CN205343163U - Pneumatic bend in one direction flexible joint of dual drive - Google Patents
Pneumatic bend in one direction flexible joint of dual drive Download PDFInfo
- Publication number
- CN205343163U CN205343163U CN201520996407.4U CN201520996407U CN205343163U CN 205343163 U CN205343163 U CN 205343163U CN 201520996407 U CN201520996407 U CN 201520996407U CN 205343163 U CN205343163 U CN 205343163U
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- end cover
- joint
- air bag
- skeleton
- bottom end
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- 230000009977 dual effect Effects 0.000 title claims description 9
- 239000012530 fluid Substances 0.000 claims abstract description 16
- 238000005452 bending Methods 0.000 claims abstract description 11
- 239000007787 solid Substances 0.000 claims description 3
- 210000003205 muscle Anatomy 0.000 abstract description 3
- 239000011664 nicotinic acid Substances 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 239000002322 conducting polymer Substances 0.000 description 2
- 229920001940 conductive polymer Polymers 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000002917 arthritic effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013022 venting Methods 0.000 description 1
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- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
本实用新型公开了一种双驱动气动单向弯曲柔性关节，包括约束元件、关节骨架、气囊、上端盖、下端盖、上封头、下封头、流体入口，在上端盖和下端盖之间设有若干个约束元件，所述若干个约束元件同轴串联密排形成柱状结构，在柱状结构内部形成1个矩形空腔和2个轴线平行的管状空腔。在矩形空腔内设置关节骨架，关节骨架两端分别与上端盖、下端盖固定连接；在管状空腔中设置气囊，气囊两端分别与上封头、下封头连接，在下封头上设有流体入口。本实用新型的关节的驱动装置与关节本体复合形成一体结构，相当于两个气动人工肌肉并联，具有1个自由度，可实现仿生关节单个方向的主动弯曲。
The utility model discloses a dual-drive pneumatic one-way bending flexible joint, which comprises a constraint element, a joint skeleton, an air bag, an upper end cover, a lower end cover, an upper end cover, a lower end cover, and a fluid inlet, and is located between the upper end cover and the lower end cover. A plurality of constraining elements are provided, and the several constraining elements are coaxially arranged closely in series to form a columnar structure, and a rectangular cavity and two tubular cavities with parallel axes are formed inside the columnar structure. A joint skeleton is arranged in the rectangular cavity, and the two ends of the joint skeleton are respectively fixedly connected with the upper end cover and the lower end cover; an air bag is arranged in the tubular cavity, and the two ends of the air bag are respectively connected with the upper head and the lower head, and the lower head is provided with There is a fluid inlet. The driving device of the joint of the utility model is combined with the joint body to form an integrated structure, which is equivalent to two pneumatic artificial muscles connected in parallel, has one degree of freedom, and can realize active bending in a single direction of the bionic joint.
Description
Technical field
The present invention relates to mechanical hand and bio-robot limbs flexible joint, particularly to a kind of Dual Drive Pneumatic unidirectional bending flexible joint.
Background technology
Current robotics is widely used in fields such as industry, military, medical treatment and services, it has also become one of grand strategy support technology of countries in the world.As key technology and the core component of robot, the diarthrodial structure of all kinds of masters, driving, exercise performance and control method, the integral level of robot will be determined.In terrestrial, aquatic and anthropomorphic robot field, limbs flexible joint has important function in solving the adaptability of compliant motion and crawl object.Therefore, conducting in-depth research and achieve gratifying results to flexible joint both at home and abroad for many years, the main contents of research have the realization of articulated driving equipment, driving material and flexibility of joint structure.Wherein joint drive structure and control mode are research emphasis, and driving material is Research Challenges.
