CN101402201B - Side-sway joint based on pneumatic flexible driver - Google Patents
Side-sway joint based on pneumatic flexible driver Download PDFInfo
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- CN101402201B CN101402201B CN2008101220041A CN200810122004A CN101402201B CN 101402201 B CN101402201 B CN 101402201B CN 2008101220041 A CN2008101220041 A CN 2008101220041A CN 200810122004 A CN200810122004 A CN 200810122004A CN 101402201 B CN101402201 B CN 101402201B
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- pneumatic flexible
- flexible actuator
- end closure
- type rigid
- rubber tube
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Abstract
The invention provides a side-sway joint based on a pneumatic flexible driver, which comprises two pneumatic flexible drivers and an axial telescopic hinge, wherein the axial telescopic hinge is a telescopic rotary pair formed by two movable components through a gain structure; the movable components are connected with a front end closure and a rear end closure of each pneumatic flexible driver; axial lines of the two pneumatic flexible drivers are parallel and vertical to the axial line of a hinge pin roll; each pneumatic flexible driver comprises the front end closure, the rear end closure, a rubber hose and a pipe joint; two ends of the rubber hose are in sealed connection with the front end closure and the rear end closure respectively; the front end closure is also provided with a through hole connecting atmosphere; the pipe joint is arranged on the front end closure; and a spiral wire sleeved in the wall of the rubber hose, and is spirally and tightly wound in the inner wall of the thick rubber hose along the radial direction of the thick rubber hose. The side-sway joint has the advantages of simple structure, good flexibility and good applicability.
Description
Technical field
The present invention relates to a kind of side-sway joint of robot delicate.
Background technology
Along with the develop rapidly of modern machines people technology, the application of robot constantly enlarges.The special-purpose terminal clamper of traditional robot can not satisfy robot complicated operations task again, and the robot humanoid multi-finger clever hand arises at the historic moment.With the staff is design consideration, and the multi-finger dexterous hand of robot finger not only will be realized curvature movement (bending motion), and will realize the side-sway motion.Therefore, the design of side-sway joint is a key technology of multi-finger dexterous hand of robot design, and the size in joint, structure and dexterous degree direct influence are to the size and the function of multi-finger dexterous hand of robot.
At present, the side-sway joint of multi-finger dexterous hand of robot mainly contains two kinds.1, adopt motor-driven, with gear drive, this side-sway joint complicated in mechanical structure, power is little from anharmonic ratio, and control ratio is difficulty; 2, adopt Pneumatic artificial muscle to drive, with the artificial tendon transmission, this side-sway joint structure is simple relatively, but owing to Pneumatic artificial muscle separates with side-sway joint, drive the joint by artificial tendon and rotate, exist friction, problem lax and energy loss to avoid in the tendon transmission system.
Summary of the invention
For the complex structure that overcomes existing robot delicate side-sway joint, flexible deficiency poor, poor for applicability, the invention provides a kind of simple in structure, have good flexibility, a side-sway joint that applicability is good based on Pneumatic flexible actuator.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of side-sway joint based on Pneumatic flexible actuator, described side-sway joint comprises two Pneumatic flexible actuators and an axial extendible hinge, the telescopic revolute pair that described axial extendible hinge is formed by the gain structure by two movable parts; Described movable part is connected with the Pneumatic flexible actuator front and rear cover, and the axis of described two Pneumatic flexible actuators is parallel and perpendicular to the hinge pin axis;
Described Pneumatic flexible actuator comprises former and later two end caps, a rubber tube and a pipe joint, described rubber tube terminal respectively with drive end bearing bracket, rear end cap sealed attachment, also be provided with a through hole that is connected with atmosphere on the drive end bearing bracket, described pipe joint is installed on the drive end bearing bracket, and it is close in the inwall of crude rubber pipe along the radially spiral of crude rubber pipe being nested with spiral wire and spiral wire in the described rubber tube tube wall.
As preferred a kind of scheme: described axial extendible hinge comprises two T type rigid connectors and a bearing pin, fixedly connected with the end cap of Pneumatic flexible actuator in last T type rigid connector upper end, last T type rigid connector lower end is provided with circular hole, on the described circular hole bearing pin is installed, the upper end of following T type rigid connector is provided with slotted hole, described bearing pin passes described slotted hole, fixedlys connected with another end cap of Pneumatic flexible actuator in the lower end of following T type rigid connector.
