CN109318253A - Variation rigidity flexible joint system and control method based on electromagnetism buckling girder construction - Google Patents
Variation rigidity flexible joint system and control method based on electromagnetism buckling girder construction Download PDFInfo
- Publication number
- CN109318253A CN109318253A CN201811323942.8A CN201811323942A CN109318253A CN 109318253 A CN109318253 A CN 109318253A CN 201811323942 A CN201811323942 A CN 201811323942A CN 109318253 A CN109318253 A CN 109318253A
- Authority
- CN
- China
- Prior art keywords
- buckling
- electromagnetism
- flexible joint
- girder construction
- electromagnetic
- Prior art date
- 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.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
- B25J17/0225—Compliance devices with axial compliance, i.e. parallel to the longitudinal wrist axis
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Buildings Adapted To Withstand Abnormal External Influences (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of variation rigidity flexible joint system based on electromagnetism buckling girder construction, including input shaft, output mechanism, electromagnetism buckling girder construction and control system, output mechanism includes output shell and output end cap；Electromagnetism buckling girder construction includes two electromagnetic modules and the opposite installation composition of two panels buckled beam, and wherein electromagnetic module is fixed on the middle part of buckled beam；Cooperated between the input shaft and output mechanism by revolute pair, and is fixed therein；The invention also discloses a kind of control methods, this flexible joint is not only simple in structure, is easily controllable, Miniaturizable, and the rigidity of flexible joint is adjusted using the variation of electromagnetic force, stiffness tuning motor is eliminated, greatly reduces the volume and quality of flexible joint, while electromagnetic module is to current sense, the wide variation of rigidity can be obtained by adjusting electric current, degree of regulation is high, and error is small, has a wide range of application.
Description
Technical field
The present invention relates to a kind of variation rigidity flexible joint system and control method based on electromagnetism buckling girder construction, belong to machine
Device people's technical field.
Background technique
Robot technology and its Drive technology have pole to the following new industry as a kind of strategic high-tech technology
Strong drive and technology radiation develop robot technology, actuation techniques and cognition technology, to promote socio-economic development,
Strengthening the defense capabilities, improve emergency event Ability of emergency management, improve People's livelihood etc. has far reaching significance.
Currently, robot has been widely applied in field of human-computer interaction, such as in industrial circle, robot is had begun
Participate in human labour, and the completion task that cooperates with people；In service industry, it is also proposed catering trade service robot, humanoid
Robot etc.；This shows that the relationship of robot and the mankind are more and more closer, and the reliability of human-computer interaction, safety also will be more next
It is more concerned by people, therefore robot security, efficient participation mankind's activity are also particularly important.
And traditional rigid articulated robot is unable to satisfy the these requirements of human-computer interaction, therefore studies novel variation rigidity
Robot flexibility joint becomes the important topic of field of human-computer interaction.
Important component of the flexible joint as robot, due to being equipped with flexible member, therefore can effectively buffer
The vibration and impact that device people generates in operation or walking process reduce joint loss, protect robot interior precision instrument
It is not affected, ensures safety, the reliability of human-computer interaction；Again since flexible joint rigidity is adjustable, so can be according to difference
Requirement adjust joint stiffness, to meet the rigidity requirement under different operating environment；Furthermore flexible joint is due to small in size, quality
Gently, structure is relatively simple, so practical application adaptability is stronger, can be produced according to demand.
Such as patent of invention (publication number CN106142132A) discloses a kind of robot flexibility pass that rigidity is continuously adjustable
Section realizes that rigidity is adjustable by the pre compressed magnitude of compression floating spring, though can be realized, rigidity is continuously adjustable, its structure is multiple
It is miscellaneous, volume is big, environmental suitability is poor；Patent of invention (publication number CN104647397A) discloses a kind of flexible pass of stiffness variable
Section uses multilevel gear drive mechanism, and transmittance process is complicated and precision is low, is difficult to control rigidity, and structure is complex, answers
With limited；Patent of invention (publication number CN108000554A) discloses a kind of stiffness variable flexible joint based on leaf spring and its control
Method processed changes effective active length of leaf spring, to change flexible joint by control stiffness tuning motor band movable slider
Rigidity, but the use of stiffness tuning motor increases the volume and quality of flexible joint.
