CN114347088A - Variable-stiffness mechanism for realizing variable stiffness by changing pretightening force of spring and flexible joint - Google Patents
Variable-stiffness mechanism for realizing variable stiffness by changing pretightening force of spring and flexible joint Download PDFInfo
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Abstract
The invention discloses a variable stiffness mechanism and a flexible joint for realizing variable stiffness by changing the pretightening force of a spring. The flexible joint comprises a variable stiffness mechanism, a stiffness adjusting motor, a middle driving mechanism and an integrated driving mechanism. The variable-stiffness driving disc is driven by a stiffness adjusting motor through an intermediate driving mechanism, T-shaped grooves are uniformly distributed on the output end face of the variable-stiffness driving disc, the contour line of the variable-stiffness driving disc is a three-dimensional curve, and a sliding block roller moving in the variable-stiffness driving disc can axially move while rotating along the curve, so that a spring fixedly connected with a spring base axially moves, the stretching amount of the spring is changed, and the pretightening force of the spring is changed to adjust the stiffness. The flexible joint of the invention realizes variable rigidity by changing the pretightening force of the spring, and has the characteristics of compact structure and quick response.
Description
Technical Field
The invention relates to the field of robots, in particular to a variable stiffness mechanism and a flexible joint, wherein the variable stiffness mechanism and the flexible joint realize variable stiffness by changing the pretightening force of a spring.
Background
Compared with a rigid joint, the flexible joint has the effects of reducing impact and absorbing vibration energy. For a humanoid robot, if stiffness changes of a human at different speeds and step frequencies are simulated, flexible joints capable of realizing variable stiffness need to be designed to improve the motion performance and the environment adaptability of the robot. Patent CN106426265A provides a variable-stiffness compliant drive joint, in which a stiffness adjusting mechanism is disposed between a motor and a harmonic reducer, and the flexible connection between a steel wheel and the joint is realized by adjusting the deformable length of an elastic member through the stiffness adjusting mechanism. Motor and harmonic reducer ware are more ripe structure in this structure, become rigidity structure in entire system and belong to the structure that the reliability is slightly poor, if become rigidity structure and break down, need unpack apart the whole structure and maintain. Or when the rigidity is not required to be adjusted, the whole structure is required to be disassembled when the rigidity changing mechanism is required to be disassembled, and the flexibility and the convenience are poor.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a variable stiffness mechanism and a flexible joint, wherein the variable stiffness mechanism can realize variable stiffness by changing the pretightening force of a spring.
In order to realize the purpose of the invention, the invention adopts the following technical scheme: a variable stiffness mechanism for realizing variable stiffness by changing the pretightening force of a spring comprises a driving shaft, a variable stiffness driving disc, a sliding block, a shaft sleeve, a spring base and the spring; the variable-rigidity driving disc is rotationally connected with the driving shaft; one end of the sliding block is matched with the variable-stiffness driving disc, and the other end of the sliding block is fixedly connected with the spring base; a shaft sleeve is arranged between the spring base and the driving shaft, and the shaft sleeve is matched with the driving shaft; a plurality of groups of uniformly distributed springs are fixed on the output end face of the spring base, and the other ends of the springs are connected with an output disc; the output disc is rotationally connected with the drive shaft.
Furthermore, a plurality of groups of T-shaped grooves are uniformly distributed on the output end surface of the variable stiffness driving disc; the contour line of the T-shaped groove is specifically as follows: the contour line is a curve when viewed from the end face and a straight line at more than 0 DEG from the end face when viewed from the axial plane.
Furthermore, the top of the sliding block is a spherical roller, and the spherical roller of the sliding block moves along a curve in the T-shaped groove, so that the spring base is driven to slide along the axial direction.
Furthermore, rectangular sliding grooves are uniformly distributed at the inner side shaft hole of the spring base; rectangular sliding sheets are correspondingly and uniformly distributed on the outer side of the shaft sleeve; the rectangular sliding groove is matched with the rectangular sliding piece, so that the spring base can axially slide along the shaft sleeve while rotating along with the shaft sleeve.
