CN103786166A - Pneumatic rotation stretching type double-spiral flexible joint - Google Patents
Pneumatic rotation stretching type double-spiral flexible joint Download PDFInfo
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- CN103786166A CN103786166A CN201410029750.1A CN201410029750A CN103786166A CN 103786166 A CN103786166 A CN 103786166A CN 201410029750 A CN201410029750 A CN 201410029750A CN 103786166 A CN103786166 A CN 103786166A
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Abstract
The invention discloses a pneumatic rotation stretching type double-spiral flexible joint. The pneumatic rotation stretching type double-spiral flexible joint comprises restraining components, a skeleton, an air bag, cylindrical spiral springs, an upper end cover, a lower end cover, an upper sealing head, a lower sealing head and fluid inlets, wherein the restraining components are arranged between the upper end cover and the lower end cover, and are coaxially connected in series and are densely arranged to form a cylindrical structure, two coaxial spiral tubular cavities with different pitch diameters are formed inside the cylindrical structure, and are named as the first spiral tubular cavity and the second spiral tubular cavity respectively, the cylindrical spiral springs are arranged in the first spiral tubular cavity, and the air bag is arranged in the second spiral tubular cavity. The pneumatic rotation stretching type double-spiral flexible joint is compact in structure, and two spiral artificial muscle driving devices of an active joint and a joint body are combined into a whole; the pneumatic rotation stretching type double-spiral flexible joint has two degrees of freedom, can achieve the space rotation function, the bending function, the axial stretching function and the like of a bionic joint, and have good comprehensive flexibility.
Description
Technical field
The present invention relates to robot limb flexible joint, particularly a kind of pneumatic revolving stretched type double helix flexible joint.
Background technology
Robotics is widely used in fields such as industry, military affairs, medical treatment and services at present, has 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, will determine the integral level of robot.In Lu Sheng, aquatic and anthropomorphic robot field, limbs flexible joint has important function aspect the adaptability of solution compliant motion and crawl object.Therefore, flexible joint is conducted in-depth research and obtained for many years gratifying results both at home and abroad, the main contents of research have articulated driving equipment, drive the realization of 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 of having researched and developed both at home and abroad mainly contains driven by servomotor, hydraulic-driven, air cylinder driven, conducting polymer, electricity and causes and drive and several forms such as artificial-muscle driving.The flexible joint of wherein applying driven by servomotor, hydraulic pressure and cylinder type of drive, its technology is mature on the whole, and be widely used, but volume is larger, and flexibility of joint degree is restricted; And conducting polymer and electricity cause drive stroke less, be mainly used in amphiarthrosis; Pneumatic artificial muscle drives to be had preferably comprehensive flexiblely, is developed rapidly in recent years, but has stronger non-linear.Several drive units all will be used in conjunction with frame for movement in application process above, and volume is large, miniaturization difficulty, and the movement locus in joint determines by frame for movement, compliance is poor.
Therefore, current existing joint prosthesis still can not meet the special requirement in the fields such as bionical in the carrying, water of the industrial goods larger in variation and specialized robot completely, is necessary that continual exploitation has the joint of highly flexible.
Summary of the invention
The object of the invention is to overcome the deficiency of prior art, provide a kind of robot limb to stretch type double helix flexible joint with pneumatic revolving, adopt spiral elasticity body directional expansion mode to drive, realize rotation, bending and elongation function.
