CN210889866U - Series elastic transmission device based on integrated flexible hinge spring - Google Patents
Series elastic transmission device based on integrated flexible hinge spring Download PDFInfo
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- CN210889866U CN210889866U CN201922028724.8U CN201922028724U CN210889866U CN 210889866 U CN210889866 U CN 210889866U CN 201922028724 U CN201922028724 U CN 201922028724U CN 210889866 U CN210889866 U CN 210889866U
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Abstract
The utility model discloses a series connection elastic transmission based on flexible hinge spring of integral type, characterized by: the input assembly comprises a sliding bearing, an adjusting sleeve, a locking nut, bearings which are installed in pairs and pre-tightened, an integrated input plate and a central shaft, the output assembly comprises a rolling bearing, a fixing screw, an integrated buffer plate, a flexible hinge spring and an output plate, the input assembly and the output assembly are connected and pre-tightened through the adjusting sleeve, m tracks are uniformly arranged on the input plate along the circumferential direction, m rolling bearings are arranged at the same positions on the buffer plate and correspond to the tracks one to one. The utility model discloses replace traditional pressure spring with flexible hinge spring to through whole processing technology, integrate the part that a plurality of needs assembled into the part that a whole processing formed, thereby avoid assembly error and clearance, improve structural rigidity and stability, improve the transmission precision.
Description
Technical Field
The utility model belongs to the technical field of flexible transmission, in particular to series connection elastic transmission based on flexible hinge spring of integral type.
Background
Force control techniques are required when a robot interacts with a person or environment. Currently, the force control techniques of robots are: 1. the main power control technology determines the input of the robot joint through a control algorithm and sensor information, so that the robot generates proper output power to people or external environment. 2. The passive control technology buffers the acting force to the outside by designing an elastic mechanism.
A drive is a device or mechanism that converts other forms of energy into force, torque, speed, or rotational speed. The robot driver has the following characteristics: first, it should be lightweight, have high output power, be capable of high energy density, and be low cost. In addition, the device has good force output precision and low impedance in the interaction process with people or environment so as to ensure that the safety of people or the environment cannot be damaged. Finally, in the working state of the robot, the impact energy generated by collision should be transmitted to the driver through a certain structure, so as to improve the anti-impact load capacity of the robot and avoid the robot from being damaged.
The flexible driving technology is a difficult problem to overcome urgently in the current robot industry. At present, six-dimensional force sensors are mostly adopted as feedback units for the compliance control of robots, but the six-dimensional force sensors are relatively high in price and are not widely applied at present. The series elastic drive is a drive unit capable of realizing flexible output, and an elastic unit is added between a drive module and an execution module, so that flexible buffering is formed between the drive module and the execution module. Most of the traditional series elastic drivers use springs as elastic units to buffer force and moment. However, the serial elastic driver using the spring as the elastic unit has low rigidity, poor precision and poor stability, and the application of the serial elastic driver in the field of robots is limited.
Chinese patent application No. 201510945316.2 discloses a linear series elastic driver based on a pressure spring, which is characterized in that: the servo motor is fixed on the driver base, the output end of the servo motor is fixedly connected with the bearing rolling chassis through a flange plate, three bearings are arranged on one side of the pressure spring fixing chassis opposite to the bearing rolling chassis through three thin shafts, linear tracks are arranged on the bearing rolling chassis, the three bearings are respectively arranged in the corresponding tracks, three copper columns are arranged on the other side of the pressure spring fixing chassis, each copper column is sleeved with one pressure spring, the tail ends of the three copper columns penetrate through circular holes formed in the corresponding positions of the pressure spring fixing chassis and can move relatively, the output shaft is fixedly arranged on the pressure spring fixing roof, the load connecting unit is fixed on the side face of the output shaft through screws and keeps a load mounting hole, for connection to a load; the tail end of the output shaft is fixedly connected with the encoder through a coupler, and the encoder is fixedly connected to the driver base through an encoder base.
