A joint system that displays variable stiffness during operation for different moment ranges and its working method

Abstract

The invention relates to a flexible joint system which can be connected to the force / torque transmission line of linear / rotary actuators, which operates bidirectionally, which allows switching between very stiff - stiff - soft stiffness levels, and whose stiffness value can decrease from very stiff to soft as the force / moment increases, that is, it can soften, and to the working method of this system.

Description

[0001] A JOINT SYSTEM THAT DISPLAYS VARIABLE STIFFNESS DURING OPERATION FOR DIFFERENT MOMENT RANGES AND ITS WORKING METHOD

[0002] Technical Field of Invention

[0003] The invention is related to a flexible joint system which can be connected to the force / moment transmission line of linear / rotary actuators, operates bidirectionally, allows switching between very stiff, stiff, and soft stiffness levels, and whose stiffness can decrease from very stiff to soft as the force / moment increases, that is, it can soften, and this system’s working method.

[0004] State of the Art

[0005] In the past years, industrial robots were traditionally kept in cages for safety reasons, but with Industry 4.0, the importance of human-robot interaction / collaboration studies is increasing day by day, and the fact that humans and robots share common workspaces together accelerates Human-Robot Interaction (HRI) studies in this field. One of the areas where HRI is found is between robots and humans performing various tasks in industrial settings. In industry, there are different definitions on the classification of the level of interaction and cooperation between industrial robots and humans

[0001] . One of these definitions is collaboration, that is, humans and robots working together for a common purpose. In the known state of the art, the unpredictability of robots in collaborative workspaces and their lack of communication have a negative impact on humans (stress etc.). Therefore, humanrobot collaboration is expected to be both mentally more efficient for humans and to improve human-robot communication [2],

[0006] One of the areas where human-robot interaction takes place is surgical robots, and these robots can be a surgeon-robot system that performs the surgery or a robot that assists the surgeon [3]. In both cases, the robot must be able to meet safety criteria during interaction with the patient and other devices in its environment. A control algorithm compatible with these safety criteria should be developed to prevent the application of high forces to the patient or doctor. However, an error in the calculation of the control signal or a sudden increase in force / moment due to signal noise in the actuators can result in patient injury. Therefore, designing a compliant-soft robot and mechanically securing the safety issue is one of the most logical solutions [4], In the current state of the art, there are three methods for designing a compliant robot [5]. These are robots where the limbs, joints or endeffector are flexible and the flexibility of the limbs can be achieved with flexible materials, but flexible links are more difficult to model and control because they are modeled as a high degree-of-freedom kinematic chain. Numerical solutions are usually required for inverse kinematics solutions. In the case where the joints are flexible, a spring is connected between the actuator and the robot mechanism. This actuator system is defined as a series elastic actuator (SEA). With encoders placed on both the actuator and the robot mechanism, both the flexion information is calculated and the motion information of the connected limb is obtained. In essence, in order for compliant robots to be passively retractable, the joint structures must be precisely manufactured and low friction must be ensured. Another method is to achieve flexibility by means of a spring placed on the end-effector side, between the robot mechanism and the surgical instrument. Although this method is easier to implement than the other two methods, there are surgical scenarios where this method cannot be used. For example, in minimally invasive surgery, the endoscope or surgical instrument enters the body through a single point. Rotation around this point or entering and exiting the body on this point is possible. However, the position of this point should not change, as the movement of this point is kinematically constrained for surgical robots with a remote center of motion (RCM). This kinematic constraint is eliminated in the spring scenario attached to the end-effector side. Therefore, the safest method applicable for these robots is the SEA method.

