CN107671875A - The compact metal rubber elastic element of the upper energy measuring moment of flexible machine person joint - Google Patents
The compact metal rubber elastic element of the upper energy measuring moment of flexible machine person joint Download PDFInfo
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- CN107671875A CN107671875A CN201711182977.XA CN201711182977A CN107671875A CN 107671875 A CN107671875 A CN 107671875A CN 201711182977 A CN201711182977 A CN 201711182977A CN 107671875 A CN107671875 A CN 107671875A
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- inner ring
- basic body
- outer ring
- elastic element
- rubber elastic
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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
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The compact metal rubber elastic element of the upper energy measuring moment of flexible machine person joint, it is related to a kind of passive damping elastomer element.Poor reliability be present using Vibration Active Control to solve existing suppression flexible robot vibration in the present invention；The control elements such as extra increase motor are needed using semi-active vibration control, there is that volume is big, and construction is complicated；The passive damping elastomer element made using General Purpose Rubber material has that property is unstable, restricted lifetime.The problem of can not accurately estimating torque without the passive damping elastomer element that foil gauge designs only with metal-rubber.Multiple resistance strain plates of the present invention are arranged in the basic body of outer ring, inner ring basic body spiral-lock is on outer cycle basis body, multiple metal-rubber pieces are arranged in the regional space enclosed after outer ring basic body and inner ring basic body fastening, and shutter is in the basic body of outer ring.The present invention is used for the joint drive of flexible machine person joint, has torque sensing and passive damping effect concurrently.
Description
Technical field
The present invention relates to a kind of rotary-type damping elastomer element, and in particular to a kind of collection on flexible machine person joint
Torque sensing and damping behavior belong to robot field in the passive damping elastomer element of one.
Background technology
As robot application field is constantly expanded, increasing robot is walked out between isolation, has been operated in the mankind and has been deposited
Environment in, this to robot operation security propose very high request.In order to ensure the safety of the mankind, using series connection bullet
The flexible robot of property driver constantly comes out.By being connected between the motor reducer output end of joint of robot and load
The flexible members such as torsion spring, the output impedance of robot is reduced, improve the security of robot.But joint of robot is soft
Property raising, vibration is produced when operating robot, so as to greatly reduce the accuracy of robot location's control.In order to suppress
Robot vibration, can use actively, partly actively and passively three kinds of oscillation damping methods.Vibration Active Control is reduced using control algolithm
Vibration, poor reliability.Semi-active vibration control needs the control elements such as extra increase motor, and volume is big, and construction is complicated.Harbin
Polytechnical university's robot research once designed the flexible member of the passive vibration damping of more moneys, and some elements are using General Purpose Rubber as damping
Damping material, it is simple in construction, but elastomeric material nature is unstable, and oxidizable, working life has under periodic loading
Limit, some uses metal-rubber as damping shock absorption material, but elastic element structure size is larger.Meanwhile by the cycle
Metal rubber material has hysteretic characteristic during property load, and its torque born and elastic deformation do not have one-to-one relationship, because
This can not accurately estimate its torque born.
In summary, using Vibration Active Control there is the problem of poor reliability in existing suppression flexible robot vibration；Adopt
The control elements such as extra increase motor are needed with semi-active vibration control, it is big volume to be present, constructs the problem of complicated；Using common
The problem of unstable property, restricted lifetime be present in the passive damping elastomer element that elastomeric material is made.Only with metal-rubber without
The problem of passive damping elastomer element that foil gauge design is made can not accurately estimate torque.
The content of the invention
The invention aims to solve existing suppression flexible robot vibration using Vibration Active Control to exist reliably
The problem of property difference；The control elements such as extra increase motor are needed using semi-active vibration control, there is that volume is big, construct complexity
Problem；The problem of unstable property, restricted lifetime be present in the passive damping elastomer element made using General Purpose Rubber material.Only adopt
The problem of can not accurately estimating torque without the passive damping elastomer element that foil gauge design is made with metal-rubber.And then provide soft
Property joint of robot on can measuring moment compact metal rubber elastic element.
