技术领域technical field
本发明涉及医疗器械领域，具体是一种机器人用正弦弹力放大力矩补偿装置及方法。The invention relates to the field of medical equipment, in particular to a sine elastic force amplifying moment compensation device and method for robots.
背景技术Background technique
针对临床截石位手术特点，悬臂关节式机器人适合人体会阴处狭窄空间手术，但悬臂关节式构型在低速高精度操作时，变化的重力矩会造成电机驱力矩幅值波动较大，从而恶化机器人低速运动平稳性能。本文设计的正弦弹力放大力矩补偿装置适用于悬臂关节式靶向粒子植入机器人，悬臂关节式粒子植入机器人虽不属于高速重载设备，但机器人工作时工作空间受到患者身体尺寸的严格限制，要求机器人结构尺寸尽可能小，悬臂结构自重产生的重力矩是负载中较大的一部分，时变的重力矩会影响驱动力矩的剧烈波动，降低了机器人关节驱动的平稳性，若将其平衡则可减小电机的输出功率从而减小电机的外形尺寸，而且悬臂的重力矩平衡有助于降低控制成本，提高机器人低速运行的平稳性和精度。Lin等研究了多弹簧机械臂自重补偿机构，采用在连杆上加载多个拉弹簧来平衡自身重力，通过建立最大稳定控制刚度的定量表示求解出合适的弹簧刚度和加载位置。该方法的缺点是数值求解过程非常复杂，而且手臂在位形变化下始终存在不平衡力矩。Nakayama研究了滑轮和弹簧组合多杆重力补偿机构，通过选择合适的滑轮和弹簧刚度可以实现一定范围的重力补偿，但钢丝传动会影响传动刚度和平衡的鲁棒性。Koser研究了凸轮结构调节弹簧实现连杆重力补偿，也能改善钢丝传动刚度和平衡鲁棒性,但对于不同连杆，都须重新设计和制造凸轮，比较困难。Yamada Y研究曲柄滑块机构实现连杆的重力补偿，平衡的鲁棒性和安全性都有所提高，但连杆自重平衡的范围有限，主要受到杆件之间运动干涉、滑块行程的影响。According to the characteristics of the clinical lithotomy position, the cantilever articulated robot is suitable for the operation in the narrow space of the human perineum. However, when the cantilever articulated configuration operates at low speed and high precision, the changing gravitational moment will cause the amplitude of the motor drive torque to fluctuate greatly, which will deteriorate. Low-speed motion smooth performance of the robot. The sinusoidal elastic amplifying torque compensation device designed in this paper is suitable for the cantilever articulated targeted particle implantation robot. Although the cantilever articulated particle implantation robot does not belong to high-speed and heavy-duty equipment, the working space of the robot is strictly limited by the size of the patient's body. The size of the robot structure is required to be as small as possible. The gravitational moment generated by the self-weight of the cantilever structure is a larger part of the load. The time-varying gravitational moment will affect the violent fluctuation of the driving torque and reduce the stability of the robot joint drive. The output power of the motor can be reduced to reduce the external size of the motor, and the balance of the gravity moment of the cantilever helps to reduce the control cost and improve the stability and accuracy of the robot's low-speed operation. Lin et al. studied the self-weight compensation mechanism of a multi-spring manipulator, using multiple tension springs loaded on the connecting rod to balance its own gravity, and obtained the appropriate spring stiffness and loading position by establishing a quantitative representation of the maximum stable control stiffness. The disadvantage of this method is that the numerical solution process is very complicated, and the arm always has an unbalanced moment under the configuration change. Nakayama studied the pulley and spring combined multi-rod gravity compensation mechanism. By choosing the appropriate pulley and spring stiffness, a certain range of gravity compensation can be achieved, but the wire transmission will affect the transmission stiffness and the robustness of the balance. Koser studied the cam structure adjustment spring to realize the gravity compensation of the connecting rod, which can also improve the rigidity of the wire transmission and the balance robustness, but it is difficult to redesign and manufacture the cam for different connecting rods. Yamada Y studies the crank-slider mechanism to realize the gravity compensation of the connecting rod, and the robustness and safety of the balance are improved. .
