CN112454420A - Variable-rigidity joint of magnetic pulley block robot - Google Patents
Variable-rigidity joint of magnetic pulley block robot Download PDFInfo
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- CN112454420A CN112454420A CN202011432647.3A CN202011432647A CN112454420A CN 112454420 A CN112454420 A CN 112454420A CN 202011432647 A CN202011432647 A CN 202011432647A CN 112454420 A CN112454420 A CN 112454420A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
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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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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Abstract
A variable-stiffness joint of a magnetic pulley block robot comprises a large arm bearing body, an elbow joint carrier, a small arm, a pulley block and a rope winch, wherein the large arm bearing body is connected with the elbow joint carrier and connected with the small arm; a flexible permanent magnet variable stiffness mechanism is arranged on the large arm bearing body; 1. the assembly structure is more compact. 2. The inner part of the device can be safely provided with a circuit in the forearm joint and is not influenced by joint movement. 3. The driving unit and the variable-rigidity joint can be arranged at the rear in specific use, and due to the fact that the parallel connection type structure is designed and selected, the defect that the rigidity change capability of the serial connection type structure is insufficient due to inertia superposition of multiple degrees of freedom is overcome when the multiple-degree-of-freedom joint is constructed. And double-structure control is designed, so that the timeliness of the joint control capability is greatly improved.
Description
Technical Field
The invention belongs to the technical field of flexible variable-stiffness robots, and relates to a variable-stiffness joint for a flexible parallel antagonistic robot, which is particularly suitable for construction of a single/multiple-degree-of-freedom variable-stiffness robot joint.
Background
Robotics is increasingly used in industrial production, medical services, and personal entertainment, and is in close and frequent contact with humans. Therefore, people have increasingly paid more attention to human-computer interaction.
The main differences between the variable stiffness robot joint and the traditional rigid joint are as follows: the elastic element with adjustable rigidity is added into the whole structure, the adaptability to the unstructured environment is enhanced, the requirements on structural stability and flexibility are better met, a large amount of energy consumption can be reduced, and the man-machine safety and the environmental adaptability can be enhanced. Wherein, the parallel variable stiffness joint adopting the rope driving mode is closest to the muscle driving mode of the human body. The positions and the output torque of the joints are adjusted by utilizing the nonlinear springs on the two sides of the joints and controlling the stretching amount of the springs through the double motors, so that the rigidity and the position of the joints are controlled. The main problem of limiting the development of variable-stiffness joints driven by parallel ropes at present is that energy needs to be continuously consumed when the stiffness of the joints is controlled, so that the energy utilization efficiency is not high. Therefore, the design of the variable-stiffness joint with large-range stiffness change, small size, light weight and high joint stiffness adjusting capability and driving capability has great significance for solving the problem of high energy consumption of the parallel rope-driven robot.
Disclosure of Invention
The purpose of the invention is as follows:
the invention aims to provide a variable-stiffness joint which can improve the stiffness adjustment capability and the driving capability of the joint and reduce the volume of the joint. The variable-rigidity joint aims to solve the problems in the prior art, the variable-rigidity joint is convenient for the rear arrangement of the driving unit and the variable-rigidity unit, and the rigidity adjusting capability and the driving capability of the variable-rigidity joint can be further enhanced by adopting a magnetic pulley block structure.
The technical scheme is as follows:
the utility model provides a flexible permanent magnetism becomes rigidity robot joint which characterized in that: the device comprises a large arm bearing body 2, an elbow joint carrier 3, a small arm, a pulley block 5 and a rope winch, wherein the large arm bearing body 2 is connected with the elbow joint carrier 3 and is connected with the small arm, the elbow joint carrier 3 is connected with the small arm through the pulley block 5, and the rope winch 27 is arranged on the large arm bearing body 2; a flexible permanent magnet variable stiffness mechanism is arranged on the large arm carrier 2;
the two rope winches are respectively a first rope winch 27-1 and a second rope winch 27-2, and the two flexible permanent magnet variable stiffness mechanisms are respectively a first flexible permanent magnet variable stiffness mechanism and a second flexible permanent magnet variable stiffness mechanism;
the flexible permanent magnet rigidity-variable mechanism comprises a fixed seat 8 and a movable sliding seat 16;
the fixed seat 8 comprises two vertical plates 8-1 and a connecting plate 8-2 connecting the two vertical plates 8-1, the movable sliding seat 16 is of a ↓ "structure formed by a sliding rod 16-2 and a conical base 16-1, the conical base 16-1 is arranged at the lower end of the sliding rod 16-2, and the upper end of the sliding rod 16-2 penetrates through the connecting plate 8-2 and can move up and down relative to the connecting plate 8-2;
the upper end of the sliding rod 16-2 is provided with a pulley 12, and the top ends of the two vertical plates 8-1 are respectively provided with a fixed pulley, namely a first fixed pulley 7 and a second fixed pulley 11;
a first conical permanent magnet ring 13 is arranged at the bottom of the connecting plate 8-2, and a second conical permanent magnet ring 14 corresponding to the first conical permanent magnet ring 13 is arranged at the upper end of the conical base 16-1;
the rope wound on the first rope winch 27-1 sequentially rounds the upper end of the first fixed pulley 7, the lower end of the pulley 12 and the upper end of the second fixed pulley 11 in the first flexible permanent magnet variable stiffness mechanism and then is connected to the pulley block 5;
the rope wound on the second rope winch 27-2 is connected to the pulley block 5 after sequentially passing around the upper end of the first fixed pulley 7, the lower end of the pulley 12 and the upper end of the second fixed pulley 11 in the second flexible permanent magnetic variable stiffness mechanism.
