Parallel spring type energy recoverable rotary joint and working method

Abstract

The present application relates to the technical field of robot joint, and particularly relates to a parallel spring type energy recoverable rotary joint and a working method. The rotary joint comprises a power output mechanism, an energy recovery assisting mechanism and a clutch mechanism. The power output mechanism is provided with a load connecting piece. The load connecting piece is used for connecting a load and transmitting power to the load through the load connecting piece. The energy recovery assisting mechanism comprises a base, a toothed cylinder, an energy recovery assembly and a limiting top cover. The base is arranged on the power output mechanism. The toothed cylinder is arranged on the base. The energy recovery assembly comprises two parts and is symmetrically arranged on the base. The limiting top cover is arranged on the toothed cylinder. The load connecting piece extends out of the limiting top cover. The clutch mechanism is arranged on the base. The clutch mechanism is used for driving the energy recovery assisting mechanism to act. In the structural principle, the energy recovery assisting assembly is used in the assisting form with the clutch. The bidirectional assisting can be realized. The assisting state can be randomly switched.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot joints, in particular to a parallel spring type energy recyclable rotary joint and working method. BACKGROUND

[0002] In the past few decades, electric machines have been a key technology application that continuously converts electrical energy into mechanical energy. Currently, electric machine technology is being applied to human-robot interaction type robot systems that can perform complex tasks, such as foot-type robots that explore complex terrain on unpaved roads, wide adaptability non-deterministic working condition mechanical arms, etc. The electric machines applied to these new robot system scenarios need to dynamically regulate the torque and speed in a wider range. Therefore, the efficiency of the electric machine is greatly limited, thereby greatly increasing the electrical energy required for the electric machine to work. For example, the initial industrial quadruped robot needs to be charged several times a day, which also limits the continuous working time of the electric prosthesis.

[0003] The core components of the electric machine are composed of winding coils and magnets, which generate a magnetic field by electromagnetic induction principle when the current flowing through the winding coils, attract the magnets to rotate, thereby continuously converting electrical energy into mechanical energy. The structure and working principle of the electric machine determine its characteristics. The torque generated by the electric machine can be accurately controlled by fine adjustment of the current. However, during the operation of the electric machine, the internal resistance of the winding coil will also continuously consume electrical energy through continuous heating, and the power consumed by the heating of the winding coil is proportional to the square of the instantaneous torque. Even when the electric machine does not rotate, only position holding is required, that is, theoretically no mechanical energy output, the winding coil will still consume electrical energy due to heating, and the electrical energy dissipated by heating is difficult to be reused.

[0004] Unlike electric machines, springs can generate torque or tension and compression forces with almost no energy dissipation, and the conversion efficiency between elastic potential energy and kinetic energy of the spring is close to 100%. If the spring is connected in parallel with the electric machine, the spring can assist the electric machine when the electric machine needs to rotate, and the spring can replace the electric machine to generate torque when the electric machine needs to maintain the angle, thereby reducing the consumption of electrical energy. Thus, a spring-assisted joint is generated.

[0005] Although the spring-assisted joint has great potential value in energy saving, the output of the spring is difficult to accurately control. Usually, if the spring and the electric machine are directly connected in parallel, if the electric machine rotates forward, the spring will assist the electric machine, and when it rotates in the opposite direction, the spring will have a counteracting effect, thereby increasing the consumption of electrical energy. Therefore, in the field of robots, the spring is only used to assist the function in specific application scenarios such as industrial robots. SUMMARY

[0006] Therefore, the present application provides a parallel spring type energy recyclable rotary joint and working method.

[0007] In order to solve the above technical problems, the present application provides a parallel spring type energy recoverable rotary joint, comprising: a power output mechanism and an energy recovery assist mechanism, a clutch mechanism; the power output mechanism is provided with a load connecting piece, the load connecting piece is used for connecting a load and transmitting power to the load through the load connecting piece; the energy recovery assist mechanism comprises a base, a toothed cylinder, an energy recovery assembly and a limiting top cover, the base is arranged on the power output mechanism, the toothed cylinder is arranged on the base, the energy recovery assembly has two and is symmetrically arranged on the base, the limiting top cover is arranged on the toothed cylinder, and the load connecting piece extends out of the limiting top cover; the clutch mechanism is arranged on the base and is used for driving the energy recovery assist mechanism to act.

