CN106737818B - A kind of flexible machine person joint of stiffness variable - Google Patents
A kind of flexible machine person joint of stiffness variable Download PDFInfo
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- CN106737818B CN106737818B CN201611217657.9A CN201611217657A CN106737818B CN 106737818 B CN106737818 B CN 106737818B CN 201611217657 A CN201611217657 A CN 201611217657A CN 106737818 B CN106737818 B CN 106737818B
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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
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Abstract
A kind of flexible machine person joint of stiffness variable, it is related to a kind of joint of robot, with the impact force generated when solving existing legged type robot foot and ground rigid contact, cause very big energy loss, the problem of robot motion's reduced performance, it includes position adjusting mechanism, stiffness tuning mechanism and transmission mechanism；The position adjusting mechanism includes power driving mechanism, connection frame and two sets of linear movement devices；The transmission mechanism includes transmission shaft, foot attachment base, two motion bars, two limited blocks and two joint bearing blocks；The stiffness tuning mechanism includes two elastic elements and two connecting rods；The connection frame is fixedly connected on the foot attachment base, the foot attachment base is fixedly mounted on the transmission shaft, the two sides of the foot attachment base are respectively arranged with a motion bar perpendicular to transmission shaft, and two sets of linear movement devices are slidably mounted on connection frame.The present invention is used for biped robot.
Description
Technical field
The present invention relates to a kind of joint of robot, belong to robot field.
Background technique
Joint of robot is the important component of robot, plays very important effect to legged type robot movement.
The legged type robot in rigid joint can generate huge impulse force, this wink in the moment of foot and ground face contact in the process of walking
Between impact force can cause certain damage to the component of composition robot, and will affect the stability of robot motion, and
And this rigid contact can make robot cause very big energy loss during the motion, further reduced legged type robot
Sport efficiency.Therefore, it avoids robot from carrying out rigid contact reduction between ground during the motion and contacts rushing for generation
Power is of great significance to the research of legged type robot.Scholars have by research mankind's lower extremity movement discovery, mankind's lower limb
Enough flexibilities can not only allow people to realize smooth, labour-saving double feet walking, and can protect the joint of lower limb.Under the mankind
Limb is flexible, energy conservation, absorbs the characteristics of impact for legged type robot, has highly important reference.Based on this, originally
A kind of stiffness variable flexible machine person joint that invention proposes has the ability that can actively adjust joint stiffness, is conducive to reduce foot
The impact force that formula robot foot section generates when being contacted with ground, and further increase the energy efficiency of robot.
Summary of the invention
The present invention is the impact force to generate when solving existing legged type robot foot and ground rigid contact, is caused very big
Energy loss, the problem of robot motion's reduced performance, and then provide a kind of flexible machine person joint of stiffness variable.
The technical solution adopted by the present invention to solve the above problem is as follows: a kind of flexible machine person joint of stiffness variable includes
Position adjusting mechanism, stiffness tuning mechanism and transmission mechanism；The position adjusting mechanism include power driving mechanism, connection frame and
Two sets of linear movement devices；The transmission mechanism includes transmission shaft, foot attachment base, two motion bars, two limited blocks and two
Joint bearing block；The stiffness tuning mechanism includes two elastic elements and two connecting rods；
The connection frame is fixedly connected on the foot attachment base, and the foot attachment base is fixedly mounted on the transmission
On axis, the two sides of the foot attachment base are respectively arranged with a motion bar perpendicular to transmission shaft, two activities
One end of bar is rotatably installed on the transmission shaft, and the both ends of the transmission shaft on the outside of two motion bars are respectively installed
There is the joint bearing block, and the transmission shaft energy opposed articulation bearing block rotates, the two sides point of the joint bearing block
Be not fixedly mounted a limited block of restricted motion bar rotation, two motion bars with the axle center of the transmission shaft at
Central symmetry；The top of two motion bars is respectively disposed with the connecting rod parallel with the motion bar, the work
The elastic element being fixedly connected with the two is disposed between the other end of lever and one end of the connecting rod；
Two sets of linear movement devices are slidably mounted on connection frame, the axial direction of the transmission shaft and the linear movement device
Moving direction it is vertical, two motion bars and two linear movement devices correspond arrangement, the electric drive machine
The output end of structure drives two sets of linear movement devices opposite frictional movement on corresponding motion bar.
