WO2021184516A1 - Energy-efficient joint structure of high-dynamic robot - Google Patents
Energy-efficient joint structure of high-dynamic robot Download PDFInfo
- Publication number
- WO2021184516A1 WO2021184516A1 PCT/CN2020/089341 CN2020089341W WO2021184516A1 WO 2021184516 A1 WO2021184516 A1 WO 2021184516A1 CN 2020089341 W CN2020089341 W CN 2020089341W WO 2021184516 A1 WO2021184516 A1 WO 2021184516A1
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- WIPO (PCT)
- Prior art keywords
- joint structure
- energy
- housing
- motor
- ball screw
- Prior art date
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- 229910000838 Al alloy Inorganic materials 0.000 claims description 5
- 229920006351 engineering plastic Polymers 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 4
- 229920002635 polyurethane Polymers 0.000 claims description 4
- 239000004814 polyurethane Substances 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 abstract description 15
- 229920001971 elastomer Polymers 0.000 abstract description 5
- 238000009434 installation Methods 0.000 abstract description 4
- 239000010687 lubricating oil Substances 0.000 abstract description 3
- 210000002414 leg Anatomy 0.000 description 15
- 238000000034 method Methods 0.000 description 6
- 239000000428 dust Substances 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 210000000689 upper leg Anatomy 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 239000003302 ferromagnetic material Substances 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000037078 sports performance Effects 0.000 description 1
Images
Classifications
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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
Definitions
- the invention belongs to the technical field of humanoid robots, and specifically relates to a high-energy-efficiency joint structure of a high-dynamic robot.
- the present invention provides a high-energy-efficiency joint structure of a high-dynamic robot, and successfully applies a lead screw push rod to a humanoid robot, thereby improving the motion performance of the robot.
- the present invention achieves the above-mentioned technical objects through the following technical means.
- An energy-efficient joint structure of a high-dynamic robot includes a motor, a ball screw, a moving pair and a push rod.
- the output shaft of the motor and the ball screw are connected by a torx key, and the ball screw is fixed with a torx key Connected screw shaft, the screw shaft is also installed inside the housing through a bearing;
- the ball screw is connected to the moving pair, the moving pair is fixed with the sliding block, the sliding block is arranged inside the shell, and can be The inner wall of the housing slides;
- the slider is also connected to one end of the push rod, and the other end of the push rod is fixed with a connecting piece, the connecting piece is arranged at the lower end of the robot leg;
- an encoder is installed on the motor, the encoder One end of the hollow shaft is connected, and the other end is connected with a plum spline; the encoder communicates with an industrial computer.
- the shell is provided with a square inner contour, which is matched with the slider.
- the inner surfaces of the sliding block and the shell are made of square engineering plastics.
- the shell is integrated by two shells that are symmetrical about the center of the ball screw shaft, and there is a small gap between the combined shell and the slider.
- the housing, the housing of the motor, and the push rod are all made of aluminum alloy.
- the casing is provided with air holes along the axial direction.
- the torx key is equally divided into four lobes, wherein two opposite gaps are attached to one end of the hollow shaft, and the other two opposite gaps are attached to the screw shaft.
- the material of the plum spline is polyurethane.
- the bearing adopts a double row bearing.
- the shell, the motor shell and the push rod are all made of aluminum alloy material, which effectively reduces the overall quality;
- the bearing is a double row bearing, which is functionally equivalent to a side-by-side angular contact bearing, which saves design space and can withstand the axial force generated by the two-way drive .
- the present invention eliminates the rubber dustproof ring that is standard on the ball screw, reduces the movement resistance of the moving pair, reduces the viscosity of the lubricating oil, and improves the movement performance of the robot.
- the torx key of the present invention is equally divided into four lobes, in which two opposite gaps are attached to one end of the hollow shaft, and the other two opposite gaps are attached to the screw shaft; and the torx key is made of polyurethane. It has good shock absorption characteristics to avoid damage to the mechanism caused by the impact generated when the push rod starts and stops.
- the shell of the present invention is fixed by screws with two shells symmetrical along the center of the ball screw shaft, which helps to adjust the gap, so that there is a small gap between the fixed shell and the slider; the control slider and the shell
- the friction coefficient between the inner walls makes the resistance and stability in motion reach the ideal level.
- Figure 1 is a perspective view of the energy-efficient joint structure of the highly dynamic robot of the present invention
- Figure 2 is a quarter-sectional axonometric view of the energy-efficient joint structure 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 of the present invention.
- Fig. 4 is a schematic diagram of the test of the energy-efficient joint structure of the high-dynamic robot of the present invention.
- an energy-efficient joint structure of a highly dynamic robot of the present invention includes a motor 1, a ball screw 2, a moving pair 3, a housing 4, and a push rod 5.
- the output shaft of the motor 1 and the ball screw 2 The screw shaft 9 is flexibly connected by a Torx key 8.
- One end of the screw shaft 9 is fixed on the ball screw 2, and the other end of the screw shaft 9 is flexibly connected with the Torx key 8; the screw shaft 9 is clamped to the inside of the housing 4 through the bearing 10 to limit the screw Radial movement of shaft 9.
