CN109176594A - A kind of variation rigidity series connection elastic robot joint module based on oscillating cylinder driving - Google Patents
A kind of variation rigidity series connection elastic robot joint module based on oscillating cylinder driving Download PDFInfo
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- CN109176594A CN109176594A CN201811028933.6A CN201811028933A CN109176594A CN 109176594 A CN109176594 A CN 109176594A CN 201811028933 A CN201811028933 A CN 201811028933A CN 109176594 A CN109176594 A CN 109176594A
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- China
- Prior art keywords
- joint
- variation rigidity
- swing arm
- series connection
- robot
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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
- B25J17/02—Wrist joints
- B25J17/0241—One-dimensional joints
- B25J17/025—One-dimensional joints mounted in series
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Rehabilitation Tools (AREA)
Abstract
A kind of variation rigidity series connection elastic robot joint module based on oscillating cylinder driving, including joint hydraulic drive module and variation rigidity adjustment module；Joint hydraulic drive module includes robot base, spiral swing hydranlic pressure jar and flexible clutch, and in robot base, the piston shaft of spiral swing hydranlic pressure jar is connect with flexible clutch for spiral swing hydranlic pressure jar and flexible clutch；Variation rigidity adjustment module includes swing arm, joint input rotation axis and series connection elastic plate, installation in flexible clutch is protruded into joint input rotation axis one end, joint inputs the rotation axis other end and connects with elastic plate installation of connecting, elastic plate connect in swing arm, swing arm is connected by first group of bearing and robot base installation, and joint input rotation axis is by second group of bearing in robot base.Structure of the invention is compact, and driving force is big, and has the characteristics that variation rigidity series connection elasticity.
Description
Technical field
The invention belongs to robotic technology field, specifically a kind of variation rigidity based on oscillating cylinder driving is connected elastic
Joint of robot module.
Background technique
From the sixties in last century, robot technology starts to be applied in industrial circle, greatly increases the production efficiency.With
Robot application field constantly expand, progress into close to industries such as the services, medical treatment, amusement of the people's livelihood.Therefore, it is traditional according to
The robot to work by pre-designed process in many occasions cannot be completely competent.In recent years, machine
The research of people and people's cooperative cooperating is increasingly becoming hot spot, and it is mechanical that the working environment of usual mechanical arm generally requires good processing
Arm, human body, the relationship between environment three.Under these particular/special requirements, mechanical arm generally requires light weight, compact-sized；Together
When there is preferable flexibility, higher joint drive ability (i.e. load/self weight is than more demanding) and preferable environment
Interaction capabilities.
In the development evolvement of these actual application demands, the joint drive ability of robot and the flexibility in joint
It is particularly important.Traditional rigid machine person joint can pass through certain control algolithm, such as power control, impedance control
Deng to show certain flexibility in joint level and kinematics end.But due to sensing detection, information processing, control loop
All there are the factors such as regular hour delay, system inertia, system bandwidth in operation etc., so that the flexible effect of software view has
Limit.
Joint series connection flexible drive technology is flexibility of joint driving on the basis of bionics, is divided into and determines rigidity series connection elasticity
It connects with variation rigidity elastic.Wherein, variation rigidity series connection elasticity is closer to human body or the articular muscle model of animal, but it becomes rigid
Often mechanism is complicated for degree control, studied both at home and abroad at present less.And the series connection flexible drive of rigidity of fixation has more research
Achievement is widely applied in fields such as walking robot, healing robot, mechanical exoskeleton and medical auxiliary apparatus.
Summary of the invention
The technical problem to be solved in the present invention is to provide a kind of variation rigidity series connection elastic robots driven based on oscillating cylinder
Joint module, compact-sized, driving force is big, and has the characteristics that variation rigidity series connection elasticity.
In order to solve the above-mentioned technical problem, the present invention takes following technical scheme:
A kind of variation rigidity series connection elastic robot joint module based on oscillating cylinder driving, including joint hydraulic drive module
With variation rigidity adjustment module；
The joint hydraulic drive module includes robot base, spiral swing hydranlic pressure jar and flexible clutch, swing type liquid
In robot base, the piston shaft of spiral swing hydranlic pressure jar is connect with flexible clutch for cylinder pressure and flexible clutch；
The variation rigidity adjustment module includes swing arm, joint input rotation axis and series connection elastic plate, joint input rotation
Installation in flexible clutch is protruded into axis one end, and joint inputs the rotation axis other end and connects with elastic plate installation of connecting, series connection elasticity
In the swing arm, swing arm is connected plate by first group of bearing and robot base installation, and joint inputs rotation axis by the
Two groups of bearings are in robot base.