发明内容SUMMARY OF THE INVENTION
为了解决上述问题，本发明提出一种机器人用正弦弹力放大力矩补偿装置及方法。In order to solve the above problems, the present invention provides a device and method for compensating sinusoidal elastic force amplifying torque for a robot.
一种机器人用正弦弹力放大力矩补偿装置,包括用于支撑机械臂的机架，还包括：A sinusoidal elastic force amplifying moment compensation device for a robot, comprising a frame for supporting a mechanical arm, and further comprising:
悬臂关节力矩传动机构，设置在机架上，用于对机械臂进行动力传输；The cantilever joint torque transmission mechanism is arranged on the frame and is used for power transmission to the mechanical arm;
正弦转化机构，设置在机架上且与悬臂关节力矩传动机构配合，通过正弦弹力实现规律的水平运动；The sine conversion mechanism is arranged on the frame and cooperates with the cantilever joint torque transmission mechanism to achieve regular horizontal movement through the sine elastic force;
弹力放大机构，设置在机架上且与正弦转化机构配合，通过正弦运动实现弹力的放大补偿。The elastic force amplifying mechanism is arranged on the frame and cooperates with the sine conversion mechanism to realize the amplification and compensation of the elastic force through the sine motion.
所述的悬臂关节力矩传动机构包括机械臂减速电机、设置在机械臂减速电机上用于与机械臂固接的联轴器、通过圆头平键与联轴器连接带动联轴器作回转运动的输入轴。The cantilever joint torque transmission mechanism includes a mechanical arm deceleration motor, a coupling arranged on the mechanical arm deceleration motor and used for fixed connection with the mechanical arm, and the coupling is connected to the coupling through a round head flat key to drive the coupling to rotate. input shaft.
所述的正弦转化机构包括与输入轴配合的主动齿轮、与主动齿轮啮合的被动齿轮、与被动齿轮配合的传动轴一、设置在传动轴一上与被动齿轮配合转动的曲柄、与曲柄配合进行摆动的摇杆。The sine conversion mechanism includes a driving gear that cooperates with the input shaft, a passive gear that meshes with the driving gear, a transmission shaft that cooperates with the passive gear, a crank that is arranged on the first transmission shaft and rotates in cooperation with the passive gear, and cooperates with the crank to carry out Swing rocker.
所述的曲柄与之间摇杆、在摇杆远离曲柄的一端上分别设置有配合连接的转轴一、转轴二。Between the crank and the rocker, and on the end of the rocker away from the crank are respectively provided with a rotating shaft 1 and a rotating shaft 2 which are matched and connected.
所述的弹力放大机构包括设置在机架上的弹力放大机构、设置在弹力放大机构下端的补偿机构。The elastic force amplifying mechanism includes an elastic force amplifying mechanism arranged on the frame and a compensation mechanism arranged at the lower end of the elastic force amplifying mechanism.
所述的弹力放大机构包括设置在机架竖板上的弹簧挡板和弹簧挡块、设置在弹簧挡板上的若干组弹簧导向销、设置在弹簧挡块上且与弹簧导向销配合的若干组弹簧、与弹簧导向销滑动配合的滑块。The elastic force amplifying mechanism includes a spring baffle plate and a spring stop block arranged on the vertical plate of the frame, several groups of spring guide pins arranged on the spring baffle plate, and several groups of spring guide pins arranged on the spring stop block and matched with the spring guide pins. A set of springs and a sliding block slidingly matched with the spring guide pins.
所述的补偿机构包括设置在滑块上的上滑齿条、与上滑齿条啮合的大齿轮、设置在机架横板上的齿条架、设置在齿条架上且与摇杆配合的下滑齿条、与下滑齿条啮合的小齿轮，所述的小齿轮通过设置在小齿轮上的传动轴二与大齿轮配合。The compensation mechanism includes an upper sliding rack set on the slider, a large gear meshing with the upper sliding rack, a rack frame arranged on the horizontal plate of the frame, a rack frame arranged on the rack frame and matched with the rocker. The sliding rack and the pinion meshing with the sliding rack, the pinion is matched with the large gear through the second transmission shaft arranged on the pinion.
