CN112643709B - Light foldable one-way driving robot joint - Google Patents
Light foldable one-way driving robot joint Download PDFInfo
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- CN112643709B CN112643709B CN202011555652.3A CN202011555652A CN112643709B CN 112643709 B CN112643709 B CN 112643709B CN 202011555652 A CN202011555652 A CN 202011555652A CN 112643709 B CN112643709 B CN 112643709B
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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
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Abstract
The light foldable one-way driving robot joint comprises a power system, a steel wire rope transmission device, a joint rotating steel wire rope pulley, a joint upper connecting piece, a joint lower connecting piece and a joint shaft shell; the joint upper connecting piece is of a hollow structure, the power system and the steel wire rope transmission device are both arranged in the joint upper connecting piece, the joint upper connecting piece is connected with the joint shaft shell, the power system can drive the steel wire rope on the steel wire rope transmission device to do linear motion, the steel wire rope on the steel wire rope transmission device is wound on a joint rotating steel wire rope pulley, the joint rotating steel wire rope pulley is rotatably arranged on the joint shaft shell, the joint lower connecting piece is arranged on the joint rotating steel wire pulley, and the steel wire rope of the steel wire rope transmission device drives the joint rotating steel wire pulley to rotate so as to drive the joint lower connecting piece to unfold and fold relative to the joint upper connecting piece. The invention is suitable for hip, knee and ankle joints of legged robots, bouncing robots and the like.
Description
Technical Field
The invention relates to a robot, belongs to the field of robot technology application, and particularly relates to a lightweight foldable one-way driving robot joint. Is particularly suitable for hip, knee and ankle joints of legged robots, bouncing robots and the like.
Background
In the field of robot application, legged robots and bouncing robots are very unique design configurations. Compared with wheel type driving, crawler type driving, creeping type driving and other driving forms, the robot has better complex ground environment adaptability, and particularly has excellent obstacle crossing performance for multi-legged and bouncing robots.
However, in the leg joint design of the multi-legged and bouncing robots, the hip, knee and ankle joints along the sagittal plane often need large driving torque, especially large peak torque and peak power. This presents a major challenge to the design of the configuration and the drive mode of the robot joint. Meanwhile, in the design of the joint of the leg robot, lower mass is also required in order to improve the dynamic response capability of the robot.
Therefore, the traditional robot joint driving mode adopts a servo motor and a reducer, is relatively large in size and mass, and simultaneously provides challenges for the rotation range design of the robot joint, and the rotation range is difficult to reach 180 degrees. In addition, because the average joint torque and power of the robot leg joint are usually low, but the peak torque and power are high, while the peak torque of a common speed reducer for the robot joint, such as a planetary gear speed reducer or a harmonic speed reducer, is usually about 3 times of the rated torque, and the power density is small.
Disclosure of Invention
The invention provides a lightweight foldable one-way driving robot joint for overcoming the defects of the prior art, which has a compact structure and larger driving moment and is suitable for designing hip joints, knee joints and ankle joints of legged robots, bouncing robots and the like.
A lightweight foldable one-way driving robot joint comprises a power system, a steel wire rope transmission device, a joint rotating steel wire rope pulley, a joint upper connecting piece, a joint lower connecting piece and a joint shaft shell;
the joint upper connecting piece is of a hollow structure, the power system and the steel wire rope transmission device are both arranged in the joint upper connecting piece, the joint upper connecting piece is connected with the joint shaft shell, the power system can drive the steel wire rope on the steel wire rope transmission device to do linear motion, the steel wire rope on the steel wire rope transmission device is wound on a joint rotating steel wire rope pulley, the joint rotating steel wire rope pulley is rotatably arranged on the joint shaft shell, the joint lower connecting piece is arranged on the joint rotating steel wire pulley, and the steel wire rope of the steel wire rope transmission device drives the joint rotating steel wire rope pulley to rotate so as to drive the joint lower connecting piece to unfold and fold relative to the joint upper connecting piece.
