CN103538079A - Rotation elastic driver for robot joint - Google Patents

Rotation elastic driver for robot joint Download PDF

Info

Publication number
CN103538079A
CN103538079A CN201310437171.6A CN201310437171A CN103538079A CN 103538079 A CN103538079 A CN 103538079A CN 201310437171 A CN201310437171 A CN 201310437171A CN 103538079 A CN103538079 A CN 103538079A
Authority
CN
China
Prior art keywords
volute spring
elastic driver
joint
connected
angling cylinder
Prior art date
Application number
CN201310437171.6A
Other languages
Chinese (zh)
Inventor
韩亚丽
朱松青
祁兵
于建铭
高海涛
Original Assignee
南京工程学院
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 南京工程学院 filed Critical 南京工程学院
Priority to CN201310437171.6A priority Critical patent/CN103538079A/en
Publication of CN103538079A publication Critical patent/CN103538079A/en

Links

Abstract

The invention discloses a rotation elastic driver for a robot joint. The rotation elastic driver for the robot joint comprises a first joint arm, a second joint arm, an angling cylinder and a vortex spring. A cylinder body of the angling cylinder is connected with the first joint arm. A transmission shaft of the angling cylinder is connected with the vortex spring. The vortex spring is connected with the second joint arm. In this way, rotation driving of the robot joint by the rotation elastic driver is achieved. The rotation elastic driver for the robot joint integrates a driving element and an elastic element and is small in size, reliable in performance, and low in power consumption, and has the bionic feature. The rotation elastic driver is applied to the lower-limb joint of a humanoid robot, in the process of driving of movement of the humanoid robot, energy is stored and amplified by the rotation elastic driver, so that the bionic driving technology and the energy amplification feature of the rotation elastic diver have high research value, and the rotation elastic driver for the robot joint is wide in application prospect.

Description

A kind of turnable elastic driver of joint of robot

Technical field

The present invention relates to a kind of driver of joint of robot, particularly a kind of turnable elastic driver of joint of robot.Belong to robot field.

Background technology

Bionical actuation techniques is robot field's study hotspot in recent years.The walking movement of human body is by the rhythmic contraction of polylith muscle, to drive bone around the result of joint cooperative motion, the complicated motion that to be control system (nervous system) derive with motion carrier (people's limbs), therefore it is significant to improving stability and the pliability of Humanoid Robot Based on Walking to use for reference research that human motion mechanism carries out robot joints driver.

At present, the joint elasticity driver design of carrying out based on human motion bionic principle mainly contains: 1. linear pattern elastic driver.Adopt motor, hydraulic cylinder, by feed screw nut pair cluster spring, realize the driving of joint of robot.2. rotary-type elastic driver.Adopt motor, by steel wire rope or bevel gear combination spring, realize the driving of joint of robot.As the joint driver in humanoid robot system, first should there is lightweight, power output and moment and meet that system requirements, cost are low, reliability high.Want to realize the better bionic movement effect of anthropomorphic robot, its driver also needs to have lower mechanical output impedance, can adapt to larger control bandwidth simultaneously, and similar muscular work principle equally has good natural compliance and pooling feature.

Present stage, elastic driver is mainly usingd motor and hydraulic cylinder as drive source, drive source is connected with flexible member, there is high-energy-density, impact load realizes buffering to external world, but still exist volume large, the deficiencies such as Heavy Weight, power/weight ratio is on the low side, and the microminiaturization of elastic driver plays vital effect to the application of elastic driver.

Summary of the invention

For above-mentioned technical problem, the invention provides the turnable elastic driver of the joint of robot that a kind of volume is little, lightweight, power/weight ratio is higher.

For reaching above-mentioned technical purpose, the technical solution used in the present invention is: a kind of turnable elastic driver of joint of robot, comprise the first joint arm, second joint arm, angling cylinder, volute spring, the cylinder body of angling cylinder is connected with the first joint arm, the power transmission shaft of angling cylinder is connected with volute spring, and volute spring is connected with second joint arm.Between power transmission shaft and second joint arm, install volute spring additional and make buffer, effectively slow down velocity jump, alleviated the impact that system was subject in rotating commutation moment, when having improved lifetime of system, due to the energy storage of volute spring, release can, energy-saving effect is fairly obvious.In Humanoid Robot Based on Walking process, foot is unique position contacting with ground, ground reaction force and countertorque act on anthropomorphic robot shank by foot, and this type of drive the present invention relates to can effectively cushion the impulsive force that in Humanoid Robot Based on Walking process, between foot and ground, contact-impact produces.Volute spring also has the feature that volume is little.Angling cylinder is the same with the principle of hydraulic cylinder, and the turning cylinder of angling cylinder can be less than the rotation of 360 degree, and angling cylinder has the advantages that volume is little, output torque is large, is suitable as very much driver.

