CN103786165A - Pneumatic space bending flexible joint - Google Patents

Pneumatic space bending flexible joint Download PDF

Info

Publication number
CN103786165A
CN103786165A CN201410029746.5A CN201410029746A CN103786165A CN 103786165 A CN103786165 A CN 103786165A CN 201410029746 A CN201410029746 A CN 201410029746A CN 103786165 A CN103786165 A CN 103786165A
Authority
CN
China
Prior art keywords
end cover
joint
tubular cavity
tubular
pneumatic
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
Application number
CN201410029746.5A
Other languages
Chinese (zh)
Inventor
耿德旭
张金涛
刘晓敏
刘洪波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beihua University
Original Assignee
Beihua University
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Beihua University filed Critical Beihua University
Priority to CN201410029746.5A priority Critical patent/CN103786165A/en
Publication of CN103786165A publication Critical patent/CN103786165A/en
Pending legal-status Critical Current

Links

Images

Landscapes

  • Prostheses (AREA)

Abstract

The invention discloses a pneumatic space 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, four 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 other three 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 three pneumatic artificial muscles in parallel connection and has three degrees of freedom, and composite actions such as bending and extension of a bionic joint in random directions of space can be achieved.

Description

Pneumatic curvature of space flexible joint
Technical field
The present invention relates to robot limb flexible joint, particularly a kind of pneumatic curvature of space 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 curvature of space flexible joint for a kind of robot limb is provided.
The pneumatic curvature of space 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 4 tubular cavities that axis is parallel of the inner formation of column structure, the axis of a tubular cavity and the dead in line of described column structure in described 4 tubular cavities, 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, 3 tubular cavity physical dimensions except tubular cavity one are identical, axis about tubular cavity one is symmetrical, is called tubular cavity two, in tubular cavity two, air bag is set, 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 4 circular holes, 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 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 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 3 air bag venting pressures are 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 3 air bag venting pressures 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 articulation structure compactness, flexible movements and flexibility, is equivalent to three Pneumatic artificial muscle parallel connections, has 3 frees degree, can realize spatially any direction bending of bionic joint and elongation and wait composite move; Can adopt three proportioning valves to jointly control, method is controlled conveniently flexibly; The combination of application multi-joint can realize the complicated compliant motion of organism, be mainly used on bionic joint that adaptability has relatively high expectations, as the mankind's thumb, multi-foot robot shank joint, molluscan joint in snake class, trunk, octopus and water, be particularly useful for capturing on the actuator of irregular-shaped objects, there is good using value in fields such as bionical and specialized robots.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation:
Fig. 1 is the pneumatic curvature of space flexible joint of the present invention exploded perspective view;
Fig. 2 is the pneumatic curvature of space flexible joint of the present invention axle side schematic diagram;
Fig. 3 is the pneumatic curvature of space 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 curvature of space 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 spatial flexible of the present invention joint 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 two ends, pneumatic spatial flexible joint, in the middle of joint, pneumatic spatial flexible joint, be the coaxial solid matter series connection of 20 confinement elements 4, after series connection, profile is column structure, 4 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 4 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 3 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 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 (4)

1. a pneumatic curvature of space 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 4 tubular cavities that axis is parallel of the inner formation of column structure, the axis of a tubular cavity and the dead in line of described column structure in described 4 tubular cavities, 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, 3 tubular cavity physical dimensions except tubular cavity one are identical, about the axis symmetry of tubular cavity one, are called tubular cavity two, in tubular cavity two, air bag are set, and balloon ends is connected with upper cover, low head respectively, form 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 curvature of space 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 4 circular holes, be the partial structurtes of described tubular cavity at different confinement elements, the diameter of confinement element equals the diameter of described tubular cavity.
3. the pneumatic curvature of space flexible joint of one according to claim 1, is characterized in that: described skeleton is flexible shaft or axial scalable axle sleeve.
4. the pneumatic curvature of space 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.
CN201410029746.5A 2014-01-22 2014-01-22 Pneumatic space bending flexible joint Pending CN103786165A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201410029746.5A CN103786165A (en) 2014-01-22 2014-01-22 Pneumatic space bending flexible joint

