Cylinder series connection elastic driver

Abstract

The invention aims to provide a cylinder series connection elastic driver. The cylinder series connection elastic driver comprises an encoder, a servo motor, a connection cylinder, a coupler, a screw rod, thrust columns, a nut, springs, spring driving plates, a shell, a driving cylinder and a driving output end; the encoder is arranged on the servo motor which is connected with the screw rod through the coupler in the connection cylinder; the circumference of the nut is provided with three threaded holes which form an angle of 120 degrees; each threaded hole is provided with a thrust column; two sides of each of the three thrust columns are provided with spring driving plates; a spring is arranged outside two spring driving plates respectively; and the driving cylinder is connected with the driving output end. The new, efficient, miniaturized and modularized elastic driver which has the bionic characteristic provides technical basis for a walking robot which has high degree of adaptability to complex terrain, reliable performance, a small volume, and joint buffer capacity when walking at high speed, and has high research value and wide application prospect.

Description

technical field [0001] The invention relates to a driver for walking of a robot. Background technique [0002] For robots operating in unknown environments, it is desirable to be able to adapt force-controlled robots to the external environment. At present, the force control methods of the robot include: 1. Direct force control method, which determines the torque of the robot joints through the control algorithm and the sensed external information, so that the robot can generate an appropriate force on the external environment. 2. The indirect force control method indirectly controls the force output by measuring elastic deformation and other methods. [0003] As a kind of equipment or mechanical device, the drive converts some form of energy into mechanical force and torque, or into linear speed and rotational speed. As a driver for a robot, it should be light in weight, high in output power, able to provide high force or torque, and low in cost. In addition, in the proc...

AI Technical Summary

Problems solved by technology

[0005] The structural feature of the traditional series elastic drive is that it uses four sets of parallel springs, so that the guide rods in the middle of each set of parallel springs must be absolutely parallel, which adds great difficulty to the processing and manufacturing of this type of drive.

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