CN104175311B - Flexible massage robot - Google Patents
Flexible massage robot Download PDFInfo
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- CN104175311B CN104175311B CN201310199836.4A CN201310199836A CN104175311B CN 104175311 B CN104175311 B CN 104175311B CN 201310199836 A CN201310199836 A CN 201310199836A CN 104175311 B CN104175311 B CN 104175311B
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Abstract
The invention provides a kind of flexible massage robot, comprise pedestal and be installed on the mechanical arm on this pedestal, this mechanical arm comprises the first joint connected successively, first trunk, second joint, second trunk, 3rd joint, 3rd trunk, 4th joint and the 4th trunk, first joint is installed on pedestal by joint mount pad, the rotation of the joint output shaft in the first joint and the 3rd joint is along the length direction of mechanical arm, the rotation of the joint output shaft of the rotation in second joint and the 4th joint is perpendicular to the length direction of mechanical arm, and have in each joint and transmit module by the moment elasticity of elastic component carry-over moment.Above-mentioned flexible massage robot has four frees degree altogether, distribute consistent with the human arm free degree, doctor can be simulated and complete multiple massage manipulation, the configuration of its copy man arm is easier to accept by user, and transmit module by moment elasticity, while guarantee security, complete massage operation to high-performance.
Description
Technical field
The present invention relates to robot field, particularly relate to a kind of flexible massage robot.
Background technology
Massage is a kind of non-drug, hurtless measure, the naturopathy that has no side effect.Facts have proved, massage not only has good result for the treatment of to numerous diseases such as orthopedics and traumatology, internal medicine, surgery, gynaecology, paediatrics and ENT dept.s, has more health body-building, prevent disease, the effect of eliminating disease and prolong life.Meanwhile, without the inconvenience of taking medicine, without the misery of acupuncture, hold easy for patients to accept.But along with China enters aging society, the growing demand of massage therapy has become insurmountable imbalance between supply and demand with professional massage personnel relative to scarcity.
In order to solve above-mentioned contradiction, on the one hand, market is emerged in large numbers the Domestic massage equipment such as different types of massage device or massage armchair, its principle is: the own wt of human body fully contacts with massage head, utilizes massage apparatus main controller to control massage head motion and produces extruding force that is passive, rule to human body.By position and the degree of depth of human body self sensation adjustment massage, thus reach the object stimulating blood circulation, relax one's muscles, there is higher security.But its motor pattern cannot customize, the uncontrollable result for the treatment of that causes of massage force is limited; On the other hand, traditional Industrial Robot Technology is combined with active massage manipulation by scientific research personnel, has carried out the research to massage robot principle prototype, and has obtained certain scientific achievement.At present, the principle prototype of massage robot is all based upon on the basis of industrial robot, although can realize the function of active massage, the security of massage processes is but difficult to ensure, causes robot to be difficult to carry out clinical practice.In addition, current massage robot configuration seldom adopts apery configuration, even if the accessory having part to contact with people adopts apery type to design, but the friendly of robot entirety is still worth discussion, is difficult to and accepts by user.And existing massage robot often adopts mechanism module, circuit isolation designs, and has certain advantage man-hour, in installation and maintenance debugging, bring larger inconvenience although add in design, is difficult to realize the commercialization of massage robot and the marketization.In sum, existing massage robot still really can not realize clinicalization, the marketization and commercialization.
Mainly there are following 2 deficiencies for Domestic massage equipment:
1, passive type massage, massage effect varies with each individual;
2, gimmick is single, and dynamics is uncontrollable, and therapeutic action is very little.
Mainly there are following 3 deficiencies for massage robot:
1, security
No matter the massage robot of current development adopts the (series connection of which kind of configuration, parallel connection and planer-type), the basis being all based upon industrial robot is researched and developed, it is also the safeguard measure adopting industrial robot in security, as adopted as emergency stop switch, safe magnetic is locked or is added the external equipments such as limiter of moment robot end and coordinate impedance control strategy to realize active massage, thus solution safety issue, although reduce the danger of robot massage to a certain extent, but do not break away from the barrier of industrial robot application category, when being especially subject to impulsive force in application process, be limited to the bandwidth of sensor and the arithmetic speed of computer, its security is difficult to be ensured, therefore, existing massage robot receives the query of benefiting from colony especially the elderly patient and society, be difficult to really realize service robot commercialization.
2, friendly
Existing massage robot has continued the mentality of designing of industrial robot, only carrys out design robot from the realization of gimmick.Therefore, the robot of design is more similar to special equipment, make by user psychologically with health on cannot be real loosen, cause massage effect to be had a greatly reduced quality.
3, inconvenient installation and debugging and maintenance
Massage robot after a long time use, inevitably wants generation part aging or damage.Therefore, need to change parts that are aging or damage or keep in repair.Existing robot adopts the modularized design of dynamo-electric separate type usually.When keeping in repair, usually needing to dismantle respectively circuit and robot mechanism, dismounting more complicated, sometimes even occurring owing to dismantling the situation accidentally causing interface section to be damaged, causing robot convertibility poor, inconvenient maintenance.
Summary of the invention
The object of the present invention is to provide a kind of flexible massage robot, it at least can solve above-mentioned partial technical problems.
To achieve these goals, the invention provides a kind of flexible massage robot, comprise pedestal and be installed on the mechanical arm on this pedestal, it is characterized in that, described mechanical arm comprises the first joint connected successively, first trunk, second joint, second trunk, 3rd joint, 3rd trunk, 4th joint and the 4th trunk, described first joint is installed on described pedestal by joint mount pad, the rotation of the joint output shaft in the first joint and the 3rd joint is along the length direction of described mechanical arm, the rotation of the joint output shaft in second joint and the 4th joint is perpendicular to the length direction of described mechanical arm, and have in each joint and transmit module by the moment elasticity of elastic component carry-over moment.
In above-mentioned flexible massage robot, there are four joints and four trunks altogether, and the rotation of the joint output shaft in the first joint and the 3rd joint is along the length direction of described mechanical arm, the rotation of the joint output shaft of the rotation in second joint and the 4th joint is perpendicular to the length direction of described mechanical arm, therefore mechanical arm has four frees degree altogether, distribute consistent with the human arm free degree, can the multiple massage manipulations such as massage be completed.In addition, the mechanism size of mechanical arm also can be designed to conform to human arm size, has departed from industrial robot category, makes to be easier to accept by user.
