Variable stiffness device controlled by piezoelectric ceramics and its control method

Abstract

The present invention proposes a variable stiffness device controlled by piezoelectric ceramics and its control method, including: a torque speed input part and a torque speed output part; the torque speed input part includes a cylindrical ring with multiple spline grooves on the inner wall and a plurality of fine adjustment block; the top of the flat key of the fine-tuning block is pasted with a piezoelectric ceramic sheet, and has an arc surface with a slope; the torque and speed output part includes a circular frustum and a screw hole on the side of the small bottom of the circular frustum. Connect the shaft and the output shaft on the side of the large bottom of the conical frustum; the inclination of the inclination of the conical frustum is the same as that of the bottom surface of the contact part; the fine-tuning block and the conical frustum pass through the positioning bolts and the mounting plate on the side of the connecting shaft, and the input shaft The cover plate on one side maintains limited contact; the first stacked piezoelectric ceramic group, the second stacked piezoelectric ceramic group and thrust ball bearings are arranged sequentially between the positioning bolts and the mounting plate. Compared with conventional methods, it has a larger stiffness adjustment range, and the stiffness is precisely controllable.

Description

technical field [0001] The invention relates to the field of transmission devices, in particular to a variable stiffness device controlled by piezoelectric ceramics and a control method thereof. Background technique [0002] The shock absorber in the automobile chassis is a typical variable stiffness device. [0003] In the current industrial robots, most of the robot's arms use a whole rigid body structure to transmit motion and force, which can move accurately and transmit large force under the premise of clear work goals. However, in some special occasions, such as extracting soft objects, medical manipulators, etc., it is necessary to use flexible mechanisms to operate according to different objects, and these flexible mechanisms can be realized by variable stiffness mechanisms. [0004] At present, there are methods of variable stiffness, mostly using springs or damping blocks (which can be hydraulic or pneumatic damping cylinders and rubber blocks, etc.) , the value ...

AI Technical Summary

Problems solved by technology

It is impossible to intelligently change the stiffness according to different working environments or working goals

[0005] However, the method of using smart materials such as artificial muscles cannot be commercialized on a large scale due to cost and output reasons.

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