利用机器人用正弦弹力放大力矩补偿装置的方法,其具体步骤如下：Using the method of using a sinusoidal elastic force amplifying torque compensation device for robots, the specific steps are as follows:
S1：连接：机械臂固接联轴器，联轴器连接输入轴；S1: Connection: the mechanical arm is fixed to the coupling, and the coupling is connected to the input shaft;
S2：旋转：启动机械臂进行旋转，带动联轴器作回转运动，联轴器通过圆头平键带动输入轴作回转运动；S2: Rotation: start the mechanical arm to rotate, drive the coupling to make a rotary motion, and the coupling drives the input shaft to make a rotary motion through the round head flat key;
S3：转动：输入轴末端连接正弦放大机构的主动齿轮，当输入轴转动时，带动主动齿轮转动，主动齿轮与被动齿轮啮合；S3: Rotation: the end of the input shaft is connected to the driving gear of the sinusoidal amplification mechanism. When the input shaft rotates, it drives the driving gear to rotate, and the driving gear meshes with the passive gear;
S4：摆动：被动齿轮通过转轴固接曲柄，曲柄通过转动副与摇杆连接，当主动齿轮进行转动时，带动曲柄转动，曲柄通过转动副带动摇杆摆动，摇杆末端驱动上滑动齿条运动；S4: Swing: The driven gear is fixed to the crank through the rotating shaft, and the crank is connected to the rocker through the rotating pair. When the driving gear rotates, it drives the crank to rotate, the crank drives the rocker to swing through the rotating pair, and the end of the rocker drives the upper sliding rack to move. ;
S4：水平运动：下滑动齿条水平运动时，带动上滑动齿条反向水平运动；S4: Horizontal movement: when the lower sliding rack moves horizontally, it drives the upper sliding rack to move horizontally in the opposite direction;
S5：弹力放大：S5: Elasticity Amplification:
a：上滑动齿条上的弹簧挡块在运动的同时压缩多组弹簧，同时多组弹簧的弹力经过小齿轮与大齿轮得到放大；a: The spring stopper on the upper sliding rack compresses multiple sets of springs while moving, and the elastic force of multiple sets of springs is amplified by the pinion and the large gear;
b：放大的弹力反作用于上滑动齿条上，并通过悬臂关节力矩传动机构、正弦转化机构，将已放大的弹力传递到了悬臂关节力矩传动机构的机械臂上实现用多组弹簧产生的力矩补偿机械臂的重力矩方法。b: The amplified elastic force reacts on the upper sliding rack, and through the cantilever joint torque transmission mechanism and the sine conversion mechanism, the amplified elastic force is transmitted to the mechanical arm of the cantilever joint torque transmission mechanism to realize the torque compensation generated by multiple sets of springs Gravity moment method for robotic arms.
本发明的有益效果是：采用正弦转化机构以及弹力放大机构匹配使用，可以实现机器人悬臂重力矩的完全补偿，减小驱动的减速电机的功率以及机器人位形变化时驱动扭矩的波动，提高机器人驱动的平稳性；同时，通过调整正弦转化机构的齿轮组速比、弹簧刚度，可以灵活的补偿不同重量的悬臂，整体安装较为方便、结构紧凑。The beneficial effects of the present invention are: the matching use of the sine conversion mechanism and the elastic force amplification mechanism can realize the complete compensation of the gravity moment of the robot cantilever, reduce the power of the driven deceleration motor and the fluctuation of the driving torque when the robot configuration changes, and improve the driving force of the robot. At the same time, by adjusting the gear ratio and spring stiffness of the sine conversion mechanism, the cantilever of different weights can be flexibly compensated, the overall installation is more convenient and the structure is compact.
附图说明Description of drawings
下面结合附图和实施例对本发明进一步说明。The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
图1为本发明的立体结构示意图；Fig. 1 is the three-dimensional structure schematic diagram of the present invention;
图2为本发明的正弦转化机构立体结构示意图；Fig. 2 is the three-dimensional structure schematic diagram of the sine conversion mechanism of the present invention;
图3为本发明的弹力放大机构结构示意图；3 is a schematic structural diagram of an elastic force amplifying mechanism of the present invention;
图4为本发明的悬臂关节力矩补偿原理结构示意图。FIG. 4 is a schematic structural diagram of the cantilever joint moment compensation principle of the present invention.
