CN CN201621397282.4U patent/CN206561438U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514700A (en) * | 2016-12-19 | 2017-03-22 | 华南理工大学 | Leaf-spring-based robot flexile joint with continuously-adjustable rigidity |
| CN108555947A (en) * | 2018-06-26 | 2018-09-21 | 南京林业大学 | A kind of software manipulator of stiffness variable |
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