- the ball screw 2 is threadedly connected with the moving pair 3, and the moving pair 3 is fixedly connected with the sliding block 12.
- the sliding block 12 is arranged inside the housing 4, and the sliding block 12 can slide along the inner wall of the housing 4.
- the housing 4 has a square inner contour, thus Restrict the rotation movement of the moving pair 3; and the housing 4 is fixed on the motor 1 through the housing clamp 11; the slider 12 is also threadedly connected to one end of the push rod 5, and the other end of the push rod 5 is connected to the lower end of the robot leg through the tightening bolt 13
- the connecting piece 14 is fixed.
- An encoder 6 is installed on the motor 1, one end of the encoder 6 and the hollow shaft 7 is connected by a screw, and the other end of the hollow shaft 7 is flexibly connected with a torx key 8.
- the torx key 8 is equally divided into four lobes, of which two opposite gaps are attached to one end of the hollow shaft 7 and the other two opposite gaps are attached to the screw shaft 9.
- the material of the torx key 8 is polyurethane, which has good shock-absorbing properties, and prevents damage to the mechanism caused by the impact generated when the push rod 5 is started and stopped.
- the shell 4 is fixed as a whole by two symmetrical shells along the rotation axis of the ball screw 2 by screws, which helps to adjust the gap, so that there is a slight gap between the fixed shell 4 and the slider 12; the control slider 12 and the shell 4
- the friction coefficient between the inner walls makes the resistance and stability in motion reach the ideal level.
- Both the sliding block 12 and the inner surface of the housing 4 are made of square engineering plastics, and this contact method has an obvious effect on controlling the gap. Before the test is completed, the optimal design gap between the slider 12 and the housing 4 is unpredictable.
- the way of matching the slider 12 and the housing 4 can be achieved by adding gaskets, and adjusting the gap with 0.01mm divisions according to the actual situation during the test, so as to meet the requirements of the jump test between the slider 12 and the housing. 4 High requirements for inner surface accuracy. Since the slider 12 is made of square engineering plastics, it still has a very low friction coefficient under the condition of dry friction with the inner surface of the housing 1. In addition, the casing 4 is provided with air holes along the axial direction to balance the air pressure of the casing 4 and prevent the resistance caused by the air pressure.
- Motor 1 is a frameless motor that can be independently tested, and sufficient experiments and checks are carried out before assembly to accurately grasp the dynamic performance of the joint.
- the stator and rotor of the motor 1 are made of ferromagnetic materials, and the mass is relatively large. Therefore, the overall center of gravity of the joint structure is close to the motor side, and the upward shift of the center of gravity helps to reduce the inertia of the leg lift and improve the experimental indicators.
- the motor end faces upward, that is, the motors of the knee joint and the ankle joint are respectively arranged on the upper end of the thigh and the upper end of the lower leg.
- the bearing 10 is a double row bearing, which is functionally equivalent to a side-by-side angular contact bearing, which saves design space and can withstand the axial force generated by the bidirectional drive.
- the shell 4, the shell of the motor 1 and the push rod 5 are all made of aluminum alloy, which effectively reduces the overall quality.
- the reverse drive of the joint structure has the same efficiency as the forward drive, which satisfies the rapid response requirements of the robot's kicking and retraction, and can realize high dynamic motions including running and jumping.
- the rubber dust ring of the ball screw 2 is eliminated on the moving pair 3.
- the dustproof function is redundant and will increase the resistance of the moving pair 3.
- canceling the rubber dust ring can reduce the viscosity of the lubricating oil; in the case of high-speed robot movement, the impact of the resistance caused by the dust ring and viscosity is very obvious; after canceling the rubber dust ring, the ball screw 2 to the push rod The transmission efficiency of 5 can be increased to above 0.95.
- the encoder 6 controls the rotation direction and speed of the motor 1 through the industrial computer, and drives the hollow shaft 7 to rotate synchronously, and the rotation information of the hollow shaft 7 is fed back to the industrial computer through the encoder 6.
- the hollow shaft 7 rotates, it drives the ball screw 2 to rotate synchronously.
- the thread of the ball screw 2 transfers the partial motion of the translation along the screw axis to the moving pair 3, and the moving pair 3 drives the slider 12 to translate along the screw axis.
- the slider 12 When the motor 1 is driven forward, the slider 12 translates away from the motor 1; when the motor is driven in the reverse direction, the slider 12 translates toward the direction of the motor 1; the slider 12 drives the push rod 5 to move synchronously during the translation process, and the push rod 5 The push or pull force is transmitted to the leg through the connecting piece 14.
- the joint structure of the present invention will be tested in conjunction with Figure 4 below.
- the installation method of the joint structure is the same as the actual installation method on the robot leg. Due to the large mass of the motor stator, the motor end is installed upwards to reduce the inertia during leg swing and improve Sports performance.
