CN105171770A - Machine safety variable-rigidity elastic joint and rigidity adjustment method - Google Patents
Machine safety variable-rigidity elastic joint and rigidity adjustment method Download PDFInfo
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- CN105171770A CN105171770A CN201510715649.6A CN201510715649A CN105171770A CN 105171770 A CN105171770 A CN 105171770A CN 201510715649 A CN201510715649 A CN 201510715649A CN 105171770 A CN105171770 A CN 105171770A
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Abstract
The invention discloses a machine safety variable-rigidity elastic joint. The machine safety variable-rigidity elastic joint concretely comprises a first joint output shaft, a second joint output shaft, a linear motor, a spring and a push disc. The machine safety variable-rigidity elastic joint is characterized in that a motor installation base is arranged on the inner side face of the first joint output shaft, the linear motor is fixed to the motor installation base, a moving component of the linear motor is fixedly connected with the spring, the other end of the spring is fixedly connected with the push disc, the second joint output shaft is a cam shaft and is in cam shaft transmission with the push disc, and the second joint output shaft is in revolute pair connection with the first joint output shaft.
Description
Technical field
The present invention relates to robotics, be specifically related to a kind of machine security variation rigidity elastic joint and stiffness tuning method.
Background technology
Along with the develop rapidly of Robotics, robot is more and more extensive in the application of the industries such as industry, medical treatment, service.But the requirement of the mankind to robot is more and more higher, therefore needing in a large number can the robot of Coexisting with humanity, is engaged in the superior labor that some are more complicated together with people.And the robot that present stage is made up of rigidity joint this type of work not competent, therefore develop the study hotspot that variation rigidity elastic joint is present stage.
Variation rigidity elastic joint, owing to being provided with flexible member, therefore can absorb outside impact, reduces the damage that joint is subject to, and ensures the safety mutual with people.Meanwhile, variation rigidity elastic joint can according to the real-time adjusting joint rigidity of mission requirements, thus robot can be satisfied the demand different flexible job requirements.
At present, the research in domestic and international related elastic joint just just starts, and mainly concentrates on the design of flexible member, the optimization of energy efficiency, and the research of control method.Different articulation structure designs, control method have a great impact for the performance tool of elastic joint.From existing structure, also there is a lot of problem in variation rigidity elastic joint, and as articulation structure is complicated, variation rigidity characteristic is poor, and control complicated, energy ezpenditure is large, and security is lower.
In recent years, the domestic research for variation rigidity elastic joint also upsurge increasingly, mainly concentrates on some colleges and universities, research institute.A kind of series elastic driver of drum type brake disclosed in CN102211622A patent, its complex structure, and rigidity is non-adjustable, can only realize rectilinear motion, application scenario is limited.Disclosed in CN101934525B patent, anthropomorphic robot has the design of stiffness variable flexible joint, although can realize the object of variation rigidity, its complex structure, relies on Wire driven robot reliability lower, can not realize rapid movement and shock resistance effect, application scenario is equally also limited.A kind of rotary-type variation rigidity flexible joint disclosed in CN104608142A patent, it adopts cam structure and threads of lead screw auxiliary drive gear, and it is limited that joint exports slewing area, and stiffness changing structure part is more complicated, and its application scenario is limited equally.
Summary of the invention
For the structure relative complex of above-mentioned existing variation rigidity Robot elastic joint, variation rigidity characteristic is poor, and control complicated, energy ezpenditure is large, and the shortcomings such as security is lower, the present invention is intended to propose a kind of machine security variation rigidity elastic joint.This articulation structure is relatively simple, can in joint motions process the rigidity of real-time adjusting joint; And this joint is provided with device for force feedback, the fine adjustment of rigidity can be realized.
The present invention is realized by following technical proposals:
A kind of machine security variation rigidity elastic joint, specifically comprises: the first joint output shaft (1), second joint output shaft (3), linear electric motors (4), spring (5), push-plate (6); It is characterized in that: the medial surface of described first joint output shaft (1) is provided with motor mount, and linear electric motors (4) are fixed on motor mount; Moving component and the spring (5) of described linear electric motors (4) connect firmly; The other end and the push-plate (6) of described spring (5) connect firmly; Described second joint output shaft (3) is camshaft, and forms cam drive between push-plate (6); Form revolute pair between described second joint output shaft (3) with the first joint output shaft (1) to be connected.
