CN109623805A - A kind of flexible linear driving device - Google Patents
A kind of flexible linear driving device Download PDFInfo
- Publication number
- CN109623805A CN109623805A CN201811640149.0A CN201811640149A CN109623805A CN 109623805 A CN109623805 A CN 109623805A CN 201811640149 A CN201811640149 A CN 201811640149A CN 109623805 A CN109623805 A CN 109623805A
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- China
- Prior art keywords
- bearing
- wiring
- driving device
- bar
- component
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- 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.)
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Classifications
-
- 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
- B25J9/123—Linear actuators
-
- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- 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
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
-
- 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
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
Abstract
The present invention relates to a kind of flexible linear driving devices, comprising: bracket component (5): including rolling wheel support (501), and the roller group being arranged in rolling wheel support (501)；Guide post component (6): including being fixed on the guide rod (601) of bracket component (5) end, and it is set in the external compression spring (603) of guide rod (601)；Wiring component (3): the wiring bar (302) including connecting guide rod by hawser (8).Compared with prior art, the present invention improves naturality, the harmony of equipment moving, and reduces the rigid collision of system energy consumption and equipment, improves the portability of equipment.
Description
Technical field
The present invention relates to a kind of driving devices, more particularly, to a kind of flexible linear driving device.
Background technique
As intelligent robot technology continues to develop, people want the control of the equipment such as healing robot, power exoskeleton
Ask higher and higher.In the joint designs of such equipment, rigidity drives the more difficult requirement for meeting people, and introduces flexible drive
It is dynamic to be increasingly becoming new driving design concept.
Flexible drive is buffered using elastic element, and the movement in equipment joint can not only be made more to stick on the fortune with human body
Dynamic posture makes its more natural, coordination, moreover it is possible to reduce the abrasion of system energy consumption and mechanical structure, and improve the adaptive of equipment
Ability.Linear actuator is usually used in realizing the muscle function of intelligent robot.Usually there is knot in existing flexible linear driver
The disadvantages of structure is complicated, driving trip is short, not light enough.
Summary of the invention
In view of the above-mentioned problems, the object of the present invention is to provide a kind of flexible linear driving device, it is existing flexible straight to solve
The disadvantage that line driving device structure is complicated, driving trip is short, not light enough, so that the naturality of equipment moving, harmony are improved,
And reduce the rigid collision of system energy consumption and equipment, improve the portability of equipment.
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of flexible linears to drive
Device.
The purpose of the present invention can be achieved through the following technical solutions:
A kind of flexible linear driving device, comprising:
Bracket component: including rolling wheel support, and the roller group being arranged in rolling wheel support；
Guide post component: including being fixed on the guide rod of bracket component end, and it is set in the pressure outside guide rod
Spring；
Wiring component: the wiring bar including connecting guide rod by hawser.
Further, the roller group includes the first axle bar and second hinge bar being fixed on rolling wheel support, and
It is separately mounted to the first idler wheel on first axle bar and second hinge bar, first bearing and the second idler wheel, second bearing.
Further, first idler wheel and the second idler wheel both ends are mounted on washer.
Further, described guide rod one end is equipped with third roller unit, and the guide rod other end is equipped with to pressure bullet
The stop nut that spring is limited.
Further, the third roller unit includes fixed roller mount on the guide bar, is fixed in roller mount
Third hinge bar, and the third idler wheel and 3rd bearing that are mounted on third hinge bar.
Further, the 3rd bearing both ends are mounted on washer.
Further, linear bearing is also equipped on the guide rod, described compression spring one end abuts the linear axis
It holds, the other end is connected with stop nut.
Further, the wiring component external is arranged with electric machine support, and the wiring component includes being fixed on motor branch
The wiring bar first bearing and wiring bar second bearing at frame both ends and it is mounted on the second axis of wiring bar first bearing and wiring bar
Wiring bar between holding.
Further, the fixed electric machine assembly in described electric machine support one end, the electric machine assembly includes brshless DC motor,
And the motor flange for fixing brshless DC motor, the output end of the brshless DC motor are connect with wiring component, institute
It states the electric machine support other end and is fixed with end cap.
Further, the displacement sensor of detection guide post component displacement is further fixed on the rolling wheel support component.
