A heart-shaped profile disc with parallel elastic and compliant joint
By using a parallel elastic and compliant joint structure with a heart-shaped contour disk and the cooperation of steel wire rope and spring, the conversion of electrical energy into elastic potential energy is achieved, which solves the problems of insufficient energy consumption and anti-interference performance of robot joints and improves compliance and adaptability.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- DINGZHOU YIDIAN TECHNOLOGY CO LTD
- Filing Date
- 2025-08-12
- Publication Date
- 2026-07-31
AI Technical Summary
Existing rigid drive methods for robot joints have shortcomings in energy consumption and anti-interference performance, making it difficult to achieve compliant movements and self-adjusting contact, and they also have high energy consumption.
It adopts a heart-shaped profile disk parallel elastic and compliant joint structure. Through the design of the motor transmission mechanism, heart-shaped cam winding mechanism and frame, it uses the cooperation of steel wire rope and spring to realize the conversion of electrical energy and elastic potential energy, and outputs driving torque in parallel. It has elastic characteristics similar to biological muscles and can counteract external force interference.
It achieves efficient energy conversion and anti-interference capability, reduces energy consumption, improves the flexibility and adaptability of robot joints, and enhances the effect of counteracting external force interference.
Smart Images
Figure CN224575705U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to a heart-shaped contour disc with parallel elastic and compliant joint, and particularly to the field of mechanical equipment technology. Background Technology
[0002] Currently, the "bionic muscles" widely researched and used both domestically and internationally primarily employ pneumatic and hydraulic technologies. While this rigid joint actuation method is technologically mature and offers numerous development options, limitations in portability and practicality, coupled with the high rigidity of the mechanism, result in weak robustness and adaptability of rigid actuators. This leaves certain shortcomings and deficiencies for robots to achieve goals such as compliant movements, self-adjusting contact, and low-energy motion. Therefore, it is necessary to research and improve the energy consumption and anti-interference performance of existing rigid joint actuators in robots. Utility Model Content
[0003] This invention provides a heart-shaped profile disc with parallel elastic compliant joint to overcome the shortcomings of existing compliant joints in terms of energy consumption and anti-interference performance.
[0004] To solve the above-mentioned technical problems, this utility model provides the following technical solution:
[0005] This utility model discloses a parallel elastic compliant joint with a heart-shaped profile disk, including a motor transmission mechanism, a heart-shaped cam winding mechanism, and a frame. The motor transmission mechanism includes a first-stage reduction gear composed of a motor, a worm gear, and a worm, and a large helical gear as a second-stage reduction gear. The heart-shaped cam winding mechanism includes a heart-shaped cam, which is connected to the joint spindle located on the transmission device as a low-speed shaft by an internal hexagon screw. The steel wire rope is wound on the heart-shaped cam, and one end of the steel wire rope passes through a lead wire mechanism and is connected to the other end of the spring. The lead wire mechanism is used to ensure that the steel wire rope only contacts the spring pull plate.
[0006] Furthermore, the motor transmission mechanism includes a brushless motor, a worm gear and a worm wheel as the high-speed shaft, a small helical gear shaft and a large helical gear as the medium-speed shaft, and a joint shaft as the low-speed shaft. The brushless motor is directly connected to the worm gear, the worm gear and the worm wheel mesh to form a first-stage reduction, the worm wheel and the small helical gear shaft are coaxial, the small helical gear and the large gear mesh to form a second-stage reduction, and the large gear is mounted on the joint main shaft, which drives the forearm to rotate.
[0007] Furthermore, the lead wire mechanism includes cylindrical lead wire posts and a fixing device. Two cylindrical lead wire posts are mounted on the lead wire mechanism fixing plate, and screws connect the lead wire mechanism fixing plate to the forearm.
[0008] Furthermore, the output end of the brushless motor is connected to a worm gear, and the worm wheel and the large gear are axially positioned using a shoulder at one end and a sleeve at the other end, while the worm wheel and the large gear are circumferentially positioned using a common flat key.
[0009] Furthermore, torque sensors are connected to both the heart-shaped cam and the joint spindle to monitor the load output torque between them in real time.
[0010] Furthermore, the motor transmission mechanism is provided with a support plate for fixing the torque sensor, and the thickness dimension of the support plate is such that the concentricity between the torque sensor and the axis of the joint spindle is less than Φ0.05mm.
[0011] Furthermore, the joint spindle is connected to an angle sensor fixed on a sensor mounting plate via a heart-shaped cam, and the angle sensor is used to monitor the rotation angle of the joint spindle in real time.