As it can be seen that three above-mentioned patents exist, structure is complicated, and volume is big, and quality is big, is difficult to control and control precision is low, ring
The technological deficiencies such as border bad adaptability.
Summary of the invention
The purpose of the present invention is to provide a kind of variation rigidity flexible joint system and control based on electromagnetism buckling girder construction
Method can save stiffness tuning motor, reduce the volume and quality of flexible joint, realize flexible joint in different operating condition items
Under part and under complex environment, all there is adaptability and stiffness tuning capability.
To achieve the above object, the invention provides the following technical scheme: a kind of variation rigidity based on electromagnetism buckling girder construction
Flexible joint system, it includes:
Input shaft, output mechanism, electromagnetism buckling girder construction and control system；
The input shaft is Step Shaft, opens that there are three the through-holes of circumferentially equal radians distribution in the axial end of maximum gauge；
The output mechanism includes the output end cap and output shell by being fastened, and output shell is tubular closed at one end
Structure, and inner wall has a circle uniform thickness boss, and equal radians are dispersed with three threaded holes on boss；
It is in fan blade distribution of shapes that the quantity of the electromagnetism buckling girder construction, which is three, each includes two panels buckled beam and two
A electromagnetic module, the electromagnetic module are fixed on the middle part of the buckled beam, and the two panels buckled beam and two electromagnetic modules are in
Mirror image installation, one end are fixed by screws on the boss on the output outer casing inner wall, and the other end is coupled by fastening bolt
On the input shaft；
The control system includes current controller and computer, and current controller is separately connected the electromagnetic module and the meter
Calculation machine.
The buckled beam applies pretightning force during installation, is equipped with air gap between the electromagnetic module.
Buckled beam, screw and the fastening bolt is non-magnetic hardware.
A kind of variation rigidity flexible joint control method based on electromagnetism buckling girder construction, comprising the following steps:
1) the different-stiffness value needed under the conditions of different operating, calculates when meeting different-stiffness value in the buckled beam
Portion's amount of deflection adjusts the electromagnetism by current controller so as to obtain the size of gaps needed between the electromagnetic module
Size of current and direction in module to change the size of electromagnetic force and air gap, obtain meeting under working condition it is required just
Degree；
2) when the electric current of the same direction is added in the electromagnetic module, the electromagnetic force to attract each other can be generated, so that air gap subtracts
It is small, while the middle part amount of deflection of the buckled beam reduces, rigidity reduces；
3) when the electric current of opposite direction is added in the electromagnetic module, mutually exclusive electromagnetic force can be generated, so that air gap increases
Greatly, while the middle part amount of deflection of the beam in the wrong increases, and rigidity increases.
The adjustment process of the current controller is realized by traditional PID control.
Compared with existing flexible joint, the present invention has the following advantages:
1. there is good adaptability and stiffness tuning capability, anti-interference ability under different working conditions and under complex environment
By force；
2. flexible joint adjusts the rigidity of buckled beam using electromagnetic force indirectly, changed by controlling the size and Orientation of electric current
Electromagnetic force and air gap between electromagnetic module, less energy-consuming, it can be achieved that rigidity a wide range of adjusting；
3. control method of the present invention is simple, stiffness tuning motor is eliminated, structure letter is compact, and small in size, light weight is easy to small-sized
Change, be easily installed, degree of regulation is high, and error is small, the extensive advantage of application prospect.
Detailed description of the invention
Fig. 1 is structure overall schematic of the invention；
Fig. 2 is input shaft structure schematic diagram of the invention；
Fig. 3 is output mechanism schematic diagram of the invention；
Fig. 4 is electromagnetism buckled beam structural schematic diagram of the invention；
Fig. 5 is control flow chart of the invention.