When cable end has load, wiring component is driven with brshless DC motor, makes cable takeup in wiring bar, according to
The secondary movement for passing through the second idler wheel, third idler wheel drive guide post component, i.e. guide rod are pulled into rolling wheel support, due to
The compression spring being arranged on the outside of guide rod generates flexible damping, and when brshless DC motor fails, guide rod restores, and generates
Driving.Displacement sensor can measure the motion conditions of guide post component.The present invention is driven using hawser, due to that can only pass by tension
It is dynamic, thus device can only unidirectional drive, meet the theory of bionic muscle driving.It is compact overall structure, more light.
Compared with prior art, the invention has the following advantages:
1, using wiring bar-hawser-idler wheel combination form, the rotary motion conversion of motor is transported in order to which straight line pulls
It is dynamic, to substantially increase the drawing stroke of linear actuator；
2, in terms of flexible design, the mode that the present invention drives using spring buffer and rope can do one-way flexible and lead
Roping is dynamic；
3, structure of the invention is compact, more light, is suitble to but not only limits the use of in equipment such as intelligent robot, power exoskeletons
Flexible drive device.
Detailed description of the invention
Fig. 1 is a kind of overall structure diagram of flexible linear driving device of the present invention；
Fig. 2 is a kind of whole diagrammatic cross-section of flexible linear driving device of the present invention；
Fig. 3 is rolling wheel support component structure diagram of the present invention；
Fig. 4 is guide post component structural schematic diagram of the present invention.
Shown in figure label:
1- end cap；2- electric machine support；3- wiring component；4- electric machine assembly；5- bracket component；6- guide post component；7-
Displacement sensor；8- hawser；301- wiring bar first bearing；302- wiring bar；303- wiring bar second bearing；401- motor method
It is blue；402- brshless DC motor；501- rolling wheel support；The first idler wheel of 502-；503- first bearing；The first idler wheel of 504- first pads
Circle；505- the first idler wheel second packing ring；506- first axle bar；The second idler wheel of 507-；508- second bearing；The second idler wheel of 509-
First washer；510- the second idler wheel second packing ring；511- second hinge bar；601- guide rod；602- stop nut；603- pressure
Spring；604- linear bearing；605- roller mount；606- third idler wheel；607- 3rd bearing；608- third the first washer of idler wheel；
609- third idler wheel second packing ring；610- third hinge bar.
Specific embodiment
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
A kind of flexible linear driving device, as shown in Figure 1, including end cap 1, electric machine support 2, wiring component 3, electric machine assembly
4, bracket component 5, guide post component 6, displacement sensor 7 and hawser 8.
As shown in Fig. 2, end cap 1 is fixed on one end of electric machine support 2；The lower section of electric machine support 2 is equipped with fixed
Unthreaded hole, top are equipped with the threaded hole for installing rolling wheel support component, and electric machine support 2 is equipped with axis hole, place wiring for installing
Component 3 and electric machine assembly 4, wherein the axis hole of installation electric machine assembly 4 is set as ladder-like for limiting；Wiring component 3 by around
Rope bar 302 and the identical wiring bar first bearing 301 of structure and wiring bar second bearing 303 form, the centre of wiring bar 302
There is the slot for placing hawser 8 in part, and both ends are equipped with the shaft shoulder of limitation wiring bar first bearing 301 and wiring bar second bearing 302, around
There is the axis hole of motor output shaft in the axial one end of rope bar 302, and the axial other end is the threaded hole of fixed hawser 8, wiring bar first axle
It holds 301 to be limited by end cap 1 and wiring bar 302, wiring bar second bearing 303 is limited by electric machine support 2 and wiring bar 302；Electricity
Thermomechanical components 4 are made of motor flange 401 and brshless DC motor 402, and motor flange 401 is fixed on electric machine support 2, brushless straight
Galvanic electricity machine 402 is fixed on motor flange 401, and output shaft is connect with wiring component 3.