具体实施方式Detailed ways
为了使本发明实现的技术手段、创作特征、达成目的与功效易于明白了解，下面对本发明进一步阐述。In order to make it easy to understand the technical means, creative features, achieved goals and effects of the present invention, the present invention is further described below.
如图1至图4所示，一种机器人用正弦弹力放大力矩补偿装置,包括用于支撑机械臂24的机架1，还包括：As shown in FIG. 1 to FIG. 4 , a sinusoidal elastic force amplifying moment compensation device for a robot includes a frame 1 for supporting a robotic arm 24, and also includes:
悬臂关节力矩传动机构2，设置在机架1上，用于对机械臂24进行动力传输；The cantilever joint torque transmission mechanism 2 is arranged on the frame 1 and is used for power transmission to the mechanical arm 24;
正弦转化机构3，设置在机架1上且与悬臂关节力矩传动机构2配合，通过正弦弹力实现规律的水平运动；The sine conversion mechanism 3 is arranged on the frame 1 and cooperates with the cantilever joint torque transmission mechanism 2 to realize regular horizontal movement through the sine elastic force;
弹力放大机构4，设置在机架1上且与正弦转化机构3配合，通过正弦运动实现弹力的放大补偿。The elastic force amplifying mechanism 4 is arranged on the frame 1 and cooperates with the sinusoidal transformation mechanism 3 to realize the amplification and compensation of the elastic force through sinusoidal motion.
所述的机械臂24上设置有外接的靶向粒子植入装置。The robotic arm 24 is provided with an external targeted particle implantation device.
所述弹力放大机构4悬臂关节力矩传动机构2、正弦转化机构3以及弹力放大机构4的组合使用，减少机械臂减速电机21的驱动力矩的波动和功率，可以实现机械臂24关节重力矩的补偿，提高机器人低速运动时的平稳性。The elastic force amplifying mechanism 4 is used in combination with the cantilever joint torque transmission mechanism 2, the sine conversion mechanism 3 and the elastic force amplifying mechanism 4 to reduce the fluctuation and power of the driving torque of the deceleration motor 21 of the mechanical arm, and can realize the compensation of the gravitational moment of the joint of the mechanical arm 24 , to improve the stability of the robot when moving at low speed.
所述的悬臂关节力矩传动机构2包括机械臂减速电机21、设置在机械臂减速电机21上用于与机械臂24固接的联轴器23、通过圆头平键与联轴器23连接带动联轴器23作回转运动的输入轴22。The cantilever joint torque transmission mechanism 2 includes a manipulator deceleration motor 21, a coupling 23 arranged on the manipulator deceleration motor 21 for fixed connection with the manipulator 24, and is connected to the coupling 23 through a round head flat key to drive the motor. The coupling 23 is the input shaft 22 for rotary motion.
当机械臂24进行旋转时，带动联轴器23作回转运动，联轴器23通过圆头平键带动输入轴22作回转运动，所述输入轴22末端连接了正弦放大机构3的主动齿轮31，当输入轴22转动时，带动主动齿轮31转动，从而将运动传递到了正弦转化机构3，将机械臂23的转动转化为摇杆37的摆动。When the mechanical arm 24 rotates, it drives the coupling 23 to make a rotary motion, and the coupling 23 drives the input shaft 22 to make a rotary motion through the round head flat key, and the end of the input shaft 22 is connected to the driving gear 31 of the sine amplifier mechanism 3 , when the input shaft 22 rotates, it drives the driving gear 31 to rotate, thereby transmitting the motion to the sine conversion mechanism 3 and converting the rotation of the mechanical arm 23 into the swing of the rocker 37 .
所述的正弦转化机构3包括与输入轴22配合的主动齿轮31、与主动齿轮31啮合的被动齿轮32、与被动齿轮32配合的传动轴一33、设置在传动轴一33上与被动齿轮32配合转动的曲柄34、与曲柄34配合进行摆动的摇杆36。The sine conversion mechanism 3 includes a driving gear 31 that cooperates with the input shaft 22 , a passive gear 32 that meshes with the driving gear 31 , a transmission shaft 33 that cooperates with the passive gear 32 , and a transmission shaft 33 and the passive gear 32 . The crank 34 cooperates to rotate, and the rocker 36 cooperates with the crank 34 to swing.