- the fixed rod 15 and the swing rod 16 in Figure 4 are equivalent to the waist and thigh of the robot; when the joint structure is installed on the lower leg of the robot, the fixed rod 15 and the swing rod 16 in Figure 4 are respectively equivalent to the robot Thigh and calf; the joint structure is fixed with the fixed rod 15, the swing rod 16 is fixed at the bottom end of the fixed rod 15 through a hinge, and the counterweight 17 in Figure 4 is installed at the end of the swing rod 16, so that the overall mass is distributed on the robot leg The actual situation is closer.
- the fixed rod 15, the swing rod 16, and the counterweight 17 are all ideal models with uniform mass distribution, and the material is aluminum alloy.
- the length of the fixed rod 15 is L
- the cross-sectional area is S
- the mass is m 1
- the total mass of the joint structure is m 2
- the total length is l
- the distance between the mass center of the joint structure and the mass center of the counterweight 17 is d.
- M is the total mass of the object
- D is the cross-sectional area of the object
- x is the one-dimensional coordinate of a certain micro-element particle of the object in the section normal direction
- ⁇ is the density of the object
- the height of the center of mass of the overall center of mass relative to the counterweight 17 is:
- ⁇ h is the height that the overall center of mass is raised when the center of mass is moved up (because the motor end faces upward).
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
An energy-efficient joint structure of a high-dynamic robot, comprising a motor (1), a ball screw (2), a moving pair (3) and a push rod (5); an output shaft of the motor (1) is connected to the ball screw (2), the ball screw (2) is connected to the moving pair (3), the moving pair (3) is fixed to a sliding block (12), the sliding block (12) is connected to one end of the push rod (5), the other end of the push rod (5) is fixed to a connector (14), and the connector (14) is provided at the lower end of a leg of the robot; a small gap is provided between the sliding block (12) and a housing (4), and the friction coefficient between the sliding block (12) and the inner wall of the housing (4) can be controlled. During actual installation of the joint structure, the motor end faces upwards, and the center of mass as a whole moves upwards, so that the rotational inertia of the leg of the robot is significantly reduced; the ball screw (2) rotates forwards and backwards along with the motor (1), which can effectively improve the motion performance of the robot; in addition, the ball screw (2) is not configured with a rubber dustproof ring, reducing the motion resistance of the moving pair (3), reducing the viscosity of the lubricating oil, and further improving the motion performance of the robot.
Description
本发明属于仿人型机器人技术领域，具体涉及一种高动态机器人的高能效关节结构。The invention belongs to the technical field of humanoid robots, and specifically relates to a high-energy-efficiency joint structure of a high-dynamic robot.
仿人机器人高动态运动时，对腿部加速度需求非常高，且定位精度和起动阻力对最终控制效果均存在较大影响。现有的机器人腿部关节机构，常采用谐波减速机、皮带轮等设计，相对于丝杠推杆，分别具有占用空间小、布置灵活的优势；但在定位精度和机构顺畅性上不及丝杠推杆。丝杠推杆的结构尺寸无法进一步缩小，一直以来是制约其在仿人机器人上应用的重要因素。通过合理设计丝杠推杆的安装位置，使丝杠推杆应用在仿人机器人上，能够提高机器人的运动性能。When a humanoid robot moves in a high dynamic state, it has very high requirements for leg acceleration, and both positioning accuracy and starting resistance have a greater impact on the final control effect. Existing robot leg joint mechanisms often use harmonic reducers and belt pulleys. Compared with lead screw push rods, they have the advantages of small space and flexible layout; but they are not as good as lead screws in positioning accuracy and mechanism smoothness. Putt. The structural size of the lead screw push rod cannot be further reduced, which has always been an important factor restricting its application in humanoid robots. By reasonably designing the installation position of the screw push rod, the screw push rod can be applied to the humanoid robot, which can improve the motion performance of the robot.
发明内容Summary of the invention
针对现有技术中存在不足，本发明提供了一种高动态机器人的高能效关节结构，成功将丝杠推杆应用在仿人机器人上，从而提高机器人的运动性能。In view of the shortcomings in the prior art, the present invention provides a high-energy-efficiency joint structure of a high-dynamic robot, and successfully applies a lead screw push rod to a humanoid robot, thereby improving the motion performance of the robot.
本发明是通过以下技术手段实现上述技术目的的。The present invention achieves the above-mentioned technical objects through the following technical means.
一种高动态机器人的高能效关节结构，包括电机、滚珠丝杠、移动副和推杆，所述电机的输出轴与滚珠丝杠通过梅花键连接，所述滚珠丝杠上固定有与梅花键连接的丝杠轴，所述丝杠轴还通过轴承安装在外壳内侧；所述滚珠丝杠与移动副连接，所述移动副与滑块固定，所述滑块设置在外壳内侧，且能够沿外壳内壁滑动；所述滑块还与推杆一端连接，所述推杆另一端与连接件固定，所述连接件设置在机器人腿部下端；所述电机上安装有编码器，所述编码器与空心轴一端连接，另一端与梅花键连接；所述编码器与工控机通信。An energy-efficient joint structure of a high-dynamic robot includes a motor, a ball screw, a moving pair and a push rod. The output shaft of the motor and the ball screw are connected by a torx key, and the ball screw is fixed with a torx key Connected screw shaft, the screw shaft is also installed inside the housing through a bearing; the ball screw is connected to the moving pair, the moving pair is fixed with the sliding block, the sliding block is arranged inside the shell, and can be The inner wall of the housing slides; the slider is also connected to one end of the push rod, and the other end of the push rod is fixed with a connecting piece, the connecting piece is arranged at the lower end of the robot leg; an encoder is installed on the motor, the encoder One end of the hollow shaft is connected, and the other end is connected with a plum spline; the encoder communicates with an industrial computer.
