CN110181552A - A kind of robot flexibility joint - Google Patents
A kind of robot flexibility joint Download PDFInfo
- Publication number
- CN110181552A CN110181552A CN201910326061.XA CN201910326061A CN110181552A CN 110181552 A CN110181552 A CN 110181552A CN 201910326061 A CN201910326061 A CN 201910326061A CN 110181552 A CN110181552 A CN 110181552A
- Authority
- CN
- China
- Prior art keywords
- inner ring
- push plate
- flange
- plate
- float
- 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.)
- Granted
Links
Classifications
-
- 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
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- 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
- B25J17/0208—Compliance devices
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot flexibility joints, including forearm, postbrachium, the fixing seat being connected with forearm, the sliding seat being connected with postbrachium, fixed seating is in the inside of the sliding seat, driving wheel and elastic driver are installed in fixing seat, elastic driver includes the driving inner ring being successively rotatablely connected from inside to outside, floating inner ring, float flange and mounting flange, mounting flange is fixedly connected with fixing seat, float flange is fixedly connected with the sliding seat, driving wheel and driving inner ring pass through transmission axis connection, floating inner ring includes the spring retainer for being equipped with Arc Spring, the circumferential surface of driving inner ring is fixed with the push plate of positive compression Arc Spring, the inside circumference of float flange is fixed with the push plate of reverse compression Arc Spring, robot flexibility joint of the invention, using Arc Spring as elastic element, With two-way flexibility, makes joint that there is impact resistance and flexible fan-out capability, improve the safety in utilization and service life of robot.
Description
Technical field
The present invention relates to the technical field of flexible robot, in particular to a kind of robot flexibility joint.
Background technique
Conventional machines person joint uses rigid structure mostly, and robot can only be moved according to track pre-planned, complete
At dull repetitive work, for complicated operating condition or unexpected incidents, since itself rigidity characteris is difficult to ensure machine
The safety of people itself or the mankind, even if cooperating all kinds of sensing devices, safety coefficient is still difficult to reach requirement, and application flexibility closes
Section replaces conventional rigid joint to have become natural trend.Current flexible joint, the input terminal in joint is connected with output end mostly
Elastic driver, wherein using rotary-type elastic driver as primary structure.
Flexible drive technology is more early in development abroad, and achievement is more, the pass that earlier German aerospace center (DLR) is developed
It saves VS-Joint (Variable Stiffness Joint), the spring between cam disc and cam disc placed by mechanism both ends
Composition when cam disc relative rolling, utilizes compression deformation of the spring to realize that output is flexible；In addition Wyeth is designed using compressed spring
A kind of rotary-type series elastic driver, four springs are arranged circumferentially along internal drive, motor and internal drive
Component is connected, and drives shell output power by spring；.Lagoda etc. is based on torsional spring structure and designs a kind of dual spiral elasticity
Driver, the elastic driver main component include motor, elastic element and deceleration mechanism.
Domestic aspect, Shi Yanlei et al. devise a kind of rotary-type flexible joint, and applied application No. is
201410653785.2 Chinese invention patent, the force transmission element by 8 compressed spring parallel connections as driving end and load end,
Realize the flexible output in joint；Zhejiang University Zhu Qiuguo et al. devises a kind of plane torsional spring, and application No. is
201210112069.4, it is disclosed in 201410070292.6 Chinese invention patent, mainly by outer ring, inner ring and spring beam three
It is grouped as.When joint mechanics effect, the flexibility in joint is realized by the deformation of internal drive spring beam.Harbin Institute of Technology
Li Yang et al. replaces traditional torsional spring as elastic element using torsional elastic body, devises a kind of shock resistance flexible joint,
Through being disclosed in the Chinese invention patent application No. is 201611270514.4.
