CN110566614B - One-way plane torsional spring - Google Patents
One-way plane torsional spring Download PDFInfo
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- CN110566614B CN110566614B CN201910862585.0A CN201910862585A CN110566614B CN 110566614 B CN110566614 B CN 110566614B CN 201910862585 A CN201910862585 A CN 201910862585A CN 110566614 B CN110566614 B CN 110566614B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F1/00—Springs
- F16F1/02—Springs made of steel or other material having low internal friction; Wound, torsion, leaf, cup, ring or the like springs, the material of the spring not being relevant
- F16F1/025—Springs made of steel or other material having low internal friction; Wound, torsion, leaf, cup, ring or the like springs, the material of the spring not being relevant characterised by having a particular shape
- F16F1/027—Planar, e.g. in sheet form; leaf springs
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Abstract
The invention provides a one-way plane torsion spring which comprises a torsion spring outer ring, a torsion spring inner ring and a plurality of torsion spring elastic bodies; the torsional spring inner circle is located the inboard of torsional spring outer lane, and there is the clearance between torsional spring outer lane and the torsional spring inner circle, a plurality of torsional spring elastomers distribute in the clearance between torsional spring outer lane and torsional spring inner circle, wherein the torsional spring elastomer is drawn forth from the inner peripheral surface of torsional spring outer lane, use the surrounding curve as the extension benchmark along the peripheral direction of torsional spring inner circle, the extension is connected to the outer peripheral face of torsional spring inner circle, the outer peripheral face of torsional spring inner circle is equipped with butt portion, the inner peripheral surface of torsional spring outer lane be equipped with butt portion complex backstop portion, and backstop portion is located the square forward of torsional spring elastomer tangential direction. The one-way planar torsion spring increases the one-way relative rotation angle of the inner ring and the outer ring of the torsion spring in the planar torsion spring, and has the advantages of simple structure and strong practicability because the overall rigidity is basically unchanged when the inner ring and the outer ring of the torsion spring in the planar torsion spring rotate relatively.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a one-way planar torsion spring.
Background
In recent years, systems for establishing secure interaction between humans and robots have been implemented by means of impedance control, sensor sensing, series connection of elastic actuators, and the like. The joint driven by the series elastic force has better impact resistance, so that the joint has flexibility in mechanical structure and is widely applied.
The flexible joint based on the characteristics of the planar torsion spring realizes the flexibility of the joint by means of the relative rotation of the inner ring and the outer ring and the deformation of the elastic part, the structural form of the planar torsion spring mainly comprises the structures of the inner ring of the torsion spring, the outer ring of the torsion spring and the middle elastic body of the torsion spring, the flexible joint based on the characteristics of the planar torsion spring realizes the flexibility of the joint by means of the relative rotation of the inner ring and the outer ring of the torsion spring, and the elastic body deforms.
In the development of applying a torsion spring to a joint, a variable stiffness joint (publication No. CN105345839A) based on the characteristics of the torsion spring is proposed by Yankee and the like of Harbin university of industry, and a double-series elastic driver (publication No. CN101318331A) is proposed by the Wangliang and the like of Harbin university of engineering, wherein the torsion springs are traditional spiral springs, and the compactness of the joint structure of the robot is difficult to realize.
The planar torsion spring (publication number CN102632508A) suitable for the robot joint is provided by Zhu and autumn, etc. at university of Zhejiang, the planar torsion spring suitable for the robot joint is developed for the first time at home, and the problems of large occupied space and loose structure of the traditional torsion spring are solved.
Forest crowd you, etc. at university of Zhejiang disclose a planar torsion spring (publication number CN103836101A) with flexible joints, aiming to improve the maximum torque value and the relative rotation angle, and simultaneously, a limit cable is added to protect the planar torsion spring.
The working mode of the planar torsion spring is generally that when the joint is driven in the positive direction, the inner ring drives the elastic part to deform in the positive direction, and when the generated torque is larger than the load torque, the outer ring rotates in the positive direction; when the joint is driven reversely, the inner ring rotates reversely to drive the elastic part to return to the balance position, and then continuously rotates reversely to deform, and when the generated torque is larger than the load torque, the outer ring is driven to rotate reversely.
