CN1305647C - Fluid driving bending joint of spiral spring frame - Google Patents
Fluid driving bending joint of spiral spring frame Download PDFInfo
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- CN1305647C CN1305647C CNB2004100656483A CN200410065648A CN1305647C CN 1305647 C CN1305647 C CN 1305647C CN B2004100656483 A CNB2004100656483 A CN B2004100656483A CN 200410065648 A CN200410065648 A CN 200410065648A CN 1305647 C CN1305647 C CN 1305647C
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Abstract
The present invention relates to a fluid driving bending joint of a spiral spring skeleton, which is suitable for robot's various joints, is particularly suitable for mechanical fingers with a plurality of bending joints, and belongs to the technical field of robot and mechanical arm application. The joint uses a spiral spring as a flexible skeleton; an elastic wave shell axially expands to provide power to muscles after liquid air pressure acts in the elastic wave shell; as the axial extension of one side of the spiral spring is limited by a fixed wire, the other side can axially extend, and accordingly, bending can be caused. The bending angle of the joint is relevant to air pressure in the joint under the condition of having no external force action; external acting force is increased along with the increasing of air pressure in the joint in work; a bending and deforming joint is recovered to the original state through the action of the spiral spring. In the joint of the present invention, the fixed wire limiting the extension of the spiral spring on one side has four assembling proposals which are suitable for different occasions; the action of joint bending is flexible, energy consumption is low, and the dynamic control precision is high; when the present invention is used as mechanical fingers with a plurality of joints, and the compatibility of the joints is good.
Description
Technical field:
The present invention relates to a kind of fluid driving bending joint of spiral spring frame, this bending joint can be used as all kinds of joints such as the elbow, leg of robot, also be applicable to the mechanical finger that constitutes by a plurality of bending joints, and a plurality of mechanical fingers one-tenth capable of being combined manipulator, as the executing agency of automation equipment, belong to robot, manipulator applied technical field.
Background technology:
Before the present invention makes, in prior art, the axial expansion that the cylindrical elastomer body that adopts the air pressure driving is arranged, produce the bending in joint owing to lateral confinement system elongation, lean on the flexible joint (" pneumatic type limit free degree mechanical finger " of the elastic reaction reinstatement of rubber tube, " hydraulic pressure and pneumatic ", 2004 the 8th phases).The present invention has overcome the deficiencies in the prior art parts: the shell wall material of the elastic cylinder of (1) prior art itself not only has axially, also has dilatancy radially, the axle of elastic cylinder, be radially expanded and (partly limit it and be radially expanded by cylindrical spring, be radially expanded the bending that has influence on the cylindrical spring skeleton) must expend ability, its strain is strong nonlinearity, mechanical analysis difficulty, can't realize dynamic control; And because the restriction that is subjected to not extending annular tram, twines organizine, the shell wall material of elastomeric bellow of the present invention itself had not both had axially, had not had yet dilatancy radially, the axial expansion of elastomeric bellow integral body is the elastic bending of shell wall at crest circle, trough circle place, therefore, the power consumption of the integrally bending of elastomeric bellow is very little, is convenient to mechanical analysis and calculates and dynamically control in real time.(2) the cylindrical elastomer body of prior art, helical spring, binding silk three all are assemblied on the clamping ring of rotation clamping, because the manufacturing variation of the wall thickness of the preceding end housing of cylindrical elastomer body, guarantee that the clamped circulation layer spare rotation of cylindrical elastomer body clamps, to guarantee that simultaneously the installation and the helical spring spring wire extension that bundle silk (guarantee that the joint is that folk prescription is to crooked and non-warping) on same plane, it can only be the mode of work of joining of single-piece production, cannot say for sure to demonstrate,prove machining accuracy, and can not change the cylindrical elastomer body individually in the use; During use, because of making, assemble reason, helical spring, binding silk can produce the potential safety hazard that the cylindrical elastomer body comes off to the moment of torsion of the clamping ring that rotation clamps.The application's elastomeric bellow parts directly rotation are clamped on headstock and the tailstock, and helical spring, anchoring filament also are installed on headstock and the tailstock; Their assembling is not disturbed mutually, does not have active force between helical spring, anchoring filament and the elastomeric bellow parts yet.(3) prior art adopts two binding silk to intersect and bundlees helical spring, and two binding silks can not guarantee the degree of tightness unanimity during assembling, and binding silk and helical spring frictional force are bigger; The present invention adopts single anchoring filament winding screw spring, reaches the methods of three kinds of one-sided restriction elongations that do not bundle inside and outside helical spring, and assembling is simple, is convenient to calculate, and is easy to control.(4) structure of elastomeric bellow parts of the present invention is convenient to standardization, the seriation that the special manufacturer produces, and is easy to use, safe and reliable.
