CN104669261A - Synchronous displacement adjustment type variable-stiffness joint driver and adjustment method for robot joint stiffness - Google Patents
Synchronous displacement adjustment type variable-stiffness joint driver and adjustment method for robot joint stiffness Download PDFInfo
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- CN104669261A CN104669261A CN201510072095.2A CN201510072095A CN104669261A CN 104669261 A CN104669261 A CN 104669261A CN 201510072095 A CN201510072095 A CN 201510072095A CN 104669261 A CN104669261 A CN 104669261A
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Abstract
The invention discloses a synchronous displacement adjustment type variable-stiffness joint driver. The synchronous displacement adjustment type variable-stiffness joint driver comprises a base, a swing arm position control assembly, a variable-stiffness adjustment assembly and an angular deviation measurement assembly, and is characterized in that the swing arm position control assembly is used for moving a swing arm to a specified equilibrium position point; the variable-stiffness adjustment assembly is used for changing the stiffness value of the driver according to the requirement of an actual task; the angular deviation measurement assembly is used for measuring and acquiring angular deviations for subsequent data processing and real-time stiffness control. The synchronous displacement adjustment type variable-stiffness joint driver is used for the variable-stiffness control of a robot joint, and can realize the flexibility of a driving system in terms of control without adding sensors, and thereby human safety is improved in the process of human-machine interaction. In addition, because of the special structural design, the energy consumption of a robot can be reduced, the joint structure is more compact, and good shock resistance and flexible dynamic characteristic lay a solid foundation for the movement of the robot in complex environments.
Description
Technical field
The invention belongs to robot field, relate to a kind of stiffness variable joint driver, particularly relate to a kind of leaf spring that adopts as elastic link, spiral of Archimedes dish is as the stiffness variable joint driver of synchronous shift guiding mechanism.The invention still further relates to a kind of method of adjustment of joint of robot rigidity.
Background technology
Joint driver is the core component of robot, and the quality of its performance directly affects the overall performance of robot.Industrial robot, in order to realize the accurately requirement such as location and track following, often requires that joint driver has very large rigidity.But, robot is in the operations such as grinding, assembling, the turn of the screw, in order to prevent, in operation due to excessive with environment force and cause robot or impaired by operand, usually while enforcing location controls, also will limiting the active force in some direction.In addition, reality also has more more complicated operations in producing, and often needs machine person to person at same working space and operationally cooperatively interact just can be accomplished.If robot rigidity is too large, when running into accident collision, often cause serious personal safety as well as the property safety loss.
In order to prevent industrial robot from injuring people in operation, International Organization for standardization (ISO) specifies, industrial robot must be separated with other staff with operator.But, spatially cannot accomplish the class robot be separated for machine person to person, as amusement robot, service robot, anthropomorphic robots etc., existing generally in the industry adopt light-duty and low-power design, guarantee with people's interaction in be unlikely to damage.This limits the performance of robot function and performance to a certain extent, seriously limits its application in human-computer interaction, must not be the way then taked.
The robot articular driver of stiffness variable can according to task needs, real-time adjusting joint rigidity, improve the adaptability of robot under non-structure environment.Its technical characteristics is: the elastic link that serial or parallel connection rigidity is adjustable on driving-chain, the kinetic energy in joint and elastic potential energy can be transformed mutually.The main application fields of variation rigidity joint driver is divided into two classes: man-machine interaction and the intrinsic dynamics of adjustment System.Variation rigidity joint driver for solve Robot Helps Me To Avoid Danger man-machine safety, improve dynamic characteristic and save the key issue such as energy significant.
No. 201310119858.5th, Chinese patent application " a kind of robot articular driver of stiffness variable ", the operation principle of its technical scheme is: utilize stiffness equivalent motor-driven gear to roll on flexible rack, change the stress point of flexible rack, make flexible rack generation deflection deformation in various degree, thus reach the object of variation rigidity.Flexible rack mechanism is elastic link Ye Shi stiffness tuning mechanism.This rigidity of structure adjustment stroke limiting, and is difficult to realize accurate synchronous adjustment, because this body structure limits, makes its application on joint of robot also need the exploration of long period.
