Rotary elastic driver of robot joint

Abstract

The utility model relates to the technical field of robots, in particular to a rotary elastic driver of a robot joint, which comprises a joint arm and a rotating mechanism, the rotating mechanism comprises a mounting frame, a mounting column, a rotating arm, a mounting block, a pressure spring, a limiting component and a driving component, one end of the mounting column is fixedly connected with the mounting frame and is positioned in the mounting frame, and the other end of the mounting column is fixedly connected with the rotating arm; one end of the joint arm is fixedly connected with the mounting column, one end of the rotating arm is rotationally connected with the mounting column, the mounting block is fixedly connected with the joint arm and located at the end, away from the mounting column, of the joint arm, the two ends of the pressure spring are fixedly connected with the mounting block and the rotating arm correspondingly, and the limiting assembly is arranged between the mounting block and the rotating arm. The driving assembly is arranged on the mounting frame and the mounting column, the rotating arm is arranged at the output end of the driving assembly, elastic rotation of the rotating arm can be achieved through the rotating mechanism, the device is simple in structure, components are cheap, and then the use and maintenance cost is reduced.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a rotational elastic actuator for a robot joint. Background Technology

[0002] A rotary elastic actuator is a drive device used for robot joints. It combines active drive elements and elastic elements to achieve rotational drive of the robot joints. Currently, elastic actuators mainly use motors and hydraulic cylinders as drive sources, which still have shortcomings such as large size, heavy weight, and low power-to-weight ratio.

[0003] A rotary elastic actuator for a robot joint is disclosed in patent application CN 203542621 U, characterized by using a thin-walled, lightweight rotary cylinder combined with a spiral spring to drive the robot joint. The rotary cylinder is characterized by its small size and high output torque, while the spiral spring is also characterized by its small size and good buffering effect. This results in a rotary elastic actuator formed by the rotary cylinder and spiral spring having a compact structure, low impedance, light weight, and low energy consumption.

[0004] However, in existing technologies, the complex structure and high cost of components result in high maintenance costs for the device in the later stages. Utility Model Content

[0005] The purpose of this invention is to provide a rotary elastic actuator for robot joints, which aims to solve the problem that the existing technology has a complex structure and high cost of components, resulting in high maintenance costs for the device in the later stage.

[0006] To achieve the above objectives, this utility model provides a rotational elastic actuator for a robot joint, including a joint arm and a rotation mechanism. The rotation mechanism includes a mounting frame, a mounting column, a rotating arm, a mounting block, a pressure spring, a limiting component, and a drive component. One end of the mounting column is fixedly connected to the mounting frame and located within the mounting frame. One end of the joint arm is fixedly connected to the mounting column. One end of the rotating arm is rotatably connected to the mounting column. The mounting block is fixedly connected to the joint arm and located at the end of the joint arm away from the mounting column. Both ends of the pressure spring are fixedly connected to the mounting block and the rotating arm, respectively. The limiting component is disposed between the mounting block and the rotating arm. The drive component is disposed on the mounting frame and the mounting column, and the rotating arm is disposed on the output end of the drive component.

[0007] The limiting component includes a limiting rod and a limiting block. One end of the limiting rod is fixedly connected to the rotating arm and is located inside the pressure spring. The limiting rod is slidably connected to the mounting block and passes through the mounting block. The limiting block is fixedly connected to the limiting rod and is located at the end of the limiting rod away from the rotating arm.

[0008] The drive assembly includes a power kit, a rotating plate, a telescopic kit, and a locking block. The rotating arm has a locking slot. The power kit is mounted on the mounting frame. One end of the rotating plate is located on the output end of the power kit, and the other end of the rotating plate is rotatably connected to the mounting column. The telescopic kit is located between the rotating plate and the locking block, and the locking block is located in the locking slot.

[0009] The power kit includes a drive motor and a drive shaft. The drive motor is fixedly connected to one end of the mounting bracket, the drive shaft is fixedly connected to the output end of the drive motor and extends into the mounting bracket, and the rotating plate is fixedly connected to the drive shaft.

[0010] The telescopic kit includes a telescopic spring and a telescopic rod. The two ends of the telescopic spring are fixedly connected to the locking block and the rotating plate, respectively. The two ends of the telescopic rod are fixedly connected to the locking block and the rotating plate, respectively, and are located inside the telescopic spring.