Furthermore, the output end of the driving shaft is an optical axis or a stepped shaft and is used for mounting the variable-stiffness driving disc, the spring base and the output disc.
The invention provides a flexible joint capable of realizing variable stiffness by changing the pretightening force of a spring, which comprises a variable stiffness mechanism, a stiffness adjusting motor, an intermediate driving mechanism and an integrated driving mechanism, wherein the variable stiffness mechanism is arranged on the intermediate driving mechanism; the variable stiffness mechanism is positioned at the output end of the integrated driving mechanism; the integrated driving mechanism comprises a driving motor, a harmonic reducer, a reducer output flange and a hollow shaft; and the output flange of the speed reducer is fixedly connected with the driving shaft.
Further, the transmission mode of the rigidity adjusting motor is specifically as follows: if the worm gear is adopted for driving, the circumferential surface of the variable-rigidity driving disc is in a worm gear shape; if the gear drive is adopted, the circumferential surface of the variable-rigidity drive disk is in a corresponding gear shape; if the transmission shaft is connected with the variable-rigidity driving disc, the variable-rigidity driving disc is provided with a shaft hole matched with the variable-rigidity driving disc.
Furthermore, the rigidity adjusting motor is arranged laterally, namely an output shaft of the rigidity adjusting motor is parallel to the driving shaft; and a shell of the rigidity adjusting motor is fixed with a motor shell of the integrated driving mechanism or fixed with an output flange of the speed reducer.
Furthermore, the rigidity adjusting motor is arranged in front, namely an output shaft of the rigidity adjusting motor penetrates through a hollow shaft of the integrated driving mechanism, and the rigidity adjusting motor is placed at the front end of the integrated driving mechanism.
Compared with the prior art, the invention has the following beneficial effects:
the flexible joint capable of realizing variable stiffness by changing the pretightening force of the spring can be used as an independent module to be arranged on the output end face of the reducer, compared with the flexible joint arranged between the motor and the reducer, the invention keeps the integrity of the integrated motor and the reducer, when the stiffness does not need to be adjusted, the whole set of variable stiffness mechanism can be disassembled, and the tail end connecting piece is directly arranged at the output end of the reducer, thus the operation is simple and convenient.
In addition, the variable stiffness mechanism has various installation modes, different installation modes can be selected according to specific requirements, the joint stiffness is adjusted by adjusting the pretightening force of the spring through the independent stiffness adjusting motor, the position and stiffness of the joint are adjusted relatively independently, the control method is simpler, and the stiffness can be continuously adjusted.
Drawings
FIG. 1 is a cross-sectional view of a variable stiffness mechanism of a flexible joint of the present invention, in which variable stiffness is achieved by changing the pre-tightening force of a spring;
FIG. 2 is a schematic structural diagram of a variable stiffness driving disc of a flexible joint according to the present invention, wherein the variable stiffness driving disc is realized by changing a pre-tightening force of a spring;
FIG. 3 is a cross-sectional view of a variable stiffness driving disc of a flexible joint of the present invention for varying stiffness by varying pre-tightening force of a spring;
FIG. 4 is a schematic structural diagram of a spring base of a flexible joint of the present invention, in which stiffness is changed by changing a pre-tightening force of a spring;
FIG. 5 is a schematic view of a shaft sleeve structure of a flexible joint of the present invention, in which stiffness is changed by changing a pre-tightening force of a spring;
FIG. 6 is a schematic structural diagram of a driving shaft of a flexible joint of the present invention, in which stiffness is changed by changing the pre-tightening force of a spring;
FIG. 7 is a cross-sectional view of a flexible joint of the present invention with variable stiffness achieved by varying the pre-load force of the spring;
FIG. 8 is a schematic structural diagram of a mounting mode 1 of a stiffness adjusting motor of a flexible joint of the present invention, in which the stiffness is changed by changing the pre-tightening force of a spring;
FIG. 9 is a schematic structural diagram of a mounting manner 2 of a stiffness adjusting motor of a flexible joint of the present invention, in which stiffness is changed by changing a pre-tightening force of a spring;
in the figure: 1. a drive shaft; 2. a variable stiffness drive disc bearing; 3. a variable stiffness drive disc; 301. a T-shaped groove contour line 4 of the variable-rigidity driving disc and a sliding block; 5. a shaft sleeve; 6. a spring mount; 7. a spring; 8. an output tray; 9. an output disc bearing; 10. a reducer output flange; 11. a harmonic reducer; 12. a drive motor; 13. a worm; 14. a first stiffness adjustment motor; 15. a pinion gear; 16. a second stiffness adjustment motor.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be further described below with reference to the accompanying drawings. The described embodiments are only some of the embodiments of the present invention, and all other embodiments obtained by those skilled in the art based on the method of the present invention without any inventive work are within the scope of the present invention.