[0008] Further, the power output mechanism comprises a brushless reduction motor and a power output gear; the power output gear is connected with a rotor of the brushless reduction motor, the base is arranged on an end face of a stator of the brushless reduction motor, and the load connecting piece is arranged on an end face of the power output gear; power of the brushless reduction motor is transmitted to the power output gear through a motor rotor part, then transmitted to the load connecting piece, and finally transmitted to a load connected with the load connecting piece.

[0009] Further, the power output mechanism further comprises a far end bearing, an inner ring of the far end bearing is sleeved into the load connecting piece, and a predetermined gap is left between the far end bearing and the limiting top cover.

[0010] Further, the energy recovery assist assembly comprises an upper rotary arm, a spring gear, a fixing piece, a scroll spring, a lower rotary arm, a tension spring, a tension spring far end fixing shaft and a rotating shaft; the rotating shaft is arranged on the base, the upper rotary arm and the lower rotary arm are symmetrically arranged and sleeved on the rotating shaft, the spring gear and the fixing piece and the tension spring far end fixing shaft are arranged between the upper rotary arm and the lower rotary arm, the spring gear is located on the fixing piece, the scroll spring is arranged on the fixing piece, one end of the tension spring is sleeved on the rotating shaft of one energy recovery assist assembly, and the other end of the tension spring is sleeved on the tension spring far end fixing shaft of another energy recovery assist assembly.

[0011] Further, the energy recovery assist assembly further comprises an upper rotary arm flange bearing, a scroll spring outer end fixing shaft and a lower rotary arm flange bearing; an outer ring of the upper rotary arm flange bearing is arranged in a stepped circular hole of the upper rotary arm, a cylindrical shaft of the spring gear is inserted into an inner ring of the upper rotary arm flange bearing and fixedly connected with the fixing piece through bolts, a cylindrical shaft end of the fixing piece is inserted into an inner ring of the lower rotary arm flange bearing, an outer ring of the lower rotary arm flange bearing is arranged in a stepped cylindrical hole of the lower rotary arm, an inner end of the scroll spring is inserted into the fixing piece, the other end is limited by the scroll spring outer end fixing shaft, and both ends of the scroll spring outer end fixing shaft are inserted into the upper rotary arm and the lower rotary arm respectively.

[0012] Further, a long strip-shaped groove is arranged on the fixing piece, and the inner end of the scroll spring is inserted into the long strip-shaped groove.

[0013] Further, the limiting top cover is provided with a limiting block, and the limiting block is in abutment with the upper rotating arm.

[0014] Further, the clutch mechanism comprises a rudder, a rudder arm and a roller bearing, the rudder is arranged on the base, the rudder arm is fixedly connected with a rotor of the rudder, and the roller bearing is fixed on the end of the rudder arm through bolts.

[0015] Further, the base is provided with a groove, and the rudder is arranged in the groove.

[0016] The application also provides a working method of the parallel spring type energy recoverable rotary joint, comprising the following steps:

[0017] When the robot rotary joint needs to recover the kinetic energy of an external load, an energy recovery assisting mechanism with the same energy storage direction as the load rotation direction is used, the rudder next to the energy recovery assisting mechanism drives the rudder arm and the roller bearing to rotate to a position away from the upper rotating arm, so that the spring gear is engaged with the power output gear under the tension of the tension spring, the kinetic energy of the external load is converted into elastic potential energy through the rotation, the kinetic energy is sequentially transmitted through the load connecting piece, the power output gear, the spring gear and the fixed piece, and finally the inner end of the spiral spring is rotated to convert the kinetic energy into elastic potential energy, so that the energy recovery effect is realized.

[0018] When the robot rotary joint needs to maintain the recovered energy and end the kinetic energy recovery, the rudder next to the energy recovery assisting mechanism drives the rudder arm and the roller bearing to rotate to a position perpendicular to the upper rotating arm and reach the dead point, so that the spring gear is engaged with the toothed inner end surface of the toothed cylinder, the spring gear engaged with the toothed cylinder is prevented from rotating, and the recovered energy in the spiral spring is prevented from being dissipated, so that the energy maintaining function is realized.

[0019] When the robot rotary joint needs to use the spring to assist the rotation to improve the peak torque, the rudder next to the energy recovery assisting mechanism with the same energy storage direction as the power output direction of the brushless reduction motor drives the rudder arm and the roller bearing to rotate to a position away from the upper rotating arm, so that the spring gear is engaged with the power output gear under the tension of the tension spring, the spiral spring converts the stored elastic potential energy into kinetic energy, drives the fixed piece to rotate, and the kinetic energy is sequentially transmitted through the spring gear, the power output gear and the load connecting piece and finally transmitted to the external load, so that the brushless reduction motor and the load are driven to rotate together, the assisting function is realized, and the peak torque is improved.

