CN111941413A - Novel electromagnetic controllable flexible driving device and control method thereof - Google Patents
Novel electromagnetic controllable flexible driving device and control method thereof Download PDFInfo
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
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Abstract
The invention discloses a novel electromagnetic controllable flexible driving device and a control method thereof, belonging to the technical field of flexible driving of robots, and comprising a driving mechanism, a reciprocating mechanism, an electromagnetic flexible mechanism, a power supply and a central controller; the actuating mechanism mainly comprises driving motor and reduction gear, reciprocating mechanism includes: the support frame, the sliding sleeve and the screw rod; the electromagnetic compliant mechanism includes: the power supply is respectively and electrically connected with the central controller, the coil, the pressure sensor and the driving motor. The invention discloses a novel electromagnetic controllable flexible driving device and a control method thereof. Compared with the known flexible drive, the flexible drive has the characteristics of compact and reliable structure, wide adjustable range, flexible adjustment mode and the like.
Description
Technical Field
The invention discloses a novel electromagnetic controllable flexible driving device and a control method thereof, and belongs to the technical field of flexible driving of robots.
Background
In the world, the number of patients with motor dysfunction due to brain trauma, spinal cord injury, and stroke is increasing. These patients cannot perform daily activities such as standing, walking, squatting, and the like as normal persons, and can only lie in bed or sit in a wheelchair for a long time. In the past, patients are prone to other diseases such as muscular atrophy and limb pressure sores. The traditional rehabilitation treatment method has the problems of large personnel consumption, long rehabilitation period and the like. Therefore, the rehabilitation robot system has become a research hotspot in the field of domestic and foreign robots. With the continuous development of the robot technology, people have higher and higher requirements on the characteristics of the rehabilitation robot, such as safety, adaptability, flexibility and the like. The flexible driver changes rigid output into flexible output and can generate a buffer effect, so that after the robot is in rigid collision impact with the environment, the damage of a mechanical structure can be reduced, and the safety of human-computer interaction is improved. In addition, the introduction of flexibility can enable the gait of the robot to be more natural and coordinated, and the environment adaptation range of the robot is expanded. The conventional flexible driving device has a complex structure, is difficult to maintain, has a limited adjusting range, is flexible and uncontrollable, and cannot adjust the elastic coefficient in real time according to the condition.
Based on the above background, there is an urgent need for a novel electromagnetic controllable flexible driving device to meet the requirements of real-time controllable flexible driving and flexible control of elastic coefficient of a robot.
Disclosure of Invention
The invention aims to solve the problems that the existing driving mode is complex in structure, difficult to maintain, limited in adjusting range and uncontrollable in flexibility, and the elastic coefficient cannot be adjusted in real time according to the situation, and provides a novel electromagnetic controllable flexible driving device which is compact and reliable in structure, wide in adjustable range and flexible in adjusting mode and a control method thereof.
The invention aims to solve the problems and is realized by the following technical scheme:
a novel electromagnetically controllable flexible drive device, comprising: the device comprises a driving mechanism, a reciprocating mechanism, an electromagnetic flexible mechanism, a power supply and a central controller;
the actuating mechanism mainly comprises driving motor and reduction gear, reciprocating mechanism includes: the support frame is fixed on the speed reducer, the screw rod is arranged in the support frame, one end of the screw rod is connected with a main shaft of the driving motor through the speed reducer, a threaded through hole is formed in the sliding sleeve, the sliding sleeve is in threaded connection with the screw rod through the threaded through hole, and the sliding sleeve moves along the support frame through the rotation of the screw rod;
the electromagnetic compliant mechanism includes: the electromagnetic core push rod is a ladder rod, the small-diameter end of the magnetic core push rod penetrates through the electromagnetic flexible through hole to be terminated at the large-diameter end connecting part, the coil is sleeved on the large-diameter end of the magnetic core push rod and is mounted in the shell in a sealing mode through the pressure sensor and the base, one side, far away from the shell, of the base is fixed to one end of the sliding sleeve, and the power supply is electrically connected with the central controller, the coil, the pressure sensor and the driving motor.
Preferably, the support frame includes: the guide rod device comprises a bearing support, 2-4 guide rods and a sleeve support, wherein two ends of each guide rod are respectively and uniformly fixedly carried on the bearing support and the sleeve support.
Preferably, the housing includes: the magnetic core push rod comprises a support ring and a sleeve, wherein the support ring is fixedly installed at one end of the sleeve and matched with the magnetic core push rod.
Preferably, a large square table is arranged at one end of the sliding sleeve, a sliding through hole corresponding to the guide rod is formed in the large square table, and the large square table moves along the guide rod.
Preferably, the large square table follows the external contour of the bearing support.
