CN102490183A - Compliant joint taking irregular plate spring with variable cross section as skeleton - Google Patents
Compliant joint taking irregular plate spring with variable cross section as skeleton Download PDFInfo
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- CN102490183A CN102490183A CN201110406737XA CN201110406737A CN102490183A CN 102490183 A CN102490183 A CN 102490183A CN 201110406737X A CN201110406737X A CN 201110406737XA CN 201110406737 A CN201110406737 A CN 201110406737A CN 102490183 A CN102490183 A CN 102490183A
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Abstract
The invention relates to a compliant joint taking an irregular plate spring with a variable cross section as a skeleton, and belongs to the technical field of rotor and mechanical arm application. The joint adopts the irregular plate spring with the variable cross section as the skeleton, is bent after being driven by fluid and can be used as various types of joints of a robot. When an elastic corrugated pipe is aerated, the elastic corrugated pipe extends and bends towards one side of the plate spring by being restrained by the plate spring; when gas in the elastic corrugated pipe is released, the joint is returned to the extending state under the action of the plate spring. Pressure in the elastic corrugated pipe is controlled to cause the joint to be bent at a certain angle. The elastic corrugated pipe has good flexibility, and the plate spring has good elasticity, therefore, the joint has good flexibility. Because the cross section and the shape of the plate spring are improved, the bending space can be enlarged, the strength requirement is complied, the flexibility is enlarged, and the plate spring material is saved. The joint has the advantages of being flexible in bending action, small in energy consumption, good in flexible self-adapting action and convenient to control.
Description
Technical field:
The present invention relates to the submissive joint of flat spring skeleton of a kind of variable cross-section and abnormity; This bending joint has good compliance and controllability; All kinds of joints that can be used as robot; The flexible mechanical that is particularly useful for being made up of a plurality of bending joints is pointed, and as the executing agency of automation equipment, belongs to robot, manipulator applied technical field.
Background technology:
Before the present invention, the robot bending joint adopts motor-driven more, and the good control accuracy of motor static rigidity is high, but needs complicated deceleration device, and volume ratio is big and flexible bad; The employing pneumatic cylinder or the Driven by Hydraulic Cylinder that also have need complicated fluid circuit and position control accuracy not high.Present joint of robot adopts rigid backbone more, and high to position and power precision prescribed, compliance and adaptivity are bad, and is during especially as mechanical finger, big to grasping the object physical trauma.
Patent CN200410065130.X has proposed the flat spring skeleton flexible joint of a kind of artificial-muscle of axial expansion as driving force; This joint overcomes the flat spring resistance through the expansion muscle elongation and realizes crooked; Have certain compliance and adaptivity, can obtain good grip during as mechanical finger.Weak point: (1) joint action space is little, and its angle of bend receives considerable restraint.If the distance of flat spring and artificial-muscle is little, artificial-muscle contacts with flat spring to produce and interferes behind the crooked certain angle, influences its further distortion; If the two distance is big, the joint size is bigger, and the axial elongation amount of crooked same angle artificial-muscle increases, to the mechanics parameter and the material performance requirement harshness of artificial-muscle.(2) the stressed of flat spring is uneven, uses general uiform section flat spring not only can increase deformation drag, waste energy, and also can increase joint weight, waste material.(3) compliance is not good enough.The superiority of compliance is embodied in and reduces installation time, simplification manufacture process, the precision that improves, increase reliability, the aspects such as safeguarding, alleviate quality that reduces; These patent parts are more; Lack necessary location measure; Bellows is used clamp connection, and reliability is not high and change trouble, is unfavorable for safeguarding.(4) dynamic response remains to be improved.Resistance was bigger when general uiform section flat spring began bending by straightened condition, need bigger pressure could begin action, and the joint total quality was big, and inertia is big, so dynamic response property has much room for improvement.