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201410029746.5A CN103786165A (en) 2014-01-22 2014-01-22 Pneumatic space bending flexible joint

Publications (1)

Publication Number Publication Date
CN103786165A true CN103786165A (en) 2014-05-14

Family

ID=50662439

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201410029746.5A Pending CN103786165A (en) 2014-01-22 2014-01-22 Pneumatic space bending flexible joint

Country Status (1)

Country Link
CN (1) CN103786165A (en)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105171737A (en) * 2015-09-25 2015-12-23 天津大学 Three-freedom-degree smooth driver with hybrid power source
CN106493723A (en) * 2016-12-08 2017-03-15 燕山大学 Based on the air articulated type flexible mechanical arm that rope drives
CN107251414A (en) * 2015-01-30 2017-10-13 森福鼎股份有限公司 jet actuator system and method
US10384354B2 (en) 2012-10-26 2019-08-20 Sunfolding, Inc. Fluidic solar actuator
CN110142783A (en) * 2019-06-18 2019-08-20 北京大学口腔医学院 For coelenteron, pipeline or the hollow type air bag creepage robot for climbing wall
CN110270987A (en) * 2019-06-26 2019-09-24 清华大学深圳研究生院 Gas drive moves software climbing robot and its manufacture and control method
US10562180B2 (en) 2016-03-29 2020-02-18 Other Lab, Llc Fluidic robotic actuator system and method
US10917038B2 (en) 2017-04-17 2021-02-09 Sunfolding, Inc. Pneumatic actuator system and method
CN114012781A (en) * 2021-08-27 2022-02-08 北华大学 Continuous spiral nested constraint pneumatic variable-stiffness flexible arm
CN114274138A (en) * 2022-01-11 2022-04-05 浙江大学 Hydraulic control soft robot for bionic spine
CN114454142A (en) * 2022-02-11 2022-05-10 中国科学院沈阳自动化研究所 Endoskeleton type pneumatic soft continuous robot
US11502639B2 (en) 2018-05-29 2022-11-15 Sunfolding, Inc. Tubular fluidic actuator system and method
US11683003B2 (en) 2020-06-22 2023-06-20 Sunfolding, Inc. Locking, dampening and actuation systems and methods for solar trackers

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1676289A (en) * 2005-02-23 2005-10-05 江南大学 Combined muscular multi-directional bending flexible joint
US20090222133A1 (en) * 2001-06-13 2009-09-03 Robert Oliver Buckingham System and Method for Controlling a Robotic Arm
CN101531009A (en) * 2009-04-04 2009-09-16 北华大学 Three-dimensional composite flexible joint
CN201419397Y (en) * 2009-04-04 2010-03-10 北华大学 Multidimensional composite flexible joint
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

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090222133A1 (en) * 2001-06-13 2009-09-03 Robert Oliver Buckingham System and Method for Controlling a Robotic Arm
CN1676289A (en) * 2005-02-23 2005-10-05 江南大学 Combined muscular multi-directional bending flexible joint
CN101531009A (en) * 2009-04-04 2009-09-16 北华大学 Three-dimensional composite flexible joint
CN201419397Y (en) * 2009-04-04 2010-03-10 北华大学 Multidimensional composite flexible joint
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