The inner sides of the two vertical plates 8-1 are provided with a movable sliding chute 15 or a movable sliding rail, and the left end and the right end of the conical base 16-1 extend into the movable sliding chute 15 or are arranged on the movable sliding rail and can move up and down along the movable sliding chute 15 or the movable sliding rail.
The pulley block 5 comprises a first joint displacement guide block 30 and a second joint displacement guide block 21, wherein the arc-shaped edge A of the first joint displacement guide block 30 is contacted with the arc-shaped edge B of the second joint displacement guide block 21, so that the arc-shaped edge B of the second joint displacement guide block 21 can roll on the arc-shaped edge A of the first joint displacement guide block 30;
a first guide rod 19-1, a second guide rod 19-2, a fourth guide rod 19-4 and a sixth guide rod 19-6 are vertically arranged on the side surface of the first joint displacement guide block 30; the first guide rod 19-1, the second guide rod 19-2 and the fourth guide rod 19-4 are arranged in a three-point mode, the sixth guide rod 19-6 is positioned at the arc center position of the arc edge A of the first joint displacement guide block 30, and the third guide rod 19-3, the fifth guide rod 20 and the seventh guide rod 19 are vertically arranged on the side surface of the second joint displacement guide block 21; the axes of the third guide rod 19-3, the fifth guide rod 20 and the seventh guide rod 19 are positioned on the same straight line or the third guide rod 19-3, the fifth guide rod 20 and the seventh guide rod 19 are arranged in a three-point mode, and the seventh guide rod 19 is positioned at the arc center of the arc edge B of the second joint displacement guide block 21; a first rope 6-1 led out from the upper end of a second fixed pulley 11 in the first flexible permanent magnet stiffness changing mechanism winds from the upper end of a first guide rod 19-1, winds from the lower end of a second guide rod 19-2, winds from the lower end of a third guide rod 19-3, repeatedly winds between the second guide rod 19-2 and the third guide rod 19-3, and finally is fixed on the second guide rod 19-2 or the third guide rod 19-3;
a second rope 6-2 led out from the upper end of a second fixed pulley 11 in the second flexible permanent magnet variable stiffness mechanism bypasses from the lower end of a first guide rod 19-1 and then bypasses from the upper end of a fourth guide rod 19-4, and then repeatedly winds the fourth guide rod 19-4 and the fifth guide rod 20 after bypassing a fifth guide rod 20, and finally is fixed on the fourth guide rod 19-4 or the fifth guide rod 20;
the rear end of the joint positioning block 17 is sleeved on the sixth guide rod 19-6 and can rotate by taking the sixth guide rod 19-6 as a shaft, and the front end of the joint positioning block 17 is sleeved on the seventh guide rod 19 and can rotate by taking the seventh guide rod 19 as a shaft.
The first rope winch 27-1 and the first fixed pulley 7 and the second fixed pulley 11 in the first flexible permanent magnet variable stiffness mechanism are circumscribed on the same straight line, and the second rope winch 27-1 and the first fixed pulley 7 and the second fixed pulley 11 in the second flexible permanent magnet variable stiffness mechanism are circumscribed on the same straight line.
And a movable pulley 12 in the flexible permanent magnet variable stiffness mechanism is clamped on a symmetrical shaft of the fixed pulley 7 and the fixed pulley 11.
The first and second ropes 6-1 and 6-2 are flexible steel wire ropes or other flexible materials that are only flexible but not axially retractable.
The deep groove ball bearing, the coupler 28 and the speed reducer 29 are sequentially arranged along the rotation axis of the rope winch 27, one end of the rotation axis of the rope winch is connected with the output end of the coupler 28 through the deep groove ball bearing, the input end of the coupler 28 is connected with the output end of the speed reducer 29, and the other end of the rotation axis of the rope winch is in contact with the large arm shell 1 outside the large arm bearing body 2 and is fixed in position.
The input end of the speed reducer 29 is sequentially provided with a coupling 22 and a servo motor 23 along the axis, and the input end of the speed reducer 29 is connected with the servo motor 23 through the coupling 22.
The servo motor 23 is provided with an encoder 24, the servo motor 23 is fixedly connected with a servo motor fixing seat 25, and the speed reducer 29 is fixedly connected with a speed reducer fixing seat 26.
The servo motor fixing seat 25, the reducer fixing seat 26 and the permanent magnet variable stiffness mechanism fixing seat 8 are fixedly connected with the large arm bearing body 2, the large arm bearing body 2 and the joint bearing body 3 are fixedly connected, the joint bearing body 3 is fixedly connected with the first joint displacement guide block 30, and the small arm is fixedly connected with the second joint displacement guide block 21.
The advantages and effects are as follows:
in recent years, in the rapid development of permanent magnet material research, a great technical breakthrough is made on the research of rare earth permanent magnet materials with high magnetic energy per unit volume, so that original elastic elements such as springs are gradually replaced by permanent magnets.
The invention provides a permanent magnet variable-stiffness joint adopting a double-magnetic pulley block control structure, which comprises: two sets of drive units, each set of drive units comprising: the device comprises a servo motor, an encoder, a bevel gear reducer, a coupler 1, a coupler 2, a motor fixing seat, a reducer fixing seat, a deep groove ball bearing and a cable winch; (II) two groups of variable stiffness units, wherein each group of variable stiffness unit comprises: the device comprises a fixed pulley 1, a fixed pulley 2, a pulley, an axial magnetized conical permanent magnet ring 1, an axial magnetized conical permanent magnet ring 2, a movable sliding seat, a movable sliding groove, an axial sliding bearing, a fixed seat and a fixed gasket; (III) the elbow joint moving unit includes: the device comprises a guide shaft, a fixed support, a guide body, a pulley block 1, a pulley block 2, a guide wheel, a joint bearing body, an arm carrier, a joint positioning block, a joint fixing block, a rope fixing groove, a joint displacement guide block and an arm shell.
