CN105599006A - Two-motor driven variable-stiffness elastic joint of robot - Google Patents
Two-motor driven variable-stiffness elastic joint of robot Download PDFInfo
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- CN105599006A CN105599006A CN201610173400.1A CN201610173400A CN105599006A CN 105599006 A CN105599006 A CN 105599006A CN 201610173400 A CN201610173400 A CN 201610173400A CN 105599006 A CN105599006 A CN 105599006A
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- robot
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- elastic joint
- output shaft
- hollow shaft
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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
- B25J17/0258—Two-dimensional joints
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Abstract
The invention discloses a two-motor driven variable-stiffness elastic joint of a robot. The two-motor driven variable-stiffness elastic joint comprises an output shaft, a flexible transmission mechanism and a driving end which are positioned on the same rotating axial line, wherein the driving end comprises two hollow shaft driving motors coaxially connected to two ends of the flexible transmission mechanism in a driving manner; the output shaft is fixedly connected with the middle part of the flexible transmission mechanism, and one end of the output shaft penetrates through and extends out of hollow shafts of the hollow shaft driving motors; under the impact of different loads on the output shaft, the two hollow shaft driving motors change an included rotation angle between the two motors to adjust the length of a force arm of the flexible transmission mechanism for driving the output shaft to rotate, thus adjusting the stiffness and realizing elastic buffering. The two-motor driven variable-stiffness elastic joint of the robot has the characteristics of high real-time response speed and high adjustment precision; the safety and the environment friendliness of the robot are improved; the two-motor driven variable-stiffness elastic joint is simple, portable, high in universality and wide in application range.
Description
Technical field
The present invention relates to a kind of robot bionic joint, the rigidity that is specially a kind of Dual-motors Driving canThe robot elastic joint of adjusting, this device goes for various revolute robots, raising machineDevice people's security and the friendliness to environment.
Background technology
For a long time, traditional joint of robot design theory is thought, for Power Drive UnitAnd the mechanical connection manner between the hinge of joint should be paid the utmost attention to the transmission mechanism that rigidity is larger. CauseThis, at joint machines such as industrial machine arm, bionical multi-foot robot and rehabilitation medical artificial limbsIn people's research, generally adopt motor output shaft and articulation mechanism to carry out rigidly connected driving sideCase, it is advantageous that simple in structure, accurate positioning, response are quick, thereby meets various operationsDemand with application. But this drive scheme is more easily subject to robot owing to lacking complianceDamage to the impact of external impact, even the mankind of cooperation are with it damaged, simultaneously rightRealize also Shortcomings and the shortcoming of target such as self-adjusting contact, low energy consumption campaign in robot. BecomeRigidity elastic driving joint can make flexible mechanical arm system as mankind's muscle, runs into impactTime can be suitable bending, thereby the energy that damp impacts etc. produce obtains picture raw simultaneouslyThe sense of touch that object is the same, the extraneous resistance of perception is to produce reaction, thereby reach protection arm andThe effect of environment. In addition, as muscle, absorb, store, again utilize energy, not only carryHigh capacity usage ratio, and eliminate to a certain extent machinery concussion, alleviate the machine of partsTool damage.
At present, domestic also considerably less to the research of elastic joint. Through the inspection to prior art documentSuo Faxian, from existing disclosed series connection elastic driving joint, major part does not have stiffness tuningFunction, as the Yang Qi of Jiangsu University will etc. proposes a kind of based on the elastomeric soft bullet of Archimedes spiralProperty joint, patent publication No. CN105082170A, its elastomer adopts two coil component spring sheets,On spring leaf, have archimedes spiral groove to increase flexibility of joint, although this device compact conformationBut range of movement is limited and can not carry out stiffness tuning. Even if there is at present this spring of only a few on chipPut with stiffness tuning, also have the problems such as integrated level is lower, comparatively heavy, versatility is poor,As the joint of robot of a kind of stiffness variable of people's propositions such as the Huang Qiang of Beijing Institute of Technology, patent public affairsThe number of opening CN104440936A, has installed the main friction plate of a slice and two secondary friction plates on joint,Apply under pretightning force effect and produce frictional force at bolt, utilize the frictional behavior of friction plate to carry out justDegree regulates, but friction plate belongs to running stores, after use a period of time, will lose original functionNeed periodic replacement, and it establishes two stage stiffness and regulate, can not realize linear adjustable rigidity spyProperty. The more important thing is, current published rigidity adjustable flexibility joint has all been used a motorBe responsible for driving joint, another motor regulates rigidity, and not responsible driving joint, so forThe power of stiffness tuning motor has formed waste; And if use low performance stiffness tuning motor,Be difficult to again ensure that joint stiffness can be adjusted in time in the situation that running into collision.
