CN110450161B - Flexible mechanical arm device capable of actively and passively adjusting rigidity - Google Patents
Flexible mechanical arm device capable of actively and passively adjusting rigidityDownload PDFInfo
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- CN110450161B CN110450161BCN201910755545.6ACN201910755545ACN110450161BCN 110450161 BCN110450161 BCN 110450161BCN 201910755545 ACN201910755545 ACN 201910755545ACN 110450161 BCN110450161 BCN 110450161B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1635—Programme controls characterised by the control loop flexible-arm control
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1643—Programme controls characterised by the control loop redundant control
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本发明属于机器人领域，具体涉及一种可主动和被动调节刚度的柔性机械臂装置。The invention belongs to the field of robots, and in particular relates to a flexible mechanical arm device capable of actively and passively adjusting stiffness.
背景技术Background technique
目前大多数机器人的柔性依赖于电机和减速器的柔性或者柔性调节装置，减速器的柔性一般是通过谐波减速器的柔轮变形来实现。柔性调节装置大多采用弹性元件，包括弹簧、扭簧、弹性绳、弹簧或具有弹性的材料、带有弹性构件的机构等装置。工农业生产加工、康复医疗、家庭以及社会服务业等领域要求机械臂不再封闭在加工空间能够实现人机交互，具有更高的柔性，确保人机交互过程中的安全性。但是现有技术存在结构复杂、体积大以及结构柔性差的问题。At present, the flexibility of most robots depends on the flexibility of the motor and the reducer or the flexible adjustment device. The flexibility of the reducer is generally realized by the flexible wheel deformation of the harmonic reducer. Most flexible adjustment devices use elastic elements, including springs, torsion springs, elastic ropes, springs or elastic materials, mechanisms with elastic members and other devices. Fields such as industrial and agricultural production and processing, rehabilitation and medical care, family and social services require that the robotic arm is no longer enclosed in the processing space to achieve human-computer interaction, and has higher flexibility to ensure the safety of the human-computer interaction process. However, the prior art has the problems of complex structure, large volume and poor structural flexibility.
发明内容SUMMARY OF THE INVENTION
针对现有技术中的上述不足，本发明提供的一种可主动和被动调节刚度的柔性机械臂装置解决了现有技术结构复杂、体积大以及结构柔性差的问题。In view of the above deficiencies in the prior art, the present invention provides a flexible robotic arm device that can actively and passively adjust stiffness, which solves the problems of the prior art with complex structure, large volume and poor structural flexibility.
为了达到上述发明目的，本发明采用的技术方案为：一种可主动和被动调节刚度的柔性机械臂装置，包括第一机械臂、第一电磁铁、圆柱体空腔、第二电磁铁、第二机械臂、花键形弹性元件、第一锥齿轮、第二锥齿轮、中心轴、弹簧、谐波减速器、无刷直流电机和第三机械臂；In order to achieve the above purpose of the invention, the technical solution adopted in the present invention is: a flexible mechanical arm device that can actively and passively adjust stiffness, comprising a first mechanical arm, a first electromagnet, a cylindrical cavity, a second electromagnet, a third Two mechanical arms, spline-shaped elastic elements, first bevel gear, second bevel gear, central shaft, spring, harmonic reducer, brushless DC motor and third manipulator;
所述第一电磁铁固定在第一机械臂的一端，且安装在圆柱体空腔的内部，所述第二电磁铁固定在第二机械臂的一端，且安装在圆柱体空腔的内部；The first electromagnet is fixed at one end of the first mechanical arm and installed inside the cylinder cavity, and the second electromagnet is fixed at one end of the second mechanical arm and installed inside the cylinder cavity;
所述第二机械臂的另一端安装有花键形弹性元件，花键形弹性元件通过第一锥齿轮与第二锥齿轮连接，所述弹簧的一端安装在第二锥齿轮远离第二机械臂的一面，所述中心轴安装在弹簧的轴心上，并且其一端与第二锥齿轮连接，其另一端与谐波减速器连接；The other end of the second mechanical arm is installed with a spline-shaped elastic element, the spline-shaped elastic element is connected with the second bevel gear through the first bevel gear, and one end of the spring is installed on the second bevel gear away from the second mechanical arm. one side of the center shaft is installed on the shaft center of the spring, and one end of the central shaft is connected with the second bevel gear, and the other end is connected with the harmonic reducer;
所述弹簧的另一端安装在谐波减速器上，所述谐波减速器安装在无刷直流电机的输出端，所述无刷直流电机安装在第三机械臂上。The other end of the spring is mounted on the harmonic reducer, the harmonic reducer is mounted on the output end of the brushless DC motor, and the brushless DC motor is mounted on the third mechanical arm.
