CN207548758U - A kind of physical man-machine interactive platform based on wire saws series connection flexible drive - Google Patents
A kind of physical man-machine interactive platform based on wire saws series connection flexible drive Download PDFInfo
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- CN207548758U CN207548758U CN201721644714.1U CN201721644714U CN207548758U CN 207548758 U CN207548758 U CN 207548758U CN 201721644714 U CN201721644714 U CN 201721644714U CN 207548758 U CN207548758 U CN 207548758U
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- China
- Prior art keywords
- sliding block
- capstan winch
- series connection
- motor
- flexible drive
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Abstract
The utility model is a kind of physical man-machine interactive platform based on wire saws series connection flexible drive.Including DC servo motor, retarder, shaft coupling, capstan winch, the linear guide, sliding block, magnetic railings ruler, spring, handle and rotary shaft etc..The upper limb driving handle of people is moved along the linear guide, and at the same time, DC servo motor provides corresponding driving force, drives windlass rope, so as to change the deformation quantity of elastic element, achievees the effect that control torque and the impedance of human-computer interaction.By designing corresponding impedance controller, human-computer interaction that is safe, submissive, stablizing can be realized.
Description
Technical field
The utility model is related to a kind of physical man-machine interactive platforms based on wire saws series connection flexible drive, are generally used for
Robot field and rehabilitation medical instrument field.
Background technology
With the development of robot technology, robot is increasingly required occurs physics sexual intercourse with people or external environment
Mutually.And when robot performs interactive task, safety is vital.Traditional robot often using rigidity driving come
Ensure quick response and high-precision demand, if breaking down, may threaten to operator and interactive environment.In order to
The safety of lifting system can be realized by the active compliance and passive compliance two ways of robot.
In active compliance, the power of end effector of robot and displacement are adjusted by designing impedance or admittance controller
Between dynamic relationship, that is, adjust interaction impedance size.And for rigid driving, if occurring in task process is performed disconnected
Electricity and cause impedance controller failure, can still cause potential injury to people or environment.
Series elastic driver (Series Elastic Actuator, SEA) is with compliance is strong, impedance is low, output is steady
The advantages that fixed, energy snubber and storage, external force resistance are impacted, are safe, can realize the passive compliance of system and the peace of lifting system
Quan Xing.
The characteristics of rope has light weight, and power transmission direction is single, while be mutated in power and sent out in the case of being more than threshold value
Raw fracture, makes transmission power disappear, plays the role of further protection.
Utility model content
The utility model provides a kind of physical man-machine interactive platform based on wire saws series connection flexible drive, passes through series connection
Elastic driver carrys out the passive compliance degree of lifting system, by the active compliance degree of impedance control lifting system, with reference to wire saws,
Promote stability and the safety of the decorum.
The technical solution of the utility model
A kind of physical man-machine interactive platform of upper limb based on wire saws series connection flexible drive, including an aluminium alloy bottom
Plate, the side of bottom plate are equipped with straight line sliding rail and parallel with line slide rail magnetic stripe, are equipped on line slide rail
Three sliding blocks are sequentially the first sliding block, the second sliding block and third sliding block, pass through two coefficient of elasticity and length among three sliding blocks
Identical spring is connected, and handle set and handle are fixed on the second intermediate sliding block, for human-computer interaction, first at both ends
Respectively there are one the hooks for being used to fix rope for installation in the outside of sliding block and third sliding block；One is respectively equipped on the side of three sliding blocks
A magnetic grid ruler reading head amounts to 3, and 3 magnetic grid ruler reading heads and magnetic stripe cooperation form position-measurement device, for three cunnings
The position of block is measured in real time, and to obtain the deformation quantity of two springs, the elastic force size of spring is obtained by calculation；Into one
Step obtains the location information and stressing conditions of human hand；It is used to fix the U of motor and capstan winch in the opposite side of bottom plate there are one installing
Type motor rack, DC servo motor is installed on the outside of motor rack one end, and motor shaft is consolidated after passing through motor rack with shaft coupling
Fixed, the shaft coupling other end links together with capstan winch, while the other end of capstan winch is fixedly connected with a screw, and screw is by U-shaped
The screw hole of the motor rack other end is pierced by, and straight line where motor shaft is vertical with line slide rail；On the capstan winch there are two reverse-windings
Rope, one end and the capstan winch of rope are fixed, and the other end of rope on the bottom plate between motor rack and line slide rail respectively by pacifying
Three rotary shafts of dress connect fixation with the hook on the outside of the first sliding block or third sliding block.
One end of two ropes is separately fixed at the outside of capstan winch and to intermediate reverse-winding on the capstan winch, picks out direction
One the first from left is right and is located at the homonymy of capstan winch and makes two ropes that laterally offset will not be rolled up together or occurred in rotary course.
