CN106914910A - Variable frictional force drives device - Google Patents
Variable frictional force drives device Download PDFInfo
- Publication number
- CN106914910A CN106914910A CN201510980212.5A CN201510980212A CN106914910A CN 106914910 A CN106914910 A CN 106914910A CN 201510980212 A CN201510980212 A CN 201510980212A CN 106914910 A CN106914910 A CN 106914910A
- Authority
- CN
- China
- Prior art keywords
- clutch
- arrangement
- motor
- friction plate
- frictional force
- Prior art date
- 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
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
Abstract
Variable frictional force drives device, it relate to the device that a kind of dependence frictional force produces different size rotating torque.The present invention be in order to solve that existing rescue robot system is complicated, structure is too fat to move, expensive, it is difficult in maintenance the shortcomings of, brand-new design has been done to wrist joint detection driving equipment, testing agency and drive mechanism are integrated in one, simplify system architecture, the wrist joint of robot is set to keep farthest flexibly, the state of joint motions can be accurately detected, and the torque of output also can accurately act on wrist joint.
Description
Technical field
The present invention relates to the device that a kind of dependence frictional force produces different size rotating torque, the wrist joint for robot drives.
Background technology
Due to the development of science and technology, rescue robot is gradually used in increasing scope, from the nineties in 20th century
Rise, international sophisticated machine people plan (IARP) has held excessive robot symposium, rescuing machine has occurred in developed country
Device people's marketable product.At present, advanced rescue robot technology speedily carrying out rescue work, the disaster relief, the aspect such as anti-terrorism be widely used.
Rescue robot also has good application prospect in terms of the rescue of battlefield, by the extensive attention of foreign military.It is public according to the Pentagon
The latest data of cloth, U.S. army has fallen in battle people more than 4200 in Iraq battlefield, and, then more than 31000 people, a large amount of wounded are for number of injured people
It is that medical care soldier emits considerable risk and rescued back from battlefield.However, due to the importance and obvious Red Cross mark of medical care soldier,
Afield shuttle they equally can turn into enemy target.According to conventional battlefield experience, if soldier can be in injury
Treated in latter hour, the survival probability of soldier will be greatly improved.But the Medical treatment device that afield, aid-man carries
Material is fairly limited, and rescue robot can complete temporary rescue task, is the rescue time for striving for preciousness patient more.The mankind cure
Life can by these robots of satellite remote control, it can within officers and men's injured a few minutes the immediate stability condition of the injury, and
Wounded's internal medicine or surgical nursing are given when withdrawing.Gao Deng Plan Bureaus of U.S. Department of Defense (DARPA) are AUS future battlefield
The sick and wounded rescue and medical treatment devises Highgrade integration, robotization and intelligentized medical system.Rescue robot technology is collection
Medical science, biomethanics, mechanics, Mechanics of Machinery, materialogy, computer graphics, computer vision, mathematical analysis, machine
The novel crossed research field that the subjects such as device people are integrated, with important researching value, has wide on dual-use
General application prospect, is a study hotspot of current robot field.Such robot is guided by Remote, so that really
Guarantor passes through complicated landform, and the wounded are transported into base hospital in time, its appearance, will significantly reduce the injures and deaths of battlefield medical personnel
Probability.In addition to military first aid, this robot can be used for many occasions, particularly occur earthquake, core biological and chemical attack or
In the hazardous environment of harmful substance leakage, rescue robot can be by outstanding lifting capacity and the exrending boxing pin of toughness one.
The content of the invention
The purpose of the present invention is directed to that existing rescue robot system is complicated, structure is too fat to move, expensive, difficult in maintenance etc. and lacks
Point, each articulated driving equipment to rescue robot has done brand-new design, and detection of joints mechanism and drive mechanism are integrated in
Integrally, system architecture is simplified, and adds arrangement of clutch, when system moment output signal, motor is rotated, clutch dress
Put connection motor and train of reduction gears, motor by the joint specified of train of reduction gears driving, to the motion applying power in the joint
Effect, when system does not have torque output signal, motor stalls, arrangement of clutch disconnects the connection of motor and train of reduction gears,
The resistance of joint motions is reduced and reduced, makes the motion in joint more smooth.The present invention is the joint inspection for rescue robot
The equipment surveyed and drive, is made up of shell, motor, arrangement of clutch, potentiometer, gear, power transmission shaft, motor and arrangement of clutch
Connection, arrangement of clutch drives power transmission shaft, power transmission shaft to drive potentiometer by another group of gear by the cooperation of train of reduction gears, outward
Shell provides support and protective effect to drive disk assembly.The present invention enables rescue robot movable joint position to keep maximum spirit
Living, the installation cost is low, using simple, safeguards easy.
Brief description of the drawings
Fig. 1 is structural representation of the invention.
Fig. 2 is the structural representation of motor 1 and arrangement of clutch 100.
