CN111376308A - Ball socket type two-degree-of-freedom variable-rigidity robot joint - Google Patents
Ball socket type two-degree-of-freedom variable-rigidity robot joint Download PDFInfo
- Publication number
- CN111376308A CN111376308A CN201811648279.9A CN201811648279A CN111376308A CN 111376308 A CN111376308 A CN 111376308A CN 201811648279 A CN201811648279 A CN 201811648279A CN 111376308 A CN111376308 A CN 111376308A
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- Prior art keywords
- ball
- limiting
- socket
- ring
- base
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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
- B25J17/0258—Two-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
- B25J19/068—Actuating means with variable stiffness
Abstract
The invention relates to the field of robots, in particular to a ball socket type two-degree-of-freedom variable stiffness robot joint which comprises a ball socket mechanism, a support frame, a base and a base driving mechanism, wherein the ball socket mechanism is arranged in the support frame and is provided with a power rod and two rotating shafts with crossed axes, the power rod extends out from the upper side of the support frame, the shaft end of each rotating shaft penetrates through a side plate on the corresponding side of the support frame, a cam is arranged at the shaft end of each rotating shaft on the outer side of the support frame, a guide flange is arranged on the outer side of the lower end of the support frame, a liftable ejection column is arranged on each side of the guide flange and abuts against the cam on the corresponding side, the other end of the ejection column is connected with the base through a spring, and the base is driven to move through. The invention has two characteristics of active rigidity adjustment and passive rigidity adjustment, and realizes the bearing of large load under the condition of smaller corner by utilizing the nonlinear rigidity change.
Description
Technical Field
The invention relates to the field of robots, in particular to a ball-and-socket type two-degree-of-freedom variable-rigidity robot joint.
Background
The development of the robot technology has become mature day by day through half a century, and the robot technology has been widely applied to the production and life of human beings, and the robot is not limited to the closed structured environment to replace the human beings to complete industrial production, but is gradually liberated from the closed working space, enters the unstructured environment to be fused with the human beings and cooperatively works, so that the contact between the robot and the human beings is closer and closer, and the improvement of the human-computer interaction safety becomes a leading factor of the design of the robot in the future.
The future robot is safe in nature, the interaction with the robot is not more risky than that of a conscious person, and therefore the future robot is required to have the characteristics of size, speed, strength, flexibility and the like similar to those of the human, the human body is most flexible human body joints, the movement of the human body joints forms the whole movement of the human body, the traditional robot joints are almost rigid joints, the flexibility and the like of the traditional robot joints are difficult to meet the human-machine co-fusion requirement, and when a rigid mechanical arm consisting of the rigid joints is in work, the rigid mechanical arm is generally required to be isolated from the human body so as to prevent the human body from being hurt.
Disclosure of Invention
The invention aims to provide a ball-and-socket type two-degree-of-freedom variable-stiffness robot joint which has two characteristics of active stiffness adjustment and passive stiffness adjustment, can realize the bearing of a large load under the condition of a small corner, and ensures the energy buffering of the robot when jumping or collision occurs.
The purpose of the invention is realized by the following technical scheme:
the utility model provides a ball-and-socket two degree of freedom become rigidity robot joint, includes ball-and-socket mechanism, supporting seat, base and base actuating mechanism, ball-and-socket mechanism locates in the supporting seat, ball-and-socket mechanism is equipped with two crossing pivots of power rod and axis cross, just the power rod by the supporting seat upside is stretched out, and the axle head of every pivot passes the curb plate that the supporting seat corresponds the side the supporting seat outside all is equipped with the cam disc at the axle head of every pivot the supporting seat lower extreme outside is equipped with the guiding flange, just each side of guiding flange all is equipped with the fore-set of liftable and offsets with the cam disc that corresponds the side, the fore-set other end pass through the spring with the base links to each other, just the base passes through the drive of base actuating.
The ball socket mechanism comprises a ball, a first limit semi-ring and a second limit semi-ring, wherein a power rod and a first rotating shaft and a second rotating shaft which are crossed with each other in an axis cross mode are arranged on the ball, the power rod is perpendicular to the plane where the first rotating shaft and the second rotating shaft are located, the first limit semi-ring and the second limit semi-ring are located on the ball and are far away from one side of the head end of the power rod, the first limit semi-ring is installed on the first rotating shaft, the second limit semi-ring is installed on the second rotating shaft, the second limit semi-ring is located between the first limit semi-ring and the ball, a first limit groove is formed in the first limit semi-ring, a second limit groove is formed in the second limit semi-ring, and the tail end of the power rod penetrates through the second limit groove and the first limit groove in sequence behind the ball.
The tail end of the power rod is provided with a first limiting round table and a second limiting round table, wherein the first limiting round table is tangent to the first limiting half ring, and the second limiting round table is tangent to the second limiting half ring.