In addition, above-mentioned flexible massage robot is on the one hand from the angle in joint, module is transmitted by adding moment elasticity at joint, mechanical arm self is made to have passive flexibility, with when contacting by user or when being subject to external impact, mechanical arm can be made to produce passive compliance, effectively protect user; Utilize Technology of ZO control to make mechanical arm produce active compliance to destructuring (the unknown) environment on the other hand, make robot can complete massaging action safely in working space.To sum up two aspect characteristics make flexible massage robot fundamentally solve the problem of security.
Preferably, described mechanical arm comprise connect successively the first joint, the first trunk, second joint, the second trunk, the 3rd joint, the 3rd trunk, the 4th joint and the 4th trunk, described first joint is installed on described pedestal by joint mount pad, the rotation of the joint output shaft in the first joint and the 3rd joint is along the length direction of described mechanical arm, the rotation of the joint output shaft in second joint and the 4th joint perpendicular to the length direction of described mechanical arm, and has in each joint and transmits module by the moment elasticity of elastic component carry-over moment.
Preferably, described first trunk comprises main part, is positioned at the upper joint installation portion on the upside of main part, and is positioned at the hypozygal installation portion on the downside of main part, described upper joint installation portion is formed as cavity, and the part in described first joint is held and remained in this cavity.
Preferably, the center of the diapire of described cavity is formed with non-circular hole, the joint output shaft form fit in this non-circular hole and described first joint is with carry-over moment, the surrounding of described non-circular hole has multiple installing hole, and securing member is connected on the joint output shaft in described first joint through the plurality of installing hole.
Preferably, the cross section of described main part is square, and sidewall is formed with lightening hole, and described hypozygal installation portion is formed as two installing holes, and these two installing holes lay respectively at the bottom of two relative sidewalls of described main part.
Preferably, described second trunk comprises main part, be positioned at the upper joint installation portion on the upside of main part, and the hypozygal installation portion be positioned on the downside of main part, described upper joint installation portion is formed as the mounting cylinder with sidewall and diapire, and a part for described second joint is held and remained in this mounting cylinder.
Preferably, the center of the diapire of described mounting cylinder is formed with non-circular hole, the joint output shaft form fit of this non-circular hole and described second joint is with carry-over moment, the surrounding of described non-circular hole has multiple installing hole, and securing member is connected on the joint output shaft of described second joint through the plurality of installing hole.
Preferably, described joint installation portion is formed as lower mounting cylinder, the part in described 3rd joint is held and is remained in this lower mounting cylinder, and described main part is formed as two pieces of relative connecting plates, and these two pieces of connecting plates are connected between described upper joint installation portion and hypozygal installation portion.
Preferably, described first trunk is identical with the 3rd trunk structure.
Preferably, described second trunk is identical with the 4th trunk structure.
Preferably, the floor that described pedestal comprises base plate, side plate and is connected between base plate and side plate, the top of described side plate has through hole, and described first joint is fixed on described side plate by the fixed cover in the described through hole of insertion and securing member.
Preferably, the end of described 4th trunk is connected with connecting rod, and the end of this connecting rod is connected with massaging hand.
Preferably, each joint comprises housing and is positioned at the joint body of this housing, and this joint body comprises multiple circuit board, is formed with multiple mounting plane at the inner peripheral surface of described housing, and described multiple circuit board is installed on described multiple mounting plane respectively.
Preferably, described multiple circuit board comprises and controls power panel, driving power plate, control circuit board and drive circuit board, and wherein said control power panel provides power supply for control circuit board, and described driving power plate provides power supply for described drive circuit board.
Preferably, described multiple circuit board is sequentially electrically connected by electric wire.
Preferably, described housing comprises main casing and time housing of docking connection, and described multiple mounting plane is formed in described main casing.
Preferably, the sidewall of described main casing has cable interface, described circuit board is electrically connected with the motor in described joint body by this cable interface.
Preferably, described joint body comprises motor, the decelerator be connected with the output of motor, the moment elasticity be connected with the output of decelerator transmits module, the flexbile gear output shaft that the housing component transmitting module with moment elasticity is connected, the joint output shaft that the spoke transmitting module with moment elasticity is connected, the moment inspecting module be connected with one end of flexbile gear output shaft, and the position detecting module be connected with the other end of flexbile gear output shaft.
Preferably, described motor be the motor shaft with hollow without frame brushless electric machine, described decelerator is harmonic speed reducer, described motor shaft is connected with the wave producer of described harmonic speed reducer, the cup-shape flexspline of described harmonic speed reducer is connected with described flexbile gear output shaft, and the other end of this flexbile gear output shaft is protruding to be connected to described position detecting module through described motor shaft.
Preferably, described flexbile gear output shaft is that quill shaft passes with supply lines.
Preferably, described moment elasticity transmits the described spoke that module comprises described housing component and is positioned at this housing component, described housing component is formed as the tubular comprising diapire and sidewall, the inner peripheral surface of described sidewall have four circumferentially uniform secter pats, described spoke has center drum and is positioned at four connecting plates around this center drum and circumferentially uniform, between the end of each connecting plate and the internal perisporium of described sidewall, there is gap, described four secter pats and four connecting plates are arranged alternately, and there is elastic component between adjacent secter pat and connecting plate with flexibly carry-over moment.
Preferably, adjacent secter pat and connecting plate are respectively arranged with lead, have gap between two adjacent leads, described elastic component is helical spring and is set on two adjacent leads.
Preferably, adjacent secter pat and connecting plate are respectively arranged with lead, have gap between two adjacent leads, described elastic component is helical spring and is set on two adjacent leads.
Preferably, the center of described diapire has centre bore, and one end of described flexbile gear output shaft is connected to described moment inspecting module through after this centre bore.
Preferably, described moment inspecting module and position detecting module are incremental encoder.
Massage robot mentioned by the present invention, compared with other massage robots, at least comprises following advantage:
1, while can completing massage manipulation, massage processes is made to have higher security.
2, adopt apery configuration, be easy to be accepted by patient, be more suitable for clinical practice.
3, adopt integrated flexible joint to build massage robot, make robot can carry out installation, maintenance and debugging easily, thus make robot be easier to realize product conversion.
