CN103786164A - Pneumatic multidirectional bending flexible joint - Google Patents
Pneumatic multidirectional bending flexible joint Download PDFInfo
- Publication number
- CN103786164A CN103786164A CN201410029731.9A CN201410029731A CN103786164A CN 103786164 A CN103786164 A CN 103786164A CN 201410029731 A CN201410029731 A CN 201410029731A CN 103786164 A CN103786164 A CN 103786164A
- Authority
- CN
- China
- Prior art keywords
- end cover
- tubular cavity
- joint
- tubular
- axis
- 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.)
- Pending
Links
Images
Landscapes
- Prostheses (AREA)
Abstract
The invention discloses a pneumatic multidirectional bending flexible joint which comprises constraint elements, a joint framework, air bags, an upper end cover, a lower end cover, upper sealing heads, lower sealing heads and fluid inlets. The constraint elements are arranged between the upper end cover and the lower end cover and are coaxially connected in series and densely arranged to form a columnar structure, a plurality of tubular cavities with parallel axes are formed in the columnar structure, the axis of one of the tubular cavities overlaps with the axis of the columnar structure to form a first tubular cavity, the tubular cavities expect the first tubular cavity are called as second tubular cavities, the air bags are arranged in the second tubular cavities, the two ends of the air bags are connected with the upper sealing heads and the lower sealing heads respectively and the lower sealing heads are provided with the fluid inlets. A driving device of the joint is combined with the joint to form an integral structure which is equivalent to four pneumatic artificial muscles in parallel connection and has one degree of freedom and two degrees of operation, and active bending, axial elongation and other functions of the joint in eight directions of space can be achieved.
Description
Technical field
The present invention relates to robot limb flexible joint, particularly a kind of pneumatic multi-direction bending flexible joint.
Background technology
Robotics is widely used in fields such as industry, military affairs, medical treatment and services at present, has become one of grand strategy support technology of countries in the world.As key technology and the core component of robot, the diarthrodial structure of all kinds of masters, driving, exercise performance and control method, will determine the integral level of robot.In Lu Sheng, aquatic and anthropomorphic robot field, limbs flexible joint has important function aspect the adaptability of solution compliant motion and crawl object.Therefore, flexible joint is conducted in-depth research and obtained for many years gratifying results both at home and abroad, the main contents of research have articulated driving equipment, drive the realization of material and flexibility of joint structure.Wherein joint drive structure and control mode are research emphasis, and driving material is Research Challenges.
The flexible joint of having researched and developed both at home and abroad mainly contains driven by servomotor, hydraulic-driven, air cylinder driven, conducting polymer, electricity and causes and drive and several forms such as artificial-muscle driving.The flexible joint of wherein applying driven by servomotor, hydraulic pressure and cylinder type of drive, its technology is mature on the whole, and be widely used, but volume is larger, and flexibility of joint degree is restricted; And conducting polymer and electricity cause drive stroke less, be mainly used in amphiarthrosis; Pneumatic artificial muscle drives to be had preferably comprehensive flexiblely, is developed rapidly in recent years, but has stronger non-linear.Several drive units all will be used in conjunction with frame for movement in application process above, and volume is large, miniaturization difficulty, and the movement locus in joint determines by frame for movement, compliance is poor.
Therefore, current existing joint prosthesis still can not meet the special requirement in the fields such as bionical in the carrying, water of the industrial goods larger in variation and specialized robot completely, is necessary that continual exploitation has the joint of highly flexible.
Summary of the invention
The object of the invention is to overcome the deficiency of prior art, pneumatic multi-direction bending flexible joint for a kind of robot limb is provided.
The pneumatic multi-direction bending flexible joint of one of the present invention, comprise confinement element, joint skeleton, air bag, upper end cover, bottom end cover, upper cover, low head, fluid intake, between upper end cover and bottom end cover, be provided with several confinement elements, described several confinement elements coaxially connect solid matter form column structure, at the inner parallel tubular cavity of several axis that forms of column structure, the axis of a tubular cavity in described several tubular cavities and the dead in line of described column structure, be called tubular cavity one, in tubular cavity one, joint skeleton is set, joint skeleton two ends respectively with upper end cover, bottom end cover is fixedly connected with, tubular cavity physical dimension except tubular cavity one is identical, symmetrical about the axis of tubular cavity one, is called tubular cavity two, in tubular cavity two, air bag is set, and balloon ends is connected with upper cover, low head respectively, forms seal chamber, upper cover, low head are fixedly connected with integral with upper end cover, bottom end cover, be provided with fluid intake on low head.