The rope winch is a winch shaft with the winch and the rotating shaft integrated. The cable winch is characterized in that a deep groove ball bearing, a coupler, a bevel gear reducer, a coupler and a servo motor are sequentially arranged along the rotation axis of the cable winch, the servo motor and the reducer are fixed with a base through a fixing sleeve, the cable winch is fixed through a structure on an arm shell, and the cable winch is connected with the reducer through the coupler;
the movable sliding seat is in sliding fit with the movable sliding groove, the axial sliding bearings are located on the symmetrical center of the cross beam of the fixed seat, a sliding rod of the movable sliding seat is in sliding fit with the sliding bearings, the movable pulley is located at the tail end of the sliding rod of the movable sliding seat, the two fixed pulleys are located at the upper end part of the fixed seat with the sliding grooves, the movable pulley and the two fixed pulleys form an isosceles triangle, and the movable pulley and the movable sliding seat are driven to slide upwards by pulling a rope;
the fixed seat is fixedly connected with the conical permanent magnet ring 1, the movable sliding seat is fixedly connected with the conical permanent magnet ring 2, the conical permanent magnet ring 1 and the conical permanent magnet ring 2 are arranged coaxially, the structural parameters of the conical permanent magnet ring 1 and the conical permanent magnet ring 2 are the same, the conical permanent magnet ring 1 and the conical permanent magnet ring 2 are axially magnetized, and the magnetic poles in the same direction are arranged oppositely. When the movable sliding seat and the fixed seat slide relatively, the air gap between the conical permanent magnet ring 1 and the conical permanent magnet ring 2 is reduced. The two variable stiffness joints are fixedly connected with the arm carrier on opposite surfaces through the part fixing seats respectively.
The arm carrier is fixedly connected with the joint bearing body, the guide shaft is perpendicular to the joint guide part 1, the supporting part and the positioning part and fixedly connected with the joint guide part 1, the supporting part and the positioning part, and the joint guide part and the positioning part are fixedly connected with the joint bearing body through bolts. The joint guide part 1 and the joint guide part 2 are tangent.
Compared with the prior art, the invention has the following advantages:
1. compared with the existing variable-stiffness joint, the novel variable-stiffness joint has the advantages that larger joint torque can be generated through smaller motor input, and the rotation range of the joint is enlarged. The permanent magnet variable-stiffness mechanism is optimized and improved, the conical annular permanent magnet ring is selected to replace a horizontal permanent magnet ring, the permanent magnet variable-stiffness mechanism has the advantage that the relative working sectional area of a magnet is larger, in the design of the fixing seat, the actual installation consideration of a joint is combined, the fixing seat is designed into an inclined plane structure with the same taper as the conical permanent magnet ring, the arrangement position of the pulley block in the variable-stiffness module is a highly variable isosceles triangle, the conical design of the fixing seat has the characteristic of space saving, and the assembly structure is more compact.
2. A magnetic pulley block structure is used in the design, and the movement position of the joint is changed by depending on the difference of the tensioning positions of the two groups of pulley blocks. The pulley block at the joint applies a quaternion theory, and the input torque of the servo motor can be multiplied to increase the output. The joint rotation is always the circumscribe of two arcs with fixed radius, so the distance between two center points is always kept unchanged. The advantage of this design is that it is possible to safely arrange the wiring in the forearm joint inside it, unaffected by the joint movements.
3. The driving unit and the variable-rigidity joint can be arranged at the rear in specific use, and due to the fact that the parallel connection type structure is designed and selected, the defect that the rigidity change capability of the serial connection type structure is insufficient due to inertia superposition of multiple degrees of freedom is overcome when the multiple-degree-of-freedom joint is constructed. And double-structure control is designed, so that the timeliness of the joint control capability is greatly improved.
Drawings
FIG. 1 is a schematic diagram of a flexible robot arm according to the present invention;
FIG. 2 is a schematic cross-sectional view of a variable stiffness unit;
FIG. 3 is a partial view of the elbow pulley block;
FIG. 4 is an exploded view of the drive configuration of the rope winch;
FIG. 5 is a schematic perspective view of a first tapered axially magnetized permanent magnet ring and a second tapered axially magnetized permanent magnet ring;
fig. 6 is a perspective view showing a rope fixing groove;
figure 7 is a schematic diagram showing the configuration of the guide wheels in the elbow carrier.
In the figure, 1-big arm shell, 2-big arm bearing body, 3-elbow joint carrier, 4-small arm shell, 5-pulley block, 6-rope, 7-first fixed pulley, 8-fixed seat, 9-axial sliding bearing, 10-fixed washer, 11-second fixed pulley, 12-pulley, 13-first conical axial magnetized permanent magnet ring, 14-second conical axial magnetized permanent magnet ring, 15-moving chute, 16-moving slide seat, 17-joint positioning block, 18-joint fixed block, 19-guide rod, 20-rope fixed slot, 21-joint displacement guide block, 22-coupler 1, 23-private motor, 24-encoder, 25-private motor fixed seat, 26-reducer fixed seat, 27-rope winch, 28-coupler 2, 29-reducer.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments. Therefore, how to use technical means to process technical problems and achieve the technical process meeting the requirements can be fully understood and implemented, and it should be noted that, as long as no conflict is formed, each embodiment of the present invention and each feature in each embodiment can be mutually matched and practical, and the formed technical scheme is within the protection scope of the present invention.