采用正弦转化机构3以及弹力放大机构4匹配使用，可以实现机器人悬臂重力矩的完全补偿，减小驱动的减速电机21的功率以及机器人位形变化时驱动扭矩的波动，提高机器人驱动的平稳性；同时，通过调整正弦转化机构的齿轮组速比、弹簧410刚度，可以灵活的补偿不同重量的悬臂，整体安装较为方便、结构紧凑。The use of the sine conversion mechanism 3 and the elastic force amplification mechanism 4 can achieve complete compensation of the gravitational moment of the robot cantilever, reduce the power of the driven reduction motor 21 and the fluctuation of the driving torque when the robot configuration changes, and improve the stability of the robot drive; At the same time, by adjusting the gear ratio of the sine conversion mechanism and the stiffness of the spring 410, the cantilevers of different weights can be flexibly compensated, and the overall installation is relatively convenient and the structure is compact.
所述的横板1b上设置有用于支撑减速电机21的电机板21a。The horizontal plate 1b is provided with a motor plate 21a for supporting the deceleration motor 21 .
所述曲柄34通过转动副与摇杆36连接，当主动齿轮31进行转动时，带动曲柄34转动，所述曲柄34通过转动副带动摇杆36摆动，所述摇杆36末端通过转动副连接弹力放大机构4的上滑动齿条41，从而实现上滑动齿条41的正弦规律的水平运动。The crank 34 is connected to the rocker 36 through a rotating pair. When the driving gear 31 rotates, it drives the crank 34 to rotate. The crank 34 drives the rocker 36 to swing through the rotating pair, and the end of the rocker 36 is connected to the elastic force through the rotating pair. The upper sliding rack 41 of the amplifying mechanism 4 realizes a sinusoidal horizontal movement of the upper sliding rack 41 .
所述的曲柄34与之间摇杆36、在摇杆36远离曲柄34的一端上分别设置有配合连接的转轴一35、转轴二37。The crank 34 and the rocker 36 between the cranks 34 and the end of the rocker 36 away from the crank 34 are respectively provided with a rotating shaft 35 and a rotating shaft 2 37 which are matched and connected.
所述的弹力放大机构4包括设置在机架1上的弹力放大机构、设置在弹力放大机构下端的补偿机构。The elastic force amplifying mechanism 4 includes an elastic force amplifying mechanism arranged on the frame 1 and a compensation mechanism arranged at the lower end of the elastic force amplifying mechanism.
所述的弹力放大机构包括设置在机架1竖板1a上的弹簧挡板47和弹簧挡块48、设置在弹簧挡板47上的若干组弹簧导向销49、设置在弹簧挡块48上且与弹簧导向销49配合的若干组弹簧410、与弹簧导向销49滑动配合的滑块491。The elastic force amplification mechanism includes a spring stopper 47 and a spring stopper 48 arranged on the vertical plate 1a of the frame 1, several groups of spring guide pins 49 arranged on the spring stopper 47, a spring stopper 48 and a spring stopper 48. Several groups of springs 410 are matched with the spring guide pins 49 , and the sliders 491 are slidably matched with the spring guide pins 49 .
所述的补偿机构包括设置在滑块491上的上滑齿条46、与上滑齿条46啮合的大齿轮45、设置在机架1横板1b上的齿条架42a、设置在齿条架42a上且与摇杆36配合的下滑齿条41、与下滑齿条41啮合的小齿轮43，所述的小齿轮43通过设置在小齿轮43上的传动轴二44与大齿轮45配合。The compensation mechanism includes an upper sliding rack 46 arranged on the slider 491, a large gear 45 meshing with the upper sliding rack 46, a rack frame 42a arranged on the horizontal plate 1b of the frame 1, and a rack 42a arranged on the rack. The lower rack 41 on the frame 42 a and matched with the rocker 36 , and the pinion 43 meshing with the lower rack 41 .
