CN118952315B - A miniaturized and lightweight variable-stiffness flexible actuator and robot - Google Patents
A miniaturized and lightweight variable-stiffness flexible actuator and robot Download PDFInfo
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- CN118952315B CN118952315B CN202411457653.2A CN202411457653A CN118952315B CN 118952315 B CN118952315 B CN 118952315B CN 202411457653 A CN202411457653 A CN 202411457653A CN 118952315 B CN118952315 B CN 118952315B
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- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 5
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Classifications
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- 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
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Abstract
The invention discloses a miniaturized and light-weighted variable-stiffness flexible driver and a robot, which belong to the technical field of robot drivers, wherein the driver comprises a first supporting seat, a second supporting seat, an output wheel disc, an input wheel disc, a spring hook and an elastic element; the output wheel disc is rotationally connected with the second supporting seat, the output wheel disc can rotate around the axis of the output wheel disc, the input wheel disc is rotationally connected with the first supporting seat, the input wheel disc is rotationally connected with the output wheel disc, the input wheel disc can rotate around the axis of the input wheel disc, one end of the elastic element is connected with the input wheel disc, the other end of the elastic element is connected with the spring hook, the spring hook is connected with the output wheel disc, the spring hook can move along the radial direction of the output wheel disc to change the pretension of the spring, the rigidity of the driver can be adjusted without additionally arranging a rigidity adjusting motor, the characteristics of miniaturization and light weight are achieved, and the problems of large volume and large weight caused by additionally arranging the motor for rigidity adjustment in the current driver are solved.
Description
Technical Field
The invention relates to the technical field of robot drivers, in particular to a miniaturized and lightweight variable-stiffness flexible driver and a robot.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
The exoskeleton robot can strengthen the body capacity of a wearer, and the driver is arranged in the exoskeleton robot, so that the rigidity of the driver can be changed along with the action and the requirement of the wearer besides providing necessary supporting force for the wearer through the driver.
The rigidity of the current driver is regulated by arranging a rigidity regulating motor in the driver, and regulating the rigidity of the driver by regulating the pretightening force of an elastic piece in the driver through the rigidity regulating motor.
However, the current driver is increased with the rigidity adjusting motor, so that the whole volume and the weight of the driver are large, and the requirements of miniaturization and light weight cannot be met.
Disclosure of Invention
In order to solve the problems, the invention provides a miniaturized and light-weight variable-stiffness flexible driver and a robot, which can realize the adjustment of the rigidity of the driver without additionally arranging a rigidity adjusting motor and have the characteristics of miniaturization and light weight.
In order to achieve the above purpose, the invention adopts the following technical scheme:
In a first aspect, a miniaturized and lightweight variable stiffness flexible driver is provided, including a first support seat, a second support seat, an output wheel disc, an input wheel disc, a spring hook and an elastic element;
The input wheel disc is also rotationally connected with the output wheel disc, and the input wheel disc can rotate around the axis of the input wheel disc;
one end of the elastic element is connected with the input wheel disc, the other end of the elastic element is connected with the spring hook, and the spring hook is connected with the output wheel disc and can move along the radial direction of the output wheel disc.
The device further comprises a plurality of spring hooks and a plurality of elastic elements, wherein the plurality of spring hooks and the plurality of elastic elements are uniformly distributed along the circumference of the output wheel disc.
Further, the elastic element is connected with the spring hook and the input wheel disc in a detachable connection mode.
Further, the rigidity adjusting bolt penetrates through the spring hook to be connected with the output wheel disc, and the spring hook can be driven to move along the radial direction of the output wheel disc by rotating the rigidity adjusting bolt.
Further, a through hole is formed in the spring hook, a threaded hole is formed in the output wheel disc, the rigidity adjusting bolt penetrates through the through hole and is in threaded connection with the threaded hole, and the rigidity adjusting bolt is connected with the through hole through a fourth bearing at the through hole.
Further, an angle sensor is arranged on the second supporting seat;
and the angle sensor is used for measuring the rotation angle of the output wheel disc.
Further, the input wheel disc is connected with an output shaft of the motor through a transmission device, and the motor is connected with the motor supporting seat.
Further, the first supporting seat and the second supporting seat are both connected with the floor, the motor supporting seat is connected with the motor fixing plate in a sliding manner, and the motor fixing plate is connected with the floor.
