Metal rubber elastic element for flexible robot joints capable of measuring torques

A technology of robot joints and metal rubber, applied in the field of robots, can solve the problems such as inability to accurately estimate the torque, unstable nature and limited life of passive vibration damping elastic components, and achieve the effects of large flexibility, good vibration damping effect and long service life.

Active Publication Date: 2018-05-04
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problem of poor reliability of active vibration control used to suppress the vibration of flexible robots; the use of semi-active vibration control requires additional control elements such as motors, large volume and complex structure; the use of ordinary rubber materials The passive vibration damping elastic element has the problems of unstable properties and limited life
The problem that the passive vibration damping elastic element made of only metal rubber without strain gauge design cannot accurately estimate the moment

Method used

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  • Metal rubber elastic element for flexible robot joints capable of measuring torques
  • Metal rubber elastic element for flexible robot joints capable of measuring torques
  • Metal rubber elastic element for flexible robot joints capable of measuring torques

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specific Embodiment approach 1

[0021] Specific implementation mode one: combine Figure 1 to Figure 3 Describe this embodiment, the metal rubber elastic element used in the flexible robot joint that can measure the moment of this embodiment, it includes the outer ring basic body 1, the inner ring-sensor assembly 2, the baffle plate 5, the bearing group 6, a plurality of Metal rubber sheet 3 and multiple resistance strain gauges 4, outer ring basic body 1 is set on inner ring-sensor assembly 2, multiple resistance strain gauges 4 are installed on inner ring-sensor assembly 2, bearing group 6 is installed on On the inner ring-sensor assembly 2, a plurality of metal rubber sheets 3 are embedded in the space enclosed by the outer ring basic body 1 and the inner ring-sensor assembly 2, and the baffle plate 5 is mounted on the outer ring basic body 1.

[0022] Structurally, the present invention adopts split design. This embodiment is a rotary elastic element for a joint of a flexible robot that integrates torqu...

specific Embodiment approach 2

[0023] Specific implementation mode two: combination Figure 1 to Figure 2 Describe this embodiment, the outer ring basic body 1 of this embodiment includes an outer ring 1-1 and an outer ring baffle 1-2, the outer ring 1-1 is an annular outer ring, and the ring body of the outer ring 1-1 is along the A plurality of connection holes 1-3 are provided in the axial direction of itself, and the outer ring baffles 1-2 are fixedly installed on the inner side wall of the outer ring 1-1 in an annular array. With such an arrangement, the structure is simple, and it is convenient to provide support and connection for the basic body 2 of the inner ring. Other compositions and connections are the same as in the first embodiment.

specific Embodiment approach 3

[0024] Specific implementation mode three: combination Figure 1 to Figure 2 The present embodiment will be described. In this embodiment, the outer ring 1-1 and the outer ring retainer 1-2 are integrally formed. Such setting facilitates production and manufacturing, saves production and manufacturing costs and production cycles. Other compositions and connections are the same as those in the second embodiment.

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Abstract

The invention discloses a metal rubber elastic element for flexible robot joints capable of measuring torques, and relates to the metal rubber elastic element. In order to solve the problem of weak reliability due to use of active vibration control in traditional inhibition of vibration of a flexible robot, semi-active vibration control is adopted to generate the problems of additional adding of such control elements as a motor, large size and complicated structure, a passive damping elastic element made of general rubber has the problems of instable property and limited life, and a passive damping elastic element only adopting a metal rubber no-strain gauge design cannot accurately estimate the torques. An outer ring basal body sleeves an inner ring-sensor combination body; multiple resistance strain gauges are mounted on the inner ring-sensor combination body; multiple metal rubber pieces are embedded in space of an area surrounded by the outer ring basal body and the inner ring-sensor combination body; and a baffle plate covers the outer ring basal body. The metal rubber elastic element is used for driving the flexible robot joints, and achieves the effects of torque sensing andpassive damping.

Description

technical field [0001] The invention relates to a metal-rubber elastic element, in particular to a passive vibration-damping elastic element using metal-rubber material 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 robot vibrate during operation, which greatly reduces the a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): F16F15/06B25J17/00B25J19/00G01D21/02
CPCB25J17/00B25J19/0095F16F15/06F16F2224/025G01D21/02
Inventor 赵杰王继龙张赫臧希喆樊继壮刘玉斌刘刚峰
Owner HARBIN INST OF TECH
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