CN209919886U - Two-degree-of-freedom elastic module convenient to be connected with transmission shaft in series and corresponding robot - Google Patents
Two-degree-of-freedom elastic module convenient to be connected with transmission shaft in series and corresponding robot Download PDFInfo
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- CN209919886U CN209919886U CN201920641946.4U CN201920641946U CN209919886U CN 209919886 U CN209919886 U CN 209919886U CN 201920641946 U CN201920641946 U CN 201920641946U CN 209919886 U CN209919886 U CN 209919886U
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 18
- 238000006073 displacement reaction Methods 0.000 claims abstract description 28
- 229920001971 elastomer Polymers 0.000 claims description 17
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 abstract description 2
- 239000000806 elastomer Substances 0.000 description 12
- 230000033001 locomotion Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000005489 elastic deformation Effects 0.000 description 3
- 230000005483 Hooke's law Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000009118 appropriate response Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 238000011897 real-time detection Methods 0.000 description 1
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Abstract
A two-degree-of-freedom elastic module convenient to be connected with a transmission shaft in series and a corresponding robot belong to the technical field of robots. A two-degree-of-freedom elastic module convenient to be connected with a transmission shaft in series comprises an elastic module connecting device and an elastic module main body, wherein the elastic module connecting device is used for connecting the elastic module main body with an input shaft and an output shaft respectively; the elastic module connecting device comprises a left chassis, a shell and a right chassis, wherein the left chassis is connected with the input shaft, the right chassis is connected with the output shaft, and the left chassis is connected with the right chassis through the shell. The beneficial technical effects are as follows: (1) meanwhile, the elastic control of two dimensions of rotation and translation is realized, and (2) the deformation and the axial displacement of the elastic body in the rotation direction can be detected in real time.
Description
Technical Field
The utility model belongs to the technical field of the robot, a two degree of freedom elastic module and corresponding robot of convenient and transmission shaft series connection is related to.
Background
The greatest difference between the human-machine coexistence environment and the traditional industrial robot working environment is the environmental dynamic change and the uncertainty of human-machine interaction operation. In order to ensure high-speed and high-precision performance of a traditional industrial robot, a mechanical body generally mainly adopts a rigid structure, so that the rigidity of the tail end of the mechanical body is very high, and uncertainty of a human-machine coexistence environment cannot be responded. Once misoperation occurs, the safety of other objects in the environment and the self structure of the robot can be threatened. The cooperative robot and the bionic mechanical arm need to have the capability of making appropriate response to uncertain interaction tasks, namely flexibility, so as to ensure the safety of people, operation objects, environment and the robot.
The series elastic driver (SEA) is a flexible driving unit formed by adding an elastic structure such as a spring between a motor output shaft and a load by taking a motor as a driving source, essentially belongs to a passive compliant structure, but can realize controllable and adjustable compliant output performance by combining a motor control technology and a joint force detection technology based on spring deformation, so that the SEA is used in various robot mechanisms needing compliance or elasticity as a novel driver which receives a great deal of attention from the robot academia and enterprises.
The wire spring is an elastic element commonly used in the current SEA structural design, and the SEA with different output forms is formed by the spatial layout of the spring and the combination of different transmission mechanisms. Typical SEA use cases are: paine adopts a belt pulley to drive a ball screw, and 2 groups of springs are adopted between the screw and an output end to form a linear SEA; tsiagrakis arranges wire springs around the circumference between the motor shaft and the drive disc to form a compact rotating SEA; bae forms the SEA of the cross shaft transmission by applying the torsion spring connection between the motor and the bevel gear pair. The use of the linear spring can indeed change the rigidity of the transmission structure and realize the function of serial elastic driving, but because the commonly used springs comprise a tension spring, a pressure spring and a torsion spring, when the structure is designed, only one of translational motion or rotation control can be realized by using a single spring. When using springs as elastic elements, it is necessary to arrange the same two springs symmetrically on both sides of the connection. The serial elastic structure for simultaneously realizing rotation and translation requires a bulky structure if a wire spring is still used as an elastic element.
Disclosure of Invention
The utility model aims at overcoming the not enough of above-mentioned background art, provide a convenient two degree of freedom elastic module who establishes ties with the transmission shaft, use the elastomer as elastic connection's part, found a series connection elastic construction who realizes rotation and translation simultaneously. The elastic body follows Hooke's law when being stretched, compressed and rotated within the elastic limit, has good linearity, and can simultaneously realize elastic control of two dimensions of rotation and translation by using the elastic body (such as a rubber body) as an elastic element. The purpose of the utility model is realized through the following technical scheme.
A two-degree-of-freedom elastic module convenient to be connected with a transmission shaft in series is characterized by comprising an elastic module connecting device and an elastic module main body, wherein the elastic module connecting device is used for connecting the elastic module main body with an input shaft and an output shaft respectively; the elastic module connecting device comprises a left chassis, a shell and a right chassis, wherein the left chassis is connected with the input shaft, the right chassis is connected with the output shaft, and the left chassis is connected with the right chassis through the shell.