Fig. 1 is a cross-sectional view of a variable stiffness mechanism of a flexible joint for realizing variable stiffness by changing the pre-tightening force of a spring according to the present invention, where the variable stiffness mechanism includes a driving shaft 1, a variable stiffness driving disc bearing 2, a variable stiffness driving disc 3, a slider 4, a sleeve 5, a spring base 6, a spring 7, an output disc 8, and an output disc bearing 9. The left end of the driving shaft 1 is fixedly connected with the driving mechanism, and the driving shaft 1 is driven to rotate by the output torque of the driving mechanism. The variable-rigidity driving disc 3 is driven by the rigidity adjusting motor to rotate, and the variable-rigidity driving disc 3 is matched with the variable-rigidity driving disc bearing 2 and is in rotating connection with the driving shaft 1 through the variable-rigidity driving disc bearing 2. One end of the sliding block 4 is matched with the variable-stiffness driving disc 3, and the other end of the sliding block is fixedly connected with the spring base 6. Namely, the slide block 4 also has a plurality of groups correspondingly, the roller at the top slides in the T-shaped groove of the variable stiffness driving disk 3, the bottom is fixedly connected with the spring base 6, and when the slide block 4 moves along a curve in the T-shaped groove of the variable stiffness driving disk 3, the slide block 4 also moves along the axial direction of the variable stiffness driving disk 3, so as to drive the spring base 6 to move along the axial line. In order to ensure that the spring base 6 can smoothly move along the axis when rotating along with the driving shaft 1, a shaft sleeve 5 is arranged between the spring base 6 and the driving shaft 1, the shaft sleeve 5 is matched with the driving shaft 1, rectangular sliding sheets are uniformly distributed in the circumferential direction of the shaft sleeve 5 and can be inserted into sliding grooves distributed in the circumferential direction of the spring base 6, and the spring base 6 can rotate along with the driving shaft 1 and can also slide along the axial direction of the shaft sleeve through the matching of the sliding grooves and the sliding sheets. The output end face of the spring base 6 is fixed with a plurality of groups of uniformly distributed springs 7, the other ends of the springs 7 are connected with an output disc 8, the output disc 8 is rotatably connected with the driving shaft 1 through an output disc bearing 9, and the output end face of the output disc 8 is provided with a threaded hole which is fixedly connected with a tail end connecting piece. When the spring base 6 moves along the axial direction, the stretching amount of the spring 7 is changed, so that the pretightening force of the spring 7 is changed to realize the adjustment of the rigidity.
Fig. 2-3 are a schematic structural diagram and a cross-sectional view of a variable stiffness driving disc of a flexible joint for realizing variable stiffness by changing the pre-tightening force of a spring, wherein the output end face of the variable stiffness driving disc 3 is provided with a plurality of groups of curved T-shaped grooves, the number of the T-shaped grooves can be designed according to actual requirements, the contour lines of the T-shaped grooves are three-dimensional curves of space, the contour line 301 of the T-shaped groove of the variable stiffness driving disc is a curve when viewed from the end face, the contour line 301 of the T-shaped groove of the variable stiffness driving disc is a straight line forming a certain included angle (larger than 0 °) with the end face when viewed from an axial section, that is, the T-shaped groove contour line is not parallel with the end face, and when a roller moves along the curve of the contour line, the distance between the center of the roller and the output end face of the variable stiffness driving disc also changes.