The utility model provides a flexible permanent magnetism becomes rigidity robot joint which characterized in that: the device comprises a large arm bearing body 2, an elbow joint carrier 3, a small arm, a pulley block 5 and a rope winch, wherein the large arm bearing body 2 is connected with the elbow joint carrier 3 and is connected with the small arm, the elbow joint carrier 3 is connected with the small arm through the pulley block 5, (namely the pulley block 5 is arranged between the elbow joint carrier 3 and the small arm), and the rope winch 27 is arranged on the large arm bearing body 2; a flexible permanent magnet variable stiffness mechanism is arranged on the large arm carrier 2;
the two rope winches are respectively a first rope winch 27-1 and a second rope winch 27-2 (shown in figure 1), the two flexible permanent magnet variable stiffness mechanisms are respectively a first flexible permanent magnet variable stiffness mechanism and a second flexible permanent magnet variable stiffness mechanism (one of the flexible permanent magnet variable stiffness mechanisms can be seen as shown in figure 1, and the other flexible permanent magnet variable stiffness mechanism cannot be shown in the following figures);
the flexible permanent magnet rigidity-variable mechanism comprises a fixed seat 8 and a movable sliding seat 16;
the fixed seat 8 comprises two vertical plates 8-1 and a connecting plate 8-2 connecting the two vertical plates 8-1, the moving slide 16 is in a "↓" shaped structure formed by a sliding rod 16-2 and a tapered base 16-1 (as shown in fig. 2, similar to an arrow pointing downward in one direction, the tapered base 16-1 is in the shape shown in fig. 2, also called V-shape, and the corresponding connecting plate 8-2 is also in V-shape), the lower end of the sliding rod 16-2 is provided with the tapered base 16-1, the upper end of the sliding rod 16-2 passes through the connecting plate 8-2 and can move up and down relative to the connecting plate 8-2 (as shown in fig. 2, the upper end of the sliding rod 16-2 moves axially along the sliding rod 16-2, namely moves up and down as shown in fig.,
the upper end of the sliding rod 16-2 is provided with a pulley 12, the pulley 12 is connected with the sliding rod 16-2 and can axially move along with the sliding rod 16-2, the pulley 12 can be equivalent to the function of a movable pulley relative to the first fixed pulley 7 and the second fixed pulley 11, and the top ends of the two vertical plates 8-1 are respectively provided with one fixed pulley, namely the first fixed pulley 7 and the second fixed pulley 11;
a first tapered permanent magnet ring 13 is arranged at the bottom of the connecting plate 8-2 (the first tapered permanent magnet ring is magnetized along the outer normal direction of the tapered inclined plane, the surface of the outer tapered inclined plane is an N pole, as shown in fig. 2), and a second tapered permanent magnet ring 14 corresponding to the first tapered permanent magnet ring 13 is arranged at the upper end of the tapered base 16-1 (the second tapered permanent magnet ring is magnetized along the inner normal direction of the tapered inclined plane, the surface of the inner tapered inclined plane is an N pole, as shown in fig. 2)
The rope wound on the first rope winch 27-1 is connected to the pulley block 5 after sequentially passing around the upper end of the first fixed pulley 7, the lower end of the pulley 12 and the upper end of the second fixed pulley 11 in the first flexible permanent magnet variable stiffness mechanism (as shown in fig. 2);
the rope wound on the second rope winch 27-2 is connected to the pulley block 5 after sequentially passing around the upper end of the first fixed pulley 7, the lower end of the pulley 12 and the upper end of the second fixed pulley 11 in the second flexible permanent magnetic variable stiffness mechanism.
The inner sides of the two vertical plates 8-1 are provided with a moving chute 15 (shown by a dotted line in fig. 2) or a moving slide rail, and the left and right ends of the conical base 16-1 extend into the moving chute 15 or are arranged on the moving slide rail and can move up and down along the moving chute 15 or the moving slide rail (namely, move axially along the sliding rod 16-2, namely, move up and down as shown in fig. 2, and the moving chute 15 and the moving slide rail are selected from one).
The pulley block 5 comprises a first joint displacement guide block 30 and a second joint displacement guide block 21, wherein the arc-shaped edge a of the first joint displacement guide block 30 is in contact with the arc-shaped edge B of the second joint displacement guide block 21 (namely, as shown in fig. 3, the first joint displacement guide block 30 and the second joint displacement guide block 21 are both in fan-shaped structures with arc-shaped surfaces), so that the arc-shaped edge B of the second joint displacement guide block 21 can roll on the arc-shaped edge a of the first joint displacement guide block 30;
a first guide rod 19-1, a second guide rod 19-2, a fourth guide rod 19-4 and a sixth guide rod 19-6 are vertically arranged on the side surface of the first joint displacement guide block 30; (i.e., the first guide bar 19-1, the second guide bar 19-2, the fourth guide bar 19-4 and the sixth guide bar 19-6 are perpendicular to the first joint displacement guide block 30, as shown in fig. 3). the first guide bar 19-1, the second guide bar 19-2 and the fourth guide bar 19-4 are arranged in a three-point manner (i.e., the connecting line of the axes of the first guide bar 19-1, the second guide bar 19-2 and the fourth guide bar 19-4 forms a triangle, as shown in fig. 3), the sixth guide bar 19-6 is located at the arc center position of the arc of the first joint displacement guide block 30 along a, and the third guide bar 19-3, the fifth guide bar 20 and the seventh guide bar 19 are vertically arranged on the side surface of the second joint displacement guide block 21; the axes of the third guide rod 19-3, the fifth guide rod 20 and the seventh guide rod 19 are positioned on the same straight line or the third guide rod 19-3, the fifth guide rod 20 and the seventh guide rod 19 are arranged in a three-point mode (namely the axis connecting line of the third guide rod 19-3, the fifth guide rod 20 and the seventh guide rod 19 is triangular), and the seventh guide rod 19 is positioned at the arc center of the arc edge B of the second joint displacement guide block 21; a first rope 6-1 led out from the upper end of a second fixed pulley 11 in the first flexible permanent magnet stiffness changing mechanism winds from the upper end of a first guide rod 19-1, winds from the lower end of a second guide rod 19-2, winds from the lower end of a third guide rod 19-3, repeatedly winds between the second guide rod 19-2 and the third guide rod 19-3, and finally is fixed on the second guide rod 19-2 or the third guide rod 19-3;
(first rope 6-1 and second rope 6-2 are collectively referred to as rope 6, i.e., reference numeral 6 in FIG. 2)
A second rope 6-2 led out from the upper end of a second fixed pulley 11 in the second flexible permanent magnet variable stiffness mechanism bypasses from the lower end of a first guide rod 19-1 and then bypasses from the upper end of a fourth guide rod 19-4, and then repeatedly winds the fourth guide rod 19-4 and the fifth guide rod 20 after bypassing a fifth guide rod 20, and finally is fixed on the fourth guide rod 19-4 or the fifth guide rod 20;
the rear end of the joint positioning block 17 is sleeved on the sixth guide rod 19-6 and can rotate by taking the sixth guide rod 19-6 as a shaft, and the front end of the joint positioning block 17 is sleeved on the seventh guide rod 19 and can rotate by taking the seventh guide rod 19 as a shaft.
