CN106181995A - Power/position controllable type flexible actuator - Google Patents
Power/position controllable type flexible actuator Download PDFInfo
- Publication number
- CN106181995A CN106181995A CN201610538662.3A CN201610538662A CN106181995A CN 106181995 A CN106181995 A CN 106181995A CN 201610538662 A CN201610538662 A CN 201610538662A CN 106181995 A CN106181995 A CN 106181995A
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- China
- Prior art keywords
- power
- adapter
- screw
- sliding bearing
- optical axis
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Power/position controllable type flexible actuator, the optical axis of the sliding bearing both sides of driving means is socketed the spring of flexible detection device respectively.The other end of the grating scale of flexible detection device is connected with the power output board driving output device.Drive output device baffle plate groove on set the leading screw of driving means, the other end of spring with in the groove of the baffle inner wall being embedded in corresponding driving output device.On the basis of the present invention can move without internal force realizing redundantly actuated parallel mechanism, its position control can be realized, it is also possible to realize its power and control, thus be widely used in different workplaces.
Description
Technical field
The invention belongs to robot field, particularly to a kind of flexible actuator.
Background technology
For general parallel institution, it is big that redundantly actuated parallel mechanism often has rigidity, and work space is without very
The advantages such as dissimilarity and preferably dynamics.But, for redundantly actuated parallel mechanism, in production application
There is also some problems.The number driven more than it due to the number of degrees of freedom, of redundantly actuated parallel mechanism, therefore in reality
The application such as redundantly driven parallel bed, robot often also exist due to gap or control in the factor such as inharmonious produces
Power, thus cause suppressing of mechanical system extremely even to be destroyed.
Research is relatively more at present parallel machine, robot are typically based on high-torque, the rigid driver of high rigidity, it is achieved
The mode of position closed loop or power closed loop is also to examine by directly adding sensor at motor end or dynamic action unit
Survey.But, for redundantly actuated parallel mechanism, it is difficult to resist, by rigid driver, the impact that mechanism produces because of internal force,
This just requires that the frame for movement of system itself has certain displacement tolerance.The present invention can change parallel robot tradition and drive
The characteristic of dynamic device high rigidity, by adding flexible member and displacement detecting element so that driver not only has certain soft
Pliable, and the position/force signal of flexible member can be detected in real time, accurately, thus reach to ensure security of system, accurate
Really control system, improves the purpose of system overall precision.
Existing flexible actuator, typically can drive rigidity to be adjusted it according to demand, thus improve driver
Compliance to adapt to different work requirements.Its weak point is: owing to the rigidity value of driver is in change, not
Ensure that the size of driver power output, be also difficult to meet the requirement of some particular industry application.
Summary of the invention
It is an object of the invention to provide one and be applied to redundantly actuated parallel mechanism, on the premise of possessing compliant characteristic,
I.e. it is capable of position control and is capable of again power/position controllable type flexible actuator that power controls.
The invention mainly comprises driving means, flexible detection device and drive output device.
Wherein, driving means includes support, leading screw, servomotor, shaft coupling, screw adapter, stay bolt A, sliding axle
Hold, optical axis and nut.Being respectively equipped with through hole on two identical supports, the two ends of leading screw are each passed through the logical of two supports
Hole, and one end of leading screw extends to the outside of support, is connected by shaft coupling with the output shaft of servomotor.Grafting on leading screw
Screw adapter, the side of screw adapter is provided with nut, and nut is connected with threads of lead screw, and the two ends of screw adapter lead to respectively
Cross stay bolt A and connect a sliding bearing.Difference piece optical axis of grafting in each sliding bearing, the two ends of optical axis all extend to
The outside of sliding bearing.The spring of flexible detection device it is socketed respectively on the optical axis of sliding bearing both sides.
Flexible detection device includes stay bolt B, spring, grating scale adapter, grating scale and back-up ring.One end of spring and gear
The side of circle is adjacent, and the opposite side of back-up ring is adjacent with the end face of sliding bearing.Back-up ring is located on optical axis.The end at screw adapter
Portion connects grating scale adapter by stay bolt B is fixing, and grating scale adapter is connected with one end of grating scale, another of grating scale
The power output board held and drive output device is connected.
Drive output device to include baffle plate and power output board, two baffle plates are equipped with groove, the silk in driving means
Thick stick is located on the groove of baffle plate.Being provided with two grooves on the inwall of two baffle plates, the other end of spring is embedded in the gear of correspondence
In the groove of plate inwall.It is connected with the power output board of level by screw between the bottom of two baffle plates.Export at power
Plate is provided with bolt hole, and power output board is fixed in driving target by bolt hole, it is achieved the effect of power output.