Specifically, flexible massage robot of the present invention at least comprises following advantage:
1, flexible massage robot
Massage robot mentioned by the present invention is on the one hand from the angle in joint, module is transmitted by adding moment elasticity at joint, robot self is made to have passive flexibility, with when contacting by user or when being subject to external impact, mechanical arm can be made to produce passive compliance, effectively protect user; Utilize Technology of ZO control to make mechanical arm produce active compliance to destructuring (the unknown) environment on the other hand, make robot can complete massaging action safely in working space.To sum up two aspect characteristics make flexible massage robot fundamentally solve the problem of security.
2, aperyization design
Massage robot mentioned by the present invention distributes consistent with the human arm free degree, and mechanism size conforms to human arm size, has departed from industrial robot category, makes to be easier to accept by user.
3, the electromechanical integration joint designs of I&M is convenient to
Massage robot mentioned by the present invention is built based on integral joint.Integral joint adopts the modularized design of electromechanical, has the feature of high cohesion, highly integrated, strong interference immunity.When installing mechanical arm, outside needs a cable (comprising power line and holding wire) to be connected with each joint, easy for installation, quick; Because robot is built by joint, so make maintenance problem more easily focus on, joint only need be removed for repair or replacement by maintenance personal, substantially reduces the time of refitting post debugging, makes robot be more applicable for commercialization and clinical practice.
Accompanying drawing explanation
Accompanying drawing is used to provide a further understanding of the present invention, and forms a part for description, is used from explanation the present invention, but is not construed as limiting the invention with detailed description of the invention one below.In the accompanying drawings:
Figure 1 shows that the schematic perspective view of a kind of embodiment of flexible massage robot.
Figure 2 shows that a kind of embodiment of pedestal 1.
Figure 3 shows that a kind of embodiment of fixed cover 16
Figure 4 shows that a kind of embodiment of the first trunk 31
Figure 5 shows that the cross-sectional schematic of the first joint 21, a kind of syndeton between fixed cover 16 and the first trunk 31.
Figure 6 shows that a kind of embodiment of the second trunk 32.
Figure 7 shows that the schematic perspective view of the first trunk 31, a kind of syndeton between second joint 22 and the second trunk 32.
Figure 8 shows that the cross-sectional schematic of the first trunk 31, a kind of syndeton between second joint 22 and the second trunk 32.
Figure 9 shows that the schematic perspective view of the second trunk 32, a kind of syndeton between the 3rd joint 23 and the 3rd trunk 33.
Figure 10 shows that the cross-sectional schematic of the second trunk 32, a kind of syndeton between the 3rd joint 23 and the 3rd trunk 33.
Figure 11 shows that the schematic perspective view of the 3rd trunk 33, a kind of syndeton between the 4th joint 24 and the 4th trunk 34.
Figure 12 shows that the cross-sectional schematic of the 3rd trunk 33, a kind of syndeton between the 4th joint 24 and the 4th trunk 34.
Figure 13 shows that the schematic diagram of a kind of embodiment of connecting rod 4.
Figure 14 shows that the schematic diagram of a kind of embodiment of massaging hand 5.
Figure 15 shows that the cross-sectional schematic of a kind of embodiment of integrated flexible rotary joint.
Figure 16 shows that the schematic perspective view of a kind of embodiment of main casing.
Figure 17 shows that the cross-sectional schematic of a kind of embodiment of time housing.
Figure 18 shows that the schematic perspective view of a kind of embodiment that motor driving part divides.
Figure 19 shows that the cross-sectional schematic of a kind of embodiment that motor driving part divides.
Figure 20 shows that moment elasticity transmits the schematic perspective view of a kind of embodiment of module.Figure 21 is depicted as the cross-sectional schematic that moment elasticity transmits a kind of embodiment of module.
Figure 21 is depicted as the cross-sectional schematic that moment elasticity transmits a kind of embodiment of module.
Figure 22 is depicted as the schematic diagram of a kind of embodiment of joint output shaft.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.Should be understood that, detailed description of the invention described herein, only for instruction and explanation of the present invention, is not limited to the present invention.
In the present invention, for convenience of description, employ some nouns of locality, such as up and down etc., these nouns of locality mainly carry out defining according to the direction of corresponding views.In addition, also use and inside and outside wait the noun of locality, these nouns of locality are mainly according to carrying out inside and outside product defining.
Flexible massage robot
Figure 1 shows that the schematic perspective view of a kind of embodiment of flexible massage robot.As shown in Figure 1, the mechanical arm that flexible massage robot mainly comprises pedestal 1 and is installed on pedestal 1, this mechanical arm comprises the first joint 21 connected successively, first trunk 31, second joint 22, second trunk 32, 3rd joint 23, 3rd trunk 33, 4th joint 24 and the 4th trunk 34, described first joint 21 is installed on described pedestal 1 by fixed cover 16, the rotation of the joint output shaft in the first joint 21 and the 3rd joint 23 is along the length direction of described mechanical arm, the rotation of the joint output shaft in second joint 22 and the 4th joint 24 is perpendicular to the length direction of described mechanical arm, and have in each joint and transmit module by the moment elasticity of elastic component carry-over moment.
In above-mentioned flexible massage robot, there are four joints and four trunks altogether, and the rotation of the joint output shaft in the first joint and the 3rd joint is along the length direction of described mechanical arm, the rotation of the joint output shaft in second joint and the 4th joint is perpendicular to the length direction of described mechanical arm, therefore mechanical arm has four frees degree altogether, distribute consistent with the human arm free degree, can the multiple massage manipulations such as massage be completed.In addition, the mechanism size of mechanical arm also can be designed to conform to human arm size, has departed from industrial robot category, makes to be easier to accept by user.
In addition, above-mentioned flexible massage robot, on the one hand from the angle in joint, transmits module by adding moment elasticity at joint, mechanical arm self is made to have inherent passive flexibility, with when contacting by user or when being subject to external impact, produce buffering, thus protection is subject to user effectively; Utilize Technology of ZO control to make mechanical arm produce active compliance to destructuring (the unknown) environment on the other hand, make robot can complete massaging action safely in working space.To sum up two aspect characteristics make flexible massage robot fundamentally solve the problem of security.
Below, mode each part to flexible massage robot by reference to the accompanying drawings by embodiment is described in detail.
