CN206038197U - Artifical muscle group drive biomimetic joint's torque testing device - Google Patents

Abstract

The utility model discloses a torque detection device for bionic joints driven by artificial muscle groups, which comprises a bottom plate, a fixed plate and a top plate connected by guide rails, a moving plate is connected with two guide rails through a linear bearing with a seat, and a lead screw nut is fixedly connected to the moving plate On the top, the screw is set on the top plate and the fixed plate through the rolling bearing with seat and the coupling in turn. The left rope wheel and the right rope wheel are arranged on the top, and the three rope wheels are used for installing the first artificial muscle group traction line. According to the force triangle relationship in mechanics and the principle that the force on the flexible rope is constant, the utility model can be clamped to the appropriate position of the first artificial muscle group traction line without releasing the tension of the first artificial muscle group traction line. The position, the measured value, is converted to the actual tension and joint torque of the first artificial muscle group traction line through mathematical operations. Its structure is simple, compact and practical, and its measurement accuracy is high.

Description

Torque detection device for bionic joints driven by artificial muscles

technical field

The utility model belongs to the technical field of torque detection devices, in particular to a torque detection device for artificial muscle groups driving bionic joints.

Background technique

The robot joint is an important part that affects the dynamic and static characteristics of the robot. For most traditional industrial robots, the main source of deformation is joint deformation, which brings a series of problems: 1) It seriously affects the positioning accuracy and trajectory accuracy of the robot; Severe low-frequency flutter can be found in the deburring process; 3) The introduction of joint flexibility increases the difficulty of control; 4) There are stiffness nonlinearities caused by inconsistent stiffness of internal parts. In response to the above problems, domestic and foreign scholars such as Bittencourt, Erkaya, Cai Hegao, Yu Yueqing, He Guangping, and Rigatos conducted research from the perspectives of joint friction, joint clearance, joint stiffness identification, flexible joint control, and joint impedance control. , shake suppression, etc. have obvious promotion effects, but because these researches are mainly carried out around the joint construction mode driven by motors, the above problems cannot be fundamentally eliminated. The applicant designed a bionic joint driven by artificial muscles, but its first artificial There are big problems in the detection of the tension of the muscle group traction line and the joint torque.

Utility model content

In view of the above-mentioned problems existing in the prior art, the purpose of this utility model is to provide a torque detection device for artificial muscle groups to drive bionic joints.

The torque detection device of the bionic joint driven by the artificial muscle group is arranged between the main joint, the first sub-joint and the second sub-joint of the bionic joint driven by the artificial muscle group, and includes a bottom plate connected by the first guide rail and the second guide rail , the second fixed plate, the first fixed plate and the top plate, the moving plate is connected to the two guide rails through the first linear bearing with seat and the second linear bearing with seat, the screw nut is fixedly connected to the moving plate, and the screw passes through the first The rolling bearing with seat, the second rolling bearing with seat and the coupling are arranged on the top plate, the second fixed plate and the first fixed plate, the screw nut is connected with the stepping motor set on the bottom plate through the coupling, There is a detection mechanism, the top of the detection mechanism is equipped with a middle sheave, the second fixed plate is equipped with a left sheave and a right sheave, the left sheave and the right sheave are located on both sides of the middle sheave, and the three ropes The wheel is used to install the first artificial muscle group traction wire.

The torque detection device for bionic joints driven by artificial muscles is characterized in that the detection mechanism includes a horizontal plate, a vertical plate and a force sensor, the horizontal plate and the vertical plate are vertically connected, the middle rope wheel is installed on the top of the vertical plate, and one end of the force sensor passes through The first column is connected to one end of the horizontal plate, and the other end of the force sensor is connected to one end of the moving plate through the second column.

The torque detection device for artificial muscle group-driven bionic joints is characterized in that the inner ring of the second rolling bearing with a seat is provided with a locking screw matching the thread groove of the screw rod, and the second fixed plate passes through the locking screw and the thread groove. Fixedly connected with the screw.