Summary of the invention:
The objective of the invention is to overcome above-mentioned weak point, it is flexible back bone that bending joint of the present invention adopts helical spring, presses the back to expand as muscular motivation in elastomeric bellow is subjected to; By helical spring effect, the reinstatement of diastrophic joint.Elastomeric bellow axial elongation and crooked deformation force very little (can ignore), the variation sensitivity of fluid pressure requires fluid flow little, the arthrogryposis flexible movements, it is little to consume energy; Only need Large Deflection Deformation analysis, thereby be easy to calculate bending deformation quantity, simultaneously dynamic control accuracy height helical spring integral body; During as multiarticulate mechanical finger, multiarticulate harmony is good.
Main solution of the present invention is achieved in that
The scheme I of fluid driving bending joint of spiral spring frame of the present invention is: the vertical sectional shape of the single-unit elastomeric bellow of elastomeric bellow 5c is " V ", " U " or shapes such as " Ω ", and its wall contains the winding organizine 20 of annular tram 19 and the annular tram of winding; The elastomeric bellow parts overlap elastomeric bellow 5c roll extrusion or mold pressing sealing and fixing in the annular groove of 5d in flange by fastening shell 5b, the empty connection sealing nut 5a that is enclosed within fastening shell 5b of rotation, respectively with elastomeric bellow 5c from the sealed at both ends screw thread that is clamped in headstock 2 and tailstock 8, form the fluid expansion cavity of the bending joint of sealing.The two ends of helical spring 18 on median plane with the extension of the spring wire of side direction by spring fixation clip 6, press solidly on spring fixed seat 4 through adjusting pad 7, two spring fixed seats 4 are installed in respectively on headstock 2 and the tailstock 8; Helical spring 18 aforementioned median plane opposite sides be fixed the silk 17 the binding, anchoring filament 17 is after silk guide frame 14 guiding, be pressed in the hole of pull spring screw rod 15 by solid silk screw 16, two pull spring seats 13 are installed respectively on headstock 2 and the tailstock 8, the degree of tightness of the pull spring screw rod 15 rotatable adjusting anchoring filaments 17 on pull spring seat 13, make helical spring 18 be in free state, form flexible back bone.The union elbow 10 that connects flexible pipe 11 is fixed on the tailstock 8 through small sealing ring 9 thread seals, constitutes the passage of fluid.
The formation of multiarticulate mechanical finger: middle segmentum intercalaris 1 can be threaded with headstock 2, form the finger tip of mechanical finger, or when being threaded with tailstock 8, the other end of middle segmentum intercalaris 1 is threaded with the headstock 2 of second flexible joint, forms multiarticulate mechanical finger; 12 effects of their interior thickness adjustment circles are phase angles of regulating rotation, guarantee multiarticulate anchoring filament 17 in same plane, and promptly multiarticulate mechanical finger is planar crooked.
Scheme I, II, III or the IV of spiral spring frame hydraulic pneumatic formula flexible bending joint of the present invention is the assembly method of anchoring filament 17 or the difference of radical, that is: scheme I adopts the assembling method of single anchoring filament 17 binding helical springs 18; Scheme II adopts the assembling method of single anchoring filament 17 in helical spring 18 circles; Scheme III adopts the assembling method of single anchoring filament 17 outside helical spring 18 circles; Scheme IV adopts double joint anchoring filament 17 to be bundled in the assembling method of helical spring 18.
Compared with the prior art the present invention has the following advantages:
It is flexible back bone that spiral spring frame hydraulic pneumatic formula flexible bending joint of the present invention adopts the helical spring 18 of restriction elongation, and elastomeric bellow 5c is subjected to axially to expand as muscular motivation behind the air pressure, can be as the flexible bending in the joint of staff.When not being subjected to the external force state, the arthrogryposis angle is relevant with its IA fluid pressure; During work, externally active force increases with IA fluid pressure.By the effect of helical spring 18, reinstatement after the arthrogryposis.Crooked and the speed of replying is by into and out of throttle valve adjustment.Elastomeric bellow 5c wall contains annular tram 19 and twines the winding organizine 20 of annular tram, and elastomeric bellow 5c is radially not yielding like this, and its bearing capacity is strong; Axial deformation is easy, along axial stressed the ignoring of elastomeric bellow 5c profile.Joint therefore of the present invention requires fluid flow little, and less pressure changes the flexural deformation that just produces greatly, and it is little to consume energy; And the relation of bending deformation quantity and fluid pressure is easily set up Mathematical Modeling, dynamic control accuracy height, and as multi-joint use occasions such as mechanical fingers, multiarticulate harmony is good.