In order to meet the requirement of bidirectional deformation, a symmetrical structure is adopted, deformation required by an elastic body during bidirectional deformation needs to be considered in the design of the planar torsion spring, and enough deformation space is reserved for the planar torsion spring, so that the requirement that equipment only has unidirectional torque output in special occasions such as carrying equipment, agricultural machinery (rice transplanter, mower) and the like is met, when the flexible structure in the prior art is used, the symmetrically designed planar torsion spring can greatly waste the space between an inner ring and an outer ring of the torsion spring, and the requirement of a flexible joint on a large relative rotation angle cannot be well met.
In addition, the plane torsion spring in the prior art realizes the limiting function by using the limiting cable, even if the rope is pulled to limit the maximum relative rotation angle of the plane torsion spring, the form depends on the strength of the rope, the state of the rope is not easy to control when the rope is not stretched (is not pulled), and the soft rope can interfere with other structures, so that the action of the limiting cable is invalid, and the reliability of the limiting function is reduced.
In the prior art, the rigidity of the planar torsion spring changes along with the relative rotation of the inner ring and the outer ring of the planar torsion spring, the rigidity is not constant and is difficult to determine, so that the control difficulty of the torque output of the flexible joint is increased, and the actual use requirement cannot be met; at present, in order to obtain the output torque of the joint, a torque sensor with high price is additionally arranged, the cost is improved, and the complexity of the structure is increased.
Based on this, the present application provides a unidirectional planar torsion spring.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a one-way planar torsion spring, which increases the one-way relative rotation angle of an inner ring and an outer ring of the torsion spring in the planar torsion spring on one hand, and keeps the integral rigidity basically unchanged when the inner ring and the outer ring of the torsion spring rotate relatively in the planar torsion spring on the other hand, and has simple structure and strong practicability.
In order to achieve the above object, the present invention provides a unidirectional planar torsion spring, comprising a torsion spring outer ring, a torsion spring inner ring and a plurality of torsion spring elastic bodies; the torsional spring inner circle is located the inboard of torsional spring outer lane, and there is the clearance between torsional spring outer lane and the torsional spring inner circle, a plurality of torsional spring elastomers distribute in the clearance between torsional spring outer lane and torsional spring inner circle, wherein the torsional spring elastomer is drawn forth from the inner peripheral surface of torsional spring outer lane, use the surrounding curve as the extension benchmark along the peripheral direction of torsional spring inner circle, the extension is connected to the outer peripheral face of torsional spring inner circle, the outer peripheral face of torsional spring inner circle is equipped with butt portion, the inner peripheral surface of torsional spring outer lane be equipped with butt portion complex backstop portion, and backstop portion is located the square forward of torsional spring elastomer tangential direction.
In the above technical solution of the present invention, the encircling curve is a curve extending along the outer circumference of the inner ring of the torsion spring in one direction, that is, the positive direction of the tangential direction of the encircling curve is always unchanged (for example, clockwise or counterclockwise), and the encircling angle is selected according to the design requirement. The extension reference refers to the main outline direction presented by the projection of the torsion spring elastic body, and does not limit the specific shape of the torsion spring elastic body.
Furthermore, after the inner ring and the outer ring of the torsion spring relatively rotate to a set angle range (the elastic body of the torsion spring can deform and store energy to realize the flexibility of the joint in the process), the abutting part can be contacted with the stopping part and is limited by the stopping part, and the effects of limiting and protecting the torsion spring structure are achieved; at this time, the engagement between the stopper portion and the abutting portion prevents the torsion spring elastic body from further deforming, so that the stiffness of the planar torsion spring is sharply increased to approximately exhibit rigidity.
According to another embodiment of the present invention, the encircling curve of the torsion spring elastic body is a planar spiral line, wherein the number of the torsion spring elastic bodies is two or more, for example, M (M is an integer greater than or equal to 2), preferably, the M torsion spring elastic bodies are uniformly distributed on the circumference of the inner ring of the torsion spring or are arranged oppositely, and the stiffness of the torsion spring as a whole can be changed by selecting different M values; the external expansion rate and the termination position of the torsion spring elastic body can be adjusted by changing the pitch p and the number q of turns of the plane spiral line, so that the structure of the torsion spring inner ring and the torsion spring outer ring with different sizes is adapted, and particularly, the wall thickness of the torsion spring elastic body can be adjusted according to specific requirements so as to better adapt to the requirements for different rigidity.
