CN106239554B - Conduction mechanism with variable rigidity and robot joint - Google Patents
Conduction mechanism with variable rigidity and robot joint Download PDFInfo
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- CN106239554B CN106239554B CN201610884141.3A CN201610884141A CN106239554B CN 106239554 B CN106239554 B CN 106239554B CN 201610884141 A CN201610884141 A CN 201610884141A CN 106239554 B CN106239554 B CN 106239554B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 23
- 230000005540 biological transmission Effects 0.000 claims abstract description 21
- 239000003638 chemical reducing agent Substances 0.000 claims description 14
- 230000009471 action Effects 0.000 claims description 3
- 238000001125 extrusion Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 230000004323 axial length Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- 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
Abstract
The invention provides a variable-rigidity transmission mechanism, which adopts a cam, a roller, a fin spring and a torque output shaft, wherein the roller presses the fin spring during torque transmission, the larger the torque is, the larger the extrusion amount is, the roller moves towards the root of the fin spring, and the spring rigidity is increased, so that the variable-rigidity torque transmission mechanism is realized. When the rigidity-variable moment transmission mechanism is applied to the robot joint, the robot joint has a large bandwidth, and can absorb external impact energy when being subjected to external impact, so that the robot joint is protected from being damaged. In addition, because the torque output shaft is connected, the variable rigidity conduction module and the output end can be positioned at two sides of the joint main body, so that the conduction module is convenient to replace, and the high assembly precision of the robot is facilitated.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a rigidity-variable conduction mechanism and a robot joint.
Background
Along with the continuous development of technology, industrial robots start to walk out of the factory pipeline and enter people's daily lives. The rigidity is high, the movement accuracy is high, and the speed is high, which is a remarkable characteristic of the industrial robot and is a step which prevents man-machine co-fusion.
Man-machine co-fusion puts several demands on robots. Firstly, the robot has flexibility, namely, the position and speed control can be realized, and the robot has the characteristic of a certain force, so that the robot can intelligently complete tasks like a human. Secondly, in the process of interaction between the robot and the external environment, if the robot encounters impact of external force, the energy of the external impact needs to be absorbed to protect the robot from damage. Furthermore, for walking robots, if the impact energy during walking can be absorbed and released at the right time, this is a great help to save energy for robots.
The robot joint is an electromechanical integrated device and comprises a joint main body and an output end, wherein the joint main body is connected with one section of mechanical arm, the output end is connected with the other section of mechanical arm or an executing piece is connected with output power, and the robot joint mainly aims at outputting driving force (or driving moment) like a motor. Unlike motors, the robot joint contains components such as speed reducers, position sensors, force sensors, brakes, etc., and electronic circuit devices such as circuit boards, etc., which make the robot joint work more intelligently. The method for realizing the flexibility of the robot joint comprises the following steps:
(1) Purely using a control algorithm: the flexibility of the robot joint is realized by compiling a flexibility control algorithm.
(2) Using a series elastic element in conjunction with a control algorithm: the flexibility of the robot joint is realized by adding an elastic element, generally a spring, in the joint transmission chain and matching a control algorithm. The schematic diagram is shown in fig. 1, wherein 100 is a joint main body, and the interior of the joint main body comprises parts such as a motor, a bearing, a speed reducer, a sensor and the like; 200 is a resilient element, typically a spring; and 300 is an output end which is connected with the next section of mechanical arm or the actuating piece to output power.
(3) Joint cooperation variable stiffness conduction module: the structure is shown in fig. 2, and the structure is the same as that of fig. 1, except that the conductive part is not a single spring, and other mechanical mechanisms are used to form a conductive module 201 with variable rigidity, for example, a modularized rigidity-variable joint disclosed in patent document with application number CN 201510762250.3.
Although the method of using the control algorithm only can make the flexible control algorithm simple, the method lacks the function of buffering external load, and the robot cannot be protected under the condition of external impact load.
Although the method of using the series elastic element and the control algorithm can buffer the external load, the rigidity of the internal spring cannot be changed, so that the bandwidth of the whole joint transmission chain is certain.
The method of using the joint to cooperate with the variable stiffness mechanism shown in fig. 2 is that the variable stiffness conduction mechanism is clamped between the joint main body and the output end, and although the variable stiffness conduction mechanism is modularized, different variable stiffness conduction mechanisms can be replaced at will, the assembly precision of the robot is reduced due to the fact that the joint is required to be disassembled during replacement, and the performance of the robot is affected.
