CN117927634B - Series elastic actuator - Google Patents
Series elastic actuator Download PDFInfo
- Publication number
- CN117927634B CN117927634B CN202410094159.8A CN202410094159A CN117927634B CN 117927634 B CN117927634 B CN 117927634B CN 202410094159 A CN202410094159 A CN 202410094159A CN 117927634 B CN117927634 B CN 117927634B
- Authority
- CN
- China
- Prior art keywords
- harmonic
- speed end
- end encoder
- encoder
- low
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 58
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 24
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 14
- 239000010959 steel Substances 0.000 claims abstract description 14
- 239000003292 glue Substances 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 9
- 230000008901 benefit Effects 0.000 description 6
- 238000012360 testing method Methods 0.000 description 6
- 238000005265 energy consumption Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000009467 reduction Effects 0.000 description 4
- 230000004044 response Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000004146 energy storage Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000000272 proprioceptive effect Effects 0.000 description 1
- 238000010998 test method Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
-
- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
- B25J9/1025—Harmonic drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H33/00—Gearings based on repeated accumulation and delivery of energy
- F16H33/02—Rotary transmissions with mechanical accumulators, e.g. weights, springs, intermittently-connected flywheels
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K11/00—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection
- H02K11/20—Structural association of dynamo-electric machines with electric components or with devices for shielding, monitoring or protection for measuring, monitoring, testing, protecting or switching
- H02K11/21—Devices for sensing speed or position, or actuated thereby
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/16—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields
- H02K5/173—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields using bearings with rolling contact, e.g. ball bearings
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/16—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields
- H02K5/173—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields using bearings with rolling contact, e.g. ball bearings
- H02K5/1732—Means for supporting bearings, e.g. insulating supports or means for fitting bearings in the bearing-shields using bearings with rolling contact, e.g. ball bearings radially supporting the rotary shaft at both ends of the rotor
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K5/00—Casings; Enclosures; Supports
- H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
- H02K5/22—Auxiliary parts of casings not covered by groups H02K5/06-H02K5/20, e.g. shaped to form connection boxes or terminal boxes
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/003—Couplings; Details of shafts
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Robotics (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Connection Of Motors, Electrical Generators, Mechanical Devices, And The Like (AREA)
Abstract
The invention provides a series elastic actuator, comprising: a harmonic reducer, a wire passing pipe, a plane torsion spring and an output switching shell; the harmonic reducer is in transmission connection with the output switching shell through a plane torsion spring; the wire passing pipe is arranged in the central through hole of the harmonic reducer; the harmonic reducer includes: the device comprises a frameless torque motor, a transmission shaft, a harmonic generator, a harmonic flexible wheel and a harmonic steel wheel; the frameless torque motor is in transmission connection with the harmonic generator through a transmission shaft, the harmonic generator is in transmission connection with the harmonic flexible wheel, and the harmonic flexible wheel is in transmission connection with the harmonic steel wheel; the transmission shaft is coaxially connected with a high-speed end encoder, and the harmonic flexible gear is coaxially connected with a low-speed end encoder. According to the invention, an integrated hollow design is adopted, a high-power density frameless torque motor and a harmonic reducer are selected, double absolute position feedback is configured, the self-developed elastic body is integrated at the tail end of the actuator, passive compliance can be realized, high-precision torque feedback is realized by matching with an output end encoder, and the dynamic performance of the actuator is improved.
Description
Technical Field
The invention relates to the technical field of electric actuators, in particular to a series elastic actuator.
Background
An actuator (actuator), also known as an actuator, an operator, an actuator, a driver, or a driving member, is a device that converts energy into mechanical kinetic energy and can be used to control an object to perform various predetermined actions. Currently, electric actuators are widely used in the robot field.