Summary of the invention
The object of the invention is to overcome the deficiency in existing joint of robot design, propose a kind ofThe robot of Dual-motors Driving becomes rigidity elastic joint, and it can be installed on great majority and adopt rotation to closeIn the robot of joint. The present invention uses two drive motors driving joint simultaneously, meanwhile, and twoAngle between motor, by the effective length of quadric chain regulating spring sheet, changes joint firmDegree, realizes elastic buffer.
The present invention is achieved by the following technical solutions:
The robot of Dual-motors Driving becomes a rigidity elastic joint, comprises and is positioned at same rotating shaftOutput shaft on line, flexible drive mechanism, drive end, described drive end comprises two coaxiallyDriving is connected in the hollow shaft drive motors at described flexible drive mechanism two ends, described output shaftBe fixedly connected with described flexible drive mechanism middle part and hollow shaft driving pass and extended in one endOutside the hollow shaft of motor, described output shaft drives by two hollow shafts in the time being subject to different loads impactThe rotation angle adjustment flexible drive mechanism that moving motor changes between two motors drives described defeatedArm of force length when shaft rotates realizes rigidity adjustment.
Further, described flexible drive mechanism comprises that elasticity force transmission mechanism and rigidity regulate machineStructure, described elasticity force transmission mechanism is fixed on output shaft coaxially, described stiffness adjustment mechanismTwo ends connect respectively hollow shaft drive motors, and middle part and described elasticity force transmission mechanism are slidably connected.
Further, described drive end also comprise be arranged at respectively flexible drive mechanism two ends,For fixing the fixed head of two hollow shaft drive motors housings.
Further, described elasticity force transmission mechanism comprises the spring base, being fixed on output shaftEnd is radially evenly fixed on the some Rectangular Spring sheets on spring base, described spring leaf along output shaftTwo sides and the stiffness adjustment mechanism of length direction are slidably connected.
Further, described stiffness adjustment mechanism comprises annular first driver plate of coaxial settingAnd annular the second driver plate, between the first driver plate and the second driver plate some firstKinematic link, the second kinematic link and slide block mechanism, described the first driver plate and described the first skyThe output of axle drive motors is connected, and described the second driver plate and described the second hollow shaft driveThe output of motor is connected; Each first kinematic link one end is along being circumferentially evenly hinged on the first transmissionPanel edges, the other end is hinged with each slide block mechanism movable upper end respectively; Each the second kinematic linkOne end is along being circumferentially evenly hinged on the second driver plate edge, the other end respectively with each slide block mechanismLower end is movably hinged; The two sides of described slide block mechanism middle part and described spring leaf length directionClose contact and can moving back and forth along described spring leaf length direction.
Two motors cooperate jointly, by the rotation variable angle between two motors, adjust instituteState the effective length of the stiffness adjustment mechanism regulating spring sheet of flexible drive mechanism, change joint firmDegree, realizes elastic buffer, when described the first hollow shaft drive motors and the driving of the second hollow shaftWhen angle between motor changes, drive the angle of described the first driver plate, the second driver plate to changeBecome, and then mobile each kinematic link, and then move each slide block mechanism and slide along spring leaf, adjustThe effective length of spring leaf, changes joint stiffness, realizes elastic buffer.
Further, described slide block mechanism comprises adjusting slider, and the middle part of described adjusting slider is passed throughWear and be provided with the cavern part passing for described spring leaf, in described cavern part, be symmetrically arranged with twoThe roll shaft that clamps and can roll along the two sides of spring leaf length direction.
Further, described roll shaft is installed on digging of described spring leaf by rolling bearing and bearing pinIn sky portion.
The present invention has the following advantages compared to existing technology:
1) adopt Dual Drive motor that power is provided, jointly drive flexible joint to increase work efficiency,Real time response speed is fast, degree of regulation is high.
