CN105108771B - A kind of stiffness variable robot joint structure - Google Patents
A kind of stiffness variable robot joint structure Download PDFInfo
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- CN105108771B CN105108771B CN201510439726.XA CN201510439726A CN105108771B CN 105108771 B CN105108771 B CN 105108771B CN 201510439726 A CN201510439726 A CN 201510439726A CN 105108771 B CN105108771 B CN 105108771B
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- 230000005540 biological transmission Effects 0.000 abstract description 2
- 210000002310 elbow joint Anatomy 0.000 abstract description 2
- 206010052904 Musculoskeletal stiffness Diseases 0.000 abstract 3
- 208000002740 Muscle Rigidity Diseases 0.000 description 16
- 210000003205 muscle Anatomy 0.000 description 6
- 230000003993 interaction Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000007613 environmental effect Effects 0.000 description 3
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 210000002027 skeletal muscle Anatomy 0.000 description 2
- 210000001835 viscera Anatomy 0.000 description 2
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- 235000014676 Phragmites communis Nutrition 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000969 carrier Substances 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
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Abstract
A kind of stiffness variable robot joint structure, belongs to bio-robot joint technical field, it is adaptable to the elbow joint of bio-robot.The present invention is compared with prior art, devise a kind of brand-new robot joint structure, the joint with nonlinear variable-stiffness muscle property can be simulated, the present invention uses spring leaf as stiffness tuning parts, and spring leaf is as force transmission member, its rigidity can change, for meeting the regulation of spring leaf action length according to action length change, the present invention coordinates driving by Power Component and action executing assembly, just can easily be adjusted the action length of spring leaf by the sliding of moving sliding base.Present invention can be implemented in rigidity constant in the case of, only make articulation structure rotate, i.e. meet the position adjustment of permanent rigidity condition hypozygal structure；The present invention also may be implemented in the case of articulation structure do not rotates, and only changes the rigidity of articulation structure, thus meets the joint operation requirement set under rigidity condition.
Description
Technical field
The invention belongs to bio-robot joint technical field, particularly relate to a kind of stiffness variable robot joint structure, be suitable for
Elbow joint in bio-robot.
Background technology
Along with the development of robotics, if healing robot, Wearable robot, intelligent artificial limb, walking robot etc. are with people
Centered by robot get more and more, physical property man-machine interaction also increases as, and human-computer interaction security and environmental suitability are also subject to
To more extensive concern.In order to meet, robot is high to control accuracy, response is fast, control the requirement of simplification, is driven by motor
Mode ensures the execution precision of robot end, by increasing robot application, but, it also has the spy of high rigidity
Point, and high stiffness characteristics be unfavorable for the requirement of human-computer interaction security.
In terms of sport biomechanics angle, muscle is the power resources of human motion system, and is maintained by the strength of muscle contraction
Or the execution of execution.Muscle has nonlinear variable-stiffness characteristic, it is possible to buffer certain collision, moreover it is possible to absorbs and stores energy
Amount, if it is possible to use for reference human skeleton muscle system, design has the joint of bionic muscle characteristic, just can improve biography
The high stiffness characteristics of system robot, to improve safety and the environmental suitability of man-machine interaction.
At present, with existing many implementations imitating skeletal muscle, as electroluminescent polymerization species artificial-muscle, marmem,
Pneumatic artificial muscle, there is the variation rigidity driver etc. of flexible member, but the implementation of above-mentioned imitation skeletal muscle still cannot be complete
Entirely simulate the characteristic of human joint, and there is power output compared with the deficiency such as little, weight is big, range of movement is little, rigidity is less
Place.
Summary of the invention
The problem existed for prior art, the present invention provides a kind of stiffness variable robot joint structure, it is possible to simulation has non-
The joint of linear variation rigidity muscle property, is effectively improved safety and the environmental suitability of man-machine interaction.
