CN101318330A - Two-in-parallel elastic driver - Google Patents
Two-in-parallel elastic driver Download PDFInfo
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- CN101318330A CN101318330A CNA2008100649153A CN200810064915A CN101318330A CN 101318330 A CN101318330 A CN 101318330A CN A2008100649153 A CNA2008100649153 A CN A2008100649153A CN 200810064915 A CN200810064915 A CN 200810064915A CN 101318330 A CN101318330 A CN 101318330A
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Abstract
The invention relates to a double-series connection elastic driver and comprises two guide bars, two ends of which are fixed on brackets; wherein, the bracket of one end is provided with two through holes, and two push rods go through the through holes; two spring baffles which are provided with holes are fixed on the push rods and go through the guide bars; a spring driving plate is arranged between the two spring baffles and is connected with a driver arranged on the bracket through a driving rod; springs are positioned between the spring driving plate and the spring baffles on two sides, and the springs comprise a soft spring and a hard spring which are distributed in a parallel way; the soft spring is sheathed on the push rod and the hard spring is sheathed on the guide bar and a passage of gap exists between the hard spring and the spring driving plate. The elastic driver has the advantages that when the driving load is smaller, the spring with smaller rigidity has the buffering effect to avoid the overlarge impact force; when the driving load is bigger, the spring with smaller rigidity is totally compressed and then the spring with larger rigidity plays the buffering role, thus preventing the driving belt width from being over influenced.
Description
(1) technical field
The present invention relates to a kind of driver of mechanism, particularly a kind ofly be used for joint of robot, based on the driver of power control.
(2) background technology
Robot is in the environmental operations of the unknown, and the force control robot that can adapt to external environment condition is gratifying.Current, the force control method of robot has: 1. ACTIVE CONTROL method, decide the torque of joint of robot by the external information of control algolithm and sensing, and make robot produce suitable active force to external environment condition.2. the Passive Control method is avoided excessive impact forces by elastic buffering mechanism.The invention belongs to a kind of Passive Control method drive unit, be characterized in accurately control action power, but the power of its adaptation changes bandwidth very greatly, owing to have two rigidity in parallel, when the external impact force amplitude alters a great deal, have good adaptability simultaneously.
Driver is as a kind of equipment or mechanical device, is with the energy of certain form or is converted into mechanical force, moment, perhaps is converted into space rate, rotary speed.At first should be in light weight as robot with driver, power output is big, can provide higher force or moment, and cost is low.In addition, in the external environment condition interactive process, in the power output scope of broad, the uniformity of good power output characteristics should be arranged, in order to avoid cause robot itself or the infringement of the outside plant of contact with it.At last, robot is when the environmental work of the unknown, and the impact energy that is produced is delivered in the driver by the robot architecture, improves driver resistance to shock loads ability, and it is essential avoiding its damage.
Present stage, force control device mainly contains direct drive unit, gear device, wire drive etc.These devices itself have conflicting character.For example: gear reduction is converted to the needed slow-speed of revolution of robot, high torque (HT) with high rotating speed, the low torque of motor.But because non-linear factors such as the friction of gear mechanism self, gear clearance, and increased load rotating inertia, make the accuracy of driver power output reduce the resistance to shock loads ability drop.Therefore, it is big to develop power-mass ratio, and adapt to high bandwidth and change power and keep its stable driver more and more to come into one's own, be one of field of Robotics emphasis research and development.
The elastic driver of people such as Gill A Pratt design, its design feature is that one group of spring is housed between power source and load, makes it bear the driving force of power source and the reaction force of load separately.And in biological limbs, soft tissue (as flesh, tendon, cartilage) is a tissue of strengthening rigidity.When load and distortion increase, corresponding stiffness also can be along with increase.This change stiffness characteristics of biological muscles makes to have good compliance and adaptability by sarcous joint motions.This driver spring rate changes along with the difference of external influence power, and this point is that it is not accomplished.