It is additionally provided with electric cylinder, sliding block installation base plate in the swing arm and compresses bearing group, compressing bearing group includes being mounted in
Two pairs of bearings on sliding block installation base plate, electric cylinder include motor, electronic cylinder body and electric cylinder projecting shaft, and series connection elastic plate is from pressure
It is passed through in tight bearing group, sliding block installation base plate stretches out axis connection by pin shaft and screw and electric cylinder, and electric cylinder band movable slider is pacified
Substrate is filled to be moved forward and backward along series connection elastic plate.
The inner wall of the swing arm is installed with guide rail, and sliding block installation base plate active card fills on the guideway.
The swing arm is equipped with opening, which is equipped with swing arm cover board by screw dress, and swing arm end is set
There is aperture.
The series connection elastic plate is locked at the top of the input shaft of joint by the way that screw is fixed.
Rotation axis end cap is locked with by screw at the top of the robot base, the rotation shaft compression second bearing group.
The spiral swing hydranlic pressure jar is fixedly mounted in robot base by fixing screws.
The invention has the following advantages:
1, compact overall structure, all driving designs are placed in joint and are mounted on inside robot base；Variation rigidity string
Connection elastic module is fully integrated in the inside of swing arm, from the inner space that joint of robot connecting rod point is utilized.
2, using spiral swing hydranlic pressure jar, there is biggish joint hunting range and joint output torque.Using flexible coupling
The input rotation axis of device connection liquid cylinder pressure and joint improves oscillating motor rotational stability, reduces the installation accuracy of system.
3, using series connection elastic belt movable pendulum swing arm rotational angle, and elastic plate of connecting is compacted bearing group and steps up, and adds
Tight position is controlled by telescopic electric cylinder.The distance for compressing bearing group opposed articulation rotation axis can be adjusted in real time, and it is rigid to reach change
Spend the effect of control.
Detailed description of the invention
Attached drawing 1 is schematic diagram of the three-dimensional structure；
Attached drawing 2 is that the present invention splits structural schematic diagram；
Attached drawing 3 is that the present invention is that the present invention removes the schematic diagram of the section structure after swing arm；
Attached drawing 4 is the schematic diagram of the section structure of variation rigidity adjustment module of the present invention；
Attached drawing 5 is the overlooking structure diagram after swing arm section of the present invention.
Specific embodiment
To further understand the features of the present invention, technological means and specific purposes achieved, function, below with reference to
Present invention is further described in detail with specific embodiment for attached drawing.
As shown in attached drawing 1-5, present invention discloses a kind of, and the variation rigidity series connection elastic robot based on oscillating cylinder driving is closed
Module, including joint hydraulic drive module and variation rigidity adjustment module are saved, variation rigidity adjustment module is by joint hydraulic drive module
Rotation is driven, realizes the variation of rotation angle.
The joint hydraulic drive module includes robot base 1, spiral swing hydranlic pressure jar 3 and flexible clutch 4, swing type
In robot base 1, the piston shaft 11 and flexible clutch 4 of spiral swing hydranlic pressure jar 3 connect for hydraulic cylinder 3 and flexible clutch 4
It connects, joint inputs rotation axis 15 through second group of bearing in robot base, and second group of bearing includes axis arranged up and down
Hold 17 and bearing 16.Spiral swing hydranlic pressure jar 3 is fixedly mounted in robot base 1 by fixing screws 2, by using single blade
Spiral swing hydranlic pressure jar has biggish joint hunting range and joint output torque.
The variation rigidity adjustment module includes swing arm 9, joint input rotation axis 15 and series connection elastic plate 20, joint input
Installation in flexible clutch 4 is protruded into 20 one end of rotation axis, and joint inputs 20 other end of rotation axis and connects with the installation of elastic plate 20 of connecting
It connects, in swing arm 9, swing arm 9 is connected series connection elastic plate 20 by first group of bearing 5 and the installation of robot base 1.Using
Flexible clutch 4 connects spiral swing hydranlic pressure jar 3 and joint inputs rotation axis 15, improves oscillating motor rotational stability, reduces
The installation accuracy of system.The rotation of series connection elastic plate, is further driven to the rotation of spiral swing hydranlic pressure jar.First group of bearing is corresponding
Two up and down are provided with, stabilization preferably is played to swing arm.Elastic plate 20 of connecting has certain flexibility, makees in load
With it is lower generate beam type bending deformation, and then drive swing arm 9 swing.The rotation of swing arm 9 and the rotation of rotation axis 15
It is transmitted by series connection elastic plate 20.The corner of rotation axis 15 and the amount of deflection of series connection elastic plate 20 together constitute swing arm 9
Rotational angle.
In order to be additionally provided with electric cylinder, 28 and of sliding block installation base plate in swing arm 9 with better variable rigidity control effect
Bearing group 300 is compressed, compressing bearing group 300 includes two pairs of bearings on sliding block installation base plate 28, and electric cylinder includes motor
23, electronic cylinder body 24 and electric cylinder projecting shaft 25, series connection elastic plate 20 are passed through from compression bearing group 300, sliding block installation base plate
28 are connect by pin shaft 27 and screw 26 with electric cylinder projecting shaft 25, and electric cylinder band movable slider installation base plate 28 is along series connection elasticity
Plate 20 is moved forward and backward.The inner wall of swing arm 9 is installed with guide rail 6, and 28 active card of sliding block installation base plate is on the guide rail 6.At this
In embodiment, compressing bearing group 300 includes two pairs of bearings, is respectively symmetricly set on the left-hand axis of 28 bottom surface of sliding block installation base plate
31 and right side bearing 30 are held, series connection elastic plate 20 passes through among left side bearing 31 and right side bearing 30 and by the left side bearing 31
Jam-packed is oppressed with right side bearing 30.Electric cylinder drives electric cylinder projecting shaft 25 to do stretching motion, thus with movable slider installation base plate
28 move back and forth along guide rail 6, so that sliding block installation base plate 28 changes the position on series connection elastic plate 20, change sliding block installation
Substrate opposed articulation inputs the distance of rotation axis, then the flexible deformation angle between joint input rotation axis 15 and swing arm 9
It changes therewith, achievees the effect that variable rigidity control.
The swing arm 9 is equipped with opening 9, is filled at the opening 9 by screw 22 and is equipped with swing arm cover board 7, swing arm 9
End is equipped with aperture 29, convenient for connecting with the installation of other component.
The series connection elastic plate 20 is locked at the top of the input shaft of joint by the way that screw is fixed, easy for installation, by screw from pass
It is locked downwards at the top of section input shaft.
Rotation axis end cap 18 is locked with by screw 19 at the top of the robot base 1, which compresses
Second bearing group.Second bearing group also has two bearings up and down, plays stabilization to joint input rotation axis respectively, utilizes
Rotary shaft end lid plays the role of preload.
In addition, also settable output end sealing 14 at the piston shaft output of spiral swing hydranlic pressure jar 3, it is ensured that sealing effect.
In the present invention, by spiral swing hydranlic pressure jar band movable joint input rotation axis rotation, make the certain angle of elastic plate rotation of connecting
Degree, and then swing arm is driven to turn an angle.
The calculation method that variation rigidity is adjusted: as shown in figure 5, the distance of 28 opposed articulation of sliding block installation base plate input rotation axis
It is denoted as L, the load torque in joint is T；The rotational angle that joint inputs rotation axis 15 is θ1, the rotational angle of swing arm 9 is θ2；
The system is equivalent to the cantilever beam acted on by concentrfated load, the Calculation Method of Deflection for elastic plate 20 of connecting are as follows:
Wherein, F is the power connected between elastic plate 20 and bearing 30 and bearing 31；
E is the elasticity modulus of series connection elastic plate 20；
I is the section equatorial moment of inertia of series connection elastic plate 20.
According to torque arithmetic formula F L=T, in differential seat angle (θ2-θ1) it is smaller when, can obtain:
From above formula as can be seen that the adjusting of the distance L with 28 opposed articulation of sliding block installation base plate input rotation axis
Change, the rigidity of joint of robot driving also changes correspondingly.
It should be noted that these are only the preferred embodiment of the present invention, it is not intended to restrict the invention, although ginseng
According to embodiment, invention is explained in detail, for those skilled in the art, still can be to aforementioned reality
Technical solution documented by example is applied to modify or equivalent replacement of some of the technical features, but it is all in this hair
Within bright spirit and principle, any modification, equivalent replacement, improvement and so on should be included in protection scope of the present invention
Within.
Claims (7)
- The elastic robot joint module 1. a kind of variation rigidity based on oscillating cylinder driving is connected, which is characterized in that including joint fluid Press drive module and variation rigidity adjustment module；The joint hydraulic drive module includes robot base, spiral swing hydranlic pressure jar and flexible clutch, spiral swing hydranlic pressure jar With flexible clutch in robot base, the piston shaft of spiral swing hydranlic pressure jar is connect with flexible clutch；The variation rigidity adjustment module includes that swing arm, joint input rotation axis and series connection elastic plate, joint input rotation axis one Installation in flexible clutch is protruded at end, and joint inputs the rotation axis other end and connects with elastic plate installation of connecting, series connection elastic plate dress In swing arm, swing arm is connected by first group of bearing and robot base installation, and joint inputs rotation axis and passes through second group Bearing is in robot base.
- The elastic robot joint module 2. the variation rigidity according to claim 1 based on oscillating cylinder driving is connected, feature It is, electric cylinder, sliding block installation base plate are additionally provided in the swing arm and compress bearing group, compressing bearing group includes being mounted in sliding block Two pairs of bearings on installation base plate, electric cylinder include motor, electronic cylinder body and electric cylinder projecting shaft, and series connection elastic plate is from compression axis It holds in group and passes through, sliding block installation base plate stretches out axis connection by pin shaft and screw and electric cylinder, and electric cylinder band movable slider installs base Plate is moved forward and backward along series connection elastic plate.
- The elastic robot joint module 3. the variation rigidity according to claim 2 based on oscillating cylinder driving is connected, feature It is, the inner wall of the swing arm is installed with guide rail, and sliding block installation base plate active card fills on the guideway.
- The elastic robot joint module 4. the variation rigidity according to claim 3 based on oscillating cylinder driving is connected, feature It is, the swing arm is equipped with opening, which is equipped with swing arm cover board by screw dress, and swing arm end is equipped with and opens Hole.
- The elastic robot joint module 5. the variation rigidity according to claim 4 based on oscillating cylinder driving is connected, feature It is, the series connection elastic plate is locked at the top of the input shaft of joint by the way that screw is fixed.
- The elastic robot joint module 6. the variation rigidity according to claim 5 based on oscillating cylinder driving is connected, feature Be, rotation axis end cap be locked with by screw at the top of the robot base, the rotation shaft compression second bearing group.
- The elastic robot joint module 7. the variation rigidity according to claim 6 based on oscillating cylinder driving is connected, feature It is, the spiral swing hydranlic pressure jar is fixedly mounted in robot base by fixing screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811028933.6A CN109176594A (en) | 2018-09-05 | 2018-09-05 | A kind of variation rigidity series connection elastic robot joint module based on oscillating cylinder driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811028933.6A CN109176594A (en) | 2018-09-05 | 2018-09-05 | A kind of variation rigidity series connection elastic robot joint module based on oscillating cylinder driving |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109176594A true CN109176594A (en) | 2019-01-11 |
Family
ID=64914663
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811028933.6A Withdrawn CN109176594A (en) | 2018-09-05 | 2018-09-05 | A kind of variation rigidity series connection elastic robot joint module based on oscillating cylinder driving |
Country Status (1)
| Country | Link |
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| CN (1) | CN109176594A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110861121A (en) * | 2019-10-16 | 2020-03-06 | 崔兵 | Flexible robot joint based on variable rigidity |
-
2018
- 2018-09-05 CN CN201811028933.6A patent/CN109176594A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110861121A (en) * | 2019-10-16 | 2020-03-06 | 崔兵 | Flexible robot joint based on variable rigidity |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| WW01 | Invention patent application withdrawn after publication | ||
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Application publication date: 20190111 |