Summary of the invention:
The present invention is directed to above-mentioned deficiency, having adopted the flat spring of variable cross-section and abnormity is flexible back bone.The length and the thickness of the flat spring of variable cross-section are constant, and width changes with certain rule according to the flat spring stressing conditions, meets the stressed distribution of flat spring, satisfying economical with materials reduction quality on the intensity based, improve dynamic response property.The thin structure in the wide centre, flat spring two ends of variable cross-section is easy deformation more, and resistance of deformation is little, moves more flexible.The flat spring of abnormity can effectively be avoided the interference problem that contacts of elastic bellows and flat spring after the large deformation of joint, has improved the action space in submissive joint greatly.Simultaneously, adopted necessary location measure between joint component, the analytical calculation that avoided assembling the not high joint torsional deflection that causes of precision, makes things convenient for stress and distortion.Elastic bellows uses the pipe joint form, is convenient to install and change.This joint not only can be used separately, can also be assembled into multi-joint manipulator, mechanical arm etc., has good harmony.
Main solution of the present invention is achieved in that
Scheme one: shown in Fig. 1-3, the two-end structure of elastic bellows 10 is similar to the hydraulic rubber tubular construction.The two ends of elastic bellows 10 are fixed on the pipe joint 8 through outer press ring 9, and pipe joint 8 links to each other with tailstock 11 with headstock 5 respectively, and by locking nut 7 lockings, there are gasket seal 6 sealings the centre, and these parts form sealed cavity, as the expansion artificial-muscle.
Tailstock 11 has air inlet on it shown in Fig. 4-5, air inlet pipe joint 13 is fixed on the tailstock 11 through sealing ring 12.Headstock 5 is fixing with periproct 14 with cephalomere 1 respectively through regulating cushion block 4 with tailstock 11.
Regulate cushion block 4 shown in Fig. 6-7, all there is dowel hole its top and bottom, guarantee headstock 5, cephalomere 1, and the mutual location between tailstock 11, periproct 14 and the adjusting cushion block 4.
As shown in Figure 2, trapezoidal side flat spring 15a two ends embedded groove oral area is divided into rectangle, and mid portion is symmetrical trapezoidal side, and its any cross section is rectangle.As shown in Figure 3, the two ends of trapezoidal side flat spring 15a are embedded in respectively in the notch of cephalomere 1 and periproct 14, and fixing with rectangle pad 2 with bolt 3.
The effect of the notch of dowel hole, cephalomere 1 and the periproct 14 of adjusting cushion block 4 is after all around locating, and is fixing with rectangle pad 2 with bolt 3.That is: make headstock 5, cephalomere 1, tailstock 11, periproct 14, regulate cushion block 4, trapezoidal side flat spring 15a at the vertical axial line coplane of the plane of symmetry and elastic bellows 10, avoid the joint distortion that twists, and be convenient to the analysis of power and distortion.
Scheme two: as shown in Figure 8, the two-end structure of elastic bellows 10 is similar to the hydraulic rubber tubular construction.The two ends of elastic bellows 10 are fixed on the pipe joint 8 through outer press ring 9, and pipe joint 8 links to each other with tailstock 11 with headstock 5 respectively, and by locking nut 7 lockings, there are gasket seal 6 sealings the centre, and these parts form sealed cavity, as the expansion artificial-muscle.Have air inlet on the tailstock 11, air inlet pipe joint 13 is fixed on the tailstock 11 through sealing ring 12.Headstock 5 is fixing with periproct 14 with cephalomere 1 respectively through regulating cushion block 4 with tailstock 11.
As shown in Figure 9, parabola side plate spring 15b two ends embedded groove oral area is divided into rectangle, and mid portion is symmetrical parabola limit, and its any cross section is rectangle.The two ends of parabola side plate spring 15b are embedded in respectively in the notch of cephalomere 1 and periproct 14, and fixing with rectangle pad 2 with bolt 3.
Such scheme one, scheme two are submissive joints of board of variable section spring.
