CN204566157U - Super flexible machine person joint - Google Patents
Super flexible machine person joint Download PDFInfo
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- CN204566157U CN204566157U CN201520023770.8U CN201520023770U CN204566157U CN 204566157 U CN204566157 U CN 204566157U CN 201520023770 U CN201520023770 U CN 201520023770U CN 204566157 U CN204566157 U CN 204566157U
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- 239000007788 liquid Substances 0.000 claims abstract description 17
- 238000005452 bending Methods 0.000 claims description 11
- 238000009434 installation Methods 0.000 claims description 9
- 230000007246 mechanism Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 abstract description 6
- 230000033001 locomotion Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 239000007787 solid Substances 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000007812 deficiency Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000009466 transformation Effects 0.000 description 2
- 241000905957 Channa melasoma Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000012271 agricultural production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011217 control strategy Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000001145 finger joint Anatomy 0.000 description 1
- 235000012055 fruits and vegetables Nutrition 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
- 238000000554 physical therapy Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000002441 reversible effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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Abstract
A kind of super flexible machine person joint, this joint is positioned at the front bar of robot and the junction of rear bar, joint comprises mangneto and surpasses flexible actuator, mangneto surpasses flexible actuator and comprises power rotor, driven rotor and rotor protection cover, in rear bar, drive motors is installed, the output shaft of drive motors is connected with the driving shaft of power rotor, driven rotor and the mutual embedded assembling of power rotor and be provided with running clearance each other, the open-mouth of running clearance is provided with dynamic seal, dynamic seal and running clearance form the seal chamber of filling for magnetic flow liquid, driven rotor and power rotor are all positioned at rotor protection cover, rotor protection cover is installed the solenoid changing seal chamber internal magnetic field intensity, the driven shaft of driven rotor is connected with the lower end of executing agency, the upper end of executing agency is connected with front bar.The utility model provides one can realize having active flexible, passive flexibility and transmission rigidity concurrently simultaneously, and the super flexible machine person joint that security is higher.
Description
Technical field
The utility model relates to robot field, especially a kind of joint of robot.
Background technology
Along with the day by day development of Robotics, and the promotion energetically of all kinds of industrial policy, mechanical arm has obtained in fields such as industrial and agricultural production processing, medical rehabilitation, home services, education and scientific research and has applied comparatively widely, alleviate the labour intensity of the mankind to a certain extent, make the mankind or operating environment that can be dangerous away from some, extreme, mechanical arm, as the indispensable assistant of the mankind, will be played a greater and greater role in various fields.
Along with the continuous expansion of mechanical arm range of application, sight is not only rested on the application scenarios such as labour intensity is large, operating environment is poor by researchers, generally starts to pay close attention to some new application demands.Such as, researchers are in thinking or explore the cage how allowing a mechanical arm walk out wire netting to surround, can with people closely close fit jointly complete a complicated assembly work, thus allow mechanical arm not only play the part of the role of assistant, can also play the part of the role of partner, this has higher requirement to the security of mechanical arm.Have may applying of some futures of requirements at the higher level also to comprise health physiotherapy, family life service to its security equally, help children to help the elderly to help the disabled, fruit and vegetable picking selection packaging, man-machine interaction and amusement etc.
Mechanical arm cradle head based on the positive drive parts such as reductor has clear superiority in rigidity, accuracy, stability etc.; Robot humanoid dexterous finger-joint based on the positive drive such as steel wire, gear parts shows good equally in rigidity, accuracy and dexterity etc.The deficiency of security of researchers for making up positive drive joint and bringing to mechanical arm and robot humanoid dextrous hand, do a large amount of work and achieved successfully, its implementation strategy is all the mode adopting end force feedback and coordinate intelligent algorithm substantially, can be referred to as active flexible.Another kind of achievement in research is as the robot humanoid dextrous hand based on Pneumatic flexible actuator, the rigidity of articulations digitorum manus is changed arbitrarily by adjustment air pressure, make it fully to ensure the safety and the ontological security thereof that are touched object, passive flexibility can be referred to as, but but bring the problem of rigidity deficiency.Existing joint of robot cannot take into account the demand of active flexible, passive flexibility, rigidity simultaneously, thus in intrinsic safety, have certain shortcoming.
Summary of the invention
Active flexible, passive flexibility and transmission rigidity cannot be taken into account in order to what overcome existing joint of robot, thus the deficiency causing security lower, the utility model provides one can realize having active flexible, passive flexibility and transmission rigidity concurrently simultaneously, and the super flexible machine person joint that security is higher.
The utility model solves the technical scheme that its technical problem adopts:
A kind of super flexible machine person joint, this joint is positioned at the front bar of robot and the junction of rear bar, described joint comprises mangneto and surpasses flexible actuator, described mangneto surpasses flexible actuator and comprises power rotor, driven rotor and rotor protection cover, in described rear bar, drive motors is installed, the output shaft of described drive motors is connected with the driving shaft of described power rotor, described driven rotor and the mutual embedded assembling of described power rotor and be provided with running clearance each other, the open-mouth of described running clearance is provided with dynamic seal, described dynamic seal and running clearance form the seal chamber of filling for magnetic flow liquid, described driven rotor and power rotor are all positioned at rotor protection cover, the solenoid changing seal chamber internal magnetic field intensity installed by described rotor protection cover, the driven shaft of described driven rotor is connected with the lower end of executing agency, the upper end of described executing agency is connected with described front bar.
