CN104440936A - Variable-rigidity robot joint - Google Patents
Variable-rigidity robot joint Download PDFInfo
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- CN104440936A CN104440936A CN201410821096.8A CN201410821096A CN104440936A CN 104440936 A CN104440936 A CN 104440936A CN 201410821096 A CN201410821096 A CN 201410821096A CN 104440936 A CN104440936 A CN 104440936A
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Abstract
The invention discloses a variable-rigidity robot joint which comprises a transition end used for connecting a precise speed reduction device with an output end. The output end consists of two portions, the two portions are connected through a bolt, and a friction piece is arranged between the two portions, comprises two auxiliary friction pieces and a main friction piece, has special texture and is tightly pressed to produce friction force under the effect of pre-tightening force exerted by the bolt. Rigidity adjustment is performed by utilizing the friction characteristics of the friction piece. The variable-rigidity robot joint has the advantages that the variable-rigidity robot joint is simple in structure, light and high in practicality, and when a robot falls down, is bumped or is subjected to the impact of large external force, the rigidity of the joint can be changed, and accordingly impact energy is absorbed to prevent important parts including the precise speed reduction device, a servo motor and the like from being damaged.
Description
Technical field
The present invention relates to a kind of joint of robot, be specifically related to the stiffness variable joint of robot design that a kind of employing has the friction plate of special decorative pattern, belong to robot field.
Background technology
Robot all has a wide range of applications in industry, service field.Particularly in service robot field, machine man-based development more and more comes into one's own.The adaptive capacity to environment and the secure interactive that improve robot are that the focus studied also has obtained certain achievement always, but because mostly general service robot is to have multivariant complication system, and the uncertainty of external environment, robot is inevitable situation because accidental falls or other situations and the external world collide.
The impact brought due to collision and vibrations may cause the damage, particularly accurate retarding machine structure, servomotor etc. of robot components.Therefore, avoid owing to colliding with the external world and cause the damage of robot most important.Analyze from data; the maximum instantaneous moment of torsion that the precision speed reduction device that robot manipulation joint is installed can bear is only hundreds of Newton meter; and the instantaneous impact of robot when falling down can reach tens thousand of newton, if lack protection mechanism, so precision speed reduction device has very large probability to be destroyed.
Traditional joint of robot lacks flexible, lacks adaptibility to response to contingent all kinds of fortuitous event.Therefore, a kind of joint of robot of rigidity that can regulate in real time must be designed to improve its security performance.Variation rigidity joint based on security concepts should have following features: the accuracy that can ensure robot motion during normal operation, namely has high rigidity; Run into fortuitous event, as robot and external environment collide time, carry out self-protection by reducing the rigidity of joint of robot.
For ensureing the practicality in stiffness variable joint, design should, based on the integral joint mechanism of robot of maturation, under the condition not changing its basic structure and function, be its interpolation variation rigidity function.Because there is strict requirement in robot to the volume in joint, quality, the stiffness variable joint therefore designed must structure simple, save space, do not increase too much quality.And existing stiffness variable joint designs is scarcely for Robot Design, above-mentioned requirements can not be met.
Summary of the invention:
The object of this invention is to provide the robot stiffness variable joint that a kind of structure is simple, light, the rigidity by adjusting joint improves the security performance of robot under dangerous situation.When robot is fallen down or collide with foreign object, by reducing the rigidity in joint, the parts such as protection robot accurate retarding machine structure, servomotor are not damaged.And under normal circumstances, joint has high rigidity, the accuracy of safety action.
To achieve these goals, the technical scheme that the present invention takes is:
A torque conduction device for stiffness variable, comprising:
Transitioning end, it can input the moment of torsion that will conduct;
Output, it can output torque;
Stiffness change device, it is between described transitioning end and described output, for described moment of torsion is conducted to described output from described transitioning end; Affiliated stiffness change device has the first torque conduction pattern and the second torque conduction pattern;
When described output normal stressed time, described stiffness change device is in described first torque conduction pattern, has the first basic fixing rigidity;
When described output is subject to clashing into, described stiffness change device is in described second torque conduction pattern, has the second rigidity reduced relative to described first rigidity.
