CN110406608B - Multi-mode elastic driver for walking robot - Google Patents
Multi-mode elastic driver for walking robot Download PDFInfo
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- CN110406608B CN110406608B CN201910688796.7A CN201910688796A CN110406608B CN 110406608 B CN110406608 B CN 110406608B CN 201910688796 A CN201910688796 A CN 201910688796A CN 110406608 B CN110406608 B CN 110406608B
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 10
- 230000000750 progressive effect Effects 0.000 claims description 3
- 230000001960 triggered effect Effects 0.000 claims description 2
- 230000006835 compression Effects 0.000 abstract description 8
- 238000007906 compression Methods 0.000 abstract description 8
- 238000004146 energy storage Methods 0.000 abstract description 8
- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 5
- 230000008878 coupling Effects 0.000 abstract description 4
- 238000010168 coupling process Methods 0.000 abstract description 4
- 238000005859 coupling reaction Methods 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 5
- 241000282414 Homo sapiens Species 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 230000035939 shock Effects 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 238000005457 optimization Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 239000000872 buffer Substances 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
- B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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Abstract
本发明一种面向行走机器人的多模式弹性驱动器及其刹车模块，多模式弹性驱动器包括刹车外套筒、外连接件和内刹车构件，内刹车构件包括驱动电机、导轨、丝杠、弹簧、丝杠螺母、联轴器、驱动电机固定座、和三个刹车模块，三个刹车模块结构相同包括棘轮、蜗轮、蜗杆、第一锥齿轮、第二锥齿轮、刹车滑块、扭簧、刹车模块壳套、刹车模块壳面、刹车电机、压簧、压簧铁芯，内刹车构件中的各刹车模块与刹车外套筒的锁紧与否，再结合弹簧，从而实现驱动器的多模式驱动。本发明面向行走机器人，采用主被动相结合的方式，充分利用机器人行走过程中，储能元件的储能、释能功能，驱动电机仅在适时阶段实施驱动，具有低功耗和行走缓震的特点。
The present invention is a multi-mode elastic driver for walking robot and its brake module. The multi-mode elastic driver includes a brake outer sleeve, an outer connector and an inner brake member, and the inner brake member includes a driving motor, a guide rail, a lead screw, a spring, a wire Bar nut, coupling, drive motor holder, and three brake modules, the three brake modules have the same structure, including ratchet, worm gear, worm, first bevel gear, second bevel gear, brake slider, torsion spring, brake module Shell, brake module shell surface, brake motor, compression spring, compression spring iron core, whether each brake module in the inner brake component and the brake outer sleeve are locked or not, combined with the spring, so as to realize the multi-mode drive of the driver. The invention is oriented to the walking robot, adopts the combination of active and passive, makes full use of the energy storage and energy release functions of the energy storage element during the walking process of the robot, and the driving motor is only driven at a timely stage, and has the advantages of low power consumption and walking cushioning. Features.
Description
Technical Field
The invention relates to the field of robots, in particular to a multi-mode elastic driver for a walking robot and a brake module of the multi-mode elastic driver.
Background
At present, the robot technology is rapidly developed, more and more robots are applied to dangerous and complex environments instead of human beings, which has higher requirements on the walking performance of the robots, wherein the environmental adaptability and the motion flexibility are particularly important. The existing walking robot is mostly formed by connecting rigid kinematic pairs made of hard materials, the walking mode is single, the environmental adaptability is poor, the problems of large system energy consumption and the like during movement exist, the buffering force is large when the walking robot using rigid transmission touches the ground, the reaction force can be transmitted to each part of the robot through the structure, vibration is generated between each part, and the walking stability and precision of the robot are influenced. The highly bionic walking robot aims at realizing the motion characteristics of human body muscles, can adjust the viscoelasticity characteristics of the human body muscles in real time according to the environmental change and realize variable stiffness driving, so that the research on a driver with multi-mode output is used for driving the walking robot, and the research on the driving output of the robot in different walking stages has important research significance.
