CN111300475A - High-energy-efficiency joint structure of high-dynamic robot - Google Patents
High-energy-efficiency joint structure of high-dynamic robot Download PDFInfo
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- CN111300475A CN111300475A CN202010188349.8A CN202010188349A CN111300475A CN 111300475 A CN111300475 A CN 111300475A CN 202010188349 A CN202010188349 A CN 202010188349A CN 111300475 A CN111300475 A CN 111300475A
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- joint structure
- energy
- motor
- ball screw
- sliding block
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- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/123—Linear actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention provides a high-energy-efficiency joint structure of a high-dynamic robot, which comprises a motor, a ball screw, a sliding pair and a push rod, wherein an output shaft of the motor is connected with the ball screw; a small gap is arranged between the sliding block and the shell, and the friction coefficient between the sliding block and the inner wall of the shell can be controlled; when the joint structure is actually installed, the motor end faces upwards, and the integral mass center moves upwards, so that the rotational inertia of the leg part of the robot is obviously reduced; the ball screw follows the motor and just reverses, can effectively promote robot motion performance, and the ball screw does not dispose rubber dust ring, reduces the kinematic resistance of sliding pair, has reduced the viscosity of lubricating oil, further improves robot motion performance.
Description
Technical Field
The invention belongs to the technical field of humanoid robots, and particularly relates to an energy-efficient joint structure of a high-dynamic robot.
Background
When the humanoid robot moves in a high dynamic state, the requirement on the acceleration of the leg is very high, and the positioning precision and the starting resistance have great influence on the final control effect. The existing robot leg joint mechanism is designed by a harmonic speed reducer, a belt pulley and the like, and has the advantages of small occupied space and flexible arrangement compared with a lead screw push rod; however, the positioning accuracy and the mechanism smoothness are inferior to those of a lead screw push rod. The structural size of the lead screw push rod cannot be further reduced, and the lead screw push rod is an important factor for restricting the application of the lead screw push rod on a humanoid robot. Through the reasonable design of the installation position of the screw rod push rod, the screw rod push rod is applied to the humanoid robot, and the movement performance of the robot can be improved.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the high-energy-efficiency joint structure of the high-dynamic robot, and the screw rod push rod is successfully applied to the humanoid robot, so that the motion performance of the robot is improved.
The present invention achieves the above-described object by the following technical means.
An energy-efficient joint structure of a high-dynamic robot comprises a motor, a ball screw, a moving pair and a push rod, wherein an output shaft of the motor is connected with the ball screw through a quincuncial key, a screw shaft connected with the quincuncial key is fixed on the ball screw, and the screw shaft is further installed on the inner side of a shell through a bearing; the ball screw is connected with the moving pair, the moving pair is fixed with the sliding block, and the sliding block is arranged on the inner side of the shell and can slide along the inner wall of the shell; the sliding block is further connected with one end of a push rod, the other end of the push rod is fixed with a connecting piece, and the connecting piece is arranged at the lower end of the leg of the robot; the motor is provided with an encoder, the encoder is connected with one end of the hollow shaft, and the other end of the hollow shaft is connected with the quincuncial key; the encoder is in communication with an industrial personal computer.
In the above technical scheme, the housing is provided with a square inner contour, and is matched with the sliding block.
In the technical scheme, the inner surfaces of the sliding block and the shell are made of square engineering plastics.
In the technical scheme, the shell is formed by combining two shells which are symmetrical along the center of the rotating shaft of the ball screw into a whole, and a small gap exists between the combined shell and the sliding block.
In the technical scheme, the shell of the motor and the push rod are all made of aluminum alloy materials.
In the above technical scheme, the housing is provided with the air hole along the axial direction.
Among the above-mentioned technical scheme, plum blossom key equallyd divide into four petals, and wherein two relative gaps are laminated with the one end of hollow shaft, and two relative gaps and the laminating of screw axle are laminated in addition.
In the technical scheme, the material of the plum spline is polyurethane.
