CN105171770B - Machine safety variable-rigidity elastic joint - Google Patents
Machine safety variable-rigidity elastic joint Download PDFInfo
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- CN105171770B CN105171770B CN201510715649.6A CN201510715649A CN105171770B CN 105171770 B CN105171770 B CN 105171770B CN 201510715649 A CN201510715649 A CN 201510715649A CN 105171770 B CN105171770 B CN 105171770B
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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, and in particular to a kind of machine security variation rigidity elastic joint.
Background technology
With developing rapidly for robot technology, robot is more and more wider in the application of the industries such as industry, medical treatment, service
It is general.But requirement more and more higher of the mankind to robot, it is therefore desirable to the robot that can be coexisted with people in a large number, together with people from
Thing some more complicated superior labors.And the not competent such work of robot being made up of rigid joint at this stage, therefore
It is study hotspot at this stage to develop variation rigidity elastic joint.
Variation rigidity elastic joint has elastic component due to installing, therefore can absorb the impact of outside, reduces joint and is subject to
Damage, ensure the safety that interacts with people.Meanwhile, variation rigidity elastic joint can be firm according to mission requirements real-time regulation joint
Degree, so that robot disclosure satisfy that the job requirements for needing different elasticity.
At present, the research both at home and abroad about elastic joint has just just started, and is concentrated mainly on the design of flexible member, energy
The optimization of efficiency, and the research of control method.Different articulation structures is designed, control method is for the performance of elastic joint has
Have a great impact.From the point of view of existing structure, variation rigidity elastic joint also there are problems that a lot, and such as articulation structure is complicated, becomes firm
Degree characteristic is poor, and control is complicated, and energy ezpenditure is big, and security is more low.
In recent years, the domestic research for variation rigidity elastic joint also upsurge increasingly, is concentrated mainly on some colleges and universities, research
Institute.A kind of series elastic driver of drum type brake, its complex structure as disclosed in CN102211622 A patents, and rigidity is not
It is adjustable, linear motion can only be realized, application scenario is limited.The anthropomorphic robot as disclosed in CN101934525 B patents has
Stiffness variable flexible joint design, although the purpose of variation rigidity, but its complex structure can be realized, by Wire driven robot reliability compared with
It is low, it is impossible to realize quick motion and shock resistance effect, application scenario is equally also limited.As CN104608142 A patents are disclosed
A kind of rotary-type variation rigidity flexible joint, which adopts cam structure and threads of lead screw auxiliary drive gear, and joint output rotates model
Enclose limited, and stiffness changing structure part is more complicated, its application scenario is equally limited.
The content of the invention
Relative complex for the structure of above-mentioned existing variation rigidity Robot elastic joint, variation rigidity characteristic is poor, and control is complicated,
Energy ezpenditure is big, the shortcomings of security is relatively low, it is contemplated that proposing a kind of machine security variation rigidity elastic joint.Tie in the joint
Structure is relatively easy, can during joint motions real-time regulation joint rigidity；And the joint is provided with device for force feedback, can
To realize the accurate adjustment of rigidity.
The present invention is realized by following technical proposals：
A kind of machine security variation rigidity elastic joint, specifically includes：First joint output shaft（1）, second joint output shaft
（3）, linear electric motors（4）, spring（5）, push-plate（6）；It is characterized in that：First joint output shaft（1）Medial surface arrange
There are motor mount, linear electric motors（4）It is fixed on motor mount；The linear electric motors（4）Moving component and spring（5）
Connect firmly；The spring（5）The other end and push-plate（6）Connect firmly；The second joint output shaft（3）For camshaft, with push-plate（6）
Between constitute cam drive；The second joint output shaft（3）With the first joint output shaft（1）Between constitute and rotate secondary connection.
First joint output shaft（1）Inner face be provided with chute（72）, its chute can be rectangle, and T-shaped is trapezoidal
Or dove-tail etc.；Push-plate（6）One end be provided with slide block（71）Structure, with the first joint output shaft（1）Inner face chute
（72）Composition is slidably connected.
In such scheme, further also include that the first joint exports axle housing（2）, it is fixedly connected on the first joint output shaft
（1）One end, the first joint output axle housing（2）With protection internal structure and dust-proof effect.
In such scheme, the push-plate（6）With second joint output shaft（3）Between the cam drive that constitutes can realize it is convex
The complete cycle revolution of wheel.
In such scheme, first joint output shaft（1）Connect decelerator output end, second joint output shaft（3）Pick
Device person joint's output end.
In such scheme, the second joint output shaft（3）Connect decelerator output end, the first joint output shaft（1）Pick
Device person joint's output end.
In such scheme, further also include the first joint output axle housing (2), the push-plate（6）Upper and lower side difference
It is provided with slide block structure and the first joint output shaft（1）Axle housing is exported with the first joint（2）Between constitute be slidably connected.
In such scheme, the push-plate（6）Slide block both sides roller is installed, realize push-plate during the slide
Realize becoming and slide as rolling.
In such scheme, the push-plate（6）With the first joint output shaft（1）Axle housing is exported with the first joint（2）Between
Slip chute could be arranged to multiple tracks chute.
In such scheme, further also include displacement transducer or/（With）Pressure sensor, institute's displacement sensors set
Put in spring（5）Two ends, for the deformation of detection spring；The pressure sensor is arranged on spring one end, for detection spring
Pressure.
A kind of method for variation rigidity elastic joint stiffness tuning and spring rate scaling method, it is characterised in that：Bag
Include displacement transducer or/（With）Pressure sensor, concrete grammar step are as follows：
（1）According to the rigidity value of set variation rigidity elastic joint, calculate the pre compressed magnitude of spring and data will be calculated
It is transferred to stiffness tuning device；
（2）It is using the current deformation of displacement transducer or pressure sensor detection spring or pressure and detection data is anti-
It is fed to stiffness tuning device；
（3）Stiffness tuning device is by contrasting current spring deformation or pressure value and set variation rigidity elastic joint
Rigidity value, calculates corresponding linear electric motors regulated quantity and sends pulse command control linear electric motors to linear electric motors and move；
（4）Linear electric motors motion drives the work of variation rigidity mechanism to make the pre compressed magnitude of spring be adjusted to set state；
（5）When the rigidity of spring is unknown or changes, spring can be obtained by the pressure sensor installed
Variation delta f of power, and variation delta x of the stroke of the spring obtained by the displacement transducer installed, calculate spring
Current rigidity k=Δ f/ Δ x, realize for the demarcation of spring rate.
A kind of machine security variation rigidity elastic joint of the present invention realizes that the operation principle of variation rigidity is：Described first
Joint output shaft（1）Connect harmonic wave or decelerator output end, second joint output shaft（3）Joint link lever output is connect, by straight-line electric
Machine（4）Loading, realize linear electric motors（4）Movable part is along linear electric motors（4）Axially away from linear electric motors（4）One sidesway
It is dynamic, compression spring（5）, make second joint output shaft（3）Cam and push-plate between（6）Pretightning force increase, so as to change bullet
Property joint rigidity, make elastic joint rigidity increase；Work as linear electric motors（4）Opposite side loading, makes linear electric motors（4）Movable part edge
Linear electric motors（4）Axle, when moving to motor side, reduce spring（5）Decrement, make second joint output shaft（3）Cam
Between push-plate（6）Pretightning force reduce, so as to change the rigidity of elastic joint, make elastic joint rigidity reduce.In the same manner, work as institute
State second joint output shaft（3）Connect harmonic wave or decelerator output end, the first joint output shaft（1）Joint link lever output is connect, is passed through
Linear electric motors（4）Loading change elastic joint rigidity principle it 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,
With advantages below and beneficial effect：
1. the cam mechanism designed by the present invention, can realize that complete cycle is turned round in structure, overcome existing design scheme
The limited shortcoming of cam rotational angle.In the case of an overload, still can Saving cortilage be not damaged；
2. present invention institute realizes variation rigidity this link, its simple structure, high transmission accuracy, response speed using linear electric motors
Rate is fast, it is to avoid slow using the speed of response caused by traditional complex transmission, driving error is big, and return difference affects big, knot
Structure is heavy, the low shortcoming of control mode reliability；
3. the present invention pacifies in structure in order to variation rigidity elastic joint is better achieved for the accurate adjustment of joint elasticity
Equipped with pressure sensor and displacement transducer, by the on-line identification of the rigidity to flexible member, the accurate of elastic joint is realized
Stiffness tuning；
4. the parts adopted by the structure of present invention design are relatively fewer, compact conformation, light quality, and this is also light weight
Change an advantage of design；
5. the variation rigidity elastic joint that the present invention is designed, it is possible to achieve the two-way impact property of articulation, and have
The characteristics of having control joint position relatively independent with control joint variation rigidity, while modularized design is adopted, can be preferably real
Existing joint parts Integrated manufacture and interchangeability；
6. the variation rigidity elastic joint of present invention design has opposing external impacts, the flexible characteristic of collision, while the pass
Section can also provide the control of speeds control, position control and power, can preferably ensure interaction between man-machine interaction or robot
Security feature.
Description of the drawings
Fig. 1 is the variation rigidity elastic joint schematic diagram of the present invention.
Fig. 2 is the variation rigidity elastic joint assembling exploded perspective view of the present invention.
Fig. 3 is a kind of machine security variation rigidity elastic joint outline drawing of the present invention.
Fig. 4 is the push-plate schematic diagram of the present invention.
Fig. 5 is the 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 diagram 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：First joint output shaft；2：First joint exports 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 machine
People's output end；10：Bio-robot leg input；11：Bio-robot leg output end；12：Human body artificial limb leg is input into
End；13：Human body artificial limb leg output end.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment is described in further detail the present invention, but the present invention is not limited only to the embodiment.
Embodiment one
A kind of machine security variation rigidity elastic joint, specifically includes：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 first joint output shaft 1 is provided with motor mount,
Linear electric motors 4 are fixed on motor mount；The moving component of the linear electric motors 4 is connected firmly with spring 5；The spring 5 it is another
One end is connected firmly with push-plate 6；The second joint output shaft 3 is to constitute cam drive between camshaft, with push-plate 6；Described second
Constitute between joint output shaft 3 and the first joint output shaft 1 and rotate secondary connection.
A kind of machine security variation rigidity elastic joint of this example.The operation principle for realizing variation rigidity is：First joint
Output shaft 1 connects harmonic wave or decelerator output end, and second joint output shaft 3 connects joint link lever output, adding by linear electric motors 4
Carry, realize 4 movable part of linear electric motors along linear electric motors 4 axially away from 4 one side shifting of linear electric motors, compression spring 5, make the
Between the cam and push-plate of two joint output shafts 3,6 pretightning force increase, so as to change the rigidity of elastic joint, makes elastic joint
Rigidity increases；When 4 Opposite side loading of linear electric motors, make 4 movable part of linear electric motors along the axle of linear electric motors 4, move to motor side
When, the decrement of spring 5 is reduced, reduces between the cam and push-plate of second joint output shaft 36 pretightning force, so as to change
The rigidity of elastic joint, reduces elastic joint rigidity.In the same manner, when the second joint output shaft 3 connects harmonic wave or decelerator is defeated
Go out end, the first joint output shaft 1 connects joint link lever output, changes the principle of elastic joint rigidity by the loading of linear electric motors 4
It is identical with above-mentioned situation.
As shown in fig. 7, in industrial circle, the variation rigidity Robot elastic joint of this example is arranged on 6 shaft industrial robots
End, industrial robot input 8 are fixedly connected with the first joint output shaft 1, and second joint output shaft 3 is defeated with industrial robot
Go out end 9 to be fixedly connected.In application process, the stiffness characteristics of this elastic joint are set previously according to work information, work as motor
When driving industrial robot input 8 to rotate, outer load can produce impact, the elasticity pass of this example to industrial robot output end 9
Festival-gathering produces cushioning effect by the elastic reaction of spring 5 so that between the first joint output shaft 1 and second joint output shaft 3
With elastic reaction, the tool tip of industrial robot is effectively protected, improves 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 bionic 6-leg machine
The leg joint of device people, bio-robot leg input 10 are fixedly connected with the first joint output shaft 1 of elastic joint, the
Two joint output shafts 3 are fixedly connected with bio-robot leg output end 11.In application process, set previously according to work information
The stiffness characteristics of this elastic joint are put, during bio-robot is walked, motor drives the input of bio-robot leg
When end 10 rotates, outer load can produce impact to bio-robot leg output end 11, and the elastic joint of this example can pass through spring 5
Elastic reaction produce cushioning effect so that between the first joint output shaft 1 and second joint output shaft 3 have elastic reaction,
Bio-robot leg joint is effectively protected, its service life is improved.
Embodiment three
As shown in figure 9, in medical domain, the variation rigidity Robot elastic joint of this example may be mounted at human body artificial limb leg
Portion's joint, human body artificial limb thigh to the joint between shank are provided with elastic joint, drive the human body artificial limb leg of shank
Input 12 is fixedly connected with the first joint output shaft 1 of elastic joint, and second joint output shaft 3 is exported with human body artificial limb leg
End 13 is fixedly connected, and in application process, sets the stiffness characteristics of this elastic joint previously according to work information, in artificial limb row
During walking, when the moving body artificial limb leg input 12 of motor belt motor is rotated, outer load can be to human body artificial limb leg output end 13
Impact is produced, the elastic joint of this example can produce cushioning effect by the elastic reaction of spring 5 so that the first joint output shaft 1
There is between second joint output shaft 3 elastic reaction, its service life is improved.
Example IV
The second joint output shaft 1 of this example connects harmonic wave or decelerator output end, the first joint output shaft（3）Connective pole is exported
End.
Embodiment five
The cam drive constituted between the push-plate 6 and second joint output shaft 3 of this example can realize that cam complete cycle is turned 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 output of the first joint
What is constituted between axle housing 2 is slidably connected, and its chute is rectangle, and remaining is with embodiment one.
Embodiment seven
The slide block both sides of the push-plate 6 of this example are provided with roller, realize that push-plate is realized during the slide becoming sliding
For rolling, remaining is with embodiment one.
Embodiment eight
Multiple tracks chute is provided between the push-plate 6 of this example and the first joint output shaft 1 and the first joint output axle housing 2,
Remaining is with embodiment one.
Claims (4)
1. a kind of machine security variation rigidity elastic joint, specifically includes：First joint output shaft（1）, export axle housing（2）, second
Joint output shaft（3）, linear electric motors（4）, spring（5）, push-plate（6）；It is characterized in that：First joint output shaft（1）'s
Medial surface is provided with motor mount, linear electric motors（4）It is fixed on motor mount；The linear electric motors（4）Motion portion
Part and spring（5）One end connects；The spring（5）The other end and push-plate（6）Connection；The second joint output shaft（3）For
Camshaft, cam profile and push-plate（6）Contact, constitutes cam drive between the two；The second joint output shaft（3）With first
Joint output shaft（1）Between constitute and rotate secondary connection；First joint output shaft（1）Inner face be provided with chute（72）；
Push-plate（6）On corresponding to the first joint output shaft（1）Inner face is provided with chute（72）One end be provided with slide block（71）Structure,
With the first joint output shaft（1）Inner face chute（72）Composition is slidably connected；The output axle housing（2）It is fixedly connected on
One joint output shaft（1）One end；And the output axle housing（2）Inner side be provided with chute, push-plate（6）On corresponding to output axle housing
（2）One end be provided with slide block（71）, slide block（71）With chute（72）Between constitute and be slidably connected；Also include displacement transducer
Or/and pressure sensor, institute's displacement sensors are arranged on spring（5）Two ends, for detection spring（5）Deformation；The pressure
Force snesor is arranged on spring（5）One end, for detection spring（5）Pressure；
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 data transfer will be calculated
To stiffness tuning device；
（2）Using the current deformation of displacement transducer or pressure sensor detection spring or pressure, and detection data is fed back to
Stiffness tuning device；
（3）Stiffness tuning device is by the current spring deformation of contrast or the rigidity of pressure value and set variation rigidity elastic joint
Value, calculates corresponding linear electric motors regulated quantity and sends pulse command control linear electric motors to linear electric motors and move；
（4）Linear electric motors motion drives the work of linear electric motors movable part, makes the pre compressed magnitude of spring be adjusted to set shape
State；
（5）When the rigidity of spring is unknown or changes, the change of the power of spring is obtained by the pressure sensor installed
Amount Δ f, and variation delta x of the stroke of the spring obtained by the displacement transducer installed, calculate the current firm of spring
Degree k=Δ f/ Δ x, realize for the demarcation of spring rate.
2. according to a kind of machine security variation rigidity elastic joint described in claim 1, it is characterised in that：First joint is defeated
Shaft（1）Connect decelerator output end, second joint output shaft（3）Welding robot joint output end.
3. according to a kind of machine security variation rigidity elastic joint described in claim 1, it is characterised in that：The second joint is defeated
Shaft（3）Connect decelerator output end, the first joint output shaft（1）Welding robot joint output end.
4. according to a kind of machine security variation rigidity elastic joint described in claim 1, it is characterised in that：The push-plate（6）'s
Slide block both sides are provided with roller, realize that the slip between slide block structure and sliding groove structure is rolling friction form.
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| CN201510715649.6A CN105171770B (en) | 2015-10-30 | 2015-10-30 | Machine safety variable-rigidity elastic joint |
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| CN201510715649.6A CN105171770B (en) | 2015-10-30 | 2015-10-30 | Machine safety variable-rigidity elastic joint |
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| CN105171770A CN105171770A (en) | 2015-12-23 |
| CN105171770B true CN105171770B (en) | 2017-03-22 |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105798893B (en) * | 2016-06-03 | 2017-09-12 | 河北工业大学 | One kind auxiliary heavy burden human body lower limbs ectoskeleton |
| DE102016123122B3 (en) * | 2016-11-30 | 2018-03-15 | Michael Konrad | Haptic test measuring device and method for determining a force-displacement curve in a haptic test measurement |
| CN106737818B (en) * | 2016-12-26 | 2019-04-12 | 哈尔滨工业大学 | A kind of flexible machine person joint of stiffness variable |
| CN108000554B (en) * | 2017-11-30 | 2021-07-06 | 中国矿业大学 | Leaf spring-based variable-rigidity flexible joint and control method thereof |
| CN108262763B (en) * | 2017-12-28 | 2020-09-22 | 中国科学院沈阳自动化研究所 | Robot joint rigidity-variable actuator |
| 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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