Pedestal
Figure 2 shows that a kind of embodiment of pedestal 1.As shown in Figure 2, pedestal 1 mainly comprises base plate 11 and side plate 12, is connected with floor 13 therebetween to gain in strength.The setting perpendicular to one another haply of base plate 11 and side plate 12.In order to improve steadiness and the rigidity of pedestal 1, the two pieces of floors 13 be arranged in parallel can be used.In addition, there is on the top of side plate 12 through hole 14 and multiple T-slot 15 (being shown as four in figure).First joint 21 can be fixed on described side plate 12 by the fixed cover 16 (see Fig. 3) in the described through hole 14 of insertion and securing member.Such as, securing member can adopt tommyhead bolt, and it coordinates with the T-slot 15 on side plate 12, to be mounted on side plate 12 in the first joint 21.Concrete connected mode will describe in detail hereinafter.
Fixed cover, the first joint and the first trunk
First joint 21 can be installed on pedestal 1 in several ways.As a kind of embodiment, the first joint 21 can be installed on pedestal 1 by the fixed cover 16 in insertion pedestal 1 through hole 14 and securing member.
Figure 3 shows that a kind of embodiment of fixed cover 16.As shown in Figure 3, fixed cover 16 comprises ring flange 161, and the left end of this ring flange 161 can be inserted in the through hole 14 of pedestal 1, and the head of securing member such as tommyhead bolt can be engaged in the T-slot of pedestal 1, its bar portion then through the installing hole on ring flange 161, then can pass through fastening nuts.
Fixed cover 16 can also be formed with multiple dowel hole 162 and screwed hole 163, first joint 21 can be inserted in fixed cover 16, is then kept by the alignment pin through dowel hole 162 and the screw etc. through screwed hole 163 and is fixed in positioning sleeve 16.
In this way, the center of gravity in the first joint 21 can be made to be positioned as close to the side plate 12 of pedestal 1, thus the stressing conditions of side plate 12 can be optimized.
The concrete structure in the first joint 21 will describe in detail hereinafter.
Figure 4 shows that a kind of embodiment of the first trunk 31.As shown in Figure 4, first trunk 31 mainly comprises main part 311, be positioned at the upper joint installation portion 312 on the upside of main part, and the hypozygal installation portion 313 be positioned on the downside of main part, described upper joint installation portion 312 is preferably formed to cavity, and the part in described first joint 21 can be held and remain in this cavity.
The center of the diapire of described cavity is formed with non-circular hole 314, such as regular hexagon hole, this non-circular hole 314 can with the joint output shaft form fit in described first joint 21 with carry-over moment, the surrounding of described non-circular hole 314 has multiple installing hole, and securing member can be connected on the joint output shaft in described first joint 21 through the plurality of installing hole.
The cross section of described main part 311 is preferably square, and sidewall is formed with lightening hole 315, can increase the rigidity of this main part on the one hand, can effectively reduce its weight and rotary inertia again, mechanical arm is more easily controlled.Described hypozygal installation portion 313 is formed as two installing holes, and these two installing holes lay respectively at the bottom of two relative sidewalls of described main part 311.
Figure 5 shows that the cross-sectional schematic of the first joint 21, a kind of syndeton between fixed cover 16 and the first trunk 31.
As shown in Figure 5, the first joint 21 is inserted in fixed cover 16, and is fixed by securing members such as the alignment pin inserted in dowel hole 162 and the screws inserted in screwed hole 163.The upper joint installation portion being formed as cavity of the first trunk 31 installs to fixed cover 16 and first joint 21 from overlapping below, bearing is provided with between fixed cover 16 and cavity, bearing is provided with equally in addition, so that the first trunk 31 can rotate relative to fixed cover 16 between the first joint 21 and cavity.The joint in the first joint 21 exports the tip of the axis then can with non-circular hole 314 form fit in described pocket base wall with carry-over moment, simultaneously, the securing members such as screw can be used to be fastened on the output shaft of joint by the installing hole around non-circular hole 314, joint output shaft and the first trunk 31 are fixed together, be separated to prevent the two.
By said structure, the first joint 21 and fixed cover 16 insert and are contained in the cavity of the first trunk 31, and the center of gravity of the first trunk can be made thus to be positioned as close to the first joint 21, can the integral rigidity of enhanced machine mechanical arm.
First trunk is connected by second joint with the second trunk
First trunk 31 is connected by second joint 22 with the second trunk 32.
Figure 6 shows that a kind of embodiment of the second trunk 32.As shown in Figure 6, second trunk 32 comprises main part 321, be positioned at the upper joint installation portion 322 on the upside of main part, and the hypozygal installation portion 323 be positioned on the downside of main part, described upper joint installation portion 322 is formed as the upper mounting cylinder with sidewall and diapire, and a part for described second joint 22 is held and to be remained on this in mounting cylinder.Upper mounting cylinder can be formed with lightening hole 325.
The center of the diapire of described upper mounting cylinder is formed with non-circular hole 324, the joint output shaft form fit of this non-circular hole and described second joint 22 is with carry-over moment, the surrounding of described non-circular hole 324 has multiple installing hole, and securing member can be connected on the joint output shaft of described second joint 22 through the plurality of installing hole.
Described hypozygal installation portion 323 is formed as lower mounting cylinder, and the part in the 3rd joint 33 can be held and remain in this lower mounting cylinder.Described main part 321 can be formed as two pieces of relative connecting plates, and these two pieces of connecting plates are connected between described upper joint installation portion 322 and hypozygal installation portion 323.The axis of upper mounting cylinder and lower mounting cylinder is substantially vertical.
Figure 7 shows that the schematic perspective view of the first trunk 31, a kind of syndeton between second joint 22 and the second trunk 32.Figure 8 shows that the cross-sectional schematic of the first trunk 31, a kind of syndeton between second joint 22 and the second trunk 32.
As shown in Figure 7 and Figure 8, second joint 22 inserts in the upper joint installation portion (upper mounting cylinder) 322 of the second trunk 32, has bearing therebetween.Be inserted into the joint output shaft form fit of second joint 22 in the non-circular hole 324 on mounting cylinder diapire with carry-over moment, simultaneously, the securing members such as screw can be connected on the output shaft of joint, to be kept securely by second joint 22 and to be fixed in the second trunk 32 through the installing hole around non-circular hole 324.