Preferably, the diameter of the small-diameter end of the magnetic core push rod is smaller than or equal to the inner diameter of the electromagnetic flexible through hole.
A control method of a novel electromagnetic controllable flexible driving device comprises the following specific steps:
step S10, determining the working mode of the driver and the parameters of the driving motor;
step S20, determining parameters required by a control mode through the working mode of the driver, and determining coil initial working current parameters and working curves of coil current through the parameters of the driving motor and the parameters required by the control mode;
step S30, determining real-time pressure parameters through the pressure sensor;
step S40, determining a corrected coil working current parameter and an adjusted real-time pressure parameter according to the real-time pressure parameter and the parameters required by the control mode;
step S50, determining whether the pressure fluctuation is stable through the corrected coil working current parameter and the adjusted real-time pressure parameter:
the drivers stably work according to the corresponding driver working modes;
unstable, repeat step S40.
Preferably, the driver operating mode includes: a compensation drive mode, a steady drive mode, and a matching drive mode.
Preferably, the parameters required for the control mode include: compensation strength, constant drive spring rate and matching pattern.
The invention has the beneficial effects that: the invention discloses a novel electromagnetic controllable flexible driving device and a control method thereof. Compared with the known flexible drive, the flexible drive has the characteristics of compact and reliable structure, wide adjustable range, flexible adjustment mode and the like.
Drawings
FIG. 1 is a schematic view of the structure of the device of the present invention.
Fig. 2 is an exploded view of the driving mechanism according to the present invention.
Fig. 3 is an exploded view of the reciprocator of the present invention.
Fig. 4 is an exploded view of the electromagnetic compliance mechanism of the present invention.
Fig. 5 is a structural view of the electrical connection of the present invention.
Fig. 6 is a flow chart of a control method of the present invention.
The device comprises a driving mechanism 1, a driving motor 11, a serial interface 12, a speed reducer 13, a reciprocating mechanism 2, a guide rod 21, a screw rod 22, a bearing 23, a bearing support 24, a sliding sleeve 25, a square table 251, a sleeve support 26, a nut 27, an electromagnetic flexible mechanism 3, a coil 31, a magnetic core push rod 32, a screw 33, a pressure sensor 34, a base 35, a sleeve 36 and a support ring 37.
Detailed Description
The invention is further illustrated below with reference to the accompanying figures 1-6:
the technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. 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.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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 specific cases to those skilled in the art.
As shown in fig. 1, a first embodiment of the present invention provides a novel electromagnetic controllable flexible driving apparatus based on the prior art, which mainly includes: the driving mechanism 1, the reciprocating mechanism 2, the electromagnetic flexible mechanism 3, the power supply and the central controller are described in sequence, and the above mechanisms and the connection mode of the power supply and the central controller are described in the following.
Firstly, a detailed description will be given of a specific structure of the driving mechanism 1, as shown in fig. 2, the driving mechanism mainly comprises a driving motor 11 and a speed reducer 13, a serial interface 12 respectively connected with a PC terminal and a central controller is arranged at one end of the driving motor 11 away from a driving shaft, the driving motor 11 is fixed on the speed reducer 13 through bolts, a main shaft of the driving motor 11 is connected with a first interface of the speed reducer 13, and the speed reducer 13 is a publicly known three-stage speed reducer, and therefore, the detailed description is omitted.
The following will describe in detail the reciprocating mechanism 2, which, as shown in fig. 3, comprises: a support frame, a sliding sleeve 25 and a screw 22, wherein the support frame comprises: the guide rod 21 can be 2-4 guide rods 21, the guide rod 21 is 4 guide rods 21 in this embodiment, threaded rods are respectively arranged at two ends of each of the 4 guide rods 21, one end of each of the 4 guide rods 21 penetrates through the bearing support, is fixed on the speed reducer 13 through threaded connection and is at the same side as the driving motor 11, and the other end of each of the 4 guide rods 21 is fixed on the sleeve support 26 through a nut 27. One end of the screw rod 22 is rotatably mounted in a bearing bracket 24 through a bearing 23 and is connected with the main shaft of the driving motor 11 through the reducer 13, and when the main shaft of the driving motor 11 rotates, the screw rod 22 rotates along with the main shaft. A threaded through hole is arranged in the sliding sleeve 25, a large square table 251 is arranged at one end, and the external contour of the large square table 251 and the external contour of the bearing support 24 are matched. The large square table 251 is provided with sliding through holes corresponding to the 4 guide rods 21, the sliding sleeve 25 is in threaded connection with the screw rod 22 through the threaded through holes, and when the screw rod 22 rotates, the large square table 21 of the sliding sleeve 25 moves along the 4 guide rods 21.
