CN101380739B - Multi-foot robot bionic elastic driving joint module - Google Patents
Multi-foot robot bionic elastic driving joint module Download PDFInfo
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- CN101380739B CN101380739B CN200810137316XA CN200810137316A CN101380739B CN 101380739 B CN101380739 B CN 101380739B CN 200810137316X A CN200810137316X A CN 200810137316XA CN 200810137316 A CN200810137316 A CN 200810137316A CN 101380739 B CN101380739 B CN 101380739B
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Abstract
The present invention provides a multi-leg robot simulated elastic driving joint module. A servo motor is fixedly connected with a contact flange by a connection copper column. The contact flange is also fixedly connected with a motor back end cover. The servo motor is fixedly connected with a square box body. A servo motor output shaft is respectively equipped with a thrust bearing, a worm, a steady bearing, a steel ball and an adjustable end cover from the inside to the outside. The worm is fixedly connected with the servo motor output shaft. The adjustable end cover is connected with the square box body. A worm wheel is arranged at the square box body by a worm wheel steady bearing. Two worm wheel output blocks are fixedly connected with a worm wheel output shaft. The two sides of each worm wheel output block are respectively connected with two torsion springs which rotate along the same direction, and the rotation directions of the torsion springs at the two sides of the square box body are opposite. The invention provides the technical base for designing a multi-leg robot which has high adaptability for complex landform and altitude, reliable performance and small size and has the joint cushioning capacity when walking at a high speed, and the multi-leg robot simulated elastic driving joint module has very high study value and wide application prospect.
Description
(1) technical field
What the present invention relates to is that a kind of robot drives joint module, particularly a kind of multi-foot robot elastic driving joint module that adopts the modular construction design.
(2) background technology
Bionics (Bionics) is a comprehensive science that occurs the sixties in 20th century, it by life science and engineering subject interpenetrate, mutually combining forms, by structure, function, operation principle and the controlling mechanism of learning, imitating, duplicating and reproducing biosystem, improve existing or creationary machinery, instrument, building and technical process.Because the dexterity that bio-robot had action has great help for Human's production and scientific research activity, bio-robot becomes an important directions in current robot research field.
The gait of present bionical polypody walking robot, the parameter of attitude all are directly to obtain from the research to human or animal's walking posture.The walking of humans and animals is to produce coordination by the elasticity in shank bone, muscle and joint and the commander of pliability and the mankind or animal higher nerve system.But what walking robot adopted mostly at present is rigidity leg structure, do not have good elasticity between leg joint, therefore in the high speed walking foot over the ground face moment can produce greater impact, caused the high vibration in each joint, very easily body is caused damage, influenced the stability of robot ambulation.Sometimes have to exchange the stability and security of robot ambulation for to sacrifice movement velocity.Therefore how to reduce impact and become a problem that presses for solution in the walking robot technical development.
In the robot running, the quality of robot, rotary inertia, swing speed and walking speed relative fixed, so reduce impact by quality and rotary inertia that reduces robot or the method that reduces swing speed and walking speed, do not conform to the actual conditions utmost point.Event has only consideration to add flexible member in walking mechanism or uses highly elastic material, makes it have spring function, so neither underspeeds, again can be in the face of the impact of robot with reducing, and the utmost point is beneficial to robot quick and stable ground walking continuously.
At home by a kind of novel elasticity walking mechanism (Ma Jianxu, Ma Peisun, Yang Baozhong, the Wang Aiping of people such as Ma Jianxu design, a kind of novel leg structure damping characteristics in the four feet walking robot, Shanghai Communications University's journal, 1999, (07)), be that the quadric chain of frame is composited by four groups of flexible members in parallel with the robot leg shell.When the walking robot foot lands, body is owing to the inertia of stepping on down, driving lower link compression spring by robot leg moves downward, lower link drives connecting rod swing again, because spring conductor rod links to each other with the support foot, then the upper hinge of connecting rod is connected with stationary end. when two connecting rods are straight line owing to the compression of spring, linkage arrives the dead-centre position, hold connecting rod 1 so that linkage remains on the dead-centre position by the control electromagnet, thereby the impact energy that absorbs in the spring is locked in the elastic leg.Magnechuck in the control elastic leg makes its dead electricity and the energy of storing in the elastic leg is discharged under certain gait then, and auxiliary robot is lifted the leg swing.Though this structure has solved the elastic problem of joint of robot to a certain extent, but its structure is too complicated, and can only produce rectilinear motion, can not be applied to each joint of multi-foot robot, the external form of this mechanism is excessive, is unfavorable for the miniaturization of bio-robot.
