CN108942908B - A rotary joint variable stiffness actuator - Google Patents

Abstract

The invention discloses a rotary joint variable stiffness actuator, comprising a support base, the support base includes a base, a shell and two base connecting screws, the base is located at the lower end of the shell, and the lower end of the shell and the upper end of the base are in conflict, One end of the two base connecting screws penetrates through the base and extends into the casing, the casing is provided with a torque output mechanism, and the torque output mechanism is provided with two parallel output disk connecting pins, two output disk connecting pins Both are located in the casing, the two output disc connecting pins are provided with rigidity adjustment mechanisms, and the lower end side of the base is provided with a main transmission mechanism. The invention can change the effective length of the spring piece, realize the change of the output stiffness, the main transmission mechanism and the rigidity adjusting plate rotate synchronously to realize the constant stiffness output, and the asynchronous rotation realizes the variable stiffness output, which is convenient for the decoupling of the output stiffness, so as to facilitate the control algorithm and reduce the The friction is reduced, which is conducive to reducing energy consumption, and the output disc can realize continuous rotation, with compact structure and small volume.

Description

A rotary joint variable stiffness actuator

technical field

The invention relates to the technical field of robots, in particular to a variable stiffness actuator of a rotary joint.

Background technique

With the development of robotics technology, the scope of application of robots is getting wider and wider. Most of the new generation of collaborative industrial robots, service robots, assistance and medical rehabilitation robots share workspace with humans and there is frequent physical contact and force exchange. . In 2015, the incident of robots attacking people in German Volkswagen showed that robots cannot work side by side with people safely and online. Therefore, the safety of human-computer interaction has become particularly important. Traditional robots are rigid. Although a large number of sensors and complex control algorithms can be used to achieve a certain degree of flexibility, the resolution of the sensors and the response speed of the control system greatly reduce the compliance control. However, actuators with adjustable stiffness have become a hot research topic at home and abroad. Variable stiffness actuators can effectively improve the dynamic characteristics of the robot. When the robot collides with the outside world, it reduces the output stiffness, reduces the impact of the collision, and has a higher output. In the process of stiffness adjustment, the flexible element can store and release energy, which can not only reduce the energy consumption of the system, but also provide start-up explosiveness for bouncing robots.

At present, the existing variable stiffness actuators have different degrees of defects according to the principle of variable stiffness, such as small output force, large volume and weight, small range of motion, small stiffness, large energy consumption for stiffness adjustment, control The algorithm is complicated and so on. Specifically, the spring preload adjustment method is not energy-efficient; the use of special materials to achieve variable stiffness is difficult to ensure performance, and the control is complicated; the lever principle adjustment method has large frictional energy consumption, and the structure is complex and bulky. A rotary joint variable stiffness actuator is proposed to solve the above problems.

SUMMARY OF THE INVENTION

The purpose of the present invention is to propose a rotary joint variable stiffness actuator in order to solve the shortcomings existing in the prior art.

In order to achieve the above object, the present invention adopts the following technical solutions:

A rotary joint variable stiffness actuator includes a support base, the support base includes a base, a casing and two base connecting screws, the base is located at the lower end of the casing, and the lower end of the casing and the upper end of the base are in conflict, One end of the two base connecting screws penetrates through the base and extends into the casing, the casing is provided with a torque output mechanism, and the torque output mechanism is provided with two parallel output disk connecting pins, two output disk connecting pins Both are located in the casing, the two output disc connecting pins are provided with a rigidity adjustment mechanism, one side of the lower end of the base is provided with a main transmission mechanism, and the other side of the lower end of the base is provided with a rigidity transmission mechanism.

Preferably, the torque output mechanism includes an output disc bearing arranged at the top of the housing, an output disc is provided through the output disc bearing, and the upper end of the output disc penetrates through the top of the housing and extends to the upper end of the housing, and the two The output disc connecting pins are respectively fixed on both sides of the lower end of the output disc.

