CN103786168B - Type three helical flexible joint is stretched in pneumatic rotation - Google Patents
Type three helical flexible joint is stretched in pneumatic rotation Download PDFInfo
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- CN103786168B CN103786168B CN201410029791.0A CN201410029791A CN103786168B CN 103786168 B CN103786168 B CN 103786168B CN 201410029791 A CN201410029791 A CN 201410029791A CN 103786168 B CN103786168 B CN 103786168B
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Abstract
The invention discloses a kind of pneumatic rotation and stretch type three helical flexible joint, including confinement element, joint skeleton, air bag, cylindrically coiled spring, upper end cover, bottom end cover, upper cover, low head, fluid intake, several confinement elements it are provided with between upper end cover and bottom end cover, several confinement elements coaxially connect solid matter formed column structure, it is internally formed two groups of coaxial toroidal-shaped cavity that central diameter is different at column structure, it is called toroidal-shaped cavity one and toroidal-shaped cavity two, in toroidal-shaped cavity one, cylindrically coiled spring is set, in toroidal-shaped cavity two, air bag is set.It is an advantage of the invention that arthritic volume is compact, motion is flexible, main diarthrodial three spiral artificial-muscle driving means are complex as a whole with joint body, this joint has 3 degree of freedom, the functions such as the Space Rotating of bionic joint, bending and axial elongation can be realized, belong to the spatial flexible joint of fluid drives deformation.
Description
Technical field
The present invention relates to robot limb flexible joint, stretch type three particularly to a kind of pneumatic rotation
Helical flexible joint.
Background technology
Robotics is widely used, in fields such as industry, military, medical treatment and services at present
One of grand strategy support technology becoming countries in the world.Key technology and core as robot
Heart parts, the diarthrodial structure of all kinds of masters, driving, exercise performance and control method, will determine
The integral level of robot.At terrestrial, aquatic and anthropomorphic robot field, limbs flexible joint
In terms of solving the adaptability of compliant motion and crawl object, there is important function.Therefore, for many years
Come both at home and abroad and flexible joint is conducted in-depth research and achieved gratifying results, research main
Content has articulated driving equipment, driving material and the realization of flexibility of joint structure.Wherein joint is driven
Dynamic structure and control mode are research emphasis, and driving material is Research Challenges.
The flexible joint researched and developed both at home and abroad mainly has driven by servomotor, hydraulic-driven, cylinder
Several forms such as driving, conducting polymer, electroluminescent driving and artificial-muscle driving.Wherein apply
Driven by servomotor, hydraulic pressure and the flexible joint of cylinder type of drive, its technology is mature on the whole,
Being widely used, but volume is relatively big, flexibility of joint degree is restricted；And conducting polymer and electricity
Cause to drive stroke less, be mainly used in amphiarthrosis；Pneumatic artificial muscle drives to be had preferably
Comprehensive flexible, it is developed rapidly in recent years, but has stronger non-linear.The most several
Driving means will be big with the use of, volume with frame for movement in application process, and miniaturization is stranded
Difficulty, the movement locus in joint is determined by frame for movement, and compliance is poor.
Therefore, current existing artificial joint still can not fully meet in the bigger work of variation
The special requirement in the field such as bionical and specialized robot in the carrying of industry product, water, it is necessary to continue
Exploitation has the joint of highly flexible.
Summary of the invention
It is an object of the invention to overcome the deficiency of prior art, it is provided that a kind of robot limb is used
Type three helical flexible joint is stretched in pneumatic rotation, uses spiral elasticity body directional expansion mode to drive, real
Now rotate, bend and extend function.
The pneumatic rotation of one of the present invention stretches type three helical flexible joint, including confinement element, joint
Skeleton, air bag, cylindrically coiled spring, upper end cover, bottom end cover, upper cover, low head, stream
Body entrance, is provided with several confinement elements between upper end cover and bottom end cover, described several about
Bundle element coaxially connect solid matter formed column structure, be internally formed central diameter at column structure different
Two groups of coaxial toroidal-shaped cavity, are called toroidal-shaped cavity one and toroidal-shaped cavity
Two, at the common axis of two groups of coaxial spiral tubular cavities, form cylindrical cavity, at cylinder
Arranging joint skeleton in shape cavity, joint skeleton two ends are fixed even with upper end cover, bottom end cover respectively
Connect；Toroidal-shaped cavity one quantity is 2, and initial phase difference is 180 °, at described spiral
Tubular cavity one arranges cylindrically coiled spring, the two ends of cylindrically coiled spring respectively with upper end
Lid, bottom end cover are fixedly connected into one；Toroidal-shaped cavity two quantity is 3, initial phase
Difference is 120 °, arranges air bag in toroidal-shaped cavity two, balloon ends respectively with upper cover,
Low head connect, constitute seal cavity, upper cover and low head respectively with described upper end cover, under
End cap is fixedly connected into one, is provided with fluid intake, with charged pressure fluid on low head.