Preferably, described stiffness change device comprises three friction plates, and described three friction plates comprise main friction plate, the first secondary friction plate and the second secondary friction plate; Described main friction plate is clamped in the middle of the first secondary friction plate, the second secondary friction plate, wherein, the right flank of described first secondary friction plate and the left surface of described main friction plate fit, and the left surface of described second secondary friction plate and the right flank of described main friction plate fit.
Preferably, described main friction plate is disc, and three described friction plates are compacted connect the pretightning force effect applied at output terminal bolt under, produce stiction under the effect of the pressure.
Preferably, there is a threshold value when being dynamic friction state by static friction State Transferring between described main friction plate and described first and second secondary friction plates; Described output normal stressed time, frictional force is less than described threshold value, is in static friction state, and described moment of torsion is conducted by stiction; When described output is subject to clashing into, exceed the threshold value of frictional force if stressed, stiction cannot maintain its moment of torsion produced, and relative sliding will occur between friction plate, and the rigidity of described stiffness change device reduces.
Preferably, described three friction plates have texture.
Preferably, described output is made up of output one and output two two parts, is bolted.
Preferably, described output and described first and second secondary friction plates are fitted and connected by concave surface and external tooth, and described first and second secondary friction plates are connected with output one, output two respectively.
A joint of robot for stiffness variable, is characterized in that, comprises the torque conduction device of the stiffness variable according to any one of above technical scheme.
A kind of robot, comprises motor, decelerator, and the joint of robot according to above technical scheme be connected with described decelerator.
Preferably, described decelerator is harmonic speed reducer.
The present invention has the following advantages and particularity effect: the present invention devises a kind of joint of robot adopting the stiffness variable of friction plate, mainly make use of the frictional behavior principle of friction plate, only used three friction plates and just realize variation rigidity function, outstanding advantages is that structure is simple, light, do not increase too much dimensional space and weight, friction plate has the texture of particular design, there is larger coefficient of friction and less pretightning force, be particularly suitable for there is the application scenario of being comparatively strict with, as robot to joint space, quality.This stiffness variable joint designs is based on the integral joint mechanism of robot of maturation, does not change its basic structure, carries out simple transformation can realize stiffness variable function to existing joint, practical, is convenient to application.
Accompanying drawing illustrates:
Fig. 1 is the structural representation before the joint of robot assembling of stiffness variable of the present invention;
Fig. 2 is the structural representation after the joint of robot assembling of stiffness variable of the present invention;
Fig. 3 is the texture had of the present invention's friction plate used;
In figure: 1 is transitioning end, 2 is outputs one, and 3 is secondary friction plates, and 4 is main friction plates, and 5 is secondary friction plates, and 6 is outputs two.
Detailed description of the invention:
Below in conjunction with the drawings and specific embodiments, the invention will be further described, but not as a limitation of the invention.
See Fig. 1, the joint of robot of stiffness variable, comprises transitioning end 1, and transitioning end 1 is arranged in next link of joint of robot driving-chain decelerator, plays connection reducer and output 1, and transmitting the motion of decelerator, is the input of joint motions.Secondary friction plate 3 is connected with decelerator output 1 with external tooth by concave surface, secondary friction plate 5 is connected with output 26 with external tooth by concave surface, main friction plate 4 is clamped in the middle of secondary friction plate 3, secondary friction plate 5, wherein, the secondary right flank of friction plate 3 and the left surface of main friction plate 4 fit, and the left surface of secondary friction plate 5 and the right flank of main friction plate 4 fit.Decelerator output 2 is connected by 6 bolts around driving axle center above with joint output 26, and being connected below by 2 bolts, keeping synchronous with the motion of harmonic speed reducer, is the output of joint motions.6 bolts around axle center also play and apply the effect of pretightning force, and main friction plate 4 and secondary friction plate 3, secondary friction plate 5 are compacted under pretightning force effect, produce stiction under pressure.
This stiffness variable joint designs mainly make use of the frictional behavior of friction plate.A threshold value is there is when being dynamic friction state by static friction State Transferring between friction plate.Normal stressed time, frictional force is less than threshold value, is in static friction state, and moment of torsion will be conducted by stiction.When joint output is subject to clashing into; if exceed the threshold value of frictional force stressed, stiction cannot maintain its moment of torsion produced, and relative sliding will occur between friction plate; the rigidity in joint reduces, thus plays a protective role to the harmonic speed reducer in a link on driving-chain.Because in shock, part energy is converted into kinetic energy, so can play certain cushioning effect.