Summary of the invention
Object of the present invention, it is the deficiency that cannot realize the adjustment of accurate synchronous shift for above-mentioned prior art, provide a kind of can the variation rigidity joint driver of accurate synchronous adjustment fulcrum displacement, its structure is simple, small and exquisite, adjust quick, energy-conservation and there is very large stiffness equivalent scope, can effectively solve the problems such as the energy consumption of existing robot is high and environmental suitability is poor.
According to an aspect of the present invention, providing one can synchronous adjustment displacement-type variation rigidity joint driver, it is characterized in that comprising: pedestal, rocking arm position control assembly, variation rigidity adjustment assembly, rocking arm, angular deviation measurement components,
Wherein
The equilbrium position point that rocking arm position control assembly is specified for making rocking arm arrive,
Variation rigidity adjustment assembly is used for the rigidity value needing to change driver according to actual task,
Angular deviation measurement components is used for measuring and gather rocking arm deformation angle deviation, with the real-time control of the process and rigidity of carrying out follow-up data.
According to another aspect of the present invention, provide a kind of method of adjustment of joint of robot rigidity, it is characterized in that comprising:
Adopt one can synchronous adjustment displacement-type variation rigidity joint driver, it comprises: pedestal, rocking arm position control assembly, variation rigidity adjustment assembly, rocking arm, angular deviation measurement components,
With the equilbrium position point that rocking arm position control assembly makes rocking arm arrive to specify,
Need according to actual task the rigidity value changing driver with variation rigidity adjustment assembly,
Measure with angular deviation measurement components and gather rocking arm deformation angle deviation, with the real-time control of the process and rigidity of carrying out follow-up data.
Accompanying drawing explanation
Fig. 1 is the overall structure figure of stiffness variable joint driver according to an embodiment of the invention.
Fig. 2 is the variation rigidity joint driver exploded perspective view split by functional unit.
Fig. 3 is the rocking arm position control assembly explosive view of variation rigidity joint driver.
Fig. 4 is the variation rigidity adjustment assembly explosive view of variation rigidity joint driver.
Fig. 5 is the angular deviation measurement components figure of variation rigidity joint driver.
Fig. 6 is the fulcrum adjustment of displacement modular construction figure in variation rigidity adjustment assembly.
Fig. 7 is two spiral of Archimedes figure arranged about Central Symmetry.
Fig. 8 is spiral of Archimedes dish schematic diagram.
Detailed description of the invention
A kind of specific embodiment of the present invention is described in detail below in conjunction with accompanying drawing.
As depicted in figs. 1 and 2, be that one according to an embodiment of the invention can synchronous adjustment displacement-type variation rigidity joint driver, it comprises: pedestal 1, rocking arm position control assembly 2, variation rigidity adjustment assembly 3, Rocker arm 4; Wherein, rocking arm position control assembly 2 is fixed on pedestal 1, and variation rigidity adjustment assembly 3 is connected between Rocker arm 4 and rocking arm position control assembly 2, is fixed with load 5 at Rocker arm 4 end.
As shown in Figure 3, the rocking arm position control assembly 2 of variation rigidity joint driver according to an embodiment of the invention comprises: eccentric shaft 6, regulating wheel 7, low-power synchronous pulley 8, active force Timing Belt 9, large power synchronous belt wheel 10, circular fixed disk 11, harmonic speed reducer 12, position adjustments servomotor 13.Wherein, position control servomotor 13 and harmonic speed reducer 12 are all fixed on circular fixed disk 11, and rotation is passed to harmonic speed reducer 12 by Timing Belt wheels 8-9-10 by servomotor 13.Select the object of harmonic speed reducer, be that it is while providing larger transmission accuracy and moment of torsion, has volume little, lightweight feature.Circular fixed disk 11 is also provided with eccentric shaft 6, regulating wheel 7 can be made to compress power synchronous band 9 by adjustment eccentric shaft 6, make the transmission between Timing Belt wheels 8-9-10 there will not be de-tooth.