In use, when being under position control mode, the position signalling of collection is fed back to servo to the present invention by grating scale
Motor is as compensation, thus realizes the position control to target；Under the present invention is in force control mode, grating scale is by collection
Signal is multiplied by the size of spring rate and is the force compensating signal feeding back to servomotor, thus the power to target that realizes controls.
Compared with prior art, present invention have the advantage that
(1) it is to be delivered to power output board by spring due to the driving force of the present invention, therefore, when the present invention is applied
Redundantly actuated parallel mechanism in motor process because controlling inharmonious or time some machine errors cause internal force, the present invention can have
The alleviation internal force of effect, it is to avoid mechanism's entirety occurs the generation of " suppressing dead " phenomenon, thus reaches the purpose of protection system itself.
(2) position of the detection driver that the present invention can be real-time or stress, thus according to different job requirements
It is adjusted to different mode of operations.When the present invention uses force control mode, bullet can be gone out according to the signal measurement of grating scale feedback
The deflection of spring, i.e. can get the size of its power output by being multiplied by its stiffness coefficient (Hooke's law).
(3) when the present invention uses position control mode, the deflection of spring, and conduct can be gone out according to optical grating ruler measurement
Value of feedback compensates to motor, thus drives motor movement to the position specified.Therefore, the present invention is used can to drive realizing redundancy
On the basis of dynamic parallel institution moves without internal force, its position control can be realized, it is also possible to realize its power and control, thus widely
It is applied in different workplaces.
Accompanying drawing explanation
Fig. 1 is power/position controllable type flexible actuator structural representation；
Fig. 2 is the partial schematic diagram of power/position controllable type flexible actuator；
Fig. 3 is the partial schematic diagram of power/position controllable type flexible actuator；
Fig. 4 is driving device structure schematic diagram.
Wherein, 1-support, 2-leading screw, 3-nut, 4-sliding bearing, 5-power output board, 6-servomotor, 7-shaft coupling
Device, 8-spring 9-screw adapter, 10-baffle plate, 11-grating scale adapter, 12-stay bolt B, 13-grating scale, 14-back-up ring,
15-optical axis, 16-stay bolt A, 17-bolt hole.
Detailed description of the invention
In the simplified schematic diagram of the present invention shown in Fig. 1, Fig. 2, Fig. 3 and Fig. 4, driving means includes support, leading screw, servo
Motor, shaft coupling, screw adapter, stay bolt A, sliding bearing, optical axis.Two identical supports 1 are respectively equipped with through hole,
The two ends of leading screw 2 are each passed through the through hole of two supports, and one end of leading screw extends to the outside of support, with servomotor 6
Output shaft is connected by shaft coupling 7.Grafting screw adapter 9 on leading screw, the side of screw adapter is provided with nut 3, nut
Being connected with threads of lead screw, the two ends of screw adapter connect a sliding bearing 4 by stay bolt A16 respectively.In each slip
Difference piece optical axis 15 of grafting in bearing, the two ends of optical axis all extend to the outside of sliding bearing.The optical axis of sliding bearing both sides
The upper spring 8 being socketed flexible detection device respectively.Flexible detection device includes stay bolt B, spring, grating scale adapter, grating
Chi and back-up ring.One end of spring is adjacent with the side of back-up ring 14, and the opposite side of back-up ring is adjacent with the end face of sliding bearing.Back-up ring sets
On optical axis.In the bottom of screw adapter by the fixing grating scale adapter 11 that connects of stay bolt B12, grating scale adapter with
One end of grating scale 13 is connected, and the other end of grating scale is connected with the power output board 5 driving output device.Drive output dress
Putting and include baffle plate and power output board, two baffle plates 10 are equipped with groove, the leading screw in driving means is located at the groove of baffle plate
On.The inwall of two baffle plates is provided with two grooves, the other end of spring with in the groove being embedded in corresponding baffle inner wall.
It is connected with the power output board of level by screw between the bottom of two baffle plates.Power output board is provided with bolt hole
17, power output board is fixed in driving target by bolt hole, it is achieved the effect of power output.
Claims (4)
1. power/position controllable type flexible actuator, mainly includes driving means, flexible detection device and drives output device,
It is characterized in that: on the optical axis of the sliding bearing both sides of driving means, be socketed the spring of flexible detection device, flexible detection respectively
The other end of the grating scale of device is connected with the power output board driving output device, drives the groove of the baffle plate of output device
On set the leading screw of driving means, the other end of spring is embedded in the groove of the baffle inner wall driving output device of correspondence.
Power the most according to claim 1/position controllable type flexible actuator, it is characterised in that: driving means includes support, silk
Thick stick, servomotor, shaft coupling, screw adapter, stay bolt A, sliding bearing, optical axis and nut, on two identical supports
Being respectively equipped with through hole, the two ends of leading screw are each passed through the through hole of two supports, and one end of leading screw extends to the outside of support, with
The output shaft of servomotor is connected by shaft coupling, and grafting screw adapter on leading screw, the side of screw adapter is provided with spiral shell
Mother, nut is connected with threads of lead screw, and the two ends of screw adapter connect a sliding bearing by stay bolt A respectively, each
Difference piece optical axis of grafting in sliding bearing, the two ends of optical axis all extend to the outside of sliding bearing.