In the technical scheme, the bearing adopts a double-row bearing.
Among the above-mentioned technical scheme, when joint structure installed the robot shank, the motor end was vertical upwards along the robot shank.
The invention has the beneficial effects that:
(1) one end of a push rod is in threaded connection with a sliding block, the other end of the push rod is fixed with a connecting piece arranged at the lower end of a leg of the robot, the sliding block is also fixed with a moving pair, the moving pair is in threaded connection with a ball screw, the ball screw is connected with an output shaft of a motor, and when a joint structure is actually installed, the end of the motor faces upwards, and the integral mass center moves upwards, so that the rotational inertia of the leg of the robot is obviously reduced, and the acceleration of the leg. The shell, the shell of the motor and the push rod are made of aluminum alloy materials, so that the overall quality is effectively reduced; the bearing is a double-row bearing and is functionally equivalent to a parallel angular contact bearing, so that the design space is saved, and the axial force generated by bidirectional driving can be borne.
(2) The ball screw is adopted in the joint structure, so that the motion performance of the robot is effectively improved, and the ball screw can rotate forwards and backwards with the same efficiency along with the motor so as to challenge a higher experimental target.
(3) The invention cancels the rubber dustproof ring matched with the ball screw, reduces the motion resistance of the moving pair, reduces the viscosity of lubricating oil and improves the motion performance of the robot.
(4) The quincuncial key is equally divided into four petals, wherein two opposite gaps are attached to one end of a hollow shaft, and the other two opposite gaps are attached to a screw shaft; and the plum spline is made of polyurethane, and the material has good shock absorption characteristics, so that the damage to the mechanism caused by impact generated when the push rod is started and stopped is avoided.
(5) The shell is fixed into a whole by two shells which are symmetrical along the center of the rotating shaft of the ball screw through the screw, so that the gap is adjusted, and a small gap is formed between the fixed shell and the sliding block; the friction coefficient between the sliding block and the inner wall of the shell is controlled, so that the resistance and the stability in the movement reach ideal levels.
Drawings
FIG. 1 is a perspective view of an energy-efficient joint structure of the high dynamic robot according to the present invention;
FIG. 2 is a cross-sectional isometric view of an energy efficient joint structure 1/4 of the high dynamic robot of the present invention;
FIG. 3 is a cross-sectional view of the energy-efficient joint structure of the high dynamic robot according to the present invention;
fig. 4 is a schematic diagram of a structural test of an energy-efficient joint of the high-dynamic robot according to the present invention.
In the figure, 1-motor, 2-ball screw, 3-moving pair, 4-shell, 5-push rod and 6-coder; 7-a hollow shaft; 8-plum spline; 9-a screw shaft; 10-a bearing; 11-a housing clip; 12-a slide block; 13-tightening the bolt; 14-a connector; 15-fixing the rod; 16-a swing lever; 17-counterweight.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, but the scope of the invention is not limited thereto.
As shown in fig. 1-3, the high-energy-efficiency joint structure of the high dynamic robot of the present invention comprises a motor 1, a ball screw 2, a sliding pair 3, a housing 4 and a push rod 5, wherein an output shaft of the motor 1 is flexibly connected with the ball screw 2 through a plum spline 8, one end of a screw shaft 9 is fixed on the ball screw 2, and the other end of the screw shaft 9 is flexibly connected with the plum spline 8; the screw shaft 9 is clamped inside the shell 4 through a bearing 10 to limit the radial movement of the screw shaft 9. The ball screw 2 is in threaded connection with the moving pair 3, the moving pair 3 is fixedly connected with the sliding block 12, the sliding block 12 is arranged on the inner side of the shell 4, the sliding block 12 can slide along the inner wall of the shell 4, and the shell 4 has a square inner contour so as to limit the 3-turn motion of the moving pair; the shell 4 is fixed on the motor 1 through a shell clamp 11; the sliding block 12 is further in threaded connection with one end of the push rod 5, and the other end of the push rod 5 is fixed with a connecting piece 14 arranged at the lower end of the leg of the robot through a fastening bolt 13. The encoder 6 is installed on the motor 1, the encoder 6 is connected with one end of the hollow shaft 7 through a screw, and the other end of the hollow shaft 7 is flexibly connected with the plum spline 8.
