CN104787146B - A kind of bionical series connection elastic joint of the shock resistance of anthropomorphic robot - Google Patents

A kind of bionical series connection elastic joint of the shock resistance of anthropomorphic robot Download PDF

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Publication number
CN104787146B
CN104787146B CN201510239336.8A CN201510239336A CN104787146B CN 104787146 B CN104787146 B CN 104787146B CN 201510239336 A CN201510239336 A CN 201510239336A CN 104787146 B CN104787146 B CN 104787146B
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CN
China
Prior art keywords
forearm
arm
series connection
servomotor
bionical
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CN201510239336.8A
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Chinese (zh)
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CN104787146A (en
Inventor
张伟民
刘华欣
佘浩田
黄强
余张国
陈学超
陈晓鹏
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北京理工大学
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Priority to CN201510239336.8A priority Critical patent/CN104787146B/en
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Publication of CN104787146B publication Critical patent/CN104787146B/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

Abstract

The invention provides a kind of shock proof bionical series connection elastic joint of anthropomorphic robot, it includes large arm outer skeleton, forearm, bearing, series elastic driver;The outer skeleton of the large arm is rotated with the forearm by the bearing to be connected;The two ends of the series elastic driver are connected to the large arm outer skeleton, the forearm, space are made better use of, while adding the scope of arm motion.The series elastic driver includes servomotor component, transmission mechanism, piston component again.Spring store elastic potential energy inside the piston component compression, the increasing action time, reduces the destruction of impact peak value power, protects the bionical series connection elastic joint.

Description

A kind of bionical series connection elastic joint of the shock resistance of anthropomorphic robot

Technical field

The present invention relates to a kind of anthropomorphic robot, and in particular to a kind of shock proof bionical series connection elasticity of anthropomorphic robot Joint.

Background technology

Anthropomorphic robot be with a kind of immediate robot of the mankind, compared with the robot of other configurations, apery machine People is more friendly in shape, while can be easily using the various instruments designed for man invented, it is easier to adapt to mankind's life Environment living.

With the development of science and technology, people are growing to intelligence machine Man's Demands.Robot application is in Space Experiments, ring In terms of border exploration, rescue and relief work, medical operating, home services.Robot will serve the mankind, it is necessary to adapt to human survival ring The complexity in border and can not the property estimated.The work that only robot can be normal and safe in environment complicated and changeable, can just go out The completion task of color.

In order that anthropomorphic robot be applied to industry-by-industry, it is necessary to assure robot impacted in complex environment after according to So can normally it work.

Research work main at present is to improve the drive system of robot, makes it have stronger adaptability.Current Flexible robot system, force control method, lightweight and variation rigidity driving have very big progress.

But, because the driving rigidity of above-mentioned type of drive is excessive, so in human work's living environment, existing one Fixed potential safety hazard.In view of the above-mentioned problems, the beginning of the eighties, the scholar Pratt of Massachusetts science and engineering starts to drive using series connection elasticity Dynamic driving of the device to walking robot is studied, and is characterized in using hydraulic pressure or motor as driving source, connects one thereon Individual elastic device, and then realize the control of accurate power, the driver have that Low ESR, energy density be high, power output is stable and The advantages of buffering is can be very good to external load.

The guide rod that traditional series driver employs in the middle of four groups of springs in parallel, each group of parallel springs will be kept Balance and the volume of this driver is excessive, it is impossible to the ancon applied to robot.

N.G.Tsagarakis proposes a kind of series driver of rotation mode, and 3 springs are triangularly arranged a circle In all planes, compact conformation, because the deformation of spring is little, range of movement is limited, so being only applicable to small anthropomorphic robot.And Anthropomorphic robot is when falling down, and arm needs bigger range of movement.

It is an object of the invention to which bionical series connection elastic joint to be applied to the protection of the elbow joint when robot is fallen down, solve Conventional serial driver is excessive and range of movement is deformed restricted problem by torsionspring.

The content of the invention

The invention provides a kind of shock proof series elastic driver applied to anthropomorphic robot arm and with this The bionical series connection elastic joint of series elastic driver.

The shock proof bionical series connection elastic joint of anthropomorphic robot of the present invention, it includes the outer skeleton of large arm, small Arm, bearing;The outer skeleton of the large arm is rotated with the forearm by the bearing to be connected;It is characterized in that:The bionical series connection Elastic joint also has series elastic driver, and the two ends of the series elastic driver are connected to the large arm dermoskeleton Frame, the forearm.

According to above-mentioned bionical series connection elastic joint, wherein, the series elastic driver again include servomotor component, Transmission mechanism, piston component.

According to above-mentioned any bionical series connection elastic joint, wherein, the servomotor component includes servomotor, institute again State encoder, the output shaft of servomotor of servomotor end.

According to above-mentioned any bionical series connection elastic joint, wherein, the transmission mechanism includes speed reduction gearing, the again Secondary transmission device.

According to above-mentioned any bionical series connection elastic joint, wherein, the speed reduction gearing includes lock sleeve, small band again Wheel, big belt wheel, belt;Wherein, the output shaft of the servomotor is connected by the lock sleeve with the small pulley, described small Belt wheel is connected with the big belt wheel by the belt.

