CN109318253B - Variable-rigidity flexible joint system based on electromagnetic buckling beam structure and control method - Google Patents
Variable-rigidity flexible joint system based on electromagnetic buckling beam structure and control method Download PDFInfo
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- CN109318253B CN109318253B CN201811323942.8A CN201811323942A CN109318253B CN 109318253 B CN109318253 B CN 109318253B CN 201811323942 A CN201811323942 A CN 201811323942A CN 109318253 B CN109318253 B CN 109318253B
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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
- B25J17/0208—Compliance devices
- B25J17/0225—Compliance devices with axial compliance, i.e. parallel to the longitudinal wrist axis
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Abstract
The invention discloses a variable-rigidity flexible joint system based on an electromagnetic buckling beam structure, which comprises an input shaft, an output mechanism, the electromagnetic buckling beam structure and a control system, wherein the output mechanism comprises an output shell and an output end cover; the electromagnetic buckling beam structure comprises two electromagnetic modules and two buckling beams which are oppositely arranged, wherein the electromagnetic modules are fixed in the middle of the buckling beams; the input shaft is matched with the output mechanism through a revolute pair and fixed in the input shaft; the invention also discloses a control method, the flexible joint not only has simple structure, easy control and miniaturization, but also adopts the change of electromagnetic force to adjust the rigidity of the flexible joint, omits a rigidity adjusting motor, greatly reduces the volume and the mass of the flexible joint, and simultaneously, the electromagnetic module is sensitive to current, can obtain the large-range change of the rigidity by adjusting the current, and has high adjusting precision, small error and wide application range.
Description
Technical Field
The invention relates to a variable-rigidity flexible joint system based on an electromagnetic buckling beam structure and a control method, and belongs to the technical field of robots.
Background
The robot technology and the driver technology thereof are used as a strategic high-tech technology, have strong drive and technical radiation for emerging industries in the future, develop the robot technology, the driving technology and the perception technology, and have profound significance for promoting the development of economy and society, enhancing the national defense strength, improving the emergency handling capacity of emergencies, improving the livelihood and the like.
At present, robots are widely applied in the field of human-computer interaction, for example, in the industrial field, the robots begin to participate in human labor and cooperate with people to complete tasks; in the service industry, catering service robots, humanoid robots, and the like have also been introduced; this shows that the relationship between the robot and the human is more and more close, and the reliability and safety of human-computer interaction will be more and more concerned by people, so that it is very important that the robot safely and efficiently participates in human activities.
However, the traditional rigid joint robot cannot meet the requirements of human-computer interaction, so that research on novel flexible joints of the variable-stiffness robot becomes an important subject in the field of human-computer interaction.
The flexible joint is used as an important component of the robot, and the flexible element is arranged, so that the vibration and impact generated in the operation or walking process of the robot can be effectively buffered, the joint loss is reduced, the internal precise instruments of the robot are protected from being influenced, and the safety and the reliability of human-computer interaction are ensured; the rigidity of the flexible joint is adjustable, so that the rigidity of the joint can be adjusted according to different requirements to meet the rigidity requirements under different working environments; moreover, the flexible joint has small volume, light weight and simple structure, so the flexible joint has strong adaptability in practical application and can be produced according to requirements.
For example, the invention patent (publication number CN 106142132A) discloses a stiffness continuously adjustable flexible joint of a robot, which realizes stiffness adjustment through the pre-compression amount of a compression floating spring, and although the stiffness can be continuously adjusted, the structure is complex, the volume is large, and the environmental adaptability is poor; the invention patent (publication number CN 104647397A) discloses a flexible joint with variable rigidity, which adopts a multi-stage gear transmission mechanism, has complex transmission process, low precision, difficult rigidity control, complex structure and limited application; the invention patent (publication number CN 108000554A) discloses a leaf spring-based variable-rigidity flexible joint and a control method thereof, wherein a slider is driven by controlling a rigidity adjusting motor, the effective working length of the leaf spring is changed, and the rigidity of the flexible joint is changed, but the size and the mass of the flexible joint are increased by using the rigidity adjusting motor.
It can be seen that the three patents have the technical defects of complex structure, large volume, large mass, difficult control, low control precision, poor environmental adaptability and the like.
