CN103029126A - Flexibly controllable joint driver - Google Patents
Flexibly controllable joint driver Download PDFInfo
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- CN103029126A CN103029126A CN201210562886XA CN201210562886A CN103029126A CN 103029126 A CN103029126 A CN 103029126A CN 201210562886X A CN201210562886X A CN 201210562886XA CN 201210562886 A CN201210562886 A CN 201210562886A CN 103029126 A CN103029126 A CN 103029126A
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Abstract
The invention relates to a flexibly controllable joint driver, which is characterized by comprising a shell, a rigidity adjusting mechanism, a power input mechanism and a controller; the rigidity adjusting mechanism comprises a motor, wherein an output shaft of the motor is connected with a driving gear, driven gears are respectively meshed to two sides of the driving gear, and central shafts of the two driven gears are screws; a nut slider is respectively and spirally connected to the two screws, flanges at two sides of the two nut sliders are respectively inserted into guide sliding chutes formed in the inner walls of two side covers of the shell, and an L-shaped reed is clamped between the inner sides of the two nut sliders; and a sliding sheet is fixedly connected to the side surface of one nut slider, the other end of the sliding sheet is inserted into a displacement sensor fixed in the shell, the power input mechanism comprises an input shaft connected with an external driving motor, the input shaft is connected to a rear cover of the shell through a bearing, the tail end of the input shaft is provided with a groove along the axial direction, the short side of the L-shaped reed is fixed in the groove, and the long side of the L-shaped reed and the bottom cover of the shell are fixedly connected into a whole. The flexibly controllable joint driver disclosed by the invention can be widely applied to study and application in the fields of robots, such as bipeds, exoskeletons and intelligent artificial limbs.
Description
Technical field
The present invention relates to a kind of driver, particularly about a kind of flexible controlled joint driver for robots such as biped, ectoskeleton and intelligent artificial limbs.
Background technology
At present, the robot field adopts the servomotor of high-torque, high rigidity as driver mostly, makes ectoskeleton accurately follow the tracks of predefined joint angles track in gait processes by accurate SERVO CONTROL, realizes stablizing walking.Although the validity of the method obtains the checking of a plurality of robots project, but the high rigidity of servomotor and deceleration system thereof and high inertia make robot be difficult to overcome collision phenomenon with ground in walking, be that robot is when walking fast, because swinging pin, it bumps on stop over moment and ground, so that point of zero moment produces larger saltus step, cause the stability of robot to reduce, caused robot to be fallen when serious.In addition, the precision of employing stiffener and legacy drive makes up to realize the ground running of robot, it is the ground running class derived product of modern advanced machinery motion arm, its rigid mechanism and the control method of only following the tracks of off-line planning movement locus with motor servo driving control, with the traditional motion arm difference without essence, energy efficiency is low and energy consumption is very large.So, want really to make robot to be similar to as much as possible people's behavior, must improve its walking energy efficiency and environmental suitability thereof.
In the research of human walking, find following phenomenon: land front leg portions muscle and can loosen with impact-absorbing leading leg, and in the both feet after landing of leading leg supported, leg muscle shrank to keep balance.By this mechanism, the mankind can effectively reduce impact and keep stablizing in quick walking and running process, thereby overcome the impact phenomenon of robot, lax and the tensioning action of human body leg muscle is similar to the rigidity control procedure of flexible actuator, the flexible actuator that adopts stiffness variable is realized quick walking as the effective impact-absorbing of the drive source of robot.Therefore study flexible controlled joint driver, become robot field's a hot topic, can promote the robot fields' such as biped, ectoskeleton, artificial limb development.