In figure: 1, input shaft, 2, output mechanism, 2-1, output end cap, 2-2, output shell, 3, electromagnetism buckling girder construction,
3-1, buckled beam, 3-2, electromagnetic module, 4, control system, 4-1, current controller, 4-2, computer.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
As shown in Figure 1 to Figure 4, the present invention proposes a kind of variation rigidity flexible joint system based on electromagnetism buckling girder construction, it is wrapped
It includes:
Input shaft 1, output mechanism 2, electromagnetism buckling girder construction 3 and control system 4；
As shown in Figure 2: the input shaft 1 is Step Shaft, opens that there are three circumferentially equal radians in the axial end of maximum gauge
The through-hole of distribution；
As shown in figs. 1 and 3: the output mechanism 2 includes the output end cap 2-1 and output shell 2-2 by being fastened, output
Shell 2-2 is tubular structure closed at one end, and inner wall has a circle uniform thickness boss, waits radians to be dispersed with three screw threads on boss
Hole；
As shown in Figure 1 and Figure 4, it is in fan blade distribution of shapes that the quantity of the electromagnetism buckling girder construction 3, which is three, is each wrapped
It includes two panels buckled beam 3-1 and two electromagnetic modules 3-2, the electromagnetic module 3-2 is fixed on the middle part of the buckled beam 3-1, institute
It states two panels buckled beam 3-1 and two electromagnetic module 3-2 to install in mirror image, one end is fixed by screws in the output shell 2-2
On boss on inner wall, the other end is connected on the input shaft 1 by fastening bolt；
As shown in Figure 1, the control system 4 includes current controller 4-1 and computer 4-2, current controller 4-1 is separately connected
The electromagnetic module 3-2 and computer 4-2.
Wherein, the buckled beam 3-1 applies pretightning force during installation, is equipped with air gap between the electromagnetic module 3-2.
Wherein, buckled beam 3-1, screw and the fastening bolt are non-magnetic hardware.
As shown in Figure 5: the invention also discloses a kind of variation rigidity flexible joint controlling parties based on electromagnetism buckling girder construction
Method, comprising the following steps:
1) the different-stiffness value needed under the conditions of different operating, calculates buckled beam 3-1 when meeting different-stiffness value
Middle part amount of deflection pass through current controller 4-1 tune so as to obtain the size of gaps needed between the electromagnetic module 3-2
Size of current and direction in the electromagnetic module 3-2 are saved to change the size of electromagnetic force and air gap, obtains meeting working condition
Rigidity required for lower；
2) when the electric current of the same direction is added in the electromagnetic module 3-2, the electromagnetic force to attract each other can be generated, so that air gap
Reduce, while the middle part amount of deflection of the buckled beam 3-1 reduces, rigidity reduces；
3) when the electric current of opposite direction is added in the electromagnetic module 3-2, mutually exclusive electromagnetic force can be generated, so that air gap
Increase, while the middle part amount of deflection of the beam 3-1 in the wrong increases, rigidity increases.
Wherein, the adjustment process of the current controller 4-1 is realized by traditional PID control.
Compared with existing flexible joint, the present invention has the following advantages:
1. there is good adaptability and stiffness tuning capability, anti-interference ability under different working conditions and under complex environment
By force；
2. flexible joint adjusts the rigidity of buckled beam using electromagnetic force indirectly, changed by controlling the size and Orientation of electric current
Electromagnetic force and air gap between electromagnetic module 3-2, less energy-consuming, it can be achieved that rigidity a wide range of adjusting；
3. control method of the present invention is simple, stiffness tuning motor is eliminated, structure letter is compact, and small in size, light weight is easy to small-sized
Change, be easily installed, degree of regulation is high, and error is small, the extensive advantage of application prospect.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
The above, only presently preferred embodiments of the present invention, are not intended to limit the invention, all skills according to the present invention
Art any trickle amendment, equivalent replacement and improvement substantially to the above embodiments, should be included in technical solution of the present invention
Protection scope within.
