CN106168523A - Artificial muscle group drives the moment measuring device of bionic joint - Google Patents
Artificial muscle group drives the moment measuring device of bionic joint Download PDFInfo
- Publication number
- CN106168523A CN106168523A CN201610655237.2A CN201610655237A CN106168523A CN 106168523 A CN106168523 A CN 106168523A CN 201610655237 A CN201610655237 A CN 201610655237A CN 106168523 A CN106168523 A CN 106168523A
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- China
- Prior art keywords
- rope sheave
- muscle group
- artificial muscle
- plate
- joint
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention discloses artificial muscle group and drive the moment measuring device of bionic joint, it is included the base plate connected by guide rail, determines plate and top board, dynamic plate is by linear bearing and two the guide rails connections of usheing to seat, feed screw nut is fixedly connected on dynamic plate, screw rod passes sequentially through ushers to seat rolling bearing and shaft coupling is arranged on top board, determines on plate, feed screw nut is connected with motor, dynamic plate is provided with testing agency, testing agency top is provided with middle rope sheave, second determines plate is provided with left side rope sheave and right side rope sheave, and three rope sheaves are for installing the first artificial muscle group draught line.The a whole set of moment measuring device of the present invention, according to the principle that the power triangle relation in mechanics and power power transmission in flexible strand are constant, can be in the case of not discharging the first artificial muscle group draught line tension force, it is held on the appropriate location of the first artificial muscle group draught line, measure numerical value, be converted to actual tension and joint moment, its simple in construction and the small and exquisite practicality of the first artificial muscle group draught line by mathematical operation, certainty of measurement is high.
Description
Technical field
The invention belongs to moment measuring device technical field, be specifically related to a kind of artificial muscle group and drive the moment of bionic joint
Detection device.
Background technology
Joint of robot is the vitals affecting robot static and dynamic performance.For most of traditional industrial robots
From the point of view of, the main source of deformation is joint deformity, thus brings series of problems: 1) had a strong impact on the positioning precision of robot
And path accuracy；2) CNC lathe is compared, robot during milling and deburring it appeared that serious low frequency pulsation is existing
As；3) introducing of flexibility of joint adds the difficulty of control；4) there is the inconsistent linear Stiffness caused of inner body rigidity
Deng.For the problems referred to above, Bittencourt, Erkaya, Cai Hegao, Yu Yueqing, what Chinese scholars such as Guangping and Rigatos
Respectively from joint-friction, joint space, joint stiffness identification, flexible joint controls, joint impedance control angularly launches research,
To improving joint of robot kinematic accuracy, jitter suppression etc. there is obvious facilitation, but due to these researchs mainly around
Motor-driven ball and socket structure mode expansion, it is impossible to be inherently eliminated the problems referred to above, applicant devises a kind of artificial muscle group
Drive bionic joint, but its first artificial tension force of muscle group draught line and the detection of joint moment exist greatly problem.
Summary of the invention
For the above-mentioned problems in the prior art, it is an object of the invention to provide a kind of artificial muscle group and drive bionical
The moment measuring device in joint.
Described artificial muscle group drives the moment measuring device of bionic joint, is arranged on artificial muscle group and drives bionic joint
Between main joint and the first subjoint, the second subjoint, including the base plate connected by the first guide rail and the second guide rail, second fixed
Plate, first determining plate and top board, dynamic plate is usherd to seat linear bearing and two guide rails connections, silk by the first linear bearing and second of usheing to seat
Thick stick nut is fixedly connected on dynamic plate, screw rod pass sequentially through first usher to seat rolling bearing, second usher to seat rolling bearing and shaft coupling
Being arranged on top board, second determine plate and first and determine on plate, feed screw nut is by shaft coupling and the motor that is arranged on base plate even
Connecing, dynamic plate is provided with testing agency, and testing agency top is provided with middle rope sheave, and second determines plate is provided with left side rope sheave and right side rope
Taking turns, left side rope sheave and right side rope sheave are positioned at the both sides of middle rope sheave, and three rope sheaves are for installing the first artificial muscle group draught line.