Because flexible controlled joint driver should have flexibility as people's joint, can behave again provides enough large power, also similar with people's joint on volume and weight simultaneously, therefore the power drill/driver in joint has been proposed very high requirement.At present, traditional power drill/driver mainly contains motor, hydraulic pressure and three kinds of drivers of air pressure.Although these three kinds of drivers respectively have advantage, all can not satisfy all requirements of very high joint of robot of power, flexibility and required precision.Although motor has very high control accuracy, flexibility and the impact resistance of motor are poor.Although hydraulic pressure and air pressure driver have certain flexibility, control accuracy is low, and noise is large, and volume is large.Therefore need the novel flexible dynamic structure of design, make the function in joint of robot farthest similar with size and people's joint.
Summary of the invention
For the problems referred to above, the purpose of this invention is to provide the controlled joint driver of a kind of flexibility.
For achieving the above object, the present invention takes following technical scheme: the joint driver that a kind of flexibility is controlled is characterized in that: it comprises shell, stiffness tuning mechanism, power input mechanism and controller; Described stiffness tuning mechanism comprises that one is fixedly connected on the motor on the described closure head, the output shaft of described motor connects a driving gear, a driven gear is respectively meshed in the both sides of described driving gear, and the central shaft of two described driven gears is a leading screw that is rotatably connected in the described shell; On the two described leading screws respectively spiral connect a nut slider, the outboard flanges of two described nut sliders is inserted respectively in the guide chute that described shell two side cover inwalls arrange, the inboard of two described nut sliders is folded with a L shaped reed; Wherein the side of a described nut slider is fixedly connected with a slide, and the other end of described slide is plugged in the displacement transducer that is fixed in the described shell; Described power input mechanism comprises that one is used for connecting the power shaft of external drive motors, described power shaft is connected on the described shell bonnet by a bearing, described input the tip of the axis is provided with a groove vertically, described L shaped reed minor face is fixed in the described groove, and the long limit of described L shaped reed is fixedly connected with the shell bottom and is integral; Described controller is electrically connected with described motor and displacement transducer respectively.
Described controller adopts " Closed-loop Control Strategy ", and the position of described nut slider is gathered and move adjusting.
The position of the current described nut slider that described controller obtains according to described displacement sensor, the height value that should regulate by calculating described nut slider, and with control instruction and send to described motor, described electric motor starting drives two described driven gears by described driving gear and rotates, each described driven gear drives the described leading screw that is attached thereto again and rotates, and the rotation of described screw mandrel 24 drives described nut slider and moves along described reed is upper and lower.
Described controller adopts a single-chip microcomputer to realize.
Described shell comprises a protecgulum, arranged on left and right sides lid and a bottom, and described protecgulum, both sides lid and bottom lid are integrated housings; Described case top is fixedly connected with a top cover, and described housing back is fixedly connected with a bonnet; Described protecgulum middle part is provided with a through hole, is provided with an end cap on the protecgulum outside the described through hole; Described two side cover inwalls are respectively arranged with a guide chute that is formed by two fins.
The present invention is owing to take above technical scheme, it has the following advantages: 1, the present invention is owing to connected between the power input and output as the reed of flexible member, power shaft is given shell power transmission by reed, again power is flowed to the parts that need power by shell, therefore the present invention has fine impact resistance and flexible dynamic characteristic, for robot application has been set up good basis in the motion of complex road condition.2, the present invention is owing to be provided with a controller, and controller so that nut slider moves to diverse location at leading screw, and then changes effective active length of reed by the control motor, realizes the flexible controlled purpose of the present invention.3, the position of the current nut slider that obtains according to displacement sensor of controller of the present invention, controlling the motor-driven leading screw with this rotates, make nut slider arrive desired position, thereby realize that the present invention adopts the purpose of closed-loop control nut slider position, make Flexible Control of the present invention more accurately and reliably.The present invention can be widely used in the robot fields' such as biped, ectoskeleton and intelligent artificial limb the research and application.
Description of drawings
Fig. 1 is overall structure schematic diagram of the present invention
Fig. 2 is another angle overall structure normal axomometric drawing of the present invention
Fig. 3 is shell mechanism schematic diagram of the present invention
Fig. 4 is shell inner structure schematic diagram of the present invention
The specific embodiment
Below in conjunction with drawings and Examples the present invention is described in detail.