The end of two ropes is parallel with line slide rail respectively.
The utility model advantages and beneficial effects are：
The utility model uses wire saws series elastic driver, with compliance is strong, impedance is low, output is stable, energy
The advantages that buffering and storage, external force resistance are impacted, are safe can promote compliance, the safety and stability of man-machine interactive system.
Description of the drawings
Fig. 1 is the physical man-machine interactive platform mechanical structure schematic diagram based on series connection flexible drive.
Fig. 2 is the physical man-machine interactive platform vertical view based on series connection flexible drive.
Fig. 3 is motor rack and shaft coupling mechanical structure schematic diagram.
Fig. 4 is motor rack side view.
Fig. 5 is wirerope-winding mode.
Fig. 6 is human-computer interaction end schematic diagram.
Fig. 7 is steel wire rope connected mode schematic diagram.
Fig. 8 is rotary shaft.
Fig. 9 is impedance control block diagram.
In figure, 1 DC servo motor, 2 motor racks, 3 shaft couplings, 4 capstan winches, 5 screws, 6 handle sets, 7 first sliding blocks, 8
Two sliding blocks, 9 third sliding blocks, 10 sliding rails, 11 springs, 12 magnetic grid ruler reading heads, 13 magnetic stripes, 14 hooks, 15 steel wire ropes, 16 handles,
17 bottom plates, 18 first rotary shafts, 19 second rotary shafts, 20 third rotary shafts.
15 show steel wire rope path in Fig. 1 and Fig. 2.
It is fixation and canoe of the steel wire rope on capstan winch in Fig. 5.
Specific embodiment
The utility model is described in more detail below in conjunction with the accompanying drawings
As depicted in figs. 1 and 2, the physical man-machine interactive platform based on wire saws series connection flexible drive, including an aluminium
Alloy bottom plate 17 is equipped with the U-shaped aluminum alloy frame for fixing servo motor 1 and shaft coupling 3 in the top position of bottom plate,
Referred to herein as motor rack, i.e. motor rack 2.Servo motor 1 is screwed in the outside of motor rack one end, and motor shaft passes through
It is fixed after motor rack by screw and shaft coupling.The shaft coupling other end links together with capstan winch 4, at the same capstan winch end with
The screw 5 of one helicitic texture connects and composes an entirety, screw 5 by being threadably mounted on the motor rack other end, such as Fig. 3 and
Shown in Fig. 4.Motor rack has the screw hole to match with screw relative to the offside of fixed motor side, and thus place is pierced by screw.
For above-mentioned capstan winch 4 for fixing and driving two ropes i.e. steel wire rope 15, the canoe of steel wire rope is as shown in Figure 5.
The physical man-machine interactive platform is identical using 2 root long degree altogether, and diameter is the steel wire rope of 1mm.It (is shown in figure in the outside of capstan winch
The upper and lower ends shown) each screw there are one fixed steel wire rope, it is observed from screw 5 to motor side, steel wire rope difference
After being fixed by screw, the steel wire rope close to motor side is to offside wrapped anti-clockwise, and the steel wire rope close to screw side is to offside
Wound clockwise (winding direction of two steel wire ropes can be interchanged).By the homonymy of capstan winch after two wirerope-winding same number of turns
(being top in figure) picks out respectively to both sides, and a first from left is right and makes two ropes parallel.
Above structure and rope-winding method, in motor rotary course, steel wire rope will not be rolled up together or be occurred lateral inclined
It moves, avoids radius of turn variation and laterally offset impacts the elastic deformation of spring.
The straight line where bottom plate position on the lower and motor shaft is vertically installed with straight line sliding rail 10 and a magnetic stripe 13.
Equipped with two row's ball-type linear sliders that 3 technical parameters are identical, i.e. the first sliding block 7,8 and of the second sliding block on the line slide rail
It is connected among 9,3 sliding blocks of third sliding block by 2 coefficient of elasticity spring 11 identical with length, as shown in Figure 6.It is slided second
Handle set 6 is fixed on block 8, for fixed handle 16, there are one hang for each fixation in outside on the first sliding block 7 and third sliding block 9
Hook 14, for fixing the end of steel wire rope 15.A magnetic grid ruler reading head 12 is also respectively fixed in the side of 3 sliding blocks simultaneously
(amount to 3 magnetic grid ruler reading heads), magnetic grid ruler reading head and magnetic stripe cooperation form position-measurement device, for three sliding blocks
Position is measured in real time, to obtain the deformation quantity of two springs, the elastic force size of spring is obtained by calculation, further obtains
Obtain the location information and stressing conditions of human hand.
Above-mentioned two steel wire ropes are laid out after capstan winch fixation, pass sequentially through the first rotary shaft 18, the second rotary shaft 19 respectively
Be fixedly connected with third rotary shaft 20 and the hook 14 on the first sliding block 7 or third sliding block 9, the ends of two ropes respectively with directly
Line sliding rail is parallel, as depicted in figs. 1 and 2.
