CN107309865A - A kind of series elastic driver - Google Patents
A kind of series elastic driver Download PDFInfo
- Publication number
- CN107309865A CN107309865A CN201710512566.6A CN201710512566A CN107309865A CN 107309865 A CN107309865 A CN 107309865A CN 201710512566 A CN201710512566 A CN 201710512566A CN 107309865 A CN107309865 A CN 107309865A
- Authority
- CN
- China
- Prior art keywords
- spoke
- foreign steamer
- core wheel
- flexible element
- stage clip
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of series elastic driver, including AC servo motor, ring flange, harmonic speed reducer and Flexible element；Flexible element includes foreign steamer, spoke, core wheel, 3 groups of stage clips, 3 fixed blocks, deep groove ball bearing, thrust bearing and Split rotary encoder.AC servo motor is connected by ring flange with harmonic speed reducer, and Flexible element is connected by foreign steamer with harmonic speed reducer.Core wheel is hollow structure and is connected to by stay bolt on foreign steamer, spoke is fixed on core wheel by thrust bearing and deep groove ball bearing, make it can be around core wheel normal rotation under axial load and tilting moment, 3 contiguous blocks are fixed on the inside of foreign steamer and uniform in 120 °, contiguous block is connected by stage clip with spoke, the code-disc of Split encoder is fixed on core wheel, and decoder is fixed on spoke；The driving moment of motor reaches Flexible element foreign steamer by harmonic speed reducer, and foreign steamer drives spoke to rotate by stage clip, and reads corner of the spoke relative to foreign steamer by Split rotary encoder, so as to calculate output torque.
Description
Technical field
The present invention relates to a kind of series elastic driver for joint of robot, belong to robot field.
Background technology
Submissive actuation techniques are a problems of current robot industry urgent need to resolve.Because legacy drive is main with collection
Into the rigidity driving based on servomotor, overall submissive performance is not enough, and secondary injury is easily caused in use；And it is right at present
The Shared control of robot is due to that six-dimension force sensor price is held high mostly using six-dimension force sensor as feedback unit
It is expensive, it is not widely used.Series elastic driver be it is a kind of can realize the driver element of flexible output, in driving
Flexible member is added between performing module, to make there is flexible buffer between driving and load.It substantially belongs to passive soft
Along structure, but it is combined with electric machines control technology and joint power detection technique based on stage clip deflection, it is possible to achieve controllable
Adjustable submissive performance.
The content of the invention
Drive submissive performance not enough for traditional rigidity, and six-dimension force sensor is expensive, using not extensive etc.
There is provided a kind of series elastic driver available for man-machine interaction for shortcoming.
In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of series elastic driver, it is characterised in that：It is single including servomotor, ring flange, harmonic speed reducer, elasticity
Member；The driving moment of motor reaches Flexible element by harmonic speed reducer, then reaches load by Flexible element；
The Flexible element includes foreign steamer, spoke, core wheel, 3 groups of stage clips, 3 fixed blocks, deep groove ball bearing, thrust bearings
With Split rotary encoder；
Core wheel is bolted on foreign steamer；Side through hole on the outside of the bearing with matching somebody with somebody in bearing set on core wheel, spoke
Close；Three are set on the outside of spoke at intervals of 120 ° of arm of sweeping, every sweep arm lower end have screwed hole be used for connect load or end
Actuator；Described sweep sets limited post on arm, three are set on the inside of foreign steamer at intervals of 120 ° of contiguous block, on the contiguous block
Limited post is set, limited post on the contiguous block and sweeps spring is installed between limited block on arm；Split rotary encoder
Code reader is fixed on spoke top, and code-disc is fixed on core wheel.
3 groups of stage clips keep certain precommpression when initially assembling, the pre compressed magnitude of each stage clip is identical, the axle of every group of stage clip
It is vertical and equal away from Flexible element axial line distance that line sweeps arm with spoke.Every group of 2 stage clips are arranged symmetrically, and realize that bidirectional elastic delays
Punching, making to rotate and reverse all has compliance function.
Core wheel is hollow multi-diameter shaft, correspondingly, is shoulder hole on the inside of the spoke.
The bearing is respectively deep groove ball bearing and thrust bearing.
Spoke is measured relative to the corner and then calculate of foreign steamer by Split rotary encoder and is output to turning for load
Square is：
In above formula：T is the torque that motor is output to load, KsFor the coefficient of elasticity of stage clip, R is that stage clip center is single to elasticity
The centre-to-centre spacing of member, rsFor stage clip external diameter, θsDeflection angle for spoke relative to foreign steamer.