The elastic driver that people such as the breadboard David W.Robinson of Massachusetts Institute of Technology's shank design is arranged abroad, (Gill A Pratt, Lexington, MA (US), David W Robinson, Manchester, NH (US) FORCE-CONTROLLED HYDRO-ELASTIC ACTUATOR, Massachusetts Instituteof Technology, Cambridge, MA (US) .2002) motor and two kinds of drive patterns of hydraulic cylinder are arranged, during by motor-driven, the driven by motor ball-screw produces rectilinear motion, and nut is connected with output mechanism by four compression springs, 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.The same existence of this structure can only produce shortcomings such as rectilinear motion, external form be excessive, can not be widely used in the bionical multi-foot robot of miniaturization.
(3) summary of the invention
The object of the present invention is to provide that a kind of compact conformation, gearratio are big, stable drive, have the multi-foot robot bionic elastic driving joint module of reliable self-locking performance.
The object of the present invention is achieved like this:
Servomotor 6 connects copper post 5 by four and four fixed screws 4 connect firmly with adpting flange 3, adpting flange 3 connects firmly by fixed screw 1 and back end cover for motor 2 again, servomotor 6 connects firmly by screw 8 and square box 25, what servomotor 6 output shafts were installed from inside to outside is respectively thrust bearing 7, worm screw 17, spring bearing I 20, steel ball 21 and adjustable end cap 22, worm screw 17 connects firmly by steady pin 9 and servomotor 6 output shafts, adjustable end cap 22 links to each other with square box 25 by screw thread, worm gear 18 is processed as one with its output shaft, be installed on the square box 25 by worm gear spring bearing 26, wherein an end is equipped with a copper sheathing 35, copper sheathing 35 inside are a worm gear spring bearing 26, the outer end has the adjustable screw 16 that tightens up to carry out position adjustments, two worm gear IOBs 12 connect firmly by pin 11 and worm gear 18 output shafts, each worm gear IOB 12 both sides is connected with two torsion springs 10 that rotation direction is identical respectively, and promptly torsion spring 10 rotation directions of square box both sides are opposite.
The present invention also starves and can comprise some architectural features like this:
1, also comprise motor encoder 34, motor encoder 34 is connected by encoder fixed support 33 and adpting flange 3.
2, at worm gear 18 output shafts one end a potentiometer 31 is installed, potentiometer 31 is fixed on the square box 25 by potentiometer bracing frame 30.
3, transmitting installation jump ring 27 between joint block II 36 and the square box 25.
4, between transmission joint block I 15 and transmission joint block II 36, connect, pass through fixedly stiffener 23 connections between two transmission joint block I 15 by connecting plate 14.
The present invention adopts worm and gear modularization transmission mechanism to drive two pairs of torsion springs, realizes the transmission in shank joint by the transmission of torsion spring.The impact energy that robot is produced when dynamically walking is delivered to by torsion spring to each joint of robot provides on the driver of power, makes robot obtain buffering and reach energy-conservation when walking at a high speed, has improved the efficiency of robot.It has that compact conformation, gearratio are big, stable drive, self-locking performance and realized advantage such as elastic driving joint moduleization reliably, all available this module combinations in each joint of multi-foot robot forms, and has realized modularization and miniaturization truly.
Meaning of the present invention is to seek a kind of new high efficiency, miniaturization, modularization, has the flexible drive kind of drive of bionical feature, provide technical foundation for designing a kind of multi-foot robot small and exquisite to the adaptation of complex-terrain height, dependable performance, volume, that when walking at a high speed, have the joint buffer capacity, have very high researching value and wide application prospect.
Bionic elastic driving joint module can be used as the basic driver unit of legged type robot design, and this structure has highly versatile, flexible drive, output self-locking, adjustable protection motor, driving angle big (＜270 °), easily processing, easily assembles and advantage such as maintenance.Elastic driving joint module of the present invention not only can be applied in the robots such as various polypodies such as biped, four-footed, six foots, eight foots, even can also be used for climbing robots such as snakelike.
(4) description of drawings
Fig. 1 is a bionic elastic driving joint module vertical view of the present invention;
Fig. 2 is a bionic elastic driving joint module stereogram of the present invention;
Fig. 3 is a bionic elastic driving joint module stereogram of the present invention (looking up).
(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, each modularization drive mechanism all by a servomotor through the decelerator deceleration, transmission mechanism adopts turbine and worm mechanism, make input, output axis quadrature, and having self-locking and tunable characteristic, the worm gear IOB is delivered to the two groups of torsion springs that move through of worm gear on the output of joint.This module specifically mainly comprises: fixed screw 1, back end cover for motor 2, adpting flange 3, four fixed screws 4, four connect copper post 5, servomotor 6, thrust bearing 7, motor and casing fixed screw 8, steady pin 9, torsion spring 10, pin 11, worm gear IOB 12, fixed screw 13, connecting plate 14, transmit joint block I 15, the adjustable screw 16 that tightens up, worm screw 17, worm gear 18, fixed screw 19, spring bearing I 20, steel ball 21, adjustable end cap 22, fixedly stiffener 23, fixed screw 24, square box 25, worm gear spring bearing 26, jump ring 27, spring bearing II 28, fixed screw 29, potentiometer bracing frame 30, potentiometer 31, spring bearing III32, encoder fixed support 33, motor encoder 34, copper sheathing 35 and transmission joint block II 36.