The inner face of described first joint output shaft (1) is provided with chute (72), and its chute can be rectangle, T-shaped, trapezoidal or dove-tail etc.; One end of push-plate (6) is provided with slide block (71) structure, forms be slidably connected with the inner face chute (72) of the first joint output shaft (1).
In such scheme, further also comprise the first joint and export axle housing (2), be fixedly connected on first joint output shaft (1) one end, the first joint exports axle housing (2) and has protection internal structure and dust-proof effect.
In such scheme, the complete cycle that the cam drive formed between described push-plate (6) and second joint output shaft (3) can realize cam turns round.
In such scheme, described first joint output shaft (1) connects decelerator output, second joint output shaft (3) welding robot joint output.
In such scheme, described second joint output shaft (3) connects decelerator output, the first joint output shaft (1) welding robot joint output.
In such scheme, further also comprise the first joint and export axle housing (2), the upper and lower side of described push-plate (6) is respectively arranged with slide block structure and the first joint output shaft (1) and the first joint and exports being slidably connected of forming between axle housing (2).
In such scheme, the slide block both sides of described push-plate (6) are provided with roller, realize push-plate and slide as rolling along realizing in the process of slide becoming.
In such scheme, the slip chute that described push-plate (6) and the first joint output shaft (1) and the first joint export between axle housing (2) can be set to multiple tracks chute.
In such scheme, further also comprise displacement transducer or/(with) pressure sensor, institute's displacement sensors is arranged on spring (5) two ends, for the deformation of detection springs; Described pressure sensor is arranged on spring one end, for the pressure of detection springs.
For method and the spring rate scaling method of variation rigidity elastic joint stiffness tuning, it is characterized in that: comprise displacement transducer or/(with) pressure sensor, concrete grammar step is as follows:
(1) according to the rigidity value of set variation rigidity elastic joint, calculate the pre compressed magnitude of spring and calculating data are transferred to stiffness tuning device;
(2) use displacement transducer or the current deformation of pressure sensor detection springs or pressure, and data feedback will be detected to stiffness tuning device;
(3) stiffness tuning device is by contrasting the rigidity value of current spring deformation or force value and set variation rigidity elastic joint, calculates corresponding linear electric motors regulated quantity and send pulse command to linear electric motors to control linear electric motors motion;
(4) linear electric motors motion drives variation rigidity institution staff to make the pre compressed magnitude of spring be adjusted to set state;
(5) when rigidity the unknown of spring or when changing, the variation delta f of the power of spring can be obtained by the pressure sensor installed, and the variation delta x of stroke of the spring to be obtained by the displacement transducer installed, calculate the current rigidity k=Δ f/ Δ x of spring, realize the demarcation for spring rate.
The operation principle that a kind of machine security variation rigidity elastic joint of the present invention realizes variation rigidity is: described first joint output shaft (1) connects harmonic wave or decelerator output, second joint output shaft (3) connects joint link lever and exports, by the loading of linear electric motors (4), realize linear electric motors (4) movable part linearly axially the moving away from linear electric motors (4) side of motor (4), Compress Spring (5), the pretightning force of (6) between the cam of second joint output shaft (3) and push-plate is increased, thus change the rigidity of elastic joint, elastic joint rigidity is increased, when linear electric motors (4) Opposite side loading, make the axle of linear electric motors (4) movable part linearly motor (4), when moving to motor side, reduce the decrement of spring (5), the pretightning force of (6) between the cam of second joint output shaft (3) and push-plate is reduced, thus change the rigidity of elastic joint, elastic joint rigidity is reduced.In like manner, when described second joint output shaft (3) connects harmonic wave or decelerator output, the first joint output shaft (1) connects joint link lever and exports, and the principle being changed elastic joint rigidity by the loading of linear electric motors (4) is identical with above-mentioned situation.
