CN107639649B - Permanent magnet variable-rigidity flexible joint for robot - Google Patents
Permanent magnet variable-rigidity flexible joint for robot Download PDFInfo
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- CN107639649B CN107639649B CN201711057256.6A CN201711057256A CN107639649B CN 107639649 B CN107639649 B CN 107639649B CN 201711057256 A CN201711057256 A CN 201711057256A CN 107639649 B CN107639649 B CN 107639649B
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- 206010052904 Musculoskeletal stiffness Diseases 0.000 abstract description 53
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- 230000005540 biological transmission Effects 0.000 abstract description 5
- 230000008859 change Effects 0.000 abstract description 5
- 239000011664 nicotinic acid Substances 0.000 abstract description 4
- 230000009471 action Effects 0.000 abstract description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 4
- 210000003205 muscle Anatomy 0.000 description 4
- 206010023230 Joint stiffness Diseases 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
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- 206010049816 Muscle tightness Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
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- 239000007779 soft material Substances 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
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Abstract
The invention belongs to the technical field of flexible robots, and provides a permanent magnet variable-stiffness flexible joint for a robot, which can simulate the nonlinear variable-stiffness muscle characteristics of a bionic joint. The permanent magnet variable stiffness mechanism is used as a stiffness adjusting part, the rope is used as a force and motion transmission part, the stiffness of the rope can be changed according to the change of an air gap between permanent magnets, the decoupling of the force and the position of the rope on the two sides of an operator is realized through the action of the motor, the rope winch and the guide pulley, the stiffness of a joint can be unchanged, and the change of the corner of the joint is only changed, namely the adjustment of the position of the joint under the condition of equal stiffness is realized; the rigidity of the joint can be changed without changing the position of the joint, and the joint can work under the condition of correspondingly setting the rigidity according to different working conditions. The invention relates to a permanent magnet variable-rigidity flexible robot joint structure which is simple in movement form, simple and convenient to manufacture and simple to operate.
Description
Technical Field
The invention belongs to the technical field of flexible robots, and particularly relates to a permanent magnet variable-stiffness flexible joint for a robot, which is used for constructing an antagonistic flexible variable-stiffness robot and is particularly suitable for constructing a bionic robot joint.
Background
The flexible variable-stiffness robot is a flexible robot with adjustable stiffness different from the traditional rigid robot, and is mainly characterized in that: the rigidity-adjustable elastic link is connected in series or in parallel on the transmission chain, the kinetic energy and the elastic potential energy of the joint can be mutually converted, and the self rigidity is adjustable, so that the man-machine safety and the environmental adaptability can be improved to a great extent, and the method becomes an important direction for the development of the robot in the future.
From the viewpoint of sports biomechanics, muscles are the dynamic source of a human motion system, and maintain or complete actions through muscle scaling, skeletal muscles have two scaling forms, the muscle tension is unchanged and the length is changed in the scaling process, so that joint motion is caused, namely the position of the unchanged rigidity is changed; the muscle length is unchanged and the tension is changed in the zooming process, so that the joint stiffness is increased, namely the position is unchanged and the stiffness is changed; the nonlinear variable stiffness characteristic can buffer collision, absorb and store energy. Therefore, if the human skeletal muscle system can be used for reference and the joint with bionic muscle characteristics is designed, the defects of low safety and poor environmental adaptability of the existing robot man-machine interaction can be overcome. The variable stiffness robot joint based on parallel rope counter drive is closest to a human joint in a driving mode, and the joint stiffness is changed by connecting a nonlinear elastic unit in series on a rope. The arrangement has the advantages that the flexibility of the robot is realized, the driving unit and the variable stiffness module can be arranged at the rear, and particularly, when the multi-degree-of-freedom robot is constructed, the mass and inertia of the operating arm can be greatly reduced, so that the defect of insufficient joint stiffness change capability caused by gradual increase of the mass and the inertia in the traditional series mode is overcome.