Preferably, the stiffness adjustment mechanism includes spring sheets respectively disposed through the lower ends of the connecting pins of the two output discs, rollers are provided on both sides of the spring sheets, and the two sides of the spring sheets are respectively in contact with the two rollers On the opposite side of the roller, both ends of the roller are rotatably sleeved with roller-slider miniature bearings, and two roller-slider miniature bearings on the same side are a group, and two roller-slider bearings in one group are A first roller slider side plate is commonly installed on the miniature bearing, and a second roller slider side plate is commonly installed on the two roller slider micro bearings of the other group. The first roller slider side plate is Roller block screws are respectively provided through the two ends of the side plate of the second roller block block and the two roller block block screws on the same side. A roller block connecting plate is combined, the two roller block connecting plates are located between the two first roller block side plates, the two rollers are both located between the two roller block connecting plates, and the two A cross slide rail is arranged between the spring pieces, and spring piece fixing screws are screwed on both sides of the cross slide rail, and the two spring pieces are respectively threaded on the two spring piece fixing screws. The four corners of the rail are respectively in contact with one side of the connecting plates of the four roller sliders, the sliding bearings are provided through the cross sliding rails, and the two ends of the sliding bearings extend to both sides of the cross sliding rails respectively. Both ends of the sliding bearing are sleeved with follower sliders, and both ends of the sliding bearing are provided with slide rail connectors, and slide rail connection screws are threadedly sleeved on the slide rail connectors, and the slide rail connection screws are One end penetrates the sliding rail connecting piece and the sliding bearing and extends into the sliding bearing.

Preferably, the main transmission mechanism includes a main transmission planetary reducer arranged on one side of the lower end of the base, the upper end of the main transmission planetary reducer is provided with fixing screws of the main transmission planetary reducer, and the four main transmission planetary reduction The upper ends of the fixing screws of the gear reducer penetrate through the base and extend into the base. The lower end of the main drive planetary reducer is provided with a main drive motor, and the main drive planetary reducer is installed on the output shaft of the main drive motor. The output shaft of the reducer penetrates the base and extends to the bottom of the base, the end of the output shaft of the main drive planetary reducer is fixed with a main drive gear, the side wall in the base is rotatably connected with a ring gear, and the main drive gear It meshes with the ring gear, the lower end of the ring gear is provided with four ring gear connecting screws at equal intervals, and the upper ends of the ring gear connecting screws all penetrate the ring gear and extend to the upper end of the ring gear. The upper end is screwed together with a lower connection plate, the upper end of the lower connection plate is provided with an upper connection plate, and the lower end of the upper connection plate is in conflict with the upper end of the lower connection plate, and the bottom in the upper connection plate and the lower connection plate are connected. A second upper connecting plate connecting screw is screwed together between the two upper connecting plates, the first upper connecting plate connecting screw is screwed on both sides of the upper end of the upper connecting plate, and the two sliding rail connecting pieces are respectively threadedly sleeved on the two first upper connecting plates. On the connecting plate connecting screws, the upper connecting plate and the lower connecting plate are jointly rotatably sleeved with a main transmission bearing, and the main transmission bearing is installed in the casing.

Preferably, the rigidity transmission mechanism includes a rigidity-adjusting planetary reducer disposed on the other side of the lower end of the base, and the rigidity-adjusting planetary reducer is located on one side of the main drive planetary reducer, and the four corners of the upper end of the rigidity-adjusting planetary reducer are There are fixed screws of the planetary reducer for adjusting the rigidity throughout, and the upper ends of the four fixing screws for the planetary reducer for adjusting the rigidity all penetrate the base and extend into the base. The reducer is installed on the output shaft of the just-adjusting motor, the output shaft of the just-adjusting planetary reducer penetrates through the base and extends to the bottom of the base, and the end of the output shaft of the just-adjusting planetary reducer is fixed with an adjusting-rigid drive gear, A central shaft bearing is installed at the bottom of the base, and the central shaft bearing is located between the rigidity adjustment drive gear and the main drive gear. A central shaft is arranged through the central shaft bearing, and a sleeve is sleeved at the lower end of the central shaft. A central shaft gear is fixed on the central shaft, and the sleeve is located at the lower end of the central shaft gear. A gear key is installed on the central shaft gear. The upper end of the shaft is located in the upper connecting plate and the lower connecting plate, the rigidity adjusting bearing is fixed on the central shaft, the rigidity adjusting bearing is located at the upper end of the central shaft gear, and the rigidity adjusting bearing is installed on the upper connecting plate and the lower connecting plate. Inside, an adjustment disc is installed on the central shaft, and the adjustment disc is located in the upper connecting disc. A rigid adjustment disc key is installed on the rigid adjustment disc. The shaft end retaining ring is provided with retaining ring screws, and the lower end of the retaining ring screw penetrates the shaft end retaining ring, the adjustment disc and the central shaft in sequence and extends into the central shaft, and the upper end of the rigid adjustment disc is installed with two The first roller block side plate and the follower block on the same side are a group, and the two sets of the first roller block side plate and the follower block are connected to the two sets of rigidity adjustment rods, respectively. Corresponding to the connecting rods, the side plates of the first roller block and the follower block in the same group are respectively installed on both sides of the upper end of one of the rigidity adjusting connecting rods.