The applicant 2014.04.18 discloses a multi-mode elastic driver for a lower limb assistance exoskeleton robot, which is composed of three brake modules, a motor series spring, and a pure motor rigid driving mode, a motor series spring series elastic driving mode, and a spring-only passive mode, and is applied to a walking robot, and can precisely control the motion of a robot mechanical leg in the rigid mode, and achieve the purposes of shock absorption, energy storage, and energy release by using an elastic element in the passive mode and the series elastic mode when the foot of the robot mechanical leg touches the ground and pedals the ground.
The original design multi-mode elastic driver utilizes a steering engine to connect a brake block, the brake and the release of a brake module are controlled by the forward and reverse rotation of the steering engine, and the brake module comprises a rack rail, a left push rod, a right push rod, a left brake pad, a right brake pad, a brake device supporting block, a first brake motor supporting seat, a second brake motor supporting seat, a brake motor, a rack and a gear. The rack slides on the rack rail, and the rack is connected with left push rod, right push rod, and left push rod links to each other with left brake block, and right push rod links to each other with right brake block, and the rack meshes with the gear mutually, and the whole brake module of rack and pinion structural control who adopts discovers to have following problem in the application of this mechanism, if: the push rod is used for pushing the brake block to brake, and the brake is only suitable for the condition of small impact force, and the motor can be damaged due to long-time locked rotation of the motor.
Disclosure of Invention
Aiming at the defects of the prior multi-mode driver, the invention provides a multi-mode elastic driver facing a walking robot and a brake module thereof, wherein a brake sliding block is extruded through the rotation of a ratchet wheel, so that the brake sliding block is locked with a brake outer sleeve, and the driver can bear larger impact force; through the self-locking principle of the worm gear and the worm, the brake sliding block and the brake outer sleeve can be still locked under the condition that the brake motor is powered off, so that the brake motor is protected.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the invention provides a multi-mode elastic driver facing a walking robot, which comprises a brake outer sleeve, an outer connecting piece and an inner brake component, wherein the outer connecting piece is arranged at one end of the brake outer sleeve, and the inner brake component is arranged in the brake outer sleeve:
the inner brake component comprises a driving motor, a guide rail, a lead screw, a spring, a lead screw nut, a coupler, a driving motor fixing seat and a brake module, wherein the brake module comprises a first brake module, a second brake module and a third brake module respectively, the structures of the first brake module, the second brake module and the third brake module are the same, the guide rail is arranged in the brake outer sleeve, the brake modules are connected on the guide rail in series, the driving motor is connected with the third brake module through the driving motor fixing seat, the driving motor is connected with the lead screw through the coupler, the other end of the lead screw is connected with the second brake module through the lead screw nut, the lead screw penetrates through the third brake module and the second brake module, the spring is connected between the second brake module and the first brake module, and;
the structure of the brake module comprises a ratchet wheel, a worm, a first bevel gear, a second bevel gear, a brake sliding block, a torsion spring, a brake module shell sleeve, a brake module shell surface, a brake motor, a pressure spring and a pressure spring iron core, wherein the ratchet wheel and the worm wheel are coaxially attached and arranged in the brake module shell sleeve, the worm is fixed in the brake module shell sleeve, the brake sliding block is embedded in a brake module shell sleeve sliding groove, the torsion spring is embedded and fixed on the brake module shell sleeve, two ends of the torsion spring are respectively fixed with the brake sliding block and the brake module shell sleeve, the worm wheel is meshed with the worm, the first bevel gear is coaxially connected with the worm, the second bevel gear is meshed with the first bevel gear, the pressure spring is embedded with the pressure spring iron core, the brake motor is arranged.
The invention is further improved in that: when the brake motor rotates forwards to drive the second bevel gear, the second bevel gear drives the first bevel gear, the worm rotates, the worm drives the worm gear, the worm gear rotates to compress the pressure spring, the pressure spring drives the ratchet wheel, the ratchet wheel rotates, the ratchet wheel progressive side line touches and extrudes the brake sliding block, the brake sliding block slides outwards to twist the torsion spring and finally contact and extrude the inner wall of the brake outer sleeve, and the brake module is locked on the inner wall of the brake outer sleeve in a friction mode; when the brake motor rotates reversely, the ratchet wheel rotates reversely to the limiting position of the brake module shell and does not extrude the brake sliding block any more, and the torsion spring pulls back the brake sliding block and is attached to the ratchet wheel, so that the brake sliding block and the inner wall of the outer sleeve are not in friction locking, and the brake module can freely move on the guide rail.