The motor actuator can be divided into: rigid Actuator TSA (Traditional Stiffness Actuator), resilient Actuator SEA (SERIES ELASTIC Actuator), collimation drive Actuator PA (Proprioceptive Actuator). The rigid actuator mainly comprises a motor, a high-transmission-ratio speed reducer, an encoder, a torque sensor, a control board and the like. The elastic actuator simulates the function of the musculature, making the joint exhibit compliant, safe and energy efficient properties.
However, the existing robot electric actuator has the defects of low flexibility, low bearing capacity, low control precision, poor dynamic performance, time and labor waste in operation and the like because of being restricted by a heavy joint module, low power density (high energy consumption), low torque density and the like.
Therefore, there is a need to design a high-performance and high-reliability electric actuator to solve the above-mentioned problems of the prior art.
Disclosure of Invention
In view of this, the present invention aims to design a serial elastic actuator, which selects a high-power density frameless torque motor and a harmonic reducer, configures dual absolute position feedback, configures a high-performance and high-reliability frameless torque motor, integrates an independently developed elastic element (plane torsion spring) at the end of the actuator, realizes passive compliance, and cooperates with an output end encoder to realize torque high-precision feedback, so as to improve the dynamic performance of the actuator.
The invention provides a series elastic actuator, comprising: a harmonic reducer, a wire passing pipe, a plane torsion spring and an output switching shell; the harmonic reducer is in transmission connection with the output switching shell through the plane torsion spring; the wire passing pipe is arranged in a central through hole of the harmonic reducer; a crossed roller bearing for radial and axial support and limit is arranged between the harmonic reducer and the output switching shell;
Wherein, the harmonic reducer includes: a harmonic steel wheel, a harmonic generator and a harmonic flexible wheel; the frameless torque motor is in transmission connection with the harmonic generator through the transmission shaft, the harmonic generator is in transmission connection with the harmonic flexible gear, and the harmonic flexible gear is in transmission connection with the harmonic steel wheel; the transmission shaft is coaxially connected with a high-speed end encoder, and the harmonic flexible gear is coaxially connected with a low-speed end encoder.
Further, the frameless torque motor includes: a motor rotor, a motor stator; the motor rotor is fixedly connected with the transmission shaft into a whole, and the motor stator is fixedly connected with the motor stator supporting shell into a whole.
Further, the motor stator support shell is connected with a harmonic radial positioning part, and the harmonic radial positioning part and the motor rotating shaft support shell realize axial and radial positioning through a deep groove ball bearing F6706 type and a crossed roller bearing.
Further, the low-speed side encoder includes: a low-speed end encoder fixed disk and a low-speed end encoder movable disk; the low-speed end encoder movable disc is fixed on the encoder movable disc switching part and is connected with the harmonic flexible wheel through the wire passing tube, the output switching shell and the plane torsion spring. The low-speed end encoder fixed disk is fixedly connected to the low-speed end encoder fixed disk fixing piece, and is connected with the harmonic steel wheel through the motor rotating shaft supporting shell, the motor stator supporting shell, the crossed roller bearing and the harmonic radial positioning part.
The harmonic generator is connected with the transmission shaft; the low-speed end encoder fixed disc is connected to the motor stator support shell through a low-speed end encoder fixed disc fixing piece and is connected with the harmonic steel wheel through a crossed roller bearing.
Further, the low-speed end encoder fixed disc is fixedly connected with a low-speed end encoder fixed disc fixing piece;
the low-speed end encoder movable disc is coaxially connected to the harmonic flexible gear, and the low-speed end encoder movable disc is located in the low-speed end encoder fixed disc fixing piece.
Further, the high-speed side encoder includes: a high-speed end encoder fixed disk and a high-speed end encoder movable disk;
The high-speed end encoder movable disc is connected with the motor rotor through a transmission shaft. The high-speed end encoder fixed disk is connected with the motor stator through the motor rotating shaft supporting shell and the motor stator supporting shell.