The series elastic driver is internally provided with three springs which are mainly used for generating axial linear motion, and the springs are required to have higher rigidity in the radial motion direction so as to effectively transfer the motion of an input plate; the overall rigidity of the series elastic driver is poor, so that the movement precision and the load capacity of the series elastic driver are influenced; the fixing and pre-tightening mode of the series elastic driver has defects, when an external force extrudes the output plate towards the input plate, the distance between the output plate and the input plate is shortened, and the precision is influenced; the connection mode of the input plate and the speed reducer of the series elastic driver is defective, the input plate needs to be connected to the speed reducer firstly, then the series elastic driver is assembled, the series elastic driver is very inconvenient in the actual use process, and if the connection is loose, the series elastic driver cannot be screwed down in time.
Disclosure of Invention
The utility model discloses to the technical problem who exists among the prior art, provide a series connection elastic transmission based on flexible hinge spring of integral type, replace traditional pressure spring with flexible hinge spring to through whole processing technology, integrate the part of a plurality of needs assemblies into the part that a whole processing formed, thereby avoid assembly error and clearance, improve structural rigidity and stability, improve the transmission precision.
The utility model adopts the technical proposal that: the utility model provides a series connection elastic transmission based on flexible hinge spring of integral type which characterized by: the input assembly comprises a sliding bearing, an adjusting sleeve, a locking nut, bearings which are installed in pairs and are pre-tightened, an integrated input plate and a central shaft, the output assembly comprises a rolling bearing, a fixing screw, an integrated buffer plate, a flexible hinge spring and an output plate, the buffer plate, the output plate, the sliding bearing, the adjusting sleeve, the locking nut and the bearings which are installed in pairs and pre-tightened are sleeved on the central shaft, the sliding bearing is positioned between the buffer plate and the central shaft, the adjusting sleeve is positioned between the output plate and the bearing, the locking nuts are tightly attached to the bearings which are installed in pairs and are pre-tightened, m tracks are uniformly arranged on the input plate along the circumferential direction, the same positions on the buffer plate are provided with m rolling bearings which are in one-to-one correspondence with the rails, and the rolling bearings are fixed on the buffer plate through the fixing screws.
Preferably, the buffer plate, the flexible hinge spring and the output plate are of an integrated structure and are made of one raw material through cutting processing.
Preferably, the flexible hinge spring has lower axial rigidity than a conventional compression spring and is used for transmitting the forward and backward movement of the buffer plate; meanwhile, the damping device has higher transverse rigidity and torsional rigidity, and can effectively transmit the torque transmitted from the input plate to the buffer plate to the output plate.
Preferably, the flexible hinge spring is formed by connecting n groups (n is more than or equal to 1) of flexible hinges in series, each group of flexible hinges comprises m flexible hinges, the flexible hinges in each group of flexible hinges are uniformly distributed along the circumferential direction of the central shaft, and the included angle between the flexible hinges is 180 degrees/m.
Preferably, each of the flexible hinges is composed of a plate spring and a circular arc-shaped pillar, and the movement is transmitted by elastic deformation of the plate spring.
Preferably, the stiffness of the flexible hinge spring is adjusted by the number of groups of flexible hinges, the thickness of the leaf spring, the spacing of the leaf springs, and the thickness of the upright.
Preferably, m.gtoreq.3.
The working principle is as follows: the series elastic transmission device based on the integrated flexible hinge spring consists of an input assembly and an output assembly, wherein the input assembly is connected with the output assembly through an adjusting sleeve, the screwing depth of the adjusting sleeve on the thread of an output plate is controlled, and the pre-tightening amount of the flexible hinge spring can be adjusted at any time.
The input plate is connected with the output end of the motor or the reducer, and the output plate is connected with the load. The input board is uniformly provided with m (m is more than or equal to 3) tracks along the circumferential direction, the outlines of the tracks are bilaterally symmetrical, and the expansion shapes of the tracks can be oblique lines with round corners or continuous curves such as circular arcs, parabolas, hyperbolas and the like. The same position on the buffer plate is also provided with m rolling bearings which are in one-to-one correspondence with the tracks on the input plate, and the rolling bearings are connected with the buffer plate through fixing screws to form m parallel transmission chains. In a static state, the rolling bearing is positioned at the lowest end of the track, at the moment, the normal direction of the track is coincided with the axial direction of the output shaft, the driving torque is 0, and the input assembly and the output assembly are in a balance position. During the transmission, the rolling bearing on the buffer plate slides along the track on the input plate along with the rotation of the input plate. The normal direction of the track is not coincident with the axial direction of the output shaft except for the balance position, once the rolling bearing leaves the balance position, the rolling bearing is acted by the force along the normal direction of the track and pushes the buffer plate to move backwards to change the deformation amount of the flexible hinge spring, and in this case, the driving torque applied to the output plate is gradually increased, so that the effects of buffering movement and adjusting output torque are achieved.