[0007] The use of springs in human-robot interaction is important and useful in several ways. Firstly, springs are used in human-robot interactions to reduce the risk of robots harming humans. A spring mechanism softens the robot's movements and absorbs energy on impact, reducing the severity of accidents. The use of springs also improves the robots' proprioception capabilities. This allows the robot to feel its own position and movement, enabling it to make more precise and controlled movements. In addition, springs often function as mechanical restraints. Their operating range is low and the stretch / moment relationship is not linear, but increases in stiffness with stretch. The increase in stiffness with stretching is a situation that reduces safety in human-robot interaction. Since surgical robots interact with soft tissues, soft springs are required. In addition, the spring should have a linear stiffness model, thus, making it easier to control. However, the relationship between moment / force and angular / linear displacement of the springs (stiffness model) in the current technique is not constant, and a moment / force range where no deflection will occur (rigid stiffness region) cannot be determined, the stiffness value does not decrease as the deflection increases but increases, sudden changes in the moment / force or deflection on the system occur as soon as the stiffness is changed. Failure to define the rigid region in a system using springs can cause performance loss. For example, even in the friction within the robot itself, the springs stretch and make it difficult to get the desired output. In human robot interaction, it is not possible for the robot to harm the human up to a certain force level. If the rigid region of the spring is adjusted according to these safe levels, the robot using the spring mechanism will be able to perform low-force operations with higher performance while guaranteeing safety in a possible human-robot collision. For this reason, improvement in the related technical field is necessary.

[0008] Brief Description and Objectives of the Invention

[0009] The invention discloses a flexible joint system which can be connected to the force / moment transmission line of linear / rotary actuators, which operates bidirectionally, which allows switching between very stiff-stiff-soft stiffness levels, and whose stiffness value can decrease from very stiff to soft level as the force / moment increases, i.e. softening, and the working method of this system.

[0010] The aim of the invention is to provide a flexible joint system whose stiffness value can decrease from very stiff to soft as the force / moment increases, that is, it can soften. The softening process is achieved by means of the first and second spring cell and the moment transmission part. These elements reduce stiffness by putting the springs in series.

[0011] Another object of the invention is to provide a bidirectional joint system that can be connected to the force / moment transmission line of linear / rotary actuators. The bidirectional operation is made possible by a moment input part, a spring cell and a moment output part. Basically, the moment input part drives the outer part of the spring in the spring cell for left-hand bending. In right hand turns, the inner part is driven. The moment output part connects with the inner part of the spring in the spring cell for left turns and with the outer part for right turns and can drive the limb connected to the moment output part.

[0012] Description of Figures

[0013] Figure 1. Series elastic actuator system (a) isometric view b) side view).

[0014] Figure 2. Alternative assembly of the series spring mechanism.

[0015] Figure 3. Cross-sectional view of the series spring mechanism.

[0016] Figure 4. Components of the series spring mechanism.

[0017] Figure 5. Exploded view of the moment input part.

[0018] Figure 6. Exploded view of the first spring cell.

[0019] Figure 7. Exploded view of the first torsional spring housing.

[0020] Figure 8. Isometric view of the first torsional spring.

[0021] Figure 9. Exploded view of the first torsional spring inner surface contact part.

[0022] Figure 10. Exploded view of the first ring.

[0023] Figure 11. Exploded view of moment transmission part.

[0024] Figure 12. Exploded view of moment output part.

[0025] Figure 13. Step-by-step representation of flexing in the left rotation direction.

[0026] Figure 14. Step-by-step representation of flexing in the right rotation direction.

[0027] Figure 15. Angular deflection and moment relationship graph obtained from static test.

[0028] Figure 16. Bode diagram obtained as a result of stiff zone impedance test.

[0029] Figure 17. Bode diagram obtained as a result of soft zone impedance test.

[0030] Figure 18. Exploded view of the second spring cell.

[0031] Figure 19. Exploded view of the second torsional spring housing.

[0032] Figure 20. Isometric view of the second torsional spring.

[0033] Figure 21. Exploded view of the inner surface contact part of the second torsional spring.

[0034] Figure 22. Exploded view of the second ring.

