Soft and elastic joint based on Achimedean spiral elastomers

A technology of Archimedes spiral and elastic body, which is applied in the direction of manipulators, manufacturing tools, joints, etc., can solve the problems of large space occupied by joints, damage to robots and human bodies, and loose structures, and achieve precise transmission, compact structure, and small size. variable effect

Inactive Publication Date: 2015-11-25
JIANGSU UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The technical problem of the present invention is: the flexible and elastic joint based on the Archimedes spiral elastic body provided by the present invention makes the joints of the rehabilitation robot have flexibility in both forward and reverse directions, and solves ...

Method used

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  • Soft and elastic joint based on Achimedean spiral elastomers
  • Soft and elastic joint based on Achimedean spiral elastomers
  • Soft and elastic joint based on Achimedean spiral elastomers

Examples

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Effect test

Embodiment 1

[0025] Such as Figure 1-2 As shown, a flexible elastic joint based on Archimedes spiral elastic body involved in the present invention includes input shaft 1, first one-way bearing 2, elastic body one 3, elastic body two 4, second one-way bearing 5. Long pin one 6, long pin two 7, sleeve 8, output shaft 9 and flange 10.

[0026] Such as image 3 As shown, one end of the input shaft 1 is provided with a keyway for connecting the driving unit such as a motor or a reducer, and the other end is provided with two symmetrical long keyways for connecting the first one-way bearing 2, the elastic body 3, the elastic Body two 4 and the second one-way bearing 5 have a groove respectively on the left and right sides of the displacement long keyway, which is used for the positioning of the jump spring.

[0027] Such as Figure 4 As shown, elastic body 1 3 and elastic body 2 4 are made of spring steel and other elastic materials, and there are two key grooves on the inner hole wall, whi...

Embodiment 2

[0031] The test uses a motor as the power input end of the flexible joint of the present invention, an angular velocity sensor is installed on the output shaft 9, and then the motor is turned on to collect angular velocity data, and the collected data can be sorted to obtain Figure 6 . Depend on Figure 6 It can be obtained that the output shaft does not rotate immediately after the motor is energized, but starts to rotate slowly after about 0.2s, and the speed stabilizes after about 1.2s. The flexible elastic joint of the elastomer has good flexibility output.

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Abstract

The invention relates to a soft and elastic joint based on Achimedean spiral elastomers. The soft and elastic joint comprises an input shaft, a first one-way bearing, the elastomers, a second one-way bearing, long pins, a sleeve, an output shaft and a flange plate. The soft and elastic joint is applied to a joint of a rehabilitation robot, so that softness and elasticity are achieved in the positive rotation process and negative rotation process of the joint of the rehabilitation robot; the problem that rigid shock is generated to the rehabilitation robot and a person due to external load is solved, and the risks that the robot is damaged and the human body is injured are avoided. Meanwhile, the problems that a joint of a traditional robot is large in occupied space, loose in structure and the like are solved. By means of the soft and elastic joint based on the Achimedean spiral elastomers, the joint mode of the traditional robot is changed, and the soft and elastic joint is suitable for updating the existing rehabilitation robot and a robotic arm joint and beneficial for the upgrading of robots.

Description

technical field [0001] The invention relates to a transmission device with flexible and elastic requirements for driving torque, which is especially applied in the driving field of medical rehabilitation robots. Background technique [0002] In order to efficiently and cost-effectively solve the social problem of rehabilitation treatment for patients with upper limb central nervous movement disorders caused by stroke, traumatic brain injury and other causes, many experts and scholars at home and abroad are designing devices for upper limb rehabilitation, and gradually Replace traditional physician treatment. [0003] In the traditional design of rehabilitation robots, rehabilitation robots have one thing in common: the design of each joint of the robot mainly adopts a rigid design method, and the motor, reducer, etc. are used as the driving unit for the shutdown of the robot. This joint design lacks flexible and elastic units, and the large impact not only makes the joints ...

Claims

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Application Information

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IPC IPC(8): B25J17/00
Inventor 杨启志汪志焕宋俊朋赵金海卢青马新坡
Owner JIANGSU UNIV
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