A hypozygal installation portion (retainer ring) 313 of the first trunk 31 directly can be enclosed within (right side of Fig. 8) on second joint 22, and is fixed by fixed cap 318 and securing member.In order to easy for installation and make stabilized structure, a servo axis 316 can be fixed with in the outside of the diapire of the mounting cylinder of the second trunk 32 simultaneously, then another retainer ring of the first trunk 31 be installed on this servo axis 316 by bearing gland 317 and bearing etc.
Second trunk is connected by the 3rd joint with the 3rd trunk
Figure 9 shows that the schematic perspective view of the second trunk 32, a kind of syndeton between the 3rd joint 23 and the 3rd trunk 33.Figure 10 shows that the cross-sectional schematic of the second trunk 32, a kind of syndeton between the 3rd joint 23 and the 3rd trunk 33.
As shown in Figure 9 and Figure 10, the 3rd joint 23 is inserted in the hypozygal installation portion (lower mounting cylinder) 322 of the second trunk 32, and keeps fixing by securing member.3rd trunk 33 is substantially identical with the structure of the first trunk 31, and its upper joint installation portion cover being formed as cavity installs on the hypozygal installation portion of the second trunk 32, has bearing therebetween.Be inserted into the joint output shaft form fit in the 3rd joint 23 in the non-circular hole in the pocket base wall of the 3rd trunk 33 with carry-over moment, simultaneously, the securing members such as screw can be connected on the output shaft of joint, to be kept securely in the 3rd joint 23 and to be fixed in the 3rd trunk 33 through the installing hole around non-circular hole.
3rd trunk is substantially identical with the first trunk structure, repeats no more.It should be noted that at this, 3rd trunk is substantially identical with the first trunk structure, refer to that the primary structure of the two is identical, such as, it has main part equally, is positioned at the upper joint installation portion on the upside of main part, and is positioned at the hypozygal installation portion on the downside of main part, described upper joint installation portion is preferably formed to cavity, and the center of the diapire of this cavity can be formed with non-circular hole.The cross section of main part is preferably square, and sidewall is formed with lightening hole.Hypozygal installation portion can be formed as two installing holes, and these two installing holes lay respectively at the bottom of two relative sidewalls of described main part.Certainly, according to concrete design needs, can allow in the two some details outside above-mentioned primary structure distinct, the position of such as lightening hole, quantity and shape, dimension scale of each several part etc.
3rd trunk is connected by the 4th joint with the 4th trunk
Figure 11 shows that the schematic perspective view of the 3rd trunk 33, a kind of syndeton between the 4th joint 24 and the 4th trunk 34.Figure 12 shows that the cross-sectional schematic of the 3rd trunk 33, a kind of syndeton between the 4th joint 24 and the 4th trunk 34.
3rd trunk 33 is substantially identical with the first trunk 31 structure, and the 4th trunk 34 is substantially identical with the second trunk 32 structure.See describing above, structure described here is substantially identical refers to that primary structure is identical equally, but allows the difference that there is design details.3rd trunk 33 and the 4th trunk 34 are similar to the first trunk 31 and the second trunk 32 by the connected mode of second joint 22 by the mode that the 4th joint 24 is connected, and repeat no more.
In addition, as is illustrated by figs. 11 and 12, a connecting rod 4 can be connected with by securing members such as screws at the end of the 4th trunk 34, massaging hand 5 can be connected with at the end of connecting rod 4.
Tail end connecting rod and massaging hand
Figure 13 shows that the schematic diagram of a kind of embodiment of connecting rod 4.Figure 14 shows that the schematic diagram of a kind of embodiment of massaging hand 5.
As shown in Figure 13 and Figure 14, connecting rod 4 can be connected to the bottom of the 4th trunk 34, in order to increase the length of mechanical arm, makes the length of whole mechanical arm close to the length of normal human's arm.Massaging hand 5 can be connected to the end of connecting rod 4 by Connection Block 51, in order to perform massage functions.Massaging hand 5 can adopt existing various massaging hand, such as, illustrate three shown finger formula massaging hands, can adopt the ternary sequential circuit of the BarrettHand of purchased from American Barrett company.
Integrated flexible rotary joint
In flexible massage robot of the present invention, employ four joints, be respectively the first joint 21, second joint 22, the 3rd joint 23 and the 4th joint 24.The structure in these joints is substantially identical, will be described in detail below for this joint (also can be referred to as " integrated flexible rotary joint ").
Figure 15 shows that the cross-sectional schematic of a kind of embodiment of integrated flexible rotary joint.As shown in figure 15, this integrated flexible rotary joint mainly comprises housing 100 and is positioned at the joint body of this housing, this joint body mainly comprises motor 200, the decelerator 300 be connected with the output of motor, the moment elasticity be connected with the output of decelerator transmits module 400, the flexbile gear output shaft 500 that the housing component transmitting module with moment elasticity is connected, the joint output shaft 600 that the spoke transmitting module with moment elasticity is connected, the moment inspecting module 700 be connected with one end of flexbile gear output shaft, the position detecting module 800 be connected with the other end of flexbile gear output shaft, and circuit board 900.
Below with reference to accompanying drawings above-mentioned unit is described in detail.
Housing
As shown in figure 15, housing 100 mainly comprises main casing 110, secondary housing 120 and end cap 130, thus is conducive to the dismounting of the various parts of enclosure interior.
Motor 200, position detecting module 800 and circuit board 900 are mainly positioned at main casing 110, and decelerator 300, moment elasticity transmit module 400 and moment inspecting module 700 is mainly positioned at time housing 120.End cap 130 is for the outer end of closed main casing.Joint output shaft 600 stretches out from the outer end of secondary housing 120.When integrated flexible rotary joint assembles, motor 200, decelerator 300, moment elasticity can be transmitted after module 400 etc. assemble and is inserted in main casing 110, and then overlap housing 120 last time.The inner circumference of main casing 110 is processed with 1 group of through hole and 1 group of ladder counter sink, main casing 110 can be connected with firm wheel holder 304 by securing members such as screws.And then overlap housing 120 last time, the inner circumference of secondary housing 120 leaves countersunk head through hole, and secondary housing 120 can be fixed on just wheel holder 304 by the through hole on main casing 110 by the securing members such as screw, and then fixing upper end cover 130.
