Trapezoid special-shaped leaf spring skeleton flexible joint

Abstract

The invention relates to a trapezoid special-shaped leaf spring skeleton flexible joint, the joint adopts a special-shaped leaf spring as a skeleton, bending of the joint is achieved through being driven by fluid, the joint can be used as various joints of a robot, and the invention belongs to the technical field of robots and manipulator applications. When gas is charged into a flexible bellows, the flexible bellows is extended, and the joint is restricted from the leaf spring to bend toward the leaf spring; when the gas in the flexible bellows is emitted, the joint returns to a straight state. The bending of the joint can keep a certain angle through controlling the pressure in the flexible bellows. The flexible bellows has good flexibility, and the leaf spring has good elasticity, so that the joint has good flexibility. The improvement of the cross section of the leaf spring can increase the bending space, comply with the requirements of the strength, increase the flexibility and save leaf spring materials. The trapezoid special-shaped leaf spring skeleton flexible joint has the advantages that the joint bending action is flexible, the energy consumption is small, the control is convenient, and the flexible adaptive function is good.

Description

Technical field: [0001] The present invention relates to a trapezoidal special-shaped leaf spring framework compliant joint, which is the subject of a patent application (name of invention: variable cross-section and special-shaped leaf spring framework compliant joint, application number: 201110406737.X, application date: December 09, 2011) Divisional application. This curved joint has good flexibility and controllability, and can be used as various joints of robots, especially for flexible mechanical fingers composed of multiple curved joints. As the actuator of automation equipment, it belongs to the application technology of robots and manipulators. field. Background technique: [0002] Before the present invention, the bending joints of robots were mostly driven by motors, which had good static stiffness and high control precision, but required complex deceleration devices, which were relatively large in size and not flexible enough; some were driven by pneumatic cylin...

AI Technical Summary

Problems solved by technology

Disadvantages: (1) Joint action space is small, and its bending angle is greatly restricted

(2) The force of the leaf spring is uneven. Using a general equal-section leaf spring will not only increase the deformation resistance and waste energy, but also increase the weight of the joint and waste materials.

(3) poor flexibility

The superiority of flexibility is reflected in reducing assembly time, simplifying the manufacturing process, improving precision, increasing reliability, reducing maintenance, and reducing quality. This patent has many parts and lacks necessary positioning measures. The bellows are connected by clamps, which is reliable Low reliability and troublesome replacement, which is not conducive to maintenance

(4) Dynamic response needs to be improved

Generally, the plate spring with equal cross-section has a large resistance when it starts to bend from a straight state, and requires a large pressure to start to move. Moreover, the overall mass of the joint is large and the inertia is large, so the dynamic response needs to be improved.

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