CN100460164C - Safety type rigidity variable mechanical joint - Google Patents
Safety type rigidity variable mechanical joint Download PDFInfo
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- CN100460164C CN100460164C CNB2007100372907A CN200710037290A CN100460164C CN 100460164 C CN100460164 C CN 100460164C CN B2007100372907 A CNB2007100372907 A CN B2007100372907A CN 200710037290 A CN200710037290 A CN 200710037290A CN 100460164 C CN100460164 C CN 100460164C
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Abstract
The invention relates to a safe rigidity changeable mechanical joint, which comprises generator, generator output shaft, mechanical arm, generator connecting shaft, fixed base and several restraining cylinders for rigidity changing. The output shaft of the generator connects tightly with the mechanical arm. The cross section of the generator linking shaft is a regular polygon prism with one end tightly connected with the generator, and the side inserted into the fixed base. The fixed base is a hollow cylinder structure, connecting with several restraining cylinders along the circumference directions in same angles. It realizes the tightening and support of the generator linking shaft through the restraint cylinders. It reduces the loading and consumption of the mechanical arm, improving the safety of outside operation, with higher precision.
Description
Technical field
The present invention relates to the device in a kind of Robotics field, specifically, is a kind of safety type rigidity variable mechanical joint that can be widely used in mechanical arm that has.
Background technology
Needing main equipment to carry out the occasion of accurate operation, as adopt mechanical arm to carry out the outer detection of pipeline etc., this moment, mechanical arm reached several meters, this just requires arm itself to have very high rigidity, and the mechanical arm of avoiding simultaneously high rigidity again collides with detected pipeline outer wall and causes piping failure.Usually the method that adopts is to realize by the SERVO CONTROL to motor.This method is relatively poor to the system effect of response lag, in case and sensor break down, this method of servo-controlling based on sensing will lose efficacy.Therefore, exist certain potential safety hazard.Can avoid to a certain degree damage if method that elastic buffering mechanism absorbs impact is installed on the employing joint, but the rigidity of system can reduce greatly, the motion control performance will descend thereupon.
Find through literature search prior art, Yang Chengliang adopts oil buffer will be rigidly connected to change in document " the improvement design of the big arm buffer of car puller " (" harbour science and technology harbour machinery " PP35-36) and flexibly connects, when bump produces, piston rod shrinks, and forces hydraulic oil to flow in the accumulator, thereby produces resistance, in the process of whole bump, the pressure of hydraulic cylinder remains necessarily, produces the decelerative force of a constant size, and promptly constant acceleration slows down.When impact stroke finished, back-moving spring pushed back original position with piston rod, and accumulator discharges hydraulic oil, impacted to wait for next time.Its characteristics are alleviated external impulsive force for the damping of flowing by fluid, and the active force during stop is similar to constant, do uniformly retarded motion thereby piston is similar to.Owing to adopted accumulator, the volume of this method is bigger, simultaneously because of hydraulic pressure wet goods reason, impost seriously increases, only be suitable for volume and weight is not had the occasion of strict demand, simultaneously, this method also can reduce the contact stiffness of system, make the effective operation power of end effector reduce,, increased the non-linear and lag factor of system because of using hydraulic oil as buffer medium, make that again control accuracy is difficult to guarantee, therefore, this method is not suitable for the occasion that needs fine manipulation, can only be applied in the working environment that only needs simple buffering.
Summary of the invention
The objective of the invention is to overcome deficiency of the prior art, a kind of safety type rigidity variable mechanical joint is provided, the dual stiffness characteristics of low rigidity when high rigidity when making it have operation simultaneously and damping of shocks, the colleague, volume is small and exquisite, and compact conformation is easy for installation, be particularly useful for fine manipulation mechanical arm that volume and weight is had higher requirements, as occasions such as large-scale outdoor work mobile robots.
The present invention is achieved by the following technical solutions, the present invention includes: motor, motor output shaft, mechanical arm, motor connecting axle, fixedly support and a plurality of change rigidity constraint cylindrical shell.Motor output shaft and mechanical arm are fastenedly connected.The motor connecting axle is the prism with regular polygon cross section, and an end and motor are fastenedly connected, and the side then assigns into fixedly in the support.Fixedly support is the column structure of hollow, connects a plurality of change rigidity constraint cylindrical shells along its circumferencial direction with the angle same fixed interval.Fixedly support is realized the fastening of motor connecting axle by change rigidity constraint cylindrical shell and is supported.