Figure 16 shows that the schematic perspective view of a kind of embodiment of main casing.As shown in figure 16, the outline of main casing 110 is roughly formed as cylindrical shape, and its inner surface is then formed with multiple mounting plane 111 with mounting circuit boards.Such as, as a kind of embodiment, integrated flexible rotary joint of the present invention has four pieces of circuit boards 900, be respectively and control power panel, driving power plate, control circuit board and drive circuit board, wherein said control power panel provides power supply for control circuit board, and described driving power plate provides power supply for described drive circuit board.Controlling power panel and driving power plate preferably can independent grounding, thus produces interference mutually when can avoid power supply.Correspondingly, the inner surface of main casing is formed with four mounting planes 111, and it is along the circumferential direction spacedly distributed, every block circuit board is installed on a mounting plane, can give transition by little plane between two adjacent mounting planes, therefore, the inner surface of main casing is roughly formed as octagon.
Four pieces of circuit boards 900 are sequentially electrically connected preferably by electric wire, thus form an integral unit, can be built in easily in main casing 110.In order to reduce joint weight and be convenient to fixing circuit board, the outer surface at the two ends of main casing is processed with four planes 112 respectively corresponding with four pieces of circuit board position, thus easily circuit board can be fixed on the inner surface of main casing by securing members such as screws.
In addition, in four planes 112 on the outer surface of the outer end of main casing, a plane can install cable interface 113 wherein, motor 200 can be electrically connected with circuit board 900 easily by this cable interface.
Figure 17 shows that the cross-sectional schematic of a kind of embodiment of time housing.As shown in figure 17, secondary housing 120 is roughly formed as cylindrical shape, and its outer end is formed with reducing, thus can axial location joint output shaft 600.The inner circumference of secondary housing is formed with multiple installing hole 121, and the securing members such as screw are just taken turns on holder 304 through secondary housing being fixed to after these installing holes.
Motor driving part divides
Motor 200 is as power source, and integrated flexible rotating joint provides moment.Motor preferably adopts without frame brushless electric machine.
Figure 18 shows that the schematic perspective view of a kind of embodiment that motor driving part divides.Figure 19 shows that the cross-sectional schematic of a kind of embodiment that motor driving part divides.Particularly, as shown in Figure 18 and Figure 19, motor 200 mainly comprises stator 201 and rotor 202.Motor housing is connected at the outside fixed cover of stator 201.In order to easy accessibility, motor housing comprises left outside shell 203 and right casing 204 two parts, can be linked together each other by securing members such as screws.Preferably, left outside shell and right casing have flange part 205 separately, and left and right shell links together through this flange part by the securing members such as screw.Flange part 205 is preferably formed to square, to match with four pieces of circuit boards 900 in the main casing 110 of integrated flexible rotary joint, the securing members such as screw are connected to the bight of square flange part 205.The sidewall of right casing 204 can have line outlet 206, and motor lines is drawn to be connected to circuit board 900 by this line outlet.
Be connected with motor shaft bearing block 207 in the outer end of the right casing 204 of motor by securing members such as screws, motor shaft 208 is supported in this motor shaft bearing block 207 rotationally by bearing.In addition, be also connected with flexbile gear output shaft bearing seat 209 by securing members such as screws in the center, outer end of motor shaft bearing block, flexbile gear output shaft 500 is supported on this flexbile gear output shaft bearing seat 209 rotationally by bearing.Flexbile gear output shaft 500 penetrates rotatably motor shaft 208 and arranges.
It is inner that rotor 202 is positioned at stator 201, and be fixed with motor shaft 208 at the center of rotor 202, rotor drives this motor shaft to rotate.Motor shaft is preferably hollow shaft.
The left end of motor shaft 208 is the extension diameter section of enlarged-diameter, this extension diameter section is connected (particularly by securing members such as screws with decelerator 300, such as be connected with the wave producer of harmonic speed reducer), thus the moment of motor shaft can be exported by the cup-shape flexspline of harmonic speed reducer.The firm wheel of harmonic speed reducer is connected to by securing members such as screws just takes turns on holder 304.Firm wheel holder is connected to the left end of the left outside shell of motor by securing members such as screws.Meanwhile, as described above, this has just been taken turns holder 304 and may be fixedly attached on the main casing 110 in integrated flexible joint.Be connected with motor shaft bearing block by securing members such as screws equally in the center of firm wheel holder 304, motor shaft is supported in this motor shaft bearing block rotationally by bearing.
Harmonic speed reducer 300 mainly comprises firm wheel, cup-shape flexspline and wave producer.As described above, just wheel is connected to just on wheel holder 304 by securing members such as screws, and wave producer is connected on the extension diameter section of motor shaft 208 by securing members such as screws, cup-shape flexspline at wave producer with just between wheel, for output torque.
Cup-shape flexspline is connected to moment elasticity by securing members such as screws and transmits on the housing component of module 400, rotates for driving housing component.In addition, housing component can be supported on housing component spring bearing holder 406 by bearing rotationally, housing component spring bearing holder 406 can by the securing members such as screw with just take turns holder and be connected.
Meanwhile, cup-shape flexspline is also connected on flexbile gear output shaft by securing members such as screws, thus moment can be passed to flexbile gear output shaft simultaneously.
Flexbile gear output shaft
As shown in figure 15, the right-hand member of flexbile gear output shaft 500 stretches out through the motor shaft of hollow the code-disc being connected to position detecting module 800 to the right, thus utilizes this position detecting module the relative rotation of this flexbile gear output shaft relative to the shell 100 of integrated flexible rotary joint can be detected.The left end of flexbile gear output shaft extends the code-disc being connected to moment inspecting module 700 left, thus utilizes this moment inspecting module the output torque of joint output shaft and the joint output shaft relative rotation relative to this flexbile gear output shaft can be detected.Therefore, the relative rotation that position detecting module and moment inspecting module detect is added, the relative rotation of joint output shaft relative to the shell of integrated flexible rotary joint can be drawn, namely can determine the actual angle turned over of joint output shaft thus.
The left end of flexbile gear output shaft is rotatably supported on moment elasticity by bearing and transmits in the spoke of module, middle part is supported in flexbile gear output shaft bearing seat by bearing rotationally, and right-hand member is supported in another flexbile gear output shaft bearing seat rotationally by bearing equally.
Flexbile gear output shaft is preferably quill shaft, and the various cables needed for rotary joint can be easily threaded through the flexbile gear output shaft of this hollow.