Set the frictional force threshold value in stiffness variable joint according to the safe torque of decelerator, make frictional force threshold value be less than the safe torque of decelerator, when such joint mechanics exceedes frictional force threshold value, can guarantee that decelerator is within the scope of safe torque.The size of frictional force threshold value depends on the size of pressure and the coefficient of friction of friction plate material between friction plate, can be chosen suitable pressure size and coefficient of friction by the method calculating and test.Source pressure between friction plate, in the pretightning force of bolt, reaches suitable pressure by the pretightning force of adjusting bolt.The method of adjusting bolt pretightning force has a lot, such as, use instrument and equipment---torque tester etc.
Above-described embodiment, the just one of the present invention's more preferably detailed description of the invention, the usual change that those skilled in the art carries out within the scope of technical solution of the present invention and replacing all should be included in protection scope of the present invention.
Claims (10)
1. a torque conduction device for stiffness variable, comprising:
Transitioning end, it can input the moment of torsion that will conduct;
Output, it can output torque;
Stiffness change device, it is between described transitioning end and described output, for described moment of torsion is conducted to described output from described transitioning end; Affiliated stiffness change device has the first torque conduction pattern and the second torque conduction pattern;
When described output normal stressed time, described stiffness change device is in described first torque conduction pattern, has the first basic fixing rigidity;
When described output is subject to clashing into, described stiffness change device is in described second torque conduction pattern, has the second rigidity reduced relative to described first rigidity.
2. torque conduction device according to claim 1, is characterized in that, described stiffness change device comprises three friction plates, and described three friction plates comprise main friction plate, the first secondary friction plate and the second secondary friction plate; Described main friction plate is clamped in the middle of the first secondary friction plate, the second secondary friction plate, wherein, the right flank of described first secondary friction plate and the left surface of described main friction plate fit, and the left surface of described second secondary friction plate and the right flank of described main friction plate fit.
3. torque conduction device according to claim 2, is characterized in that, described main friction plate is disc, and three described friction plates are compacted connect the pretightning force effect applied at output terminal bolt under, produce stiction under the effect of the pressure.
4. torque conduction device according to claim 3, is characterized in that, there is a threshold value when being dynamic friction state by static friction State Transferring between described main friction plate and described first and second secondary friction plates; Described output normal stressed time, frictional force is less than described threshold value, is in static friction state, and described moment of torsion is conducted by stiction; When described output is subject to clashing into, exceed the threshold value of frictional force if stressed, stiction cannot maintain its moment of torsion produced, and relative sliding will occur between friction plate, and the rigidity of described stiffness change device reduces.
5. torque conduction device according to claim 4, is characterized in that, described three friction plates have texture.
6. according to the torque conduction device described in any one of claim 2-5, it is characterized in that, described output is made up of output one and output two two parts, is bolted.
7. torque conduction device according to claim 6, is characterized in that, described output and described first and second secondary friction plates are fitted and connected by concave surface and external tooth, and described first and second secondary friction plates are connected with output one, output two respectively.
8. a joint of robot for stiffness variable, is characterized in that, comprises the torque conduction device of the stiffness variable according to any one of claim 1-7.
9. a robot, comprises motor, decelerator, and the joint of robot according to claim 8 be connected with described decelerator.