The first rope winch 27-1 and the first fixed pulley 7 and the second fixed pulley 11 in the first flexible permanent magnet variable stiffness mechanism are circumscribed on the same straight line, and the second rope winch 27-1 and the first fixed pulley 7 and the second fixed pulley 11 in the second flexible permanent magnet variable stiffness mechanism are circumscribed on the same straight line.
And a movable pulley 12 in the flexible permanent magnet variable stiffness mechanism is clamped on a symmetrical shaft of the fixed pulley 7 and the fixed pulley 11.
The first and second ropes 6-1 and 6-2 are flexible steel wire ropes or other flexible materials that are only flexible but not axially retractable.
The rope winch is an integral structure formed by integrating the rope winch and the rotating shaft. Along the rotation axis of the rope winch 27 (the first rope winch 27-1 and the second rope winch 27-2 are collectively called as the rope winch 27), there are sequentially arranged a deep groove ball bearing, a coupling 28 and a speed reducer 29, one end of the rotation axis of the rope winch is connected with the output end of the coupling 28 through the deep groove ball bearing, the input end of the coupling 28 is connected with the output end of the speed reducer 29, and the other end of the rotation axis of the rope winch is in contact with the boom housing 1 outside the boom bearing body 2 and is fixed in position (here, fixing the position of the rotation axis means that the rotation axis can only realize a rotation function, but cannot translate in the radial direction and the axial direction, namely, the rotation axis of the rope winch is in contact with the boom housing 1 as a support to make.
The input end of the speed reducer 29 is sequentially provided with a coupling 22 and a servo motor 23 along the axis, and the input end of the speed reducer 29 is connected with the servo motor 23 through the coupling 22.
The servo motor 23 is provided with an encoder 24, the servo motor 23 is fixedly connected with a servo motor fixing seat 25, and the speed reducer 29 is fixedly connected with a speed reducer fixing seat 26.
The servo motor fixing seat 25, the reducer fixing seat 26 and the permanent magnet variable stiffness mechanism fixing seat 8 are fixedly connected with the large arm bearing body 2, the large arm bearing body 2 and the joint bearing body 3 are fixedly connected, the joint bearing body 3 is fixedly connected with the first joint displacement guide block 30, and the small arm is fixedly connected with the joint fixing block (18) and the second joint displacement guide block 21 (by means of bolts). (the positions corresponding to the first joint displacement guide block 30 and the second joint displacement guide block 21 are respectively provided with a joint fixing block (18), the joint fixing block (18-A) corresponding to the first joint displacement guide block 30 is connected with the joint bearing body 3, the joint fixing block (18-B) corresponding to the second joint displacement guide block 21 is connected with the forearm, and the first guide rod 19-1, the second guide rod 19-2, the fourth guide rod 19-4 and the sixth guide rod 19-6 are positioned between the first joint displacement guide block 30 and the joint fixing block (18-A);
the third guide rod 19-3, the fifth guide rod 20 and the seventh guide rod 19 are positioned between the second joint displacement guide block 21 and the joint fixing block (18-B)
The movable sliding seat 16 is in sliding fit with the fixed seat 8, a sliding rod of the movable sliding seat 16 is in sliding fit with the sliding bearing (9), and the sliding bearing (9) is positioned on the axial symmetry center line of the axial sliding bearing fixed seat 8;
the movable pulley 12, the first fixed pulley 7 and the second fixed pulley 11 are arranged in an isosceles triangle shape (namely, the axis connecting line of the movable pulley 12, the first fixed pulley 7 and the second fixed pulley 11 is in an isosceles triangle shape);
the fixed seat 8 is fixedly connected with a first conical axial magnetization permanent magnet ring 13, a fixed gasket (10) is arranged between the second conical axial magnetization permanent magnet ring 14 and a movable sliding seat 16 and is fixedly connected, the central axes of the first tapered permanent magnet ring 13 and the second tapered permanent magnet ring 14 are arranged coaxially, the tapers and the upper and lower circular radii of the first tapered permanent magnet ring 13 and the second tapered permanent magnet ring 14 are the same (i.e. as shown in fig. 5, the upper circular radius of the first tapered permanent magnet ring 13 is the same as the upper circular radius of the second tapered permanent magnet ring 14, and the lower circular radius of the first tapered permanent magnet ring 13 is the same as the lower circular radius of the second tapered permanent magnet ring 14), the same-direction magnetic poles of the first tapered permanent magnet ring 13 and the second tapered permanent magnet ring 14 are arranged oppositely (as shown in fig. 2), when the distance between the movable sliding seat 16 and the connecting plate 8-2 is reduced, the air gap between the magnetic rings of the first conical permanent magnet ring 13 and the second conical permanent magnet ring 14 is reduced.