The base driving mechanism comprises a driving device, a lead screw and a nut, the lead screw is driven to rotate by the driving device, and the nut is fixedly arranged on the base and sleeved on the lead screw.
The base is provided with a guide post, and the guide post penetrates through a guide flange at the lower end of the supporting seat.
Each side of guiding flange all is equipped with the sleeve, the fore-set removes in the sleeve that corresponds the side.
And the top column is provided with a roller which is abutted against the cambered surface of the cam plate on the corresponding side.
The supporting seat is provided with a through hole at the upper side for the power rod to pass through, and the through hole is in a cross shape.
The supporting seat is characterized in that a shell is arranged on the outer side of the supporting seat, a shell through hole for the power rod to pass through is formed in the upper end of the shell, and the area of the shell through hole is larger than that of the cross-shaped through hole in the upper side of the supporting seat.
The invention has the advantages and positive effects that:
1. when the passive stiffness is adjusted, the power rod is stressed to drive the cam disc to deflect the compression spring, the nonlinear curved surface of the cam disc generates nonlinear stiffness change, and absorbs great energy under the condition of small deflection angle, so that the energy buffering of the robot during jumping and collision is ensured, and the lead screw can be driven to rotate according to the working condition requirement of the robot to change the pretightening force of the spring so as to adapt to different working condition requirements.
2. When the power rod bears a certain load, the screw rod is driven to rotate to enable the base to do linear motion, and the corresponding rotating shaft on the ball socket mechanism is driven to rotate through the spring and the cam disc, so that the power rod is changed, and the active adjustment of the rigidity is realized.
3. The invention has the advantages of compact structure, large rigidity adjusting range, simple control and less energy consumption, can meet the safety of human-computer interaction, and better realizes the co-fusion of the robot and the human.
Drawings
Figure 1 is a schematic structural view of the present invention,
figure 2 is a front view of the invention of figure 1,
figure 3 is another angular view of the invention of figure 2,
figure 4 is a top view of the invention of figure 2,
figure 5 is a schematic view of the ball and socket mechanism inside the support seat of figure 1,
fig. 6 is a schematic view of the invention of fig. 1 with the housing installed.
The device comprises a support base 1, a shell 2, a guide flange 3, a power rod 4, a first limit semi-ring 5, a first limit groove 501, a lead screw 6, a guide column 7, a base 8, a spring 9, a first rotating shaft 10, a roller 11, a cam plate 12, a jack-prop 13, a bearing 14, a second rotating shaft 15, a second limit semi-ring 16, a second limit groove 161, a ball 17 and a sleeve 18.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 5, the present invention comprises a ball and socket mechanism, a support seat 1, a base 8 and a base driving mechanism, wherein the ball and socket mechanism is disposed in the support seat 1, as shown in fig. 5, the ball and socket mechanism comprises a round ball 17, a first limit half ring 5 and a second limit half ring 16, the round ball 17 is provided with a power rod 4, and a first rotating shaft 10 and a second rotating shaft 15 whose axes are crossed with each other, the power rod 4 is perpendicular to a plane where the first rotating shaft 10 and the second rotating shaft 15 are located, the first limit half ring 5 and the second limit half ring 16 are disposed on one side of the round ball 17 away from a head end of the power rod 4, two ends of the first limit half ring 5 are respectively mounted on the first rotating shaft 10, two ends of the second limit half ring 16 are respectively mounted on the second rotating shaft 15, the second limit half ring 16 is disposed between the first limit half ring 5 and the round ball 17, a first limit groove 501 is disposed on the first limit half ring 5 along a, a second limiting groove 161 is formed in the second limiting half ring 16 along the length direction, the tail end of the power rod 4 penetrates through the ball 17 and then sequentially penetrates through the second limiting groove 161 and the first limiting groove 501, a first limiting circular table and a second limiting circular table are arranged at the tail end of the power rod 4, the first limiting circular table is tangent to the outer side of the first limiting half ring 5 to achieve limiting, and the second limiting circular table is tangent to the outer side of the second limiting half ring 16 to achieve limiting. As shown in fig. 1 to 3, a through hole for the power rod 4 to pass through is formed in the upper side of the support base 1, the through hole is cross-shaped, and the diameter reducing portion of the power rod 4 can move in four directions along the cross-shaped through hole. As shown in fig. 1-5, two shaft ends of the first rotating shaft 10 and two shaft ends of the second rotating shaft 15 are respectively supported and installed through a bearing 14 on different side plates around the supporting seat 1, and are in the supporting seat 1 outside two shaft ends of the first rotating shaft 10 and two shaft ends of the second rotating shaft 15 are respectively provided with a cam disc 12, the outer side of the lower end of the supporting seat 1 is provided with a guide flange 3, each side of the guide flange 3 is provided with a lifting support column 13 which can be lifted and offset with the cam disc 12 of the corresponding side, the support column 13 is far away from one end of the corresponding cam disc 12 and is connected with the base 8 through a spring 9, and the base 8 is driven by the base driving mechanism to move the compression spring 9.