(3) summary of the invention
The object of the present invention is to provide a kind of organism muscle property that has, the power of adaptation changes bandwidth very greatly, has good adaptive two-in-parallel elastic driver when external loading alters a great deal.
The object of the present invention is achieved like this: it comprises that two ends are fixed on two guide posts on the support, two through holes are arranged on the support of one end, two push rods are through in the through hole, be fixed with two spring stops on the push rod, porose on two spring stops, spring stop is through on the guide post, between two spring stops, be provided with the spring drive plate, the spring drive plate links to each other with rack-mount driver by drive rod, be provided with spring between the spring stop of spring drive plate and both sides, spring comprises slinky spring and hard spring, slinky spring and hard spring composition are arranged in parallel, slinky spring is enclosed within on the push rod, hard spring be enclosed within on the guide post and and the spring drive plate between intersegmental crack is arranged.
The present invention can also comprise:
1, described driver is a servomotor, and described drive rod is a leading screw, and the output shaft of servomotor is connected as a single entity by shaft joint and leading screw, and the centre of described spring drive plate is the nut that matches with leading screw.
2, described driver is a hydraulic cylinder, and described drive rod is the plunger push rod, and the take-off lever of hydraulic cylinder links to each other with the plunger push rod by connector, and the plunger push rod links to each other with the spring drive plate.
3, two guide posts and two push rods are staggered.
The present invention drives the spring drive plate by driver drives drive rod, drive rod and does straight reciprocating motion with the compression spring.Like this, the driver power output is through the buffer strip dynamic load of two groups of different-stiffness springs.This structure Design, can adequately protect driver and dentition, the ability of raising resistance to shock loads.And this structure is simple relatively, makes easily, and not high to the designing requirement of driver, weight is lighter, good economy performance.In addition, there is low output damping in robot with driver requirement power and adapts to the high bandwidth variation of external loading power, and spring rate has material impact to this two parameter.Spring rate reduces and can carry out filtering to external loading power better, and its increase can improve output bandwidth.By optimization analysis, select the different-stiffness spring, to reach output damping and the output bandwidth that meets the robot manipulating task requirement to two serial spring stiffness coefficients.
Of the present inventionly have a mind to effect and be when driving load hour, mainly be that the less spring of rigidity plays cushioning effect, avoid impulsive force excessive, the less spring of rigidity will be compressed fully when the driving load is big, mainly play cushioning effect afterwards, avoid driving bandwidth and be subjected to excessive the influence by the bigger spring of rigidity.
(4) description of drawings
Fig. 1 is the structural representation of first kind of embodiment of the present invention;
Fig. 2 is the vertical view of Fig. 1;
Fig. 3 is that the right side of Fig. 1 is looked;
Fig. 4 is the structural representation of second kind of embodiment of the present invention;
Fig. 5 is the vertical view of Fig. 4;
Fig. 6 is that the right side of Fig. 4 is looked;
Fig. 7 is a controlling party block diagram of the present invention.
(5) specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1 to Fig. 3, first kind of embodiment of the present invention is a kind of motor-driven two-in-parallel elastic driver, it is mainly formed and comprises that two ends are fixed on two guide posts 9 on the support, two through holes are arranged on the support of one end, two push rods 8 are through in the through hole, be fixed with two spring stops 4 by bolt 7 on the push rod, porose on two spring stops, spring stop is through on the guide post, between two spring stops, be provided with spring drive plate 6, the spring drive plate links to each other with rack-mount driver 1 by drive rod, be provided with spring between the spring stop of spring drive plate and both sides, spring comprises slinky spring 5 and hard spring 10, and slinky spring and hard spring composition are arranged in parallel, slinky spring is enclosed within on the push rod, hard spring be enclosed within on the guide post and and the spring drive plate between intersegmental crack is arranged.Driver 1 is a servomotor, and drive rod is a leading screw 3, and the output shaft of servomotor is connected as a single entity by shaft joint 2 and leading screw, and the centre of spring drive plate is the nut that matches with leading screw.Two guide posts and two push rods are staggered.