The input plate and the central shaft are of an integrated structure and are integrally processed by a raw material; the buffer plate, the flexible hinge spring and the output plate are of an integrated structure as well, and are integrally processed from one raw material, so that parts and links for assembly are reduced, and the structure is high in rigidity and good in stability. In the transmission process, relative rotation and axial sliding exist between the buffer plate and the central shaft at the same time, the buffer plate and the central shaft are connected by adopting a sliding bearing, and the two motions are transmitted at the same time, so that the friction is reduced, and the structural rigidity is improved. In the motion process, the rotation of the output plate is inconsistent with that of the input plate due to the buffering effect of the flexible hinge spring, the central shaft is connected with the adjusting sleeve by using bearings (angular contact ball bearings, deep groove ball bearings or tapered roller bearings) which are installed in pairs and pre-tightened, and the input plate and the output plate can rotate relatively in the motion process. The bearings, which are mounted in pairs and preloaded, can keep the distance between the input plate and the output plate constant during movement.
The utility model has a core structure of a buffer board, a flexible hinge spring and an output board which are integrally processed, wherein the working direction of the flexible hinge is axial, and the flexible hinge spring has lower rigidity on the axial direction and is used for transmitting the back and forth movement of the buffer board and storing energy; in the radial direction (transverse direction) and the rotating direction, the flexible hinge spring has high rigidity, the structural rigidity and stability are improved, and the torque transmitted from the input plate to the buffer plate can be effectively transmitted to the output plate.
Compared with the prior art, the utility model discloses the beneficial effect who has is: 1. the transmission precision is high: the integrated flexible hinge spring is used for replacing a conventional pressure spring, has low axial rigidity and high rigidity in the radial direction and the rotating direction, can well transfer motion, and has high structural rigidity and stability;
2. structural rigidity and stability are high: the central shaft and the buffer plate are connected by using a sliding bearing, the adjusting sleeve and the central shaft are connected by using bearings installed in pairs, the buffer plate, the flexible hinge spring and the output plate are integrally processed, the input plate and the central shaft are integrally processed, and the integral rigidity and stability of the structure are improved;
3. the installation and the adjustment are simple: the system consists of an input assembly and an output assembly which are connected through an adjusting sleeve, and the pre-tightening amount of the system is controlled through the threaded connection depth of the sleeve on an output plate.
Drawings
Fig. 1 is a schematic structural diagram of the present invention;
FIG. 2 is a sectional view of the structure of the present invention;
FIG. 3 is a schematic view of a drive chain of the present invention;
FIG. 4 is a cloud of the deformation of the flexible hinge spring under 42N axial force.