As shown in fig. 1 to 3, each side of the guide flange 3 is provided with a sleeve 18, the support pillar 13 moves in the sleeve 18 on the corresponding side, the support pillar 13 is provided with a roller 11 to abut against the arc surface of the cam disc 12 on the corresponding side, one end of the spring 9 is fixedly connected with the support pillar 13 in the sleeve 18, and the other end of the spring is fixedly connected with the base 8.
As shown in fig. 1 to 3, each corner end of the base 8 is provided with a guide post 7, the guide posts 7 penetrate through the guide flange 3 at the lower end of the support seat 1, and when the base 8 moves, each guide post 7 slides in a corresponding through hole on the guide flange 3.
As shown in fig. 2 to 3, the base driving mechanism includes a driving device, a lead screw 6 and a nut, the lead screw 6 is driven to rotate by the driving device, and the nut is fixedly arranged at the middle part of the base 8 and sleeved on the lead screw 6. When the mechanism works, the driving device drives the screw rod 6 to rotate and drives the base 8 to move through the nut. In this embodiment, the driving device is a motor.
As shown in fig. 6, a housing 2 is arranged outside the supporting seat 1, a housing through hole for the power rod 4 to pass through is arranged at the upper end of the housing 2, and the area of the housing through hole is larger than that of the cross-shaped through hole at the upper side of the supporting seat 1, so as to ensure that the power rod 4 normally swings.
The working principle of the invention is as follows:
as shown in fig. 5, the ball and socket mechanism includes a ball 17 and two limit half rings, and the two-degree-of-freedom deflection is realized by the limit of the two limit half rings of the ball and socket mechanism when the power rod 4 swings.
When the invention does not need rigidity active adjustment, the power rod 4 deflects under the action of load, the two limit semi-rings on the ball socket mechanism correspondingly deflect, and the corresponding cam disc 12 is driven by the corresponding rotating shaft to deflect and compress the spring 9, so that the flexibility of the robot joint is realized, and the screw rod 6 can be driven to rotate according to the requirement of the working condition of the robot to change the pretightening force of the spring 9 so as to adapt to the requirements of different working conditions. The nonlinear curve of the cam plate 12 generates nonlinear rigidity change, so that the energy buffering of the robot during jumping and collision is well ensured, and large energy is absorbed under the condition of small deflection angle.
When the power rod 4 bears a certain load, the screw rod 6 is driven to rotate to enable the base 8 to do linear motion, and the corresponding rotating shaft on the ball socket mechanism is driven to rotate through the spring 9 and the cam disc 12, so that the power rod 4 is changed, and the active adjustment of rigidity is realized.
Claims (9)
1. A ball socket type two-degree-of-freedom rigidity-variable robot joint is characterized in that: comprises a ball socket mechanism, a supporting seat (1), a base (8) and a base driving mechanism, wherein the ball socket mechanism is arranged in the supporting seat (1), the ball socket mechanism is provided with a power rod (4) and two rotating shafts with crossed axes, the power rod (4) extends out from the upper side of the supporting seat (1), the shaft end of each rotating shaft penetrates through the side plate on the corresponding side of the supporting seat (1), a cam disc (12) is arranged at the outer side of the supporting seat (1) and at the shaft end of each rotating shaft, a guide flange (3) is arranged on the outer side of the lower end of the support seat (1), a lifting support pillar (13) is arranged on each side of the guide flange (3) and is abutted against a cam disc (12) on the corresponding side, the other end of the ejection column (13) is connected with the base (8) through a spring (9), and the base (8) is driven to move through the base driving mechanism.
2. The ball-and-socket two-degree-of-freedom variable stiffness robot joint of claim 1, wherein: the ball socket mechanism comprises a round ball (17), a first limiting semi-ring (5) and a second limiting semi-ring (16), wherein a power rod (4) and a first rotating shaft (10) and a second rotating shaft (15) with crossed axes are arranged on the round ball (17), the power rod (4) is perpendicular to the plane where the first rotating shaft (10) and the second rotating shaft (15) are located, the first limiting semi-ring (5) and the second limiting semi-ring (16) are arranged on one side, away from the head end of the power rod (4), of the round ball (17), the first limiting semi-ring (5) is installed on the first rotating shaft (10), the second limiting semi-ring (16) is installed on the second rotating shaft (15), the second limiting semi-ring (16) is arranged between the first limiting semi-ring (5) and the round ball (17), a first limiting groove (501) is formed in the first limiting semi-ring (5), and a second limiting groove (161) is formed in the second limiting half ring (16), and the tail end of the power rod (4) penetrates through the round ball (17) and then sequentially penetrates through the second limiting groove (161) and the first limiting groove (501).
