Planar torsion spring suitable for robot joints

Abstract

The invention discloses a planar torsion spring suitable for robot joints mainly comprising an outer ring of torsion spring, an inner ring of torsion spring and a plurality of elastomers; the elastomers are uniformly distributed along a circumference, and the two ends of the elastomers are respectively connected with the outer ring of torsion spring and the inner ring of torsion spring; each elastomer is composed of two symmetrical elastomer units, and each elastomer unit comprises an excircle hole slot, an inner circle hole slot and connecting beams; the inner ring of torsion spring is connected with the inner circle hole slot through the connecting beam, the inner circle hole slot is connected with the excircle hole slot through the connecting beam, and the excircle hole slot is connected with the outer ring of torsion spring through the connecting beam; the inner ring of torsion spring of the planar torsion spring drives the inner circle hole slot to generate elastic deformation through the connecting beam during the rotation process, and the inner circle hole slot drives the excircle hole slot to generate elastic deformation through the connecting beam; the serial elastic deformation of the inner circle hole slot and the excircle hole slot realizes the large angle deformation of the torsion spring; and the planar torsion spring disclosed by the invention guarantees joint flexibility, more compact structure and more flexible design, so that the planar torsion spring is fit for robots and mechanical arm joints.

Description

technical field [0001] The invention belongs to the technical field of robots and relates to a plane torsion spring suitable for robot joints. Background technique [0002] The robot joint is an important part of the robot system, which directly affects the overall performance of the robot system. In recent years, with the rapid development of service robots, the relationship between robots and humans has become closer and closer. Whether the robot system has good interaction with humans and the environment has become a hot spot that people pay attention to. [0003] In the traditional robot design, the joint design mainly adopts the rigid design method, and the motor, reducer, etc. are used as the driving unit of the robot joint. This joint design lacks flexible units, making the robot joints vulnerable to external impact damage, which directly affects the normal operation of the robot. In recent years, people have begun to pay attention to the design methods of flexible ...

AI Technical Summary

Problems solved by technology

[0004] The invention provides a planar torsion spring suitable for robot joints, which is embedded in the robot joints and solves the problem of safe interaction between robots, humans and the environment

At the same time, it solves the problems of traditional springs occupying a large space and loose structure.

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