A variable stiffness linear drive device and a variable stiffness method

A linear drive, linear drive technology, applied in the direction of manufacturing tools, claw arms, manipulators, etc., can solve the problems of high cost, large volume, limited available scenarios, etc., to achieve the effect of high space utilization and improved adaptability

Active Publication Date: 2022-05-31
HARBIN INST OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The former makes the system complex, higher cost and larger volume, while the latter requires manual participation and limited available scenarios

Method used

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  • A variable stiffness linear drive device and a variable stiffness method
  • A variable stiffness linear drive device and a variable stiffness method
  • A variable stiffness linear drive device and a variable stiffness method

Examples

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Embodiment Construction

[0039] see Figure 1-Figure 7 As shown, a variable stiffness linear drive device of this embodiment includes a first linear drive 1, a second linear drive, a variable stiffness module, a tongue assembly and a frame 2;

[0040] The first linear driver 1 is arranged on one side of the frame 2, and the first linear driver 1 drives the slider 4 to move on the frame 2; the frame 2 is provided with a touch tongue assembly, and the touch tongue assembly includes a touch tongue 31 and Spring 32; the two ends of the spring 32 lean against the touch tongue 31 and the frame 2, and the touch tongue 31 can be driven and moved by the slider 4;

[0041] The second linear driver includes a second screw 52 driven by a second motor 51, the second motor 51 is fixed on the other side of the frame 2, and the variable stiffness module includes a module seat 61, an axial thrust rotating member 62, two Drive nut 63 and two non-linear springs 64, the second screw mandrel 52 is covered with slidable m...

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Abstract

A variable stiffness linear drive device and a variable stiffness method, which include a first linear drive, a second linear drive, a variable stiffness module, a tongue assembly and a frame; the first linear drive is arranged on one side of the frame, and the second A linear driver drives the slider to move on the frame; the frame is provided with a touch tongue assembly, which includes a touch tongue and a spring; the two ends of the spring are against the touch tongue and the frame, and the touch tongue can be moved by the slider Drive to move; the second linear driver includes a second screw rod driven by a second motor, the second motor is fixed on the other side of the frame, and the variable stiffness module includes a module seat, an axial thrust rotating member, two drive nuts and Two non-linear springs, an axial thrust rotating member, two drive nuts and two non-linear springs in an antagonistic arrangement are arranged in the module seat. The invention adjusts the rigidity through the nonlinear spring arranged antagonistically, realizes different flexibility of the driver, and improves the adaptability of the driver.

Description

technical field [0001] The invention relates to a variable stiffness device, in particular to a variable stiffness linear drive device and a variable stiffness method. Background technique [0002] For the joint driver of the robot, depending on the task, the joint stiffness requirements of the driver are often different. When the joint needs to run with high precision, it is often necessary for the robot joint to have high rigidity to ensure the accuracy of the movement; when performing operations such as bolts that require high adaptability, it is often desirable that the driver has higher flexibility to improve the success of the operation efficiency and reduce work time. Therefore, stiffness adjustment is a very critical and important function. Joint drivers with adjustable stiffness can make the robot adapt to more application scenarios. The gripper with a variable stiffness drive can achieve precise grasping of items in a state of high stiffness, and can also grab f...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00B25J18/00B25J19/00
CPCB25J17/00B25J18/00B25J19/00
Inventor 臧希喆张璞刘玉斌刘刚峰赵杰
Owner HARBIN INST OF TECH
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