Specific embodiment
Specific embodiment one：As depicted in figs. 1 and 2, the variable frictional force drives device include motor 1, arrangement of clutch 100,
Power transmission shaft 2, potentiometer 3, shell 4,5.The motor 1 is connected with arrangement of clutch 100, and the arrangement of clutch 100 connects
On and off opens two kinds of working conditions of motor 1 and train of reduction gears connection, and arrangement of clutch 100 is driven by the cooperation of train of reduction gears
Dynamic power transmission shaft 2, the direct drive potentiometer 3 of power transmission shaft 2,4,5 pairs of drive disk assemblies of shell provide support and protective effect.Action
Implementation process：When joint of robot is moved and drives power transmission shaft 2 to rotate, the direct drive potentiometer 3 of power transmission shaft 2 is rotated, and is made
Obtaining potentiometer 3 can detect the angle and state of joint motions, and when control system non-moment output signal, motor 1 is not rotated,
Arrangement of clutch 100 disconnects the connection of motor 1 and train of reduction gears, and joint motions are interference-free, when the output of control system moment
During signal, motor 1 is rotated, and arrangement of clutch 100 connection motor 1 and train of reduction gears, motor 1 pass through the He of arrangement of clutch 100
Being rotated with charge-coupled driving power transmission shaft 2 for reduction gearing exports power, and applying one is in the same direction or reverse on the direction of joint motions
Driving force, while the real-time change of the articulation angle that control system is detected further according to potentiometer 3, with corresponding mathematics
Algorithm constantly corrects the size and Orientation of the driving force, promotes or hinder the motion in the joint.
Specific embodiment two：As shown in Fig. 2 the destage device 100 include friction plate slide bar 7, arrangement of clutch friction plate 8,
Returning pull-spring 9, arrangement of clutch lid 10.The friction plate slide bar 7 is affixed with the axle of motor 1, two panels arrangement of clutch friction plate 8
The two ends of friction plate slide bar 7 are inserted in respectively, are sliding contact, two panels clutch between arrangement of clutch friction plate 8 and friction plate slide bar 7
Returning pull-spring 9 is connected between device friction plate 8, arrangement of clutch lid 10 is inserted in the axle of motor 1, arrangement of clutch lid 10 and electricity
It is sliding contact between the axle of machine 1, the axis of arrangement of clutch lid 10 overlaps with the axis of motor 1, set on arrangement of clutch lid 10
There is travelling gear to be engaged with reduction gearing.Action implementation process：When motor 1 is rotated, two panels arrangement of clutch friction plate 8 overcomes
The pulling force of returning pull-spring 9 is slided to the end of friction plate slide bar 7 and contacted with the inwall of arrangement of clutch lid 10 respectively, and clutch is filled
Put lid 10 and produce frictional force, drive arrangement of clutch lid 10 to rotate；When motor 1 stops operating, two panels arrangement of clutch friction plate
8 are slided in the presence of returning pull-spring 9 to axis direction, and the inwall with arrangement of clutch lid 10 is separated, cut-out arrangement of clutch lid 10
With the connection of motor 1.
Claims (2)
1. a kind of variable frictional force drives device, the equipment for needing to detect joint motions and provide torque output, by motor (1),
Arrangement of clutch (100), power transmission shaft (2), potentiometer (3), shell (4,5) composition：
It is characterized in that：
The motor (1) is connected with arrangement of clutch (100), and the arrangement of clutch (100) switches on and off motor (1)
The two kinds of working conditions connected with train of reduction gears, the cooperation that motor (1) passes through arrangement of clutch (100) and train of reduction gears
Power transmission shaft (2), power transmission shaft (2) is driven to drive potentiometer (3) by another group of gear, shell (4,5) is to drive disk assembly
Support and protective effect are provided；
Detection of the variable frictional force drives device to articulation angle and state is surveyed by potentiometer (3) by corresponding mathematical algorithm
Amount.
2. variable frictional force drives device according to claim 1, it is characterised in that：Arrangement of clutch (100) bag
Include friction plate slide bar (7), arrangement of clutch friction plate (8), returning pull-spring (9), arrangement of clutch lid (10), the friction plate
Slide bar (7) is affixed with the axle of motor (1), and two panels arrangement of clutch friction plate (8) is inserted in friction plate slide bar (7) two respectively
End, is sliding contact, two panels arrangement of clutch friction plate (8) between arrangement of clutch friction plate (8) and friction plate slide bar (7)
Between be connected with returning pull-spring (9), arrangement of clutch lid (10) is inserted in the axle of motor (1), arrangement of clutch lid (10) and electricity
It is sliding contact between the axle of machine (1), the axis of arrangement of clutch lid (10) overlaps with the axis of motor (1), clutch dress
Put lid (10) and be provided with travelling gear and engaged with reduction gearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510980212.5A CN106914910A (en) | 2015-12-25 | 2015-12-25 | Variable frictional force drives device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510980212.5A CN106914910A (en) | 2015-12-25 | 2015-12-25 | Variable frictional force drives device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106914910A true CN106914910A (en) | 2017-07-04 |
Family
ID=59459844
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510980212.5A Pending CN106914910A (en) | 2015-12-25 | 2015-12-25 | Variable frictional force drives device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106914910A (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005297081A (en) * | 2004-04-06 | 2005-10-27 | Sony Corp | Robot device and joint device of robot |
| US20100125228A1 (en) * | 2008-11-14 | 2010-05-20 | Woody Yao | Patting Device for Health Care |
| CN101869745A (en) * | 2010-07-02 | 2010-10-27 | 上海海事大学 | Rescue robot |
| CN104552226A (en) * | 2013-10-18 | 2015-04-29 | 苏茂 | Minitype force feedback detecting and driving device |
-
2015
- 2015-12-25 CN CN201510980212.5A patent/CN106914910A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005297081A (en) * | 2004-04-06 | 2005-10-27 | Sony Corp | Robot device and joint device of robot |
| US20100125228A1 (en) * | 2008-11-14 | 2010-05-20 | Woody Yao | Patting Device for Health Care |
| CN101869745A (en) * | 2010-07-02 | 2010-10-27 | 上海海事大学 | Rescue robot |
| CN104552226A (en) * | 2013-10-18 | 2015-04-29 | 苏茂 | Minitype force feedback detecting and driving device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170704 |