Pneumatic the revolving of one of the present invention stretched type double helix flexible joint, comprise confinement element, joint skeleton, air bag, cylindrically coiled spring, upper end cover, bottom end cover, upper cover, low head, fluid intake, between upper end cover and bottom end cover, be provided with several confinement elements, described several confinement elements coaxially connect solid matter form column structure, at the inner two groups of different coaxial helix cavitys of central diameter that form of column structure, be called helix cavity one and helix cavity two, common axis place at two groups of coaxial spiral tubular cavities forms cylindrical cavity, joint skeleton is set in cylindrical cavity, joint skeleton two ends respectively with upper end cover, bottom end cover is fixedly connected with, helix cavity one quantity is 2, and initial phase difference is 180 °, in described helix cavity one, cylindrically coiled spring is set, and the two ends of cylindrically coiled spring are fixedly connected with integral with upper end cover, bottom end cover respectively, helix cavity two quantity are 2, initial phase difference is 180 °, in helix cavity two, air bag is set, balloon ends is connected with upper cover, low head respectively, form seal chamber, it is integral that upper cover and low head are fixedly connected with described upper end cover, bottom end cover respectively, is provided with fluid intake, with charged pressure fluid on low head.
Described air bag has two, and each air bag caliber, central diameter, pitch, rotation direction are identical with the number of turns; Two air bags form double-spiral structure.
Described air bag is one, is single coil configuration.
Described confinement element is sheet, profile is circle or regular polygon, the openwork part of confinement element is called threaded hole, threaded hole has two groups, described threaded hole is the partial structurtes of two groups of helix cavitys at confinement element, the central diameter of threaded hole equals the central diameter of corresponding helix cavity, and the phase difference on same confinement element between two groups of threaded hole is determined by confinement element place axial location.
Described skeleton is flexible shaft or axial scalable axle sleeve.
Described flexible shaft is cylindrically coiled spring or rubber axis; Axial scalable axle sleeve is made up of sleeve and optical axis, sleeve and optical axis matched in clearance.
On low head, be provided with fluid intake, with charged pressure fluid, when being filled with, fluid pressure increases or pressurising air bag quantity increases, seal chamber expansion promotion confinement element moves dysarthrasis is strengthened, when being filled with, fluid pressure reduces or pressurising air bag quantity reduces, spring recovers, dysarthrasis reduces, deformation is relevant with described skeleton form, in the time that skeleton is flexible shaft, joint twists, bending and elongation composite deformation, and in the time that skeleton is scalable axle sleeve, joint twists and extends composite deformation; The described fluid that is filled with can be corrosion-free, avirulent medium, as compressed air, water etc.
Advantage of the present invention is arthritic volume compactness, and main diarthrodial two spiral artificial-muscle drive units and joint body are complex as a whole; This joint has 2 frees degree, can realize the function such as Plane Rotation, bending and axial elongation of bionic joint, has comprehensive flexible preferably; Install as required different skeletons additional, can complete respectively plane and revolve curved stretching and the amoeboid movement of two kinds of integrated modes of one direction precession; Can adopt two proportioning valves, or a proportioning valve and two reversal valves carry out motion control, method is simply controlled conveniently; Be mainly used in bio-robot roll over and bending joint on, be particularly useful in thumb base joint, machine fish pectoral fin and water on molluscan joint.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation:
Fig. 1 is that pneumatic the revolving of the present invention stretched type double helix flexible joint exploded perspective view;
Fig. 2 is that pneumatic the revolving of the present invention stretched type double helix flexible joint axle side schematic diagram;
Fig. 3 is that pneumatic the revolving of the present invention stretched type double helix flexible joint flexible shaft skeleton schematic diagram;
Fig. 4 is that pneumatic the revolving of the present invention stretched type double-screw shaft to scalable axle sleeve skeleton schematic diagram.
In figure 1, upper cover; 2, upper end cover; 3, joint skeleton; 3-1, sleeve; 3-2, optical axis; 4, confinement element; 5, air bag; 6, cylindrically coiled spring; 7, bottom end cover; 8, low head; 9, fluid intake.
The specific embodiment
Embodiment:
Below in conjunction with accompanying drawing and instantiation, the present invention is made further and being described in detail.