The movable pulley 12 is positioned at the upper tail end of a sliding rod of the movable sliding seat 16, the first fixed pulley 7 and the second fixed pulley 11 are positioned at the upper end part of a vertical plate 8-1 of the fixed seat 8,
the rope 6 is pulled to drive the movable pulley 12 and the movable sliding seat 16 to slide upwards, a rope fixing groove 31 is contained in the pulley block 5 (the rope fixing groove needs to be designed according to actual conditions, and only the rope is required to be prevented from being in contact with the parts 30, 18-A and 18-B, rope fixing grooves (31) are arranged on the first guide rod 19-1, the second guide rod 19-2, the third guide rod 19-3, the fourth guide rod 19-4 and the fifth guide rod 20, and rope displacement is prevented so as to ensure that the position of the rope 6 is fixed.
The motor control joint of the present invention has two sets of identically configured components, so the following embodiments represent embodiments of two sets of control joints.
This embodiment is described with reference to fig. 1, 2, and 4, and includes: the device comprises a rope winch 27, a first fixed pulley 7, a pulley 12, a second fixed pulley 11, an elbow joint bearing body 3, a guide rod and a pulley block 5, wherein one end of a rope 6 is fixed on the rope winch 27 and sequentially penetrates through the first fixed pulley 7, the movable pulley 12, the second fixed pulley 11 and a guide wheel (32-1) inside the elbow joint bearing body 3 (the guide wheel (32-1) also comprises two guide wheels, the two guide wheels respectively act on two ropes 6-1 and 6-2 and mainly play a role in guiding transition), the pulley block 5 is arranged, and the other end of the rope 6 is fixed on the pulley block. The rope winch 27, the first fixed pulley 7 and the second fixed pulley 11 are circumscribed on the same straight line, and the pulley 12 is clamped on the symmetrical axis of the fixed pulley 7 and the fixed pulley 11. The pulley block 5 comprises rope fixing grooves 20 to ensure that the ropes 6 are fixed in position.
The rope 6 according to the invention is a flexible wire rope or other flexible material that can only be bent but cannot be axially stretched.
The invention relates to a permanent magnet variable-stiffness flexible robot driving joint which is simple in movement form, simple and convenient to manufacture and simple to operate.
Further, in the present embodiment, the rope reel 27 is a reel shaft in which the rope reel and the rotation shaft are integrated. Along the rotation axis of the rope reel 27 are sequentially arranged a deep groove ball bearing, an output end of a coupling 28, a speed reducer 29, and the other end of the rotation axis of the rope reel 27 in contact with the boom housing 1 and fixed in position so that the rotation axis of the rope reel 27 can rotate together with the rope reel 27 without moving in the axial and radial directions. The input end of the speed reducer 28 is provided with a coupling 22 and a servo motor 23 in sequence along the axial line. By pulling the rope 6, the pulley 12 and the movable sliding seat 16 are driven to slide upwards, the servo motor 23 is provided with the encoder 24 and is fixedly connected with the servo motor fixing seat 25, and the speed reducer 29 is fixedly connected with the speed reducer fixing seat 26. Wherein servo motor fixing base 25, reduction gear fixing base 26, permanent magnetism become rigidity mechanism fixing base 8 and all link firmly with big arm supporting body 2, and big arm supporting body 2 links firmly with joint supporting body 3, and joint supporting body 3 links firmly with joint fixed block 18, joint displacement guide block 30 respectively.
Further, in the present embodiment, the movable sliding seat 16 is slidably fitted with the fixed seat 8, the axial sliding bearing is on the axisymmetric center of the fixed seat 8, the sliding rod of the movable sliding seat 16 is slidably fitted with the sliding bearing 9, the pulley 12 is located at the end of the sliding rod of the movable sliding seat 16, the first fixed pulley 7 and the second fixed pulley 11 are located at the upper end of the fixed seat 8, and the pulley 12, the first fixed pulley 7 and the second fixed pulley 11 are arranged in an isosceles triangle;
further, the fixed seat 8 is fixedly connected with a first conical axial magnetization permanent magnet ring 13, a fixed gasket 10 (preventing the lower magnetic ring from shaking and adjusting the distance and height) is arranged between the second conical axial magnetization permanent magnet ring 14 and the movable sliding seat 16 and fixedly connected with the second conical axial magnetization permanent magnet ring, the central axes of the first conical axial magnetization permanent magnet ring 13 and the second conical axial magnetization permanent magnet ring 14 are coaxially arranged, the structural parameters of the first conical axial magnetization permanent magnet ring 13 and the second conical axial magnetization permanent magnet ring 14 are the same, and when the 8-2 distance between the movable sliding seat 16 and the fixed seat 8 is reduced, the air gap between the magnetic rings is reduced;
the conical permanent magnet ring is axially magnetized, and the magnetic poles of the first conical axial magnetized permanent magnet ring 13 and the second conical axial magnetized permanent magnet ring 14 in the same direction are oppositely arranged;
the application comprises the following specific using processes: when the small arm needs to be lifted upwards, namely the state shown in fig. 1, at this time, the first rope winch 27-1 gradually loosens the first rope 6-1, at this time, under the mutual repulsion action of the first tapered axial magnetization permanent magnet ring 13 and the second tapered axial magnetization permanent magnet ring 14, the tapered base 16-1 in the first flexible permanent magnet stiffness changing mechanism gradually moves downwards, the first rope 6-1 reserves enough margin for the mutual separation of the second guide rod 19-2 and the third guide rod 19-3, at the same time, the second rope winch 27-2 gradually contracts the second rope 6-2, at this time, the tapered base 16-1 in the second flexible permanent magnet stiffness changing mechanism gradually moves towards the connecting plate 8-2, at this time, the mutual repulsion action of the first tapered axial magnetization permanent magnet ring 13 and the second tapered axial magnetization permanent magnet ring 14 generates a flexible buffer force, meanwhile, under the gradual tensioning of the second rope 6-2, the fourth guide rod 19-4 and the fifth guide rod 20 are close to each other, and the second guide rod 19-2 and the third guide rod 19-3 are separated from each other, so that the passing arc-shaped surface B of the second joint displacement guide block 21 rolls along the arc-shaped edge A of the first joint displacement guide block 30, and the second joint displacement guide block 21 is connected with the small arm, so that the small arm is driven to lift.