[0012] Furthermore, the connecting spring shaft passes through the middle of the left and right forearm plates, and one end of the connecting spring shaft is connected to a crank arm. The lower part of the crank arm is connected to the spring pull plate. One end of the cylindrical helical tension spring is fixed to the spring pull plate, and the steel wire rope at the other end is wound around the heart-shaped cam connected to the joint spindle. This achieves the parallel output of the elastic restoring torque of the heart-shaped cam with the steel wire rope wound around it and the driving torque generated by the brushless motor located on the transmission device on the joint spindle, thereby giving the compliant joint the characteristics of a parallel structure.
[0013] Furthermore, the frame portion includes a housing base, a chassis rotating worm gear box is provided above the housing base, a boom mounting plate is provided above the chassis rotating worm gear box, a left boom plate is provided on the inner side of the boom mounting plate, a boom drive bearing seat is provided on the outer side, a boom front fixing plate is connected above the left boom plate, and a forearm left plate and a forearm right plate are respectively provided on the upper part of the boom front fixing plate.
[0014] Furthermore, the plane of the heart-shaped cam, which has a variable radius, is parallel to the axis of the cylindrical helical tension spring.
[0015] The beneficial effects achieved by this utility model are as follows: by fixing one end of the spring to the spring tension plate and winding the steel wire rope connected to the other end of the spring around the heart-shaped cam connected to the main shaft of the joint, the elastic restoring torque of the heart-shaped cam with the steel wire rope and the driving torque generated by the motor located on the transmission device are output in parallel on the main shaft of the joint, so that the compliant joint of the parallel elastic actuator has the characteristics of a parallel structure; by using a tension spring with a constant stiffness of steel wire rope to cooperate with the heart-shaped cam, under the rotation of the cam driven by the main shaft of the joint, the tension spring of steel wire rope on the cam generates a tension force that grows in an approximately linear manner. The rotation of the cam causes the tangent point between the steel wire rope and the cam to change continuously, which in turn causes the lever arm of the linear tension torque to change continuously, generating an upward concave elastic restoring torque, so that this parallel elastic structure has elastic characteristics similar to biological muscles. In summary, this invention, by setting up a parallel elastic structure with upward concave elastic properties, enables energy conversion during joint rotation, namely the mutual conversion of electrical energy and elastic potential energy. When the joint is subjected to an external torque opposite to the direction of rotation, the motor torque interacts with the external force; when subjected to an external torque in the same direction as the rotation, the spring force interacts with the external force, thereby achieving the effect of counteracting external force interference. This solves the problem of the constraint and balance between energy consumption performance and anti-interference performance of existing compliant joints. Attached Figure Description
[0016] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:
[0017] Figure 1 This is a schematic diagram of the structure of this utility model;
[0018] Figure 2 This is a schematic diagram of the heart-shaped cam winding mechanism of this utility model;
[0019] Figure 3 This is a top view of the structure of this utility model.
[0020] In the diagram: 1. Base box; 2. Chassis rotating worm gear box; 3. Boom mounting plate; 4. Boom drive bearing seat; 5. Boom left side plate; 6. Boom front fixing plate; 8. Gear shaft; 9. Sleeve; 10. Left arm rotating bearing seat; 11. Spring fixing plate; 12. Forearm left side plate; 13. Spring pull plate; 14. Crank arm; 16. Forearm positioning post; 17. Forearm right side plate; 20. Connecting spring shaft; 21. Large helical gear; 28. Joint spindle; 33. Worm gear; 34. Worm; 38. Cylindrical helical tension spring; 39. Lead wire mechanism fixing plate; 40. Cylindrical guide post; 41. Steel wire rope; 42. Heart-shaped cam; 44. Brushless motor. Detailed Implementation
[0021] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.
[0022] Example 1
[0023] like Figures 1-3 As shown, a heart-shaped profile disk parallel elastic compliant joint includes a motor transmission mechanism, a heart-shaped cam winding mechanism, and a frame. The motor transmission mechanism includes a first-stage reduction section consisting of a brushless motor 44, a worm gear 33, and a worm 34, and a second-stage reduction section consisting of a large helical gear 21. The heart-shaped cam winding mechanism includes a heart-shaped cam 42, which is connected to the joint spindle 28 located on the transmission device as a low-speed shaft via an internal hexagonal screw 24. The wire rope 41 is wound around the heart-shaped cam 42, and one end of the wire rope 41 passes through a lead-wire mechanism and is connected to the other end of the cylindrical helical tension spring 38. The lead-wire mechanism is used to ensure that the wire rope only contacts the spring pull plate 13.