To achieve these goals, the present invention adopts the following technical scheme that a kind of stiffness variable robot joint structure, including big
Arm, big arm support, forearm, forearm bracket and stiffness variable articulation mechanism, described stiffness variable articulation mechanism includes Power Component
And action executing assembly, described Power Component includes central shaft, first drives motor, the first worm screw, the first worm gear, second drives
Galvanic electricity machine, the second worm screw, the second worm gear and sleeve, described action executing assembly includes ring gear, sun gear, planetary gear, OK
Carrier, runner frame, moving sliding base and spring leaf；
Described large arm is fixed on big arm support, and described central shaft is arranged in big arm support by bearing, and central shaft and large arm
Perpendicular；Described forearm is fixed on forearm bracket, and forearm bracket is connected on center shaft by bearing, and forearm and central shaft
Perpendicular；Described sleeve fills on center shaft by bearing holder (housing, cover), and sleeve one side end is set to flange plate structure；
Described first worm screw is arranged in big arm support by bearing, and the first worm screw is paralleled with large arm, and described first drives electricity
Machine and first worm screw one end are connected；Described first worm gear is fixedly set on sleeve, and the first worm gear and the first worm screw are meshed；
Described second worm screw is arranged in big arm support by bearing, and the second worm screw is paralleled with large arm, and described second drives electricity
Machine and second worm screw one end are connected；Described second worm gear is fixedly set on central shaft, and the second worm gear and the second worm screw are meshed；
Described ring gear is enclosed within outside central shaft and is fixedly connected with the end flange dish structure of sleeve, and ring gear and central axis
The heart is arranged；Described sun gear is fixedly set on central shaft, and described planetary gear is between ring gear and sun gear, and planetary gear
It is meshed with ring gear and sun gear simultaneously；
Described planet carrier fills on center shaft by bearing holder (housing, cover), and being connected between described planetary gear and planet carrier has planet wheel spindle, planet
Wheel shaft one end is fixed in planetary gear center, and the planet wheel spindle other end is connected on planet carrier by bearing；
Described runner frame is enclosed within outside central shaft and is fixedly connected with planet carrier, is provided with slideway in runner frame, and slideway and center
Axle is perpendicular；Described moving sliding base is arranged on runner frame by slideway, and moving sliding base is slidably matched with slideway, at moving sliding base
And being provided with crank between planet wheel spindle, crank one end is fixedly connected on planet wheel spindle, and the crank other end is provided with bearing pin,
And bearing pin parallels with central shaft；Being provided with cotter way of stepping down on described moving sliding base, described bearing pin is positioned at cotter way of stepping down；
In described moving sliding base, it is provided with parallel two piece gag lever post, between two gag lever posts, leaves gap；Described spring leaf
One end is fixedly connected on runner frame, and the spring leaf other end is connected with chuck through the gap gag lever post；Prop up at described forearm
Being provided with chute of stepping down on frame, be provided with slide bar in chute of stepping down, described chuck is fixedly connected with the body of rod of slide bar.
Described planetary gear quantity is two, and two planetary gears are symmetrical arranged relative to the longitudinal center line of central shaft.
Common by described planetary gear, planet wheel spindle, crank, bearing pin, moving sliding base, gag lever post, spring leaf, chuck and slide bar
Constituting stiffness variable executive module, stiffness variable executive module is two sets, and two set stiffness variable executive modules are relative to central shaft
Longitudinal center line is symmetrical arranged.
Described forearm bracket uses U-shaped support frame structure.
Beneficial effects of the present invention:
The present invention compared with prior art, devises a kind of brand-new robot joint structure, it is possible to it is firm that simulation has non-linear change
The joint of degree muscle property, the present invention uses spring leaf as stiffness tuning parts, and spring leaf is as force transmission member, and it is firm
Degree can change according to action length change, and for meeting the regulation of spring leaf action length, the present invention passes through Power Component and action
Executive module with the use of, just can easily be adjusted the action length of spring leaf by the sliding of moving sliding base.Present invention can be implemented in
In the case of rigidity is constant, only make articulation structure rotate, i.e. meet the position adjustment of permanent rigidity condition hypozygal structure；This
Invention also may be implemented in the case of articulation structure do not rotates, and only changes the rigidity of articulation structure, thus meets and set rigidity
Under the conditions of joint operation requirement.
