CN110861121B

CN110861121B - Flexible robot joint based on variable rigidity

Info

Publication number: CN110861121B
Application number: CN201910983998.4A
Authority: CN
Inventors: 不公告发明人
Original assignee: Shandong Kanas Intelligent Equipment Co ltd
Current assignee: Shandong Kanas Intelligent Equipment Co ltd
Priority date: 2019-10-16
Filing date: 2019-10-16
Publication date: 2022-08-23
Anticipated expiration: 2039-10-16
Also published as: CN110861121A

Abstract

The invention discloses a flexible robot joint based on variable rigidity, which belongs to the technical field of robot joints, and is based on the flexible robot joint based on the variable rigidity, when the flexible robot joint is used, the length of a first electric push rod is changed, so that the position of a movable push plate above a contact rod is changed, the rotating angle of the contact rod is adjusted, the length of a second electric push rod is changed, a movable column is pushed to translate along a square hole, so that the rotary plate is gradually tilted in the leftward translation process of the square hole, the tilting angle of the rotary plate is changed, the movable distance between the rotary plate and the movable push plate is shortened, and by means of the property that a memory alloy column is easy to deform at normal temperature, a heating wire is started to generate heat, so that the temperature near the memory alloy column is improved, and the shape of the memory alloy column can be recovered, the supporting block is not easy to move, and the rotating rigidity of the contact rod can be adjusted.

Description

Flexible robot joint based on variable rigidity

Technical Field

The invention relates to the technical field of robot joints, in particular to a flexible robot joint based on variable rigidity.

Background

The Robot is a popular name of an automatic control machine (Robot), the automatic control machine includes all machines (such as machine dogs, machine cats and the like) for simulating human behaviors or ideas and other organisms, there are many classifications and disputes of the Robot in a narrow sense, some computer programs are even called as robots, in the modern industry, the Robot refers to an artificial machine device capable of automatically executing tasks to replace or assist human work, the ideal high-simulation Robot is a product of advanced integrated control theory, mechano-electronics, computers, artificial intelligence, materials science and bionics, and the scientific community is developing and developing in the current direction.

The characteristics of robot development today can be summarized as: the application range is wider and wider in the transverse direction, the industrial application is expanded to the non-industrial application in more fields from 95 percent, such as operations, fruit picking, pruning, tunnel excavation, investigation and lightning removal, and the application of the robot is not limited, and the robot can be created and realized as long as imaginable, and the types of the robot are more and more in the longitudinal direction, such as a micro robot entering a human body, the robot becomes a new direction and can be reduced to the size of a rice grain; the intellectualization of the robot is enhanced, and the robot can be more clever.

The robot joint is an important component of the robot and plays an important role in the motion of the legged robot, the legged robot with the rigid joint generates huge impulsive force at the moment when the feet contact the ground in the walking process, the momentary impulsive force can cause certain damage to components and parts forming the robot and influence the motion stability of the robot, and the rigid contact can cause great energy loss in the motion process of the robot and further reduce the motion efficiency of the legged robot, at present, an elastic cushion plate is usually arranged between the rotating parts of most robot joints, and the rotating rigidity of the robot joint in the use process is increased by means of the deformation of the elastic cushion plate, but because the deformation of the elastic cushion plate is effective, the adjusting range of the rotating rigidity of the robot joint is effective, and the rotation rigidity of the joint of the robot cannot be adjusted due to the single arrangement of the elastic cushion plate, when the robot is in rigid contact with the robot with higher rigidity, the elastic cushion plate can be deformed to the limit, and the service life of the elastic cushion plate can be reduced in the past.

Disclosure of Invention

1. Technical problem to be solved

Aiming at the problems in the prior art, the invention aims to provide a flexible robot joint based on variable rigidity, which can realize that when a robot is in rigid contact with larger rigidity, the rotational rigidity of the robot joint can be artificially adjusted, so that an elastic cushion plate is not easy to deform to the limit in the long-term use process, and the service life of the elastic cushion plate can be prolonged.