In recent years, the performance of the permanent magnet material is greatly improved, and particularly, the rare earth permanent magnet material has high unit volume magnetic energy and excellent performance, and can be equivalent to an ideal permanent magnet when calculation is simplified. The permanent magnet spring utilizing the interaction of the magnetic force between the permanent magnets has the advantages of no mechanical contact, no abrasion, low power consumption, long service life, low noise, no need of lubrication, no heat generation and the like, and can replace a metal spring to be used for a quick mechanical response mechanism.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a permanent magnet variable-stiffness flexible joint component for a robot, which can simulate a joint with nonlinear variable-stiffness muscle characteristics and effectively overcome the defects of low safety and poor environmental adaptability of the traditional robot in human-computer interaction;
in order to achieve the purpose, the invention provides a permanent magnet variable-stiffness flexible joint for a robot, which comprises at least one degree of freedom control mechanism, an operating arm, a large arm fixing frame, an encoder and an operating arm rotating shaft, wherein the large arm is fixed on the large arm fixing frame, the operating arm is fixed on a large arm central shaft through the operating arm rotating shaft, and the operating arm rotating shaft and the encoder are fixed on the large arm through a thin-wall ball bearing;
the system comprises a large arm, a freedom degree control mechanism, a servo motor, a position and rigidity adjusting mechanism and a control mechanism, wherein the freedom degree control mechanism consists of two groups of position and rigidity adjusting modules which are symmetrically arranged along the central axis of the large arm; one end of the rope is fixed on the operation arm, and then sequentially passes through the wire pulley A arranged on the outer edge of the large arm, the permanent magnet variable stiffness module and the wire pulley B which are fixed in the large arm, the other end of the rope is fixed on the rope winch, and the rope winch, the harmonic reducer and the servo motor are coaxially fixed on the large arm;
the fixed pulley A of the permanent magnet variable stiffness module is parallel to the axis of the wire pulley B, and the outline of the pulley is circumscribed by the same straight line; the axis of the wire pulley B is perpendicular to the axis of the rope winch, and the outline is circumscribed by the same straight line, so that the arrangement can effectively ensure the transmission of the rope.
Further, the permanent magnet variable stiffness module comprises: the device comprises a fixed pulley A, a movable pulley, an axial sliding bearing, an axial magnetizing permanent magnetic ring A, a movable sliding seat, a fixed seat, an axial magnetizing permanent magnetic ring B and a fixed pulley B; the section of the movable sliding seat is inverted T-shaped, and the top end of the central rod is provided with a movable pulley; the section of the fixed seat is H-shaped, the top end of the fixed seat is provided with a fixed pulley A and a fixed pulley B respectively, and the movable pulley, the fixed pulley A and the fixed pulley B are arranged in an inverted isosceles triangle; the axial magnetizing permanent magnetic ring A is fixed on the upper side of the movable sliding seat base, the axial magnetizing permanent magnetic ring B is fixed on the lower side of the central position of the movable sliding seat, the central axis of the axial magnetizing permanent magnetic ring A and the central axis of the axial magnetizing permanent magnetic ring B are coaxial, and the same-direction magnetic poles are oppositely arranged and have the same structural parameters; a central rod of the movable sliding seat sequentially penetrates through the axial magnetizing permanent magnetic ring A, the axial magnetizing permanent magnetic ring B and the central position of the fixed seat provided with the axial sliding bearing, and a base of the movable sliding seat slides along a sliding groove at the lower part of the fixed seat; when the distance between the movable sliding seat and the fixed seat is reduced, the air gap between the axial magnetizing permanent magnetic ring A and the axial magnetizing permanent magnetic ring B is reduced.
Furthermore, the axes of the wire pulley A and the wire pulley B and the fixed pulley A and the fixed pulley B of the permanent magnet variable stiffness module are parallel, and the radial symmetric centers are positioned in the same plane.
Furthermore, the permanent magnet variable-stiffness flexible joint comprises more than two degree-of-freedom control mechanisms, wherein two groups of position and stiffness adjusting modules are symmetrically arranged along the central axis of the large arm in each degree-of-freedom direction, and the rotating shaft of the operating arm of each degree-of-freedom control mechanism is perpendicular to the rope tension direction in the degree-of-freedom rotating direction, so that the stiffness in each degree-of-freedom rotating direction is independent. All the permanent magnet variable stiffness modules are arranged at the rear part, so that the mass and inertia of the operating arm are reduced.