According to another specific embodiment of the invention, the minimum distance between any position point of the elastic body of the torsion spring and the outer ring of the torsion spring is set to be not more than the minimum distance between the position point and the inner ring of the torsion spring.
Further, the distance ratio between the minimum distance between any position point of the torsion spring elastic body and the outer ring of the torsion spring and the minimum distance between the position point and the inner ring of the torsion spring is 1: 1-1: 5, for example, the distance ratio between the two is 1: 2.
according to another embodiment of the present invention, the abutting portion has an abutting arc surface protruding toward the outer peripheral surface of the inner ring of the torsion spring, the stopper portion has a stopper arc surface engaged with the abutting arc surface, and the abutting arc surface and the stopper arc surface are engaged in line-to-line abutting.
The arc surface structural style between butt joint portion and the backstop portion in this scheme can save space, is convenient for carry out structural design, especially has good result of use bearing not too big occasion.
According to another embodiment of the present invention, the abutting portion has an abutting plane formed to protrude toward the outer peripheral surface of the inner race of the torsion spring, the stopper portion has a stopper plane engaged with the plane, and the abutting plane and the stopper plane are in surface-to-surface abutting engagement.
Plane (inclined plane) structural style between butt joint portion and the backstop portion in this scheme can effectively improve the intensity of butt to can bear great load, be particularly useful for in the mechanical structure that needs carry out the heavy load.
According to another specific embodiment of the invention, the abutting part is provided with a first groove which is communicated or not communicated with the gap between the outer ring of the torsion spring and the inner ring of the torsion spring; the stopping part is provided with a second groove, and the second groove is communicated or not communicated with the gap between the outer ring of the torsion spring and the inner ring of the torsion spring.
According to another embodiment of the invention, the inner circumferential surface of the inner ring of the torsion spring and the outer circumferential surface of the outer ring of the torsion spring are both provided with connecting key grooves.
The invention has the following beneficial effects:
1. the torsion spring elastic body uses a plane spiral line, and the parameterization design can be conveniently carried out by changing the pitch and the number of turns of the spiral line, so that the form of the torsion spring elastic body is convenient to determine, and the elastic body has better parameter performance;
2. the maximum rotation angle of the planar torsion spring is limited by the relative position between the abutting part and the stopping part, and the planar torsion spring has the functions of limiting and protecting the torsion spring structure, and has the advantages of stable structure and high reliability;
3. according to the structural form of the torsion spring elastomer, the overall rigidity of the planar torsion spring is approximately kept unchanged when the inner ring and the outer ring of the torsion spring rotate relatively, so that the torque of a joint can be conveniently acquired, and the cost is greatly reduced;
4. the planar torsion spring has the advantages that the structural form design is more reasonable, the deformation space of the torsion spring elastomer during unidirectional deformation is increased, the torque bearing capacity of the torsion spring is higher, and the maximum relative rotation range is larger.
The present invention will be described in further detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a schematic view of the overall structure of the unidirectional planar torsion spring of the present invention;
FIG. 2 is a schematic structural view of the one-way planar torsion spring of the present invention;
FIG. 3 is a graph of stiffness change of the unidirectional planar torsion spring of the present invention;
FIG. 4 is a schematic view of the unidirectional planar torsion spring according to the present invention, wherein the elastic body of the torsion spring is elastically deformed;
fig. 5 is a schematic structural view of a comparative example.
Detailed Description
Example 1
As shown in fig. 1 to 5, a one-way planar torsion spring includes a torsion spring outer ring 1, a torsion spring inner ring 2, and a plurality of torsion spring elastic bodies 3, wherein a gap space a exists between the torsion spring outer ring 1 and the torsion spring inner ring 2, and the plurality of torsion spring elastic bodies 3 are distributed in the gap space a between the torsion spring outer ring 1 and the torsion spring inner ring 2.
One end of the torsion spring elastic body 3 is led out from the inner circumferential surface of the torsion spring outer ring 1, the surrounding curve is taken as an extension reference along the outer circumferential direction of the torsion spring inner ring 2, the other end of the torsion spring elastic body 3 extends to the outer circumferential surface of the torsion spring inner ring 2, the torsion spring elastic body 3 is deformed due to the relative rotation between the torsion spring inner ring 2 and the torsion spring outer ring 1 along the extension direction of the torsion spring elastic body 3, and the state of the torsion spring elastic body elastically deformed is shown in fig. 4.