The present invention is made up of upper cover 1, upper end cover 2, joint skeleton 3, confinement element 4, air bag 5, cylindrically coiled spring 6, bottom end cover 7, low head 8, fluid intake 9; Upper end cover 1 and bottom end cover 7 lay respectively at pneumatic revolving and stretch type double helix flexible joint two ends, pneumaticly revolve that to stretch in the middle of type double helix flexible joint be that the coaxial solid matter of 20 confinement elements 4 is connected, after series connection, profile is column structure, the inner two groups of different coaxial helix cavitys of central diameter that form, the normal section of spiral tube chamber is circular, form cylindrical cavity at helix cavity common axis place, each cavity is non-interference; Joint skeleton 3(accompanying drawing 3 flexible shaft skeleton examples are set in the cylindrical cavity at axis place, the axial scalable axle sleeve skeleton example of accompanying drawing 4), joint skeleton 3 two ends are fixedly connected with integral with described upper end cover 2 with bottom end cover 7 respectively; In the spiral tube chamber (helix cavity one) of described large central diameter, cylindrically coiled spring 6 is set, helix cavity one quantity is 2, initial phase difference is 180 °, and described cylindrically coiled spring 6 two ends are fixedly connected with integral with upper end cover 1 with bottom end cover 5 respectively; Helix cavity two quantity are 2, initial phase difference is 180 °, in the spiral tube chamber (helix cavity two) of described little central diameter, rubber pneumatic bag 5 is set, described air bag 5 two ends arrange upper cover 1 and low head 8, form seal chamber, upper cover is fixedly connected with integral with described upper end cover 2 with bottom end cover 7 respectively with low head; On low head, be provided with fluid intake 9, the mode that upper end cover 2 and bottom end cover 7 can be threaded connection and robot body assembling.
Claims (6)
1. pneumatic revolving stretched type double helix flexible joint, it is characterized in that: comprise confinement element, skeleton, air bag, cylindrically coiled spring, upper end cover, bottom end cover, upper cover, low head, fluid intake, between upper end cover and bottom end cover, be provided with several confinement elements, described several confinement elements coaxially connect solid matter form column structure, at the inner two groups of different coaxial helix cavitys of central diameter that form of column structure, be called helix cavity one and helix cavity two, common axis place at two groups of coaxial spiral tubular cavities forms cylindrical cavity, joint skeleton is set in cylindrical cavity, joint skeleton two ends respectively with upper end cover, bottom end cover is fixedly connected with, helix cavity one quantity is 2, and initial phase difference is 180 °, in described helix cavity one, cylindrically coiled spring is set, and the two ends of cylindrically coiled spring are integral with the fixing practice of upper end cover, bottom end cover respectively, helix cavity two quantity are 2, initial phase difference is 180 °, in helix cavity two, air bag is set, balloon ends is connected with upper cover, low head respectively, form seal chamber, it is integral that upper cover and low head are fixedly connected with described upper end cover, bottom end cover respectively, is provided with fluid intake, with charged pressure fluid on low head.
2. pneumatic the revolving of one according to claim 1 stretched type double helix flexible joint, it is characterized in that: described air bag has two, and each air bag caliber, central diameter, pitch, rotation direction are identical with the number of turns; Two air bags form double-spiral structure.
3. pneumatic the revolving of one according to claim 1 stretched type double helix flexible joint, it is characterized in that: described air bag is one, and be single coil configuration.
4. pneumatic the revolving of one according to claim 1 stretched type double helix flexible joint, it is characterized in that: described confinement element is sheet, profile is circle or regular polygon, the openwork part of confinement element is called threaded hole, threaded hole has two groups, described threaded hole is the partial structurtes of two groups of helix cavitys at confinement element, the central diameter of threaded hole equals the central diameter of corresponding helix cavity, and the phase difference on same confinement element between two groups of threaded hole is determined by confinement element place axial location.
5. pneumatic the revolving of one according to claim 1 stretched type double helix flexible joint, it is characterized in that: described skeleton is flexible shaft or axial scalable axle sleeve.
