WO2017161927A1 - Robot elastic joint with adjustable rigidity - Google Patents

Robot elastic joint with adjustable rigidity Download PDF

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Publication number
WO2017161927A1
WO2017161927A1 PCT/CN2016/110212 CN2016110212W WO2017161927A1 WO 2017161927 A1 WO2017161927 A1 WO 2017161927A1 CN 2016110212 W CN2016110212 W CN 2016110212W WO 2017161927 A1 WO2017161927 A1 WO 2017161927A1
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WO
WIPO (PCT)
Prior art keywords
joint
rotating body
output shaft
spring
elastic
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PCT/CN2016/110212
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French (fr)
Chinese (zh)
Inventor
彭芳
李智军
叶雯珺
杨辰光
章隆彬
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华南理工大学
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Application filed by 华南理工大学 filed Critical 华南理工大学
Publication of WO2017161927A1 publication Critical patent/WO2017161927A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0208—Compliance devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators

Definitions

  • the invention relates to a robotic bionic joint, in particular to an elastic joint with adjustable stiffness.
  • the device can be applied to various joint type robots to improve the flexibility of the joint of the robot.
  • the traditional robot joint design theory believes that the mechanical connection between the power drive and the joint hinge should give priority to the transmission mechanism with higher stiffness. Therefore, in the research of joint robots such as industrial robot arms, bionic multi-foot robots and rehabilitation medical prostheses, the driving scheme of rigid connection between motor output shaft and joint mechanism is generally adopted, which has the advantages of simple structure, accurate positioning and fast response. Meet the needs of a variety of operations and applications. However, due to the lack of flexibility, this kind of driving scheme makes the robot more vulnerable to external impact damage, and even harms the humans who cooperate with it. At the same time, there are shortcomings and shortcomings for the robot to achieve self-adjusting contact and low energy consumption.
  • N.G.Tsagarakis et al. designed a rotary elastic actuator that uses a wire spring to be arranged in a triangular shape around the circumference.
  • the device is compact, but cannot be adjusted according to the impact size
  • Amir Jafari et al. designed a stiffness-adjustable elastic actuator that uses a ball screw to change the size of the arm.
  • the linear spring is applied to the rotating joint.
  • the drive is loose and bulky.
  • Fabrizio et al. designed a torsion spring.
  • Rotary elastic drive the elastic element is a disc-shaped torsion spring piece designed independently. This design can effectively reduce the size of the elastic drive module, but the spring piece has little elasticity and the movement range is very limited.
  • the function needs to be replaced regularly, and it only has two levels of stiffness adjustment, which can not achieve linearly adjustable stiffness characteristics;
  • Zhu Qiuguo and others from Zhejiang University proposed a flexible joint actuator mechanism with adjustable stiffness, patent publication number CN104985608A, using curved bevel-rotary
  • the function of the flexible joint is realized by the method of squeezing the rectangular spring with the structure. According to the difference of the moving direction and the external load, the pre-tightening pressure of the rotating spring placed on the curved surface of the front and rear cam plates will change, thereby realizing the rigidity of the joint. Adjustment, the device is complex in structure, bulky, and has limited application fields.
  • the object of the present invention is to overcome the deficiencies in the design of existing robot joints, and propose a novel elastic joint of adjustable rigidity, which can be mounted on most robots using rotating joints.
  • the invention effectively solves the problems that the existing flexible joint structure of the robot is loose, the rigidity is not linearly adjustable, the versatility is poor, and the like, and the flexible control with adjustable stiffness can be performed according to the impact of the external load, which is helpful for promoting the upgrading of various joint robots.
  • the present invention has been achieved by the following technical solutions.
  • An elastic joint of an adjustable stiffness comprising a joint skeleton, a driving end and an output shaft respectively disposed at two ends of the joint skeleton, and further comprising a rigidity disposed in the joint skeleton and connected between the driving end and the output shaft
  • An adjusting device comprising a rotating body connected to the driving end, an elastic force transmitting member connected between the rotating body and the output shaft and rotating around the axis of the output shaft under the pushing of the rotating body, the output shaft being subjected to different loads
  • the solution realizes the linear adjustment of the rigidity by adjusting the working length of the spring piece in the elastic force transmitting component, and has the advantages of simple structure, small volume, high precision, large adjustment range, small wear and good versatility, and can realize linear adjustable. Stiffness characteristics.
  • the elastic force transmitting member comprises a spring piece chuck fixed on the output shaft, and a plurality of spring pieces which are uniformly fixed on the spring piece chuck at one end along the output shaft;
  • the rotating body comprises an upper and lower connection Rotating the body and rotating the bottom body of the body, the upper end surface of the rotating body uniformly opens a plurality of slots in the radial direction corresponding to the spring piece;
  • the adjusting mechanism comprises a claw disposed in the sliding slot, a driving plane threaded chuck matched with the bottoms of the claws, a spring card holder assembly fixed to each of the claws, and an adjusting power mechanism for driving the rotation of the planar threaded chuck, the spring piece passing through the spring card holder assembly and the two The sides are in intimate contact with the spring deck assembly.
  • the solution further reduces the wear of the spring piece, improves its service life and stability, and at the same time, the adjustment mechanism with self-locking characteristics is simple and compact, high precision, stable and reliable, and easy to implement.
  • the spring card holder assembly includes a spring card holder fixed to the claw, the spring card holder is provided with a hollow portion through which the spring piece passes through, and the hollow portion passes through two
  • the bearing fixing screw is symmetrically arranged with two second bearings rolling along the two sides of the spring piece, and the two bearings are rolled and rubbed on both sides of the spring piece, thereby minimizing the wear on the spring piece, prolonging the service life of the spring piece, and securing the spring. The work stability and reliability of the film.
  • the edge of the upper end surface of the rotating body is provided with a limit screw for restricting the moving position of the spring card holder assembly, and effectively controls the moving distance of the spring card holder assembly to prevent accidents such as falling off.
  • the adjustment power mechanism includes a gear transmission pair and a stiffness adjustment motor disposed on the bottom body of the rotating body, a timing belt drive pair connected between the gear transmission pair and the stiffness adjustment motor, the gear transmission pair
  • the output end is fixedly connected to the flat threaded chuck by fastening screws, which enables fast and efficient driving of the flat threaded chuck, and the structure is simple and compact.
  • the gear transmission pair is a worm gear transmission pair, which has compact structure, stable operation and high transmission ratio.
  • the rotating body bottom case is provided with an I-shaped rib for mounting a gear transmission pair and a stiffness adjusting motor, and a lower end of the rotating body is provided with a notch portion matching the shape of both ends of the I-shaped rib, Convenient gear transmission pair and stiffness adjustment motor installation and rotating body bottom shell and rotating body quickly aligned to improve assembly efficiency.
  • the joint skeleton includes a joint bottom shell and an articular shell provided with a hollow joint, and the joint shell is fastened by a fastening screw and an upper end of the joint bottom shell, and the output shaft is mounted on the joint shell through the first bearing.