Further, the power driving mechanism includes driving motor and gear, and every set linear movement device includes rack gear, cunning
Moving part and contact bar, are set side by side that there are two sliding rails on the connection frame；The transmission shaft is vertically arranged with two sliding rails,
The sliding part is slidably mounted on the sliding rail, and the rack gear is connect with the sliding part, the end connection of the sliding part
There is the contact bar for contacting the motion bar, the axial direction of the driving motor is vertically arranged, the output end connection of the driving motor
There is the gear, the gear is engaged with two rack gears.
Further, the connection frame further includes two sets of positioning devices, and the sliding rail is cylindrical guide bars, the sliding
Part is linear bearing, and the linear bearing is mounted on the cylindrical guide bars, two sets of positioning devices and two sets of straight lines
Shifter is arranged in a one-to-one correspondence, and positioning device described in every set includes upper plate, lower plate and connecting plate；Between the upper plate and the lower plate
Away from being arranged and connecting respectively with the connection frame, the rack gear is arranged between the upper plate and the lower plate and is supported on described
In lower plate, the rack gear is connect by connecting plate with the linear bearing.
Further, the position adjusting mechanism further includes shaft coupling；The output end of the driving motor and the gear
Between be disposed with both the shaft coupling that connect.
Further, the elastic element is helical spring.
Further, each motion bar is L shape, and the long-armed of the motion bar is rotatably installed on the transmission shaft,
The restricted motion bar rotation is fixedly mounted adjacent to long-armed one end of the motion bar in the two sides of the joint bearing block respectively
The limited block turned, the long-armed other end of the motion bar are connect with one end of the galianconism of the motion bar, the activity
The helical spring being fixedly connected with the two is disposed between the other end of the galianconism of bar and one end of the connecting rod.
Further, the foot attachment base includes connection pedestal and U-shaped foot connector；The fixed peace of the connection pedestal
On the transmission shaft, the connection frame is fixedly connected on the connection pedestal, and the connection pedestal is fixedly mounted on institute
It states in U-shaped foot connector.
Further, a kind of flexible machine person joint of stiffness variable further includes servo-actuated belt wheel, the transmission shaft
One end is equipped with a servo-actuated belt wheel.
The beneficial effects of the present invention are: the present invention is based on lever principle, using the method for changing load active position come real
The adjusting of existing rigidity changes the position that load applies by motor-driven gear rack movement, to change rigidity；Work as transmission shaft
When rotation, the contact bar of importation can push down motion bar, motion bar will draft helical spring, this process closes ankle
The rotation of section generates the moment of resistance, shows as the rigidity of robot anklebone.
The flexible machine person joint that the present invention develops can active adjusting joint rigidity, and then realize joint of robot
Flexible drive.The joint stiffness can realize real-time on-line control in robot kinematics, so that robot motion's property
It can be improved.
Detailed description of the invention
Fig. 1 is overall structure of the present invention；
Fig. 2 is position adjusting mechanism, stiffness tuning mechanism and transmission mechanism annexation figure with driving pulley；
Fig. 3 is position adjusting mechanism sectional structure chart；
Fig. 4 is stiffness tuning mechanism and transmission mechanism annexation figure；
Fig. 5 is schematic diagram of transmission mechanism.
Specific embodiment
To further illustrate the technical scheme of the present invention below with reference to the accompanying drawings and specific embodiments.