优选的，所述第一电磁铁和第二电磁铁互斥安装。Preferably, the first electromagnet and the second electromagnet are installed mutually exclusive.
采用上述优选方案的有益效果为：在第一电磁铁和第二电磁铁通电时，可通过调整电流大小调整两个电磁铁之间的排斥力，电流越强，抵抗外加轴向力压缩的能力也越强，轴向的刚度越大，为刚度从零到无限的变化的基础。The beneficial effect of adopting the above preferred solution is: when the first electromagnet and the second electromagnet are energized, the repulsive force between the two electromagnets can be adjusted by adjusting the magnitude of the current. The stronger it is, the greater the stiffness in the axial direction, which is the basis for the stiffness change from zero to infinity.
优选的，所述圆柱体空腔内部设置有2个滑轨，所述第一电磁铁和第二电磁铁均安装在滑轨上。Preferably, two slide rails are arranged inside the cylindrical cavity, and the first electromagnet and the second electromagnet are both mounted on the slide rails.
采用上述优选方案的有益效果为：可以保证第一电磁铁和第二电磁铁始终保持正对，使电磁铁只产生轴向位移。The beneficial effect of adopting the above preferred solution is that it can ensure that the first electromagnet and the second electromagnet are always facing each other, so that the electromagnet only produces axial displacement.
优选的，所述圆柱体空腔、第一电磁铁和第二电磁铁均密封，所述第一机械臂和第二机械臂位于圆柱体空腔中的一端均安装有密封圈，且圆柱体空腔内充有定量气体。Preferably, the cylindrical cavity, the first electromagnet and the second electromagnet are all sealed, and a sealing ring is installed at one end of the first mechanical arm and the second mechanical arm located in the cylindrical cavity, and the cylindrical body The cavity is filled with a certain amount of gas.
采用上述优选方案的有益效果为：可以保证第一机械臂和第二机械臂不会发生碰撞。The beneficial effect of adopting the above preferred solution is that it can ensure that the first manipulator and the second manipulator do not collide.
优选的，所述第一机械臂上安装有执行机构，所述执行机构上设置有力传感器和位移传感器，所述第一机械臂上还安装有角速度传感器。Preferably, an actuator is mounted on the first mechanical arm, a force sensor and a displacement sensor are provided on the actuator, and an angular velocity sensor is also mounted on the first mechanical arm.
采用上述优选方案的有益效果为：能够通过力传感器实时反馈力的大小，判断接触安全性，通过位移传感器反馈机械臂的收缩量，用于判断执行端的实际位置。The beneficial effects of the above preferred solution are: the force sensor can feed back the magnitude of the force in real time to judge the contact safety, and the displacement sensor can feed back the contraction amount of the manipulator to judge the actual position of the execution end.
优选的，所述花键形弹性元件内部为花键形式设计，其包括圆形的外圈，外圈上设置有与第一锥齿轮啮合连接的轮齿，所述花键形弹性元件中心设置有圆形的内圈，所述内圈通过多个对称安装的弹簧片与外圈连接，所述内圈上设置有三角形孔，所述三角形孔的中心与外圈的中心重合，所述花键形弹性元件通过三棱柱连接件与第二机械臂连接，所述三棱柱连接件径向穿设于第二机械臂中。Preferably, the inside of the spline-shaped elastic element is designed in the form of a spline, which includes a circular outer ring, the outer ring is provided with gear teeth meshingly connected with the first bevel gear, and the spline-shaped elastic element is centrally arranged There is a circular inner ring, the inner ring is connected with the outer ring through a plurality of symmetrically installed spring sheets, the inner ring is provided with a triangular hole, the center of the triangular hole coincides with the center of the outer ring, and the flower The key-shaped elastic element is connected with the second mechanical arm through a triangular prism connecting piece, and the triangular prism connecting piece is radially penetrated in the second mechanical arm.
采用上述优选方案的有益效果为：简化了机械臂关节部分的结构。The beneficial effect of adopting the above preferred solution is that the structure of the joint part of the manipulator is simplified.