According to the further optimization of the driver, when the brake module is locked with the brake outer sleeve in a friction mode, the brake motor is powered off, the worm and gear self-locking function is triggered, the brake module and the brake outer sleeve can be locked in a friction mode, and the brake module cannot slide on the guide rail.
In a further preferred embodiment of the driver of the present invention, the ratchet wheel and the worm wheel have two protrusions, respectively, one end of the core of the compression spring is fixed to the protrusion of the worm wheel, the other end of the core of the compression spring passes through the notch of the protrusion of the ratchet wheel, and both ends of the compression spring are fixed to the protrusion of the worm wheel and the protrusion of the ratchet wheel.
In a further preferred embodiment of the driver of the present invention, the brake module housing is sleeved with a mechanical locking surface of the ratchet wheel, and when the ratchet wheel is mechanically locked, the torsion spring pulls the brake slider to fit the asymptote surface of the ratchet wheel and to be away from the brake outer sleeve.
In a further preferred embodiment of the driver of the invention, the first brake module, the second brake module and the third brake module are sequentially arranged on the guide rail, and the shell surfaces of the two brake modules of the first brake module and the second brake module are connected through a spring.
According to the further optimization of the driver, the driving motor drives the lead screw and the lead screw nut to move through the coupler, so that the spring is compressed, and then the spring is combined with the brake module, and different working modes are realized.
The multi-mode elastic driver for the walking robot and the brake module thereof have the following advantages; according to the invention, the brake sliding block is extruded through the rotation of the ratchet wheel, so that the brake sliding block is locked with the brake outer sleeve, and a driver can bear larger impact force; the invention adopts a mode of combining active and passive modes, fully utilizes the functions of energy storage and energy release of an energy storage device in a walking stage, actively drives the motor to drive only in a timely stage, and has the characteristic of low power consumption.
The multi-mode elasticity and the brake module thereof can be used for walking of the foot type robot, and can also be used for posture adjustment, buffering and shock absorption and multi-mode driving of various mechanical structures.
Drawings
FIG. 1 is an isometric view of the inner brake member of the multi-mode resilient actuator and its brake module of the present invention.
FIG. 2 is a right side view of the inner brake member of the multi-mode resilient actuator and its brake module of the present invention.
FIG. 3 is a side view of the multi-mode resilient actuator and its brake module of the present invention.
FIG. 4 is a diagram of the internal components of the internal brake member of the multi-mode resilient actuator and its brake module of the present invention.
FIG. 5 is an isometric view of a brake module of the multi-mode resilient actuator and its brake module of the present invention.
FIG. 6 is an exploded view of a portion of the components of the brake module of the multi-mode resilient actuator and its brake module of the present invention.
Fig. 7 is an exploded view of a portion of the components of the brake module of the multi-mode resilient actuator and the brake module thereof according to the present invention.
FIG. 8 is an exploded view of a portion of the components of the brake module of the multi-mode resilient actuator and its brake module of the present invention.
FIG. 9 is an exploded view of a portion of the components of the brake module of the multi-mode resilient actuator and its brake module of the present invention.
FIG. 10 is an exploded view of a portion of the components of the brake module of the multi-mode resilient actuator and its brake module of the present invention.
FIG. 11 is an exploded view of a portion of the components of the brake module of the multi-mode resilient actuator and its brake module of the present invention.
FIG. 12 is an exploded view of a portion of the components of the brake module of the multi-mode resilient actuator and its brake module of the present invention.