上述技术方案中，所述外壳设有方形的内轮廓，与滑块配合。In the above technical solution, the shell is provided with a square inner contour, which is matched with the slider.
上述技术方案中，所述滑块与外壳的内表面均采用方形工程塑料。In the above technical solution, the inner surfaces of the sliding block and the shell are made of square engineering plastics.
上述技术方案中，所述外壳由两块沿滚珠丝杠转轴中心对称的壳体合并为一体，且合并后的外壳与滑块之间存在微小间隙。In the above technical solution, the shell is integrated by two shells that are symmetrical about the center of the ball screw shaft, and there is a small gap between the combined shell and the slider.
上述技术方案中，所述外壳、电机的外壳以及推杆均采用铝合金材料。In the above technical solution, the housing, the housing of the motor, and the push rod are all made of aluminum alloy.
上述技术方案中，所述外壳沿轴向开设气孔。In the above technical solution, the casing is provided with air holes along the axial direction.
上述技术方案中，所述梅花键等分为四瓣，其中相对的两个缝隙与空心轴的一端贴合，另外两个相对的缝隙与丝杠轴贴合。In the above technical solution, the torx key is equally divided into four lobes, wherein two opposite gaps are attached to one end of the hollow shaft, and the other two opposite gaps are attached to the screw shaft.
上述技术方案中，所述梅花键的材料为聚氨酯。In the above technical solution, the material of the plum spline is polyurethane.
上述技术方案中，所述轴承采用双列轴承。In the above technical solution, the bearing adopts a double row bearing.
上述技术方案中，关节结构安装在机器人腿部时，电机端沿机器人腿部竖直朝上。In the above technical solution, when the joint structure is installed on the robot leg, the motor end faces vertically upward along the robot leg.
本发明的有益效果为：The beneficial effects of the present invention are:
(1)本发明推杆一端与滑块螺纹连接，另一端与设置在机器人腿部下端的连接件固定，滑块还与移动副固定，移动副与滚珠丝杠螺纹连接，滚珠丝杠与电机输出轴连接，且关节结构实际安装时，电机端朝上，整体质心上移，使得机器人腿部转动惯量明显降低，增大腿部加速度。且外壳、电机的外壳以及推杆均采用铝合金材料，有效降低总体质量；轴承为双列轴承，功能上等同于并排角接触轴承，节省设计空间的同时，能够承受双向驱动产生的轴向力。(1) One end of the push rod of the present invention is threadedly connected to the slider, and the other end is fixed to the connecting piece provided at the lower end of the robot leg. The slider is also fixed to the moving pair, which is threadedly connected to the ball screw, and the ball screw to the motor When the output shaft is connected and the joint structure is actually installed, the motor end faces upwards and the overall center of mass moves upwards, which significantly reduces the moment of inertia of the robot's legs and increases the acceleration of the legs. And the shell, the motor shell and the push rod are all made of aluminum alloy material, which effectively reduces the overall quality; the bearing is a double row bearing, which is functionally equivalent to a side-by-side angular contact bearing, which saves design space and can withstand the axial force generated by the two-way drive .
(2)本发明关节结构的采用滚珠丝杠，一方面有效提升机器人运动性能，另一方面，滚珠丝杠可跟随电机进行同等效率的正反转，以挑战更高的实验目标。(2) The use of a ball screw in the joint structure of the present invention can effectively improve the motion performance of the robot on the one hand, and on the other hand, the ball screw can follow the motor to perform forward and reverse rotations with the same efficiency to challenge higher experimental goals.
(3)本发明取消了滚珠丝杠标配的橡胶防尘圈，减小移动副的运动阻力，降低了润滑油的粘度，提高机器人运动性能。(3) The present invention eliminates the rubber dustproof ring that is standard on the ball screw, reduces the movement resistance of the moving pair, reduces the viscosity of the lubricating oil, and improves the movement performance of the robot.
(4)本发明梅花键等分为四瓣，其中相对的两个缝隙与空心轴的一端贴合，另外两个相对的缝隙与丝杠轴贴合；且梅花键的材料为聚氨酯，该材质具有良好的吸震特性，避免在推杆起动和停止时产生的冲击对机构造成损坏。(4) The torx key of the present invention is equally divided into four lobes, in which two opposite gaps are attached to one end of the hollow shaft, and the other two opposite gaps are attached to the screw shaft; and the torx key is made of polyurethane. It has good shock absorption characteristics to avoid damage to the mechanism caused by the impact generated when the push rod starts and stops.
