CN102179821B - Rigidity-adjustable elastic linear telescopic passive robot joint - Google Patents
Rigidity-adjustable elastic linear telescopic passive robot joint Download PDFInfo
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- CN102179821B CN102179821B CN 201110155480 CN201110155480A CN102179821B CN 102179821 B CN102179821 B CN 102179821B CN 201110155480 CN201110155480 CN 201110155480 CN 201110155480 A CN201110155480 A CN 201110155480A CN 102179821 B CN102179821 B CN 102179821B
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- 238000007906 compression Methods 0.000 claims description 2
- 238000002955 isolation Methods 0.000 abstract description 3
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- 230000035939 shock Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 11
- 230000008569 process Effects 0.000 description 10
- 230000008859 change Effects 0.000 description 6
- 230000001105 regulatory effect Effects 0.000 description 5
- 210000003205 muscle Anatomy 0.000 description 3
- 241001465754 Metazoa Species 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000013016 damping Methods 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 210000003041 ligament Anatomy 0.000 description 2
- 210000002435 tendon Anatomy 0.000 description 2
- 206010023230 Joint stiffness Diseases 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000003750 conditioning effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000009885 systemic effect Effects 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
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Abstract
The invention relates to an elastic linear telescopic passive robot joint with adjustable rigidity, and belongs to the technical field of linear telescopic elastic devices with adjustable rigidity. The rigidity adjusting device comprises a rigidity adjusting motor output shaft, a bearing, a rigidity adjusting core sleeve, a supporting cylinder, a spring, a guide rail groove, a limiting screw and a connecting block; a limiting block, a middle layer and a guide rail are arranged on the circumferential surface of the lower support; the lower end of the upper support is fixedly connected with a support cylinder in the rigidity adjusting device; the rigidity adjusting device is supported by a supporting cylinder, the inner wall of the supporting cylinder is connected with two ends of the rigidity adjusting core sleeve through bearings, and the supporting cylinder and the rigidity adjusting core sleeve only do axial circular motion; the lower support is movably connected with the guide rail groove through a guide rail, and the guide rail groove is fixedly connected with the support cylinder through a screw; the vibration frequency of the joint is adjusted by adjusting the rigidity; when the device is connected into the equipment, the vibration condition of the equipment can be adjusted, such as vibration isolation, shock absorption and resonance.
Description
Technical field
The present invention relates to the passive joint of robot of a kind of rigidity-adjustable elastic linear telescopic type, belong to the elastic device technical field of Linear telescopic adjustable rigidity.
Background technology
Be subjected to the inspiration of jump, walking animal walking mode in the Nature, promoted the research to the passive dynamic walking robot.The passive dynamic walking robot is a kind of legged mobile robot of similar human walking, the legged mobile robot shank has a plurality of frees degree, motion is flexible, stability is high, and its movement locus is a series of discrete footprint, can arrive place wheeled and that caterpillar type robot can't arrive.In research passive dynamic walking robot ambulation process, if just regulate by the parameter of adjusting robot itself, it is a very stubborn problem, not only time-consuming in the adjustment process, also need a large amount of experiments, as reach robot motion's certain effects by regulating joint of robot position motor, its control section is not only complicated, and overall power consumption is larger, to having relatively high expectations of motor.In addition, will inevitably bump with ground in the passive dynamic walking robot ambulation process, the rapid variation of this process robot foot systemic velocity can be lost sizable energy, can't absorb, utilize energy, and the robot device is had larger impulsive force.If the rigidity of regulating joint of robot in robot and process that ground contacts will reduce the robot impact larger to ground, reduce the impact to this body structure of robot, can also take full advantage of the energy that the joint absorbs, reduce the loss of energy.In addition, by changing the size of joint of robot rigidity, can also avoid robot injury to the mankind in associating with the people.
Summary of the invention
The objective of the invention is to propose the passive joint of robot of a kind of rigidity-adjustable elastic linear telescopic type in order to provide a kind of adjustable rigidity that can improve leg formula hopping robot motion efficiency, realize the dynamic high speed motion by mobile robot linear pattern joint.
The objective of the invention is to be achieved through the following technical solutions.