As shown in Figure 4, the variation rigidity adjustment assembly 3 of variation rigidity joint driver according to an embodiment of the invention comprises: harmonic speed reducer connecting plate 14, adjustment of displacement stepper motor 15, band guide groove cylinder 16, spiral of Archimedes dish 17, fulcrum adjustment of displacement parts 18, leaf spring 19, angular deviation measurement components 20, cross roller bearing 21, output flange 22.Wherein, harmonic speed reducer 12 and band guide groove cylinder 16 are fixed together by harmonic speed reducer connecting plate 14.Adjustment of displacement stepper motor 15 is arranged on band guide groove cylinder 16 interior plate, and adjustment of displacement stepper motor 15 output shaft is connected with spiral of Archimedes dish 17, for driving the forward and reverse rotation of drum.Fulcrum adjustment of displacement parts 18 can reciprocatingly slide in the guide groove of band guide groove cylinder 16, and its end is placed in the wire casing of spiral of Archimedes dish 17, and leaf spring 19 is fixed on output flange 22.Between band guide groove cylinder 16 and output flange 22, cross roller bearing 21 is installed, on the right side of cross roller bearing 21 outer ring, is connected with angular deviation measurement components 20.
As shown in Figure 5, the angular deviation measurement components 20 of variation rigidity joint driver according to an embodiment of the invention comprises potentiometer 23, potentiometer support 24, little prototype gear 25, the bearing outer baffle 26 of band internal messing tooth.Wherein, potentiometer 23 is fixed on band guide groove cylinder 16 inwall by potentiometer support 24, little prototype gear 25 is fixed on potentiometer 23 power shaft by jackscrew, and engage with the bearing outer baffle 26 of band internal messing tooth, cross roller bearing 21 outer ring is clipped in the middle by screw with output flange 22 by the bearing outer baffle 26 with internal messing tooth, when there is the deflection of certain angle in output flange 22, because the bearing outer baffle 26 of little prototype gear 25 with band internal messing tooth engages, angular deviation will be carried out a certain proportion of amplification, be delivered on potentiometer 23 axle, cause the change of potentiometer 23 output voltage, by A/D conversion module, the change of potentiometer reading can be read, thus calculate actual angle variable quantity.
As shown in Figure 6, the fulcrum adjustment of displacement parts 18 of variation rigidity joint driver according to an embodiment of the invention comprise: the left frame 27 of bearing, the right frame 28 of bearing, bearing group 29, bearing shaft 30.Wherein, be each side provided with fulcrum adjustment of displacement parts 18 at leaf spring 19, the left frame of bearing 27 and the right frame 28 of bearing are connected by screw, centre is provided with bearing group 29, leaf spring 19 is clipped in the middle by bearing group 29, ensures that the stressed of leaf spring 19 is linear contact lay like this, more presses close to theoretical modeling.
Be illustrated in figure 7 two spiral of Archimedes figure arranged about Central Symmetry of embodiment used in the present invention.
Article two, the standard polar equation of one of spiral of Archimedes:
r(θ)＝a+b(θ)
In formula:
B-spiral of Archimedes coefficient, mm/ °, represents increase (or reduction) amount in footpath, pole when often rotating 1 degree;
θ-polar angle, unit is degree, represents total number of degrees that spiral of Archimedes turns over;
The footpath, pole of a-when θ=0 °, mm;
Change parameter a and will change spiral shape, b controls helical spacing, and it is constant usually.
Another spiral of Archimedes is by being obtained about origin symmetry by above-mentioned spiral of Archimedes.
Be illustrated in figure 8 the spiral of Archimedes dish schematic diagram that can be used for the embodiment of the present invention, spiral of Archimedes dish 17 has two shapes identical, about the spiral of Archimedes groove of origin symmetry, due to actual conditions, two leaf springs cannot be made to move to center, therefore spiral of Archimedes groove need not extend in the spiral of Archimedes part of center position.
