Series elastic driver
A series elastic and driver technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problem that the series elastic driver cannot perform external resistance torque limitation and manual repair, etc., to achieve flexible appearance, multi-meter, easy maintenance, and reduced control. effect of difficulty
Active Publication Date: 2020-08-28
INST OF AUTOMATION CHINESE ACAD OF SCI
View PDF6 Cites 0 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0004] In order to solve the above problems in the prior art, that is, in order to solve the problem that the series elastic driver cannot be limited by the external resistance torque and needs manual repair after being impacted by the outside, the present invention provides a series elastic driver, including an input device, a torque limiter a device and an output device, the input device is used to provide power to drive the movement of the torque limiting device and the output device;
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment Construction
[0035] Preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principle of the present invention, and are not intended to limit the protection scope of the present invention.
[0036] The invention provides a series elastic driver, which includes an input device, a torque limiting device and an output device, wherein the input device is used to provide power and drive the output device to move through the driving torque limiting device; the torque limiting device includes an active support device, a first Friction plate, driven support device, second friction plate and pressing device.
[0037]Further, the power input end of the active support device is connected to the power output end of the input device; in the present invention, the active support device can be directly connected to the motor output shaft of the in...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention belongs to the technical field of robot drivers, and aims to solve the problems that a series elastic driver cannot limit external resistance moment and needs to be manually repaired after being subjected to external impact. The invention provides a series elastic driver. The series elastic driver comprises an input device, a moment limiting device and an output device, wherein the input device is used for providing power to drive the moment limiting device and the output device to move; the moment limiting device comprises a driving supporting device, a first friction plate, a driven supporting device and a second friction plate which are sequentially arranged on the driving supporting device in a sleeving mode, and a pressing device which is arranged on the side, away fromthe first friction plate, of the second friction plate and used for regulating and controlling the friction moment among the first friction plate, the second friction plate and the driven supporting device; the output device comprises an elastic element and an output shaft; and the elastic element is arranged between the output shaft and the second friction plate to transmit power. The series elastic driver disclosed by the invention is provided with the moment limiting device, does not need manual repair, and is compact in structure and high in safety.
Description
technical field [0001] The invention belongs to the technical field of robot drivers, and in particular relates to a serial elastic driver. Background technique [0002] As the input unit of motion and driving force of the robot system, the performance of the drive device has a great influence on the overall performance of the robot system. Traditional robots mostly use rigid drives, which can accurately transmit motion, while the driving device of humans or other animals is muscle tissue, which is compliant. As a result, traditional robot systems are far inferior to humans or other animals in terms of motion, safety and energy efficiency. Rigid drives have thus hindered the development of high-performance robots. In order to solve this problem, the researchers proposed a compliant actuator that simulates biological muscles - a series elastic actuator, which mainly adds a device with elastic and damping characteristics between the driving device and the end effector, and re...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10B25J9/12
CPCB25J9/10B25J9/104B25J9/12
Inventor 程龙侯增广谭民孙宁
Owner INST OF AUTOMATION CHINESE ACAD OF SCI