CN105058414B - Plane torsion spring device with fault detection and parameter correcting functions - Google Patents
Plane torsion spring device with fault detection and parameter correcting functions Download PDFInfo
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- CN105058414B CN105058414B CN201510556755.4A CN201510556755A CN105058414B CN 105058414 B CN105058414 B CN 105058414B CN 201510556755 A CN201510556755 A CN 201510556755A CN 105058414 B CN105058414 B CN 105058414B
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Abstract
The invention discloses a plane torsion spring device with fault detection and parameter correcting functions. The plane torsion spring device is composed of a plane torsion spring, a fault detection circuit and a torque sensor. According to the plane torsion spring device with the fault detection and parameter correcting functions, advantages of various plane springs are fully used, fault detection is carried out on elastic bodies through connection and disconnection between a detection fixing ring and installation rings, the service life of the elastic bodies can be effectively judged, bases are provided for improving the design and machining technology, the iterative development period can be easily shortened, and observation and analysis of the design quality of the plane torsion springs can be improved; changes of the elastic coefficient of the elastic bodies can be compensated and corrected in real time through the accurate torque detection of the torque sensor so that the performance of controlling the torque can be improved; in order to reduce cost, the torque senor can be removed in joint design, and one torque senor can be used for correcting all joints in regular inspection. The plane torsion spring device is simple in structure and suitable for joints of various robots and mechanical arms.
Description
Technical field
The invention belongs to robotics, it is related to a kind of plane torsion spring possessing fault detect and parameter correction function
Device.
Background technology
With the development of roboticses, Robot industry is developed rapidly, and will be in intelligence manufacture, medical treatment, clothes
The field such as business and military affairs produces actively far-reaching influence to the production of people and life.Bill Gates once foretold, robot is just
The road of experience " development of pc formula ", following Robot In Every Home.Therefore, future is towards home environment, medical services and intelligence
Service robot under the man-machine interactions and work compound environment such as manufacture will have more wide application demand and commercial promise.From
From the point of view of technical standpoint, the major issue that will realize the urgent need solution of this target is the secure interactive of robot and human and environment
Problem.
For this problem above, have been developed for a lot of robots model machine and product both at home and abroad, than more typical machine
People includes the tow-armed robot yumi of abb group, and this is considered as the machine of " really realizing man-machine collaboration for first in the world " by abb
Device people soon by people close when, can automatically slowly or stop motion is it is achieved that with workman's coordinated production without as other works
Industry robot is equally held in cage.Rethink companies are proposed baxter and sawyer robot, this two machine
People passes through unique Shared control technology it is ensured that it safely and efficiently can be worked shoulder to shoulder with the mankind.Wherein, sawyer machine
People can complete machine manipulation, circuit board testing and other high-precision tasks.Deutschen Zentrums fur Luft- und Raumfahrt e.V. (dlr)
Justin robot can realize subtly action by vision and tactile, completes the task such as receive and make coffee, simultaneously
Mechanical arm also possesses submissive safely control ability.Other such robots also have the meka machine under google
People, domestic Harbin Institute of Technology's dexterous arm etc..
In recent years, robot field gradually popularization and application series connection elasticity executor (sea) receive extensive concern.This
The advantage that kind joint executor compares traditional joint is that it embedded in low-impedance spring in motor and load end, by combining
The physics of spring is submissive and controls submissive both sides characteristic, is that robot carries out man-machine interaction and provides safety guarantee.Bullet
Spring element, as critical component, also occurs in that a lot of achievements in research, is summed up and also includes two ways.One kind is by adopting
The spring assembly of traditional Coiled Spring Design, another kind is the plane torsion spring being gone out by Finite Element Analysis Design.The latter due to
Structure is simple, and the advantage such as flexible design has occurred in that a variety of designs, such as patent No. jp2001-304316a,
Us6983924, us8176809b2, us2014/0045600a1, cn102632508b, cn103836101a etc., and academic opinion
Civilian a novel compact torsional spring for series elastic actuator for assistive
Wearable robots and actuator control for nasa-jsc valkyrie humanoid robot:a
Have in decouple dynamics approach for torque control of series elastic robots
Mention the various designs of plane torsion spring.However, which kind of design form no matter plane torsion spring adopt, it still occurs following two sides
The problem in face: the elastomer (or spring beam) of (1) plane torsion spring due to the effect of alternate stress repeatedly, be easily caused fatigue of materials and
Fracture；(2) coefficient of elasticity of the elastomer (or spring beam) of plane torsion spring changes with use time and changes, in conjunction with
The control principle in sea joint, if coefficient of elasticity incidence rate changes, then the moment rotating the output of identical angle also will change
Become, such as fail to carry out parameter correction.The problem that this two problems are brought respectively is how to carry out fault detect to the spring rupturing,
And how to realize the periodic detection to coefficient of elasticity and correction.At present, for this problem there is not yet the achievement in research of correlation
And device.
Content of the invention
Present invention aims to the deficiencies in the prior art, there is provided one kind possesses fault detect and parameter correction work(
The plane torsion spring device of energy, by the break-make detection to plane each elastomer of torsion spring, judges the working condition of each elastomer；Logical
Cross the moment inspecting of force transducer, the coefficient of elasticity of real time correction elastomer.The former detects the working condition of elastomer, Ke Yiwei
The service life of elastomer and design provide foundation, and the latter can compensate the change of elastomeric resilient coefficient to reduce to power control
The impact of precision processed, and realize under partial elastic body crack conditions to coefficient of elasticity detect and change controller parameter with
Realize under special environment to the normal control in joint it is ensured that the normal operation in joint.The present invention changes by entering to plane torsion spring
Row fault detect and parameter correction, the normal operation to joint serves real-time monitoring and the effect of adjustment, contributes to further
Improve the stability of application, safety and reliability in space manipulator, secure interactive Bei Deng robot, it helps design
The performance parameters change of personal observations' plane torsion spring, to improve the quality of Iterative Design.
The purpose of the present invention is achieved through the following technical solutions: one kind possesses fault detect and parameter correction function
Plane torsion spring device, it is made up of plane torsion spring, failure detector circuit and torque sensor three part；Plane torsion spring is by fixing
Have installing hole on ring, some mounting rings and some elastomers composition, wherein retainer ring and mounting ring to fix by screw respectively
Torque sensor and load end, are connected by elastomer between retainer ring and mounting ring, install interannular and are isolated from each other；Retainer ring is led to
Cross the gnd mouth that ground terminal is connected to failure detector circuit, mounting ring is connected to the io of failure detector circuit by signal terminal
Mouthful；The other end of torque sensor is connected with motor output end.
Further, io mouth 12 is arranged to the pull-up resistor high level output of 3.3v；When elastomer is in normal condition,
Ground terminal and signal terminal pass through elastomer short circuit, and the signal that io mouth is read is the low level signal being pulled low, and works as elastomer
Rupture, io message number is in high level, by detecting the break-make between retainer ring and mounting ring, fault is carried out to elastomer
Detection, testing result is sent to computer by mcu and is processed.
Further, the torque signals producing, real-Time Compensation and correction elasticity are detected by torque sensor on elastomer
The coefficient of elasticity of body, data is acquired by exclusive data capture card by computer, is testing elastic body performance parameter and school
Positive coefficient of elasticity change provides foundation.
Further, described failure detector circuit is mcu, dsp or arm.
The invention has the beneficial effects as follows, the present invention makes full use of the advantage of various plane torsion springs, by detect retainer ring and
Install interannular break-make fault detect is carried out to elastomer, can effectively judge the service life of elastomer, be Curve guide impeller and
Processing technique provides foundation, contributes to shortening the cycle of iterative development, improves the observation to plane torsion spring designing quality and analysis；
By the precise moments detection of torque sensor, can be with the coefficient of elasticity of real-Time Compensation and correction elastomer, to improve to moment
The performance controlling, for reduces cost, can remove torque sensor in joint designs, and can use when making regular check on
One torque sensor is corrected to all joints.The plane torsion spring equipment detection method of the present invention and structure are simple,
It is suitably applied various robots and joint of mechanical arm.
Brief description
Fig. 1 is the axonometric chart of plane torsion spring device；
Fig. 2 is the plane graph of plane torsion spring；
Fig. 3 is the schematic diagram of ground connection/signal terminal；
Fig. 4 is the schematic diagram of torque sensor；
In figure, failure detector circuit 1, retainer ring 2, mounting ring 3, elastomer 4, screw 5, screw 6, ground terminal 7, signal
Terminal 8, torque sensor 9, mcu10, gnd mouth 11, io mouth 12, data collecting card 13, computer 14.
Specific embodiment
Further illustrate the present invention below in conjunction with accompanying drawing.
As Figure 1-4, a kind of plane torsion spring device possessing fault detect and parameter correction function of the present invention, it is by putting down
Face torsion spring, failure detector circuit 1 and torque sensor 9 three part composition；If plane torsion spring by retainer ring 2, some mounting rings 3 and
Dry elasticity body 4 forms, and wherein has installing hole respectively by screw 6 fixed end taken about the point of fixation sensor 9 He in retainer ring 2 and mounting ring 3
Load end, is connected by elastomer 4 between retainer ring 2 and mounting ring 3, is isolated from each other between mounting ring 3, elastomer 4 can adopt
Various design forms；Failure detector circuit 1 can be mcu10, arm or dsp etc., and when for mcu, retainer ring 2 passes through earth terminal
Son 7 is connected to the gnd mouth 11 of mcu10, and mounting ring 3 is connected to the io mouth 12 of mcu10 by signal terminal 8, and io mouth 12 is arranged to
The pull-up resistor high level output of 3.3v, when elastomer 4 is in normal condition, because ground terminal 7 and signal terminal 8 pass through
Elastomer 4 short circuit, the signal that therefore io mouth 12 is read is the low level signal being pulled low, once elastomer 4 ruptures, io mouth
12 signals are at high level, carry out fault detect by detecting the break-make between retainer ring 2 and mounting ring 3 to elastomer 4, can
Effectively to judge the service life of elastomer 4, it is Curve guide impeller and processing technique offer foundation, contributes to shortening iterative development
In the cycle, improve the observation to plane torsion spring designing quality and analysis, testing result is sent to computer 14 by mcu10 and carries out
Reason；Torque sensor 9 is connected with retainer ring 2 screw 5 of plane torsion spring by screw 6, and the other end is connected with motor output end,
The torque signals producing on elastomer 4 again may be by torque sensor 9 and accurately detect out, and data is led to by computer 14
Cross exclusive data capture card 13 to be acquired, by the precise moments detection of torque sensor 9, can be with real-Time Compensation and correction bullet
The coefficient of elasticity of gonosome 4, to improve the performance to Torque Control, if necessary to reduces cost, can remove in joint designs
Torque sensor 9, and using a torque sensor 9, all joints can be corrected when making regular check on.
Claims (3)
1. a kind of plane torsion spring device possessing fault detect and parameter correction function is it is characterised in that it is by plane torsion spring, event
Barrier testing circuit (1) and torque sensor (9) three part composition；Plane torsion spring by retainer ring (2), some mounting rings (3) and if
Dry elasticity body (4) forms, and wherein has installing hole respectively by screw (6) fixed end taken about the point of fixation biography in retainer ring (2) and mounting ring (3)
Sensor (9) and load end, between retainer ring (2) and mounting ring (3) pass through elastomer (4) connect, between mounting ring (3) each other every
From；Retainer ring (2) is connected to the gnd mouth (11) of failure detector circuit (1) by ground terminal (7), and mounting ring (3) passes through signal
Terminal (8) is connected to the io mouth (12) of failure detector circuit (1)；The other end of torque sensor (9) is connected with motor output end；
Io mouth (12) is arranged to the pull-up resistor high level output of 3.3v；When elastomer (4) is in normal condition, ground terminal (7)
Pass through elastomer (4) short circuit with signal terminal (8), the signal that io mouth (12) is read is the low level signal being pulled low, and works as elasticity
When body (4) occurs fracture, io mouth (12) signal will be in high level, logical between retainer ring (2) and mounting ring (3) by detecting
Break and fault detect is carried out to elastomer (4).
2. a kind of plane torsion spring device possessing fault detect and parameter correction function according to claim 1, its feature exists
In by the upper torque signals producing of torque sensor (9) detection elastomer (4), the bullet of real-Time Compensation and correction elastomer (4)
Property coefficient changes.
3. a kind of plane torsion spring device possessing fault detect and parameter correction function according to claim 1, its feature exists
In described failure detector circuit (1) is mcu (10), dsp or arm.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510556755.4A CN105058414B (en) | 2015-09-02 | 2015-09-02 | Plane torsion spring device with fault detection and parameter correcting functions |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510556755.4A CN105058414B (en) | 2015-09-02 | 2015-09-02 | Plane torsion spring device with fault detection and parameter correcting functions |
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| CN105058414A CN105058414A (en) | 2015-11-18 |
| CN105058414B true CN105058414B (en) | 2017-02-01 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105606279B (en) * | 2016-02-22 | 2018-08-21 | 浙江大学 | Moment of elasticity sensor |
| CN109211467B (en) * | 2018-09-14 | 2021-02-26 | 北京遥感设备研究所 | Control surface load torque loading and rudder deflection angle measurement torque calibration device |
| IT201800010483A1 (en) * | 2018-11-21 | 2020-05-21 | Scuola Superiore Di Studi Univ E Di Perfezionamento Santanna | PLANAR TORSION SPRING |
| CN114636490A (en) * | 2022-03-24 | 2022-06-17 | 速通电气(苏州)有限公司 | Matching method of strain sensor and signal processing device and force sensor |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001304316A (en) * | 2000-04-20 | 2001-10-31 | Sanyo Electric Co Ltd | Suspension spring |
| US8176809B2 (en) * | 2008-12-10 | 2012-05-15 | GM Global Technology Operations LLC | Planar torsion spring |
| CN102632508B (en) * | 2012-04-17 | 2015-04-29 | 浙江大学 | Planar torsion spring suitable for robot joints |
| CN103836101B (en) * | 2014-02-28 | 2015-09-23 | 浙江大学 | The plane torsion spring of flexible joint |
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Inventor after: Mao Yichao Inventor after: Zhu Qiuguo Inventor after: Zhao Yidong Inventor after: Xiong Rong Inventor after: Wu Jun Inventor before: Zhu Qiuguo Inventor before: Zhao Yidong Inventor before: Xiong Rong Inventor before: Wu Jun |
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