Disclosure of Invention
In view of the above state of the art, the present invention provides a variable stiffness conduction mechanism comprising a torque input end, a variable stiffness conduction module and a torque output shaft;
the variable stiffness conduction module comprises a gear A, a gear B, at least one roller and a cam; the gear A is meshed with the gear B; the cam surface is connected with a fin spring; the cam is connected to one end of the torque output shaft; the gear B is sleeved on the surface of the cam along the axial direction, and a plurality of sliding grooves are formed by the sleeved surface of the gear B and the curved surface of the cam; the roller is placed in the chute;
the torque at the input end is transmitted to a gear B through a gear A, the gear B rotates, a pressing roller rolls in a chute to press the fin spring and moves towards the root direction of the fin spring, the torque is transmitted to a cam through the roller, and then the torque is transmitted to a torque output shaft.
The larger the moment is, the larger the extrusion amount is, the roller moves towards the root of the fin spring, and the spring stiffness is increased.
In order to adjust the initial position of the roller in the chute, the variable stiffness conduction module preferably further comprises a pre-compression motor for generating a pre-compression torque which rolls the roller to a certain position in the chute through the gears a, B, for example, to compress a fin spring to a certain stiffness.
Preferably, the cam and the torque output shaft are connected by a spline.
The above-described variable stiffness conduction mechanism may be used in a robot joint, as shown in fig. 3, which includes a joint body and an output end;
the joint main body comprises a motor and a speed reducer;
in the connection of the rigidity-variable transmission mechanism, a torque input end is connected with an output end of the speed reducer, and the other end of the torque output shaft is connected with the output end (as described above, one end of the torque output shaft is connected with a cam).
That is, due to the connection of the torque output shaft, as shown in fig. 3, the variable stiffness conductive module and the output end may be located at both sides of the joint body, that is, the variable stiffness conductive module is not limited between the joint body and the output end, such design is beneficial to the replacement of the variable stiffness module, etc., and the assembly accuracy of the robot is improved.
Preferably, the speed reducer is a harmonic speed reducer.
Preferably, the motor adopts a hollow shaft motor, a stator of the motor is fixed on a shell of the robot joint, a rotor is fixed outside the hollow shaft, and the hollow shaft is supported by a bearing. In order to perform power failure protection, the motor is provided with a brake (brake), and as a preferable mode, the brake is arranged in the hollow shaft, the brake comprises a brake stator and a brake rotor, the brake rotor is fixed in the hollow shaft, the brake stator is fixed on an end disc, and the end disc is connected with a shell of the robot joint, so that the brake stator is fixed relative to the shell. The brake adopts electromagnetic braking, when the electric power is on, the brake rotor and the brake stator are separated, and under the action of the driving force of the motor, the brake rotor rotates along with the hollow shaft; when the power is off, the brake stator attracts the brake rotor, the brake stator and the brake rotor are held together, the hollow shaft is locked, and the motor cannot output torque to the outside. The design plays a role in power-down protection. The brake is positioned inside the motor in radial direction, i.e. the brake motor is arranged radially, which shortens the axial length of the robot joint.
In summary, the invention adopts the cam, the roller, the fin spring and the torque output shaft, and realizes the torque transmission mechanism with variable rigidity through the roller fin spring, and has the following beneficial effects:
(1) The structure is simple, the elastic element and the cam are integrated, and the complexity of the torque transmission mechanism with variable rigidity is reduced. When the moment is larger, the extrusion amount is larger, the roller moves towards the root of the fin spring, and the spring stiffness is larger, so that the variable stiffness of the moment transmission mechanism is realized.
(2) When the rigidity-variable moment transmission mechanism is applied to the robot joint, the whole joint can have a large bandwidth, and can absorb external impact energy when external impact exists, so that the robot joint is protected from being damaged. In addition, because the torque output shaft is connected, the variable rigidity conduction module and the output end can be positioned at two sides of the joint main body, so that the conduction module is convenient to replace, the joint main body is not required to be disassembled when the conduction module is replaced, and the problems that the assembly precision of the robot is reduced and the performance of the robot is influenced due to the fact that the joint main body is required to be disassembled when the existing torque conduction mechanism is positioned at the joint and the output end of the robot are solved.
(3) Preferably, the brake is arranged for power-down protection of the motor, and when the brake is positioned in the motor, namely the brake motor is radially arranged, the axial length of the robot joint is advantageously shortened.
Drawings
FIG. 1 is a schematic diagram of a configuration of a series elastic element in combination with a control algorithm to achieve robot joint compliance;
FIG. 2 is a schematic diagram of a joint body in combination with a variable stiffness conduction mechanism to achieve flexibility of a robot joint;
FIG. 3 is a schematic view of a robotic joint configuration of a rear-mounted variable stiffness module of the present invention;
FIG. 4 is a schematic axial cross-sectional view of a robot joint structure in embodiment 1 of the present invention;
fig. 5 is a schematic radial sectional view of a variable stiffness conductive module in the joint structure of the robot of embodiment 1 of the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings and examples, which are intended to facilitate an understanding of the invention and are not to be construed as limiting.