[0035] Explanation of References in Figures

[0036] 10. Actuator

[0037] 20. Coupling 30. Limb

[0038] 40. Shaft

[0039] 100. Series spring mechanism

[0040] 110. Moment input part

[0041] 111. Nut

[0042] 112. Short alien bolt

[0043] 113. Phillips head bolt

[0044] 114. Moment input part 1

[0045] 114A. Connection surface to moment input part 2

[0046] 114B. Load transfer surface for left hand rotations

[0047] 114C. Connection surface to shaft (40)

[0048] 115. Moment input part 2

[0049] 115A. Connection surface to moment input part 1

[0050] 115B. Load transfer surface for right hand rotations

[0051] 120. First spring cell

[0052] 121. Torsional spring housing load transfer part

[0053] 121 A. Contact surface with 114B

[0054] 122. Torsional spring housing

[0055] 122A. Contact surface with outer end of spring (124B)

[0056] 122B. Bearing (123) housing

[0057] 122C. Contact surface of outer ring of torsional spring

[0058] 123. Bearing

[0059] 124. Torsional spring

[0060] 124A. Contact surface with inner end of spring with 125A

[0061] 124B. Contact surface with outer end of spring with 122A

[0062] 125. Contact part of inner surface of torsional spring

[0063] 125A. Contact surface with 124B

[0064] 125B. Mounting surface with ring (126)

[0065] 126. Ring

[0066] 126A. Mounting surface with ring (125)

[0067] 127. Ring load transfer part

[0068] 127A. Contact surface with 115B

[0069] 130. Moment transmission part

[0070] 131. Right load transmission part 131 A. Contact surface with 121 A

[0071] 131 B. Contact surface with second spring cell (150) for right load transmission

[0072] 132. Left load transmission part

[0073] 132A. Contact surface with 127A

[0074] 132B. Contact surface with second spring cell (150) for left load transmission

[0075] 133. Intermediate shaft

[0076] 140. Moment output part

[0077] 141. Moment output part 1

[0078] 141 A. Load transfer surface for left hand turns

[0079] 142. Moment output part 2

[0080] 142A. Load transfer surface for right hand turns

[0081] 143. Moment output part shaft

[0082] 144. Long alien bolt

[0083] 150. Second spring cell

[0084] 151. Torsional spring housing load transfer part

[0085] 151 A. Contact surface with 131 B

[0086] 152. Torsional spring housing

[0087] 152A. Contact surface with outer end of spring (154B)

[0088] 152B. Bearing (153) housing

[0089] 152C. Contact surface of outer ring of torsional spring

[0090] 153. Bearing

[0091] 154. Torsional spring

[0092] 154A. Contact surface between the inner end of the spring and 155A of part 155

[0093] 154B. Contact surface between the outer end of the spring and 152A of part 152

[0094] 155. Inner surface contact part of the torsional spring

[0095] 155A. Contact surface with 154B

[0096] 155B. Mounting surface with ring (156)

[0097] 156. Ring

[0098] 156A. Mounting surface with ring (155)

[0099] 157. Ring load transfer part 157A. Contact surface with 132B

[0100] Detailed Description of the Invention

[0101] The invention relates to a flexible joint system which can be connected to the force / moment transmission line of linear / rotary actuators, which operates bidirectionally, which allows switching between very stiff - stiff - soft stiffness levels, and whose stiffness value can decrease from very stiff to soft as the force / moment increases, i.e. softening, and to the operation method of this system.