The plum spline 8 is equally divided into four lobes, wherein two opposite gaps are jointed with one end of the hollow shaft 7, and the other two opposite gaps are jointed with the screw shaft 9. The material of the plum-blossom-shaped spline 8 is polyurethane, and the material has good shock absorption characteristics, so that the damage to the mechanism caused by impact generated when the push rod 5 starts and stops is avoided.
The shell 4 is fixed into a whole by two shells which are symmetrical along the center of the rotating shaft of the ball screw 2 through screws, which is beneficial to adjusting a gap, so that a small gap exists between the fixed shell 4 and the sliding block 12; the friction coefficient between the sliding block 12 and the inner wall of the shell 4 is controlled, so that the resistance and the stability in the movement reach ideal levels. The slider 12 and the inner surface of the shell 4 are made of square engineering plastics, and the contact mode has obvious effect on controlling the clearance. The optimal design clearance of the slider 12 and housing 4 is unpredictable before testing is completed. Compared with the cylindrical surface structure, the mode of matching the sliding block 12 with the shell 4 can adjust the clearance by adding a gasket and indexing by 0.01mm according to the actual situation in the test process so as to meet the high requirement on the matching precision of the sliding block 12 and the inner surface of the shell 4 in the jump experiment. Because the slider 12 is made of square engineering plastic, the slider still has a low friction coefficient under the condition of dry friction with the inner surface of the shell 1. In addition, the casing 4 is provided with an air hole along the axial direction, so that the air pressure of the casing 4 is balanced, and the resistance generated by the air pressure is prevented.
The motor 1 is a frameless motor which can be independently tested, and sufficient experiments and checks are performed before assembly so as to accurately master the dynamic performance of the joint. The stator and the rotor of the motor 1 are made of ferromagnetic materials, and the mass is relatively large. Therefore, the whole gravity center of the joint structure is close to the motor side, the gravity center moves upwards, the leg lifting inertia is reduced, and the experiment index is improved. When the joint structure is installed on the leg of the robot, the motor end faces upwards, namely, the motors of the knee joint and the ankle joint are respectively arranged at the upper end of the thigh and the upper end of the shank.
The bearing 10 is a double-row bearing, and is functionally equivalent to a parallel angular contact bearing, so that the design space is saved, and the axial force generated by bidirectional driving can be borne.
The shell 4, the shell of the motor 1 and the push rod 5 are all made of aluminum alloy materials, and the overall quality is effectively reduced.
Under the drive of the motor 1, the reverse drive and the forward drive of the joint structure have the same efficiency, the quick response requirement of the robot for pedaling and folding legs is met, and high dynamic motion including running and jumping can be realized.
Under the condition that the shell 4 is arranged, a rubber dustproof ring which is standard matched with the ball screw 2 is cancelled on the moving pair 3, on one hand, the dustproof function is redundant, the moving resistance of the moving pair 3 can be increased, on the other hand, the rubber dustproof ring is cancelled, and the viscosity of lubricating oil can be reduced; under the condition of high-speed movement of the robot, the resistance influence caused by a dustproof ring and viscosity is very obvious; after the rubber dust ring is removed, the transmission efficiency from the ball screw 2 to the push rod 5 can be improved to be more than 0.95.