The invention has the beneficial effects that: the invention can simulate the nonlinear variable stiffness muscle characteristics of the bionic joint. The permanent magnet variable stiffness mechanism is used as a stiffness adjusting part, the rope is used as a force and motion transmission part, the stiffness of the rope can be changed according to the change of an air gap between permanent magnets, the decoupling of the force and the position of the rope on the two sides of an operator is realized through the action of the motor, the rope winch and the guide pulley, the stiffness of a joint can be unchanged, and the change of the corner of the joint is only changed, namely the adjustment of the position of the joint under the condition of equal stiffness is realized; the rigidity of the joint can be changed without changing the position of the joint, and the joint can work under the condition of correspondingly setting the rigidity according to different working conditions. The invention relates to a permanent magnet variable-rigidity flexible robot joint structure which is simple in movement form, simple and convenient to manufacture and simple to operate.
Drawings
FIG. 1 is a schematic structural diagram of a permanent magnet variable-stiffness flexible joint for a robot according to the present invention;
FIG. 2 is a schematic unfolding view of the internal structure of the flexible variable-stiffness robot joint;
FIG. 3 is a schematic cross-sectional view of the variable stiffness portion;
FIG. 4 is a schematic representation of the mechanism of one multiple degree of freedom embodiment of the present invention;
in the figure, 1 operates an arm; 2, a rope A; 3, a wire pulley A; 4, a permanent magnet variable stiffness module A; 5, a rope winch A; 6, a servo motor; 7 a large arm fixing frame; 8, a harmonic reducer; 9, a big arm; 10 an encoder; 11 a wire pulley B; 12 a wire pulley C; 13 a rope winch B; 14 permanent magnet variable stiffness module B; 15 a wire pulley D; 16 operating arm rotation shaft; 17 a rope B; 18 fixed pulley A; 19 a movable pulley; 20 an axial sliding bearing; 21, axially magnetizing the permanent magnet ring A; 22 moving the slide; 23 fixing the base; 24, axially magnetizing the permanent magnet ring B; and 25, fixing the pulley B.
Detailed Description
Example 1
The invention is described in further detail below with reference to the figures and the specific embodiments. Therefore, how to apply technical means to solve technical problems and achieve technical processes of achieving effects can be fully understood and implemented, and it should be noted that, as long as no conflict is formed, various embodiments of the present invention and various features in the various embodiments can be combined with each other, and the formed technical solutions are within the scope of the present invention.
Referring to fig. 1, 2 and 3, the present embodiment is described, and a permanent magnet variable stiffness flexible joint for a robot includes: the system comprises an operating arm 1, a rope A2, a wire pulley A3, a permanent magnet variable stiffness module A4, a rope winch A5, a servo motor 6, a large arm fixing frame 7, a harmonic reducer 8, a large arm 9, an encoder 10, a wire pulley B11, a wire pulley C12, a rope winch B13, a permanent magnet variable stiffness module B14, a wire pulley D15, an operating arm rotating shaft 16 and a rope B17, wherein one end of the rope A2 is fixed on the operating arm 1, then sequentially penetrates through the wire pulley A3, the permanent magnet variable stiffness module A4 and the wire pulley B11, and the other end of the rope A5 is fixed on the rope winch A5 to form a group of position and stiffness adjusting modules, one end of the rope B17 is fixed on the operating arm 1, then sequentially penetrates through the wire pulley D15, the permanent magnet variable stiffness module B14 and the wire pulley C12, and the other end of the rope B13;
the fixed pulley A18 of the permanent magnet variable stiffness module A4 is parallel to the axis of the wire pulley B11, and the contour of the pulley is circumscribed by the same straight line; the axis of the wire pulley B11 is vertical to the axis of the rope winch A5, and the outline is circumscribed by the same straight line, so that the arrangement can effectively ensure the transmission of the rope;
the rope A2 and the rope B17 in the invention are soft steel wire ropes or ropes made of other soft materials which can only be bent but cannot be axially stretched;
