Variable pliability actuator

摘要

A variable pliability actuator is provided to move a movable component including two electric rotary motors, at least one output shaft connected to be set in rotation by the motors around a rotation axis, an elastic transmission system to enable motion transfer from the motors to the output shaft and to vary the pliability the output shaft, a control unit to adjust at least the pliability of the output shaft through the elastic transmission system, and a holding structure to hold at least the motors, the elastic transmission system, the output shaft and the control unit. The holding structure has a driving output placed at the outer surface controlled by the output shaft and connected to set the movable component in rotation about the rotation axis, at least one stiff coupling element to enable a stiff connection of the holding structure, and a support output opposite the driving output, substantially coaxial with the rotation axis and partly housing and stabilizing the rotation of the movable component.

主权项

1. A variable pliability actuator (1) adapted to move a movable component (102), comprising:
two electric motors (4) of the rotary type, at least one output shaft (3) adapted to be set in rotation by said two electric motors (4) around a rotation axis (3a); an elastic transmission system (6, 7) connected to transfer motion from said motors (4) to said output shaft (3) and to vary the pliability of said output shaft (3), wherein said elastic transmission system (6, 7) comprises two driving pulleys (6a) each rigidly connected to one of said two electric motors (4), a driven pulley (6b) rigidly connected to said output shaft (3), and at least one flexible transmission element (6c) suitable for motion transfer from said driving pulleys (6a) to said driven pulley (6b) and at least one spring body (7) connected to directly act on said flexible transmission elements (6c); a control unit (9) integrated in said variable pliability actuator (1) to adjust at least the pliability of said output shaft (3) through said elastic transmission system (6, 7); a holding structure (2) defining an outer surface and an inner volume (2a) to hold at least said two electric motors (4), said elastic transmission system (6, 7), said output shaft (3) and said control unit (9); said holding structure (2) comprising:
a driving output (3b) placed at said outer surface, which is controlled by said output shaft (3) to set said movable component (102) in rotation about said rotation axis (3a),at least one stiff coupling element (5) providing a stiff connection of said holding structure (2) and at least one of an actuator and an integral component, anda support output (2e) opposite to the driving output (3b) and substantially coaxial with said rotation axis (3a) and partly housing said movable component (102) stabilizing said rotation of said movable component (102).