CN105082170A - Soft and elastic joint based on Achimedean spiral elastomers - Google Patents
Soft and elastic joint based on Achimedean spiral elastomers Download PDFInfo
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- CN105082170A CN105082170A CN201510471447.1A CN201510471447A CN105082170A CN 105082170 A CN105082170 A CN 105082170A CN 201510471447 A CN201510471447 A CN 201510471447A CN 105082170 A CN105082170 A CN 105082170A
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Abstract
The invention relates to a soft and elastic joint based on Achimedean spiral elastomers. The soft and elastic joint comprises an input shaft, a first one-way bearing, the elastomers, a second one-way bearing, long pins, a sleeve, an output shaft and a flange plate. The soft and elastic joint is applied to a joint of a rehabilitation robot, so that softness and elasticity are achieved in the positive rotation process and negative rotation process of the joint of the rehabilitation robot; the problem that rigid shock is generated to the rehabilitation robot and a person due to external load is solved, and the risks that the robot is damaged and the human body is injured are avoided. Meanwhile, the problems that a joint of a traditional robot is large in occupied space, loose in structure and the like are solved. By means of the soft and elastic joint based on the Achimedean spiral elastomers, the joint mode of the traditional robot is changed, and the soft and elastic joint is suitable for updating the existing rehabilitation robot and a robotic arm joint and beneficial for the upgrading of robots.
Description
Technical field
The present invention relates to a kind of transmission device driving moment being had to soft aeroelastic requirements, be especially applied to medical rehabilitation robot and drive field.
Background technology
In order to solve this social difficult problem of rehabilitation of the human upper limb CNS dyskinesia patient caused by the cause of disease such as cerebral apoplexy, brain trauma efficiently, at low cost, a lot of experts and scholars both domestic and external at the device of design for upper limb healing, and progressively replace traditional doctor's treatment.
In traditional healing robot design, healing robot has a common ground: the design in each joint of robot mainly adopts the method for designing of rigidity, adopts the driver element that motor, decelerator etc. shut down as robot.This joint designs lacks soft Flexible element, and larger impact not only makes healing robot joint easily be subject to external impact and damage, and directly affects the normal operation of robot, even may cause secondary injury to patient.In the last few years, different researchers proposes the flexible joint design and the methods such as elastic driving joint design of connecting with power/torque sensor, make robot that external impact can be avoided performing the impact in joint, and be the good condition of the mutual creation of robot and human and environment.But, flexible joint itself based on power/torque sensor does not have flexible feature, the performance of anti-external impact non-optimal, based on series connection elastic driving joint, there is good shock resistance and power perceptual performance, but its duty space is large, structure is not compact, be difficult to design space little, lightweight, compact conformation and the joint realizing rotating.At present, the domestic soft elastic joint that can be applied on healing robot is also considerably less.The ectoskeleton flexible joint drive unit patent No. CN103315881A based on soft rope drive of people's designs such as the Yang Canjun of Zhejiang University can realize soft elastic transmission, but it takes up room, and will be fixed in robot, can not along with the motion together of robot, therefore its range of application is very limited.The flexible joint patent No. CN2767081Y that a kind of multi-directionally that the people such as the Zhang Jun of Southern Yangtze University design bends can only realize the bending motion in joint, can not realize the rotation in joint, and it takes up room greatly, is applied on healing robot unrealistic.
One of the present invention makes the rotating of healing robot joint all have soft elasticity based on the elastomeric soft elastic joint of Archimedes spiral, transmission is accurate, robot can be followed move together, control the size in joint, make it structure compacter, design is more flexible, changes the Design Mode of Traditional Rehabilitation joint of robot.
Summary of the invention
Technical problem of the present invention is: provided by the inventionly make the rotating of healing robot joint all have soft elasticity based on the elastomeric soft elastic joint of Archimedes spiral, solve because external load is to the problem of the rigid shock that healing robot and people produce, avoid because rigid shock is to robot and the hurtful risk of human body.Meanwhile, solve conventional machines person joint to take up room the problem such as large, loosely organized.The present invention changes the pattern of conventional machines person joint, is applicable to upgrade present healing robot and robotic arm joint, helps lend some impetus to the update of robot.
The present invention realizes above-mentioned technical purpose by following technological means.