On the whole domestic and international flexible joint elastic driver is varied, and structure type is different, but for application No. is
201210112069.4, in 201410070292.6 and 201611270514.4 Chinese invention patent, using special elastomer
As the structure of elastic element, there are biggish stress concentration, the security reliability in joint is insufficient, and the deformation of special elastomer
Amount, there are non-linear factor, is not easy accurately to control joint output angle with articulation angle.And application No. is
201410653785.2 Chinese invention patent in, using traditional line type compression helical spring as elastic element, linear type
Compressed spring, by non axial pressure, causes flexibility of joint output area smaller during flexibility output.
Summary of the invention
In order to solve the above technical problem, the present invention provides a kind of robot flexibility joints.
The technical scheme is that a kind of robot flexibility joint, including forearm, postbrachium, it is fixedly connected with forearm
Fixing seat, the sliding seat being fixedly connected with postbrachium, the fixed seating is in installation in the inside of the sliding seat, the fixing seat
There are a driving wheel and elastic driver, the elastic driver includes the driving inner ring being successively rotatablely connected from inside to outside, in floating
Circle, float flange and mounting flange, the mounting flange are fixedly connected with the fixing seat, the float flange and the activity
Seat is fixedly connected, and by transmission axis connection, the floating inner ring includes being equipped with arc for the driving wheel and the driving inner ring
The circumferential surface of the spring retainer of helical spring, the driving inner ring is fixed with the positive push plate for compressing the Arc Spring,
The inside circumference of the float flange is fixed with the push plate of Arc Spring described in reverse compression.
Preferably, the spring retainer includes the intermediate demarcation plate for annular, and the middle part of the demarcation plate is stretched to two sides
There is circular space ring out, the push plate on the circumferential surface of the driving inner ring is push plate I and is symmetrically distributed in demarcation plate two sides, institute
The push plate I for stating demarcation plate side is at least one, and the inside circumference of the space ring is fixed with push plate identical with I quantity of push plate
II, the outside circumference of the space ring is fixed with push plate III identical with II quantity of push plate, the inside of the float flange
The push plate of periphery is push plate IV and quantity is identical as the quantity of the push plate III, and the push plate I, described pushes away the push plate II
Plate III and the push plate IV are successively spaced and are uniformly distributed, and are inner arc helical spring between the push plate I and the push plate II,
It is outer arcuate helical spring between the push plate III and the push plate IV, the rigidity of the inner arc helical spring is greater than described outer
The rigidity of Arc Spring.
Preferably, the push plate I of the demarcation plate side is two and is symmetrical arranged.
Preferably, the driving inner ring, the floating inner ring, the float flange and the mounting flange pass sequentially through rolling
Son rotation connection, between the driving inner ring and the floating inner ring, between the floating inner ring and the float flange, it is described
The annular slide track with roller cooperation is respectively equipped between float flange and the mounting flange.
Preferably, the elastic driver is two and is distributed in the two sides of fixing seat, and the fixing seat is circular sleeve,
The mounting flange is fixed on the side of the fixing seat, and the sliding seat is the bathtub construction that two sides are equipped with output arm plate, institute
The inside for stating elastic driver is equipped with the backplate that connect with float flange, the outside of the elastic driver by float flange and
The output arm plate connection.
Preferably, of same size, the mounting flange of the driving inner ring, the floating inner ring and the float flange
Width be less than the float flange width.
Preferably, the driving outside circumference of inner ring, the inside circumference of the demarcation plate, the outside of the demarcation plate are all
Face, the inside circumference of the float flange, the outside circumference of the float flange and the mounting flange inside circumference be all provided with
There are the v-depression for being located in the middle annular, the v-depression of the outside circumference of the driving inner ring and the inside week of the demarcation plate
The v-depression of the inside circumference of the v-depression of the outside circumference of the v-depression in face, the demarcation plate and the float flange, institute
The v-depression of the v-depression and the inside circumference of the mounting flange of stating the outside circumference of float flange separately constitute with it is described
The annular slide track of roller cooperation.