Compared with the prior art, the invention has the beneficial effects that:
1. overall system configuration design: the invention has larger joint driving moment, can realize the horizontal unfolding and the complete folding of the upper joint connecting piece and the lower joint connecting piece, and is suitable for the design occasions of hip joints, knee joints and ankle joints of legged robots, bouncing robots and the like. In the field of robot application, legged robots and bouncing robots are very unique design configurations. Compared with wheel type driving, crawler type driving, creeping type driving and other driving forms, the robot has better complex ground environment adaptability, and particularly has excellent obstacle crossing performance for multi-legged and bouncing robots. For the leg joint design of the robot in the application, the hip, knee and ankle joints along the sagittal plane usually only need one-way and larger driving moment and lower mass so as to improve the dynamic response capability of the robot.
2. The realization of joint large moment drive: and the steel wire rope is adopted for transmission, so that extra additional torque is very small, and the transmission efficiency is improved. Through the wire rope pulley of reasonable size of design, the diameter of wire rope pulley is bigger, and under the wire rope pulling force of the same size, the output power of robot joint is also bigger. The robot joint is light in weight due to the transmission of the steel wire rope, good dynamic response capability is achieved, and the overall driving system is flat and compact in appearance.
3. Fully foldable configuration of the joint: through reasonable design robot structure, the axis rotation center of joint axle shell sets up with the central line offset of joint upper junction spare (like the tube-shape) can make joint lower junction spare (like the connecting rod) from unfolding completely, changes to folding completely, has avoided the space interference of robot joint pivot department simultaneously to and components such as servo motor to the interference of joint lower junction spare.
4. The design of a steel wire rope connection scheme and a torque transmission scheme on the steel wire rope pulley is as follows: the joint rotating steel wire rope pulley mainly realizes two functions, namely converting the tension of a steel wire rope into the torque of a joint; and secondly, the rotating torque of the pulley is transmitted to the joint lower connecting piece of the robot joint. Firstly, for converting the tension of the steel wire rope into the torque of the joint, a window needs to be formed in the pulley, after the steel wire rope passes through the window, two ends of the steel wire rope respectively extend out along the guide grooves of the steel wire pulley, so that the need of independently designing a fastening device between the steel wire rope and the pulley is avoided, meanwhile, the steel wire rope can be uniformly stressed, and the transmission reliability is improved. Secondly, for the joint lower connecting piece that transmits the turning moment of pulley to the robot joint, the scheme of adoption is that directly design the jack catch in the both sides of steel wire pulley, and the corresponding position chucking of joint lower connecting piece, this jack catch is applicable to the application occasion of transmitting great moment.
The technical scheme of the invention is further explained by combining the drawings and the embodiment:
drawings
FIG. 1 is a general assembly diagram of a lightweight foldable one-way driving robot joint;
FIG. 2 is a schematic view of the lightweight foldable unidirectional driving robot joint of the present invention after being completely folded;
FIG. 3 is a schematic view of a process for unfolding a lightweight foldable one-way driving robot joint;
FIG. 4 is an internal structure view of a lightweight foldable one-way driving robot joint;
FIG. 5 is a schematic view of the relationship of the ball screw, the wire rope and the joint rotation wire rope pulley in relation to each other;
fig. 6 is a schematic structural view of a joint rotation wire rope pulley.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the embodiments described below 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.
