CN103786166B - Type Double helix flexible joint is stretched in pneumatic rotation - Google Patents
Type Double helix flexible joint is stretched in pneumatic rotation Download PDFInfo
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- CN103786166B CN103786166B CN201410029750.1A CN201410029750A CN103786166B CN 103786166 B CN103786166 B CN 103786166B CN 201410029750 A CN201410029750 A CN 201410029750A CN 103786166 B CN103786166 B CN 103786166B
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Abstract
The invention discloses a kind of pneumatic rotation and stretch type Double helix flexible joint, including confinement element, skeleton, air bag, cylindrically coiled spring, 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, it is internally formed two groups of coaxial toroidal-shaped cavity that central diameter is different at column structure, it is called toroidal-shaped cavity one and toroidal-shaped cavity two, in toroidal-shaped cavity one, cylindrically coiled spring is set, in toroidal-shaped cavity two, air bag is set.Arthritic volume of the present invention is compact, and main diarthrodial two spiral artificial-muscle driving means are complex as a whole with joint body, and this joint has 2 degree of freedom, can realize the functions such as the Plane Rotation of bionic joint, bending and axial elongation, has the most comprehensive flexible.
Description
Technical field
The present invention relates to robot limb flexible joint, stretch type particularly to a kind of pneumatic rotation double
Helical flexible joint.
Background technology
Robotics is widely used, in fields such as industry, military, medical treatment and services at present
One of grand strategy support technology becoming countries in the world.Key technology and core as robot
Heart parts, the diarthrodial structure of all kinds of masters, driving, exercise performance and control method, will determine
The integral level of robot.At terrestrial, aquatic and anthropomorphic robot field, limbs flexible joint
In terms of solving the adaptability of compliant motion and crawl object, there is important function.Therefore, for many years
Come both at home and abroad and flexible joint is conducted in-depth research and achieved gratifying results, research main
Content has articulated driving equipment, driving material and the realization of flexibility of joint structure.Wherein joint is driven
Dynamic 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 driven by servomotor, hydraulic-driven, cylinder
Several forms such as driving, conducting polymer, electroluminescent driving and artificial-muscle driving.Wherein apply
Driven by servomotor, hydraulic pressure and the flexible joint of cylinder type of drive, its technology is mature on the whole,
Being widely used, but volume is relatively big, flexibility of joint degree is restricted；And conducting polymer and electricity
Cause to drive stroke less, be mainly used in amphiarthrosis；Pneumatic artificial muscle drives to be had preferably
Comprehensive flexible, it is developed rapidly in recent years, but has stronger non-linear.The most several
Driving means will be big with the use of, volume with frame for movement in application process, and miniaturization is stranded
Difficulty, 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 in the bigger work of variation
The special requirement in the field such as bionical and specialized robot in the carrying of industry product, water, it is necessary to continue
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 is used
Type Double helix flexible joint is stretched in pneumatic rotation, uses spiral elasticity body directional expansion mode to drive, real
Now rotate, bend and extend function.
The pneumatic rotation of one of the present invention stretches type Double helix flexible joint, including confinement element, joint
Skeleton, air bag, cylindrically coiled spring, upper end cover, bottom end cover, upper cover, low head, stream
Body entrance, is provided with several confinement elements between upper end cover and bottom end cover, described several about
Bundle element coaxially connect solid matter formed column structure, be internally formed central diameter at column structure different
Two groups of coaxial toroidal-shaped cavity, are called toroidal-shaped cavity one and toroidal-shaped cavity
Two, at the common axis of two groups of coaxial spiral tubular cavities, form cylindrical cavity, at cylinder
Arranging joint skeleton in shape cavity, joint skeleton two ends are fixed even with upper end cover, bottom end cover respectively
Connect；Toroidal-shaped cavity one quantity is 2, and initial phase difference is 180 °, at described spiral
Tubular cavity one arranges cylindrically coiled spring, the two ends of cylindrically coiled spring respectively with upper end
Lid, bottom end cover are fixedly connected into one；Toroidal-shaped cavity two quantity is 2, initial phase
Difference is 180 °, arranges air bag in toroidal-shaped cavity two, balloon ends respectively with upper cover,
Low head connect, constitute seal cavity, upper cover and low head respectively with described upper end cover, under
End cap is fixedly connected into one, 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 and the number of turns are complete
Identical；Two air bags constitute double-spiral structure.
Described air bag is one, for single coil configuration.
