A compliant joint based on paired planar torsion springs

Abstract

The invention provides a flexible joint based on opposite-mounted planar torsion springs. The flexible joint comprises a fixing shell, an output shell, a shaft and at least one one-way rotating deviceconnected with the shaft, wherein the output shell is connected to the fixing shell through a first rotating body; the shaft is positioned at the rotation center of the output shell and is connectedto the output shell through a second rotating body; the one-way rotating device comprises two opposite-mounted one-way planar torsion springs and one-way rotating members assembled on the one-way planar torsion springs; the rotating directions of the two one-way planar torsion springs are opposite; the one-way planar torsion springs comprise inner rings and outer rings, wherein the inner rings andthe outer rings are capable of rotating relative to each other; the one-way rotating members are fixedly connected to the inner rings and / or the outer rings of the one-way planar torsion springs; andthe stopping directions of the one-way rotating members are the same as the the stopping directions of the one-way planar torsion springs connected with the one-way rotating members. According to theflexible joint, the defect of reverse idle return can be avoided while unidirectional torque output is carried out, and meanwhile, the joint is flexible.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a compliant joint based on paired plane torsion springs. Background technique [0002] Traditional robot joints are characterized by high rigidity. The high rigidity of robot joints can ensure the accuracy of robot end movement and high repeatability of execution actions, which makes robots play a great role in manufacturing and other fields. However, in fields involving human-machine collaboration such as service robots and nursing robots, the high rigidity of robot joints will pose a potential threat to human safety. When a robot collides with a human, the rigid joints cannot absorb the energy of the collision, which may cause Causing casualties and property damage. [0003] 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, ...

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