Referring to fig. 1-4, a lightweight foldable one-way driving robot joint includes a power system a, a steel wire rope transmission device B, a joint rotating steel wire rope pulley 33, a joint upper connecting piece 1, a joint lower connecting piece 5 and a joint shaft housing 2;
the joint upper connecting piece 1 is of a hollow structure, the power system A and the steel wire rope transmission device B are both arranged in the joint upper connecting piece 1, the joint upper connecting piece 1 is connected with the joint shaft shell 2,
the power system A can drive a steel wire rope on the steel wire rope transmission device B to do linear motion, the steel wire rope on the steel wire rope transmission device B is wound on a joint rotating steel wire rope pulley 33, the joint rotating steel wire rope pulley 33 is rotatably arranged on the joint shaft shell 2, the axis of the joint shaft shell 2 is offset from the joint upper connecting piece 1, the joint lower connecting piece 5 is arranged on the joint rotating steel wire pulley 33, and the steel wire rope of the steel wire rope transmission device B drives the joint rotating steel wire rope pulley 33 to rotate so as to drive the joint lower connecting piece 5 to unfold and fold relative to the joint upper connecting piece 1.
As an embodiment, the upper joint connecting piece 1 adopts a flat hollow cylinder, and the lower joint connecting piece 5 is a groove-shaped rod. The joint connecting piece has a flattened shape, the structure is more compact, and meanwhile, the horizontal unfolding and the complete folding state of the joint upper connecting piece 1 and the joint lower connecting piece 5 can be realized. The joint rotation wire pulley 33 is rotatably mounted on the joint shaft housing 2 through the joint rotation shaft 16 and the wire pulley support bearing 37.
Further, as shown in fig. 4, the power system a includes a servo motor 17 and a transmission mechanism; the servo motor 17 is arranged in the joint upper connecting piece 1, the transmission mechanism is driven by the servo motor 17, and the transmission mechanism outputs power to the steel wire rope transmission device B.
Further, as shown in fig. 3 to 5, the wire rope transmission device B includes a ball screw 24, a screw nut 22, a rotation stopper 23, a guide rail 25, a wire rope displacer 30, an outer wire rope 34, and an inner wire rope 35; the axis of the joint shaft shell 2 is arranged in an offset way with the central line MN of the ball screw 24; the two ends of a ball screw 24 are rotatably arranged on the joint upper connecting piece 1 and the joint shaft shell 2, a screw nut 22 is fixedly connected with a rotation stop block 23, the ball screw 24 and two guide rails 25 are arranged in parallel, the rotation stop block 23 is slidably arranged on the two guide rails 25 arranged on the joint upper connecting piece 1, an inner steel wire rope 35 and an outer steel wire rope 34 are arranged at intervals, one end of the inner steel wire rope is fixed on the rotation stop block 23, a steel wire rope positioner 30 is rotatably arranged on the joint shaft shell 2, after the inner steel wire rope 35 is placed on the steel wire rope positioner 30 to be displaced, the inner steel wire rope 35 and the outer steel wire rope 34 are wound on the joint rotation steel wire rope pulley 33 from outside to inside, the other end of the inner steel wire rope 35 and the outer steel wire rope 34 are fixed on the joint rotation steel wire rope pulley 33, and a transmission mechanism outputs power to the ball screw 24. As shown in fig. 4 and 5, the rotation stopper 23 has corresponding locking grooves at both sides thereof to be locked to the guide rail 25, and is mainly used for preventing the screw nut from rotating.
The traditional robot joint needs a transmission design with a large reduction ratio between a servo motor and the rotation of the joint, and the size and the mass of the traditional robot joint are large. In the speed reduction link of the servo motor, the ball screw 24 is adopted to convert the rotary motion of the servo motor 17 into linear motion; the telescopic rod similar to that in an electric telescopic cylinder is omitted, and the lead screw nut 22 on the ball screw 24 is directly adopted to pull the steel wire rope, so that the force of linear motion is transmitted to the joint rotating steel wire rope pulley 33 of the robot. Therefore, the overall robot joint has light weight and better dynamic response capability. The ball screw and the flat screw nut are selected, so that the overall driving system is designed to be flat and has a relatively compact appearance.