Preferably, the output shaft of the main drive planetary reducer is D-shaped, and an encoder is provided on the main drive motor.

Preferably, the output shaft of the planetary reducer for adjusting the rigidity is D-shaped, and the motor for adjusting the rigidity is provided with an encoder.

Preferably, an absolute position encoder is provided on the housing.

Compared with the prior art, the beneficial effects of the present invention are:

1. The stiffness adjustment mechanism of the elliptical mechanism is adopted to change the relative position of the follower slider, thereby changing the effective length of the spring sheet and realizing the change of the output stiffness. , asynchronous rotation to achieve variable stiffness output;

2. In terms of structure, the main transmission mechanism, the stiffness adjustment mechanism and the stiffness transmission mechanism are arranged along the axial direction of the casing, with compact structure and small volume;

3. Under the condition of small deformation, the output stiffness of the joint is approximately only related to the effective length of the spring sheet, which is convenient for the decoupling of the output stiffness, thus providing convenience for the control algorithm;

4. The follower slider is connected with the cross slide rail through the sliding bearing, and the roller slider is in contact with the spring sheet, which greatly reduces the friction, which is conducive to reducing energy consumption, and the output disc can realize continuous rotation;

To sum up, the device can change the effective length of the spring sheet and realize the change of the output stiffness. The main transmission mechanism and the adjusting plate rotate synchronously to realize the output of constant stiffness, and the asynchronous rotation realizes the output of variable stiffness, which is convenient for the decoupling of the output stiffness. The convenient control algorithm reduces friction and is conducive to reducing energy consumption, and the output disc can realize continuous rotation, with compact structure and small volume.

Description of drawings

1 is a schematic structural diagram of a rotary joint variable stiffness actuator proposed by the present invention;

2 is a schematic structural diagram of a roller slider of a rotary joint variable stiffness actuator proposed by the present invention;

3 is a schematic diagram of the installation of a cross slide rail and a slider of a rotary joint variable stiffness actuator proposed by the present invention;

4 is a schematic structural diagram of a stiffness adjustment mechanism of a rotary joint variable stiffness actuator proposed by the present invention;

5 is a schematic structural diagram of a rigidity-adjusting transmission mechanism of a rotary joint variable-stiffness actuator proposed by the present invention;

FIG. 6 is a schematic structural diagram of the main transmission mechanism of a rotary joint variable stiffness actuator proposed by the present invention.

In the figure: 1 torque output mechanism, 101 output disk bearing, 102 output disk connecting pin, 103 output disk, 2 stiffness adjustment mechanism, 201 cross slide rail, 202 roller slider screw, 203 first roller slider side plate, 204 roller slider miniature bearing, 205 spring plate, 206 roller, 207 roller slider connecting plate, 208 sliding bearing, 209 follower slider, 210 sliding rail connecting piece, 211 sliding rail connecting screw, 212 spring plate fixing Screw, 213 second roller slider side plate, 3 main transmission mechanism, 301 main transmission planetary reducer, 302 main transmission motor, 303 first upper connection plate connecting screw, 304 upper connection plate, 305 second upper connection plate connection Screw, 306 ring gear connecting screw, 307 main drive planetary reducer fixing screw, 308 lower connecting plate, 309 main drive bearing, 310 main drive gear, 311 ring gear, 4 rigidity transmission mechanism, 401 rigidity planetary reducer, 402 adjustment Gang motor, 403 rigid adjustment planetary reducer fixing screw, 404 rigid adjustment disc, 405 rigid adjustment connecting rod, 406 rigid adjustment bearing, 407 rigid adjustment drive gear, 408 gear key, 409 rigid adjustment plate key, 410 shaft end retaining ring, 411 retaining ring screw, 412 center shaft, 413 center shaft gear, 414 sleeve, 415 center shaft bearing, 5 support base, 501 base, 502 shell, 503 base connecting screw.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments.