[0020] The technical scheme of the application has the following advantages:

[0021] 1.The parallel spring type energy recoverable rotary joint provided by the present application comprises a power output mechanism, an energy recovery assisting mechanism and a clutch mechanism; the power output mechanism is provided with a load connecting piece, which is used to connect a load and transmit power to the load through the load connecting piece; the energy recovery assisting mechanism comprises a base, a toothed cylinder, two energy recovery assemblies and a limiting top cover, the base is arranged on the power output mechanism, the toothed cylinder is arranged on the base, the two energy recovery assemblies are symmetrically arranged on the base, and the limiting top cover is arranged on the toothed cylinder; the load connecting piece extends out of the limiting top cover; and the clutch mechanism is arranged on the base and used to drive the energy recovery assisting mechanism to act.

[0022] Through the arrangement of the power output mechanism, the load connecting piece is arranged on the power output mechanism, and the load connecting piece is connected with the load, so that the load can be driven to rotate by the power output mechanism; meanwhile, the two groups of energy recovery assisting mechanisms are symmetrically distributed on the base, the energy recovery assisting mechanisms are controlled by the clutch mechanism, and the functions of energy storage and energy retention of the spring and energy output assisting are realized.

[0023] The parallel spring type energy recoverable rotary joint has the energy recovery assisting assembly and the assisting form with the clutch, can realize bidirectional assisting, and randomly switches the assisting state. In the structural design, the energy recovery assisting assembly uses the dead point to keep the clutch state, further saves the energy consumption of the clutch, and enlarges the energy recovery and utilization effect. Meanwhile, the layout of each mechanism is compact, the mechanism has small size, the installation space is small, and the rotary joint can be applied to different robots.

[0024] 2.The parallel spring type energy recoverable rotary joint provided by the present application, wherein the power output mechanism further comprises a distal end bearing, the inner ring of the distal end bearing is sleeved on the load connecting piece, and a predetermined gap is left between the distal end bearing and the limiting top cover; the arrangement of the predetermined gap can effectively avoid the contact between the load connecting piece and the limiting top cover, and affect the normal rotation of the load connecting piece, so as to ensure the rotation accuracy of the load connecting piece.

[0025] 3.The parallel spring type energy recoverable rotary joint provided by the present application, wherein the fixing piece is provided with an elongated slot, and the inner end of the spiral spring is inserted into the elongated slot; the arrangement can ensure that the spiral spring is stably installed in the elongated slot of the fixing piece, and then the outer end of the spiral spring is limited by the spiral spring outer end fixing shaft, so as to ensure the installation stability of the spiral spring and avoid the random movement in the long-term use. Meanwhile, the spiral spring is arranged between the upper rotating arm and the lower rotating arm, which also limits the spiral spring.

[0026] 4. The parallel spring type energy recoverable rotary joint provided by the present application is provided with a limiting block on the limiting top cover, and the limiting block is in abutment with the upper rotary arm. The limiting block has two, which are symmetrically arranged on the limiting top cover, and the arrangement positions of the two limiting blocks correspond to the arrangement position of the upper rotary arm, thereby limiting the rotation range of the upper rotary arm and avoiding the situation that the upper rotary arm rotates excessively during rotation.

[0027] The summary is provided to introduce a selection of concepts in a simplified form, which will be further described below in the detailed description. The summary is not intended to identify key or essential features of the disclosure, nor is it intended to limit the scope of the disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings required to be used in the specific embodiments or prior art description will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0029] Figure 1 The structure schematic diagram of the parallel spring type energy recoverable rotary joint provided by the present application is shown in the figure.

[0030] Figure 2 The structure schematic diagram of the energy recovery assisting mechanism of the parallel spring type energy recoverable rotary joint provided by the present application is shown in the figure.

[0031] Figure 3 The structure schematic diagram of the clutch mechanism of the parallel spring type energy recoverable rotary joint provided by the present application is shown in the figure.

[0032] Figure 4 The structure schematic diagram of the power output mechanism of the parallel spring type energy recoverable rotary joint provided by the present application is shown in the figure.

[0033] Figure 5 The structure schematic diagram of the base of the parallel spring type energy recoverable rotary joint provided by the present application is shown in the figure.