A kind of machine security variation rigidity elastic joint proposed by the invention and stiffness tuning method compared with prior art, have the following advantages and beneficial effect:
1. the cam mechanism designed by the present invention, structurally can realize complete cycle revolution, overcome the shortcoming that existing design cam rotational angle is limited.In the case of an overload, still can not be damaged by Saving cortilage;
2. linear electric motors that the present invention adopts realize this link of variation rigidity, and its structure is simple, and transmission accuracy is high, the speed of response is fast, and avoid and use traditional speed of response caused by complex transmission slow, driving error is large, return difference impact is large, structure bulky, the shortcomings such as control mode reliability is low;
3. the present invention is in order to realize the fine adjustment of variation rigidity elastic joint for joint elasticity better, is structurally provided with pressure sensor and displacement transducer, by the on-line identification of the rigidity to flexible member, realizes the accurate stiffness tuning of elastic joint;
4. the parts that the structure that the present invention designs adopts are relatively less, compact conformation, light quality, and this is also an advantage of light-weight design;
5. the variation rigidity elastic joint of the present invention's design, the impact property that articulation is two-way can be realized, and have and control the joint position feature relatively independent with controlling joint variation rigidity, adopt modularized design simultaneously, joint parts Integrated manufacture and interchangeability can be realized better;
6. the variation rigidity elastic joint of the present invention's design has the flexible characteristic of opposing external impacts, collision, and this joint can also provide speeds control, position control and power to control simultaneously, can better ensure security feature mutual between man-machine interaction or robot.
Accompanying drawing explanation
Fig. 1 is variation rigidity elastic joint schematic diagram of the present invention.
Fig. 2 is variation rigidity elastic joint of the present invention assembling exploded perspective view.
Fig. 3 is a kind of machine security variation rigidity elastic joint outline drawing of the present invention.
Fig. 4 is push-plate schematic diagram of the present invention.
Fig. 5 is second joint output shaft schematic diagram of the present invention.
Fig. 6 is the first joint output shaft schematic diagram of the present invention.
Fig. 7 is 6 shaft industrial robot embodiment schematic diagrames of the present invention.
Fig. 8 is bio-robot embodiment schematic diagram of the present invention.
Fig. 9 is human body artificial limb leg embodiment schematic diagram of the present invention.
Figure 10 is a kind of variation rigidity elastic joint stiffness tuning method schematic diagram of the present invention.
In accompanying drawing, the implication of each numeral is: 1: the first joint output shaft; 2: the first joints export axle housing; 3: second joint output shaft; 4: linear electric motors; 5: spring; 6: push-plate; 71: slide block; 72: chute; 8: industrial robot input; 9: industrial robot output; 10: bio-robot leg input; 11: bio-robot leg output; 12: human body artificial limb leg input; 13: human body artificial limb leg output.
Detailed description of the invention
Be described in further detail the present invention below in conjunction with drawings and Examples, but the present invention is not limited only to described embodiment.
Embodiment one
A kind of machine security variation rigidity elastic joint, specifically comprises: the first joint output shaft 1, second joint output shaft 3, linear electric motors 4, spring 5, push-plate 6; It is characterized in that: the medial surface of described first joint output shaft 1 is provided with motor mount, and linear electric motors 4 are fixed on motor mount; Moving component and the spring 5 of described linear electric motors 4 connect firmly; The other end and the push-plate 6 of described spring 5 connect firmly; Described second joint output shaft 3 is camshaft, and forms cam drive between push-plate 6; Form revolute pair between described second joint output shaft 3 with the first joint output shaft 1 to be connected.
A kind of machine security variation rigidity elastic joint of this example.The operation principle realizing variation rigidity is: described first joint output shaft 1 connects harmonic wave or decelerator output, second joint output shaft 3 connects joint link lever and exports, by the loading of linear electric motors 4, realize linear electric motors 4 movable part linearly axially the moving away from linear electric motors 4 side of motor 4, Compress Spring 5, the pretightning force of between the cam of second joint output shaft 3 and push-plate 6 is increased, thus changes the rigidity of elastic joint, elastic joint rigidity is increased; When linear electric motors 4 Opposite side loading, make the axle of linear electric motors 4 movable part linearly motor 4, when moving to motor side, reduce the decrement of spring 5, the pretightning force of between the cam of second joint output shaft 3 and push-plate 6 is reduced, thus changes the rigidity of elastic joint, elastic joint rigidity is reduced.In like manner, when described second joint output shaft 3 connects harmonic wave or decelerator output, the first joint output shaft 1 connects joint link lever and exports, and the principle being changed elastic joint rigidity by the loading of linear electric motors 4 is identical with above-mentioned situation.
