CN102490183B - 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
- Publication number
- CN102490183B CN102490183B CN201110406737.XA CN201110406737A CN102490183B CN 102490183 B CN102490183 B CN 102490183B CN 201110406737 A CN201110406737 A CN 201110406737A CN 102490183 B CN102490183 B CN 102490183B
- Authority
- CN
- China
- Prior art keywords
- joint
- plate spring
- section
- tailstock
- flat spring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
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, can be used as all kinds of joints of robot, be particularly useful for the flexible mechanical finger be made up of multiple bending joint, as the executing agency of automation equipment, belong to robot, manipulator applied technical field.
Background technology:
Before making the present invention, robot bending joint many employings motor drives, and the good control accuracy of motor static rigidity is high, but needs complicated deceleration device, and volume ratio is comparatively large and flexible bad; Also the employing pneumatic cylinder had or Driven by Hydraulic Cylinder, need complicated fluid circuit and position control accuracy is not high.Current joint of robot many employings rigid backbone, to position and power precision prescribed high, compliance and adaptivity bad, when being especially used as mechanical finger, large to crawl object physical trauma.
Patent CN200410065130.X proposes a kind of flat spring skeleton flexible joint of artificial-muscle as driving force of axial expansion, this joint overcomes flat spring resistance by expansion muscle elongation and realizes bending, there is certain compliance and adaptivity, well capture effect as obtaining during mechanical finger.Weak point: (1) joint action space is little, its angle of bend is by considerable restraint.If the distance of flat spring and artificial-muscle is little, after bending certain angle, artificial-muscle contacts with flat spring to produce and interferes, and affects it and is out of shape further; If the two distance is large, joint size is comparatively large, and the axial elongation amount of bending same angle artificial-muscle increases, to 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 advantageous of compliance in minimizing installation time, simplify manufacture process, improve precision, increase reliability, reduce and safeguard, alleviate quality etc. in, these patent parts are more, lack necessary location measure, bellows clamp connection, reliability is not high and change trouble, is unfavorable for safeguarding.(4) dynamic response is to be improved.When general uiform section flat spring is bending by straightened condition, resistance is comparatively large, needs larger pressure to start action, and joint total quality is large, and inertia is large, and therefore dynamic response has much room for improvement.
Summary of the invention:
The present invention is directed to above-mentioned deficiency, the flat spring that have employed variable cross-section and abnormity is flexible back bone.Length and the thickness of the flat spring of variable cross-section are constant, and width, according to flat spring stressing conditions, with certain rule change, meets the distribution of force of flat spring, the basis meeting intensity is saved material and reduces quality, improve dynamic response.The structure that the wide centre, flat spring two ends of variable cross-section is thin is more easily out of shape, and resistance of deformation is little, and action is more flexible.The flat spring of abnormity effectively can avoid the contact interference problem of elastic bellows and flat spring after the large deformation of joint, substantially increases the action space in submissive joint.Meanwhile, between joint component, have employed necessary location measure, avoid being assembled with precision not high cause joint torsional deflection, the analytical calculation that facilitates static stress and distortion.Elastic bellows uses pipe joint form, is convenient to install and change.This joint not only can be used alone, and can also be assembled into multi-joint manipulator, mechanical arm etc., has good harmony.
Primary solutions of the present invention is achieved in that
Scheme one: as Figure 1-3, the two-end structure of elastic bellows 10 is similar to hydraulic rubber tubular construction.The two ends of elastic bellows 10 are fixed on pipe joint 8 by outer press ring 9, and pipe joint 8 is connected with tailstock 11 with headstock 5 respectively, is locked by locking nut 7, and centre has gasket seal 6 to seal, and these parts form sealed cavity, as expandable prosthetic's muscle.
Tailstock 11 as illustrated in figures 4-5, it has air inlet, and air inlet pipe joint 13 is fixed on tailstock 11 through sealing ring 12.Headstock 5 and tailstock 11 are fixed with cephalomere 1 and periproct 14 respectively through regulating cushion block 4.
Regulate cushion block 4 as shown in fig. 6-7, there is dowel hole its top and bottom, ensure headstock 5, cephalomere 1, and tailstock 11, periproct 14 and regulate mutual location between 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 arbitrary cross section is rectangle.As shown in Figure 3, the two ends of trapezoidal side flat spring 15a are embedded in the notch of cephalomere 1 and periproct 14 respectively, and fix with bolt 3 and rectangle pad 2.