The passive joint of robot of a kind of rigidity-adjustable elastic linear telescopic type of the present invention, comprise upper support, rigidity adjuster and lower support, wherein, rigidity adjuster comprises stiffness tuning motor output shaft, bearing, stiffness tuning core retainer plate, support tube, spring, guide-track groove, stop screw and contiguous block; Limited location piece on the periphery of lower support, intermediate layer and guide rail; Its annexation is:
The upper end of upper support is connected with external device (ED), and the stiffness tuning motor is equipped with in the inside of upper support, and the stiffness tuning motor is fixedly connected with by screw with upper support, and the lower end of upper support is fixedly connected with support tube in the rigidity adjuster;
Rigidity adjuster is supported by support tube, the stiffness tuning core retainer plate is positioned at an end of support tube band end face, the support tube inwall is connected with stiffness tuning core retainer plate two ends by bearing, support tube and stiffness tuning core retainer plate only have axial circular motion, the stiffness tuning core retainer plate is hollow, the upper end of stiffness tuning core retainer plate is connected with the stiffness tuning motor output shaft, there is helicla flute the inside of the lower end of stiffness tuning core retainer plate, the stiffness tuning core retainer plate be connected with the upper end of spring by helicla flute and the turn of this end also not tight, the lower end of spring is connected with lower support and the turn of this end of spring and tight and polish; The lower end of spring is welded with contiguous block, and an end of support tube band end face is fixedly connected with by screw with upper support, and support tube is connected with lower support by guide-track groove without an end of end face, and support tube is fixedly connected with by screw with guide-track groove;
Lower support is fixedly connected with by screw with contiguous block, and lower support and guide-track groove are flexibly connected by guide rail, and guide-track groove is fixedly connected with by screw with support tube, and the upper end of guide-track groove contacts with bearing, prevents that bearing and stiffness tuning core retainer plate from collecting together; Lower support is connected with support tube by guide-track groove, and guide-track groove is connected with support tube by screw, and the intermediate layer of lower support is fixedly connected with by contiguous block with spring, and the relative guide-track groove of lower support and support tube only have radial motion.
During work, the rotation of stiffness tuning driven by motor stiffness tuning core retainer plate, driving spring by the helicla flute in the stiffness tuning core retainer plate during rotation of stiffness tuning core retainer plate moves along the support tube axial direction, change effective active length of spring, reach the purpose of adjusting joint integral rigidity, can improve motion efficiency, the motion of realization dynamic high speed of legged mobile robot, can make the joint change vibration frequency.When stiffness tuning driven by motor stiffness tuning core retainer plate rotated, the effective active length of spring increased, and when reaching certain-length, limited block contacts with stop screw, and the stiffness tuning motor stops.Limited block and stop screw prevent that spring breaks away from the stiffness tuning core retainer plate and breaks away from rigidity adjuster with lower support.
Beneficial effect
The present invention comes the vibration frequency of adjusting joint by regulating the rigidity size; Be connected in the equipment, Vibration Condition that can conditioning equipment, as play vibration isolation, damping and resonant interaction.
Description of drawings
Fig. 1 is structural representation of the present invention;
Wherein, 1-upper support, 2-stiffness tuning motor, 2-1-stiffness tuning motor output shaft, 3-bearing, 4-stiffness tuning core retainer plate, 5-support tube, 6-spring, 7-guide-track groove, 8-stop screw, the 9-contiguous block, 10-lower support, 10-1-limited block, 10-2-intermediate layer, 10-3-guide rail.
The specific embodiment
The present invention will be further described below in conjunction with drawings and Examples.