Claims (5)
1. a kind of variation rigidity flexible joint system based on electromagnetism buckling girder construction, which is characterized in that it includes:
Input shaft (1), output mechanism (2), electromagnetism buckling girder construction (3) and control system (4)；
The input shaft (1) is Step Shaft, is opened in the axial end of maximum gauge logical there are three circumferentially waiting radians to be distributed
Hole；
The output mechanism (2) includes the output end cap (2-1) and output shell (2-2) by being fastened, and exports shell (2-
It 2) is tubular structure closed at one end, and inner wall has a circle uniform thickness boss, waits radians to be dispersed with three threaded holes on boss；
The quantity of the electromagnetism buckling girder construction (3) is three in fan blade distribution of shapes and each including two panels buckling
Beam (3-1) and two electromagnetic modules (3-2), the electromagnetic module (3-2) is fixed on the middle part of the buckled beam (3-1), described
Two panels buckled beam (3-1) and two electromagnetic modules (3-2) are installed in mirror image, and one end is fixed by screws in the output shell
On boss on (2-2) inner wall, the other end is connected on the input shaft (1) by fastening bolt；
The control system (4) includes current controller (4-1) and computer (4-2), and current controller (4-1) is separately connected institute
State electromagnetic module (3-2) and the computer (4-2).
2. a kind of variation rigidity flexible joint system based on electromagnetism buckling girder construction according to claim 1, feature exist
In the buckled beam (3-1) applies pretightning force during installation, is equipped with air gap between the electromagnetic module (3-2).
3. a kind of variation rigidity flexible joint system based on electromagnetism buckling girder construction according to claim 1 or 2, feature
It is, the buckled beam (3-1), screw and fastening bolt are non-magnetic hardware.
4. a kind of variation rigidity flexible joint control method based on electromagnetism buckling girder construction, which comprises the following steps:
1) the different-stiffness value needed under the conditions of different operating, calculates buckled beam (3- when meeting different-stiffness value
1) middle part amount of deflection passes through current controller so as to obtain the size of gaps needed between the electromagnetic module (3-2)
(4-1) adjusts size of current in the electromagnetic module (3-2) and direction to change the size of electromagnetic force and air gap, is met
Required rigidity under working condition；
2) when the electric current of the same direction is added in the electromagnetic module (3-2), the electromagnetic force to attract each other can be generated, makes to bring about the desired sensation
Gap reduces, while the middle part amount of deflection of the buckled beam (3-1) reduces, and rigidity reduces；
3) when the electric current of opposite direction is added in the electromagnetic module (3-2), mutually exclusive electromagnetic force can be generated, makes to bring about the desired sensation
Gap increases, while the middle part amount of deflection of the beam in the wrong (3-1) increases, and rigidity increases.
5. a kind of variation rigidity flexible joint control method based on electromagnetism buckling girder construction according to claim 4, special
Sign is that the adjustment process of the current controller (4-1) is realized by traditional PID control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811323942.8A CN109318253B (en) | 2018-11-08 | 2018-11-08 | Variable-rigidity flexible joint system based on electromagnetic buckling beam structure and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811323942.8A CN109318253B (en) | 2018-11-08 | 2018-11-08 | Variable-rigidity flexible joint system based on electromagnetic buckling beam structure and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109318253A true CN109318253A (en) | 2019-02-12 |
| CN109318253B CN109318253B (en) | 2021-05-07 |
Family
ID=65261310
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811323942.8A Active CN109318253B (en) | 2018-11-08 | 2018-11-08 | Variable-rigidity flexible joint system based on electromagnetic buckling beam structure and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109318253B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100760846B1 (en) * | 2006-09-04 | 2007-09-21 | 한국과학기술연구원 | Device for generating stiffness and joint of robot manipulator comprising the same |