The effect regulating the notch of the dowel hole of cushion block 4, cephalomere 1 and periproct 14 is after all around locating, and fixes with bolt 3 and rectangle pad 2.That is: make headstock 5, cephalomere 1, tailstock 11, periproct 14, regulate cushion block 4, trapezoidal side flat spring 15a coplanar at the axial line of longitudinal plane of symmetry and elastic bellows 10, avoid joint to twist distortion, 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 hydraulic rubber tubular construction.The two ends of elastic bellows 10 are fixed on pipe joint 8 by outer press ring 9, and pipe joint 8 is connected with tailstock 11 with headstock 5 respectively, is locked by locking nut 7, and centre has gasket seal 6 to seal, and these parts form sealed cavity, as expandable prosthetic's muscle.Tailstock 11 has air inlet, and air inlet pipe joint 13 is fixed on tailstock 11 through sealing ring 12.Headstock 5 and tailstock 11 are fixed with cephalomere 1 and periproct 14 respectively through regulating cushion block 4.
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 arbitrary cross section is rectangle.The two ends of parabola side plate spring 15b are embedded in the notch of cephalomere 1 and periproct 14 respectively, and fix with bolt 3 and rectangle pad 2.
Such scheme one, scheme two are submissive joints of board of variable section spring.
Scheme three: as shown in figs. 10-11, the two-end structure of elastic bellows 10 is similar to hydraulic rubber tubular construction.The two ends of elastic bellows 10 are fixed on pipe joint 8 by outer press ring 9, and pipe joint 8 is connected with tailstock 11 with headstock 5 respectively, is locked by locking nut 7, and centre has gasket seal 6 to seal, and these parts form sealed cavity, as expandable prosthetic's muscle.Tailstock 11 has air inlet, and air inlet pipe joint 13 is fixed on tailstock 11 through sealing ring 12.Headstock 5 and tailstock 11 are fixed with cephalomere 1 and periproct 14 respectively through regulating cushion block 4.
Longitudinal section is trapezoidal trapezoidal Abnormal plate spring 15c, and its arbitrary cross section is rectangle, and its two ends embedded groove oral area is divided into rectangle, is embedded in respectively in the notch of cephalomere 1 and periproct 14, and fixes with bolt 3 and rectangle pad 2.
Scheme four: as illustrated by figs. 12-13, the two-end structure of elastic bellows 10 is similar to hydraulic rubber tubular construction.The two ends of elastic bellows 10 are fixed on pipe joint 8 by outer press ring 9, and pipe joint 8 is connected with tailstock 11 with headstock 5 respectively, is locked by locking nut 7, and centre has gasket seal 6 to seal, and these parts form sealed cavity, as expandable prosthetic's muscle.Tailstock 11 has air inlet, and air inlet pipe joint 13 is fixed on tailstock 11 through sealing ring 12.Headstock 5 and tailstock 11 are fixed with cephalomere 1 and periproct 14 respectively through regulating cushion block 4.
Longitudinal section is parabola shaped parabola shaped Abnormal plate spring 15d, and its arbitrary cross section is rectangle, and its two ends embedded groove oral area is divided into rectangle, is embedded in respectively in the notch of cephalomere 1 and periproct 14, and fixes with bolt 3 and rectangle pad 2.
Such scheme three, scheme four are submissive joints of Abnormal plate spring.
Compared with the prior art the present invention has the following advantages:
The submissive joint of flat spring skeleton of variable cross-section have employed the board of variable section spring of Trapezoidal, meet the distribution situation of stress, the middle carefully shape that two ends are wide is more easily out of shape, reduce deformation drag, save the energy, reduce joint quality, saved material, make joint motions more flexibly, dynamic response is better.
The submissive joint of flat spring skeleton of abnormity effectively prevent the contact interference problem of elastic bellows and flat spring after the large deformation of joint, substantially increases the action space in submissive joint.
Meanwhile, have employed necessary location measure between joint component, avoid the not high joint torsional deflection caused of assembly precision, facilitate the analytical calculation of static stress and distortion; Elastic bellows uses pipe joint form, is convenient to install and change; Change the adjustment cushion block of different-thickness, conveniently can change the moment of flexure suffered by flat spring.
