CN107962591B - Passive vibration-damping elastic element capable of measuring torque on flexible robot joint - Google Patents
Passive vibration-damping elastic element capable of measuring torque on flexible robot joint Download PDFInfo
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- CN107962591B CN107962591B CN201711185466.3A CN201711185466A CN107962591B CN 107962591 B CN107962591 B CN 107962591B CN 201711185466 A CN201711185466 A CN 201711185466A CN 107962591 B CN107962591 B CN 107962591B
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- 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
- B25J19/0095—Means or methods for testing manipulators
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Abstract
A passive vibration-damping elastic element used on a flexible robot joint and capable of measuring torque relates to a passive vibration-damping elastic element. The invention aims to solve the problem of poor reliability of the existing active vibration control for inhibiting the vibration of the flexible robot; the semi-active vibration control needs additional control elements such as a motor and the like, so that the problems of large volume and complex structure exist; the passive vibration-damping elastic element made of common rubber materials has the problem that the borne torque cannot be accurately estimated. The metal material body comprises an outer ring steel body, two strain beams, concave-convex curve-shaped reeds and an inner ring steel body, wherein the outer ring steel body is coaxially sleeved on the inner ring steel body, the outer ring steel body and the inner ring steel body are connected through the concave-convex curve-shaped reeds and the two strain beams, a plurality of rubber sheets are arranged on the concave-convex curve-shaped reeds, and the resistance-type strain gauge is arranged on the strain beams. The invention is used for joint driving of the flexible robot joint, and has the functions of moment sensing and passive vibration reduction.
Description
Technical Field
The invention relates to a rotary vibration-damping elastic element, in particular to a passive vibration-damping elastic element capable of measuring torque and used on a flexible robot joint, and belongs to the field of robots.
Background
With the continuous expansion of the application field of the robot, more and more robots leave the isolation room and work in the environment where people exist, which puts high requirements on the running safety of the robot. In order to ensure the safety of human beings, flexible robots employing series elastic drivers are continuously emerging. Flexible elements such as a torsion spring are connected in series between the output end of the motor reducer of the robot joint and the load, so that the output impedance of the robot is reduced, and the safety of the robot is improved. However, the flexibility of the joints of the robot is improved, so that the robot generates vibration during operation, and the accuracy of the position control of the robot is greatly reduced. In order to inhibit the vibration of the robot, three vibration reduction methods, namely active vibration reduction, semi-active vibration reduction and passive vibration reduction, can be adopted. The active vibration control is to reduce the vibration by using a control algorithm, and the reliability is poor. The semi-active vibration control needs additional control elements such as a motor and the like, and is large in size and complex in structure. The research institute of the Harbin industrial university robot adopts a fan-shaped rubber sheet to design a passive vibration damping flexible element, but the rubber material has hysteresis characteristics when being subjected to periodic load, and the borne torque and elastic deformation do not have one-to-one correspondence, so that the borne torque cannot be accurately estimated.
In summary, the problem of poor reliability exists in the existing active vibration control for inhibiting the vibration of the flexible robot; the semi-active vibration control needs additional control elements such as a motor and the like, so that the problems of large volume and complex structure exist; the passive vibration-damping elastic element made of common rubber materials has the problem that the borne torque cannot be accurately estimated.
Disclosure of Invention
The invention aims to solve the problem of poor reliability of the existing active vibration control for inhibiting the vibration of the flexible robot; the semi-active vibration control needs additional control elements such as a motor and the like, so that the problems of large volume and complex structure exist; the passive vibration-damping elastic element made of common rubber materials has the problem that the borne torque cannot be accurately estimated. And further provides a passive vibration-damping elastic element which is used for the flexible robot joint and can measure the moment.