The beneficial effects of the present invention are:
Robot flexibility joint of the invention, using Arc Spring as elastic element, Arc Spring is as conventional
Elastic element, the relationship between the deflection and articulation angle of Arc Spring are easy determination, and output moves stagnant
Property is easy to compensate by controlling motor movement afterwards, improves the precision of articulation, and the stress of Arc Spring
Collect medium and small, can be improved the service life and safety in joint.
Under certain structure size limitation, the present invention passes through multistage floating structure, the arc spiral bullet that will radially arrange
Spring series connection so that joint structure is compact and can obtain bigger flexible torsional, and the elastic driver in joint for two and
The two sides of fixing seat are mounted on, the flexible fan-out capability and kinetic stability in joint are effectively raised.
Detailed description of the invention
Fig. 1 is the stereoscopic schematic diagram of sectional structure of the invention；
Fig. 2 is the schematic cross-sectional view of elastic driver in the present invention；
Fig. 3 is the schematic view of the front view of elastic driver in the present invention；
Fig. 4 is the schematic view of the front view that inner ring is driven in elastic driver；
Fig. 5 is the left view structural representation that inner ring is driven in elastic driver；
Fig. 6 is the schematic view of the front view of floating inner ring in elastic driver；
Fig. 7 is the stereoscopic schematic diagram of the sectional structure of floating inner ring in elastic driver；
Fig. 8 is the schematic view of the front view of float flange in elastic driver；
Fig. 9 is the stereoscopic schematic diagram of the sectional structure of float flange in elastic driver；
Figure 10 is the schematic view of the front view of mounting flange in elastic driver；
Figure 11 is the stereoscopic schematic diagram of the sectional structure of mounting flange in elastic driver；
Figure 12 is one of working state figure of the present invention；
Figure 13 is the two of working state figure of the present invention；
Figure 14 is the three of working state figure of the present invention；
In figure: 1. forearms, 1-1. fixing seat, 2. belt wheels, 2-1. splined shaft, 2-2. synchronous belt, 3. elastic drivers, 4. postbrachiums,
In 4-1. sliding seat, 4-2. output arm plate, 5. driving inner rings, 5-1. splined hole, 5-2. web hole, 5-3. push plate I, 6. are floated
Circle, 6-1. spring retainer, 6-1-1. demarcation plate, 6-1-2. space ring, 6-1-3. push plate II, 6-1-4. push plate III, in 6-2.
Spring groove, 6-3. outer spring slot, 6-4. inner arc helical spring, 6-5. outer arcuate helical spring, 7. float flanges, 7-1. screw thread
Hole I, 7-2. push plate IV, 8. mounting flanges, 8-1. threaded hole II, 9. right-angled intersection cylindrical rollers, 10.V connected in star.