[0034] Figure 6 The structure schematic diagram of the limiting top cover of the parallel spring type energy recoverable rotary joint provided by the present application is shown in the figure.

[0035] Figure 7 The structure schematic diagram of the volute spring and the fixing piece of the parallel spring type energy recoverable rotary joint provided by the present application is shown in the figure.

[0036] Explanation of reference signs:

[0037] 1, power output mechanism; 1-1, brushless reduction motor; 1-2, power output gear; 1-3, load connecting piece; 1-4, distal end bearing;

[0038] 2, energy recovery assist mechanism; 2-1, base; 2-2, toothed cylinder; 2-3, upper rotating arm; 2-4, upper rotating arm flange bearing; 2-5, spring gear; 2-6, fixed piece; 2-7, volute spring; 2-8, volute spring outer end fixed shaft; 2-9, lower rotating arm flange bearing; 2-10, lower rotating arm; 2-11, tension spring; 2-12, tension spring distal end fixed shaft; 2-13, rotating shaft; 2-14, limit top cover; 2-15, long strip-shaped groove; 2-16, limit block; 2-17, groove;

[0039] 3, clutch mechanism; 3-1, steering gear; 3-2, steering gear arm; 3-3, roller bearing. DETAILED DESCRIPTION

[0040] In the following, only certain exemplary embodiments are simply described. As those skilled in the art can recognize, the described embodiments can be modified in various different ways without departing from the spirit or scope of the present disclosure. Therefore, the drawings and the description are considered to be exemplary in nature rather than limiting.

[0041] In the description of the present disclosure, it is to be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "straight", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the present disclosure. In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more features. In the description of the present disclosure, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0042] In the description of the present disclosure, it should be noted that unless specifically defined and limited otherwise, the terms "mounting", "connected", "connection" should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integrally connected; can be mechanical connection, can also be electrical connection or can communicate with each other; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present disclosure can be understood according to the specific circumstances.

[0043] In the present disclosure, unless otherwise specifically defined and limited, the first feature is "on" or "under" the second feature, which can include that the first and second features are in direct contact, or the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the first feature "on", "above" and "over" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "under", "below" and "under" the second feature includes that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0044] The following disclosure provides many different embodiments or examples for implementing different structures of the present disclosure. In order to simplify the disclosure of the present disclosure, the components and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the present disclosure. In addition, the present disclosure can repeatedly refer to numbers and / or letters in different examples, and such repetition is for the purpose of simplification and clarity, which itself does not indicate the relationship between the various embodiments and / or settings discussed. In addition, the present disclosure provides various specific examples of processes and materials, but those skilled in the art can realize the application of other processes and / or the use of other materials.

[0045] The preferred embodiments of the present disclosure are described below in conjunction with the accompanying drawings, and it should be understood that the preferred embodiments described herein are only used to illustrate and explain the present disclosure, and are not used to limit the present disclosure.

[0046] Please refer to Figures 1 to 7As shown, the present application provides a parallel spring type energy recoverable rotary joint, comprising: a power output mechanism 1 and an energy recovery assist mechanism 2, a clutch mechanism 3; the power output mechanism 1 is provided with a load connecting piece 1-3, the load connecting piece 1-3 is used for connecting the load and transmitting power to the load through the load connecting piece 1-3; the energy recovery assist mechanism 2 comprises a base 2-1, a toothed cylinder 2-2, an energy recovery assembly, and a limiting top cover 2-14, the base 2-1 is arranged on the power output mechanism 1, the toothed cylinder 2-2 is arranged on the base 2-1, the energy recovery assembly has two and is symmetrically arranged on the base 2-1, the limiting top cover 2-14 is arranged on the toothed cylinder 2-2, and the load connecting piece 1-3 extends out of the limiting top cover 2-14; the clutch mechanism 3 is arranged on the base 2-1, and the clutch mechanism 3 is used for driving the energy recovery assist mechanism 2 to act.

[0047] Through the arrangement of the power output mechanism 1, the load connecting piece 1-3 is arranged on the power output mechanism 1, and the load connecting piece 1-3 is connected with the load, so that the load can be driven to rotate by the power output mechanism 1; at the same time, two groups of energy recovery assist mechanisms 2 are symmetrically distributed on the base 2-1, the energy recovery assist mechanisms 2 are controlled by the clutch mechanism 3, and the functions of energy storage and energy retention of the energy recovery assembly and energy output assist are realized.