The technical scheme of bionic elastic driving joint module is as follows: servomotor 6 provides power for whole module, servomotor 6 connects copper post 5 by four and four fixed screws 4 connect firmly with adpting flange 3, and adpting flange 3 connects firmly by fixed screw 1 and back end cover for motor 2 again.Can continue to connect elastic driving joint module behind the back end cover for motor 2, motor encoder 34 is connected by encoder fixed support 33 and adpting flange 3, and motor encoder 34 can be measured the turned position of motor, produces feedback signal, instructs upper strata control.Servomotor 6 connects firmly by screw 8 and square box 25, what servomotor 6 output shafts were installed from inside to outside is respectively thrust bearing 7, worm screw 17, spring bearing I 20, steel ball 21 and adjustable end cap 22, worm screw 17 connects firmly by steady pin 9 and servomotor 6 output shafts, adjustable end cap 22 links to each other with square box 25 by screw thread, and the effect of fixed screw 19 is to relatively rotate after stoping the position adjustments of adjustable end cap 22 and square box 25 good.Servomotor 6 output shafts have the support of thrust bearing 7 to the back-end; front end has the spacing of steel ball 21; the support of spring bearing 20 is radially arranged; so the motor shaft of servomotor 6 can not be pressed into or extract under the effect of motive power; effectively protect servomotor 6 to be without prejudice, prolonged service life.Worm gear 18 is processed as one with its output shaft, be installed on the square box 25 by worm gear spring bearing 26, wherein an end is equipped with a copper sheathing 35, copper sheathing 35 inside are a worm gear spring bearing 26, the outer end has the adjustable screw 16 that tightens up to carry out position adjustments, copper sheathing 35 external diameters are larger than the external diameter of worm gear 18, in order to worm gear 18 is installed on the square box 25.Two worm gear IOBs 12 connect firmly by pin 11 and worm gear 18 output shafts, each worm gear IOB 12 both sides is connected with two torsion springs 10 that rotation direction is identical respectively, torsion spring 10 rotation directions that are the square box both sides are opposite, with as shown in Figure 1 top torsion spring 10 is example, uppermost torsion spring one end connects with transmission joint block I 15, the other end connects with worm gear IOB 12, and second torsion spring one end connects with worm gear IOB 12, the other end connects with transmission joint block II36, and the rotation direction of two torsion springs is identical.The effect of torsion spring 10 is buffer robot impact energys in motion process.At worm gear 18 output shafts one end a potentiometer 31 is installed, potentiometer 31 is fixed on the square box 25 by potentiometer bracing frame 30, the effect of potentiometer 31 is rotational angles of measuring between worm gear IOB 12 and the transmission joint block I 15, thereby whether the impact that definite robot is subjected in motion process has exceeded the rated designs value of module, if surpass, robot is stop motion immediately.By certain conversion, potentiometer 31 can also be measured the rotational angle of motor simultaneously, for system's control provides position signalling.Transmitting installation jump ring 27 between joint block II 36 and the square box 25, play a part spacing and fixing.Connect by connecting plate 14 between this external transmission joint block I 15 and the transmission joint block II 36, two are transmitted between the joint block I 15 by fixedly stiffener 23 connections.
Claims (5)
1. multi-foot robot bionic elastic driving joint module, servomotor [6] connects copper post [5] by four and four fixed screws [4] connect firmly with adpting flange [3], adpting flange [3] connects firmly by fixed screw [1] and back end cover for motor [2] again, it is characterized in that: servomotor [6] connects firmly by screw [8] and square box [25], what servomotor [6] output shaft was installed from inside to outside is respectively thrust bearing [7], worm screw [17], spring bearing I[20], steel ball [21] and adjustable end cap [22], worm screw [17] connects firmly by steady pin [9] and servomotor [6] output shaft, adjustable end cap [22] links to each other with square box [25] by screw thread, worm gear [18] is processed as one with its output shaft, be installed on the square box [25] by worm gear spring bearing [26], and an end of worm gear is provided with a copper sheathing [35], copper sheathing [35] inside is described worm gear spring bearing [26], the outer end has the adjustable screw [16] that tightens up to carry out position adjustments, two worm gear IOBs [12] connect firmly by pin [11] and worm gear [18] output shaft, each worm gear IOB [12] both sides is connected with two torsion springs [10] that rotation direction is identical respectively, and the torsion spring of square box both sides [10] rotation direction is opposite; One of them torsion spring one end and transmission joint block I[15] connect, the other end connects with worm gear IOB [12], and another torsion spring one end connects with worm gear IOB [12], the other end and transmission joint block II[36] connect, transmitting joint block I[15] and transmit joint block II[36] between connect by connecting plate [14], two are transmitted joint block I[15] between by fixedly stiffener [23] connection.