The flexible joint researched and developed both at home and abroad mainly has several forms such as driven by servomotor, hydraulic-driven, air cylinder driven, conducting polymer, electroluminescent driving and artificial-muscle driving.Wherein applying the flexible joint of driven by servomotor, hydraulic pressure and cylinder type of drive, its technology is mature on the whole, and is widely used, but volume is relatively big, and flexibility of joint degree is restricted；And conducting polymer and electroluminescent driving stroke are less, it is mainly used in amphiarthrosis；Pneumatic artificial muscle drives to be had preferably comprehensive flexible, is developed rapidly in recent years, but has stronger non-linear.Several driving devices will be big with the use of, volume with frame for movement in application process above, and miniaturization difficult, the movement locus in joint is determined by frame for movement, and compliance is poor.
Therefore, current existing artificial joint still can not fully meet the special requirement in the fields such as bionical in the bigger carrying of industrial goods of variation, water and specialized robot, it is necessary to continual exploitation has the joint of highly flexible.
Summary of the invention
It is an object of the invention to overcome the deficiency of prior art, it is provided that a kind of robot limb Dual Drive Pneumatic unidirectional bends flexible joint.
A kind of Dual Drive Pneumatic unidirectional bending flexible joint of the present invention, including confinement element, joint skeleton, air bag, upper end cover, bottom end cover, upper cover, low head, fluid intake, several confinement elements it are provided with between upper end cover and bottom end cover, several confinement elements described coaxially connect solid matter formed column structure?Column structure is internally formed 1 rectangular enclosure and the parallel tubular cavity of 2 axis.Arranging joint skeleton in rectangular enclosure, joint skeleton two ends are fixed with upper end cover, bottom end cover respectively and are connected；Arranging air bag in tubular cavity, balloon ends is connected with upper cover, low head respectively, constitutes and seals cavity；Upper cover, low head and upper end cover, bottom end cover are fixedly connected into one, are provided with fluid intake on low head.
Described joint adopts two air bags to be driven.
Described low head is provided with fluid intake, with charged pressure fluid, increase when being filled with fluid pressure, annular seal space volume expansion promotes confinement element to move and makes joint active deformation increasing, reduce when being filled with fluid pressure, rubber pneumatic bag recovers, and joint deformity reduces, and deformation is relevant with described bound form and logical pressure condition；When skeleton is flexible member, and 2 air bag venting pressures are identical, there is one direction actively bending in joint, flexural deformation degree is determined by fluid medium pressure, described in be filled with fluid, it is possible to be medium corrosion-free, avirulent, as compressed sky gas and water etc..
It is an advantage of the invention that arthritic volume is little and motion is flexible, the driving device in joint and joint body are complex as a whole, and are equivalent to two Pneumatic artificial muscle parallel connections, have 1 degree of freedom, it may be achieved the active bending in the single direction of bionic joint；This joint belongs to the flexible joint of fluid drives deformation, and a proportioning valve and two reversal valves can be adopted to carry out action control, and method is simply easily achieved；As action executing element, owing to its structure is mainly composite elastic body, when contacting difformity and different hardness objects, adaptability meeting is better and has certain buffering effect, can be used on the joints such as bionic mechanical hand finger, it is particularly suited for capturing or carrying rapid wear, frangible and erose object, there is good using value and market prospect.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation:
Fig. 1 is Dual Drive Pneumatic unidirectional of the present invention bending flexible joint exploded perspective view；
Fig. 2 is Dual Drive Pneumatic unidirectional of the present invention bending flexible joint axle side schematic diagram；
Fig. 3 is Dual Drive Pneumatic unidirectional of the present invention bending flexible joint flexible shaft skeleton schematic diagram；
In figure 1, upper end cover；2, upper cover；3, confinement element；4, joint skeleton；5, air bag；6, low head；7, bottom end cover；8, fluid intake.
Detailed description of the invention
Embodiment:
Below in conjunction with accompanying drawing and instantiation the present invention made and being described in detail further.