[0011] This invention discloses a rotary elastic actuator for a robot joint. When using the device, the drive assembly is activated, causing the rotary arm to rotate towards the joint arm. The joint arm rotates around the mounting post as its central axis. As the joint arm approaches the mounting block, the pressure spring is compressed. When the rotary arm rotates to a certain angle and the pressure spring is compressed to a certain degree, the drive assembly stops driving the rotary arm, and the pressure spring instantly extends and resets under its own elastic potential energy, causing the rotary arm to move away from the joint arm. This achieves the elastic rotation of the rotary arm. The device has a simple structure and low component cost, thereby reducing the later maintenance cost of the device. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0013] Figure 1 This is a schematic diagram of the structure of the rotational elastic actuator of the robot joint of this utility model.

[0014] Figure 2This is a schematic diagram of the rotational elastic actuator of the robot joint of this utility model from another direction.

[0015] Figure 3 This is the utility model Figure 2 Enlarged view of the local structure at point A.

[0016] Figure 4 This is a front view of the rotational elastic actuator of the robot joint of this utility model.

[0017] 101-Mounting bracket, 102-Mounting column, 103-Articulated arm, 104-Rotating arm, 105-Limiting rod, 106-Compression spring, 107-Mounting block, 108-Limiting block, 109-Drive motor, 110-Drive shaft, 111-Rotating plate, 112-Telescopic rod, 113-Telescopic spring, 114-Clamping block, 115-Clamping slot. Detailed Implementation

[0018] Please see Figures 1 to 4 ,in, Figure 1 This is a schematic diagram of the structure of the rotational elastic actuator of the robot joint of this utility model. Figure 2 This is a schematic diagram of the rotational elastic actuator of the robot joint of this utility model from another direction. Figure 3 This is the utility model Figure 2 Enlarged view of the local structure at point A. Figure 4 This is a front view of the rotational elastic actuator of the robot joint of this utility model.

[0019] This utility model provides a rotational elastic actuator for a robot joint, including a joint arm 103 and a rotation mechanism. The rotation mechanism includes a mounting frame 101, a mounting column 102, a rotating arm 104, a mounting block 107, a pressure spring 106, a limiting component, and a driving component. The limiting component includes a limiting rod 105 and a limiting block 108. The driving component includes a power kit, a rotating plate 111, a telescopic kit, and a locking block 114. The rotating arm 104 has a locking groove 115. The power kit includes a drive motor 109 and a drive shaft 110. The telescopic kit includes a telescopic spring 113 and a telescopic rod 112. The aforementioned solution solves the problem in the prior art where the structure is complex and the cost of the components is high, resulting in high maintenance costs for the device in the later stages.

[0020] In this embodiment, one end of the mounting post 102 is fixedly connected to the mounting frame 101 and located within the mounting frame 101; one end of the articulated arm 103 is fixedly connected to the mounting post 102; one end of the rotating arm 104 is rotatably connected to the mounting post 102; the mounting block 107 is fixedly connected to the articulated arm 103 and located at the end of the articulated arm 103 away from the mounting post 102; both ends of the pressure spring 106 are fixedly connected to the mounting block 107 and the rotating arm 104 respectively; the limiting component is disposed between the mounting block 107 and the rotating arm 104; the driving component is disposed on the mounting frame 101 and the mounting post 102, and the rotating arm 104 is disposed on the output end of the driving component. When the device is in place, the drive assembly is activated, which drives the rotating arm 104 to rotate toward the joint arm 103. The joint arm 103 rotates around the mounting post 102 as its central axis. As the joint arm 103 approaches the mounting block 107, the pressure spring 106 is compressed. When the rotating arm 104 rotates to a certain angle and the pressure spring 106 is compressed to a certain extent, the drive assembly stops driving the rotating arm 104. The pressure spring 106 instantly extends and resets under the action of its own elastic potential energy, and drives the rotating arm 104 to move away from the joint arm 103, thereby realizing the elastic rotation of the rotating arm 104. The device has a simple structure and low component cost, thus reducing the later maintenance cost of the device.

[0021] Furthermore, one end of the limiting rod 105 is fixedly connected to the rotating arm 104, and the limiting rod 105 is located inside the pressure spring 106. The limiting rod 105 is slidably connected to the mounting block 107 and passes through the mounting block 107. The limiting block 108 is fixedly connected to the limiting rod 105 and is located at the end of the limiting rod 105 away from the rotating arm 104.

[0022] In this embodiment, during the rotation of the rotating arm 104, the pressure spring 106 extends and retracts. When the rotating arm 104 rotates, the limiting rod 105 slides within the mounting block 107. The limiting rod 105 prevents the pressure spring 106 from becoming misaligned during extension and retraction. When the pressure spring 106 extends and drives the rotating arm 104 to rotate, the limiting block 108 prevents the rotating arm 104 from rotating at an excessive angle, thus improving the structural stability of the device.