And a deep groove ball bearing B6702ZZ is arranged between the wire passing pipe and the encoder protecting shell switching shell and used for supporting and limiting the wire passing pipe and the encoder protecting shell switching shell. The inside of the encoder protecting shell switching shell is fixedly connected with a motor rotating shaft supporting shell; the motor rotating shaft supporting shell is connected with the high-speed end encoder fixed disc; the high-speed end encoder movable disc is connected with an encoder movable disc switching part, and the motor rotating shaft supporting shell is connected with the low-speed end encoder and the crossed roller outer ring retainer ring through the encoder movable disc switching part.
Further, the low-speed end encoder fixed disk fixing piece is fixedly connected to the inside of the encoder protecting shell switching shell.
Further, a gap adjusting ring is arranged between the high-speed end encoder fixed disc and the transmission shaft through a motor rotating shaft supporting shell and is used for adjusting a gap between the high-speed end encoder fixed disc and the high-speed end encoder movable disc, so that the normal operation of the encoder is ensured.
The structural design of the invention comprises the integral structure of the elastic actuator, the shape and layout of the elastic element and the like, so that the actuator has the advantages of high flexibility, strong bearing capacity and the like in terms of functions and performances.
The invention can be applied in the field of robots, and a specific SEA series elastic actuator design can be applied to a specific type of robot application, such as a cooperative robot, a medical robot and the like.
The series elastic actuator has higher torque density and can output larger torque; the method has a rapid response speed, and can rapidly adapt to external environment changes; the elastic element is adopted to store and release energy, so that the energy consumption can be saved; the device has higher control precision and can realize accurate position and force control.
Compared with the prior art, the invention has the beneficial effects that:
The series elastic actuator adopts an integrated hollow design, a high-power density torque motor and a harmonic reducer are selected, double absolute position feedback is configured, a high-performance and high-reliability frameless torque motor is configured, an independently developed elastic body is integrated at the tail end of the actuator, passive compliance can be realized, the actuator is matched with an output end encoder, high-precision torque feedback can be realized, the flexibility is high, the bearing capacity is strong, the torque density is higher, and larger torque can be output; the device has the advantages of rapid response speed, rapid adaptation to external environment change, energy storage and release by adopting the elastic element, energy consumption saving, higher control precision, accurate position and force control realization, and effective improvement of the dynamic performance of the actuator.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention.
In the drawings:
FIG. 1 is an assembled cross-sectional view of a tandem spring actuator of the present invention;
FIG. 2 is an end view of a planar torsion spring according to an embodiment of the present invention;
FIG. 3 is an assembled view of an embodiment of the tandem spring actuator of the present invention.
The labels in the figures are:
1. The harmonic steel wheel, 2, harmonic radial positioning parts, 3, a crossed roller bearing, 4, a crossed roller outer ring retainer ring, 5, a motor stator supporting shell, 6, a motor rotating shaft supporting shell, 7, an encoder protecting shell switching shell, 8, a low-speed end encoder fixed disc fixing piece, 9, a low-speed end encoder fixed disc, 10, a low-speed end encoder movable disc, 11, a deep groove ball bearing B6702ZZ type, 12, an encoder movable disc switching part, 13, a wire passing pipe, 14, a gap adjusting ring, 15, a high-speed end encoder fixed disc, 16, a high-speed end encoder movable disc, 17, a transmission shaft, 18, a motor rotor, 19, a motor stator, 20, a deep groove ball bearing F6706 type, 21, a harmonic generator, 22, a harmonic flexible wheel, 23, a plane torsion spring, 24 and an output switching shell.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of systems and products consistent with some aspects of the present disclosure as detailed in the appended claims.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "in response to a determination" depending on the context.
Embodiments of the present invention are described in further detail below.