When the forearm needs to be put down, the first rope winch 27-1 gradually loosens the first rope 6-1 and gradually tightens the first rope 6-1, so that the second guide rod 19-2 and the third guide rod 19-3 are close to each other, and the fourth guide rod 19-4 and the fifth guide rod 20 are separated from each other, thereby completing the action of putting down the forearm.
Claims (10)
1. The utility model provides a magnetic force assembly pulley robot becomes rigidity joint which characterized in that: the device comprises a large arm bearing body (2), an elbow joint carrier (3), a small arm, a pulley block (5) and a rope winch, wherein the large arm bearing body (2) is connected with the elbow joint carrier (3) and is connected with the small arm, the elbow joint carrier (3) is connected with the small arm through the pulley block (5), and the rope winch (27) is arranged on the large arm bearing body (2); a flexible permanent magnet variable stiffness mechanism is arranged on the large arm bearing body (2);
the two rope winches are respectively a first rope winch (27-1) and a second rope winch (27-2), and the two flexible permanent magnet variable stiffness mechanisms are respectively a first flexible permanent magnet variable stiffness mechanism and a second flexible permanent magnet variable stiffness mechanism;
the flexible permanent magnet rigidity-variable mechanism comprises a fixed seat (8) and a movable sliding seat (16);
the fixed seat (8) comprises two vertical plates (8-1) and a connecting plate (8-2) for connecting the two vertical plates (8-1), the movable sliding seat (16) is of a "↓" structure formed by a sliding rod (16-2) and a conical base (16-1), the conical base (16-1) is arranged at the lower end of the sliding rod (16-2), and the upper end of the sliding rod (16-2) penetrates through the connecting plate (8-2) and can move up and down relative to the connecting plate (8-2);
the upper end of the sliding rod (16-2) is provided with a pulley (12), and the top ends of the two vertical plates (8-1) are respectively provided with a fixed pulley, namely a first fixed pulley (7) and a second fixed pulley (11);
a first conical permanent magnet ring (13) is arranged at the bottom of the connecting plate (8-2), and a second conical permanent magnet ring (14) corresponding to the first conical permanent magnet ring (13) is arranged at the upper end of the conical base (16-1);
the rope wound on the first rope winch (27-1) sequentially rounds the upper end of the first fixed pulley (7), the lower end of the pulley (12) and the upper end of the second fixed pulley (11) in the first flexible permanent magnet variable stiffness mechanism and then is connected to the pulley block (5);
and the rope wound on the second rope winch (27-2) is connected to the pulley block (5) after sequentially passing around the upper end of the first fixed pulley (7), the lower end of the pulley (12) and the upper end of the second fixed pulley (11) in the second flexible permanent magnetic variable stiffness mechanism.
2. The variable-stiffness joint of the magnetic pulley block robot according to claim 1, wherein:
the inner sides of the two vertical plates (8-1) are provided with a movable sliding chute (15) or a movable sliding rail, and the left end and the right end of the conical base (16-1) extend into the movable sliding chute (15) or are arranged on the movable sliding rail and can move up and down along the movable sliding chute (15) or the movable sliding rail.
3. The variable-stiffness joint of the magnetic pulley block robot according to claim 1, wherein:
the pulley block (5) comprises a first joint displacement guide block (30) and a second joint displacement guide block (21), and the arc edge (A) of the first joint displacement guide block (30) is contacted with the arc edge (B) of the second joint displacement guide block (21), so that the arc edge (B) of the second joint displacement guide block (21) can roll on the arc edge (A) of the first joint displacement guide block (30);
a first guide rod (19-1), a second guide rod (19-2), a fourth guide rod (19-4) and a sixth guide rod (19-6) are vertically arranged on the side surface of the first joint displacement guide block (30); the first guide rod (19-1), the second guide rod (19-2) and the fourth guide rod (19-4) are arranged in a three-point mode, the sixth guide rod (19-6) is located at the arc center position of the arc edge (A) of the first joint displacement guide block (30), and the third guide rod (19-3), the fifth guide rod (20) and the seventh guide rod (19) are vertically arranged on the side surface of the second joint displacement guide block (21); the axes of the third guide rod (19-3), the fifth guide rod (20) and the seventh guide rod (19) are positioned on the same straight line or the third guide rod (19-3), the fifth guide rod (20) and the seventh guide rod (19) are arranged in a three-point mode, and the seventh guide rod (19) is positioned at the arc center of the arc edge (B) of the second joint displacement guide block (21); a first rope (6-1) led out from the upper end of a second fixed pulley (11) in the first flexible permanent magnet stiffness changing mechanism is wound from the upper end of a first guide rod (19-1), then wound from the lower end of a second guide rod (19-2), wound from the lower end of a third guide rod (19-3), repeatedly wound between the second guide rod (19-2) and the third guide rod (19-3), and finally fixed on the second guide rod (19-2) or the third guide rod (19-3);
a second rope (6-2) led out from the upper end of a second fixed pulley (11) in the second flexible permanent magnet stiffness changing mechanism bypasses from the lower end of the first guide rod (19-1) and then bypasses from the upper end of the fourth guide rod (19-4), then repeatedly winds the fourth guide rod (19-4) and the fifth guide rod (20) after bypassing from the fifth guide rod (20), and finally is fixed on the fourth guide rod (19-4) or the fifth guide rod (20);
the rear end of the joint positioning block (17) is sleeved on the sixth guide rod (19-6) and can rotate by taking the sixth guide rod (19-6) as a shaft, and the front end of the joint positioning block (17) is sleeved on the seventh guide rod (19) and can rotate by taking the seventh guide rod (19) as a shaft.
