CN101380740B - Multi-foot robot pressure-spring limitation type elastic driving joint module - Google Patents
Multi-foot robot pressure-spring limitation type elastic driving joint module Download PDFInfo
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- CN101380740B CN101380740B CN2008101373189A CN200810137318A CN101380740B CN 101380740 B CN101380740 B CN 101380740B CN 2008101373189 A CN2008101373189 A CN 2008101373189A CN 200810137318 A CN200810137318 A CN 200810137318A CN 101380740 B CN101380740 B CN 101380740B
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Abstract
The present invention provides a multi-leg robot pressure spring position limited elastic driving joint module which consists of a retaining screw (1), a motor back end cover (2), a joint flange (3), four retaining screws (4), four connection copper columns (5), a servo motor (6), a thrust block (7), a motor-box retaining screw (8), a fixed pin (9), a potentiometer (10), a pin (11), a worm wheel output block (12), a potentiometer support frame (13), a retaining screw (14), a transfer joint block (15), an adjustable fastening screw (16), a worm (17), a worm wheel (18), a retaining screw (19), a steady bearing I (20), a steel ball (21), an adjustable end cover (22), a fixed reinforcing plate (23), a retaining screw (24), a square box body (25), a worm wheel steady bearing (26), a clamp spring (27), a retaining screw (28), a pressure cover (29), a retaining screw (30), a fixed plate (31), a steady bearing (32), a coder fixing bracket (33), a motor coder (34), a pressure spring (35), a pressure spring guide rod (36) and a copper bush (37). The multi-leg robot pressure spring position limited elastic driving joint module has compact structure, large transmission ratio, stable transmission and reliable self locking performance.
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 pressure-spring limitation type 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, worm gear 18 is installed on the square box 25 by two worm gear spring bearings 26, one of them worm gear spring bearing 26 is installed in the copper sheathing 37, copper sheathing 37 outer ends have the adjustable screw 16 that tightens up to carry out position adjustments, the worm gear output shaft is connected by pin 11 and worm gear IOB 12, front end at worm gear IOB 12 is fluted, four stage clips 35 are installed in the described groove, screwed stage clip guide post 36 is connected with described groove, on transmission joint block 15 four glands 29 is installed.
The present invention also starves and can comprise some architectural features like this:
1, it also comprises motor encoder 34, and 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 10 is installed, potentiometer 10 is fixed on the square box 25 by potentiometer bracing frame 13.
3, jump ring 27 is installed between worm gear IOB 12 and square box 25.
4, pass through fixedly stiffener 23 connections between two transmission joint blocks 15, two worm gear IOBs 12 connect by fixed head 31.
The present invention adopts worm and gear modularization transmission mechanism, realizes the elastic transmission in shank joint by the compression to stage clip.The impact energy that robot is produced when dynamically walking is delivered to by stage clip to each joint of robot provides on the driver of power, makes robot obtain buffering among a small circle 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, because stage clip can not excessively unevenly compress, this module is fit to using under the little situation of multi-foot robot impact, and overall structure is miniaturization more.All available this module combinations in each joint of multi-foot robot forms, and has realized modularization 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, for design a kind of dependable performance, volume small and exquisite, when walking at a high speed, have among a small circle that the multi-foot robot of joint buffer capacity provides technical foundation, have very high researching value and wide application prospect.
Pressure-spring limitation type 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 the vertical view of multi-foot robot pressure-spring limitation type elastic driving joint module of the present invention;
Fig. 2 is the side view of multi-foot robot pressure-spring limitation type elastic driving joint module of the present invention;
Fig. 3 is the upward view of multi-foot robot pressure-spring limitation type elastic driving joint module of the present invention;
Fig. 4, Fig. 5 are respectively the stereograms of multi-foot robot pressure-spring limitation type elastic driving joint module 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. 5, 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 four stage clips 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, potentiometer 10, pin 11, worm gear IOB 12, potentiometer bracing frame 13, fixed screw 14, transmit joint block 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, fixed screw 28, gland 29, fixed screw 30, fixed head 31, spring bearing 32, encoder fixed support 33, motor encoder 34, stage clip 35, stage clip guide post 36, copper sheathing 37.
