Variable stiffness driver with characteristics of low energy consumption and large stiffness adjusting range
A technology with adjustment range and high rigidity, applied in the direction of manufacturing tools, manipulators, joints, etc., can solve the problems of high energy consumption, high control difficulty, and small adjustment range, so as to achieve low energy consumption, reduce structural size, and improve energy. The effect of utilization efficiency
Active Publication Date: 2021-09-03
BEIHANG UNIV
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Problems solved by technology
In addition, the complex and changeable environment and working conditions require that the robot driver can adjust its stiffness in real time. A large stiffness adjustment range is an important guarantee for the robot to adapt to a wider range of tasks. However, some existing variable stiffness drivers generally have a stiffness adjustment range. Therefore, it is of great significance to design a variable stiffness driver with the characteristics of low energy consumption and large stiffness adjustment range.
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[0037] The present invention will be further described in detail with reference to the accompanying drawings and embodiments.
[0038] The present invention has a variable stiffness driver characterized by low energy consumption and large stiffness adjustment range, such as figure 1 As shown, it includes a driving part 1 , a stiffness adjusting part 2 , an output part 3 , and an angle sensor part 4 .
[0039] Such as figure 2 , image 3 As shown, the driving component 1 includes a top fixing plate 1-1, a side fixing plate 1-2, a first deep groove ball bearing 1-3, a motor component 1-4 and a motor output component 1-5. Wherein, the side fixing plate 1-2 and the motor component 1-4 are respectively fixed on the relative positions of the upper fixing plate 1-1 by bolts. The upper part of the side fixing plate 1-2 is designed with an aperture coaxial with the output shaft of the motor part 1-4, and the first deep groove ball bearing 1-3 is installed in the aperture. The moto...
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The invention discloses a variable stiffness driver with the characteristics of low energy consumption and large stiffness adjusting range. The variable stiffness driver comprises a driving part, a stiffness adjusting part, an output part and an angle sensor part. An auxiliary motor rotates to enable the protruding end on a lead screw nut to move along a sliding groove in a rocker rod, so that variable rigidity adjustment is achieved, it is assumed that the position of the lead screw nut in the sliding groove is fixed, when the external load is zero, a spring connected with the rocker rod and the output part does not deform, a main motor can drive a crank and the output part to rotate synchronously. When the external load is not zero, under the driving of the main motor, the spring deforms, the crank and the output part do not rotate synchronously, and buffering protection is formed. The large-rigidity volute spiral spring is introduced, the protruding end of the lead screw nut can reach the limiting position of the rocker rod sliding groove, and the rigidity adjusting range can be theoretically from 0 to infinity. According to the variable stiffness driver, a lead screw is introduced, when no load exists, the auxiliary motor can adjust the position of the lead screw nut in the sliding groove with extremely small force, and the function of low energy consumption is achieved.
Description
technical field [0001] The invention belongs to the technical field of flexible driving, and in particular relates to a variable rigidity driver characterized by low energy consumption and large stiffness adjustment range. Background technique [0002] Traditional robots mostly use rigid joints. With the rapid development of robot technology, the application of robots is not only used in industrial places, but the interaction with people is becoming more and more extensive, and it is getting closer to people's lives. This is It is necessary to put forward certain requirements on the compliance of the drive, so as to avoid the danger caused by collision with people when the robot is misoperated or malfunctions. In addition, the complex and changeable environment and working conditions require that the robot driver can adjust its stiffness in real time. A large stiffness adjustment range is an important guarantee for the robot to adapt to a wider range of tasks. However, some ...
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IPC IPC(8): B25J17/02
CPCB25J17/0208
Inventor 张武翔邵一鑫莫碌凡丁希仑
Owner BEIHANG UNIV