(5)本发明外壳由两块沿滚珠丝杠转轴中心对称的壳体通过螺钉固定为一体，有助于调节缝隙，使得固定后的外壳与滑块之间存在微小间隙；控制滑块与外壳内壁之间的摩擦系数，使运动中阻力和稳定性均达到理想的水平。(5) The shell of the present invention is fixed by screws with two shells symmetrical along the center of the ball screw shaft, which helps to adjust the gap, so that there is a small gap between the fixed shell and the slider; the control slider and the shell The friction coefficient between the inner walls makes the resistance and stability in motion reach the ideal level.
图1为本发明所述高动态机器人的高能效关节结构立体图；Figure 1 is a perspective view of the energy-efficient joint structure of the highly dynamic robot of the present invention;
图2为本发明所述高动态机器人的高能效关节结构1/4剖视轴测图；Figure 2 is a quarter-sectional axonometric view of the energy-efficient joint structure of the high-dynamic robot of the present invention;
图3为本发明所述高动态机器人的高能效关节结构剖视图；3 is a cross-sectional view of the energy-efficient joint structure of the high-dynamic robot of the present invention;
图4为本发明所述高动态机器人的高能效关节结构测试示意图。Fig. 4 is a schematic diagram of the test of the energy-efficient joint structure of the high-dynamic robot of the present invention.
图中，1-电机，2-滚珠丝杠，3-移动副，4-外壳，5-推杆，6-编码器；7-空心轴；8-梅花键；9-丝杠轴；10-轴承；11-外壳夹；12-滑块；13-紧定螺栓；14-连接件；15-固定杆；16-摆动杆；17-配重。In the figure, 1-motor, 2-ball screw, 3-moving pair, 4-housing, 5-push rod, 6-encoder; 7-hollow shaft; 8-torx key; 9-screw shaft; 10- Bearing; 11-shell clamp; 12-slider; 13-tightening bolt; 14-connector; 15-fixed rod; 16-swing rod; 17-counterweight.
下面结合附图以及具体实施例对本发明作进一步的说明，但本发明的保护范围并不限于此。The present invention will be further described below with reference to the drawings and specific embodiments, but the protection scope of the present invention is not limited to this.
如图1-3所示，本发明一种高动态机器人的高能效关节结构，包括电机1、滚珠丝杠2、移动副3、外壳4和推杆5，电机1的输出轴与滚珠丝杠2通过梅花键8柔性连接，滚珠丝杠2上固定丝杠轴9一端，丝杠轴9另一端与梅花键8柔性连接；丝杠轴9通过轴承10卡接在外壳4内侧，限制丝杠轴9的径向运动。滚珠丝杠2与移动副3螺纹连接，移动副3与滑块12固定连接，滑块12设置在外壳4内侧，且滑块12可沿外壳4内壁滑动，外壳4具有方形的内轮廓，从而限制移动副的3回转运动；且外壳4通过外壳夹11固定在电机1上；滑块12还与推杆5一端螺纹连接，推杆5另一端通过紧定螺栓13与设置在机器人腿部下端的连接件14固定。电机1上安装有编码器6，编码器6与空心轴7一端通过螺钉连接，空心轴7另一端与梅花键8柔性连接。As shown in Figures 1-3, an energy-efficient joint structure of a highly dynamic robot of the present invention includes a motor 1, a ball screw 2, a moving pair 3, a housing 4, and a push rod 5. The output shaft of the motor 1 and the ball screw 2 The screw shaft 9 is flexibly connected by a Torx key 8. One end of the screw shaft 9 is fixed on the ball screw 2, and the other end of the screw shaft 9 is flexibly connected with the Torx key 8; the screw shaft 9 is clamped to the inside of the housing 4 through the bearing 10 to limit the screw Radial movement of shaft 9. The ball screw 2 is threadedly connected with the moving pair 3, and the moving pair 3 is fixedly connected with the sliding block 12. The sliding block 12 is arranged inside the housing 4, and the sliding block 12 can slide along the inner wall of the housing 4. The housing 4 has a square inner contour, thus Restrict the rotation movement of the moving pair 3; and the housing 4 is fixed on the motor 1 through the housing clamp 11; the slider 12 is also threadedly connected to one end of the push rod 5, and the other end of the push rod 5 is connected to the lower end of the robot leg through the tightening bolt 13 The connecting piece 14 is fixed. An encoder 6 is installed on the motor 1, one end of the encoder 6 and the hollow shaft 7 is connected by a screw, and the other end of the hollow shaft 7 is flexibly connected with a torx key 8.
梅花键8等分为四瓣，其中相对的两个缝隙与空心轴7的一端贴合，另外两个相对的缝隙与丝杠轴9贴合。梅花键8的材料为聚氨酯，该材质具有良好的吸震特性，避免在推杆5起动和停止时产生的冲击对机构造成损坏。The torx key 8 is equally divided into four lobes, of which two opposite gaps are attached to one end of the hollow shaft 7 and the other two opposite gaps are attached to the screw shaft 9. The material of the torx key 8 is polyurethane, which has good shock-absorbing properties, and prevents damage to the mechanism caused by the impact generated when the push rod 5 is started and stopped.
