CN109773770A - Legged type robot joint electricity consumption flesh composite driving mechanism - Google Patents
Legged type robot joint electricity consumption flesh composite driving mechanism Download PDFInfo
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- CN109773770A CN109773770A CN201910175660.6A CN201910175660A CN109773770A CN 109773770 A CN109773770 A CN 109773770A CN 201910175660 A CN201910175660 A CN 201910175660A CN 109773770 A CN109773770 A CN 109773770A
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Abstract
The invention discloses a kind of legged type robot joint electricity consumption flesh composite driving mechanism, the technical issues of the practicability is poor for solving existing legged type robot joint driving mechanism.Technical solution be include right tendon, lower bracket, left tendon, connection shell, electric machine assembly and controller.During composite driving mechanism moves to lower bracket level from lower bracket obliquely, controller controls signal is transmitted to electric machine assembly, rotate motor counterclockwise, control the end voltage of left tendon and right tendon according to demand simultaneously, extend left tendon, right tendon is shunk, and to connection shell and electric machine assembly torque counterclockwise, lower bracket is driven to rotate counterclockwise.Similarly, when composite driving mechanism from lower bracket horizontal movement to lower bracket obliquely during, motor rotates clockwise, and left tendon is shunk, and right tendon elongation drives lower bracket to rotate clockwise, practicability is good to connection shell and electric machine assembly clockwise torque.
Description
Technical field
The present invention relates to a kind of legged type robot joint driving mechanisms, more particularly to a kind of electricity consumption of legged type robot joint
Flesh composite driving mechanism.
Background technique
Movement characteristic with biped robot Yu ground discontinuous contact can adapt to the complicated landforms such as mountainous region, thus
With than wheeled or bigger caterpillar mobile robot scope of activities, and joint is one of the core component with biped robot.
Bionical action feature with biped robot, it is desirable that its joint drive has that fast response time, torque density be high, the spies such as light-weight
Point.And motor driven is controlled by it precisely, the characteristics of response quickly, in terms of joint of robot driving using relatively broad.
Joint of robot is influenced due to own wt and by gravity (gravitation torque), and load increases.Most of robots close
Section uses power, the biggish motor of weight and retarder, provides enough torque for joint of robot movement.If due to robot
Weight and the gravitation torque and fractional load torque generated can be compensated by certain mode, joint need torque
It is reduced, the weight of motor also can decrease.
" Multi-DOF Counterbalance Mechanism for a Service Robot Arm is delivered document 1
In periodical IEEE/ASME Transactions on Mechatronics, the 6th phases page 1756-1763 of volume 19 in 2014 " it proposes
Carry out compensating torque using spring in the articular portion of robot, reduces the influence of gravitation torque.But this mode poor controllability,
Precision is low, and can only passively be compensated, and for the high occasion of torque compensation flexibility demand and is not suitable for.Therefore, it is necessary to one
Kind can either be precisely controlled, and response is rapid, lightweight, and can generate the intelligent torque compensation driving mechanism of enough torque.
Electroactive polymer (Electroactive Polymer, EAP) is used as a kind of new type soft intellectual material, can
Certain deformation is generated when being powered and embodies bioactive, also referred to as " artificial muscle ".2 " Musclelike of document
Joint Mechanism Driven by Dielectric Elastomer Actuator for Robotic
Applications is published in periodical Smart Materials and Structures, the 7th phase of volume 27 in 2018 " it describes
A kind of robot joint mechanism driven by EAP material.This driving structure includes bracket, EAP driving assembly and cradle head,
4 strip EAP materials are individually placed to cradle head the right and left, 2, every side.EAP shrinks or stretches after energization, band movable joint
It rotates left and right.But the torque that this driving method generates is limited, and non-linear deformation accuracy is lower, in high torque demand occasion
It is difficult to precisely exert a force.
Summary of the invention
In order to overcome the shortcomings of existing legged type robot joint driving mechanism, the practicability is poor, and the present invention provides a kind of sufficient formula machine
Device person joint's electricity consumption flesh composite driving mechanism.The mechanism includes right tendon, lower bracket, left tendon, connection shell, electric machine assembly and control
Device processed.During composite driving mechanism moves to lower bracket level from lower bracket obliquely, controller will control signal and pass
It to electric machine assembly, rotates motor counterclockwise, while controlling the end voltage of left tendon and right tendon according to demand, stretch left tendon
Long, right tendon is shunk, and to connection shell and electric machine assembly torque counterclockwise, lower bracket is driven to rotate counterclockwise.Similarly, work as combination flooding
Motivation structure from lower bracket horizontal movement to lower bracket obliquely during, motor rotates clockwise, and left tendon is shunk, right tendon
Elongation drives lower bracket to rotate clockwise, practicability is good to connection shell and electric machine assembly clockwise torque.