[0102] A series spring mechanism (100) which can be connected on the force / moment transmission line of the linear / rotary actuators subject to the invention, which works bidirectionally, which allows switching between very stiff - stiff - soft stiffness levels and whose stiffness value can decrease from very stiff to soft as the force / moment increases, consist of at least one moment input part (1 10) to capture the moment transferred by the actuator (10) to the shaft (40), at least one coupling (20) connecting the actuator (10) and the shaft (40), the first spring cell (120) and the second spring cell (150) having equivalent configurations, at least one moment transmission part (130) and at least one moment output part (140), at least one moment output part 1 (1 14) and at least one moment output part 2 (1 15) of said moment input part (110), at least one moment output part shaft (143) on which said moment output part (140), at least one moment output part 1 (141 ) and at least one moment output part 2 (142) are mounted, at least one long alien bolt (144) for connecting the limb (30) to the moment output part (140), at least one torsional spring housing load transfer part (121 ) and at least one ring load transfer part (127), at least one bearing (123), to which the load is transferred according to the direction of the load coming from the moment input part (1 10), at least one torsional spring (124) capable of elastic deformation when under the influence of torque / moment and at least one torsional spring inner surface contact part (125) for holding the inner ring of the torsional spring (124), at least one ring (126) in which the torsional spring inner surface contact part (125) can rotate, and at least one Phillips head bolt (1 13) and at least one nut (11 1 ) for fixing the ring (126) and the torsional spring inner surface contact part (125) to each other, at least one shaft (40) and at least one short alien bolt (1 12) for securing the shaft (40) and the connecting surface (1 14C), at least one torsional spring housing (122) for housing the torsional spring (124) and the bearing (123) and retaining the outer ring thereof, at least one right load transfer part (131 ) and at least one left load transfer part (132), comprising at least one intermediate shaft (133) on which the right load transfer part (131 ) and the left load transfer part (132) are connected.

[0103] Figure 1 shows a series elastic actuator that includes the series spring mechanism (100) of the invention, and whose moment level can be adjusted to determine the moment level to change the stiffness. The series elastic actuator structure includes an actuator (10), a shaft (40), a coupling (20) connecting these two, and a series spring mechanism (100) mounted on the shaft (40) and a limb (30) connected to the output of this spring system. As shown in Figure 2, the invention alternatively allows the actuator (10) to be connected to either end of the shaft (40).

[0104] The joint system subject to the invention consists of 4 main parts. As shown in Figure 4, these parts are moment input part (1 10), first spring cell (120) and second spring cell (150) which have equivalent configurations with each other, moment transmission part (130) and moment output part (140). The cross-sectional view of the system in the assembled state is shown in Figure 3. The moment input part (110) and the shaft (40) are rigidly connected to each other. In this way, the moment transferred by the actuator (10) to the shaft (40) is captured by the moment input part (1 10). Figure 5 shows the internal structure of the moment input part (1 10). Moment input part 1 (1 14) and moment input part 2 (1 15), when assembled together, form the moment input part (110). As they are designed as two separate bodies, they can be mounted at different angles. This angle is determined by the desired prestress moment value. Below this moment a rigid structure is formed (infinite stiffness), while above this moment a region with K1 stiffness is formed. After overlapping the connection surface (1 14A) to the moment input part 2 and the connection surface (1 15A) to the moment input part 1 , they are fixed to each other with bolt (113). The connecting surface (1 14C) with the shaft (40) coincides with the shaft (40). These two parts are connected with short alien bolt (1 12). The load transfer surface (1 14B) for left-hand rotation and the load transfer surface (1 15B) for right-hand rotation are the surfaces that transfer the moment load to the first spring cell (120) and the second spring cell (150). These surfaces can be modified to reduce vibrations by coating them with rubber. As shown in Figure 6, depending on the direction of the load coming from the moment input part (1 10), the incoming load is transferred to the torsional spring housing load transfer part (121 ) or the ring load transfer part (127). The torsional spring housing (122) provides the housing of the spring (123) and holds its outer ring. The inner surface contact part (125) of the torsional spring holds the inner ring of the spring (123). The inner surface contact part (125) and the ring (126) are fixed to each other by bringing them to the required angle and tightening the Phillips head bolt (113). This angle is determined when the surfaces 124B - 125A, 124A - 122A, 1 14B - 121 A and 127A - 1 15B coincide. It should also be noted that the inner surface contact part (125) of the torsional spring can rotate inside the ring (126). In this way, the manufacturing error in the spring is compensated and the desired prestress values are set. Thus, the negative effect of the arbitrarily located surfaces 124A and 124B on the spring assembly / performance is eliminated.