An embodiment of the present invention provides a tandem elastic actuator, as shown in fig. 1, including: the device comprises a harmonic reducer, a wire passing pipe (13), a plane torsion spring (23) and an output switching shell (24); the harmonic reducer is in transmission connection with the output switching shell (24) through the plane torsion spring (23), as shown in fig. 2; the wire pipe (13) is arranged in a central through hole of the harmonic reducer; a crossed roller bearing (3) for radial and axial support and limit is arranged between the harmonic reducer and the output switching shell (24);
wherein, the harmonic reducer includes: a harmonic steel wheel (1), a harmonic generator (21) and a harmonic flexible wheel (22); the frameless torque motor is in transmission connection with the harmonic generator (21) through the transmission shaft (17), the harmonic generator (21) is in transmission connection with the harmonic flexible wheel (22), and the harmonic flexible wheel (22) is in transmission connection with the harmonic steel wheel (1); the transmission shaft (17) is coaxially connected with a high-speed end encoder, and the harmonic flexible gear (22) is coaxially connected with a low-speed end encoder.
The frameless torque motor includes: a motor rotor (18) and a motor stator (19); the motor rotor (18) is fixedly connected with the transmission shaft (17) into a whole, and the motor stator (19) is fixedly connected with the motor stator supporting shell (5) into a whole.
The motor stator support shell (5) is connected with a harmonic radial positioning part (2), and the harmonic radial positioning part (2) and the motor rotating shaft support shell (6) are axially and radially positioned through a deep groove ball bearing F6706 type (20) and a crossed roller bearing (3).
The low-speed side encoder includes: a low-speed end encoder fixed disc (9) and a low-speed end encoder movable disc (10); the low-speed end encoder movable disc (10) is fixed on the encoder movable disc switching part (12), and is connected with the harmonic flexible wheel (22) through the wire passing tube (13), the output switching shell (24) and the plane torsion spring (23). The low-speed end encoder fixed disk (9) is fixedly connected to the low-speed end encoder fixed disk fixing piece (8), and is connected with the harmonic steel wheel (1) through the motor rotating shaft supporting shell (6), the motor stator supporting shell (5), the crossed roller bearing (3) and the harmonic radial positioning part (2). The high-speed side encoder includes: a high-speed end encoder fixed disk (15) and a high-speed end encoder movable disk (16); the high-speed end encoder movable disc (16) is connected with the motor rotor (18) through a transmission shaft (17). The high-speed end encoder fixed disc (15) is connected with the motor stator (19) through the motor rotating shaft supporting shell (6) and the motor stator supporting shell (5). And a deep groove ball bearing B6702ZZ type (11) is arranged between the wire passing pipe (13) and the encoder protecting shell switching shell (7) and is used for supporting and limiting the wire passing pipe (13) and the encoder protecting shell switching shell (7).
The wire passing pipe (13) is fixedly connected with the output switching shell (24) through glue. The high-speed end encoder fixed disc (15) is provided with a gap adjusting ring (14) through a motor rotating shaft supporting shell (6) and a transmission shaft (17), and the gap adjusting ring (14) is used for adjusting a gap between the high-speed end encoder fixed disc (15) and a high-speed end encoder movable disc (16) so as to ensure normal operation of the encoder.
Fig. 3 shows the overall appearance of the tandem spring actuator of the present embodiment after assembly is completed.
The structural design of the embodiment comprises the integral structure of the elastic actuator, the shape and layout of the elastic element and the like, so that the actuator has the advantages of high flexibility, high bearing capacity and the like in terms of functions and performances.
The embodiment of the invention can be applied to the field of robots, and the specific SEA series elastic actuator design can be applied to specific types of robot applications, such as cooperative robots, medical robots and the like.
The series elastic actuator provided by the embodiment of the invention adopts an integrated hollow design, a high-power density torque motor and a harmonic reducer are selected, double absolute position feedback is configured, a high-performance and high-reliability frameless torque motor is configured, an independently developed elastomer is integrated at the tail end of the actuator, passive compliance can be realized, the actuator is matched with an output end encoder, high-precision feedback of torque can be realized, the flexibility is high, the bearing capacity is strong, the torque density is higher, and larger torque can be output; the device has the advantages of rapid response speed, rapid adaptation to external environment change, energy storage and release by adopting the elastic element, energy consumption saving, higher control precision, accurate position and force control realization, and effective improvement of the dynamic performance of the actuator.