The technical solution adopted by the present invention to solve the technical problems is: a kind of legged type robot joint electricity consumption flesh combination flooding
Motivation structure, its main feature is that including upper bracket 1, tendon support frame 2, right tendon 3, flexible electrode and fixator 4, lower bracket 5, left flesh
Tendon 6, connection shell 7, electric machine assembly 8, connection frame 9, controller 10, connected unit 11 and controller bracket 12.
1 top of upper bracket is free end, other joints are connected, and 1 lower part of upper bracket and tendon support frame 2 are connected.Institute
The arc-shaped structure of connection frame 9 is stated, provides installation space for controller 10,9 top of connection frame is connected with tendon support frame 2, lower part
It is connected with connected unit 11, centre is connected with controller bracket 12.Controller 10 is placed on controller bracket 12.
The electric machine assembly 8 and connection shell 7 form motor drive component.The front end projecting shaft and connected unit of electric machine assembly 8
11 are connected, and one end of lower bracket 5 is connected with shell 7 is connect, and the other end of lower bracket 5 is free end, are connected with other joints.Joint
When movement, connected unit 11 is fixed, and electric machine assembly 8 rotates, and connection shell 7 is driven to rotate, the lower bracket 5 connected with shell 7 is connect
It rotates with it.
The left tendon 6, right tendon 3 and flexible electrode and fixator 4 form EAP driving assembly.Flexible electrode and fixation
Totally four groups of device 4, it is separately fixed at the both ends of left tendon 6 and right tendon 3.In 4 groups of flexible electrodes and fixator, have two groups with
Tendon support frame 2 is connected, fixed left tendon 6 and right tendon 3；The other end of right tendon 3 passes through one group of flexible electrode and fixator 4
It is connected with shell 7 is connect, the other end of left tendon 6 passes through one group of flexible electrode and fixator 4 and the stretching tie point 13 for connecting shell 7
It is connected.
The material of the left tendon 6 and right tendon 3 is EAP material, is made of folded film, twist or reel method.
The beneficial effects of the present invention are: the mechanism includes right tendon, lower bracket, left tendon, connection shell, electric machine assembly and control
Device processed.During composite driving mechanism moves to lower bracket level from lower bracket obliquely, controller will control signal and pass
It to electric machine assembly, rotates motor counterclockwise, while controlling the end voltage of left tendon and right tendon according to demand, stretch left tendon
Long, right tendon is shunk, and to connection shell and electric machine assembly torque counterclockwise, lower bracket is driven to rotate counterclockwise.Similarly, work as combination flooding
Motivation structure from lower bracket horizontal movement to lower bracket obliquely during, motor rotates clockwise, and left tendon is shunk, right tendon
Elongation drives lower bracket to rotate clockwise, practicability is good to connection shell and electric machine assembly clockwise torque.
Specifically, 1. under the premise of torque demand is certain, and since the torque compensation of EAP tendon acts on, the output of motor
Torque request reduces, and solves the problems, such as that motor and retarder torque request are high, volume is big, quality is big.
2.EAP tendon is placed in the different point of applications, and using structures such as folded film, twist or reels, multi-faceted is motor
Active torque compensation is provided, torque compensation flexibility ratio and mechanism adaptability are improved.
3.EAP tendon energized length changes, and torque compensation opportunity, direction and dynamics are controllable.Solving compensating torque can not
The low problem of control, precision, improves the control compliance and environmental suitability of total joint mechanism.
It elaborates with reference to the accompanying drawings and detailed description to the present invention.
Detailed description of the invention
Fig. 1 is the schematic diagram of electricity consumption flesh composite driving mechanism in legged type robot joint of the present invention.
Fig. 2 is another visual angle schematic diagram of Fig. 1.
Fig. 3 be Fig. 1 movement in lower bracket obliquely when tendon and lower bracket status diagram.
The status diagram of tendon and lower bracket when Fig. 4 is lower bracket level in Fig. 1 movement.
Fig. 5 is the top view of Fig. 1.
Fig. 6 is the left view of Fig. 1.