4. The variable-stiffness joint of the magnetic pulley block robot according to claim 1, wherein: the first rope winch (27-1) and the first fixed pulley (7) and the second fixed pulley (11) in the first flexible permanent magnet variable stiffness mechanism are circumscribed on the same straight line, and the second rope winch (27-1) and the first fixed pulley (7) and the second fixed pulley (11) in the second flexible permanent magnet variable stiffness mechanism are circumscribed on the same straight line.
5. The variable stiffness joint of the magnetic pulley block robot according to any one of claims 1 to 4, wherein:
and a movable pulley (12) in the flexible permanent magnet variable stiffness mechanism is clamped on a symmetrical shaft of the fixed pulley (7) and the fixed pulley (11).
6. The variable-stiffness joint of the magnetic pulley block robot according to claim 5, wherein: the first rope (6-1) and the second rope (6-2) are made of soft steel wire ropes or other soft materials which can only be bent but cannot axially stretch.
7. The variable-stiffness joint of the magnetic pulley block robot according to claim 1, wherein: the deep groove ball bearing, the coupler (28) and the speed reducer (29) are sequentially arranged along the rotation axis of the rope winch (27), one end of the rotation axis of the rope winch is connected with the output end of the coupler (28) through the deep groove ball bearing, the input end of the coupler (28) is connected with the output end of the speed reducer (29), and the other end of the rotation axis of the rope winch is in contact with the large arm shell (1) outside the large arm bearing body (2) and is fixed in position.
8. The variable-stiffness joint of the magnetic pulley block robot according to claim 7, wherein: the input end of the speed reducer (29) is sequentially provided with a coupler (22) and a servo motor (23) along the axis, and the input end of the speed reducer (29) is connected with the servo motor (23) through the coupler (22).
9. The variable-stiffness joint of the magnetic pulley block robot according to claim 8, wherein: the servo motor (23) is provided with an encoder (24), the servo motor (23) is fixedly connected with a servo motor fixing seat (25), and the speed reducer (29) is fixedly connected with a speed reducer fixing seat (26).
10. The variable stiffness joint of the magnetic pulley block robot according to claim 9, wherein: servo motor fixing base (25), reduction gear fixing base (26) and permanent magnetism become rigidity mechanism fixing base (8) and all link firmly with big arm supporting body (2), and big arm supporting body (2) and joint supporting body (3) link firmly, and joint supporting body (3) and first joint displacement guide block (30) fixed connection, forearm and second joint displacement guide block (21) link firmly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011432647.3A CN112454420A (en) | 2020-12-10 | 2020-12-10 | Variable-rigidity joint of magnetic pulley block robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011432647.3A CN112454420A (en) | 2020-12-10 | 2020-12-10 | Variable-rigidity joint of magnetic pulley block robot |
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| Publication Number | Publication Date |
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| CN112454420A true CN112454420A (en) | 2021-03-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011432647.3A Pending CN112454420A (en) | 2020-12-10 | 2020-12-10 | Variable-rigidity joint of magnetic pulley block robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114734465A (en) * | 2022-06-13 | 2022-07-12 | 中国汽车技术研究中心有限公司 | Arm for collision dummy, control method, apparatus, and storage medium |
| CN114800602A (en) * | 2022-04-12 | 2022-07-29 | 北京航空航天大学 | Compact variable-rigidity joint module with flexible element |
| US11610514B1 (en) | 2022-09-29 | 2023-03-21 | China Automotive Technology And Research Center Co., Ltd | Arm for crash dummy, control method, device and storage medium |
-
2020
- 2020-12-10 CN CN202011432647.3A patent/CN112454420A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114800602A (en) * | 2022-04-12 | 2022-07-29 | 北京航空航天大学 | Compact variable-rigidity joint module with flexible element |
| CN114800602B (en) * | 2022-04-12 | 2023-06-02 | 北京航空航天大学 | Compact type rigidity-variable joint module with flexible element |
| CN114734465A (en) * | 2022-06-13 | 2022-07-12 | 中国汽车技术研究中心有限公司 | Arm for collision dummy, control method, apparatus, and storage medium |
| CN114734465B (en) * | 2022-06-13 | 2022-09-16 | 中国汽车技术研究中心有限公司 | Arm for collision dummy, control method, apparatus, and storage medium |
| US11610514B1 (en) | 2022-09-29 | 2023-03-21 | China Automotive Technology And Research Center Co., Ltd | Arm for crash dummy, control method, device and storage medium |
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