Described artificial muscle group drives the moment measuring device of bionic joint, it is characterised in that testing agency include transverse slat,
Riser and force transducer, transverse slat is vertical with riser to be connected, and middle rope sheave is arranged on riser top, and force transducer one end passes through first
Column is connected to transverse slat one end, and the force transducer other end is connected to dynamic plate one end by the second column.
Described artificial muscle group drives the moment measuring device of bionic joint, it is characterised in that second ushers to seat rolling bearing
Bearing inner race is provided with the lock-screw mated with screw flight groove, and second determines plate passes through lock-screw and thread groove with screw rod admittedly
Fixed connection.
Described artificial muscle group drives the moment measuring device of bionic joint, it is characterised in that left side rope sheave, middle rope sheave
With the pulley mechanism that right side rope sheave is band chute, rolling bearing and axle, the axle that rope sheave passes through fixes, and muscle group draught line is taken successively
It is located on the chute of left side rope sheave, middle rope sheave and right side rope sheave.
Described artificial muscle group drives the moment measuring device of bionic joint, it is characterised in that force transducer uses diplopore to hang
Arm parallel girder strain force sensor.
By using above-mentioned technology, beneficial effects of the present invention is as follows:
1) present invention by being arranged on testing agency top by centre rope sheave, and testing agency is fixed on dynamic plate, in stepping
Under motor work, drive dynamic plate accurately opposite rail to move up and down by shaft coupling and feed screw nut, make the first artificial muscle group
Draught line forms required power triangle in left side rope sheave, middle rope sheave and right side rope sheave, it is simple to detection；
2) present invention determines on plate by left side rope sheave and right side rope sheave are fixed on second, and second determines plate by rolling bearing of usheing to seat
Connecting top board with screw rod, its relative ceiling height is adjustable, regulates the height of both sides fixed pulley with this, draws adapting to differing heights
The measurement of rope power, after altitude mixture control is good, by usheing to seat, the lock-screw in rolling bearing is fixed on screw rod, completes location
Locking；
3) present invention is by using diplopore cantilever parallel girder strain force sensor, have that precision is high, easily processing, simple in construction tight
Gather, offset load resistance is strong, natural frequency advantages of higher, improves its accuracy of detection；
4) manual control is realized respectively with LED by button mutual with information；Carried out by force cell and change-over circuit
The measurement of power and data transmission；Linking and the reading conversion of data of each several part motion is realized by mcu programming；Pass through liquid
Brilliant screen realizes numerical value display testing result；
5) a whole set of moment measuring device that the present invention obtains, according to the power triangle relation in mechanics and power, in flexible strand, power transmission is not
The principle become, can be held on the first artificial muscle group draught line in the case of not discharging the first artificial muscle group draught line tension force
Appropriate location, measures numerical value, is converted to actual tension and the joint moment of the first artificial muscle group draught line by mathematical operation, its
Simple in construction and small and exquisite practicality, certainty of measurement is high.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is another structural representation of the present invention；
Fig. 3 is testing agency's structural representation of the present invention；
Fig. 4 is the use state reference map of the present invention.
In figure: the artificial muscle group of 00-, 01-radiator fan, 02-base, 03-the first subjoint, 04-the second subjoint, 05-
Second artificial muscle group draught line, the artificial muscle group draught line of 06-first, 07-joint moment detection device, 08-main joint, 09-master
Joint motions arm, 10-base plate, first determines plate, and 12-moves plate, and 13-second determines plate, 14-top board, 15-the first guide rail, and 16-second leads
Rail, 20 first usher to seat linear bearing, and 21-second ushers to seat linear bearing, and 22-first ushers to seat rolling bearing, and 23-second ushers to seat rolling
Bearing, 30-screw rod, 31-feed screw nut, 32-shaft coupling, 33-motor, rope sheave on the left of 40-, rope sheave in the middle of 41-, 42-is right
Side rope sheave, 5-testing agency, 50-riser, 51-the first column, 52-the second column, 53-transverse slat, 54-force transducer.
Detailed description of the invention
Below in conjunction with Figure of description, the invention will be further described, but protection scope of the present invention is not limited in
This:
As Figure 1-4, the artificial muscle group of the present invention drives the moment measuring device of bionic joint, is called for short joint moment detection dress
Set to 07, be arranged between main joint 08 and first subjoint the 03, second subjoint 04 that artificial muscle group drives bionic joint, including
The base plate 10 that connected by the first guide rail 15 and the second guide rail 16, second determine plate 13, first determine plate 11 and top board 14, move plate 12 logical
Crossing the first linear bearing 20 and second linear bearing 21 of usheing to seat of usheing to seat to be connected with two guide rails, feed screw nut 31 is fixedly connected on dynamic
On plate 12, screw rod 30 pass sequentially through first usher to seat rolling bearing 22, second usher to seat rolling bearing 23 and shaft coupling 32 is arranged on top
Plate 14, second determining plate 13 and first and determine on plate 11, the second bearing inner race usheing to seat rolling bearing 23 is provided with and the screw thread of screw rod 30
The lock-screw of groove coupling, second determines plate 13 is connected by lock-screw and thread groove are fixing with screw rod 30；Feed screw nut 31 leads to
The motor 33 crossing shaft coupling 32 and be arranged on base plate 10 is connected, and dynamic plate 12 is provided with testing agency 5, and testing agency 5 pushes up
Portion is provided with middle rope sheave 41, and second determines plate 13 is provided with left side rope sheave 40 and right side rope sheave 42, left side rope sheave 40 and right side rope sheave
42 both sides being positioned at middle rope sheave 41, three rope sheaves are for installing the first artificial muscle group draught line 06.
As it is shown on figure 3, the testing agency 5 of the present invention includes transverse slat 53, riser 50 and force transducer 54, transverse slat 53 and riser
50 vertically connect, and middle rope sheave 41 is arranged on riser 50 top, and force transducer 54 one end is connected to transverse slat by the first column 51
53 one end, force transducer 54 other end is connected to dynamic plate 12 one end by the second column 52.
The left side rope sheave 40 of the present invention, middle rope sheave 41 and right side rope sheave 42 are the cunning of band chute, rolling bearing and axle
Wheel mechanism, the axle that rope sheave passes through fixes, muscle group draught line 06 from the first subjoint 03 out after, sequentially pass through left side rope sheave 40
Chute top, middle rope sheave 41 chute bottom and the chute top of right side rope sheave 42, then around on main joint 8.
As it can be seen, the force transducer 54 of the present invention uses diplopore cantilever parallel girder strain force sensor, its work is former
Reason is: by strain gauge adhesion to stress force sensitive flexible member, when flexible member stress is deformed, and foil gauge produces phase
The strain answered, changes into resistance variations.The electric bridge being connected into by foil gauge, the resistance variations that power causes is converted into measuring circuit
Change in voltage, by measuring the numerical value of output voltage, then by the i.e. available measured muscle group draught line tensile force of conversion, then takes advantage of
With the most available joint moment of the arm of force.
As shown in Figure 4, the detection of the present invention is to liking by a series of artificial-muscle actuating units through connection in series-parallel combination
The artificial muscle group 00 become, artificial muscle group 00 side is provided with radiator fan 01, and artificial muscle group 00 is arranged on base 02 by riser,
Artificial muscle group 00 includes two groups of parallel connection, and one group connects the first subjoint 03, and another group connects the second subjoint 04, and two groups of pairs are closed
Joint is connected to main joint 08 by the first artificial muscle group draught line 06 and the second artificial muscle group draught line 05 respectively, passes through main joint
08 drives main joint movement arm 09 to move, and uses SMA spring in the embodiment of the present invention, and artificial muscle group 00 is through the first subjoint 03
With the second muscle group draught line the 06, first subjoint 04 and the first muscle group draught line 05, driving main joint 08 to rotate, band movable joint is transported
Swing arm 09 moves, and the joint moment of present invention detection device is just being arranged on, between subjoint, complete the online inspection to joint moment
Survey work.