The reference numerals in fig. 1-5 are: the device comprises a joint main body 100, an elastic element 200, a conducting module 201, an output end 300, a stator 1, a rotor 2, a harmonic reducer 3, a flexspline 4, a fixed plate 5, a connecting piece 6, a variable stiffness conducting module 7, a pre-pressing motor 8, a gear 9, a gear 10, a cam 11, a moment output shaft 12, an output end 13, a sensor 14, a shell 15, a stator 16 of a brake, a sensor 17, a roller 18, a fin spring 19, a rotor 20 of the brake and an end disc 21.
In this embodiment, as shown in fig. 3, the robot joint includes a joint body 100, an output 300 on one side of the joint body, and a variable stiffness conductive module 201 on the other side of the joint body. That is, the variable stiffness conductive module is disposed at one end of the joint body and the output end, rather than between the joint body and the output end.
As shown in fig. 4, a portion 15 is a housing of the joint body as a whole, the inside of the housing is a joint body structure, the inside of the block diagram 7 is a variable stiffness conductive module structure, the inside of the block diagram 12 is a torque output shaft, the torque output shaft is connected with an output end 13, and in this embodiment, the output end 13 is a torque sensor. In operation, 15 is connected to one arm of the robot and output 13 is connected to the other arm of the robot.
The joint main body comprises a motor and a speed reducer. The motor adopts a hollow transmission shaft motor and comprises a stator 1 and a rotor 2. The decelerator is a harmonic decelerator 3. The stator 1 is connected with the shell 15, the rotor 2 is fixed outside the hollow transmission shaft, two ends of the hollow transmission shaft are connected by bearings, and the bearings are connected with the shell 15 to play a supporting role. The hollow drive shaft is connected to the wave generator of the harmonic reducer 3, which is connected to the housing 15. The flexible wheel 4 is connected with the fixed plate 5. The variable stiffness conductive module 7 is integrally connected to the fixed plate 5 by a connector 6. The fixed plate 5 is supported by bearings, which are coupled to the housing 15.
As shown in fig. 4 and 5, the variable stiffness conductive module 7 includes a gear 9, a gear 10, a roller 18, and a cam 11. The gear 9 is engaged with the gear 10. The cam 11 is made of an elastic material, and the surface of the cam 11 is connected with a fin spring. One end of the torque output shaft 12 is splined to the cam 11, and the other end is bolted to the output 13. The gear 10 is sleeved on the surface of the cam 11 along the axial direction, and the sleeved surface of the gear 10 and the curved surface of the cam form a plurality of sliding grooves, and the rollers are placed in the sliding grooves.
In the transmission process, the rotor 2 moves relative to the stator 1 to generate a moment, the hollow transmission shaft transmits the moment to the harmonic reducer 3, the flexible gear 4 outputs the moment, and the moment is transmitted to the variable stiffness transmission module 7 through the fixed plate 5. This input torque in the variable stiffness conduction module 7 is transmitted through gear a to gear B, which turns against roller 18, which roller 18 rolls in the runner, thus compressing the fin spring 19, and the torque is transmitted through roller 18 to cam 11 and then to torque output shaft 12, and through torque output shaft 12 to output 13. The greater the moment, the greater the amount of compression, the more the roller 18 moves toward the root of the fin spring, and the greater the spring rate, thereby achieving variable rate conduction.
In this embodiment, as shown in fig. 4, four rollers 18 are included, each pressing against one of the fin springs 19. As shown in fig. 4, since the rollers are pressed and rolled in two directions, two of the rollers move toward their corresponding fin spring roots when rolling in one direction, and the other two rollers move toward their corresponding fin spring roots when rolling in the other direction.
The rigidity-variable conduction module also comprises a pre-pressing motor 8 which transmits power torque to the gear 10 through a plurality of gears, and adjusts the relative positions of the roller 18 and the cam 11, so that rigidity adjustment and control can be realized, the whole joint can have a large bandwidth, external impact energy can be absorbed when external impact exists, and the robot joint is protected from being damaged.
The housing of the sensor 14 is fixed to the housing 15, and the inner ring is fixed to the hollow drive shaft for measuring the motor speed. The sensor 17 is used to measure the rotational speed of the output, the inner ring of which is connected to the housing via a connection, the outer ring of which is connected to the torque sensor of the output via a connection, the torque sensor being connected to the housing via a bearing.
The brake is arranged in the motor, wherein the brake comprises a brake stator 16 and a brake rotor 20, the brake rotor 20 is fixed in the hollow transmission shaft, the brake stator 16 is fixed on an end disc 21, and the end disc 21 is connected with a shell 15 of the robot joint, so that the brake stator 16 is fixed relative to the shell 15. The brake adopts electromagnetic braking, when the power is on, the brake rotor 20 and the brake stator 16 are separated, and under the action of the driving force of the motor, the brake rotor 20 rotates along with the hollow transmission shaft; when the power is off, the brake stator 16 attracts the brake rotor 20, the two are held together to lock the hollow transmission shaft, and the motor cannot output torque to the outside, so that the design plays a role in power-off protection.