The technical scheme of the invention is as follows: the utility model provides a passive damping elastic element that is used for flexible robot joint to go up ability survey moment, it includes the metal material body, a plurality of resistance-type foil gage and a plurality of sheet rubber, the metal material body includes the outer lane steel body, two straining beams, concave-convex curve shaped reed and inner circle steel body, the coaxial suit of outer lane steel body is on the inner circle steel body, connect through concave-convex curve shaped reed and two straining beams between the outer lane steel body and the inner circle steel body, a plurality of sheet rubbers are installed on concave-convex curve shaped reed, the resistance-type foil gage is installed on straining the roof beam.
Furthermore, the outer ring steel body, the two strain beams, the concave-convex curve-shaped reeds and the inner ring steel body are manufactured into a whole.
Furthermore, one end of each strain beam is connected with the outer ring steel body, the other end of each strain beam is connected with the concave-convex curve-shaped reed, and the concave-convex curve-shaped reeds are connected with the inner ring steel body.
Further, the two strain beams are symmetrically distributed and connected with the outer ring steel body.
Further, a plurality of rubber sheets are adhered to the concave-convex curve-shaped spring sheet through a laser welding technology.
Furthermore, the number of the plurality of resistance type strain gauges is four, and two sides of each strain beam are respectively provided with one resistance type strain gauge.
Furthermore, a plurality of outer ring connecting through holes are formed in the outer ring steel body.
Compared with the prior art, the invention has the following effects:
1. the elastic element of the invention adopts rubber materials, namely the rubber materials are used as elastic bodies to enable the robot joint to generate flexibility, and are also used as damping materials to reduce vibration generated when the robot joint moves. As a passive vibration reduction scheme, the vibration control device is simple in structure and reliable in work, and is an ideal vibration control scheme.
2. The invention is provided with the strain beam, and the resistance-type strain gauge is attached on the strain beam, so that the strain beam can sense the torsional load borne by the elastic element and plays a role of a torque sensor. Namely, the elastic element integrates flexible deformation and moment sensing.
3. The overall structure of the robot joint is a disc-shaped structure, so that the robot joint is small in size, the radial size of the robot joint is equivalent to that of a common robot joint, the axial size is determined by a driven load, the diameter of the robot joint is 15mm, the structure is simple, and the compact, integrated and modular design is easy to realize.
4. The invention has larger output torque, and can realize torque output of dozens of Nm to hundreds of Nm by adopting the modular design and connecting the elastic elements in series.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention; fig. 2 is a schematic structural view of the outer ring base body.
Detailed Description
The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 2, and the passive vibration-damping elastic element capable of measuring torque for a flexible robot joint of the embodiment comprises a metal material body 1, a plurality of resistance-type strain gauges 3 and a plurality of rubber sheets 2, wherein the metal material body 1 comprises an outer ring steel body 1-1, two strain beams 1-2, concave-convex curve-shaped reeds 1-3 and inner ring steel bodies 1-4, the outer ring steel body 1-1 is coaxially sleeved on the inner ring steel bodies 1-4, the outer ring steel body 1-1 and the inner ring steel bodies 1-4 are connected through the concave-convex curve-shaped reeds 1-3 and the two strain beams 1-2, the plurality of rubber sheets 2 are installed on the concave-convex curve-shaped reeds 1-3, and the resistance-type strain gauges 3 are installed on the strain beams 1-2.
This embodiment is structurally of a disk-like design.
The inner ring rigid body 1-4 of the embodiment is provided with a plurality of inner ring connecting through holes 1-4-1, so that the inner ring rigid body can be conveniently connected with other components of the flexible robot.
The second embodiment is as follows: referring to fig. 1 to 2, the outer ring steel body 1-1, the two strain beams 1-2, the concave-convex curve-shaped reeds 1-3, and the inner ring steel body 1-4 of the present embodiment are integrally formed. So set up, simple structure is convenient for manufacture. Other components and connections are the same as in the first embodiment.
The third concrete implementation mode: the embodiment is described with reference to fig. 1 to 2, wherein one end of each of two strain beams 1-2 of the embodiment is connected to an outer ring steel body 1-1, the other end of each of the two strain beams 1-2 is connected to a concave-convex curve-shaped reed 1-3, and the concave-convex curve-shaped reed 1-3 is connected to an inner ring steel body 1-4. So set up, the structure is compacter. Other components and connection relationships are the same as those in the second embodiment.