The torque detection device for artificial muscle group-driven bionic joints is characterized in that the left sheave, the middle sheave and the right sheave are all pulley mechanisms with chute, rolling bearing and shaft, and the shaft through which the sheave passes is fixed. The muscle group traction lines are laid on the chute of the left sheave, the middle sheave and the right sheave in turn.

The moment detection device for artificial muscle group-driven bionic joints is characterized in that the force sensor adopts a double-hole cantilever parallel beam strain type force sensor.

By adopting the above-mentioned technology, the beneficial effects of the utility model are as follows:

1) The utility model installs the middle sheave on the top of the detection mechanism and fixes the detection mechanism on the moving plate. Under the operation of the stepping motor, the moving plate is driven to move up and down accurately relative to the guide rail through the coupling and the screw nut. , so that the traction line of the first artificial muscle group forms a required force triangle in the left sheave, the middle sheave and the right sheave, which is convenient for detection;

2) The utility model fixes the left sheave and the right sheave on the second fixed plate, and the second fixed plate is connected to the top plate through a rolling bearing with a seat and a screw, and its height relative to the top plate is adjustable, so as to adjust the two sides The height of the fixed pulley is adapted to the measurement of the pulley force at different heights. After the height is adjusted, it is fixed on the screw through the locking screw in the rolling bearing with seat to complete the positioning and locking;

3) The utility model adopts the dual-hole cantilever parallel beam strain sensor, which has the advantages of high precision, easy processing, simple and compact structure, strong anti-eccentric load capacity, high natural frequency, etc., and improves its detection accuracy;

4) Man-made control and information interaction are realized through buttons and LED lights respectively; force measurement and data transmission are carried out through force sensors and conversion circuits; the connection of various parts of the movement and data reading and conversion are realized through the programming of the single-chip microcomputer; through the LCD screen Numerical display of test results;

5) The whole set of torque detection device obtained by the utility model can be clamped on The value is measured at the appropriate position of the first artificial muscle group traction line, and converted to the actual tension and joint torque of the first artificial muscle group traction line through mathematical operations. The structure is simple, compact and practical, and the measurement accuracy is high.

Description of drawings

Fig. 1 is the structural representation of the utility model;

Fig. 2 is another structural representation of the utility model;

Fig. 3 is the structural schematic diagram of detection mechanism of the present utility model;

Fig. 4 is a reference diagram of the use state of the utility model.

In the figure: 00-artificial muscle group, 01-cooling fan, 02-base, 03-first joint, 04-second joint, 05-second artificial muscle traction line, 06-first artificial muscle traction Line, 07-joint torque detection device, 08-main joint, 09-main joint movement arm, 10-bottom plate, first fixed plate, 12-moving plate, 13-second fixed plate, 14-top plate, 15-first Guide rail, 16-second guide rail, 20-first linear bearing with seat, 21-second linear bearing with seat, 22-first rolling bearing with seat, 23-second rolling bearing with seat, 30-screw, 31-screw nut , 32-coupling, 33-stepper motor, 40-left sheave, 41-middle sheave, 42-right sheave, 5-detection mechanism, 50-vertical plate, 51-first column, 52 - second column, 53 - horizontal plate, 54 - force sensor.

detailed description

The utility model is further described below in conjunction with the accompanying drawings of the description, but the protection scope of the utility model is not limited thereto:

As shown in Figures 1-4, the torque detection device of the artificial muscle group driving bionic joint of the present invention, referred to as the joint torque detection device 07, is arranged on the main joint 08, the first auxiliary joint 03, the second joint 03, and the artificial muscle group driving bionic joint. Between the two secondary joints 04, it includes the bottom plate 10, the second fixed plate 13, the first fixed plate 11 and the top plate 14 connected by the first guide rail 15 and the second guide rail 16, and the moving plate 12 passes through the first linear bearing with seat 20 and The second linear bearing with seat 21 is connected with the two guide rails, the screw nut 31 is fixedly connected to the moving plate 12, and the screw rod 30 is arranged on the top plate through the first rolling bearing with seat 22, the second rolling bearing with seat 23 and the coupling 32 in turn. 14. On the second fixed plate 13 and the first fixed plate 11, the bearing inner ring of the second rolling bearing with seat 23 is provided with a locking screw matching the thread groove of the screw rod 30, and the second fixed plate 13 passes through the locking screw and the screw thread. The groove is fixedly connected with the screw rod 30; the lead screw nut 31 is connected with the stepper motor 33 arranged on the base plate 10 through a coupling 32, the moving plate 12 is provided with a detection mechanism 5, and the top of the detection mechanism 5 is provided with an intermediate sheave 41, The second fixed plate 13 is provided with a left sheave 40 and a right sheave 42, the left sheave 40 and the right sheave 42 are located on both sides of the middle sheave 41, and the three sheaves are used to install the first artificial Muscle group traction line 06.

As shown in Figure 3, detection mechanism 5 of the present utility model comprises horizontal plate 53, vertical plate 50 and force sensor 54, and horizontal plate 53 is vertically connected with vertical plate 50, and middle sheave 41 is installed on vertical plate 50 tops, and force sensor 54 One end is connected to one end of the horizontal plate 53 through the first column 51 , and the other end of the force sensor 54 is connected to one end of the moving plate 12 through the second column 52 .

The left side sheave 40, the middle sheave 41 and the right sheave 42 of the utility model are all pulley mechanisms with chutes, rolling bearings and shafts. After 03 comes out, pass through the top of the chute of the left sheave 40, the bottom of the chute of the middle sheave 41 and the top of the chute of the right sheave 42, and then wind around the main joint 8.

As shown in the figure, the force sensor 54 of the utility model adopts a double-hole cantilever parallel beam strain sensor, and its working principle is: the strain gauge is pasted on the force-sensitive elastic element, and when the elastic element deforms under force, , the strain gauge produces a corresponding strain, which is converted into a change in resistance. Connect the strain gauges into the bridge, the resistance change caused by the force will be converted into the voltage change of the measurement circuit, by measuring the value of the output voltage, and then by conversion, the tension force of the traction line of the measured muscle group can be obtained, and then multiplied by the force The arm can get the joint moment.

As shown in Figure 4, the detection object of the utility model is an artificial muscle group 00 formed by a series of artificial muscle actuating units combined in series and parallel. The board is installed on the base 02. The artificial muscle group 00 includes two groups connected in parallel. One group is connected to the first sub-joint 03, and the other group is connected to the second sub-joint 04. The two groups of sub-joints pass through the first artificial muscle group traction line 06 And the second artificial muscle group traction line 05 is connected to the main joint 08, and the main joint movement arm 09 is driven by the main joint 08. In the embodiment of the utility model, SMA springs are used, and the artificial muscle group 00 passes through the first auxiliary joint 03 and the second joint. The muscle group traction line 06, the first auxiliary joint 04 and the first muscle group traction line 05 drive the main joint 08 to rotate and drive the joint movement arm 09 to move. The joint torque detection device of the present invention is installed between the main joint and the auxiliary joint. Complete the online detection of joint torque.

As shown in Figure 1-4, the use process of the present utility model is as follows:

Step 1, as shown in Figure 4, install the torque detection device of the artificial muscle group-driven bionic joint of the present invention on the bionic joint driven by the artificial muscle group, and the first artificial muscle group traction line 06 sequentially starts from the left rope wheel 40 The bottom of the groove passes through, and then winds down from the top of the middle sheave 41 groove, and finally passes through the bottom of the right sheave 42 groove, and the relative position is shown in Figure 3;

Step 2, under initial conditions, the centers of the left sheave 40, the middle sheave 41 and the right sheave 42 are on a straight line or close to a straight line, and when joint torque needs to be detected, the stepping motor 33 is started;