As shown in Figure 7, in industrial circle, the variation rigidity Robot elastic joint of this example is arranged on 6 shaft industrial robot ends, and industrial robot input 8 is fixedly connected with the first joint output shaft 1, and second joint output shaft 3 is fixedly connected with industrial robot output 9.In application process; the stiffness characteristics of this elastic joint is set in advance according to work information; when driven by motor industrial robot input 8 rotates; outer load can produce industrial robot output 9 to be impacted; the elastic joint of this example can produce cushioning effect by the elastic reaction of spring 5; make, between the first joint output shaft 1 and second joint output shaft 3, there is elastic reaction, effectively protect the tool tip of industrial robot, improve its service life.
Embodiment two
As shown in Figure 8, in bio-robot field, the variation rigidity Robot elastic joint of this example is arranged on the leg joint of bionic 6-leg robot, bio-robot leg input 10 is fixedly connected with the first joint output shaft 1 of elastic joint, and second joint output shaft 3 is fixedly connected with bio-robot leg output 11.In application process; the stiffness characteristics of this elastic joint is set in advance according to work information; in the process of bio-robot walking; when driven by motor bio-robot leg input 10 rotates; outer load can produce bio-robot leg output 11 to be impacted; the elastic joint of this example can produce cushioning effect by the elastic reaction of spring 5; make, between the first joint output shaft 1 and second joint output shaft 3, there is elastic reaction; effectively protect bio-robot leg joint, improve its service life.
Embodiment three
As shown in Figure 9, in medical domain, the variation rigidity Robot elastic joint of this example can be arranged on human body artificial limb leg joint, joint between human body artificial limb thigh to shank is provided with elastic joint, the human body artificial limb leg input 12 of shank is driven to be fixedly connected with the first joint output shaft 1 of elastic joint, second joint output shaft 3 is fixedly connected with human body artificial limb leg output 13, in application process, the stiffness characteristics of this elastic joint is set in advance according to work information, in the process of prosthetic walking, when driven by motor human body artificial limb leg input 12 rotates, outer load can produce human body artificial limb leg output 13 to be impacted, the elastic joint of this example can produce cushioning effect by the elastic reaction of spring 5, make, between the first joint output shaft 1 and second joint output shaft 3, there is elastic reaction, improve its service life.
Embodiment four
The second joint output shaft 1 of this example connects harmonic wave or decelerator output, the first joint output shaft (3) connective pole output.
Embodiment five
The cam drive formed between the push-plate 6 of this example and second joint output shaft 3 can realize cam complete cycle and turn round.
Embodiment six
The upper and lower side of the push-plate 6 of this example is respectively arranged with slide block structure and the first joint output shaft 1 and the first joint and exports being slidably connected of forming between axle housing 2, and its chute is rectangle, and all the other are with embodiment one.
Embodiment seven
The slide block both sides of the push-plate 6 of this example are provided with roller, and realize push-plate and slide as rolling along realizing in the process of slide becoming, all the other are with embodiment one.
Embodiment eight
The push-plate 6 of this example and the first joint output shaft 1 and the first joint export and are provided with multiple tracks chute between axle housing 2, and all the other are with embodiment one.
Claims (8)
1. a machine security variation rigidity elastic joint, specifically comprises: the first joint output shaft (1), second joint output shaft (3), linear electric motors (4), spring (5), push-plate (6); It is characterized in that: the medial surface of described first joint output shaft (1) is provided with motor mount, and linear electric motors (4) are fixed on motor mount; The moving component of described linear electric motors (4) is connected with spring (5) one end; The other end of described spring (5) is connected with push-plate (6); Described second joint output shaft (3) is camshaft, and cam profile contacts with push-plate (6), forms cam drive between the two; Form revolute pair between described second joint output shaft (3) with the first joint output shaft (1) to be connected.