Described confinement element is sheet, and the profile of confinement element is circle or regular polygon, and the openwork part of confinement element is the partial structurtes of described tubular cavity at different confinement elements, and the diameter of confinement element equals the diameter of described tubular cavity.
Described joint skeleton is flexible shaft or axial scalable axle sleeve.
Described flexible shaft is cylindrically coiled spring or rubber axis; Axial scalable axle sleeve is made up of sleeve and optical axis, sleeve and optical axis matched in clearance.
Described tubular cavity quantity is five or more than five.
Described low head is provided with fluid intake, with charged pressure fluid, increase when being filled with fluid pressure, seal chamber expansion promotion confinement element moves joint active deformation is strengthened, reduce when being filled with fluid pressure, rubber pneumatic bag recovers, and dysarthrasis reduces, and deformation is relevant with logical pressure condition with described skeleton form; When skeleton is flexible shaft, when each air bag venting pressure is different, the multidirectional active bending in generation space, joint and elongation composite deformation, bending direction and deformation extent are determined jointly by fluid medium pressure and logical pressuring gasbag quantity, when identical the or symmetrical air bag venting pressure in position of each air bag venting pressure is identical, joint occurs initiatively to extend, and deformation extent is determined jointly by fluid medium pressure and logical pressuring gasbag quantity; When skeleton is axial scalable axle sleeve, when air bag ventilation, joint only occurs initiatively to extend, and deformation extent is determined jointly by fluid medium pressure and logical pressuring gasbag quantity; The described fluid that is filled with can be corrosion-free, avirulent medium, as compressed air, water etc.
Advantage of the present invention is that arthritic volume is little, flexible movements, the drive unit in joint and joint body are compounded to form integrative-structure, be equivalent to four Pneumatic artificial muscle parallel connections, there are 1 free degree and 2 motor-driven degree, can realize the spatially function such as active bending and axial elongation of eight directions of joint, belong to the flexible joint of pneumatic distortion; This joint can adopt a proportioning valve and four reversal valves to carry out action control, and method is simply easy to realize; Apply multiple these joint combinations, can realize the complicated compliant motion of organism; As action executing element, because its structure is mainly composite elastic body, in the time of contact difformity and different hardness object, adaptability can be better, and stable action, has certain buffering effect; Can be used on the joint of flexible manipulator, multi-foot robot shank and bio-robot, be particularly useful for capturing or carrying rapid wear, frangible and erose object, there are good using value and market prospects.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation:
Fig. 1 is the pneumatic multi-direction bending flexible joint of the present invention exploded perspective view;
Fig. 2 is the pneumatic multi-direction bending flexible joint of the present invention axle side schematic diagram;
Fig. 3 is the pneumatic multi-direction bending flexible joint of the present invention flexible shaft skeleton schematic diagram;
Fig. 4 is the axial scalable axle sleeve skeleton schematic diagram of the pneumatic multi-direction bending flexible joint of the present invention.
In figure 1, upper cover; 2, upper end cover; 3, joint skeleton; 3-1, sleeve; 3-2, optical axis; 4, confinement element; 5, air bag; 6, bottom end cover; 7, low head; 8, fluid intake.
The specific embodiment
Embodiment:
Below in conjunction with accompanying drawing and instantiation, the present invention is made further and being described in detail.