Embodiment
The passive joint of robot of a kind of rigidity-adjustable elastic linear telescopic type, comprise upper support 1, rigidity adjuster and lower support 10, wherein, rigidity adjuster comprises stiffness tuning motor output shaft 2-1, bearing 3, stiffness tuning core retainer plate 4, support tube 5, spring 6, guide-track groove 7, stop screw 8 and contiguous block 9; Limited location piece 10-1 on the periphery of lower support 10, intermediate layer 10-2 and guide rail 10-3; Its annexation is:
The upper end of upper support 1 is connected with external device (ED), and stiffness tuning motor 2 is equipped with in the inside of upper support 1, and stiffness tuning motor 2 and upper support 1 are fixedly connected with by screw, and the lower end of upper support 1 is fixedly connected with support tube 5 in the rigidity adjuster;
Rigidity adjuster is supported by support tube 5, stiffness tuning core retainer plate 4 is positioned at support tube 5 with an end of end face, support tube 5 inwalls are connected with stiffness tuning core retainer plate 4 two ends by bearing 3, support tube 5 only has axial circular motion with stiffness tuning core retainer plate 4, stiffness tuning core retainer plate 4 is hollow, the upper end of stiffness tuning core retainer plate 4 is connected with stiffness tuning motor output shaft 2-1, there is helicla flute the inside of the lower end of stiffness tuning core retainer plate 4, stiffness tuning core retainer plate 4 be connected with the upper end of spring 6 by helicla flute and the turn of this end also not tight, the lower end of spring 6 is connected with lower support 10 and the turn of this end of spring 6 and tight and polish; The lower end of spring 6 is welded with contiguous block 9, and support tube 5 is fixedly connected with by screw with an end of end face and upper support 1, and support tube 5 is connected with lower support 10 by guide-track groove 7 without an end of end face, and support tube 5 and guide-track groove 7 are fixedly connected with by screw;
During work, stiffness tuning motor 2 drives 4 rotations of stiffness tuning core retainer plate, interior helicla flute drive spring 6 by stiffness tuning core retainer plate 4 during 4 rotation of stiffness tuning core retainer plate moves along support tube 5 axial directions, change effective active length of spring 6, reach the purpose of adjusting joint integral rigidity, can improve motion efficiency, the motion of realization dynamic high speed of legged mobile robot, can change vibration frequency in the joint.When stiffness tuning motor 2 drove 4 rotation of stiffness tuning core retainer plate, spring 6 effective active lengths increased, and when reaching certain-length, limited block 10-1 contacts with stop screw 8, and stiffness tuning motor 2 stops.Limited block 10-1 and stop screw 8 prevent that spring 6 breaks away from stiffness tuning core retainer plate 4 and breaks away from rigidity adjuster with lower support 10;
Above-mentioned spring 6 is cylindroid helical-coil compression spring.
Adjustable rigidity spring passive joint of robot of the present invention is regulated joint of robot rigidity by low-power machine.This method is by changing effective active length of die springs, reach the flexible adjusting of joint stiffness, make hopping robot's efficiency in motion process reach optimum, can improve motion efficiency, the motion of realization dynamic high speed of legged mobile robot, realize the passive dynamics periodic motion of robot.
In robot jump or walking process, the kinetic energy of part health and potential energy can provide by store transient elastic strain in collision process, and discharge the energy that stores in the elasticity bounce-back stage.This phenomenon has greatly reduced the job requirement of muscle, and reduces the energy consumption in the motion process.The position of the most possible storage elasticity energy of human and animal is at muscle, and tendon in ligament and the bone, when bumping, can reduce total mechanical energy fluctuation.Aspect robot, these problems can improve by the rigidity of structure of adjusting robot.The spring-like in adjustable rigidity joint is similar to muscle, tendon, and ligament absorbs the integrally-built severe impact of energy loss and minimizing robot that collision causes, reduces vibration.Size as by adjusting joint rigidity can reduce by the at the volley consumption of energy of mobile robot, reduces by the requirement of mobile robot shutdown position driver, reduces by mobile robot severe impact to the robot body structure in the jump collision process.
Because the elasticity of shank is frequently relevant with the time that contacts with ground with the step of leg, in today of legged mobile robot development, the present invention changes step size and the walking frequency of robot by regulating the size of joint of robot rigidity.Robot can be smoothly by irregular road surface or hide situations such as barrier on the direction of travel, improve robot to all-environment adaptability with to the adaptive capacity of various landform shape changeables.There is important reference value in the robot that adapts to extraterrestrial ball border for exploitation.
In addition, by changing the size of joint of robot rigidity, can also avoid robot injury to the mankind in associating with the people.
Be applied to the vibration field, also can change the vibration frequency of this device by changing effective active length, vibration damping, vibration isolation even resonance aspect there is certain reference value, by changing the rigidity in joint, change robot motion's frequency, strengthen the exercise performance of machine human motion performance or reduction robot.
The above; only for the better specific embodiment of the present invention, but protection scope of the present invention is not limited to this, anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.