2) two drive motors cooperate jointly, the active length of regulating spring sheet, change jointStiffness tuning has been realized the adjusting from full rigidity to very big flexibility, as muscle, absorb, store,Again utilize energy, not only improved capacity usage ratio, and eliminate machinery to a certain extentShake, alleviate the mechanical damage of parts, environmentally friendly, there is greater security.
3) whole articulation structure compactness, simply light, and highly versatile, has wide range of applications.
Brief description of the drawings
Fig. 1 shows the general structure schematic diagram in rigidity adjustable elastic joint.
Fig. 2 shows the output shaft structure chart in rigidity adjustable elastic joint.
Fig. 3 shows the flexible drive mechanism schematic diagram in rigidity adjustable elastic joint.
In figure: 1 first fixed head, 2 second fixed heads, 3 first hollow shaft drive motors,4 second hollow shaft drive motors, 5 flexible drive mechanisms, 6 first driver plates, 7Two driver plates, 8 first kinematic links, 9 second kinematic links, 10 adjusting sliders, 11Output shaft, 12 spring bases, 13 spring leafs.
Detailed description of the invention
Below embodiments of the invention are elaborated, the present embodiment is with the technology of the present invention sideCase is to implement under prerequisite, has provided detailed embodiment and concrete operating process, butProtection scope of the present invention is not limited to following embodiment.
As shown in Figure 1 to Figure 3, a kind of robot of Dual-motors Driving becomes rigidity elastic joint,Comprise the output shaft 11, the flexible drive mechanism 5 that are positioned on same rotation, drive end, instituteState drive end and comprise that two drive the sky that is connected in described flexible drive mechanism 5 two ends coaxiallyAxle drive motors, described drive end also comprise be arranged at respectively flexible drive mechanism 5 two ends,For fixing the fixed head of two hollow shaft drive motors housings; Described output shaft 11 and instituteState that flexible drive mechanism 5 middle parts are fixedly connected with and one end is passed and extended to hollow shaft and drives electricityOutside the hollow shaft of machine, described output shaft 11 passes through two hollow shafts in the time being subject to different loads impactThe rotation angle adjustment flexible drive mechanism 5 that drive motors changes between two motors drives instituteArm of force length when stating output shaft 11 and rotating realizes rigidity adjustment.
As shown in Figures 2 and 3, described flexible drive mechanism 5 comprise elasticity force transmission mechanism andStiffness adjustment mechanism, described elasticity force transmission mechanism comprises the spring base being fixed on output shaft 1112, one end is radially evenly fixed on four Rectangular Spring sheets on spring base 12 along output shaft 113, two sides and the stiffness adjustment mechanism of described spring leaf 13 length directions are slidably connected. InstituteThe stiffness adjustment mechanism of stating comprises that annular the first driver plate 6 and the annular second of coaxial setting passMoving plate 7, four the first transmissions between the first driver plate 6 and the second driver plate 7 connectBar 8, four the second kinematic links 9 and four slide block mechanisms 10, described the first driver plate 6 withThe output of described the first hollow shaft drive motors 3 is connected, described the second driver plate 7 with described inThe output of the second hollow shaft drive motors 4 is connected; Each first kinematic link 8 one end are along circumferentialEvenly be hinged on the first driver plate 6 edges, the other end respectively with each slide block mechanism 10 upper endsBe movably hinged; Each second kinematic link 9 one end are along being circumferentially evenly hinged on the second driver plate 7 limitsEdge, the other end is movably hinged with each slide block mechanism 10 lower ends respectively; Described slide block mechanism 10Comprise adjusting slider, the middle part of described adjusting slider is penetratingly provided with for described spring leaf 13 and wearsThe cavern part of crossing, in described cavern part, being symmetrically arranged with two clampings also can be long along spring leaf 4The roll shaft rolling in the two sides of degree direction, described roll shaft is installed on institute by rolling bearing and bearing pinState in the cavern part of spring leaf 13, i.e. described slide block mechanism 10 and described spring leaf 13 lengthThe two sides close contact of direction and can moving back and forth along described spring leaf 13 length directions is slidingWhen block mechanism 10 moves back and forth along described spring leaf 13 length directions, adopt friction between the twoThe form of the few rolling friction of power, had both saved energy consumption, can reduce again both wearing and tearing, carriedThe service life of high spring leaf 13 and job stability, reliability.