10. robot according to claim 9, is characterized in that, described decelerator is harmonic speed reducer.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410821096.8A CN104440936B (en) | 2014-12-25 | 2014-12-25 | A kind of joint of robot of stiffness variable |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410821096.8A CN104440936B (en) | 2014-12-25 | 2014-12-25 | A kind of joint of robot of stiffness variable |
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| CN104440936A true CN104440936A (en) | 2015-03-25 |
| CN104440936B CN104440936B (en) | 2016-04-27 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105328711A (en) * | 2015-11-10 | 2016-02-17 | 哈尔滨工业大学 | Modular rigidity-changing joint |
| CN105345839A (en) * | 2015-11-10 | 2016-02-24 | 哈尔滨工业大学 | Variable-rigidity joint based on characteristics of torsional springs |
| CN107538486A (en) * | 2016-06-29 | 2018-01-05 | 沈阳新松机器人自动化股份有限公司 | A kind of joint power control platform device, method and relevant apparatus |
| CN113580177A (en) * | 2021-08-03 | 2021-11-02 | 浙江大学 | Rigidity-variable humanoid hand rigid-flexible hybrid robot |
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| CN101011825A (en) * | 2007-02-08 | 2007-08-08 | 上海交通大学 | Safety type rigidity variable mechanical joint |
| WO2008029969A1 (en) * | 2006-09-04 | 2008-03-13 | Korea Institute Of Science And Technology | Device for generating stiffness and joint of robot manipulator comprising the same |
| CN101293351A (en) * | 2008-06-05 | 2008-10-29 | 上海交通大学 | Safe mechanical joint with adjustable stiffness of magnetorheological fluid clutch |
| CN101973037A (en) * | 2010-11-22 | 2011-02-16 | 北方工业大学 | Passive robot joint with adjustable rigidity elasticity |
| KR101256285B1 (en) * | 2011-02-10 | 2013-04-18 | 고려대학교 산학협력단 | Cam-cam follower type safety unit with nonlinear stiffness for sensing torque applied to the unit |
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2014
- 2014-12-25 CN CN201410821096.8A patent/CN104440936B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008029969A1 (en) * | 2006-09-04 | 2008-03-13 | Korea Institute Of Science And Technology | Device for generating stiffness and joint of robot manipulator comprising the same |
| CN101011825A (en) * | 2007-02-08 | 2007-08-08 | 上海交通大学 | Safety type rigidity variable mechanical joint |
| CN101293351A (en) * | 2008-06-05 | 2008-10-29 | 上海交通大学 | Safe mechanical joint with adjustable stiffness of magnetorheological fluid clutch |
| CN101973037A (en) * | 2010-11-22 | 2011-02-16 | 北方工业大学 | Passive robot joint with adjustable rigidity elasticity |
| KR101256285B1 (en) * | 2011-02-10 | 2013-04-18 | 고려대학교 산학협력단 | Cam-cam follower type safety unit with nonlinear stiffness for sensing torque applied to the unit |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105328711A (en) * | 2015-11-10 | 2016-02-17 | 哈尔滨工业大学 | Modular rigidity-changing joint |
| CN105345839A (en) * | 2015-11-10 | 2016-02-24 | 哈尔滨工业大学 | Variable-rigidity joint based on characteristics of torsional springs |
| CN105345839B (en) * | 2015-11-10 | 2017-04-12 | 哈尔滨工业大学 | Variable-rigidity joint based on characteristics of torsional springs |
| CN107538486A (en) * | 2016-06-29 | 2018-01-05 | 沈阳新松机器人自动化股份有限公司 | A kind of joint power control platform device, method and relevant apparatus |
| CN113580177A (en) * | 2021-08-03 | 2021-11-02 | 浙江大学 | Rigidity-variable humanoid hand rigid-flexible hybrid robot |
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| Publication number | Publication date |
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| CN104440936B (en) | 2016-04-27 |
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Inventor after: Huang Qiang Inventor after: Meng Libo Inventor after: Yu Zhangguo Inventor after: Tang Chenglong Inventor after: Song Hui Inventor after: Chen Xuechao Inventor after: Ma Gan Inventor after: Huang Hulin Inventor after: Gao Junyao Inventor before: Huang Qiang Inventor before: Meng Libo Inventor before: Yu Zhangguo Inventor before: Chen Xuechao Inventor before: Ma Gan Inventor before: Huang Hulin Inventor before: Gao Junyao |
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Application publication date: 20150325 Assignee: SHANDONG SHUAIKE MACHINERY MANUFACTURING Co.,Ltd. Assignor: BEIJING INSTITUTE OF TECHNOLOGY Contract record no.: X2022980000077 Denomination of invention: A robot joint with variable stiffness Granted publication date: 20160427 License type: Common License Record date: 20220106 Application publication date: 20150325 Assignee: GUIZHOU AEROSPACE LINQUAN MOTOR Co.,Ltd. Assignor: BEIJING INSTITUTE OF TECHNOLOGY Contract record no.: X2021980017367 Denomination of invention: A robot joint with variable stiffness Granted publication date: 20160427 License type: Common License Record date: 20220104 |
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