Claims (2)
1. passive joint of robot of rigidity-adjustable elastic linear telescopic type, it is characterized in that: comprise upper support (1), rigidity adjuster and lower support (10), wherein, rigidity adjuster comprises stiffness tuning motor output shaft (2-1), bearing (3), stiffness tuning core retainer plate (4), support tube (5), spring (6), guide-track groove (7), stop screw (8) and contiguous block (9); Limited location piece (10-1) on the periphery of lower support (10), intermediate layer (10-2) and guide rail (10-3);
The upper end of upper support (1) is connected with external device (ED), stiffness tuning motor (2) is equipped with in the inside of upper support (1), stiffness tuning motor (2) is fixedly connected with upper support (1), and the lower end of upper support (1) is fixedly connected with support tube (5) in the rigidity adjuster;
Rigidity adjuster is supported by support tube (5), stiffness tuning core retainer plate (4) is positioned at support tube (5) with an end of end face, support tube (5) inwall is connected with stiffness tuning core retainer plate (4) two ends by bearing (3), support tube (5) only has axial circular motion with stiffness tuning core retainer plate (4), stiffness tuning core retainer plate (4) is hollow, the upper end of stiffness tuning core retainer plate (4) is connected with stiffness tuning motor output shaft (2-1), there is helicla flute the inside of the lower end of stiffness tuning core retainer plate (4), stiffness tuning core retainer plate (4) be connected with the upper end of spring (6) by helicla flute and the turn of this end also not tight, the lower end of spring (6) is connected with lower support (10) and the turn of this end of spring (6) and tight and polish; The lower end of spring (6) is welded with contiguous block (9), support tube (5) is fixedly connected with upper support (1) with an end of end face, support tube (5) is connected with lower support (10) by guide-track groove (7) without an end of end face, and support tube (5) is fixedly connected with guide-track groove (7);
Lower support (10) is fixedly connected with contiguous block (9), lower support (10) is flexibly connected by guide rail with guide-track groove (7), the upper end of guide-track groove (7) contacts with bearing (3), prevents that bearing (3) and stiffness tuning core retainer plate (4) from collecting together; Line slideway (10-3) and limited block (10-1) are arranged on lower support (10) periphery, the intermediate layer (10-2) of lower support (10) is fixedly connected with by contiguous block (9) with spring (6), and the relative guide-track groove (7) of lower support (10) and support tube (5) only have radial motion.
2. the passive joint of robot of a kind of rigidity-adjustable elastic linear telescopic type according to claim 1, it is characterized in that: spring (6) is cylindroid helical-coil compression spring.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110155480 CN102179821B (en) | 2011-06-10 | 2011-06-10 | Rigidity-adjustable elastic linear telescopic passive robot joint |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201110155480 CN102179821B (en) | 2011-06-10 | 2011-06-10 | Rigidity-adjustable elastic linear telescopic passive robot joint |
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| CN102179821A CN102179821A (en) | 2011-09-14 |
| CN102179821B true CN102179821B (en) | 2013-03-27 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104723354B (en) * | 2013-12-20 | 2016-08-17 | 中国科学院沈阳自动化研究所 | The robot flexibility of a kind of mechanical impedance Parameter adjustable drives rotary joint |
| CN106584449B (en) * | 2017-01-23 | 2019-01-08 | 哈尔滨工业大学 | A kind of linear motion unit of series-parallel flexible drive |
| CN107992671B (en) * | 2017-11-28 | 2021-09-03 | 常州大学 | Intelligent robot frequency modulation method based on biological genetic algorithm |
| CN108943023A (en) * | 2018-08-14 | 2018-12-07 | 浙江树人学院 | A kind of gasbag robot leg buffer mechanism of adjustable rigidity |
| CN110014451B (en) * | 2019-04-24 | 2021-12-21 | 哈尔滨理工大学 | Crawling robot hip device suitable for slope road surface and control |
| CN111360844B (en) * | 2020-03-24 | 2022-02-22 | 北京理工大学 | Rigidity active control's end limb pole and contain bionic robot of this end limb pole |
| CN114131645B (en) * | 2021-12-06 | 2023-03-28 | 之江实验室 | Variable-rigidity flexible joint based on through shaft |
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2011
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Patent Citations (6)
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