CN107322631B - Human shoulder-imitating joint based on dielectric elastomer actuator - Google Patents
Human shoulder-imitating joint based on dielectric elastomer actuator Download PDFInfo
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- CN107322631B CN107322631B CN201710566189.4A CN201710566189A CN107322631B CN 107322631 B CN107322631 B CN 107322631B CN 201710566189 A CN201710566189 A CN 201710566189A CN 107322631 B CN107322631 B CN 107322631B
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- shoulder joint
- upper arm
- support
- dielectric elastomer
- elastomer actuator
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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
A human-simulated shoulder joint based on dielectric elastomer actuators comprises a shoulder joint interface, a shoulder joint support, an upper arm support, two upper arm connecting rods and two dielectric elastomer actuators; the shoulder joint interface is provided with a rotary sleeve for mounting the front end of the shoulder joint support so that the shoulder joint support can perform rotary motion in the shoulder joint interface; the intermediate shaft of the upper arm support is mounted within the two sleeves and is rotatable within the sleeves. The front end of the upper arm bracket extends out of two symmetrically arranged hemispherical grooves for connecting with the ball heads of two connecting rods, and the tail ends of the connecting rods are installed together with the output end of the dielectric elastomer actuator. The two actuators act simultaneously, and can control the motion direction and the motion angle of the shoulder joint. The invention is close to the real situation of human body in structure, movement and function, and has better flexibility. And the shoulder joint has simple structure, reasonable design and convenient installation, can be used for the design of the shoulder joints of various humanoid robots, and has very wide application prospect.
Description
Technical Field
The invention relates to the technical field of shoulder joints, and belongs to a human-simulated shoulder joint based on a dielectric elastomer actuator.
Background
The humanoid robot is designed and manufactured to imitate the shape and behavior of a human, the first industrial robot was manufactured in the united states since 1959, and the development of the robot has gone through four stages, namely, an industrial robot, a remote-controlled robot, an intelligent robot and a bionic robot in half a century. A humanoid robot must have two robotic arms resembling the upper limbs of a human being and have two or more finger hands at the ends of the arms. Therefore, the operation requirements of a common robot can be met, and double-arm coordination control and finger control can be realized to realize more complex operation. The humanoid robot is widely applied to the fields of military affairs, medical treatment and services at present, can replace human beings to finish dangerous work, and can help disabled people to finish daily life operation. At present, a driving device of the humanoid mechanical arm mainly adopts a scheme that a motor is matched with a speed reducer, and multi-motor combination is adopted for realizing multi-degree-of-freedom movement of the robot, so that the quality of the robot is greatly increased, a transmission mechanism is more complex, and the safety is also reduced. The Chinese patent with the patent application number of 201510311779.3 and the name of 'a humanoid mechanical arm based on hybrid drive of multiple artificial muscles', the shoulder joint of the mechanical arm has two degrees of freedom, the whole pitching and deflecting motion of the mechanical arm is realized through motor gear transmission, the structure is compact, the transmission efficiency is high, but the requirements on manufacturing and mounting precision are high, vibration can be generated during motion, and the service life of equipment is shortened. The invention discloses a Chinese patent with the patent application number of 201510016217.6 and the name of 'a seven-degree-of-freedom humanoid mechanical arm system based on human engineering', wherein the configuration and the size of a mechanical arm are similar to the size of a human body structure, and the mechanical arm is similar to the structural characteristics of a human arm and can well simulate the motion of the human arm. The mechanical arm is driven by hydraulic pressure, has large thrust, convenient speed regulation, poor reliability and inconvenient maintenance.
Disclosure of Invention
The invention aims to provide a humanoid shoulder joint based on a dielectric elastomer actuator, which has the advantages of simple structure, small volume, light weight and convenient installation, can be used for various humanoid robots, can directly do work outwards, does not need a transmission mechanism, works smoothly, has no noise, has strong environmental adaptability, is insensitive to temperature and humidity, and can work in various complex environments.