6. pneumatic the revolving of one according to claim 5 stretched type double helix flexible joint, it is characterized in that: described flexible shaft is cylindrically coiled spring or rubber axis; Axial scalable axle sleeve is made up of sleeve and optical axis, sleeve and optical axis matched in clearance.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410029750.1A CN103786166B (en) | 2014-01-22 | 2014-01-22 | Type Double helix flexible joint is stretched in pneumatic rotation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410029750.1A CN103786166B (en) | 2014-01-22 | 2014-01-22 | Type Double helix flexible joint is stretched in pneumatic rotation |
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| CN103786166A true CN103786166A (en) | 2014-05-14 |
| CN103786166B CN103786166B (en) | 2017-01-04 |
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| CN201410029750.1A Expired - Fee Related CN103786166B (en) | 2014-01-22 | 2014-01-22 | Type Double helix flexible joint is stretched in pneumatic rotation |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105666484A (en) * | 2016-04-11 | 2016-06-15 | 中国计量学院 | Double-tube sleeved type pneumatic artificial muscle |
| CN106426146A (en) * | 2016-12-08 | 2017-02-22 | 燕山大学 | Double-acting pneumatic artificial muscle |
| CN106695772A (en) * | 2015-08-28 | 2017-05-24 | 刘伟 | Artificial muscle, application thereof and robot |
| CN108128429A (en) * | 2017-12-26 | 2018-06-08 | 哈尔滨工业大学 | A kind of imitative frog travel robot based on the pneumatic software actuator driving of articulated type |
| CN111906811A (en) * | 2020-08-10 | 2020-11-10 | 安徽大学 | Full-flexible pneumatic actuator |
| CN113334427A (en) * | 2021-04-09 | 2021-09-03 | 北京理工大学 | Flexible robot and preparation method thereof |
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| CN101244558A (en) * | 2008-03-28 | 2008-08-20 | 天津大学 | Space three-rotation freedom parallel mechanism |
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| CN202592389U (en) * | 2012-05-23 | 2012-12-12 | 北华大学 | Single-curvature flexible joint device for limbs of bionic machines and robots |
| CN203779517U (en) * | 2014-01-22 | 2014-08-20 | 北华大学 | Pneumatic rotary-stretching type flexible joint |
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2014
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| US4784042A (en) * | 1986-02-12 | 1988-11-15 | Nathaniel A. Hardin | Method and system employing strings of opposed gaseous-fluid inflatable tension actuators in jointed arms, legs, beams and columns for controlling their movements |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106695772A (en) * | 2015-08-28 | 2017-05-24 | 刘伟 | Artificial muscle, application thereof and robot |
| CN106695772B (en) * | 2015-08-28 | 2019-03-05 | 范宝莲 | A kind of artificial-muscle and its application, robot |
| CN105666484A (en) * | 2016-04-11 | 2016-06-15 | 中国计量学院 | Double-tube sleeved type pneumatic artificial muscle |
| CN106426146A (en) * | 2016-12-08 | 2017-02-22 | 燕山大学 | Double-acting pneumatic artificial muscle |
| CN106426146B (en) * | 2016-12-08 | 2018-10-16 | 燕山大学 | A kind of double acting Pneumatic artificial muscle |
| CN108128429A (en) * | 2017-12-26 | 2018-06-08 | 哈尔滨工业大学 | A kind of imitative frog travel robot based on the pneumatic software actuator driving of articulated type |
| CN108128429B (en) * | 2017-12-26 | 2019-08-23 | 哈尔滨工业大学 | A kind of imitative frog travel robot based on the pneumatic software actuator driving of articulated type |
| CN111906811A (en) * | 2020-08-10 | 2020-11-10 | 安徽大学 | Full-flexible pneumatic actuator |
| CN113334427A (en) * | 2021-04-09 | 2021-09-03 | 北京理工大学 | Flexible robot and preparation method thereof |
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