1-6, a rotary joint variable stiffness actuator includes a support base 5, the support base 5 includes a base 501, a housing 502 and two base connecting screws 503, the base 501 is located at the lower end of the housing 502, and the housing The lower end of 502 is in conflict with the upper end of the base 501, and one end of the two base connecting screws 503 penetrates the base 501 and extends into the casing 502 for stable connection and convenient disassembly. The output mechanism 1 is provided with two parallel output disk connecting pins 102, both of which are located in the casing 502, and the two output disk connecting pins 102 are provided with a rigidity adjustment mechanism 2. The lower end of the base 501 is a A main transmission mechanism 3 is provided on one side, and a rigidity transmission mechanism 4 is provided on the other side of the lower end of the base 501 .

In the present invention, the torque output mechanism 1 includes an output disk bearing 101 disposed at the top of the casing 502 , the output disk bearing 101 is provided with an output disk 103 penetrating through it, and the upper end of the output disk 103 penetrates the top of the casing 502 and extends to the casing 502 The upper end of the output plate 103 is convenient for the rotation of the output plate 103. The two output plate connecting pins 102 are respectively fixed on both sides of the lower end of the output plate 103, and the two output plate connecting pins 102 make the output plate 103 rotate.

In the present invention, the stiffness adjustment mechanism 2 includes spring pieces 205 respectively disposed through the lower ends of the two output disc connecting pins 102 . Rollers 206 are provided on both sides of the spring pieces 205 , and the two sides of the spring pieces 205 are respectively in contact with the two The opposite side of each roller 206 is convenient for the movement and deflection of the spring sheet 205. Both ends of the roller 206 are rotatably sleeved with the roller slider micro-bearings 204, and the two roller slider micro-bearings 204 on the same side are one The first roller slider side plate 203 is commonly installed on the two roller slider miniature bearings 204 of one group, and the second roller slider is commonly installed on the two roller slider miniature bearings 204 of the other group. The slider side plate 213, the two ends of the first roller slider side plate 203 and the second roller slider side plate 213 are respectively provided with roller slider screws 202, and the two roller slider screws 202 on the same side In a group, a roller slider connecting plate 207 is screwed together between the two roller slider screws 202 of the same group for stable connection. The two roller slider connecting plates 207 are located on the two first rollers. Between the slider side plates 203, two rollers 206 are located between the two roller slider connecting plates 207, and one end of the roller 206 is connected to the first roller slider side plate 203 through a roller slider micro bearing 204 The other end is connected with the second roller slider side plate 213 through another roller slider micro bearing 204, which is convenient for the roller 206 to rotate. Both sides are screwed with spring plate fixing screws 212, and the two spring plates 205 are respectively threaded on the two spring plate fixing screws 212. Fixed, the other end is connected to the output disk 103 through the output disk connecting pin 102, the four corners of the cross slide rail 201 are respectively in contact with one side of the four roller slider connecting plates 207, and the cross slide rail 201 is provided with sliding bearings 208. The two ends of the sliding bearing 208 extend to the two sides of the cross slide rail 201 respectively, the two ends of the sliding bearing 208 are sleeved with the follower sliders 209, and the two ends of the sliding bearing 208 are provided with sliding rail connectors 210, so The rail connecting piece 210 is threadedly sleeved with a sliding rail connecting screw 211, and one end of the sliding rail connecting screw 211 penetrates the sliding rail connecting piece 210 and the sliding bearing 208 and extends into the sliding bearing 208 for stable fixing and convenient transmission, thereby The output disc 103 is moved.