优选的，所述第二锥齿轮中心设置有螺纹孔，所述中心轴为带螺纹的圆柱体结构，所述中心轴的一端设置有防脱帽，并通过螺纹与第二锥齿轮的螺纹孔连接，其另一端与谐波减速器连接。Preferably, a threaded hole is provided in the center of the second bevel gear, the central shaft is a threaded cylindrical structure, and one end of the central shaft is provided with an anti-drop cap, which is connected with the threaded hole of the second bevel gear through a thread , the other end of which is connected to the harmonic reducer.
采用上述优选方案的有益效果为：可以使弹簧沿中心轴进行轴向位移的同时，保证其弹性变形时不发生扭转，防脱帽避免了第二锥齿轮与中心轴脱离。The beneficial effects of adopting the above preferred solution are: the spring can be axially displaced along the central axis, and at the same time, it can be ensured that the spring does not twist when elastically deformed, and the anti-drop cap prevents the second bevel gear from being separated from the central axis.
本发明的有益效果为：The beneficial effects of the present invention are:
(1)本发明的第一电磁铁和第二电磁铁通电时，可通过调整电流大小调整两个电磁铁之间的排斥力，电流越强，抵抗外加轴向力压缩的能力也越强，轴向的刚度越大，为刚度从零到无限的变化的基础。可以保证第一电磁铁和第二电磁铁始终保持正对，使电磁铁只产生轴向位移。以及保证第一机械臂和第二机械臂不会发生碰撞。(1) When the first electromagnet and the second electromagnet of the present invention are energized, the repulsive force between the two electromagnets can be adjusted by adjusting the size of the current. The stronger the current, the stronger the ability to resist the compression of the external axial force, The greater the stiffness in the axial direction, the basis for the stiffness change from zero to infinity. It can be ensured that the first electromagnet and the second electromagnet are always facing each other, so that the electromagnet only produces axial displacement. As well as ensuring that the first robotic arm and the second robotic arm do not collide.
(2)本发明能够通过力传感器实时反馈力的大小，判断接触安全性，通过位移传感器反馈机械臂的收缩量，用于判断执行端的实际位置，简化了机械臂关节部分的结构。可以使弹簧沿中心轴进行轴向位移的同时，保证其弹性变形时不发生扭转。(2) The present invention can use the force sensor to feed back the magnitude of the force in real time to judge the contact safety, and feed back the retraction amount of the manipulator through the displacement sensor to judge the actual position of the execution end, which simplifies the structure of the manipulator joint part. The spring can be axially displaced along the central axis, and at the same time, it can be ensured that no torsion occurs when the spring is elastically deformed.
(3)本发明将柔性分解为关节部分的被动柔性以及机械臂部分的主动柔性，避免了柔性结构冗余在关节部位，结构复杂将导致整体性能的下降。(3) The present invention decomposes the flexibility into passive flexibility of the joint part and active flexibility of the mechanical arm part, avoiding the redundancy of the flexible structure at the joint part, and the complex structure will lead to the decline of the overall performance.
(4)本发明利用电磁铁的相互排斥实现的机械臂柔性是可控的，且具有大的调节范围。(4) The flexibility of the robotic arm realized by the mutual repulsion of the electromagnets in the present invention is controllable and has a large adjustment range.
(5)本发明简化了关节处的设计，使关节结构简单紧凑，对复杂环境的适应性加强，同时极大地减轻了机械臂的整体质量。(5) The present invention simplifies the design of the joint, makes the joint structure simple and compact, enhances the adaptability to complex environments, and at the same time greatly reduces the overall quality of the mechanical arm.
附图说明Description of drawings
图1为本发明提出的一种可主动和被动调节刚度的柔性机械臂装置示意图。FIG. 1 is a schematic diagram of a flexible robotic arm device that can actively and passively adjust stiffness according to the present invention.
图2为本发明中机械臂部分结构立体示意图。FIG. 2 is a three-dimensional schematic diagram of the structure of a part of the robot arm in the present invention.
图3为本发明中机械臂部分立体结构分解示意图。FIG. 3 is an exploded schematic diagram of the three-dimensional structure of a part of the robotic arm in the present invention.
图4为本发明中花键形弹性元件示意图。Figure 4 is a schematic diagram of the spline-shaped elastic element in the present invention.
图5为本发明中花键形弹性元件正视图。Figure 5 is a front view of the spline-shaped elastic element in the present invention.