According to above-mentioned any bionical series connection elastic joint, wherein, the piston component includes piston, installed in described again Linear line spring in piston;When the forearm is impacted, the piston compresses the linear line spring, so as to cut Weak spike impulsive force, protects the bionical series connection elastic joint.

According to above-mentioned any bionical series connection elastic joint, wherein, second gear stage includes leading screw, leading screw again Nut, connector;The big belt wheel is connected with the leading screw, and the leading screw nut is connected by the connector and the piston Connect, second gear stage becomes the rotary motion of the servomotor on the linear motion of the connector, and then band Move the motion of the forearm.

According to above-mentioned any bionical series connection elastic joint, wherein, the connector is connected to symmetrical two sliding blocks, institute State two ends in the outer skeleton of large arm and be symmetrically installed with two slide block guide rails, the sliding block under the guiding of the slide block guide rail can above and below Motion;When the forearm is impacted, connector described in the piston driving, the connector drives the leading screw nut again Motion.

According to above-mentioned any bionical series connection elastic joint, wherein, a magnetic rotation encoder is installed at the bearing, used In the measurement forearm relative to the angle that skeleton outside the large arm is rotated.

According to above-mentioned any bionical series connection elastic joint, wherein, it is connected with one on one in the slide block guide rail Rectilinear transducer is used to measure the straight-line displacement above and below the leading screw nut, according to the rectilinear transducer and magnetic rotation encoder institute The data of survey, the bionical series connection elastic joint can calculate the decrement of the linear line spring, by described linear straight The stiffness factor of wire spring and then real-time driving force is obtained, to realize the essence of the driving force to driving the arm movements Really control.

The series elastic driver of the present invention has the following technical effect that:

1. when anthropomorphic robot is fallen down, elbow joint position can be by greater impact, and series elastic driver is used for absorbing Impulsive force peak value, protects the significant points of elbow joint, allows the robot to normal work.

2. theory of mechanisms is combined with bionic principle, series elastic driver is utilized

Mechanical structure feature and the biomechanical characterization of human muscle, imitate the contraction of muscle function control forearm of human body Motion, relative to traditional disc type series driver, add the slewing area of forearm.

Brief description of the drawings

Fig. 1 is the structural representation of the bionical series connection elastic joint of the present invention

Fig. 2 is the explosive view of the bionical series connection elastic joint in Fig. 1

Embodiment

The present invention is a kind of shock proof series elastic driver applied to robot arm.

A kind of shock proof bionical series connection elastic joint of anthropomorphic robot, it includes large arm outer skeleton 3, forearm 14, axle Hold 9;The outer skeleton 3 of the large arm is rotated with the forearm 14 by the bearing 9 to be connected;It is characterized in that:The bionical series connection Elastic joint also has series elastic driver, and the two ends of the series elastic driver are connected to the outer skeleton of the large arm 3rd, the forearm 14.

The series elastic driver includes servomotor component, transmission mechanism, piston component again.

The servomotor component includes servomotor 2, the encoder 1 of the end of the servomotor 2, servomotor again Output shaft.The servomotor 2 is connected as power source, its end with the encoder 1, and passes through four screws and described big The outer skeleton 3 of arm is connected.

The transmission mechanism includes speed reduction gearing, the second gear stage again.

The piston component includes piston 12, the linear line spring 13 in the piston 12 again;It is described linear The two ends of linear springs 13 are connected with the two limit positionses of the piston 12, when the piston 12 is moved, the linear line Spring 13 will be compressed.The two ends of the piston 12 are connected to the large arm outer skeleton 3, the forearm 14.When described When forearm 14 is impacted, the piston 12 compresses the linear line spring 13, so as to weaken spike impulsive force, protection is described Bionical series connection elastic joint.

The speed reduction gearing includes lock sleeve 4, small pulley 5, big belt wheel 6, belt 7 again;Wherein, the servomotor 2 output shaft is connected by the lock sleeve 4 with the small pulley 5, and the small pulley 5 passes through the skin with the big belt wheel 6 Band 7 is connected.

Second gear stage includes leading screw 8, leading screw nut 10, connector 11 again;The big belt wheel 6 and the silk Thick stick 8 is connected, and the leading screw nut 10 is connected by the connector 11 with the piston 12, and second gear stage is by institute The rotary motion for stating servomotor 2 becomes the linear motion of the connector 11, and then drives the motion of the forearm 14.It is described Connector 11 is connected to two ends in symmetrical two sliding blocks 15, the outer skeleton 3 of the large arm and is symmetrically installed with two slide block guide rails 16, The sliding block 15 can move up and down under the guiding of the slide block guide rail 16;When the forearm 14 is impacted, the piston 12 drive the connector 11, and the connector 11 drives the leading screw nut 10 to move again.

One magnetic rotation encoder 17 is installed at the bearing 9, for measure the forearm 14 relative to the large arm outside The angle that skeleton 3 is rotated.A rectilinear transducer is connected with one in the slide block guide rail 16 to be used to measure the leading screw Straight-line displacement of the nut about 10, the data surveyed according to the rectilinear transducer and magnetic rotation encoder 17, the bionical series connection Elastic joint can calculate the decrement of the linear line spring 13, be entered by the stiffness factor of the linear line spring 13 And real-time driving force is obtained, to realize the accurate control of the driving force to driving the forearm 14 to move.