If Fig. 1-Fig. 5 illustrates, a kind of flexible machine person joint of stiffness variable of present embodiment includes that position adjusts machine
Structure, stiffness tuning mechanism and transmission mechanism；
The position adjusting mechanism includes power driving mechanism 11, connection frame 12 and two sets of linear movement devices 13；The biography
Motivation structure includes transmission shaft 21, the limited block 24 of motion bar 23, two of foot attachment base 22, two and two joint bearing blocks 35；
The stiffness tuning mechanism includes two elastic elements 31 and two connecting rods 32；
The connection frame 12 is fixedly connected on the foot attachment base 22, and the foot attachment base 22 is fixedly mounted on institute
It states on transmission shaft 21, the two sides of the foot attachment base 22 are respectively arranged with a motion bar perpendicular to transmission shaft 21
23, one end of two motion bars 23 is rotatably installed on the transmission shaft 21, on the outside of two motion bars 23
The both ends of the transmission shaft 21 are respectively equipped with the joint bearing block 35, and the transmission shaft 21 can opposed articulation bearing block
The limited block that the restricted motion bar 23 rotates is fixedly mounted in 35 rotations, the two sides of the joint bearing block 35 respectively
24, two motion bars 23 are in a center of symmetry with the axle center of the transmission shaft 21；Each cloth in top of two motion bars 23
It is equipped with one parallel with the motion bar 23 connecting rod 32, the other end of the motion bar 23 and the connecting rod 32
The elastic element 31 being fixedly connected with the two is disposed between one end；
Two sets of linear movement devices 13 are slidably mounted on connection frame 12, the axial direction of the transmission shaft 21 and the straight line
The moving direction of shifter 13 is vertical, and two motion bars 23 and two linear movement devices 13 correspond arrangement, institute
The output end for stating electric driving mechanism 11 drives two sets of linear movement devices 13 phase on corresponding motion bar 23
To frictional movement.
Transmission shaft 21 is equivalent to the fulcrum of lever, and motion bar 23 is equivalent to lever, and the contact for the device 13 that moves linearly is in lever
Upper position is exactly the position that load applies, and position of the elastic element 31 on lever is fixed and invariable.When contact is along activity
Bar 23 is equivalent to the position of power when moving and moves along motion bar, the rigidity of linear stretch elastic element 31 be it is constant, from
And the rotational stiffness for showing as entire joint changes with the movement of contact.From the foregoing, when we drive transmission shaft 21
The rigidity in joint can be made to change when rotation, to realize the purpose of design for actively adjusting joint stiffness.
In order to improve the reliability of power driving mechanism operational efficiency and the device that moves linearly, present embodiment uses driving
The kind of drive that motor and rack-and-pinion combine, it is preferable that power driving mechanism 11 includes driving motor 11-1 and gear 11-
2, every set linear movement device 13 includes rack gear 13-1, sliding part 13-2 and contact bar 13-3, is set side by side on the connection frame 12
There are two sliding rail 12-1；The transmission shaft 21 is vertically arranged with two sliding rail 12-1, and the sliding part 13-2 is slidably installed
On the sliding rail 12-1, the rack gear 13-1 is connect with the sliding part 13-2, and the end of the sliding part 13-2 is connected with
The contact bar 13-3 of the motion bar 23 is contacted, the axial direction of the driving motor 11-1 is vertically arranged, the driving motor 11-1
Output end be connected with the gear 11-2, the gear 11-2 is engaged with two rack gear 11-2.So set, driving
Motor 11-1 drives gear 11-2 rotation, so that the rack gear 13-1 that driving is engaged with the two sides gear 11-2 is in mutually opposite directions
It moves in a straight line.Rack gear 13-1 is connect with sliding part 13-2, the movement of rack gear 13-1 drive sliding part 13-2 prolong sliding rail 12-1 with
It is dynamic, to realize the contact bar 13-3 being mounted on sliding part 13-2 along the linear motion in the direction sliding rail 12-1, pass through drive
Dynamic motor 11-1 driving gear 11-2 and rack gear 13-1 movement changes the position that load applies, to change rigidity.
As Fig. 3 illustrates, it is preferable that connection frame 12 further includes two sets of positioning devices, and the sliding rail 12-1 is cylindrical guiding
Bar, the sliding part 13-2 are linear bearing, and the linear bearing is mounted on the cylindrical guide bars, two sets of positioning
Device is arranged in a one-to-one correspondence with two sets of linear movement devices 13, and positioning device described in every set includes upper plate 12-2, lower plate 12-3 and company
Fishplate bar 12-4；The upper plate 12-2 and the lower plate 12-3 spacing are arranged and connect respectively with the connection frame 12, the rack gear
13-1 is arranged between the upper plate 12-2 and the lower plate 12-3 and is supported on the lower plate 12-3, the rack gear 13-1 with
It is connect by connecting plate 12-4 with the linear bearing.So set, running precision and reliability are improved using linear bearing, it is fixed
Position device realizes the fixation to linear movement device.