Preferably: between volute spring and second joint arm, drive disk assembly is also installed, drive disk assembly one side is connected with volute spring, and opposite side is connected with second joint arm.

Preferably: drive disk assembly is also installed between volute spring and power transmission shaft, and a side of drive disk assembly is connected with power transmission shaft, and the opposite side of drive disk assembly is connected with volute spring.

Preferably: drive disk assembly is chuck, have the projection of along the circumferential direction arranging on chuck, have the groove matching with projection on the inner ring of volute spring, described projection is arranged in the groove on volute spring.

Preferably: angling cylinder is hollow angling cylinder.Angling cylinder comprises hollow oil cylinder and middle real oil cylinder, uses hollow oil cylinder can further alleviate the weight of turnable elastic driver.

Preferably: hollow angling cylinder adopts the light-duty hollow angling cylinder of thin-walled.

Preferably: the number of turns of volute spring is a circle.

Preferably: volute spring is flat spring.

Beneficial effect: a kind of turnable elastic driver towards anthropomorphic robot joint of lower extremity of the present invention is a kind of moving type of drive combining of main quilt that adopts.Active member is hollow angling cylinder, and passive device is volute spring, make full use of volute spring energy storage, release can feature, realize the cushioning effect to mechanism, there is the feature of low-power consumption; The mechanism the present invention relates to is relatively simple, is easy to manufacture, and weight is lighter, and energy consumption is low, good economy performance.

The invention belongs to a kind of rotary-type elastic driver.Be characterized in realizing with the light-duty angling cylinder combination of thin-walled volute spring the driving of joint of robot.Angling cylinder has the advantages that volume is little, output torque is large, and the features such as volume is little, good buffer effect that volute spring also has, make the turnable elastic driving implement being formed by angling cylinder combination volute spring have mechanism's compactness, Low ESR, lightweight, low power consumption and other advantages.

Accompanying drawing explanation

Fig. 1 is the structural representation of the first embodiment.

Fig. 2 is the structural representation of the second embodiment.

Fig. 3 is the front view of driver.

Fig. 4 is the side view of driver.

Fig. 5 is the top view of driver.

Fig. 6 is the cutaway view of driver.

Reference numeral title is as follows:

1, cylinder body; 2, volute spring; 3, chuck; 4, second joint arm; 5, the first joint arm; 6, oilhole; 7, bolt; 8, bolt; 9, power transmission shaft; 10, bolt.

The specific embodiment

In conjunction with Fig. 1-6, concrete scheme of the present invention is described further.

The turnable elastic driver of a kind of joint of robot of the present invention as driver, can certainly be used other angling cylinder as driver, for example by hollow angling cylinder: middle real angling cylinder.Hollow angling cylinder adopts the light-duty vane type hollow of thin-walled angling cylinder, mainly comprises cylinder body 1, power transmission shaft 9, by 9 rotations of hydraulic-driven power transmission shaft.Oilhole 6 is arranged on cylinder body 1, and hydraulic oil enters in cylinder body 1 by oilhole 6.The light-duty hollow angling cylinder of described thin-walled is vane type hollow angling cylinder, mechanism is identical with typical blade formula angling cylinder composition, mainly comprise that fuel feed hole 6, oil outlet 6, cylinder body 1, dividing plate, blade, spline, rotor form, blade is fixed on rotor, with spline, rotor is connected with hollow drive shaft 9, with bolt, dividing plate is connected with cylinder body.In the cylinder body 1 of sealing, two oil pockets of encircling a city between dividing plate and moving vane, action of hydraulic force, on the end face of moving vane, produces moment to power transmission shaft 9 centers of hollow driven power transmission shaft 9 is rotated.

The cylinder body 1 of hollow angling cylinder is connected by bolt 8 with the first joint arm 5, the power transmission shaft 9 of hollow angling cylinder is connected with second joint arm 4 by buffer unit, the effect of buffer unit is exactly for mitigation system is in the impact that rotating commutation moment is subject to, and improved lifetime of system.In order better to solve the problem of joint resistance to shock loads, in the present embodiment, adopt volute spring 2 as buffer unit critical piece.Volute spring 2 can be to utilize the involute of circle to describe the volution trough curve of spring and the flat spring that designs, and the center of each volution trough distributes by certain even angle.In actual design, can need according to specific size and performance requirement, the physical dimension of volute spring 2 to be designed, also can adopt according to loading demand the design of dual or multiple volute spring.In the first embodiment of the present invention, power transmission shaft 9 is connected by bolt 7 with volute spring 2, volute spring 2 is connected with a side of drive disk assembly, and second joint arm 4 is connected with the opposite side of drive disk assembly by bolt 10; In the second embodiment of the present invention, power transmission shaft 9 is connected with a side of drive disk assembly, the opposite side of drive disk assembly is connected with volute spring 2, and volute spring 2 is connected with second joint arm 4.Also can directly use volute spring 2 that power transmission shaft 9 and second joint arm 4 are coupled together.But because the connection of above-mentioned parts is all bolted, for fear of have too much screwed hole on volute spring 2, so used drive disk assembly.Described drive disk assembly is chuck 3, and a side of chuck 3 has the projection of along the circumferential direction arranging, and has the groove matching with projection on the inner ring of volute spring 2, and chuck 3 is connected with volute spring 2, and the projection on chuck 3 is embedded in the groove on volute spring 2 inner rings.In the first embodiment, the opposite side of chuck 3 is connected with second joint arm 4 by bolt 10; A side of chuck 3 is connected with power transmission shaft 9 by bolt 10 in a second embodiment.

The present invention is when work, its concrete course of work is: power source is angling cylinder, the cylinder body 1 of angling cylinder is connected with joint arm 1, the rotation of the power transmission shaft 9 of angling cylinder drives the rotation of volute spring 2, and then the rotation of drive drive disk assembly 3, and the rotation of the rotation of drive disk assembly 3 and then drive second joint arm finally realizes relatively rotating between the first joint arm and joint arm 2.In whole transmission process, volute spring not only plays gearing but also has the pooling feature of motion.

The present invention, by the rotation of angling cylinder, drives volute spring, and then the rotation of driving joint.By this kind of drive, the power of driver output is passed through the buffer strip dynamic load of volute spring, this mechanism design, the driver that can adequately protect, the ability of raising resistance to shock loads.In Humanoid Robot Based on Walking process, foot is unique position contacting with ground, ground reaction force and countertorque act on anthropomorphic robot shank by foot, and this type of drive the present invention relates to can effectively cushion the impulsive force that in Humanoid Robot Based on Walking process, between foot and ground, contact-impact produces.In addition, anthropomorphic robot driver used will have the high bandwidth changing capability that adapts to external loading power, the spring rate of volute spring is carried out to appropriate design, by adopt the design of dual or multiple volute spring according to joint loading demand, and then improve the output bandwidth of drive system.

Claims (8)

1. the turnable elastic driver of a joint of robot, comprise the first joint arm (5), second joint arm (4), it is characterized in that: also comprise angling cylinder, volute spring (2), the cylinder body of angling cylinder (1) is connected with the first joint arm (5), the power transmission shaft of angling cylinder (9) is connected with volute spring (2), and volute spring (2) is connected with second joint arm (4).
2. elastic driver according to claim 1, is characterized in that: between volute spring (2) and second joint arm (4), drive disk assembly is also installed, drive disk assembly one side is connected with volute spring (2), and opposite side is connected with second joint arm (4).
3. elastic driver according to claim 1, it is characterized in that: between volute spring (2) and power transmission shaft (9), drive disk assembly is also installed, one side of drive disk assembly is connected with power transmission shaft (9), and the opposite side of drive disk assembly is connected with volute spring (2).
4. according to the elastic driver described in claim 2 or 3, it is characterized in that: drive disk assembly is chuck (3), on chuck (3), there is the projection of along the circumferential direction arranging, on the inner ring of volute spring (2), have the groove matching with projection, described projection is arranged in the groove on volute spring (2).
5. according to the elastic driver described in claim 1 or 2 or 3 or 4, it is characterized in that: angling cylinder is hollow angling cylinder.
6. according to the elastic driver described in claim 1 or 2 or 3 or 4, it is characterized in that: described hollow angling cylinder adopts the light-duty hollow angling cylinder of thin-walled.
7. according to the elastic driver described in claim 1 or 2 or 3 or 4, it is characterized in that: the number of turns of volute spring (2) is a circle.
8. according to the elastic driver described in claim 1 or 2 or 3 or 4, it is characterized in that: volute spring (2) is flat spring.
CN201310437171.6A 2013-09-24 2013-09-24 Rotation elastic driver for robot joint CN103538079A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201310437171.6A CN103538079A (en) 2013-09-24 2013-09-24 Rotation elastic driver for robot joint

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310437171.6A CN103538079A (en) 2013-09-24 2013-09-24 Rotation elastic driver for robot joint

Publications (1)

Publication Number Publication Date
CN103538079A true CN103538079A (en) 2014-01-29

Family

ID=49962122

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201310437171.6A CN103538079A (en) 2013-09-24 2013-09-24 Rotation elastic driver for robot joint

Country Status (1)

Country Link
CN (1) CN103538079A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106541399A (en) * 2015-09-18 2017-03-29 合肥瑞硕科技有限公司 Steering wheel angle controller

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11247882A (en) * 1998-03-04 1999-09-14 Natl Aerospace Lab Rotary joint
JP2007255539A (en) * 2006-03-22 2007-10-04 Twinbird Corp Spring device
US20100145510A1 (en) * 2008-12-10 2010-06-10 Gm Global Technology Operations, Inc Planar torsion spring
CN101758501A (en) * 2008-12-24 2010-06-30 鸿富锦精密工业(深圳)有限公司 manipulator
CN102632508A (en) * 2012-04-17 2012-08-15 浙江大学 Planar torsion spring suitable for robot joints
CN102699928A (en) * 2012-06-19 2012-10-03 杭州电子科技大学 Robot steering engine with flexible characteristic
US20120279338A1 (en) * 2009-09-22 2012-11-08 Gm Global Technology Operations, Inc. Rotary series elastic actuator
CN203542621U (en) * 2013-09-24 2014-04-16 南京工程学院 Rotary elastic driver for robot joint

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH11247882A (en) * 1998-03-04 1999-09-14 Natl Aerospace Lab Rotary joint
JP2007255539A (en) * 2006-03-22 2007-10-04 Twinbird Corp Spring device
US20100145510A1 (en) * 2008-12-10 2010-06-10 Gm Global Technology Operations, Inc Planar torsion spring
CN101758501A (en) * 2008-12-24 2010-06-30 鸿富锦精密工业(深圳)有限公司 manipulator
US20120279338A1 (en) * 2009-09-22 2012-11-08 Gm Global Technology Operations, Inc. Rotary series elastic actuator
CN102632508A (en) * 2012-04-17 2012-08-15 浙江大学 Planar torsion spring suitable for robot joints
CN102699928A (en) * 2012-06-19 2012-10-03 杭州电子科技大学 Robot steering engine with flexible characteristic
CN203542621U (en) * 2013-09-24 2014-04-16 南京工程学院 Rotary elastic driver for robot joint

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106541399A (en) * 2015-09-18 2017-03-29 合肥瑞硕科技有限公司 Steering wheel angle controller

Similar Documents

Publication Publication Date Title
CN103722552B (en) A kind of controllable multi-degree-of-freedom manipulator
CN204642126U (en) Jellyfish bio-robot
CN203714167U (en) Novel machine bionic fish
CN104608142B (en) A kind of rotary-type variation rigidity flexible joint
CN104625792B (en) Flexible supporting mechanism for machining plate workpiece
CN104842345B (en) Human-simulated mechanical arm based on hybrid driving of various artificial muscles
CN203266650U (en) Snakelike robot with three-dimensional motion ability
CN103612681B (en) A kind of Form of Bionics Mechanical Legs
CN102815348B (en) Four-feet climbing robot
CN103707290A (en) Welding robot with a plurality of closed-ring subchains
CN204394934U (en) A kind of exoskeleton-type arm rehabilitation training device
CN101058321A (en) Mini micro-acoustic wall-climbing robot based on vacuum adsorption principle
CN103522302B (en) Large-output-force robot flexible energy-storing joint based on gravity energy storing
CN104626196B (en) A kind of variation rigidity flexible actuator
CN203976252U (en) Vehicle glass suspender
CN102556200B (en) Four-feet walker
CN203172353U (en) Universal wheel device
CN201439843U (en) Chute type lead screw transmission device
CN206055221U (en) The dynamic structure of the angular adjustment tooth of LED lamp
CN201566718U (en) Spherical robot
CN206914469U (en) With multivariant climbing robot
WO2012066521A3 (en) Device for converting the power of sea wave motion
CN104647397A (en) Rigidity-variable flexible joint
CN101773401B (en) Surgical operation robot multiple degree of freedom finger
CN204552771U (en) A kind of rotor-type concrete sprayer

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
C02 Deemed withdrawal of patent application after publication (patent law 2001)
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20140129