Fig. 4 is a schematic diagram of a spring base structure of a flexible joint of the present invention, in which stiffness is changed by changing a pre-tightening force of a spring, and fig. 5 is a schematic diagram of a shaft sleeve structure of a flexible joint of the present invention, in which stiffness is changed by changing a pre-tightening force of a spring. Rectangular sliding grooves are uniformly distributed in the inner side shaft hole of the spring base 6; rectangular sliding sheets are correspondingly and uniformly distributed on the outer side of the shaft sleeve 5; rectangular gleitbretter and the cooperation of rectangular spout, can the one-to-one insert in the rectangular spout of spring holder 6, the shaft hole and the drive shaft 1 fixed coordination of axle sleeve 5 can drive spring holder 6 synchronous rotation when axle sleeve 5 rotates along with drive shaft 1 to spring holder 6 can also be followed 5 axial displacement of axle sleeve.
Fig. 6 is a schematic structural diagram of a driving shaft of a flexible joint for realizing variable stiffness by changing the pretightening force of a spring according to the present invention, wherein threaded holes are uniformly distributed on the end surface of the driving shaft 1, the driving shaft is fixedly connected with an output flange 10 of a speed reducer through bolts, and the output end of the driving shaft 1 is an optical axis or a stepped axis for installing a variable stiffness driving disc 3, a spring base 6 and an output disc 8.
Fig. 7 is a cross-sectional view of a flexible joint for realizing variable stiffness by changing the pre-tightening force of a spring according to the present invention, where the flexible joint includes a variable stiffness mechanism, a stiffness adjustment motor, an intermediate driving mechanism, and an integrated driving mechanism, and the integrated driving mechanism includes a driving motor 12, a harmonic reducer 11, a reducer output flange 10, and a hollow shaft; the driving motor 12, the harmonic reducer 11 and the reducer output flange 10 are all installed on the outer side of the hollow shaft to achieve coaxial arrangement, power generated by the driving motor 12 is output through the reducer output flange 10 after being reduced in speed and increased in torque through the harmonic reducer 11, and the reducer output flange 10 is fixedly connected with the end face of the driving shaft 1 through bolts.
The circumferential surface of the variable rigidity driving disk 3 can be processed into various modes, such as a worm gear or a gear mode, according to different transmission modes of the rigidity adjusting motor. Specifically, if the worm gear is adopted for driving, the circumferential surface of the variable stiffness driving disc 3 is in a worm gear shape; if the gear drive is adopted, the circumferential surface of the variable stiffness drive disk 3 is in a corresponding gear shape; if the transmission shaft is connected with the variable-rigidity driving disc 3, the variable-rigidity driving disc 3 needs to be provided with a shaft hole matched with the variable-rigidity driving disc. The rigidity adjusting motor has various installation forms, and the invention provides two installation modes of the rigidity adjusting motor.
Example one
Fig. 8 is a schematic structural diagram of a mounting manner 1 of a stiffness adjustment motor of a flexible joint for realizing variable stiffness by changing a pre-tightening force of a spring according to the present invention, in this embodiment, a worm gear is adopted to transmit power output by a first stiffness adjustment motor 14 to a variable stiffness driving disk 3, a housing of the first stiffness adjustment motor 14 is fixedly connected with a housing of a driving motor 12, an output shaft of the first stiffness adjustment motor 14 is rotatably connected with a worm 13, and the worm 13 and a worm wheel on an outer circumference of the variable stiffness driving disk 3 drive the variable stiffness driving disk 3 through cooperation of the worm gear and the worm. In this installation mode, the variable stiffness mechanism is independent of the original integrated driving structure, and when the required stiffness is achieved, the first stiffness adjusting motor 14 needs to work continuously in order to ensure that the variable stiffness driving disc 3 and the spring base 6 rotate synchronously.
