CN104772759A - Bionic muscle flexible actuator - Google Patents
Bionic muscle flexible actuator Download PDFInfo
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- CN104772759A CN104772759A CN201510217607.XA CN201510217607A CN104772759A CN 104772759 A CN104772759 A CN 104772759A CN 201510217607 A CN201510217607 A CN 201510217607A CN 104772759 A CN104772759 A CN 104772759A
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Abstract
The invention discloses a bionic muscle flexible actuator. The bionic muscle flexible actuator comprises a main body and a circuit board, the main body comprises a first fixed ring, a first gear, a first steel wire rope, a winding shaft, a worm, a potentiometer, a worm gear, a motor fixing frame, a second fixed ring, a second steel wire rope, a beam-type tension sensor, a motor, an electromagnetic clutch and a shell; the circuit board comprises a power module, a driving module, a force detection module, a location detection module and a microprocessor module; the force detection module is connected with the beam-type tension sensor, signals of the beam-type tension sensor are received and fed back to the microprocessor module, the location detection module is connected with the potentiometer, and voltage signals of the voltage signal are detected and transmitted to the microprocessor module. The bionic muscle flexible actuator is complete in function, high in integration level, convenient to arrange, easy to control and convenient to combine with other designs to apply.
Description
Technical field
The present invention relates to a kind of bionic muscle drive unit, particularly relate to a kind of flexible actuator of bionic muscle.
Background technology
Anthropomorphic robot is the study hotspot in mechano-electronic field always, and it is merrily and lightheartedly flexible as human body that researcher wishes to enable the motion of robot always.But so far, still do not have a kind of robot can be able to compare human body in the flexibility of motion.In the motion of robot, the most direct and the most crucial parts are drivers, and the problem such as rigidity, control of driver is also the key causing current robot motion stiff.
More driver mainly internal combustion engine and hydraulic pressure etc. is used in early stage anthropomorphic robot.But combustion engine due under its efficiency of combustion, the problem such as high temperature, noise substantially eliminates at present.Conventional hydraulic due to the problem such as pollution of fluid also seldom used.Pneumatics is too because the problem of noise and efficiency etc. is difficult to promote.
Current anthropomorphic robot use maximum drivers be motor.Due to the advantage of motor in moment of torsion, control method etc., the classic robots such as current ASIMO, NAO nearly all have employed motor.
But because motor can only export a free degree of rotating, traditional motor drive mode is used to driving one and rotates crucial.For the multi-freedom joint (hip joint as Three Degree Of Freedom) above human body, then can not Direct driver, need to resolve into multiple (as three degree of freedom) free degree, motor is set respectively, drive,, there is gap with the many muscle parallel-connection driving joints of human muscle in the tandem drive of such setting.Such type of drive makes robot motion not continuously freely, when coming and the motion that also can limit people during human body associated movement as ectoskeleton.
In addition due to motor is placed in joint rotating shaft place, the burden that upper level drives can be increased, cause torque demand and energy requirement all comparatively large, and the muscle of the mankind concentrates on muscle place due to very most weight, the load provided needed for upper level drives can greatly reduce.
Therefore increasing researcher considers from the angle of bionic muscle, seek a kind of similar muscle can bend arrange and the drive unit producing pulling force to imitate the 26S Proteasome Structure and Function of muscle.This kind of class that to be called as in the driver of " artificial-muscle " uses pneumatics (CN 103253368 A), hydraulic technique (CN 103802126 A), being produced by pressure makes tubular cavity expand, thus make it longitudinally shorten, but its volume is all comparatively large, is difficult to be applied to meticulous robot.Some new materials of another kind of employing, as marmem (CN 102813563 B), electricity/mangneto contracting material etc., although these materials have even exceeded muscle in some characteristics, because the reasons such as such as distortion is comparatively slow, overtension still fail to be used widely.
Summary of the invention
For the deficiency that prior art exists, the invention provides a kind of flexible actuator of bionic muscle, this driver functions is complete, and integrated level is high, arrangement convenience, controls simple, is convenient to design connected applications with other.