Two motors cooperate jointly, by the rotation variable angle between two motors, adjust instituteState the effective length of the stiffness adjustment mechanism regulating spring sheet of flexible drive mechanism, change joint firmDegree, realizes elastic buffer, when described the first hollow shaft drive motors and the driving of the second hollow shaftWhen angle between motor changes, drive the folder of described the first driver plate 6, the second driver plate 7Angle changes, and then mobile each kinematic link, and then mobile each slide block mechanism is sliding along spring leaf 13Moving, the effective length of adjustment spring leaf 13, changes joint stiffness, realizes elastic buffer.
The power transmission path of the present embodiment comprises: the first hollow shaft drive motors 3, the second skyAxle drive motors 4, the first driver plates 6, the second driver plate 7, the first kinematic link 8,Two kinematic links 9, adjusting slider 10, spring leaf 13, spring base 12, output shaft 11.
Rigidity method of adjustment of the present invention is: the first hollow shaft drive motors 3, the second hollow shaftWhen angle between drive motors 4 changes, drive the first driver plate 6, the second driver plate 7Angle changes, mobile each kinematic link then, thus mobile adjusting slider 10 is along spring leaf 13Length direction moves, and adjusts the effective length of spring leaf 13, changes joint stiffness.
The above embodiment of the present invention is only for example of the present invention is clearly described, andIt is not the restriction to embodiments of the present invention. Come for those of ordinary skill in the fieldSay, can also make other changes in different forms on the basis of the above description. ThisIn without also giving exhaustive to all embodiments. All in the spirit and principles in the present inventionWithin do any amendment, be equal to and replace and improvement etc., all should be included in right of the present invention and wantWithin the protection domain of asking.
Claims (7)
1. the robot of Dual-motors Driving becomes a rigidity elastic joint, comprises and is positioned at same rotationOutput shaft (11) on axis, flexible drive mechanism (5), drive end, is characterized in that: described inDrive end comprises that two drive and are connected in the hollow of described flexible drive mechanism (5) two ends coaxiallyAxis drive motor, described output shaft (11) is fixedly connected with described flexible drive mechanism (5) middle partAnd one end is passed and extended to outside the hollow shaft of hollow shaft drive motors, described output shaft (11) existsWhile being subject to different loads impact, change turning between two motors by two hollow shaft drive motorsArm of force length when moving angle adjustment flexible drive mechanism (5) drives described output shaft (11) to rotateRealize rigidity adjustment.
2. the robot of Dual-motors Driving according to claim 1 becomes rigidity elastic joint,It is characterized in that: described flexible drive mechanism (5) comprises that elasticity force transmission mechanism and rigidity regulate machineStructure, it is upper that described elasticity force transmission mechanism is fixed on output shaft (11) coaxially, and described rigidity regulatesMechanism two ends connect respectively hollow shaft drive motors, and middle part and described elasticity force transmission mechanism slide and connectConnect.
3. the robot of Dual-motors Driving according to claim 1 becomes rigidity elastic joint,It is characterized in that: described drive end also comprise be arranged at respectively flexible drive mechanism (5) two ends,For fixing the fixed head of two hollow shaft drive motors housings.
4. the robot of Dual-motors Driving according to claim 2 becomes rigidity elastic joint,It is characterized in that: described elasticity force transmission mechanism comprises the spring base being fixed on output shaft (11)(12), one end is radially evenly fixed on the some Rectangular Springs on spring base (12) along output shaft (1)Sheet (13), two sides and the stiffness adjustment mechanism of described spring leaf (13) length direction are slidably connected.
5. the robot of Dual-motors Driving according to claim 4 becomes rigidity elastic joint,It is characterized in that: described stiffness adjustment mechanism comprises annular first driver plate (6) of coaxial settingAnd annular the second driver plate (7), be positioned at the first driver plate (6) and the second driver plate (7) if betweenDry the first kinematic link (8), the second kinematic link (9) and slide block mechanism (10), described the first transmissionPlate (6) is connected with the output of described the first hollow shaft drive motors (3), described the second driver plate (7)Be connected with the output of described the second hollow shaft drive motors (4); Each the first kinematic link (8)End is along being circumferentially evenly hinged on the first driver plate (6) edge, the other end respectively with each slide block mechanism(10) movable upper end is hinged; Each the second kinematic link (9) one end is along being circumferentially evenly hinged on the second biographyMoving plate (7) edge, the other end is movably hinged with each slide block mechanism (10) lower end respectively; Described cunningThe two sides close contact of block mechanism (10) middle part and described spring leaf (13) length direction and canMove back and forth along described spring leaf (13) length direction.