Two steel wire ropes are respectively arranged on two sides of the ball screw 24 and the screw nut 22, so that the screw nut 22 is stressed in a balanced manner without extra additional torque in the process of pulling the outer steel wire rope 34 and the inner steel wire rope 35, and the transmission efficiency is improved. Through the joint rotation wire rope pulley 33 with a reasonable size, the larger the diameter of the joint rotation wire rope pulley 33 is, and the larger the output force of the robot joint is under the tension of the wire rope with the same size. According to the scheme, two inner and outer steel wire ropes with the diameter of 3mm are adopted, the joint rotation steel wire rope pulley 33 with double guide grooves is designed in a matched mode, the rated torque of a robot joint reaches 160Nm, and the peak torque is larger than 500 Nm. Therefore, compared with the traditional schemes of planet gear speed reduction, harmonic speed reduction and the like, the robot joint designed by the scheme has higher power density.
As shown in fig. 5, the cable positioner 30 is a displacement pulley, the displacement pulley is rotatably disposed on the joint shaft housing 2 through a pin 11 and a support bearing 31, and the pin 11 is fixed by a screw 15.
The axis of the ball screw 24 is perpendicular to the axis of the joint rotation wire rope pulley 33, and the axial direction of the displacement pulley is parallel to the axial direction of the joint rotation wire rope pulley 33. The two ends of the inner and outer wire ropes are respectively clamped in the inner hole of the rotation stop block 23 through the wire rope end die-casting zinc head 36. The two steel cables extend downwards, wherein the inner steel cable passes through the deflection pulley 35, then together with the outer steel cable 34, the inner steel cable starts to wind along the outer side of the joint rotation steel cable pulley 33, finally winds to the position of the steel cable buckle 38, and passes through the hole of the buckle 38, as shown in fig. 6.
In order to ensure the reliability of torque transmission, as shown in fig. 1 and 4, the transmission mechanism comprises a primary synchronous pulley 9, a secondary synchronous pulley 10 and a synchronous belt 6; the axis of the servo motor 17 and the axis of the ball screw 24 are arranged in parallel, a second synchronous pulley 10 is installed on an output shaft of the servo motor 17, a first synchronous pulley 9 is installed at the end part of the ball screw 24, and the first synchronous pulley 9 and the second synchronous pulley 10 are driven through a synchronous belt 6. The servo motor 17 and the ball screw 24 are arranged side by side, power is transmitted in a synchronous belt 6 mode, and the structure and the appearance are compact.
Generally, the joint upper connecting piece 1 is divided into a servo motor shell 1-1 and a steel wire transmission device shell 1-2, and as shown in fig. 1 and 4, an upper side end cover connecting plate 21 is fixed on the inner side of the upper end face of the joint upper connecting piece 1 through 4 fixing pins 12. The upper end cover 3 is fixed to the upper end cover connecting plate 21 by screws. The lower end of the joint upper connecting piece 1 and the joint rotating shaft shell 2 are fixedly connected through 4 fixing pins 13 and 4 screws 14. The upper side end cover 3 is provided with a servo motor 17, the lower side of the servo motor 17 is provided with a driver 18, and the outer side of the servo motor 17 is further provided with a drive motor protective shell 1-1 and a protective shell end cover 1-3 for protecting circuits, preventing dust and the like.
As shown in fig. 4 and 5, since the lower end of the ball screw requires a large axial supporting force, a thrust bearing 29 is designed, and one end of the ball screw 24 is mounted on the knuckle joint connector 1 through a bearing 20, and the other end is mounted on the knuckle joint housing 2 through the bearing 20 and the thrust bearing 29. The thrust bearing 29 is disposed inside the thrust bearing mounting plate 26 and abuts against the ball screw 24 through the connecting shaft 28, and the thrust bearing mounting plate 26 and the joint rotation shaft housing 2 are fastened by screws.
As shown in fig. 3, the unfolding and folding rotation range of the sub-joint link 5 is 180 °. The robot joint has a fully foldable configuration and can rotate 180 degrees.