[0105] Figure 1 1 shows the sub-parts of the moment transfer part (130) that transfers the load between the first spring cell (120) and the second spring cell (150). The load coming from the first spring cell (120) is transferred to the surfaces 121 A and the contact surface (131 A) or 127A and the contact surface (132A) depending on the direction. This load is then transferred to the second spring cell (150) via the contact surface (131 B) with the second spring cell (150) for right load transfer and via the contact surface (132B) with the second spring cell (150) for left load transfer. The parts having the contact surface 121 A with the contact surface (131 A) and the contact surface 127A with the contact surface 132A are fixed to the intermediate shaft (133) so as to have the same degree of angle with the moment input part (1 10). The second level moment prestress angle is provided by bodies having a contact surface (131 B) with the second spring cell (150) for right load transmission and a contact surface (132B) with the second spring cell (150) for left load transmission. A moment level higher than the moment level determined by the moment input part (1 10) is provided by adjusting the angle of these two parts. The second level moment zone is the K1 stiffness zone. Above this moment level is the K2 stiffness level and the K1 value is greater than the K2 value. According to Figure 12, the load from the second spring cell (150) reaches the moment output part (140) and is transferred to the load transfer surface (141 A) for left-hand rotations or the load transfer surface (142A) for right-hand rotations according to the direction of rotation. The connection of the limb (30) is provided by bolts.

[0106] Method of operation of the inventive joint system for left turns includes;

[0107] I. generation of the left-hand torque load in the actuator (10),

[0108] II. transfer of the load to the shaft (40) via the coupling (20),

[0109] III. transfer of the load through the shaft (40) to the moment input part (1 10),

[0110] IV. transfer of the load from the load transfer surface (114B) to the first spring cell (120) via the contact surface (121 A) with 1 14B in left-hand rotations,

[0111] V. the load passes through the spring and reaches the inner surface contact part (125) of the torsional spring through the contact surface (124B) with the outer end 122A and the contact surface (125A) with 124B,

[0112] VI. since the inner surface contact part (125), ring (126) and ring load transfer part (127) of the torsional spring are assembled, the load on the inner surface contact part (125) of the torsional spring comes to the contact surface (127A) through the inner surface contact part (125), ring (126) and ring load transfer part (127) of the torsional spring,

[0113] VII. transfer of the load to the moment transmission part (130) by means of the contact surface (132A) of the first spring cell (120) and the moment transmission part (130) with surface 127A,

[0114] VIII. transfer of the load in the moment transmission part (130) to the second load cell (150) via the contact surface (132B) with the second spring cell (150) for left load transfer via 151 A,

[0115] IX. transfer of the load to the moment output part (140) by means of the second spring cell (150) and the moment output part (140) being in contact with the contact surface (157A) and the load transfer surface (142A) in left-hand turns,

[0116] X. the load on the moment output part (140) drives the limb (30) to which it is connected by means of the long alien bolt (144) process steps.

[0117] Method of operation of the inventive joint system for right turns includes;

[0118] I. generation of right-hand torque load in actuator (10), II. transfer of the load to the shaft (40) via the coupling (20),

[0119] III. transfer of the load via the shaft (40) to the moment input part (1 10),

[0120] IV. transfer of the load to the first spring cell (120) via the load transfer surface

[0121] (1 15B) to the first spring cell (120) via the contact surface (127A) with 1 15B in right-hand turns,

[0122] XI. the load passes through the inner surface contact part (125), the ring (126) and the ring load transfer part (127) of the torsional spring and reaches the torsional spring (124) via the contact surface (124B) with the outer end of the spring 122A and the contact surface (125A) with 124B,