Accompanying drawing explanation
Fig. 1 is a kind of stiffness variable robot joint structure structural representation of the present invention；
Fig. 2 is the action executing modular construction schematic diagram being provided with central shaft；
Fig. 3 is the structural representation after forearm and forearm bracket combine with action executing assembly；
Fig. 4 is the structural representation of moving sliding base；
In figure, 1 large arm, 2 big arm supports, 3 forearms, 4 forearm brackets, 5 central shafts, 6 first drive motor,
7 first worm screws, 8 first worm gears, 9 second driving motors, 10 second worm screws, 11 second worm gears, 12 sleeves,
13 ring gears, 14 sun gears, 15 planetary gears, 16 planet carriers, 17 runner frames, 18 moving sliding bases, 19 bullets
Reed, 20 planet wheel spindles, 21 slideways, 22 cranks, 23 bearing pins, 24 step down cotter way, 25 gag lever posts, and 26
Gap, 27 step down chute, 28 slide bars, 29 chucks.
Detailed description of the invention
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1,2,3, 4, a kind of stiffness variable robot joint structure, including large arm 1, big arm support 2, forearm
3, forearm bracket 4 and stiffness variable articulation mechanism, described stiffness variable articulation mechanism includes Power Component and action executing assembly,
Described Power Component include central shaft 5, first drive motor the 6, first worm screw the 7, first worm gear 8, second drive motor 9,
Second worm screw the 10, second worm gear 11 and sleeve 12, described action executing assembly includes ring gear 13, sun gear 14, planetary gear
15, planet carrier 16, runner frame 17, moving sliding base 18 and spring leaf 19；
Described large arm 1 is fixed on big arm support 2, and described central shaft 5 is arranged in big arm support 2 by bearing, and center
Axle 5 is perpendicular with large arm 1；Described forearm 3 is fixed on forearm bracket 4, and forearm bracket 4 is connected to central shaft by bearing
On 5, and forearm 3 is perpendicular with central shaft 5；Described sleeve 12 is contained on central shaft 5 by bearing holder (housing, cover), sleeve 12 side
End is set to flange plate structure；
Described first worm screw 7 is arranged in big arm support 2 by bearing, and the first worm screw 7 is paralleled with large arm 1, and described
One drives motor 6 to be connected with first worm screw 7 one end；Described first worm gear 8 is fixedly set on sleeve 12, the first worm gear 8
It is meshed with the first worm screw 7；
Described second worm screw 10 is arranged in big arm support 2 by bearing, and the second worm screw 10 is paralleled with large arm 1, described
Second drives motor 9 to be connected with second worm screw 10 one end；Described second worm gear 11 is fixedly set on central shaft 5, and second
Worm gear 11 is meshed with the second worm screw 10；
Described ring gear 13 is enclosed within outside central shaft 5 and is fixedly connected with the end flange dish structure of sleeve 12, and ring gear 13 with
Central shaft 5 concentric is arranged；Described sun gear 14 is fixedly set on central shaft 5, and described planetary gear 15 is positioned at ring gear 13
And between sun gear 14, and planetary gear 15 is meshed with ring gear 13 and sun gear 14 simultaneously；
Described planet carrier 16 is contained on central shaft 5 by bearing holder (housing, cover), and being connected between described planetary gear 15 and planet carrier 16 has planet
Wheel shaft 20, planet wheel spindle 20 one end is fixed in planetary gear 15 center, and planet wheel spindle 20 other end is connected to planet by bearing
On frame 16；
Described runner frame 17 is enclosed within outside central shaft 5 and is fixedly connected with planet carrier 16, is provided with slideway 21 in runner frame 17,
And slideway 21 is perpendicular with central shaft 5；Described moving sliding base 18 is arranged on runner frame 17 by slideway 21, moving sliding base
18 are slidably matched with slideway 21, are provided with crank 22 between moving sliding base 18 and planet wheel spindle 20, and crank 22 one end is fixed
It is connected on planet wheel spindle 20, crank 22 other end is provided with bearing pin 23, and bearing pin 23 is paralleled with central shaft 5；?
