A leaf spring variable stiffness flexible actuator based on rack and pinion transmission

A flexible drive, rack and pinion technology, used in transmissions, belts/chains/gears, program-controlled manipulators, etc., can solve the problems of slow control response of the drive and insufficient compact structure of the drive, and achieve compact structure design and excellent mechanical properties. , highly symmetrical effect

Active Publication Date: 2020-11-20
TSINGHUA UNIV
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

The structure of the driver is not compact enough, and the series motor control method makes the control response of the driver slower than the parallel control method

Method used

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  • A leaf spring variable stiffness flexible actuator based on rack and pinion transmission
  • A leaf spring variable stiffness flexible actuator based on rack and pinion transmission
  • A leaf spring variable stiffness flexible actuator based on rack and pinion transmission

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Embodiment Construction

[0019] The present invention provides a leaf spring type variable stiffness flexible driver based on rack and pinion transmission. The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0020] figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention, Figure 2a , 3a They are respectively the left view and the front view of the embodiment of the present invention. The described leaf spring variable stiffness flexible driver based on rack and pinion transmission includes a frame 1, a power input and transmission mechanism, and an output mechanism. This driver comprises A motor 2, B motor 6, A motor bracket 4, B motor bracket 8, A coupling 3, B coupling 7, A gear 5, B gear 9, the first A rack 11a, the second A rack 11b, first B rack 11c, second B rack 11d, first A link 12a, second A link 12b, first B link 12c, second B link 12d, first slider Block 13a, second slide blo...

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Abstract

Provided is a plate spring type rigidity and flexibility driver based on transmission of gears and racks. The driver includes a machine frame, a power input and transmission mechanism and an output mechanism. The power input and transmission mechanism includes two motors, the gears, the racks, a rack bracket, connecting rods and sliding blocks; the output mechanism includes an output cylinder, plate springs, two output plates and output plate connectors, and the plate springs are installed on the output cylinder and constitute a moving pair along with the sliding blocks; one end of each outputplate is fixedly connected to the output cylinder, and the other ends of the output plates are fixedly connected with each other through the output cylinder. By adopting a double-motor parallelly-connected adversarial structure, the output response is faster; by adopting the plate springs as elastic elements, a variable rigidity module structure of the driver is much simpler, and the driver is compact in structure and highly symmetrical.

Description

technical field [0001] The invention belongs to the technical field of flexible driving, in particular to a leaf spring type variable stiffness flexible driver based on rack and pinion transmission. Background technique [0002] There are mainly the following types of motion drive methods in the field of robotics, such as pneumatic drive, hydraulic drive, and motor drive. Motor drive has become a main drive method because of its advantages such as accurate control, high adjustment precision, and quick response. With the development of robot technology, more and more attention has been paid to the research and development of rehabilitation robots and bionic service robots. These robots also have higher requirements for the safety and adaptability to the environment in the process of human-computer interaction. However, the traditional motor drive is a rigid drive. During the process of human-computer interaction, there is a high possibility of rigid collision with the enviro...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J19/00F16H37/12
CPCB25J9/0009B25J19/00F16H37/12
Inventor 吴军吴崇灯许天睿张彬彬
Owner TSINGHUA UNIV
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