| CN205078688U (en) * | 2015-11-06 | 2016-03-09 | 株洲时代新材料科技股份有限公司 | Self -tuning dynamic vibration absorber |
| CN105599006A (en) * | 2016-03-23 | 2016-05-25 | 华南理工大学 | Two-motor driven variable-stiffness elastic joint of robot |
| CN105972370A (en) * | 2016-05-27 | 2016-09-28 | 哈尔滨工程大学 | Novel variable-rigidity semi-active pipeline vibration absorber |
| CN107733143A (en) * | 2017-09-26 | 2018-02-23 | 西安交通大学 | A kind of bistable permanent magnetic steering wheel and start method based on buckled beam |
| JP2018059854A (en) * | 2016-10-07 | 2018-04-12 | キヤノン株式会社 | Displacement measuring device, robot, robot arm, and method for manufacturing item |
| CN108000554A (en) * | 2017-11-30 | 2018-05-08 | 中国矿业大学 | A kind of stiffness variable flexible joint and its control method based on leaf spring |
-
2018
- 2018-11-08 CN CN201811323942.8A patent/CN109318253B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100760846B1 (en) * | 2006-09-04 | 2007-09-21 | 한국과학기술연구원 | Device for generating stiffness and joint of robot manipulator comprising the same |
| CN205078688U (en) * | 2015-11-06 | 2016-03-09 | 株洲时代新材料科技股份有限公司 | Self -tuning dynamic vibration absorber |
| CN105599006A (en) * | 2016-03-23 | 2016-05-25 | 华南理工大学 | Two-motor driven variable-stiffness elastic joint of robot |
| CN105972370A (en) * | 2016-05-27 | 2016-09-28 | 哈尔滨工程大学 | Novel variable-rigidity semi-active pipeline vibration absorber |
| JP2018059854A (en) * | 2016-10-07 | 2018-04-12 | キヤノン株式会社 | Displacement measuring device, robot, robot arm, and method for manufacturing item |
| CN107733143A (en) * | 2017-09-26 | 2018-02-23 | 西安交通大学 | A kind of bistable permanent magnetic steering wheel and start method based on buckled beam |
| CN108000554A (en) * | 2017-11-30 | 2018-05-08 | 中国矿业大学 | A kind of stiffness variable flexible joint and its control method based on leaf spring |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109318253B (en) | 2021-05-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9157517B2 (en) | Compound harmonic drive | |
| EP3279513B1 (en) | Compound harmonic drive | |
| CN108000554A (en) | A kind of stiffness variable flexible joint and its control method based on leaf spring | |
| CN210034259U (en) | Quasi-zero stiffness low-frequency vibration isolator with piezoelectric energy harvesting function | |
| CN108453723B (en) | Plate spring type variable-rigidity flexible driver based on six-rod mechanism | |
| CN108374858A (en) | One kind being based on the adjustable simple substance phonon crystal vibration isolator of Stress stiffening effect band gap | |
| CN106514700A (en) | Leaf-spring-based robot flexile joint with continuously-adjustable rigidity | |
| CN109318253A (en) | Variation rigidity flexible joint system and control method based on electromagnetism buckling girder construction | |
| Zhao et al. | Design of an electromagnetic prismatic joint with variable stiffness | |
| CN116388609B (en) | Flat-rotary two-degree-of-freedom piezoelectric actuator driven based on inertial stepping principle | |
| CN101870356A (en) | Parallel type worm gear and worm screw high-torque actuator | |
| CN111604936A (en) | Hydraulic mechanical arm wrist | |
| CN113898707B (en) | Variable-rigidity compliant driver | |
| CN115111507B (en) | Vibration isolation platform of accurate zero rigidity of extension with adjustable | |
| CN108900110A (en) | One kind preloading EAP driving structure based on negative stiffness | |
| CN206115005U (en) | Large -scale astronomical telescope panel actuator | |
| CN211648959U (en) | Transmission mechanism, harmonic reducer and integrated joint | |
| CN210767325U (en) | Self-resetting tuned mass damper based on eddy current and shape memory alloy technology | |
| CN208068305U (en) | Mobile type mechanical joint device | |
| CN113914503A (en) | Wall horizontal connecting piece device based on friction energy consumption and self-centering | |
| CN112113783A (en) | Testing device for steering engine | |
| CN219428358U (en) | Control surface control mechanism of aircraft and aircraft | |
| CN107792089B (en) | A kind of hoofing part mechanism | |
| Lee et al. | Design and spin testing of an active trailing edge flap actuated with piezostacks | |
| CN201694386U (en) | Parallel worm geared large-torsion actuator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |