CN114670181A - Pneumatic variable-rigidity flexible bending joint - Google Patents
Pneumatic variable-rigidity flexible bending joint Download PDFInfo
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- CN114670181A CN114670181A CN202210185481.2A CN202210185481A CN114670181A CN 114670181 A CN114670181 A CN 114670181A CN 202210185481 A CN202210185481 A CN 202210185481A CN 114670181 A CN114670181 A CN 114670181A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
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Abstract
The invention discloses a pneumatic variable-stiffness flexible bending joint which mainly comprises a screw, an upper sealing end cover, a driving artificial muscle, a variable-stiffness artificial muscle, a plate spring, a restraining ring, a lower sealing end cover and a pneumatic joint, wherein the upper sealing end cover is connected with the lower sealing end cover; the front side and the rear side of the restraint ring are symmetrically provided with 6 through holes for placing driving artificial muscles and variable-stiffness artificial muscles, and the middle of the restraint ring is provided with a rectangular groove for placing a plate spring; the driving artificial muscles and the variable-stiffness artificial muscles are symmetrically distributed on two sides, and the bending angle of the joint can be adjusted in real time by controlling the gas pressure difference of the driving artificial muscles on the two sides; by utilizing the particle blocking technology and controlling the air pressure introduced into the variable-stiffness artificial muscle, the stepless regulation and control of the stiffness of the flexible bending joint are realized. The flexible bending joint has the advantages of obvious stiffness changing effect, wide stiffness changing range, high response speed, simple structure and the like.
Description
Technical Field
The invention belongs to the field of flexible robots, and particularly relates to a pneumatic variable-rigidity flexible bending joint.
Background
With the continuous progress and development of science and technology, the robot has wide application in different fields, and compared with the traditional industrial robot, the flexible robot is widely applied to various fields such as agriculture, medical treatment, environment detection and the like due to the advantages of flexibility, human-computer interaction safety and the like; the flexibility of the flexible robot is usually based on the premise of sacrificing the bearing capacity, and the flexible robot is usually insufficient in rigidity; one method for realizing variable rigidity in the prior art is mainly a particle blocking technology of vacuum pumping or negative pressure, the variable rigidity effect realized by the method is not obvious, and the robot still has difficult larger bearing capacity in the actual working process; and the other method adopts a variable-rigidity material, the response rate of the method is low, and the working period is greatly prolonged.
Based on the problem, the variable-stiffness flexible joint which is bendable, has stepless adjustable stiffness and large bearing capacity is urgently needed to be provided, and the pneumatic variable-stiffness flexible bending joint provided by the invention has the advantages that the bearing capacity is large and the variable-stiffness effect is obvious through the combined action of the driving artificial muscle and the variable-stiffness artificial muscle; the invention can be used as a variable stiffness mechanical arm of a flexible robot, not only meets the flexibility requirement of the flexible robot, but also improves the stiffness of the flexible robot and the bearing capacity of the flexible robot.
Disclosure of Invention
The invention aims to provide a pneumatic variable-stiffness flexible bending joint which is bendable, stepless in stiffness adjustment and high in bearing capacity, the joint can adjust the stiffness of the joint in real time according to the conditions of load and pose, the maintenance of any pose of any load in a range is realized, the flexible bending joint adopts a pneumatic artificial muscle driving mode, a variable-stiffness working system realizes stepless adjustment of the stiffness mainly through adjustment of the size of introduced pressure gas, and the pneumatic variable-stiffness flexible bending joint is simple in structure, flexible in movement, safe in man-machine interaction and obvious in variable-stiffness effect.
The purpose of the invention can be realized by the following technical scheme:
the invention provides a pneumatic variable-stiffness flexible bending joint which mainly comprises a screw, an upper sealing end cover, a driving artificial muscle, a variable-stiffness artificial muscle, a plate spring, a restraining ring, a lower sealing end cover and a pneumatic joint;
The driving artificial muscle is a closed cavity formed among the driving artificial muscle elastic air bag, the driving artificial muscle upper joint and the driving artificial muscle air inlet joint,
furthermore, the driving artificial muscle elastic air bag is in a circular ring shape, the interior of the driving artificial muscle elastic air bag is of a hollow structure, and the driving artificial muscle elastic air bag can be made of latex, rubber and silica gel.