In order to achieve the purpose, the invention adopts the following technical scheme:
a humanoid shoulder joint based on a dielectric elastomer actuator is characterized in that: the shoulder joint comprises a shoulder joint interface (1), a shoulder joint support (2), an upper arm support (3), two upper arm connecting rods (4, 7) and two dielectric elastomer actuators (5, 6); the shoulder joint interface is provided with a rotating sleeve (101) which is used for connecting and installing the front end of the shoulder joint support so that the shoulder joint support can rotate in the shoulder joint interface; the shoulder joint support (2) is U-shaped, two sleeves (201) which are positioned on the same axis are arranged at corresponding positions on the inner side of the opening end of the shoulder joint support (2), and a central shaft (301) of the upper arm support is arranged in the two sleeves (201) and can rotate in the sleeves; the front end of the upper arm bracket extends out of two symmetrically arranged hemispherical grooves for being connected with a ball head at the upper end of a connecting rod, and the lower end of the connecting rod is installed with the output end of the dielectric elastomer actuator; the two actuators act simultaneously to control the motion direction and the motion angle of the shoulder joint
The invention also comprises the following structural characteristics:
1. one end of the shoulder joint interface is fixed on the robot body, and the other end of the shoulder joint interface is used for installing and connecting a shoulder joint support; the shoulder joint support is internally provided with a rolling bearing, and when the front side and the rear side of the shoulder joint support are unbalanced in stress, the shoulder joint support can generate rotary motion around the shoulder joint interface, namely the shoulder joint extends forwards and backwards.
2. Two coaxial sleeves are arranged on the shoulder joint support, rolling bearings are arranged in the sleeves, and a central shaft of the upper arm support is arranged in the sleeves; when the central shaft of the upper arm support is subjected to two forces in the same direction, the upper arm support can rotate around the shoulder joint support, namely the shoulder joint swings left and right.
3. The upper arm support is connected with the two upper arm connecting rods through the two spherical pairs, and when the acting force directions of the two upper arm connecting rods are the same, the central shaft of the upper arm support rotates in the shoulder joint support; when the acting force directions of the two upper arm connecting rods are opposite, the upper arm support and the shoulder joint support are kept fixed, and the shoulder joint support rotates in the shoulder joint interface.
4. The output end of the dielectric elastomer actuator is connected with the upper arm connecting rod through the spherical pair, and the motion is transmitted to the upper arm support through the upper arm connecting rod.
5. The dielectric elastomer actuator can generate linear extension when being electrified and automatically retract after being powered off; the extension of the actuator can be changed by changing the input voltage of the dielectric elastomer actuator.
The human shoulder joint simulation working process based on the dielectric elastomer actuator comprises the following steps: when the two dielectric elastomer actuators are simultaneously electrified, the actuators simultaneously extend to output linear displacement, the upper arm connecting rod transmits the displacement to the central shaft of the upper arm support, the upper arm support is pushed by thrust to rotate outwards in the sleeve of the shoulder joint support, namely, the shoulder joint swings outwards, and the arm expands; when the two dielectric elastomer actuators are powered off simultaneously, the actuators retract, the upper arm connecting rod falls, the central shaft of the upper arm support rotates inwards in the sleeve of the shoulder joint support, namely the shoulder joint swings inwards, and the arm retracts. When only the dielectric elastomer actuator on the front side is electrified, the upper arm connecting rod on the front side rises to push the front side of the upper arm support, the upper arm support rotates forwards in the shoulder joint interface along with the shoulder joint support, namely the shoulder joint turns forwards, and the arm extends forwards. Conversely, when only the rear dielectric elastomer actuator is energized, the shoulder joint is flipped backward and the arm is extended backward.
The invention has the advantages that:
1. simple structure and convenient installation.
Two rotary pairs are formed among the shoulder joint support, the shoulder joint interface and the upper arm support, the front-back extension and the left-right swing of the shoulder joint can be realized, the structure is simple, and the installation is convenient. The dielectric elastomer actuator can directly apply work to the outside without a transmission mechanism, so that a transmission system in a traditional driving mode is omitted, energy loss is reduced, and working efficiency is improved.
2. Small volume and light weight.
The dielectric elastomer actuator is formed by winding a novel flexible material dielectric elastomer film, can generate large size change under the excitation of an electric field, has high energy density, and has higher power density ratio compared with a shoulder joint driven by a motor with the same specification. Compared with the traditional driving mode, the dielectric elastomer actuator has small volume and light weight, and greatly reduces the weight of the shoulder joint.
3. And the environmental adaptability is strong.
The dielectric elastomer actuator is excited by an electric field to generate linear displacement, works smoothly, is noiseless, is insensitive to temperature and humidity, is slightly influenced by the environment, can work in various complex environments, and improves the environmental adaptability of shoulder joints.
Drawings
Fig. 1 is a schematic three-dimensional structure of the present invention.
Fig. 2 is a front view of the structure of the invention.