Scheme three: shown in Figure 10-11, the two-end structure of elastic bellows 10 is similar to the hydraulic rubber tubular construction.The two ends of elastic bellows 10 are fixed on the pipe joint 8 through outer press ring 9, and pipe joint 8 links to each other with tailstock 11 with headstock 5 respectively, and by locking nut 7 lockings, there are gasket seal 6 sealings the centre, and these parts form sealed cavity, as the expansion artificial-muscle.Have air inlet on the tailstock 11, air inlet pipe joint 13 is fixed on the tailstock 11 through sealing ring 12.Headstock 5 is fixing with periproct 14 with cephalomere 1 respectively through regulating cushion block 4 with tailstock 11.
The longitudinal section is trapezoidal trapezoidal sketch plate spring 15c, and its any cross section is rectangle, and its two ends embedded groove oral area is divided into rectangle, be embedded in respectively in the notch of cephalomere 1 and periproct 14, and fixing with bolt 3 with rectangle pad 2.
Scheme four: shown in Figure 12-13, the two-end structure of elastic bellows 10 is similar to the hydraulic rubber tubular construction.The two ends of elastic bellows 10 are fixed on the pipe joint 8 through outer press ring 9, and pipe joint 8 links to each other with tailstock 11 with headstock 5 respectively, and by locking nut 7 lockings, there are gasket seal 6 sealings the centre, and these parts form sealed cavity, as the expansion artificial-muscle.Have air inlet on the tailstock 11, air inlet pipe joint 13 is fixed on the tailstock 11 through sealing ring 12.Headstock 5 is fixing with periproct 14 with cephalomere 1 respectively through regulating cushion block 4 with tailstock 11.
The longitudinal section is parabola shaped parabola shaped sketch plate spring 15d, and its any cross section is rectangle, and its two ends embedded groove oral area is divided into rectangle, be embedded in respectively in the notch of cephalomere 1 and periproct 14, and fixing with bolt 3 with rectangle pad 2.
Such scheme three, scheme four are submissive joints of sketch plate spring.
Compared with present technology the present invention has the following advantages:
The board of variable section spring of degree of broadening has been adopted in the submissive joint of flat spring skeleton of variable cross-section; The distribution situation that meets stress, the wide shape in middle thin two ends is easy deformation more, has reduced deformation drag; Practiced thrift the energy; Reduced the joint quality, practiced thrift material, make joint motions more flexibly, dynamic response property is better.
The interference problem that contacts that elastic bellows and flat spring after the large deformation of joint have effectively been avoided in the submissive joint of flat spring skeleton of abnormity has improved the action space in submissive joint greatly.
Simultaneously, adopt necessary location measure between joint component, avoided the not high joint torsional deflection that causes of assembly precision, made things convenient for the analytical calculation of stress and distortion; Elastic bellows uses the pipe joint form, is convenient to install and change; Change the adjusting cushion block of different-thickness, can conveniently change the suffered moment of flexure of flat spring.
Description of drawings:
Fig. 1 is the front view of the submissive joint of the present invention scheme one
Fig. 2 is the A-A cutaway view of the submissive joint of the present invention scheme one front view
Fig. 3 is the B-B cutaway view of the submissive joint of the present invention scheme one front view
Fig. 4 is the front view of tailstock 11 parts in the submissive joint of the present invention
Fig. 5 is the left view of tailstock 11 parts in the submissive joint of the present invention
Fig. 6 is for regulating the vertical view of cushion block 4 parts in the submissive joint of the present invention
Fig. 7 is for regulating the C-C cutaway view of cushion block 4 part vertical views in the submissive joint of the present invention
Fig. 8 is the front view of the submissive joint of the present invention scheme two
Fig. 9 is the D-D cutaway view of the submissive joint of the present invention scheme two front views
Figure 10 is the front view of the submissive joint of the present invention scheme three
Figure 11 is the E-E cutaway view of the submissive joint of the present invention scheme three front views
Figure 12 is the front view of the submissive joint of the present invention scheme four
Figure 13 is the F-F cutaway view of the submissive joint of the present invention scheme four front views
Figure 14 is the fundamental diagram of the submissive joint of the present invention scheme one
The specific embodiment:
Following the present invention combines the scheme one in the accompanying drawing 14 to implement to further describe:
In the scheme one, the two ends of elastic bellows 10 are fixed on the pipe joint 8 through compressing tablet 9, and bellows two ends pipe joint 8 links to each other with tailstock 11 with headstock 5 respectively, and by locking nut 7 lockings, there are gasket seal 6 sealings the centre, forms gas cavity.Have air inlet on the tailstock 11, air inlet pipe joint 13 is fixed on the tailstock 11 through sealing ring 12.Headstock 5 is fixing with periproct 14 with cephalomere 1 respectively through regulating cushion block 4 with tailstock 11.Regulating cushion block 4 upper and lower surfaces all has alignment pin, guarantees the mutual location between headstock 5 and cephalomere 1 and tailstock 11 and the periproct 14.The two ends of trapezoidal side flat spring 15a are embedded in respectively in the notch of cephalomere 1 and periproct 14, and fixing with rectangle pad 2 with bolt 3.Source of the gas links to each other with air inlet pipe joint 13, and gas gets into cavity through the air inlet pipe joint.
During work, through the angle of bend in control elastic bellows internal cavity pressure control joint.When in cavity, inflating, cavity pressure increases, and the elastic bellows axial elongation because of bellows one side receiving plate spring constraint can not extend, overcomes the flat spring resistance and makes arthrogryposis; When cavity pressure reduced, stretched under the restoring force of flat spring in the joint.This joint has good compliance, adaptivity and controllability, can be built into mechanical finger and be combined into single-degree-of-freedom or the multi freedom degree mechanical hand.Refer to that with simple joint three manipulator is an example, periproct is connected with mechanical palm, and cephalomere links to each other with the manipulator finger tip, and finger tip can become optimal curve, select best crawl position according to the different designs that grasps object.In order to reduce the effect damage, can on mechanical finger tip, wrap up buffer mediums such as rubber blanket.During grasping objects, in cavity, inflate, three fingers are crooked grasping objects simultaneously, and it is constant to obtain keep-uping pressure behind certain grasp force, keeps seized condition; Discharge when grasping thing, open air bleeding valve, cavity pressure reduces, and finger unclamps object under the flat spring restoring force.
Claims (1)
- Variable cross-section with the abnormity the submissive joint of flat spring skeleton; It is characterized in that: the two-end structure of elastic bellows (10) is similar to the hydraulic rubber tubular construction, and the two ends of elastic bellows (10) are fixed on the pipe joint (8) through outer press ring (9), and pipe joint (8) links to each other with tailstock (11) with headstock (5) respectively; Lock by locking nut (7); There is gasket seal (6) sealing the centre, and these parts form sealed cavity, as the expansion artificial-muscle; Tailstock has air inlet on (11), and air inlet pipe joint (13) is fixed on the tailstock (11) through sealing ring (12); Headstock (5) and tailstock (11) are fixing with cephalomere (1) and periproct (14) respectively through regulating cushion block (4); The kind of skeleton has four kinds:A. trapezoidal side flat spring (15a) two ends embedded groove oral area is divided into rectangle; Mid portion is symmetrical trapezoidal side; Its any cross section is rectangle, and the two ends of trapezoidal side flat spring (15a) are embedded in respectively in the notch of cephalomere (1) and periproct (14), and fixing with bolt (3) and rectangle pad (2);B. parabola side plate spring (15b) two ends embedded groove oral area is divided into rectangle; Mid portion is symmetrical parabola limit; Its any cross section is rectangle; The two ends of parabola side plate spring (15b) are embedded in respectively in the notch of cephalomere (1) and periproct (14), and fixing with bolt (3) and rectangle pad (2);C. the longitudinal section is trapezoidal trapezoidal sketch plate spring (15c), and its any cross section is rectangle, and its two ends embedded groove oral area is divided into rectangle, be embedded in respectively in the notch of cephalomere (1) and periproct (14), and fixing with bolt (3) and rectangle pad (2);D. the longitudinal section is parabola shaped parabola shaped sketch plate spring (15d), and its any cross section is rectangle, and its two ends embedded groove oral area is divided into rectangle, be embedded in respectively in the notch of cephalomere (1) and periproct (14), and fixing with bolt (3) and rectangle pad (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110406737.XA CN102490183B (en) | 2011-12-09 | 2011-12-09 | Compliant joint taking irregular plate spring with variable cross section as skeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110406737.XA CN102490183B (en) | 2011-12-09 | 2011-12-09 | Compliant joint taking irregular plate spring with variable cross section as skeleton |