Pneumatic plane flexible joint of the present invention is made up of upper end cover 1, upper cover 2, confinement element 3, joint skeleton 4, air bag 5, low head 6, bottom end cover 7 and fluid intake 8；Upper end cover 1 and bottom end cover 7 lay respectively at Pneumatic plane flexible joint two ends, it is the coaxial solid matter series connection of 20 confinement elements 3 in the middle of Pneumatic plane flexible joint, after series connection, profile is column structure, it is internally formed 1 rectangular enclosure and the parallel tubular cavity of 2 axis, described 1 rectangular enclosure axis is parallel with the axis of described column structure, it is called tubular cavity one, arranging joint skeleton 4 (accompanying drawing 3 flexible shaft skeleton example) in tubular cavity one, joint skeleton 4 two ends are fixed be connected with upper end cover 1, bottom end covers 7 respectively；2 tubular cavity physical dimensions of all the other except tubular cavity one are identical, axisymmetrical about column structure is distributed, and is called tubular cavity two, arranges rubber pneumatic bag 5 in tubular cavity two, rubber pneumatic bag two ends are connected with upper cover 2, low head 6 respectively, constitute and seal cavity；Upper cover 2, low head 6 are fixedly connected into one with upper end cover 1, bottom end cover 7, are provided with mode and robot body assembling that fluid intake, upper end cover 1 and bottom end cover 7 can be threaded connection on low head 6.
Claims (1)
1. a Dual Drive Pneumatic unidirectional bending flexible joint, including confinement element, joint skeleton, air bag, upper end cover, bottom end cover, upper cover, low head, fluid intake, several confinement elements it are provided with between upper end cover and bottom end cover, several confinement elements described solid matter of coaxially connecting forms column structure, is internally formed 1 rectangular enclosure and the parallel tubular cavity of 2 axis at column structure；Arranging joint skeleton in rectangular enclosure, joint skeleton two ends are fixed with upper end cover, bottom end cover respectively and are connected；Arranging air bag in tubular cavity, balloon ends is connected with upper cover, low head respectively, constitutes and seals cavity；Upper cover, low head and upper end cover, bottom end cover are fixedly connected into one, are provided with fluid intake on low head；It is characterized in that: described joint adopts two air bags to be driven.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520996407.4U CN205343163U (en) | 2015-12-01 | 2015-12-01 | Pneumatic bend in one direction flexible joint of dual drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520996407.4U CN205343163U (en) | 2015-12-01 | 2015-12-01 | Pneumatic bend in one direction flexible joint of dual drive |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205343163U true CN205343163U (en) | 2016-06-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520996407.4U Expired - Fee Related CN205343163U (en) | 2015-12-01 | 2015-12-01 | Pneumatic bend in one direction flexible joint of dual drive |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205343163U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106182053A (en) * | 2016-08-20 | 2016-12-07 | 北华大学 | Four refer to flexible manipulator |
| CN106313037A (en) * | 2016-11-10 | 2017-01-11 | 燕山大学 | Pneumatic series flexible mechanical arm |
| CN107648012A (en) * | 2017-11-03 | 2018-02-02 | 中国科学院合肥物质科学研究院 | A kind of wearable exoskeleton robot flexible joint |
| CN109732587A (en) * | 2019-01-18 | 2019-05-10 | 哈尔滨工业大学 | A pneumatic transfer robot |
-
2015
- 2015-12-01 CN CN201520996407.4U patent/CN205343163U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106182053A (en) * | 2016-08-20 | 2016-12-07 | 北华大学 | Four refer to flexible manipulator |
| CN106182053B (en) * | 2016-08-20 | 2019-01-18 | 北华大学 | Four refer to flexible manipulator |
| CN106313037A (en) * | 2016-11-10 | 2017-01-11 | 燕山大学 | Pneumatic series flexible mechanical arm |
| CN107648012A (en) * | 2017-11-03 | 2018-02-02 | 中国科学院合肥物质科学研究院 | A kind of wearable exoskeleton robot flexible joint |
| CN107648012B (en) * | 2017-11-03 | 2023-12-01 | 中国科学院合肥物质科学研究院 | Flexible joint of wearable exoskeleton robot |
| CN109732587A (en) * | 2019-01-18 | 2019-05-10 | 哈尔滨工业大学 | A pneumatic transfer robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160629 Termination date: 20161201 |
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| CF01 | Termination of patent right due to non-payment of annual fee |