In-line elastic drives

Abstract

The invention belongs to the technical field of robot drivers, and aims to solve the problems that the series elastic driver cannot limit the external resistance torque and needs manual repair after being impacted by the outside; the invention provides a series elastic driver, which includes an input device, a torque limiting device and The output device, the input device is used to provide power to drive the torque limiting device and the output device to move; the torque limiting device includes an active support device, a first friction plate, a driven support device, a second friction plate sleeved on it in sequence, and A pressing device arranged on the side of the second friction plate away from the first friction plate and used to regulate the friction torque between the first friction plate, the second friction plate and the driven support device; the output device includes an elastic element, an output shaft, 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 has a torque limiting device, does not need manual repair, has compact structure and high 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...

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;

Images