Detailed Description
Referring to fig. 1 and 2: a human-simulated shoulder joint based on dielectric elastomer actuators comprises a shoulder joint interface 1, a shoulder joint support 2, an upper arm support 3, two upper arm connecting rods 4 and 7 and two dielectric elastomer actuators 5 and 6; the shoulder joint interface is provided with a rotary sleeve 101 which is used for connecting and installing the front end of the shoulder joint support so that the shoulder joint support can perform rotary motion in the shoulder joint interface; the shoulder joint support 2 is U-shaped, two sleeves 201 which are positioned on the same axis are arranged at corresponding positions inside the opening end of the shoulder joint support 2, and a central shaft 301 of the upper arm support is arranged in the two sleeves 201 and can rotate in the sleeves; the front end of the upper arm bracket extends out of two symmetrically arranged hemispherical grooves for being connected with a ball head at the upper end of a connecting rod, and the lower end of the connecting rod is installed with the output end of the dielectric elastomer actuator; the two actuators act simultaneously to control the motion direction and the motion angle of the shoulder joint
As shown in fig. 1, one end of the shoulder joint 1 is fixed on the robot body, and the other end is used for installing and connecting a shoulder joint support 2. The rolling bearings are arranged in the shoulder joint interfaces, and when the left side and the right side of the shoulder joint support 2 are unbalanced in stress, the shoulder joint support 2 can generate rotary motion around the shoulder joint interfaces 1, namely the shoulder joints stretch forwards and backwards.
As shown in figure 1, the shoulder joint support 2 is provided with two coaxial sleeves 201, rolling bearings are installed in the sleeves 201, and a central shaft of the upper arm support 3 is installed in the sleeves. When the central shaft of the upper arm support 3 is applied with two forces in the same direction, the upper arm support 3 rotates around the shoulder joint support 2, namely the shoulder joint swings left and right.
As shown in fig. 1, the upper arm support 3 is connected to the two upper arm links 4 and 7 via two spherical pairs, and when the direction of the acting force of the two upper arm links is the same, the central shaft 301 of the upper arm support 3 rotates within the shoulder joint support 2. When the acting force directions of the two upper arm connecting rods are opposite, the upper arm support 3 and the shoulder joint support 2 are kept fixed, and the shoulder joint support 2 rotates in the shoulder joint interface 1.
As shown in fig. 1, the dielectric elastic actuators 5 and 6 have output ends connected to upper arm links 4 and 7 by spherical pairs, and transmit motion to the upper arm support via the links.
The dielectric elastomer actuator can generate linear extension when being electrified and automatically retract after being powered off; the extension of the actuator can be changed by changing the input voltage of the dielectric elastomer actuator.
The working principle of the invention is as follows: when the two dielectric elastomer actuators 5 and 6 are simultaneously electrified, the actuators simultaneously extend to output linear displacement, the upper arm connecting rods 4 and 7 transmit the displacement to the central shaft 301 of the upper arm support 3, the upper arm support 3 receives thrust operation and rotates outwards in the sleeve 201 of the shoulder joint support 2, namely the shoulder joint swings outwards, and the arm abducts. When the two dielectric elastomer actuators 5 and 6 are powered off simultaneously, the actuators retract, the upper arm connecting rods 4 and 7 fall, the central shaft of the upper arm support 3 rotates inwards in the sleeve of the shoulder joint support 2, namely the shoulder joint swings inwards, and the arm retracts. When only the dielectric elastomer actuator 5 on the front side is electrified, the upper arm connecting rod 4 on the front side rises to push the front side of the upper arm support 3, the upper arm support 3 rotates forwards in the shoulder joint interface 1 together with the shoulder joint support 2, namely, the shoulder joint turns forwards, and the arm extends forwards. Conversely, when only the rear dielectric elastomer actuator 6 is energized, the shoulder joint is reversed backward and the arm is extended backward.
The above description is of the preferred embodiment of the present invention and the technical principles applied thereto, and it will be apparent to those skilled in the art that any changes and modifications based on the equivalent changes and simple substitutions of the technical solution of the present invention are within the protection scope of the present invention without departing from the spirit and scope of the present invention.
