CN106239554A - The conduction mechanism of a kind of stiffness variable and joint of robot - Google Patents

The conduction mechanism of a kind of stiffness variable and joint of robot Download PDF

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Publication number
CN106239554A
CN106239554A CN201610884141.3A CN201610884141A CN106239554A CN 106239554 A CN106239554 A CN 106239554A CN 201610884141 A CN201610884141 A CN 201610884141A CN 106239554 A CN106239554 A CN 106239554A
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CN
China
Prior art keywords
joint
robot
moment
conduction
gear
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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.)
Pending
Application number
CN201610884141.3A
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Chinese (zh)
Inventor
陈庆盈
李鹏
杨桂林
叶彦雷
张驰
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Ningbo Institute of Material Technology and Engineering of CAS
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Ningbo Institute of Material Technology and Engineering of CAS
Priority date (The priority date 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 date listed.)
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Publication date
Application filed by Ningbo Institute of Material Technology and Engineering of CAS filed Critical Ningbo Institute of Material Technology and Engineering of CAS
Priority to CN201610884141.3A priority Critical patent/CN106239554A/en
Publication of CN106239554A publication Critical patent/CN106239554A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00Joints
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/10Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12Programme-controlled manipulators characterised by positioning means for manipulator elements electric

Abstract

The invention provides the conduction mechanism of a kind of stiffness variable, use cam, roller, fin spring, and moment output shaft, roller extruded fins spring during moment conduction, moment is the biggest, and amount of compression is the biggest, and roller more moves to fin spring tang, spring rate becomes big, therefore realizes the moment conduction mechanism of stiffness variable.When the moment conduction mechanism of this stiffness variable is applied to joint of robot, joint of robot has the biggest bandwidth, can absorb external impact energy when external shock, and protection joint of robot is not damaged by.Further, since the connection of moment output shaft, stiffness variable conduction module and outfan can be located at the both sides of joint body, therefore conduct module replacing convenient, the beneficially high assembly precision of robot.