  • the utility model has the advantages of simple structure, light weight and convenient assembly and disassembly.
  • the driving end comprises a connected driving motor and a harmonic reducer
  • the driving motor is mounted on the lower end of the joint bottom case through a bearing and a driving motor fixing screw, and the output end of the harmonic reducer is fixedly connected with the rotating body bottom case
  • the driving motor provides the main power of the joint
  • the rotating reducer drives the rotating body to rotate forward and backward to realize the forward and reverse movement of the elastic joint, the integration degree is higher, the structure is compact and simple.
  • Fig. 1 is a view showing the overall structure of a stiffness-adjustable elastic joint according to an embodiment of the present invention.
  • Fig. 2 is a view showing the explosion of the stiffness-adjustable elastic joint of the embodiment of the present invention.
  • 3 and 4 are partial cross-sectional views showing the stiffness-adjustable elastic joint of the embodiment of the present invention.
  • an elastic joint of an adjustable rigidity robot includes an joint skeleton, a driving end and an output shaft 1 respectively disposed at two ends of the joint skeleton, and further comprising a joint disposed in the joint skeleton and connected a stiffness adjusting device between the driving end and the output shaft 1, the rigidity adjusting device comprising a rotating body connected to the driving end, connected between the rotating body and the output shaft 1 and rotating around the axis of the output shaft 1 under the pushing of the rotating body
  • the elastic force transmitting member and the output shaft 1 are subjected to an adjustment mechanism for adjusting the length of the arm when the rotating body drives the elastic force transmitting member to rotate when impacted by different loads.
  • the elastic force transmitting member comprises a spring piece chuck 3 fixed on the output shaft 1, and three spring pieces 4 whose one end is uniformly fixed radially on the spring piece chuck 3 along the output shaft 1;
  • the rotating body includes a rotating body 16 connected to the upper and lower sides and a rotating bottom body 21, the rotating body 16 is pivoted with the output shaft as an axis, and the upper end surface of the rotating body 16 is evenly opened in the radial direction with a sliding groove which is aligned with the spring piece 4 in three directions;
  • the adjusting mechanism comprises a claw 6 movably disposed in each of the sliding grooves, a driving plane threaded chuck 7 matched with the bottom of each of the claws 6, a spring holder assembly 19 fixed on each of the claws 6, and a driving plane thread card
  • An adjustment power mechanism for rotating the disk 7, the spring piece 4 passes through the spring holder assembly 19 and its both sides are in close contact with the spring holder assembly 19, and the adjustment power mechanism includes a rotation mechanism provided on the bottom body 21 of the rotating
  • a gear transmission pair 8 and a stiffness adjustment motor 10 a timing pulley drive 9 connected between the gear transmission pair 8 and the stiffness adjustment motor 10
  • the gear transmission pair 8 is a worm gear transmission pair
  • the stiffness adjustment motor 10 passes the timing belt Wheel drive pair 9 transmits torque
  • the output end plane of the threaded chuck sub-gear 8 is fixedly connected perpendicularly 7 by fastening screws.
  • the spring holder assembly 19 can only reciprocally reciprocate in the direction of the chute under the driving of the claws 6.
  • the edge of the upper end surface of the rotating body 16 is disposed to limit the movement position of the spring holder assembly 19. Limiting screw 20.
  • the embodiment is provided with three spring pieces 4, three claws 6 and three sets of spring card holder assemblies 19.
  • a corresponding number of spring pieces 4, claws 6 and spring holder assemblies 19 can also be set as needed.
  • the spring card holder assembly 19 includes a spring card holder 5 fixed to the claw 6 , and a hollow portion through which the spring piece 4 passes is provided in the middle of the spring card holder 5 , and the hollow portion passes through the hollow portion
  • the two bearing fixing screws 14 are symmetrically disposed with two second bearings 15 rolling along the two sides of the spring piece 4.
  • the two side faces of the spring piece 4 are in close contact with the second bearing 15, and when they want to move to the ground, they form rolling friction with each other. Limiting the wear of the spring piece 4 reduces wear, improves life and saves energy.
  • the rotating body bottom case 21 is provided with an I-shaped rib for mounting the gear transmission pair 8 and the stiffness adjusting motor 10.
  • the lower end of the rotating body 16 is provided with a notch portion matching the shape of both ends of the I-shaped rib. It is convenient for the gear transmission pair 8 and the stiffness adjusting motor 10 to mount and rotate the bottom body 21 of the body and the rotating body 16 to quickly align, thereby improving assembly efficiency.
  • the joint skeleton includes a joint bottom shell 12 and a joint shell 18 provided with a hollow, and the joint shell 12 is fastened by fastening screws 17 and an upper end of the joint bottom shell 12, and the output shaft 1 is installed through the first bearing 2 On the joint face shell 18.
  • the driving end includes a connected driving motor 13 and a harmonic reducer 11.
  • the driving motor 13 is mounted on the lower end of the joint bottom case 12 through a bearing and a driving motor fixing screw 22, and the harmonic reducer 11 is mounted on the rotating body bottom case through a bearing. 21, the output end of the harmonic reducer 11 is fixedly connected to the rotating body bottom case 21.
  • the driving motor provides the main power of the joint, and the harmonic reducer drives the rotating body to rotate forward and backward to realize the forward and reverse movement of the elastic joint.
  • the main motion of the joint the driving motor 13 provides the main driving torque of the joint, and the rotating body 16 drives the rotating body 16 to perform the forward and reverse movement;
  • the spring card seat 5 on the sliding groove of the rotating body 16 passes through the second bearing 15 and the spring piece. 4 in close contact, the power is transmitted to the output shaft 1 through the spring piece 4, so that the rotating body 16, the spring piece chuck 3, and the output shaft 1 rotate coaxially;
  • Joint stiffness adjustment movement When the output end is subjected to different loads, the stiffness adjustment motor 10 rotates, and the synchronous pulley drive pair 9 and the gear transmission pair 8 are driven to move, thereby driving the planar threaded chuck 7 to rotate thereon.
  • the claw 6 slides along the sliding groove of the rotating body 16 with the spring holder 5, and the outer rings of the second bearing 15 which are in close contact with the spring piece 4 roll along both sides of the spring piece 4, and the second bearing 15
  • the position of the contact point between the outer ring and the spring piece 4 is close to or away from the spring piece chuck 3 with the gradual movement of the spring card holder 5, and the spring card seat 5 acts on the spring piece 4 as the position of the spring card holder 5 changes.
  • the length of the force arm of the force application point also changes, that is, the working length of the spring piece 4 will change, when the position of the contact point between the outer ring of the second bearing 15 and the spring piece 4 gradually approaches the spring piece chuck 3,
  • the working length of the spring piece 4 is shortened, and the spring piece 4 is deformed by the external force to become smaller and the rigidity becomes larger; when the position of the contact point between the outer ring of the second bearing 15 and the spring piece 4 is gradually away from the spring piece chuck 3 , the working length of the spring piece 4 becomes longer, and the bomb 4 sheet deformation under external force becomes large, rigidity becomes small, enabling stepless adjustment joint linear stiffness.