外壳4由两块沿滚珠丝杠2转轴中心对称的壳体通过螺钉固定为一体，有助于调节缝隙，使得固定后的外壳4与滑块12之间存在微小间隙；控制滑块12与外壳4内壁之间的摩擦系数，使运动中阻力和稳定性均达到理想的水平。滑块12与外壳4内表面均采用方形工程塑料，此种接触方式对于控制间隙作用明显。在完成测试前，滑块12和外壳4最理想的设计间隙是无法预测的。相对于柱面构造，滑块12与外壳4配合的方式可以通过增加垫片，并根据测试过程中的实际情况，以0.01mm的分度调整间隙，以满足跳跃实验中对滑块12与外壳4内表面合精度的高要求。由于滑块12采用方形工程塑料，在与外壳1内表面干摩擦的情况下仍具有很低的摩擦系数。另外，外壳4沿轴向开设气孔，以起到平衡外壳4气压的作用，防止由气压产生的阻力。The shell 4 is fixed as a whole by two symmetrical shells along the rotation axis of the ball screw 2 by screws, which helps to adjust the gap, so that there is a slight gap between the fixed shell 4 and the slider 12; the control slider 12 and the shell 4 The friction coefficient between the inner walls makes the resistance and stability in motion reach the ideal level. Both the sliding block 12 and the inner surface of the housing 4 are made of square engineering plastics, and this contact method has an obvious effect on controlling the gap. Before the test is completed, the optimal design gap between the slider 12 and the housing 4 is unpredictable. Compared with the cylindrical structure, the way of matching the slider 12 and the housing 4 can be achieved by adding gaskets, and adjusting the gap with 0.01mm divisions according to the actual situation during the test, so as to meet the requirements of the jump test between the slider 12 and the housing. 4 High requirements for inner surface accuracy. Since the slider 12 is made of square engineering plastics, it still has a very low friction coefficient under the condition of dry friction with the inner surface of the housing 1. In addition, the casing 4 is provided with air holes along the axial direction to balance the air pressure of the casing 4 and prevent the resistance caused by the air pressure.
电机1为可独立测试的无框电机，在组装前进行充分的实验和校核以准确掌握关节的动力性能。电机1的定子和转子为铁磁性材料，质量相对较大。因此关节结构的整体重心靠近电机侧，重心上移有助于减小抬腿惯性，提高实验指标。关节结构安装在机器人腿部时，电机端朝上，即膝关节、踝关节的电机分别布置于大腿上端、小腿上端。 Motor 1 is a frameless motor that can be independently tested, and sufficient experiments and checks are carried out before assembly to accurately grasp the dynamic performance of the joint. The stator and rotor of the motor 1 are made of ferromagnetic materials, and the mass is relatively large. Therefore, the overall center of gravity of the joint structure is close to the motor side, and the upward shift of the center of gravity helps to reduce the inertia of the leg lift and improve the experimental indicators. When the joint structure is installed on the leg of the robot, the motor end faces upward, that is, the motors of the knee joint and the ankle joint are respectively arranged on the upper end of the thigh and the upper end of the lower leg.
轴承10为双列轴承，功能上等同于并排角接触轴承，节省设计空间的同时，能够承受双向驱动产生的轴向力。The bearing 10 is a double row bearing, which is functionally equivalent to a side-by-side angular contact bearing, which saves design space and can withstand the axial force generated by the bidirectional drive.
外壳4、电机1的外壳以及推杆5均采用铝合金材料，有效降低总体质量。The shell 4, the shell of the motor 1 and the push rod 5 are all made of aluminum alloy, which effectively reduces the overall quality.
在电机1的带动下，该关节结构的反向驱动与正向驱动效率相同，满足机器人蹬腿收腿的快速响应要求，能够实现包括跑跳在内的高动态运动。Driven by the motor 1, the reverse drive of the joint structure has the same efficiency as the forward drive, which satisfies the rapid response requirements of the robot's kicking and retraction, and can realize high dynamic motions including running and jumping.
在已经设有外壳4的条件下，在移动副3上，取消了滚珠丝杠2标配的橡胶防尘圈，一 方面该防尘功能冗余，并且会增大移动副3运动的阻力，另一方面，取消橡胶防尘圈，可降低了润滑油的粘度；在机器人高速运动情况下，防尘圈和粘度导致的阻力影响十分明显；取消橡胶防尘圈后滚珠丝杠2到推杆5的传动效率可提升至0.95以上。Under the condition that the housing 4 has been installed, the rubber dust ring of the ball screw 2 is eliminated on the moving pair 3. On the one hand, the dustproof function is redundant and will increase the resistance of the moving pair 3. On the other hand, canceling the rubber dust ring can reduce the viscosity of the lubricating oil; in the case of high-speed robot movement, the impact of the resistance caused by the dust ring and viscosity is very obvious; after canceling the rubber dust ring, the ball screw 2 to the push rod The transmission efficiency of 5 can be increased to above 0.95.