In the present invention, the main transmission mechanism 3 includes a main transmission planetary reducer 301 arranged on one side of the lower end of the base 501. The four upper corners of the main transmission planetary reducer 301 are provided with the main transmission planetary reducer fixing screws 307. The four main transmission The upper ends of the planetary reducer fixing screws 307 pass through the base 501 and extend into the base 501 , and the main drive planetary reducer 301 is stably fixed on the lower end of the base 501 through the main drive planetary reducer fixing screws 307 . The lower end is provided with a main drive motor 302, and the main drive planetary reducer 301 is installed on the output shaft of the main drive motor 302, the main drive motor 302 is transmitted to the main drive planetary reducer 301, and the output shaft of the main drive planetary reducer 301 penetrates through the base 501 and extends to the bottom of the base 501, the main drive gear 310 is fixed at the end of the output shaft of the main drive planetary reducer 301, the ring gear 311 is rotatably connected to the side wall in the base 501, and the main drive gear 310 and the ring gear 311 The main driving gear 310 drives the ring gear 311 to rotate. The lower end of the ring gear 311 is provided with four ring gear connecting screws 306 at equal intervals, and the upper ends of the ring gear connecting screws 306 all penetrate the ring gear 311 and extend to the ring gear 311 The upper ends of the four ring gear connecting screws 306 are screwed together with a lower connection plate 308, the upper end of the lower connection plate 308 is provided with an upper connection plate 304, and the lower end of the upper connection plate 304 and the upper end of the lower connection plate 308 are in conflict , a second upper connecting plate connecting screw 305 is screwed together between the bottom of the upper connecting plate 304 and the lower connecting plate 308. The rotation of the ring gear 311 drives the upper connecting plate 304 and the lower connecting plate 308 to rotate, and the upper end of the upper connecting plate 304 rotates. Both sides are screwed with the first upper connecting plate connecting screws 303, the two slide rail connecting pieces 210 are respectively threaded on the two first upper connecting plate connecting screws 303, and the upper connecting plate 304 and the lower connecting plate 308 are threaded together. The main transmission bearing 309 is connected to the rotating sleeve, and the main transmission bearing 309 is installed in the casing 502. When the fixed rigidity output of the rotating joint variable stiffness actuator is realized by synchronous motion, the main transmission motor 302 passes through the main transmission planetary reducer 301, the main drive The gear 310 , the ring gear 311 , the lower connecting plate 308 , the upper connecting plate 304 , and the slide rail connecting piece 210 transmit the rotational motion to the cross slide rail 201 , so as to facilitate synchronous movement.

In the present invention, the rigidity transmission mechanism 4 includes a rigidity-adjusting planetary reducer 401 disposed on the other side of the lower end of the base 501 , and the rigidity-adjusting planetary reducer 401 is located on one side of the main drive planetary reducer 301 . The four corners of the upper end are provided with fixing screws 403 of the planetary reducer for adjusting the rigidity. The main drive planetary reducer 301 is fixed on the lower end of the base 501, and the lower end of the planetary reducer 401 is provided with an adjustment motor 402, and the planetary reducer 401 is installed on the output shaft of the adjustment motor 402, and the planetary gear reducer 402 is adjusted The output shaft of the gear reducer 401 penetrates through the base 501 and extends to the bottom of the base 501. The output shaft of the planetary reducer 401 is fixed with a drive gear 407 for adjusting the rigidity. The planetary reducer 401 drives the drive gear 407 to move. A central shaft bearing 415 is installed at the bottom of the 501, and the central shaft bearing 415 is located between the rigidity adjustment drive gear 407 and the main drive gear 310. The central shaft bearing 415 is provided with a central shaft 412, and the lower end of the central shaft 412 is sleeved with a central shaft 412. Sleeve 414, the center shaft gear 413 is fixed on the center shaft 412, and the sleeve 414 is located at the lower end of the center shaft gear 413, the gear key 408 is installed on the center shaft gear 413, and the center shaft gear 413 is connected to the center shaft 412 through the gear key 408 Circumferential positioning, the center shaft gear 413 meshes with the rigidity adjustment drive gear 407, the upper end of the center shaft 412 is located in the upper connecting plate 304 and the lower connecting plate 308, and the center shaft 412 is fixed with a rigidity adjustment bearing 406, and the rigidity adjustment bearing 406 is located in On the upper end of the central shaft gear 413, the adjusting bearing 406 is installed in the upper connecting plate 304 and the lower connecting plate 308, and the center shaft 412 is provided with an adjusting plate 404, and the adjusting plate 404 is located in the upper connecting plate 304. 404 is equipped with a rigidity adjustment plate key 409, and a rigidity adjustment plate 404 is installed on the central shaft 412, and circumferential positioning is realized through the rigidity adjustment plate key 409. A retaining ring screw 411 is arranged therethrough. The lower end of the retaining ring screw 411 penetrates the shaft end retaining ring 410, the adjusting disc 404 and the central shaft 412 in turn and extends into the central shaft 412. The upper end of the adjusting disc 404 is installed with two parallel to each other. The rigid adjustment link 405, the first roller slider side plate 203 and the follower slider 209 on the same side are a group, and the two groups of the first roller slider side plate 203 and the follower slider 209 are divided into two groups. Corresponding to the adjustment link 405, the first roller slider side plate 203 and the follower slider 209 in the same group are respectively installed on both sides of the upper end of one of the adjustment links 405, and the adjustment motor 402 passes through the adjustment planet The speed reducer 401 , the adjusting drive gear 407 , the center shaft gear 413 , and the center shaft 412 transmit the rotational motion to the adjusting disk 404 . When the cross slide rail 201 rotates synchronously with the adjusting disk 404 , the relative positions of the roller slider and the follower slider 209 remain unchanged, that is, the effective length of the spring sheet 205 does not change, and the variable stiffness actuator achieves a constant stiffness output.