Disclosure of Invention
The invention aims to provide a variable-rigidity flexible joint system based on an electromagnetic buckling beam structure and a control method, which can save a rigidity adjusting motor, reduce the volume and the mass of a flexible joint and realize that the flexible joint has good adaptability and rigidity adjusting capability under different working conditions and complex environments.
In order to achieve the purpose, the invention provides the following technical scheme: a variable stiffness flexible joint system based on an electromagnetic buckling beam structure comprises:
the device comprises an input shaft, an output mechanism, an electromagnetic buckling beam structure and a control system;
the input shaft is a stepped shaft, and three through holes distributed along the circumference at equal radian are formed on the end surface of the shaft with the largest diameter;
the output mechanism comprises an output end cover and an output shell which are fixed through buckling, the output shell is of a cylindrical structure with one closed end, a circle of boss with the same thickness is arranged on the inner wall, and three threaded holes are distributed on the boss in the equal radian mode;
the electromagnetic buckling beam structures are distributed in the shape of three fan blades, each electromagnetic buckling beam structure comprises two buckling beams and two electromagnetic modules, the electromagnetic modules are fixed in the middle of the buckling beams, the two buckling beams and the two electromagnetic modules are installed in a mirror image mode, one end of each electromagnetic buckling beam structure is fixed on a boss on the inner wall of the output shell through a screw, and the other end of each electromagnetic buckling beam structure is connected to the input shaft through a fastening bolt;
the control system comprises a current controller and a computer, wherein the current controller is respectively connected with the electromagnetic module and the computer.
The buckling beam exerts pretightening force when being installed, and an air gap is arranged between the electromagnetic modules.
The bent beam, the screw and the fastening bolt are all non-magnetic metal elements.
A variable-rigidity flexible joint control method based on an electromagnetic buckling beam structure comprises the following steps:
1) calculating the middle deflection of the deflection beam when different stiffness values are met according to different stiffness values required under different working conditions, so that the size of a required air gap between the electromagnetic modules can be obtained, and adjusting the magnitude and the direction of current in the electromagnetic modules through a current controller to change the magnitude of electromagnetic force and the size of the air gap, so that the stiffness required under the condition of meeting working conditions is obtained;
2) when currents in the same direction are added into the electromagnetic modules, mutually attracted electromagnetic force is generated, so that an air gap is reduced, and meanwhile, the deflection of the middle part of the bending beam is reduced, and the rigidity is reduced;
3) when currents in opposite directions are added into the electromagnetic module, mutually repulsive electromagnetic forces are generated, so that an air gap is increased, meanwhile, the deflection of the middle of the bending beam is increased, and the rigidity is increased.
The regulation process of the current controller is realized by conventional PID control.
Compared with the existing flexible joint, the invention has the following advantages:
1. under different working conditions and complex environments, the device has good adaptability and rigidity adjusting capability and strong anti-interference capability;
2. the flexible joint adopts electromagnetic force to indirectly adjust the rigidity of the bending beam, the electromagnetic force and the air gap between the electromagnetic modules are changed by controlling the magnitude and the direction of current, the energy consumption is low, and the large-range adjustment of the rigidity can be realized;
3. the invention has the advantages of simple control method, no rigidity adjusting motor, simple and compact structure, small volume, light weight, easy miniaturization, convenient installation, high adjusting precision, small error and wide application prospect.
Drawings
FIG. 1 is a schematic view of the entire structure of the present invention;
FIG. 2 is a schematic view of an input shaft configuration of the present invention;
FIG. 3 is a schematic view of an output mechanism of the present invention;
FIG. 4 is a schematic view of an electromagnetic buckling beam according to the present invention;
FIG. 5 is a control flow chart of the present invention.
In the figure: 1. the device comprises an input shaft, 2, an output mechanism, 2-1, an output end cover, 2-2, an output shell, 3, an electromagnetic bending beam structure, 3-1, a bending beam, 3-2, an electromagnetic module, 4, a control system, 4-1, a current controller, 4-2 and a computer.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 4, the present invention provides a variable stiffness flexible joint system based on an electromagnetic buckling beam structure, which includes:
the device comprises an input shaft 1, an output mechanism 2, an electromagnetic bending beam structure 3 and a control system 4;
as shown in fig. 2: the input shaft 1 is a step shaft, and three through holes distributed along the circumference with equal radian are formed in the end face of the shaft with the largest diameter;
as shown in fig. 1 and 3: the output mechanism 2 comprises an output end cover 2-1 and an output shell 2-2 which are fixed through buckling, the output shell 2-2 is of a cylindrical structure with one closed end, a circle of boss with the same thickness is arranged on the inner wall, and three threaded holes are distributed on the boss in the equal radian mode;
as shown in fig. 1 and 4, the number of the electromagnetic buckling beam structures 3 is three and distributed in the shape of a fan blade, each electromagnetic buckling beam structure comprises two buckling beams 3-1 and two electromagnetic modules 3-2, the electromagnetic modules 3-2 are fixed in the middle of the buckling beams 3-1, the two buckling beams 3-1 and the two electromagnetic modules 3-2 are installed in a mirror image manner, one end of each electromagnetic buckling beam structure is fixed on a boss on the inner wall of the output housing 2-2 through a screw, and the other end of each electromagnetic buckling beam structure is connected to the input shaft 1 through a fastening bolt;
as shown in FIG. 1, the control system 4 comprises a current controller 4-1 and a computer 4-2, wherein the current controller 4-1 is connected with the electromagnetic module 3-2 and the computer 4-2, respectively.
The buckling beam 3-1 exerts pretightening force during installation, and an air gap is formed between the electromagnetic modules 3-2.
Wherein, the buckling beam 3-1, the screw and the fastening bolt are all non-magnetic conductive metal elements.
As shown in fig. 5: the invention also discloses a variable-rigidity flexible joint control method based on the electromagnetic buckling beam structure, which comprises the following steps of:
1) calculating the middle deflection of the bending beam 3-1 when different stiffness values are met according to different stiffness values required under different working conditions, so that the size of a required air gap between the electromagnetic modules 3-2 can be obtained, and adjusting the current size and the direction in the electromagnetic modules 3-2 through a current controller 4-1 to change the size of electromagnetic force and the size of the air gap, so that the stiffness required under the working condition is obtained;
2) when currents in the same direction are added into the electromagnetic modules 3-2, mutually attracted electromagnetic force is generated, so that an air gap is reduced, and meanwhile, the deflection of the middle part of the buckling beam 3-1 is reduced, and the rigidity is reduced;
3) when currents in opposite directions are added into the electromagnetic module 3-2, mutually repulsive electromagnetic forces are generated, so that an air gap is increased, meanwhile, the deflection of the middle part of the bent beam 3-1 is increased, and the rigidity is increased.
Wherein the regulation process of the current controller 4-1 is realized by conventional PID control.
Compared with the existing flexible joint, the invention has the following advantages:
1. under different working conditions and complex environments, the device has good adaptability and rigidity adjusting capability and strong anti-interference capability;
2. the flexible joint adopts electromagnetic force to indirectly adjust the rigidity of the bending beam, the electromagnetic force and the air gap between the electromagnetic modules 3-2 are changed by controlling the magnitude and the direction of current, the energy consumption is low, and the large-range adjustment of the rigidity can be realized;
3. the invention has the advantages of simple control method, no rigidity adjusting motor, simple and compact structure, small volume, light weight, easy miniaturization, convenient installation, high adjusting precision, small error and wide application prospect.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any minor modifications, equivalent replacements and improvements made to the above embodiment according to the technical spirit of the present invention should be included in the protection scope of the technical solution of the present invention.
Claims (5)
1. A variable-rigidity flexible joint system based on an electromagnetic buckling beam structure is characterized by comprising:
the device comprises an input shaft (1), an output mechanism (2), an electromagnetic buckling beam structure (3) and a control system (4);
the input shaft (1) is a step shaft, and three through holes distributed along the circumference at equal radian are formed on the end surface of the shaft with the largest diameter;
the output mechanism (2) comprises an output end cover (2-1) and an output shell (2-2) which are fixed through buckling, the output shell (2-2) is of a cylindrical structure with one closed end, a circle of boss with the same thickness is arranged on the inner wall, and three threaded holes are distributed on the boss in the equal radian mode;
the number of the electromagnetic buckling beam structures (3) is three, the three electromagnetic buckling beam structures (3) are distributed in the shape of fan blades and each electromagnetic buckling beam structure comprises two buckling beams (3-1) and two electromagnetic modules (3-2), the electromagnetic modules (3-2) are fixed in the middle of the buckling beams (3-1), the two buckling beams (3-1) and the two electromagnetic modules (3-2) are installed in a mirror image mode, one end of each buckling beam (3-1) is fixed on a boss on the inner wall of the output shell (2-2) through a screw, and the other end of each buckling beam (3-1) is connected to the input shaft (1) through a fastening bolt;
the control system (4) comprises a current controller (4-1) and a computer (4-2), wherein the current controller (4-1) is respectively connected with the electromagnetic module (3-2) and the computer (4-2).