5 structure of bracket component is as shown in figure 3, bracket component 5 includes rolling wheel support 501, the first idler wheel 502, first bearing
503, first idler wheel the first washer 504, the first idler wheel second packing ring 505, first axle bar 506, the second idler wheel 507, the second axis
508, second idler wheel the first washer 509, the second idler wheel second packing ring 510, second hinge bar 511 are held, rolling wheel support 501 is fixed on
On electric machine support 2, one end is equipped with axis hole and threaded hole for installing guide post component 6, the first idler wheel 502, first bearing
503, first idler wheel the first washer 504 and the first idler wheel second packing ring 505 are concentric, and first the first washer of idler wheel 504 and
One idler wheel second packing ring 505 is separately mounted to 503 two sides of first bearing, second idler wheel the first washer 509 and the second idler wheel second
Washer 510 is separately mounted to 508 two sides of second bearing.First bearing 503, the first idler wheel 507, first the first washer of idler wheel 509
It is mounted on rolling wheel support 501 with the first idler wheel second packing ring 505 by first axle bar 506；Second idler wheel 507, the second axis
Hold the mounting means and above-mentioned one of 508, second idler wheel the first washer 509, the second idler wheel second packing ring 510, second hinge bar 511
It causes.
Guide post component structure as shown in figure 4, guide post component 6 by guide rod 601, stop nut 602, compression spring
603, linear bearing 604, roller mount 605, third idler wheel 606,3rd bearing 607, the first washer of 3rd bearing 608, third axis
It holds second packing ring 609 and third hinge bar 610 forms.Wherein, stop nut 602 and linear bearing 604 limit compression spring 603
Position, and guide rod 601 can do stretching motion, 601 one end of guide rod is connected with roller mount 605, and is mounted with the parts such as idler wheel,
Mounting means is consistent in bracket component 5；Displacement sensor 7 is fixed on rolling wheel support 501, for detecting roller mount
605 misalignment；Wiring component 3 is wrapped in after one end of hawser 8 is fixed, rope body is successively rolled through the second idler wheel 507, third
It is pierced by after wheel the 606, first idler wheel 502 guiding from the rope outlet of rolling wheel support 501.
When there is load in 8 end of hawser, wiring component 3 is driven with brshless DC motor 402, hawser 8 is made to be wrapped in wiring
On bar 302, the movement of the second idler wheel 507, the drive guide post component 6 of third idler wheel 606 is passed sequentially through, i.e. guide rod 601 is led
It draws in rolling wheel support 501, due to the compression spring 603 being arranged on the outside of guide rod 601, flexible damping is generated, when brushless straight
Galvanic electricity machine 402 fails, and guide rod 602 restores, and generates driving.Displacement sensor 7 can measure the movement feelings of guide post component 6
Condition.The present invention using hawser be driven, due to that can only be driven by tension, device can only unidirectional drive, meet bionic muscle drive
Dynamic theory.It is compact overall structure, more light.
The above description of the embodiments is intended to facilitate ordinary skill in the art to understand and use the invention.
Person skilled in the art obviously easily can make various modifications to these embodiments, and described herein general
Principle is applied in other embodiments without having to go through creative labor.Therefore, the present invention is not limited to the above embodiments, ability
Field technique personnel announcement according to the present invention, improvement and modification made without departing from the scope of the present invention all should be of the invention
Within protection scope.
Claims (10)
1. a kind of flexible linear driving device characterized by comprising
Bracket component (5): including rolling wheel support (501), and the roller group being arranged in rolling wheel support (501)；
Guide post component (6): including being fixed on the guide rod (601) of bracket component (5) end, and it is set in guide rod
(601) external compression spring (603)；
Wiring component (3): the wiring bar (302) including connecting guide rod by hawser (8).
2. a kind of flexible linear driving device according to claim 1, which is characterized in that the roller group includes being fixed on
First axle bar (506) and second hinge bar (511) on rolling wheel support (501), and it is separately mounted to first axle bar
(506) the first idler wheel (502), first bearing (503) and the second idler wheel (507), second bearing and on second hinge bar (511)
(508)。
3. a kind of flexible linear driving device according to claim 2, which is characterized in that first idler wheel (502) and
Second idler wheel (507) both ends are mounted on washer.
4. a kind of flexible linear driving device according to claim 1, which is characterized in that described guide rod (601) one end
Third roller unit is installed, guide rod (601) other end is equipped with the stop nut limited to compression spring (603)
(602)。
5. a kind of flexible linear driving device according to claim 4, which is characterized in that the third roller unit includes
The roller mount (605) being fixed on guide rod (601), the third hinge bar (610) being fixed on roller mount (605), Yi Jian
Third idler wheel (606) and 3rd bearing (607) on third hinge bar (610).