In this embodiment, since the variable stiffness conductive module 7 is located at the rear edge of the joint body, a new variable stiffness conductive module can be redesigned as long as the connection mode and the connection size on the fixing plate 5 and the torque output shaft 12 are satisfied, and the new variable stiffness conductive module can be directly connected to the rear edge of the joint without detaching the whole joint from the mechanical arm, and the process does not affect the assembly precision of the mechanical arm and the joint, and promotes the generation of the new variable stiffness conductive module, which is significant.
While the foregoing embodiments have been described in detail in connection with the embodiments of the invention, it should be understood that the foregoing embodiments are merely illustrative of the invention and are not intended to limit the invention, and any modifications, additions, substitutions and the like made within the principles of the invention are intended to be included within the scope of the invention.
Claims (4)
1. The utility model provides a robot joint, includes the joint main part, is located joint output of joint main part one side to and the conduction mechanism of variable rigidity, characterized by: the joint main body comprises a motor and a speed reducer;
the variable-rigidity conduction mechanism comprises a moment input end, a variable-rigidity conduction module and a moment output shaft; the variable stiffness conduction module comprises a gear A, a gear B, at least one roller and a cam; the gear A is meshed with the gear B; the cam surface is connected with a fin spring; the cam is connected to one end of the torque output shaft; the gear B is sleeved on the surface of the cam along the axial direction, and a plurality of sliding grooves are formed by the sleeved surface of the gear B and the curved surface of the cam; the roller is placed in the chute;
in the connection of the rigidity-variable transmission mechanism, a moment input end is connected with an output end of a speed reducer, and the other end of the moment output shaft is connected with the joint output end; the variable stiffness conduction module further comprises a pre-pressing motor, wherein the pre-pressing motor is used for generating torque to be transmitted to the gear B, and the gear B rotates, so that the initial position of the roller in the chute is adjusted;
the torque at the torque input end is transmitted to a gear B through a gear A, the gear B rotates, a pressing roller rolls in a chute to press the fin spring and moves towards the root of the fin spring, and the torque is transmitted to a cam through the roller and then transmitted to a torque output shaft; the cam is connected with the moment output shaft through a spline;
the variable stiffness conduction modules and the joint output end are positioned on two sides of the joint main body.
2. The robotic joint of claim 1, wherein: the speed reducer is a harmonic speed reducer.
3. The robotic joint of claim 1, wherein: the electric motor is a hollow shaft motor, and the brake is positioned in the hollow shaft.
4. The robotic joint of claim 1, wherein: the stator of the motor is fixed on the shell of the robot joint, the rotor is fixed outside the hollow shaft, and the hollow shaft is supported by a bearing; the brake comprises a brake stator and a brake rotor, wherein the brake rotor is fixed in the hollow shaft, the brake stator is fixed on an end disc, and the end disc is connected with a shell of the robot joint;
when the electric motor is electrified, the brake rotor and the brake stator are separated, and the brake rotor rotates along with the hollow shaft under the action of the driving force of the motor; when the power is off, the brake stator attracts the brake rotor, and the brake stator and the brake rotor are held together to lock the hollow shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610884141.3A CN106239554B (en) | 2016-10-10 | 2016-10-10 | Conduction mechanism with variable rigidity and robot joint |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610884141.3A CN106239554B (en) | 2016-10-10 | 2016-10-10 | Conduction mechanism with variable rigidity and robot joint |
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| CN106239554A CN106239554A (en) | 2016-12-21 |
| CN106239554B true CN106239554B (en) | 2024-03-15 |
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| CN201610884141.3A Active CN106239554B (en) | 2016-10-10 | 2016-10-10 | Conduction mechanism with variable rigidity and robot joint |
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Families Citing this family (8)
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| CN107690376B (en) * | 2016-12-26 | 2021-05-07 | 深圳配天智能技术研究院有限公司 | Vibration adjusting method, system and device and industrial robot |
| CN109253201A (en) * | 2017-07-14 | 2019-01-22 | 深圳市飞托克实业有限公司 | A kind of cam buffer |
| JP2020102939A (en) * | 2018-12-21 | 2020-07-02 | 日本電産株式会社 | Actuator |
| CN112888534B (en) * | 2019-09-30 | 2022-05-06 | 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 |
| 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 |
| CN114131647B (en) * | 2021-12-06 | 2022-08-26 | 之江实验室 | Lever type rigidity-variable flexible joint based on cam |
| CN114905541B (en) * | 2022-04-06 | 2024-03-22 | 重庆奔腾科技发展有限公司 | Variable-rigidity robot joint |
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