Description of drawings:
Fig. 1 is the front view of bending joint scheme I of the present invention
Fig. 2 is the A-A cutaway view of bending joint scheme I front view of the present invention
Fig. 3 is the B place partial enlarged view of bending joint scheme I front view of the present invention
Fig. 4 is single anchoring filament binding assembling enlarged drawing of bending joint scheme I of the present invention
Fig. 5 is assembling enlarged drawing in single anchoring filament of bending joint scheme II of the present invention
Fig. 6 assembles enlarged drawing outward for single anchoring filament of bending joint scheme III of the present invention
Fig. 7 is two anchoring filament binding assembling enlarged drawings of bending joint scheme IV of the present invention
Fig. 8 is the front view of the headstock part of bending joint of the present invention
Fig. 9 is the left view of the headstock part of bending joint of the present invention
Figure 10 is the front view of the tailstock part of bending joint of the present invention
Figure 11 is the left view of the tailstock part of bending joint of the present invention
Figure 12 is the elastomeric bellow parts assembling front view of bending joint of the present invention
Figure 13 is the elastomeric bellow parts assembling C-C cutaway view of bending joint of the present invention
Figure 14 is the front view of the pull spring seat part of bending joint of the present invention
Figure 15 is the left view of the pull spring seat part of bending joint of the present invention
Figure 16 is the spring front view of bending joint of the present invention
Figure 17 is the spring left view of bending joint of the present invention
Figure 18 is the fluid control principle figure of bending joint of the present invention
The specific embodiment:
Scheme I during following the present invention incites somebody to action in conjunction with the accompanying drawings implements to be further described:
The joint of scheme I mainly constitutes by overlapping 5d, spring fixation clip 6, adjustment pad 7, tailstock 8, small sealing ring 9, union elbow 10, flexible pipe 11, thickness adjustment circle 12, pull spring seat 13, silk guide frame 14, pull spring screw rod 15, solid silk screw 16, anchoring filament 17, helical spring 18, annular tram 19, winding organizine 20 etc. in middle segmentum intercalaris 1, headstock 2, large sealing packing ring 3, spring fixed seat 4, connection sealing nut 5a, fastening shell 5b, elastomeric bellow 5c, the flange.
Its specific embodiment is:
(1) vertical sectional shape of the single-unit elastomeric bellow of elastomeric bellow 5c is " V ", " U " or shapes such as " Ω ", elastomeric bellow 5c wall contains annular tram 19 and twines the winding organizine 20 of annular tram, elastomeric bellow 5c is radially not yielding like this, and its bearing capacity is strong; The elastomeric bellow parts are overlapped elastomeric bellow 5c roll extrusion or mold pressing sealing and fixing in the annular groove of 5d by fastening shell 5b in flange, connect sealing nut 5a sky and be enclosed within on the interior cover of the flange 5d; The sealing nut 5a that is rotatably connected through large sealing packing ring 3, seals elastomeric bellow parts two ends respectively on the screw thread that is clamped in headstock 2 and tailstock 8, and their form the fluid expansion cavity of the bending joint of sealing.
(2) extension of the two ends spring wire of helical spring 18 1 sides is by spring fixation clip 6, be fastened on the spring fixed seat 4 through adjusting pad 7, by each two screw respectively with spring fixed seat 4 fixedly on headstock 2 and the tailstock 8; Helical spring 18 opposite sides be fixed the silk 17 the binding, anchoring filament 17 is after silk guide frame 14 guiding, be pressed in the hole of pull spring screw rod 15 by solid silk screw 16, the degree of tightness of the pull spring screw rod 15 rotatable adjusting anchoring filaments 17 on the pull spring seat 13 makes helical spring 18 be in free state; The thickness of adjusting pad 7 approximates the diameter of anchoring filament 17, could make things convenient for adjustment helical spring 18 to be in free state, forms flexible back bone.
(3) through thickness adjustment circle 12, middle segmentum intercalaris 1 can be threaded with headstock 2, forms the finger tip of finger; Or when being threaded with tailstock 8, the other end of middle segmentum intercalaris 1 is connected with the headstock 2 of second flexible joint, forms multiarticulate mechanical finger; 12 effects of their interior thickness adjustment circles are phase angles of regulating rotation, guarantee that multiarticulate anchoring filament 17 is in a plane.