In the figure: 1 a-input plate, 1 b-central shaft, 2-rolling bearing, 3-fixing screw, 4-sliding bearing, 5 a-buffer plate, 5 b-flexible hinge spring, 5 c-output plate, 6-adjusting sleeve, 7-locking nut, 8-bearing, 9-track, 10-flexible hinge, 11-plate spring, 12-plate spring upright, 13a, 13 b-track normal direction.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
With reference to fig. 1-2, the utility model relates to a series connection elastic transmission based on flexible hinge spring of integral type, it comprises input assembly and output assembly two parts, and the input assembly includes input board 1a and central axle 1b of integral type, the angular contact ball bearing 8 of installation and pretension in pairs, slide bearing 4, adjusting sleeve 6 and lock nut 7, and the output assembly includes 3 antifriction bearing 2, 3 set screw 3(m 3) and the buffer board 5a of integral type, flexible hinge spring 5b, output board 5 c. The central shaft 1b and the buffer plate 5a are connected through the rolling bearing 2, in the transmission process, the buffer plate 5a can move along the axial direction of the central shaft 1b and rotate around the central shaft 1b, the rolling bearing 2 can be used for simultaneously transmitting the two movements, and the rigidity of the system in the radial direction of the central shaft 1b is ensured in the transmission process. The input assembly is connected with the output assembly through the adjusting sleeve 6, the adjusting sleeve 6 and the output plate 5c are provided with mutually matched threads, the screwing depth of the threads between the adjusting sleeve 6 and the output plate 5c is controlled, and the pre-tightening amount between the output assembly and the input assembly can be adjusted. In the transmission process, due to the buffering of the flexible hinge spring 5b, the movement between the output plate 5c and the input plate 1a is asynchronous, so that the central shaft 1b and the adjusting sleeve 6 are connected by adopting the angular contact ball bearings 8 which are installed in pairs, and the distance between the input plate 1a and the output plate 5c is ensured to be unchanged while the mutual movement between the central shaft 1b and the output plate 5c is transmitted.
With reference to fig. 3, the output of the motor or reducer is connected to the input plate 1a of the system and the load is connected to the output plate 5c of the system. On the input plate 1a, 3 tracks 9 are uniformly designed along the circumferential direction, the tracks 9 are of a symmetrical structure, and the rolling bearing 2 is always in contact with the tracks 9 under the action of a pre-tightening force. During the driving process, the output plate 5c is not directly connected to the input plate 1a, but indirectly connected through a driving chain including the rail 9, the rolling bearing 2, the buffer plate 5a, and the flexible hinge spring 5 b. In the transmission process, the rotation of the input plate 1a and the output plate 5c is not synchronous, the rolling bearing 2 rolls along the track 9 along with the rotation of the input plate 1a, and a torsional moment is generated on the buffer plate 5a due to the fact that the normal directions (13a and 13b) of the track are not coincident with the axial direction of the central shaft 1b, and is transmitted to the output plate 5c through the flexible hinge spring 5b, so that the motion transmission is realized. During the movement of the rolling bearing 2 along the rail 9, the flexible joint springs 5b are compressed by different amounts, so that the drive torque transmitted to the output plate 5c is also different, so that an adjustment of the drive torque is possible.
Referring to fig. 3, the single flexible hinge 10 is composed of a leaf spring 11 and a leaf spring upright 12, which can be formed by wire cutting. During the transmission, the movement is transmitted by the elastic deformation of the leaf spring 11. Every m flexible hinges is a group, and in the present embodiment, there are 3 tracks 9, so that m is 3, that is, every 3 flexible hinges 10 form a group of flexible hinges, and each group of flexible hinges is uniformly distributed along the circumferential direction and spaced 180 °/m is 60 ° apart from each other. In the present invention, the flexible hinge spring 5b is formed of n sets (n is equal to or greater than 1) of flexible hinges, and in this embodiment, n is 2. The stiffness of the flexible hinge spring 5b is affected by the thickness of the leaf spring 11, the spacing of the leaf springs 11, the thickness of the leaf spring upright 12, and the number n of flexible hinge groups.
Referring to fig. 4, the movement of the flexible hinge spring 5b in the axial direction of the center shaft 1b is similar to a conventional compression spring. In the present embodiment, the inner diameter of the flexible hinge spring 5b is 30mm, the outer diameter is 50mm, the thickness of the plate spring 11 is 1mm, the pitch of the plate springs 11 is 2mm, and the thickness of the plate spring column 12 is 1.5 mm. Fig. 4 is a cloud diagram showing the deformation of the flexible hinge spring 5b under the action of 42N external axial force, and it can be seen from the diagram that the maximum deformation is about 0.967mm, the overall equivalent linear stiffness is about 43.43N/mm, and the maximum deformation is about equivalent to 3 conventional compression springs with the stiffness of 14.48N/mm.
To sum up, the utility model discloses a structural design, make full use of integral processing technology, merge a plurality of parts into an organic whole, simplified the assembly link, reduced assembly error and fit-up gap, on this basis, between all elements that produce relative motion, all used antifriction bearing, slide bearing, on the basis of guaranteeing the motion precision, improved the rigidity and the structural stability of system.
