WO2013155808A1 - 一种适用于机器人关节的平面扭簧 - Google Patents

一种适用于机器人关节的平面扭簧 Download PDF

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Publication number
WO2013155808A1
WO2013155808A1 PCT/CN2012/079317 CN2012079317W WO2013155808A1 WO 2013155808 A1 WO2013155808 A1 WO 2013155808A1 CN 2012079317 W CN2012079317 W CN 2012079317W WO 2013155808 A1 WO2013155808 A1 WO 2013155808A1
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WO
WIPO (PCT)
Prior art keywords
torsion spring
circular slot
ring
inner ring
circular hole
Prior art date
Application number
PCT/CN2012/079317
Other languages
English (en)
French (fr)
Inventor
朱秋国
熊蓉
褚健
Original Assignee
浙江大学
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by 浙江大学 filed Critical 浙江大学
Priority to US14/056,866 priority Critical patent/US9086101B2/en
Publication of WO2013155808A1 publication Critical patent/WO2013155808A1/zh

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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
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D3/00—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive
    • F16D3/50—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members
    • F16D3/64—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members comprising elastic elements arranged between substantially-radial walls of both coupling parts
    • F16D3/68—Yielding couplings, i.e. with means permitting movement between the connected parts during the drive with the coupling parts connected by one or more intermediate members comprising elastic elements arranged between substantially-radial walls of both coupling parts the elements being made of rubber or similar material
    • 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
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0091—Shock absorbers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0015—Flexure members, i.e. parts of manipulators having a narrowed section allowing articulation by flexion
    • 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
    • F16F1/00—Springs
    • F16F1/02—Springs made of steel or other material having low internal friction; Wound, torsion, leaf, cup, ring or the like springs, the material of the spring not being relevant
    • F16F1/025—Springs made of steel or other material having low internal friction; Wound, torsion, leaf, cup, ring or the like springs, the material of the spring not being relevant characterised by having a particular shape
    • F16F1/027—Planar, e.g. in sheet form; leaf springs

Definitions

  • the invention belongs to the field of robot technology and relates to a plane torsion spring suitable for a robot joint.
  • Robot joints are an important part of the robot system and directly affect the overall performance of the robot system.
  • the relationship between robots and humans has become closer and closer. Whether or not robot systems and humans and the environment have good interactivity has become a hot spot of concern.
  • the joint design mainly adopts a rigid design method, and uses a motor, a speed reducer, etc. as a driving unit of the robot joint.
  • This joint design lacks a flexible unit that makes the robot book
  • the joint is easily damaged by external impact, which directly affects the normal operation of the robot.
  • people have begun to pay attention to the design method of flexible joints, and proposed a flexible joint design with force/torque sensor and a series of elastic drive joint design methods, so that the robot can avoid the impact of external impact on the joints, and for robots and people. Interaction with the environment creates good conditions.
  • the flexible joint based on the force/torque sensor is not flexible because of its own characteristics.
  • the performance against external impact is not optimal.
  • the joints based on series elastic drive have good impact and force sensing performance, but most joints are used. With traditional coil springs, it is difficult to design joints that are small in space, light in weight, and compact.
  • the invention provides a plane torsion spring suitable for a robot joint, which is embedded in a robot joint, and solves the problem of safe interaction between the robot and the human and the environment. At the same time, the problem that the traditional spring takes up a large space and the structure is loose is solved.
  • the invention changes the traditional torsion spring mode and is suitable for upgrading existing robots and mechanical arm joints, and helps to promote the replacement of the robot.
  • a planar torsion spring suitable for a robot joint which is mainly composed of a torsion spring outer ring, a torsion spring inner ring and a plurality of elastic bodies; the elastic body is evenly distributed along the circumference.
  • each elastic body is composed of two symmetric elastic units, each of which includes an outer circular hole groove, an inner circular hole groove and a connecting beam; Between the ring and the inner circular groove, between the inner circular groove and the outer circular groove, and between the outer circular groove and the torsion spring outer ring are connected by the connecting beam; the outer ring of the torsion spring is evenly distributed with a plurality of outer ring screw holes ; A number of inner ring apertures are evenly distributed on the inner ring of the torsion spring.
  • the beneficial effect of the invention is that the torsion spring inner ring of the planar torsion spring of the invention elastically deforms the inner circular hole groove through the connecting beam when rotating, and the inner circular hole groove then elastically deforms the outer circular hole groove through the connecting beam.
  • the large-angle deformation of the torsion spring is realized by the series elastic deformation of the inner circular hole groove and the outer circular hole groove.
  • increasing the wall thickness of the inner circular hole and the outer circular groove increasing the width of the connecting beam can increase the elasticity of the torsion spring; the elasticity of the torsion spring can also be improved by increasing the number of circumferentially distributed elastic bodies.
  • the planar torsion spring of the invention makes the joints more flexible, the structure is more compact, the design is more flexible, and the design mode of the traditional torsion spring is changed, which is suitable for the robot and the mechanical arm joint.
  • Figure 1 is a perspective view of a planar torsion spring
  • Figure 2 is a plan view of a planar torsion spring
  • the planar torsion spring 1 of the present invention is composed of a torsion spring outer ring 2, a torsion spring inner ring 3 and a plurality of elastic bodies.
  • the elastic body is evenly distributed along the circumference, and the two ends are respectively connected to the torsion spring outer ring 2 and twisted.
  • Each of the elastic bodies is composed of two symmetrical elastic units, each of which includes an outer circular hole groove 6, an inner circular hole groove 7 and a connecting beam 8, between the torsion spring inner ring 3 and the inner circular hole groove 7,
  • the inner circular hole groove 7 and the outer circular hole groove 6 and between the outer circular hole groove 6 and the torsion spring outer ring 2 are connected by a connecting beam 8.
  • the torsion spring outer ring 2 is evenly distributed with a plurality of outer ring screw holes 5 to achieve connection with the joint load.
  • a plurality of inner ring apertures 4 are evenly distributed on the torsion spring inner ring 3 to achieve connection with the joint input.
  • the number of elastomers is three, but in actual production, the number of elastic bodies can be adjusted according to the magnitude of the elastic force.
  • the working process of the present invention is as follows:
  • the torsion spring inner ring 3 of the planar torsion spring 1 elastically deforms the inner circular hole groove 7 through the connecting beam 8 when rotating, and the inner circular hole groove 7 then drives the outer circular hole groove 6 through the connecting beam 8.
  • Elastic deformation occurs, and the large-angle deformation of the torsion spring is realized by the joint elastic deformation of the inner circular hole groove 7 and the outer circular hole groove 6.
  • the joint input rotational flexibility connected to the torsion spring inner ring 3 is transmitted to the joint load connected to the torsion spring outer ring 2.
  • the flat torsion spring of the present invention provides flexibility to the joint, a more compact structure, and a more flexible design, which changes the design mode of the conventional torsion spring and is suitable for use in robot and robot arm joints.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Springs (AREA)
  • Manipulator (AREA)

Abstract

一种适用于机器人关节的平面扭簧，主要由扭簧外圈（2）、扭簧内圈（3）和若干弹性体等组成；弹性体沿圆周均匀分布，两端分别连接扭簧外圈（2）和扭簧内圈（3）；每个弹性体由对称的两个弹性体单元组成，每个弹性体单元包括外圆孔槽（6）、内圆孔槽（7）和连接梁（8）；扭簧内圈（3）和内圆孔槽（7）之间、内圆孔槽（7）和外圆孔槽（6）之间以及外圆孔槽（6）和扭簧外圈（2）之间均由连接梁（8）连接；扭簧内圈（3）在转动时通过连接梁（8）带动内圆孔槽（7）发生弹性变形，内圆孔槽（7）继而通过连接梁（8）带动外圆孔槽（6）发生弹性变形；通过内圆孔槽（7）和外圆孔槽（6）的串联弹性变形，实现了扭簧的大角度变形；由此关节具备了柔顺性，结构更加紧凑，设计更加灵活，适合应用于机器人和机械臂关节。

Description

一种适用于机器人关节的平面扭簧
技术领域
本发明属于机器人技术领域， 涉及一种适用于机器人关节的平面扭簧。 技术背景
机器人关节是机器人系统的重要组成部分， 直接影响机器人系统的综合性 能。 近些年来， 随着服务机器人的迅速发展， 机器人与人类的关系越来越紧密， 机器人系统与人和环境之间是否具说有良好的交互性成了人们关注的一个热点。
传统的机器人设计中， 关节设计主要采用刚性的设计方法， 采用电机、 减 速器等作为机器人关节的驱动单元。 这种关节设计缺乏柔性单元， 使得机器人 书
关节容易受到外部冲击而损坏， 直接影响了机器人的正常运行。 近些年来， 人 们开始关注柔性关节的设计方法， 提出了具有力 /力矩传感器的柔性关节设计和 串联弹性驱动关节设计等方法， 使得机器人可以避免外部冲击对执行关节的影 响， 并为机器人与人和环境的交互创造良好的条件。 然而， 基于力 /力矩传感器 的柔性关节是因为本身并不具备柔性的特点， 抗外部冲击的性能并非最佳， 基 于串联弹性驱动的关节具有良好的抗冲击和力感知性能， 但大部分关节采用了 传统的螺旋弹簧， 很难设计出空间小、 重量轻和结构紧凑的关节。 哈尔滨工程 大学王立权等人开发了专利号 CN102152319A弹性驱动转动关节、 CN101318331 双串联弹性驱动器等驱动关节， 也均采用了传统的螺旋弹簧。 目前国内还尚未 开发出适用于机器人关节的平面扭簧。
发明内容
本发明提供了一种适用于机器人关节的平面扭簧， 嵌入至机器人关节中， 解决了机器人与人和环境安全交互问题。 同时， 解决了传统弹簧占用空间大， 结构松散等问题。 本发明改变了传统的扭簧模式， 适用于升级现有机器人和机 械臂关节， 有助于促进机器人的更新换代。
本发明的额目的是通过以下技术方案来实现的： 一种适用于机器人关节的 平面扭簧， 它主要由扭簧外圈、 扭簧内圈和若干弹性体组成； 弹性体沿圆周均 匀分布， 两端分别连接扭簧外圈和扭簧内圈； 每个弹性体由对称的两个弹性体 单元组成， 每个弹性体单元包括外圆孔槽、 内圆孔槽和连接梁； 扭簧内圈和内 圆孔槽之间、 内圆孔槽和外圆孔槽之间以及外圆孔槽和扭簧外圈之间均由连接 梁连接； 扭簧外圈上均匀分布若干外圈螺孔； 扭簧内圈上均匀分布若干内圈光 孔。 本发明的有益效果是， 本发明平面扭簧的扭簧内圈在转动时通过连接梁带 动内圆孔槽发生弹性变形， 内圆孔槽继而通过连接梁带动外圆孔槽发生弹性变 形。 通过内圆孔槽和外圆孔槽的串联弹性变形， 实现了扭簧的大角度变形。 通 过增加内圆孔材和外圆孔槽的壁厚， 增加连接梁的宽度可提高扭簧的弹性； 通 过增加圆周分布弹性体的数量也可提高扭簧的弹性。 本发明的平面扭簧使得关 节具备了柔顺性， 结构更加紧凑， 设计更加灵活， 改变了传统扭簧的设计模式， 适合应用于机器人和机械臂关节。
附图说明
图 1是平面扭簧的立体图；
图 2是平面扭簧的平面图；