The input shaft is connected with the output shaft by an elastic body, and the elastic body can generate elastic deformation in the rotating direction and the axial direction; meanwhile, the elastomer material is convenient to replace, meets different application requirements, and can output torque and axial force on the shaft. And the elastic deformation volume of elastomer is corresponding to the size of epaxial turning moment and axial pull-up/pressure, and the deformation of the axial of detecting the elastomer simultaneously and direction of rotation is the utility model discloses a key part. And (3) taking the input shaft as a fixed rotating shaft, measuring the position of the input shaft during rotation, and detecting the rotation position and the axial position of the output shaft to obtain the rotation deformation amount and the axial deformation amount of the elastic body.
Further, the elastomer is a rubber body. The rubber body follows Hooke's law when being stretched, compressed and rotated within the elastic limit of the rubber body, and has good linearity.
Furthermore, the left chassis is connected with the input shaft by fixedly connecting the inner shaft of the bearing I to the input shaft by using a stop ring I and fixing the outer shaft of the bearing I to the left chassis. The input shaft is ensured to have only rotary motion and no axial displacement relative to the left chassis.
Furthermore, the input shaft angle measuring device comprises an encoder I fixed on the input shaft and a reading head I fixed on the shell. The encoder I can read the real-time position and the rotating speed of the motor output to the input shaft by matching with the reading head I.
Furthermore, the output shaft axial displacement measuring device comprises a displacement mark sliding block and a displacement sensor fixed on the shell, the displacement mark sliding block is connected with the output shaft through a stop ring II and a bearing II, and meanwhile, the displacement mark sliding block is connected with the shell with a corresponding groove through a groove and a ball. Through the ingenious design, the displacement mark sliding block only has the same axial displacement as the output shaft, the rotary motion of the output shaft is eliminated, the axial displacement of the displacement mark sliding block can be detected by using the displacement sensor fixed on the shell, and the axial motion information of the output shaft is read out.
Further, output shaft angle measuring device includes encoder II and fixes reading head II on the casing, and encoder II utilizes recess and ball to be connected with the output shaft that has corresponding recess, connects through bearing III and right chassis simultaneously to the output shaft can be in encoder II smooth production axial motion, and encoder II follows the rotary motion of output shaft simultaneously. Through the ingenious design, the encoder II only has the same rotary motion as the output shaft, the axial displacement of the output shaft is eliminated, and the encoder II can read the real-time position and the rotating speed of the output shaft by matching with the reading head II.
Another object of the present invention is to provide a robot with flexibility, which is characterized in that, the present invention provides a two-degree-of-freedom elastic module which is conveniently connected in series with a transmission shaft.
The utility model discloses following beneficial technological effect has: (1) through the design of elastomer, can realize the elasticity control of rotatory and two parallel move dimensions simultaneously to have the convenient change of elastomer material, adapt to the advantage of different application demands. (2) Through the ingenious design of input shaft angle measuring device, output shaft angle measuring device and output shaft axial displacement measuring device, can real-time detection elastomer's direction of rotation deformation and axial displacement.
Drawings
Fig. 1 is an overall schematic view of a two-degree-of-freedom elastic module conveniently connected in series with a transmission shaft according to the present invention.
Fig. 2 is an internal assembly view of the two-degree-of-freedom elastic module conveniently connected in series with the transmission shaft according to the present invention.
Fig. 3 is a diagram of the two-degree-of-freedom elastic module conveniently connected in series with the transmission shaft according to the present invention.
Reference numerals: 1-stop ring I, 2-bearing I, 3-left chassis, 4-encoder I, 5-input shaft, 6-elastomer, 7-output shaft, 8-displacement mark slide block, 9-bearing II, 10-stop ring II, 11-encoder II, 12-bearing III, 13-right chassis, 14-reading head I, 15-displacement sensor and 16-reading head II.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings.
The utility model discloses a convenient two degree of freedom elastic module overall schematic diagrams of establishing ties with the transmission shaft is shown in fig. 1, the utility model discloses a convenient two degree of freedom elastic module internal assembly diagrams of establishing ties with the transmission shaft are shown in fig. 2. The part diagram of the two-degree-of-freedom elastic module convenient to be connected in series with the transmission shaft of the utility model is shown in figure 3.
The utility model discloses a two degree of freedom elastic module includes elastic module connecting device and elastic module main part, elastic module connecting device with the elastic module main part respectively with input shaft and output shaft, the input shaft is connected with the motor, the output shaft is connected with the load, the elastic module main part includes the elastomer, input shaft angle measuring device, output shaft angle measuring device and output shaft axial displacement measuring device, the elastomer produces the elastic deformation in direction of rotation and the axial direction, the motor, the input shaft, the elastomer, output shaft and load are in on the same axis.
A motor (not shown) is connected to the input shaft 5. The elastic connection is made up of the input shaft 5, the elastic body 6 and the output shaft 7, and the load (not shown) is connected to the end of the output shaft 7. The whole elastic connection part is supported by the left chassis 3, the shell (not shown in the figure) and the right chassis 13 through the bearing I2, the bearing II 9 and the bearing III 12, and the output motor and the load are kept on the same axis in the rotating process and the axial extrusion or stretching process.