A kind of based on the elastomeric soft elastic joint of Archimedes spiral, comprise power shaft 1, output shaft 9 and sleeve 8, also comprise the first unilateral bearing 2, elastomer 3,4, the second unilateral bearing 5, described power shaft 1 has been fixedly connected sequentially from left and right to the right side the first unilateral bearing 2, elastomer 3,4, the second unilateral bearing 5, second unilateral bearing 5, described first unilateral bearing 2, elastomer 3,4, the second unilateral bearing 5 entirety loads the inside of described sleeve 8 and is fixedly connected with sleeve 8, and described output shaft 9 is fixed on the end of sleeve 8 by ring flange 10; Driver element band driven input shaft 9 rotates, and makes output shaft 9 carry out flexibility export by the synergy of the first unilateral bearing 2, elastomer 3,4 and the second unilateral bearing 5 entirety.
Further, the inwall interference fit of described first unilateral bearing 2, second unilateral bearing 5 and sleeve 6, described elastomer 3,46,7 to be fixedly connected with the inwall of sleeve 6 by having strong market potential.
Further, one end of described power shaft 1 has keyway, and for connecting the driver element such as motor or decelerator, the other end has two symmetrical long keyway; The inner ring of described first unilateral bearing 2, elastomer 3,4 and the second unilateral bearing 5 all has two symmetrical cotter ways, and the cotter way of this symmetry is coordinated with the long keyway on power shaft 1 by key.
Further, described first unilateral bearing 2, elastomer 3,4 and second the outer ring of unilateral bearing 5 all have two symmetrical cotter ways, the cotter way of itself and inner ring is positioned at same radial position, and the inwall of sleeve 8 also has two grooves of having strong market potential symmetrical mutually, elastomer 3, the cotter way of 4 outer rings and the cotter way of sleeve 8 inwall are by having strong market potential 6,7 keys connect, thus achieve elastomer 3,4 with being fixedly connected with of sleeve 8.
Further, described first unilateral bearing 2 and the second unilateral bearing 5 are for oppositely to install setting.
Further, the quantity of described elastomer 3,4 is two, and it is made by spring steel elastomeric material.
Further, the end face of described elastomer 3,4 has the archimedes spiral groove 11 that two are mutually 180 degree.
Further, described output shaft 9 and ring flange 10 are welded and fixed, described sleeve 8 and output shaft 9 be connected one end end face be provided with some screwed holes, described ring flange 10 is fixedly connected on described sleeve 8 by screw.
Beneficial effect of the present invention is: (1) power shaft of the present invention is inputted as power by the driver element such as motor, decelerator, is overcoming and after unilateral bearing and elastomeric resistance, output shaft can carry out flexibility and export; (2) elastic joint rotating of the present invention all has soft elasticity, and transmission is accurate, and can follow robot and move together, the variable dimension in joint, structure is compacter.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is internal structure decomposing schematic representation of the present invention.
Fig. 3 is the front view of power shaft of the present invention.
Fig. 4 is the elastomeric front view of the present invention.
Fig. 5 is the axial view of unilateral bearing of the present invention.
Fig. 6 is the angular speed output curve diagram of output shaft of the present invention.
In figure: 1 power shaft, 2 first unilateral bearings, 3 elastomer one, 4 elastomers two, 5 second unilateral bearings, 6 have strong market potential one, 7 to have strong market potential two, 8 sleeves, 9 output shafts, 10 ring flanges, 11 archimedes spiral grooves
Detailed description of the invention
Below in conjunction with accompanying drawing and specific embodiment, the present invention is further illustrated, but protection scope of the present invention is not limited to this.
Embodiment one:
As shown in Figure 1-2, one involved in the present invention comprises power shaft 1, first unilateral bearing 2, elastomer 1, elastomer 24, second unilateral bearing 5 based on the elastomeric soft elastic joint of Archimedes spiral, have strong market potential 1, have strong market potential 27, sleeve 8, output shaft 9 and ring flange 10.
As shown in Figure 3, one end of power shaft 1 has keyway, for connecting the driver element such as motor or decelerator, the other end has two symmetrical long keyway, for connecting the first unilateral bearing 2, elastomer 1, elastomer 24 and the second unilateral bearing 5, displacement long keyway each side has a groove, for the location of jump ring.