其中，1-第一机械臂、2-第一电磁铁、3-圆柱体空腔、4-第二电磁铁、5-第二机械臂、6-花键形弹性元件、7-第一锥齿轮、8-第二锥齿轮、9-中心轴、10-弹簧、11-谐波减速器、12-无刷直流电机、13-第三机械臂、14-外圈、15-轮齿、16-内圈、17-三角形孔、18-弹簧片。Among them, 1-first manipulator, 2-first electromagnet, 3-cylindrical cavity, 4-second electromagnet, 5-second manipulator, 6-spline elastic element, 7-first cone Gear, 8-Second Bevel Gear, 9-Central Shaft, 10-Spring, 11-Harmonic Reducer, 12-Brushless DC Motor, 13-Third Robot Arm, 14-Outer Ring, 15-Gear Teeth, 16 -Inner ring, 17-triangular hole, 18-spring leaf.
具体实施方式Detailed ways
下面对本发明的具体实施方式进行描述，以便于本技术领域的技术人员理解本发明，但应该清楚，本发明不限于具体实施方式的范围，对本技术领域的普通技术人员来讲，只要各种变化在所附的权利要求限定和确定的本发明的精神和范围内，这些变化是显而易见的，一切利用本发明构思的发明创造均在保护之列。The specific embodiments of the present invention are described below to facilitate those skilled in the art to understand the present invention, but it should be clear that the present invention is not limited to the scope of the specific embodiments. For those of ordinary skill in the art, as long as various changes Such changes are obvious within the spirit and scope of the present invention as defined and determined by the appended claims, and all inventions and creations utilizing the inventive concept are within the scope of protection.
下面结合附图详细说明本发明的一个实施例。An embodiment of the present invention will be described in detail below with reference to the accompanying drawings.
如图1-图3所示，一种可主动和被动调节刚度的柔性机械臂装置，包括第一机械臂1、第一电磁铁2、圆柱体空腔3、第二电磁铁4、第二机械臂5、花键形弹性元件6、第一锥齿轮7、第二锥齿轮8、中心轴9、弹簧10、谐波减速器11、无刷直流电机12和第三机械臂13；As shown in Figures 1-3, a flexible manipulator device that can actively and passively adjust stiffness, includes a
第一电磁铁2固定在第一机械臂1的一端，且安装在圆柱体空腔3的内部，所述第二电磁铁4固定在第二机械臂5的一端，且安装在圆柱体空腔3的内部；The
第二机械臂5的另一端安装有花键形弹性元件6，花键形弹性元件6通过第一锥齿轮7与第二锥齿轮8连接，所述弹簧10的一端安装在第二锥齿轮8远离第二机械臂5的一面，所述中心轴9安装在弹簧10的轴心上，并且其一端与第二锥齿轮8连接，其另一端与谐波减速器11连接；The other end of the second
弹簧10的另一端安装在谐波减速器11上，所述谐波减速器11安装在无刷直流电机12的输出端，所述无刷直流电机12安装在第三机械臂13上。The other end of the
在本实施例中，第一机械臂1、第一电磁铁2、圆柱体空腔3、第二电磁铁4和第二机械臂5组成本发明的机械臂部分，花键形弹性元件6、第一锥齿轮7、第二锥齿轮8、中心轴9和弹簧10组成本发明的柔性关节部分。In this embodiment, the
在本实施例中，第一电磁铁2和第二电磁铁4互斥安装，圆柱体空腔3内部设置有2个滑轨，所述第一电磁铁2和第二电磁铁4均安装在滑轨上。第一电磁铁2和第二电磁铁4始终正对，且沿滑轨轴向运动。In this embodiment, the
圆柱体空腔3、第一电磁铁2和第二电磁铁4均密封，所述第一机械臂1和第二机械臂5位于圆柱体空腔3中的一端均安装有密封圈，且圆柱体空腔3内充有定量气体。The
在本实施例中，第一机械臂1上安装有执行机构，执行机构上设置有力传感器和位移传感器，第一机械臂1上安装有角速度传感器。通过力传感器实施反馈力的大小，判断接触安全性，当判断危险时，自动控制电磁铁上的电流减小，将刚度降到安全范围内。In this embodiment, an actuator is installed on the first
如图4和图5所示，所述花键形弹性元件6内部为花键形式设计，其包括圆形的外圈14，外圈14上设置有与第一锥齿轮7啮合连接的轮齿15，所述花键形弹性元件6中心设置有圆形的内圈16，所述内圈16通过多个对称安装的弹簧片18与外圈14连接，所述内圈16上设置有三角形孔17，所述三角形孔17的中心与外圈14的中心重合，所述花键形弹性元件6通过三棱柱连接件与第二机械臂5连接，所述三棱柱连接件径向穿设于第二机械臂5中。As shown in FIG. 4 and FIG. 5 , the spline-shaped