In order to achieve the above object, the technical solution adopted in the present invention is as follows: a kind of flexible actuator of bionic muscle, comprises main body and circuit board, and described circuit board and main body are fixedly connected; Described main body comprises the first retainer ring, the first gear, the first steel wire rope, roll, worm screw, potentiometer, worm gear, motor fixing frame, the second retainer ring, the second steel wire rope, beam type pulling force sensor, motor, electromagnetic clutch, shell; Wherein, motor is fixed on housings by motor fixing frame; Electromagnetic clutch is fixedly connected on shell; The D profile shaft of motor is connected with the inner rotation part of electromagnetic clutch; The external rotating gear of electromagnetic clutch and the first gears meshing; First gear is connected with roll by key, and one end of the first steel wire rope is fixedly connected on roll, and the other end is connected with the first retainer ring through the hole below shell; Worm screw is fixedly connected on roll, and potentiometer is fixedly connected on shell; Worm gear is fixedly connected on the output shaft of potentiometer, worm and worm wheel engaged transmission; Beam type pulling force sensor one end is fixedly connected on shell, and the other end is connected with the second retainer ring by the second steel wire rope;
Described circuit board comprises power module, driver module, power detection module, position detecting module and microprocessor module five parts; Wherein, driver module, power detection module, position detecting module are all connected with the output port of power module with the power port of microprocessor module; The motor of driver module exports seat P4 and is connected with electromagnetic clutch with motor respectively with electromagnetic clutch output seat P5, and 7 control signals input IO ports of driver module export IO ports correspondence with 7 control signals of microprocessor module and are connected; The sensor input socket P6 of power detection module is connected with beam type pulling force sensor, and the digital input port of power detection module is connected with digital input port with the digital output port of microprocessor module respectively with digital output port; The socket P8 of position detecting module is connected with potentiometer, and the current potential output port of position detecting module is connected with the AD conversion input port of microprocessor module.
The present invention is compared with background technology, and the beneficial effect had is:
(1) bionic muscle in the present invention adopts motor to drive, and adopts the driver energy density of the technology such as Pneumatic hydraulic higher mutually than ever, controls convenient.Compare and select the type of drive of new material to control more to select low voltage drive, stroke is large, is convenient to regulate according to different demand arrange.
(2) this drive unit is integrated with control circuit device and sensor, and compare single drive unit, integrated level is higher, and the perfectly more bionical major function of muscle, is convenient to independently use and control.
(3) by the setting of clutch, compare common electric machine driver and overcome the self-locking that motor reduction gearbox causes, achieving bionic muscle dispose procedure does not need drive motors to reverse, thus avoids extra consumed energy and increase and control difficulty, is convenient to control.
(4) some artificial-muscles comparing research at present can conveniently production application.Compare the structure at present motor being arranged on joint rotating shaft and weight can be distributed to " muscle " place, reduce demands such as moments of torsion.
(5) human muscle's many drivers can be copied to be arranged in parallel, can according to activation point curved arrangement.
Accompanying drawing explanation
Fig. 1 is axonometric drawing of the present invention;
Fig. 2 is the structural representation of main part of the present invention;
Fig. 3 is board structure of circuit schematic diagram of the present invention;
Fig. 4 is board power module circuit diagram of the present invention;
Fig. 5 is circuit board driver module circuit diagram of the present invention;
Fig. 6 is circuit board power detection module circuit diagram of the present invention;
Fig. 7 is circuit board position detection module circuit diagram of the present invention;
Fig. 8 is circuit board micro treatment module circuit diagram of the present invention;
Fig. 9 is workflow diagram of the present invention;
Figure 10 is the application schematic diagram of the present invention as independent muscle;
Figure 11 is the application schematic diagram of the present invention as meat fiber parallel operation;
In figure: main body 1, circuit board 2, first retainer ring 3, first gear 4, first steel wire rope 5, roll 6, worm screw 7, potentiometer 8, worm gear 9, motor fixing frame 10, second retainer ring 11, second steel wire rope 12, beam type pulling force sensor 13, motor 14, electromagnetic clutch 15, shell 16, upper arm 17, first bionic muscle 18, second bionic muscle 19, underarm 20.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further illustrated.