As shown in Figure 1, the present invention includes a shell 1, a stiffness tuning mechanism 2, a power input mechanism 3 and a controller 4.
Such as Fig. 1, Fig. 2, shown in Figure 3, shell 1 of the present invention comprises a protecgulum 11, arranged on left and right sides lid 12 and one bottom 13, and protecgulum 11, two side covers 12 and bottom 13 are integrated housings.Case top is fixedly connected with a top cover 14, and the housing back is fixedly connected with a bonnet 15.Protecgulum 11 middle parts are provided with a through hole 16, are provided with an end cap 17 on the protecgulum 11 outside the through hole 16; Two side covers, 12 inwalls are respectively arranged with a guide chute 18 that is formed by two fins.Guide chute 18 also can adopt the alternate manner setting.
Such as Fig. 1, Fig. 3, shown in Figure 4, stiffness tuning of the present invention mechanism 2 comprises that one is fixedly connected on the motor 21 on shell 1 top cover 14, the output shaft of motor 21 connects a driving gear 22 downwards, a driven gear 23 is respectively meshed in the both sides of driving gear 22, the central shaft of two driven gears 23 is a leading screw 24, the top of two leading screws 24 is connected on the top cover 14 by a bearing 25 respectively, and the bottom of two leading screws 24 is connected on the bottom 13 by another bearing 26 respectively.Two leading screws, 24 middle parts respectively spiral connect a nut slider 27, wherein the side of a nut slider 27 is fixedly connected with a slide 28, be plugged in after the other end bending of slide 28 in the displacement transducer 29, displacement transducer 29 is fixed near on the sidewall 12 of protecgulum 11 1 ends side by side with guide chute 18.The outboard flanges of two nut sliders 27 is inserted respectively in the guide chute 18 of a corresponding side.
Power input mechanism 3 of the present invention comprises that one connects the power shaft 31 of external drive motors, and power shaft 31 is supported in the through hole 16 of bonnet 11 by a bearing 32.The end of power shaft 31 is fixedly connected with an inverted L shaped reed 33 by a groove vertically, and the bottom of reed 33 is fixedly connected with bottom 13 and is integral, and the both sides of reed 33 are clamped by the inboard of two nut sliders 27 respectively.
When the present invention works, the input of power shaft 31 is fixedly connected with the output of an outside joint drive motor, and the parts (such as the joint) of demand motive are connected on the shell 1; Like this, when drive motors starts, just can drive power shaft 31 and drive shell 1 rotation by reed 33; Because the elastic reaction of reed 33, the power of drive motors input will pass in the mode of flexibility the parts that are connected on the shell, thereby effectively improve motor-driven flexibility and impact resistance.
The present invention can the regulation output flexibility size, during work, the position of the current nut slider 27 that controller 4 measures according to displacement transducer 29, the height value that should regulate by calculating nut slider 27, and with control instruction and send to motor 21, motor 21 starts by 23 rotations of driving gear 22 drives two driven gears, each driven gear 23 drives the leading screw 24 that is attached thereto again and rotates, the rotation of screw mandrel 24 can drive nut slider 27 along on the reed 28 or under move, with effective active length of changing reed 33 (it is flexible the most maximum during the below that two nut sliders 27 are positioned at leading screw 24), thereby so that Flexible Control more accurately and reliably.
The present invention only describes with above-described embodiment; the structure of each parts, setting position and connection thereof all can change to some extent; on the basis of technical solution of the present invention; all improvement and equivalents of individual component being carried out according to the principle of the invention all should not got rid of outside protection scope of the present invention.
Claims (6)
1. joint driver that flexibility is controlled, it is characterized in that: it comprises shell, stiffness tuning mechanism, power input mechanism and controller;
Described stiffness tuning mechanism comprises that one is fixedly connected on the motor on the described closure head, the output shaft of described motor connects a driving gear, a driven gear is respectively meshed in the both sides of described driving gear, and the central shaft of two described driven gears is a leading screw that is rotatably connected in the described shell; On the two described leading screws respectively spiral connect a nut slider, the outboard flanges of two described nut sliders is inserted respectively in the guide chute that described shell two side cover inwalls arrange, the inboard of two described nut sliders is folded with a L shaped reed; Wherein the side of a described nut slider is fixedly connected with a slide, and the other end of described slide is plugged in the displacement transducer that is fixed in the described shell;
Described power input mechanism comprises that one is used for connecting the power shaft of external drive motors, described power shaft is connected on the described shell bonnet by a bearing, described input the tip of the axis is provided with a groove vertically, described L shaped reed minor face is fixed in the described groove, and the long limit of described L shaped reed is fixedly connected with the shell bottom and is integral;
Described controller is electrically connected with described motor and displacement transducer respectively.
2. the controlled joint driver of a kind of flexibility as claimed in claim 1 is characterized in that: described controller adopts " Closed-loop Control Strategy ", and the position of described nut slider is gathered and move adjusting.
3. the controlled joint driver of a kind of flexibility as claimed in claim 2, it is characterized in that: the position of the current described nut slider that described controller obtains according to described displacement sensor, the height value that should regulate by calculating described nut slider, and with control instruction and send to described motor, described electric motor starting drives two described driven gears by described driving gear and rotates, each described driven gear drives the described leading screw that is attached thereto again and rotates, and the rotation of described screw mandrel 24 drives described nut slider and moves along described reed is upper and lower.
4. such as claim 1 or the controlled joint driver of 2 or 3 described a kind of flexibilities, it is characterized in that: described controller adopts a single-chip microcomputer to realize.
5. such as claim 1 or the controlled joint driver of 2 or 3 described a kind of flexibilities, it is characterized in that: described shell comprises a protecgulum, arranged on left and right sides lid and a bottom, and described protecgulum, both sides lid and bottom lid are integrated housings; Described case top is fixedly connected with a top cover, and described housing back is fixedly connected with a bonnet; Described protecgulum middle part is provided with a through hole, is provided with an end cap on the protecgulum outside the described through hole; Described two side cover inwalls are respectively arranged with a guide chute that is formed by two fins.
6. the controlled joint driver of a kind of flexibility as claimed in claim 4, it is characterized in that: described shell comprises a protecgulum, arranged on left and right sides lid and a bottom, it is integrated housing that described protecgulum, both sides lid and bottom are covered; Described case top is fixedly connected with a top cover, and described housing back is fixedly connected with a bonnet; Described protecgulum middle part is provided with a through hole, is provided with an end cap on the protecgulum outside the described through hole; Described two side cover inwalls are respectively arranged with a guide chute that is formed by two fins.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210562886.XA CN103029126B (en) | 2012-12-21 | 2012-12-21 | Flexibly controllable joint driver |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210562886.XA CN103029126B (en) | 2012-12-21 | 2012-12-21 | Flexibly controllable joint driver |