Described confinement element is lamellar, and profile is circular or regular polygon, the hollow out of confinement element
Part is referred to as threaded hole, and threaded hole has two groups, and described threaded hole is that two groups of toroidal-shaped cavity exist
The partial structurtes of confinement element, the central diameter of threaded hole is equal in corresponding toroidal-shaped cavity
Footpath, on same confinement element, the phase contrast between two groups of threaded hole is by axial position, confinement element place
Put decision.
Described skeleton is flexible shaft or axial scalable axle sleeve.
Described flexible shaft is cylindrically coiled spring or rubber axis；Axial scalable axle sleeve by sleeve and
Optical axis forms, sleeve and optical axis matched in clearance.
Low head is provided with fluid intake, with charged pressure fluid, increases when being filled with fluid pressure
Adding or pressurizing balloon quantity increases, annular seal space volume expansion promotes confinement element to move and makes joint deformity
Strengthening, reduce or the minimizing of pressurizing balloon quantity when being filled with fluid pressure, spring recovers, and joint becomes
Shape reduces, and deformation is relevant with described bound form, and when skeleton is flexible shaft, joint is sent out
Life is reversed, is bent and extend composite deformation, and when skeleton is scalable axle sleeve, joint is turned round
Turn and elongation composite deformation；Described it is filled with fluid, can be medium corrosion-free, avirulent,
Such as compressed air, water etc..
It is an advantage of the invention that arthritic volume is compact, main diarthrodial two spiral artificial-muscles drive
Dynamic device is complex as a whole with joint body；This joint has 2 degree of freedom, can realize bionical
The functions such as the Plane Rotation in joint, bending and axial elongation, have the most comprehensive flexible；Root
Install different skeletons additional according to needing, can be respectively completed that plane rotation is curved stretches and two kinds of groups of one direction precession
The amoeboid movement of syntype；Can use two proportioning valves, or a proportioning valve and two reversal valves
Carrying out motor control, method is the most easy to control；The arm being mainly used in bio-robot turns
Dynamic with on bending joint, it is particularly suited for software in thumb base joint, machine fish pectoral fin and water
On the joint of animal.
Accompanying drawing explanation
The present invention is further detailed explanation with detailed description of the invention below in conjunction with the accompanying drawings:
Fig. 1 is that type Double helix flexible joint exploded perspective view is stretched in the pneumatic rotation of the present invention；
Fig. 2 is that type Double helix flexible joint axle side schematic diagram is stretched in the pneumatic rotation of the present invention；
Fig. 3 is that type Double helix flexible joint flexible shaft skeleton schematic diagram is stretched in the pneumatic rotation of the present invention；
Fig. 4 is that the pneumatic rotation of the present invention stretches 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.
Detailed description of the invention
Embodiment:
With instantiation the present invention made below in conjunction with the accompanying drawings and describing in detail further.
The present invention is by 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 form；Upper end
Lid 1 and bottom end cover 7 lay respectively at pneumatic rotation and stretch type Double helix flexible joint two ends, and pneumatic rotation is stretched
In the middle of type Double helix flexible joint be 20 confinement elements 4 coaxial solid matter series connection, after series connection outside
Shape is column structure, is internally formed two groups of coaxial toroidal-shaped cavity that central diameter is different, spiral
The normal section of tube chamber is circular, forms cylindrical empty at toroidal-shaped cavity common axis
Chamber, each cavity is non-interference；Cylindrical cavity at axis arranges joint skeleton 3(attached
Fig. 3 flexible shaft skeleton example, the axial scalable axle sleeve skeleton example of accompanying drawing 4), joint skeleton
3 two ends are fixedly connected into one respectively with described upper end cover 2 and bottom end cover 7；Described big-and-middle
The spiral tube chamber (toroidal-shaped cavity one) in footpath arranges cylindrically coiled spring 6, helix
Cavity one quantity is 2, and initial phase difference is 180 °, described cylindrically coiled spring 6 two ends
One it is fixedly connected into respectively with upper end cover 1 and bottom end cover 5；Toroidal-shaped cavity two quantity is
2, initial phase difference is 180 °, at spiral tube chamber (the helix sky of described little central diameter
Chamber two) in rubber pneumatic bag 5 is set, described air bag 5 two ends arrange upper cover 1 and low head 8,
Constituting and seal cavity, upper cover and low head are fixed with described upper end cover 2 and bottom end cover 7 respectively
Link into an integrated entity；Low head is provided with fluid intake 9, upper end cover 2 and bottom end cover 7 can lead to
Cross threaded mode to assemble with robot body.