Its power transmission process is that power source is a servomotor, and this motor connects firmly by screw and support, and the output shaft of motor is connected as a single entity by connector and leading screw again.Like this, motor torque is delivered to leading screw.Feed screw nut can only move back and forth along the leading screw axis direction under the guide post guide effect, and the torque conversion that at this moment is delivered to leading screw is the pressure of feed screw nut compression spring.The slinky spring other end of pressurized is pressed in spring stop (spring stop connects firmly together by screw and push rod), this time whole system stiffness coefficient be the rigidity of slinky spring; Feed screw nut continues compression one segment distance, contacts with hard spring (other end connects firmly together with spring stop), and this moment, feed screw nut compressed slinky spring and hard spring simultaneously, and the stiffness coefficient of whole system is the rigidity sum of slinky spring and hard spring.At last, the power that affacts spring stop is outwards exported by push rod, acts in the load.
In conjunction with Fig. 4 to Fig. 6, second kind of embodiment of the present invention is a kind of hydraulic-driven two-in-parallel elastic driver, and its driver 1 is a hydraulic cylinder, and drive rod is a plunger push rod 3, the take-off lever of hydraulic cylinder links to each other with the plunger push rod by connector, and the plunger push rod links to each other with the spring drive plate.Other parts are identical with first kind of specific embodiment.
In conjunction with Fig. 7, two groups of springs in parallel place between driver 1 and the external loading 12, make the reaction force of its thrust of bearing driver separately and load 12, and decrement soft, hard spring 5,10 is represented the size of driver to load 12 power outputs.Power sensor 14 produces a power measuring-signal by the active force that measurement acts on load 12.Controller 11 is handled the power measuring-signal and the given signal 13 that receive.Based on the control rule, controller produces the control signal of control current of electric amount, makes the control signal of motor output expectation torque with compression spring or control plunger-type cylinder supply pressure, makes plunger-type cylinder output expectation thrust with the compression spring.
Claims (4)
1, a kind of two-in-parallel elastic driver, it comprises that two ends are fixed on two guide posts on the support, two through holes are arranged on the support of one end, two push rods are through in the through hole, it is characterized in that: be fixed with two spring stops on the push rod, porose on two spring stops, spring stop is through on the guide post, between two spring stops, be provided with the spring drive plate, the spring drive plate links to each other with rack-mount driver by drive rod, be provided with spring between the spring stop of spring drive plate and both sides, spring comprises slinky spring and hard spring, slinky spring and hard spring are formed and are arranged in parallel, and slinky spring is enclosed within on the push rod, hard spring be enclosed within on the guide post and and the spring drive plate between intersegmental crack is arranged.
2, two-in-parallel elastic driver according to claim 1, it is characterized in that: described driver is a servomotor, described drive rod is a leading screw, and the output shaft of servomotor is connected as a single entity by shaft joint and leading screw, and the centre of described spring drive plate is the nut that matches with leading screw.
3, two-in-parallel elastic driver according to claim 1 is characterized in that: described driver is a hydraulic cylinder, and described drive rod is the plunger push rod, and the take-off lever of hydraulic cylinder links to each other with the plunger push rod by connector, and the plunger push rod links to each other with the spring drive plate.