Further, described power rotor has the installation cavity for described driven rotor plug-in mounting, the cross section of the plug-in mounting section of described driven rotor is profile of tooth, the inwall of described installation cavity has the profile of tooth breach mated with described profile of tooth, is provided with described dynamic seal between the opening of described installation cavity and described plug-in mounting section.Which belongs to preferred a kind of scheme, certainly, as long as described driven rotor and the mutual embedded assembling of described power rotor and be provided with running clearance each other, also can adopt other implementations.
Further again, described executing agency is bending execution mechanism, described bending execution architecture comprises drive bevel gear and driven wheel of differential, described driven shaft installs described drive bevel gear, described drive bevel gear engages with described driven wheel of differential, and the rotating shaft of described driven wheel of differential is arranged on the lower end of described front bar.Such scheme is a kind of mode of bending execution mechanism, certainly, also can adopt other mechanisms to realize; Moreover execution architecture also can be the structure that rotary actuator etc. has other functions.
Technical conceive of the present utility model is: magnetic flow liquid is a kind of intellectual material in magnetic field environment with phase-change characteristic, shows as liquid state when magnetic field intensity is zero, and change into when magnetic field intensity is enough large and solidify state, phase transition process is controlled, reversible, the time is short.The super flexible machine person joint of this patent definition is to surpass flexible actuator for primary drive device based on the mangneto of magnetic flow liquid, and by applying the stressed FEEDBACK CONTROL of front bar, make this joint can meet the demand of transmission rigidity, active flexible and passive flexibility in motion process simultaneously, be applicable to develop the mechanical arm or robot humanoid dextrous hand product with intrinsic safety.
The beneficial effects of the utility model are mainly manifested in: by applying the stressed FEEDBACK CONTROL of front bar, making described joint have active flexible, passive flexibility and transmission rigidity concurrently, thus having higher security.
Accompanying drawing explanation
Fig. 1 is the straight configuration schematic diagram of super flexible machine person joint.
Fig. 2 is the case of bending schematic diagram of super flexible machine person joint.。
Fig. 3 is the schematic diagram of power rotor.
Fig. 4 is the schematic diagram of driven rotor.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is further described.
With reference to Fig. 1 ~ Fig. 4, a kind of super flexible machine person joint, this joint is positioned at the front bar 1 of robot and the junction of rear bar 2, described joint comprises mangneto and surpasses flexible actuator, described mangneto surpasses flexible actuator and comprises power rotor 3, driven rotor 4 and rotor protection cover 5, in described rear bar 2, drive motors is installed, the output shaft of described drive motors is connected with the driving shaft 6 of described power rotor 3, described driven rotor 4 is with the mutual embedded assembling of described power rotor 3 and be provided with running clearance each other, the open-mouth of described running clearance is provided with dynamic seal, described dynamic seal and running clearance form the seal chamber of filling for magnetic flow liquid 7, described driven rotor 4 and power rotor 3 are all positioned at rotor protection cover 5, described rotor protection cover 5 is installed the solenoid 8 changing seal chamber internal magnetic field intensity, the driven shaft 9 of described driven rotor 4 is connected with the lower end of executing agency, the upper end of described executing agency is connected with described front bar 1.
Further, described power rotor 4 has the installation cavity for described driven rotor 4 plug-in mounting, the cross section of the plug-in mounting section of described driven rotor 4 is profile of tooth, the inwall of described installation cavity has the profile of tooth breach mated with described profile of tooth, is provided with described dynamic seal between the opening of described installation cavity and described plug-in mounting section.Which belongs to preferred a kind of scheme, certainly, as long as described driven rotor and the mutual embedded assembling of described power rotor and be provided with running clearance each other, also can adopt other implementations.
Further again, described executing agency is bending execution mechanism, described bending execution architecture comprises drive bevel gear 10 and driven wheel of differential 11, described driven shaft 9 installs described drive bevel gear 10, described drive bevel gear 10 engages with described driven wheel of differential 11, and the rotating shaft of described driven wheel of differential 11 is arranged on the lower end of described front bar 1.Such scheme is a kind of mode of bending execution mechanism, certainly, also can realize for other mechanisms; Moreover execution architecture also can be the structure that rotary actuator etc. has other functions.
In the present embodiment, magnetic flow liquid 7 is filled in described seal chamber, and when solenoid 8 power-off, magnetic field intensity is zero, and magnetic flow liquid 7 is liquid, can not transmitting torque between main driven rotor, and mangneto surpasses flexible actuator without moment of torsion propagation function; When solenoid 8 is energized, magnetic field intensity increases, and magnetic flow liquid 7 presents semisolid to solidifying Solid State Transformation, and mangneto surpasses flexible actuator can realize gear, and gearratio is adjustable; When magnetic field intensity is enough large, magnetic flow liquid 7 changes into and solidifies state, realizes Hard link between main driven rotor.