  • three sets of spring pieces 4, spring clips 5 and claws 6 are uniformly distributed around the axis of the output shaft 1, and the rigidity is adjusted by using the flat threaded chuck 7 to rotate the claws 6 and fastened thereto.
  • the spring card holder 5 moves along the side direction of the spring piece 4, and the linear adjustment of the rigidity is realized by adjusting the working length of the spring piece 4.
  • the structure is compact, light, versatile, and wearless, and the stiffness can be adjusted according to the impact of the external load. It improves the flexibility of the robot joint and can be applied to various articulated robots.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

Disclosed is a robot elastic joint with an adjustable rigidity, comprising a joint skeleton, and a drive end and an output shaft (1) respectively arranged at two ends of the joint skeleton; and further comprising a rigidity adjusting device provided in the joint skeleton and connected between the drive end and the output shaft. The rigidity adjusting device comprises a rotator connected to the drive end, an elastic force-transmission component connected between the rotator and the output shaft and rotating around the axis of the output shaft under the drive of the rotator, and an adjustment mechanism for adjusting the length of a force arm when the rotator drives the elastic force-transmission component to rotate when the output shaft is affected by different load impacts, and the adjustment mechanism can perform linear adjustment of rigidity according to the magnitude of impact of external loads. The robot elastic joint has advantages such as a compact and lightweight structure, high universality, high precision, a large adjustment range and less abrasion, thereby improving the flexibility of the robot joint, and being applicable in various articulated robots.

Description

一种刚度可调的机器***性关节  An elastic joint with adjustable stiffness
技术领域Technical field
本发明涉及的是一种机器人仿生关节，具体为一种刚度可调的机器***性关节，该装置可以适用于各种关节型机器人，提高机器人关节的柔顺性。 The invention relates to a robotic bionic joint, in particular to an elastic joint with adjustable stiffness. The device can be applied to various joint type robots to improve the flexibility of the joint of the robot.
背景技术Background technique
长期以来，传统的机器人关节设计理论认为，对于动力驱动装置与关节铰链之间的机械连接方式应优先考虑刚度较大的传动机构。因此，在工业机器手臂、仿生多足机器人以及康复医疗假肢等关节机器人的研究中，普遍采用电机输出轴与关节机构进行刚性连接的驱动方案，其优势在于结构简单、定位精准、响应快速，从而满足各种操作与应用的需求。但这种驱动方案由于缺乏柔顺性使得机器人更容易受到外部冲击的影响而损坏，甚至对与之协作的人类造成伤害，同时对于机器人实现自调整接触、低能耗运动等目标也存在不足和缺憾。人们从生物肌腱中得到启发，从上世纪80年代开始，麻省理工的学者提出了串联弹性驱动器的概念，它是在驱动机构和负载端之间串联弹性元件，将负载输出与电机惯量隔离，实现精确力控制，具有低阻抗、能量密度高、输出稳定等特点，可以有效地增加***的稳定性、降低干扰影响以及在外部冲击下起保护作用。 For a long time, the traditional robot joint design theory believes that the mechanical connection between the power drive and the joint hinge should give priority to the transmission mechanism with higher stiffness. Therefore, in the research of joint robots such as industrial robot arms, bionic multi-foot robots and rehabilitation medical prostheses, the driving scheme of rigid connection between motor output shaft and joint mechanism is generally adopted, which has the advantages of simple structure, accurate positioning and fast response. Meet the needs of a variety of operations and applications. However, due to the lack of flexibility, this kind of driving scheme makes the robot more vulnerable to external impact damage, and even harms the humans who cooperate with it. At the same time, there are shortcomings and shortcomings for the robot to achieve self-adjusting contact and low energy consumption. Inspired by biological tendons, from the 1980s, MIT scholars proposed the concept of a series elastic actuator, which is a series of elastic elements between the drive mechanism and the load end to isolate the load output from the motor inertia. Accurate force control, low impedance, high energy density, stable output, etc., can effectively increase the stability of the system, reduce the impact of interference and protect against external impact.
近些年，国外的学者相继提出了一些弹性驱动器关节设计方法， 具有代表性的有：N.G.Tsagarakis等人设计了一种旋转弹性驱动器，利用线弹簧绕圆周呈三角形状布置，该装置结构紧凑，但不能依据冲击大小进行刚度调节；Amir Jafari等人设计了一种采用滚珠丝杠改变力臂大小的刚度可调弹性驱动器，将线性弹簧应用在转动关节上，该驱动器结构松散、体积庞大；Fabrizio等人设计了一种采用扭力弹簧的旋转弹性驱动器，其弹性元件是独立设计制作的圆盘状扭力弹簧片，这种设计能有效缩小弹性驱动模块的尺寸，但弹簧片弹性不大，运动范围非常有限。 In recent years, foreign scholars have proposed some elastic drive joint design methods. Representatively: N.G.Tsagarakis et al. designed a rotary elastic actuator that uses a wire spring to be arranged in a triangular shape around the circumference. The device is compact, but cannot be adjusted according to the impact size; Amir Jafari et al. designed a stiffness-adjustable elastic actuator that uses a ball screw to change the size of the arm. The linear spring is applied to the rotating joint. The drive is loose and bulky. Fabrizio et al. designed a torsion spring. Rotary elastic drive, the elastic element is a disc-shaped torsion spring piece designed independently. This design can effectively reduce the size of the elastic drive module, but the spring piece has little elasticity and the movement range is very limited.