2. Technical scheme

In order to solve the above problems, the present invention adopts the following technical solutions.

The flexible robot joint based on variable rigidity comprises a mounting seat, wherein a rotary hole is formed in the outer end of the mounting seat, a transmission rod is connected in the rotary hole in a rotating mode, a contact rod is fixedly connected to the upper end of the transmission rod, a connecting rod is fixedly connected to the upper end of the contact rod, a door-shaped block is fixedly connected to the upper end of the mounting seat and positioned on the upper side of the contact rod, a first electric push rod is installed at one end, close to the connecting rod, of the door-shaped block, a movable push plate is fixedly connected to one end, far away from the door-shaped block, of the first electric push rod, a through hole is formed in the upper end of the movable push plate, a movable rod is inserted into the through hole, a supporting block is fixedly connected to the bottom end of the movable rod, an elastic cushion plate is fixedly connected to the bottom end of the supporting block, the first electric push rod is started when the flexible robot joint is used, the first electric push rod is extended or shortened, and the movable push plate is enabled to move horizontally along the upper surface of the contact rod by means of length change of the first electric push rod, the rotating angle of the contact rod is adjusted, so that the rotating rigidity of the contact rod is adjusted, the rotating rigidity of the joint of the robot can be adjusted artificially when the robot meets rigid contact with high rigidity, the elastic base plate is difficult to deform to the limit in a long-term use process, and the service life of the elastic base plate can be prolonged.

Furthermore, the upper end of the transmission rod is fixedly connected with a containing groove, a rotating shaft is fixedly connected between the left inner wall and the right inner wall of the containing groove, the outer end of the rotating shaft is rotatably connected with a rotating plate, the left inner wall and the right inner wall of the containing groove are dug with square holes, a moving column is slidably connected in the square holes, a pair of annular grooves are dug at the outer end of the moving column, the outer end of the annular groove is rotatably connected with a coordination rod, a second electric push rod is installed between the moving column and the rear inner wall of the square holes, the outer end of the elastic cushion plate is rotatably connected with a rotating sleeve, the coordination rod is positioned in the rotating sleeve and is slidably connected with the rotating sleeve, when the device is used, the second electric push rod can be extended or shortened by starting the second electric push rod, so that the moving column can be translated along the square holes, and the rotating plate can be gradually tilted in the process of leftward translation of the square holes, through adjusting the length of the electric push rod of second, can change the angle of rotor plate perk to can shorten the activity interval between rotor plate and the removal push pedal, thereby realize the regulation to the rotational rigidity of contact bar.

Further, it has square groove to remove the excavation of push pedal bottom, square groove is linked together with the through-hole, two memory alloy posts about the movable rod symmetry of fixedly connected with between square inslot bottom and the supporting shoe, it has two installation cavities about the through-hole symmetry to remove the inside excavation of push pedal, the installation cavity is located square groove upside, install the heating wire in the installation cavity, when using, with the help of the nature that memory alloy post warp easily under normal atmospheric temperature, through starting the heating wire for the heating wire produces the heat, thereby can improve near memory alloy post's local temperature, with the help of the change of temperature, can be so that memory alloy post resumes the shape, thereby can make the difficult supporting shoe when contacting with the contact bar remove, thereby realize the regulation to contact bar's rigidity of rotating.

Further, the contact bar is made by the metal material that mechanical strength is stronger, the button head form is set to the outer end of contact bar, through using the metal material preparation contact bar that mechanical strength is stronger, can be so that the contact bar is difficult for the fracture after long-term the use to can improve the life of contact bar.

Further, remove push pedal and through-hole and make by high temperature resistant material, the surface of removing the push pedal is dug and is had a plurality of evenly distributed's heat dissipation pore, removes push pedal and through-hole through using high temperature resistant material preparation, can be so that remove push pedal and through-hole not fragile under the high temperature state, through removing push pedal surface and setting up the heat dissipation pore, can be so that remove push pedal can be timely discharge the heat, reduce the possibility that the heat excessively accumulated.