所述的齿条架42a上设置有与下滑齿条41配合的下滑齿条滑槽42。The rack frame 42a is provided with a sliding rack slot 42 which is matched with the sliding rack 41 .
多组弹簧410的压缩量Δx与机械臂24转角成正弦关系，然后通过调节曲柄34的初始转角以及主动齿轮31、被动齿轮32的传动比，使得多组弹簧410的弹力矩刚好能完全补偿机械臂24的重力矩，同时为了控制机构大小，在下滑齿条41的传动处使用了一对齿轮幅小齿轮44、大齿轮45，线性调节弹力矩的大小，减小曲柄34长度。The compression amount Δx of the multiple sets of springs 410 has a sinusoidal relationship with the rotation angle of the mechanical arm 24, and then by adjusting the initial rotation angle of the crank 34 and the transmission ratio of the driving gear 31 and the driven gear 32, the elastic torque of the multiple sets of springs 410 can just fully compensate the mechanical At the same time, in order to control the size of the mechanism, a pair of pinion gears 44 and large gears 45 are used at the transmission of the sliding rack 41 to linearly adjust the magnitude of the elastic moment and reduce the length of the crank 34 .
如图4所示，机械臂24与主动齿轮31相连，机械臂24的转动带动主动齿轮31转动，机械臂24与竖直方向的夹角是曲柄34与竖直方向的夹角的2倍，当机械臂24逆时针转动θ角时，参见图4可得：As shown in FIG. 4 , the mechanical arm 24 is connected to the driving gear 31 , the rotation of the mechanical arm 24 drives the driving gear 31 to rotate, and the angle between the mechanical arm 24 and the vertical direction is twice the angle between the crank 34 and the vertical direction, When the mechanical arm 24 rotates counterclockwise by the angle θ, referring to Fig. 4, we can obtain:
下滑动齿条41的位移为：x下＝2lsin(θ/2)，即曲柄34长度＝摇杆36长度＝L，通过小齿轮43和大齿轮45的传动，即小齿轮43半径r1，大齿轮45半径r2，上滑动齿条42压缩多组弹簧410，此时多组弹簧410的压缩量x上为：x上＝2lsin(θ/2)r2/r1；The displacement of the lower sliding rack 41 is: xlower = 2lsin (θ/2), that is, the length of the crank 34 = the length of the rocker 36 = L, through the transmission of the pinion 43 and the large gear 45, that is, the radius r1 of the pinion 43, the large The gear 45 has a radius r2, and the upper sliding rack 42 compresses the multiple groups of springs 410. At this time, the compression amount x of the multiple groups of springs 410is : x=2lsin(θ/2)r2 /r1 ;
此时，多组弹簧410的产生弹性势能为：E＝2l2(r2/r1)2sin2(θ/2)，At this time, the elastic potential energy generated by the multiple groups of springs 410 is: E=2l2 (r2 /r1)2 sin2 (θ/2),
由于多组弹簧410的产生弹性势能又可以表达为E＝τ·θ，τ为多组弹簧4-10的产生的弹力对机械臂24的等效力矩，则Ksin2(θ/2)cos2(θ/2)，多组弹簧410的弹簧刚度K,若多组弹簧410的弹簧刚度K满足，K＝mglg(r2/r1l)2，机械臂24的重力臂lg；Since the elastic potential energy generated by the multiple groups of springs 410 can be expressed as E=τ·θ, where τ is the equivalent moment of the elastic forces generated by the multiple groups of springs 4-10 to the mechanical arm 24, then Ksin2 (θ/2)cos2 (θ/2), the spring stiffness K of the multiple sets of springs 410, if the spring stiffness K of the multiple sets of springs 410 is satisfied, K=mglg (r2 /r1 l)2 , mechanical the gravity arm lg of the arm 24;
此时多组弹簧410产生的弹性力矩恰好可以补偿机械臂24重力所产生的重力矩，同时通过调节小齿轮43和大齿轮45的半径比例调节曲柄34与摇杆36的长度L,从而避免机构规格过大的问题。At this time, the elastic torque generated by the multiple sets of springs 410 can just compensate the gravity torque generated by the gravity of the mechanical arm 24. At the same time, the length L of the crank 34 and the rocker 36 is adjusted by adjusting the radius ratio of the pinion gear 43 and the large gear 45, so as to avoid the mechanism Oversized problem.