Wherein, 1, an outer sleeve of the brake; 2. a drive motor; 3. a guide rail; 4. a lead screw; 5. a spring; 6. a lead screw nut; 7. a coupling; 8. a driving motor fixing seat; 9. an outer connecting member; 10. a first brake module; 11. a second brake module; 12. a third brake module; 13. a ratchet wheel; 14. a worm gear; 15. a worm; 16. a first bevel gear; 17. a second bevel gear; 18. a brake slide block; 19. a torsion spring; 20. a brake module housing; 21. a brake module shell face; 22. a brake motor; 23. a pressure spring; 24. and the compression spring iron core.
Detailed Description
In the following description, for purposes of explanation, numerous implementation details are set forth in order to provide a thorough understanding of the various embodiments of the present invention. It should be understood, however, that these implementation details are not to be interpreted as limiting the invention. That is, in some embodiments of the invention, such implementation details are not necessary. In addition, some conventional structures and components are shown in simplified schematic form in the drawings.
In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
The invention provides a multi-mode elastic driver facing a walking robot and a brake module thereof.A brake sliding block is extruded by the rotation of a ratchet wheel, so that the brake sliding block is locked with a brake outer sleeve, and the driver can bear larger impact force; through the self-locking principle of the worm gear and the worm, the brake sliding block and the brake outer sleeve can be still locked under the condition that the brake motor is powered off, so that the brake motor is protected.
The invention provides a multi-mode elastic driver facing a walking robot and a brake module thereof, which are an active-passive combined driver, wherein an active device is a driving motor 2, a passive device is a spring 5, the motor drives a lead screw 4 and a lead screw nut 6 to move through a coupler 7, so that the energy storage and release of the spring 5 are realized, and different working modes of the driver are realized by combining the locking of each brake module.
The driving motor 2 of the multi-mode elastic driver drives when the mechanical leg of the walking robot needs to move, namely the motor drives in the stage that the mechanical leg of the walking robot needs to move, and the multi-mode driver fully utilizes the advantages of active and passive combination, buffers energy storage and energy release driving in the walking process, so as to realize low power consumption of robot driving.
In fig. 1, 2 and 3, the multi-mode elastic driver is composed of a brake outer sleeve 1, a driving motor 2, a guide rail 3, a lead screw 4, a spring 5, a lead screw nut 6, a coupler 7, a driving motor fixing seat 8, an outer connecting piece 9 and a brake module, wherein the brake module is composed of a first brake module 10, a second brake module 11 and a third brake module 12. Brake outer sleeve 1 is inside to be equipped with guide rail 3, and the brake module cluster is on guide rail 3, and driving motor 2 links to each other with third brake module 12 through driving motor fixing base 8, and driving motor 2 passes through shaft coupling 7 and links to each other with lead screw 4, and the lead screw 4 other end is connected with second brake module 11 through screw nut 6, lead screw 4 passes third brake module 12 and second brake module 11's inside, and coupling spring 5 between second brake module 11 and the first brake module 10, and outer connecting piece 9 links to each other with driving motor fixing base 8.
In fig. 4, the internal mechanisms of the three brake modules are the same, and as shown in fig. 5, 6, 7, 8, 9, 10, 11 and 12, the brake modules include a ratchet wheel 13, a worm wheel 14, a worm 15, a first bevel gear 16, a second bevel gear 17, a brake slider 18, a torsion spring 19, a brake module housing 20, a brake module housing 21, a brake motor 22, a compression spring 23 and a compression spring iron core 24. The brake module is characterized in that: the ratchet wheel 13 and the worm wheel 14 are coaxially attached and are arranged in a brake module shell 20, the worm 15 is fixed in the brake module shell 20, the brake slider 18 is embedded in a sliding groove of the brake module shell 20, the torsion spring 19 is embedded and fixed on the brake module shell 20, two ends of the torsion spring 19 are respectively fixed with the brake slider 18 and the brake module shell 20, the worm wheel 14 is meshed with the worm 15, the first bevel gear 16 is coaxially connected with the worm 15, the second bevel gear 17 is meshed with the first bevel gear 16, the pressure spring 23 is embedded with the pressure spring iron core 24, one side of the brake module shell 21 is provided with the brake motor 22, a rotating shaft of the brake motor 22 is connected with the second bevel gear 17,
when the brake module in the embodiment works, the specific working process is as follows: when the brake motor 22 rotates positively to drive the second bevel gear 17, the second bevel gear 17 drives the first bevel gear 16, the worm 15 is further rotated, the worm 15 drives the worm wheel 14, the worm wheel 14 rotates to compress the pressure spring 23, the pressure spring 23 drives the ratchet wheel 13, the ratchet wheel 13 rotates, the progressive side line of the ratchet wheel 13 touches and extrudes the brake slider 18, the brake slider 18 slides outwards, simultaneously twists the torsion spring 19 and finally contacts and extrudes the inner wall of the brake outer sleeve 1, so that the brake module is locked on the inner wall of the brake outer sleeve 1 in a friction mode, conversely, when the brake motor 22 rotates negatively, the ratchet wheel 13 rotates reversely to the position limited by the brake module shell 20 and does not extrude the brake slider 18 any more, the torsion spring 19 pulls back the brake slider 18 and is attached to the.