The pneumatic multidirectional flexible joint of the present invention is made up of upper cover 1, upper end cover 2, joint skeleton 3, confinement element 4, air bag 5, bottom end cover 6, low head 7 and fluid intake 8, upper end cover 1 and bottom end cover 6 lay respectively at pneumatic multidirectional flexible joint two ends, in the middle of pneumatic multidirectional flexible joint, be the coaxial solid matter series connection of 20 confinement elements 4, after series connection, profile is column structure, 5 tubular cavities that axis is parallel of inner formation, the axis of a tubular cavity and the dead in line of described column structure in described 5 tubular cavities, be called tubular cavity one, joint skeleton 3(accompanying drawing 3 flexible shaft skeleton examples are set in tubular cavity one, the axial scalable axle sleeve skeleton example of accompanying drawing 4), joint skeleton 3 two ends respectively with upper end cover 2, bottom end cover 6 is fixedly connected with, all the other 4 tubular cavity physical dimensions except tubular cavity one are identical, axis about tubular cavity one is symmetrical, is called tubular cavity two, and rubber pneumatic bag 5 is set in tubular cavity two, rubber pneumatic bag 5 two ends are connected with upper cover 1, low head 7 respectively, form seal chamber, upper cover 1, low head 7 are fixedly connected with integral with upper end cover 2, bottom end cover 6, on low head 7, be provided with fluid intake, the mode that upper end cover 2 and bottom end cover 6 can be threaded connection and robot body assembling.
Claims (5)
1. a pneumatic multi-direction bending flexible joint, it is characterized in that: comprise confinement element, joint skeleton, air bag, upper end cover, bottom end cover, upper cover, low head, fluid intake, between upper end cover and bottom end cover, be provided with several confinement elements, described several confinement elements coaxially connect solid matter form column structure, at the inner parallel tubular cavity of several axis that forms of column structure, the axis of a tubular cavity in described several tubular cavities and the dead in line of described column structure, be called tubular cavity one, in tubular cavity one, joint skeleton is set, joint skeleton two ends respectively with upper end cover, bottom end cover is fixedly connected with, tubular cavity physical dimension except tubular cavity one is identical, symmetrical about the axis of tubular cavity one, is called tubular cavity two, in tubular cavity two, air bag is set, and balloon ends is connected with upper cover, low head respectively, forms seal chamber, upper cover, low head are fixedly connected with integral with upper end cover, bottom end cover, be provided with fluid intake on low head.
2. the pneumatic multi-direction bending flexible joint of one according to claim 1, it is characterized in that: described confinement element is sheet, the profile of confinement element is circle or regular polygon, the openwork part of confinement element is the partial structurtes of described tubular cavity at different confinement elements, and the diameter of confinement element equals the diameter of described tubular cavity.
3. the pneumatic multi-direction bending flexible joint of one according to claim 1, is characterized in that: described joint skeleton is flexible shaft or axial scalable axle sleeve.
4. the pneumatic multi-direction bending flexible joint of one according to claim 3, is characterized in that: described flexible shaft is cylindrically coiled spring or rubber axis; Axial scalable axle sleeve is made up of sleeve and optical axis, sleeve and optical axis matched in clearance.
5. pneumatic multi-direction bending flexible joint according to claim 1, is characterized in that: described tubular cavity quantity is five or more than five.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410029731.9A CN103786164A (en) | 2014-01-22 | 2014-01-22 | Pneumatic multidirectional bending flexible joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410029731.9A CN103786164A (en) | 2014-01-22 | 2014-01-22 | Pneumatic multidirectional bending flexible joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN103786164A true CN103786164A (en) | 2014-05-14 |