The fourth concrete implementation mode: the embodiment is described with reference to fig. 1 to 2, and two strain beams 1-2 of the embodiment are symmetrically distributed and connected to an outer ring steel body 1-1. So set up, the arrangement of resistance-type foil gage 3 of being convenient for finds the moment that accurate position perception elastic element bore. Other compositions and connection relations are the same as those of the third embodiment.
The fifth concrete implementation mode: referring to fig. 1 to 2, the present embodiment will be described, in which a plurality of rubber sheets 2 of the present embodiment are attached to concave-convex curved-shaped reeds 1 to 3 by a laser welding technique. So configured, elastic deformation is provided for the elastic element. Other compositions and connection relationships are the same as those in the first, second, third or fourth embodiment.
The sixth specific implementation mode: the present embodiment is described with reference to fig. 1 to 2, the number of the plurality of resistive strain gauges 3 in the present embodiment is four, and one resistive strain gauge 3 is mounted on each of both sides of each strain beam 1-2. The device is used for sensing the moment born by the elastic element. Other compositions and connection relationships are the same as in the first, second, third, fourth or fifth embodiment.
The seventh embodiment: referring to fig. 1 to 2, the present embodiment is described, and a plurality of outer ring connecting through holes 1-1-2 are provided in an outer ring steel body 1-1 of the present embodiment. The device is arranged for being connected with a load end of the robot joint. Other compositions and connection relationships are the same as in the first, second, third, fourth, fifth or sixth embodiment.
The working principle of the invention is as follows:
in the robot joint, the power output by a motor is transmitted to inner ring rigid bodies 1-4 of an elastic element through a speed reducer, and the inner ring rigid bodies 1-4 are power input ports of the elastic element. After power is transmitted to the inner ring rigid body 1-4, the power is transmitted to the outer ring rigid body 1-1 through the concave-convex curve-shaped reeds 1-3, the rubber sheets 2 and the strain beams 1-2. Due to the elastic action of the concave-convex curve reeds 1-3 and the rubber sheet 2, the whole elastic element can generate elastic deformation in the power transmission process, and the robot is endowed with flexible characteristics. Because the rubber sheet 2 has damping characteristic, part of energy can be lost in the process of power transmission, and the passive vibration damping function of the elastic element is realized. Meanwhile, the resistance-type strain gauge 3 is attached to the strain beam 1-2, so that the moment borne by the elastic element can be sensed, and the function of a torque sensor is achieved.
Claims (6)
1. A passive damping elastic element for a flexible robot joint capable of measuring torque is characterized in that: it comprises a metal material body (1), a plurality of resistance-type strain gauges (3) and a plurality of rubber sheets (2),
the metal material body (1) comprises an outer ring steel body (1-1), two strain beams (1-2), concave-convex curve-shaped reeds (1-3) and an inner ring steel body (1-4), wherein the outer ring steel body (1-1) is coaxially sleeved on the inner ring steel body (1-4), the outer ring steel body (1-1) and the inner ring steel body (1-4) are connected with the two strain beams (1-2) through the concave-convex curve-shaped reeds (1-3), a plurality of rubber sheets (2) are arranged on the concave-convex curve-shaped reeds (1-3), and a resistance-type strain sheet (3) is arranged on the strain beams (1-2); the two strain beams (1-2) are symmetrically distributed and connected with the outer ring steel body (1-1), and the passive vibration-damping elastic element integrates flexible deformation and moment perception.
2. The passive vibration damping elastic element for moment measureable on flexible robot joints according to claim 1, characterized in that: the outer ring steel body (1-1), the two strain beams (1-2), the concave-convex curve-shaped reeds (1-3) and the inner ring steel body (1-4) are manufactured into a whole.