Specific embodiment
A specific embodiment of the invention is referring to Fig. 1-14:
A kind of robot flexibility joint, such as Fig. 1-11, including forearm 1, postbrachium 4, the fixing seat 1-1 being fixedly connected with forearm 1, with
The sliding seat 4-1 that postbrachium 4 is fixedly connected, fixing seat 1-1 are located at the inside of sliding seat 4-1, are equipped with driving wheel in fixing seat 1-1
With elastic driver 3, elastic driver 3 includes driving inner ring 5, the floating inner ring 6, floating method being successively rotatablely connected from inside to outside
Orchid 7 and mounting flange 8, driving inner ring 5, floating inner ring 6, float flange 7 and mounting flange 8 pass sequentially through roller rotation connection,
It drives between inner ring 5 and floating inner ring 6, divide between floating inner ring 6 and float flange 7, between float flange 7 and mounting flange 8
The annular slide track that She You not cooperate with roller, mounting flange 8 are fixedly connected with fixing seat 1-1, float flange 7 and sliding seat 4-1
It being fixedly connected, by transmission axis connection, the side of driving inner ring 5 is equipped with uniformly distributed web hole 5-2 for driving wheel and driving inner ring 5,
Transmission shaft is splined shaft 2-1, and driving inner ring 5 is equipped with the splined hole 5-1 cooperated with splined shaft 2-1, and driving wheel is connection synchronous belt
The belt wheel 2 of 2-2, for belt wheel 2 by synchronous belt 2-2 connection driving motor, floating inner ring 6 includes the bullet for being equipped with Arc Spring
Spring retainer 6-1, the circumferential surface of driving inner ring 5 are fixed with the push plate of positive compression Arc Spring, the inside week of float flange 7
Face is fixed with the push plate of reverse compression Arc Spring, and the elastic driver 3 of the flexible joint is two and is distributed in fixation
The two sides of seat 1-1, fixing seat 1-1 are circular sleeve, and mounting flange 8 is fixed on the side of fixing seat 1-1, and sliding seat 4-1 is two
Side is equipped with the bathtub construction of output arm plate 4-2, and the inside of elastic driver 3 is equipped with the backplate connecting with float flange 7, and elasticity is driven
The outside of dynamic device 3 is connect by float flange 7 with output arm plate 4-2, and the two sides of float flange 7 are equipped with I 7-1 of threaded hole, backplate
It is connect with screw with I 7-1 of threaded hole, output arm plate 4-2 also uses screw to connect with I 7-1 of threaded hole, and mounting flange 8 is equipped with penetrating
II 8-1 of threaded hole, the two sides of mounting flange 8 are connect by screw with II 8-1 of threaded hole.
Robot flexibility joint of the invention, using Arc Spring as elastic element, Arc Spring conduct
Conventional elastic means, the hysteresis quality of output movement are easy to compensate by controlling motor movement, improve the essence of articulation
Accuracy, and the stress collection of Arc Spring is medium and small, can be improved the service life and safety in joint.
Such as Fig. 2-7, the spring retainer 6-1 of elastic driver 3 includes the intermediate demarcation plate for annular in the flexible joint
The middle part of 6-1-1, demarcation plate 6-1-1 are extended with circular space ring 6-1-2 to two sides, space ring 6-1-2 and driving inner ring 5 it
Between be inner spring slot 6-2, between space ring 6-1-2 and float flange 7 be outer spring slot 6-3, drive inner ring 5 circumferential surface on pushing away
Plate is I 5-3 of push plate and is symmetrically distributed in the two sides demarcation plate 6-1-1, and I 5-3 of push plate of the side demarcation plate 6-1-1 is for two and right
Claim setting, the inside circumference of space ring 6-1-2 is fixed with push plate identical with I 5-3 quantity of push plate II 6-1-3, space ring 6-1-2
Outside circumference be fixed with III 6-1-4 of push plate identical with II 6-1-3 quantity of push plate, the inside circumference face of float flange 7 pushes away
Plate be IV 7-2 of push plate and quantity it is identical as the quantity of III 6-1-4 of push plate, I 5-3 of push plate, II 6-1-3 of push plate, III 6-1-4 of push plate and
IV 7-2 of push plate is successively spaced and is uniformly distributed, and the inner arc helical spring 6-4 in inner spring slot 6-2 is located at I 5-3 of push plate and pushes away
Between II 6-1-3 of plate, the outer arcuate helical spring 6-5 in outer spring slot 6-3 is located between IV 7-2 of III 6-1-4 of push plate and push plate,
The rigidity of inner arc helical spring 6-4 is greater than the rigidity of outer arcuate helical spring 6-5 in joint, thus outer arcuate helical spring 6-
5 deformation quantity is greater than the deformation quantity of inner arc helical spring 6-4, guarantees turning for driving inner ring 5, floating inner ring 6 and float flange 7
Dynamic angle is identical, which passes through multistage floating structure, and the Arc Spring radially arranged is connected, so that joint is tied
Structure is compact and can obtain bigger flexible torsional, drives the of same size of inner ring 5, floating inner ring 6 and float flange 7, fixed
The width of flange 8 is less than the width of float flange 7, and the width of mounting flange 8 is of same size with demarcation plate 6-1-1's, makes elasticity
The half of driver 3 is located in fixing seat 1-1, guarantees the stability in joint.