As shown in Figure 4, elastomer 1 and elastomer 24 are made by spring steel elastomeric material, inner hole wall has two keyways, for being connected with the long keyway of two on power shaft 1, outer cylindrical wall has two cotter ways, for being connected with institute's expense groove on sleeve 8.Elastomer has the archimedes spiral groove that two are mutually 180 degree, so that elastomer torsional deformation more like a cork.
As shown in Figure 5, the first unilateral bearing 2 is had two keyways with the second unilateral bearing 5 inner ring and is connected with the long keyway of two on power shaft 1 by key, and outer ring and sleeve 8 interference fit, outer ring has two grooves, and being convenient to have strong market potential passes therethrough.First unilateral bearing 2 is contrary with the second unilateral bearing 5 installation direction, unilateral bearing forward non-resistance rotates, could rotate after need overcoming certain resistance when rotating backward, and though therefore power shaft rotate forward or reverse all need the resistance overcoming a unilateral bearing to rotate.
Sleeve 8 inwall has two cotter ways, for being connected with institute's expense groove on elastomer 1, elastomer 24, there are some tapped through holes sleeve 8 bottom surface, for being connected with through hole screw on ring flange 10.Output shaft 9 has keyway, for the connection with actuated elements such as gears.Ring flange 10 has some through holes, and for being connected with some through hole bolts on sleeve 8 bottom surface, it is welded and fixed with output shaft 9 and is connected.
Embodiment two:
Test adopts motor as the power intake of flexible joint of the present invention, and on output shaft 9, established angle velocity sensor, then opens motor, acquisition angle speed data, and the data preparation collected can be obtained Fig. 6.Can be obtained by Fig. 6, electrical power rear output shaft does not rotate immediately, and the time being through about 0.2s just starts slow rotation, just tend towards stability through roughly 1.2s speed, result of the test display is of the present invention a kind ofly to be possessed good flexibility based on the elastomeric soft elastic joint of Archimedes spiral and exports.
Described embodiment is preferred embodiment of the present invention; but the present invention is not limited to above-mentioned embodiment; when not deviating from flesh and blood of the present invention, any apparent improvement that those skilled in the art can make, replacement or modification all belong to protection scope of the present invention.
Claims (8)
1. one kind based on the elastomeric soft elastic joint of Archimedes spiral, comprise power shaft (1), output shaft (9) and sleeve (8), it is characterized in that, also comprise the first unilateral bearing (2), elastomer (3, 4), second unilateral bearing (5), described power shaft (1) has been fixedly connected sequentially from left and right to the right side the first unilateral bearing (2), elastomer (3, 4), second unilateral bearing (5), second unilateral bearing (5), described first unilateral bearing (2), elastomer (3, 4), second unilateral bearing (5) entirety loads the inside of described sleeve (8) and is fixedly connected with sleeve (8), described output shaft (9) is fixed on the end of sleeve (8) by ring flange (10), driver element band driven input shaft (9) rotates, make output shaft (9) carry out flexibility by the first unilateral bearing (2), elastomer (3,4) with the synergy of the second unilateral bearing (5) entirety to export.
2. as claimed in claim 1 a kind of based on the elastomeric soft elastic joint of Archimedes spiral, it is characterized in that, the inwall interference fit of described first unilateral bearing (2), the second unilateral bearing (5) and sleeve (6), described elastomer (3,4) be fixedly connected with the inwall of sleeve (6) by have strong market potential (6,7).
3. as claimed in claim 1 a kind of based on the elastomeric soft elastic joint of Archimedes spiral, it is characterized in that, one end of described power shaft (1) has keyway, and for connecting the driver element such as motor or decelerator, the other end has two symmetrical long keyway; Described first unilateral bearing (2), elastomer (3,4) all have two symmetrical cotter ways with the inner ring of the second unilateral bearing (5), and the cotter way of this symmetry is coordinated with the long keyway on power shaft (1) by key.