Power the most according to claim 1/position controllable type flexible actuator, it is characterised in that: flexible detection device includes long
Bolt B, spring, grating scale adapter, grating scale and back-up ring, one end of spring is adjacent with the side of back-up ring, the opposite side of back-up ring
Adjacent with the end face of sliding bearing, back-up ring is located on optical axis, connects grating in the bottom of screw adapter by stay bolt B is fixing
Chi adapter, grating scale adapter is connected with one end of grating scale.
Power the most according to claim 1/position controllable type flexible actuator, it is characterised in that: drive output device to include gear
Plate and power output board, two baffle plates are equipped with groove, are provided with two grooves on the inwall of two baffle plates, at two baffle plates
Bottom between be connected with the power output board of level by screw, power output board is provided with bolt hole, power output board
It is fixed in driving target by bolt hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610538662.3A CN106181995B (en) | 2016-07-08 | 2016-07-08 | Power/position controllable type flexible actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610538662.3A CN106181995B (en) | 2016-07-08 | 2016-07-08 | Power/position controllable type flexible actuator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106181995A true CN106181995A (en) | 2016-12-07 |
| CN106181995B CN106181995B (en) | 2019-05-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610538662.3A Active CN106181995B (en) | 2016-07-08 | 2016-07-08 | Power/position controllable type flexible actuator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106181995B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107028733A (en) * | 2016-12-16 | 2017-08-11 | 中国科学院沈阳自动化研究所 | A kind of power-assisting robot flexible joint |
| CN107102657A (en) * | 2017-05-25 | 2017-08-29 | 广东省智能制造研究所 | A kind of active flexible force control apparatus |
| CN111775176A (en) * | 2020-06-10 | 2020-10-16 | 哈尔滨工业大学 | Variable-rigidity linear driving device and variable-rigidity method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4556203A (en) * | 1984-01-05 | 1985-12-03 | The Charles Stark Draper Laboratory, Inc. | Remote center compliance device |
| CN1457409A (en) * | 2001-01-23 | 2003-11-19 | 索尼公司 | Feed screw driver and infromation recorder/reproducer |
| CN1472451A (en) * | 2003-05-16 | 2004-02-04 | 河北工业大学 | Redundant inputting driver and use thereof |
| CN201625885U (en) * | 2010-03-19 | 2010-11-10 | 宁波大学 | Mechanical device for servo control over force/moment |
| CN102122135A (en) * | 2010-06-25 | 2011-07-13 | 北京理工大学 | Closed loop load rigidity changing device |
| CN202364049U (en) * | 2011-11-03 | 2012-08-01 | 国营红峰机械厂 | Dual-motor driving device of steering engine |
| CN103029126A (en) * | 2012-12-21 | 2013-04-10 | 北京大学 | Flexibly controllable joint driver |
-
2016
- 2016-07-08 CN CN201610538662.3A patent/CN106181995B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4556203A (en) * | 1984-01-05 | 1985-12-03 | The Charles Stark Draper Laboratory, Inc. | Remote center compliance device |
| CN1457409A (en) * | 2001-01-23 | 2003-11-19 | 索尼公司 | Feed screw driver and infromation recorder/reproducer |
| CN1472451A (en) * | 2003-05-16 | 2004-02-04 | 河北工业大学 | Redundant inputting driver and use thereof |
| CN201625885U (en) * | 2010-03-19 | 2010-11-10 | 宁波大学 | Mechanical device for servo control over force/moment |
| CN102122135A (en) * | 2010-06-25 | 2011-07-13 | 北京理工大学 | Closed loop load rigidity changing device |
| CN202364049U (en) * | 2011-11-03 | 2012-08-01 | 国营红峰机械厂 | Dual-motor driving device of steering engine |
| CN103029126A (en) * | 2012-12-21 | 2013-04-10 | 北京大学 | Flexibly controllable joint driver |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107028733A (en) * | 2016-12-16 | 2017-08-11 | 中国科学院沈阳自动化研究所 | A kind of power-assisting robot flexible joint |
| CN107028733B (en) * | 2016-12-16 | 2023-05-12 | 中国科学院沈阳自动化研究所 | Flexible joint of power-assisted robot |
| CN107102657A (en) * | 2017-05-25 | 2017-08-29 | 广东省智能制造研究所 | A kind of active flexible force control apparatus |
| CN111775176A (en) * | 2020-06-10 | 2020-10-16 | 哈尔滨工业大学 | Variable-rigidity linear driving device and variable-rigidity method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106181995B (en) | 2019-05-28 |
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