In the present invention, the output shaft of the main drive planetary reducer 301 is D-shaped, the output shaft of the just-adjusting planetary reducer 401 is D-shaped, the adjustment motor 402 is provided with an encoder, and the housing 502 is provided with an absolute position encoder, The main drive motor 302 is provided with an encoder, and the joint output position is completed by three encoders. The encoder of the main drive motor 302 can detect the position of the cross slide 201, and the encoder of the adjustment motor 402 can detect the roller slider. The absolute position encoder is installed on the casing 502 to detect the deflection angle of the output disc 103. Combined with the three encoders, the joint output position can be determined.

In the present invention, when in use, when the fixed stiffness output of the rotary joint variable stiffness actuator is realized through synchronous motion, the main drive motor 302 passes through the main drive planetary reducer 301, the main drive gear 310, the ring gear 311, the lower connecting plate 308, The upper connecting plate 304 and the slide rail connector 210 transmit the rotational motion to the cross slide rail 201. At the same time, the rigidity adjustment motor 402 passes through the rigidity adjustment planetary reducer 401, the rigidity adjustment drive gear 407, the center shaft gear 413, and the center shaft 412. The rotational motion is transmitted to the rigidity adjustment plate 404. When the cross slide rail 201 rotates synchronously with the rigidity adjustment plate 404, the relative positions of the roller slider and the follower slider 209 remain unchanged, that is, the effective length of the spring sheet 205 does not change. Then the variable-stiffness actuator realizes constant-stiffness output. When the variable-stiffness output of the actuator is realized by asynchronous motion, its motion transmission is similar to that of constant-stiffness output, except that the cross slide rail 201 and the rigidity adjusting plate 404 are controlled to rotate asynchronously, resulting in a difference in rotation angle. , the roller slider will move relative to the cross rail 201, thereby changing the effective length of the spring piece 205. The larger the effective length, the smaller the joint output stiffness, and the smaller the effective length, the greater the joint output stiffness.

The above are only preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Equivalent replacements or changes to the inventive concept shall all fall within the protection scope of the present invention.