Being provided with cotter way 24 of stepping down on described moving sliding base 18, described bearing pin 23 is positioned at cotter way 24 of stepping down；
In described moving sliding base 18, it is provided with parallel two piece gag lever post 25, between two gag lever posts 25, leaves gap 26；
Described spring leaf 19 one end is fixedly connected on runner frame 17, and spring leaf 19 other end is through the gap 26 gag lever post 25
It is connected with chuck 29；Described forearm bracket 4 is provided with chute 27 of stepping down, in chute 27 of stepping down, is provided with slide bar 28,
Described chuck 29 is fixedly connected with the body of rod of slide bar 28.
Described planetary gear 15 quantity is two, and two planetary gears 15 are symmetrical arranged relative to the longitudinal center line of central shaft 5.
By described planetary gear 15, planet wheel spindle 20, crank 22, bearing pin 23, moving sliding base 18, gag lever post 25, spring leaf
19, chuck 29 and slide bar 28 collectively form stiffness variable executive module, and stiffness variable executive module is two sets, and two sets are variable just
Degree executive module is symmetrical arranged relative to the longitudinal center line of central shaft 5.
Described forearm bracket 4 uses U-shaped support frame structure.
The first use process of the present invention is described below in conjunction with the accompanying drawings:
Embodiment one: in the case of rigidity is constant, only makes the articulation structure of the present invention rotate.
Start the first driving motor 6 and second simultaneously and drive motor 9, drive motor 6 to drive the first worm screw 7 to rotate by first,
And then drive the first worm gear 8 to rotate, rotated by the rotational band moving sleeve 12 of the first worm gear 8, and then drive ring gear 13 turns
Dynamic；Drive motor 9 to drive the second worm screw 10 to rotate by second, and then drive the second worm gear 11 to rotate, by the second worm gear
The rotational band disorder of internal organs mandrel 5 of 11 rotates, and then drives sun gear 14 to rotate；
Making ring gear 13 and sun gear 14 constant speed rotating in same direction, now planetary gear 15 revolves round the sun only about sun gear 14 and does not occur certainly
Turning, do not carry out rotation due to planetary gear 15, stiffness variable executive module is also failure to actuate, and therefore rigidity does not changes, at planet
Wheel 15, in sun gear 14 process of revolution, only drives planet carrier 16 to rotate around central shaft 5 by planetary gear 15, and then drives
Runner frame 17 rotates around central shaft 5, drives forearm bracket 4 to rotate by spring leaf 19, enter in runner frame 17 rotation process
And drive forearm 3 to rotate, finally realize the purpose making articulation structure rotate in the case of rigidity is constant.
Embodiment two: in the case of the articulation structure of the present invention does not rotates, changes the rigidity of articulation structure.
Start the first driving motor 6 and second simultaneously and drive motor 9, drive motor 6 to drive the first worm screw 7 to rotate by first,
And then drive the first worm gear 8 to rotate, rotated by the rotational band moving sleeve 12 of the first worm gear 8, and then drive ring gear 13 turns
Dynamic；Drive motor 9 to drive the second worm screw 10 to rotate by second, and then drive the second worm gear 11 to rotate, by the second worm gear
The rotational band disorder of internal organs mandrel 5 of 11 rotates, and then drives sun gear 14 to rotate；
Make ring gear 13 and the sun gear 14 rotating ratio gear ratio equal to sun gear 14 with ring gear 13, and ring gear 13 with too
Sun wheel 14 rotates backward, and now planetary gear 15 only carries out rotation without revolving round the sun around sun gear 14, therefore planet carrier 16
Also will not rotate.