[0048] The parallel spring type energy recoverable rotary joint adopts the energy recovery assist assembly and the assist form with the clutch, can realize bidirectional assist, and randomly switches the assist state. In the structural design, the energy recovery assist assembly uses the dead point to keep the clutch state, further saves the energy consumption of the clutch, and enlarges the energy recovery and utilization effect. At the same time, the layout of each mechanism is compact, the mechanism volume is small, the installation space is small, and the rotary joint can be applied to different robots.

[0049] In some optional embodiments, the power output mechanism 1 comprises a brushless reduction motor 1-1 and a power output gear 1-2; the power output gear 1-2 is connected with the rotor of the brushless reduction motor 1-1, the base 2-1 is arranged on the stator end face of the brushless reduction motor 1-1, the load connecting piece 1-3 is arranged on the end face of the power output gear 1-2, the power of the brushless reduction motor 1-1 is transmitted to the power output gear 1-2 through the motor rotor part, then transmitted to the load connecting piece 1-3, and finally transmitted to the load connected with the load connecting piece 1-3.

[0050] Specifically, the power output mechanism 1 further comprises a distal end bearing 1-4, the inner ring of the distal end bearing 1-4 is sleeved into the load connecting piece 1-3, and a predetermined gap is left between the distal end bearing 1-4 and the limiting top cover 2-14.

[0051] The setting of the predetermined gap can effectively avoid the contact between the load connecting piece 1-3 and the limiting top cover 2-14, and affect the normal rotation of the load connecting piece 1-3, thereby ensuring the rotation accuracy of the load connecting piece 1-3.

[0052] In some optional embodiments, the energy recovery assisting assembly comprises an upper rotating arm 2-3, a spring gear 2-5, a fixing piece 2-6, a spiral spring 2-7, a lower rotating arm 2-10, a tension spring 2-11, a tension spring far end fixing shaft 2-12, a rotating shaft 2-13, and the like.

[0053] The rotating shaft 2-13 is arranged on the base 2-1, the upper rotating arm 2-3 and the lower rotating arm 2-10 are symmetrically arranged, and the upper rotating arm 2-3 and the lower rotating arm 2-10 are sleeved on the rotating shaft 2-13. The spring gear 2-5, the fixing piece 2-6, and the tension spring far end fixing shaft 2-12 are arranged between the upper rotating arm 2-3 and the lower rotating arm 2-10, and the spring gear 2-5 is located on the fixing piece 2-6. The spiral spring 2-7 is arranged on the fixing piece 2-6. One end of the tension spring 2-11 is sleeved on the rotating shaft 2-13 of one energy recovery assisting assembly, and the other end is sleeved on the tension spring far end fixing shaft 2-12 of another energy recovery assisting assembly.

[0054] Since the energy recovery assisting assembly has two, and the two energy recovery assisting assemblies are symmetrically distributed at the center of the base 2-1, during actual installation, one end of the tension spring 2-11 is sleeved on the rotating shaft 2-13 of one energy recovery assisting assembly, and the other end is sleeved on the tension spring far end fixing shaft 2-12 of another energy recovery assisting assembly, thereby realizing the connection of the two energy recovery assemblies.

[0055] Meanwhile, the energy recovery assisting assembly further comprises an upper rotating arm flange bearing 2-4, a spiral spring outer end fixing shaft 2-8, and a lower rotating arm flange bearing 2-9. The outer ring of the upper rotating arm flange bearing 2-4 is arranged in the stepped circular hole of the upper rotating arm 2-3. The cylindrical shaft of the spring gear 2-5 is inserted into the inner ring of the upper rotating arm flange bearing 2-4, and is fixedly connected with the fixing piece 2-6 through a bolt. The cylindrical shaft end of the fixing piece 2-6 is inserted into the inner ring of the lower rotating arm flange bearing 2-9. The outer ring of the lower rotating arm flange bearing 2-9 is arranged in the stepped cylindrical hole of the lower rotating arm 2-10. The inner end of the spiral spring 2-7 is inserted into the fixing piece 2-6, and the other end is limited by the spiral spring outer end fixing shaft 2-8. The two ends of the spiral spring outer end fixing shaft 2-8 are respectively inserted into the upper rotating arm 2-3 and the lower rotating arm 2-10.

[0056] The fixing piece 2-6 is provided with a long strip-shaped groove 2-15, and the inner end of the spiral spring 2-7 is inserted into the long strip-shaped groove 2-15.