The technical scheme is that：The compact metal rubber elastic element of the upper energy measuring moment of flexible machine person joint,
It includes outer ring basic body, inner ring basic body, baffle plate, multiple resistance strain plates and multiple metal-rubber pieces, multiple resistance-types
Foil gauge is arranged in the basic body of outer ring, and on outer cycle basis body, multiple metal-rubber pieces are arranged on outer inner ring basic body spiral-lock
In the regional space that cycle basis body and inner ring basic body are enclosed after fastening, shutter is in the basic body of outer ring.
Further, outer ring basic body includes outer ring, two strain beams and two outer ring baffle plates, and two strain beams are arranged on
On the madial wall of outer ring, an outer ring baffle plate is installed on each strain beam.
Further, two strain beams are symmetrically mounted on the madial wall of outer ring.
Further, the both sides of each strain beam are respectively provided with a resistance strain plate.
Further, multiple outer ring connection through holes are opened up in the circumferential wall of outer ring.
Further, inner ring basic body includes inner ring, inner ring bottom plate and two inner ring baffle plates, and inner ring is arranged on inner ring bottom plate
On, and inner ring is located at the center of inner ring bottom plate, two inner ring baffle plates are arranged on the inner ring bottom plate on the outside of inner ring.
Further, two inner ring baffle plates are symmetrically mounted on the inner ring bottom plate on the outside of inner ring.
Further, two inner ring baffle plates and two interlaced settings of outer ring baffle plate.
Further, multiple inner ring connection through holes are opened up in the circumferential wall of inner ring.
The present invention has the following effects that compared with prior art：
1st, the present invention is using metal rubber material as damping vibration attenuation material, and compared with General Purpose Rubber, it utilizes wire
Between friction produce damping, damping characteristic is bigger, and effectiveness in vibration suppression is more preferable, and its physical property is more stable, and service life is longer.Together
The passive vibration damping schemes of Shi Zuowei so that simple in construction, reliable operation of the invention, is preferable vibration control scheme.
2nd, the present invention is because using metal-rubber, flexible member of the invention can produce 10 ° of deformed above, imparting robots
The bigger flexibility in joint.
3rd, metal-rubber of the invention has nonlinear stiffness characteristic, can be realized using the joint of robot of the present invention bigger
Torque output area and stiffness tuning scope.
4th, the present invention is designed with strain beam, posts resistance strain plate thereon, can perceive the torsion that flexible member is born
Load, play a part of torque sensor.Flexible member i.e. of the present invention integrates plastic deformation and torque sensing.
5th, overall structure of the invention is disk-like structure so that small volume of the invention, its radial dimension and common machines
Person joint is suitable, and axial dimension is determined by institute's driving load, and the current a diameter of 15mm of the present invention, simple in construction, easily realization is tight
Gathering, integrated, modularized design.
6th, the present invention has larger output torque, can drive heavy load.Due to using modularized design, passing through elasticity
Element is connected in series, and tens Nm can be realized to hundreds of Nm torque output.
Brief description of the drawings
Fig. 1 is the cross section view of installation diagram of the present invention；Fig. 2 is the explosive view of the present invention.
Embodiment
Embodiment one：Illustrate present embodiment, the flexible machine person joint of present embodiment with reference to Fig. 1 to Fig. 2
The compact metal rubber elastic element of upper energy measuring moment, it includes outer ring basic body 1, inner ring basic body 2, baffle plate 5, Duo Ge electricity
Resistive foil gauge 4 and multiple metal-rubber pieces 3, multiple resistance strain plates 4 are arranged in outer ring basic body 1, inner ring basic body 2
On outer cycle basis body 1, multiple metal-rubber pieces 3 are enclosed spiral-lock after being arranged on outer ring basic body 1 and the fastening of inner ring basic body 2
Regional space in, the lid of baffle plate 5 is in the outer ring basic body 1.
Present embodiment uses disc like design in structure.
Multiple resistance strain plates 4 of present embodiment are pasted onto in outer ring basic body 1 using laser welding technology.Installation
It is more firm, and it is easy to ensure the measurement accuracy of resistance strain plate 4.
Embodiment two：Illustrate present embodiment with reference to Fig. 1 to Fig. 2, the outer ring basic body 1 of present embodiment includes
Outer ring 1-1, two strain beam 1-2 and two outer ring baffle plate 1-3, two strain beam 1-2 are arranged on outer ring 1-1 madial wall,
An outer ring baffle plate 1-3 is installed on each strain beam 1-2.It is arranged such, it is simple in construction, it is easy to save space.Other compositions
It is identical with embodiment one with annexation.
The outer ring 1-1 of present embodiment, two strain beam 1-2 and two outer ring baffle plate 1-3 are formed integrally.It is simple in construction,
It is easy to manufacture.
The outer ring baffle plate 1-3 of present embodiment is flute profile baffle plate, and strain beam 1-2 is wrapped up, while outer ring baffle plate 1-3
Two sides can play spacing and squeezing action to metal-rubber piece 3, outer ring baffle plate 1-3 bottom cambered surface part can be with
The inner ring 2-1 of inner ring basic body 2 lateral wall coordinates, the spatial volume that can effectively save after assembling.But also can be pair
The installation offer of metal-rubber piece 3 is preferably spacing, is easy to metal-rubber piece 3 to play best damping effect.
Embodiment three：Illustrate present embodiment, two 1-2 pairs of strain beams of present embodiment with reference to Fig. 1 to Fig. 2
Claim on outer ring 1-1 madial wall.It is arranged such, is easy to the torque in robot measurement joint.Other compositions and connection are closed
System is identical with embodiment two.
Embodiment four：Illustrate present embodiment with reference to Fig. 1 to Fig. 2, each strain beam 1-2's of present embodiment
Both sides are respectively provided with a resistance strain plate 4.It is arranged such, is easy to the accurate measurement of resistance strain plate 4.Other compositions and company
It is identical with embodiment three to connect relation.
Embodiment five：Illustrate present embodiment, the outer ring 1-1 of present embodiment circumferential wall with reference to Fig. 1 to Fig. 2
On open up multiple outer rings connection through hole 1-1-1.It is arranged such, is easy to be connected with inner ring basic body 2 and baffle plate 5.It is other composition and
Annexation is identical with embodiment one, two, three or four.
Embodiment six：Illustrate present embodiment with reference to Fig. 1 to Fig. 2, the inner ring basic body 2 of present embodiment includes
Inner ring 2-1, inner ring bottom plate 2-2 and two inner ring baffle plate 2-3, inner ring 2-1 is arranged on inner ring bottom plate 2-2, and inner ring 2-1 is located at
Inner ring bottom plate 2-2 center, two inner ring baffle plate 2-3 are arranged on the inner ring bottom plate 2-2 on the outside of inner ring 2-1.It is arranged such, ties
Structure is simple, and inner ring 2-1 is easy to be embedded into the 1-1 of outer ring.Other compositions and annexation and embodiment one, two, three, four
Or five is identical.
Inner ring 2-1, the inner ring bottom plate 2-2 of present embodiment and two inner ring baffle plate 2-3 are formed integrally.
Embodiment seven：Illustrate present embodiment, two inner ring baffle plate 2-3 of present embodiment with reference to Fig. 1 to Fig. 2
It is symmetrically mounted on the inner ring bottom plate 2-2 on the outside of inner ring 2-1.It is arranged such, the installation being easy to as metal-rubber piece 3 provides independent
Installing space.Other compositions and annexation are identical with embodiment one, two, three, four, five or six.
Embodiment eight：Illustrate present embodiment, two inner ring baffle plate 2-3 of present embodiment with reference to Fig. 1 to Fig. 2
With two interlaced settings of outer ring baffle plate 1-3.Be arranged such, prevent two inner ring baffle plate 2-3 and two outer ring baffle plate 1-3 it
Between interfere, influence the installation of metal-rubber piece 3.Other compositions and annexation and embodiment one, two, three, four,
5th, six or seven is identical.
Embodiment nine：Illustrate present embodiment, the inner ring 2-1 of present embodiment circumferential wall with reference to Fig. 1 to Fig. 2
On open up multiple inner rings connection through hole 2-1-1.It is arranged such, for being connected with joint of robot load end.Other compositions and company
It is identical with embodiment one, two, three, four, five, six, seven or eight to connect relation.
The operation principle of the present invention：
In joint of robot, the power of motor output is passed on the inner ring 2-1 of flexible member through decelerator, inner ring 2-1
It is the power intake mouth of flexible member.After power is delivered to inner ring rigid body 2-1, via inner ring baffle plate 2-2, metal-rubber piece 3,
Outer ring baffle plate 1-3, strain beam 1-2 are delivered on the 1-1 of outer ring.Due to the elastic reaction of metal-rubber piece 3, whole flexible member exists
Elastic deformation can be produced in power transmission process, assigns robot flexibility characteristic.Because metal-rubber piece 3 has damping characteristic,
Portion of energy can be lost during power transmission, realizes the passive vibration-damping function of flexible member.Meanwhile strain beam 1-2
On post resistance strain plate 4, the torque that flexible member is born can be perceived, play a part of torque sensor.
Claims (9)
- A kind of 1. compact metal rubber elastic element of the upper energy measuring moment of flexible machine person joint, it is characterised in that：It includes Outer ring basic body (1), inner ring basic body (2), baffle plate (5), multiple resistance strain plates (4) and multiple metal-rubber pieces (3) are more Individual resistance strain plate (4) is arranged in outer ring basic body (1), and inner ring basic body (2) spiral-lock is more on outer cycle basis body (1) Individual metal-rubber piece (3) is arranged in the regional space enclosed after outer ring basic body (1) and inner ring basic body (2) fastening, gear Plate (5) lid is in outer ring basic body (1).
- 2. the compact metal rubber elastic element of the upper energy measuring moment of flexible machine person joint according to claim 1, its It is characterised by：Outer ring basic body (1) includes outer ring (1-1), two strain beams (1-2) and two outer ring baffle plates (1-3), and two should Become beam (1-2) to be distributed on outer ring (1-1) madial wall, there is an outer ring baffle plate (1-3) each strain beam (1-2) both sides.
- 3. the compact metal rubber elastic element of the upper energy measuring moment of flexible machine person joint according to claim 2, its It is characterised by：Two strain beams (1-2) are symmetrically distributed on the madial wall of (1-1).
- 4. the compact metal rubber elastic element of the upper energy measuring moment of flexible machine person joint according to claim 3, its It is characterised by：The both sides of each strain beam (1-2) are respectively provided with a resistance strain plate (4).
- 5. the compact metal rubber elastic element of the upper energy measuring moment of flexible machine person joint according to claim 4, its It is characterised by：Multiple outer ring connection through holes (1-1-1) are opened up in the circumferential wall of outer ring (1-1).
- 6. the compact metal rubber elastic element of the upper energy measuring moment of flexible machine person joint according to claim 5, its It is characterised by：Inner ring basic body (2) includes inner ring (2-1), inner ring bottom plate (2-2) and two inner ring baffle plates (2-3), inner ring (2- 1) on bottom plate (2-2), and inner ring (2-1) is located at the center of inner ring bottom plate (2-2), and two inner ring baffle plates (2-3) are distributed in On inner ring bottom plate (2-2) on the outside of inner ring (2-1).
- 7. the compact metal rubber elastic element of the upper energy measuring moment of flexible machine person joint according to claim 6, its It is characterised by：Two inner ring baffle plates (2-3) are symmetrically distributed on the inner ring bottom plate (2-2) on the outside of inner ring (2-1).
- 8. the compact metal rubber elastic element of the upper energy measuring moment of flexible machine person joint according to claim 7, its It is characterised by：Two inner ring baffle plates (2-3) and two interlaced settings of outer ring baffle plate (1-3).
- 9. the compact metal rubber elastic element of the upper energy measuring moment of flexible machine person joint according to claim 8, its It is characterised by：Multiple inner ring connection through holes (2-1-1) are opened up in the circumferential wall of inner ring (2-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711182977.XA CN107671875B (en) | 2017-11-23 | 2017-11-23 | Compact metal rubber elastic element capable of measuring torque on flexible robot joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711182977.XA CN107671875B (en) | 2017-11-23 | 2017-11-23 | Compact metal rubber elastic element capable of measuring torque on flexible robot joint |
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| Publication Number | Publication Date |
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| CN107671875A true CN107671875A (en) | 2018-02-09 |
| CN107671875B CN107671875B (en) | 2020-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711182977.XA Active CN107671875B (en) | 2017-11-23 | 2017-11-23 | Compact metal rubber elastic element capable of measuring torque on flexible robot joint |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108593162A (en) * | 2018-05-23 | 2018-09-28 | 哈尔滨工业大学 | The heavy load flexibility torque sensor that partial structurtes are strengthened |
| CN108709683A (en) * | 2018-05-25 | 2018-10-26 | 哈尔滨工业大学 | The flexible torque sensor dynamic test platform in module oriented approach joint |
| CN108760116A (en) * | 2018-05-23 | 2018-11-06 | 哈尔滨工业大学 | Anti-bias load flexibility torque sensor based on graphite self-lubricating |
| CN108789477A (en) * | 2018-06-08 | 2018-11-13 | 南宁宇立仪器有限公司 | A kind of torque sensor |
| CN110154065A (en) * | 2019-05-15 | 2019-08-23 | 西安电子科技大学 | Flexible light electric-type torque sensor and application method for flexible mechanical shoulder joint |
| CN110605739A (en) * | 2019-09-18 | 2019-12-24 | 珠海格力电器股份有限公司 | Active vibration damping device for joints of industrial robot and robot |
| CN114643822A (en) * | 2022-04-08 | 2022-06-21 | 徐州徐工矿业机械有限公司 | Rubber damping device with pressure monitoring function, monitoring method and engineering vehicle |
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| CN106737773A (en) * | 2016-11-16 | 2017-05-31 | 哈尔滨工业大学 | A kind of high rigidity joint moment sensor |
| CN106918411A (en) * | 2015-12-24 | 2017-07-04 | 中国科学院沈阳自动化研究所 | For the built-in three-dimension power and torque measuring device of light flexible joint of mechanical arm |
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| JPH05177562A (en) * | 1991-12-27 | 1993-07-20 | Hitachi Ltd | Remote control type fitting work robot |
| WO1996014949A2 (en) * | 1994-11-09 | 1996-05-23 | Amada Company, Limited | Methods and apparatuses for backgaging and sensor-based control of bending operations |
| CN102713325A (en) * | 2009-10-20 | 2012-10-03 | Gkn动力传动***北美有限公司 | Constant velocity joint torsional damper |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108593162A (en) * | 2018-05-23 | 2018-09-28 | 哈尔滨工业大学 | The heavy load flexibility torque sensor that partial structurtes are strengthened |
| CN108760116A (en) * | 2018-05-23 | 2018-11-06 | 哈尔滨工业大学 | Anti-bias load flexibility torque sensor based on graphite self-lubricating |
| CN108709683A (en) * | 2018-05-25 | 2018-10-26 | 哈尔滨工业大学 | The flexible torque sensor dynamic test platform in module oriented approach joint |
| CN108709683B (en) * | 2018-05-25 | 2020-06-16 | 哈尔滨工业大学 | Flexible torque sensor dynamic test platform for modular joints |
| CN108789477A (en) * | 2018-06-08 | 2018-11-13 | 南宁宇立仪器有限公司 | A kind of torque sensor |
| CN110154065A (en) * | 2019-05-15 | 2019-08-23 | 西安电子科技大学 | Flexible light electric-type torque sensor and application method for flexible mechanical shoulder joint |
| CN110605739A (en) * | 2019-09-18 | 2019-12-24 | 珠海格力电器股份有限公司 | Active vibration damping device for joints of industrial robot and robot |
| CN114643822A (en) * | 2022-04-08 | 2022-06-21 | 徐州徐工矿业机械有限公司 | Rubber damping device with pressure monitoring function, monitoring method and engineering vehicle |
| CN114643822B (en) * | 2022-04-08 | 2024-03-26 | 徐州徐工矿业机械有限公司 | Rubber damping device with pressure monitoring function, monitoring method and engineering vehicle |
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