During planetary gear 15 only carries out rotation, the rotation first passing through planetary gear 15 drives planet wheel spindle 20 to rotate, and passes through
The rotation of planet wheel spindle 20 drives crank 22 that rotation occurs, and during crank 22 rotation, is stirred mobile sliding by bearing pin 23
Seat 18 slides in slideway 21, changes spring leaf 19 by the slip of moving sliding base 18 and is positioned at gag lever post 25 and slide bar 28
Between length because the spring leaf 19 between gag lever post 25 and slide bar 28 is for transmitting forces, and spring leaf
19 in power transmittance process, and its rigidity is determined by its length completely, when moving sliding base 18 moves to central shaft 5 direction, and position
Spring leaf 19 length between gag lever post 25 and slide bar 28, its rigidity diminishes, otherwise, when moving sliding base 18 away from
When central shaft 5 direction is moved, spring leaf 19 length between gag lever post 25 and slide bar 28 shortens, and its rigidity becomes big.
After adjusting spring leaf 19 corresponding length between gag lever post 25 and slide bar 28 by the way, when forearm 3 is subject to
To external force make articulation structure be forced to rotate time, spring leaf 19 can bend, now slide bar 28 can chute 27 of stepping down in slip
Realizing servo-actuated, until the degree of crook of spring leaf 19 is stable, now, the articulation structure of the present invention has fully met setting rigidity bar
Joint operation requirement under part.
Scheme in embodiment is also not used to limit the scope of patent protection of the present invention, all equivalence enforcement done without departing from the present invention
Or change, it is both contained in the scope of the claims of this case.
Claims (4)
1. a stiffness variable robot joint structure, closes including large arm, big arm support, forearm, forearm bracket and stiffness variable
Joint mechanism, described stiffness variable articulation mechanism includes Power Component and action executing assembly, it is characterised in that: described Power Component
Including central shaft, first drive motor, the first worm screw, the first worm gear, second drive motor, the second worm screw, the second worm gear and
Sleeve, described action executing assembly includes ring gear, sun gear, planetary gear, planet carrier, runner frame, moving sliding base and spring
Sheet；
Described large arm is fixed on big arm support, and described central shaft is arranged in big arm support by bearing, and central shaft and large arm
Perpendicular；Described forearm is fixed on forearm bracket, and forearm bracket is connected on center shaft by bearing, and forearm and central shaft
Perpendicular；Described sleeve fills on center shaft by bearing holder (housing, cover), and sleeve one side end is set to flange plate structure；
Described first worm screw is arranged in big arm support by bearing, and the first worm screw is paralleled with large arm, and described first drives electricity
Machine and first worm screw one end are connected；Described first worm gear is fixedly set on sleeve, and the first worm gear and the first worm screw are meshed；
Described second worm screw is arranged in big arm support by bearing, and the second worm screw is paralleled with large arm, and described second drives electricity
Machine and second worm screw one end are connected；Described second worm gear is fixedly set on central shaft, and the second worm gear and the second worm screw are meshed；
Described ring gear is enclosed within outside central shaft and is fixedly connected with the end flange dish structure of sleeve, and ring gear and central axis
The heart is arranged；Described sun gear is fixedly set on central shaft, and described planetary gear is between ring gear and sun gear, and planetary gear
It is meshed with ring gear and sun gear simultaneously；
Described planet carrier fills on center shaft by bearing holder (housing, cover), and being connected between described planetary gear and planet carrier has planet wheel spindle, planet
Wheel shaft one end is fixed in planetary gear center, and the planet wheel spindle other end is connected on planet carrier by bearing；
Described runner frame is enclosed within outside central shaft and is fixedly connected with planet carrier, is provided with slideway in runner frame, and slideway and center
Axle is perpendicular；Described moving sliding base is arranged on runner frame by slideway, and moving sliding base is slidably matched with slideway, at moving sliding base
And being provided with crank between planet wheel spindle, crank one end is fixedly connected on planet wheel spindle, and the crank other end is provided with bearing pin,
And bearing pin parallels with central shaft；Being provided with cotter way of stepping down on described moving sliding base, described bearing pin is positioned at cotter way of stepping down；
In described moving sliding base, it is provided with parallel two piece gag lever post, between two gag lever posts, leaves gap；Described spring leaf
One end is fixedly connected on runner frame, and the spring leaf other end is connected with chuck through the gap gag lever post；Prop up at described forearm
Being provided with chute of stepping down on frame, be provided with slide bar in chute of stepping down, described chuck is fixedly connected with the body of rod of slide bar.
