A Variable Stiffness Flexible Actuator

Abstract

The invention discloses a variable-rigidity flexible driver. The variable-rigidity flexible driver comprises a variable-rigidity mechanism, a variable-fulcrum planetary gear train, a differential planetary gear train and a driver supporting mechanism which serves as a support, wherein the variable-rigidity mechanism comprises an output shaft, an output connecting rod and three discs; the output connecting rod, the first disc and the third disc are fixedly connected with the output shaft; the second disc is movably connected with the output shaft; two arc-shaped groove holes with the same sizeare formed in each of the first disc and the third disc; groove holes corresponding to the arc-shaped groove holes are formed in the second disc; a guide rail and a spring are installed in each groovehole; and sliding blocks on the guide rails extend into the arc-shaped groove holes of the first disc and the second disc correspondingly; one end of a lever is fixedly connected with the output connecting rod, and the other end of the lever is movably installed on the third disc through a first supporting fulcrum; the lever is also movably connected with the variable-fulcrum planetary gear trainthrough a sliding groove arranged in the middle part; and the lever force arm is changed through the variable-fulcrum planetary gear train, so that the output rigidity is changed. According to the variable-rigidity flexible driver, the variable rigidity and the fixed position can be adjusted at the same time, and change of the variable rigidity of the variable-rigidity flexible driver is continuous.

Description

technical field [0001] The invention belongs to the field of robots and relates to a driver, in particular to a variable stiffness flexible driver. Background technique [0002] With the rapid development of modern robot technology, the application of new intelligent robots in all aspects of human society will show a rapid growth trend in the future. New intelligent robots can assist humans or even completely replace humans in work, complete rehabilitation tasks or enhance human mobility. However, the traditional rigid direct-drive robot joints have disadvantages such as high energy consumption, insufficient flexibility, inability to avoid external impacts, and easy to cause injuries when realizing human-computer interaction. Motor drive has the advantages of wide range of speed variation, high efficiency, small rotational inertia, high speed and position accuracy, etc. The variable stiffness flexible driver driven by motor can solve the above problems well. [0003] At pr...

AI Technical Summary

Problems solved by technology

[0003] At present, some good results have been achieved in the research of variable stiffness drives at home and abroad, but there are still some problems: the adjustable range of stiffness of variable stiffness drives is small, the mechanism is complex and not compact enough, and it is difficult to achieve continuous rotation

[0004] After searching the existing technical documents, it is found that the Chinese invention patent application number 201010283564.2, the technical work develops a flexible joint with variable stiffness, including a micro-drive unit, a motor bracket, and an elastic unit. The stiffness is changed by changing the effective length of the elastic element. However, the effective length of the elasticity is limited, and the range of stiffness changes is limited.

[0005] Chinese Patent Application No. 20150355179.7, this technology discloses a flexible joint driving mechanism with adjustable stiffness, including a driving end, an adjusting end and a flexible joint. Change from large flexibility to complete rigidity, but the structure of the mechanism is complex and the size is too large

[0006] Chinese patent application number 201510072095.2, this technology discloses a synchronously adjustable displacement variable stiffness joint driver, including base, rocker arm position control component, variable stiffness adjustment component, angle deviation measurement component, using Archimedes spiral coil Changing the position of the second fulcrum of the leaf spring to achieve the purpose of variable stiffness, the structure is relatively compact, and the range of stiffness is large, but it is difficult to achieve continuous rotation of the output

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