The drive mechanism 1 and the reciprocator 2 have been described above. The electromagnetic compliance mechanism 3, as shown in fig. 4, is described in detail below and comprises: shell, magnetic core push rod 32, coil 31, pressure sensor 34 and base 35, wherein, the shell includes: a support ring 37 and a sleeve 36, the support ring 37 being flange-mounted on one end of the sleeve 36 by means of screws 33. The support ring 37 is provided with an electromagnetic flexible through hole, the magnetic core push rod 32 is a rod with a magnetic step, the small-diameter end of the magnetic core push rod passes through the electromagnetic flexible through hole and terminates at the joint of the large-diameter end, and the diameter of the small-diameter end of the magnetic core push rod 32 is smaller than or equal to the inner diameter of the electromagnetic flexible through hole. The coil 31 is sleeved on the large-diameter end of the magnetic core push rod 32, and the pressure sensor 34 is installed in the sleeve 36 and is in contact with one end of the coil 31. Base 35 passes through bolt flange fixed mounting at the other end of sleeve 36, and one side that shell was kept away from to base 35 is equipped with threaded connection pole, and base 35 passes through the threaded connection pole to be fixed on the screw through-hole of slip sleeve 25 keeps away from one end of reduction gear 13. The core plunger 32 has a smaller length at its large diameter end than the coil 31, and when energized, provides resilient support in accordance with magnetic field interaction, such that the end of the core plunger 32 at its large diameter end does not touch the pressure sensor 34. As shown in fig. 5, the power supply is electrically connected to the central controller, the coil, the pressure sensor, and the driving motor, respectively.
After the above mechanical structure of the present invention is introduced, a method for controlling a novel electromagnetic controllable flexible driving device according to the above mechanical structure is described as follows, as shown in fig. 6, and the specific steps are as follows:
step S10, determining the working mode of the driver and the parameters of the driving motor, which comprises the following steps:
the user selects the working mode of the driving device at the PC terminal, and the working modes comprise three working modes: the compensation driving mode, the steady driving mode and the matching driving mode are input into the PC terminal, and then parameters of the driving motor 11 are transmitted to the central controller.
Step S20, determining parameters required for the control mode according to the operation mode of the driver, where the parameters required for the control mode include: compensation strength, constant drive spring rate and matching pattern. And determining the initial working current of the coil and the working curve of the current of the coil according to the parameters of the driving motor and the parameters required by the control mode. The concrete steps are divided into the following three conditions according to the working mode of the driving device:
(1) when the PC terminal selects the compensation driving mode, the parameters required by the control mode select the input compensation intensity, and the central controller determines the initial working current of the coil according to the parameters of the driving motor.
(2) When the PC terminal selects the constant driving mode, parameters required by the control mode select and input the constant driving elastic coefficient, and the central controller determines the coil working current according to the driving motor parameters.
(3) When the PC terminal selects the matching driving mode, parameters required by the control mode are selected and input into the matching mode, the central controller determines a working curve of the coil current according to the driving motor parameters and the matching mode, and the coil current is executed according to the set working curve.
Step S30, determining real-time pressure parameters by the pressure sensor.
In all three modes, the real-time pressure value is monitored by the pressure sensor and transmitted to the central controller. And monitoring real-time pressure values in a steady driving mode and a matching driving mode and simultaneously displaying the real-time pressure values to the PC terminal.
Step S40, determining a corrected coil working current parameter and an adjusted real-time pressure parameter according to the real-time pressure parameter and the parameters required by the control mode;
when the PC terminal selects the compensation driving mode, the central controller analyzes the fluctuation of the pressure value and corrects the working current of the coil according to the compensation intensity.
Step S50, determining whether the pressure fluctuation is stable through the corrected coil working current parameter and the adjusted real-time pressure parameter:
the driver works stably according to the corresponding driver working mode;
unstable, repeat step S40.
The method comprises the following specific steps:
(1) when the PC terminal selects the compensation driving mode, the driver finishes the stable work of the compensation mode when the pressure value is determined to be stable by correcting the working current value of the coil, the working curve of the coil current and the adjusted real-time pressure parameter. Otherwise, continuing to repeat the step S40, and correcting the coil working current until the pressure value is stable.
(2) When the PC terminal selects the constant drive mode, the driver stably operates in the constant drive mode.
(3) When the PC terminal selects the matching drive mode, the driver stably operates in the matching operation mode.
While embodiments of the invention have been disclosed above, it is not intended to be limited to the uses set forth in the specification and examples. It can be applied to all kinds of fields suitable for the present invention. Additional modifications will readily occur to those skilled in the art. It is therefore intended that the invention not be limited to the exact details and illustrations described and illustrated herein, but fall within the scope of the appended claims and equivalents thereof.