Accompanying drawing illustrates:
Fig. 1 is the front view of the present invention submissive joint scheme one
Fig. 2 is the A-A sectional view of the present invention submissive joint scheme one front view
Fig. 3 is the B-B sectional view of the present invention submissive joint scheme one front view
Fig. 4 is the front view of tailstock 11 part in the submissive joint of the present invention
Fig. 5 is the left view of tailstock 11 part in the submissive joint of the present invention
Fig. 6 is the top view regulating cushion block 4 part in the submissive joint of the present invention
Fig. 7 is the C-C sectional view regulating cushion block 4 part top view in the submissive joint of the present invention
Fig. 8 is the front view of the present invention submissive joint scheme two
Fig. 9 is the D-D sectional view of the present invention submissive joint scheme two front view
Figure 10 is the front view of the present invention submissive joint scheme three
Figure 11 is the E-E sectional view of the present invention submissive joint scheme three front view
Figure 12 is the front view of the present invention submissive joint scheme four
Figure 13 is the F-F sectional view of the present invention submissive joint scheme four front view
Figure 14 is the fundamental diagram of the present invention submissive joint scheme one
Detailed description of the invention:
The scheme one of the present invention below by reference to the accompanying drawings in 14 is implemented to be further described:
In scheme one, the two ends of elastic bellows 10 are fixed on pipe joint 8 by compressing tablet 9, and bellows two ends pipe joint 8 is connected with tailstock 11 with headstock 5 respectively, is locked by locking nut 7, and centre has gasket seal 6 to seal, and form gas cavity.Tailstock 11 has air inlet, and air inlet pipe joint 13 is fixed on tailstock 11 through sealing ring 12.Headstock 5 and tailstock 11 are fixed with cephalomere 1 and periproct 14 respectively through regulating cushion block 4.Regulate cushion block 4 upper and lower surface to have alignment pin, ensure headstock 5 and cephalomere 1 and the mutual location between tailstock 11 and periproct 14.The two ends of trapezoidal side flat spring 15a are embedded in the notch of cephalomere 1 and periproct 14 respectively, and fix with bolt 3 and rectangle pad 2.Source of the gas is connected with air inlet pipe joint 13, and gas enters cavity through air inlet pipe joint.
During work, by controlling the angle of bend in elastic bellows internal cavity Stress control joint.During to empty interacvity air-filling, cavity pressure increases, elastic bellows axial elongation, because bellows side can not be extended by flat spring constraint, overcomes flat spring resistance and makes arthrogryposis; When cavity pressure reduces, joint is stretched under the restoring force of flat spring.This joint has good compliance, adaptivity and controllability, can be built into mechanical finger and be combined into single-degree-of-freedom or Multi-freedom-degreemanipulator manipulator.Refer to manipulator for simple joint three, periproct is connected with mechanical palm, and cephalomere is connected with manipulator finger tip, and finger tip can become optimal curve according to the different designs capturing object, select best crawl position.In order to reducing effect damage, the buffer mediums such as rubber blanket can be wrapped up on mechanical finger tip.When capturing object, to empty interacvity air-filling, three fingers bending crawl object simultaneously, keeps pressure constant after obtaining certain grasp force, maintains seized condition; When release captures thing, open air bleeding valve, cavity pressure reduces, and points and unclamp object under flat spring restoring force.
Claims (1)
1. the submissive joint of flat spring skeleton, it is characterized in that: the two ends of elastic bellows (10) are fixed on pipe joint (8) by outer press ring (9), pipe joint (8) is connected with tailstock (11) with headstock (5) respectively, locked by locking nut (7), centre has gasket seal (6) to seal, these parts form sealed cavity, as expandable prosthetic's muscle; (11) have air inlet to tailstock, and air inlet pipe joint (13) is fixed on tailstock (11) through sealing ring (12); Headstock (5) and tailstock (11) are fixed with cephalomere (1) and periproct (14) respectively through regulating cushion block (4); Wherein, flat spring skeleton is: the two ends of trapezoidal side flat spring (15a) are embedded in the notch of cephalomere (1) and periproct (14) respectively, and fix with bolt (3) and rectangle pad (2), described trapezoidal side flat spring (15a), its two ends embedded groove oral area is divided into rectangle, mid portion is symmetrical trapezoidal side, and its arbitrary cross section is rectangle.
