elastic mechanical joint
A mechanical joint, elastic technology, applied to elastic mechanical joints. It can solve the problems of manipulator collision, lack of elasticity of knuckles, injury and other problems
Inactive Publication Date: 2016-08-03
HIWIN TECH
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Problems solved by technology
As far as the traditional humanoid manipulator is concerned, it is designed to grab objects, and each knuckle is pivoted to each other and driven to move in a predetermined degree of freedom. In human interaction, there are obviously still deficiencies in the consideration of interaction safety. The shortcoming is that the knuckles of the manipulator are made of steel materials, and their knuckles are not elastic. When the manipulator is driven, if an object blocks the The manipulator walks the path, and the manipulator will continue to move without other instructions, causing the manipulator to hit objects and cause damage
[0004] For the above situation, for industrial robots on the production line, it is possible to install protective nets to prevent accidents, but it is not applicable to the interaction between humans and robots
Method used
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[0017] Such as figure 1 As shown, the elastic mechanical joint provided by the first preferred embodiment of the present invention mainly includes a first arm 11, a second arm 12, a driving device 13, a moving part 14, an elastic assembly 15 and a Flexible element 16.
[0018] The first arm 11 and the second arm 12 are pivotally connected to each other via a first shaft 17 .
[0019] The driving device 13 is arranged on the first arm 11 for driving objects.
[0020] The moving part 14 is arranged on the driving device 13 and driven by the driving device 13 to move. It should be noted that the driving device 13 can be a servo motor or a rotary cylinder, and the driving device 13 has a rotating shaft 131 . At this time, the moving part 14 is a turntable, which is driven to rotate by being connected to the rotating shaft 131 , and accommodates the flexible element 16 connected to the moving part 14 to make the second arm 12 swing. It is worth mentioning that the driving devic...
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An elastic mechanical joint comprises a first arm in pin joint with a second arm, a driving device arranged on the first arm, a moving piece moving under the driving of the driving device, an elastic assembly and a flexible element, wherein the elastic assembly is provided with a guiding rod, a sliding block and an elastic piece, the guiding rod is provided with a first end and a second end, the first end is fixedly connected to the first arm or the second arm, the second end penetrates through the sliding block, and the elastic piece is arranged between the first end and the second end, and respectively props the first arm or the second arm and the sliding block; one end of the flexible element is connected with the second arm, the other end of the flexible element is connected with the moving piece, and is arranged on the sliding block in a winding manner, when the moving of the second arm is stopped, the flexible element is pulled to push the sliding block to move after overcoming the elastic force of the elastic piece, so as to enable the second arm to swing. Therefore when the second arm is in contact with an object, the second arm is enabled to swing in a way that the flexible element overcomes the elastic force of the elastic piece, so as to avoid the damage to objects.
Description
technical field [0001] The present invention relates to mechanical joints, in particular to an elastic mechanical joint. Background technique [0002] With the vigorous development of the robot industry, the opportunities for people to face robots or the opportunities for robots to assist and replace people's work have increased a lot. Handle business. [0003] At the same time, the importance of safe interaction between humans and robots has become very important because of the increased opportunities for people to come into contact with robots. As far as the traditional humanoid manipulator is concerned, it is designed to grab objects, and each knuckle is pivoted to each other and driven to move in a predetermined degree of freedom. In human interaction, there are obviously still deficiencies in the consideration of interaction safety. The shortcoming is that the knuckles of the manipulator are made of steel materials, and their knuckles are not elastic. When the manipul...
Claims
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IPC IPC(8): B25J17/02
Inventor 黄汉邦周立芃
Owner HIWIN TECH