目前，国内对弹性关节的研究还非常少。经对现有技术文献的检索发现，从现有公开的串联弹性驱动关节看，大部分不具有刚度调节功能，如江苏大学杨启志等提出一种基于阿基米德螺线弹性体的柔弹性关节，专利公开号CN105082170A，其弹性体采用两片圆形弹簧片，簧片上开有阿基米德螺线槽以增加关节柔性，该装置虽然结构紧凑但运动范围有限且不能进行刚度调节。偶尔带有刚度调节的，也存在集成度较低、较为笨重、通用性较差等问题，如北京理工大学黄强等人提出的一种可变刚度的机器人关节，专利公开号CN104440936A，关节上安装了一片主摩擦片和两片副摩擦片，在螺栓施加预紧力作用下产生摩擦力，利用摩擦片的摩擦特性进行刚度调节，但是摩擦片属于消耗品，使用一段时间后就会丧失原有功能需要定期更换，且其只设两级刚度调节，不能实现线性可调的刚度特性；浙江大学朱秋国等人提出了刚度可调的柔性关节驱动器机构，专利公开号CN104985608A，采用曲斜面-转轮配合结构挤压矩形弹簧的方式实现柔性关节的功能，根据运动方向和外部负载大小的不同，前后凸轮板曲斜面上放置的转轮对矩形弹簧的预紧压力将发生变化，从而实现关节的刚度调节，该装置结构复杂，体积庞大，应用领域非常有限。 At present, there are very few studies on elastic joints in China. According to the search of the prior art documents, most of the series-elastically driven joints disclosed in the prior art do not have the stiffness adjustment function. For example, Yang Qizhi of Jiangsu University proposed a flexible elastic joint based on Archimedes spiral elastic body. Patent Publication No. CN105082170A, the elastic body adopts two circular spring pieces, and the reed has an Archimedes spiral groove to increase joint flexibility. Although the device is compact in structure, the movement range is limited and the rigidity adjustment cannot be performed. Occasionally with stiffness adjustment, there are also problems of low integration, cumbersome, and poor versatility, such as a variable stiffness robot joint proposed by Beijing University of Technology Huang Qiang et al., Patent Publication No. CN104440936A, joint installation A main friction plate and two secondary friction plates are used to generate friction under the pre-tightening force of the bolt, and the friction characteristics of the friction plate are used for stiffness adjustment, but the friction plate belongs to consumables, and will be lost after being used for a period of time. The function needs to be replaced regularly, and it only has two levels of stiffness adjustment, which can not achieve linearly adjustable stiffness characteristics; Zhu Qiuguo and others from Zhejiang University proposed a flexible joint actuator mechanism with adjustable stiffness, patent publication number CN104985608A, using curved bevel-rotary The function of the flexible joint is realized by the method of squeezing the rectangular spring with the structure. According to the difference of the moving direction and the external load, the pre-tightening pressure of the rotating spring placed on the curved surface of the front and rear cam plates will change, thereby realizing the rigidity of the joint. Adjustment, the device is complex in structure, bulky, and has limited application fields.
发明内容Summary of the invention
本发明的目的在于克服现有机器人关节设计上的不足，提出一种新型可调刚度的机器***性关节，它能安装于大多数采用转动关节的机器人上。本发明有效解决了现有机器人柔性关节结构松散、刚度不可线性调节、通用性差等问题，能根据外部负载的冲击大小进行刚度可调的柔顺控制，有助于推动各种关节机器人的升级换代。The object of the present invention is to overcome the deficiencies in the design of existing robot joints, and propose a novel elastic joint of adjustable rigidity, which can be mounted on most robots using rotating joints. The invention effectively solves the problems that the existing flexible joint structure of the robot is loose, the rigidity is not linearly adjustable, the versatility is poor, and the like, and the flexible control with adjustable stiffness can be performed according to the impact of the external load, which is helpful for promoting the upgrading of various joint robots.
本发明是通过以下技术方案实现的。 The present invention has been achieved by the following technical solutions.
一种刚度可调的机器***性关节，包括关节骨架、分别设置在所述关节骨架两端的驱动端和输出轴，还包括设置于所述关节骨架内且连接于驱动端和输出轴之间的刚度调节装置，所述刚度调节装置包括连接驱动端的旋转体、连接于旋转体与输出轴之间且在旋转体的推动下围绕输出轴的轴线旋转的弹性传力部件、所述输出轴受到不同负载冲击时用于调节旋转体驱动所述弹性传力部件转动时力臂长度的调节机构。An elastic joint of an adjustable stiffness, comprising a joint skeleton, a driving end and an output shaft respectively disposed at two ends of the joint skeleton, and further comprising a rigidity disposed in the joint skeleton and connected between the driving end and the output shaft An adjusting device comprising a rotating body connected to the driving end, an elastic force transmitting member connected between the rotating body and the output shaft and rotating around the axis of the output shaft under the pushing of the rotating body, the output shaft being subjected to different loads An adjustment mechanism for adjusting the length of the arm when the rotating body drives the elastic force transmitting member to rotate during the impact.
本方案通过调节弹性传力部件中弹簧片的工作长度实现刚度的线性调节，具有结构简单、体积小、精度高、调节范围大、磨损小、通用性好等诸多优点，可实现线性可调的刚度特性。The solution realizes the linear adjustment of the rigidity by adjusting the working length of the spring piece in the elastic force transmitting component, and has the advantages of simple structure, small volume, high precision, large adjustment range, small wear and good versatility, and can realize linear adjustable. Stiffness characteristics.
进一步地，所述的弹性传力部件包括固定在输出轴上的弹簧片夹头、一端沿输出轴径向均匀固定在弹簧片夹头上的若干弹簧片；所述的旋转体包括上下连接的转动机体和转动机体底壳，所述转动机体上端面沿径向均匀开有若干数量及方向与弹簧片相一致的滑槽；所述的调节机构包括活动设置在各滑槽内的卡爪、与各卡爪底部相配合的驱动平面螺纹卡盘、固定在各卡爪上的弹簧卡座组件、驱动平面螺纹卡盘旋转的调节动力机构，所述弹簧片穿过弹簧卡座组件且其两侧面与弹簧卡座组件紧密接触。本方案进一步减少了弹簧片的磨损，提高其使用寿命和稳定性，同时，具备自锁特性的调节机构简单紧凑，精度高、稳定可靠易实施。Further, the elastic force transmitting member comprises a spring piece chuck fixed on the output shaft, and a plurality of spring pieces which are uniformly fixed on the spring piece chuck at one end along the output shaft; the rotating body comprises an upper and lower connection Rotating the body and rotating the bottom body of the body, the upper end surface of the rotating body uniformly opens a plurality of slots in the radial direction corresponding to the spring piece; the adjusting mechanism comprises a claw disposed in the sliding slot, a driving plane threaded chuck matched with the bottoms of the claws, a spring card holder assembly fixed to each of the claws, and an adjusting power mechanism for driving the rotation of the planar threaded chuck, the spring piece passing through the spring card holder assembly and the two The sides are in intimate contact with the spring deck assembly. The solution further reduces the wear of the spring piece, improves its service life and stability, and at the same time, the adjustment mechanism with self-locking characteristics is simple and compact, high precision, stable and reliable, and easy to implement.
进一步地，所述弹簧卡座组件包括固定在卡爪上的弹簧卡座，所述弹簧卡座中部贯穿地设有供所述弹簧片穿过的挖空部，所述挖空部内通过两根轴承固定螺丝对称设置有两个沿弹簧片两侧面滚动的第二轴承，通过第二轴承与弹簧片两侧面滚动摩擦，最大限度的减少对弹簧片的磨损，延长弹簧片的使用寿命，保障弹簧片的工作稳定性和可靠性。Further, the spring card holder assembly includes a spring card holder fixed to the claw, the spring card holder is provided with a hollow portion through which the spring piece passes through, and the hollow portion passes through two The bearing fixing screw is symmetrically arranged with two second bearings rolling along the two sides of the spring piece, and the two bearings are rolled and rubbed on both sides of the spring piece, thereby minimizing the wear on the spring piece, prolonging the service life of the spring piece, and securing the spring. The work stability and reliability of the film.