[0123] V. transfer of the load on the torsional spring (124) to the housing as the torsional spring (124) is in the torsional spring housing (122),

[0124] VI. the load coming to the load transfer part (121 ) of the torsional spring housing reaches the moment transfer part (130) through the contact surface (121 A) by means of the contact surface (131 A),

[0125] VII. transfer of the load from the moment transmission part (130) to the second load cell (150) via the contact surface (157A) by means of the contact surface (131 B) with the second spring cell (150) for right load transfer,

[0126] XII. transfer of the load to the moment output part (140) by means of the second spring cell (150) and the moment output part (140) being in contact with the contact surface (151 A) and the load transfer surface (141 A) in right-hand turns,

[0127] XIII. the load on the moment output part (140) drives the limb (30) to which it is connected by means of the long alien bolt (144) process steps.

[0128] For the operation of the joint system subject to the invention, firstly, the moment coming from the actuator (10) passes through the coupling (20) and transfers the load to the shaft (40). The load entering the moment transmission part (1 10) from the shaft (40) interacts with different surfaces according to the loading direction.

[0129] For left-hand turns: The load transfer to the first spring cell (120) is provided via the load transfer surface (1 14B) and the contact surface (121 A) with 1 14B for left-hand turns. Thus, the torsional spring housing (122) makes a left turn. This means that the outer ring of the spring is rotated. The load passing through the spring is transferred to the surface 125A of the inner surface contact part (125) of the torsional spring in the inner ring and from there to the ring (126). The load here comes to the contact surface (132A) with 127A via the contact surface (127A) with 1 15B. The load reaching the moment transmission part (130) drives the second spring cell (150) via the contact surface (132B) with the second spring cell (150) for left load transfer. The load arriving at the second spring cell (150) via the contact surface (151 A) passes through the spring cell and reaches the contact surface (157A) and then the contact surface (142A). This rotates the limb (30) connected to the bolt in the left direction. Figure 13 shows the stages of rotation.

[0130] For right turns: Load transfer to the first spring cell (120) is provided via surfaces 1 15B and 127A. Thus, the ring (126) and the inner surface contact part (125) of the torsional spring make a right turn. This means rotation of the inner ring of the spring. The load passing through the spring is transferred to the surface 121 A of the torsional spring housing (122) in the outer ring. The load here comes to the surface of the contact surface (131 A). The load reaching the moment transfer part (130) drives the second spring cell (150) via the contact surface (131 B) with the second spring cell (150) for right load transfer. The load arriving at the second spring cell (150) via the contact surface (157A) passes through the spring cell and reaches the contact surface (151 A) and then the contact surface (141 A). This rotates the limb (30) connected to the bolt in the right direction. Figure 14 shows the stages of rotation.

[0131] Figure 15 is the result of static tests of the series spring mechanism subject to the invention. Here, the torque from the motor is increased slowly and the spring mechanism is allowed to flex at low speeds. Since the inertia of the series spring mechanism is neglected in these tests at low speeds, the torque-deflection information gives the pure stiffness characteristic.

[0132] Figure 16 is the result of dynamic tests of the spring mechanism subject to the invention performed in the stiff zone. It is a test in which the inertia of the spring mechanism is examined at the same time in addition to its stiffness. In these tests, the spring mechanism is loaded from low frequencies to high frequencies so that it continues to remain in the stiff region. At low frequency values, the effect of inertia is low, while at high frequency values, the effect of inertia is high. Here, the corner frequency (approximately 3 Hz region) is considered as the place where the inertia effect starts to be observed. Below this frequency, the torque from the motor is sufficient to flex the spring mechanism, while above this frequency value, the system does not flex because the system cannot react to the incoming torque input due to the large inertia effect. Figure 17 shows the results of the same tests for the soft region. The corner frequency was measured to be approximately 2 Hz.