[0024] A connecting spring shaft 20 passes through the middle of the left forearm plate 12 and the right forearm plate 17. One end of the connecting spring shaft 20 is connected to a crank arm 14, and a spring pull plate 13 is connected below the crank arm 14. One end of a cylindrical helical tension spring 38 is fixed to the spring pull plate 13. The steel wire rope 41 connecting the other end of the cylindrical helical tension spring 38 is wound around a heart-shaped cam 42 connected to the joint spindle 28. This achieves parallel operation of the elastic restoring torque of the heart-shaped cam 42 with the steel wire rope 41 wound around it and the driving torque generated by the brushless motor 44 located on the transmission device on the joint spindle 28. The output gives the compliant joint the characteristics of a parallel structure. At the same time, the wire rope 41 and the tension spring 38 with a fixed stiffness cooperate with the heart-shaped cam 42. When the joint spindle 28 drives the heart-shaped cam 42 to rotate, the wire rope 41 on the heart-shaped cam 42 stretches the cylindrical helical tension spring 38 to generate a tension force that grows in an approximately linear manner. The rotation of the heart-shaped cam 42 causes the tangent point between the wire rope 41 and the heart-shaped cam 42 to change continuously, which in turn causes the lever arm of the linear tension torque to change continuously, generating an upward concave elastic restoring torque, so that this parallel elastic actuator has elastic characteristics similar to biological muscles.
[0025] The motor transmission mechanism includes a brushless motor 44, a worm 34, a worm wheel 33, a large helical gear 21 as a high-speed shaft, and a joint spindle 28 as a low-speed shaft. The brushless motor 44 is directly connected to the worm 34. The worm 34 and the worm wheel 33 mesh to form a first-stage reduction. The gear shaft 8 is located in the middle of the front fixed plate 6 of the upper arm. A sleeve 9 is fitted on one end of the gear shaft 8. The worm wheel 33 and the gear shaft 8 are coaxial. The small helical gear and the large helical gear 21 mesh to form a second-stage reduction. The large gear 21 is mounted on the joint spindle 28, and the joint spindle 28 drives the forearm to rotate.
[0026] The lead wire mechanism includes two cylindrical lead wire posts 40 and a lead wire mechanism fixing plate 39. The two cylindrical lead wire posts 40 are mounted on the lead wire mechanism fixing plate 39. Screws connect the lead wire mechanism fixing plate 39 to the forearm. When the wire rope starts to stretch the cylindrical helical tension spring 38 or retracts, it ensures that the wire rope 41 is in the direction we guide. This achieves the parallel output of the elastic restoring torque of the heart-shaped cam 42 with the wire rope 41 wound on it and the driving torque generated by the brushless motor 44 located on the transmission device on the joint spindle 28. This gives the compliant joint the characteristics of a parallel structure, thus ensuring that it does not come into contact with other components.
[0027] The motor 44 is directly connected to the worm 34. The worm wheel 33 and the large helical gear 21 are axially positioned using a shoulder at one end and a sleeve 9 at the other end. The worm wheel 33 and the large helical gear 21 are circumferentially positioned using a common flat key.
[0028] The joint spindle 28 is connected to an angle sensor fixed on a sensor mounting plate via a heart-shaped cam 42, constantly transmitting torque to the compliant joint and plotting an elastic curve.
[0029] The motor transmission mechanism is provided with a support plate for fixing the torque sensor, and the thickness dimension of the support plate is such that the concentricity of the torque sensor and the axis of the joint spindle 28 is less than Φ0.05mm, thereby keeping the center of the torque sensor and the center of the joint spindle 28 on a straight line.
[0030] The joint spindle 28 is also connected to an angle sensor fixed on a sensor mounting plate via a heart-shaped cam 42. The angle sensor is used to monitor the rotation angle of the joint spindle 28 in real time.
[0031] The heart-shaped cam 42 is fixed to the joint spindle 28 by an internal hexagonal screw 24.
[0032] The plane of the heart-shaped cam 42, which is configured with a variable radius, is parallel to the axis of the cylindrical helical tension spring 38.
[0033] The frame includes a housing base 1, a chassis rotating worm gear box 2 is provided above the housing base 1, a boom mounting plate 3 is provided above the chassis rotating worm gear box 2, a left boom plate 5 is provided on the inner side of the boom mounting plate 3, a boom drive bearing seat 4 is provided on the outer side, a boom front fixing plate 6 is connected above the left boom plate 5, and a forearm left plate 12 and a forearm right plate 17 are respectively provided on the upper part of the boom front fixing plate 6.
[0034] By setting up a parallel elastic structure with upward concave elasticity, energy conversion is achieved when the joint rotates, that is, the mutual conversion of electrical energy and elastic potential energy. When the joint is subjected to an external torque opposite to the direction of rotation, the torque of the brushless motor interacts with the external force; when subjected to an external torque in the same direction as the rotation, the force of the spring interacts with the external force, thereby achieving the effect of counteracting external force interference, and thus solving the problem of the constraint and balance between the energy consumption performance and anti-interference performance of existing compliant joints.