I 5-3 of push plate in the flexible joint, II 6-1-3 of push plate, III 6-1-4 of push plate, IV 7-2 of push plate quantity can be according to pass
The setting of real work situation is saved, operating condition is met.
Such as Fig. 2,5,7,9-11, the roller of elastic driver 3 is right-angled intersection cylindrical roller 9, driving in the flexible joint
The outside circumference of inner ring 5, the inside circumference of demarcation plate 6-1-1, the outside circumference of demarcation plate 6-1-1, the inside of float flange 7 are all
The inside circumference in face, the outside circumference of float flange 7 and mounting flange 8 is equipped with the v-depression 10 for being located in the middle annular, drives
The v-depression 10 of the inside circumference of the v-depression 10 and demarcation plate 6-1-1 of the outside circumference of dynamic inner ring 5, demarcation plate 6-1-1
The V-arrangement of the v-depression 10 of the inside circumference of the v-depression 10 and float flange 7 of outside circumference, the outside circumference of float flange 7
The v-depression 10 of the inside circumference of groove 10 and mounting flange 8 separately constitutes the annular slide track with roller cooperation, wherein fixation
Orchid 8 includes two halfbodies, and demarcation plate 6-1-1 also includes two halfbodies, facilitates the installation of roller.
When work, driving motor movement band movable belt pulley 2 rotates angle [alpha], such as Figure 12, and belt wheel 2 is driven by splined shaft 2-1 and driven
Dynamic inner ring 5 rotates angle [alpha], and I 5-3 of push plate of driving inner ring 5 compresses inner arc helical spring 6-4；Meanwhile such as Figure 13, compressed
Inner arc helical spring 6-4 reset under the effect of elasticity, inner arc helical spring 6-4 reset when push II 6-1-3 of push plate, into
And floating inner ring 6 also rotates angle [alpha] under II 6-1-3 of push plate promotion, III 6-1-4 of push plate is rotated with when floating inner ring 6 rotates,
As Figure 13, III 6-1-4 of push plate compress outer arcuate helical spring 6-5；Such as Figure 14, compressed outer arcuate helical spring 6-5 is in bullet
Power effect is lower to be resetted, and pushes IV 7-2 of push plate, IV 7-2 of push plate that float flange 7 is pushed also to revolve when outer arcuate helical spring 6-5 resets
Gyration α.
Above-mentioned work process be dynamic process, while can by the both ends of inner arc helical spring 6-4 respectively with I 5- of push plate
3, push II 6-1-3 of push plate be fixedly connected, by the both ends of outer arcuate helical spring 6-5 respectively with III 6-1-4 of push plate, IV 7- of push plate
2 are fixedly connected, inner arc spiral adjacent thereto when being compressed positioned at the inner arc helical spring 6-4 of I 5-3 rotation direction of push plate
Spring 6-4 is stretched, adjacent thereto outer when being compressed positioned at the outer arcuate helical spring 6-5 of III 6-1-4 rotation direction of push plate
Arc Spring 6-5 is stretched, and can properly increase the rate of articulation, and can reduce the compression or stretching of spring
Amount improves spring life and joint service life.
The preferred embodiment of the present invention is elaborated in conjunction with attached drawing above；It should be pointed out that the present invention is not limited to upper
State embodiment；For example, available gas or other elastic materials are made guaranteeing between each floating structure in the good situation of air-tightness
For elastic element；Also or energy storage and release that electromagnetic clutch mechanism or other functional entities realize joint are introduced.As long as in short,
The field those of ordinary skill within the scope of knowledge, any repaired to made within the spirit and principles in the present invention
Change, equivalent substitute and improvement etc., should all cover within the claimed technical proposal scope of the present invention.