If Fig. 3 illustrates, in order to overcome driving motor to directly drive rigid motion, torsion problem is reduced, shaft coupling is added, with
The stability of operation is improved, position adjusting mechanism further includes shaft coupling 33；The output end and the tooth of the driving motor 11-1
The shaft coupling 33 connecting with the two is disposed between wheel 11-2.So set, shaft coupling is to improve dynamic performance.
Driving motor 11-1 drives gear 11-2 rotation by shaft coupling 33, thus what driving was engaged with the two sides gear 11-2
Rack gear 13-1 is moved in a straight line in mutually opposite directions.Rack gear 13-1 is connected by connecting plate 12-4 with linear bearing, tooth
The movement of 13-1 drives linear bearing to prolong the servo-actuated of cylindrical guide bars, to realize the contact being mounted on linear bearing
Bar along cylindrical guide bars direction linear motion.As shown in figure 4, transmission shaft 21 is equivalent to the fulcrum of lever, motion bar 23
It is equivalent to lever, position of the contact bar 13-3 on lever is exactly the position that load applies, position of the helical spring on lever
It is fixed and invariable.The position that power is equivalent to when contact bar 13-3 is moved along motion bar 23 is moved along motion bar 23,
The rigidity of the helical spring of linear stretch is constant, to show as the rotational stiffness in entire joint with the movement of contact bar
And change.From the foregoing, the rigidity in joint can be made to change when our driving motor 11-1 rotate, to realize
Actively adjust the purpose of design of joint stiffness.
As Fig. 4 illustrates, it is preferable that elastic element 31 is helical spring.So set, cheap and easy to get, easy disassembly.
The position that power is equivalent to when contact bar 13-3 is moved along motion bar 23 is moved along motion bar 23, the spiral of linear stretch
The rigidity of spring is constant, so that the rotational stiffness for showing as entire joint changes with the movement of contact.
If Fig. 4 illustrates, more being highlighted to guarantee that motion bar plays the role of lever, each motion bar 23 is L shape,
The long-armed of the motion bar 23 is rotatably installed on the transmission shaft 21, the neighbouring work on the two sides of the foot attachment base 22
Long-armed one end of lever 23, which is separately installed with, limits the limited block 24 that the motion bar 23 rotates, the motion bar 23
The long-armed other end is connect with one end of the galianconism of the motion bar 23, the other end of the galianconism of the motion bar 23 and the company
The helical spring being fixedly connected with the two is disposed between one end of extension bar 32.So set, L-shaped motion bar plays transmission force
Effect, to guarantee lever effect.
If Fig. 5 illustrates, robot ambulation movement is realized for biped robot in the joint in order to guarantee present embodiment,
Foot attachment base 22 includes connection pedestal 22-1 and U-shaped foot connector 22-2；The connection pedestal 22-1 is fixedly mounted on institute
It states on transmission shaft 21, the connection frame 12 is fixedly connected on the connection pedestal 22-1, the fixed peace of the connection pedestal 22-1
In the U-shaped foot connector 22-2.So set, easy to use, robot is stable.
If Fig. 2 illustrates, robot ambulation movement is realized for biped robot in the joint in order to guarantee present embodiment,
A kind of flexible machine person joint of stiffness variable further includes servo-actuated belt wheel 34, one end of the transmission shaft 21 be equipped with one it is servo-actuated
Belt wheel 34.So set, robot shank and joint of robot are connected by hair joint bearing block 35, structure is simple, user
It can lean on.
The present invention is disclosed as above with preferable case study on implementation, and however, it is not intended to limit the invention, any to be familiar with this profession
Technical staff, without departing from the scope of the present invention, when the structure and technology contents that can use the disclosure above are done
A little change or it is modified to the equivalence enforcement case of equivalent variations out, but it is all without departing from technical solution of the present invention
Hold, any simple modification, equivalent change and modification done according to the technical essence of the invention to the above case study on implementation still belong to
Technical solution of the present invention range.