When the multi-mode elastic driver of the embodiment works, according to the locking and unlocking states between the brake module and the guide rail 3, there are eight working modes as shown in table 1, wherein 0 represents that the brake module and the brake outer sleeve are not locked, and 1 represents that the brake module and the brake outer sleeve are locked.
TABLE 1 operating modes of a multimode elastic actuator
In the working process of the embodiment, the multi-mode elastic driver fully utilizes the characteristics of energy storage and energy release of the spring 5, and the driving motor 2 does not need to be driven in the full time in the walking process, so that the multi-mode elastic driver has the advantages of low power consumption and walking shock absorption.
The embodiment combines an active driving element, namely a driving motor 2, and an elastic element, namely a spring 5, and realizes multiple modes of movement of the elastic driver by changing the locking and releasing relations between the three brake modules and the brake outer sleeve 1, and the elastic driver is small in size, reliable in performance, low in power consumption and has bionic characteristics, and can be used for walking and walking bradyseism of a walking robot.
It is obvious to those skilled in the art that the present invention is not limited to the above embodiments, and it is within the scope of the present invention to adopt various insubstantial modifications of the method concept and technical scheme of the present invention, or to directly apply the concept and technical scheme of the present invention to other occasions without modification.
Claims (7)
1. Towards multi-mode elastic actuator of walking robot, be in including brake outer sleeve (1), setting outer connecting piece (9) and the interior brake component of brake outer sleeve (1) one end, the interior brake component sets up in brake outer sleeve (1), its characterized in that:
the inner brake component comprises a driving motor (2), a guide rail (3), a lead screw (4), a spring (5), a lead screw nut (6), a coupler (7), a driving motor fixing seat (8) and brake modules, wherein the brake modules respectively comprise a first brake module (10), a second brake module (11) and a third brake module (12), the structures of the first brake module (10), the second brake module (11) and the third brake module (12) are the same, the guide rail (3) is arranged inside the brake outer sleeve (1), the first brake module (10), the second brake module (11) and the third brake module (12) are connected on the guide rail (3) in series, the driving motor (2) is connected with the third brake module (12) through the driving motor fixing seat (8), the driving motor (2) is connected with the lead screw (4) through the coupler (7), the other end of the lead screw (4) is connected with the second brake module (11) through the lead screw nut (6), the lead screw (4) penetrates through the third brake module (12) and the second brake module (11), a spring (5) is connected between the second brake module (11) and the first brake module (10), and the outer connecting piece (9) is connected with the driving motor fixing seat (8);
the structure of the first brake module (10), the second brake module (11) and the third brake module (12) respectively comprises a ratchet wheel (13), a worm wheel (14), a worm (15), a first bevel gear (16), a second bevel gear (17), a brake sliding block (18), a torsion spring (19), a brake module shell sleeve (20), a brake module shell surface (21), a brake motor (22), a pressure spring (23) and a pressure spring iron core (24), the ratchet wheel (13) and the worm wheel (14) are coaxially attached and arranged in the brake module shell sleeve (20), the worm (15) is fixed in the brake module shell sleeve (20), the brake sliding block (18) is embedded in a chute of the brake module shell sleeve (20), the torsion spring (19) is embedded and fixed on the brake module shell sleeve (20), two ends of the torsion spring (19) are respectively fixed with the brake sliding block (18) and the brake module shell sleeve (20), the worm wheel (14) is meshed with the worm (15), the brake device is characterized in that a first bevel gear (16) is coaxially connected with a worm (15), a second bevel gear (17) is meshed with the first bevel gear (16), a pressure spring (23) is nested with a pressure spring iron core (24), a brake motor (22) is arranged on one side of a shell surface (21) of the brake module, and a rotating shaft of the brake motor (22) is connected with the second bevel gear (17).