进一步地，所述转动机体上端面的边缘处于设置有用于限制弹簧卡座组件移动位置的限位螺丝，有效控制弹簧卡座组件移动距离，防止脱落等意外。Further, the edge of the upper end surface of the rotating body is provided with a limit screw for restricting the moving position of the spring card holder assembly, and effectively controls the moving distance of the spring card holder assembly to prevent accidents such as falling off.
进一步地，调节动力机构包括设置在所述转动机体底壳上的齿轮传动副和刚度调节电机、连接于所述齿轮传动副和刚度调节电机之间的同步带轮传动副，所述齿轮传动副的输出端与平面螺纹卡盘通过紧固螺钉垂直固定连接，实现对平面螺纹卡盘的快速和高效的驱动，结构简单紧凑。Further, the adjustment power mechanism includes a gear transmission pair and a stiffness adjustment motor disposed on the bottom body of the rotating body, a timing belt drive pair connected between the gear transmission pair and the stiffness adjustment motor, the gear transmission pair The output end is fixedly connected to the flat threaded chuck by fastening screws, which enables fast and efficient driving of the flat threaded chuck, and the structure is simple and compact.
进一步地，所述齿轮传动副为蜗轮蜗杆传动副，结构紧凑、工作稳定、传动比高。Further, the gear transmission pair is a worm gear transmission pair, which has compact structure, stable operation and high transmission ratio.
进一步地，所述转动机体底壳上设置有用于安装齿轮传动副和刚度调节电机的工字形凸肋，所述转动机体下端设置有与所述工字形凸肋两端形状相匹配的缺口部，方便齿轮传动副和刚度调节电机安装及转动机体底壳和转动机体快速对位，提高装配效率。Further, the rotating body bottom case is provided with an I-shaped rib for mounting a gear transmission pair and a stiffness adjusting motor, and a lower end of the rotating body is provided with a notch portion matching the shape of both ends of the I-shaped rib, Convenient gear transmission pair and stiffness adjustment motor installation and rotating body bottom shell and rotating body quickly aligned to improve assembly efficiency.
进一步地，所述的关节骨架包括设有镂空的关节底壳和关节面壳，关节面壳通过紧固螺丝和关节底壳上端紧固连接，所述输出轴通过第一轴承安装于关节面壳上，结构简单、重量轻、装拆方便。Further, the joint skeleton includes a joint bottom shell and an articular shell provided with a hollow joint, and the joint shell is fastened by a fastening screw and an upper end of the joint bottom shell, and the output shaft is mounted on the joint shell through the first bearing. The utility model has the advantages of simple structure, light weight and convenient assembly and disassembly.
进一步地，所述驱动端包括相连接的驱动电机和谐波减速器，驱动电机通过轴承及驱动电机固定螺丝安装在关节底壳下端，所述谐波减速器输出端与转动机体底壳固定连接，驱动电机提供关节主动力，经过谐波减速器带动转动机体正反向旋转，实现弹性关节的正反向运动，集成度更高，结构紧凑简单。Further, the driving end comprises a connected driving motor and a harmonic reducer, and the driving motor is mounted on the lower end of the joint bottom case through a bearing and a driving motor fixing screw, and the output end of the harmonic reducer is fixedly connected with the rotating body bottom case The driving motor provides the main power of the joint, and the rotating reducer drives the rotating body to rotate forward and backward to realize the forward and reverse movement of the elastic joint, the integration degree is higher, the structure is compact and simple.
本发明相比现有技术具有以下优点：The present invention has the following advantages over the prior art:
1）采用平面螺纹卡盘配合卡爪的方式来调节弹簧片的工作长度，由于其配合上的自锁特性，调节精度高、工作可靠、更加节能；1) The working length of the spring piece is adjusted by the way of the flat threaded chuck and the claw. Due to the self-locking characteristics of the matching, the adjustment precision is high, the work is reliable, and the energy is more energy-saving;
2）关节的刚度调节实现了从全刚性到极大柔性的线性调节，能够根据冲击大小，进行快速调节，灵敏度高。2) The stiffness adjustment of the joint realizes linear adjustment from full rigidity to great flexibility, and can be quickly adjusted according to the impact size, and the sensitivity is high.
3）将驱动电机与减速器融入总体机构之中，集成度更高；整个关节结构紧凑，简单轻便，通用性强，应用范围广泛。3) Integrating the drive motor and reducer into the overall mechanism, the integration is higher; the whole joint is compact, simple and light, versatile and widely used.
附图说明DRAWINGS
图1示出了本发明实施例的刚度可调弹性关节的总体结构示意图。Fig. 1 is a view showing the overall structure of a stiffness-adjustable elastic joint according to an embodiment of the present invention.
图2 示出了本发明实施例的刚度可调弹性关节的***示意图。Fig. 2 is a view showing the explosion of the stiffness-adjustable elastic joint of the embodiment of the present invention.
图3和图4示出了本发明实施例的刚度可调弹性关节的局部剖视示意图。 3 and 4 are partial cross-sectional views showing the stiffness-adjustable elastic joint of the embodiment of the present invention.
图中：1 -输出轴；2-第一轴承；3 -弹簧片夹头；4 -弹簧片；5- 弹簧卡座；6 -卡爪；7 - 平面螺纹卡盘；8- 齿轮传动副；9- 同步带轮传动副；10- 刚度调节电机；11- 谐波减速器；12-关节底壳；13- 驱动电机；14- 轴承固定螺丝；15-第二轴承；16-转动机体；17-机体锁定螺丝；18-关节面壳；19-弹簧卡座组件；20-限位螺丝；21-转动机体底壳；22-驱动电机固定螺丝。In the figure: 1 - output shaft; 2 - first bearing; 3 - spring piece chuck; 4 - spring piece; 5 - spring card holder; 6 - jaw; 7 - Planar threaded chuck; 8--gear drive pair; 9- synchronous belt drive pair; 10--stiffness adjustment motor; 11-harmonic reducer; 12-joint bottom case; 13- drive motor; Bearing fixing screw; 15-second bearing; 16-rotating body; 17-body locking screw; 18- joint face shell; 19-spring seat assembly; 20-stop screw; 21-rotating body bottom shell; 22-drive Motor fixing screw.
具体实施方式detailed description
下面通过具体实施例对本发明的目的作进一步详细地描述，实施例不能在此一一赘述，但本发明的实施方式并不因此限定于以下实施例。The objects of the present invention are described in further detail below by way of specific examples, and the embodiments are not described herein, but the embodiments of the present invention are not limited to the following embodiments.
如图1至图4所示，一种刚度可调的机器***性关节，包括关节骨架、分别设置在所述关节骨架两端的驱动端和输出轴1，还包括设置于所述关节骨架内且连接于驱动端和输出轴1之间的刚度调节装置，所述刚度调节装置包括连接驱动端的旋转体、连接于旋转体与输出轴1之间且在旋转体的推动下围绕输出轴1的轴线旋转的弹性传力部件、所述输出轴1受到不同负载冲击时用于调节旋转体驱动所述弹性传力部件转动时力臂长度的调节机构。As shown in FIG. 1 to FIG. 4, an elastic joint of an adjustable rigidity robot includes an joint skeleton, a driving end and an output shaft 1 respectively disposed at two ends of the joint skeleton, and further comprising a joint disposed in the joint skeleton and connected a stiffness adjusting device between the driving end and the output shaft 1, the rigidity adjusting device comprising a rotating body connected to the driving end, connected between the rotating body and the output shaft 1 and rotating around the axis of the output shaft 1 under the pushing of the rotating body The elastic force transmitting member and the output shaft 1 are subjected to an adjustment mechanism for adjusting the length of the arm when the rotating body drives the elastic force transmitting member to rotate when impacted by different loads.