The assembly and drive test procedure for this embodiment is as follows:
1. and (3) assembling:
1. The deep groove ball bearing F6706 type (20) is connected with the motor stator supporting shell (5), the motor stator (19) is connected with the motor stator supporting shell (5), the transmission shaft (17) is connected with the motor stator (19), and the transmission shaft (17) is sequentially connected with the gap adjusting ring (14), the deep groove ball bearing F6706 type (20) and the motor rotating shaft supporting shell (6).
2. The harmonic generator (21) is connected with the transmission shaft (17), the crossed roller outer ring retainer ring (4) is fixedly connected to the motor stator supporting shell (5), the motor stator supporting shell (5) is fixedly connected with the crossed roller bearing (3), and then the harmonic radial positioning part (2) and the harmonic steel wheel (1) are sequentially connected.
3. The harmonic flexible gear (22) is fixedly connected with the plane torsion spring (23), and is arranged inside the output switching shell (24), and the output switching shell (24) is fixedly connected with the crossed roller outer ring retainer ring (4).
4. The high-speed end encoder movable disc (16) is connected with the transmission shaft (17), the high-speed end encoder fixed disc (15) is connected to the motor rotating shaft supporting shell (6), and the encoder movable disc switching part (12), the low-speed end encoder movable disc (10), the low-speed end encoder fixed disc fixing piece (8) and the low-speed end encoder fixed disc (9) are sequentially installed.
5. The wire passing pipe (13) and the output switching shell (24) are fixed through glue. The deep groove ball bearing B6702ZZ type (11) is arranged between the wire passing pipe (13) and the encoder protection shell switching shell (7).
2. Transmission test:
1. The transmission shaft (17) is rotated through the motor rotor (18), the transmission shaft (17) drives the harmonic generator (21) to rotate, the harmonic generator is subjected to speed reduction and torque increase through harmonic transmission, and finally the harmonic generator is transmitted to the output switching shell (24) through the harmonic flexible gear (22) through the plane torsion spring (23).
The following objectives were achieved through testing:
(1) Ensuring the normal operation of the transmission shaft (17) and the harmonic generator (21);
(2) The speed reduction and moment increase effects of harmonic transmission are ensured;
(3) The harmonic wave flexible gear (22) can be effectively transmitted to the output switching shell (24) through the transmission of the plane torsion spring (23).
Firstly, according to the power and speed requirements of the rotation of the transmission shaft (17), a proper motor model is selected, and the motor can be ensured to normally drive the transmission shaft (17) to rotate. According to the technical specifications of the transmission shaft (17) and the harmonic generator (21), good matching between the transmission shaft (17) and the harmonic generator (21) is ensured, and the transmission effect is realized.
And secondly, according to the technical requirements of harmonic transmission speed reduction and torque increase, a proper harmonic transmission device is selected for installation and debugging, the speed reduction and torque increase effect is ensured, and according to the technical parameter standard that the harmonic flexible wheel (22) is transmitted through the plane torsion spring (23), the harmonic flexible wheel (22) is designed to pass through the plane torsion spring (23) transmission device, so that the torque can be effectively transmitted to the output switching shell (24).
And monitoring the high-speed end position and the low-speed end position of the motor through two encoders, and calculating the output torque. And determining the high-speed end position and the low-speed end position of the motor to calculate the output torque. Providing accurate torque data for related engineering application, firstly installing and debugging a high-speed end encoder, ensuring accurate matching with a motor, carrying out test of the high-speed end encoder, recording and analyzing test data, determining the accuracy of the output position of the high-speed end encoder and providing high-speed end position data; secondly, installing and debugging a low-speed end encoder, ensuring accurate matching of the low-speed end encoder and a motor, carrying out test of the low-speed end encoder, recording and analyzing test data to determine the accuracy of the output position of the low-speed end encoder and provide low-speed end position data; and calculating the output torque according to the rigidity parameter of the plane torsion spring (23) and the output position of the encoder, and providing accurate output torque data.