Family
ID=50662438
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410029731.9A Pending CN103786164A (en) | 2014-01-22 | 2014-01-22 | Pneumatic multidirectional bending flexible joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103786164A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104440918A (en) * | 2014-08-18 | 2015-03-25 | 浙江工业大学 | Active stiffness-variable long-arm type bionic soft robot |
| CN105287000A (en) * | 2015-10-13 | 2016-02-03 | 西安交通大学 | Single-gas-drive flexible minimally invasive surgery operating arm and manufacturing method thereof |
| CN105919772A (en) * | 2016-04-12 | 2016-09-07 | 哈尔滨易奥秘科技发展有限公司 | Wearable hand rehabilitation training device |
| CN106181994A (en) * | 2016-09-22 | 2016-12-07 | 哈尔滨工业大学 | Deep-sea based on hydraulic-driven artificial-muscle flexible grabbing device |
| CN106625575A (en) * | 2016-11-08 | 2017-05-10 | 上海宇航系统工程研究所 | Inflation type rope traction foldable and unfoldable flexible parallel mechanism |
| CN108128429A (en) * | 2017-12-26 | 2018-06-08 | 哈尔滨工业大学 | A kind of imitative frog travel robot based on the pneumatic software actuator driving of articulated type |
| CN108274455A (en) * | 2018-04-09 | 2018-07-13 | 江南大学 | A kind of pneumatic software executive device |
| CN108356848A (en) * | 2018-03-30 | 2018-08-03 | 天津理工大学 | Pneumatic artificial muscle and servo motor combination drive joint |
| CN108705525A (en) * | 2018-08-07 | 2018-10-26 | 长沙紫宸科技开发有限公司 | A kind of bionical scorpion tail with flexible joint |
| CN109850153A (en) * | 2019-01-30 | 2019-06-07 | 龙岩学院 | A kind of landing buffer device |
| CN114274138A (en) * | 2022-01-11 | 2022-04-05 | 浙江大学 | Hydraulic control soft robot for bionic spine |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090095112A1 (en) * | 2001-06-13 | 2009-04-16 | Robert Oliver Buckingham | Link Assembly With Defined Boundaries For A Snake Like Robot Arm |
| CN101531009A (en) * | 2009-04-04 | 2009-09-16 | 北华大学 | Three-dimensional composite flexible joint |
| CN101850551A (en) * | 2010-05-29 | 2010-10-06 | 北华大学 | Disomic artificial muscle |
| CN201669705U (en) * | 2010-05-29 | 2010-12-15 | 北华大学 | Flexible multi-body driver |
| US20120210818A1 (en) * | 2009-12-15 | 2012-08-23 | Festo Ag & Co. Kg | Fluid-Operated Manipulator |
| CN202592389U (en) * | 2012-05-23 | 2012-12-12 | 北华大学 | Single-curvature flexible joint device for limbs of bionic machines and robots |
| CN203779516U (en) * | 2014-01-22 | 2014-08-20 | 北华大学 | Pneumatic multi-direction bending flexible joint |
-
2014
- 2014-01-22 CN CN201410029731.9A patent/CN103786164A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090095112A1 (en) * | 2001-06-13 | 2009-04-16 | Robert Oliver Buckingham | Link Assembly With Defined Boundaries For A Snake Like Robot Arm |
| CN101531009A (en) * | 2009-04-04 | 2009-09-16 | 北华大学 | Three-dimensional composite flexible joint |
| US20120210818A1 (en) * | 2009-12-15 | 2012-08-23 | Festo Ag & Co. Kg | Fluid-Operated Manipulator |
| CN101850551A (en) * | 2010-05-29 | 2010-10-06 | 北华大学 | Disomic artificial muscle |
| CN201669705U (en) * | 2010-05-29 | 2010-12-15 | 北华大学 | Flexible multi-body driver |
| CN202592389U (en) * | 2012-05-23 | 2012-12-12 | 北华大学 | Single-curvature flexible joint device for limbs of bionic machines and robots |
| CN203779516U (en) * | 2014-01-22 | 2014-08-20 | 北华大学 | Pneumatic multi-direction bending flexible joint |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104440918B (en) * | 2014-08-18 | 2016-03-02 | 浙江工业大学 | Initiatively stiffness variable long-armed type bionic soft robot |
| CN104440918A (en) * | 2014-08-18 | 2015-03-25 | 浙江工业大学 | Active stiffness-variable long-arm type bionic soft robot |
| CN105287000A (en) * | 2015-10-13 | 2016-02-03 | 西安交通大学 | Single-gas-drive flexible minimally invasive surgery operating arm and manufacturing method thereof |
| CN105919772A (en) * | 2016-04-12 | 2016-09-07 | 哈尔滨易奥秘科技发展有限公司 | Wearable hand rehabilitation training device |