In the rotating process, the motor drives the input shaft 5 to rotate, the input shaft 5 is connected with the left chassis 3 by fixedly connecting the inner shaft of the bearing I2 on the input shaft 5 through the stop ring I1, and the outer shaft of the bearing I2 is fixed on the left chassis 3 through the steps and the nut, so that the input shaft 5 is ensured to only rotate relative to the shell and has no axial displacement. Because the output shaft 7 carries load, the elastic body 6 has torsional deformation in the rotating process, the connection between the output shaft 7 and the displacement mark sliding block 8 is connected by using a bearing II 9 and a stop ring II 10, and the displacement mark sliding block 8 is connected with a shell (not shown in the figure) with corresponding grooves by using six symmetrical spherical grooves at the center of a cylindrical surface through balls so as to eliminate the movement of the displacement mark sliding block 8 in the rotating direction. The output shaft 7 is provided with grooves which are distributed in a regular hexagon shape, and is connected with an encoder II 11 with corresponding grooves on an inner shaft by utilizing balls, and the encoder II 11 is connected with a right chassis 13 by a bearing III 12, so that the axial displacement of the encoder II 11 is eliminated. When the rotary encoder rotates, the encoder I4 is matched with the reading head I14 to read the real-time position and the rotating speed output by the motor, the encoder II 11 is matched with the reading head II 16 to read the real-time position and the rotating speed of a load end, and the position control, the speed control, the moment control and the impedance control can be carried out on the control system through the position relation and the input and output speed of the two encoders.
Claims (7)
1. A two-degree-of-freedom elastic module convenient to be connected with a transmission shaft in series is characterized by comprising an elastic module connecting device and an elastic module main body, wherein the elastic module connecting device is used for connecting the elastic module main body with an input shaft and an output shaft respectively; the elastic module connecting device comprises a left chassis, a shell and a right chassis, wherein the left chassis is connected with the input shaft, the right chassis is connected with the output shaft, and the left chassis is connected with the right chassis through the shell.
2. The two degree-of-freedom elastic module according to claim 1, wherein the elastic body is a rubber body.
3. The two-degree-of-freedom elastic module according to claim 1, wherein the left chassis is connected with the input shaft by fixedly connecting an inner shaft of a bearing I to the input shaft by using a stop ring I and fixing an outer shaft of the bearing I to the left chassis.
4. The two degree-of-freedom spring module according to claim 1, wherein the input shaft angle measuring device comprises an encoder i fixed to the input shaft and a readhead i fixed to the housing.
5. The two-degree-of-freedom elastic module according to claim 1, wherein the output shaft axial displacement measuring device comprises a displacement mark slider and a displacement sensor fixed on the housing, the displacement mark slider is connected with the output shaft through a stop ring II and a bearing II, and the displacement mark slider is connected with the housing with a corresponding groove by using a groove and a ball.
6. The two-degree-of-freedom elastic module according to claim 1, wherein the output shaft angle measuring device comprises an encoder II and a reading head II fixed on the shell, the encoder II is connected with an output shaft with a corresponding groove by a groove and a ball, and is connected with the right chassis through a bearing III.
7. A robot with compliance, characterized in that a two-degree-of-freedom elastic module according to any of claims 1-6 is used.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920641946.4U CN209919886U (en) | 2019-05-07 | 2019-05-07 | Two-degree-of-freedom elastic module convenient to be connected with transmission shaft in series and corresponding robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920641946.4U CN209919886U (en) | 2019-05-07 | 2019-05-07 | Two-degree-of-freedom elastic module convenient to be connected with transmission shaft in series and corresponding robot |
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| Publication Number | Publication Date |
|---|---|
| CN209919886U true CN209919886U (en) | 2020-01-10 |
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| CN201920641946.4U Expired - Fee Related CN209919886U (en) | 2019-05-07 | 2019-05-07 | Two-degree-of-freedom elastic module convenient to be connected with transmission shaft in series and corresponding robot |
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| CN (1) | CN209919886U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110058524A (en) * | 2019-05-07 | 2019-07-26 | 武汉理工大学 | Two-freedom elastic module and its measurement and control method |
| CN113799109A (en) * | 2021-09-03 | 2021-12-17 | 华中科技大学 | Single-spring series elastic driver and robot |
-
2019
- 2019-05-07 CN CN201920641946.4U patent/CN209919886U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110058524A (en) * | 2019-05-07 | 2019-07-26 | 武汉理工大学 | Two-freedom elastic module and its measurement and control method |
| CN113799109A (en) * | 2021-09-03 | 2021-12-17 | 华中科技大学 | Single-spring series elastic driver and robot |
| CN113799109B (en) * | 2021-09-03 | 2022-11-11 | 华中科技大学 | Single-spring series elastic driver and robot |
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Granted publication date: 20200110 |