The super flexible machine person joint of the present embodiment surpasses flexible actuator by mangneto, rear bar, front bar, drive bevel gear, driven wheel of differential form, flexible actuator is surpassed for primary drive device with mangneto, motor is fixed on rear bar inside, the power shaft that output shaft and the mangneto of drive motors surpass flexible actuator is connected, and the converting rotary motion that mangneto is surpassed flexible actuator driven shaft by driving and driven bevel gear is the bending of front bar and unbending movement.Motion Control Strategies is analyzed as follows:
1), after mangneto surpasses the solenoid energising of flexible actuator, magnetic flow liquid is by liquid state to solidifying Solid State Transformation, and now control motor and rotate, front bar can do bending or unbending movement.When magnetic flow liquid is in semisolid, can realize gear, gearratio is controllable; When magnetic flow liquid be in solidify state time, transmission process shows as rigidity;
2) after joint motions arrive object pose, motor stops exporting, joint position is kept by the magnetic field intensity regulating mangneto to surpass flexible actuator solenoid, make front bar obtain the moment of torsion needed simultaneously, in process, torque can also be adjusted by the magnetic field intensity changing solenoid;
3) when front bar is prominent meet risk of collision time, change the magnetic field intensity of solenoid by the FEEDBACK CONTROL that front bar is stressed in real time, and then change the rigidity in joint, thus to joint itself be touched object and play a protective role simultaneously; When front bar is prominent meet risk of collision time, even if sensing device or control device lost efficacy, also by solid/semi-solid magnetic flow liquid failure by shear effect to joint itself be touched object protection, thus improve the intrinsic safety of robot product.
Claims (3)
1. a super flexible machine person joint, this joint is positioned at the front bar of robot and the junction of rear bar, it is characterized in that: described joint comprises mangneto and surpasses flexible actuator, described mangneto surpasses flexible actuator and comprises power rotor, driven rotor and rotor protection cover, in described rear bar, drive motors is installed, the output shaft of described drive motors is connected with the driving shaft of described power rotor, described driven rotor and the mutual embedded assembling of described power rotor and be provided with running clearance each other, the open-mouth of described running clearance is provided with dynamic seal, described dynamic seal and running clearance form the seal chamber of filling for magnetic flow liquid, described driven rotor and power rotor are all positioned at rotor protection cover, the solenoid changing seal chamber internal magnetic field intensity installed by described rotor protection cover, the driven shaft of described driven rotor is connected with the lower end of executing agency, the upper end of described executing agency is connected with described front bar.
2. super flexible machine person joint as claimed in claim 1, it is characterized in that: described power rotor has the installation cavity for described driven rotor plug-in mounting, the cross section of the plug-in mounting section of described driven rotor is profile of tooth, the inwall of described installation cavity has the profile of tooth breach mated with described profile of tooth, is provided with described dynamic seal between the opening of described installation cavity and described plug-in mounting section.
3. super flexible machine person joint as claimed in claim 1 or 2, it is characterized in that: described executing agency is bending execution mechanism, described bending execution architecture comprises drive bevel gear and driven wheel of differential, described driven shaft installs described drive bevel gear, described drive bevel gear engages with described driven wheel of differential, and the rotating shaft of described driven wheel of differential is arranged on the lower end of described front bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520023770.8U CN204566157U (en) | 2015-01-14 | 2015-01-14 | Super flexible machine person joint |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520023770.8U CN204566157U (en) | 2015-01-14 | 2015-01-14 | Super flexible machine person joint |
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| CN204566157U true CN204566157U (en) | 2015-08-19 |
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| CN201520023770.8U Active CN204566157U (en) | 2015-01-14 | 2015-01-14 | Super flexible machine person joint |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552333A (en) * | 2015-01-14 | 2015-04-29 | 浙江工业大学 | Extra flexible robot joint |
| CN107485471A (en) * | 2017-08-22 | 2017-12-19 | 电子科技大学中山学院 | Elastic-driven power type bionic knee joint |
| CN107854203A (en) * | 2017-11-13 | 2018-03-30 | 电子科技大学中山学院 | Elastic-driven power type bionic knee joint |
| CN109676508A (en) * | 2019-01-28 | 2019-04-26 | 深圳市钜达机械设备有限公司 | A kind of dust cover for polishing machine transmission mechanism |
-
2015
- 2015-01-14 CN CN201520023770.8U patent/CN204566157U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104552333A (en) * | 2015-01-14 | 2015-04-29 | 浙江工业大学 | Extra flexible robot joint |
| CN107485471A (en) * | 2017-08-22 | 2017-12-19 | 电子科技大学中山学院 | Elastic-driven power type bionic knee joint |
| CN107854203A (en) * | 2017-11-13 | 2018-03-30 | 电子科技大学中山学院 | Elastic-driven power type bionic knee joint |
| CN109676508A (en) * | 2019-01-28 | 2019-04-26 | 深圳市钜达机械设备有限公司 | A kind of dust cover for polishing machine transmission mechanism |
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