PLANAR TORSION SPRING SUITABLE FOR ROBOT JOINT

摘要

A planar torsion spring suitable for a robot joint, mainly comprising a torsion spring outer ring (2), a torsion spring inner ring (3), and a plurality of elastomers; the elastomers are uniformly distributed around a circumference, having the two ends respectively connected to the torsion spring outer ring (2) and the torsion spring inner ring (3); each elastomer consists of two symmetrical elastomer units; each elastomer unit comprises an outer circular slot (6), an inner circular slot (7), and a connecting beam (8); the connecting beam (8) connects between the torsion spring inner ring (3) and the inner circular slot (7), between the inner circular slot (7) and the outer circular slot (6), and between the outer circular slot (6) and the torsion spring outer ring (2); during rotation, the torsion spring inner ring (3) drives the inner circular slot (7) to cause elastic deformation via the connecting beam (8), and the inner circular slot (7) in turn drives the outer circular slot (6) to cause elastic deformation via the connecting beam (8); the serial elastic deformation of the inner circular slot (7) and the outer circular slot (6) achieves large angle deformation of the torsion spring; therefore, the joint is compliant and has a more compact structure, is more flexible to design, and is suitable to be used as joints for a robot and a mechanical arm.