CN104552333B - Extra flexible robot joint - Google Patents
Extra flexible robot joint Download PDFInfo
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- CN104552333B CN104552333B CN201510019102.2A CN201510019102A CN104552333B CN 104552333 B CN104552333 B CN 104552333B CN 201510019102 A CN201510019102 A CN 201510019102A CN 104552333 B CN104552333 B CN 104552333B
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Abstract
The invention discloses an extra flexible robot joint. The extra flexible robot joint is arranged on the junction of the front rod and the rear rod of the robot, and comprises a magneto extra flexible actuator which comprises a driving rotor, a driven rotor, and a rotor protection cover, wherein a driving motor is installed in the rear rod, the output shaft of the driving motor is connected with the driving shaft of the driving rotor, a rotating gap is arranged between the driven rotor and the driving rotor both which are mutually embedded, the opening of the rotating gap is provided with a movable sealing element, the movable sealing element and the rotating gap form a sealing cavity filled with magneto-rheological fluid, the driven rotor and the driving rotor are arranged in the rotor protection cover on which an electromagnetic coil for changing the magnetic field strength in the sealing cavity is arranged, the driven shaft of the driven rotor is connected with the lower end of an actuating mechanism, and the upper end of the actuating mechanism is connected with the front rod. The extra flexible robot joint simultaneously has active flexibility, passive flexibility and transmission rigidity and is higher in safety.
Description
Technical field
The present invention relates to robot field, especially a kind of joint of robot.
Background technology
Along with the day by day development of robotics, and the promotion energetically of all kinds of industrial policy, machine
Mechanical arm is in fields such as industrial and agricultural production processing, medical rehabilitation, home services, education and scientific research
Obtain relatively broad application, alleviate the labor intensity of the mankind the most to a certain extent,
Make the mankind or may be located remotely from some dangerous, extreme working environments, mechanical arm conduct
The assistant that the mankind are indispensable, will play a greater and greater role in various fields.
Along with the continuous expansion of mechanical arm range of application, researchers the most not only will
Sight rests on the application scenarios such as labor intensity is big, working environment is poor, generally begins to focus on one
The newest application demand.Such as, how researchers allow one in thinking or exploration
Mechanical arm walks out the cage that wire gauze surrounds, it is possible to jointly complete one with people's closely close fit
The assembly work that item is complicated, thus allow mechanical arm not only play the part of the role of assistant, moreover it is possible to play the part of
The role of partner, the safety of mechanical arm is had higher requirement by this.Same to its safety
Property has the possible application in some futures of requirements at the higher level also to include health physical therapy, family life
Service, help children help the elderly help the disabled, fruit and vegetable picking selection packaging, man-machine interaction and amusement etc..
Mechanical arm cradle head based on the positive drive parts such as reductor in rigidity, accurately
The aspects such as degree, stability have clear superiority；With the positive drive parts such as steel wire, gear as base
The robot humanoid dexterous finger-joint of plinth is equally at aspect tables such as rigidity, degree of accuracy and dexterities
The best.Researchers are for making up positive drive joint to mechanical arm and robot apery spirit
The deficiency of the safety that dab hand brings, has done substantial amounts of work and has achieved successfully, and it realizes plan
It is the most all to use end force feedback and coordinate the mode of intelligent algorithm, can be referred to as actively
Flexible.Another kind of achievement in research such as robot based on Pneumatic flexible actuator humanoid dextrous hand,
Can arbitrarily change the rigidity of articulations digitorum manus by adjusting air pressure, it is touched right to make it fully to ensure
The safety of elephant and ontological security thereof, can be referred to as passive flexible, but it is not enough but to bring rigidity
Problem.Existing joint of robot cannot take into account active flexible, passive flexible, rigidity simultaneously
Demand, thus in terms of intrinsic safety, have certain shortcoming.