Further, fixedly connected with compression spring between the interior bottom of square groove and the supporting shoe, compression spring is made by stainless steel material, compression spring surface is scribbled and is equipped with the anti-rust paint, can be so that to increase the buffering of contact bar at the rotation in-process through setting up compression spring, through using stainless steel material preparation compression spring and scribbling on its surface and be equipped with the anti-rust paint, can be so that compression spring is difficult for being corroded after long-term the use to can improve compression spring's life.

Further, the outer protection pad of elastic backing plate bottom fixedly connected with, the outer protection pad sets to the arc, the outer protection pad surface is equipped with the abrasionproof layer, through setting up the outer protection pad, can protect the elastic backing plate, reduces the possibility that the elastic backing plate damaged, through setting up the abrasionproof layer, can be so that the outer protection pad is difficult by wearing and tearing after long-term the use to can improve the life of outer protection pad.

Further, the inside equal fixedly connected with magnet piece of rotor plate and transfer line, two the magnet piece inter attraction through set up the magnet piece in rotor plate and transfer line inside, can make things convenient for the timely automatic re-setting of rotor plate after the removal post moves back.

Further, it all is equipped with the polishing layer to cooperate pole and the mutual department of contacting of rotating the sleeve, cooperate pole upper end fixedly connected with anticreep falling board, through setting up the polishing layer, can be so that cooperate the pole and rotate the sleeve and be difficult for appearing the possibility of jam when mutual slip, through setting up the anticreep falling board, can be so that cooperate the pole and rotate the difficult separation of sleeve.

3. Advantageous effects

Compared with the prior art, the invention has the advantages that:

(1) when the scheme is used, the length of the first electric push rod is changed, so that the position of the movable push plate on the upper surface of the contact rod is changed, the rotating angle of the contact rod is adjusted, the rotating rigidity of the contact rod is adjusted, the length of the second electric push rod is changed, the movable column can be pushed to translate along the square hole, the rotating plate is gradually tilted in the process that the rotating plate translates leftwards in the square hole, the tilting angle of the rotating plate can be changed, the movable distance between the rotating plate and the movable push plate can be shortened, the rotating rigidity of the contact rod is adjusted, in addition, by means of the property that the memory alloy column is easy to deform at normal temperature, the electric heating wire is started to generate heat, so that the local temperature near the memory alloy column is improved, by means of the change of temperature, the shape of the memory alloy column can be recovered, so that the supporting block is not easy to move when the memory alloy column is in contact with the contact rod, and the rotating rigidity of the contact rod can be adjusted.

Drawings

FIG. 1 is an overall perspective view of the present invention;

FIG. 2 is a schematic view of the structure at A in FIG. 1;

FIG. 3 is a schematic view of the structure at B in FIG. 1;

FIG. 4 is a cross-sectional view of the entirety of the present invention;

FIG. 5 is a schematic view of the structure at C in FIG. 4;

FIG. 6 is a cross-sectional view of a portion of the moving push plate of the present invention;

fig. 7 is a schematic view of the structure at D in fig. 6.

The reference numbers in the figures illustrate:

the device comprises a mounting seat 1, a transmission rod 2, a contact rod 3, a connecting rod 4, a door-shaped block 5, a first electric push rod 6, a movable push plate 7, a through hole 8, a movable rod 9, a supporting block 10, a compression spring 11, an elastic cushion plate 12, a containing groove 13, a rotating plate 14, a square hole 15, a movable column 16, an annular groove 17, a cooperative rod 18, a second electric push rod 19, a rotating sleeve 20, a square groove 21, a memory alloy column 22, a mounting cavity 23, an electric heating wire 24, an outer protection pad 25 and an anti-falling plate 26.

Detailed Description

The drawings in the embodiments of the invention will be combined; the technical scheme in the embodiment of the invention is clearly and completely described; obviously; the described embodiments are only some of the embodiments of the invention; but not all embodiments, are based on the embodiments of the invention; all other embodiments obtained by a person skilled in the art without making any inventive step; all fall within the scope of protection of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "provided", "fitted/connected", "connected", and the like, are to be interpreted broadly, such as "connected", which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.