Moment elasticity transmits module
Figure 20 shows that moment elasticity transmits the schematic perspective view of a kind of embodiment of module.Figure 21 is depicted as the cross-sectional schematic that moment elasticity transmits a kind of embodiment of module.Moment elasticity is transmitted module 400 and is mainly comprised housing component 401, at the spoke 402 of enclosure interior and the elastic component 403 between housing component and spoke.Usually, housing component 401 for receiving moment, and passes torque to spoke 402 by elastic component 403, and moment is exported to joint output shaft 600 by spoke.
Reference numeral 302 in Figure 21 represents the cup-shape flexspline in harmonic speed reducer, and it is connected with housing component 401 by securing members such as screws, to pass torque to housing component 401, drives housing component 401 to rotate.Reference numeral 406 represents housing component bearing mounting base, is provided with bearing between itself and housing component 401.
The tubular that housing component 401 is roughly formed as one end open, the other end is closed.Particularly, the housing component sidewall that comprises diapire and arrange around this diapire.Diapire can be provided with centre bore, so that flexbile gear output shaft 500 passes.
The inner surface of the sidewall of housing is fixed with four secter pats 404 be along the circumferential direction spacedly distributed, such as, can be fixed by securing members such as screws.Spoke is roughly formed as cross.Particularly, spoke comprises center drum and is formed at four connecting plates 405 on center drum outer surface, and these four connecting plates are along the circumferential direction distributed in the outer surface of center drum.Center drum generally keeps concentric with the centre bore in shell bottom wall.Each connecting plate is between adjacent two secter pats, and namely four secter pats and four connecting plates are along the circumferential direction arranged alternately.Between connecting plate and the sidewall of housing, there is gap, can relatively rotate therebetween.Between adjacent secter pat and connecting plate, have elastic component, therefore, the moment of housing component flexibly can pass to connecting plate by secter pat and elastic component, thus the rotation of housing component will cause spoke to be rotated.Elastic component uses spiral compression spring usually.In addition, carry out carry-over moment owing to employing elastic component, the countertorque suffered by spoke can be cushioned, make moment elasticity transmit module and there is flexibility, thus the requirement reduced the sensor bandwidth sum operational speed of a computer, power control can be carried out at joint easily.
In order to firmly be remained between secter pat and connecting plate by elastic component, preferably, secter pat and connecting plate be fixed with lead respectively, such as, is directly threaded connection, the two ends of elastic component are enclosed within lead respectively.Be enclosed within elastic component, between two leads in ground, there is gap, on the one hand, elastic component can be made to play elastic reaction; On the other hand, make the distance that the long stroke of elastic component is confined between gap, thus play effect that is spacing and protection elastic component.
Pass through said structure, preferably adopt four secter pats and four connecting plates, design like this makes moment elasticity transmit the secter pat structurally full symmetric of module, larger moment can be provided, and the rigidity of elastic component under reducing equal output torque condition, the design being convenient to elastic component with choose, and the physical size making moment elasticity transmit module can be easier to microminiaturization, integrated.
Moment inspecting module and position detecting module
As shown in figure 15, moment inspecting module 700 transmits the moment transmitted of module for detecting moment elasticity.Preferably, moment inspecting module uses incremental encoder.
Particularly, moment inspecting module mainly comprises pedestal, code-disc and circuit board.Pedestal comprises base plate and is formed at three supporting legs on plate upper surface.Base plate can be installed on moment elasticity by securing members such as screws and transmit on the connecting plate of the spoke in module.Circuit board can be installed on the end of three supporting legs by securing members such as screws, to form certain space between circuit board and base plate, code-disc is then positioned at this space, and keeps synchronous by the housing component that axle and moment elasticity are transmitted in module.
Therefore, by this incremental encoder, moment elasticity can be detected and transmit relative rotation between housing component in module and spoke.Simultaneously, can show that moment elasticity transmits the elastic deformation amount of the elastic component in module according to this relative rotation, then according to the rigidity of elastic component, the size of the power transmitted by elastic component can be calculated, moment elasticity can be calculated by the installation site of elastic component and transmit the moment size transmitted of module.Therefore, by this moment inspecting module, the moment that moment elasticity transmission module is transmitted can be detected easily.
Similarly, position detecting module 800 also preferably uses incremental encoder, for detecting the actual angle turned over of flexbile gear output shaft, repeats no more.
Joint output shaft
Figure 22 is depicted as the schematic diagram of a kind of embodiment of joint output shaft.As shown in figure 22, joint output shaft 600 for the moment of integrated flexible rotary joint is finally exported to external unit, the next trunk of such as mechanical arm.The outer surface of the outer end 601 of joint output shaft is formed as polygon, such as hexagon, thus can output torque easily.The inner of joint output shaft has mounting flange 602, and this mounting flange can be connected to moment elasticity by securing members such as screws and transmit in the spoke of module, and when transmitting high-torque, this flange can make joint output shaft and spoke not produce relative motion.
The mounting flange of joint output shaft is formed with multiple lightening hole, with weight reduction.In addition, mounting flange is formed with four groups of installing holes 603, to be fixedly connected with the connecting plate of four in spoke.In addition, because joint output shaft bears larger torque, therefore often organize two installing holes that installing hole can comprise radially aligned, thus moment can be transmitted jointly by two securing members, reduce the intensity needed for securing member.
Be provided with moment elasticity in the integral rotary that the present invention is above-mentioned and transmit module, moment of torsion detection module and position detecting module, can the external impact force of cushioning effect on joint, and measure the moment that integrated flexible rotary joint exports.Expand the range of application of described integral rotary.Integrated flexible rotary joint of the present invention adopts collecting mechanism, circuit, sensing in the modularized design thinking of one, can be constructed arm or the leg of flexible massage robot rapidly, have very high practical value by this joint.
Below the preferred embodiment of the present invention is described in detail by reference to the accompanying drawings; but; the present invention is not limited to the detail in above-mentioned embodiment; within the scope of technical conceive of the present invention; can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.
It should be noted that in addition, each the concrete technical characteristic described in above-mentioned detailed description of the invention, in reconcilable situation, can be combined by any suitable mode.In order to avoid unnecessary repetition, the present invention illustrates no longer separately to various possible combination.
In addition, also can be combined between various different embodiment of the present invention, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.