In the following, the three torsion spring elastic bodies 3 shown in fig. 2 are taken as an example and are distributed circumferentially, and the following is explained in detail:
the three same torsion spring elastic bodies 3 are uniformly distributed in the gap space a and are preferably approximately fully distributed in the annular gap space, wherein each torsion spring elastic body 3 is formed by extending on the basis of a plane spiral line, the pitch p of the plane spiral line in the embodiment is 2, and the number q of turns is 0.25.
The outer circumferential surface of the torsion spring inner ring 2 is provided with a contact part 4, the inner circumferential surface of the torsion spring outer ring 1 is provided with a stopping part 5, the stopping part 5 is positioned in the positive front of the tangential direction of the torsion spring elastic body 3, and the matching between the stopping part 5 and the contact part 4 can prevent the torsion spring elastic body 3 from further deforming, so that the rigidity of the plane torsion spring is sharply increased to be approximately expressed as rigidity.
Referring to fig. 2 again, set up to line-line butt cooperation mode between butt portion 4 and the backstop portion 5, butt portion 4 is equipped with butt cambered surface 4a promptly, backstop portion 5 is equipped with backstop cambered surface 5a, and the arcwall face structural style between the two can save space, is convenient for carry out structural design, wherein through adjusting butt portion 4 and backstop portion 5 relative position on the circumference, can adjust the required spacing volume of this embodiment, the relative rotation angle between torsional spring inner circle 2, the torsional spring outer lane 1 promptly.
Further, the minimum distance between any position point of the torsion spring elastic body 3 and the torsion spring outer ring 1 is set not to exceed the minimum distance between the position point and the torsion spring inner ring 2, for example, the minimum distance between the position point and the torsion spring outer ring 1 in fig. 2 is L1, the minimum distance between the position point and the torsion spring inner ring 2 is L2, and L1 is set not to be greater than L2, in this embodiment, L1: l2 is 1: 2.
specifically, a first groove 4b may be further formed in the abutting portion 4, a second groove 5b may be further formed in the stopping portion 5, the first groove 4b is communicated with the gap between the outer ring 1 of the torsion spring and the inner ring 2 of the torsion spring or is not communicated with the gap between the second groove 5b and the outer ring 1 of the torsion spring and the inner ring 2 of the torsion spring, or is not communicated with the gap between the second groove 5b and the inner ring 2 of the torsion spring, one of the purposes of forming the first groove 4b and the second groove 5b is to reduce used materials, and the other purpose is to adjust the overall rigidity through the communication condition with the gap and the shape of the groove hole, so that subsequent moment calculation is facilitated.
The main body of the torsion spring elastic body 3 in this embodiment is a sheet-shaped structure, and in other examples of the present invention, the main body of the torsion spring elastic body 3 may also be provided with a corrugated shape, for example, the surface of the sheet-shaped structure in this embodiment is provided with grooves or protrusions distributed along the width direction thereof, or the sheet-shaped structure in this embodiment is provided with hollows or the like.
Still further, in another preferred example of the present invention, in order to improve the bearing capacity, a surface-to-surface abutting fit manner may be further provided between the abutting portion 4 and the stopping portion 5, that is, the abutting portion 4 is provided with an abutting plane, the stopping portion 5 is provided with a stopping plane, and a plane (inclined plane) structural form between the abutting portion 4 and the stopping portion 5 can effectively improve the abutting strength, and can bear a large load, and is particularly suitable for a mechanical structure requiring a heavy load.
In order to achieve connection with an external structural member, in the present embodiment, a plurality of connecting key slots 6 are provided on the inner circumferential surface of the torsion spring inner ring 2 and the outer circumferential surface of the torsion spring outer ring 1, for example, six connecting key slots 6 are provided on the torsion spring inner ring 2 shown in fig. 1.
The following describes the performance of the present embodiment in detail, using the planar torsion spring shown in fig. 5 as a comparative example, and the published parameters of the planar torsion spring in publication No. CN106641057A as a reference example:
the material of the planar torsion spring in the embodiment is 50CrVA, and the specific physical parameters are as follows:
density: 7850kg/m3
Poisson ratio: 0.33
Modulus of elasticity: 20500MPa
Yield strength: 1130MPa
Strength limit: 1275MPa
Shear modulus: 78500MPa
In the embodiment, the diameter of the inner ring of the torsion spring is 38mm, the wall thickness of the inner ring of the torsion spring is 3mm, the wall thickness of the elastic body of the torsion spring is 0.9mm, the outer diameter of the torsion spring is 80mm, the wall thickness of the outer ring of the torsion spring is 3mm, the number of the elastic bodies of the torsion spring is 3, the pitch p is 2, the number q of turns is 0.25, and the rigidity of the torsion spring obtained through analysis is 8.89N.m/°.