Claims (7)
1. a kind of robot flexibility joint, including forearm and postbrachium, it is characterised in that: further include being fixedly connected with the forearm
Fixing seat, the sliding seat being fixedly connected with the postbrachium, the fixed seating is in the inside of the sliding seat, the fixing seat
Driving wheel and elastic driver are installed, the elastic driver includes the driving inner ring being successively rotatablely connected from inside to outside, floats
Dynamic inner ring, float flange and mounting flange, the mounting flange are fixedly connected with the fixing seat, the float flange with it is described
Sliding seat is fixedly connected, and by transmission axis connection, the floating inner ring includes being equipped with for the driving wheel and the driving inner ring
The circumferential surface of the spring retainer of Arc Spring, the driving inner ring is fixed with pushing away for the positive compression Arc Spring
Plate, the inside circumference of the float flange are fixed with the push plate of Arc Spring described in reverse compression.
2. robot flexibility joint according to claim 1, it is characterised in that: it is ring that the spring retainer, which includes intermediate,
The middle part of the demarcation plate of shape, the demarcation plate is extended with circular space ring, pushing away on the circumferential surface of the driving inner ring to two sides
Plate is push plate I and is symmetrically distributed in demarcation plate two sides, and the push plate I of the demarcation plate side is at least one, the space ring
Inside circumference be fixed with push plate II identical with I quantity of push plate, the outside circumference of the space ring is fixed with and the push plate
The identical push plate III of II quantity, the push plate in the inside circumference face of the float flange are push plate IV and quantity and the push plate III
Quantity is identical, and the push plate I, the push plate II, the push plate III and the push plate IV are successively spaced and are uniformly distributed, described to push away
It is inner arc helical spring between plate I and the push plate II, is outer arcuate spiral bullet between the push plate III and the push plate IV
Spring, the rigidity of the inner arc helical spring are greater than the rigidity of the outer arcuate helical spring.
3. robot flexibility joint according to claim 2, it is characterised in that: the push plate I of the demarcation plate side is two
It is a and arranged symmetrically.
4. robot flexibility joint according to claim 3, it is characterised in that: the driving inner ring, the floating inner ring,
The float flange and the mounting flange pass sequentially through roller rotation connection, the driving inner ring and the floating inner ring it
Between, be respectively equipped between the floating inner ring and the float flange, between the float flange and the mounting flange and institute
State the annular slide track of roller cooperation.
5. robot flexibility joint according to claim 4, it is characterised in that: the elastic driver is two and is distributed
In the two sides of fixing seat, the fixing seat is circular sleeve, and the mounting flange is fixed on the side of the fixing seat, the work
Dynamic seat is the bathtub construction that two sides are equipped with output arm plate, and the inside of the elastic driver is equipped with the shield connecting with float flange
The outside of plate, the elastic driver is connect by float flange with the output arm plate.
6. robot flexibility joint according to claim 5, it is characterised in that: the driving inner ring, the floating inner ring
And the float flange is of same size, the width of the mounting flange is less than the width of the float flange.