3. The ball-and-socket two-degree-of-freedom variable stiffness robot joint of claim 2, wherein: the tail end of the power rod (4) is provided with a first limiting round table and a second limiting round table, wherein the first limiting round table is tangent to the first limiting half ring (5), and the second limiting round table is tangent to the second limiting half ring (16).
4. The ball-and-socket two-degree-of-freedom variable stiffness robot joint of claim 1, wherein: the base driving mechanism comprises a driving device, a lead screw (6) and a nut, the lead screw (6) is driven to rotate through the driving device, and the nut is fixedly arranged on the base (8) and sleeved on the lead screw (6).
5. The ball-and-socket two-degree-of-freedom variable stiffness robot joint according to claim 1 or 4, wherein: the base (8) is provided with a guide post (7), and the guide post (7) penetrates through a guide flange (3) at the lower end of the support seat (1).
6. The ball-and-socket two-degree-of-freedom variable stiffness robot joint of claim 1, wherein: each side of the guide flange (3) is provided with a sleeve (18), and the top column (13) moves in the sleeve (18) on the corresponding side.
7. The ball-and-socket two-degree-of-freedom variable stiffness robot joint according to claim 1 or 6, wherein: the top column (13) is provided with a roller (11) which is abutted against the cambered surface of the cam disc (12) on the corresponding side.
8. The ball-and-socket two-degree-of-freedom variable stiffness robot joint of claim 1, wherein: the upper side of the supporting seat (1) is provided with a through hole for the power rod (4) to pass through, and the through hole is in a cross shape.
9. The ball-and-socket two-degree-of-freedom variable stiffness robot joint of claim 8, wherein: the supporting seat is characterized in that a shell (2) is arranged on the outer side of the supporting seat (1), a shell through hole for the power rod (4) to pass through is formed in the upper end of the shell (2), and the area of the shell through hole is larger than that of a cross-shaped through hole in the upper side of the supporting seat (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811648279.9A CN111376308B (en) | 2018-12-30 | 2018-12-30 | Ball socket type two-degree-of-freedom variable-rigidity robot joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811648279.9A CN111376308B (en) | 2018-12-30 | 2018-12-30 | Ball socket type two-degree-of-freedom variable-rigidity robot joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111376308A true CN111376308A (en) | 2020-07-07 |
| CN111376308B CN111376308B (en) | 2022-09-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811648279.9A Active CN111376308B (en) | 2018-12-30 | 2018-12-30 | Ball socket type two-degree-of-freedom variable-rigidity robot joint |
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| CN (1) | CN111376308B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2270350A2 (en) * | 2009-07-01 | 2011-01-05 | Khalid A. Nassir | Synchronized universal joint |
| KR101379810B1 (en) * | 2012-12-21 | 2014-04-01 | 한국과학기술연구원 | Device for regulating stiffness |
| CN106914917A (en) * | 2017-04-27 | 2017-07-04 | 河北工业大学 | A kind of compact variation rigidity rotates flexible joint |
| CN108262763A (en) * | 2017-12-28 | 2018-07-10 | 中国科学院沈阳自动化研究所 | A kind of joint of robot variation rigidity actuator |
| WO2018165261A1 (en) * | 2017-03-08 | 2018-09-13 | Ekso Bionics, Inc. | Actuator devices for human exoskeleton joints |
-
2018
- 2018-12-30 CN CN201811648279.9A patent/CN111376308B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2270350A2 (en) * | 2009-07-01 | 2011-01-05 | Khalid A. Nassir | Synchronized universal joint |
| KR101379810B1 (en) * | 2012-12-21 | 2014-04-01 | 한국과학기술연구원 | Device for regulating stiffness |
| WO2018165261A1 (en) * | 2017-03-08 | 2018-09-13 | Ekso Bionics, Inc. | Actuator devices for human exoskeleton joints |
| CN106914917A (en) * | 2017-04-27 | 2017-07-04 | 河北工业大学 | A kind of compact variation rigidity rotates flexible joint |
| CN108262763A (en) * | 2017-12-28 | 2018-07-10 | 中国科学院沈阳自动化研究所 | A kind of joint of robot variation rigidity actuator |
Non-Patent Citations (1)
| Title |
|---|
| 侯雨雷等: "新型过约束球面并联式关节机构仿生设计", 《新型工业化》 * |
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| CN111376308B (en) | 2022-09-20 |
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