In figure: 1- upper bracket, 2- tendon support frame, the right tendon of 3-, 4- flexible electrode and fixator, 5- lower bracket, 6- are left
Tendon, 7- connection shell, 8- electric machine assembly, 9- connection frame, 10- controller, 11- connected unit, 12- controller supporting plate, 13- tendon connect
Contact.
Specific embodiment
Following embodiment is referring to Fig.1~6.
Electricity consumption flesh composite driving mechanism in legged type robot joint of the present invention includes upper bracket 1, tendon support frame 2, right tendon
3, flexible electrode and fixator 4, lower bracket 5, left tendon 6, connection shell 7, electric machine assembly 8, connection frame 9, controller 10, connected unit
11 and controller bracket 12.
1 top of upper bracket is free end, other joints are connected, and 1 lower part of upper bracket and tendon support frame 2 are connected.Flesh
Tendon support frame 2 plays the role of providing support for the contraction force of tendon.The arc-shaped structure of connection frame 9 is internal controller 10
Space is provided, while this appearance and human muscle's shape are increasingly similar.9 top of connection frame is connected with tendon support frame 2, lower part
It is connected with connected unit 11, centre is connected with controller bracket 12.Controller 10 is placed on controller bracket 12, controller bracket 12
Depression in centre structure or external encirclement structure can be used, further fix controller 10.
The electric machine assembly 8 and connection shell 7 form motor drive component.The front end projecting shaft and connected unit of electric machine assembly 8
11 are connected, and one end of lower bracket 5 is connected with shell 7 is connect, and the other end of lower bracket 5 is free end, are connected with other joints.Joint
When movement, connected unit 11 is fixed, and electric machine assembly 8 rotates, and connection shell 7 is driven to rotate, the lower bracket 5 connected with shell 7 is connect
It rotates with it.
The left tendon 6, right tendon 3 and flexible electrode and fixator 4 form EAP driving assembly.Flexible electrode and fixation
Totally four groups of device 4, it is separately fixed at the both ends of left tendon 6 and right tendon 3.In 4 groups of flexible electrodes and fixator, have two groups with
Tendon support frame 2 is connected, fixed left tendon 6 and right tendon 3；The other end of right tendon 3 passes through one group of flexible electrode and fixator 4
It is connected with shell 7 is connect, the other end of left tendon 6 passes through one group of flexible electrode and fixator 4 and the stretching tie point 13 for connecting shell 7
It is connected.Left tendon 6 and right tendon 3 are EAP material, are made of structures such as folded film, twist or reels.
The controller 10 is motor and tendon collaborative controller, is located on controller bracket 12.The effect of controller 10
To control run duration and torque during force, controller is defeated in change electric machine assembly 8 according to reference torque signal
Enter, control motor rotation；And change tendon voltage, control tendon length and output torque, make electric machine assembly 8 and left tendon 6 or
Right tendon 3 cooperates.
During composite driving mechanism moves to lower bracket level from lower bracket obliquely, controller 10 will control signal
It is transmitted to electric machine assembly 8, rotates motor counterclockwise, while controlling the end voltage of left tendon 6 and right tendon 3 according to demand, makes a left side
Tendon 6 extends, and right tendon 3 is shunk, and to connection shell 7 and the torque counterclockwise of electric machine assembly 8, lower bracket 5 is driven to rotate counterclockwise.Together
Reason, when composite driving mechanism from lower bracket horizontal movement to lower bracket obliquely during, motor rotates clockwise, left tendon
6 shrink, and right tendon 3 extends, and to connection shell 7 and 8 clockwise torque of electric machine assembly, lower bracket 5 are driven to rotate clockwise.
Claims (2)
1. a kind of legged type robot joint electricity consumption flesh composite driving mechanism, it is characterised in that: supported including upper bracket (1), tendon
Frame (2), right tendon (3), flexible electrode and fixator (4), lower bracket (5), left tendon (6), connection shell (7), electric machine assembly
(8), connection frame (9), controller (10), connected unit (11) and controller bracket (12)；
Upper bracket (1) top is free end, other joints are connected, and upper bracket (1) lower part and tendon support frame (2) are connected；
The arc-shaped structure of the connection frame (9), for controller (10) offer installation space, connection frame (9) top and tendon support frame (2)
It is connected, lower part is connected with connected unit (11), and centre is connected with controller bracket (12)；Controller (10) is placed on controller bracket
(12) on；
The electric machine assembly (8) and connection shell (7) form motor drive component；The front end projecting shaft of electric machine assembly (8) with connect
Platform (11) is connected, and one end of lower bracket (5) is connected with shell (7) are connect, and the other end of lower bracket (5) is free end, with other passes
Section is connected；When joint motions, connected unit (11) is fixed, and electric machine assembly (8) rotation drives connection shell (7) rotation, with connection
The connected lower bracket (5) of shell (7) rotates with it；
The left tendon (6), right tendon (3) and flexible electrode and fixator (4) form EAP driving assembly；Flexible electrode and solid
Determine totally four groups of device (4), is separately fixed at the both ends of left tendon (6) and right tendon (3)；Four groups of flexible electrodes and fixator
(4) in, two groups are connected with tendon support frame (2), fixed left tendon (6) and right tendon (3)；The other end of right tendon (3) is logical
Cross one group of flexible electrode and fixator (4) and be connected with shell (7) are connect, the other end of left tendon (6) by one group of flexible electrode with
Fixator (4) is connected with the stretching tie point (13) for connecting shell (7).