7. robot flexibility joint according to claim 6, it is characterised in that: the outside circumference of the driving inner ring, institute
State the inside circumference of demarcation plate, the outside circumference of the demarcation plate, the inside circumference of the float flange, the float flange
The inside circumference of outside circumference and the mounting flange is equipped with the v-depression for being located in the middle annular, the driving inner ring
The v-depression of outside circumference and the V-arrangement of the v-depression of the inside circumference of the demarcation plate, the outside circumference of the demarcation plate are recessed
The v-depression of the inside circumference of slot and the float flange, the v-depression of the outside circumference of the float flange and the fixation
The v-depression of the inside circumference of flange separately constitutes the annular slide track with roller cooperation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910326061.XA CN110181552B (en) | 2019-04-23 | 2019-04-23 | Flexible joint of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910326061.XA CN110181552B (en) | 2019-04-23 | 2019-04-23 | Flexible joint of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110181552A true CN110181552A (en) | 2019-08-30 |
| CN110181552B CN110181552B (en) | 2020-02-14 |
Family
ID=67714969
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910326061.XA Active CN110181552B (en) | 2019-04-23 | 2019-04-23 | Flexible joint of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110181552B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113001584A (en) * | 2021-03-05 | 2021-06-22 | 电子科技大学 | Robot flexible joint with variable rigidity |
| CN114055517A (en) * | 2021-12-03 | 2022-02-18 | 芜湖锐锢智能科技有限公司 | Protection shield capable of reinforcing connection of robot arm |
| CN115723169A (en) * | 2022-12-06 | 2023-03-03 | 哈尔滨工业大学 | Spiral disc type flexible joint |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112278109A (en) * | 2020-10-30 | 2021-01-29 | 山东大学 | Leg structure of bionic underwater foot type robot and bionic underwater foot type robot |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4784014A (en) * | 1985-06-22 | 1988-11-15 | Robert Bosch Gmbh | Robot joint with an electric drive motor |
| CN1666720A (en) * | 2005-04-04 | 2005-09-14 | 江南大学 | Flexible joint of helical spring type artificial muscle |
| CN101066592A (en) * | 2007-05-31 | 2007-11-07 | 浙江工业大学 | Pneumatic flexible torsional knuckle |
| CN102180206A (en) * | 2011-04-24 | 2011-09-14 | 杭州电子科技大学 | Robot foot mechanism with flexible joint |
| CN102632508A (en) * | 2012-04-17 | 2012-08-15 | 浙江大学 | Planar torsion spring suitable for robot joints |
| WO2013080197A1 (en) * | 2011-11-29 | 2013-06-06 | Technion Research & Development Foundation Ltd. | Robotic mechanism with two degrees of freedom |
| TW201420289A (en) * | 2012-11-23 | 2014-06-01 | Hiwin Tech Corp | Elastic mechanical joint |
| CN103867623A (en) * | 2012-12-10 | 2014-06-18 | 通用汽车环球科技运作有限责任公司 | Arc coil spring configuration |
| CN104385293A (en) * | 2014-11-17 | 2015-03-04 | 河北工业大学 | Rotary type flexible joint |
| CN104608142A (en) * | 2015-01-09 | 2015-05-13 | 河北工业大学 | Rotating type rigidity-changing flexible joint |
| CN106078791A (en) * | 2016-07-12 | 2016-11-09 | 北京精密机电控制设备研究所 | A kind of plane elastic body being applicable to high-mechanic robot series elastic driver |
| CN106737825A (en) * | 2016-12-30 | 2017-05-31 | 哈尔滨工业大学 | A kind of shock resistance flexible joint suitable for mechanical arm |
| CN107309865A (en) * | 2017-06-29 | 2017-11-03 | 东北大学 | A kind of series elastic driver |
-
2019
- 2019-04-23 CN CN201910326061.XA patent/CN110181552B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4784014A (en) * | 1985-06-22 | 1988-11-15 | Robert Bosch Gmbh | Robot joint with an electric drive motor |
| CN1666720A (en) * | 2005-04-04 | 2005-09-14 | 江南大学 | Flexible joint of helical spring type artificial muscle |