一种高动态机器人的高能效关节结构的工作过程为：The working process of an energy-efficient joint structure of a highly dynamic robot is:
编码器6通过工控机控制电机1的回转方向和转速，并带动空心轴7同步转动，空心轴7的转动信息通过编码器6反馈给工控机。空心轴7在转动时，带动滚珠丝杠2同步旋转，滚珠丝杠2螺纹将沿丝杠轴向平移的分运动传递给移动副3，移动副3带动滑块12沿丝杠轴向平移。电机1正向驱动时，滑块12向远离电机1方向平移；电机反向驱动时，滑块12向靠近电机1方向平移；滑块12在平移过程中带动推杆5同步平移，推杆5通过连接件14将推力或拉力传递给腿部。The encoder 6 controls the rotation direction and speed of the motor 1 through the industrial computer, and drives the hollow shaft 7 to rotate synchronously, and the rotation information of the hollow shaft 7 is fed back to the industrial computer through the encoder 6. When the hollow shaft 7 rotates, it drives the ball screw 2 to rotate synchronously. The thread of the ball screw 2 transfers the partial motion of the translation along the screw axis to the moving pair 3, and the moving pair 3 drives the slider 12 to translate along the screw axis. When the motor 1 is driven forward, the slider 12 translates away from the motor 1; when the motor is driven in the reverse direction, the slider 12 translates toward the direction of the motor 1; the slider 12 drives the push rod 5 to move synchronously during the translation process, and the push rod 5 The push or pull force is transmitted to the leg through the connecting piece 14.
下面将结合图4对本发明的关节结构进行测试，关节结构的安装方式与其实际安装在机器人腿部的方式一致，由于电机定子质量较大，电机端朝上安装可降低甩腿时的惯量，提升运动性能。当关节结构安装在机器人大腿上，图4中固定杆15、摆动杆16分别相当于机器人腰部和大腿；当关节结构安装在机器人小腿上，图4中固定杆15、摆动杆16分别相当于机器人大腿和小腿；关节结构与固定杆15固定在一起，摆动杆16通过铰链固定在固定杆15底端，图4中的配重17安装在摆动杆16末端，使得整体的质量分布于机器人腿部实际情况更接近。固定杆15、摆动杆16、配重17均为理想模型，质量分布均匀，材质为铝合金。设固定杆15长度为L、横截面积为S，质量为m
1，可视为质点；关节结构总质量为m
2，总长度为l，关节结构质心与配重17质心的之间距离为d。
The joint structure of the present invention will be tested in conjunction with Figure 4 below. The installation method of the joint structure is the same as the actual installation method on the robot leg. Due to the large mass of the motor stator, the motor end is installed upwards to reduce the inertia during leg swing and improve Sports performance. When the joint structure is installed on the thigh of the robot, the fixed rod 15 and the swing rod 16 in Figure 4 are equivalent to the waist and thigh of the robot; when the joint structure is installed on the lower leg of the robot, the fixed rod 15 and the swing rod 16 in Figure 4 are respectively equivalent to the robot Thigh and calf; the joint structure is fixed with the fixed rod 15, the swing rod 16 is fixed at the bottom end of the fixed rod 15 through a hinge, and the counterweight 17 in Figure 4 is installed at the end of the swing rod 16, so that the overall mass is distributed on the robot leg The actual situation is closer. The fixed rod 15, the swing rod 16, and the counterweight 17 are all ideal models with uniform mass distribution, and the material is aluminum alloy. Assuming that the length of the fixed rod 15 is L, the cross-sectional area is S, and the mass is m 1 , it can be regarded as a mass point; the total mass of the joint structure is m 2 , the 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.
根据质心坐标公式：According to the centroid coordinate formula:
其中：M为物体总质量，D为物体的截面积，x为物体某一个微元质点在截面法向上的一维坐标，μ为物体的密度；Among them: M is the total mass of the object, D is the cross-sectional area of the object, x is the one-dimensional coordinate of a certain micro-element particle of the object in the section normal direction, and μ is the density of the object;
此时整体质心相对件配重17的质心高度为：At this time, the height of the center of mass of the overall center of mass relative to the counterweight 17 is:
假设关节结构质心位于中心位置，此时
则有：
Assuming that the center of mass of the joint structure is at the center, at this time Then there are:
Δh即为采用质心上移设计时(由于电机端朝上)，整体质心提升的高度。当Δh增大时，回转半径r随之线性减小，由转动惯量I＝Mr
2，降低惯量效果显著。
Δh is the height that the overall center of mass is raised when the center of mass is moved up (because the motor end faces upward). When Δh increases, the radius of gyration r decreases linearly. From the moment of inertia I=Mr 2 , the effect of reducing the inertia is significant.
所述实施例为本发明的优选的实施方式，但本发明并不限于上述实施方式，在不背离本发明的实质内容的情况下，本领域技术人员能够做出的任何显而易见的改进、替换或变型均属于本发明的保护范围。The embodiments are the preferred embodiments of the present invention, but the present invention is not limited to the above-mentioned embodiments. Without departing from the essence of the present invention, any obvious improvements, substitutions or substitutions can be made by those skilled in the art. The variants all belong to the protection scope of the present invention.
