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Large-output-force robot flexible energy-storing joint based on gravity energy storing

A technology of gravity energy storage and large output, which is applied in the direction of manipulators, manufacturing tools, joints, etc., can solve the problems of large occupied volume, uncompact structure, unfavorable joint force output control and position control, etc., and achieves strong structural load-bearing capacity and structural compact effect

Active Publication Date: 2015-07-08
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the existing serial elastic actuators used for robot joints are linear force output, the structure is not compact, the volume is large, the power required by the motor is large, and it is not conducive to the precise force output control and position control of the joints. problem, and then provide a flexible energy storage joint of a large output robot based on gravity energy storage

Method used

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  • Large-output-force robot flexible energy-storing joint based on gravity energy storing
  • Large-output-force robot flexible energy-storing joint based on gravity energy storing
  • Large-output-force robot flexible energy-storing joint based on gravity energy storing

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specific Embodiment approach 1

[0018] Specific implementation mode one: combine Figure 1-Figure 6 Describe this embodiment, a flexible energy storage joint of a large-output robot based on gravity energy storage in this embodiment includes an upper limb connecting plate 1, an upper limb motor casing 2, a joint gearbox 3, a lower limb connecting plate 4, a lower limb support 5, and a reducer 7. Resolver 13, motor 8 with encoder, series elastic body 16 and torsion spring 24;

[0019] The joint gearbox 3 includes a housing 30, the third bevel gear 9, the fourth bevel gear 23, the first bevel gear 25, the second bevel gear 17 and the joint shaft 14; the housing 30 is connected with the upper limb connecting plate 1, and the upper limb The motor casing 2 is installed on the upper limb connecting plate 1, the casing 30 and the upper limb motor casing 2 cover the motor 8 with the encoder and the reducer 7, the motor 8 with the encoder is connected with the reducer 7, and the reducer 7 A third bevel gear 9 is ins...

specific Embodiment approach 2

[0022] Specific implementation mode two: combination image 3 with Figure 4 This embodiment will be described. The speed reducer 7 in this embodiment is a planetary speed reducer. Such setting has the advantages of small size, large output torque, high efficiency and safe and reliable performance. Others are the same as in the first embodiment.

specific Embodiment approach 3

[0023] Specific implementation mode three: combination Figure 4-Figure 6 To illustrate this embodiment, the outer ring of the concentric inner and outer double ring body 16-1 in this embodiment is processed with a plurality of grooves 16-3, and the lower limb connecting plate 4 is processed with protrusions 4-1 corresponding to the number of grooves , the protrusion 4-1 is engaged in the corresponding groove 16-3. In this way, the outer ring of the series elastic body 16 and the lower limb connecting plate 4 transmit torque through the joint connection of the protrusion and the groove, the structure is more compact, and the flexible deformation is good. Others are the same as in the first or second embodiment.

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Abstract

The invention discloses a large-output-force robot flexible energy-storing joint based on gravity energy storing and relates to a flexible driving device used for a robot. The large-output-force robot flexible energy-storing joint based on gravity energy storing aims to solve the problems that due to the linear type force output of an existing series elastic actuator of a robot joint, the structure is not compact, occupied space is large, power required by a motor is large, and accurate force output control and accurate position control of the joint are not facilitated. The large-output-force robot flexible energy-storing joint based on gravity energy storing comprises an upper limb connecting plate, an upper limb motor shell, a joint gearbox, a lower limb connecting plate, a lower limb support, a speed reducer, a rotary transformer, a motor provided with an encoder, an series elastic body and a torsion spring, wherein the joint gearbox comprises a shell body, a third bevel gear, a fourth bevel gear, a first bevel gear, a second bevel gear and a joint shaft, the series elastic body comprises an inner ring body, an outer ring body and at least four groups of wavy clips, the inner ring body and the outer ring body are concentric, and the at least four groups of wavy clips which are integrated are connected between the inner circle and the outer circle of the inner ring body in the circumferential direction and between the inner circle and the outer circle of the outer ring body in the circumferential direction. The large-output-force robot flexible energy-storing joint based on gravity energy storing is applied to the field of robots.

Description

technical field [0001] The invention relates to a flexible driving device for a robot, in particular to a flexible energy storage joint for a robot. Background technique [0002] Joint bionic drive technology has become an important research direction in the field of robotics, and as a force output drive device with flexible drive and bionic drive capabilities, the design of flexible joints based on series-parallel theory has gradually emerged. Based on the research on the macroscopic mechanical properties of skeletal muscle, it is particularly important to design a high-efficiency elastic energy storage drive unit that simulates the physiological performance of muscles. The traditional series elastic actuator (Series Elastic Actuator, SEA) has been widely used in the fields of walking robots, rehabilitation robots, mechanical exoskeletons, and medical aids. It has high power / weight ratio, natural compliance, and biological muscle-like The advantages of mechanical propertie...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00
Inventor 朱延河赵杰张超
Owner HARBIN INST OF TECH
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