The present invention has been described in detail with reference to the embodiments, but the description is only exemplary of the present invention and should not be construed as limiting the scope of the present invention. The protection scope of the present invention is defined by the claims. Technical scheme, or technical personnel in the field are in the utility model technical scheme's inspiration the utility model discloses an essence and protection within range, design similar technical scheme and reach above-mentioned technological effect, perhaps to the impartial change that application scope was made and improve etc. all should still belong to within the protection scope is covered to the patent of the utility model.
Claims (7)
1. The utility model provides a series connection elastic transmission based on flexible hinge spring of integral type which characterized by: the device comprises an input assembly and an output assembly, wherein the input assembly comprises a sliding bearing, an adjusting sleeve, a locking nut, bearings which are installed in pairs and pre-tightened, an integrated input plate and a central shaft, the output assembly comprises a rolling bearing, a fixing screw, an integrated buffer plate, a flexible hinge spring and an output plate, the buffer plate, the output plate, the sliding bearing, the adjusting sleeve, the locking nut and the bearing are sleeved on the central shaft, the sliding bearing is positioned between the buffer plate and the central shaft, the adjusting sleeve is positioned between the output plate and the bearings which are installed in pairs and pre-tightened, the locking nut compresses the bearings which are installed in pairs and pre-tightened, m tracks are uniformly arranged on the input plate along the circumferential direction, m rolling bearings are arranged on the buffer plate, and the rolling bearings correspond to the tracks one to one, the rolling bearing is fixed on the buffer plate through a fixing screw.
2. The tandem elastic actuator device based on an integrated flexible hinge spring as claimed in claim 1, wherein: the buffer plate, the flexible hinge spring and the output plate are of an integrated structure and are made of a raw material through cutting processing.
3. The tandem elastic actuator device based on an integrated flexible hinge spring as claimed in claim 1, wherein: the flexible hinge spring has lower axial rigidity and is used for transmitting the forward and backward movement of the buffer plate; the flexible hinge spring has high transverse stiffness and torsional stiffness, and can effectively transfer the torque transferred from the input plate to the buffer plate to the output plate.
4. The tandem elastic actuator device based on an integrated flexible hinge spring as claimed in claim 1, wherein: the flexible hinge spring is formed by connecting n groups (n is more than or equal to 1) of flexible hinges in series, each group of flexible hinges comprises m flexible hinges, the flexible hinges in each group of flexible hinges are uniformly distributed along the circumferential direction of the central shaft, and the included angle between the flexible hinges is 180 degrees/m.
5. The tandem elastic actuator device based on an integrated flexible hinge spring as claimed in claim 4, wherein: each flexible hinge is composed of a plate spring and a circular arc-shaped upright post, and the movement is transmitted through the elastic deformation of the plate spring.
6. The tandem elastic actuator device based on an integrated flexible hinge spring as claimed in claim 5, wherein: the rigidity of the flexible hinge spring is adjusted through the group number of the flexible hinges, the thickness of the plate spring, the distance between the plate springs and the thickness of the upright post.
7. The tandem elastic transmission device based on an integrated flexible hinge spring as claimed in claim 1 or 4, wherein: m is more than or equal to 3.
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| CN201922028724.8U CN210889866U (en) | 2019-11-22 | 2019-11-22 | Series elastic transmission device based on integrated flexible hinge spring |
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| CN201922028724.8U CN210889866U (en) | 2019-11-22 | 2019-11-22 | Series elastic transmission device based on integrated flexible hinge spring |
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| CN210889866U true CN210889866U (en) | 2020-06-30 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112360924A (en) * | 2021-01-14 | 2021-02-12 | 简俭科技(宁波)有限公司 | Torque suction and discharge device |
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2019
- 2019-11-22 CN CN201922028724.8U patent/CN210889866U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112360924A (en) * | 2021-01-14 | 2021-02-12 | 简俭科技(宁波)有限公司 | Torque suction and discharge device |
| CN112360924B (en) * | 2021-01-14 | 2021-04-09 | 简俭科技(宁波)有限公司 | Torque suction and discharge device |
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