Claims (7)

1. A revolute joint variable stiffness actuator comprising a support housing (5), characterized in that: the supporting machine base (5) comprises a base (501), a shell (502) and two base connecting screws (503), wherein the base (501) is located at the lower end of the shell (502), the lower end of the shell (502) is abutted to the upper end of the base (501), one ends of the two base connecting screws (503) penetrate through the base (501) and extend into the shell (502), a torque output mechanism (1) is arranged on the shell (502), two parallel output disc connecting pins (102) are arranged on the torque output mechanism (1), the two output disc connecting pins (102) are located in the shell (502), rigidity adjusting mechanisms (2) are arranged on the two output disc connecting pins (102), a main transmission mechanism (3) is arranged on one side of the lower end of the base (501), and a rigidity transmission mechanism (4) is arranged on the other side of the lower end of the base (501); the rigidity adjusting mechanism (2) comprises a spring piece (205) which is respectively arranged at the lower ends of two output disc connecting pins (102) in a penetrating way, two sides of the spring piece (205) are respectively provided with a roller (206), two sides of the spring piece (205) are respectively abutted against the opposite sides of the two rollers (206), two ends of each roller (206) are respectively rotatably sleeved with a roller slide block miniature bearing (204), the two roller slide block miniature bearings (204) on the same side are in a group, a first roller slide block side plate (203) is jointly installed on the two roller slide block miniature bearings (204) of one group, a second roller slide block side plate (213) is jointly installed on the two roller slide block miniature bearings (204) of the other group, two ends of the first roller slide block side plate (203) and the second roller slide block side plate (213) are respectively provided with a roller slide block screw (202) in a penetrating way, and the two roller slide block screws (202, the roller slide block connecting plates (207) are screwed between two roller slide block screws (202) of the same group together, the two roller slide block connecting plates (207) are positioned between two first roller slide block side plates (203), the two rollers (206) are positioned between the two roller slide block connecting plates (207), a cross slide rail (201) is arranged between the two spring pieces (205), spring piece fixing screws (212) are screwed on the two sides of the cross slide rail (201), the two spring pieces (205) are respectively sleeved on the two spring piece fixing screws (212) in a threaded manner, four corners of the cross slide rail (201) are respectively abutted against one side of the four roller slide block connecting plates (207), a sliding bearing (208) is arranged on the cross slide rail (201) in a penetrating manner, two ends of the sliding bearing (208) respectively extend to two sides of the cross slide rail (201), and two ends of the sliding bearing (208) are both sleeved with follow-up slide blocks (209), slide rail connecting piece (210) all are equipped with at the both ends of slide bearing (208), slide rail connecting screw (211) have all been cup jointed to the screw thread on slide rail connecting piece (210), slide rail connecting piece (210) and slide bearing (208) are run through and extend to in slide bearing (208) to the one end of slide rail connecting screw (211).

2. The rotary joint stiffness changing actuator according to claim 1, wherein the torque output mechanism (1) comprises an output disc bearing (101) arranged at the inner top of the housing (502), the output disc (103) penetrates through the output disc bearing (101), the upper end of the output disc (103) penetrates through the inner top of the housing (502) and extends to the upper end of the housing (502), and two output disc connecting pins (102) are respectively fixed at two sides of the lower end of the output disc (103).

3. The rotary joint stiffness changing actuator according to claim 1, wherein the main transmission mechanism (3) comprises a main transmission planetary reducer (301) arranged on one side of the lower end of a base (501), four corners of the upper end of the main transmission planetary reducer (301) are provided with main transmission planetary reducer fixing screws (307) in a penetrating manner, the upper ends of the four main transmission planetary reducer fixing screws (307) are provided with main transmission motors (302) in a penetrating manner and extend into the base (501), the lower end of the main transmission planetary reducer (301) is provided with a main transmission motor (302), the main transmission planetary reducer (301) is arranged on an output shaft of the main transmission motor (302), the output shaft of the main transmission planetary reducer (301) penetrates through the base (501) and extends to the bottom in the base (501), and the tail end of the output shaft of the main transmission planetary reducer (301) is fixed with a main driving gear (310), the side wall in the base (501) is rotatably connected with a gear ring (311), a main driving gear (310) is meshed with the gear ring (311), the lower end of the gear ring (311) is provided with four gear ring connecting screws (306) in an equidistant mode, the upper ends of the gear ring connecting screws (306) penetrate through the gear ring (311) and extend to the upper end of the gear ring (311), the upper ends of the four gear ring connecting screws (306) are screwed with a lower connecting disc (308), the upper end of the lower connecting disc (308) is provided with an upper connecting disc (304), the lower end of the upper connecting disc (304) is abutted to the upper end of the lower connecting disc (308), a second upper connecting disc connecting screw (305) is screwed between the bottom in the upper connecting disc (304) and the lower connecting disc (308), the two sides of the upper end of the upper connecting disc (304) are screwed with first upper connecting disc connecting screws (303), and two sliding rail connecting pieces (210) are respectively sleeved on the two first upper connecting disc connecting screws (303, the upper connecting disc (304) and the lower connecting disc (308) are sleeved with a main transmission bearing (309) in a rotating mode, and the main transmission bearing (309) is installed in the shell (502).