Described change rigidity constraint cylindrical shell is made up of interior push rod, electromagnet, resiliency supported, steel ball, barrel five parts.Interior push rod, electromagnet, resiliency supported, steel ball are revolving body, be encapsulated in the barrel and with the axis coaxle of barrel, the steel ball that becomes in the rigidity constraint cylindrical shell contacts with the side plane of motor connecting axle under the effect of resiliency supported all the time, one end of resiliency supported contacts with interior push rod, the other end contacts with steel ball, and electromagnet and barrel are fastenedly connected.When electromagnet was switched on, interior push rod compressed steel ball under the effect of electromagnetic force; Under the state of electromagnet outage, interior push rod breaks away from steel ball under the effect of resiliency supported.
The present invention reaches the purpose that the joint becomes rigidity control by becoming rigidity constraint cylindrical shell.Under the situation of making a concerted effort of mechanical arm and external environment condition contact force and resiliency supported less than the suction-combining force of electromagnet, when electromagnet is in "on" position, interior push rod rigidity acts on the steel ball, thereby realize motor connecting axle and the fixedly pure positive drive between the support, at this moment whole system externally shows as the characteristic in rigidity joint; When electromagnet is in off-position, interior push rod breaks away from steel ball, steel ball just keeps in touch with the side of motor connecting axle under the effect of resiliency supported, this moment motor connecting axle and fixedly be in flexible drive state between the support, the moment of torsion that transmits depends on the elastic deformation coefficient of resiliency supported, and at this moment whole system externally shows as the characteristic of flexible joint.
Under the situation greater than the electromagnet the suction-combining force with joint efforts of mechanical arm and external environment condition contact force and resiliency supported; interior push rod breaks away from and the tight state of contact of steel ball; system just can switch to the flexible joint state by rigidity joint state automatically, thereby can be implemented in the fortuitous event of no control signal the protection to motor and robotic arm manipulation object.Therefore, behind the necessary service load that calculates system, model by choose reasonable electromagnet and resiliency supported and the number that becomes rigidity constraint cylindrical shell just can satisfy the high-precision operation of mechanical arm simultaneously, system are had do not rely on the essential safety characteristic of external sensor.
In addition, by control, use system of the present invention to reflect abundant more change rigidity characteristic, thereby can satisfy complicated more job requirements electromagnet switching electricity.
Safety type rigidity variable mechanical joint of the present invention has alleviated the load and the power consumption of mechanical arm, improved the security of external operation, problems such as having solved simultaneously in the general buffer gear just, gentlely can't take into account simultaneously, terminal kinematic accuracy is not high is especially in field of special robots.
Description of drawings
Fig. 1 looks schematic diagram for two-dimensional plane structure master of the present invention;
Fig. 2 is a two-dimensional plane structure schematic top plan view of the present invention;
Fig. 3 is a change rigidity constraint cylindrical shell perspective view of the present invention;
The specific embodiment
Below in conjunction with accompanying drawing embodiments of the invention are elaborated: present embodiment is to be to implement under the prerequisite with the technical solution of the present invention; provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1 and Figure 2, present embodiment comprises: mechanical arm 1, motor output shaft 2, motor 3, motor connecting axle 4, fixedly support 14, become rigidity constraint cylindrical shells (preceding change rigidity constraint cylindrical shell 7, back become rigidity constraint cylindrical shell 5, a left side becomes rigidity constraint cylindrical shell 8, the right rigidity constraint cylindrical shell 6 that becomes) along equally distributed four of support circumferencial direction.
Each parts interconnected relationship is: motor output shaft 2 is fastenedly connected with mechanical arm 1.Motor connecting axle 4 is for having the prism of regular polygon cross section, and one end and motor 3 are fastenedly connected, and its side then assigns into fixedly in the support 14.Fixedly support 14 is the column structure of hollow, becomes rigidity constraint cylindrical shell (preceding change rigidity constraint cylindrical shell 7, back become rigidity constraint cylindrical shell 5, a left side becomes rigidity constraint cylindrical shell 8, the right rigidity constraint cylindrical shell 6 that becomes) along its circumferencial direction with fixedly connected four of the angle intervals of 90 degree.Fixedly support 14 by preceding change rigidity constraint cylindrical shell 7, back become rigidity constraint cylindrical shell 5, a left side become rigidity constraint cylindrical shell 8, the right synergy that becomes rigidity constraint cylindrical shell 6 realize to the fastening of motor connecting axle 4 with support.
As shown in Figure 3, preceding change rigidity constraint cylindrical shell 7 structures of present embodiment (it is all identical therewith that back change rigidity constraint cylindrical shell 5, a left side become rigidity constraint cylindrical shell 8, the right side becomes rigidity constraint cylindrical shell 6 structures).The preceding rigidity constraint cylindrical shell 7 that becomes is made up of interior push rod 9, resiliency supported 10, electromagnet 11, steel ball 12, barrel 13 5 parts.Interior push rod 9, resiliency supported 10, electromagnet 11, steel ball 12 are revolving body, be encapsulated in the barrel 13 and with the axis coaxle of barrel 13.One end of resiliency supported 10 contacts with interior push rod 9, and the other end contacts with steel ball 13, and electromagnet 11 is fastenedly connected with barrel 13.When electromagnet 11 energisings, interior push rod 9 compresses steel ball 12 under the effect of electromagnetic force; Under the state of electromagnet 11 outages, interior push rod 9 breaks away from steel ball 12 under the effect of resiliency supported 10.