As Figure 1-4, the use process of the present invention is as follows:
Step 1, as shown in Figure 4, is arranged on artificial muscle by the moment measuring device that the artificial muscle group of the present invention drives bionic joint
On the bionic joint that group drives, the first artificial muscle group draught line 06 passes from the bottom of left side rope sheave 40 groove successively, then from centre
Rope sheave 41 groove above around under, finally the bottom from right side rope sheave 42 groove passes, and relative position is as shown in Figure 3；
Step 2, under initial condition, the center of left side rope sheave 40, middle rope sheave 41 and right side rope sheave 42 at straight line or connects
On nearly straight line, when needing to detect joint moment, motor 33 starts；
Step 3, under motor 33 drives, drives dynamic plate 12 accurately to lead first by shaft coupling 32 and feed screw nut 31
Rail 15 and the second guide rail 16 move up and down, and testing agency 5 also makees relative second under dynamic plate 12 drives and determines plate 13 and move downward,
Make middle rope sheave 41 and left side rope sheave 40, right side rope sheave 42 stagger certain distance at vertical direction, make the first artificial muscle group draw
Line 06 forms required power triangle in left side rope sheave 40, middle rope sheave 41 and right side rope sheave 42；
Step 4, under the effect of the first artificial muscle group draught line 06, middle rope sheave 41, riser 50, transverse slat the 53, first column 51
With the second column 52, force transducer 54 is applied moment of torsion, by gathering the signal of telecommunication of force transducer 54, change-over circuit carry out power
Measurement and data transmission, the reading of the linking and data that realize each several part motion by mcu programming changes, and data are passed through
The liquid crystal display screen display numerical value being connected with singlechip control panel, obtains the tensile force of the first artificial muscle group draught line 06；
Step 5, the tensile force that step 4 obtains is multiplied by the driving arm of force in this joint, i.e. can get joint moment.
Claims (5)
1. artificial muscle group drives the moment measuring device of bionic joint, is arranged on artificial muscle group and drives the main joint of bionic joint
(08) and between the first subjoint (03), the second subjoint (04), including by the first guide rail (15) and the second guide rail (16) even
The base plate (10) that connects, second determining plate (13), first determine plate (11) and top board (14), dynamic plate (12) is usherd to seat linear bearing by first
(20) and the second linear bearing (21) of usheing to seat is connected with two guide rails, feed screw nut (31) is fixedly connected on dynamic plate (12), spiral shell
Bar (30) pass sequentially through first usher to seat rolling bearing (22), second usher to seat rolling bearing (23) and shaft coupling (32) is arranged on top board
(14), second determining plate (13) and first and determine on plate (11), feed screw nut (31) is by shaft coupling (32) and is arranged on base plate (10)
On motor (33) connect, dynamic plate (12) is provided with testing agency (5), and testing agency (5) top is provided with middle rope sheave
(41), second determines plate (13) and is provided with left side rope sheave (40) and right side rope sheave (42), left side rope sheave (40) and right side rope sheave (42)
Being positioned at the both sides of middle rope sheave (41), three rope sheaves are for installing the first artificial muscle group draught line (06).
Artificial muscle group the most according to claim 1 drives the moment measuring device of bionic joint, it is characterised in that testing machine
Structure (5) includes transverse slat (53), riser (50) and force transducer (54), and transverse slat (53) is vertical with riser (50) to be connected, middle rope sheave
(41) being arranged on riser (50) top, force transducer (54) one end is connected to transverse slat (53) one end, power by the first column (51)
Sensor (54) other end is connected to dynamic plate (12) one end by the second column (52).
Artificial muscle group the most according to claim 1 drives the moment measuring device of bionic joint, it is characterised in that the second band
The bearing inner race of seat rolling bearing (23) is provided with the lock-screw that the thread groove with screw rod (30) mates, and second determines plate (13) passes through
Lock-screw and thread groove are fixed with screw rod (30) and are connected.
Artificial muscle group the most according to claim 1 drives the moment measuring device of bionic joint, it is characterised in that restrict in left side
Wheel (40), middle rope sheave (41) and right side rope sheave (42) are the pulley mechanism of band chute, rolling bearing and axle, and rope sheave passes through
Axle is fixed, and muscle group draught line (06) rides upon left side rope sheave (40), middle rope sheave (41) and the chute of right side rope sheave (42) successively
On.
