CN104029214A - Controllable rigidity-variable flexible driver - Google Patents
Controllable rigidity-variable flexible driver Download PDFInfo
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- CN104029214A CN104029214A CN201410198859.8A CN201410198859A CN104029214A CN 104029214 A CN104029214 A CN 104029214A CN 201410198859 A CN201410198859 A CN 201410198859A CN 104029214 A CN104029214 A CN 104029214A
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Abstract
The invention discloses a controllable rigidity-variable flexible driver which comprises a power input mechanism, a rigidity adjusting mechanism and a power output mechanism. The rigidity adjusting mechanism comprises two motors with closed loop controllers, two lead screws connected with the motors, two nut sliding blocks and two elastic reeds. An output shaft of each motor is connected with one lead screw. The lead screws are in screwed connection with the nut ends of the nut sliding blocks, the sliding block ends of the nut sliding blocks are inserted into the elastic reeds and are in sliding fit with the elastic reeds, one ends of the elastic reeds are fixedly connected to the power output mechanism and are fixedly connected with the power output mechanism into a whole, and an outer shell of the rigidity adjusting mechanism and a drive disc of the power input mechanism are fixedly arranged. The controllable rigidity-variable flexible driver has good impact resisting capacity and flexible dynamic properties, and a good basis is built for the movement of a robot applied to complex road conditions.
Description
Technical field
The invention belongs to service robot technical field, relate to a kind of controlled submissive driver of change rigidity.
Background technology
Robotics relates to a plurality of subjects and the fields such as machinery, electronics, communication, computer, automation, sensor and bionics, is the comprehensive of each field advanced technology.Along with the development of Robotics, robot is freed from traditional industrial circle, has entered other non-industrial circles.At present, robot field adopts high-torque mostly, and the servomotor of high rigidity is as driver.Rather frequent alternately due to service-delivery machine person to person, human work's circumstance complication is changeable, and Zhe Dui robot has proposed harsh requirement.In work, in manipulator contact object process, should there is certain displacement tolerance, to guarantee the safety of object, after contact object, should there is enough rigidity, accurately reliable to guarantee operation.
At present the many models of research are the elastic modules of connecting between power output and load, belong to passive flexible actuator.From bionics, people's power provides by skeletal musculature, and musculature not only has viscous damping characteristic, also has variable rigidity.Therefore, for the motion of imitating better the mankind is to reach higher security, the better requirement of environmental suitability and higher capacity usage ratio, product of the present invention can change the characteristic of the high rigidity of service robot joint driver, add class spring structure, make driver there is certain compliance, make to apply to service robot.
Chinese patent CN102189556A, with the Pneumatic muscle flexible elbow joint device of buffer spring and flexible shaft sleeve, it is mainly by front rod, back link, joint rotating shaft, oscillating bearing, flexible shaft sleeve, pneumatic muscles, buffer gear, bias spring.This invention utilizes pneumatic muscles to realize the compliant characteristic in joint, adds buffer spring and flexible shaft sleeve in joint simultaneously, can effectively alleviate and impacts and can expand the freedom of motion of cradle head.Impact resistance and the service behaviour in joint have been improved.But equally due to some limitation of pneumatic muscles itself, cause it can not meet the requirement to robot day by day improving.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, propose a kind of controlled submissive driver of change rigidity.
Technical solution of the present invention is as follows:
The present invention includes power input mechanism, stiffness tuning mechanism and power take-off mechanism, described power input mechanism comprises harmonic wave reducing motor, harmonic wave reducing motor is by driving rotating disk that power is reached to stiffness tuning mechanism, and stiffness tuning mechanism reaches power take-off mechanism by having after the control motor of closed loop controller regulates rigidity by power.
Described stiffness tuning mechanism comprises two motors with closed loop controller, two leading screws that are connected with motor, two nut sliders and two elastic springs; The output shaft of every motor connects a rhizoid thick stick; Leading screw is connected with the nut end spiral of nut slider, the slider end of nut slider inserts in elastic spring, be slidably matched with elastic spring, elastic spring one end is fixedly connected on power take-off mechanism, be fixedly connected with and be integral with power take-off mechanism, the shell of stiffness tuning mechanism and the fixed installation of the driving-disc of power input mechanism.