4. as claimed in claim 2 a kind of based on the elastomeric soft elastic joint of Archimedes spiral, it is characterized in that, described first unilateral bearing (2), elastomer (3, 4) two symmetrical cotter ways are all had with the outer ring of the second unilateral bearing (5), the cotter way of itself and inner ring is positioned at same radial position, the inwall of sleeve (8) also has two mutual symmetrical grooves of having strong market potential, elastomer (3, 4) cotter way of outer ring and the cotter way of sleeve (8) inwall are by having strong market potential (6, 7) key connects, thus achieve elastomer (3, 4) with being fixedly connected with of sleeve (8).
5. one as claimed in claim 2 is based on the elastomeric soft elastic joint of Archimedes spiral, it is characterized in that, described first unilateral bearing (2) and the second unilateral bearing (5) are for oppositely to install setting.
6. as claimed in claim 1 a kind of based on the elastomeric soft elastic joint of Archimedes spiral, it is characterized in that, the quantity of described elastomer (3,4) is two, and it is made by spring steel elastomeric material.
7. as claimed in claim 6 a kind of based on the elastomeric soft elastic joint of Archimedes spiral, it is characterized in that, the end face of described elastomer (3,4) has the archimedes spiral groove (11) that two are mutually 180 degree.
8. the one according to any one of claim 1-7 is based on the elastomeric soft elastic joint of Archimedes spiral, it is characterized in that, described output shaft (9) and ring flange (10) are welded and fixed, described sleeve (8) and output shaft (9) be connected one end end face be provided with some screwed holes, described ring flange (10) is fixedly connected on described sleeve (8) by screw.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510471447.1A CN105082170B (en) | 2015-08-05 | 2015-08-05 | Soft and elastic joint based on Achimedean spiral elastomers |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510471447.1A CN105082170B (en) | 2015-08-05 | 2015-08-05 | Soft and elastic joint based on Achimedean spiral elastomers |
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| CN105082170A true CN105082170A (en) | 2015-11-25 |
| CN105082170B CN105082170B (en) | 2017-05-03 |
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| CN201510471447.1A Expired - Fee Related CN105082170B (en) | 2015-08-05 | 2015-08-05 | Soft and elastic joint based on Achimedean spiral elastomers |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105397837A (en) * | 2015-12-16 | 2016-03-16 | 哈尔滨工业大学 | Unidirectional series-connection elastic driver |
| CN109278036A (en) * | 2018-10-31 | 2019-01-29 | 深圳市优必选科技有限公司 | Output shaft assembly and robot |
| CN110640783A (en) * | 2019-09-11 | 2020-01-03 | 哈尔滨工业大学（深圳） | Flexible joint based on oppositely-installed planar torsion springs |
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| CN104382722A (en) * | 2014-11-24 | 2015-03-04 | 江苏大学 | Volute spring type flexible and elastic joint applicable to rehabilitation robot |
| CN104398366A (en) * | 2014-11-24 | 2015-03-11 | 江苏大学 | Torsional spring type flexible elastic joint applicable to rehabilitation robot |
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2015
- 2015-08-05 CN CN201510471447.1A patent/CN105082170B/en not_active Expired - Fee Related
Patent Citations (7)
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| JPH1124882A (en) * | 1997-07-08 | 1999-01-29 | Sharp Corp | Icon function register |
| CN101890725A (en) * | 2010-07-07 | 2010-11-24 | 北京航空航天大学 | Embedding driver type active control flexible bionic joint |
| JP2012152865A (en) * | 2011-01-27 | 2012-08-16 | Yaskawa Electric Corp | Robot and robot system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105397837A (en) * | 2015-12-16 | 2016-03-16 | 哈尔滨工业大学 | Unidirectional series-connection elastic driver |
| CN109278036A (en) * | 2018-10-31 | 2019-01-29 | 深圳市优必选科技有限公司 | Output shaft assembly and robot |
| US11125276B2 (en) | 2018-10-31 | 2021-09-21 | Ubtech Robotics Corp | Output shaft component with elastic body |
| CN110640783A (en) * | 2019-09-11 | 2020-01-03 | 哈尔滨工业大学（深圳） | Flexible joint based on oppositely-installed planar torsion springs |
| CN110640783B (en) * | 2019-09-11 | 2021-01-05 | 哈尔滨工业大学（深圳） | Flexible joint based on oppositely-installed planar torsion springs |
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| CN105082170B (en) | 2017-05-03 |
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