The comparison example is a principle design scheme of a plane torsion spring, the inner ring and the thickness thereof, the outer ring and the thickness thereof, the wall thickness of the torsion spring elastic body, the quantity of the torsion spring elastic body and the material of the comparison example are completely consistent with those of the embodiment, the torsion spring inner ring is fixed during analysis, and an external moment of 40N.m is applied to the torsion spring outer ring, so that the relative rotation quantity, the maximum rotation quantity and the rigidity of the inner ring and the outer ring of the torsion spring are obtained.
The following finite element analysis was performed by ansysystem bench index 15.0 and the properties of the comparative example and the reference example are shown in the following table:
| name (R) | Examples | Comparative example | Reference example |
| Maximum angle of rotation d (°) | 6.92 | 4.68 | 35 |
| Maximum torque T (N.m) | 61.51 | 35 | 4.68 |
| Rigidity K (N.m/°) | 8.89 | 43.69 | Not shown in |
In the above table, the maximum rotation angle is the relative rotation angle between the inner ring and the outer ring of the torsion spring when the maximum torque is reached, the maximum torque is the maximum torque borne by the torsion spring material before the yield limit is reached, the rigidity is obtained by applying different torques to the planar torsion spring to obtain different relative rotation angles, and a relative rotation angle-torque curve is drawn according to the different relative rotation angles, wherein the slope of the curve is the rigidity of the planar torsion spring.
The material used in the torsion spring in the reference example is 50CrV, the maximum torque is the maximum torque borne by the elastic unit before fracture, that is, the strength limit of the material is used as the judgment basis, and since the elastic body of the torsion spring in the embodiment does not fracture, the yield limit of the material is used as the judgment basis for analyzing the maximum torque, and when the torsion spring reaches the yield limit, permanent plastic deformation occurs, and at this time, the torsion spring fails.
As can be seen from the table, the rigidity of the comparative example is too large, the relative rotation angle is too small when the moment is small, the actual use requirement cannot be met, the maximum torque obtained by using the material yield strength calculation is obviously higher than that of the reference example using the strength limit calculation, and the planar torsion spring obtained by using software analysis has better comprehensive performance.
Finite element analysis is carried out on the embodiment through ANSYS Workbench15.0, the inner ring of the torsion spring is fixed, different external moments are applied to the outer ring of the torsion spring, and the torsion spring generates different relative rotation angles to obtain an image of relative rotation angle-torque, as shown in fig. 3, the slope of the torsion spring is the rigidity of the planar torsion spring, as can be seen from fig. 3, the rigidity of the torsion spring is almost a constant value, and the requirement of the flexible joint on constant rigidity can be met.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that changes may be made without departing from the scope of the invention, and it is intended that all matter contained in the above description or shown in the accompanying drawings shall be interpreted as illustrative and not in a limiting sense.
