A spiral disc type flexible joint

Abstract

The present invention proposes a spiral disc type flexible joint, which belongs to the field of robot mechanical system design. It solves the problem that the existing foot-type robot cannot perform buffering and adaptive adjustment of the sole posture during the interaction between the foot end and the ground. It includes two connecting seats, a positive spiral disc and a reverse spiral disc. The positive spiral disc and the reverse spiral disc are cross-arranged. The positive spiral disc and the reverse spiral disc that are cross-arranged form a group. The spiral starting ends of the positive spiral disc and the reverse spiral disc are installed on one of the connecting seats, and the spiral ending ends of the positive spiral disc and the reverse spiral disc are installed on the other connecting seat. It is mainly used for robot joints.

Description

Technical Field

[0001] The invention belongs to the field of robot mechanical system design, and in particular relates to a spiral disc type flexible joint. Background Art

[0002] Elastic elements are often used in the design of robot mechanical systems. For example, adding series elastic elements to rigid joints can not only reduce the adverse effects of impact loads on robot joint components, but also improve the compliant output performance of joints. Legged robots often face the situation of contact and collision between the foot and the outside world during work. Adding flexible joints to the ankles of legged robots can help reduce the instantaneous impact caused by collisions. At the same time, flexible joints with a certain bending stiffness can imitate the process of interaction with the ground during biological movement, and automatically adjust the relative posture of the sole of the foot and the ground when touching the ground, thereby improving the robot's movement performance.

[0003] In the past, similar flexible joints usually adopted incision-type, honeycomb-type and other structures, which had certain buffering and posture adjustment capabilities. However, existing legged robots cannot perform buffering and adaptive adjustment of the sole posture during the interaction between the foot and the ground, and have low load-bearing capacity, difficult processing and large size. Summary of the invention

[0004] In view of this, the present invention aims to propose a spiral disc type flexible joint to solve the problem that the existing legged robot cannot perform buffering and adaptive adjustment of the plantar posture during the interaction between the foot end and the bottom surface.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A spiral disc type flexible joint comprises two connecting seats, a positive spiral disc and a negative spiral disc, wherein the positive spiral disc and the negative spiral disc are arranged crosswise, and the positive spiral disc and the negative spiral disc arranged crosswise form a group, the spiral starting ends of the positive spiral disc and the negative spiral disc are installed on one of the connecting seats, and the spiral ending ends of the positive spiral disc and the negative spiral disc are installed on the other connecting seat.

[0007] Furthermore, two groups of cross-arranged positive spiral discs and reverse spiral discs are arranged in the two connecting seats.

[0008] Furthermore, both ends of the positive spiral disc and the reverse spiral disc are provided with mounting planes, and the mounting plane on the positive spiral disc is arranged in a plane after being butted with the mounting plane on the reverse spiral disc.

[0009] Furthermore, the positive spiral disc and the reverse spiral disc are both connected to the connecting seat by fixing bolts installed on the mounting plane.

[0010] Furthermore, two warping parts are evenly distributed on the positive spiral disc, and two giving way grooves are evenly distributed on the reverse spiral disc, and the warping parts are engaged with the giving way grooves.

[0011] Furthermore, the warping component has a fixing hole, and a bolt is arranged in the fixing hole.

[0012] Furthermore, the material of the positive spiral disc and the reverse spiral disc are both spring steel.

[0013] Furthermore, the cross-sections of the positive spiral disc and the reverse spiral disc are isosceles trapezoids.

[0014] Furthermore, a through hole is provided at the center of the flexible joint.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The present invention adopts a spiral disc as an elastic element, which has a greater load-bearing capacity and can enable the flexible joint to have a suitable bending stiffness, thereby adaptively adjusting the relative postures of the connecting seats at both ends of the joint.

[0017] 2. The bolt discs in the present invention are installed in a symmetrical and staggered manner, which makes the structure more compact and increases the stability of the flexible joint when it is bent and deformed.

[0018] 3. The cross section of the spiral disc of the present invention is an isosceles trapezoidal cross section, and the inner thickness of the cross section is greater than the outer thickness, so that the flexible joint has a large axial load-bearing capacity and a lateral variable stiffness bending characteristic.

[0019] 4. The flexible joint of the present invention has the freedom of axial and lateral deformation. Due to the use of spiral discs, the axial direction of the joint has a greater buffering capacity when subjected to external loads. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0021] Figure 1 It is a structural schematic diagram of a spiral disc type flexible joint according to the present invention;

[0022] Figure 2 is a schematic diagram of the connecting socket of the present invention;

[0023] Figure 3 A schematic diagram of the positive spiral disc of the present invention;

[0024] Figure 4 A schematic diagram of the reverse spiral disc of the present invention;

[0025] Figure 5 It is a schematic diagram of the connection between the positive spiral disc and the reverse spiral disc;

[0026] Figure 6 Schematic diagram of the cross section of the bolt disc.

[0027] 1-connecting seat, 2-positive spiral disc, 3-negative spiral disc, 4-installing plane, 5-warping part, 6-gap groove, 7-cross section. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely explain the technical solutions in the embodiments of the present invention. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict, and the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0029] See also Figure 1-6 Describe the present embodiment, a spiral disc type flexible joint, including two connecting seats 1, a positive spiral disc 2 and a reverse spiral disc 3, the positive spiral disc 2 and the reverse spiral disc 3 are cross-arranged, the positive spiral disc 2 and the reverse spiral disc 3 cross-arranged with each other form a group, the spiral starting ends of the positive spiral disc 2 and the reverse spiral disc 3 are installed on one of the connecting seats 1, and the spiral terminating ends of the positive spiral disc 2 and the reverse spiral disc 3 are installed on the other connecting seat 1, and two connecting seats 1 are provided with two groups of cross-arranged positive spiral discs 2 and reverse spiral discs 3, and mounting planes 4 are provided at both ends of the positive spiral disc 2 and the reverse spiral disc 3, and the mounting plane 4 on the positive spiral disc 2 and the mounting plane 4 on the reverse spiral disc 3 are arranged in a plane after docking, the positive spiral disc 2 and the reverse spiral disc 3 are both connected to the connecting seat 1 by fixing bolts installed on the mounting plane 4, and the material of the positive spiral disc 2 and the reverse spiral disc 3 are both spring steel.