And finally, assembling a motor rotor (18), a transmission shaft (17), a harmonic generator (21), a harmonic rigid wheel (1), a harmonic flexible wheel (22) and a plane torsion spring (23) transmission device together to carry out overall system debugging.
Thus far, the technical solution of the present invention has been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of protection of the present invention is not limited to these specific embodiments. Equivalent modifications and substitutions for related technical features may be made by those skilled in the art without departing from the principles of the present invention, and such modifications and substitutions will be within the scope of the present invention.
The foregoing description is only of the preferred embodiments of the invention and is not intended to limit the invention; various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A tandem spring actuator, comprising: the device comprises a harmonic reducer, a wire passing pipe (13), a plane torsion spring (23) and an output switching shell (24); the harmonic reducer is in transmission connection with the output switching shell (24) through the plane torsion spring (23); the wire pipe (13) is arranged in a central through hole of the harmonic reducer; a crossed roller bearing (3) for radial and axial support and limit is arranged between the harmonic reducer and the output switching shell (24);
Wherein, the harmonic reducer includes: a harmonic steel wheel (1), a harmonic generator (21) and a harmonic flexible wheel (22); the frameless torque motor is in transmission connection with the harmonic generator (21) through a transmission shaft (17), the harmonic generator (21) is in transmission connection with the harmonic flexible wheel (22), and the harmonic flexible wheel (22) is in transmission connection with the harmonic steel wheel (1); the transmission shaft (17) is coaxially connected with a high-speed end encoder, and the harmonic flexible gear (22) is coaxially connected with a low-speed end encoder;
The frameless torque motor includes: a motor rotor (18) and a motor stator (19);
The motor rotor (18) is fixedly connected with the transmission shaft (17) into a whole, and the motor stator (19) is fixedly connected with the motor stator supporting shell (5) into a whole;
the motor stator supporting shell (5) is connected with a harmonic radial positioning part (2);
the motor stator supporting shell (5) realizes axial and radial positioning between the motor stator supporting shell and the transmission shaft (17) through a deep groove ball bearing F6706 type (20) and a crossed roller bearing (3);
the low-speed side encoder includes: a low-speed end encoder fixed disc (9) and a low-speed end encoder movable disc (10);
The low-speed end encoder movable disc (10) is fixed on the encoder movable disc switching part (12) and is connected with the harmonic flexible wheel (22) through the wire passing tube (13), the output switching shell (24) and the plane torsion spring (23); the low-speed end encoder fixed disk (9) is fixedly connected to the low-speed end encoder fixed disk fixing piece (8), and is connected with the harmonic steel wheel (1) through the motor rotating shaft supporting shell (6), the motor stator supporting shell (5), the crossed roller bearing (3) and the harmonic radial positioning part (2).
2. The tandem spring actuator according to claim 1, wherein the low speed end encoder stator (9) is fixedly connected with a low speed end encoder stator fixture (8);
the low-speed end encoder movable disc (10) is coaxially connected to the harmonic flexible gear (22), and the low-speed end encoder movable disc (10) is located in the low-speed end encoder fixed disc fixing piece (8).
3. The tandem spring actuator of claim 2, wherein the high-speed end encoder includes: a high-speed end encoder fixed disk (15) and a high-speed end encoder movable disk (16);
The high-speed end encoder movable disc (16) is connected with the motor rotor (18) through a transmission shaft (17), and the high-speed end encoder fixed disc (15) is connected with the motor stator (19) through a motor rotating shaft supporting shell (6) and a motor stator supporting shell (5).
4. A tandem spring actuator according to claim 3, characterized in that a deep groove ball bearing B6702 ZZ-type (11) is arranged between the wire pipe (13) and the encoder protection casing adaptor housing (7) for supporting and limiting between the wire pipe (13) and the encoder protection casing adaptor housing (7).
5. A tandem spring actuator according to claim 3, wherein the conduit (13) is fixedly connected to the output adapter housing (24) by means of glue.