Description

The conduction mechanism of a kind of stiffness variable and joint of robot
Technical field
The present invention relates to feed system vibration control field, particularly relate to a kind of actively eddy current damping device and comprise this The actively feed system of eddy current damping device.
Background technology
Along with the development of science and technology, industrial robot starts to walk out the streamline of factory, comes into daily life. Rigidity is big, motion is the highest, and speed is the distinguishing feature of industrial robot soon, and these features hinder man-machine common the most just The step melted.
Man-machine co-melting robot is proposed some requirement.First, it is that robot has compliance, is i.e. capable of position Speed controlling also shows the characteristic of certain power, so that robot completes task as people intelligently.Secondly, at machine People, with external environment interaction, as run into the impact of external force, needs the energy absorbing external impact to protect robot Do not receive infringement.Furthermore, for the robot of walking, if it is possible to absorb the impact energy in walking process and discharge in good time, this Energy is saved for robot and has huge help.
Joint of robot is an electromechanical integrated device, and including joint body and outfan, joint body connects one section Mechanical arm, outfan connects another section of mechanical arm or executive item connects output power, and Main Function is to export as motor Driving force (or driving moment).Being different from motor, joint of robot comprises reductor, position sensor, force transducer, brake Deng parts, and the electronic-circuit device such as circuit board, these devices make joint of robot work more intelligently.Realize machine The method of person joint's compliance includes:
(1) control algolithm is used merely: work out Shared control algorithm exactly and realize the compliance of joint of robot.
(2) series elastic component is used to coordinate control algolithm: to be exactly addition flexible member in joint transmission chain, be usually Spring, coordinates control algolithm to realize the compliance of joint of robot.Its schematic diagram such as Fig. 1, wherein, 100 is joint body, in it Portion comprises the parts such as motor, bearing, reductor, sensor;200 is flexible member, generally spring;300 is outfan, its Output power it is connected with next section of mechanical arm or executive item.
(3) joint coordinates variation rigidity conduction module: its structural representation such as Fig. 2, its structure is roughly the same with Fig. 1, different Be conduction portion be not single spring, also use other mechanical mechanisms, constitute the conduction module that a rigidity can change 201, such as the modularity variation rigidity joint disclosed in the patent documentation of Application No. CN201510762250.3.
Although using merely the method for control algolithm that Shared control algorithm can be made simple, but it is the absence of absorbing external load Function, robot can not be protected in the case of having external impact load.
Although use series elastic component coordinate control algolithm method can absorbing external load, but due to internal bullet The rigidity of spring cannot change, and the bandwidth causing whole joint transfer chain is certain.
Use the method that the joint shown in Fig. 2 coordinates variation rigidity mechanism, because variation rigidity conduction mechanism is clipped in joint body And between outfan, although variation rigidity conduction mechanism is modular, can arbitrarily change different variation rigidity conduction mechanism, but It is owing to needing dismounting joint when changing, so causing the assembly precision of robot to decline, affecting the performance of robot.
Summary of the invention
For the above-mentioned state of the art, the present invention provides the conduction mechanism of a kind of stiffness variable, including moment input end, variable Rigidity conduction module and moment output shaft;
Described stiffness variable conduction module includes gear A, gear B, at least one roller, and cam;Gear A and tooth B is ratcheting for wheel;Cam face connects fin spring;Cam is connected to one end of moment output shaft;Gear B is socketed in cam vertically Surface, and the curved surface of the set junction of gear B and cam forms some chutes;Roller is placed in described chute;
The moment of input passes to gear B by gear A, and gear B rotates, and compresses roller rolling extrusion fin in chute Spring also moves to fin spring tang direction, and moment is passed to cam by roller, is then passed to moment output shaft.
Moment is the biggest, and amount of compression is the biggest, and roller more moves to fin spring tang, and spring rate becomes big.
In order to regulate roller initial position in described chute, as preferably, described stiffness variable conduction module is also Including pre-Medium-voltage Motor, being used for producing precompressed moment, this precompressed moment passes through gear A, gear B, makes roller be rolled in chute Certain position, such as, extruded fins spring is to certain rigidity.
As preferably, described cam and moment output shaft use spline to connect.
The conduction mechanism of above-mentioned stiffness variable can be used for joint of robot, as it is shown on figure 3, this joint of robot includes joint Main body and outfan;