Claims (8)
1. a kind of flexible machine person joint of stiffness variable, it is characterised in that: it includes position adjusting mechanism, stiffness tuning mechanism
And transmission mechanism；The position adjusting mechanism includes power driving mechanism (11), connection frame (12) and two sets of linear movement devices
(13)；The transmission mechanism includes transmission shaft (21), foot attachment base (22), two motion bars (23), two limited blocks (24)
With two joint bearing blocks (35)；The stiffness tuning mechanism includes two elastic elements (31) and two connecting rods (32)；
The connection frame (12) is fixedly connected on the foot attachment base (22), and the foot attachment base (22) is fixedly mounted on
On the transmission shaft (21), the two sides of the foot attachment base (22) are respectively arranged with perpendicular to described in one of transmission shaft (21)
One end of motion bar (23), two motion bars (23) is rotatably installed on the transmission shaft (21), is located at two work
The both ends of the transmission shaft (21) on the outside of lever (23) are respectively equipped with the joint bearing block (35), and the transmission shaft
(21) energy opposed articulation bearing block (35) rotates, and the restricted work is fixedly mounted in the two sides of the joint bearing block (35) respectively
One limited block (24) of lever (23) rotation, two motion bars (23) are with the axle center of the transmission shaft (21) at center pair
Claim；The top of two motion bars (23) is respectively disposed with one parallel with the motion bar (23) connecting rod (32),
The elasticity member being fixedly connected with the two is disposed between the other end of the motion bar (23) and one end of the connecting rod (32)
Part (31)；
Two sets of linear movement devices (13) are slidably mounted on connection frame (12), the axial direction of the transmission shaft (21) and described straight
The moving direction of line shifter (13) is vertical, and two motion bars (23) and two linear movement devices (13) correspond
The output end of arrangement, the power driving mechanism (11) drives two sets of linear movement devices (13) in corresponding work
Opposite frictional movement in lever (23).
2. the flexible machine person joint of a kind of stiffness variable according to claim 1, it is characterised in that: the electric power driver
Structure (11) includes driving motor (11-1) and gear (11-2), and every set linear movement device (13) includes rack gear (13-1), sliding part
(13-2) and contact bar (13-3), is set side by side that there are two sliding rail (12-1) on the connection frame (12)；The transmission shaft (21)
It is vertically arranged with two sliding rails (12-1), the sliding part (13-2) is slidably mounted on the sliding rail (12-1), described
Rack gear (13-1) is connect with the sliding part (13-2), and the end of the sliding part (13-2) is connected with the contact motion bar
(23) axial direction of contact bar (13-3), the driving motor (11-1) is vertically arranged, the output of the driving motor (11-1)
End is connected with the gear (11-2), and the gear (11-2) is engaged with two rack gears (11-2).
3. the flexible machine person joint of a kind of stiffness variable according to claim 2, it is characterised in that: the connection frame (12)
It further include two sets of positioning devices, the sliding rail (12-1) is cylindrical guide bars, and the sliding part (13-2) is linear bearing, institute
It states linear bearing to be mounted on the cylindrical guide bars, two sets of positioning devices and two sets of linear movement devices (13) one are a pair of
It should be arranged, positioning device described in every set includes upper plate (12-2), lower plate (12-3) and connecting plate (12-4)；The upper plate (12-2)
It is arranged with the lower plate (12-3) spacing and is connect respectively with the connection frame (12), the rack gear (13-1) is arranged on described
It between plate (12-2) and the lower plate (12-3) and is supported on the lower plate (12-3), the rack gear (13-1) passes through connecting plate
(12-4) is connect with the linear bearing.
4. a kind of flexible machine person joint of stiffness variable according to Claims 2 or 3, it is characterised in that: the position tune
Saving mechanism further includes shaft coupling (33)；Be disposed between the output end and the gear (11-2) of the driving motor (11-1) with
The shaft coupling (33) of the two connection.