Summary of the invention
Active flexible, passive flexible and transmission cannot be taken into account in order to overcome existing joint of robot
Rigidity, thus cause the relatively low deficiency of safety, the present invention provides one to be capable of simultaneously and holds concurrently
There are active flexible, passive flexible and transmission rigidity, and the super flexible robot pass that safety is higher
Joint.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of super flexible machine person joint, this joint is positioned at the front bar of robot and the connection of rear bar
Place, described joint includes that mangneto surpasses flexible actuator, and described mangneto surpasses flexible actuator and includes main
Dynamic rotor, driven rotor and rotor protection cover, install in described rear bar and drive motor, described in drive
The output shaft of galvanic electricity machine is connected with the driving shaft of described power rotor, and described driven rotor is with described
The mutual embedded assembling of power rotor and be provided with running clearance each other, described running clearance
Open-mouth is provided with dynamic seal, described dynamic seal and running clearance and is formed for magnetic flow liquid filling
Sealing cavity, described driven rotor and power rotor be respectively positioned in rotor protection cover, described turn
Install to change the solenoid of magnetic field intensity in annular seal space body on sub-protective cover, described driven
The driven shaft of rotor is connected with the lower end of actuator, the upper end of described actuator with described before
Bar connects.
Further, described power rotor has the installation cavity for described driven rotor plug-in mounting, institute
The cross section of the plug-in mounting section stating driven rotor is profile of tooth, and the inwall of described installation cavity has and described tooth
The profile of tooth breach of shape coupling, is provided with described dynamic between opening and the described plug-in mounting section of described installation cavity
Sealing member.Which belongs to preferably a kind of scheme, certainly, if described driven rotor and institute
State the mutual embedded assembling of power rotor and be provided with running clearance each other, it would however also be possible to employ its
His implementation.
Further, described actuator is bending execution mechanism, and described bending performs structure bag
Include drive bevel gear and driven wheel of differential, described driven shaft is installed described drive bevel gear, institute
Stating drive bevel gear to engage with described driven wheel of differential, the rotating shaft of described driven wheel of differential is arranged on
The lower end of described front bar.Such scheme is a kind of mode of bending execution mechanism, certainly, it is possible to
To use other mechanisms to realize；Furthermore, performing structure can also be the tools such as rotary actuator
There is the structure of other functions.
The technology of the present invention is contemplated that: magnetic flow liquid is that one has phase transformation spy in magnetic field environment
The intellectual material of property, shows as liquid, when magnetic field intensity is sufficiently large when magnetic field intensity is zero
Being changed into solidification state, phase transition process is controlled, reversible, the time is short.The super flexibility of this patent definition
Joint of robot surpasses flexible actuator for primary drive device with mangneto based on magnetic flow liquid, and
By applying the feedback control of front bar stress, make this joint can meet biography in motor process simultaneously
Dynamic rigidity, active flexible and passive flexible demand, it is adaptable to exploitation has intrinsic safety
Mechanical arm or robot humanoid dextrous hand product.
Beneficial effects of the present invention is mainly manifested in: by applying the feedback control of front bar stress,
Make described joint have active flexible, passive flexible and transmission rigidity concurrently, thus have higher
Safety.
Accompanying drawing explanation
Fig. 1 is the straight configuration schematic diagram of super flexible machine person joint.
Fig. 2 is the case of bending schematic diagram of super flexible machine person joint..
Fig. 3 is the schematic diagram of power rotor.
Fig. 4 is the schematic diagram of driven rotor.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings.
With reference to Fig. 1～Fig. 4, a kind of super flexible machine person joint, before this joint is positioned at robot
Bar 1 and the junction of rear bar 2, described joint includes that mangneto surpasses flexible actuator, described mangneto
Super flexible actuator includes power rotor 3, driven rotor 4 and rotor protection cover 5, described rear bar
The active driving motor, the output shaft of described driving motor and described power rotor 3 is installed in 2
Axle 6 connects, described driven rotor 4 and the mutual embedded assembling of described power rotor 3 and mutually
Between be provided with running clearance, the open-mouth of described running clearance is provided with dynamic seal, described dynamic close
Sealing and running clearance form the sealing cavity filled for magnetic flow liquid 7, described driven rotor 4
Be respectively positioned in rotor protection cover 5 with power rotor 3, described rotor protection cover 5 is installed in order to
The solenoid 8 of magnetic field intensity, the driven shaft 9 of described driven rotor 4 in change annular seal space body
Being connected with the lower end of actuator, the upper end of described actuator is connected with described front bar 1.
