A one-way plane torsion spring

Abstract

The invention provides a one-way planar torsion spring, which comprises a torsion spring outer ring, a torsion spring inner ring and a plurality of torsion spring elastic bodies; the torsion spring inner ring is located inside the torsion spring outer ring, and the torsion spring outer ring and the torsion spring There is a gap between the inner rings, and a plurality of torsion spring elastic bodies are distributed in the gap between the torsion spring outer ring and the torsion spring inner ring, wherein the torsion spring elastic body is drawn out from the inner peripheral surface of the torsion spring outer ring, along the The outer peripheral direction of the inner ring is extended based on the surrounding curve, and is extended and connected to the outer peripheral surface of the inner ring of the torsion spring. The matching stopper is located in front of the positive direction of the tangential direction of the elastic body of the torsion spring. The one-way plane torsion spring of the present invention increases the one-way relative rotation angle of the torsion spring inner ring and the torsion spring outer ring in the plane torsion spring on the one hand, and on the other hand, the torsion spring inner ring and the torsion spring outer ring in the plane torsion spring are relatively The overall rigidity is basically unchanged during rotation, and has the advantages of simple structure and strong practicability.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a one-way planar torsion spring. Background technique [0002] In recent years, systems for establishing safe interactions between humans and robots have been realized through impedance control, sensor perception, and series elastic actuators. Among them, the joints driven by serial elastics have better impact resistance, which makes the joints flexible in mechanical structure, and are widely used. The main way of this kind of flexible joints is the serial elastic driving form of planar torsion springs, which has Advantages of compact and miniaturized joints. [0003] The flexible joint based on the characteristics of the plane torsion spring relies on the relative rotation of the inner and outer rings and the deformation of the elastic part to realize the flexibility of the joint. The structure of the flexible joint based on the characteristics of the plane torsion ...

AI Technical Summary

Problems solved by technology

[0008] The planar torsion spring in the prior art adopts a symmetrical structure in order to meet the requirements of bidirectional deformation. When designing such a planar torsion spring, it is necessary to consider the deformation required by the elastic body during bidirectional deformation and reserve enough deformation space for it. In some special occasions, such as handling equipment, agricultural machinery (rice transplanter, lawn mower), etc., the equipment only needs one-way torque output. When using the flexible structure in the prior art, the symmetrically designed plane torsion The spring will greatly waste the space between the inner and outer rings of the torsion spring, and cannot well meet the requirements of the flexible joint for a large relative rotation angle

[0009] In addition, the planar torsion springs in the prior art often use limit ropes to realize the limit function. Even if the rope is pulled to limit the maximum relative rotation angle of the planar torsion spring, this form depends on the strength of the rope, and the rope is not pulled. The state when stretched (without tension) is not easy to control, and the soft rope may interfere with other structures, making the function of the limit cable invalid and reducing the reliability of the limit function

[0010] In the prior art, the stiffness of the planar torsion spring will change with the relative rotation of the inner and outer rings of the planar torsion spring, the stiffness is not constant, and it is difficult to determine, which increases the difficulty of controlling the torque output of the flexible joint. Meet the actual needs of use; currently, in order to obtain the output torque of the joint, it is necessary to install an expensive torque sensor, which increases the cost and increases the complexity of the structure

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