As shown in fig. 4 and 6, jaws 39 are respectively uniformly distributed on both side surfaces of the joint rotation wire rope pulley 33, and the joint lower connecting member 5 is mounted on the jaws 39 of the joint rotation wire rope pulley 33. The rotating torque of the joint rotating wire rope pulley 33 is transmitted to the joint lower connecting piece 5 of the robot through 8 clamping jaws 39 which are symmetrical left and right and can ensure larger torque transmission.
In general, the embodiment adopts a ball screw and steel wire rope transmission mode, and the robot joint is designed, so that the size and the mass of the whole joint are reduced; meanwhile, the driving torque of the joint is designed in direct proportion to the diameter of the joint steel wire rope pulley, so that the driving torque of the joint is improved conveniently in the design. And for the design of joint rotation scope, also can drive the distance that wire rope removed through ball and control, consequently, be favorable to designing great joint rotation scope. Thereby meeting the requirements of large motion range of hip, knee and ankle joints, especially knee joints, of legged robots, bouncing robots and the like, and improving the motion capability and comprehensive performance of the legs of the robots.
The present invention is not limited to the above embodiments, and any simple modification, equivalent change and modification made by the technical essence of the present invention by those skilled in the art can be made without departing from the scope of the present invention.
Claims (7)
1. One-way drive robot joint of lightweight folded cascade, its characterized in that: the joint comprises a power system (A), a steel wire rope transmission device (B), a joint rotating steel wire rope pulley (33), a joint upper connecting piece (1), a joint lower connecting piece (5) and a joint shaft shell (2);
the joint upper connecting piece (1) is of a hollow structure, the power system (A) and the steel wire rope transmission device (B) are both arranged in the joint upper connecting piece (1), and the joint upper connecting piece (1) is connected with the joint shaft shell (2);
the power system (A) can drive a steel wire rope on the steel wire rope transmission device (B) to do linear motion, the steel wire rope on the steel wire rope transmission device (B) is wound on a joint rotating steel wire rope pulley (33), the joint rotating steel wire rope pulley (33) is rotatably arranged on the joint shaft shell (2), the joint lower connecting piece (5) is arranged on the joint rotating steel wire rope pulley (33), and the steel wire rope of the steel wire rope transmission device (B) drives the joint rotating steel wire rope pulley (33) to rotate so as to drive the joint lower connecting piece (5) to unfold and fold relative to the joint upper connecting piece (1);
the steel wire rope transmission device (B) comprises a ball screw (24), a screw nut (22), a rotation stop block (23), a guide rail (25), a steel wire rope positioner (30), an outer steel wire rope (34) and an inner steel wire rope (35); the axis of the joint shaft shell (2) and the central line of the ball screw (24) are arranged in an offset way;
the two ends of a ball screw (24) are rotatably arranged on the joint upper connecting piece (1) and the joint shaft shell (2), a screw nut (22) is fixedly connected with a rotation stop block (23), the ball screw (24) and two guide rails (25) are arranged in parallel, the rotation stop block (23) is slidably arranged on the two guide rails (25) arranged on the joint upper connecting piece (1), an inner steel wire rope (35) and an outer steel wire rope (34) are arranged at intervals, one end of the inner steel wire rope is fixed on the rotation stop block (23), a steel wire rope positioner (30) is rotatably arranged on the joint shaft shell (2), the inner steel wire rope (35) is lapped on the steel wire rope positioner (30) after being displaced, after the inner steel wire rope (35) and the outer steel wire rope (34) wind around the joint rotating steel wire rope pulley (33) from outside to inside, the other end is fixed on a joint rotating wire rope pulley (33), and the transmission mechanism outputs power to the ball screw (24).
2. The lightweight foldable unidirectional flux robot joint of claim 1, wherein: the power system (A) comprises a servo motor (17) and a transmission mechanism; the servo motor (17) is arranged in the joint upper connecting piece (1), the transmission mechanism is driven by the servo motor (17), and the transmission mechanism outputs power to the steel wire rope transmission device (B).