[0023] Furthermore, the power kit is mounted on the mounting bracket 101, one end of the rotating plate 111 is mounted on the output end of the power kit, the other end of the rotating plate 111 is rotatably connected to the mounting column 102, the telescopic kit is mounted between the rotating plate 111 and the locking block 114, and the locking block 114 is located in the locking groove 115.

[0024] Furthermore, the drive motor 109 is fixedly connected to one end of the mounting bracket 101, the drive shaft 110 is fixedly connected to the output end of the drive motor 109 and extends into the mounting bracket 101, and the rotating plate 111 is fixedly connected to the drive shaft 110.

[0025] Furthermore, the two ends of the telescopic spring 113 are fixedly connected to the locking block 114 and the rotating plate 111, respectively, and the two ends of the telescopic rod 112 are fixedly connected to the locking block 114 and the rotating plate 111, respectively, and are located inside the telescopic spring 113.

[0026] In this embodiment, when using the device, the drive motor 109 is started, which drives the drive shaft 110 and the rotating plate 111 to rotate. The locking block 114 moves into the locking slot 115 and drives the rotating arm 104 to rotate towards the joint arm 103. The joint arm 103 rotates around the mounting post 102 as its central axis. As the joint arm 103 approaches the mounting block 107, the pressure spring 106 is compressed. When the rotating arm 104 rotates to a certain angle and the pressure spring 106 is compressed to a certain extent, the pressure spring 106 is compressed. A sufficiently large reaction force is generated, causing the rotating arm 104 to push against the locking block 114, causing the telescopic spring 113 and the telescopic rod 112 to retract. At this time, the locking block 114 slides out of the locking groove 115, the drive motor 109 stops driving the rotating arm 104, and the pressure spring 106 instantly extends and resets under the action of its own elastic potential energy, driving the rotating arm 104 to move away from the joint arm 103, thereby realizing the elastic rotation of the rotating arm 104. The structure of this device is simple and the cost of its components is low, thereby reducing the maintenance cost of the device in the later stage.

[0027] The above-disclosed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Those skilled in the art will understand that all or part of the processes for implementing the above embodiments, and equivalent variations made in accordance with the claims of this application, still fall within the scope of this application.

Claims

1. A rotational elastic actuator for a robot joint, comprising a joint arm, characterized in that, It also includes a rotating mechanism, which comprises a mounting frame, a mounting column, a rotating arm, a mounting block, a pressure spring, a limiting component, and a driving component. One end of the mounting column is fixedly connected to the mounting frame and located within the mounting frame. One end of the articulated arm is fixedly connected to the mounting column. One end of the rotating arm is rotatably connected to the mounting column. The mounting block is fixedly connected to the articulated arm and located at the end of the articulated arm away from the mounting column. Both ends of the pressure spring are fixedly connected to the mounting block and the rotating arm, respectively. The limiting component is disposed between the mounting block and the rotating arm. The driving component is disposed on the mounting frame and the mounting column, and the rotating arm is disposed on the output end of the driving component.

2. The rotational elastic actuator of the robot joint as described in claim 1, characterized in that, The limiting assembly includes a limiting rod and a limiting block. One end of the limiting rod is fixedly connected to the rotating arm and is located inside the pressure spring. The limiting rod is slidably connected to the mounting block and passes through the mounting block. The limiting block is fixedly connected to the limiting rod and is located at the end of the limiting rod away from the rotating arm.

3. The rotational elastic actuator for a robot joint as described in claim 2, characterized in that, The drive assembly includes a power kit, a rotating plate, a telescopic kit, and a locking block. The rotating arm has a locking slot. The power kit is mounted on the mounting frame. One end of the rotating plate is located on the output end of the power kit, and the other end of the rotating plate is rotatably connected to the mounting column. The telescopic kit is located between the rotating plate and the locking block, and the locking block is located within the locking slot.

4. The rotational elastic actuator for a robot joint as described in claim 3, characterized in that, The power kit includes a drive motor and a drive shaft. The drive motor is fixedly connected to one end of the mounting bracket, the drive shaft is fixedly connected to the output end of the drive motor and extends into the mounting bracket, and the rotating plate is fixedly connected to the drive shaft.

5. The rotational elastic actuator of the robot joint as described in claim 4, characterized in that, The telescopic kit includes a telescopic spring and a telescopic rod. The two ends of the telescopic spring are fixedly connected to the locking block and the rotating plate, respectively. The two ends of the telescopic rod are fixedly connected to the locking block and the rotating plate, respectively, and are located inside the telescopic spring.

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