2. electricity consumption flesh composite driving mechanism in legged type robot joint according to claim 1, it is characterised in that: the left flesh
The material of tendon (6) and right tendon (3) is EAP material, is made of folded film, twist or reel method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910175660.6A CN109773770B (en) | 2019-03-08 | 2019-03-08 | Electric muscle composite driving mechanism for foot type robot joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910175660.6A CN109773770B (en) | 2019-03-08 | 2019-03-08 | Electric muscle composite driving mechanism for foot type robot joint |
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| Publication Number | Publication Date |
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| CN109773770A true CN109773770A (en) | 2019-05-21 |
| CN109773770B CN109773770B (en) | 2023-06-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910175660.6A Active CN109773770B (en) | 2019-03-08 | 2019-03-08 | Electric muscle composite driving mechanism for foot type robot joint |
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Citations (8)
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| US20130310979A1 (en) * | 2012-04-18 | 2013-11-21 | Massachusetts Institute Of Technology | Neuromuscular Model-Based Sensing And Control Paradigm For A Robotic Leg |
| CN204546555U (en) * | 2015-03-27 | 2015-08-12 | 哈尔滨工程大学 | A kind of multiple degrees of freedom bionic joint |
| CN206703055U (en) * | 2017-05-09 | 2017-12-05 | 重庆交通大学 | Robot composite flooding joint |
| CN107745392A (en) * | 2017-10-27 | 2018-03-02 | 吉林大学 | Bionical tension and compression body design method |
| CN108356848A (en) * | 2018-03-30 | 2018-08-03 | 天津理工大学 | Pneumatic artificial muscle and servo motor combination drive joint |
| CN108527436A (en) * | 2018-05-11 | 2018-09-14 | 吉林大学 | A kind of imitative ostrich high stability joint |
| CN108890690A (en) * | 2018-08-29 | 2018-11-27 | 太原科技大学 | A kind of pneumatic muscles bionic joint based on magnetorheological fluid |
| CN210633671U (en) * | 2019-03-08 | 2020-05-29 | 西北工业大学 | Electromyographic composite driving mechanism for joints of foot type robot |
-
2019
- 2019-03-08 CN CN201910175660.6A patent/CN109773770B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130310979A1 (en) * | 2012-04-18 | 2013-11-21 | Massachusetts Institute Of Technology | Neuromuscular Model-Based Sensing And Control Paradigm For A Robotic Leg |
| CN204546555U (en) * | 2015-03-27 | 2015-08-12 | 哈尔滨工程大学 | A kind of multiple degrees of freedom bionic joint |
| CN206703055U (en) * | 2017-05-09 | 2017-12-05 | 重庆交通大学 | Robot composite flooding joint |
| CN107745392A (en) * | 2017-10-27 | 2018-03-02 | 吉林大学 | Bionical tension and compression body design method |
| CN108356848A (en) * | 2018-03-30 | 2018-08-03 | 天津理工大学 | Pneumatic artificial muscle and servo motor combination drive joint |
| CN108527436A (en) * | 2018-05-11 | 2018-09-14 | 吉林大学 | A kind of imitative ostrich high stability joint |
| CN108890690A (en) * | 2018-08-29 | 2018-11-27 | 太原科技大学 | A kind of pneumatic muscles bionic joint based on magnetorheological fluid |
| CN210633671U (en) * | 2019-03-08 | 2020-05-29 | 西北工业大学 | Electromyographic composite driving mechanism for joints of foot type robot |
Non-Patent Citations (1)
| Title |
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| 杨斌等，介电EAP驱动的转动关节研究: "Musclelike joint mechanism driven by dielectric elastomer actuator for robotic applications" * |
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