CN103029126B - Flexibly controllable joint driver - Google Patents
Flexibly controllable joint driver Download PDFInfo
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- CN103029126B CN103029126B CN201210562886.XA CN201210562886A CN103029126B CN 103029126 B CN103029126 B CN 103029126B CN 201210562886 A CN201210562886 A CN 201210562886A CN 103029126 B CN103029126 B CN 103029126B
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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 controlled joint driver of flexibility for robots such as biped, ectoskeleton and intelligent artificial limbs.
Background technology
At present, robot field adopts the servomotor of high-torque, high rigidity as driver mostly, by accurate SERVO CONTROL, makes ectoskeleton in gait processes, accurately follow the tracks of predefined joint angles track, realizes and stablizes 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 in walking, be difficult to overcome the collision phenomenon with ground, be that robot is when walking fast, because swinging pin, it on stop over moment and ground, bumps, make point of zero moment produce larger saltus step, cause the stability of robot to reduce, when serious, caused robot to be fallen.In addition, the precision of employing stiffener and legacy drive combines 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, without this qualitative difference, energy efficiency is low and energy consumption is very large with traditional motion arm.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 mankind's walking, find following phenomenon: land front leg portions muscle and can loosen with impact-absorbing leading leg, and in the both feet of leading leg after landing support, leg muscle shrinks to maintain balance.By this mechanism, the mankind can effectively reduce impact and keep stable 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, as the effective impact-absorbing of the drive source of robot, is realized quick walking.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.
The joint driver controlled due to flexibility should have flexibility as people's joint, can behave again enough large power is provided, simultaneously also similar with people's joint on volume and weight, therefore the power drill/driver in joint proposed to 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 meet 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 to design novel flexible dynamic structure, 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 object 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 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 described in two, the central shaft of driven gear is a leading screw being rotatably connected in described shell; Described in two, on leading screw, spiral connects a nut slider respectively, and described in two, the outboard flanges of nut slider is inserted respectively in the guide chute of described shell two side cover inwalls settings, and described in two, the inner side of nut slider is folded with a L shaped reed; Wherein described in one, the side of nut slider is fixedly connected with a slide, and the other end of described slide is plugged in a displacement transducer being fixed in described shell; Described power input mechanism comprises that one for connecting the power shaft of external drive motors, described power shaft is connected on 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 described groove, and the long limit of described L shaped reed is fixedly connected with and is integral with shell bottom; Described controller is electrically connected to 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 by control instruction and send to described motor, described electric motor starting rotates by driven gear described in described driving gear drive two, described in each, driven gear drives the described leading screw being attached thereto to rotate again, and the rotation of described screw mandrel 24 drives described nut slider to move 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 described through hole; Described two side cover inwalls are respectively arranged with the guide chute being formed by two fins.
The present invention is owing to taking above technical scheme, it has the following advantages: 1, the present invention is owing to having connected between power input and output as the reed of flexible member, power shaft is given shell by reed power transmission, by shell, again power is flowed to the parts that need power, 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 being provided with a controller, and controller makes nut slider on leading screw, move to diverse location by controlling motor, and then changes effective active length of reed, realizes the flexible controlled object of the present invention.The position of the current nut slider that 3, controller of the present invention obtains according to displacement sensor, with this, controlling motor drives leading screw to rotate, make nut slider arrive desired position, thereby realize the object that the present invention adopts 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 research and application.
Accompanying drawing explanation
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.
As shown in Figure 1, Figure 2, Figure 3 shows, 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 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 through hole 16; Two side cover 12 inwalls are respectively arranged with the guide chute 18 being formed by two fins.Guide chute 18 also can adopt alternate manner setting.
As shown in Fig. 1, Fig. 3, Fig. 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 top cover 14 by a bearing 25 respectively, and the bottom of two leading screws 24 is connected on bottom 13 by another bearing 26 respectively.Two leading screw 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, after the other end bending of slide 28, be plugged in a displacement transducer 29, displacement transducer 29 is fixed on the sidewall 12 near protecgulum 11 one end 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 the power shaft 31 of a connection 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 and is integral with bottom 13, and the both sides of reed 33 are clamped by the inner side of two nut sliders 27 respectively.
Controller 4 of the present invention is electrically connected to motor 21 and displacement transducer 27 respectively.Controller 4 adopts a single-chip microcomputer to realize, it is mainly to adopt " Closed-loop Control Strategy ", the position of nut slider 27 is gathered and moves adjusting, to realize, to the length of reed 33, be that flexibility regulates, and concrete control program can adopt conventional design to complete according to the requirement of flexibility output by technical staff, do not repeat them here.
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 of demand motive (such as joint) are connected on shell 1; Like this, when drive motors starts, just can drive power shaft 31 to drive shell 1 to rotate by reed 33; Due to the elastic reaction of reed 33, the power of drive motors input passes to the mode with flexible the parts that are connected on shell, thereby has effectively improved motor-driven flexibility and impact resistance.
The present invention can 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 by control instruction and send to motor 21, motor 21 starts by driving gear 22 drive two driven gears 23 rotations, each driven gear 23 drives the leading screw 24 being attached thereto to rotate again, the rotation of screw mandrel 24 can drive nut slider 27 along on reed 28 or under move, to change effective active length (it is flexible the most maximum during below that two nut sliders 27 are positioned at leading screw 24) of reed 33, thereby make 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 of indivedual parts being carried out according to the principle of the invention and equivalents, all should not get rid of outside protection scope of the present invention.
Claims (6)
1. the controlled joint driver of flexibility, 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 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 described in two, the central shaft of driven gear is a leading screw being rotatably connected in described shell; Described in two, on leading screw, spiral connects a nut slider respectively, and described in two, the outboard flanges of nut slider is inserted respectively in the guide chute of described shell two side cover inwalls settings, and described in two, the inner side of nut slider is folded with a L shaped reed; Wherein described in one, the side of nut slider is fixedly connected with a slide, and the other end of described slide is plugged in a displacement transducer being fixed in described shell;
Described power input mechanism comprises that one for connecting the power shaft of external drive motors, described power shaft is connected on 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 described groove, and the long limit of described L shaped reed is fixedly connected with and is integral with shell bottom;
Described controller is electrically connected to 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 by control instruction and send to described motor, described electric motor starting rotates by driven gear described in described driving gear drive two, described in each, driven gear drives the described leading screw being attached thereto to rotate again, and the rotation of described screw mandrel drives described nut slider to move along described reed is upper and lower.
4. the controlled joint driver of a kind of flexibility as described in claim 1 or 2 or 3, is characterized in that: described controller adopts a single-chip microcomputer to realize.
5. the controlled joint driver of a kind of flexibility as described in claim 1 or 2 or 3, 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 described through hole; Described two side cover inwalls are respectively arranged with the guide chute being formed by two fins.
6. the controlled joint driver of a kind of flexibility as claimed in claim 4, 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 described through hole; Described two side cover inwalls are respectively arranged with the guide chute being 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 |
Applications Claiming Priority (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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| Publication Number | Publication Date |
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| CN103029126A CN103029126A (en) | 2013-04-10 |
| CN103029126B true CN103029126B (en) | 2014-08-20 |
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| CN201210562886.XA Active CN103029126B (en) | 2012-12-21 | 2012-12-21 | Flexibly controllable joint driver |
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Families Citing this family (12)
| 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 |
| CN104029214A (en) * | 2014-05-12 | 2014-09-10 | 杭州电子科技大学 | Controllable rigidity-variable flexible driver |
| CN104626196B (en) * | 2014-12-12 | 2015-12-09 | 华北电力大学 | A kind of variation rigidity flexible actuator |
| 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 |
| CN106737825B (en) * | 2016-12-30 | 2019-02-12 | 哈尔滨工业大学 | A kind of shock resistance flexible joint suitable for mechanical arm |
| CN106514701B (en) * | 2017-01-12 | 2018-11-02 | 哈尔滨工业大学 | A kind of flexible joint of stiffness variable |
| CN108621123B (en) * | 2017-03-23 | 2020-09-08 | 台达电子工业股份有限公司 | Passive compliance mechanism |
| CN107102657B (en) * | 2017-05-25 | 2022-12-23 | 广东省科学院智能制造研究所 | Active flexible force control equipment |
| CN107589385B (en) * | 2017-08-21 | 2020-02-28 | 天津理工大学 | Device for automatically detecting electromagnetic parameters of electromagnetic coil |
| CN112894790B (en) * | 2021-01-26 | 2022-08-02 | 哈尔滨工业大学（深圳） | Active variable-stiffness joint based on screw rod thread pair |
| CN113334356B (en) * | 2021-06-16 | 2022-06-14 | 北京航空航天大学 | Passive variable-rigidity series elastic driver |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US3990116A (en) * | 1974-10-17 | 1976-11-09 | Fixel Irving E | Pretensioned prosthetic device for skeletal joints |
| DE4027451A1 (en) * | 1990-08-30 | 1992-03-19 | Teldix Gmbh | Cross spring joint for shaft mounting - has inner and outer cylinders separated by flat springs attached each end to one cylinder |
| JP3932322B2 (en) * | 1998-03-04 | 2007-06-20 | 独立行政法人 宇宙航空研究開発機構 | Rotary joint |
| US20040012217A1 (en) * | 2002-07-18 | 2004-01-22 | Shafer Richard E. | End effector |
| US20070043449A1 (en) * | 2005-03-31 | 2007-02-22 | Massachusetts Institute Of Technology | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
| KR100912104B1 (en) * | 2008-02-14 | 2009-08-13 | 한국과학기술연구원 | Device for generating stiffness and method for controling stiffness and joint of robot manipulator comprising the same |
| CN101890725B (en) * | 2010-07-07 | 2011-12-21 | 北京航空航天大学 | Embedding driver type active control flexible bionic joint |
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