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| CN103029126A true CN103029126A (en) | 2013-04-10 |
| CN103029126B CN103029126B (en) | 2014-08-20 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103753598A (en) * | 2013-11-05 | 2014-04-30 | 上海大学 | Rigidity-flexibility automatic switching variable rigidity flexible driver device |
| CN104029214A (en) * | 2014-05-12 | 2014-09-10 | 杭州电子科技大学 | Controllable rigidity-variable flexible driver |
| CN104626196A (en) * | 2014-12-12 | 2015-05-20 | 华北电力大学 | Changeable rigidity flexibility actuator |
| CN104647397A (en) * | 2015-03-17 | 2015-05-27 | 河北工业大学 | Rigidity-variable flexible joint |
| CN106181995A (en) * | 2016-07-08 | 2016-12-07 | 燕山大学 | Power/position controllable type flexible actuator |
| CN106514701A (en) * | 2017-01-12 | 2017-03-22 | 哈尔滨工业大学 | Variable-rigidity flexible joint |
| CN106737825A (en) * | 2016-12-30 | 2017-05-31 | 哈尔滨工业大学 | A kind of shock resistance flexible joint suitable for mechanical arm |
| CN107102657A (en) * | 2017-05-25 | 2017-08-29 | 广东省智能制造研究所 | A kind of active flexible force control apparatus |
| CN107589385A (en) * | 2017-08-21 | 2018-01-16 | 天津理工大学 | A kind of device of automatic detection magnet coil electromagnetic parameter |
| CN108621123A (en) * | 2017-03-23 | 2018-10-09 | 台达电子工业股份有限公司 | Passive type compliance mechanism |
| CN112894790A (en) * | 2021-01-26 | 2021-06-04 | 哈尔滨工业大学（深圳） | Active variable-stiffness joint based on screw rod thread pair |
| CN113334356A (en) * | 2021-06-16 | 2021-09-03 | 北京航空航天大学 | Passive variable-rigidity series elastic driver |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103753598B (en) * | 2013-11-05 | 2016-01-20 | 上海大学 | Hard and soft automatic switchover stiffness variable soft drive apparatus |
| CN103753598A (en) * | 2013-11-05 | 2014-04-30 | 上海大学 | Rigidity-flexibility automatic switching variable rigidity flexible driver device |
| CN104029214A (en) * | 2014-05-12 | 2014-09-10 | 杭州电子科技大学 | Controllable rigidity-variable flexible driver |
| CN104626196A (en) * | 2014-12-12 | 2015-05-20 | 华北电力大学 | Changeable rigidity flexibility actuator |
| CN104626196B (en) * | 2014-12-12 | 2015-12-09 | 华北电力大学 | A kind of variation rigidity flexible actuator |
| CN104647397A (en) * | 2015-03-17 | 2015-05-27 | 河北工业大学 | Rigidity-variable flexible joint |
| CN104647397B (en) * | 2015-03-17 | 2016-02-03 | 河北工业大学 | A kind of flexible joint of stiffness variable |
| CN106181995B (en) * | 2016-07-08 | 2019-05-28 | 燕山大学 | Power/position controllable type flexible actuator |
| CN106181995A (en) * | 2016-07-08 | 2016-12-07 | 燕山大学 | Power/position controllable type flexible actuator |
| CN106737825A (en) * | 2016-12-30 | 2017-05-31 | 哈尔滨工业大学 | A kind of shock resistance flexible joint suitable for mechanical arm |
| CN106514701A (en) * | 2017-01-12 | 2017-03-22 | 哈尔滨工业大学 | Variable-rigidity flexible joint |
| CN106514701B (en) * | 2017-01-12 | 2018-11-02 | 哈尔滨工业大学 | A kind of flexible joint of stiffness variable |
| CN108621123A (en) * | 2017-03-23 | 2018-10-09 | 台达电子工业股份有限公司 | Passive type compliance mechanism |
| CN108621123B (en) * | 2017-03-23 | 2020-09-08 | 台达电子工业股份有限公司 | Passive compliance mechanism |
| CN107102657A (en) * | 2017-05-25 | 2017-08-29 | 广东省智能制造研究所 | A kind of active flexible force control apparatus |
| CN107589385A (en) * | 2017-08-21 | 2018-01-16 | 天津理工大学 | A kind of device of automatic detection magnet coil electromagnetic parameter |
| CN107589385B (en) * | 2017-08-21 | 2020-02-28 | 天津理工大学 | Device for automatically detecting electromagnetic parameters of electromagnetic coil |
| CN112894790A (en) * | 2021-01-26 | 2021-06-04 | 哈尔滨工业大学（深圳） | Active variable-stiffness joint based on screw rod thread pair |
| CN113334356A (en) * | 2021-06-16 | 2021-09-03 | 北京航空航天大学 | Passive variable-rigidity series elastic driver |
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