Claims (22)
1. a flexible massage robot, comprise pedestal and be installed on the mechanical arm on this pedestal, it is characterized in that, described mechanical arm comprises the first joint connected successively, first trunk, second joint, second trunk, 3rd joint, 3rd trunk, 4th joint and the 4th trunk, described first joint is installed on described pedestal by joint mount pad, the rotation of the joint output shaft in the first joint and the 3rd joint is along the length direction of described mechanical arm, the rotation of the joint output shaft in second joint and the 4th joint is perpendicular to the length direction of described mechanical arm, each joint comprises housing and is positioned at the joint body of this housing, this joint body comprises transmits module and multiple circuit board by the moment elasticity of elastic component carry-over moment, multiple mounting plane is formed at the inner peripheral surface of described housing, described multiple circuit board is installed on described multiple mounting plane respectively.
2. flexible massage robot according to claim 1, it is characterized in that, described first trunk comprises main part, be positioned at the upper joint installation portion on the upside of main part, and the hypozygal installation portion be positioned on the downside of main part, described upper joint installation portion is formed as cavity, and the part in described first joint is held and remained in this cavity.
3. flexible massage robot according to claim 2, it is characterized in that, the center of the diapire of described cavity is formed with non-circular hole, the joint output shaft form fit in this non-circular hole and described first joint is with carry-over moment, the surrounding of described non-circular hole has multiple installing hole, and securing member is connected on the joint output shaft in described first joint through the plurality of installing hole.
4. flexible massage robot according to claim 2, it is characterized in that, the cross section of described main part is square, and sidewall is formed with lightening hole, described hypozygal installation portion is formed as two installing holes, and these two installing holes lay respectively at the bottom of two relative sidewalls of described main part.
5. flexible massage robot according to claim 1, it is characterized in that, described second trunk comprises main part, be positioned at the upper joint installation portion on the upside of main part, and the hypozygal installation portion be positioned on the downside of main part, described upper joint installation portion is formed as the mounting cylinder with sidewall and diapire, and a part for described second joint is held and remained in this mounting cylinder.
6. flexible massage robot according to claim 5, it is characterized in that, the center of the diapire of described mounting cylinder is formed with non-circular hole, the joint output shaft form fit of this non-circular hole and described second joint is with carry-over moment, the surrounding of described non-circular hole has multiple installing hole, and securing member is connected on the joint output shaft of described second joint through the plurality of installing hole.
7. flexible massage robot according to claim 4, it is characterized in that, described hypozygal installation portion is formed as lower mounting cylinder, the part in described 3rd joint is held and is remained in this lower mounting cylinder, described main part is formed as two pieces of relative connecting plates, and these two pieces of connecting plates are connected between described upper joint installation portion and hypozygal installation portion.
8. flexible massage robot according to claim 2, is characterized in that, described first trunk is identical with the 3rd trunk structure.
9. flexible massage robot according to claim 5, is characterized in that, described second trunk is identical with the 4th trunk structure.
10. flexible massage robot according to claim 1, it is characterized in that, the floor that described pedestal comprises base plate, side plate and is connected between base plate and side plate, the top of described side plate has through hole, and described first joint is fixed on described side plate by the fixed cover in the described through hole of insertion and securing member.
11. flexible massage robots according to claim 1, is characterized in that, the end of described 4th trunk is connected with connecting rod, and the end of this connecting rod is connected with massaging hand.
12. flexible massage robots according to claim 1, it is characterized in that, described multiple circuit board comprises control power panel, driving power plate, control circuit board and drive circuit board, wherein said control power panel provides power supply for control circuit board, and described driving power plate provides power supply for described drive circuit board.
13. flexible massage robots according to claim 1 or 12, it is characterized in that, described multiple circuit board is sequentially electrically connected by electric wire.
14. flexible massage robots according to claim 1, is characterized in that, described housing comprises main casing and time housing of docking connection, and described multiple mounting plane is formed in described main casing.
15. flexible massage robots according to claim 14, is characterized in that the sidewall of described main casing has cable interface, and described circuit board is electrically connected with the motor in described joint body by this cable interface.
16. flexible massage robots according to claim 1, it is characterized in that, described joint body comprises motor, the decelerator be connected with the output of motor, the moment elasticity be connected with the output of decelerator transmits module, the flexbile gear output shaft that the housing component transmitting module with moment elasticity is connected, the joint output shaft that the spoke transmitting module with moment elasticity is connected, the moment inspecting module be connected with one end of flexbile gear output shaft, and the position detecting module be connected with the other end of flexbile gear output shaft.
17. flexible massage robots according to claim 16, it is characterized in that, described motor be the motor shaft with hollow without frame brushless electric machine, described decelerator is harmonic speed reducer, described motor shaft is connected with the wave producer of described harmonic speed reducer, the cup-shape flexspline of described harmonic speed reducer is connected with described flexbile gear output shaft, and the other end of this flexbile gear output shaft is protruding to be connected to described position detecting module through described motor shaft.
18. flexible massage robots according to claim 16, is characterized in that, described flexbile gear output shaft is that quill shaft passes with supply lines.
19. flexible massage robots according to claim 16, it is characterized in that, described moment elasticity transmits the described spoke that module comprises described housing component and is positioned at this housing component, described housing component is formed as the tubular comprising diapire and sidewall, the inner peripheral surface of described sidewall have four circumferentially uniform secter pats, described spoke has center drum and is positioned at four connecting plates around this center drum and circumferentially uniform, between the end of each connecting plate and the internal perisporium of described sidewall, there is gap, described four secter pats and four connecting plates are arranged alternately, and there is elastic component between adjacent secter pat and connecting plate with flexibly carry-over moment.
20. flexible massage robots according to claim 19, it is characterized in that, adjacent secter pat and connecting plate are respectively arranged with lead, have gap between two adjacent leads, described elastic component is helical spring and is set on two adjacent leads.
21. flexible massage robots according to claim 19, it is characterized in that, the center of described diapire has centre bore, and one end of described flexbile gear output shaft is connected to described moment inspecting module through after this centre bore.
22. flexible massage robots according to claim 16, is characterized in that, described moment inspecting module and position detecting module are incremental encoder.
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| CN201310199836.4A CN104175311B (en) | 2013-05-27 | 2013-05-27 | Flexible massage robot |
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| CN201310199836.4A CN104175311B (en) | 2013-05-27 | 2013-05-27 | Flexible massage robot |
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| CN104175311B true CN104175311B (en) | 2016-04-06 |
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