Servomotor 6 provides power for whole module, and 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.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 37, copper sheathing 37 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 37 external diameters are larger than the external diameter of turbine 18, in order to turbine 18 is installed on the square box 25.The worm gear output shaft is connected by pin 11 and worm gear IOB 12, front end at worm gear IOB 12 has four stage clips 35 to be installed in the groove, screwed stage clip 35 guide posts 36 are connected with groove, play guide effect when stage clip 35 compressions, the effect of stage clip 35 is buffer robot impact energys in motion process.On transmission joint block 15, four glands 29 are installed, the position of limiting stage clip 35.At worm gear 18 output shafts one end a potentiometer 10 is installed, potentiometer 10 is fixed on the square box 25 by potentiometer bracing frame 13, the effect of potentiometer 10 is rotational angles of measuring between worm gear IOB 12 and the transmission joint block 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 10 can also be measured the rotational angle of motor simultaneously, for system's control provides position signalling.Jump ring 27 is installed between worm gear IOB 12 and square box 25, is play a part spacing and fixing.Pass through fixedly stiffener 23 connections between two transmission joint blocks 15 in addition, two worm gear IOBs 12 connect by fixed head 31.
Claims (9)
1. multi-foot robot pressure-spring limitation type 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, worm gear [18] is installed on the square box [25] by two worm gear spring bearings [26], one of them worm gear spring bearing [26] is installed in the copper sheathing [37], copper sheathing [37] outer end has the adjustable screw [16] that tightens up to carry out position adjustments, the worm gear output shaft is connected by pin [11] and worm gear IOB [12], front end at worm gear IOB [12] is fluted, four stage clips [35] are installed in the described groove, screwed stage clip guide post [36] is connected with described groove, on transmission joint block [15] four glands [29] is installed.
2. multi-foot robot pressure-spring limitation type elastic driving joint module according to claim 1 it is characterized in that: further comprising motor encoder [34], and motor encoder [34] is connected by encoder fixed support [33] and adpting flange [3].
3. multi-foot robot pressure-spring limitation type elastic driving joint module according to claim 1 and 2, it is characterized in that: at worm gear [18] output shaft one end a potentiometer [10] is installed, potentiometer [10] is fixed on the square box [25] by potentiometer bracing frame [13].
4. multi-foot robot pressure-spring limitation type elastic driving joint module according to claim 1 and 2 is characterized in that: between worm gear IOB [12] and square box [25] jump ring [27] is installed.
5. multi-foot robot pressure-spring limitation type elastic driving joint module according to claim 3 is characterized in that: between worm gear IOB [12] and square box [25] jump ring [27] is installed.
6. multi-foot robot pressure-spring limitation type elastic driving joint module according to claim 1 and 2 is characterized in that: by fixedly stiffener [23] connection, two worm gear IOBs [12] connect by fixed head [31] between two transmission joint blocks [15].
7. multi-foot robot pressure-spring limitation type elastic driving joint module according to claim 3 is characterized in that: by fixedly stiffener [23] connection, two worm gear IOBs [12] connect by fixed head [31] between two transmission joint blocks [15].
8. multi-foot robot pressure-spring limitation type elastic driving joint module according to claim 4 is characterized in that: by fixedly stiffener [23] connection, two worm gear IOBs [12] connect by fixed head [31] between two transmission joint blocks [15].
9. multi-foot robot pressure-spring limitation type elastic driving joint module according to claim 5 is characterized in that: by fixedly stiffener [23] connection, two worm gear IOBs [12] connect by fixed head [31] between two transmission joint blocks [15].
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101373189A CN101380740B (en) | 2008-10-14 | 2008-10-14 | Multi-foot robot pressure-spring limitation type elastic driving joint module |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101373189A CN101380740B (en) | 2008-10-14 | 2008-10-14 | Multi-foot robot pressure-spring limitation type elastic driving joint module |
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| CN101380740A CN101380740A (en) | 2009-03-11 |
| CN101380740B true CN101380740B (en) | 2010-06-23 |
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| CN2008101373189A Expired - Fee Related CN101380740B (en) | 2008-10-14 | 2008-10-14 | Multi-foot robot pressure-spring limitation type elastic driving joint module |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114700952B (en) * | 2022-04-24 | 2024-06-28 | 深圳市品拉索产品策划有限公司 | Joint limit control method and device, terminal equipment and storage medium |
| 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 CN2008101373189A patent/CN101380740B/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 (4)
| Title |
|---|
| JP特开2007-175845A 2007.07.12 |
| 孙翊.模块化多足不行机器人机械系统研究.中国优秀硕士论文全文数据库.2006,47-48. * |
| 王刚等.一种新型多足仿生机器人步行足关节结构研究.机械工程师 5.2008,(5),132-133. |
| 王刚等.一种新型多足仿生机器人步行足关节结构研究.机械工程师 5.2008,(5),132-133. * |
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