Parabolic side plate spring framework smooth joint

Abstract

The invention relates to a parabolic side plate spring framework smooth joint and belongs to the technical field of robot and manipulator application. A plate spring with a variable cross section is adopted for the joint to serve as a framework, the joint can be bent through fluid driving, and the joint can be used as various joints of a robot. When gas is inflated into an elastic corrugated pipe, the elastic corrugated pipe extends and is bent to one side of the plate spring under the constraint of the plate spring; when the gas in the elastic corrugated pipe is released, the joint returns to the unbending state under the action of the plate spring. By controlling the pressure in the elastic corrugated pipe, a certain angle can be kept for bending of the joint. The elastic corrugated pipe is very good in smoothness, the plate spring is very good in elasticity, and therefore the joint is very smooth. Due to the improvement of the cross section of the plate spring, the bending space can be increased, the strength requirement can be met, flexibility can be increased, and plate spring materials can be saved. The joint is flexible in action, small in energy consumption and convenient to control and has a very good flexibility self-adaption function.

Description

Technical field: [0001] The present invention relates to a flexible joint of a parabolic edge leaf spring skeleton, which is the subject of a patent application (name of invention: variable cross-section and special-shaped leaf spring skeleton flexible joint, application number: 201110406737.X, application date: December 09, 2011) Divisional application. This curved joint has good flexibility and controllability, and can be used as various joints of robots, especially for flexible mechanical fingers composed of multiple curved joints. As the actuator of automation equipment, it belongs to the application technology of robots and manipulators. field. Background technique: [0002] Before the present invention, the bending joints of robots were mostly driven by motors, which had good static stiffness and high control precision, but required complex deceleration devices, which were relatively large in size and not flexible enough; some were driven by pneumatic cylinders or hyd...

AI Technical Summary

Problems solved by technology

Disadvantages: (1) Joint action space is small, and its bending angle is greatly restricted

(2) The force of the leaf spring is uneven. Using a general equal-section leaf spring will not only increase the deformation resistance and waste energy, but also increase the weight of the joint and waste materials.

(3) poor flexibility

The superiority of flexibility is reflected in reducing assembly time, simplifying the manufacturing process, improving precision, increasing reliability, reducing maintenance, and reducing quality. This patent has many parts and lacks necessary positioning measures. The bellows are connected by clamps, which is reliable Low reliability and troublesome replacement, which is not conducive to maintenance

(4) Dynamic response needs to be improved

Generally, the plate spring with equal cross-section has a large resistance when it starts to bend from a straight state, and requires a large pressure to start to move. Moreover, the overall mass of the joint is large and the inertia is large, so the dynamic response needs to be improved.

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