Described joint body includes motor, decelerator;
During the conduction mechanism of described stiffness variable connects, moment input end is connected with decelerator outfan, and moment exports The outfan (as it has been described above, one end of moment output shaft connects cam) described in other end connection of axle.
That is, due to the connection of moment output shaft, as it is shown on figure 3, stiffness variable conduction module can be located at joint with outfan The both sides of main body, say, that the restriction that stiffness variable conduction module is not between joint body and outfan, such It is designed with the replacing etc. of beneficially variation rigidity module, improves the assembly precision of robot.
As preferably, described decelerator is harmonic speed reducer.
As preferably, described motor uses hollow shaft motor, and the stator of motor is fixed on the shell of joint of robot, Rotor is fixed on outside hollow axle, hollow axle bearings.In order to carry out power down protection, described motor arranges brake (system Dynamic device), preferred as one, described brake is placed on inside hollow axle, and brake includes brake stator and brake rotor two parts, stops Car rotor is fixed on the inside of hollow axle, and brake stator is fixed on end plate, and end plate is connected with the shell of joint of robot, therefore Brake stator is fixing relative to shell.This brake uses electromagnetic braking, and during energising, brake rotor separates with brake stator, Under the driving force effect of motor, brake rotor is followed hollow axle and is rotated;During power-off, brake stator attracts brake rotor, both Hollow axle, is pinned by obvolvent together, and motor then can not output torque to external world.Power down protection effect is played in this design.From Radially seeing, this brake is positioned at the inside of motor, i.e. brake motor radial arrangement, shortens the axial length of joint of robot.
In sum, the present invention uses cam, roller, fin spring, and moment output shaft, by roller fin bullet Spring, it is achieved that the moment conduction mechanism of stiffness variable, has the advantages that
(1) simple in construction, elastic original paper and cam combine together, reduce the complexity of the moment conduction mechanism of stiffness variable Degree.When moment is the biggest, and amount of compression is the biggest, roller more moves to fin spring tang, and spring rate becomes big, it is achieved thereby that The stiffness variable of moment conduction mechanism.
(2), when the moment conduction mechanism of this stiffness variable being applied to joint of robot, whole joint can have the biggest Bandwidth, and external impact energy can be absorbed having external impact when, protection joint of robot is not damaged by.It addition, Due to the connection of moment output shaft, stiffness variable conduction module and outfan can be located at the both sides of joint body, therefore this conduction Module replacing is convenient, without dismantling joint body when changing this conduction module, solves existing moment conduction mechanism and is positioned at machine The assembling essence of the robot that the replacing moment conduction mechanism caused when person joint and outfan must be dismantled joint body and cause Degree declines, the problem affecting the performance of robot.
(3) as preferably, arrange and brake for motor power down protection, and when brake is positioned at the inside of motor, i.e. brake Motor radial arrangement, is conducive to shortening the axial length of joint of robot.
Accompanying drawing explanation
Fig. 1 is that series elastic component coordinates control algolithm to realize the structural representation of joint of robot compliance;
Fig. 2 is that joint body coordinates variation rigidity conduction mechanism to realize the structural representation of joint of robot compliance;
Fig. 3 is the robot joint structure schematic diagram of rearmounted stiffness variable module in the present invention;
Fig. 4 is the axial cross-sectional views of robot joint structure in the embodiment of the present invention 1;
Fig. 5 is the radial section schematic diagram of stiffness variable conduction module in the embodiment of the present invention 1 robot joint structure.
Detailed description of the invention
Below with reference to drawings and Examples, the present invention will be further described, it should be pointed out that the following stated is implemented Example is intended to be easy to the understanding of the present invention, and it does not play any restriction effect.
Reference in Fig. 1-5 is: joint body 100, flexible member 200, conducts module 201, outfan 300, determines Son 1, rotor 2, harmonic speed reducer 3, flexbile gear 4, fixed plate 5, connector 6, stiffness variable conduction module 7, pre-Medium-voltage Motor 8, gear 9, gear 10, cam 11, moment output shaft 12, outfan 13, sensor 14, shell 15, the stator 16 of brake, sensor 17, Roller 18, fin spring 19, the rotor 20 of brake, end plate 21.
In the present embodiment, as it is shown on figure 3, joint of robot includes joint body 100, it is positioned at the defeated of this joint body side Go out end 300, and be positioned at the stiffness variable conduction module 200 of this joint body opposite side.That is, stiffness variable conduction module is placed in Joint body and the end, one end of outfan, rather than between joint body and outfan.
As in figure 2 it is shown, on the whole, 15 parts are the shells of joint body, and it is internal is joint body structure, 7 block diagrams Inside is stiffness variable guided modes block structure, and 12 is moment output shaft, and moment output shaft connects outfan 13, in the present embodiment, Outfan 13 is torque sensor.During work, 15 connect an arm of robot, and outfan 13 connects another of robot Arm.
Joint body includes motor and decelerator.Motor uses Hollow Transmission Shafts motor, including stator 1 and mover 1.Slow down Device is harmonic speed reducer 3.Stator 1 and shell 15 link together, and rotor 2 is fixed on outside Hollow Transmission Shafts, Hollow Transmission Shafts Two ends bearing connects, and bearing and shell 15 connect plays a supporting role.Hollow Transmission Shafts and the wave producer of harmonic speed reducer 3 Connecting, harmonic speed reducer and shell 15 connect.Flexbile gear 4 is connected with fixed plate 5.Stiffness variable conduction module 7 is entirely through connection Part 6 connects together with fixed plate 5.Connecting plate 5 bearings, bearing and shell 15 link together.
As shown in Fig. 4 and 5, stiffness variable conduction module 7 includes gear 9, gear 10, roller 18, and cam 11.Gear 9 is ratcheting with gear 10.Cam 11 is made up of elastomeric material, and cam 11 surface connects fin spring.Moment output shaft 12 One end is connected to cam 11 by spline, and the other end is bolted outfan 13.Gear 10 is socketed in cam 11 vertically Surface, and the curved surface of the set junction of gear 10 and cam forms some chutes, and roller is placed in this chute.
In transmission process, rotor 2 produces moment relative to stator 1 motion, and moment is passed to harmonic reduction by Hollow Transmission Shafts Device 3, flexbile gear 4 output torque, by connecting plate 5, moment is sent in stiffness variable conduction module 7.Stiffness variable conduction module This input torque in 7 passes to gear B by gear A, and gear B rotates and compresses roller 18, and roller 18 rolls in chute, thus Extruded fins spring 19, moment is passed to cam 11 by roller 18, is then passed to moment output shaft 12, by moment output shaft 12 It is transferred to outfan 13.Moment is the biggest, and amount of compression is the biggest, and roller 18 more moves to fin spring tang, and spring rate becomes big, Thus realize variable rigidity conduction.
In the present embodiment, as shown in Figure 4, including four rollers 18, each roller one fin spring 19 of extruding.Such as Fig. 4 Shown in, owing to the compacted rolling of roller is bidirectional-movement, when rolling to a direction, two of which roller is to the wing of its correspondence Flat spring root moves, and when rolling to another direction, two other roller moves to the fin spring tang of its correspondence.
Also including pre-Medium-voltage Motor 8 in stiffness variable conduction module, it sends motive torque to gear by multiple gears 10, adjust the relative position of roller 18 and cam 11 such that it is able to realize rigidity regulation and control, make whole joint can have the biggest band Width, and external impact energy can be absorbed having external impact when, protection joint of robot is not damaged by.
The shell of sensor 14 is fixed on shell 15, and inner ring is fixed in Hollow Transmission Shafts, is used for measuring motor speed. Sensor 17 is for measuring the rotating speed of outfan, and its inner ring is connected on shell by connector, and outer ring is linked by connector On the torque sensor of outfan, torque sensor is connected on shell by bearing.
Brake is arranged on motor internal, and wherein brake includes brake stator 16 and brake rotor 20 two parts, brake rotor 20 inside being fixed on Hollow Transmission Shafts, brake stator 16 is fixed on end plate 21, the shell 15 of end plate 21 and joint of robot It is connected, so brake stator 16 is fixed relative to shell 15.Brake uses electromagnetic braking, during energising, brake rotor 20 He Brake stator 16 separates, and under the driving force effect of motor, brake rotor 20 is followed Hollow Transmission Shafts and rotated;During power-off, brake Stator 16 attracts brake rotor 20, and Hollow Transmission Shafts, is pinned by both obvolvents together, and motor then can not power output to external world Square, power down protection effect is played in this design.
In this enforcement, owing to stiffness variable conduction module 7 is positioned at the back of joint body, as long as therefore meeting fixed plate 5 Just can redesign new stiffness variable conduction module with the connected mode on moment output shaft 12 and size for connection, directly connect Receiving the back in joint and need not be pulled down from mechanical arm in whole joint, this process does not affect the assembling in mechanical arm and joint Precision, and promote the generation of new stiffness variable conduction module, significant.
Technical scheme has been described in detail by embodiment described above, it should be understood that the above is only For the specific embodiment of the present invention, be not limited to the present invention, all made in the spirit of the present invention any amendment, Supplement or similar fashion replacement etc., should be included within the scope of the present invention.

