Moment-measuring compact metallic rubber elastic element of flexible robot joint

Abstract

The invention discloses a moment-measuring compact metallic rubber elastic element of a flexible robot joint, and relates to a passive damping elastic element. The moment-measuring compact metallic rubber elastic element is used for solving the problems that active vibration control adopted for suppressing flexible robot vibration at present is poor in reliability, when semi-active control is adopted, control elements such as motors need to be additionally arranged, thus, the size is large, the structure is complex, passive damping elastic elements made from common rubber materials are unstable in performance and limited in service life, and passive damping elastic elements of the design with metallic rubber only without strain gages cannot accurately estimate moment. A plurality of resistance strain gages are mounted on an outer ring basic body, an inner ring basic body is buckled to the outer ring basic body, a plurality of metallic rubber sheets are mounted in a regional space defined by the outer ring basic body and the inner ring basic body after buckling, and a baffle is mounted on the outer ring basic body in a covering mode. The joint driver for the flexible robot joint hasboth the moment sensing function and the passive damping function.

Description

technical field

[0001] The invention relates to a rotation-type vibration-damping elastic element, in particular to a passive vibration-damping elastic element integrated with torque sensing and vibration-damping characteristics used on a joint of a flexible robot, and belongs to the field of robots. Background technique

[0002] With the continuous expansion of robot application fields, more and more robots are out of the isolation room and working in the environment where humans exist, which puts forward high requirements for the safety of robot operation. In order to ensure the safety of human beings, soft robots using serial elastic actuators are coming out continuously. By connecting flexible components such as torsion springs in series between the output end of the motor reducer of the robot joint and the load, the output impedance of the robot is reduced and the safety of the robot is improved. However, the improvement of the flexibility of the robot joints makes the...

Examples

specific Embodiment approach 1

[0022] Specific implementation mode one: combine Figure 1 to Figure 2 Describe this embodiment, the compact metal rubber elastic element capable of measuring torque on the flexible robot joint of this embodiment, it includes outer ring basic body 1, inner ring basic body 2, baffle plate 5, a plurality of resistive strain gauges 4 and A plurality of metal rubber sheets 3, a plurality of resistive strain gauges 4 are installed on the outer ring basic body 1, an inner ring basic body 2 is buckled on the outer ring basic body 1, and a plurality of metal rubber sheets 3 are installed on the outer ring basic body 1 and the inner ring basic body 1. In the area enclosed by the ring basic body 2 after fastening, the baffle plate 5 is covered on the outer ring basic body 1 .

[0023] This embodiment adopts a disc-shaped design structurally.

[0024] A plurality of resistive strain gauges 4 in this embodiment are pasted on the outer ring basic body 1 by laser welding technology. The i...

specific Embodiment approach 2

[0025] Specific implementation mode two: combination Figure 1 to Figure 2 To illustrate this embodiment, the outer ring basic body 1 of this embodiment includes an outer ring 1-1, two strain beams 1-2 and two outer ring baffles 1-3, and the two strain beams 1-2 are installed on the outer ring 1 On the inner side wall of -1, an outer ring baffle 1-3 is installed on each strain beam 1-2. Such arrangement has a simple structure and is convenient for saving space. Other compositions and connections are the same as in the first embodiment.

[0026] In this embodiment, the outer ring 1-1, the two strain beams 1-2 and the two outer ring baffles 1-3 are integrated. The structure is simple and convenient for production and manufacture.

[0027] The outer ring baffle 1-3 of this embodiment is a groove-shaped baffle, which wraps the strain beam 1-2, and at the same time, the two sides of the outer ring baffle 1-3 can limit and squeeze the metal rubber sheet 3. Due to the pressing ef...

specific Embodiment approach 3

[0028] Specific implementation mode three: combination Figure 1 to Figure 2 The present embodiment is described, and the two strain beams 1-2 of the present embodiment are mounted symmetrically on the inner side wall of the outer ring 1-1. Such setting makes it easy to measure the torque of the robot joints. Other compositions and connections are the same as those in the second embodiment.

technical field

[0001] The invention relates to a rotation-type vibration-damping elastic element, in particular to a passive vibration-damping elastic element integrated with torque sensing and vibration-damping characteristics used on a joint of a flexible robot, and belongs to the field of robots. Background technique

[0002] With the continuous expansion of robot application fields, more and more robots are out of the isolation room and working in the environment where humans exist, which puts forward high requirements for the safety of robot operation. In order to ensure the safety of human beings, soft robots using serial elastic actuators are coming out continuously. By connecting flexible components such as torsion springs in series between the output end of the motor reducer of the robot joint and the load, the output impedance of the robot is reduced and the safety of the robot is improved. However, the improvement of the flexibility of the robot joints makes the...

Examples

specific Embodiment approach 1

[0022] Specific implementation mode one: combine Figure 1 to Figure 2 Describe this embodiment, the compact metal rubber elastic element capable of measuring torque on the flexible robot joint of this embodiment, it includes outer ring basic body 1, inner ring basic body 2, baffle plate 5, a plurality of resistive strain gauges 4 and A plurality of metal rubber sheets 3, a plurality of resistive strain gauges 4 are installed on the outer ring basic body 1, an inner ring basic body 2 is buckled on the outer ring basic body 1, and a plurality of metal rubber sheets 3 are installed on the outer ring basic body 1 and the inner ring basic body 1. In the area enclosed by the ring basic body 2 after fastening, the baffle plate 5 is covered on the outer ring basic body 1 .

[0023] This embodiment adopts a disc-shaped design structurally.

[0024] A plurality of resistive strain gauges 4 in this embodiment are pasted on the outer ring basic body 1 by laser welding technology. The i...

specific Embodiment approach 2

[0025] Specific implementation mode two: combination Figure 1 to Figure 2 To illustrate this embodiment, the outer ring basic body 1 of this embodiment includes an outer ring 1-1, two strain beams 1-2 and two outer ring baffles 1-3, and the two strain beams 1-2 are installed on the outer ring 1 On the inner side wall of -1, an outer ring baffle 1-3 is installed on each strain beam 1-2. Such arrangement has a simple structure and is convenient for saving space. Other compositions and connections are the same as in the first embodiment.

[0026] In this embodiment, the outer ring 1-1, the two strain beams 1-2 and the two outer ring baffles 1-3 are integrated. The structure is simple and convenient for production and manufacture.

[0027] The outer ring baffle 1-3 of this embodiment is a groove-shaped baffle, which wraps the strain beam 1-2, and at the same time, the two sides of the outer ring baffle 1-3 can limit and squeeze the metal rubber sheet 3. Due to the pressing ef...

specific Embodiment approach 3

[0028] Specific implementation mode three: combination Figure 1 to Figure 2 The present embodiment is described, and the two strain beams 1-2 of the present embodiment are mounted symmetrically on the inner side wall of the outer ring 1-1. Such setting makes it easy to measure the torque of the robot joints. Other compositions and connections are the same as those in the second embodiment.

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