[0030] First, the connecting seat 1 is located at both ends of the flexible joint, serving as a fixed base for the spiral disc and for connecting other parts outside the joint. The positive spiral disc 2 and the reverse spiral disc 3 serve as elastic elements, connected to the connecting seat 1 by fixing bolts on the mounting plane 4. Two groups of cross-arranged positive spiral discs 2 and reverse spiral discs 3 are arranged inside each joint. The present embodiment adopts two groups of cross-arranged positive spiral discs 2 and reverse spiral discs 3, presenting a double helix shape. The flexible joint adopts spiral discs as elastic elements, which has a greater load-bearing capacity. At the same time, it can make the flexible joint have suitable bending stiffness, and then can adaptively adjust the relative posture of the connecting seats at both ends of the joint. The spiral discs adopt a symmetrical and staggered installation method, which has a more compact structure and increases the stability of the flexible joint when it is bent and deformed. The flexible joint has the freedom of axial and lateral deformation. Due to the use of spiral discs, the axial direction of the joint has a greater buffering capacity when subjected to external loads.

[0031] Among them, Figure 2 As shown, the connecting seat 1 is a disk with a through hole in the center. The disk surface has threaded holes for installing the spiral disc, and also has mounting holes for connecting other components.

[0032] Furthermore, two warping parts 5 are evenly distributed on the positive spiral disc 2, and two making way grooves 6 are evenly distributed on the reverse spiral disc 3. The warping parts 5 are engaged with the making way grooves 6. There are fixing holes on the warping parts 5, and bolts are arranged in the fixing holes. The cross-sections 7 of the positive spiral disc 2 and the reverse spiral disc 3 are isosceles trapezoids.

[0033] Depend on Figure 3-5 As shown, the top views of the positive spiral disc 2 and the reverse spiral disc 3 are both fan-shaped, and the cross section 7 of the positive spiral disc 2 starts from the bottom and rises in a counterclockwise direction to form the basic shape of the disc, wherein the rotation angle is 270° and the rising height is 1 / 2 to 1 / 3 of the outer diameter of the joint, and the cross section 7 of the reverse spiral disc 3 starts from the bottom and rises in a clockwise spiral, and the rotation angle and the rising height are consistent with the positive spiral disc 2, and the positive spiral disc 2 is processed by cutting and sheet metal on the side of the inner hole to form a warping component 5, and the reverse spiral disc 3 is cut on the side of the outer diameter to form a clearance groove 6, and the warping component 5 and the clearance groove 6 are interlocked and connected with each other, and then the connection position of the two is fixed by bolts, and the warping component 5 can enable discs of different shapes to be installed alternately, and can also be used as a reinforcement plate, with fixing holes opened on it, and the staggered positions of the positive spiral disc 2 and the reverse spiral disc 3 can be fixed by bolts.

[0034] Furthermore, a through hole is provided at the center of the flexible joint for arranging cables.

[0035] The embodiments of the present invention disclosed above are only used to help illustrate the present invention. The embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. According to the content of this specification, many modifications and changes can be made. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well.

Claims

1. A spiral disc type flexible joint, characterized in that: The invention comprises two connecting seats (1), a positive spiral disc (2) and a reverse spiral disc (3), wherein the positive spiral disc (2) and the reverse spiral disc (3) are arranged crosswise, and the positive spiral disc (2) and the reverse spiral disc (3) arranged crosswise form a group, and mounting planes (4) are arranged at both ends of the positive spiral disc (2) and the reverse spiral disc (3), and the mounting planes (4) on the positive spiral disc (2) and the mounting planes (4) on the reverse spiral disc (3) are arranged in a plane after being butted against each other; Two warping parts (5) are arranged, and two clearance grooves (6) are evenly arranged on the reverse spiral disc (3). The warping parts (5) are engaged with the clearance grooves (6). Two groups of cross-arranged positive spiral discs (2) and reverse spiral discs (3) are arranged in the two connecting seats (1). The spiral starting ends of the positive spiral discs (2) and reverse spiral discs (3) are installed on one of the connecting seats (1), and the spiral ending ends of the positive spiral discs (2) and reverse spiral discs (3) are installed on the other connecting seat (1).

2. A spiral disc type flexible joint according to claim 1, characterized in that: The positive spiral disc (2) and the reverse spiral disc (3) are both connected to the connecting seat (1) via fixing bolts installed on the installation plane (4).

3. A spiral disc type flexible joint according to claim 1, characterized in that: The warping component (5) has a fixing hole, and a bolt is arranged in the fixing hole.

4. The spiral disc type flexible joint according to claim 1, characterized in that: The material of the positive spiral disc (2) and the negative spiral disc (3) is spring steel.

5. The spiral disc type flexible joint according to claim 1, characterized in that: The cross-section (7) of the positive spiral disc (2) and the reverse spiral disc (3) is an isosceles trapezoid.

6. The spiral disc type flexible joint according to claim 1, characterized in that: A through hole is provided at the center of the flexible joint.

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