Claims (8)

1. a conduction mechanism for stiffness variable, including moment input end, stiffness variable conduction module and moment output shaft;Its Feature is: described stiffness variable guided modes module includes gear A, gear B, at least one roller, and cam;Gear A with Gear B is ratcheting;Cam face connects fin spring;Cam is connected to one end of moment output shaft;Gear B is socketed in convex vertically Wheel surface, and the curved surface of the set junction of gear B and cam forms some chutes;Roller is placed in described chute;
The moment of input passes to gear B by gear A, and gear B rotates, and compresses roller rolling extrusion fin spring in chute And move to fin spring tang direction, moment is passed to cam by roller, is then passed to moment output shaft.
2. the conduction mechanism of stiffness variable as claimed in claim 1, is characterized in that: described stiffness variable conduction module is also wrapped Including pre-Medium-voltage Motor, be used for producing moment and be transferred to gear B, gear B rotates, thus the initial position that regulon is in chute.
3. the conduction mechanism of stiffness variable as claimed in claim 1, is characterized in that: described cam and moment output shaft use Spline connects.
4. a joint of robot, including joint body, is positioned at the outfan of described joint body side, and such as claim The conduction mechanism of stiffness variable described in any claim in 1 to 3;
Described joint body includes motor, decelerator;
During the conduction mechanism of described stiffness variable connects, moment input end is connected with decelerator outfan, moment output shaft Outfan described in other end connection.
5. joint of robot as claimed in claim 4, is characterized in that: described stiffness variable conduction module is positioned at pass with outfan The both sides of joint main body.
6. joint of robot as claimed in claim 4, is characterized in that: described decelerator is harmonic speed reducer.
7. joint of robot as claimed in claim 4, is characterized in that: also include that brake, described motor use hollow axle electricity Machine, brake is positioned at inside hollow axle.
8. joint of robot as claimed in claim 5, is characterized in that: the stator of described motor is fixed on outside joint of robot On shell, rotor is fixed on outside hollow axle, hollow axle bearings;Brake includes brake stator and brake rotor two parts, Brake rotor is fixed on the inside of hollow axle, and brake stator is fixed on end plate, and end plate is connected with the shell of joint of robot;
During energising, brake rotor separates with brake stator, and under the driving force effect of motor, brake rotor is followed hollow axle and turned Dynamic;During power-off, brake stator attracts brake rotor, and hollow axle, is pinned by both obvolvents together.
CN201610884141.3A 2016-10-10 2016-10-10 The conduction mechanism of a kind of stiffness variable and joint of robot Pending CN106239554A (en)

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Application Number Priority Date Filing Date Title
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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018119594A1 (en) * 2016-12-26 2018-07-05 深圳配天智能技术研究院有限公司 Method, system, and device for vibration regulation and industrial robot
CN111872948A (en) * 2020-07-07 2020-11-03 广东博智林机器人有限公司 Drive module of robot and robot chassis, cleaning robot that have it
WO2021062635A1 (en) * 2019-09-30 2021-04-08 深圳市优必选科技股份有限公司 Joint structure and robot
WO2021062637A1 (en) * 2019-09-30 2021-04-08 深圳市优必选科技股份有限公司 Integrated joint and robot

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018119594A1 (en) * 2016-12-26 2018-07-05 深圳配天智能技术研究院有限公司 Method, system, and device for vibration regulation and industrial robot
WO2021062635A1 (en) * 2019-09-30 2021-04-08 深圳市优必选科技股份有限公司 Joint structure and robot
WO2021062637A1 (en) * 2019-09-30 2021-04-08 深圳市优必选科技股份有限公司 Integrated joint and robot
CN112888535A (en) * 2019-09-30 2021-06-01 深圳市优必选科技股份有限公司 Integrated joint and robot
CN112888534A (en) * 2019-09-30 2021-06-01 深圳市优必选科技股份有限公司 Joint structure and robot
CN111872948A (en) * 2020-07-07 2020-11-03 广东博智林机器人有限公司 Drive module of robot and robot chassis, cleaning robot that have it

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