Artificial muscle group the most according to claim 2 drives the moment measuring device of bionic joint, it is characterised in that power senses
Device (54) uses diplopore cantilever parallel girder strain force sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610655237.2A CN106168523B (en) | 2016-08-11 | 2016-08-11 | The moment measuring device of artificial muscle group driving bionic joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610655237.2A CN106168523B (en) | 2016-08-11 | 2016-08-11 | The moment measuring device of artificial muscle group driving bionic joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106168523A true CN106168523A (en) | 2016-11-30 |
| CN106168523B CN106168523B (en) | 2018-11-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610655237.2A Active CN106168523B (en) | 2016-08-11 | 2016-08-11 | The moment measuring device of artificial muscle group driving bionic joint |
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| CN (1) | CN106168523B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110338809A (en) * | 2019-07-24 | 2019-10-18 | 浙江工业大学 | A kind of infant hip joint posture catcher |
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|---|---|---|---|---|
| US20020026839A1 (en) * | 1997-11-26 | 2002-03-07 | Litens Automotive Partnership | Load sensor |
| CN201923811U (en) * | 2011-01-06 | 2011-08-10 | 宜昌三思科技有限公司 | Adjustable rope tension power takeoff device |
| CN103018061A (en) * | 2012-11-26 | 2013-04-03 | 浙江工业大学 | Artificial muscle group test platform and artificial muscle group framework |
| CN203037473U (en) * | 2012-12-17 | 2013-07-03 | 浙江工业大学 | Output-characteristic testing apparatus for artificial-muscle aggregation group |
| CN105571648A (en) * | 2016-02-19 | 2016-05-11 | 重庆华数机器人有限公司 | Multifunctional robot joint performance test system |
| CN206038197U (en) * | 2016-08-11 | 2017-03-22 | 浙江工业大学 | Artifical muscle group drive biomimetic joint's torque testing device |
-
2016
- 2016-08-11 CN CN201610655237.2A patent/CN106168523B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020026839A1 (en) * | 1997-11-26 | 2002-03-07 | Litens Automotive Partnership | Load sensor |
| CN201923811U (en) * | 2011-01-06 | 2011-08-10 | 宜昌三思科技有限公司 | Adjustable rope tension power takeoff device |
| CN103018061A (en) * | 2012-11-26 | 2013-04-03 | 浙江工业大学 | Artificial muscle group test platform and artificial muscle group framework |
| CN203037473U (en) * | 2012-12-17 | 2013-07-03 | 浙江工业大学 | Output-characteristic testing apparatus for artificial-muscle aggregation group |
| CN105571648A (en) * | 2016-02-19 | 2016-05-11 | 重庆华数机器人有限公司 | Multifunctional robot joint performance test system |
| CN206038197U (en) * | 2016-08-11 | 2017-03-22 | 浙江工业大学 | Artifical muscle group drive biomimetic joint's torque testing device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110338809A (en) * | 2019-07-24 | 2019-10-18 | 浙江工业大学 | A kind of infant hip joint posture catcher |
| CN110338809B (en) * | 2019-07-24 | 2022-03-15 | 浙江工业大学 | Baby hip joint posture catcher |
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| Publication number | Publication date |
|---|---|
| CN106168523B (en) | 2018-11-13 |
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Application publication date: 20161130 Assignee: Hangzhou Yuxuansheng Lighting Technology Co.,Ltd. Assignor: JIANG University OF TECHNOLOGY Contract record no.: X2022330000929 Denomination of invention: A torque measuring device for bionic joints driven by artificial muscles Granted publication date: 20181113 License type: Common License Record date: 20221229 |
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Application publication date: 20161130 Assignee: Shandong precision product quality inspection Co.,Ltd. Assignor: JIANG University OF TECHNOLOGY Contract record no.: X2023980042381 Denomination of invention: A torque detection device for biomimetic joints driven by artificial muscle groups Granted publication date: 20181113 License type: Common License Record date: 20230925 |
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