Furthermore, the air inlet joint of the driving artificial muscle is provided with a threaded hole for introducing pressure gas into the driving artificial muscle elastic air bag;
the integral structure of the variable-rigidity artificial muscle is a multi-layer hollow columnar structure and sequentially comprises a variable-rigidity artificial muscle outer membrane, a variable-rigidity artificial muscle restraining air bag and a variable-rigidity artificial muscle inflating air bag from outside to inside; two ends of the air inlet pipe are fixedly connected with the variable-rigidity artificial muscle upper joint through the variable-rigidity artificial muscle upper joint to form a sealed cavity;
further, a particle filler is arranged between the variable-stiffness artificial muscle restraining air bag and the variable-stiffness artificial muscle inflating air bag;
furthermore, the variable-stiffness artificial muscle outer membrane is of a spiral nested structure, and is extensible, compressible and bendable;
further, the variable-stiffness artificial muscle restraining air bag and the variable-stiffness artificial muscle inflating air bag are similar to the structure and the material of an elastic air bag for driving artificial muscles;
Furthermore, the variable-rigidity artificial muscle air inlet joint is provided with a threaded hole for introducing pressure gas into the variable-rigidity artificial muscle inflatable air bag;
the driving artificial muscle and the variable-stiffness artificial muscle are externally sleeved with a plurality of restraining rings, two ends of the restraining rings are fixedly connected by upper and lower sealing end covers, the restraining rings are of a sheet-shaped symmetrical structure, three through holes are respectively arranged on the front side and the rear side (defined according to the direction of the figure, the same applies below) and the middle part of the restraining rings is provided with a rectangular groove;
furthermore, a plate spring is arranged in the rectangular groove and used for limiting the extension of the neutral layer;
furthermore, through holes at two sides of the restraint ring are used for placing driving artificial muscles and variable-stiffness artificial muscles, the two muscles are symmetrically distributed front and back, a plate spring is arranged at the symmetric center, the driving artificial muscles are symmetrically placed in four through holes at the left side and the right side (defined according to the direction of a drawing) of the restraint ring front and back, and the variable-stiffness artificial muscles are symmetrically placed in two through holes in the middle of the restraint ring front and back;
in the technical scheme, the pneumatic variable-rigidity flexible bending joint provided by the invention realizes the functions of unidirectional bending and variable rigidity of the joint by utilizing the combined action of air pressure and particle blockage; the joint adopts two types of artificial muscles of driving artificial muscles and variable-stiffness artificial muscles, a plurality of thin plate-shaped restraint rings are arranged outside the joint to radially restrain the two types of artificial muscles, the two types of artificial muscles are distributed in a symmetrical mode, a plate spring is arranged on a symmetrical plane, pressure gas is introduced into the elastic air bag of the driving artificial muscles through an air pump, the radial deformation of the artificial muscles is limited under the restraint action of the restraint rings and only axially extends, the plate spring is arranged on the symmetrical plane of the artificial muscles to limit the axial extension of the joint, so that the axial extension of the artificial muscles is converted into bending deformation, and the bending of the joint at different angles can be realized by controlling the pressure of the introduced gas; the variable-rigidity artificial muscle is provided with a three-layer structure, particle fillers are arranged between the innermost inflatable air bag and the middle restraint air bag, the outermost outer membrane is of a spiral nested structure and can be elongated, compressed and bent, pressure air is introduced into the inflatable air bag through the air pump, and gaps and interaction forces among particles, between particles and the restraint air bag and between the restraint air bag and the spiral nested outer membrane are changed under the action of air pressure, so that the purpose of variable rigidity is achieved. Because the driving artificial muscle and the variable-stiffness artificial muscle are independent, the joint stiffness can be adjusted in real time according to the load and the pose condition by respectively controlling the driving artificial muscle and the variable-stiffness artificial muscle, and the maintenance of any pose of any load in a joint range is realized.
The joint variable-stiffness function is realized by utilizing the common advantages of the introduced pressure gas and the particle blockage, and the variable-stiffness effect and the variable-stiffness range are superior to those of a variable-stiffness joint with vacuum or negative pressure; the pneumatic variable-rigidity flexible bending joint has the advantages of simple structure and quick variable-rigidity response; the body structure of the invention is a driving structure, and has the advantages of small volume and light weight.
Drawings
FIG. 1 is a schematic view of the overall structure;
FIG. 2 is a schematic diagram of an overall explosion;
FIG. 3 is an exploded view of a driving artificial muscle;
FIG. 4 is an exploded view of a variable stiffness artificial muscle;
FIG. 5 is a schematic diagram of a confinement ring structure;
description of reference numerals:
1. an upper sealing end cover; 2. a screw; 3. driving the artificial muscle; 4. a variable stiffness artificial muscle; 5. a plurality of confinement rings; 6. a lower seal end cap; 7. a pneumatic joint; 31. driving the artificial muscle top joint; 32. driving the artificial muscle elastic air bag; 33. driving the artificial muscle air inlet joint; 41. an upper joint of the variable-stiffness artificial muscle; 42. variable stiffness artificial muscle adventitia; 43. the variable-rigidity artificial muscle restrains the air bag; 44. a particulate filler; 45. a variable-stiffness artificial muscle inflatable air bag; 46. variable-rigidity artificial muscle air inlet joint.
