Plane torsion spring device with fault detection and parameter correcting functions

Abstract

The invention discloses a plane torsion spring device with fault detection and parameter correcting functions. The plane torsion spring device is composed of a plane torsion spring, a fault detection circuit and a torque sensor. According to the plane torsion spring device with the fault detection and parameter correcting functions, advantages of various plane springs are fully used, fault detection is carried out on elastic bodies through connection and disconnection between a detection fixing ring and installation rings, the service life of the elastic bodies can be effectively judged, bases are provided for improving the design and machining technology, the iterative development period can be easily shortened, and observation and analysis of the design quality of the plane torsion springs can be improved; changes of the elastic coefficient of the elastic bodies can be compensated and corrected in real time through the accurate torque detection of the torque sensor so that the performance of controlling the torque can be improved; in order to reduce cost, the torque senor can be removed in joint design, and one torque senor can be used for correcting all joints in regular inspection. The plane torsion spring device is simple in structure and suitable for joints of various robots and mechanical arms.

Description

technical field [0001] The invention belongs to the technical field of robots and relates to a planar torsion spring device with functions of fault detection and parameter correction. Background technique [0002] With the development of robot technology, the robot industry has developed rapidly and will have a positive and far-reaching impact on people's production and life in the fields of intelligent manufacturing, medical care, service and military. Bill Gates once predicted that robots are experiencing "PC-style development" and that every family will have robots in the future. Therefore, in the future, service robots in human-computer interaction and collaborative work environments such as home environments, medical services, and intelligent manufacturing will have broader application requirements and commercial prospects. From a technical point of view, an important problem that needs to be solved urgently to achieve this goal is the safe interaction of robots with h...

AI Technical Summary

Problems solved by technology

However, no matter which design form the planar torsion spring adopts, it still has the following two problems: (1) The elastic body (or elastic beam) of the planar torsion spring is prone to material fatigue and fracture due to repeated alternating stress; (2) The elastic coefficient of the elastic body (or elastic beam) of the plane torsion spring changes with the use time. Combined with the control principle of the SEA joint, if the elastic coefficient changes, the torque output at the same angle of rotation will also change. changes, such as failing to perform parameter correction,

At present, there are no relevant research results and devices for this problem.

Images