Cited By (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10605365B1 (en) 2012-10-26 2020-03-31 Other Lab, Llc Fluidic actuator
US11772282B2 (en) 2012-10-26 2023-10-03 Sunfolding, Inc. Fluidic solar actuation system
US11059190B2 (en) 2012-10-26 2021-07-13 Sunfolding, Inc. Fluidic solar actuator
US10875197B2 (en) 2012-10-26 2020-12-29 Other Lab, Llc Robotic actuator
US11420342B2 (en) 2012-10-26 2022-08-23 Sunfolding, Inc. Fluidic solar actuator
US10384354B2 (en) 2012-10-26 2019-08-20 Sunfolding, Inc. Fluidic solar actuator
EP3251207A4 (en) * 2015-01-30 2018-12-19 Sunfolding, Inc. Fluidic actuator system and method
US11791764B2 (en) 2015-01-30 2023-10-17 Sunfolding, Inc. Fluidic actuator system and method
US10601366B2 (en) 2015-01-30 2020-03-24 Sunfolding, Inc. Fluidic actuator system and method
EP3736974A1 (en) * 2015-01-30 2020-11-11 Sunfolding, Inc. Fluidic actuator system and method
CN107251414A (en) * 2015-01-30 2017-10-13 森福鼎股份有限公司 jet actuator system and method
CN105171737A (en) * 2015-09-25 2015-12-23 天津大学 Three-freedom-degree smooth driver with hybrid power source
US10562180B2 (en) 2016-03-29 2020-02-18 Other Lab, Llc Fluidic robotic actuator system and method
CN106493723B (en) * 2016-12-08 2018-09-04 燕山大学 Air articulated type flexible mechanical arm based on rope driving
CN106493723A (en) * 2016-12-08 2017-03-15 燕山大学 Based on the air articulated type flexible mechanical arm that rope drives
US10917038B2 (en) 2017-04-17 2021-02-09 Sunfolding, Inc. Pneumatic actuator system and method
US10944353B2 (en) 2017-04-17 2021-03-09 Sunfolding, Inc. Pneumatic actuation circuit system and method
US10951159B2 (en) 2017-04-17 2021-03-16 Sunfolding, Inc. Solar tracker control system and method
US11502639B2 (en) 2018-05-29 2022-11-15 Sunfolding, Inc. Tubular fluidic actuator system and method
CN110142783A (en) * 2019-06-18 2019-08-20 北京大学口腔医学院 For coelenteron, pipeline or the hollow type air bag creepage robot for climbing wall
CN110270987A (en) * 2019-06-26 2019-09-24 清华大学深圳研究生院 Gas drive moves software climbing robot and its manufacture and control method
US11683003B2 (en) 2020-06-22 2023-06-20 Sunfolding, Inc. Locking, dampening and actuation systems and methods for solar trackers
CN114012781A (en) * 2021-08-27 2022-02-08 北华大学 Continuous spiral nested constraint pneumatic variable-stiffness flexible arm
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
CN114454142A (en) * 2022-02-11 2022-05-10 中国科学院沈阳自动化研究所 Endoskeleton type pneumatic soft continuous robot

Similar Documents

Publication Publication Date Title
CN103786165A (en) Pneumatic space bending flexible joint
CN103786164A (en) Pneumatic multidirectional bending flexible joint
CN110270987A (en) Gas drive moves software climbing robot and its manufacture and control method
CN107914269B (en) Software robot based on honeycomb pneumatic network
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
CN201419397Y (en) Multidimensional composite flexible joint
CN104760054A (en) Orthorhombic three-freedom joint driven by pneumatic artificial muscles
CN211682131U (en) Multi-degree-of-freedom pneumatic flexible driver
CN205343163U (en) Pneumatic bend in one direction flexible joint of dual drive
Xie et al. Design and modeling of a hydraulic soft actuator with three degrees of freedom
CN103786166A (en) Pneumatic rotation stretching type double-spiral flexible joint
CN110640773B (en) Electrohydraulic driving robot smart hand
CN107498538A (en) A kind of high-adaptability it is new from deformation module soft robot
CN203779517U (en) Pneumatic rotary-stretching type flexible joint
CN202071080U (en) Pneumatic muscle flexible elbow joint device with buffer spring and flexible shaft sleeve
CN202592389U (en) Single-curvature flexible joint device for limbs of bionic machines and robots
Guanjun et al. Pneumatic bio-soft robot module: Structure, elongation and experiment
CN109176469A (en) Stiffness variable flexible exoskeleton system based on line driving and Pneumatic clamping principle
CN205668277U (en) Pneumatic two-way one-dimensional bending flexible joint
CN103786169A (en) Pneumatic rotation stretching type four-spiral flexible joint
Zhang et al. Research on soft manipulator actuated by shape memory alloy (SMA) springs
CN103786168B (en) Type three helical flexible joint is stretched in pneumatic rotation
CN203779516U (en) Pneumatic multi-direction bending flexible joint

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