Claims (9)
1. A novel electromagnetic controllable flexible driving device is characterized by comprising: the device comprises a driving mechanism, a reciprocating mechanism, an electromagnetic flexible mechanism, a power supply and a central controller;
the driving mechanism mainly comprises a driving motor and a speed reducer, wherein the driving motor is arranged on the speed reducer. The reciprocating mechanism comprises: the support frame is fixed on the speed reducer, the screw rod is arranged in the support frame, one end of the screw rod is connected with a main shaft of the driving motor through the speed reducer, a threaded through hole is formed in the sliding sleeve, the sliding sleeve is in threaded connection with the screw rod through the threaded through hole, and the sliding sleeve moves along the support frame through the rotation of the screw rod;
the electromagnetic compliant mechanism includes: the electromagnetic core push rod is a ladder rod, the small-diameter end of the magnetic core push rod penetrates through the electromagnetic flexible through hole to be terminated at the large-diameter end connecting part, the coil is sleeved on the large-diameter end of the magnetic core push rod and is mounted in the shell in a sealing mode through the pressure sensor and the base, one side, far away from the shell, of the base is fixed to one end of the sliding sleeve, and the power supply is electrically connected with the central controller, the coil, the pressure sensor and the driving motor.
2. The novel electro-magnetically controllable compliant drive assembly as claimed in claim 1 wherein said support frame comprises: the device comprises a bearing support, 2-4 guide rods and a sleeve support, wherein two ends of the 2-4 guide rods are respectively and uniformly fixedly carried on the bearing support and the sleeve support.
3. A novel electro-magnetically controllable flexible drive unit as claimed in claim 1 or claim 2, wherein said housing comprises: the magnetic core push rod comprises a support ring and a sleeve, wherein the support ring is fixedly installed at one end of the sleeve and matched with the magnetic core push rod.
4. The novel electromagnetic controllable flexible driving device as claimed in claim 3, wherein one end of the sliding sleeve is provided with a large square table, the large square table is provided with a sliding through hole corresponding to the guide rod, and the large square table moves along the guide rod.
5. The novel electromagnetic controllable flexible driving device as claimed in claim 4, wherein the large square platform follows the external contour of the bearing support.
6. The novel electromagnetic controllable flexible driving device as claimed in claim 4 or 5, wherein the diameter of the small diameter end of the magnetic core push rod is smaller than or equal to the inner diameter of the electromagnetic flexible through hole.
7. A control method of a novel electromagnetic controllable flexible driving device is characterized by comprising the following specific steps:
step S10, determining the working mode of the driver and the parameters of the driving motor;
step S20, determining parameters required by a control mode through the working mode of the driver, and determining coil initial working current parameters and working curves of coil current through the parameters of the driving motor and the parameters required by the control mode;
step S30, determining real-time pressure parameters through the pressure sensor;
step S40, determining a corrected coil working current parameter and an adjusted real-time pressure parameter according to the real-time pressure parameter and the parameters required by the control mode;
step S50, determining whether the pressure fluctuation is stable through the corrected coil working current parameter and the adjusted real-time pressure parameter:
the drivers stably work according to the corresponding driver working modes;
unstable, repeat step S40.
8. The method as claimed in claim 7, wherein the operation mode of the actuator comprises: a compensation drive mode, a steady drive mode, and a matching drive mode.
9. The control method of the novel electromagnetic controllable flexible driving device according to claim 7 or 8, characterized in that the parameters required by the control mode include: compensation strength, constant drive spring rate and matching pattern.
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| CN202010729044.3A CN111941413B (en) | 2020-07-27 | 2020-07-27 | Electromagnetic controllable flexible driving device and control method thereof |
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| CN202010729044.3A CN111941413B (en) | 2020-07-27 | 2020-07-27 | Electromagnetic controllable flexible driving device and control method thereof |
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| CN111941413A true CN111941413A (en) | 2020-11-17 |
| CN111941413B CN111941413B (en) | 2021-05-25 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113211428A (en) * | 2021-04-07 | 2021-08-06 | 长春工业大学 | Variable-rigidity series elastic driving device and control method thereof |
| CN113442167A (en) * | 2021-06-21 | 2021-09-28 | 长春工业大学 | Design of flexible variable-stiffness elastic driver |
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| CN2635984Y (en) * | 2003-06-27 | 2004-08-25 | 翟东波 | Flexible elctromagnetic driving-unit |
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| CN113442167A (en) * | 2021-06-21 | 2021-09-28 | 长春工业大学 | Design of flexible variable-stiffness elastic driver |
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| CN111941413B (en) | 2021-05-25 |
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