In a technical scheme according to the present invention: one can comprise by synchronous adjustment displacement-type variation rigidity joint driver: pedestal 1; rocking arm position control assembly 2; variation rigidity adjustment assembly 3; Rocker arm 4; load 5; angular deviation measurement components 20, is characterized in that the equilbrium position point that rocking arm position control assembly 2 is specified for making Rocker arm 4 arrive; Variation rigidity adjustment assembly 3 is for needing the rigidity value changing driver according to actual task; Angular deviation measurement components 20 is for measurement and gather rocking arm deformation angle deviation, so that the real-time control of the process of follow-up data and rigidity.
Described rocking arm position control assembly 2 comprises: eccentric shaft 6, regulating wheel 7, low-power synchronous pulley 8, active force Timing Belt 9, large power synchronous belt wheel 10, circular fixed disk 11, harmonic speed reducer 12, position adjustments servomotor 13.It is characterized in that: position adjustments servomotor 13 passes through Timing Belt wheels 8-9-10 through harmonic speed reducer 12 reduction of speed, then through variation rigidity adjustment assembly 3, finally drive Rocker arm 4 to appointment equilbrium position point.
Described variation rigidity adjustment assembly 3 comprises: harmonic speed reducer connecting plate 14, adjustment of displacement stepper motor 15, band guide groove cylinder 16, spiral of Archimedes dish 17, fulcrum adjustment of displacement parts 18, leaf spring 19, angular deviation measurement components, 20, cross roller bearing 21, output flange 22.It is characterized in that: adjustment of displacement stepper motor 15 drives spiral of Archimedes dish 17 to rotate a certain angle, in motion process, due to the constraint of guide groove in band guide groove cylinder 16, fulcrum adjustment of displacement parts 18 move along radial direction under the radial component effect of spiral of Archimedes dish 17, thus change the fulcrum force position of leaf spring 19, when moment of torsion is constant, fulcrum force position changes, the deflection deformation that leaf spring 19 will occur in various degree, thus reach the object of joint variation rigidity.
Described angular deviation measurement components 20 comprises: potentiometer 23, potentiometer support 24, little prototype gear 25, the bearing outer baffle 26 of band internal messing tooth.It is characterized in that: the bearing outer baffle 26 of band internal messing tooth engages with little prototype gear 25, the angular deviation that load 5 causes is amplified by meshed transmission gear, finally be delivered on potentiometer 23, cause the change of potentiometer 23 output voltage, potentiometer 23 is fixed in band guide groove cylinder 16 by potentiometer support 24.
Described spiral of Archimedes dish 17, the line of rabbet joint in its disk is made up of two spiral of Archimedes, two helixes layout symmetric about the axis and shape is identical.Adopt two spiral of Archimedes and arrange about origin symmetry, make when the disk rotates, what the fulcrum adjustment of displacement parts 18 in wire casing can be synchronous moves to axis direction, reaches the object of precise synchronization adjustment of displacement.In addition, adopt the reason of spiral of Archimedes to be, Archimedes spiral, also known as " constant velocity spiral ", when adjustment of displacement stepper motor 15 drives spiral of Archimedes dish 17 at the uniform velocity to rotate, be in two fulcrum adjustment of displacement parts 18 in wire casing will with etc. speed move along radial direction.This synchronous shift afterwards controls and will provide very large facility in motion analysis.In addition, in spiral of Archimedes groove, the radial component of any point is far longer than tangential component, and this makes motor only need very little moment of torsion that two fulcrum adjustment of displacement parts 18 just can be driven to move, and has saved energy consumption greatly.
Show especially and explanation invention has been by reference to the exemplary embodiment represented in the accompanying drawings above, to one skilled in the art, should be understood that, not deviating from various amendment and change that to make under thought of the present invention and scope in the form and details, it will be all the infringement to patent of the present invention.Therefore the real thought that will protect of the present invention and scope are limited by appending claims.