the invention is a permanent magnet variable-stiffness flexible robot joint with simple motion form, simple and convenient manufacture and simple operation;
the permanent magnet variable stiffness modules A4 and B14 comprise: the axial magnetizing device comprises a fixed pulley A18, a movable pulley 19, an axial sliding bearing 20, an axial magnetizing permanent magnetic ring A21, a movable sliding seat 22, a fixed seat 23, an axial magnetizing permanent magnetic ring B24 and a fixed pulley B25, wherein the movable sliding seat 22 is in sliding fit with the axial sliding bearing 20 and a sliding groove on the fixed seat 23, the fixed seat 23 is fixedly connected with an axial magnetizing permanent magnetic ring B24, the axial magnetizing permanent magnetic ring A21 is fixedly connected with the movable sliding seat 22, the central axis of the axial magnetizing permanent magnetic ring A21 and the central axis of the axial magnetizing permanent magnetic ring B24 are coaxially arranged in a same-direction and have the same structure parameters, and when the distance between the movable sliding seat 22 and the fixed seat 23 is reduced, the air gap between the axial magnetizing permanent magnetic ring A21 and the axial magnetizing permanent magnetic ring B36; the movable pulley 19, the fixed pulley A18 and the fixed pulley B25 are arranged in an inverted isosceles triangle;
in the invention, the movable pulley 10 and the movable sliding seat 13 are driven to slide upwards by pulling the rope;
the rope winch A5, the harmonic reducer 8 and the servo motor are coaxially arranged, the other group of rope winches, the harmonic reducer and the motor are coaxially arranged to form two groups of driving assemblies, and the two groups of driving assemblies are symmetrically arranged and fixed on the large arm 9 along the operating arm 1;
the wire pulley A3, the permanent magnet variable stiffness module A4, the wire pulley B11, the wire pulley C12, the permanent magnet variable stiffness module B14 and the wire pulley D15 are fixed on the large arm 9, and the wire pulley A3, the wire pulley B11, the wire pulley C12, the wire pulley D15, the permanent magnet variable stiffness module A4 and the fixed pulley of the permanent magnet variable stiffness module B14 have axes which are parallel and are radially positioned in the same plane;
the operation arm rotating shaft 16 and the encoder 10 are fixed on the large arm 9 through a thin-wall ball bearing.
Example 2
As shown in fig. 4, which is a schematic diagram of a two-degree-of-freedom parallel variable stiffness robot joint mechanism of the present invention, two permanent magnet variable stiffness modules are symmetrically arranged in each rotational degree-of-freedom direction. The rotation axis of each operating arm is perpendicular to the rope tension direction of the rotation direction, so that the rigidity independence of the two rotation directions is ensured. All the permanent magnet variable stiffness modules are arranged at the rear part, so that the mass and inertia of the operating arm are reduced.
Claims (2)
1. A permanent magnet variable-rigidity flexible joint for a robot is characterized by comprising more than two freedom degree control mechanisms, wherein two groups of position and rigidity adjusting modules are symmetrically arranged along the central axis of a large arm in each freedom degree direction; the device is characterized by further comprising an operating arm (1), a large arm (9), a large arm fixing frame (7), an encoder (10) and an operating arm rotating shaft (16), wherein the large arm (9) is fixed on the large arm fixing frame (7), the operating arm (1) is fixed on a central shaft of the large arm (9) through the operating arm rotating shaft (16), and the operating arm rotating shaft (16) and the encoder (10) are fixed on the large arm (9) through a thin-wall ball bearing;
the degree of freedom control mechanism consists of two groups of position and rigidity adjusting modules which are symmetrically arranged along the central axis of the large arm, wherein each group of position and rigidity adjusting modules comprises a rope (2), at least two lead pulleys, at least one permanent magnet variable rigidity module (4), a rope winch (5), a harmonic reducer (8) and a servo motor (6); one end of the rope (2) is fixed on the operating arm (1), then sequentially passes through a wire pulley A (3) arranged on the outer edge of the large arm, a permanent magnet variable stiffness module (4) and a wire pulley B (11) fixed in the large arm, the other end of the rope is fixed on a rope winch (5), and the rope winch (5), the harmonic reducer (8) and the servo motor are coaxially fixed on the large arm (9);