3. The lightweight foldable unidirectional flux robot joint of claim 2, wherein: the transmission mechanism comprises a synchronous pulley I (9), a synchronous pulley II (10) and a synchronous belt (6);
the axis of the servo motor (17) and the axis of the ball screw (24) are arranged in parallel, a synchronous pulley II (10) is installed on an output shaft of the servo motor (17), a synchronous pulley I (9) is installed at the end part of the ball screw (24), and the synchronous pulley I (9) and the synchronous pulley II (10) are driven through a synchronous belt (6).
4. The lightweight foldable unidirectional flux robot joint of claim 3, wherein: the steel wire rope positioner (30) is a displacement pulley, the axis of the ball screw (24) is perpendicular to the axis of the joint rotation steel wire rope pulley (33), and the axial direction of the displacement pulley is parallel to the axial direction of the joint rotation steel wire rope pulley (33).
5. The lightweight foldable unidirectional flux robot joint of claim 3 or 4, wherein: one end of the ball screw (24) is arranged on the joint upper connecting piece (1) through a bearing (20), and the other end is arranged on the joint shaft shell (2) through the bearing (20) and a thrust bearing (29).
6. The lightweight foldable unidirectional flux robot joint of claim 5, wherein: the unfolding and folding rotating range of the joint lower connecting piece (5) is 180 degrees.
7. The lightweight foldable unidirectional flux robot joint of claim 1, 2, 3, or 6, wherein: two side surfaces of the joint rotating steel wire rope pulley (33) are respectively and uniformly provided with a clamping jaw (39), and the joint lower connecting piece (5) is arranged on the clamping jaw (39) of the joint rotating steel wire rope pulley (33).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011555652.3A CN112643709B (en) | 2020-12-24 | 2020-12-24 | Light foldable one-way driving robot joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011555652.3A CN112643709B (en) | 2020-12-24 | 2020-12-24 | Light foldable one-way driving robot joint |
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| Publication Number | Publication Date |
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| CN112643709A CN112643709A (en) | 2021-04-13 |
| CN112643709B true CN112643709B (en) | 2022-02-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011555652.3A Active CN112643709B (en) | 2020-12-24 | 2020-12-24 | Light foldable one-way driving robot joint |
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Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1272147C (en) * | 2003-03-13 | 2006-08-30 | 重庆大学 | Electric cord transverse joint of robot |
| KR20100082225A (en) * | 2009-01-08 | 2010-07-16 | 삼성전자주식회사 | Robot joint driving apparatus and robot having the same |
| CN102814821B (en) * | 2012-09-14 | 2014-12-10 | 中国科学院合肥物质科学研究院 | Mechanical arm high-angle controllable rotary joint device driven by two steel wire ropes |
| CN105459148B (en) * | 2016-01-26 | 2017-06-13 | 哈尔滨工业大学 | A kind of steel wire drive joint with rope stretching point play compensation function |
| CN105479485B (en) * | 2016-01-28 | 2017-11-03 | 哈尔滨工业大学 | A kind of steel wire drive series connection soft drive joint |
| CN105643658B (en) * | 2016-03-08 | 2017-06-27 | 北京理工大学 | The joint of robot device that a kind of bilateral rope sheave drives |
| CN107639649B (en) * | 2017-11-01 | 2020-07-24 | 东北大学 | Permanent magnet variable-rigidity flexible joint for robot |
| CN108858147A (en) * | 2018-07-17 | 2018-11-23 | 东北大学 | A kind of pneumatic muscles driving primate bio-robot |
| CN110757499B (en) * | 2019-11-29 | 2021-04-23 | 东莞理工学院 | Rotary robot joint |
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2020
- 2020-12-24 CN CN202011555652.3A patent/CN112643709B/en active Active
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