Claims (10)
1. can a synchronous adjustment displacement-type variation rigidity joint driver, it is characterized in that comprising:
Pedestal (1),
Rocking arm position control assembly (2),
Variation rigidity adjustment assembly (3),
Rocking arm (4),
Angular deviation measurement components (20),
Wherein
The equilbrium position point that rocking arm position control assembly (2) is specified for making rocking arm (4) arrive,
Variation rigidity adjusts assembly (3) for needing to change the rigidity value of driver according to actual task,
Angular deviation measurement components (20) is for measurement and gather rocking arm deformation angle deviation, with the real-time control of the process and rigidity of carrying out follow-up data.
2. according to claim 1 can synchronous adjustment displacement-type variation rigidity joint driver, wherein said rocking arm position control assembly (2) comprising: eccentric shaft (6), regulating wheel (7), low-power synchronous pulley (8), active force Timing Belt (9), large power synchronous belt wheel (10), circular fixed disk (11), harmonic speed reducer (12), position adjustments servomotor (13)
Wherein
Position adjustments servomotor (13) is by Timing Belt wheels (8,9,10) increase square through harmonic speed reducer (12) reduction of speed, then through variation rigidity adjustment assembly (3), finally drive rocking arm (4) to specifying equilbrium position point.
3. according to claim 1 can synchronous adjustment displacement-type variation rigidity joint driver, it is characterized in that described variation rigidity adjustment assembly (3) comprising: harmonic speed reducer connecting plate (14), adjustment of displacement stepper motor (15), band guide groove cylinder (16), spiral of Archimedes dish (17), fulcrum adjustment of displacement parts (18), leaf spring (19), angular deviation measurement components (20), cross roller bearing (21), output flange (22)
Wherein
Adjustment of displacement stepper motor (15) rotates a certain angle for driving spiral of Archimedes dish (17), in motion process, due to the guide groove constraint in band guide groove cylinder (16), fulcrum adjustment of displacement parts (18) move along radial line direction under the radial drive power of spiral of Archimedes dish (17), thus change the fulcrum force position of leaf spring (19), when moment of torsion is constant, stress point position changes, the deflection deformation that leaf spring (19) will occur in various degree, thus reach the object of variation rigidity.
4. according to claim 1 can synchronous adjustment displacement-type variation rigidity joint driver, it is characterized in that described angular deviation measurement components (20) comprising: the bearing outer baffle (26) of potentiometer (23), potentiometer support (24), little prototype gear (25), band internal messing tooth,
Wherein
Bearing outer baffle (26) with internal messing tooth engages with little prototype gear (25),
By the bearing outer baffle (26) of band internal messing tooth and the gears meshing of little prototype gear (25), transmission is amplified in the angular deviation that load (5) causes, finally be delivered on potentiometer (23), cause the change of potentiometer output voltage
Potentiometer (23) is fixed in band guide groove cylinder (16) by potentiometer support (24).
5. according to claim 1 can synchronous adjustment displacement-type variation rigidity joint driver, it is characterized in that
The line of rabbet joint in the disk of described spiral of Archimedes dish (17) is made up of two spiral of Archimedes, two helixes layout symmetric about the axis and shape is identical, described two spiral of Archimedes are arranged about origin symmetry, make when the disk rotates, fulcrum adjustment of displacement parts (18) in wire casing can synchronously move along radial line direction, thus realize precise synchronization adjustment of displacement
When adjustment of displacement stepper motor (15) drives spiral of Archimedes dish (17) at the uniform velocity to rotate, because Archimedes spiral has the character of constant velocity spiral, be in two fulcrum adjustment of displacement parts (18) in wire casing with etc. speed move along radial direction, thus to control for synchronous shift thereafter and motion analysis provides convenient
Utilize the radial component of any point in spiral of Archimedes groove to be far longer than the characteristic of tangential component, make motor only need very little moment of torsion just can drive two fulcrum adjustment of displacement parts (18) motions, thus greatly saved energy consumption.