Claims (3)
1. A one-way planar torsion spring, comprising:
an outer ring of a torsion spring;
the inner ring of the torsion spring is positioned on the inner side of the outer ring of the torsion spring, and a gap is formed between the outer ring of the torsion spring and the inner ring of the torsion spring;
the plurality of torsional spring elastic bodies are distributed in a gap between the outer ring and the inner ring of the torsional spring, wherein the surrounding curve of the torsional spring elastic bodies is a plane spiral line, and the plurality of torsional spring elastic bodies positioned between the outer ring and the inner ring of the torsional spring are distributed in a circular array or are oppositely arranged;
the torsion spring elastic body is led out from the inner peripheral surface of the torsion spring outer ring, and extends and is connected to the outer peripheral surface of the torsion spring inner ring along the outer peripheral direction of the torsion spring inner ring by taking a surrounding curve as an extension reference;
the outer circumferential surface of the inner ring of the torsion spring is provided with a butting part, the inner circumferential surface of the outer ring of the torsion spring is provided with a stopping part matched with the butting part, and the stopping part is positioned in the forward direction of the tangent direction of the elastic body of the torsion spring;
the abutting part is provided with an abutting arc surface protruding towards the outer peripheral surface of the inner ring of the torsion spring, the stopping part is provided with a stopping arc surface matched with the abutting arc surface, and the abutting arc surface is in line-line abutting fit with the stopping arc surface; or the abutting part is provided with an abutting plane which is formed by protruding towards the outer peripheral surface of the inner ring of the torsion spring, the stopping part is provided with a stopping plane matched with the plane, and the abutting plane is in surface-to-surface abutting matching with the stopping plane;
after the inner ring and the outer ring of the torsion spring relatively rotate to a set angle range, the abutting part can be in contact with the stopping part and limited by the stopping part, and at the moment, the stopping part and the abutting part are matched to prevent the elastic body of the torsion spring from further deforming, so that the rigidity of the planar torsion spring is sharply increased to be rigid;
the first groove is communicated or not communicated with the gaps between the outer ring of the torsion spring and the inner ring of the torsion spring; the stop part is provided with a second groove, and the second groove is communicated or not communicated with the gap between the outer ring of the torsion spring and the inner ring of the torsion spring;
the minimum distance between any position point of the torsion spring elastic body and the outer ring of the torsion spring is set to be not more than the minimum distance between the position point and the inner ring of the torsion spring; the distance ratio between the minimum distance between any position point of the torsion spring elastic body and the outer ring of the torsion spring and the minimum distance between the position point and the inner ring of the torsion spring is 1: 1-1: 5.
2. the unidirectional planar torsion spring according to claim 1, wherein the number of the torsion spring elastic bodies is two or more.
3. The unidirectional planar torsion spring according to claim 1, wherein the inner circumferential surface of the inner torsion spring ring and the outer circumferential surface of the outer torsion spring ring are provided with connecting key grooves.
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| CN201910862585.0A CN110566614B (en) | 2019-09-11 | 2019-09-11 | One-way plane torsional spring |
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| CN110566614B true CN110566614B (en) | 2022-03-22 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| SU406048A1 (en) * | 1971-12-24 | 1973-11-05 | ELASTIC SUPPORT | |
| DD128614A5 (en) * | 1977-03-04 | 1977-11-30 | Budapesti Radiotechnikai Gyar | FLEXIBLE, SELF-ADJUSTABLE SLIDING BEARING FOR AXES WITH A MAXIMUM 3 MM DIAMETER, PREFERABLY FOR STORING SMALL ENGINES |
| US4872767A (en) * | 1985-04-03 | 1989-10-10 | General Electric Company | Bearing support |
| DE20000403U1 (en) * | 2000-01-11 | 2001-05-23 | Concept Ag Zilina | Shock absorber |
| JP4067786B2 (en) * | 2001-06-26 | 2008-03-26 | シーケーディ株式会社 | solenoid valve |
| KR100462996B1 (en) * | 2002-08-27 | 2004-12-23 | 한국기계연구원 | Linear flexure bearing |
| DE10312977A1 (en) * | 2003-03-24 | 2004-10-07 | Robert Bosch Gmbh | Spring element for transmission components, valves, etc. in motor vehicles has contact sections and connecting elastic bridging sections for increased damping of vibrations |
| US7364145B2 (en) * | 2004-09-08 | 2008-04-29 | Equipment Solutions, Inc | High stiffness flexure |
| TWM320097U (en) * | 2007-02-13 | 2007-10-01 | Mustek Systems Inc | High stability planar spring utilized in a voice coil motor |
| KR20100135138A (en) * | 2009-06-16 | 2010-12-24 | 유성정밀 주식회사 | Plate spring |
| TW201101652A (en) * | 2009-06-23 | 2011-01-01 | Asia Optical Co Inc | Flat elastic sheet of voice coil motor |
| GB2474417A (en) * | 2009-07-03 | 2011-04-20 | Isis Innovation | A spring and a spring assembly |
| CN102699928B (en) * | 2012-06-19 | 2014-09-17 | 杭州电子科技大学 | Robot steering engine with flexible characteristic |
| FR2993035B1 (en) * | 2012-07-05 | 2015-02-20 | Asco Joucomatic Sa | FLAT CORE TYPE SOLENOID VALVE AND FLAT SPRING. |
| US9556920B1 (en) * | 2015-07-23 | 2017-01-31 | Rethink Robotics, Inc. | Planar flexure members and actuators using them |
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