As shown in Figure 1 and 2, the present invention includes main body 1 and circuit board 2, circuit board 2 is fixedly connected by screw and main body 1; Described main body 1 comprises the first retainer ring 3, first gear 4, first steel wire rope 5, roll 6, worm screw 7, potentiometer 8, worm gear 9, motor fixing frame 10, second retainer ring 11, second steel wire rope 12, beam type pulling force sensor 13, motor 14, electromagnetic clutch 15, shell 16; Wherein, motor 14 is fixed on inside shell 16 by motor fixing frame 10 and screw; Electromagnetic clutch 15 is fixed by screws on shell 16; The D profile shaft of motor 14 is connected with the inner rotation part of electromagnetic clutch 15; The external rotating gear of electromagnetic clutch 15 engages with the first gear 4, and wherein gear ratio is between 1:1-2:1; First gear 4 is connected with roll 6 by key, and one end of the first steel wire rope 5 is fixedly connected on roll 6, and the other end is connected with the first retainer ring 3 through the hole below shell 16; Worm screw 7 is fixedly connected on roll 6, and potentiometer 8 is fixedly connected on shell 16; Worm gear 9 is fixedly connected on the output shaft of potentiometer 10, worm screw 7 and worm gear 9 engaged transmission; Beam type pulling force sensor 13 one end is fixedly connected on shell 16, and the other end is connected with the second retainer ring 11 by the second steel wire rope 12.
As shown in Figure 3, described circuit board 2 comprises power module, driver module, power detection module, position detecting module and microprocessor module five parts; Wherein, external input power is introduced circuit and is produced by voltage stabilizing chip and stablizes low-voltage, for other modules provide corresponding operating voltage by power module; Microprocessor module, as core control portions, is used for the feedback signal of acquisition power detection module and position detecting module, and transmits control signal to driver module, is communicated by communication serial port with outside host computer simultaneously; Driver module receives microprocessor-based control signal, drive motors and electromagnetic clutch; Power detection module connects beam type force snesor, is sent to microprocessor module as feedback signal using after the signal transacting of sensor; Position detecting module connects potentiometer 8, in motion process, the voltage signal of potentiometer 8 is passed to microprocessor module.
As shown in Figure 4, power module comprises power input stand P3, voltage stabilizing chip U2, nonpolar electric capacity C3, C4 and polar capacitor C5, C6; First port (port one) of power input stand P3 connects 12V high level, the second port (port 2) ground connection of power input stand P3.The input port (port one) of the positive pole of electric capacity C5, one end of electric capacity C3 and voltage stabilizing chip U2 is all connected with 12V high level, as the output port (port VCC) of power module after the output port (port 2) of the positive pole of electric capacity C6, one end of electric capacity C4 and voltage stabilizing chip is connected; The other end of nonpolar electric capacity C3, C4, polar capacitor C5, C6 and the grounding ports (port 2) of voltage stabilizing chip all ground connection.Described voltage stabilizing chip U2 can adopt 78M05.
As shown in Figure 5, driver module comprises driving chip T1, motor exports seat P4, electromagnetic clutch exports seat P5, polar capacitor C7 and C9, nonpolar electric capacity C8 and C10; One end of the signal power source port (port 20) of driving chip T1, the positive pole of electric capacity C7, electric capacity C8 is all connected with the output port (port VCC) of power module; Three driving power ports (port one 3,14,24) of driving chip T1, the positive pole of electric capacity C9, one end of electric capacity C10 are all connected with the input power 12V high level of circuit; Electric capacity C7, the other end of C8, C9 and C10 and five grounding ports (port 3,4,9,10,18) of driving chip T1 all ground connection; The Electric Machine Control positive pole of driving chip T1 exports the first port (port one) and the Electric Machine Control positive pole of driving chip T1 and exports after the second port (port 2) is connected and be connected with the Electric Machine Control electrode input end mouth (port one) that motor exports seat P4; The Electric Machine Control negative pole of driving chip T1 exports the first port (port 5) and the Electric Machine Control negative pole of driving chip T1 and exports after the second port (port 6) is connected and be connected with the Electric Machine Control negative input mouth (port 2) that motor exports seat P4; The electromagnetic clutch of driving chip T1 controls electromagnetic clutch that positive pole exports the first port (port one 1) and driving chip T1 and controls positive pole and export the be connected electromagnetic clutch that exports seat P5 afterwards with electromagnetic clutch of the second port (port one 2) and control electrode input end mouth (port one) and be connected; The electromagnetic clutch of driving chip T1 controls electromagnetic clutch that negative pole exports the first port (port 7) and driving chip T1 and controls negative pole and export the be connected electromagnetic clutch that exports seat P5 afterwards with electromagnetic clutch of the second port (port 8) and control negative input mouth (port 2) and be connected.Described driving chip T1 can adopt TB6612fng.