所述的弹性传力部件包括固定在输出轴1上的弹簧片夹头3、一端沿输出轴1径向均匀固定在弹簧片夹头3上的三个弹簧片4；所述的旋转体包括上下连接的转动机体16和转动机体底壳21，转动机体16以输出轴为轴心，所述转动机体16上端面沿径向均匀开有三个方向与弹簧片4相一致的滑槽；所述的调节机构包括活动设置在各滑槽内的卡爪6、与各卡爪6底部相配合的驱动平面螺纹卡盘7、固定在各卡爪6上的弹簧卡座组件19、驱动平面螺纹卡盘7旋转的调节动力机构，所述弹簧片4穿过弹簧卡座组件19且其两侧面与弹簧卡座组件19紧密接触，所述调节动力机构包括设置在所述转动机体底壳21上的齿轮传动副8和刚度调节电机10、连接于所述齿轮传动副8和刚度调节电机10之间的同步带轮传动副9，齿轮传动副8为蜗轮蜗杆传动副，刚度调节电机10通过同步带轮传动副9将扭矩传递给齿轮传动副8，所述齿轮传动副8的输出端与平面螺纹卡盘7通过紧固螺钉垂直固定连接。The elastic force transmitting member comprises a spring piece chuck 3 fixed on the output shaft 1, and three spring pieces 4 whose one end is uniformly fixed radially on the spring piece chuck 3 along the output shaft 1; the rotating body includes a rotating body 16 connected to the upper and lower sides and a rotating bottom body 21, the rotating body 16 is pivoted with the output shaft as an axis, and the upper end surface of the rotating body 16 is evenly opened in the radial direction with a sliding groove which is aligned with the spring piece 4 in three directions; The adjusting mechanism comprises a claw 6 movably disposed in each of the sliding grooves, a driving plane threaded chuck 7 matched with the bottom of each of the claws 6, a spring holder assembly 19 fixed on each of the claws 6, and a driving plane thread card An adjustment power mechanism for rotating the disk 7, the spring piece 4 passes through the spring holder assembly 19 and its both sides are in close contact with the spring holder assembly 19, and the adjustment power mechanism includes a rotation mechanism provided on the bottom body 21 of the rotating body. a gear transmission pair 8 and a stiffness adjustment motor 10, a timing pulley drive 9 connected between the gear transmission pair 8 and the stiffness adjustment motor 10, the gear transmission pair 8 is a worm gear transmission pair, and the stiffness adjustment motor 10 passes the timing belt Wheel drive pair 9 transmits torque A sub-gear 8, the output end plane of the threaded chuck sub-gear 8 is fixedly connected perpendicularly 7 by fastening screws.
弹簧卡座组件19在卡爪6的带动下，只能沿着滑槽的方向做往复做径向往复运动，所述转动机体16上端面的边缘处于设置有用于限制弹簧卡座组件19移动位置的限位螺丝20。The spring holder assembly 19 can only reciprocally reciprocate in the direction of the chute under the driving of the claws 6. The edge of the upper end surface of the rotating body 16 is disposed to limit the movement position of the spring holder assembly 19. Limiting screw 20.
本实施例设置有三个弹簧片4、三个卡爪6和三套弹簧卡座组件19，实际应用中，也可以根据需要设定相应数量的弹簧片4、卡爪6和弹簧卡座组件19，如两个弹簧片4、两个卡爪6和两套弹簧卡座组件19，或四个弹簧片4、四个卡爪6和四套弹簧卡座组件19。The embodiment is provided with three spring pieces 4, three claws 6 and three sets of spring card holder assemblies 19. In practical applications, a corresponding number of spring pieces 4, claws 6 and spring holder assemblies 19 can also be set as needed. For example, two spring pieces 4, two claws 6 and two sets of spring holder assemblies 19, or four spring pieces 4, four claws 6, and four sets of spring holder assemblies 19.
所述弹簧卡座组件19包括固定在卡爪6上的弹簧卡座5，所述弹簧卡座5中部贯穿地设有供所述弹簧片4穿过的挖空部，所述挖空部内通过两根轴承固定螺丝14对称设置有两个沿弹簧片4两侧面滚动的第二轴承15，弹簧片4侧两侧面与第二轴承15紧密接触，想对地运动时，彼此形成滚动摩擦，最大限度的减少弹簧片4的磨损，减少损耗、提高寿命及节能。The spring card holder assembly 19 includes a spring card holder 5 fixed to the claw 6 , and a hollow portion through which the spring piece 4 passes is provided in the middle of the spring card holder 5 , and the hollow portion passes through the hollow portion The two bearing fixing screws 14 are symmetrically disposed with two second bearings 15 rolling along the two sides of the spring piece 4. The two side faces of the spring piece 4 are in close contact with the second bearing 15, and when they want to move to the ground, they form rolling friction with each other. Limiting the wear of the spring piece 4 reduces wear, improves life and saves energy.
所述转动机体底壳21上设置有用于安装齿轮传动副8和刚度调节电机10的工字形凸肋，所述转动机体16下端设置有与所述工字形凸肋两端形状相匹配的缺口部，方便齿轮传动副8和刚度调节电机10安装及转动机体底壳21和转动机体16快速对位，提高装配效率。The rotating body bottom case 21 is provided with an I-shaped rib for mounting the gear transmission pair 8 and the stiffness adjusting motor 10. The lower end of the rotating body 16 is provided with a notch portion matching the shape of both ends of the I-shaped rib. It is convenient for the gear transmission pair 8 and the stiffness adjusting motor 10 to mount and rotate the bottom body 21 of the body and the rotating body 16 to quickly align, thereby improving assembly efficiency.
所述的关节骨架包括设有镂空的关节底壳12和关节面壳18，关节面壳12通过紧固螺丝17和关节底壳12上端紧固连接，所述输出轴1通过第一轴承2安装于关节面壳18上。The joint skeleton includes a joint bottom shell 12 and a joint shell 18 provided with a hollow, and the joint shell 12 is fastened by fastening screws 17 and an upper end of the joint bottom shell 12, and the output shaft 1 is installed through the first bearing 2 On the joint face shell 18.
