CN104690743A - Robot wrist joint structure based on single-stator multi-degree-of-freedom ultrasonic motor - Google Patents
Robot wrist joint structure based on single-stator multi-degree-of-freedom ultrasonic motor Download PDFInfo
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- CN104690743A CN104690743A CN201510145269.3A CN201510145269A CN104690743A CN 104690743 A CN104690743 A CN 104690743A CN 201510145269 A CN201510145269 A CN 201510145269A CN 104690743 A CN104690743 A CN 104690743A
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Abstract
The invention provides a robot wrist joint structure based on a single-stator multi-degree-of-freedom ultrasonic motor. According to the ultrasonic motor, micro-amplitude vibration of an elastomer (stator) in an ultrasound frequency band is stimulated by the inverse piezoelectric effect of piezoelectric materials, microcosmic elliptic motion of a material point on the surface of the elastomer is generated, vibration is converted into rotation of a rotor through friction effect between the stator and the rotor, power is output and load is driven. The robot wrist joint structure has the advantages that the multi-degree-of-freedom spherical ultrasonic motor serves as a driving element, multi-degree-of-freedom motion output is realized through the spherical rotor, a rotating ring, a circumferentially rotating frame and a spring prepressing device, parts needed by a mechanism are reduced greatly, structural weight is lowered, the problems, such as large size, high weight, vibration, noise and energy losses and transmission errors, caused by a complex transmission system of a wrist joint of a common robot are avoided effectively, and system positioning accuracy and response speed are increased.
Description
Technical field
The present invention relates to a kind of wrist joint of robot structure based on single stator multiple freedom degrees ultrasound motor, belong to robotics.
Background technology
Robot is one of the invention of great significance in 20th century of the mankind.Along with the progress of science and technology, robot application changes from traditional manufacture to nonmanufacturing industry, the microminiaturized important development direction having become current robot field.Space flight, medical treatment are as two important technology fields of robot application, and its unconventional and feature that is extreme environment, has higher requirement to robot architecture, such as gently, little, low noise, without electromagnetic interference etc.
Wrist joint is an important mechanism that can realize multifreedom motion in robot.At present, its driving mostly adopts the common combination of multiple traditional single-degree-of-freedom electromagnetic machine to realize.In addition, at a high speed, the feature of low moment of torsion makes traditional electrical magneto must be equipped with corresponding deceleration system and could realize the low speed of robot, the work requirements of high-torque.The structure of this lengthy and tedious complexity considerably increases carpal inertia load, make it dynamic property to reduce, this situation, not only to often increasing 1kg quality, the space probation of increase by 20,000 dollars is a very real problem by launch cost, and is also a very serious yoke to pursuing accurate, the miniature and technical development being operated in the medical surgery surgical apparatus of extreme environment.In addition, strong cosmic radiation, the huge temperature difference (300C
0left and right) the severe outer space environment such as change all constitutes serious threat to normal, the stable work of traditional electrical magneto.Build wrist joint of robot based on single stator multiple freedom degrees ultrasound motor and can integrate driving, transmission system, mechanism element is greatly reduced, greatly alleviate the weight of drives structure, and, because ultrasound electric machine does not produce magnetic field, also not by the interference of external magnetic field, therefore, it is possible to well adapt to the outer space and there is the medical environment of strong magnetic influence.
At present, conventional wrist joint of robot structure mainly contains several as follows:
1) tandem wrist joint.Tandem wrist joint applies maximum version, and it has a wide range of applications in industrial robot.The Typical Representative of this structure is the comprehensive wrist mechanism of Rosheim design, and three rotational motion pairs that this structure generally meets at any by axis are in series, and its driver is installed on wrist joint or arm place.Three drive motors are positioned at pedestal, utilize cardan drive principle, realize Pitch, Roll, Yaw motion simultaneously.Because this carpal motion is controlled by three drive motors respectively, therefore complicated structure, dimension and weight is relatively large.This structure also exists PITCH, YAW sports coupling in any case, has a negative impact to kinematic accuracy.In addition, also have and extend driving-chain by joint drive motor arrangement on robot arm and the joint of robot design form of rope drive.Above-mentioned two kinds of forms generally can cause driving-chain long, and transmission is complicated, makes the structure of arm become complex, is more difficult to the microminiaturization and the lightweight that realize wrist joint of robot.
2) parallel wrist joint.Parallel institution construction robot wrist joint has obvious advantage: compact conformation, high stiffness/weight ratio and response speed.Typical Representative is 3-RRR parallel institution wrist joint, and in this mechanism, lower platform three 3R revolute pair kinematic chains are connected, and all revolute pair axis all meet at the center of rotation of spherical mechanism.This structure can make up the deficiency of tandem wrist to a certain extent, but after adopting parallel institution, the motion of wrist becomes complicated, and the rotation in three directions is generally coupling.On the other hand, this scheme still needs three drive motors to be arranged on wrist joint, and this makes to adopt the wrist joint of parallel way to be still difficult to microminiaturization, lightweight.
3) multiple degrees of freedom simple joint.Refer to utilize single movable joint to realize the rotation of the required multiple directions of wrist joint.Typical structure is the Traffla wrist based on shaggy tooth transmission, and its basic structure is a pair " spherical crown gear ", and it is the pit making several discrete distributions on a spherical crown, and another spherical crown is inlaid with same number of taper finger-like tooth.Pit engages with finger-like tooth, thus realizes the transmission of motion.There is the defect of two aspects in this spherical gear: one is there is transmission principle error, and two is that difficulty of processing is very large, and the Design and manufacture of wrist is all very difficult.At present, a kind of novel Three-degree-of-freedom spherical wrist joint is suggested.This wrist joint has high integration, and primarily of episphere, lower semisphere and output are formed, and can realize pitching, side-sway and spinning motion.The connection of upper and lower hemisphere adopts axis of rotation and contact surface normal direction to have the bias mode of certain angle, upper and lower hemisphere has synthesized the pitching of output and side-sway moves in the motion of offset ramp, and spinning motion is realized by the output being suspended in episphere projection by bearing.Because this structure still adopts electromagnetic machine to drive, this wrist joint is made still to be difficult to microminiaturization, lightweight.
In a word, current wrist joint of robot drives by traditional electromagnetic machine, and complicated transmission system and version make them be difficult to meet the current microminiaturization to robot architecture's proposition, lightweight requirements.
Summary of the invention
The object of this invention is to provide a kind of wrist joint of robot structure based on single stator multiple freedom degrees ultrasound motor, better meet the unconventional and extreme environment such as space flight, medical treatment to the demand of Robotics.
The object of the invention is to be achieved through the following technical solutions: a kind of wrist joint of robot structure based on single stator multiple freedom degrees ultrasound motor, it is characterized in that, comprise spherical spinner, steering ring, circumference rotating turret, one turning cylinder, two turning cylinders, one sliding bearing, two sliding bearings, axle sleeve, deep groove ball bearing, bearings sleeve, motor oscillator, motor supporting base, sliding sleeve and spring prepressing device, spring prepressing device comprises electric machine support, precompression spring and spring capping, steering ring is assembled together by the sliding bearing on a turning cylinder and circumferential rotating turret, direction is rotating turret diametric(al) circumferentially.Spherical spinner is assembled together by two sliding bearings on two turning cylinders and steering ring, and direction is along steering ring diametric(al).Spatially, a turning cylinder and two turning cylinders are formed and are arranged vertically.Circumference rotating turret is coordinated with deep groove ball bearing inner ring by axle sleeve, and bearings sleeve coordinates with deep groove ball bearing outer ring and to bearings, bearing pressure ring restriction bearing moves vertically.Bearings sleeve and motor supporting base affixed, has gathering sill in the middle of motor supporting base, in groove, assembling sliding sleeve is to reduce friction.Electric machine support can slide up and down in gathering sill, and motor oscillator is placed in gathering sill, can move up and down with electric machine support.Precompression spring housing is contained on the axle head of electric machine support lower convexity, prevents swinging of precompression spring.Precompression lower spring end is fixed by spring capping, and spring capping is moved up and down by the realization that screws of screw thread, and then realizes carrying out pressure adjusting to precompression spring, reaches the control to the precompression between motor oscillator and spherical spinner.It is affixed that base support set and motor supporting base pass through screw, realizes the connection function with arm structure.
Beneficial effect of the present invention: ultrasound electric machine is the inverse piezoelectric effect utilizing piezoelectric, excite the micro breadth oscillation of elastomer in supersonic range, thus make the particle on surface of elastomer produce the motion of the ellipse of microcosmic, and by the friction between stator and rotor, vibration is converted to the rotary motion of rotor, power output, drives load.The present invention adopts multiple freedom degrees ultrasound motor as driver element, by spherical spinner, swivel becket, circumferential rotating turret, and be equipped with spring prepressing device, build wrist joint of robot structure, realize multivariant movement output, integrate driving, transmission system, the part required for system is greatly reduced and becomes compact small and exquisite, simply flexible.Avoid volume that ordinary robot's wrist joint brings because of the transmission system of complexity, weight is larger, and the problem such as the vibration caused therefrom, noise, energy loss and driving error, substantially increase positioning precision and the response speed of system, for robot provides better condition in the application of the extreme environments such as medical treatment, space flight.
Accompanying drawing explanation
Fig. 1 is sectional view of the present invention.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
As shown in Figure 1, a kind of wrist joint of robot structure based on single stator multiple freedom degrees ultrasound motor involved by the present embodiment, comprise spherical spinner 1, steering ring 2, circumferential rotating turret 3, turning cylinder 4, two turning cylinder 5, sliding bearing 6, two sliding bearing 7, axle sleeve 8, deep groove ball bearing 9, bearings sleeve 10, motor oscillator 11, motor supporting base 12, sliding sleeve 13 and spring prepressing device, spring prepressing device comprises electric machine support 14, precompression spring 15 and spring capping 16.
Further also comprise, a turning cylinder 4 is affixed with steering ring 2 and be connected with circumferential rotating turret 3 by a sliding bearing 6, and direction is rotating turret diametric(al) circumferentially, realizes the rotation of steering ring 2 around trunnion axis.Two turning cylinders 5 are passed by spherical spinner 1 center, and and spherical spinner 1 interference fit, be connected with steering ring 2 by two sliding bearings 7, direction is along steering ring 2 diametric(al), realize the rotation of spherical spinner 1 around x-axis or y-axis, spatially, a turning cylinder 4 and two turning cylinders 5 are formed and are arranged vertically.
Also comprise, circumferential rotating turret 3 is affixed by screw with axle sleeve 8, and axle sleeve 8 and deep groove ball bearing 9 inner ring interference fit, make circumferential rotating turret 3 can rotate with deep groove ball bearing 9 inner sleeve, realize the rotation of spherical spinner 1 around z-axis.Bearings sleeve 10 is with deep groove ball bearing 9 outer ring interference fits and support deep groove ball bearing 9, bearing pressure ring 17 is affixed by screw with bearings sleeve 10 upper end, move vertically to limit deep groove ball bearing 9, realize the Loading Control of the precompression under precompression spring 15 acts between motor oscillator 11 and spherical spinner 1.
Also comprise, bearings sleeve 10 is affixed by screw with motor supporting base 12, has gathering sill 18 in the middle of motor supporting base 12, and assembling sliding sleeve 13 in gathering sill 18, to reduce friction.Electric machine support 14 can slide up and down in gathering sill 18.Motor oscillator 11 is placed in gathering sill 18, can move up and down with electric machine support 14.Precompression spring 15 is sleeved on the axle head of electric machine support 14 lower convexity, prevents swinging of precompression spring 15.Precompression spring 15 lower end is fixed by spring capping 16, and spring capping 16 is moved up and down by the realization that screws of screw thread, and then realizes carrying out pressure adjusting to precompression spring 15, reaches the control to the precompression between motor oscillator 11 and spherical spinner 1.Base support set 19 is affixed by screw with motor supporting base 12, realizes the connection function with arm structure.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (5)
1., based on a wrist joint of robot structure for single stator multiple freedom degrees ultrasound motor, it is characterized in that, comprise spherical spinner, steering ring, circumference rotating turret, one turning cylinder, two turning cylinders, one sliding bearing, two sliding bearings, axle sleeve, deep groove ball bearing, bearings sleeve, motor oscillator, motor supporting base, sliding sleeve and spring prepressing device, spring prepressing device comprises electric machine support, precompression spring and spring capping, described swivel becket and a turning cylinder affixed, be connected with circumferential rotating turret cylindrical pair by a sliding bearing, two turning cylinders are through spherical spinner, affixed with spherical spinner, be connected with steering ring cylindrical pair by two sliding bearings, described circumferential rotating turret is fixed by screws on axle sleeve, axle sleeve and bearings sleeve are connected with deep groove ball bearing Internal and external cycle cylindrical pair respectively, it is affixed that described motor supporting base and bearings sleeve pass through screw, and have gathering sill in the middle of on the upside of motor supporting base, downside is threaded with spring capping, described sliding sleeve and gathering sill affixed, electric machine support under, motor oscillator is connected with sliding sleeve cylindrical pair respectively upper, and described precompression spring housing is contained on the axle head of electric machine support lower convexity, and precompression lower spring end is fixed by spring capping, and spring capping is moved up and down by screwing of screw thread.
2. a kind of wrist joint of robot structure based on single stator multiple freedom degrees ultrasound motor according to claim 1, it is characterized in that, a described turning cylinder and two turning cylinders are spatially formed and are arranged vertically.
3. a kind of wrist joint of robot structure based on single stator multiple freedom degrees ultrasound motor according to claim 1, it is characterized in that, also comprise bearing pressure ring, described bearing pressure ring is fixed in bearings sleeve upper end by screw, moves vertically to limit bearing.
4. a kind of wrist joint of robot structure based on single stator multiple freedom degrees ultrasound motor according to claim 1, is characterized in that, also comprise base support set, and it is affixed that described base support set and motor supporting base pass through screw.
5. a kind of wrist joint of robot structure based on single stator multiple freedom degrees ultrasound motor according to claim 1, it is characterized in that, described sliding sleeve material is polytetrafluoroethylene (PTFE).
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| CN201510145269.3A CN104690743A (en) | 2015-03-31 | 2015-03-31 | Robot wrist joint structure based on single-stator multi-degree-of-freedom ultrasonic motor |
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| CN201510145269.3A CN104690743A (en) | 2015-03-31 | 2015-03-31 | Robot wrist joint structure based on single-stator multi-degree-of-freedom ultrasonic motor |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671125A (en) * | 2017-01-04 | 2017-05-17 | 南京航空航天大学 | Robot wrist based on hollow ultrasonic motors |
| CN110238873A (en) * | 2019-04-25 | 2019-09-17 | 浙江师范大学 | A kind of orthogonal formula piezoelectricity articulation mechanism and its control method |
| CN113021406A (en) * | 2021-03-30 | 2021-06-25 | 山东大学 | Hydraulically-driven two-degree-of-freedom robot joint assembly |
| CN113381527A (en) * | 2021-06-04 | 2021-09-10 | 杭州电子科技大学 | Three-freedom-degree spherical motor |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106671125A (en) * | 2017-01-04 | 2017-05-17 | 南京航空航天大学 | Robot wrist based on hollow ultrasonic motors |
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| CN110238873B (en) * | 2019-04-25 | 2023-12-08 | 浙江师范大学 | Orthogonal piezoelectric joint mechanism and control method thereof |
| CN113021406A (en) * | 2021-03-30 | 2021-06-25 | 山东大学 | Hydraulically-driven two-degree-of-freedom robot joint assembly |
| CN113381527A (en) * | 2021-06-04 | 2021-09-10 | 杭州电子科技大学 | Three-freedom-degree spherical motor |
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Application publication date: 20150610 |