Further, the motor support seat is connected with the pre-tightening support seat through a third bolt, the pre-tightening support seat is connected with the floor, and the motor support seat can be driven to move along the motor fixing plate by rotating the third bolt.
In a second aspect, a robot is provided, including a miniaturized and lightweight flexible driver with variable stiffness as set forth in the first aspect.
Compared with the prior art, the invention has the beneficial effects that:
The invention discloses a miniaturized and light-weight variable-rigidity flexible driver and a robot, wherein one end of an elastic element is connected with an input wheel disc, the other end is connected with the spring hook, and the spring hook is connected with the output wheel disc and can move along the radial direction of the output wheel disc. The spring hook is moved along the radial direction of the output wheel disc to change the pretightening force of the elastic element, so that the rigidity of the driver can be adjusted without additionally arranging a rigidity adjusting motor, and the device has the characteristics of miniaturization and light weight.
Additional aspects of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application.
Fig. 1 is a schematic overall perspective view of a miniaturized and lightweight flexible driver with variable stiffness according to an embodiment of the disclosure;
Fig. 2 is a cross-sectional view of a rigidity adjusting part and an output part of the embodiment disclosure.
The device comprises a pre-tightening support, 2, a motor, 3, a motor support seat, 4, a motor rotating disc, 5, a first bolt, 6, a steel wire rope, 7, a motor fixing plate, 8, a second bolt, 9, a third bolt, 10, a floor, 11, a fourth bolt, 12, a first support seat, 13, a fifth bolt, 14, a first bearing, 15, an input wheel disc, 16, an elastic element, 17, an output wheel disc, 18, a second bearing, 19, a sixth bolt, 20, a seventh bolt, 21, a sensor fixing support, 22, an angle sensor, 23, a second support seat, 24, a third bearing, 25, a rigidity adjusting bolt, 26, a nut support, 27, a fourth bearing, 28, a gasket, 29, a spring hook, 30, a magnet, 31 and a copper sleeve.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", etc. refer to an orientation or a positional relationship based on that shown in the drawings, and are merely relational terms, which are used for convenience in describing structural relationships of various components or elements of the present invention, and do not denote any one of the components or elements of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "fixedly attached," "connected," "coupled," and the like are to be construed broadly and refer to either a fixed connection or an integral or removable connection, or both, as well as directly or indirectly via an intermediary. The specific meaning of the terms in the present invention can be determined according to circumstances by a person skilled in the relevant art or the art, and is not to be construed as limiting the present invention.
Embodiments of the invention and features of the embodiments may be combined with each other without conflict.
Example 1
The exoskeleton robot has the function of enhancing the physical ability of a wearer, can improve the strength and endurance of the wearer in daily activities, and can assist the wearer in recovering the exercise function in medical rehabilitation. The design and application of the exoskeleton robot not only consider improving the movement performance of a wearer, but also consider the safety and comfort of the robot during man-machine interaction, require high flexibility of interaction between the exoskeleton robot and an operator, and require that the exoskeleton robot can accurately control applied force and moment. This requires that the actuators in the exoskeleton robot not only provide the necessary supporting force for the wearer, but also flexibly adjust their stiffness according to the movements and needs of the wearer.
In order to meet these complex requirements, scholars at home and abroad have developed a plurality of flexible drives. For example, CN 118003314A discloses a dual spring tandem spring driver that can withstand bi-directional loads while ensuring that the input and output of the tandem spring driver are on the same axis, effectively avoiding the generation of additional deflection torque. CN 115737362A discloses a series elastic driver with rigid-flexible switching, which can realize switching between a rigid mode and a flexible mode, and effectively avoid secondary injury of a wearer during rehabilitation training. However, the stiffness of the two tandem spring drives is fixed and cannot be adapted to complex environments. CN 117697811A discloses a rotary variable stiffness driver based on a cam-arc plate spring mechanism, which can directly realize the pivot position adjustment of the mechanism through a stiffness adjusting motor, so as to realize the stiffness adjustment of the driver. CN 113334360A discloses a reconfigurable compact type variable stiffness driver, and the variable stiffness driver with different stiffness curves such as increasing stiffness, decreasing stiffness and constant stiffness can be obtained by installing cam plates with different groove curves on a transmission shaft assembly. CN 112894787A discloses a variable stiffness module and a modularized flexible variable stiffness driving mechanism, an output shaft of a stiffness motor is connected to a T-shaped screw rod through a transmission structure, so that a spring compression block is driven to compress the spring structure, a cam is rotated, and the stiffness of a driver is adjusted. However, the variable stiffness actuator is oversized and cannot meet the requirements for miniaturization and weight reduction.