所述驱动端包括相连接的驱动电机13和谐波减速器11，驱动电机13通过轴承及驱动电机固定螺丝22安装在关节底壳12下端，谐波减速器11通过轴承安装在转动机体底壳21上，所述谐波减速器11输出端与转动机体底壳21固定连接。驱动电机提供关节主动力，经过谐波减速器带动转动机体正反向旋转，实现弹性关节的正反向运动。The driving end includes a connected driving motor 13 and a harmonic reducer 11. The driving motor 13 is mounted on the lower end of the joint bottom case 12 through a bearing and a driving motor fixing screw 22, and the harmonic reducer 11 is mounted on the rotating body bottom case through a bearing. 21, the output end of the harmonic reducer 11 is fixedly connected to the rotating body bottom case 21. The driving motor provides the main power of the joint, and the harmonic reducer drives the rotating body to rotate forward and backward to realize the forward and reverse movement of the elastic joint.
本实施例的工作原理及过程为：The working principle and process of this embodiment are as follows:
本实施例的具体工作过程包括关节的主运动和关节刚度调整运动：The specific working process of this embodiment includes the main motion of the joint and the joint stiffness adjustment movement:
关节的主运动：驱动电机13提供关节主驱动力矩，经过谐波减速器11带动转动机体16做正反转运动；转动机体16的滑槽上的弹簧卡座5通过第二轴承15与弹簧片4紧密接触，经过弹簧片4将动力传递给输出轴1，使转动机体16、弹簧片夹头3、输出轴1同轴的转动；The main motion of the joint: the driving motor 13 provides the main driving torque of the joint, and the rotating body 16 drives the rotating body 16 to perform the forward and reverse movement; the spring card seat 5 on the sliding groove of the rotating body 16 passes through the second bearing 15 and the spring piece. 4 in close contact, the power is transmitted to the output shaft 1 through the spring piece 4, so that the rotating body 16, the spring piece chuck 3, and the output shaft 1 rotate coaxially;
关节刚度调整运动：单所述输出端受到不同负载冲击时，刚度调节电机10转动，带动同步带轮传动副9和齿轮传动副8随之运动，从而带动平面螺纹卡盘7旋转，使得其上的卡爪6带着弹簧卡座5沿着转动机体16的滑槽滑动，两个与弹簧片4紧密接触的第二轴承15的外圈沿着弹簧片4两侧面滚动，第二轴承15的外圈与弹簧片4两侧面接触点的位置随着弹簧卡座5的逐渐移动靠近或远离弹簧片夹头3，随着弹簧卡座5的位置变化，弹簧卡座5作用在弹簧片4上的施力点的力臂长度也随之变化，即弹簧片4的工作长度将发生变化，当第二轴承15的外圈与弹簧片4两侧面接触点的位置逐渐靠近弹簧片夹头3时，弹簧片4的工作长度变短，弹簧片4在外力作用下形变变小，刚度变大；当第二轴承15的外圈与弹簧片4两侧面接触点的位置逐渐远离弹簧片夹头3时，弹簧片4的工作长度变长，弹簧片4在外力作用下形变变大，刚度变小，从而实现了关节的无级、线性刚度调节。Joint stiffness adjustment movement: When the output end is subjected to different loads, the stiffness adjustment motor 10 rotates, and the synchronous pulley drive pair 9 and the gear transmission pair 8 are driven to move, thereby driving the planar threaded chuck 7 to rotate thereon. The claw 6 slides along the sliding groove of the rotating body 16 with the spring holder 5, and the outer rings of the second bearing 15 which are in close contact with the spring piece 4 roll along both sides of the spring piece 4, and the second bearing 15 The position of the contact point between the outer ring and the spring piece 4 is close to or away from the spring piece chuck 3 with the gradual movement of the spring card holder 5, and the spring card seat 5 acts on the spring piece 4 as the position of the spring card holder 5 changes. The length of the force arm of the force application point also changes, that is, the working length of the spring piece 4 will change, when the position of the contact point between the outer ring of the second bearing 15 and the spring piece 4 gradually approaches the spring piece chuck 3, The working length of the spring piece 4 is shortened, and the spring piece 4 is deformed by the external force to become smaller and the rigidity becomes larger; when the position of the contact point between the outer ring of the second bearing 15 and the spring piece 4 is gradually away from the spring piece chuck 3 , the working length of the spring piece 4 becomes longer, and the bomb 4 sheet deformation under external force becomes large, rigidity becomes small, enabling stepless adjustment joint linear stiffness.
本实施例以输出轴1的轴线为中心圆周均布3组弹簧片4、弹簧卡座5、卡爪6，刚度的调节采用平面螺纹卡盘7转动带动卡爪6及紧固在其上的弹簧卡座5沿着弹簧片4侧面方向运动，通过调节弹簧片4的工作长度实现了刚度的线性调节，结构紧凑、轻便、通用性强、磨损小，能根据外部负载的冲击大小进行刚度调节，提高了机器人关节的柔顺性，可适用于各种关节型机器人。In this embodiment, three sets of spring pieces 4, spring clips 5 and claws 6 are uniformly distributed around the axis of the output shaft 1, and the rigidity is adjusted by using the flat threaded chuck 7 to rotate the claws 6 and fastened thereto. The spring card holder 5 moves along the side direction of the spring piece 4, and the linear adjustment of the rigidity is realized by adjusting the working length of the spring piece 4. The structure is compact, light, versatile, and wearless, and the stiffness can be adjusted according to the impact of the external load. It improves the flexibility of the robot joint and can be applied to various articulated robots.
本发明的上述实施例仅仅是为清楚地说明本发明所作的举例，而并非是对本发明的实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式的变化或变动。这里无需也无法对所有的实施方式予以穷举。凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明权利要求的保护范围之内。The above-described embodiments of the present invention are merely illustrative of the present invention and are not intended to limit the embodiments of the present invention. Other variations or modifications of the various forms may be made by those skilled in the art in light of the above description. There is no need and no way to exhaust all of the implementations. Any modifications, equivalent substitutions and improvements made within the spirit and scope of the invention are intended to be included within the scope of the appended claims.

Claims (9)

  1. 一种刚度可调的机器***性关节，包括关节骨架、分别设置在所述关节骨架两端的驱动端和输出轴(1)，其特征在于：还包括设置于所述关节骨架内且连接于驱动端和输出轴(1)之间的刚度调节装置，所述刚度调节装置包括连接驱动端的旋转体、连接于旋转体与输出轴(1)之间且在旋转体的推动下围绕输出轴(1)的轴线旋转的弹性传力部件、所述输出轴(1)受到不同负载冲击时用于调节旋转体驱动所述弹性传力部件转动时力臂长度的调节机构。An elastic joint of a robot with adjustable stiffness, comprising a joint skeleton, a driving end and an output shaft (1) respectively disposed at two ends of the joint skeleton, characterized in that: further comprising: being disposed in the joint skeleton and connected to the driving end And a stiffness adjusting device between the output shaft (1), the stiffness adjusting device comprising a rotating body connected to the driving end, connected between the rotating body and the output shaft (1) and surrounding the output shaft (1) under the pushing of the rotating body The axis-rotating elastic force transmitting member, the output shaft (1) is subjected to an adjustment mechanism for adjusting the length of the arm when the rotating body drives the elastic force transmitting member to rotate when subjected to different loads.