Example 1:

referring to fig. 1-3, the flexible robot joint based on variable rigidity comprises a mounting base 1, a rotary hole is drilled at the outer end of the mounting base 1, a transmission rod 2 is rotatably connected in the rotary hole, a contact rod 3 is fixedly connected to the upper end of the transmission rod 2, a connecting rod 4 is fixedly connected to the upper end of the contact rod 3, a gate-shaped block 5 is fixedly connected to the upper end of the mounting base 1, the gate-shaped block 5 is located on the upper side of the contact rod 3, a first electric push rod 6 is installed at one end of the gate-shaped block 5 close to the connecting rod 4, a movable push plate 7 is fixedly connected to one end of the first electric push rod 6 far from the gate-shaped block 5, a through hole 8 is drilled at the upper end of the movable push plate 7, a movable rod 9 is inserted into the through hole 8, a support block 10 is fixedly connected to the bottom end of the movable rod 9, an elastic backing plate 12 is fixedly connected to the bottom end of the support block 10, when in use, the first electric push rod 6 is started to extend or shorten the first electric push rod 6, the length of the first electric push rod 6 is changed to enable the movable push plate 7 to move horizontally along the upper surface of the contact rod 3, so that the rotating angle of the contact rod 3 can be adjusted, the rotating rigidity of the contact rod 3 can be adjusted, when the robot meets rigid contact with high rigidity, the rotating rigidity of the joint of the robot can be adjusted artificially, the elastic base plate 12 is not easy to deform to the limit in the long-term use process, and the service life of the elastic base plate 12 can be prolonged.

Referring to fig. 1-6, the upper end of the transmission rod 2 is fixedly connected with a receiving groove 13, a rotating shaft is fixedly connected between the left inner wall and the right inner wall of the receiving groove 13, the outer end of the rotating shaft is rotatably connected with a rotating plate 14, the left inner wall and the right inner wall of the receiving groove 13 are dug with a square hole 15, a moving column 16 is slidably connected in the square hole 15, a pair of annular grooves 17 are dug at the outer end of the moving column 16, an assistant rod 18 is rotatably connected at the outer end of the annular groove 17, a second electric push rod 19 is installed between the moving column 16 and the rear inner wall of the square hole 15, a rotating sleeve 20 is rotatably connected at the outer end of the elastic cushion plate 12, the assistant rod 18 is positioned in the rotating sleeve 20 and is slidably connected with the rotating sleeve 20, when in use, the second electric push rod 19 is started, the second electric push rod 19 can be extended or shortened, so that the moving column 16 can be translated along the square hole 15, and the rotating plate 14 is translated leftwards in the square hole 15, the rotating plate 14 is gradually tilted, and the tilting angle of the rotating plate 14 can be changed by adjusting the length of the second electric push rod 19, so that the movable distance between the rotating plate 14 and the movable push plate 7 can be shortened, and the adjustment of the rotational rigidity of the contact rod 3 is realized.

Referring to fig. 2-5, a square groove 21 is cut at the bottom end of the movable push plate 7, the square groove 21 is communicated with the through hole 8, two memory alloy columns 22 symmetrical with respect to the movable rod 9 are fixedly connected between the bottom end of the square groove 21 and the supporting block 10, two mounting cavities 23 symmetrical with respect to the through hole 8 are cut inside the movable push plate 7, the mounting cavities 23 are located at the upper side of the square groove 21, and heating wires 24 are installed in the mounting cavities 23, so that when in use, the heating wires 24 generate heat by starting the heating wires 24 due to the property that the memory alloy columns 22 are easy to deform at normal temperature, thereby the local temperature near the memory alloy columns 22 can be increased, and the memory alloy columns 22 can be restored to the shape by the change of the temperature, so that the supporting block 10 is not easy to move when in contact with the contact rod 3, and the adjustment of the rotational rigidity of the contact rod 3 can be realized.