4, according to claim 1,2 or 3 described two-in-parallel elastic drivers, it is characterized in that: two guide posts and two push rods are staggered.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008100649153A CN101318330A (en) | 2008-07-14 | 2008-07-14 | Two-in-parallel elastic driver |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2008100649153A CN101318330A (en) | 2008-07-14 | 2008-07-14 | Two-in-parallel elastic driver |
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| Publication Number | Publication Date |
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| CN101318330A true CN101318330A (en) | 2008-12-10 |
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| CNA2008100649153A Pending CN101318330A (en) | 2008-07-14 | 2008-07-14 | Two-in-parallel elastic driver |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102182809A (en) * | 2011-05-03 | 2011-09-14 | 哈尔滨工程大学 | Compact pull-rope-type elastic driver |
| CN103878790A (en) * | 2014-04-18 | 2014-06-25 | 南京工程学院 | Multi-mode elastic driver for lower limb power-assisted exoskeleton robot |
| CN107028733A (en) * | 2016-12-16 | 2017-08-11 | 中国科学院沈阳自动化研究所 | A kind of power-assisting robot flexible joint |
| CN110406608A (en) * | 2019-07-29 | 2019-11-05 | 南京工程学院 | Multi-mode elastic driver towards walking robot |
| CN112611497A (en) * | 2019-09-18 | 2021-04-06 | 马洪文 | Multi-dimensional force sensor structure of parallel rod system |
| CN113305882A (en) * | 2021-05-28 | 2021-08-27 | 珠海格力电器股份有限公司 | Rigidity reinforcing structure for tail end screw rod of robot and robot |
| CN113442167A (en) * | 2021-06-21 | 2021-09-28 | 长春工业大学 | Design of flexible variable-stiffness elastic driver |
| CN113799109A (en) * | 2021-09-03 | 2021-12-17 | 华中科技大学 | Single-spring series elastic driver and robot |
| CN113898707A (en) * | 2021-11-02 | 2022-01-07 | 哈尔滨工业大学 | Variable-rigidity compliant driver |
| CN115972179A (en) * | 2022-12-27 | 2023-04-18 | 重庆大学 | Six-freedom-degree motion platform |
-
2008
- 2008-07-14 CN CNA2008100649153A patent/CN101318330A/en active Pending
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102182809A (en) * | 2011-05-03 | 2011-09-14 | 哈尔滨工程大学 | Compact pull-rope-type elastic driver |
| CN103878790A (en) * | 2014-04-18 | 2014-06-25 | 南京工程学院 | Multi-mode elastic driver for lower limb power-assisted exoskeleton robot |
| CN103878790B (en) * | 2014-04-18 | 2015-08-12 | 南京工程学院 | Towards the multi-mode elastic driver of lower limb assistance exoskeleton robot |
| CN107028733B (en) * | 2016-12-16 | 2023-05-12 | 中国科学院沈阳自动化研究所 | Flexible joint of power-assisted robot |
| CN107028733A (en) * | 2016-12-16 | 2017-08-11 | 中国科学院沈阳自动化研究所 | A kind of power-assisting robot flexible joint |
| CN110406608A (en) * | 2019-07-29 | 2019-11-05 | 南京工程学院 | Multi-mode elastic driver towards walking robot |
| CN110406608B (en) * | 2019-07-29 | 2021-03-30 | 南京工程学院 | Multi-mode elastic driver for walking robot |
| CN112611497A (en) * | 2019-09-18 | 2021-04-06 | 马洪文 | Multi-dimensional force sensor structure of parallel rod system |
| CN112611497B (en) * | 2019-09-18 | 2022-01-28 | 马洪文 | Multi-dimensional force sensor structure of parallel rod system |
| CN113305882A (en) * | 2021-05-28 | 2021-08-27 | 珠海格力电器股份有限公司 | Rigidity reinforcing structure for tail end screw rod of robot and robot |
| CN113442167A (en) * | 2021-06-21 | 2021-09-28 | 长春工业大学 | Design of flexible variable-stiffness elastic driver |
| CN113799109A (en) * | 2021-09-03 | 2021-12-17 | 华中科技大学 | Single-spring series elastic driver and robot |
| CN113799109B (en) * | 2021-09-03 | 2022-11-11 | 华中科技大学 | Single-spring series elastic driver and robot |
| CN113898707A (en) * | 2021-11-02 | 2022-01-07 | 哈尔滨工业大学 | Variable-rigidity compliant driver |
| CN115972179A (en) * | 2022-12-27 | 2023-04-18 | 重庆大学 | Six-freedom-degree motion platform |
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