The invention has the beneficial effects as follows:
The present invention is owing to having connected between power input and output as the reed of flexible member, the reed of power input mechanism by thering is elastic characteristic power transmission to output mechanism, by output mechanism, 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.
The present invention is owing to being provided with two pairs with the control motor of closed loop controller, controller makes nut slider on leading screw, move to diverse location by controlling motor, and then change effective active length of the reed with elastic characteristic, realize the flexible controlled object of the present invention.
The position of the current nut slider that 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 robot field's research and application.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present invention;
Fig. 2 is key position schematic diagram of the present invention;
Fig. 3 is partial sectional view of the present invention;
Fig. 4 (a) is the schematic diagram of stiffness tuning mechanism and power input mechanism link;
Fig. 4 (b) is the schematic diagram of stiffness tuning structure and power take-off mechanism link
Wherein, 1, elastic spring; 2, power take-off mechanism; 3, leading screw; 4, nut slider; 5, harmonic wave reducing motor power; 6, drive rotating disk; 7, screw; 8, stiffness tuning mechanism; 9, with the control of closed loop controller; 10, motor housing.
The specific embodiment
Below in conjunction with accompanying drawing, further illustrate the present invention.
As shown in Figure 1, the present invention includes a power input mechanism harmonic wave reducing motor 5,8, one power take-off mechanisms 2 of Yi Ge stiffness tuning mechanism.When selecting transmission accuracy that harmonic wave reducing motor object is to provide larger and moment of torsion, there is volume little, lightweight feature.Because the present invention mainly applies to robot foot section, industry mechanical arm, in the robot fields' such as intelligent artificial limb research and application.
As shown in Figure 1, power input mechanism harmonic wave reducing motor 5 is by driving rotating disk 6 that power is reached to stiffness tuning mechanism 8, and stiffness tuning mechanism 8 reaches power take-off mechanism 2 by having after the control motor 9 of closed loop controller regulates rigidity by power.
As shown in Figure 1, Figure 2, Figure 3 shows, stiffness tuning of the present invention mechanism 8 comprises two control motors 9 with closed loop controller, two leading screws that are connected with motor 3, two 4, two elastic springs 1 of nut slider.The output shaft of controlling motor 9 connects a rhizoid thick stick 3; Leading screw 3 is connected with nut slider 4 spirals respectively, and nut slider 4 sliding ends insert in elastic spring 1, and elastic spring 1 is fixedly connected on power take-off mechanism 2.The shell 10 of stiffness tuning mechanism 8 is installed fixing by screw 7 and the driving-disc 6 of power input mechanism, power take-off mechanism 2 flexibly connects by nut slider in elastic spring 1 and stiffness tuning mechanism.
As shown in Fig. 4 (a), on the shell 10 of stiffness tuning mechanism, there are 6 screwed holes by screw 7 and drive rotating disk 6 to install and coordinate with harmonic wave reducing motor 5.
As shown in Fig. 4 (b), the present invention can regulation output flexibility size, during work, control motor 9 according to the position of the current nut slider 4 measuring, the height value that should regulate by calculating nut slider 4, and by control instruction and feed back to motor 9, motor 9 starts by leading screw 3 drive two nut sliders along reed or upper or lower slider, to change effective active length (it is flexible the most maximum during below that two nut sliders 4 are positioned at leading screw 3) of reed 1, thereby make Flexible Control more accurately and reliably.
If during harmonic wave reducing motor 5 work, drive and drive rotating disk 6 to rotate, and drive the shell 10 in stiffness tuning mechanism to rotate.Shell 10 rotates, and deformation occurs extruding elastic spring 1, and the deformation of elastic spring 1 is ordered about power take-off mechanism 2 and started to rotate, thus outputting power.
If harmonic wave reducing motor 5 is not worked, power take-off mechanism 2 deflects while being subject to accidental shock power, and compliant member elastic spring 1 is received extruding, deforms, but drives rotating disk 6 not rotate, and has protected harmonic wave reducing motor 5 not damaged.
Different to the demand of compliance according to the different joints of robot, rigidity and thickness, the sensitivity of motor 9 and the height of slide block 4 that can change compliant member elastic spring 1 in stiffness tuning mechanism 8 obtain appropriate compliant characteristic.