图中， 平面扭簧 1、 扭簧外圈 2、 扭簧内圈 3、 内圈光孔 4、 外圈螺孔 5、 外 圆孔槽 6、 内圆孔槽 7、 连接梁 8。
具体实施方式
以下结合附图进一步说明本发明。
如图 1和 2所示， 本发明平面扭簧 1由扭簧外圈 2、 扭簧内圈 3和若干弹性 体组成， 弹性体沿圆周均匀分布， 两端分别连接扭簧外圈 2和扭簧内圈 3。 每个 弹性体由对称的两个弹性体单元组成， 每个弹性体单元包括外圆孔槽 6、 内圆孔 槽 7和连接梁 8， 扭簧内圈 3和内圆孔槽 7之间、 内圆孔槽 7和外圆孔槽 6之间 以及外圆孔槽 6和扭簧外圈 2之间均由连接梁 8连接。 扭簧外圈 2上均匀分布 若干外圈螺孔 5， 实现与关节负载的连接。扭簧内圈 3上均匀分布若干内圈光孔 4， 实现与关节输入的连接。
图中， 弹性体数目为 3个， 但在实际生产过程中， 可以根据弹性力的大小 调整弹性体的数目。
本发明的工作过程如下： 平面扭簧 1 的扭簧内圈 3在转动时通过连接梁 8 带动内圆孔槽 7发生弹性变形， 内圆孔槽 7继而通过连接梁 8带动外圆孔槽 6 发生弹性变形， 通过内圆孔槽 7和外圆孔槽 6的联级弹性变形， 实现了扭簧的 大角度变形。从而将与扭簧内圈 3连接的关节输入转动柔性传递到与扭簧外圈 2 连接的关节负载上。
通过增加内圆孔槽 7和外圆孔槽 6的壁厚， 增加连接梁 8的宽度可提高扭 簧的弹性； 通过增加圆周分布弹性体的数量也可提高扭簧的弹性。 本发明的平 面扭簧使得关节具备了柔顺性， 结构更加紧凑， 设计更加灵活， 改变了传统扭 簧的设计模式， 适合应用于机器人和机械臂关节。

Claims

权 利 要 求 书
1、 一种平面扭簧， 其特征在于， 它主要由扭簧外圈 （2)、 扭簧内圈 （3 ) 和若 干弹性体组成； 弹性体沿圆周均匀分布， 两端分别连接扭簧外圈 （2) 和扭簧内 圈 （3 ); 每个弹性体由对称的两个弹性体单元组成， 每个弹性体单元包括外圆 孔槽（6)、 内圆孔槽 （7 )和连接梁 （8); 扭簧内圈 （3 )和内圆孔槽 （7)之间、 内圆孔槽 （7) 和外圆孔槽 （6) 之间以及外圆孔槽 （6) 和扭簧外圈 （2) 之间 均由连接梁 （8) 连接； 扭簧外圈 （2) 上均匀分布若干外圈螺孔 （5 ); 扭簧内 圈 （3 ) 上均匀分布若干内圈光孔 （4)。
PCT/CN2012/079317 2012-04-17 2012-07-30 一种适用于机器人关节的平面扭簧 WO2013155808A1 (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US14/056,866 US9086101B2 (en) 2012-04-17 2013-10-17 Planar torsion spring for robot joint

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201210112069.4A CN102632508B (zh) 2012-04-17 2012-04-17 一种适用于机器人关节的平面扭簧
CN201210112069.4 2012-04-17

Related Child Applications (1)

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US14/056,866 Continuation US9086101B2 (en) 2012-04-17 2013-10-17 Planar torsion spring for robot joint

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