The torque of the servomotor 2 is delivered to the leading screw 8 by speed reduction gearing, then is passed by the second level Dynamic device is delivered to the piston 12, and the forearm 14 is driven by the piston 12;Therefore, when the power output of servomotor 2 When, the motion for driving the forearm 14 is driven by two-stage.The forearm 14 employs light-weighted carbon fibre materials, reduces hand The rotary inertia of arm, makes the forearm of robot more merrily and lightheartedly facilitate and be more easily controlled.

The series elastic driver of the present invention enhances personalizing and compliance for robot motion, connection large arm and forearm Elastic element series elastic driver copy the muscle pulling-down of human body to move, compression spring storage elastic potential energy, increasing action Time, reduce the destruction of impulsive force peak value.

Flexible element series elastic driver, which is individually released, makes it be connected with large arm, forearm, makes better use of sky Between, while adding the scope of arm motion.

One kind of embodiment described above, simply more preferably embodiment of the invention, those skilled in the art The usual variations and alternatives that member is carried out in the range of technical solution of the present invention all should be comprising within the scope of the present invention.

Claims (3)

1. a kind of shock proof bionical series connection elastic joint of anthropomorphic robot, it includes large arm outer skeleton, forearm, bearing;Institute The outer skeleton of large arm is stated to be connected by bearing rotation with the forearm;It is characterized in that:The bionical series connection elastic joint is also With series elastic driver, the two ends of the series elastic driver are connected to the large arm outer skeleton, the forearm;
Wherein, the series elastic driver includes servomotor component, transmission mechanism, piston component again;
The servomotor component includes servomotor, the encoder of the servomotor end, the output shaft of servomotor again;
The transmission mechanism includes speed reduction gearing, the second gear stage again;
The speed reduction gearing includes lock sleeve, small pulley, big belt wheel, belt again;Wherein, the output shaft of the servomotor It is connected by the lock sleeve with the small pulley, the small pulley is connected with the big belt wheel by the belt;
The piston component includes piston, the linear line spring in the piston again;When the forearm is impacted When, the piston compresses the linear line spring, so as to weaken spike impulsive force, protects the bionical series connection elastic joint;
Second gear stage includes leading screw, leading screw nut, connector again;The big belt wheel is connected with the leading screw, institute State leading screw nut to be connected with the piston by the connector, second gear stage is by the rotation of the servomotor Motion becomes the linear motion of the connector, and then drives the motion of the forearm;
The connector is connected to symmetrical two sliding blocks, and two ends are symmetrically installed with two sliding blocks and led in the outer skeleton of the large arm Rail, the sliding block can move up and down under the guiding of the slide block guide rail;When the forearm is impacted, the piston driving The connector, the connector drives the leading screw nut to move again.
2. bionical series connection elastic joint according to claim 1, wherein, a magnetic rotation coding is installed at the bearing Device, for measuring the forearm relative to the angle that skeleton outside the large arm is rotated.
3. bionical series connection elastic joint according to claim 2, wherein, it is connected with one on one in the slide block guide rail Individual rectilinear transducer is used to measure the straight-line displacement above and below the leading screw nut, according to the rectilinear transducer and magnetic rotation encoder The data surveyed, the bionical series connection elastic joint can calculate the decrement of the linear line spring, by described linear The stiffness factor of linear springs and then real-time driving force is obtained, to realize the driving force to driving the arm movements Accurate control.
CN201510239336.8A 2015-05-12 2015-05-12 A kind of bionical series connection elastic joint of the shock resistance of anthropomorphic robot CN104787146B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201510239336.8A CN104787146B (en) 2015-05-12 2015-05-12 A kind of bionical series connection elastic joint of the shock resistance of anthropomorphic robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201510239336.8A CN104787146B (en) 2015-05-12 2015-05-12 A kind of bionical series connection elastic joint of the shock resistance of anthropomorphic robot

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CN104787146B true CN104787146B (en) 2017-07-21

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107457802B (en) * 2017-09-13 2020-10-09 北京理工大学 Humanoid robot tumble protection device
CN110281276B (en) * 2019-06-28 2020-08-28 北京理工大学 Robot upper limbs structure that shocks resistance

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CN101318331A (en) * 2008-07-14 2008-12-10 哈尔滨工程大学 Two-in-series elastic driver
CN102285390B (en) * 2011-06-03 2012-09-26 哈尔滨工程大学 Elastically driven walking leg in hybrid connection for walking robot
KR101925403B1 (en) * 2012-07-16 2018-12-05 대우조선해양 주식회사 Elastic device for torque support on wearable robot knee joint
JP2014097550A (en) * 2012-11-15 2014-05-29 Canon Inc Rigidity variable driving device and joint driving mechanism
CN204076281U (en) * 2014-09-19 2015-01-07 重庆交通大学 Based on the heavy-loaded precision redundancy three arm manipulator of driving

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