4. The rotary joint stiffness changing actuator according to claim 1, wherein the stiffness transmission mechanism (4) comprises a stiffness adjusting planetary reducer (401) arranged on the other side of the lower end of the base (501), the stiffness adjusting planetary reducer (401) is arranged on one side of the main transmission planetary reducer (301), four corners of the upper end of the stiffness adjusting planetary reducer (401) are respectively provided with a stiffness adjusting planetary reducer fixing screw (403) in a penetrating manner, the upper ends of four stiffness adjusting planetary reducer fixing screws (403) are respectively arranged in the base (501) in a penetrating manner and extend into the base (501), the lower end of the stiffness adjusting planetary reducer (401) is provided with a stiffness adjusting motor (402), the stiffness adjusting planetary reducer (401) is arranged on an output shaft of the stiffness adjusting motor (402), the output shaft of the stiffness adjusting planetary reducer (401) penetrates through the base (501) and extends to the bottom in the base (501), a rigidity-adjusting driving gear (407) is fixed at the tail end of an output shaft of the rigidity-adjusting planetary reducer (401), a central shaft bearing (415) is installed at the bottom in the base (501), the central shaft bearing (415) is located between the rigidity-adjusting driving gear (407) and the main driving gear (310), a central shaft (412) penetrates through the central shaft bearing (415), a sleeve (414) is sleeved at the lower end of the central shaft (412), a central shaft gear (413) is fixed on the central shaft (412), the sleeve (414) is located at the lower end of the central shaft gear (413), a gear key (408) is installed on the central shaft gear (413), the central shaft gear (413) is meshed with the rigidity-adjusting driving gear (407), the upper end of the central shaft (412) is located in an upper connecting disc (304) and a lower connecting disc (308), and a rigidity-adjusting bearing (406) is fixed on the central shaft (412), the rigidity adjusting device is characterized in that the rigidity adjusting bearing (406) is located at the upper end of a central shaft gear (413), the rigidity adjusting bearing (406) is installed in an upper connecting disc (304) and a lower connecting disc (308), the central shaft (412) is provided with a rigidity adjusting disc (404), the rigidity adjusting disc (404) is located in the upper connecting disc (304), the rigidity adjusting disc (404) is provided with a rigidity adjusting disc key (409), the rigidity adjusting disc (404) is provided with a shaft end retainer ring (410), the shaft end retainer ring (410) is provided with a retainer ring screw (411) in a penetrating mode, the lower end of the retainer ring screw (411) sequentially penetrates through the shaft end retainer ring (410), the rigidity adjusting disc (404) and the central shaft (412) and extends into the central shaft (412), the upper end of the rigidity adjusting disc (404) is provided with two rigidity adjusting connecting rods (405) which are parallel to each other, a first roller slider side plate (203) and a follow-up slider (209) on the same side are in a group, and a first roller slider side plate (203) and a follow Correspondingly, the first roller slide block side plate (203) and the follow-up slide block (209) in the same group are respectively arranged on two sides of the upper end of one of the rigidity adjusting connecting rods (405).

5. A rotary joint stiffness changing actuator according to claim 3, wherein the output shaft of the main transmission planetary reducer (301) is D-shaped, and the main transmission motor (302) is provided with an encoder.

6. The rotary joint stiffness changing actuator according to claim 4, wherein the output shaft of the stiffness adjusting planetary reducer (401) is D-shaped, and an encoder is arranged on the stiffness adjusting motor (402).

7. A rotary joint variable stiffness actuator as claimed in claim 1 wherein the housing (502) is provided with an absolute position encoder.

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