| CN101066592A (en) * | 2007-05-31 | 2007-11-07 | 浙江工业大学 | Pneumatic flexible torsional knuckle |
| CN102180206A (en) * | 2011-04-24 | 2011-09-14 | 杭州电子科技大学 | Robot foot mechanism with flexible joint |
| WO2013080197A1 (en) * | 2011-11-29 | 2013-06-06 | Technion Research & Development Foundation Ltd. | Robotic mechanism with two degrees of freedom |
| CN102632508A (en) * | 2012-04-17 | 2012-08-15 | 浙江大学 | Planar torsion spring suitable for robot joints |
| TW201420289A (en) * | 2012-11-23 | 2014-06-01 | Hiwin Tech Corp | Elastic mechanical joint |
| CN103867623A (en) * | 2012-12-10 | 2014-06-18 | 通用汽车环球科技运作有限责任公司 | Arc coil spring configuration |
| CN104385293A (en) * | 2014-11-17 | 2015-03-04 | 河北工业大学 | Rotary type flexible joint |
| CN104608142A (en) * | 2015-01-09 | 2015-05-13 | 河北工业大学 | Rotating type rigidity-changing flexible joint |
| CN106078791A (en) * | 2016-07-12 | 2016-11-09 | 北京精密机电控制设备研究所 | A kind of plane elastic body being applicable to high-mechanic robot series elastic driver |
| CN106737825A (en) * | 2016-12-30 | 2017-05-31 | 哈尔滨工业大学 | A kind of shock resistance flexible joint suitable for mechanical arm |
| CN107309865A (en) * | 2017-06-29 | 2017-11-03 | 东北大学 | A kind of series elastic driver |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113001584A (en) * | 2021-03-05 | 2021-06-22 | 电子科技大学 | Robot flexible joint with variable rigidity |
| CN113001584B (en) * | 2021-03-05 | 2022-06-14 | 电子科技大学 | Robot flexible joint with variable rigidity |
| CN114055517A (en) * | 2021-12-03 | 2022-02-18 | 芜湖锐锢智能科技有限公司 | Protection shield capable of reinforcing connection of robot arm |
| CN115723169A (en) * | 2022-12-06 | 2023-03-03 | 哈尔滨工业大学 | Spiral disc type flexible joint |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110181552B (en) | 2020-02-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110181552A (en) | A kind of robot flexibility joint | |
| CN104985608B (en) | Stiffness-adjustable flexible joint actuator mechanism | |
| AU2015233594B2 (en) | A gear arrangement | |
| CN104385293B (en) | A kind of rotary-type flexible joint | |
| CN101913150A (en) | Robot revolute joint module with single degree of freedom | |
| CN101952618A (en) | Displacement conversion mechanism and actuator | |
| CN110201805A (en) | A kind of coal mine process equipment with long service life with choke preventing function | |
| CN104641136B (en) | Friction clutch with operating device | |
| CN108015807A (en) | Compressed spring type double acting compensating cylinder in parallel applied to industrial robot | |
| CN103132443A (en) | Drive device in a self-propelled construction machine | |
| DE102005052503A1 (en) | Electric motor and motor-driven compressor | |
| US5679090A (en) | Half-toroidal-type continuously variable transmission having two sets of three rollers | |
| CN106801725B (en) | A kind of mechanical device for realizing the quick positive and negative rotation of shafting | |
| CN110360274A (en) | Planetary speed reducer with small tooth number difference | |
| CN110864872B (en) | Deformation wall surface mechanism capable of being used for resistance test | |
| US2633719A (en) | Coupling for misaligned shafts | |
| CN115200272B (en) | Movable refrigerant recycling and filling device | |
| CN110344931A (en) | Single angular contact ball inclined-plane for driving turbocharger | |
| CN102762896B (en) | Gear and there is the pump assembly of this gear | |
| CN107165835A (en) | Mechanical water pump adjustment of blade angle device with compact layout displacement sensing instrument | |
| CN205614698U (en) | Rigidity adjustable elastic joint of robot | |
| CN210218287U (en) | Low-noise piston type pneumatic actuator | |
| RU2286495C1 (en) | Friction toroidal variator | |
| CN106895090A (en) | A kind of clutch transmission mechanism and friction overdrive clutch | |
| CN212672214U (en) | Adjustable self-balancing stop-and-go joint |
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 |