Claims (4)
1. type Double helix flexible joint is stretched in a pneumatic rotation, it is characterised in that: include constraint unit
Part, skeleton, air bag, cylindrically coiled spring, upper end cover, bottom end cover, upper cover, low head,
Fluid intake, is provided with several confinement elements between upper end cover and bottom end cover, described several
Confinement element solid matter of coaxially connecting forms column structure, is internally formed central diameter at column structure different
Two groups of coaxial toroidal-shaped cavity, be called toroidal-shaped cavity one and helix empty
Chamber two, forms cylindrical cavity at the common axis of two groups of coaxial spiral tubular cavities, is justifying
Arranging joint skeleton in cylindrical cavity, joint skeleton two ends are fixed with upper end cover, bottom end cover respectively
Connect；Toroidal-shaped cavity one quantity is 2, and initial phase difference is 180 °, at described spiral shell
Rotation tubular cavity one in cylindrically coiled spring is set, the two ends of cylindrically coiled spring respectively with upper end
Lid, bottom end cover are fixedly connected into one；Toroidal-shaped cavity two quantity is 2, initial phase
Difference is 180 °, arranges air bag in toroidal-shaped cavity two, balloon ends respectively with upper cover,
Low head connect, constitute seal cavity, upper cover and low head respectively with described upper end cover, under
End cap is fixedly connected into one, is provided with fluid intake, with charged pressure fluid on low head；
Described air bag is one, for single coil configuration.
Type Double helix flexible joint is stretched in the pneumatic rotation of one the most according to claim 1, its
Being characterised by: described confinement element is lamellar, profile is circular or regular polygon, confinement element
Openwork part be referred to as threaded hole, threaded hole has two groups, and described threaded hole is two groups of helix
Cavity is in the partial structurtes of confinement element, and the central diameter of threaded hole is empty equal to corresponding helix
The central diameter in chamber, on same confinement element, the phase contrast between two groups of threaded hole is by confinement element place
Axial location determines.
Type Double helix flexible joint is stretched in the pneumatic rotation of one the most according to claim 1, its
It is characterised by: described skeleton is flexible shaft or axial scalable axle sleeve.
Type Double helix flexible joint is stretched in the pneumatic rotation of one the most according to claim 3, its
It is characterised by: described flexible shaft is cylindrically coiled spring or rubber axis；Axial scalable axle sleeve by
Sleeve and optical axis composition, sleeve and optical axis matched in clearance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
|---|---|---|---|
| CN201410029750.1A CN103786166B (en) | 2014-01-22 | 2014-01-22 | Type Double helix flexible joint is stretched in pneumatic rotation |
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| Publication Number | Publication Date |
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| CN103786166A CN103786166A (en) | 2014-05-14 |
| CN103786166B true 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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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625578B (en) * | 2015-08-28 | 2019-04-05 | 深兰科技（上海）有限公司 | A kind of artificial-muscle and its application, robot |
| CN105666484B (en) * | 2016-04-11 | 2017-12-15 | 中国计量学院 | Two-tube suit type Pneumatic artificial muscle |
| CN106426146B (en) * | 2016-12-08 | 2018-10-16 | 燕山大学 | A kind of double acting Pneumatic artificial muscle |
| 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 |
| CN113334427B (en) * | 2021-04-09 | 2022-11-01 | 北京理工大学 | Flexible robot and preparation method thereof |
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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 |
| CN2774717Y (en) * | 2005-01-17 | 2006-04-26 | 江南大学 | Snaik shape robot of multiple freedom flexible joints |
| CN201006607Y (en) * | 2007-02-07 | 2008-01-16 | 浙江工业大学 | Pneumatic power strong-flexible bending joint |
| CN101244558A (en) * | 2008-03-28 | 2008-08-20 | 天津大学 | Space three-rotation freedom parallel mechanism |
| CN101531009A (en) * | 2009-04-04 | 2009-09-16 | 北华大学 | Three-dimensional composite flexible joint |
| 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
- 2014-01-22 CN CN201410029750.1A patent/CN103786166B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN2774717Y (en) * | 2005-01-17 | 2006-04-26 | 江南大学 | Snaik shape robot of multiple freedom flexible joints |
| CN201006607Y (en) * | 2007-02-07 | 2008-01-16 | 浙江工业大学 | Pneumatic power strong-flexible bending joint |
| CN101244558A (en) * | 2008-03-28 | 2008-08-20 | 天津大学 | Space three-rotation freedom parallel mechanism |
| CN101531009A (en) * | 2009-04-04 | 2009-09-16 | 北华大学 | Three-dimensional composite flexible joint |
| 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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| CN103786166A (en) | 2014-05-14 |
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