5. a kind of according to claim 1,2 or 3 flexible machine person joint of stiffness variable, it is characterised in that: the elasticity
Element (31) is helical spring.
6. the flexible machine person joint of a kind of stiffness variable according to claim 5, it is characterised in that: each motion bar
It (23) is L shape, the long-armed of the motion bar (23) is rotatably installed on the transmission shaft (21), the joint bearing block (35)
One of the restricted motion bar (23) rotation is fixedly mounted adjacent to long-armed one end of the motion bar (23) respectively for two sides
The long-armed other end of limited block (24), the motion bar (23) is connect with one end of the galianconism of the motion bar (23), described
The spiral being fixedly connected with the two is disposed between the other end of the galianconism of motion bar (23) and one end of the connecting rod (32)
Spring.
7. the flexible machine person joint of a kind of stiffness variable according to claim 6, it is characterised in that: the foot attachment base
It (22) include connection pedestal (22-1) and U-shaped foot connector (22-2)；The connection pedestal (22-1) is fixedly mounted on described
On transmission shaft (21), the connection frame (12) is fixedly connected on the connection pedestal (22-1), the connection pedestal (22-1)
It is fixedly mounted in the U-shaped foot connector (22-2).
8. the flexible machine person joint of a kind of stiffness variable according to claim 7, it is characterised in that: described a kind of variable rigid
The flexible machine person joint of degree further includes servo-actuated belt wheel (34), and one end of the transmission shaft (21) is equipped with a servo-actuated belt wheel
(34)。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611217657.9A CN106737818B (en) | 2016-12-26 | 2016-12-26 | A kind of flexible machine person joint of stiffness variable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611217657.9A CN106737818B (en) | 2016-12-26 | 2016-12-26 | A kind of flexible machine person joint of stiffness variable |
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| Publication Number | Publication Date |
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| CN106737818A CN106737818A (en) | 2017-05-31 |
| CN106737818B true CN106737818B (en) | 2019-04-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611217657.9A Active CN106737818B (en) | 2016-12-26 | 2016-12-26 | A kind of flexible machine person joint of stiffness variable |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110861121B (en) * | 2019-10-16 | 2022-08-23 | 山东卡耐斯智能装备有限公司 | Flexible robot joint based on variable rigidity |
| CN115447691B (en) * | 2022-09-01 | 2023-06-02 | 南京信息工程大学 | Foot end mechanism with variable rigidity |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101973037A (en) * | 2010-11-22 | 2011-02-16 | 北方工业大学 | Passive robot joint with adjustable rigidity elasticity |
| CN103753598A (en) * | 2013-11-05 | 2014-04-30 | 上海大学 | Rigidity-flexibility automatic switching variable rigidity flexible driver device |
| CN104608142A (en) * | 2015-01-09 | 2015-05-13 | 河北工业大学 | Rotating type rigidity-changing flexible joint |
| CN104647397A (en) * | 2015-03-17 | 2015-05-27 | 河北工业大学 | Rigidity-variable flexible joint |
| CN105171770A (en) * | 2015-10-30 | 2015-12-23 | 四川大学 | Machine safety variable-rigidity elastic joint and rigidity adjustment method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4043839B2 (en) * | 2002-05-21 | 2008-02-06 | トヨタ自動車株式会社 | robot |
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2016
- 2016-12-26 CN CN201611217657.9A patent/CN106737818B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101973037A (en) * | 2010-11-22 | 2011-02-16 | 北方工业大学 | Passive robot joint with adjustable rigidity elasticity |
| CN103753598A (en) * | 2013-11-05 | 2014-04-30 | 上海大学 | Rigidity-flexibility automatic switching variable rigidity flexible driver device |
| CN104608142A (en) * | 2015-01-09 | 2015-05-13 | 河北工业大学 | Rotating type rigidity-changing flexible joint |
| CN104647397A (en) * | 2015-03-17 | 2015-05-27 | 河北工业大学 | Rigidity-variable flexible joint |
| CN105171770A (en) * | 2015-10-30 | 2015-12-23 | 四川大学 | Machine safety variable-rigidity elastic joint and rigidity adjustment method |
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