[0057] The setting mode can ensure that the volute spring 2-7 is stably installed in the long strip-shaped slot 2-15 of the fixing member 2-6, and then the volute spring 2-7 is limited by the outer end fixing shaft 2-8, so that the installation stability of the volute spring 2-7 is ensured, and the situation that the volute spring 2-7 is randomly moved in a long time use process is avoided. Meanwhile, the volute spring 2-7 is arranged between the upper rotating arm 2-3 and the lower rotating arm 2-10, which also plays a limiting role on the volute spring 2-7.

[0058] In some optional embodiments, the limiting top cover 2-14 is provided with limiting blocks 2-16, and the limiting blocks 2-16 are in abutment with the upper rotating arm 2-3.

[0059] The limiting blocks 2-16 are two and are symmetrically arranged on the limiting top cover 2-14, and the arrangement positions of the two limiting blocks 2-16 correspond to the arrangement position of the upper rotating arm 2-3, so that the rotation range of the upper rotating arm 2-3 is limited, and the situation that the upper rotating arm 2-3 is excessively rotated in the rotating process is avoided.

[0060] In some optional embodiments, the clutch mechanism 3 includes a rudder mechanism 3-1, a rudder arm 3-2 and a roller bearing 3-3. The rudder mechanism 3-1 is arranged on the base 2-1, the rudder arm 3-2 is fixedly connected with a rotor of the rudder mechanism 3-1, and the roller bearing 3-3 is fixed on the end of the rudder arm 3-2 by bolts.

[0061] Through the arrangement of the rudder mechanism 3-1, and the connection of the rudder mechanism 3-1 and the rudder arm 3-2, the rudder mechanism 3-1 can drive the rudder arm 3-2 to move, so that the spring gear 2-5 is selected to mesh with different gears to realize the functions of energy storage, energy maintenance and energy output of the spring.

[0062] The base 2-1 is provided with a groove 2-17, and the rudder mechanism 3-1 is arranged in the groove 2-17. The arrangement of the groove provides an installation position for the rudder mechanism 3-1, and ensures the stability of the installation of the rudder mechanism 3-1.

[0063] When the spring gear 2-5 meshes with the power output gear 1-2, if the external load is opposite to the energy storage direction of the volute spring 2-7, the elastic potential energy stored in the volute spring 2-7 can be transmitted to the external load through the power output gear 1-2, so as to realize the function of assisting the load; if the external load is the same as the energy storage direction of the volute spring 2-7, the kinetic energy of the external load can be transmitted to the volute spring 2-7 through the power output gear 1-2, so as to realize the function of energy recovery. When the spring gear 2-5 meshes with the toothed cylinder 2-2, the spring gear 2-5 cannot rotate due to being limited, so as to realize the function of energy maintenance.

[0064] The parallel spring type energy recyclable rotary joint is based on the basic framework of parallel spring and motor, powered by a brushless reduction motor, performs fine torque control, and controls whether the spring intervenes in the output through a low-power clutch, thereby performing static torque retention, power assistance, and energy recycling and reuse, and ultimately achieving the purpose of reducing power consumption.

[0065] The application also provides a working method of the parallel spring type energy recyclable rotary joint, comprising the following steps:

[0066] In a parallel spring type energy recyclable rotary joint, two sets of energy recycling and assisting mechanisms 2 and clutch mechanisms 3 are symmetrically distributed in the center. Among the two sets of mechanisms, the energy storage directions of the spiral springs 2-7 are opposite to correspond to the clockwise and counterclockwise load directions.

[0067] When the robot rotary joint needs to recycle the kinetic energy of external load, one of the energy recycling and assisting mechanisms 2 whose spiral spring 2-7 energy storage direction is the same as the load rotation direction, the rudder 3-1 beside it drives the rudder arm 3-2 and the roller bearing 3-3 to rotate to the position away from the upper rotating arm 2-3, so that the spring gear 2-5 is engaged with the power output gear 1-2 under the tension of the tension spring 2-11, the kinetic energy of the external load is converted into elastic potential energy through the rotation of the inner end of the spiral spring 2-7, and the effect of energy recycling is realized.

[0068] When the robot rotary joint needs to retain the recycled energy and end the kinetic energy recycling, the rudder 3-1 beside the energy recycling and assisting mechanism 2 which needs to retain energy drives the rudder arm 3-2 and the roller bearing 3-3 to rotate to the position perpendicular to the upper rotating arm 2-3 and reach the dead point, so as to overcome the tension of the tension spring 2-11 and make the spring gear 2-5 engage with the toothed surface of the toothed cylinder 2-2. Since the toothed cylinder 2-2 is fixed to the base 2-1 by bolts, the spring gear 2-5 engaged with it will not rotate and will retain the recycled energy in the spiral spring 2-7 without dissipation, thereby achieving the function of energy retention.