Example two
Fig. 9 is a schematic structural diagram of a mounting manner 2 of a stiffness adjusting motor of a flexible joint for realizing variable stiffness by changing the pre-tightening force of a spring according to the present invention, in this embodiment, a spur gear is adopted to transmit power output by a second stiffness adjusting motor 16 to a variable stiffness driving disk 3, a housing of the second stiffness adjusting motor 16 is fixedly connected with a reducer output flange 10 or a driving shaft 1, an output shaft of the second stiffness adjusting motor 16 is rotatably connected with a pinion 15, and the pinion 15 and a large gear on the outer circumference of the variable stiffness driving disk 3 drive the variable stiffness driving disk 3 through gear transmission. In the installation mode, the variable stiffness mechanism moves along with the original integrated driving structure, and after the required stiffness is achieved, the second stiffness adjusting motor 16, the pinion 15 and the variable stiffness driving disc 3 can be locked to ensure that the variable stiffness driving disc 3 and the spring base 6 rotate synchronously.
The above description is two mounting manners of the stiffness adjustment motor of the present invention, and it will be apparent to those skilled in the art that several modifications and improvements can be made without departing from the principle of the present invention, and these should be considered as the protection scope of the present invention. In addition, in addition to the two installation modes of the stiffness adjusting motor, the variable stiffness driving disk 3 can be connected with the stiffness adjusting motor through the circumferential surface, the installation positions of the variable stiffness driving disk 3 and the stiffness adjusting motor can also be changed, and different connection positions can cause the connection mode between the stiffness adjusting motor and the variable stiffness driving disk 3 to be deformed. In the two installation modes of the embodiment, the rigidity adjusting motor is laterally arranged, and the rigidity adjusting motor can be arranged in front or at the back. If the rigidity adjusting motor is arranged in front, the output shaft of the rigidity adjusting motor penetrates through the hollow shaft of the integrated driving mechanism, and the rigidity adjusting motor is placed at the front end of the integrated driving mechanism. If the rigidity adjusting motor is arranged at the rear position, the driving shaft 1 is a hollow shaft, namely, an output shaft of the rigidity adjusting motor penetrates through the hollow shaft of the driving shaft 1, and the rigidity adjusting motor is placed at the rear end of the output disc 8.
The working process of the invention is as follows: the variable stiffness motor drives the variable stiffness driving disc 3 to rotate through an intermediate transmission mechanism (worm gear or gear), so as to drive a roller at the top end of the sliding block 4 to slide along a T-shaped groove of the variable stiffness driving disc 3, because the contour line of the T-shaped groove forms a certain included angle with the end surface on an axial plane, the sliding block 4 can also slide along the axial direction in the rotating process, so as to drive the spring base 6 to slide along the axial direction, so that the initial length of the spring is changed, namely the pretightening force at the initial moment is changed to realize the adjustment of the stiffness, after the adjustment of the stiffness is completed, the driving motor 12 drives the harmonic reducer 11 to rotate, the reducer output flange 10 drives the driving shaft 1 to rotate, the driving shaft 1 drives the spring base 6 to rotate through the shaft sleeve 5, and if the stiffness in the moving process is not changed, the variable stiffness driving disc 3 and the spring base 6 synchronously rotate through the stiffness adjusting motor, if the rigidity in the movement process is changed at any time, the variable-rigidity driving disc 3 and the spring base 6 need to rotate asynchronously, then the spring 7 drives the output disc 8 to rotate, the output disc 8 is connected with the tail end through a threaded hole of the output end face, and the tail end connecting piece is driven to rotate.
Claims (9)
1. A variable stiffness mechanism for realizing variable stiffness by changing the pretightening force of a spring is characterized by comprising a driving shaft (1), a variable stiffness driving disc (3), a sliding block (4), a shaft sleeve (5), a spring base (6) and a spring (7); the variable-rigidity driving disc (3) is rotationally connected with the driving shaft (1); one end of the sliding block (4) is matched with the variable-stiffness driving disc (3), and the other end of the sliding block is fixedly connected with the spring base (6); a shaft sleeve (5) is arranged between the spring base (6) and the driving shaft (1), and the shaft sleeve (5) is matched with the driving shaft (1); a plurality of groups of uniformly distributed springs (7) are fixed on the output end face of the spring base (6), and the other ends of the springs (7) are connected with an output disc (8); the output disc (8) is rotationally connected with the driving shaft (1).