In summary, the stiffness-variable elastic driver can adjust the stiffness to adapt to different application scenes and operation requirements, so that higher adaptability and functionality are provided for the exoskeleton robot. However, the prior art variable stiffness drives require additional motors to adjust stiffness, resulting in a large overall volume and weight of the drive. Therefore, further investigation and improvement in the size and manner of adjusting the rigidity are required to meet the demands for miniaturization and light weight of the driver.
In order to enable the variable stiffness flexible driver to have the characteristics of miniaturization and light weight, the embodiment discloses a miniaturized and light-weight variable stiffness flexible driver.
As shown in fig. 1 and 2, the miniaturized and lightweight variable stiffness flexible driver disclosed in the present embodiment includes a first support base 12, a second support base 23, an output wheel 17, an input wheel 15, a spring hook 29 and an elastic element 16;
The output wheel disc 17 is rotationally connected with the second supporting seat 23, and the output wheel disc 17 can rotate around the axis of the output wheel disc, the input wheel disc 15 is rotationally connected with the first supporting seat 12, the input wheel disc 15 is rotationally connected with the output wheel disc 17, and the input wheel disc 15 can rotate around the axis of the output wheel disc;
The first end of the elastic element 16 is connected to the input disc 15 and the second end of the elastic element 16 is connected to the spring catch 29, the spring catch 29 being connected to the output disc 17 and being movable in the radial direction of the output disc 17.
As shown in fig. 2, one end of the input wheel 15 is connected to the first support base 12 through the first bearing 14, the other end of the input wheel 15 is connected to one end of the output wheel 17 through the second bearing 18, and the other end of the output wheel 17 is connected to the second support base 23 through the third bearing 24, so that the input wheel 15 can rotate around its own axis relative to the output wheel 17.
Preferably, the output disc 17 is arranged coaxially with the input disc 15.
In order to change the pretightening force of the elastic element 16 and thus change the rigidity of the driver disclosed in this embodiment, a spring hook 29 is provided, one end of the elastic element 16 is connected to the input sheave 15 and can rotate following the input sheave 15, the other end of the elastic element 16 is connected to the spring hook 29, the spring hook 29 is connected to the output sheave 17 and can rotate following the output sheave 17, and in addition, the spring hook 29 can also move in the radial direction of the output sheave 17, and the length of the elastic element 16 is changed by moving the spring hook 29 in the radial direction of the output sheave 17, thereby changing the pretightening force of the elastic element.
In the specific implementation, the stiffness adjusting bolt 25 is connected with the output wheel disc 17 through the spring hook 29, and the spring hook 29 can be driven to move along the radial direction of the output wheel disc 17 by rotating the stiffness adjusting bolt 25.
Specifically, the spring hook 29 is provided with a guide protrusion, the output wheel disc 17 is provided with a guide groove, and the guide protrusion is in sliding connection with the guide groove to provide guidance for the movement of the spring hook 29 along the radial direction of the output wheel disc 17.
The spring hanger 29 is provided with a through hole, the output wheel disc 17 is provided with a threaded hole, the rigidity adjusting bolt 25 passes through the through hole and is in threaded connection with the threaded hole, the rigidity adjusting bolt 25 is connected with the through hole through a fourth bearing 27, friction can be reduced through the fourth bearing 27, and the rigidity adjusting bolt 25 can rotate around the axis of the spring hanger 29.
Preferably, a gasket 28 is arranged between the rigidity adjusting bolt 25 and the spring hook 29, a nut support 26 is arranged between the spring hook 29 and the output wheel disc 17, the rigidity adjusting bolt 25 sequentially passes through a through hole on the spring hook 29 and the nut support 26 and then is in threaded connection with a threaded hole on the output wheel disc 17, the nut support 26 is in threaded connection with the rigidity adjusting bolt 25, and when the rigidity adjusting bolt 25 is rotated, the nut support 26, the fourth bearing 27, the spring hook 29 and the like can move along the radial direction of the output wheel disc 17 together through the arrangement of the nut support 26.