(4) union elbow 10 of connection flexible pipe 11 is fixed on the tailstock 8 through small sealing ring 9 thread seals, constitutes the passage of fluid.
Be the operation principle of the present invention and the course of work below:
It is flexible back bone that spiral spring frame hydraulic pneumatic formula flexible bending joint of the present invention adopts helical spring 18, and elastomeric bellow 5c is subjected to expand as muscular motivation behind the air pressure.After elastomeric bellow 5c inner chamber is subjected to air pressure, because in the restriction of a side helical spring 18, can not axial elongation, opposite side can axial elongation, therefore produces crooked.When not being subjected to the external force state, the arthrogryposis angle is relevant with its IA fluid pressure; During work, external active force increases with IA fluid pressure; The joint has certain flexibility crooked with reversing, thereby low to position accuracy demand, and has cushioning effect.By the effect of helical spring 18, reinstatement after the arthrogryposis, analyze the stress deformation of helical spring 18, to the relation of the bending deformation quantity and the fluid pressure in joint, easily set up Mathematical Modeling, be convenient to accurate control.
As shown in Figure 17, the fluid passage in joint has flexible pipe, the three-position four-way valve that path blocks, import and export adjustable throttling and pressure transmitter etc.Pressure transmitter is mainly used to the pressure of test fluid, and this pressure signal is transformed into the voltage or the electric current signal of telecommunication of standard, so that control use.The effect of air accumulator or accumulator is the pressure stability in liquid gas pressure power source in the assurance work.When static control or dynamic accuracy are less demanding, control system adopts pressure transmitter to transmit pressure signal, in computer relatively according to the pressure parameter of model numerical value computational chart or experiment parameter matched curve and predefined value, the electromagnetic valve coil of break-make three-position four-way valve.The 1DT dead electricity, 2DT gets electric, and the arthrogryposis angle constantly increases; The equal dead electricity of 1DT, 2DT keeps the arthrogryposis angle; 2DT dead electricity, 1DT get electric, and the effect by spring makes IA fluid evacuation, and finger stretches.The fast jogging speed of point bending, stretching is by the import and export adjustable throttle valve regulation of fluid passage.When dynamically control accuracy is high, need be on bending joint setting angle and power sense sensor, adopt closed-loop fashion to control in real time.
During the multi-joint combination, according to the operation requirement, the gas circuit in each joint that number is the amount doesn't matter has a cover flexible pipe separately, three-position four-way valve, above-mentioned control systems such as import and export choke valve and pressure transmitter are controlled separately separately, when therefore pointing as multi-joint, multiarticulate harmony is good.
Claims (3)
1. fluid driving bending joint of spiral spring frame, it is characterized in that: the connection sealing nut (5a) at rotation wave case member two ends, respectively with elastomeric bellow (5c) from the sealed at both ends screw thread that is clamped in headstock (2) and tailstock (8), form the fluid expansion cavity of the bending joint of sealing; The outer helical spring (18) that is with of elastomeric bellow (5c), the extension of the spring wire of helical spring (18) two ends homonymy is by spring fixation clip (6), press solidly on spring fixed seat (4) through adjusting pad (7), two spring fixed seats (4) are installed in respectively on headstock (2) and the tailstock (8); Helical spring (18) opposite side is fixed silk (17) restriction elongation and makes helical spring (18) produce bending when elastomeric bellow (5c) axial elongation, forms flexible flexible back bone.
2. fluid driving bending joint of spiral spring frame according to claim 1, it is characterized in that: the vertical sectional shape of the single-unit elastomeric bellow of elastomeric bellow (5c) is " V ", " U " or " Ω " shape, and its wall contains annular tram (19) and twines the winding organizine (20) of annular tram (19), annular tram (19) and winding organizine (20) effect are to improve bearing capacity, reduce radial deformation; The elastomeric bellow parts are overlapped elastomeric bellow (5c) roll extrusion or mold pressing sealing and fixing in the annular groove of (5d) by fastening shell (5b) in flange, connect sealing nut (5a) sky and be enclosed within on the fastening shell (5b).