Related Child Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510009990.XA Division CN104608143A (en) | 2011-12-09 | 2011-12-09 | Flexible parabola-shaped abnormal plate spring framework joint |
| CN201510010036.2A Division CN104526712A (en) | 2011-12-09 | 2011-12-09 | Parabolic side plate spring framework smooth joint |
| CN201510009988.2A Division CN104626188A (en) | 2011-12-09 | 2011-12-09 | Trapezoid special-shaped leaf spring skeleton flexible joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102490183A true CN102490183A (en) | 2012-06-13 |
| CN102490183B CN102490183B (en) | 2015-06-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110406737.XA Expired - Fee Related CN102490183B (en) | 2011-12-09 | 2011-12-09 | Compliant joint taking irregular plate spring with variable cross section as skeleton |
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| Country | Link |
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| CN (1) | CN102490183B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103386691A (en) * | 2013-07-22 | 2013-11-13 | 江南大学 | Linear motor driven and controlled plate-spring-skeleton flexible paw |
| CN103395072A (en) * | 2013-07-22 | 2013-11-20 | 大连海事大学 | Hydraulic artificial muscle |
| CN104015197A (en) * | 2014-06-04 | 2014-09-03 | 山东省科学院自动化研究所 | Corrugated double-inner-cavity gas-powered flexible micro finger, control method and grabbing system |
| CN104802179A (en) * | 2015-05-12 | 2015-07-29 | 江南大学 | Elastic corrugated pipe single-acting cylinder-driven serial plate spring framework manipulator |
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| CN1618580A (en) * | 2004-10-23 | 2005-05-25 | 江南大学 | Plate spring skeleton hydrulic pneumatic flexible bending joint |
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| CN1676289A (en) * | 2005-02-23 | 2005-10-05 | 江南大学 | Combined muscular multi-directional bending flexible joint |
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2011
- 2011-12-09 CN CN201110406737.XA patent/CN102490183B/en not_active Expired - Fee Related
Patent Citations (6)
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| JPH01177986A (en) * | 1987-12-30 | 1989-07-14 | Honda Motor Co Ltd | Arm structure of multi-articulated mechanism |
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Non-Patent Citations (1)
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103386691A (en) * | 2013-07-22 | 2013-11-13 | 江南大学 | Linear motor driven and controlled plate-spring-skeleton flexible paw |
| CN103395072A (en) * | 2013-07-22 | 2013-11-20 | 大连海事大学 | Hydraulic artificial muscle |
| CN103395072B (en) * | 2013-07-22 | 2015-10-28 | 大连海事大学 | A kind of hydraulic artificial muscle |
| CN103386691B (en) * | 2013-07-22 | 2016-12-28 | 江南大学 | Linear electric motors drive the flat spring skeleton flexibility paw controlled |
| CN104015197A (en) * | 2014-06-04 | 2014-09-03 | 山东省科学院自动化研究所 | Corrugated double-inner-cavity gas-powered flexible micro finger, control method and grabbing system |
| CN104802179A (en) * | 2015-05-12 | 2015-07-29 | 江南大学 | Elastic corrugated pipe single-acting cylinder-driven serial plate spring framework manipulator |
| CN104802179B (en) * | 2015-05-12 | 2017-05-10 | 江南大学 | Elastic corrugated pipe single-acting cylinder-driven serial plate spring framework manipulator |
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| CN102490183B (en) | 2015-06-10 |
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Granted publication date: 20150610 Termination date: 20171209 |
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