2. The walking robot-oriented multimode elastic actuator according to claim 1, wherein: the brake module and the brake outer sleeve (1) have two working modes: when the brake motor (22) rotates forwards to drive the second bevel gear (17), the second bevel gear (17) drives the first bevel gear (16) and further rotates the worm (15), the worm (15) drives the worm wheel (14), the worm wheel (14) rotates to compress the pressure spring (23), the pressure spring (23) drives the ratchet wheel (13), the ratchet wheel (13) rotates, the progressive side line of the ratchet wheel (13) touches and extrudes the brake sliding block (18), the brake sliding block (18) slides outwards to twist the torsion spring (19) and finally contacts and extrudes the inner wall of the brake outer sleeve (1), so that the brake module is locked on the inner wall of the brake outer sleeve (1) in a friction mode; when the brake motor (22) rotates reversely, the ratchet wheel (13) rotates reversely to the limiting position of the brake module shell (20) and does not extrude the brake sliding block (18), the torsion spring (19) pulls back the brake sliding block (18) and the brake sliding block (18) is attached to the ratchet wheel (13), so that the brake sliding block (18) and the inner wall of the outer sleeve (1) are not in friction locking, and the brake module can move freely on the guide rail (3).
3. The walking robot-oriented multimode elastic actuator according to claim 2, wherein: when the brake module is locked with the brake outer sleeve (1) in a friction mode, the brake motor (22) is powered off, the worm gear and worm self-locking function is triggered, the brake module and the brake outer sleeve (1) can be locked in a friction mode, and the brake module cannot slide on the guide rail (3).
4. The multi-mode elastic actuator for a walking robot as claimed in any one of claims 1 to 3, wherein: the ratchet wheel (13) and the worm wheel (14) are respectively provided with two bulges, one end of a pressure spring iron core (24) is fixed with the bulge of the worm wheel (14), the other end of the pressure spring iron core penetrates through a notch of the bulge of the ratchet wheel (13), and two ends of a pressure spring (23) are fixed with the bulge of the worm wheel (14) and the bulge of the ratchet wheel (13).
5. The multi-mode elastic actuator for a walking robot as claimed in any one of claims 1 to 3, wherein: the brake module shell (20) is provided with a mechanical locking surface of the ratchet wheel (13), and when the ratchet wheel (13) is mechanically locked, the torsion spring (19) pulls the brake sliding block (18) to be attached to the asymptote surface of the ratchet wheel (13) and is far away from the brake outer sleeve (1).
6. The multi-mode elastic actuator for a walking robot as claimed in any one of claims 1 to 3, wherein: the first brake module (10), the second brake module (11) and the third brake module (12) are sequentially placed on the guide rail (3), and the two brake module shell surfaces (21) of the first brake module (10) and the second brake module (11) are connected through the spring (5).
7. The walking robot-oriented multimode elastic actuator according to claim 1, wherein: the driving motor (2) drives the lead screw (4) and the lead screw nut (6) to move through the coupler (7), so that the spring (5) is compressed and then combined with the brake module, and different working modes are realized.
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| CN101318330A (en) * | 2008-07-14 | 2008-12-10 | 哈尔滨工程大学 | Dual Parallel Elastic Drivers |
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