Detailed Description
For a better understanding of the technical solutions of the present invention, the following detailed description of the present invention is provided with reference to the accompanying drawings and specific examples:
as shown in fig. 1 to 5, a pneumatic variable-stiffness flexible bending joint provided by an embodiment of the present invention includes an upper sealing end cap 1, a screw 2, a driving artificial muscle 3, a variable-stiffness artificial muscle 4, a plurality of constraining rings 5, a lower sealing end cap 6, a pneumatic joint 7, and a plate spring 8;
as shown in fig. 2, the driving artificial muscle 3 includes a driving artificial muscle upper joint 31, a driving artificial muscle elastic air cell 32, a driving artificial muscle air inlet joint 33; the driving artificial muscle upper joint 31 and the driving artificial muscle air inlet joint 33 are both cylindrical step-shaped structures and are fixedly connected with the driving artificial muscle elastic air bag 32 in a buckling and pressing mode to form a sealed cavity; the driving artificial muscle air inlet joint 33 is provided with a threaded hole and is fixedly connected with the pneumatic joint 7, and pressure air is introduced into the driving artificial muscle elastic air bag 32 through an air pump and an air pipe;
as shown in fig. 3, the variable-stiffness artificial muscle 4 has a multilayer hollow columnar structure, and sequentially comprises a variable-stiffness artificial muscle outer membrane 42, a variable-stiffness artificial muscle restraining air bag 43 and a variable-stiffness artificial muscle inflating air bag 45 from outside to inside, wherein a particle filler 44 is arranged between the variable-stiffness artificial muscle restraining air bag 43 and the variable-stiffness artificial muscle inflating air bag 45, and two ends of the variable-stiffness artificial muscle restraining air bag are fixedly connected with a variable-stiffness artificial muscle air inlet joint 46 through a variable-stiffness artificial muscle upper joint 41 to form a sealed cavity; the variable-stiffness artificial muscle outer membrane 42 is of a spiral nested structure, the structure can realize the functions of extension, compression and bending under the action of external force, a variable-stiffness artificial muscle air inlet connector 46 is provided with a threaded hole and is fixedly connected with the pneumatic connector 7, and pressure air is introduced into the variable-stiffness artificial muscle inflatable air bag 45 through an air pump and an air pipe;
As shown in fig. 4, the restraint ring 5 is a thin plate-shaped symmetrical structure, and is symmetrically provided with 6 through holes in the front and back direction, and a rectangular groove is provided in the middle, wherein 4 through holes on the left and right sides are used for placing the driving artificial muscles 3, two larger through holes in the middle are used for placing the variable-stiffness artificial muscles 4, and a plate spring 8 is placed in the rectangular groove in the middle, and the restraint ring 5 is formed by stacking a plurality of the restraint rings and is used for limiting the radial deformation of the driving artificial muscles 3;
pressure gas is introduced into the driving artificial muscle elastic air bag 32, the driving artificial muscle elastic air bag 32 is radially expanded under the action of the pressure gas, the driving artificial muscle elastic air bag 32 is limited in radial expansion and can only axially extend under the constraint action of a plurality of constraint rings 5 on the outer side, but the plate spring 8 of a rectangular groove in the middle of each constraint ring 5 limits the axial extension of a joint, so that the axial extension of the driving artificial muscle 3 is converted into bending deformation around the plate spring 8; the air pressure values introduced by the two rear driving artificial muscles are respectively P1 and P3, the air pressure values introduced by the two front driving artificial muscles are respectively P2 and P4, when P1 is P3> P2 is P4, the flexible joint bends forwards, when P1 is P3< P2 is P4, the flexible joint bends backwards, and the bending angle of the flexible bending joint can be adjusted in real time by adjusting the pressure difference among P1, P3, P2 and P4;
When pressure gas is introduced into the variable-stiffness artificial muscle inflatable air bag 45, the variable-stiffness artificial muscle inflatable air bag 45 expands radially under the action of the pressure gas to push the particle filler 44 to extrude the variable-stiffness artificial muscle restraining air bag 43 and the variable-stiffness artificial muscle outer membrane 42, and gaps and interaction forces among particles, between particles and restraining air bags, between restraining air bags and spirally nested outer membranes change under the combined action of air pressure and particle blockage, so that the purpose of variable stiffness is realized, and the stepless regulation and control of the stiffness of the flexible bending joint can be realized by controlling the introduced air pressure value;
because the driving artificial muscle and the variable-stiffness artificial muscle are independent, the joint stiffness can be adjusted in real time according to the load and the pose condition by respectively controlling the driving artificial muscle and the variable-stiffness artificial muscle, and the maintenance of any pose of any load in a joint range is realized.