  2. 根据权利要求1所述的刚度可调的机器***性关节，其特征在于：所述的弹性传力部件包括固定在输出轴(1)上的弹簧片夹头(3)、一端沿输出轴(1)径向均匀固定在弹簧片夹头(3)上的若干弹簧片(4)；所述的旋转体包括上下连接的转动机体(16)和转动机体底壳(21)，所述转动机体(16)上端面沿径向均匀开有若干数量及方向与弹簧片(4)相一致的滑槽；所述的调节机构包括活动设置在各滑槽内的卡爪(6)、与各卡爪(6)底部相配合的驱动平面螺纹卡盘(7)、固定在各卡爪(6)上的弹簧卡座组件(19)、驱动平面螺纹卡盘(7)旋转的调节动力机构，所述弹簧片(4)穿过弹簧卡座组件(19)且其两侧面与弹簧卡座组件(19)紧密接触。The elastically adjustable robot elastic joint according to claim 1, wherein said elastic force transmitting member comprises a spring piece chuck (3) fixed to the output shaft (1) and one end along the output shaft (1) a plurality of spring pieces (4) radially uniformly fixed on the spring piece chuck (3); the rotating body comprises a rotating body (16) connected up and down and a rotating body bottom case (21), the rotating body ( 16) The upper end surface is uniformly opened in the radial direction with a plurality of slots and the same direction as the spring piece (4); the adjusting mechanism comprises a claw (6) movably disposed in each of the sliding grooves, and each of the claws (6) a bottom-fitted drive plane threaded chuck (7), a spring card holder assembly (19) fixed to each of the jaws (6), and an adjustment power mechanism for driving the planar threaded chuck (7) to rotate, The spring leaf (4) passes through the spring holder assembly (19) and its sides are in intimate contact with the spring holder assembly (19).
  3. 根据权利要求2所述的刚度可调的机器***性关节，其特征在于：所述弹簧卡座组件(19)包括固定在卡爪(6)上的弹簧卡座(5)，所述弹簧卡座(5)中部贯穿地设有供所述弹簧片(4)穿过的挖空部，所述挖空部内通过两根轴承固定螺丝(14)对称设置有两个沿弹簧片(4)两侧面滚动的第二轴承(15)。A rigid-adjustable robotic elastic joint according to claim 2, wherein said spring retainer assembly (19) comprises a spring retainer (5) fixed to a jaw (6), said spring retainer (5) a hollow portion through which the spring piece (4) passes is provided in the middle portion, and the two hollow bearing screws (14) are symmetrically disposed in the hollow portion by two sides along the spring piece (4) Rolling second bearing (15).
  4. 根据权利要求2所述的刚度可调的机器***性关节，其特征在于：所述转动机体(16)上端面的边缘处于设置有用于限制弹簧卡座组件(19)移动位置的限位螺丝(20)。The elastic joint of the rigidity adjustable robot according to claim 2, characterized in that the edge of the upper end surface of the rotating body (16) is provided with a limit screw (20 for limiting the moving position of the spring holder assembly (19). ).
  5. 根据权利要求2所述的刚度可调的机器***性关节，其特征在于：调节动力机构包括设置在所述转动机体底壳(21)上的齿轮传动副(8)和刚度调节电机(10)、连接于所述齿轮传动副(8)和刚度调节电机(10)之间的同步带轮传动副(9)，所述齿轮传动副(8)的输出端与平面螺纹卡盘(7)通过紧固螺钉垂直固定连接。 The adjustable elastic robot joint according to claim 2, wherein the adjusting power mechanism comprises a gear transmission pair (8) and a stiffness adjusting motor (10) disposed on the rotating body bottom case (21), a timing belt drive pair (9) connected between the gear transmission pair (8) and the stiffness adjustment motor (10), the output end of the gear transmission pair (8) is tightly coupled to the planar threaded chuck (7) The fixing screws are fixedly connected vertically.
  6. 根据权利要求5所述的刚度可调的机器***性关节，其特征在于：所述齿轮传动副(8)为蜗轮蜗杆传动副。The elastic joint of the rigidity adjustable robot according to claim 5, characterized in that the gear transmission pair (8) is a worm gear transmission pair.
  7. 根据权利要求5所述的刚度可调的机器***性关节，其特征在于：所述转动机体底壳(21)上设置有用于安装齿轮传动副(8)和刚度调节电机(10)的工字形凸肋，所述转动机体(16)下端设置有与所述工字形凸肋两端形状相匹配的缺口部。The elastic joint of the rigidity adjustable robot according to claim 5, characterized in that: the rotating body bottom case (21) is provided with an I-shaped convex for mounting the gear transmission pair (8) and the stiffness adjusting motor (10). The rib, the lower end of the rotating body (16) is provided with a notch portion matching the shape of both ends of the I-shaped rib.
  8. 根据权利要求1所述的刚度可调的机器***性关节，其特征在于：所述的关节骨架包括设有镂空的关节底壳(12)和关节面壳(18)，关节面壳(12)通过紧固螺丝(17)和关节底壳(12)上端紧固连接，所述输出轴(1)通过第一轴承(2)安装于关节面壳(18)上。The rigid joint adjustable elastic joint according to claim 1, wherein the joint skeleton comprises a joint bottom shell (12) and an articular shell (18) provided with a hollow, and the joint shell (12) passes The fastening screw (17) is fastened to the upper end of the joint bottom shell (12), and the output shaft (1) is mounted to the joint face shell (18) through the first bearing (2).
  9. 根据权利要求8所述的刚度可调的机器***性关节，其特征在于：所述驱动端包括相连接的驱动电机(13)和谐波减速器(11)，驱动电机(13)通过轴承及驱动电机固定螺丝(22)安装在关节底壳(12)下端，所述谐波减速器(11)输出端与转动机体底壳(21)固定连接。The elastic joint of the adjustable stiffness according to claim 8, wherein the driving end comprises a connected driving motor (13) and a harmonic reducer (11), and the driving motor (13) passes through the bearing and the driving The motor fixing screw (22) is mounted at the lower end of the joint bottom case (12), and the output end of the harmonic reducer (11) is fixedly connected with the rotating body bottom case (21).
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CN113334424A (en) * 2021-06-24 2021-09-03 北京航空航天大学 Robot safety joint device based on variable stiffness principle
CN114378569A (en) * 2022-02-25 2022-04-22 北京航空航天大学 Robot execution device with bolt automatic assembly function
CN114378569B (en) * 2022-02-25 2023-08-18 北京航空航天大学 Robot executive device with bolt automatic assembly function
CN115741771A (en) * 2022-11-16 2023-03-07 安徽工程大学 One-way compression double-side friction variable-rigidity flexible joint and working method
CN115741771B (en) * 2022-11-16 2024-04-12 安徽工程大学 Unidirectional compaction bilateral friction variable-rigidity compliant joint and working method

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