2. The system is characterized in that the buckling beam (3-1) exerts pretightening force when being installed, and air gaps are arranged between the electromagnetic modules (3-2).
3. A variable stiffness flexible joint system based on an electromagnetic buckling beam structure as claimed in claim 1 or 2, wherein the buckling beam (3-1), the screw and the fastening bolt are all non-magnetic conductive metal elements.
4. The control method of the variable-stiffness flexible joint system based on the electromagnetic buckling beam structure is characterized by comprising the following steps of:
1) according to different rigidity values required under different working conditions, the middle deflection of the buckling beam (3-1) when different rigidity values are met is calculated, so that the size of a required air gap between the electromagnetic modules (3-2) can be obtained, and the size and the direction of current in the electromagnetic modules (3-2) are adjusted through a current controller (4-1) to change the size of electromagnetic force and the size of the air gap, so that the rigidity required under the working condition is obtained;
2) when currents in the same direction are added into the electromagnetic modules (3-2), mutually attracted electromagnetic force is generated, so that an air gap is reduced, meanwhile, the deflection of the middle part of the bending beam (3-1) is reduced, and the rigidity is reduced;
3) when currents in opposite directions are added into the electromagnetic modules (3-2), mutually repulsive electromagnetic forces are generated, so that an air gap is increased, meanwhile, the deflection of the middle part of the bending beam (3-1) is increased, and the rigidity is increased.
5. The control method of the variable-stiffness flexible joint system based on the electromagnetic buckling beam structure is characterized in that the adjusting process of the current controller (4-1) is realized by traditional PID control.
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| CN201811323942.8A CN109318253B (en) | 2018-11-08 | 2018-11-08 | Variable-rigidity flexible joint system based on electromagnetic buckling beam structure and control method |
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| CN109318253B true CN109318253B (en) | 2021-05-07 |
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| KR100760846B1 (en) * | 2006-09-04 | 2007-09-21 | 한국과학기술연구원 | Device for generating stiffness and joint of robot manipulator comprising the same |
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| CN105599006A (en) * | 2016-03-23 | 2016-05-25 | 华南理工大学 | Two-motor driven variable-stiffness elastic joint of robot |
| CN105972370A (en) * | 2016-05-27 | 2016-09-28 | 哈尔滨工程大学 | Novel variable-rigidity semi-active pipeline vibration absorber |
| CN107733143A (en) * | 2017-09-26 | 2018-02-23 | 西安交通大学 | A kind of bistable permanent magnetic steering wheel and start method based on buckled beam |
| JP2018059854A (en) * | 2016-10-07 | 2018-04-12 | キヤノン株式会社 | Displacement measuring device, robot, robot arm, and method for manufacturing item |
| CN108000554A (en) * | 2017-11-30 | 2018-05-08 | 中国矿业大学 | A kind of stiffness variable flexible joint and its control method based on leaf spring |
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2018
- 2018-11-08 CN CN201811323942.8A patent/CN109318253B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100760846B1 (en) * | 2006-09-04 | 2007-09-21 | 한국과학기술연구원 | Device for generating stiffness and joint of robot manipulator comprising the same |
| CN205078688U (en) * | 2015-11-06 | 2016-03-09 | 株洲时代新材料科技股份有限公司 | Self -tuning dynamic vibration absorber |
| CN105599006A (en) * | 2016-03-23 | 2016-05-25 | 华南理工大学 | Two-motor driven variable-stiffness elastic joint of robot |
| CN105972370A (en) * | 2016-05-27 | 2016-09-28 | 哈尔滨工程大学 | Novel variable-rigidity semi-active pipeline vibration absorber |
| JP2018059854A (en) * | 2016-10-07 | 2018-04-12 | キヤノン株式会社 | Displacement measuring device, robot, robot arm, and method for manufacturing item |
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