2. multi-foot robot bionic elastic driving joint module according to claim 1 is characterized in that: also comprise motor encoder [34], motor encoder [34] is connected by encoder fixed support [33] and adpting flange [3].
3. multi-foot robot bionic elastic driving joint module according to claim 1 and 2 is characterized in that: at worm gear [18] output shaft one end a potentiometer [31] is installed, potentiometer [31] is fixed on the square box [25] by potentiometer bracing frame [30].
4. multi-foot robot bionic elastic driving joint module according to claim 1 and 2 is characterized in that: transmitting joint block II[36] and square box [25] between jump ring [27] is installed.
5. multi-foot robot bionic elastic driving joint module according to claim 3 is characterized in that: transmitting joint block II[36] and square box [25] between jump ring [27] is installed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810137316XA CN101380739B (en) | 2008-10-14 | 2008-10-14 | Multi-foot robot bionic elastic driving joint module |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810137316XA CN101380739B (en) | 2008-10-14 | 2008-10-14 | Multi-foot robot bionic elastic driving joint module |
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| Publication Number | Publication Date |
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| CN101380739A CN101380739A (en) | 2009-03-11 |
| CN101380739B true CN101380739B (en) | 2010-06-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN200810137316XA Expired - Fee Related CN101380739B (en) | 2008-10-14 | 2008-10-14 | Multi-foot robot bionic elastic driving joint module |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102182809B (en) * | 2011-05-03 | 2013-03-20 | 哈尔滨工程大学 | Compact pull-rope-type elastic driver |
| CN102152319B (en) * | 2011-05-11 | 2012-07-11 | 哈尔滨工程大学 | Elastically-driven rotational joint |
| CN103341864B (en) * | 2013-05-08 | 2015-11-18 | 南京航空航天大学 | There is joint of robot module and the robot of auto-lock function |
| CN104385276B (en) * | 2014-10-09 | 2015-11-04 | 兰州理工大学 | Single motor three freedom degree manipulator arm mechanism |
| CN104382722B (en) * | 2014-11-24 | 2017-01-11 | 江苏大学 | Volute spring type flexible and elastic joint applicable to rehabilitation robot |
| CN106625751B (en) * | 2016-12-16 | 2019-05-31 | 清华大学 | A kind of self-locking type joint parallel connection elastic driver |
| CN108393921B (en) * | 2018-04-26 | 2023-10-03 | 吉林大学 | Spider-like integrated bidirectional motion joint |
| CN110524514A (en) * | 2019-08-28 | 2019-12-03 | 勃肯特(镇江)机器人技术有限公司 | A kind of high speed parallel robot driven indirectly with energy regenerating |
| CN111776106B (en) * | 2020-08-12 | 2024-02-23 | 腾讯科技（深圳）有限公司 | Mechanical leg and wheeled mobile device |
| CN117506265B (en) * | 2024-01-08 | 2024-03-29 | 宁波至信汽车零部件制造有限公司 | Automobile metal fitting welding device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1178495A (en) * | 1995-11-17 | 1998-04-08 | 株式会社安川电机 | Wrist mechanism for articulated robot |
| CN1511680A (en) * | 2002-12-26 | 2004-07-14 | 哈尔滨工业大学 | Multiple joint human-imitating robot arm |
| CN101264603A (en) * | 2008-03-31 | 2008-09-17 | 哈尔滨工程大学 | Robot joint based on harmonic wave speed reducer |
-
2008
- 2008-10-14 CN CN200810137316XA patent/CN101380739B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1178495A (en) * | 1995-11-17 | 1998-04-08 | 株式会社安川电机 | Wrist mechanism for articulated robot |
| CN1511680A (en) * | 2002-12-26 | 2004-07-14 | 哈尔滨工业大学 | Multiple joint human-imitating robot arm |
| CN101264603A (en) * | 2008-03-31 | 2008-09-17 | 哈尔滨工程大学 | Robot joint based on harmonic wave speed reducer |
Non-Patent Citations (1)
| Title |
|---|
| JP特开2007-175845A 2007.07.12 |
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| CN101380739A (en) | 2009-03-11 |
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