the fixed pulley A (18) of the permanent magnet variable stiffness module (4) is parallel to the axis of the wire pulley B (11) and the outline of the pulley is circumscribed by the same straight line; the axis of the wire pulley B (11) is vertical to the axis of the rope winch (5), and the outline is circumscribed by the same straight line; the permanent magnet variable stiffness module comprises: the device comprises a fixed pulley A (18), a movable pulley (19), an axial sliding bearing (20), an axial magnetizing permanent magnetic ring A (21), a movable sliding seat (22), a fixed seat (23), an axial magnetizing permanent magnetic ring B (24) and a fixed pulley B (25); the section of the movable sliding seat (22) is of an inverted T shape, and a movable pulley is arranged at the top end of the central rod; the section of the fixed seat is H-shaped, the top end of the fixed seat is provided with a fixed pulley A and a fixed pulley B respectively, and the movable pulley, the fixed pulley A and the fixed pulley B are arranged in an inverted isosceles triangle; an axial magnetizing permanent magnetic ring A (21) is fixed on the upper side of the base of the movable sliding seat, an axial magnetizing permanent magnetic ring B (24) is fixed on the lower side of the central position of the movable sliding seat, the central axis of the axial magnetizing permanent magnetic ring A and the central axis of the axial magnetizing permanent magnetic ring B are coaxial, and the magnetic poles in the same direction are arranged oppositely and have the same structural parameters; a central rod of the movable sliding seat sequentially penetrates through the axial magnetizing permanent magnetic ring A, the axial magnetizing permanent magnetic ring B and the central position of the fixed seat provided with an axial sliding bearing (20), and a base of the movable sliding seat slides along a sliding groove at the lower part of the fixed seat; two permanent magnet variable stiffness modules are symmetrically arranged in each rotational degree of freedom direction; each operating arm rotating shaft is perpendicular to the rope tension direction in the rotating direction, so that the rigidity independence of the two rotating directions is ensured; all the permanent magnet variable stiffness modules are arranged at the rear part, so that the mass and inertia of the operating arm are reduced.
2. The permanent magnet variable-stiffness flexible joint for the robot as claimed in claim 1, wherein the axes of the wire pulley A, the wire pulley B and the fixed pulley A and the fixed pulley B of the permanent magnet variable-stiffness module are parallel and the radial symmetry centers are in the same plane.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711057256.6A CN107639649B (en) | 2017-11-01 | 2017-11-01 | Permanent magnet variable-rigidity flexible joint for robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711057256.6A CN107639649B (en) | 2017-11-01 | 2017-11-01 | Permanent magnet variable-rigidity flexible joint for robot |
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| CN107639649A CN107639649A (en) | 2018-01-30 |
| CN107639649B true CN107639649B (en) | 2020-07-24 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112643709B (en) * | 2020-12-24 | 2022-02-15 | 东莞理工学院 | Light foldable one-way driving robot joint |
| CN113103276B (en) * | 2021-03-16 | 2022-12-06 | 广东省科学院智能制造研究所 | Flexibly-driven joint module of cooperative mechanical arm |
| CN113232013A (en) * | 2021-04-16 | 2021-08-10 | 佛山纽欣肯智能科技有限公司 | Manipulator system with multi-rope driving unit |
| CN113146604B (en) * | 2021-05-06 | 2022-08-26 | 吉林大学 | Compact artificial muscle module with variable rigidity and passive flexibility |
| CN114407023B (en) * | 2022-03-11 | 2023-11-17 | 沈阳工业大学 | Decoupling control method for rope-driven parallel variable-stiffness robot joint |
| CN114633282B (en) * | 2022-04-08 | 2023-09-29 | 华中科技大学 | Three-degree-of-freedom humanoid variable-stiffness wrist joint based on rope transmission |
| CN115488871A (en) * | 2022-09-14 | 2022-12-20 | 清华大学深圳国际研究生院 | Light-weight high-torque tendon-driven single-degree-of-freedom mechanical joint device |
| CN115383785B (en) * | 2022-10-27 | 2022-12-27 | 季华实验室 | Flexible elbow with wrist turning function |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107175657B (en) * | 2017-05-11 | 2019-10-25 | 东北大学 | A kind of permanent magnetism variation rigidity drive module for flexible robot |
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