CN102182809A - Compact pull-rope-type elastic driver - Google Patents
Compact pull-rope-type elastic driver Download PDFInfo
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- CN102182809A CN102182809A CN2011101128352A CN201110112835A CN102182809A CN 102182809 A CN102182809 A CN 102182809A CN 2011101128352 A CN2011101128352 A CN 2011101128352A CN 201110112835 A CN201110112835 A CN 201110112835A CN 102182809 A CN102182809 A CN 102182809A
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- sliding block
- stay cord
- driving wheel
- pulley
- driven
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Abstract
The invention aims to provide a compact pull-rope-type elastic driver. A driving wheel, pulley wheels, pull ropes, a pull rope guiding block, an output rod, springs, driving rods, a guide rod, a fixing column, driving slide blocks and driven slide blocks are arranged inside a lower housing; an upper housing is arranged above the lower housing through the fixing column; a servo motor is fixed below the lower housing; two guide rods and two pull rope guiding blocks are provided respectively; two sets of mechanisms consisting of the driving slide blocks, the driven slide blocks and the springs are provided; two sets of pulley wheels are provided; the driving wheel is connected with the servo motor; two pull ropes are wound on the driving wheel and the pulley wheels; and the output rod is connected with the two driven slide blocks through the two driving rods respectively. The elastic driver is novel, high in efficiency, minimized, modularized and biomimic, provides a technical basis for designing a walking robot which has high adaptability to the complicated terrain, reliable performance and small volume and has a joint-buffering capacity in the high-speed walking process, and has very high research value and wide application prospect.
Description
Technical field
The present invention relates to be a kind ofly be used for robot, based on the driver of power control.
Background technique
Robot is in the environmental operations of the unknown, and the robot that can adapt to the power control of external environment condition is gratifying.Current, the force control method of robot has: 1. direct force control method, decide the torque of joint of robot by the external information of control algorithm and sensing, and make robot produce suitable active force to external environment condition.2. indirect force control method is exported by measuring the indirect control forces of mode such as resiliently deformable.
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, rotational speed.At first should be in light weight as the driver that robot uses, output power is big, can provide higher power or moment, and cost is low.In addition, in the external environment condition interactive process, in the scope of the ouput force of broad, the conformity 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, must improve driver resistance to shock loads ability, avoids its damage.
Present stage, force control device mainly contains direct drive unit, gear device, worm and gear drive unit etc.These device propers have conflicting character.For example: reduction gears mechanism 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 validity of driver ouput force reduce the resistance to shock loads ability drop.Therefore, it is big to develop power-mass ratio, and volume is little, and compact structure adapts to the power of high bandwidth variation and keeps its stable driver more and more to come into one's own, and is one of field of Robotics primary study.
Traditional series connection elastic driver, its structural feature are the springs that has adopted two groups of series connection, and each group serial spring will take certain space like this, and the volume and the structure that have increased driver are not compact yet.
Summary of the invention
The object of the present invention is to provide compact structure, it is little to take up room, compact dragline type elastic driver applied widely.
The object of the present invention is achieved like this:
The compact dragline type elastic driver of the present invention, comprise housing, actuating motor, driving wheel, pulley, stay cord, the stay cord guide pad, take-off lever, spring, driveshaft, guide rod, fixed cylinder, active sliding block, driven sliding block, it is characterized in that: housing comprises upper shell and lower shell body, driving wheel, pulley, stay cord, the stay cord guide pad, take-off lever, spring, driveshaft, guide rod, fixed cylinder, active sliding block, driven sliding block is installed in the lower shell body, upper shell is installed in above the upper shell by fixed cylinder, actuating motor is fixed on the lower shell body below, described guide rod has two, and front and back are arranged, the stay cord guide pad is two, about arrange, two stay cord guide pads are fixed in the lower shell body, two guide rods are fixed in the middle of two stay cord guide pads, active sliding block, the mechanism that driven sliding block and spring are formed has two groups, every group of mechanism comprises an active sliding block, a driven sliding block and two springs and be installed on two guide rods, spring is positioned in the inner space of active sliding block and driven sliding block formation, pulley has two groups, every group of pulley is divided into, lower pulley block, two groups of pulleys lay respectively at the left side of left side stay cord guide pad and the right side of right side stay cord guide pad, driving wheel links to each other with actuating motor, stay cord has two, two stay cords all are wrapped on driving wheel and the pulley, and pass the stay cord hole of active sliding block and driven sliding block, all tie a knot in the two stay cord hole both sides of stay cord on two active sliding block, take-off lever links to each other with two driven sliding block by two driveshafts respectively.
The present invention can also comprise:
1, described driveshaft links to each other by ball pivot with driven sliding block with take-off lever.
Advantage of the present invention is: the elastic driver that the present invention is a kind of new high efficiency, miniaturization, modularization, have bionical feature, provide technical foundation for designing a kind of walking robot small and exquisite to the adaptation of complex-terrain height, reliable performance, volume, that when walking at a high speed, have the joint buffer capacity, have very high researching value and wide application prospect.
Description of drawings
Fig. 1 is a phantom of the present invention;
Fig. 2 is a plan view of the present invention;
Fig. 3 is the lower shell body figure of going up of the present invention;
Fig. 4 is a stereogram of the present invention;
Fig. 5 is a controlling party block diagram of the present invention.
Embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
Mode of execution 1:
In conjunction with Fig. 1 to Fig. 4, of the present invention is a kind of motor-driven elastic driver, actuating motor 22 and elastic driver lower shell body 1 connect firmly by screw, driving wheel 21 is fixed on the output shaft of actuating motor 22, stay cord 19 up and down, 20 parts all are wrapped on the driving wheel 21, another part all passes the stay cord hole of active sliding block 15 and driven sliding block 16, stay cord 19 up and down, all tie a knot in 20 both sides, stay cord hole on active sliding block 15, pulley 2 up and down, 18 cooperate with bearing 3, bearing 3 is enclosed within on the bearing shaft on the lower shell body 1, guide rod 12 before and after 16 of active sliding block 15 and driven cunnings all are through, on 13, front and back spring 5,6 also all are through front and back guide rod 12, on 13, two ends are compressed by active sliding block 15 and driven sliding block 16 respectively, four ball pivots 8 respectively by screw on driven sliding block 16 and take-off lever 7, left and right sides driveshaft 9,10 two ends link to each other with ball pivot respectively, front and back fixed cylinder 11,14 by lower shell body on the screw 1,23.
Its power transmission process is: power source is an actuating motor 22, the output shaft of motor 22 and driving wheel 21 are connected in one, stay cord 19,20 parts are wrapped on the driving wheel 21, another part is walked around the stay cord hole that pulley passes active sliding block 15 and driven sliding block 16, and ties a knot in both sides, active sliding block 15 stay cord hole.Like this, the rotating speed of motor 22 and torque by driving wheel 21 and stay cord 19,20 be converted into two active sliding block 15 along guide rod 12,13 axial in opposite directions or opposite direction move back and forth.Spring 5,6 is enclosed within on the guide rod 12,13, active sliding block 15 is passed to spring 5,6 with energy, spring 5,6 pressurizeds will promote two driven sliding block 16 along guide rod 12,13 axially in opposite directions or opposite direction move back and forth, driven sliding block 16 in opposite directions or opposite move back and forth the folding that promotes two driveshafts 9,10, the folding of driveshaft 9,10 will promote take-off lever 7 and move around along lower shell body 1 chute direction, realize the output of its power and speed.
In conjunction with Fig. 5, two groups of springs place between actuating motor 22 and the external loading 24, make the reaction force of its thrust of bearing driver and load 24, and the size of driver to load 24 ouput forces represented in the folding of the decrement of spring 5,6 and driveshaft 9,10.Force transducer 25 produces a power measurement signal by the active force that measurement acts on load 22.Controller 27 compares power measurement signal and the given signal of accepting 26 and handle.Based on the control rule, controller produces the control signal of control current of electric amount, makes motor output expectation torque with pressure spring, realizes the output of elastic driver.
Claims (2)
1. compact dragline type elastic driver, comprise housing, actuating motor, driving wheel, pulley, stay cord, the stay cord guide pad, take-off lever, spring, driveshaft, guide rod, fixed cylinder, active sliding block, driven sliding block, it is characterized in that: housing comprises upper shell and lower shell body, driving wheel, pulley, stay cord, the stay cord guide pad, take-off lever, spring, driveshaft, guide rod, fixed cylinder, active sliding block, driven sliding block is installed in the lower shell body, upper shell is installed in above the upper shell by fixed cylinder, actuating motor is fixed on the lower shell body below, described guide rod has two, and front and back are arranged, the stay cord guide pad is two, about arrange, two stay cord guide pads are fixed in the lower shell body, two guide rods are fixed in the middle of two stay cord guide pads, active sliding block, the mechanism that driven sliding block and spring are formed has two groups, every group of mechanism comprises an active sliding block, a driven sliding block and two springs and be installed on two guide rods, spring is positioned in the inner space of active sliding block and driven sliding block formation, pulley has two groups, every group of pulley is divided into, lower pulley block, two groups of pulleys lay respectively at the left side of left side stay cord guide pad and the right side of right side stay cord guide pad, driving wheel links to each other with actuating motor, stay cord has two, two stay cords all are wrapped on driving wheel and the pulley, and pass the stay cord hole of active sliding block and driven sliding block, all tie a knot in the two stay cord hole both sides of stay cord on two active sliding block, take-off lever links to each other with two driven sliding block by two driveshafts respectively.
2. compact dragline type elastic driver according to claim 1 is characterized in that: described driveshaft links to each other by ball pivot with driven sliding block with take-off lever.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110112835 CN102182809B (en) | 2011-05-03 | 2011-05-03 | Compact pull-rope-type elastic driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110112835 CN102182809B (en) | 2011-05-03 | 2011-05-03 | Compact pull-rope-type elastic driver |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102182809A true CN102182809A (en) | 2011-09-14 |
| CN102182809B CN102182809B (en) | 2013-03-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201110112835 Expired - Fee Related CN102182809B (en) | 2011-05-03 | 2011-05-03 | Compact pull-rope-type elastic driver |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103846926A (en) * | 2012-12-07 | 2014-06-11 | 上银科技股份有限公司 | Elastic mechanical joint |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101318331A (en) * | 2008-07-14 | 2008-12-10 | 哈尔滨工程大学 | Two-in-series elastic driver |
| CN101318330A (en) * | 2008-07-14 | 2008-12-10 | 哈尔滨工程大学 | Two-in-parallel elastic driver |
| CN101380739A (en) * | 2008-10-14 | 2009-03-11 | 哈尔滨工程大学 | Multi-foot robot bionic elastic driving joint module |
| US20110067517A1 (en) * | 2009-09-22 | 2011-03-24 | Gm Global Technology Operations,Inc. | Rotary series elastic actuator |
| CN202132461U (en) * | 2011-05-03 | 2012-02-01 | 哈尔滨工程大学 | Compact pull rope type resilient driver |
-
2011
- 2011-05-03 CN CN 201110112835 patent/CN102182809B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101318331A (en) * | 2008-07-14 | 2008-12-10 | 哈尔滨工程大学 | Two-in-series elastic driver |
| CN101318330A (en) * | 2008-07-14 | 2008-12-10 | 哈尔滨工程大学 | Two-in-parallel elastic driver |
| CN101380739A (en) * | 2008-10-14 | 2009-03-11 | 哈尔滨工程大学 | Multi-foot robot bionic elastic driving joint module |
| US20110067517A1 (en) * | 2009-09-22 | 2011-03-24 | Gm Global Technology Operations,Inc. | Rotary series elastic actuator |
| CN202132461U (en) * | 2011-05-03 | 2012-02-01 | 哈尔滨工程大学 | Compact pull rope type resilient driver |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103846926A (en) * | 2012-12-07 | 2014-06-11 | 上银科技股份有限公司 | Elastic mechanical joint |
| CN103846926B (en) * | 2012-12-07 | 2016-08-03 | 上银科技股份有限公司 | Elastic mechanical joint |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102182809B (en) | 2013-03-20 |
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