When the same joint of robot is when different time is different to the demand of compliance, can also pass through starter motor 9, band movable slider 4 moves up and down, and then changing easily effective length, the rigidity of compliant member elastic spring 1 in stiffness tuning mechanism 8, the change rigidity that realizes joint drives and the compliant characteristic of output loading curve.
By reference to the exemplary embodiment representing in the accompanying drawings, the present invention has been done to special displaying and explanation above, to one skilled in the art, should be understood that, under thought of the present invention and scope, make various modifications and change in the form and details not deviating from, all will be infringement to patent of the present invention.Therefore the present invention will protect real thought and scope are limited by appending claims.
Claims (1)
1. the controlled submissive driver of change rigidity, comprise power input mechanism, stiffness tuning mechanism and power take-off mechanism, described power input mechanism comprises harmonic wave reducing motor, harmonic wave reducing motor is by driving rotating disk that power is reached to stiffness tuning mechanism, stiffness tuning mechanism reaches power take-off mechanism by having after the control motor of closed loop controller regulates rigidity by power, it is characterized in that:
Described stiffness tuning mechanism comprises two motors with closed loop controller, two leading screws that are connected with motor, two nut sliders and two elastic springs; The output shaft of every motor connects a rhizoid thick stick; Leading screw is connected with the nut end spiral of nut slider, the slider end of nut slider inserts in elastic spring, be slidably matched with elastic spring, elastic spring one end is fixedly connected on power take-off mechanism, be fixedly connected with and be integral with power take-off mechanism, the shell of stiffness tuning mechanism and the fixed installation of the driving-disc of power input mechanism.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410198859.8A CN104029214A (en) | 2014-05-12 | 2014-05-12 | Controllable rigidity-variable flexible driver |
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| CN201410198859.8A CN104029214A (en) | 2014-05-12 | 2014-05-12 | Controllable rigidity-variable flexible driver |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104454862A (en) * | 2014-09-30 | 2015-03-25 | 太原科技大学 | Rigidity-variable combined nut connector bearing axial loads |
| CN104626196A (en) * | 2014-12-12 | 2015-05-20 | 华北电力大学 | Changeable rigidity flexibility actuator |
| CN105171770A (en) * | 2015-10-30 | 2015-12-23 | 四川大学 | Machine safety variable-rigidity elastic joint and rigidity adjustment method |
| CN106182067A (en) * | 2016-07-11 | 2016-12-07 | 中国矿业大学 | A kind of stiffness variable flexible rotational joint |
| CN107028733A (en) * | 2016-12-16 | 2017-08-11 | 中国科学院沈阳自动化研究所 | A kind of power-assisting robot flexible joint |
| CN108262763A (en) * | 2017-12-28 | 2018-07-10 | 中国科学院沈阳自动化研究所 | A kind of joint of robot variation rigidity actuator |
| CN108297075A (en) * | 2018-04-28 | 2018-07-20 | 清华大学 | A kind of leaf spring type variation rigidity flexible actuator based on rack pinion |
| CN108748254A (en) * | 2018-06-20 | 2018-11-06 | 哈尔滨工业大学 | A kind of drive lacking variation rigidity manipulator based on variation rigidity elastic joint |
| CN108904221A (en) * | 2018-07-23 | 2018-11-30 | 合肥工业大学 | Stiffness variable elastic multifunctional driver and its motion control method |
| CN109441978A (en) * | 2018-11-09 | 2019-03-08 | 天津工业大学 | A kind of variable damping driver based on fluid viscosity |
| CN109676600A (en) * | 2019-01-21 | 2019-04-26 | 合肥工业大学 | A kind of variation rigidity flexible actuator and its motion control method based on reed-type |