Above-mentioned rotation axle construction is as shown in Figure 8 (rotary shaft plays the role of idle wheel, can be replaced with pulley).
The power train process of the driver is：During human hand driving handle is moved along the linear guide, motor provides
Corresponding driving force, driving windlass rope is so as to change the deformation quantity of elastic element so that the reciprocal force that human hand is perceived
It changes with impedance.By designing corresponding impedance controller, desired human-computer interaction compliance is realized.
Impedance controller block diagram is as shown in figure 9, wherein：GCSEAFor wire saws connect flexible drive platform open loop models,
It inputs the displacement of respectively handleWith motor speed control command ωd, export as man-machine reciprocal force square τh。ZdIt is desired
Impedance model, τdFor desired torque.E is torque tracking error, and K is impedance controller.
τhBy the deformation quantities of two springs and according to formulaIt acquires.
WhereinFor motor end movement, KsEquivalent stiffness for two springs.
In conclusion the structure design of the utility model, based on the method for wire saws series connection flexible drive, realizes soft
Suitable, safe and stable physical human-computer interaction.
Claims (4)
1. a kind of physical man-machine interactive platform based on wire saws series connection flexible drive, it is characterized in that：The physical man-machine friendship
Mutual platform includes a bottom plate, and the side of bottom plate is equipped with straight line sliding rail and parallel with line slide rail magnetic stripe,
Installation is there are three sliding block on line slide rail, is sequentially the first sliding block, the second sliding block and third sliding block, passes through two among three sliding blocks
Root spring is connected, and handle set and handle are fixed on the second intermediate sliding block, for human-computer interaction, the first sliding block at both ends
Respectively there are one the hooks for being used to fix rope for installation with the outside of third sliding block；Respectively there are one magnetic for installation on the side of three sliding blocks
Grid ruler reading head amounts to 3, and 3 magnetic grid ruler reading heads and magnetic stripe cooperation form position-measurement device；Pacify in the opposite side of bottom plate
For dress there are one for fixing the U-shaped motor rack of motor and capstan winch, motor rack is installed with DC servo motor on the outside of one end,
Motor shaft is fixed after passing through motor rack with shaft coupling, and the shaft coupling other end links together with capstan winch, while the other end of capstan winch
A screw is fixedly connected with, screw is pierced by by the screw hole of the U-shaped motor rack other end, and straight line where motor shaft hangs down with line slide rail
Directly；Rope, one end and the capstan winch of rope to be fixed there are two reverse-windings on the capstan winch, and the other end of rope passes through motor respectively
Three rotary shafts installed on bottom plate between frame and line slide rail connect solid with the hook on the outside of the first sliding block or third sliding block
It is fixed.
2. a kind of physical man-machine interactive platform based on wire saws series connection flexible drive according to claim 1, special
Sign is：One end of two ropes is separately fixed at the outside of capstan winch and to intermediate reverse-winding on the capstan winch, picks out direction one
The first from left is right and is located at the homonymy of capstan winch and makes two ropes that laterally offset will not be rolled up together or occurred in rotary course.
3. a kind of physical man-machine interactive platform based on wire saws series connection flexible drive according to claim 1 or 2,
It is characterized in：The end of two ropes drawn on the capstan winch is parallel with line slide rail respectively.
4. a kind of physical man-machine interactive platform based on wire saws series connection flexible drive according to claim 1 or 2,
It is characterized in：The coefficient of elasticity for two springs installed among three sliding blocks is identical with length.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721644714.1U CN207548758U (en) | 2017-12-01 | 2017-12-01 | A kind of physical man-machine interactive platform based on wire saws series connection flexible drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721644714.1U CN207548758U (en) | 2017-12-01 | 2017-12-01 | A kind of physical man-machine interactive platform based on wire saws series connection flexible drive |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207548758U true CN207548758U (en) | 2018-06-29 |
Family
ID=62678648
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721644714.1U Withdrawn - After Issue CN207548758U (en) | 2017-12-01 | 2017-12-01 | A kind of physical man-machine interactive platform based on wire saws series connection flexible drive |
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| Country | Link |
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| CN (1) | CN207548758U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108581988A (en) * | 2018-06-07 | 2018-09-28 | 芜湖隆深机器人有限公司 | A kind of interval adjustable transferring device of storage cylinder end piece |
-
2017
- 2017-12-01 CN CN201721644714.1U patent/CN207548758U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108581988A (en) * | 2018-06-07 | 2018-09-28 | 芜湖隆深机器人有限公司 | A kind of interval adjustable transferring device of storage cylinder end piece |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180629 Effective date of abandoning: 20230919 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20180629 Effective date of abandoning: 20230919 |