6. A tandem spring actuator according to claim 3, wherein the high-speed end encoder stator (15) is provided with a gap adjusting ring (14) between the motor shaft supporting shell (6) and the transmission shaft (17), and the gap adjusting ring (14) is used for adjusting the gap between the high-speed end encoder stator (15) and the high-speed end encoder movable disc (16) so as to ensure the normal operation of the encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410094159.8A CN117927634B (en) | 2024-01-23 | 2024-01-23 | Series elastic actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410094159.8A CN117927634B (en) | 2024-01-23 | 2024-01-23 | Series elastic actuator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117927634A CN117927634A (en) | 2024-04-26 |
| CN117927634B true CN117927634B (en) | 2024-09-06 |
Family
ID=90760376
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410094159.8A Active CN117927634B (en) | 2024-01-23 | 2024-01-23 | Series elastic actuator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117927634B (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103817694A (en) * | 2014-02-28 | 2014-05-28 | 浙江大学 | Flexible joint controlled in mixing mode |
| WO2021062636A1 (en) * | 2019-09-30 | 2021-04-08 | 深圳市优必选科技股份有限公司 | Robot and integrated joint thereof |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11938627B2 (en) * | 2019-08-01 | 2024-03-26 | Siemens Aktiengesellschaft | Robot joint and robot |
| CN113070901A (en) * | 2021-03-18 | 2021-07-06 | 哈尔滨工业大学（深圳） | Integrated flexible joint for robot |
| CN115163781A (en) * | 2022-07-05 | 2022-10-11 | 江苏开璇智能科技有限公司 | Flat lightweight harmonic speed reduction joint module |
-
2024
- 2024-01-23 CN CN202410094159.8A patent/CN117927634B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103817694A (en) * | 2014-02-28 | 2014-05-28 | 浙江大学 | Flexible joint controlled in mixing mode |
| WO2021062636A1 (en) * | 2019-09-30 | 2021-04-08 | 深圳市优必选科技股份有限公司 | Robot and integrated joint thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117927634A (en) | 2024-04-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112454419B (en) | Cooperative robot joint with single encoder | |
| CN108515536B (en) | Mechanical arm joint and mechanical arm | |
| WO2021104948A1 (en) | Mechanical arm joint | |
| CN109986549B (en) | Hollow ultra-thin type outer rotor harmonic speed reduction all-in-one machine | |
| CN108372516A (en) | Joint of robot and robot | |
| CN108638118B (en) | Joint driving device of integrated robot | |
| CN210525142U (en) | Joint actuator for robot and robot | |
| CN113246112A (en) | High-integration integrated actuator device and robot joint comprising same | |
| CN109968398B (en) | Ultra-thin type external rotor harmonic speed reduction all-in-one | |
| CN111347446A (en) | Hollow type cooperative robot mechanical arm joint | |
| CN111409097B (en) | Compact joint driving device for robot | |
| CN114102659A (en) | Integrated robot driving joint based on planetary reducer | |
| CN111687879B (en) | Modularized joint of cooperative robot | |
| CN117927634B (en) | Series elastic actuator | |
| CN115940503A (en) | Joint module of double-rigid-wheel harmonic speed reducer | |
| CN108880322B (en) | Rotary traveling wave ultrasonic motor adopting brand-new precompression application mode | |
| CN110815284A (en) | Hollow modular joint | |
| CN212123324U (en) | Hollow type cooperative robot mechanical arm joint | |
| CN111140636B (en) | Swing type solar sailboard driving mechanism | |
| CN216940765U (en) | Modular robot joint | |
| CN217801789U (en) | Reconfigurable hollow modular robot joint | |
| CN111761607B (en) | Dynamic and static seal combined modular joint of cooperative robot | |
| CN109551483B (en) | Mechanical arm joint with torque feedback and torque calculation method thereof | |
| CN215149252U (en) | Robot joint structure | |
| CN114851240A (en) | Joint unit and robot arm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |