Serial elastic transmission device based on integral flexible hinge spring

Abstract

The invention discloses a serial elastic transmission device based on an integral flexible hinge spring. The device is characterized by consisting of two parts of an input assembly and an output assembly; the input assembly comprises a slide bearing, an adjusting sleeve, a locking nut, bearings pairwise mounted and pretightened, and an input plate and a center shaft integrated; the output assemblycomprises rolling bearings, a fixed screw, and a buffer plate, a flexible hinge spring and an output plate integrated; the input assembly and the output assembly are connected and pretightened through the adjusting sleeve; m rails are uniformly arranged on the input plate in the peripheral direction; and m rolling bearings are arranged in the same positions on the buffer plate, and correspond tothe rails one to one. The flexible hinge spring is used for replacing a traditional snap spring; and through overall machining technology, multiple parts needing to be assembled are integrated as an overall-machined part, so that assembly errors and gaps are prevented, the structure rigidity and stability are improved, and the transmission precision is improved.

Description

technical field [0001] The invention belongs to the technical field of flexible transmission, in particular to a series elastic transmission device based on an integrated flexible hinge spring. Background technique [0002] When robots interact with humans or the environment, force control techniques are required. At present, the force control technologies of robots include: 1. Active force control technology, which determines the input of robot joints through control algorithms and sensor information, so that the robot can generate appropriate output force to humans or the external environment. 2. Passive force control technology, through the design of elastic mechanism to buffer the external force. [0003] A drive is a device or mechanical device that converts other forms of energy into force, torque, velocity, or rotational speed. The robot driver should have the following characteristics: First, it should be light in weight, high in output power, capable of high energ...

AI Technical Summary

Problems solved by technology

[0006] There are three springs in the series elastic actuator, which are mainly used to generate axial linear motion. In the direction of radial motion, it needs to have high stiffness to effectively transmit the motion of the input plate. In this design, the springs in the radial direction The rigidity is poor, and the friction force is large during the axial linear movement; the overall stiffness of the series elastic drive is poor, which will affect its motion accuracy and load capacity; the fixing and preloading method of the series elastic drive is defective , when an external force pushes the output plate toward the input plate, the distance between the output plate and the input plate will be shortened, which will affect the accuracy; The plate is connected to the reducer, and then the series elastic driver is assembled, which is very inconvenient in actual use, and if the connection is loose, it cannot be tightened in time

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