2. The variable stiffness mechanism for realizing variable stiffness by changing the pretightening force of the spring as claimed in claim 1, wherein a plurality of groups of T-shaped grooves are uniformly distributed on the output end surface of the variable stiffness driving disc (3); the contour line of the T-shaped groove is specifically as follows: the contour line is a curve when viewed from the end face and a straight line at more than 0 DEG from the end face when viewed from the axial plane.
3. The variable stiffness mechanism for realizing variable stiffness by changing the pretightening force of the spring as claimed in claim 1, wherein the top of the sliding block (4) is a spherical roller, and the spherical roller of the sliding block (4) moves along a curve in the T-shaped groove so as to drive the spring base (6) to slide along the axial direction.
4. The variable stiffness mechanism for realizing variable stiffness by changing the pretightening force of the spring according to claim 1, wherein rectangular sliding grooves are uniformly distributed at the inner side shaft hole of the spring base (6); rectangular sliding sheets are correspondingly and uniformly distributed on the outer side of the shaft sleeve (5); the rectangular sliding groove is matched with the rectangular sliding piece, so that the spring base (6) can rotate along with the shaft sleeve (5) and can axially slide along the shaft sleeve (5).
5. The variable stiffness mechanism for realizing variable stiffness by changing the pre-tightening force of the spring according to claim 1, wherein the output end of the driving shaft (1) is an optical shaft or a stepped shaft for installing the variable stiffness driving disc (3), the spring base (6) and the output disc (8).
6. A flexible joint for realizing variable stiffness by changing the pretightening force of a spring is characterized by comprising a variable stiffness mechanism, a stiffness adjusting motor, an intermediate driving mechanism and an integrated driving mechanism which are used for realizing variable stiffness by changing the pretightening force of the spring according to any one of claims 1 to 5; the variable stiffness mechanism is positioned at the output end of the integrated driving mechanism; the integrated driving mechanism comprises a driving motor (12), a harmonic reducer (11), a reducer output flange (10) and a hollow shaft; the output flange (10) of the speed reducer is fixedly connected with the driving shaft (1).
7. The flexible joint for realizing variable stiffness by changing the pretightening force of the spring as claimed in claim 6, wherein the transmission mode of the stiffness adjusting motor is specifically as follows: if the worm gear is adopted for driving, the circumferential surface of the variable stiffness driving disc (3) is in a worm gear shape; if the gear drive is adopted, the circumferential surface of the variable stiffness drive disk (3) is in a corresponding gear shape; if the transmission shaft is connected with the variable-rigidity driving disc (3), the variable-rigidity driving disc (3) is provided with a shaft hole matched with the variable-rigidity driving disc.
8. The flexible joint realizing variable stiffness by changing the pretightening force of the spring according to claim 6, wherein the stiffness adjusting motor is laterally arranged, namely an output shaft of the stiffness adjusting motor is parallel to the driving shaft (1); and a shell of the rigidity adjusting motor is fixed with a motor shell of the integrated driving mechanism or fixed with an output flange (10) of the speed reducer.
9. The flexible joint realizing variable stiffness by changing the pretightening force of the spring as claimed in claim 6, wherein the stiffness adjusting motor is arranged in front, that is, the output shaft of the stiffness adjusting motor passes through the hollow shaft of the integrated driving mechanism, and the stiffness adjusting motor is arranged at the front end of the integrated driving mechanism.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111511485.7A CN114347088B (en) | 2021-12-06 | 2021-12-06 | Variable-stiffness mechanism for realizing variable stiffness by changing pretightening force of spring and flexible joint |
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| CN202111511485.7A CN114347088B (en) | 2021-12-06 | 2021-12-06 | Variable-stiffness mechanism for realizing variable stiffness by changing pretightening force of spring and flexible joint |
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| CN118181342A (en) * | 2024-04-28 | 2024-06-14 | 广东工业大学 | Nonlinear rigidity-variable joint actuator |
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| CN114347088B (en) | 2022-09-23 |
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