6. a kind of flexible linear driving device according to claim 5, which is characterized in that the 3rd bearing (607) two
End is mounted on washer.
7. a kind of flexible linear driving device according to claim 4, which is characterized in that on the guide rod (601) also
It is equipped with linear bearing (604), described compression spring (603) one end abuts the linear bearing (604), the other end and limit spiral shell
Female (602) are connected.
8. a kind of flexible linear driving device according to claim 1, which is characterized in that the wiring component (3) is external
It is arranged with electric machine support (2), the wiring component (3) includes the wiring bar first bearing for being fixed on electric machine support (2) both ends
(301) and wiring bar second bearing (303) and wiring bar first bearing (301) and wiring bar second bearing (303) are mounted on
Between wiring bar (302).
9. a kind of flexible linear driving device according to claim 8, which is characterized in that described electric machine support (2) one end
It is fixed with electric machine assembly (4), the electric machine assembly (4) includes brshless DC motor (402), and for fixing brushless dc
The output end of the motor flange (401) of machine (402), the brshless DC motor (402) is connect with wiring component (3).
10. a kind of flexible linear driving device according to claim 1, which is characterized in that the rolling wheel support component (5)
On be further fixed on detection guide post component (6) displacement displacement sensor (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811640149.0A CN109623805A (en) | 2018-12-29 | 2018-12-29 | A kind of flexible linear driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811640149.0A CN109623805A (en) | 2018-12-29 | 2018-12-29 | A kind of flexible linear driving device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109623805A true CN109623805A (en) | 2019-04-16 |
Family
ID=66054724
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811640149.0A Pending CN109623805A (en) | 2018-12-29 | 2018-12-29 | A kind of flexible linear driving device |
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| Country | Link |
|---|---|
| CN (1) | CN109623805A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110167945A1 (en) * | 2010-01-14 | 2011-07-14 | Samsung Electronics Co., Ltd. | Robot joint driving apparatus, robot having the same and cable linkage method of robot joint driving apparatus |
| CN206313598U (en) * | 2017-01-12 | 2017-07-07 | 杭州宇树科技有限公司 | A kind of linear drive apparatus of the high power mass density for simplifying structure |
| US20180116851A1 (en) * | 2016-10-28 | 2018-05-03 | Daegu Gyeongbuk Institute Of Science And Technology | Tendon device for suit type robot for assisting human with physical strength |
| CN108309688A (en) * | 2018-02-02 | 2018-07-24 | 上海理工大学 | A kind of variation rigidity flexible actuator for ectoskeleton type lower limb rehabilitation robot |
| CN108481359A (en) * | 2018-02-28 | 2018-09-04 | 北京航空航天大学 | A kind of compact stiffness variable series connection elastic driving joint |
-
2018
- 2018-12-29 CN CN201811640149.0A patent/CN109623805A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110167945A1 (en) * | 2010-01-14 | 2011-07-14 | Samsung Electronics Co., Ltd. | Robot joint driving apparatus, robot having the same and cable linkage method of robot joint driving apparatus |
| US20180116851A1 (en) * | 2016-10-28 | 2018-05-03 | Daegu Gyeongbuk Institute Of Science And Technology | Tendon device for suit type robot for assisting human with physical strength |
| CN206313598U (en) * | 2017-01-12 | 2017-07-07 | 杭州宇树科技有限公司 | A kind of linear drive apparatus of the high power mass density for simplifying structure |
| CN108309688A (en) * | 2018-02-02 | 2018-07-24 | 上海理工大学 | A kind of variation rigidity flexible actuator for ectoskeleton type lower limb rehabilitation robot |
| CN108481359A (en) * | 2018-02-28 | 2018-09-04 | 北京航空航天大学 | A kind of compact stiffness variable series connection elastic driving joint |
Non-Patent Citations (2)
| Title |
|---|
| C. RICHTER ET AL.: "Musculoskeletal Robots: Scalability in Neural Control", 《IEEE ROBOTICS & AUTOMATION MAGAZINE》 * |
| 杨士军: "《春在枝头已十分》", 31 August 2015 * |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190416 |
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| RJ01 | Rejection of invention patent application after publication |