The miniaturized and lightweight variable-stiffness flexible driver disclosed by the embodiment comprises a plurality of spring hooks 29 and a plurality of elastic elements 16, wherein the plurality of spring hooks 29 and the plurality of elastic elements 16 are uniformly distributed along the circumference of an output wheel disc 17, each elastic element 16 is connected with the spring hooks 29 and an input wheel disc 15 in a detachable connection mode, and the adjustment range of the rigidity of the driver can be changed by changing the number of the elastic elements 16 or replacing the elastic elements 16 with different rigidities, so that the driver is suitable for different working conditions.
Preferably, the elastic element 16 is a spring.
The embodiment is also provided with an angle sensor 22 on the second support seat 23;
An angle sensor 22 for measuring the rotation angle of the output disc 17.
As shown in fig. 2, the angle sensor 22 is fixedly connected with the sensor fixing bracket 21, the sensor fixing bracket 21 is fixedly connected with the second supporting seat 23 through a seventh bolt 20, and in addition, a magnet 30 matched with the angle sensor 22 is arranged at the end part of the output wheel disc 17 connected with the second supporting seat 23, and the angle sensor 22 determines the rotation angle of the output wheel disc 17 through sensing with the magnet 30.
As shown in fig. 1, the input wheel 15 of the present embodiment is connected with the output shaft of the motor 2 through a transmission device, the motor 2 is connected with the motor support seat 3, the output shaft of the motor 2 rotates, and the input wheel 15 can be driven to rotate through the transmission device.
The transmission device comprises a motor rotating disc 4 and a steel wire rope 6, wherein the motor rotating disc 4 is fixedly connected with an output shaft of the motor 2, the motor rotating disc 4 can rotate along with the output shaft of the motor 2, two ends of the steel wire rope 6 are respectively connected with the motor rotating disc 4 and an input wheel disc 15, and the motor rotating disc 4 can rotate to drive the input wheel disc 15 to rotate through the steel wire rope 6.
Preferably, the transmission device comprises two steel wire ropes 6, and two ends of each steel wire rope 6 are respectively connected with the motor rotating disc 4 and the input wheel disc 15.
The motor 2 is connected with the motor support 3 by a first bolt 5.
Grooves are formed in the input wheel disc 15 and the motor rotating disc 4 respectively, copper sleeves 31 are arranged in each groove, one end of the steel wire rope 6 is connected with the copper sleeve 31 on the input wheel disc 15, the other end of the steel wire rope 6 is connected with the copper sleeve 31 on the motor rotating disc 4, and the copper sleeve 31 is arranged, so that when the motor rotating disc 4 rotates, the steel wire rope 6 can drive the input wheel disc 15 to rotate.
The first supporting seat 12 and the second supporting seat 23 of the embodiment are both connected with the floor 10, the motor supporting seat 3 is in sliding connection with the motor fixing plate 7, the motor fixing plate 7 is connected with the floor 10, and the sliding direction of the motor supporting seat 3 is in a direction of approaching to or moving away from the input wheel disc 15. In the embodiment, the motor supporting seat 3 is slidably connected with the motor fixing plate 7, so that the distance between the input wheel disc 15 and the motor 2 is adjusted.
In a specific implementation, the motor support base 3 of the present embodiment is connected to the pre-tightening support 1 through the third bolt 9, the pre-tightening support 1 is connected to the floor 10, and the motor support base 3 can be driven to move along the motor fixing plate 7 by rotating the third bolt 9.
Preferably, the motor support 3 is connected to the pre-tightening support 1 by two third bolts 9, the two third bolts 9 being arranged at intervals along the height direction of the motor support 3.
The motor support 3 is located between the pretensioning abutment 1 and the first support abutment 12.
The first support base 12 is connected to the floor 10 by the fifth bolt 13, and the second support base 23 is connected to the floor 10 by the sixth bolt 19.
The pre-tightening support 1 is connected with the motor fixing plate 7 through the second bolt 8, and the motor fixing plate 7 is connected with the floor 10 through the fourth bolt 11.
