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Passive vibration absorption elastic component for flexible robot joints

A technology of robot joints and vibration damping elasticity, which is applied in the field of robots, can solve problems such as large volume, complex structure, and poor reliability, and achieve the effect of small volume, light weight, and reliable work

Active Publication Date: 2017-01-04
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In order to solve the problems of poor reliability, large volume and complex structure in the existing active or semi-active vibration reduction method for suppressing robot vibration, the present invention proposes a passive vibration reduction elastic element for flexible robot joints

Method used

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  • Passive vibration absorption elastic component for flexible robot joints
  • Passive vibration absorption elastic component for flexible robot joints
  • Passive vibration absorption elastic component for flexible robot joints

Examples

Experimental program
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specific Embodiment approach 1

[0015] Specific implementation mode one: combine Figure 1 to Figure 6 Describe this embodiment, this embodiment includes a circular metal body 1, four fan-shaped rubber plates 2 and four fan-shaped metal connecting plates 3, the metal material body 1 is composed of an inner ring rigid body 1-1, an outer ring rigid body 1-2, two A flexible body 1-3 and two fan-shaped rigid sheets 1-4, each flexible body 1-3 is composed of two convex-concave curved rigid sheets 1-3-1, two convex-concave curved rigid sheets 1-3-1 The vertical center line N-N is symmetrically arranged, the outer ring rigid body 1-2 is coaxially arranged with the inner ring rigid body 1-1, and the two flexible bodies 1-3 and two fan-shaped rigid pieces 1-4 are arranged between the outer ring rigid body 1-2 and the inner ring rigid body 1-2. Between the inner ring rigid body 1-1, two fan-shaped rigid bodies 1-4 are arranged symmetrically on the left and right ends of the inner ring rigid body 1-1, and the inner dia...

specific Embodiment approach 2

[0016] Specific implementation mode two: combination Figure 4 and Figure 5 To describe this embodiment, the inner ring rigid body 1-1, the outer ring rigid body 1-2, the two flexible bodies 1-3 and the two fan-shaped rigid pieces 1-4 of this embodiment are integrated. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0017] Specific implementation mode three: combination figure 1 To describe this embodiment, the inner ring rigid body 1-1 of this embodiment is provided with a plurality of inner ring connecting through holes 1-1-1. A plurality of inner ring connecting through holes 1-1-1 are used for connecting the output shaft of the motor. Other compositions and connections are the same as those in Embodiment 1 or 2.

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Abstract

The invention discloses a passive vibration absorption elastic component for flexible robot joints, aiming at solving the problems of poor reliability, big size and complex structures of the existing active or semi-active vibration absorption methods for restraining robot vibration. An outer ring rigid body and an inner ring rigid body of the passive vibration absorption elastic component are coaxially arranged, two flexible bodies and two sector-shaped rigid pieces are arranged between the outer ring rigid body and the inner ring rigid body, the two sector-shaped rigid pieces are symmetrically arranged at the left end and the right end of the inner ring rigid body, and the internal diameter of each sector-shaped rigid piece is fixedly connected with the inner ring rigid body; the two flexible bodies are symmetrically arranged at the upper end and the lower end of the inner ring rigid body, the edge of a protruding side of each concave-convex curve rigid piece is fixedly connected with the inner ring rigid body, and the edge of a pit side of each concave-convex curve rigid piece is fixedly connected with the outer ring rigid body. A sector-shaped metal connection board is arranged in each sector-shaped slot, a sector-shaped rubber board is arranged between each of the sector-shaped metal connection boards and each of the sector-shaped rigid pieces, and the sector-shaped metal connection boards and the outer ring rigid body are connected through a connection component. The passive vibration absorption elastic component is applied to the flexible robot joints.

Description

technical field [0001] The invention relates to an elastic element for a joint of a flexible robot, in particular to a passive damping elastic element for a joint of a flexible robot, which belongs to the field of robots. Background technique [0002] In order to meet the requirements of flexible production technology, more and more manufacturing enterprises adopt semi-automatic human-machine collaborative production mode. This mode of production requires operators to work together with robots. In order to ensure the safety of operating workers, flexible robots using serial elastic drives are coming out continuously. By connecting flexible elements such as springs and torsion springs in series at the output end of the joint reducer of the robot, the output impedance of the robot is reduced and the safety of the robot is improved. However, the improvement of the flexibility of the robot joints makes the robot vibrate during operation, which greatly reduces the accuracy of t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00B25J17/02
CPCB25J17/0208B25J19/0091
Inventor 赵杰王继龙臧希喆刘玉斌
Owner HARBIN INST OF TECH
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