[0035] It should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention. The terminology used in the description of this application is only for describing specific embodiments and is not intended to limit the exemplary embodiments according to this application. For ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings indicate similar items, and therefore, once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.
[0036] It should be noted that the terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and are not limited in number; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.
[0037] It should be noted that in the description of this application, the directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this application. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.
Claims
1. A heart-shaped profiled disc parallel elastic compliant joint, characterized in that, Includes the motor drive mechanism, the heart-shaped cam winding mechanism, and the frame; The motor transmission mechanism includes a primary reduction gear consisting of a motor, a worm gear, and a worm, and a large helical gear as a secondary reduction gear; The heart-shaped cam winding mechanism includes a heart-shaped cam, which is connected to the joint spindle located on the transmission device as a low-speed shaft by an internal hexagon screw. A steel wire rope is wound on the heart-shaped cam, and one end of the steel wire rope passes through the lead wire mechanism and is connected to the other end of the cylindrical helical tension spring. The lead wire mechanism is used to ensure that the steel wire rope only contacts the spring pull plate.
2. The heart-shaped profiled disc parallel elastic compliant joint according to claim 1, characterized in that, The motor transmission mechanism includes a brushless motor, a worm gear and a worm wheel as the high-speed shaft, a small helical gear shaft and a large helical gear as the medium-speed shaft, and a joint shaft as the low-speed shaft. The brushless motor is directly connected to the worm gear. The worm gear and the worm wheel mesh to form a first-stage reduction. The worm wheel and the small helical gear shaft are coaxial. The small helical gear and the large gear mesh to form a second-stage reduction. The large gear is mounted on the joint main shaft, and the joint main shaft drives the forearm to rotate.
3. The heart-shaped profiled disc parallel elastic compliant joint according to claim 1, characterized in that, The lead wire mechanism includes cylindrical lead wire posts and a fixing device. Two cylindrical lead wire posts are mounted on the lead wire mechanism fixing plate, and screws connect the lead wire mechanism fixing plate to the forearm.
4. The heart-shaped profiled disc parallel elastic compliant joint according to claim 2, characterized in that, The output end of the brushless motor is connected to a worm gear. The worm wheel and the large gear are axially positioned using a shoulder at one end and a sleeve at the other end. The worm wheel and the large gear are circumferentially positioned using a common flat key.
5. The heart-shaped profiled disc parallel elastic compliant joint according to claim 1, characterized in that, Both the heart-shaped cam and the joint spindle are equipped with torque sensors for real-time monitoring of the load output torque between them.
6. The heart-shaped profiled disc parallel elastic compliant joint according to claim 5, characterized in that, The motor transmission mechanism is provided with a support plate for fixing the torque sensor, and the thickness dimension of the support plate is such that the concentricity between the torque sensor and the axis of the joint spindle is less than Φ0.05mm.
7. The heart-shaped profiled disc parallel elastic compliant joint according to claim 1, characterized in that, The joint spindle is connected to an angle sensor fixed on a sensor mounting plate via a heart-shaped cam. The angle sensor is used to monitor the rotation angle of the joint spindle in real time.
8. The heart-shaped profiled disc parallel elastic compliant joint according to claim 1, characterized in that, The connecting spring shaft passes through the middle of the left and right plates of the forearm. One end of the connecting spring shaft is connected to a crank arm, and the lower part of the crank arm is connected to the spring pull plate. One end of the cylindrical helical tension spring is fixed to the spring pull plate, and the other end of the steel wire rope is wound around the heart-shaped cam connected to the joint spindle. This achieves the parallel output of the elastic restoring torque of the heart-shaped cam with the steel wire rope wound around it and the driving torque generated by the brushless motor located on the transmission device on the joint spindle, thus giving the compliant joint the characteristics of a parallel structure.
9. The heart-shaped profiled disc parallel elastic compliant joint according to claim 1, characterized in that, The frame includes a housing base, a chassis rotating worm gear box is located above the housing base, a boom mounting plate is located above the chassis rotating worm gear box, a left boom plate is located on the inner side of the boom mounting plate, a boom drive bearing seat is located on the outer side, a boom front fixing plate is connected above the left boom plate, and a forearm left plate and a forearm right plate are respectively located on the upper part of the boom front fixing plate.
10. The heart-shaped profiled disc parallel elastic compliant joint according to claim 8, characterized in that, The plane of the heart-shaped cam, which has a variable radius, is parallel to the axis of the cylindrical helical tension spring.