在本实施例中，所述第二锥齿轮8中心设置有螺纹孔，所述中心轴9为带螺纹的圆柱体结构，所述中心轴9的一端设置有防脱帽，并通过螺纹与第二锥齿轮8的螺纹孔连接，其另一端与谐波减速器11连接，通过第二锥齿轮8的螺纹孔与中心轴9的螺纹配合，使第二锥齿轮8旋转时沿中心轴9的轴进行轴向移动，此时弹簧会逐渐紧绷，使得此处刚度发生变化。In this embodiment, the center of the
本发明的工作原理为：先将本发明安装到待作业区域，在第一机械臂1上装好执行机构，执行机构上安装有力传感器和位移传感器，并通过计算机控制装置开始作业，作业时通过控制第一电磁铁2和第二电磁铁4中的电流大小，使第一机械臂1沿圆柱体空腔3的轴进行轴向运动，通过执行机构上的力传感器调节第一电磁铁2和第二电磁铁4的电流大小，实现机械臂的刚度变化。通过无刷直流电机12和谐波减速器11带动中心轴9和弹簧10转动，中心轴9和弹簧10带动第二锥齿轮8转动，第二锥齿轮8通过第一锥齿轮7带动花键形弹性元件6转动，花键形弹性元件6通过与第二机械臂5连接的三棱柱带动机械臂部分进行水平转动。The working principle of the present invention is as follows: firstly, the present invention is installed in the area to be operated, an actuator is installed on the first
本发明的第一电磁铁2和第二电磁铁4通电时，可通过调整电流大小调整两个电磁铁之间的排斥力，电流越强，抵抗外加轴向力压缩的能力也越强，轴向的刚度越大，为刚度从零到无限的变化的基础。本发明机械臂部分的设计可以保证第一电磁铁2和第二电磁铁4始终保持正对，使电磁铁只产生轴向位移。以及保证第一机械臂1和第二机械臂5不会发生碰撞。When the
本发明能够通过力传感器实时反馈力的大小，判断接触安全性，通过位移传感器反馈机械臂的收缩量，用于判断执行端的实际位置，简化了本发明柔性关节部分的结构。可以使弹簧10沿中心轴9进行轴向位移的同时，保证其弹性变形时不发生扭转。The present invention can use the force sensor to feed back the magnitude of the force in real time to judge the contact safety, and use the displacement sensor to feed back the contraction amount of the manipulator for judging the actual position of the execution end, which simplifies the structure of the flexible joint part of the present invention. The
本发明将柔性分解为关节部分的被动柔性以及机械臂部分的主动柔性，避免了柔性结构冗余在关节部位，结构复杂将导致整体性能的下降。The invention decomposes the flexibility into passive flexibility of the joint part and active flexibility of the mechanical arm part, avoiding the redundancy of the flexible structure at the joint part, and the complex structure will lead to the decline of the overall performance.
本发明利用电磁铁的相互排斥实现的机械臂柔性是可控的，且具有大的调节范围。本发明简化了关节处的设计，使关节结构简单紧凑，对复杂环境的适应性加强，同时极大地减轻了整个的整体质量。本发明的结构简化设计使装置在拥有良好的工作性能的同时，减小的整个装置的体积。The flexibility of the robotic arm realized by the mutual repulsion of the electromagnets in the present invention is controllable and has a large adjustment range. The invention simplifies the design of the joint, makes the joint structure simple and compact, enhances the adaptability to the complex environment, and at the same time greatly reduces the overall mass. The simplified design of the structure of the present invention enables the device to have good working performance while reducing the volume of the entire device.
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| CN114407081A (en)* | 2022-02-28 | 2022-04-29 | 北京航空航天大学 | A passive compliance device at the end of a hybrid variable impedance manipulator |
| CN119427420B (en)* | 2025-01-13 | 2025-06-06 | 中国科学技术大学 | Rope traction flexible robot joint and mechanical arm with variable rigidity and robot |
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