Joint energy storage assisting mechanism, robot joint structure and robot
A power-assisted mechanism and energy storage technology, which is applied in the direction of manipulators, manufacturing tools, joints, etc., can solve the problems of large mass and volume of rotating power parts, and achieve the effect of compact structure, small volume, and increased explosive force
Active Publication Date: 2020-08-28
UBTECH ROBOTICS CORP LTD
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[0003] The purpose of the embodiments of the present application is to provide a joint energy storage booster mechanism, a robot joint structure and a robot, so as to solve the technical problems of the mass and volume of the rotating power parts of the existing robot joint structure
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[0041] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not intended to limit the present application.
[0042] In the description of the embodiments of the present application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical ", "horizontal", "top", "bottom", "inner", "outer" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying Describes, but does not indicate or imply that the dev...
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The invention belongs to the technical field of robot joint structures, and relates to a joint energy storage assisting mechanism, a robot joint structure and a robot. In the joint energy storage assisting mechanism, a movable part is rotationally arranged relative to a fixed part, an energy storage elastic part is connected between two bases, and a switching device can enable the two bases to beswitched between the state that one base is fixed and the other base is movable, the locked state and the free state. When energy storage is needed, the two bases are switched into the state that onebase is fixed and the other base is movable, dynamic energy of the movable part is transmitted to the movable base through a transmission assembly, and the dynamic energy of the movable part is converted into elastic potential energy through the energy storage elastic part for energy storage. When the movable part returns, the energy storage elastic part releases the energy and transmits the energy to the movable part through the transmission assembly. When the two bases are switched into the locked state, the movable part and the fixed part are fixedly connected. When the two bases are switched into the free state, the energy storage elastic part cannot store the energy. The joint energy storage assisting mechanism can store large energy in a limited space and achieve high torque in a limited angle.
Description
technical field [0001] The application belongs to the technical field of robot joint structures, and in particular relates to a joint energy storage booster mechanism, a robot joint structure and a robot. Background technique [0002] At present, there are two difficult problems in the motion of the robot joint structure: a large force is required at a specific position, a specific speed, and a specific acceleration. Bulk, also increases joint cost. In a specific position, especially the gravitational potential energy cannot be stored in ordinary joints, and the rotating power part does work against gravity, resulting in energy loss. Contents of the invention [0003] The purpose of the embodiment of the present application is to provide a joint energy storage booster mechanism, a robot joint structure and a robot, so as to solve the technical problem of the mass and volume of the rotating power parts of the existing robot joint structure. [0004] An embodiment of the p...
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IPC IPC(8): B25J17/02
CPCB25J17/0258
Inventor 赵坤雷谢铮刘益彰葛利刚陈春玉王浩苏宪伟熊友军
Owner UBTECH ROBOTICS CORP LTD