Shown in Fig. 1-3; the steel ball that becomes in the rigidity constraint cylindrical shell contacts with the side plane of motor connecting axle under the effect of resiliency supported all the time; under the situation greater than push rod 9 the suction-combining forces in 11 pairs of the electromagnets with joint efforts of the contact force of mechanical arm 1 and external environment condition and resiliency supported 10; interior push rod 9 breaks away from and steel ball 12 tight state of contact; system just can switch to the flexible joint state by rigidity joint state automatically, thereby can be implemented in the fortuitous event of no control signal the protection to motor 3 and mechanical arm 1 operated object.Therefore, behind the necessary service load of known system,, just can satisfy mechanical arm 1 high-precision operation simultaneously, system had do not rely on the essential safety characteristic of external sensor by choose reasonable electromagnet 11 model with resiliency supported 10.
In addition, by control, use present embodiment to reflect abundant more change rigidity characteristic, thereby can satisfy complicated more job requirements electromagnet 11 switching electricity.
Claims (4)
1. safety type rigidity variable mechanical joint, comprise: motor, motor output shaft, mechanical arm, motor connecting axle, fixing support, it is characterized in that, also comprise: become rigidity constraint cylindrical shell, motor output shaft and mechanical arm are fastenedly connected, motor connecting axle one end and motor are fastenedly connected, and the side then assigns into fixedly in the support; Fixedly the fixedly connected a plurality of change rigidity of support retrain cylindrical shells, and fixedly support is realized the fastening of motor connecting axle by change rigidity constraint cylindrical shell and supported;
Described change rigidity constraint cylindrical shell is made up of interior push rod, electromagnet, resiliency supported, steel ball, barrel, interior push rod, electromagnet, resiliency supported, steel ball are revolving body, be encapsulated in the barrel and with the axis coaxle of barrel, steel ball contacts with the side plane of motor connecting axle under the effect of resiliency supported all the time, one end of resiliency supported contacts with interior push rod, the other end contacts with steel ball, and electromagnet and barrel are fastenedly connected.
2. safety type rigidity variable mechanical joint according to claim 1 is characterized in that, described fixedly support is the column structure of hollow.
3. safety type rigidity variable mechanical joint according to claim 2 is characterized in that, described fixedly support connects a plurality of change rigidity constraint cylindrical shells along its circumferencial direction with the angle same fixed interval.
4. safety type rigidity variable mechanical joint according to claim 1 is characterized in that, described motor connecting axle is for having the prism of regular polygon cross section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100372907A CN100460164C (en) | 2007-02-08 | 2007-02-08 | Safety type rigidity variable mechanical joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100372907A CN100460164C (en) | 2007-02-08 | 2007-02-08 | Safety type rigidity variable mechanical joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101011825A CN101011825A (en) | 2007-08-08 |
| CN100460164C true CN100460164C (en) | 2009-02-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2007100372907A Expired - Fee Related CN100460164C (en) | 2007-02-08 | 2007-02-08 | Safety type rigidity variable mechanical joint |
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| CN (1) | CN100460164C (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104440936B (en) * | 2014-12-25 | 2016-04-27 | 北京理工大学 | A kind of joint of robot of stiffness variable |
| CN110000815B (en) * | 2019-04-09 | 2022-03-01 | 达闼机器人有限公司 | Collision detection method and device, electronic equipment and storage medium |
| CN110281254B (en) * | 2019-05-31 | 2020-12-01 | 浙江工业大学 | Rigid-soft composite end effector for correcting assembly posture of robot |
| CN111891409B (en) * | 2020-06-28 | 2022-04-12 | 北京控制工程研究所 | Rigid-flexible dual-mode reusable landing buffer device |
| CN114932558B (en) * | 2022-06-27 | 2024-04-23 | 联想(北京)有限公司 | Mechanical arm, joint mechanism and joint mechanism control method |
| CN117124301B (en) * | 2023-10-16 | 2024-03-26 | 北京科技大学 | Variable-rigidity stretch-draw integral hip joint |
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2007
- 2007-02-08 CN CNB2007100372907A patent/CN100460164C/en not_active Expired - Fee Related
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| CN101011825A (en) | 2007-08-08 |
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Granted publication date: 20090211 Termination date: 20120208 |