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 |
|---|---|---|---|
| CN201510009988.2A Division CN104626188A (en) | 2011-12-09 | 2011-12-09 | Trapezoid special-shaped leaf spring skeleton flexible joint |
| 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102490183A CN102490183A (en) | 2012-06-13 |
| CN102490183B true CN102490183B (en) | 2015-06-10 |
Family
ID=46182065
Family Applications (1)
| 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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102490183B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103386691B (en) * | 2013-07-22 | 2016-12-28 | 江南大学 | Linear electric motors drive the flat spring skeleton flexibility paw controlled |
| CN103395072B (en) * | 2013-07-22 | 2015-10-28 | 大连海事大学 | A kind of hydraulic artificial muscle |
| CN104015197B (en) * | 2014-06-04 | 2016-06-01 | 山东省科学院自动化研究所 | The dynamic flexible miniature finger of the two inner chamber gas drive of ripple type, control method and grasping system |
| CN104802179B (en) * | 2015-05-12 | 2017-05-10 | 江南大学 | Elastic corrugated pipe single-acting cylinder-driven serial plate spring framework manipulator |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01177986A (en) * | 1987-12-30 | 1989-07-14 | Honda Motor Co Ltd | Arm structure of multi-articulated mechanism |
| JPH06114785A (en) * | 1992-10-09 | 1994-04-26 | Toshiba Corp | Articulated robot |
| CN1618580A (en) * | 2004-10-23 | 2005-05-25 | 江南大学 | Plate spring skeleton hydrulic pneumatic flexible bending joint |
| CN2717632Y (en) * | 2004-03-10 | 2005-08-17 | 江南大学 | Flexible bending joint |
| CN1666720A (en) * | 2005-04-04 | 2005-09-14 | 江南大学 | Flexible joint of helical spring type artificial muscle |
| CN1676289A (en) * | 2005-02-23 | 2005-10-05 | 江南大学 | Combined muscular multi-directional bending flexible joint |
-
2011
- 2011-12-09 CN CN201110406737.XA patent/CN102490183B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01177986A (en) * | 1987-12-30 | 1989-07-14 | Honda Motor Co Ltd | Arm structure of multi-articulated mechanism |
| JPH06114785A (en) * | 1992-10-09 | 1994-04-26 | Toshiba Corp | Articulated robot |
| CN2717632Y (en) * | 2004-03-10 | 2005-08-17 | 江南大学 | Flexible bending joint |
| CN1618580A (en) * | 2004-10-23 | 2005-05-25 | 江南大学 | Plate spring skeleton hydrulic pneumatic flexible bending joint |
| CN1676289A (en) * | 2005-02-23 | 2005-10-05 | 江南大学 | Combined muscular multi-directional bending flexible joint |
| CN1666720A (en) * | 2005-04-04 | 2005-09-14 | 江南大学 | Flexible joint of helical spring type artificial muscle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102490183A (en) | 2012-06-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102490183B (en) | Compliant joint taking irregular plate spring with variable cross section as skeleton | |
| CN108481307B (en) | Continuous robot for large load bearing | |
| CN100368161C (en) | Combined muscular multi-directional bending flexible joint | |
| CN104552241A (en) | Scara robot | |
| CN105500399A (en) | Manipulator driven by pneumatic brake cables and having human hand characteristics | |
| CN111546363B (en) | Multifunctional self-adaptive controllable adhesive soft manipulator | |
| CN111015708B (en) | Mechanical gripper suitable for grabbing various parts | |
| CN107009345A (en) | A kind of freedom degree parallel connection micro-manipulating robot | |
| Li et al. | Passive and active particle damping in soft robotic actuators | |
| CN104608143A (en) | Flexible parabola-shaped abnormal plate spring framework joint | |
| CN111251316A (en) | Stretch bending type continuum robot torsion-resistant unit and robot | |
| CN108981987A (en) | A kind of small retinoic acid syndrome spring beam six-dimension force sensor | |
| CN104526712A (en) | Parabolic side plate spring framework smooth joint | |
| CN111230845B (en) | Stretch bending type continuum robot unit and robot | |
| CN104626188A (en) | Trapezoid special-shaped leaf spring skeleton flexible joint | |
| CN110978041A (en) | Electromagnet-driven flexible micro-clamping device | |
| CN204585235U (en) | A kind of pneumatic brake cable drives and has the manipulator of staff feature | |
| CN110216704B (en) | Parallel robot dexterous hand | |
| CN110293544A (en) | The Deformation Prediction method of the snakelike arm of variation rigidity software | |
| CN209306820U (en) | A kind of I-beam wheel clamping jaw pawl heart | |
| Zhang et al. | Static model of flexible pneumatic bending joint | |
| CN201537818U (en) | Self-adaptive hold-down mechanism | |
| CN107186748A (en) | A kind of anti-tampering pneumatic-finger and preparation method thereof | |
| CN209394689U (en) | A kind of relocation mechanism of mechanical gripper | |
| CN108760218B (en) | Hinge connecting device for large-curvature thin-wall flexible plate of wind tunnel flexible wall spray pipe |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150610 Termination date: 20171209 |