Claims (6)
1. A humanoid shoulder joint based on a dielectric elastomer actuator is characterized in that: the shoulder joint comprises a shoulder joint interface (1), a shoulder joint support (2), an upper arm support (3), two upper arm connecting rods (4, 7) and two dielectric elastomer actuators (5, 6); the shoulder joint interface is provided with a rotating sleeve (101) which is used for connecting and installing the front end of the shoulder joint support so that the shoulder joint support can rotate in the shoulder joint interface; the shoulder joint support (2) is U-shaped, two sleeves (201) which are positioned on the same axis are arranged at corresponding positions on the inner side of the opening end of the shoulder joint support (2), and a central shaft (301) of the upper arm support is arranged in the two sleeves (201) and can rotate in the sleeves; the front end of the upper arm bracket extends out of two symmetrically arranged hemispherical grooves for being connected with a ball head at the upper end of a connecting rod, and the lower end of the connecting rod is installed with the output end of the dielectric elastomer actuator; the two actuators act simultaneously, and can control the motion direction and the motion angle of the shoulder joint.
2. A simulated shoulder joint based on a dielectric elastomer actuator as claimed in claim 1 wherein: one end of the shoulder joint interface is fixed on the robot body, and the other end of the shoulder joint interface is used for installing and connecting a shoulder joint support; the shoulder joint support is internally provided with a rolling bearing, and when the front side and the rear side of the shoulder joint support are unbalanced in stress, the shoulder joint support can generate rotary motion around the shoulder joint interface, namely the shoulder joint extends forwards and backwards.
3. A simulated shoulder joint based on a dielectric elastomer actuator as claimed in claim 2 wherein: two coaxial sleeves are arranged on the shoulder joint support, rolling bearings are arranged in the sleeves, and a central shaft of the upper arm support is arranged in the sleeves; when the central shaft of the upper arm support is subjected to two forces in the same direction, the upper arm support can rotate around the shoulder joint support, namely the shoulder joint swings left and right.
4. A simulated shoulder joint based on a dielectric elastomer actuator as claimed in claim 3 wherein: the upper arm support is connected with the two upper arm connecting rods through the two spherical pairs, and when the acting force directions of the two upper arm connecting rods are the same, the central shaft of the upper arm support rotates in the shoulder joint support; when the acting force directions of the two upper arm connecting rods are opposite, the upper arm support and the shoulder joint support are kept fixed, and the shoulder joint support rotates in the shoulder joint interface.
5. A simulated shoulder joint based on a dielectric elastomer actuator as claimed in claim 4 wherein: the output end of the dielectric elastomer actuator is connected with the upper arm connecting rod through the spherical pair, and the motion is transmitted to the upper arm support through the upper arm connecting rod.
6. A simulated shoulder joint based on a dielectric elastomer actuator as claimed in claim 5 wherein: the dielectric elastomer actuator can generate linear extension when being electrified, automatically retracts after being powered off, changes the size of input voltage and changes the extension amount of the actuator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710566189.4A CN107322631B (en) | 2017-07-12 | 2017-07-12 | Human shoulder-imitating joint based on dielectric elastomer actuator |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710566189.4A CN107322631B (en) | 2017-07-12 | 2017-07-12 | Human shoulder-imitating joint based on dielectric elastomer actuator |
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| CN107322631A CN107322631A (en) | 2017-11-07 |
| CN107322631B true CN107322631B (en) | 2020-05-22 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1961848A (en) * | 2006-11-24 | 2007-05-16 | 浙江大学 | Flexible exoskeleton elbow joint based on pneumatic muscles |
| CN101224581A (en) * | 2008-01-30 | 2008-07-23 | 哈尔滨工程大学 | Submarine manipulator shoulder joint |
| CN201189266Y (en) * | 2007-11-28 | 2009-02-04 | 华中科技大学 | Shoulder joint rehabilitation training set |
| CN101817181A (en) * | 2010-04-16 | 2010-09-01 | 浙江理工大学 | Six-degree-of-freedom flexible mechanical arm based on pneumatic muscles |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4236900B2 (en) * | 2002-10-22 | 2009-03-11 | 本田技研工業株式会社 | Robot joint structure |
| EP2098339B1 (en) * | 2006-11-15 | 2015-06-10 | Murata Machinery, Ltd. | Parallel mechanism |
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2017
- 2017-07-12 CN CN201710566189.4A patent/CN107322631B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1961848A (en) * | 2006-11-24 | 2007-05-16 | 浙江大学 | Flexible exoskeleton elbow joint based on pneumatic muscles |
| CN201189266Y (en) * | 2007-11-28 | 2009-02-04 | 华中科技大学 | Shoulder joint rehabilitation training set |
| CN101224581A (en) * | 2008-01-30 | 2008-07-23 | 哈尔滨工程大学 | Submarine manipulator shoulder joint |
| CN101817181A (en) * | 2010-04-16 | 2010-09-01 | 浙江理工大学 | Six-degree-of-freedom flexible mechanical arm based on pneumatic muscles |
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