[0133] Industrial Applicability of the Invention

[0134] The invention relates to a flexible joint system which can be connected to the force / torque transmission line of linear / rotary actuators, which operates bidirectionally, which allows switching between very stiff - stiff - soft stiffness levels and whose stiffness value can decrease from very stiff to soft level as the force / moment increases, that is, it can soften, and the working method of this system and is applicable to the industry.

[0135] The invention is not limited to the above explanations, and a person skilled in the technique can easily come up with different applications of the invention. These should be considered within the scope of the protection claimed by the claims.

[0136] REFERENCES

[0137] [1] Buxbaum, H., Kleutges, M., Sen, S. 2018. “Full-scope simulation of human-robot interaction in manufacturing systems.” IEEE Winter Simulation Conference (WSC), 9-12 December, Gbteborg, Sweden, 3299-3307.

[0138] [2] Ornek, 0., Yazici, A., & Ozkan, M. (2023, May 15). “insan-robot Etkilegimi galigmalarma ybnelik insanin OctoMap ile goklu gbzunurluklu modellenmesi.” Dokuz Eylul University Faculty of Engineering Journal of Science and Engineering.

[0139] [3] A. Casals, J. Amat and E. Laporte, “Automatic guidance of an assistant robot in laparoscopic surgery,” Proceedings of IEEE International Conference on Robotics and Automation, Minneapolis, MN, USA, 1996,pp. 895-900 vol.1 , doi :10.1 109 / ROBOT.1996.503886

[0140] [4] Carbone, G., Gherman, B., Ulinici, l.,Vaida, C., & Pisla, D. (2018). “Design issues for an inherently safe robotic rehabilitation device.” In Advances in Service and Industrial Robotics: Proceedings of the 26thlnternational Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2017 (pp.1025-1032). Springer International Publishing

[0141] [5] Thomas, T. L., Kalpathy Venkiteswaran,V., Ananthasuresh, G. K., & Misra, S. (2021 ). “Surgical applications of compliant mechanisms: A review.” Journal of mechanisms and robotics, 13(2), 020801.

Claims

CLAIMS1. A series spring mechanism (100) which can be connected to the force / torque transmission line of linear / rotary actuators, which operates bidirectionally, which allows switching between very stiff - stiff - soft stiffness levels, and whose stiffness value can decrease from very stiff to soft as the force / moment increases, characterized in that it comprises:• at least one moment input part (1 10) to capture the moment transmitted by the actuator (10) to the shaft (40),• the first spring cell (120) and the second spring cell (150), which have equivalent configurations,• at least one torque transmission part (130) and at least one torque output part (140).

2. A series spring mechanism (100) according to claim 1 , characterized in that said moment input part (1 10) comprises at least one moment input part 1 (1 14) and at least one moment input part 2 (1 15).

3. A series spring mechanism (100) according to claim 1 , characterized in that it comprises at least one torsional spring housing load transfer part (121 ) and at least one ring load transfer part (127) to which the incoming load is transferred according to the direction of the load coming from the moment input part (1 10).

4. A series spring mechanism (100) according to claim 1 , characterized in that it comprises at least one bearing (123), at least one torsional spring (124) capable of elastic deformation under the influence of torque / moment, and a torsional spring inner surface contact part (125) for holding the inner ring of the torsional spring (124).

5. A series spring mechanism (100) according to claim 1 , characterized in that it comprises at least one ring (126) in which the torsional spring inner surface contact part (125) can rotate, and at least one Phillips head bolt (113) and at least one nut (1 1 1 ) for securing the ring (126) and the torsional spring inner surface contact part (125) to each other.

6. A series spring mechanism (100) according to claim 1 , characterized in that it comprises at least one shaft (40) and at least one short alien bolt (1 12) for securing the shaft (40) and the connecting surface (1 14C).

7. A series spring mechanism (100) according to claim 1 , characterized in that it comprises at least one torsional spring (124) capable of elastic deformation when subjected to a torque / moment, and at least one torsional spring housing (122) for housing the bearing (123) and retaining its outer ring.