A kind of stiffness variable robot joint structure the most according to claim 1, it is characterised in that: described planetary gear quantity
Being two, two planetary gears are symmetrical arranged relative to the longitudinal center line of central shaft.
A kind of stiffness variable robot joint structure the most according to claim 1, it is characterised in that: by described planetary gear,
Planet wheel spindle, crank, bearing pin, moving sliding base, gag lever post, spring leaf, chuck and slide bar collectively form stiffness variable execution group
Part, stiffness variable executive module is two sets, and two set stiffness variable executive modules are symmetrical arranged relative to the longitudinal center line of central shaft.
A kind of stiffness variable robot joint structure the most according to claim 1, it is characterised in that: described forearm bracket is adopted
Use U-shaped support frame structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510439726.XA CN105108771B (en) | 2015-07-23 | 2015-07-23 | A kind of stiffness variable robot joint structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510439726.XA CN105108771B (en) | 2015-07-23 | 2015-07-23 | A kind of stiffness variable robot joint structure |
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| Publication Number | Publication Date |
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| CN105108771A CN105108771A (en) | 2015-12-02 |
| CN105108771B true CN105108771B (en) | 2016-08-31 |
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| CN201510439726.XA Expired - Fee Related CN105108771B (en) | 2015-07-23 | 2015-07-23 | A kind of stiffness variable robot joint structure |
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Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105599004B (en) * | 2016-03-23 | 2017-06-20 | 华南理工大学 | A kind of adjustable Robot elastic joint of rigidity |
| CN108202322B (en) * | 2016-07-18 | 2020-11-20 | 南京云主信息科技有限公司 | Robot with fixed rotation angle execution tail end |
| CN106137687B (en) * | 2016-08-17 | 2017-09-05 | 中国人民解放军63908部队 | A kind of lower limb exoskeleton robot |
| CN106737821B (en) * | 2017-01-12 | 2019-03-12 | 哈尔滨工业大学 | A kind of variation rigidity mechanism based on geometrical property |
| CN107030729B (en) * | 2017-06-14 | 2019-11-29 | 东北大学 | A kind of apery elbow joint |
| CN108297126A (en) * | 2018-02-05 | 2018-07-20 | 歌思（天津）低温设备有限公司 | A kind of joint of mechanical arm structure |
| CN108527436B (en) * | 2018-05-11 | 2021-01-15 | 吉林大学 | High-speed stable joint imitating ostrich |
| CN108890689B (en) * | 2018-07-27 | 2020-11-10 | 北京航天控制仪器研究所 | Variable-rigidity joint of flexible robot |
| CN110356846A (en) * | 2018-09-03 | 2019-10-22 | 上海北昂医药科技股份有限公司 | Automatically it grabs and send device and its automatic catching mechanism |
| CN109227596B (en) * | 2018-10-22 | 2022-02-22 | 哈尔滨工业大学（深圳） | Variable-rigidity flexible joint device |
| CN111015729A (en) * | 2019-12-25 | 2020-04-17 | 中国科学院沈阳自动化研究所 | Human elbow joint-simulated robot variable-stiffness joint |
| CN111716344A (en) * | 2020-07-20 | 2020-09-29 | 郑州轻工业大学 | Variable-rigidity elastic driver |
| CN112757277A (en) * | 2021-01-07 | 2021-05-07 | 之江实验室 | Variable-rigidity flexible joint |
| CN115847390B (en) * | 2022-12-21 | 2024-06-25 | 四川大学 | Joint driver with adjustable rigidity of conductive structure |
-
2015
- 2015-07-23 CN CN201510439726.XA patent/CN105108771B/en not_active Expired - Fee Related
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