When the output wheel disc is in contact with the load and the output torque is smaller than the resistance torque of the load, the motor 2 drives the motor disc, the input wheel disc, the output wheel disc and the load to rotate together until the output torque generated by the deformation of the spring is larger than or equal to the resistance torque of the load.
The miniaturized and light-weight variable-stiffness flexible driver disclosed by the embodiment can adjust the pretightening force of the elastic element 16 through rotating the stiffness adjusting bolt 25, so that the stiffness of the driver is adjusted, the convenience of adjusting and maintaining the stiffness of the driver is improved, and the stiffness of the driver can be adjusted through adjusting the stiffness and the number of the elastic elements 16, so that the driver disclosed by the embodiment has the advantages of reconfigurability, simple structure and small volume, and each elastic element is connected with an independent spring hook, so that the pretightening force of each elastic element can be finely adjusted, and the adjustment of the variable stiffness of the driver is more accurate.
The rigidity can be adjusted manually by the embodiment, the rigidity adjusting motor is not required to be additionally arranged, the weight of the driver is reduced, the overall weight of the driver is reduced, and the characteristics of miniaturization and light weight are achieved.
Example 2
In this embodiment, a robot is disclosed comprising a miniaturized lightweight variable stiffness flexible drive as proposed in the first aspect.
Those of ordinary skill in the art will appreciate that the elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
While the foregoing description of the embodiments of the present invention has been presented in conjunction with the drawings, it should be understood that it is not intended to limit the scope of the invention, but rather, it is intended to cover all modifications or variations within the scope of the invention as defined by the claims of the present invention.
Claims (7)
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| CN202411457653.2A CN118952315B (en) | 2024-10-18 | 2024-10-18 | A miniaturized and lightweight variable-stiffness flexible actuator and robot |
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| CN202411457653.2A CN118952315B (en) | 2024-10-18 | 2024-10-18 | A miniaturized and lightweight variable-stiffness flexible actuator and robot |
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| CN118952315B true CN118952315B (en) | 2025-02-25 |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109465849A (en) * | 2018-11-30 | 2019-03-15 | 广东工业大学 | A Variable Stiffness Module for Robot Joints with Local Linear Manual Adjustment of Stiffness Values |
| CN112757277A (en) * | 2021-01-07 | 2021-05-07 | 之江实验室 | Variable-rigidity flexible joint |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5711407A (en) * | 1994-06-30 | 1998-01-27 | Luk Lamellen Und Kupplungsbau Gmbh | Torsional vibration damper |
| KR101514245B1 (en) * | 2013-10-18 | 2015-04-22 | 이성규 | Variable Stiffness Actuator |
| KR20150073791A (en) * | 2013-12-23 | 2015-07-01 | 현대자동차주식회사 | Safe joint apparatus for robot |
| CN110065057A (en) * | 2019-05-31 | 2019-07-30 | 中国科学技术大学 | A kind of variation rigidity driving device |
| CN114347088B (en) * | 2021-12-06 | 2022-09-23 | 之江实验室 | A variable stiffness mechanism and flexible joints with variable stiffness achieved by changing the spring preload |
| CN115091502B (en) * | 2022-07-29 | 2025-04-15 | 武汉理工大学 | Robotic variable stiffness joint based on SMA spring driven leaf spring |
| CN115366086A (en) * | 2022-09-20 | 2022-11-22 | 武汉大学 | Antagonistic variable-stiffness structure and antagonistic variable-stiffness flexible driver |
| CN116252328A (en) * | 2023-03-23 | 2023-06-13 | 长春工业大学 | A Symmetrical Variable Stiffness Flexible Actuator Based on Positive and Negative Teeth Ball Screws |
| CN117506862A (en) * | 2023-11-15 | 2024-02-06 | 重庆大学 | Variable stiffness unit and exoskeleton joint based on shape memory alloy |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109465849A (en) * | 2018-11-30 | 2019-03-15 | 广东工业大学 | A Variable Stiffness Module for Robot Joints with Local Linear Manual Adjustment of Stiffness Values |
| CN112757277A (en) * | 2021-01-07 | 2021-05-07 | 之江实验室 | Variable-rigidity flexible joint |
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