Flexible parabola-shaped abnormal plate spring framework joint

Abstract

The invention relates to a flexible parabola-shaped abnormal plate spring framework joint, and belongs to the technical field of application of robots and mechanical arms. According to the joint, an abnormal plate spring is used as a framework, the joint is bent through the drive of fluid, and the joint can be used as various joints of a robot. When an elastic corrugated pipe is inflated, the elastic corrugated pipe extends and is restrained by the plate spring to be bent towards one side of the plate spring. When gas in the elastic corrugated pipe is released, the joint is restored to be in an extension state under the effect of the plate spring. The pressure in the elastic corrugated pipe is controlled to enable the joint to be bent and to be kept at a certain angle. The elastic corrugated pipe has good flexibility, the plate spring has good elasticity, and therefore the joint has good flexibility. Through the improvement of the cross section of the plate spring, the bending space can be increased, the strength demand can be met, the flexibility is improved, and plate spring materials are saved. The flexible parabola-shaped abnormal plate spring framework joint is flexible in bending action, small in energy consumption, convenient to control and has a good flexible adaptability effect.

Description

Technical field: [0001] The present invention relates to a parabolic special-shaped leaf spring frame compliance joint, which is a patent application (invention name: variable cross-section and special-shaped leaf spring skeleton compliance 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 hydraulic cylin...

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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