CN102182809B - Compact pull-rope-type elastic driver - Google Patents

Compact pull-rope-type elastic driver Download PDF

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Publication number
CN102182809B
CN102182809B CN 201110112835 CN201110112835A CN102182809B CN 102182809 B CN102182809 B CN 102182809B CN 201110112835 CN201110112835 CN 201110112835 CN 201110112835 A CN201110112835 A CN 201110112835A CN 102182809 B CN102182809 B CN 102182809B
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CN
China
Prior art keywords
sliding block
stay cord
driving wheel
pulley
driven sliding
Prior art date
Application number
CN 201110112835
Other languages
Chinese (zh)
Other versions
CN102182809A (en
Inventor
马洪文
张�杰
王立权
姜娜敏
卿智忠
赵朋
常冬艳
张维
王海龙
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哈尔滨工程大学
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Publication date
Application filed by 哈尔滨工程大学 filed Critical 哈尔滨工程大学
Priority to CN 201110112835 priority Critical patent/CN102182809B/en
Publication of CN102182809A publication Critical patent/CN102182809A/en
Application granted granted Critical
Publication of CN102182809B publication Critical patent/CN102182809B/en

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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

Compact pull-rope-type elastic driver

Technical field

What the present invention relates to is a kind of 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 controlling 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 controlling method is exported by measuring the mode indirectly control power 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 lightweight as the driver that robot uses, output power is large, can provide higher power or moment, and cost is low.In addition, in the external environment condition interactive process, the conformity of good power output characteristics should be arranged in the scope of wider ouput force, in order to avoid cause robot itself or the with it infringement of the outside plant of contact.At last, robot is when the environmental work of the unknown, and the impact energy that produces 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 devices itself 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 the non-linear factors such as the friction of gear mechanism self, gear clearance, and increased load rotating inertia, and the validity of driver ouput force is reduced, the resistance to shock loads ability descends.Therefore, it is large 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 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 pull-rope-type elastic driver applied widely.

The object of the present invention is achieved like this:

Compact pull-rope-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 lower shell body 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 form has two groups, every group of mechanism comprises an active sliding block, 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 phantom of the present invention;

Fig. 2 is plan view of the present invention;

Fig. 3 is upper-lower casing figure of the present invention;

Fig. 4 is stereogram of the present invention;

Fig. 5 is controlling party block diagram of the present invention.

Embodiment

For example the present invention is described 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, upper lower pulley block 2,18 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 are fixed by screws in respectively on driven sliding block 16 and the 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 the fixing upper-lower casing 1 of screw, 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 moving back and forth promote two driveshafts 9,10 folding, driveshaft 9,10 folding 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 spring 5,6 decrement and driveshaft 9,10 folding represent that driver is to the size of load 24 ouput forces.Power sensor 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 26 of accepting and process.Based on control law, controller produces the control signal of control current of electric amount, makes motor output expectation torque with Compress Spring, realizes the output of elastic driver.

Claims (2)

1. compact pull-rope-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 lower shell body 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 form has two groups, every group of mechanism comprises an active sliding block, 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 pull-rope-type elastic driver according to claim 1, it is characterized in that: described driveshaft links to each other by ball pivot with driven sliding block with take-off lever.
CN 201110112835 2011-05-03 2011-05-03 Compact pull-rope-type elastic driver CN102182809B (en)

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

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CN102182809A CN102182809A (en) 2011-09-14
CN102182809B true CN102182809B (en) 2013-03-20

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Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103846926B (en) * 2012-12-07 2016-08-03 上银科技股份有限公司 Elastic mechanical joint

Family Cites Families (5)

* Cited by examiner, † Cited by third party
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
CN101380739B (en) * 2008-10-14 2010-06-02 哈尔滨工程大学 Multi-foot robot bionic elastic driving joint module
US8291788B2 (en) * 2009-09-22 2012-10-23 GM Global Technology Operations LLC 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

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