利用机器人用正弦弹力放大力矩补偿装置的方法,其具体步骤如下：Using the method of using a sinusoidal elastic force amplifying torque compensation device for robots, the specific steps are as follows:
S1：连接：机械臂24固接联轴器23，联轴器23连接输入轴22；S1: Connection: the mechanical arm 24 is fixedly connected to the coupling 23, and the coupling 23 is connected to the input shaft 22;
S2：旋转：启动机械臂24进行旋转，带动联轴器23作回转运动，联轴器23通过圆头平键带动输入轴22作回转运动；S2: Rotation: start the mechanical arm 24 to rotate, drive the coupling 23 to rotate, and the coupling 23 drives the input shaft 22 to rotate through the round head flat key;
S3：转动：输入轴22末端连接正弦放大机构3的主动齿轮31，当输入轴22转动时，带动主动齿轮31转动，主动齿轮31与被动齿轮32啮合；S3: Rotation: the end of the input shaft 22 is connected to the driving gear 31 of the sinusoidal amplification mechanism 3, when the input shaft 22 rotates, the driving gear 31 is driven to rotate, and the driving gear 31 meshes with the driven gear 32;
S4：摆动：被动齿轮32通过转轴32固接曲柄34，曲柄34通过转动副与摇杆36连接，当主动齿轮31进行转动时，带动曲柄34转动，曲柄34通过转动副带动摇杆36摆动，摇杆36末端驱动上滑动齿条46运动；S4: Swing: The driven gear 32 is fixed to the crank 34 through the rotating shaft 32, and the crank 34 is connected to the rocker 36 through the rotating pair. When the driving gear 31 rotates, it drives the crank 34 to rotate, and the crank 34 drives the rocker 36 to swing through the rotating pair. The end of the rocker 36 drives the upper sliding rack 46 to move;
S4：水平运动：下滑动齿条41水平运动时，带动上滑动齿条46反向水平运动；S4: Horizontal movement: when the lower sliding rack 41 moves horizontally, it drives the upper sliding rack 46 to move horizontally in the opposite direction;
S5：弹力放大：S5: Elasticity Amplification:
a：上滑动齿条46上的弹簧挡块47在运动的同时压缩多组弹簧410，同时多组弹簧410的弹力经过小齿轮43与大齿轮45得到放大；a: The spring stopper 47 on the upper sliding rack 46 compresses the multiple sets of springs 410 while moving, and the elastic force of the multiple sets of springs 410 is amplified through the pinion gear 43 and the large gear 45;
b：放大的弹力反作用于上滑动齿条42上，并通过悬臂关节力矩传动机构2、正弦转化机构3，将已放大的弹力传递到了悬臂关节力矩传动机构2的机械臂24上实现用多组弹簧410产生的力矩补偿机械臂24的重力矩方法。b: The amplified elastic force reacts on the upper sliding rack 42, and through the cantilever joint torque transmission mechanism 2 and the sine conversion mechanism 3, the amplified elastic force is transmitted to the mechanical arm 24 of the cantilever joint torque transmission mechanism 2. The torque generated by the spring 410 compensates for the gravity torque method of the robot arm 24 .
以上显示和描述了本发明的基本原理、主要特征和本发明的优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是本发明的原理，在不脱离本发明精神和范围的前提下，本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等效物界定。The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments, and the above-mentioned embodiments and descriptions describe only the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have various Such changes and improvements fall within the scope of the claimed invention. The claimed scope of the present invention is defined by the appended claims and their equivalents.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910714053.2ACN110404157A (en) | 2019-08-03 | 2019-08-03 | A device and method for sine elastic amplifying torque compensation for robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910714053.2ACN110404157A (en) | 2019-08-03 | 2019-08-03 | A device and method for sine elastic amplifying torque compensation for robot |
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| CN110404157Atrue CN110404157A (en) | 2019-11-05 |
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| CN201910714053.2APendingCN110404157A (en) | 2019-08-03 | 2019-08-03 | A device and method for sine elastic amplifying torque compensation for robot |
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