8. A series spring mechanism (100) according to claim 1 , characterized in that it comprises at least one coupling (20) connecting the actuator (10) and the shaft (40).

9. A series spring mechanism (100) according to claim 1 , characterized in that said moment output part (140) comprises at least one moment output part shaft (143) on which at least one moment output part 1 (141 ) and at least one moment output part 2 (142) are mounted, and at least one long alien bolt (144) for connecting the limb (30) to the moment output part (140).

10. A series spring mechanism (100) according to claim 1 , characterized in that it comprises at least one right load transmission part (131 ), at least one left load transmission part (132), at least one intermediate shaft (133) on which the right load transmission part (131 ) and the left load transmission part (132) are connected.

11. A series spring mechanism (100) according to claim 1 , characterized in that it comprises at least one right load transfer part (131 ) and at least one left load transfer part (132).

12. A method of operation of a series spring mechanism (100) according to any one of claims 1 -1 1 for left turns, characterized in that it comprises the following processing steps:I. generation of the left-hand torque load in the actuator (10),II. transfer of the load to the shaft (40) via the coupling (20),III. transfer of the load via the shaft (40) to the moment input part (1 10),IV. transfer of the load from the load transfer surface (1 14B) to the first spring cell (120) via the contact surface (121 A) with 1 14B in left-hand rotations,V. the load passes through the spring and reaches the inner surface contact part (125) element of the torsional spring via the outer end ofthe spring and the contact surface (124B) with 122A and the contact surface (125A) with 124B,VI. since the inner surface contact part (125), ring (126) and ring load transfer part (127) of the torsional spring are assembled, the load on the inner surface contact part (125) of the torsional spring comes to the contact surface (127A) through the inner surface contact part (125), ring (126) and ring load transfer part (127) of the torsional spring,VII. transfer of the load to the moment transmission part (130) by means of the contact surface (132A) of the first spring cell (120) and the moment transmission part (130) with 127A,VIII. transfer of the load in the moment transmission part (130) to the second load cell (150) via the contact surface (132B) with the second spring cell (150) for left load transfer via 151 A,IX. transfer of the load to the moment output part (140) by means of the second spring cell (150) and the moment output part (140) being in contact with the contact surface (157A) and the load transfer surface (142A) in left-hand turns,X. the load on the moment output part (140) drives the limb (30) to which it is connected by means of the long alien bolt (144).

13. A method of operation of a series spring mechanism (100) according to any one of claims 1 -1 1 for right turns, characterized in that it comprises the following processing steps:I. generation of the right-hand torque load in the actuator (10),II. transfer of the load to the shaft (40) via the coupling (20),III. transfer of the load through the shaft (40) to the moment input part (1 10),IV. transfer of the load from the load transfer surface (1 15B) to the first spring cell (120) via the surface of the contact surface (127A) with 1 15B in right-hand turns,V. the load passes through the inner surface contact part (125), the ring (126) and the ring load transfer part (127) of the torsional spring and reaches the torsional spring (124) via the contact surface (124B) withthe outer end of the spring 122A and the contact surface (125A) with 124B,VI. transfer of the load on the torsional spring (124) to the housing as the torsional spring (124) is in the torsional spring housing (122),VII. the load coming to the load transfer part (121 ) of the torsional spring housing reaches the moment transfer part (130) through the contact surface (121 A) by means of the contact surface (131 A),VIII. transfer of the load from the moment transmission part (130) to the second load cell (150) via the contact surface (157A) by means of the contact surface (131 B) with the second spring cell (150) for right load transfer,IX. transfer of the load to the moment output part (140) by means of the second spring cell (150) and the moment output part (140) being in contact with the contact surface (151 A) and the load transfer surface (141 A) in right-hand turns,X. the load on the moment output part (140) drives the limb (30) to which it is connected by means of the long alien bolt (144).

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