The working process of the high-energy-efficiency joint structure of the high-dynamic robot is as follows:
the encoder 6 controls the rotation direction and the rotation speed of the motor 1 through the industrial personal computer and drives the hollow shaft 7 to synchronously rotate, and the rotation information of the hollow shaft 7 is fed back to the industrial personal computer through the encoder 6. When the hollow shaft 7 rotates, the ball screw 2 is driven to rotate synchronously, the partial motion of the axial translation of the screw is transmitted to the sliding pair 3 by the threads of the ball screw 2, and the sliding pair 3 drives the sliding block 12 to axially translate along the screw. When the motor 1 is driven in the forward direction, the sliding block 12 translates in the direction away from the motor 1; when the motor is driven reversely, the sliding block 12 moves horizontally towards the direction close to the motor 1; the slide block 12 drives the push rod 5 to synchronously translate in the translation process, and the push rod 5 transmits the pushing force or the pulling force to the leg part through the connecting piece 14.
The joint structure of the invention is tested with reference to fig. 4, the installation mode of the joint structure is the same as the mode of the joint structure actually installed on the leg of the robot, and the motor stator has larger mass, so that the motor end is installed upwards, the inertia during leg throwing can be reduced, and the motion performance is improved. When the joint structure is installed on the thigh of the robot, the fixed rod 15 and the swinging rod 16 in fig. 4 are respectively equivalent to the waist and the thigh of the robot; when the joint structure is installed on the lower leg of the robot, the fixed rod 15 and the swinging rod 16 in fig. 4 are respectively equivalent to the upper leg and the lower leg of the robot; the joint structure is fixed with the fixed rod 15, the swinging rod 16 is fixed at the bottom end of the fixed rod 15 through a hinge, and the counterweight 17 in the figure 4 is arranged at the tail end of the swinging rod 16, so that the actual situation of the overall mass distribution on the leg of the robot is closer. The fixed rod 15, the swinging rod 16 and the balance weight 17 are all ideal models, the mass distribution is uniform, and the materials are aluminum alloys. The length of the fixing rod 15 is set to be L, the cross-sectional area is set to be S, and the mass is set to be m1Can be regarded as particles; total mass of the joint structure is m2The total length is l, and the distance between the mass center of the joint structure and the mass center of the counterweight 17 is d.
According to the centroid coordinate formula:
wherein: m is the total mass of the object, D is the sectional area of the object, x is a one-dimensional coordinate of a certain infinitesimal particle of the object in the normal direction of the sectional area, and mu is the density of the object;
the height of the overall center of mass relative to the counterweight 17 is then:
assuming that the center of mass of the joint structure is located at the center position, the center of mass is positioned at the moment
Then there are:
and deltah is the height of the whole mass center lifting when the mass center is upwards moved (because the motor end is upwards). When Δ h increases, the radius of gyration r decreases linearly with it, from moment of inertia I to Mr2And the effect of reducing inertia is obvious.
The present invention is not limited to the above-described embodiments, and any obvious improvements, substitutions or modifications can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (10)
1. The energy-efficient joint structure of the high-dynamic robot is characterized by comprising a motor (1), a ball screw (2), a moving pair (3) and a push rod (5), wherein an output shaft of the motor (1) is connected with the ball screw (2) through a plum spline (8), a screw shaft (9) connected with the plum spline (8) is fixed on the ball screw (2), and the screw shaft (9) is further installed on the inner side of a shell (4) through a bearing (10); the ball screw (2) is connected with the moving pair (3), the moving pair (3) is fixed with the sliding block (12), and the sliding block (12) is arranged on the inner side of the shell (4) and can slide along the inner wall of the shell (4); the sliding block (12) is further connected with one end of a push rod (5), the other end of the push rod (5) is fixed with a connecting piece (14), and the connecting piece (14) is arranged at the lower end of the leg of the robot; an encoder (6) is installed on the motor (1), the encoder (6) is connected with one end of a hollow shaft (7), and the other end of the hollow shaft is connected with a plum spline (8); and the encoder (6) is communicated with an industrial personal computer.
2. The energy-efficient joint structure of a high dynamic robot according to claim 1, characterized in that the housing (4) is provided with a square inner contour, cooperating with a slider (12).
3. The energy-efficient joint structure of the high dynamic robot according to claim 2, wherein the inner surfaces of the sliding block (12) and the housing (4) are made of square engineering plastics.