2. according to a kind of machine security variation rigidity elastic joint according to claim 1, it is characterized in that: the inner face of described first joint output shaft (1) is provided with chute (72); One end that push-plate (6) is above provided with chute (72) corresponding to the first joint output shaft (1) inner face is provided with slide block (71) structure, forms be slidably connected with the inner face chute (72) of the first joint output shaft (1).
3. according to a kind of machine security variation rigidity elastic joint according to claim 1, it is characterized in that: in such scheme, further also comprise the first joint and export axle housing (2), described axle housing (2) is fixedly connected on first joint output shaft (1) one end; And the inner side of described axle housing (2) is provided with chute, the upper one end corresponding to axle housing (2) of push-plate (6) is provided with slide block (71), forms and be slidably connected between slide block (71) and chute (72).
4. according to a kind of machine security variation rigidity elastic joint according to claim 1, it is characterized in that: in such scheme, described first joint output shaft (1) connects decelerator output, second joint output shaft (3) welding robot joint output.
5. according to a kind of machine security variation rigidity elastic joint according to claim 1, it is characterized in that: in such scheme, described second joint output shaft (3) connects decelerator output, the first joint output shaft (1) welding robot joint output.
6. according to a kind of machine security variation rigidity elastic joint described in Claims 2 or 3, it is characterized in that: in such scheme, the slide block both sides of described push-plate (6) are provided with roller, and the slip realized between slide block structure and sliding groove structure is rolling friction form.
7. according to a kind of machine security variation rigidity elastic joint according to claim 1, it is characterized in that: in such scheme, further also comprise displacement transducer or/(with) pressure sensor, institute's displacement sensors is arranged on spring (5) two ends, for the deformation of detection springs (5); Described pressure sensor is arranged on spring (5) one end, for the pressure of detection springs (5).
8., for method and the spring rate scaling method of variation rigidity elastic joint stiffness tuning, it is characterized in that: comprise displacement transducer or/(with) pressure sensor, concrete grammar step is as follows:
(1) according to the rigidity value of set variation rigidity elastic joint, calculate the pre compressed magnitude of spring and calculating data are transferred to stiffness tuning device;
(2) use displacement transducer or the current deformation of pressure sensor detection springs or pressure, and data feedback will be detected to stiffness tuning device;
(3) stiffness tuning device is by contrasting the rigidity value of current spring deformation or force value and set variation rigidity elastic joint, calculates corresponding linear electric motors regulated quantity and send pulse command to linear electric motors to control linear electric motors motion;
(4) linear electric motors motion drives variation rigidity institution staff to make the pre compressed magnitude of spring be adjusted to set state;
(5) when rigidity the unknown of spring or when changing, the variation delta f of the power of spring can be obtained by the pressure sensor installed, and the variation delta x of stroke of the spring to be obtained by the displacement transducer installed, calculate the current rigidity k=Δ f/ Δ x of spring, realize the demarcation for spring rate.
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| CN105798893A (en) * | 2016-06-03 | 2016-07-27 | 河北工业大学 | Human lower limb exoskeleton assisting in load bearing |
| CN106737818A (en) * | 2016-12-26 | 2017-05-31 | 哈尔滨工业大学 | A kind of flexible machine person joint of stiffness variable |
| CN108000554A (en) * | 2017-11-30 | 2018-05-08 | 中国矿业大学 | A kind of stiffness variable flexible joint and its control method based on leaf spring |
| CN108151946A (en) * | 2016-11-30 | 2018-06-12 | 迈克尔·康拉德 | The method that tactile tests measuring apparatus and force-displacement curve is determined in tactile test measures |
| CN108262763A (en) * | 2017-12-28 | 2018-07-10 | 中国科学院沈阳自动化研究所 | A kind of joint of robot variation rigidity actuator |
| CN108873686A (en) * | 2018-07-03 | 2018-11-23 | 北京华悦龙驰科技有限公司 | A kind of control method for series elastic driver |
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| CN108873686A (en) * | 2018-07-03 | 2018-11-23 | 北京华悦龙驰科技有限公司 | A kind of control method for series elastic driver |
| CN108873686B (en) * | 2018-07-03 | 2019-04-26 | 北京华悦龙驰科技有限公司 | A kind of control method for series elastic driver |
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