[0069] When the robot rotary joint needs to be spring assisted to improve the peak torque, the rudder 3-1 beside the energy recovery assist mechanism 2 with the same energy storage direction of the spiral spring 2-7 and the power output direction of the brushless reduction motor 1-1 drives the rudder arm 3-2 and the roller bearing 3-3 to rotate to the position away from the upper rotating arm 2-3, so that the spring gear 2-5 is engaged with the power output gear 1-2 under the tension of the tension spring 2-11, so that the spiral spring 2-7 converts the stored elastic potential energy into kinetic energy, drives the fixed part 2-6 to rotate, and the kinetic energy is sequentially transmitted to the external load through the spring gear 2-5, the power output gear 1-2 and the load connecting part 1-3, helping the brushless reduction motor 1-1 to drive the load to rotate, realizing the assist function and improving the peak torque.

[0070] Obviously, the above embodiments are only examples for clearly illustrating, but not limitation to the embodiments. For those skilled in the art, other different forms of changes or variations can be made on the basis of the above description. Here, all the embodiments cannot be exhausted, and the obvious changes or variations still fall within the protection scope of the present application.

Claims

1. A parallel spring energy recoverable rotary joint, characterized by, Comprise: Power output mechanism (1) and energy recovery assist mechanism (2), clutch mechanism (3); The power output mechanism (1) is provided with a load connecting piece (1-3), and the load connecting piece (1-3) is used for connecting a load and transmitting power to the load through the load connecting piece (1-3); The energy recovery assist mechanism (2) comprises a base (2-1), a toothed cylinder (2-2), an energy recovery assembly and a limiting top cover (2-14), the base (2-1) is arranged on the power output mechanism (1), the toothed cylinder (2-2) is arranged on the base (2-1), the energy recovery assembly has two and is symmetrically arranged on the base (2-1), the limiting top cover (2-14) is arranged on the toothed cylinder (2-2), and the load connecting piece (1-3) extends out of the limiting top cover (2-14); The clutch mechanism (3) is arranged on the base (2-1), and the clutch mechanism (3) is used for driving the energy recovery assist mechanism (2) to act; The power output mechanism (1) comprises a brushless reduction motor (1-1) and a power output gear (1-2); The energy recovery assist assembly comprises an upper rotating arm (2-3), a spring gear (2-5), a fixing piece (2-6), a scroll spring (2-7), a lower rotating arm (2-10), a tension spring (2-11), a tension spring far end fixing shaft (2-12) and a rotating shaft (2-13); The rotating shaft (2-13) is arranged on the base (2-1), the upper rotating arm (2-3) and the lower rotating arm (2-10) are symmetrically arranged, and the upper rotating arm (2-3) and the lower rotating arm (2-10) are sleeved on the rotating shaft (2-13); the spring gear (2-5), the fixing piece (2-6) and the tension spring far end fixing shaft (2-12) are arranged between the upper rotating arm (2-3) and the lower rotating arm (2-10), and the spring gear (2-5) is located on the fixing piece (2-6); the scroll spring (2-7) is arranged on the fixing piece (2-6); one end of the tension spring (2-11) is sleeved on the rotating shaft (2-13) of one energy recovery assist assembly, and the other end is sleeved on the tension spring far end fixing shaft (2-12) of another energy recovery assist assembly; The energy recovery assist assembly further comprises an upper rotating arm flange bearing (2-4), a scroll spring outer end fixing shaft (2-8) and a lower rotating arm flange bearing (2-9); The outer ring of the upper rotating arm flange bearing (2-4) is arranged in a stepped circular hole of the upper rotating arm (2-3), a cylindrical shaft of the spring gear (2-5) is inserted into an inner ring of the upper rotating arm flange bearing (2-4), and the cylindrical shaft is fixedly connected with the fixing piece (2-6) through a bolt; a cylindrical shaft end of the fixing piece (2-6) is inserted into an inner ring of the lower rotating arm flange bearing (2-9), an outer ring of the lower rotating arm flange bearing (2-9) is arranged in a stepped cylindrical hole of the lower rotating arm (2-10), an inner end of the scroll spring (2-7) is inserted into the fixing piece (2-6), and the other end is limited through the scroll spring outer end fixing shaft (2-8); and the two ends of the scroll spring outer end fixing shaft (2-8) are respectively inserted into the upper rotating arm (2-3) and the lower rotating arm (2-10). The clutch mechanism (3) comprises a steering engine (3-1), a steering engine arm (3-2) and a roller bearing (3-3), the steering engine (3-1) is arranged on the base (2-1), the steering engine arm (3-2) is fixedly connected with a rotor of the steering engine (3-1), and the roller bearing (3-3) is fixed on the end of the steering engine arm (3-2) through bolts; The steering engine (3-1) drives the steering engine arm (3-2) and the roller bearing (3-3) to rotate to a position perpendicular to the upper rotating arm (2-3) and reach a dead point, so that the tension of the tension spring (2-11) is overcome.