Further, be respectively equipped with the step axle on the described front and rear cover, on the T type rigid connector respectively left-right symmetry be provided with two locating holes, positioning step axle on described locating hole and the Pneumatic flexible actuator front and rear cover cooperates.
Beneficial effect of the present invention mainly shows: 1, can realize the side-sway motion, be installed in the lateral movement that can simulate staff on the multi-finger dexterous hand of robot; 2, adopt Pneumatic flexible actuator directly to drive, do not need additional any transmission speed reducer structure, frictional force is little, and energy loss is low; 3, the easier little propertyization of size, simple and compact for structure, easy to process, assembling and repair easy maintenance, with low cost; 4, adopt Pneumatic flexible actuator to drive and make it have good flexibility and adaptability, and control easily; 5, applicability is good.
Description of drawings
Fig. 1 is the stereogram of side-sway joint.
Fig. 2 is that each member of side-sway joint connects schematic diagram.
Fig. 3 is the structural principle schematic diagram of side-sway joint.
Fig. 4 is the side-sway joint structural representation during a certain duty of side-sway to the right.
The specific embodiment
Below in conjunction with accompanying drawing the present invention is further described.
With reference to Fig. 1～Fig. 4, a kind of side-sway joint based on Pneumatic flexible actuator, described side-sway joint comprise two Pneumatic flexible actuators 1 and an axial extendible hinge, and the axis of two Pneumatic flexible actuators 1 is parallel and perpendicular to hinge pin 4 axis;
Described Pneumatic flexible actuator 1 comprises drive end bearing bracket 13, rear end cap 14 and rubber tube 11, the two ends of described rubber tube 11 respectively with drive end bearing bracket 13, rear end cap 11 sealed attachment, wherein front and rear cover 13,14 are respectively equipped with the positioning step axle, and drive end bearing bracket 13 is provided with a through hole that is connected with atmosphere and pipe joint 5 is fixed by threaded connection, it is close in the inwall of rubber tube 11 along the radially spiral of rubber tube 11 being nested with spiral wire 12 and spiral wire in described rubber tube 11 tube walls, when gases at high pressure enter rubber tube 11 inner chambers by pipe joint 5, because the radially restriction of spiral wire 12, under the pressure of Compressed Gas, axial deformation takes place with spiral wire 12 in rubber tube 11, and its radial deformation can be ignored, and drives effect thereby produce.
Described axial extendible hinge comprises 2,3 and bearing pins 4 of T type rigid attachment part.Last T type rigid connector 2 lower ends are provided with circular hole, and bearing pin 4 is installed on the described circular hole, and the upper end of following T type rigid connector 3 is provided with slotted hole, and described bearing pin 4 passes described slotted hole.Described axial extendible hinge is by gain structure and the revolute pair that bearing pin 4 forms by two T type rigid attachment parts 2,3.
Be respectively equipped with the step locating shaft on the front and rear cover 13,14 of described Pneumatic flexible actuator 1; On the described T type rigid connector 2,3 respectively left-right symmetry be provided with two locating holes, positioning step axle on described locating hole and Pneumatic flexible actuator 1 front and rear cover 13,14 cooperates.
The operation principle of the side-sway joint that drives based on Pneumatic flexible actuator is: before the side-sway motion takes place, because the Incoercibility of rubber tube 11, the compressed air that will be in advance in the inner chamber of two Pneumatic flexible actuators 1 of side-sway joint, feeds uniform pressure, under the effect of isobaric gas, identical axial elongation takes place in two Pneumatic flexible actuators 1, again because T type rigid attachment part 2, it between 3 axial telescopic hinge through pair, so two Pneumatic flexible actuators 1 will promote T type rigid connector 2, till the end in contact, the purpose of pre-inflation is to make that the rubber tube 11 of two Pneumatic flexible actuators 1 has certain pre-elongation to be convenient to the motion of side-sway joint generation side-sway respectively to 3 axial elongations on bearing pin 4 two ends and T type are rigidly connected 3 slotted hole; Behind the depressed bundle of preliminary filling, by changing the compressed-air actuated pressure of two Pneumatic flexible actuator 1 inner chambers, make the rubber tube 11 of two drivers 1 that different elongations take place, thereby can realize swinging of side-sway joint, when the inner chamber air pressure of left side driver during greater than the inner chamber air pressure of the right driver, side-sway joint is swung to the right, on the contrary swing left; When reducing compressed-air actuated pressure, the Pneumatic flexible actuator 1 on both sides shrinks under the screen resilience effect of rubber tube 11 and spiral wire 12, restores to the original state thereby drive side-sway joint.The angle range of the side-sway joint that drives based on Pneumatic flexible actuator is-20 °～20 °, and its good rigidly is simple in structure, is easy to miniaturization, and dismounting is easy to maintenance, and flexible movements have bigger implementary value.