As shown in Figure 6, power detection module comprises amplification chip U3, electric capacity C11, C12, C13, C14, C15, resistance R1, R2, R3, R4, triode Q1, sensor input socket P6; The power input port (port one) of sensor input socket P6 is connected with the output port of power source (port 3) of amplification chip U3; Grounding ports (port 2) ground connection of sensor input socket P6; The passage A negative output port (port 3) of sensor input socket P6 and one end of electric capacity C14 all input A negative input port (port 7) and are connected with the passage of amplification chip U3; The passage A positive output port (port 4) of sensor input socket P6 is connected with one end of resistance R3, and the other end of resistance R3 and the other end of electric capacity C14 all input A positive input port (port 8) and be connected with the passage of amplification chip U3; The channel B negative output port (port 5) of sensor input socket P6 and one end of electric capacity C15 all input B negative input port (port 9) and are connected with the passage of amplification chip U3; The channel B positive output port (port 6) of sensor input socket P6 is connected with one end of resistance R4, and the other end of resistance R3 and the other end of electric capacity C15 all input B positive input port (port one 0) and be connected with the passage of amplification chip U3; One end of electric capacity C13 is connected with the reference power source output port (port 6) of amplification chip U3, and one end of the other end of electric capacity C13, one end of electric capacity C12 and resistance R2 is all connected with the port in analog (port 5) of amplification chip U3; The other end of resistance R2 and one end of resistance R1 are all connected with the analog input port (port 4) of amplification chip U3; The colelctor electrode of the other end of electric capacity C12, the other end of resistance R1 and triode Q1 is all connected with the analog power port (port 3) of amplification chip U3; Electric capacity C11 one end ground connection, the digital power port (port one 6) of the other end of electric capacity C11, the radio pole of triode Q1, amplification chip U3 is all connected with the output port (port VCC) of power module with the analog power port (port one) of amplification chip U3; The base stage of triode Q1 is connected with the modulating output port (port 2) of amplification chip U3; The external clock port (port one 4) of amplification chip U3 and the output data rate control port (port one 5) of amplification chip U3 all ground connection.Described amplification chip U3 can adopt HX711.
As shown in Figure 7, position detecting module comprises socket P8; The power port (port one) of socket P8 is connected with the output port (port VCC) of power module, grounding ports (port 3) ground connection of socket P8.
As shown in Figure 8, microprocessor module comprises singlechip chip U1, crystal oscillator Y1, electric capacity C1, electric capacity C2, programming port socket P1, serial ports seat P2.One end of crystal oscillator Y1 and one end of electric capacity C1 are all connected with the first external clock input port (port 7) of singlechip chip U1, the other end of crystal oscillator Y1 and one end of electric capacity C2 are all connected with the second external clock input port (port 8) of singlechip chip U1, the other end of electric capacity C1 and the equal ground connection of the other end of electric capacity C2; The power port (port 4) of programming port socket P1 is connected with the output port (port VCC) of power module; Grounding ports (port 6) ground connection of programming port socket P1; The clock port (port 2) of programming port socket P1 is connected with the clock port (port 3) of singlechip chip U1; The main output port of bus (port 5) of programming port socket P1 is connected with the main output port of the bus of singlechip chip U1 (port one); The bus primary input port (port one) of programming port socket P1 is connected with the bus primary input port (port 2) of singlechip chip U1; The reseting port (port 3) of programming port socket P1 is connected with the reseting port (port 4) of singlechip chip U1; Grounding ports (port 3) ground connection of serial ports seat P2, the serial ports transmit port (port 2) of serial ports seat P2 is connected with the serial ports transmit port (port one 0) of singlechip chip U1, and the serial ports receiving port (port one) of serial ports seat P2 is connected with the serial ports receiving port (port 9) of singlechip chip U1; Wherein 7 control signals in singlechip chip U1 export IO port (port one 0,41,43,11,12,15,16) and input with 7 control signals of driver module that IO port (port 21,22,23,17,16,19,15) is corresponding to be connected; The AD conversion input port (port 37) of singlechip chip U1 is connected with the current potential output port (port 2) of position detecting module, the digital output port (port 36) of singlechip chip U1 and digital input port (port 35) are connected with the digital input port (port one 1) of amplification chip U3 in power detection module and digital output port (port one 2) respectively, be used for the feedback signal of acquisition power detection module and position detecting module, and transmit control signal to driver module, simultaneously by communication serial port and PERCOM peripheral communication; 4 power ports (port 5,17,38,27) of singlechip chip U1 are all connected with the output port (port VCC) of power module; Grounding ports (port 28) ground connection of singlechip chip U1.Described singlechip chip U1 can adopt Atmega32-16AC.
As shown in Figure 9, when simulate muscular is shunk, Microprocessor S3C44B0X electromagnetic clutch 15 adhesive, and starter motor 14, now, motor 14 by gear pair by power transmission on roll 6, first steel wire rope 5 starts around entering on roll 6, thus plays the effect of contraction.The information such as when roll 6 gyration, driven the rotation of potentiometer 8 by worm and gear, now the resistance of potentiometer 8 changes, and can be known the angle information of rotation by circuit analog-to-digital conversion, the distance of the contraction traction that also just can convert.In addition, the size of convergent force also can be measured by beam type pulling force sensor 13.
When simulate muscular is loosened, Microprocessor S3C44B0X motor 14 stops operating, and by regulating electromagnetic clutch 15 the suction-combining force size, the first retainer ring 3 is under the effect of external force, and the first steel wire rope 5 slowly lays out roll 6, thus plays the effect loosened.
Figure 10 is a kind of application scenario of apparatus of the present invention, and simulation human arm elbow joint is controlled by a pair antagonism muscle, replaces respectively, realize praising and loosening of arm by the first bionic muscle 18 and the second bionic muscle 19.The control of single-degree-of-freedom can be realized herein, multivariant joint, the layout of human body shoulder joint, hip joint muscle can be copied equally, by many muscle parallel-connections, control the motion of multiple directions.
Figure 11 is the another kind of application mode of apparatus of the present invention, single driver element as meat fiber, after multiple driver element parallel connection, can form the structure of similar muscle, thus improve driver output ability, and the output that can control external force by adjustment working cell number.
Claims (1)
1. a flexible actuator for bionic muscle, is characterized in that: comprise main body (1) and circuit board (2), and described circuit board (2) and main body (1) are fixedly connected; Described main body (1) comprises the first retainer ring (3), the first gear (4), the first steel wire rope (5), roll (6), worm screw (7), potentiometer (8), worm gear (9), motor fixing frame (10), the second retainer ring (11), the second steel wire rope (12), beam type pulling force sensor (13), motor (14), electromagnetic clutch (15), shell (16) etc.; Wherein, motor (14) is fixed on shell (16) the inside by motor fixing frame (10); Electromagnetic clutch (15) is fixedly connected on shell (16); The D profile shaft of motor (14) is connected with the inner rotation part of electromagnetic clutch (15); The external rotating gear of electromagnetic clutch (15) engages with the first gear (4); First gear (4) is connected with roll (6) by key, and one end of the first steel wire rope (5) is fixedly connected on roll (6), and the other end is connected with the first retainer ring (3) through the hole of shell (16) below; Worm screw (7) is fixedly connected on roll (6), and potentiometer (8) is fixedly connected on shell (16); Worm gear (9) is fixedly connected on the output shaft of potentiometer (10), worm screw (7) and worm gear (9) engaged transmission; Beam type pulling force sensor (13) one end is fixedly connected on shell (16), and the other end is connected with the second retainer ring (11) by the second steel wire rope (12);
Described circuit board (2) comprises power module, driver module, power detection module, position detecting module and microprocessor module five parts; Wherein, driver module, power detection module, position detecting module are all connected with the output port of power module with the power port of microprocessor module; The motor of driver module exports seat P4 and is connected with electromagnetic clutch (15) with motor (14) respectively with electromagnetic clutch output seat P5, and 7 control signals input IO ports of driver module export IO ports correspondence with 7 control signals of microprocessor module and are connected; The sensor input socket P6 of power detection module is connected with beam type pulling force sensor (13), and the digital input port of power detection module is connected with digital input port with the digital output port of microprocessor module respectively with digital output port; The socket P8 of position detecting module is connected with potentiometer (8), and the current potential output port of position detecting module is connected with the AD conversion input port of microprocessor module.
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| CN201510217607.XA CN104772759B (en) | 2015-04-29 | 2015-04-29 | The flexible actuator of bionic muscle |
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| CN201510217607.XA CN104772759B (en) | 2015-04-29 | 2015-04-29 | The flexible actuator of bionic muscle |
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| CN110301793A (en) * | 2019-07-23 | 2019-10-08 | 奉志强 | A kind of health is drunk the intelligent wineglass and its implementation of management |
| CN110748623A (en) * | 2019-10-14 | 2020-02-04 | 北京大学 | Flexible wire driving device |
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