Further, described power rotor 4 has the installation cavity for described driven rotor 4 plug-in mounting,
The cross section of the plug-in mounting section of described driven rotor 4 is profile of tooth, and the inwall of described installation cavity has and institute
State the profile of tooth breach of profile of tooth coupling, between opening and the described plug-in mounting section of described installation cavity, be provided with institute
State dynamic seal.Which belongs to preferably a kind of scheme, certainly, if described driven rotor
Embedded assembling mutual with described power rotor and be provided with running clearance each other, it is also possible to adopt
Use other implementations.
Further, described actuator is bending execution mechanism, and described bending performs structure bag
Include drive bevel gear 10 and driven wheel of differential 11, described driven shaft 9 installs described initiative taper
Gear 10, described drive bevel gear 10 engages with described driven wheel of differential 11, described from mantle
The rotating shaft of gear 11 is arranged on the lower end of described front bar 1.Such scheme is bending execution mechanism
A kind of mode, it is of course also possible to realize for other mechanisms；Furthermore, performing structure can also
It it is the structure with other functions such as rotary actuator.
In the present embodiment, magnetic flow liquid 7 is filled in described annular seal space body, when solenoid 8
During power-off, magnetic field intensity is zero, and magnetic flow liquid 7 is liquid, can not pass between main driven rotor
Torque delivery, mangneto surpasses flexible actuator and transmits function without moment of torsion；When solenoid 8 is energized,
Magnetic field intensity increases, and magnetic flow liquid 7 presents semisolid to solidifying solid state transformation, and mangneto surpasses flexibility and drives
Dynamic device can realize gear, and gear ratio is adjustable；When magnetic field intensity is sufficiently large, magnetic flow liquid
7 are changed into solidification state, realize Hard link between main driven rotor.
The super flexible machine person joint of the present embodiment by mangneto surpass flexible actuator, rear bar, front bar,
Drive bevel gear, driven wheel of differential form, and surpass flexible actuator for primary drive device with mangneto,
Motor is fixed on inside rear bar, drives the output shaft of motor to surpass the defeated of flexible actuator with mangneto
Entering axle to be connected, mangneto is surpassed the rotary motion of flexible actuator driven shaft by driving and driven bevel gear to be changed
Bending and unbending movement for front bar.Motion Control Strategies is analyzed as follows:
1) mangneto surpass flexible actuator solenoid energising after, magnetic flow liquid by liquid to solidification
State changes, and now controls motor and rotates, and front bar can bend or unbending movement.When magnetorheological
When liquid is in semisolid, it is possible to achieve gear, gear ratio is controllable；Work as magnetic flow liquid
When being in solidification state, transmission process shows as rigidity；
2) after joint motions arrive object pose, motor stops output, by regulation mangneto
The magnetic field intensity of super flexible actuator solenoid keeps joint position, makes front bar obtain simultaneously
Need moment of torsion, during can also by change solenoid magnetic field intensity adjust moment of torsion
Size；
3) when front bar prominent chance risk of collision, can be changed in real time by the feedback control of front bar stress
The magnetic field intensity of solenoid, and then change the rigidity in joint, thus to joint itself with connect
Tactile object simultaneously works as protective effect；When front bar is prominent meet risk of collision time, even if sensing device or
Control failure of apparatus, also can be by the failure by shear effect of solid/semi-solid magnetic flow liquid to joint
Itself and touched object are protected, thus improve the intrinsic safety of robot product.
Claims (3)
1. a super flexible machine person joint, this joint is positioned at the front bar of robot and the junction of rear bar,
It is characterized in that: described joint includes that mangneto surpasses flexible actuator, and described mangneto surpasses soft drive
Device includes power rotor, driven rotor and rotor protection cover, installs and drive motor in described rear bar,
The output shaft of described driving motor is connected with the driving shaft of described power rotor, described driven rotor
Embedded assembling mutual with described power rotor and be provided with running clearance each other, described rotation
The open-mouth in gap is provided with dynamic seal, described dynamic seal and running clearance and is formed for magnetorheological
The sealing cavity that liquid is filled, described driven rotor and power rotor be respectively positioned in rotor protection cover,
Install to change the solenoid of magnetic field intensity, institute in annular seal space body on described rotor protection cover
The lower end of the driven shaft and actuator of stating driven rotor is connected, the upper end of described actuator with
Described front bar connects.
2. super flexible machine person joint as claimed in claim 1, it is characterised in that: described active turns
The installation cavity for described driven rotor plug-in mounting is had, cutting of the plug-in mounting section of described driven rotor on son
Face is profile of tooth, and the inwall of described installation cavity has the profile of tooth breach mated with described profile of tooth, described
It is provided with described dynamic seal between opening and the described plug-in mounting section of installation cavity.
3. super flexible machine person joint as claimed in claim 1 or 2, it is characterised in that hold described in:
Row mechanism is bending execution mechanism, and described bending performs structure and includes drive bevel gear and from mantle
Gear, described driven shaft installs described drive bevel gear, described drive bevel gear with described from
Dynamic bevel gear engages, and the rotating shaft of described driven wheel of differential is arranged on the lower end of described front bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510019102.2A CN104552333B (en) | 2015-01-14 | 2015-01-14 | Extra flexible robot joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510019102.2A CN104552333B (en) | 2015-01-14 | 2015-01-14 | Extra flexible robot joint |
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| CN104552333A CN104552333A (en) | 2015-04-29 |
| CN104552333B true CN104552333B (en) | 2017-01-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510019102.2A Active CN104552333B (en) | 2015-01-14 | 2015-01-14 | Extra flexible robot joint |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108582150A (en) * | 2018-06-12 | 2018-09-28 | 浙江工业大学 | A kind of submissive joint of composite excitation formula robot based on magnetorheological fluid |
| CN108582151A (en) * | 2018-06-12 | 2018-09-28 | 浙江工业大学 | A kind of mixed liquor excitation controller in the submissive joint of robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5779013A (en) * | 1996-07-18 | 1998-07-14 | New Venture Gear, Inc. | Torque transfer apparatus using magnetorheological fluids |
| CN101293351A (en) * | 2008-06-05 | 2008-10-29 | 上海交通大学 | Safe mechanical joint with adjustable stiffness of magnetorheological fluid clutch |
| CN101618547B (en) * | 2009-07-16 | 2011-04-06 | 重庆大学 | Robot anklebone damping device |
| WO2011041890A1 (en) * | 2009-10-09 | 2011-04-14 | The University Of Western Ontario | Magneto-rheological clutch with sensors measuring electromagnetic field strength |
| CN204036466U (en) * | 2014-09-12 | 2014-12-24 | 福建省瑞奥麦特轻金属有限责任公司 | The modified node method of soup arm is given in a kind of fused solution soup feeding machine tool hand |
| CN204566157U (en) * | 2015-01-14 | 2015-08-19 | 浙江工业大学 | Super flexible machine person joint |
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Effective date of registration: 20201023 Address after: Room 1,020, Nanxun Science and Technology Pioneering Park, No. 666 Chaoyang Road, Nanxun District, Huzhou City, Zhejiang Province, 313000 Patentee after: Huzhou You Yan Intellectual Property Service Co.,Ltd. Address before: The city Zhaohui six districts Chao Wang Road Hangzhou city Zhejiang province Zhejiang University of Technology No. 18 310014 Patentee before: ZHEJIANG University OF TECHNOLOGY |
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Effective date of registration: 20210511 Address after: 310000 Zhaohui District 6, Xiacheng District, Hangzhou City, Zhejiang Province Patentee after: ZHEJIANG University OF TECHNOLOGY Address before: 313000 room 1020, science and Technology Pioneer Park, 666 Chaoyang Road, Nanxun Town, Nanxun District, Huzhou, Zhejiang. Patentee before: Huzhou You Yan Intellectual Property Service Co.,Ltd. Effective date of registration: 20210511 Address after: 313000 No.39, Limin Road, Zhili Town, Wuxing District, Huzhou City, Zhejiang Province Patentee after: Zhejiang creation Intellectual Property Service Co.,Ltd. Address before: 310000 Zhaohui District 6, Xiacheng District, Hangzhou City, Zhejiang Province Patentee before: ZHEJIANG University OF TECHNOLOGY Effective date of registration: 20210511 Address after: 169 Lifa Avenue, Chengdong Town, Hai'an City, Nantong City, Jiangsu Province, 226000 Patentee after: Xinbao robot technology (Nantong) Co.,Ltd. Address before: 313000 No.39, Limin Road, Zhili Town, Wuxing District, Huzhou City, Zhejiang Province Patentee before: Zhejiang creation Intellectual Property Service Co.,Ltd. |
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