4. The energy-efficient joint structure of the high dynamic robot according to claim 3, wherein the housing (4) is combined into a whole by two shells which are symmetrical along the center of the rotation shaft of the ball screw (2), and a small gap exists between the combined housing (4) and the sliding block (12).
5. The energy-efficient joint structure of the high dynamic robot according to claim 1, wherein the housing (4), the housing of the motor (1) and the push rod (5) are made of aluminum alloy material.
6. The high-energy-efficiency joint structure of the high-dynamic robot as claimed in any one of claims 1 to 5, wherein the housing (4) is provided with an air hole along the axial direction.
7. The energy-efficient joint structure of the high dynamic robot according to claim 1, wherein the quincunx spline (8) is equally divided into four lobes, two opposite slots are attached to one end of the hollow shaft (7), and the other two opposite slots are attached to the screw shaft (9).
8. The energy-efficient joint structure of a high dynamic robot according to claim 7, characterized in that the material of the plum-spline (8) is polyurethane.
9. The energy-efficient joint structure of a high dynamic robot according to claim 1, characterized in that the bearing (10) is a double-row bearing.
10. The energy-efficient joint structure of the high dynamic robot according to claim 1, wherein the motor end is vertically upward along the leg of the robot when the joint structure is installed on the leg of the robot.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010188349.8A CN111300475B (en) | 2020-03-17 | 2020-03-17 | High-energy-efficiency joint structure of high-dynamic robot |
| PCT/CN2020/089341 WO2021184516A1 (en) | 2020-03-17 | 2020-05-09 | Energy-efficient joint structure of high-dynamic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010188349.8A CN111300475B (en) | 2020-03-17 | 2020-03-17 | High-energy-efficiency joint structure of high-dynamic robot |
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| Publication Number | Publication Date |
|---|---|
| CN111300475A true CN111300475A (en) | 2020-06-19 |
| CN111300475B CN111300475B (en) | 2021-03-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010188349.8A Active CN111300475B (en) | 2020-03-17 | 2020-03-17 | High-energy-efficiency joint structure of high-dynamic robot |
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| WO (1) | WO2021184516A1 (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010137815A2 (en) * | 2009-05-28 | 2010-12-02 | 한양대학교 산학협력단 | Length variable type link of walking robot and length variable type leg of walking robot mounted with same |
| CN103054692A (en) * | 2013-01-29 | 2013-04-24 | 苏州大学 | Wearable lower limb exoskeleton walking-assisted robot |
| CN107128397A (en) * | 2017-05-31 | 2017-09-05 | 地壳机器人科技有限公司 | Robot leg sole running gear |
| CN110228545A (en) * | 2019-05-16 | 2019-09-13 | 深圳市优必选科技有限公司 | A kind of linear joint and leg biped robot |
| CN110855071A (en) * | 2019-10-15 | 2020-02-28 | 北京精密机电控制设备研究所 | Electromechanical actuator |
-
2020
- 2020-03-17 CN CN202010188349.8A patent/CN111300475B/en active Active
- 2020-05-09 WO PCT/CN2020/089341 patent/WO2021184516A1/en active Application Filing
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010137815A2 (en) * | 2009-05-28 | 2010-12-02 | 한양대학교 산학협력단 | Length variable type link of walking robot and length variable type leg of walking robot mounted with same |
| CN103054692A (en) * | 2013-01-29 | 2013-04-24 | 苏州大学 | Wearable lower limb exoskeleton walking-assisted robot |
| CN107128397A (en) * | 2017-05-31 | 2017-09-05 | 地壳机器人科技有限公司 | Robot leg sole running gear |
| CN110228545A (en) * | 2019-05-16 | 2019-09-13 | 深圳市优必选科技有限公司 | A kind of linear joint and leg biped robot |
| CN110855071A (en) * | 2019-10-15 | 2020-02-28 | 北京精密机电控制设备研究所 | Electromechanical actuator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111300475B (en) | 2021-03-16 |
| WO2021184516A1 (en) | 2021-09-23 |
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