| CN109787413A (en) * | 2017-11-15 | 2019-05-21 | 蓝兆杰 | Linear series elastic actuator |
| CN110450180A (en) * | 2019-08-16 | 2019-11-15 | 哈尔滨工业大学 | Flexible drive variable rigidity differential couple robot finger apparatus |
| CN111376307A (en) * | 2018-12-30 | 2020-07-07 | 中国科学院沈阳自动化研究所 | Two-degree-of-freedom variable-rigidity ball-and-socket joint of robot |
| CN113334425A (en) * | 2021-06-25 | 2021-09-03 | 北京航空航天大学 | Variable-stiffness driver with characteristics of low energy consumption and large stiffness adjusting range |
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Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104454862B (en) * | 2014-09-30 | 2016-07-20 | 太原科技大学 | A kind of variation rigidity compound nut bearing axial load connects |
| CN104454862A (en) * | 2014-09-30 | 2015-03-25 | 太原科技大学 | Rigidity-variable combined nut connector bearing axial loads |
| 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 |
| CN105171770B (en) * | 2015-10-30 | 2017-03-22 | 四川大学 | Machine safety variable-rigidity elastic joint |
| CN105171770A (en) * | 2015-10-30 | 2015-12-23 | 四川大学 | Machine safety variable-rigidity elastic joint and rigidity adjustment method |
| CN106182067A (en) * | 2016-07-11 | 2016-12-07 | 中国矿业大学 | A kind of stiffness variable flexible rotational joint |
| CN106182067B (en) * | 2016-07-11 | 2018-06-15 | 中国矿业大学 | A kind of stiffness variable flexible rotational joint |
| CN107028733A (en) * | 2016-12-16 | 2017-08-11 | 中国科学院沈阳自动化研究所 | A kind of power-assisting robot flexible joint |
| CN107028733B (en) * | 2016-12-16 | 2023-05-12 | 中国科学院沈阳自动化研究所 | Flexible joint of power-assisted robot |
| CN109787413A (en) * | 2017-11-15 | 2019-05-21 | 蓝兆杰 | Linear series elastic actuator |
| CN108262763A (en) * | 2017-12-28 | 2018-07-10 | 中国科学院沈阳自动化研究所 | A kind of joint of robot variation rigidity actuator |
| CN108297075A (en) * | 2018-04-28 | 2018-07-20 | 清华大学 | A kind of leaf spring type variation rigidity flexible actuator based on rack pinion |
| CN108297075B (en) * | 2018-04-28 | 2020-11-20 | 清华大学 | Plate spring type variable-rigidity flexible driver based on gear and rack transmission |
| CN108748254A (en) * | 2018-06-20 | 2018-11-06 | 哈尔滨工业大学 | A kind of drive lacking variation rigidity manipulator based on variation rigidity elastic joint |
| CN108904221A (en) * | 2018-07-23 | 2018-11-30 | 合肥工业大学 | Stiffness variable elastic multifunctional driver and its motion control method |
| CN109441978B (en) * | 2018-11-09 | 2020-02-11 | 天津工业大学 | Variable damping driver based on fluid viscosity |
| CN109441978A (en) * | 2018-11-09 | 2019-03-08 | 天津工业大学 | A kind of variable damping driver based on fluid viscosity |
| CN111376307A (en) * | 2018-12-30 | 2020-07-07 | 中国科学院沈阳自动化研究所 | Two-degree-of-freedom variable-rigidity ball-and-socket joint of robot |
| CN111376307B (en) * | 2018-12-30 | 2022-11-08 | 中国科学院沈阳自动化研究所 | Two-degree-of-freedom variable-rigidity ball-and-socket joint of robot |
| CN109676600A (en) * | 2019-01-21 | 2019-04-26 | 合肥工业大学 | A kind of variation rigidity flexible actuator and its motion control method based on reed-type |
| CN109676600B (en) * | 2019-01-21 | 2021-12-14 | 合肥工业大学 | Reed type variable-rigidity flexible driver and motion control method thereof |
| CN110450180A (en) * | 2019-08-16 | 2019-11-15 | 哈尔滨工业大学 | Flexible drive variable rigidity differential couple robot finger apparatus |
| CN110450180B (en) * | 2019-08-16 | 2022-09-30 | 哈尔滨工业大学 | Flexible driving rigidity variable differential coupling robot finger device |
| CN113334425A (en) * | 2021-06-25 | 2021-09-03 | 北京航空航天大学 | Variable-stiffness driver with characteristics of low energy consumption and large stiffness adjusting range |
| CN113334425B (en) * | 2021-06-25 | 2023-03-03 | 北京航空航天大学 | Variable-stiffness driver with characteristics of low energy consumption and large stiffness adjusting range |
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Application publication date: 20140910 |