6. the robot of Dual-motors Driving according to claim 5 becomes rigidity elastic joint,It is characterized in that: described slide block mechanism (10) comprises adjusting slider, the middle part of described adjusting sliderPenetratingly be provided with the cavern part passing for described spring leaf (13), in described cavern part, be symmetrical arrangedThere are two roll shafts that clamp and can roll along the two sides of spring leaf (4) length direction.
7. the robot of Dual-motors Driving according to claim 6 becomes rigidity elastic joint,It is characterized in that: described roll shaft is installed on described spring leaf (13) by rolling bearing and bearing pinIn cavern part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610173400.1A CN105599006A (en) | 2016-03-23 | 2016-03-23 | Two-motor driven variable-stiffness elastic joint of robot |
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| CN201610173400.1A CN105599006A (en) | 2016-03-23 | 2016-03-23 | Two-motor driven variable-stiffness elastic joint of robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106142132A (en) * | 2016-09-22 | 2016-11-23 | 电子科技大学中山学院 | Robot flexible joint with continuously adjustable rigidity |
| CN108000554A (en) * | 2017-11-30 | 2018-05-08 | 中国矿业大学 | A kind of stiffness variable flexible joint and its control method based on leaf spring |
| CN108527372A (en) * | 2018-06-22 | 2018-09-14 | 中国科学技术大学 | A kind of joint of robot self-adaptation control method of variation rigidity series elastic driver |
| CN108714913A (en) * | 2018-06-06 | 2018-10-30 | 清华大学 | Variation rigidity flexible actuator |
| CN109318253A (en) * | 2018-11-08 | 2019-02-12 | 中国矿业大学 | Variation rigidity flexible joint system and control method based on electromagnetism buckling girder construction |
| CN109434815A (en) * | 2018-11-27 | 2019-03-08 | 东南大学 | A kind of snake-shaped robot and its joint trajectories/stiffness reliability method based on CPG model |
| CN112869778A (en) * | 2021-01-11 | 2021-06-01 | 北京航空航天大学 | Variable rigidity throat swab holder |
| CN114905541A (en) * | 2022-04-06 | 2022-08-16 | 重庆奔腾科技发展有限公司 | Variable rigidity robot joint |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106142132A (en) * | 2016-09-22 | 2016-11-23 | 电子科技大学中山学院 | Robot flexible joint with continuously adjustable rigidity |
| CN108000554A (en) * | 2017-11-30 | 2018-05-08 | 中国矿业大学 | A kind of stiffness variable flexible joint and its control method based on leaf spring |
| CN108000554B (en) * | 2017-11-30 | 2021-07-06 | 中国矿业大学 | Leaf spring-based variable-rigidity flexible joint and control method thereof |
| CN108714913A (en) * | 2018-06-06 | 2018-10-30 | 清华大学 | Variation rigidity flexible actuator |
| CN108527372A (en) * | 2018-06-22 | 2018-09-14 | 中国科学技术大学 | A kind of joint of robot self-adaptation control method of variation rigidity series elastic driver |
| CN109318253A (en) * | 2018-11-08 | 2019-02-12 | 中国矿业大学 | Variation rigidity flexible joint system and control method based on electromagnetism buckling girder construction |
| CN109318253B (en) * | 2018-11-08 | 2021-05-07 | 中国矿业大学 | Variable-rigidity flexible joint system based on electromagnetic buckling beam structure and control method |
| CN109434815A (en) * | 2018-11-27 | 2019-03-08 | 东南大学 | A kind of snake-shaped robot and its joint trajectories/stiffness reliability method based on CPG model |
| CN109434815B (en) * | 2018-11-27 | 2021-08-06 | 东南大学 | CPG model-based snake-shaped robot and joint track/rigidity control method thereof |
| CN112869778A (en) * | 2021-01-11 | 2021-06-01 | 北京航空航天大学 | Variable rigidity throat swab holder |
| CN114905541A (en) * | 2022-04-06 | 2022-08-16 | 重庆奔腾科技发展有限公司 | Variable rigidity robot joint |
| CN114905541B (en) * | 2022-04-06 | 2024-03-22 | 重庆奔腾科技发展有限公司 | Variable-rigidity robot joint |
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