CN106641057B - 一种用于柔顺关节的双层平面扭簧 - Google Patents
一种用于柔顺关节的双层平面扭簧 Download PDFInfo
- Publication number
- CN106641057B CN106641057B CN201611059925.9A CN201611059925A CN106641057B CN 106641057 B CN106641057 B CN 106641057B CN 201611059925 A CN201611059925 A CN 201611059925A CN 106641057 B CN106641057 B CN 106641057B
- Authority
- CN
- China
- Prior art keywords
- torsional spring
- plane
- plane torsional
- outer shroud
- segmental arc
- 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
- 239000000806 elastomer Substances 0.000 claims abstract description 31
- 229920001971 elastomer Polymers 0.000 claims abstract description 31
- 230000000052 comparative effect Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 239000007787 solid 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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F3/00—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic
- F16F3/02—Spring units consisting of several springs, e.g. for obtaining a desired spring characteristic with springs made of steel or of other material having low internal friction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- 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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/10—Suppression of vibrations in rotating systems by making use of members moving with the system
- F16F15/12—Suppression of vibrations in rotating systems by making use of members moving with the system using elastic members or friction-damping members, e.g. between a rotating shaft and a gyratory mass mounted thereon
- F16F15/121—Suppression of vibrations in rotating systems by making use of members moving with the system using elastic members or friction-damping members, e.g. between a rotating shaft and a gyratory mass mounted thereon using springs as elastic members, e.g. metallic springs
- F16F15/1214—Folded springs, i.e. made of band-like material folded in an enclosing space
-
- 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
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/10—Suppression of vibrations in rotating systems by making use of members moving with the system
- F16F15/12—Suppression of vibrations in rotating systems by making use of members moving with the system using elastic members or friction-damping members, e.g. between a rotating shaft and a gyratory mass mounted thereon
- F16F15/121—Suppression of vibrations in rotating systems by making use of members moving with the system using elastic members or friction-damping members, e.g. between a rotating shaft and a gyratory mass mounted thereon using springs as elastic members, e.g. metallic springs
- F16F15/1217—Motion-limiting means, e.g. means for locking the spring unit in pre-defined positions
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Acoustics & Sound (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Springs (AREA)
Abstract
Description
名称 | 实施例 | 对比例 |
最大扭矩 | 35N.M | 9.89N.M |
最大变形角度 | 4.68° | 3.55° |
Claims (6)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201611059925.9A CN106641057B (zh) | 2016-11-28 | 2016-11-28 | 一种用于柔顺关节的双层平面扭簧 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201611059925.9A CN106641057B (zh) | 2016-11-28 | 2016-11-28 | 一种用于柔顺关节的双层平面扭簧 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106641057A CN106641057A (zh) | 2017-05-10 |
CN106641057B true CN106641057B (zh) | 2018-10-19 |
Family
ID=58812245
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201611059925.9A Active CN106641057B (zh) | 2016-11-28 | 2016-11-28 | 一种用于柔顺关节的双层平面扭簧 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN106641057B (zh) |
Families Citing this family (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6831225B2 (ja) * | 2016-12-07 | 2021-02-17 | 三菱重工エンジン&ターボチャージャ株式会社 | 振動絶縁部材、および振動絶縁部材を備えるアンバランス検出装置 |
CN107165962B (zh) * | 2017-06-29 | 2019-11-15 | 太仓市惠得利弹簧有限公司 | 一种蛇形弹簧组 |
CN107736983B (zh) * | 2017-10-24 | 2019-06-14 | 浙江大学 | 一种柔性肩关节康复外骨骼机构 |
CN107962591B (zh) * | 2017-11-23 | 2021-05-07 | 哈尔滨工业大学 | 一种用于柔性机器人关节上能测力矩的被动减振弹性元件 |
CN108931328B (zh) * | 2018-04-17 | 2020-05-12 | 杭州电子科技大学 | 一种机器人关节扭矩传感器 |
CN109528453B (zh) * | 2018-10-23 | 2021-06-15 | 哈尔滨工业大学 | 一种基于并联弹性体的下肢外骨骼异构膝关节 |
IT201800010483A1 (it) * | 2018-11-21 | 2020-05-21 | Scuola Superiore Di Studi Univ E Di Perfezionamento Santanna | Molla torsionale planare |
WO2020204234A1 (ko) * | 2019-04-05 | 2020-10-08 | (주)로보티즈 | 가변 강성 탄성체 및 이를 가지는 액츄에이터 모듈 |
CN111993394B (zh) * | 2020-09-08 | 2022-03-18 | 中南大学 | 一种被动柔顺装置 |
KR20220069647A (ko) * | 2020-11-20 | 2022-05-27 | 현대자동차주식회사 | 힘 발생 장치 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09210132A (ja) * | 1996-01-31 | 1997-08-12 | Exedy Corp | ダンパー機構 |
DE102005043575B4 (de) * | 2005-09-12 | 2019-08-29 | Vibracoustic Gmbh | Drehfeder |
CN101318331A (zh) * | 2008-07-14 | 2008-12-10 | 哈尔滨工程大学 | 双串联弹性驱动器 |
CN102152319B (zh) * | 2011-05-11 | 2012-07-11 | 哈尔滨工程大学 | 弹性驱动转动关节 |
CN102632508B (zh) * | 2012-04-17 | 2015-04-29 | 浙江大学 | 一种适用于机器人关节的平面扭簧 |
CN202622819U (zh) * | 2012-06-19 | 2012-12-26 | 杭州电子科技大学 | 一种具有柔顺特性的机器人舵机 |
CN103836101B (zh) * | 2014-02-28 | 2015-09-23 | 浙江大学 | 柔性关节的平面扭簧 |
CN103817694B (zh) * | 2014-02-28 | 2016-04-20 | 浙江大学 | 一种混合控制的柔性关节 |
CN106078791B (zh) * | 2016-07-12 | 2019-09-06 | 北京精密机电控制设备研究所 | 一种适用于高承载机器人串联弹性驱动器的平面弹性体 |
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2016
- 2016-11-28 CN CN201611059925.9A patent/CN106641057B/zh active Active
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Publication number | Publication date |
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CN106641057A (zh) | 2017-05-10 |
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Legal Events
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PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB03 | Change of inventor or designer information | ||
CB03 | Change of inventor or designer information |
Inventor after: Zhou Jianjun Inventor after: Shang Huihui Inventor after: Zhu Qiuguo Inventor after: Liu Yun Inventor after: Fu Zemao Inventor after: Zhou Xinyuan Inventor after: Chen Jie Inventor after: Li Jing Inventor before: Zhou Jianjun Inventor before: Shang Huihui Inventor before: Fu Zemao Inventor before: Zhou Xinyuan Inventor before: Chen Jie Inventor before: Li Jing |
|
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20180115 Address after: 310000 Xiasha High Education Park, Hangzhou City, Zhejiang Province, No. 2 street Applicant after: Hangzhou Electronic Science and Technology Univ Applicant after: Zhejiang University Address before: Hangzhou City, Zhejiang province 310018 Xiasha Higher Education Park No. 2 street Applicant before: Hangzhou Electronic Science and Technology Univ |
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GR01 | Patent grant | ||
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