3. A passive vibration damping elastic element for moment measureable on flexible robot joints according to claim 2, characterized in that: one end of each strain beam (1-2) is connected with the outer ring steel body (1-1), the other end of each strain beam (1-2) is connected with the concave-convex curve-shaped reed (1-3), and the concave-convex curve-shaped reed (1-3) is connected with the inner ring steel body (1-4).
4. A passive vibration damping elastic element for moment measureable on flexible robot joints according to claim 3, characterized in that: the plurality of rubber sheets (2) are adhered to the concave-convex curve-shaped reeds (1-3) through a laser welding technology.
5. The passive vibration damping elastic element for moment measurable on a flexible robot joint according to claim 4, characterized in that: the number of the plurality of resistance type strain gauges (3) is four, and two sides of each strain beam (1-2) are respectively provided with one resistance type strain gauge (3).
6. The passive vibration damping elastic element for moment measureable on flexible robot joints according to claim 5, characterized in that: the outer ring steel body (1-1) is provided with a plurality of outer ring connecting through holes (1-1-2).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711185466.3A CN107962591B (en) | 2017-11-23 | 2017-11-23 | Passive vibration-damping elastic element capable of measuring torque on flexible robot joint |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109099141A (en) * | 2018-09-25 | 2018-12-28 | 山东理工大学 | A kind of gear box vibration damping structure with compliant mechanism |
| IT201800010483A1 (en) * | 2018-11-21 | 2020-05-21 | Scuola Superiore Di Studi Univ E Di Perfezionamento Santanna | PLANAR TORSION SPRING |
| WO2020208808A1 (en) * | 2019-04-12 | 2020-10-15 | 株式会社ニコン | Machining system, machining method, robot system, connecting device, and end effector device |
| JP7471825B2 (en) * | 2020-01-07 | 2024-04-22 | キヤノン株式会社 | DETECTION DEVICE, DETECTION METHOD, CONTROL METHOD, ROBOT DEVICE, PROGRAM, AND RECORDING MEDIUM |
| CN111693040B (en) * | 2020-06-17 | 2023-08-11 | 苏州恒辉科技有限公司 | Mechanical arm collision detection method based on series elastic driver |
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| US4308728A (en) * | 1979-08-14 | 1982-01-05 | Engineering Development (Leeds) Limited | Torsionally resilient coupling |
| JP2002021927A (en) * | 2000-07-03 | 2002-01-23 | Ohbayashi Corp | Base isolation device |
| CN105673792A (en) * | 2014-11-19 | 2016-06-15 | 中国科学院沈阳自动化研究所 | Flexible transmission device capable of measuring output torque |
| CN106078791A (en) * | 2016-07-12 | 2016-11-09 | 北京精密机电控制设备研究所 | A kind of plane elastic body being applicable to high-mechanic robot series elastic driver |
| CN106272555A (en) * | 2016-09-05 | 2017-01-04 | 哈尔滨工业大学 | A kind of passive damping elastomer element on flexible machine person joint |
| CN106641057A (en) * | 2016-11-28 | 2017-05-10 | 杭州电子科技大学 | Double-layer plane torsional spring for smoothening joint |
| CN106737773A (en) * | 2016-11-16 | 2017-05-31 | 哈尔滨工业大学 | A kind of high rigidity joint moment sensor |
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- 2017-11-23 CN CN201711185466.3A patent/CN107962591B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4308728A (en) * | 1979-08-14 | 1982-01-05 | Engineering Development (Leeds) Limited | Torsionally resilient coupling |
| JP2002021927A (en) * | 2000-07-03 | 2002-01-23 | Ohbayashi Corp | Base isolation device |
| CN105673792A (en) * | 2014-11-19 | 2016-06-15 | 中国科学院沈阳自动化研究所 | Flexible transmission device capable of measuring output torque |
| CN106078791A (en) * | 2016-07-12 | 2016-11-09 | 北京精密机电控制设备研究所 | A kind of plane elastic body being applicable to high-mechanic robot series elastic driver |
| CN106272555A (en) * | 2016-09-05 | 2017-01-04 | 哈尔滨工业大学 | A kind of passive damping elastomer element on flexible machine person joint |
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