Step 3, driven by the stepping motor 33, the moving plate 12 is driven to move up and down accurately on the first guide rail 15 and the second guide rail 16 through the coupling 32 and the screw nut 31, and the detection mechanism 5 is driven by the moving plate 12 Also move downward relative to the second fixed plate 13, so that the middle sheave 41, the left side sheave 40, and the right side sheave 42 are staggered by a certain distance in the vertical direction, so that the first artificial muscle group traction line 06 is on the left side rope. Form required force triangle in wheel 40, middle sheave 41 and right side sheave 42;

Step 4, under the action of the first artificial muscle group traction line 06, the middle sheave 41, the vertical plate 50, the horizontal plate 53, the first column 51 and the second column 52 apply torque to the force sensor 54, and the force sensor 54 The electrical signal is used for force measurement and data transmission by the conversion circuit, and the connection of the movements of each part and the reading and conversion of data are realized through the programming of the single-chip microcomputer. The data is displayed on the LCD screen connected to the single-chip microcomputer control board to obtain the first artificial muscle group. Tension force of traction line 06;

Multiply the tension force obtained in step 5 and step 4 by the driving force arm of the joint to obtain the joint moment.

Claims (5)

1. artificial muscle group drives the moment measuring device of bionic joint, is arranged on the main joint that artificial muscle group drives bionic joint （08）With the first subjoint（03）, the second subjoint（04）Between, including by the first guide rail（15）With the second guide rail（16）Even The base plate for connecing（10）, the second fixed board（13）, the first fixed board（11）And top board（14）, move plate（12）Usher to seat linear bearing by first （20）And second usher to seat linear bearing（21）It is connected with two guide rails, feed screw nut（31）It is fixedly connected on dynamic plate（12）On, spiral shell Bar（30）Pass sequentially through first to usher to seat rolling bearing（22）, second usher to seat rolling bearing（23）And shaft coupling（32）It is arranged on top board （14）, the second fixed board（13）And first fixed board（11）On, feed screw nut（31）By shaft coupling（32）Be arranged on base plate（10） On motor（33）Connection, moves plate（12）It is provided with testing agency（5）, testing agency（5）Top is provided with middle rope sheave （41）, the second fixed board（13）It is provided with left side rope sheave（40）And right side rope sheave（42）, left side rope sheave（40）And right side rope sheave（42） Positioned at middle rope sheave（41）Both sides, three rope sheaves are used for installing the first artificial muscle group draught line（06）.

2. artificial muscle group according to claim 1 drives the moment measuring device of bionic joint, it is characterised in that testing machine Structure（5）Including transverse slat（53）, riser（50）And force transducer（54）, transverse slat（53）With riser（50）It is vertical to connect, middle rope sheave （41）Installed in riser（50）Top, force transducer（54）One end passes through the first column（51）It is connected to transverse slat（53）One end, power Sensor（54）The other end passes through the second column（52）It is connected to dynamic plate（12）One end.

3. artificial muscle group according to claim 1 drives the moment measuring device of bionic joint, it is characterised in that the second band Seat rolling bearing（23）Bearing inner race be provided with and screw rod（30）Thread groove matching lock-screw, the second fixed board（13）Pass through Lock-screw and thread groove and screw rod（30）It is fixedly connected.

4. artificial muscle group according to claim 1 drives the moment measuring device of bionic joint, it is characterised in that restrict in left side Wheel（40）, middle rope sheave（41）With right side rope sheave（42）The pulley mechanism with chute, rolling bearing and axle is, what rope sheave passed through Axle is fixed, muscle group draught line（06）Left side rope sheave is ridden upon successively（40）, middle rope sheave（41）With right side rope sheave（42）Chute On.

5. artificial muscle group according to claim 2 drives the moment measuring device of bionic joint, it is characterised in that power is sensed Device（54）Using diplopore cantilever parallel girder strain force sensor.