The joint variable stiffness function is realized by utilizing the common advantages of introducing pressure gas and blocking particles, and the variable stiffness effect and the stiffness change range are superior to those of a variable stiffness joint with vacuumizing or negative pressure; the pneumatic variable-stiffness flexible bending joint has the advantages of simple structure and quick variable-stiffness response; the body structure of the invention is a driving structure, and has the advantages of small volume and light weight.
Claims (7)
1. A pneumatic variable-stiffness flexible bending joint mainly comprises a screw, an upper sealing end cover, a driving artificial muscle, a variable-stiffness artificial muscle, a plate spring, a restraining ring, a lower sealing end cover and a pneumatic joint; the driving artificial muscle is a closed cavity formed among the driving artificial muscle elastic air bag, the driving artificial muscle upper joint and the driving artificial muscle air inlet joint, and the stepless regulation of the joint bending angle is realized by changing the introduced air pressure value; the variable-stiffness artificial muscle integral structure is a multilayer hollow columnar structure and sequentially comprises a variable-stiffness artificial muscle outer membrane, a variable-stiffness artificial muscle restraining air bag and a variable-stiffness artificial muscle inflating air bag from outside to inside, the two ends of the variable-stiffness artificial muscle restraining air bag are fixedly connected with a variable-stiffness artificial muscle air inlet connector through a variable-stiffness artificial muscle upper connector to form a sealed cavity, particle fillers are arranged between the variable-stiffness artificial muscle restraining air bag and the variable-stiffness artificial muscle inflating air bag, and the stepless joint stiffness regulation and control are realized by regulating the air pressure value introduced into the variable-stiffness artificial muscle inflating air bag.
2. The driving artificial muscle elastic air bag, the variable stiffness artificial muscle restraining air bag and the variable stiffness artificial muscle inflating air bag according to claim 1 are all circular rings, the interiors of the driving artificial muscle elastic air bag, the variable stiffness artificial muscle restraining air bag and the variable stiffness artificial muscle inflating air bag are of hollow structures, and materials can be latex, rubber and silica gel.
3. The driving artificial muscle air intake joint and the variable stiffness artificial muscle air intake joint as set forth in claim 1, each being provided with a threaded hole for feeding pressurized air to the driving artificial muscle elastic air cell and the variable stiffness artificial muscle inflatable air cell.
4. The variable stiffness artificial muscle adventitia of claim 1 is a spirally nested structure that can perform the functions of elongation, compression and bending under the action of external force.
5. The confinement ring of claim 1, which is a thin plate-like symmetrical structure with 6 through holes symmetrically arranged at the front and back sides and a rectangular groove in the middle.
6. The driving artificial muscle and the variable stiffness artificial muscle according to claim 1 are symmetrically distributed in the through hole of the restraining ring.
7. The leaf spring of claim 1 placed in the confinement ring intermediate rectangular groove for limiting the joint center of symmetry plane axial elongation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210185481.2A CN114670181A (en) | 2022-02-28 | 2022-02-28 | Pneumatic variable-rigidity flexible bending joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210185481.2A CN114670181A (en) | 2022-02-28 | 2022-02-28 | Pneumatic variable-rigidity flexible bending joint |
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| CN114670181A true CN114670181A (en) | 2022-06-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210185481.2A Pending CN114670181A (en) | 2022-02-28 | 2022-02-28 | Pneumatic variable-rigidity flexible bending joint |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115070748A (en) * | 2022-07-27 | 2022-09-20 | 广东工业大学 | Bidirectional bending type pneumatic soft driver with variable rigidity |
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2022
- 2022-02-28 CN CN202210185481.2A patent/CN114670181A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115070748A (en) * | 2022-07-27 | 2022-09-20 | 广东工业大学 | Bidirectional bending type pneumatic soft driver with variable rigidity |
| CN115070748B (en) * | 2022-07-27 | 2024-04-02 | 广东工业大学 | Variable-rigidity bidirectional bending pneumatic soft driver |
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