Claims (10)
- 一种高动态机器人的高能效关节结构，其特征在于，电机(1)、滚珠丝杠(2)、移动副(3)和推杆(5)，所述电机(1)的输出轴与滚珠丝杠(2)通过梅花键(8)连接，所述滚珠丝杠(2)上固定有与梅花键(8)连接的丝杠轴(9)，所述丝杠轴(9)还通过轴承(10)安装在外壳(4)内侧；所述滚珠丝杠(2)与移动副(3)连接，所述移动副(3)与滑块(12)固定，所述滑块(12)设置在外壳(4)内侧，且能够沿外壳(4)内壁滑动；所述滑块(12)还与推杆(5)一端连接，所述推杆(5)另一端与连接件(14)固定，所述连接件(14)设置在机器人腿部下端；所述电机(1)上安装有编码器(6)，所述编码器(6)与空心轴(7)一端连接，另一端与梅花键(8)连接；所述编码器(6)与工控机通信。An energy-efficient joint structure of a highly dynamic robot, characterized in that a motor (1), a ball screw (2), a moving pair (3) and a push rod (5), the output shaft of the motor (1) and the ball The screw (2) is connected by a Torx key (8), and a screw shaft (9) connected with the Torx key (8) is fixed on the ball screw (2), and the screw shaft (9) also passes through a bearing (10) Installed inside the housing (4); 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 set Inside the housing (4) and able to slide along the inner wall of the housing (4); the sliding block (12) is also connected to one end of the push rod (5), and the other end of the push rod (5) is fixed to the connecting piece (14) , The connecting piece (14) is arranged at the lower end of the robot leg; an encoder (6) is installed on the motor (1), and the encoder (6) is connected to one end of the hollow shaft (7), and the other end is connected to the plum blossom The key (8) is connected; the encoder (6) communicates with the industrial computer.
- 根据权利要求1所述的高动态机器人的高能效关节结构，其特征在于，所述外壳(4)设有方形的内轮廓，与滑块(12)配合。The energy-efficient joint structure of a high-dynamic robot according to claim 1, characterized in that the shell (4) is provided with a square inner contour, which cooperates with the sliding block (12).
- 根据权利要求2所述的高动态机器人的高能效关节结构，其特征在于，所述滑块(12)与外壳(4)的内表面均采用方形工程塑料。The high-energy-efficiency joint structure of a high-dynamic robot according to claim 2, characterized in that the inner surfaces of the sliding block (12) and the housing (4) are made of square engineering plastics.
- 根据权利要求3所述的高动态机器人的高能效关节结构，其特征在于，所述外壳(4)由两块沿滚珠丝杠(2)转轴中心对称的壳体合并为一体，且合并后的外壳(4)与滑块(12)之间存在微小间隙。The energy-efficient joint structure of a high-dynamic robot according to claim 3, wherein the shell (4) is composed of two shells that are symmetrical about the axis of the ball screw (2) and are combined into one body, and the combined There is a slight gap between the housing (4) and the slider (12).
- 根据权利要求1所述的高动态机器人的高能效关节结构，其特征在于，所述外壳(4)、电机(1)的外壳以及推杆(5)均采用铝合金材料。The energy-efficient joint structure of a high-dynamic robot according to claim 1, wherein the housing (4), the housing of the motor (1), and the push rod (5) are all made of aluminum alloy.
- 根据权利要求1-5任意所述的高动态机器人的高能效关节结构，其特征在于，所述外壳(4)沿轴向开设气孔。The energy-efficient joint structure of a high-dynamic robot according to any of claims 1-5, wherein the housing (4) is provided with air holes along the axial direction.
- 根据权利要求1所述的高动态机器人的高能效关节结构，其特征在于，所述梅花键(8)等分为四瓣，其中相对的两个缝隙与空心轴(7)的一端贴合，另外两个相对的缝隙与丝杠轴(9)贴合。The energy-efficient joint structure of a high-dynamic robot according to claim 1, wherein the torx key (8) is equally divided into four lobes, wherein two opposite gaps are attached to one end of the hollow shaft (7), The other two opposite gaps are attached to the screw shaft (9).
- 根据权利要求7所述的高动态机器人的高能效关节结构，其特征在于，所述梅花键(8)的材料为聚氨酯。The energy-efficient joint structure of a high-dynamic robot according to claim 7, wherein the material of the torx key (8) is polyurethane.
- 根据权利要求1所述的高动态机器人的高能效关节结构，其特征在于，所述轴承(10)采用双列轴承。The energy-efficient joint structure of a high-dynamic robot according to claim 1, wherein the bearing (10) is a double-row bearing.
- 根据权利要求1所述的高动态机器人的高能效关节结构，其特征在于，关节结构安装在机器人腿部时，电机端沿机器人腿部竖直朝上。The energy-efficient joint structure of a high-dynamic robot according to claim 1, wherein when the joint structure is installed on the leg of the robot, the motor end faces vertically upward along the leg of the robot.
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- 2020-05-09 WO PCT/CN2020/089341 patent/WO2021184516A1/en active Application Filing
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| 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 |
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| 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 |
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