Please refer to fig. 1 and 4, the contact rod 3 is made of a metal material with strong mechanical strength, the outer end of the contact rod 3 is set to be round-head-shaped, the contact rod 3 is made of a metal material with strong mechanical strength, the contact rod 3 can be made to be difficult to break after long-term use, thereby prolonging the service life of the contact rod 3, the movable push plate 7 and the through hole 8 are made of high-temperature-resistant materials, the heat dissipation pores with a plurality of uniform distributions are formed in the surface of the movable push plate 7, the movable push plate 7 and the through hole 8 are made of high-temperature-resistant materials, the movable push plate 7 and the through hole 8 can be made to be not easy to damage under a high-temperature state, the heat dissipation pores are formed in the surface of the movable push plate 7, the movable push plate 7 can discharge heat timely, and the possibility of excessive accumulation of heat can be reduced.

Referring to fig. 2, 4 and 6, a compression spring 11 is fixedly connected between an inner bottom end of the square groove 21 and the supporting block 10, the compression spring 11 is made of stainless steel, the surface of the compression spring 11 is coated with anti-rust paint, the compression spring 11 can increase the buffering of the contact rod 3 in the rotation process, the compression spring 11 is made of stainless steel and the anti-rust paint is coated on the surface of the compression spring, so that the compression spring 11 is not easily rusted after long-term use, thereby prolonging the service life of the compression spring 11, the bottom end of the elastic base plate 12 is fixedly connected with an outer protection pad 25, the outer protection pad 25 is arc-shaped, the surface of the outer protection pad 25 is provided with an anti-wear layer, the outer protection pad 12 can be protected by the outer protection pad 25, the possibility of damage of the elastic base plate 12 is reduced, and the outer protection pad 25 is not easily worn after long-term use by the anti-wear layer, so that the life span of the outer protection pad 25 can be increased.

Please refer to fig. 2-4, the magnet blocks are fixedly connected inside the rotating plate 14 and the transmission rod 2, the two magnet blocks attract each other, the magnet blocks are arranged inside the rotating plate 14 and the transmission rod 2, so that the rotating plate 14 can be conveniently and automatically reset in time after the moving column 16 moves back, the mutual contact part of the cooperation rod 18 and the rotation sleeve 20 is provided with a polishing layer, the upper end of the cooperation rod 18 is fixedly connected with an anti-dropping plate 26, the cooperation rod 18 and the rotation sleeve 20 are not easy to jam when sliding mutually through the polishing layer, and the cooperation rod 18 and the rotation sleeve 20 are not easy to separate through the anti-dropping plate 26.

When the device is used, the first electric push rod 6 is started, so that the first electric push rod 6 is extended or shortened, the moving push plate 7 is enabled to translate along the upper surface of the contact rod 3 by means of the change of the length of the first electric push rod 6, the rotating angle of the contact rod 3 is adjusted, so that the rotating rigidity of the contact rod 3 is adjusted, when the device is used, the second electric push rod 19 is started, so that the second electric push rod 19 is extended or shortened, the moving column 16 is enabled to translate along the square hole 15, the rotating plate 14 is enabled to gradually tilt in the process that the rotating plate 14 translates leftwards in the square hole 15, the tilting angle of the rotating plate 14 can be changed by adjusting the length of the second electric push rod 19, so that the movable distance between the rotating plate 14 and the moving push plate 7 can be shortened, and the adjustment of the rotating rigidity of the contact rod 3 is achieved, when the robot is used, by means of the property that the memory alloy column 22 is easy to deform at normal temperature, the electric heating wire 24 is started, so that the electric heating wire 24 generates heat, the local temperature near the memory alloy column 22 can be increased, by means of the change of the temperature, the memory alloy column 22 can recover the shape, the supporting block 10 can be enabled not to move easily when the supporting block is in contact with the contact rod 3, the adjustment of the rotational rigidity of the contact rod 3 is achieved, the manual adjustment of the rotational rigidity of the joint of the robot can be achieved when the robot meets rigid contact with high rigidity, the elastic base plate 12 is enabled not to deform to the limit easily in the long-term use process, and the service life of the elastic base plate 12 can be prolonged.