| CN106181994A (en) * | 2016-09-22 | 2016-12-07 | 哈尔滨工业大学 | Deep-sea based on hydraulic-driven artificial-muscle flexible grabbing device |
| CN106181994B (en) * | 2016-09-22 | 2019-02-26 | 哈尔滨工业大学 | Deep-sea flexible grabbing device based on hydraulic-driven artificial-muscle |
| CN106625575B (en) * | 2016-11-08 | 2019-02-01 | 上海宇航系统工程研究所 | A kind of inflatable wire saws can take down the exhibits flexible parallel mechanism |
| CN106625575A (en) * | 2016-11-08 | 2017-05-10 | 上海宇航系统工程研究所 | Inflation type rope traction foldable and unfoldable flexible parallel mechanism |
| CN108128429A (en) * | 2017-12-26 | 2018-06-08 | 哈尔滨工业大学 | A kind of imitative frog travel robot based on the pneumatic software actuator driving of articulated type |
| CN108128429B (en) * | 2017-12-26 | 2019-08-23 | 哈尔滨工业大学 | A kind of imitative frog travel robot based on the pneumatic software actuator driving of articulated type |
| CN108356848A (en) * | 2018-03-30 | 2018-08-03 | 天津理工大学 | Pneumatic artificial muscle and servo motor combination drive joint |
| CN108356848B (en) * | 2018-03-30 | 2023-09-29 | 天津理工大学 | Pneumatic artificial muscle and servo motor hybrid driving joint |
| CN108274455A (en) * | 2018-04-09 | 2018-07-13 | 江南大学 | A kind of pneumatic software executive device |
| CN108705525A (en) * | 2018-08-07 | 2018-10-26 | 长沙紫宸科技开发有限公司 | A kind of bionical scorpion tail with flexible joint |
| CN108705525B (en) * | 2018-08-07 | 2023-09-12 | 长沙紫宸科技开发有限公司 | Bionic scorpion tail with flexible joint |
| CN109850153A (en) * | 2019-01-30 | 2019-06-07 | 龙岩学院 | A kind of landing buffer device |
| CN114274138A (en) * | 2022-01-11 | 2022-04-05 | 浙江大学 | Hydraulic control soft robot for bionic spine |
| CN114274138B (en) * | 2022-01-11 | 2023-11-07 | 浙江大学 | Hydraulic control soft robot for bionic vertebra |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103786164A (en) | Pneumatic multidirectional bending flexible joint | |
| CN103786165A (en) | Pneumatic space bending flexible joint | |
| CN103786167A (en) | Pneumatic plane bending flexible joint | |
| CN101531009A (en) | Three-dimensional composite flexible joint | |
| CN102189556B (en) | Pneumatic muscle flexible elbow joint device with buffer spring and flexible shaft sleeves | |
| CN107914269B (en) | Software robot based on honeycomb pneumatic network | |
| CN205343163U (en) | Pneumatic bend in one direction flexible joint of dual drive | |
| CN110270987A (en) | Gas drive moves software climbing robot and its manufacture and control method | |
| CN201419397Y (en) | Multidimensional composite flexible joint | |
| CN103786166B (en) | Type Double helix flexible joint is stretched in pneumatic rotation | |
| CN104760054A (en) | Orthorhombic three-freedom joint driven by pneumatic artificial muscles | |
| CN110640773B (en) | Electrohydraulic driving robot smart hand | |
| CN211682131U (en) | Multi-degree-of-freedom pneumatic flexible driver | |
| Tang et al. | Design of a new air pressure perception multi-cavity pneumatic-driven earthworm-like soft robot | |
| CN107498538A (en) | A kind of high-adaptability it is new from deformation module soft robot | |
| CN203779517U (en) | Pneumatic rotary-stretching type flexible joint | |
| CN202592389U (en) | Single-curvature flexible joint device for limbs of bionic machines and robots | |
| CN202071080U (en) | Pneumatic muscle flexible elbow joint device with buffer spring and flexible shaft sleeve | |
| CN205668277U (en) | Pneumatic two-way one-dimensional bending flexible joint | |
| Guanjun et al. | Pneumatic bio-soft robot module: Structure, elongation and experiment | |
| CN103786169A (en) | Pneumatic rotation stretching type four-spiral flexible joint | |
| Xia et al. | Research on flexible collapsible fluid-driven bionic robotic fish | |
| CN203779516U (en) | Pneumatic multi-direction bending flexible joint | |
| CN103786168A (en) | Pneumatic rotation stretching type three-spiral flexible joint | |
| CN206869879U (en) | Bellows fluid drive lacking articulated robot finger apparatus |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20140514 |