3. fluid driving bending joint of spiral spring frame according to claim 1, it is characterized in that limiting the difference of anchoring filament (17) assembly method of helical spring (18) elongation, have the assembling method that three kinds of scheme: scheme I adopt single anchoring filament (17) binding helical spring (18); Scheme II adopts the assembling method of single anchoring filament (17) in helical spring (18) circle; Scheme III adopts the assembling method of single anchoring filament (17) outside helical spring (18) circle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100656483A CN1305647C (en) | 2004-11-04 | 2004-11-04 | Fluid driving bending joint of spiral spring frame |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2004100656483A CN1305647C (en) | 2004-11-04 | 2004-11-04 | Fluid driving bending joint of spiral spring frame |
Publications (2)
| Publication Number | Publication Date |
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| CN1613618A CN1613618A (en) | 2005-05-11 |
| CN1305647C true CN1305647C (en) | 2007-03-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004100656483A Expired - Fee Related CN1305647C (en) | 2004-11-04 | 2004-11-04 | Fluid driving bending joint of spiral spring frame |
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| Country | Link |
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| CN (1) | CN1305647C (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101434071B (en) * | 2007-11-14 | 2011-02-09 | 中国科学院沈阳自动化研究所 | Sealing mechanism for mobile joint in water |
| CN104691784B (en) * | 2015-03-28 | 2016-06-22 | 东北农业大学 | A kind of clipping inflation catching hand of multijaw |
| CN104669293B (en) * | 2015-03-28 | 2016-05-18 | 苗润琪 | A kind of clipping inflation catching hand |
| CN104743140B (en) * | 2015-03-28 | 2016-08-24 | 哈尔滨工业大学 | A kind of grasping type inflation catching hand |
| CN106426139B (en) * | 2015-08-28 | 2019-02-22 | 范甬挺 | A kind of artificial-muscle and its application, robot |
| US11129766B2 (en) * | 2017-04-14 | 2021-09-28 | The Chinese University Of Hong Kong | Flexibly driven robotic hands |
| CN107998646B (en) * | 2017-09-22 | 2023-01-06 | 深圳市御嘉鑫科技股份有限公司 | Intelligent joint variable force protective tool |
| CN110524574A (en) * | 2018-05-25 | 2019-12-03 | 长春工业大学 | A kind of Minitype manual mechanical joint |
| CN113069313B (en) * | 2021-03-19 | 2024-01-23 | 重庆医科大学附属第三医院(捷尔医院） | Auxiliary fistula building instrument |
| CN115091450B (en) * | 2022-07-15 | 2023-09-01 | 万勋科技(深圳)有限公司 | Flexible mechanical arm and robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87107075A (en) * | 1987-10-20 | 1988-04-13 | 哈尔滨工业大学 | Air-driven flexible cylinder and bending, torsion knuckle |
| JPH0663878A (en) * | 1992-08-17 | 1994-03-08 | Toshiba Corp | Articulated drive mechanism for use in furnace |
| JPH06114785A (en) * | 1992-10-09 | 1994-04-26 | Toshiba Corp | Articulated robot |
| CN2628779Y (en) * | 2003-07-14 | 2004-07-28 | 浙江工业大学 | Pneumatic flexible torsional joint |
-
2004
- 2004-11-04 CN CNB2004100656483A patent/CN1305647C/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87107075A (en) * | 1987-10-20 | 1988-04-13 | 哈尔滨工业大学 | Air-driven flexible cylinder and bending, torsion knuckle |
| JPH0663878A (en) * | 1992-08-17 | 1994-03-08 | Toshiba Corp | Articulated drive mechanism for use in furnace |
| JPH06114785A (en) * | 1992-10-09 | 1994-04-26 | Toshiba Corp | Articulated robot |
| CN2628779Y (en) * | 2003-07-14 | 2004-07-28 | 浙江工业大学 | Pneumatic flexible torsional joint |
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| Publication number | Publication date |
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| CN1613618A (en) | 2005-05-11 |
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Assignee: Wuxi Yilida Machinery Co., Ltd. Assignor: Jiangnan University Contract fulfillment period: 2008.12.22 to 2013.12.22 contract change Contract record no.: 2009320000001 Denomination of invention: Fluid driving bending joint of spiral spring frame Granted publication date: 20070321 License type: Exclusive license Record date: 2009.1.8 |
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Free format text: EXCLUSIVE LICENSE; TIME LIMIT OF IMPLEMENTING CONTACT: 2008.12.22 TO 2013.12.22; CHANGE OF CONTRACT Name of requester: WUXI YILIDA MACHINARY CO., LTD. Effective date: 20090108 |
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Granted publication date: 20070321 Termination date: 20101104 |