2. A parallel spring energy recoverable rotary joint according to claim 1, wherein, The power output gear (1-2) is connected with a rotor of the brushless reduction motor (1-1), the base (2-1) is arranged on the end surface of a stator of the brushless reduction motor (1-1), the load connecting piece (1-3) is arranged on the end surface of the power output gear (1-2), power of the brushless reduction motor (1-1) is transmitted to the power output gear (1-2) through the motor rotor part, and then transmitted to the load connecting piece (1-3), and finally transmitted to a load connected with the load connecting piece (1-3).

3. A parallel spring energy recoverable rotary joint according to claim 2, wherein, The power output mechanism (1) further comprises a distal end bearing (1-4), an inner ring of the distal end bearing (1-4) is sleeved into the load connecting piece (1-3), and a predetermined gap is left between the distal end bearing (1-4) and the limiting top cover (2-14).

4. A parallel spring energy recoverable rotary joint according to claim 3, wherein, The fixed piece (2-6) is provided with an elongated slot (2-15), and the inner end of the spiral spring (2-7) is inserted into the elongated slot (2-15).

5. A parallel spring energy recoverable rotary joint according to claim 4, wherein, The limiting top cover (2-14) is provided with a limiting block (2-16), and the limiting block (2-16) abuts against the upper rotating arm (2-3).

6. A parallel spring energy recoverable rotary joint according to claim 5, wherein, The base (2-1) is provided with a groove (2-17), and the steering engine (3-1) is arranged in the groove (2-17).

7. A method of operation of a parallel spring energy recoverable swivel joint according to any one of claims 1 to 6, characterised in that, The method comprises the following steps: When the robot rotary joint needs to recover the kinetic energy of an external load, an energy recovery assisting mechanism (2) with the same direction of energy storage as the load rotation direction is used, the steering engine (3-1) drives the steering engine arm (3-2) and the roller bearing (3-3) to rotate to a position away from the upper rotating arm (2-3), the spring gear (2-5) is engaged with the power output gear (1-2) under the tension of the tension spring (2-11), the kinetic energy of the external load is converted into elastic potential energy through the rotation of the inner end of the spiral spring (2-7), and the effect of energy recovery is achieved. When the robot rotary joint needs to maintain the energy that has been recovered and end the kinetic energy recovery, the rudder (3-1) beside the energy recovery assisting mechanism (2) that needs to maintain energy drives the rudder arm (3-2) and the roller bearing (3-3) to rotate to the position perpendicular to the upper rotating arm (2-3) and reach the dead point, so as to overcome the tension of the tension spring (2-11), make the spring gear (2-5) mesh with the toothed end surface of the toothed cylinder (2-2), and keep the spring gear (2-5) meshing with the toothed cylinder (2-2) from rotating and keeping the energy that has been recovered in the volute spring (2-7) from dissipating, so as to realize the energy maintaining function. When the robot rotary joint needs to use spring assistance to improve the peak torque, the rudder (3-1) beside the energy recovery assisting mechanism (2) that has the same direction of energy storage of the volute spring (2-7) and the power output direction of the brushless reduction motor (1-1) drives the rudder arm (3-2) and the roller bearing (3-3) to rotate to the position away from the upper rotating arm (2-3), so that the spring gear (2-5) meshes with the power output gear (1-2) under the action of the tension of the tension spring (2-11), the volute spring (2-7) converts the stored elastic potential energy into kinetic energy, drives the fixed part (2-6) to rotate, and the kinetic energy is sequentially transmitted to the external load through the spring gear (2-5), the power output gear (1-2) and the load connecting part (1-3), so as to help the brushless reduction motor (1-1) to drive the load to rotate, realize the assisting function, and improve the peak torque.

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