6. a kind of method of adjustment of joint of robot rigidity, is characterized in that comprising:
Adopt one can synchronous adjustment displacement-type variation rigidity joint driver, it comprises:
Pedestal (1),
Rocking arm position control assembly (2),
Variation rigidity adjustment assembly (3),
Rocking arm (4),
Angular deviation measurement components (20),
With the equilbrium position point that rocking arm position control assembly (2) makes rocking arm (4) arrive to specify,
Adjust assembly (3) with variation rigidity to need to change the rigidity value of driver according to actual task,
Measure with angular deviation measurement components (20) and gather rocking arm deformation angle deviation, with the real-time control of the process and rigidity of carrying out follow-up data.
7. method according to claim 6, is characterized in that:
Described rocking arm position control assembly (2) comprising: eccentric shaft (6), regulating wheel (7), low-power synchronous pulley (8), active force Timing Belt (9), large power synchronous belt wheel (10), circular fixed disk (11), harmonic speed reducer (12), position adjustments servomotor (13)
The method comprises further:
Utilize position adjustments servomotor (13), square is increased through harmonic speed reducer (12) reduction of speed by Timing Belt wheels (8,9,10), again through variation rigidity adjustment assembly (3), drive rocking arm (4) to specifying equilbrium position point.
8. method according to claim 6, is characterized in that:
Described variation rigidity adjustment assembly (3) comprising: harmonic speed reducer connecting plate (14), adjustment of displacement stepper motor (15), band guide groove cylinder (16), spiral of Archimedes dish (17), fulcrum adjustment of displacement parts (18), leaf spring (19), angular deviation measurement components (20), cross roller bearing (21), output flange (22)
Described method comprises further:
Spiral of Archimedes dish (17) is driven to rotate a certain angle with adjustment of displacement stepper motor (15),
In motion process, utilize the guide groove constraint in band guide groove cylinder (16), fulcrum adjustment of displacement parts (18) are moved along radial line direction under the radial drive power of spiral of Archimedes dish (17), thus change the fulcrum force position of leaf spring (19), when moment of torsion is constant, stress point position changes, and makes leaf spring (19) generation deflection deformation in various degree, thus reaches the object of variation rigidity.
9. method according to claim 6, is characterized in that:
Described angular deviation measurement components (20) comprising: the bearing outer baffle (26) of potentiometer (23), potentiometer support (24), little prototype gear (25), band internal messing tooth,
Described method comprises further:
The bearing outer baffle (26) of band internal messing tooth is engaged with little prototype gear (25),
By the bearing outer baffle (26) of band internal messing tooth and the gears meshing of little prototype gear (25), transmission is amplified in the angular deviation that load (5) is caused, finally be delivered on potentiometer (23), cause the change of potentiometer output voltage
Potentiometer (23) is fixed in band guide groove cylinder (16) by potentiometer support (24).
10. method according to claim 6, is characterized in that
The line of rabbet joint in the disk of described spiral of Archimedes dish (17) is made up of two spiral of Archimedes, two helixes layout symmetric about the axis and shape is identical, described two spiral of Archimedes are arranged about origin symmetry, make when the disk rotates, fulcrum adjustment of displacement parts (18) in wire casing can synchronously move along radial line direction, thus realize precise synchronization adjustment of displacement
Described method comprises further:
When adjustment of displacement stepper motor (15) drives spiral of Archimedes dish (17) at the uniform velocity to rotate, utilize the character of the constant velocity spiral of Archimedes spiral, make to be in two fulcrum adjustment of displacement parts (18) in wire casing with etc. speed move along radial direction, thus to control for synchronous shift thereafter and motion analysis provides convenient
Utilize the radial component of any point in spiral of Archimedes groove to be far longer than the characteristic of tangential component, make motor only need very little moment of torsion just can drive two fulcrum adjustment of displacement parts (18) motions, thus greatly saved energy consumption.
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