Counter sink is designed in the junction of foreign steamer and core wheel, counter bore diameter is equal to core wheel, and core wheel inserts the counter sink
In.
It is an advantage of the current invention that inside Split rotary encoder insertion Flexible element, integrated level is high, and cost is low, can
To realize the measurement to being output to load torque, it is easy to be actually used in robot field.
Brief description of the drawings
Fig. 1 is series elastic driver overall structure figure of the present invention；
Fig. 2 is series elastic driver Flexible element structural representation of the present invention；
Fig. 3 is the sectional view of series elastic driver Flexible element top view of the present invention；
Fig. 4 is series elastic driver Flexible element simplification figure of the present invention；
Fig. 5 is the single stage clip force analysis figure of series elastic driver Flexible element of the present invention.
Embodiment
With reference to Figure of description, the present invention is further elaborated.
As shown in figure 1, series elastic driver of the present invention, including servomotor 1, ring flange 2, harmonic speed reducer 3, elasticity
Unit 4, the harmonic decelerator 3 of servomotor 1 is connected as one by ring flange 2, and Flexible element 4 passes through screw and harmonic reduction
The output end of device 3 is connected.
As shown in Figure 2 and Figure 3, the Flexible element 4 of series elastic driver of the present invention, including foreign steamer 41, core wheel 42, spoke
43rd, contiguous block 44, stage clip 45, Split rotary encoder 46, deep groove ball bearing 47, thrust bearing 48；Core wheel 42 passes through bolt
It is connected on foreign steamer, counter sink is designed in the junction of foreign steamer 41 and core wheel 42, counter bore diameter is equal to core wheel 42, is taken turns in assembling
In the insertion counter sink of core 42；The structure design of core wheel 42 is multi-diameter shaft, and the indoor design of spoke 43 is shoulder hole, for installing zanjon
Ball bearing 47 and thrust bearing 48；Spoke 43 sweeps arm 49 including three at intervals of 120 °, and sweep the both sides of arm 49 for every has one respectively
Limited post, for fixing stage clip 45, sweeping arm lower end for every has screwed hole, available for connection load or end effector；3 companies
Connect block 44 and be fixed on foreign steamer inner side and uniform in 120 °, there is a limited post both sides of contiguous block 44 respectively；One end set of stage clip 45
On the limited post of the side of contiguous block 44, the other end is enclosed on corresponding spoke 43 and swept on the limited post of arm side；Split rotary
The code reader of encoder 46 is fixed on spoke top by screw, and code-disc is fixed on core wheel 42 by holding screw.
The power transmitting procedure of series elastic driver is：Servomotor 1 is used as power source, harmonic speed reducer 3 and foreign steamer
41 link together, and servomotor 1, which is rotated, drives foreign steamer 41 to rotate, and contiguous block 44 is rotated together with foreign steamer 41, so as to compress
Stage clip 45, stage clip 45 can promote spoke 43 to move after being compressed, and spoke 43 is while rotating, because the contraction of stage clip 45 is produced
The raw outer corner difference relative to foreign steamer 41, the code reader of Split rotary encoder 46 can also be produced code-disc relatively as spoke 43 is moved
Raw identical outer corner difference.The moment values for being output to load can be just calculated by stage clip rigidity and outer corner difference.
Every group of spring need to ensure that spoke of its axis with being connected sweeps that arm is vertical and identical pre compressed magnitude, so
It can guarantee that the transmission of power is uniform.
The computational methods that series elastic driver is output to load torque are：It is former in order to be able to which torgue measurement is more intuitively presented
The force analysis of reason and Flexible element, therefore Flexible element 4 is reduced to structure as shown in Figure 4, six 45 points of straight line stage clips are
Three groups of stress units, for each stress unit, when not by external force, the decrement of each stage clip 45 is identical.When by external force
After driving, due to the relative motion of spoke 43 and foreign steamer 41, and it is identical to cause two stage clips 45 in each stress unit to produce
Change in displacement, and then power is acted to spoke 43.
For single stage clip 45, its force simplified figure is as shown in Figure 5.Under original state, spoke 43 can be in the precompressed of stage clip 45
Contracting amount xpLower holding self-balancing.Wherein, point A1(0, R) initial position when for self-balancing, R is the center of stage clip 45 to Flexible element 4
Centre-to-centre spacing, point A2The position reached for Flexible element 4 after being deflected by external force, θsFor by spoke after external force relative to outer
The deflection angle of wheel.Therefore it can be seen from Hooke's law：
F1=Ks(xp+x(θs)) (1)
F2=Ks(xp-x(θs)) (2)
Wherein, KsFor the coefficient of elasticity of stage clip 45, x (θs)=Rsin (θs) it is in rotational angle thetasIn the presence of caused by stage clip 45
Amount of elastic deformation.
Therefore the bonding force that one group of stage clip 45 is applied on spoke 43 is：
F=F1-F2=2KsRsin(θs) (3)
The torque then produced by one group of stress unit to spoke 43 is：
Tk=FRcos (θs)=2KsR2sin(θs)cos(θs) (4)
However, discussed above is the analysis carried out based on the stress model shown in Fig. 5, this model is by stage clip 45 with taking turns
The contact of spoke 43 is reduced to a contact.And actual conditions are due to the influence of the diameter of stage clip 45, stage clip 45 is that face connects with spoke 43
Touch, thus the deformation quantity of each part of stage clip 45 is not fully identical, i.e. the partial deformation amount closer to the center of spoke 43 is smaller,
Accordingly, it is considered to the different piece deformation quantity of stage clip 45 it is different after, can to the torque of the generation of spoke 43 by one group of stress unit
Obtained by the integration to the diameter of stage clip 45, therefore formula (4) is rewritable is：
Wherein rsFor the external diameter of stage clip 45.
Therefore the resultant couple that spoke is subject to is：
Therefore, rotational angle theta of the spoke 43 relative to foreign steamer 41 is measured by Split rotary encoder 46sIt can just calculate
It is output to the torque of load.
Claims (5)
1. a kind of series elastic driver, it is characterised in that：Including servomotor, ring flange, harmonic speed reducer, Flexible element；
The driving moment of motor reaches Flexible element by harmonic speed reducer, then reaches load by Flexible element；
The Flexible element include foreign steamer, spoke, core wheel, 3 groups of stage clips, 3 fixed blocks, deep groove ball bearing, thrust bearing and point
Body formula rotary encoder；
Core wheel is bolted on foreign steamer；Side through hole on the outside of the bearing with coordinating in bearing set on core wheel, spoke；Wheel
Three are set on the outside of spoke at intervals of 120 ° of arm of sweeping, every sweep arm lower end have screwed hole be used for connect load or end execution
Device；Described sweep sets limited post on arm, three are set on the inside of foreign steamer at intervals of 120 ° of contiguous block, is also provided with the contiguous block
Limited post on limited post, the contiguous block and sweep stage clip is installed between limited block on arm；The reading code of Split rotary encoder
Device is fixed on spoke top, and code-disc is fixed on core wheel；Spoke turning relative to foreign steamer is measured by Split rotary encoder
Angle and then calculate and be output to the torque of load and be：
<mrow>
<mi>T</mi>
<mo>=</mo>
<mn>6</mn>
<msub>
<mi>K</mi>
<mi>s</mi>
</msub>
<mrow>
<mo>(</mo>
<msup>
<mi>R</mi>
<mn>2</mn>
</msup>
<mo>+</mo>
<mfrac>
<msubsup>
<mi>r</mi>
<mi>s</mi>
<mn>2</mn>
</msubsup>
<mn>3</mn>
</mfrac>
<mo>)</mo>
</mrow>
<mi>s</mi>
<mi>i</mi>
<mi>n</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>&theta;</mi>
<mi>s</mi>
</msub>
<mo>)</mo>
</mrow>
<mi>c</mi>
<mi>o</mi>
<mi>s</mi>
<mrow>
<mo>(</mo>
<msub>
<mi>&theta;</mi>
<mi>s</mi>
</msub>
<mo>)</mo>
</mrow>
</mrow>
In above formula：T is the torque that motor is output to load, KsFor the coefficient of elasticity of stage clip, R is that Flexible element is arrived at stage clip center
Centre-to-centre spacing, rsFor stage clip external diameter, θsDeflection angle for spoke relative to foreign steamer.
2. series elastic driver according to claim 1, it is characterised in that：Kept when 3 groups of stage clips are initially assembled certain
Precommpression, the pre compressed magnitude of each stage clip is identical, and it is vertical and away from Flexible element axis that axis and the spoke of every group of stage clip sweep arm
Apart from equal, every group of 2 stage clips are arranged symmetrically, and realize that bidirectional elastic is buffered, making to rotate and reverse all has compliance function.
3. series elastic driver according to claim 1, it is characterised in that：Core wheel is hollow multi-diameter shaft, correspondingly, institute
State on the inside of spoke is shoulder hole.
4. series elastic driver according to claim 1, it is characterised in that：The bearing be respectively deep groove ball bearing and
Thrust bearing.
5. series elastic driver according to claim 1, it is characterised in that：It is heavy in the junction design of foreign steamer and core wheel
Head bore, counter bore diameter is equal to core wheel, and core wheel is inserted in the counter sink.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710512566.6A CN107309865A (en) | 2017-06-29 | 2017-06-29 | A kind of series elastic driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710512566.6A CN107309865A (en) | 2017-06-29 | 2017-06-29 | A kind of series elastic driver |
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| Publication Number | Publication Date |
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| CN107309865A true CN107309865A (en) | 2017-11-03 |
Family
ID=60179795
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|---|---|---|---|
| CN201710512566.6A Pending CN107309865A (en) | 2017-06-29 | 2017-06-29 | A kind of series elastic driver |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108839008A (en) * | 2018-09-18 | 2018-11-20 | 西北农林科技大学 | A kind of novel drum type brake elastic driver |
| CN108858210A (en) * | 2018-09-18 | 2018-11-23 | 西北农林科技大学 | A kind of control system of the picking robot using drum type brake elastic driver |
| CN109262650A (en) * | 2018-10-18 | 2019-01-25 | 上海理工大学 | A kind of upper limb rehabilitation robot series connection elastic driving joint |
| CN109278036A (en) * | 2018-10-31 | 2019-01-29 | 深圳市优必选科技有限公司 | Output shaft assembly and robot |
| CN109528453A (en) * | 2018-10-23 | 2019-03-29 | 哈尔滨工业大学 | A kind of lower limb exoskeleton isomery knee joint based on elastomer in parallel |
| CN110165838A (en) * | 2019-04-11 | 2019-08-23 | 广东省智能制造研究所 | A kind of moment of elasticity control device |
| CN110181552A (en) * | 2019-04-23 | 2019-08-30 | 郑州轻工业学院 | A kind of robot flexibility joint |
| CN112792803A (en) * | 2020-11-30 | 2021-05-14 | 武汉大学 | Series elastic driver suitable for upper limb rehabilitation exoskeleton robot |
| CN114474017A (en) * | 2022-01-29 | 2022-05-13 | 武汉大学 | Series elastic driver suitable for flexible upper limb rehabilitation exoskeleton robot |
Citations (1)
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| CN104924320A (en) * | 2015-05-21 | 2015-09-23 | 北京交通大学 | Three-freedom-degree flexible mechanical arm based on series-connection elastic driver |
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2017
- 2017-06-29 CN CN201710512566.6A patent/CN107309865A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104924320A (en) * | 2015-05-21 | 2015-09-23 | 北京交通大学 | Three-freedom-degree flexible mechanical arm based on series-connection elastic driver |
Non-Patent Citations (2)
| Title |
|---|
| N.G.TSAGARAKIS1 ET.AL: "A compact soft actuator unit for small scale human friendly robots", 《IEEE》 * |
| 张秀丽 等: "一种基于串联弹性驱动器的柔顺机械臂设计", 《机器人》 * |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108839008A (en) * | 2018-09-18 | 2018-11-20 | 西北农林科技大学 | A kind of novel drum type brake elastic driver |
| CN108858210A (en) * | 2018-09-18 | 2018-11-23 | 西北农林科技大学 | A kind of control system of the picking robot using drum type brake elastic driver |
| CN109262650A (en) * | 2018-10-18 | 2019-01-25 | 上海理工大学 | A kind of upper limb rehabilitation robot series connection elastic driving joint |
| CN109528453A (en) * | 2018-10-23 | 2019-03-29 | 哈尔滨工业大学 | A kind of lower limb exoskeleton isomery knee joint based on elastomer in parallel |
| CN109278036A (en) * | 2018-10-31 | 2019-01-29 | 深圳市优必选科技有限公司 | Output shaft assembly and robot |
| US11125276B2 (en) | 2018-10-31 | 2021-09-21 | Ubtech Robotics Corp | Output shaft component with elastic body |
| CN110165838A (en) * | 2019-04-11 | 2019-08-23 | 广东省智能制造研究所 | A kind of moment of elasticity control device |
| CN110181552A (en) * | 2019-04-23 | 2019-08-30 | 郑州轻工业学院 | A kind of robot flexibility joint |
| CN110181552B (en) * | 2019-04-23 | 2020-02-14 | 郑州轻工业学院 | Flexible joint of robot |
| CN112792803A (en) * | 2020-11-30 | 2021-05-14 | 武汉大学 | Series elastic driver suitable for upper limb rehabilitation exoskeleton robot |
| CN114474017A (en) * | 2022-01-29 | 2022-05-13 | 武汉大学 | Series elastic driver suitable for flexible upper limb rehabilitation exoskeleton robot |
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Application publication date: 20171103 |