The above; but are merely preferred embodiments of the invention; the scope of the invention is not limited thereto; any person skilled in the art is within the technical scope of the present disclosure; the technical scheme and the improved concept of the invention are equally replaced or changed; are intended to be covered by the scope of the present invention.

Claims

1. Flexible robot joint based on variable rigidity, including mount pad (1), its characterized in that: the outer end of the mounting seat (1) is provided with a rotary hole, a transmission rod (2) is rotationally connected in the rotary hole, the upper end of the transmission rod (2) is fixedly connected with a contact rod (3), the upper end of the contact rod (3) is fixedly connected with a connecting rod (4), the upper end of the mounting seat (1) is fixedly connected with a portal block (5), the portal block (5) is positioned at the upper side of the contact rod (3), one end of the door-shaped block (5) close to the connecting rod (4) is provided with a first electric push rod (6), one end of the first electric push rod (6) far away from the portal block (5) is fixedly connected with a movable push plate (7), a through hole (8) is drilled at the upper end of the movable push plate (7), a movable rod (9) is inserted into the through hole (8), the bottom end of the movable rod (9) is fixedly connected with a supporting block (10), and the bottom end of the supporting block (10) is fixedly connected with an elastic backing plate (12);

the improved structure is characterized in that a storage groove (13) is fixedly connected to the upper end of the transmission rod (2), a rotating shaft is fixedly connected between the left inner wall and the right inner wall of the storage groove (13), the outer end of the rotating shaft is rotatably connected with a rotating plate (14), a square hole (15) is dug in the left inner wall and the right inner wall of the storage groove (13), a movable column (16) is slidably connected in the square hole (15), a pair of annular grooves (17) are dug in the outer end of the movable column (16), an assisting rod (18) is rotatably connected to the outer end of the annular groove (17), a second electric push rod (19) is installed between the movable column (16) and the inner wall of the rear side of the square hole (15), a rotating sleeve (20) is rotatably connected to the outer end of the elastic base plate (12), and the assisting rod (18) is located in the rotating sleeve (20) and is slidably connected with the rotating sleeve (20);

remove push pedal (7) bottom and excavate and have square groove (21), square groove (21) are linked together with through-hole (8), fixedly connected with two memory alloy post (22) about movable rod (9) symmetry in square groove (21) between bottom and supporting shoe (10), remove inside excavation of push pedal (7) and have two installation cavity (23) about through-hole (8) symmetry, installation cavity (23) are located square groove (21) upside, install heating wire (24) in installation cavity (23).

2. The variable stiffness based flexible robotic joint of claim 1, wherein: the outer end of the contact rod (3) is round-head-shaped.

3. The variable stiffness based flexible robotic joint of claim 1, wherein: the surface of the movable push plate (7) is provided with a plurality of uniformly distributed heat dissipation pores.

4. The variable stiffness based flexible robotic joint of claim 1, wherein: the anti-rust paint is characterized in that a compression spring (11) is fixedly connected between the inner bottom end of the square groove (21) and the supporting block (10), the compression spring (11) is made of stainless steel, and anti-rust paint is coated on the surface of the compression spring (11).

5. The variable stiffness based flexible robotic joint of claim 1, wherein: the bottom end of the elastic base plate (12) is fixedly connected with an outer protection pad (25), the outer protection pad (25) is arranged to be arc-shaped, and the surface of the outer protection pad (25) is provided with an anti-abrasion layer.

6. The variable stiffness based flexible robotic joint of claim 1, wherein: magnet blocks are fixedly connected to the inner portions of the rotating plate (14) and the transmission rod (2) and attract each other.

7. The variable stiffness based flexible robotic joint of claim 1, wherein: polishing layers are arranged at the mutual contact positions of the cooperation rod (18) and the rotating sleeve (20), and an anti-falling plate (26) is fixedly connected to the upper end of the cooperation rod (18).