Claims (3)
1. side-sway joint based on Pneumatic flexible actuator, it is characterized in that: described side-sway joint comprises two Pneumatic flexible actuators and an axial extendible hinge, the telescopic revolute pair that described axial extendible hinge is formed by the gain structure by two movable parts; Described movable part is connected with the Pneumatic flexible actuator front and rear cover, and the axis of described two Pneumatic flexible actuators is parallel and perpendicular to the hinge pin axis;
Described Pneumatic flexible actuator comprises former and later two end caps, a rubber tube and a pipe joint, described rubber tube terminal respectively with drive end bearing bracket, rear end cap sealed attachment, also be provided with a through hole that is connected with atmosphere on the drive end bearing bracket, described pipe joint is installed on the drive end bearing bracket, and it is close in the inwall of rubber tube along the radially spiral of rubber tube being nested with spiral wire and spiral wire in the described rubber tube tube wall.
2. the side-sway joint based on Pneumatic flexible actuator as claimed in claim 1, it is characterized in that: described axial extendible hinge comprises two T type rigid connectors and a bearing pin, fixedly connected with the end cap of Pneumatic flexible actuator in last T type rigid connector upper end, last T type rigid connector lower end is provided with circular hole, on the described circular hole bearing pin is installed, the upper end of following T type rigid connector is provided with slotted hole, described bearing pin passes described slotted hole, fixedlys connected with another end cap of Pneumatic flexible actuator in the lower end of following T type rigid connector.
3. the side-sway joint based on Pneumatic flexible actuator as claimed in claim 1 or 2, it is characterized in that: be respectively equipped with the step axle on the described front and rear cover, on the T type rigid connector respectively left-right symmetry be provided with two locating holes, positioning step axle on described locating hole and the Pneumatic flexible actuator front and rear cover cooperates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101220041A CN101402201B (en) | 2008-11-03 | 2008-11-03 | Side-sway joint based on pneumatic flexible driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008101220041A CN101402201B (en) | 2008-11-03 | 2008-11-03 | Side-sway joint based on pneumatic flexible driver |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101402201A CN101402201A (en) | 2009-04-08 |
| CN101402201B true CN101402201B (en) | 2010-08-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008101220041A Expired - Fee Related CN101402201B (en) | 2008-11-03 | 2008-11-03 | Side-sway joint based on pneumatic flexible driver |
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| Country | Link |
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| CN (1) | CN101402201B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103112014B (en) * | 2013-02-22 | 2015-07-22 | 浙江工业大学 | Industrial robot joint |
| CN103950039A (en) * | 2014-01-22 | 2014-07-30 | 南通爱慕希机械有限公司 | Mechanical arm |
| CN104458393A (en) * | 2014-12-08 | 2015-03-25 | 重庆南方数控设备有限责任公司 | Plasma blending device |
| CN106002989B (en) * | 2016-07-05 | 2018-03-06 | 董润华 | A kind of snakelike soft robot |
| CN107933339A (en) * | 2017-10-31 | 2018-04-20 | 朱森 | A kind of control method of charging line control system for new-energy automobile |
| CN111390892B (en) * | 2019-10-24 | 2022-04-05 | 浙江工业大学 | Full-drive bionic dexterous hand based on pneumatic muscles |
| CN113084789B (en) * | 2021-04-02 | 2023-03-14 | 浙江工业大学 | Rigid-flexible coupling pneumatic muscle |
| CN113084788A (en) * | 2021-04-02 | 2021-07-09 | 浙江工业大学 | Rigid-flexible coupling interaction arm |
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2008
- 2008-11-03 CN CN2008101220041A patent/CN101402201B/en not_active Expired - Fee Related
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| Publication number | Publication date |
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| CN101402201A (en) | 2009-04-08 |
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Granted publication date: 20100811 Termination date: 20121103 |