Described air bag has 3, and each air bag caliber, central diameter, pitch, rotation direction and the number of turns are complete
Identical；Three air bags constitute triple-helix structure.
Described confinement element is lamellar, and profile is circular or regular polygon, the hollow out of confinement element
Part is referred to as threaded hole, and threaded hole has two groups, and described threaded hole is that two groups of toroidal-shaped cavity exist
The partial structurtes of confinement element, the central diameter of threaded hole is equal in corresponding toroidal-shaped cavity
Footpath, on same confinement element, the phase contrast between two groups of threaded hole is by axial position, confinement element place
Put decision.
Described skeleton is flexible shaft or axial scalable axle sleeve.
Described flexible shaft is cylindrically coiled spring or rubber axis；Axial scalable axle sleeve by sleeve and
Optical axis forms, sleeve and optical axis matched in clearance.
Low head is provided with fluid intake, with charged pressure fluid, increases when being filled with fluid pressure
Adding, annular seal space volume expansion promotes confinement element to move and makes joint active deformation increasing, when being filled with stream
Body pressure reduces, and spring recovers, and joint deformity reduces, deformation and described bound form and
Logical pressure condition is relevant；When skeleton is flexible shaft, during the ventilation of single or double air bag, joint occurs actively
Rotating, bend and extend composite deformation, deformation extent is determined by fluid medium pressure, three air bags
During ventilation, there is active rotation and elongation composite deformation in joint；When skeleton is axial retractable spindle
During set, there is active rotation and elongation composite deformation in joint, deformation extent is by fluid medium pressure
Together decide on logical pressuring gasbag quantity；Described it is filled with fluid, can be corrosion-free, avirulent
Medium, such as compressed air, water etc..
It is an advantage of the invention that arthritic volume is compact and motion is flexible, main diarthrodial three spirals
Artificial-muscle driving means is complex as a whole with joint body；This joint has 3 degree of freedom,
The functions such as the Space Rotating of bionic joint, bending and axial elongation can be realized, belong to fluid drives and become
The spatial flexible joint of shape；Install different skeletons as required additional, space rotation can be respectively completed curved
Stretch and the amoeboid movement of two kinds of integrated modes of one direction precession；Three proportioning valves or one can be used
Proportioning valve and three reversal valves are controlled, and method is the most easy to control；It is mainly used in bionical
On the joint of robot, it is particularly suited for the higher Serpentis class of flexibility of joint requirement, trunk, Octopus
With in water on molluscan joint, there is preferable application prospect.
Accompanying drawing explanation
The present invention is further detailed explanation with detailed description of the invention below in conjunction with the accompanying drawings:
Fig. 1 is that type three helical flexible joint exploded perspective view is stretched in the pneumatic rotation of the present invention；
Fig. 2 is that type three helical flexible joint shaft side schematic diagram is stretched in the pneumatic rotation of the present invention；
Fig. 3 is that type three helical flexible flexibility of joint axle skeleton schematic diagram is stretched in the pneumatic rotation of the present invention；
Fig. 4 is that type three helical flexible joint axial retractable spindle set skeleton is stretched in the pneumatic rotation of the present invention
Schematic diagram.
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, cylindrically coiled spring；7, bottom end cover；8、
Low head；9, fluid intake.
Detailed description of the invention
Embodiment:
With instantiation the present invention made below in conjunction with the accompanying drawings and describing in detail further.
The present invention is by upper cover 1, upper end cover 2, joint skeleton 3, confinement element 4, air bag
5, cylindrically coiled spring 6, bottom end cover 7, low head 8, fluid intake 9 form；Upper end
Lid 1 and bottom end cover 7 lay respectively at pneumatic rotation and stretch two ends, type three helical flexible joint, and pneumatic rotation is stretched
In the middle of type three helical flexible joint by the coaxial solid matter of 20 confinement elements 4 connect, after series connection outside
Shape is column structure, is internally formed two groups of coaxial toroidal-shaped cavity that central diameter is different, spiral
The normal section of tube chamber is circular, forms a cylindrical cavity at axis, and each cavity is the most not
Interfere；Cylindrical cavity at axis arranges joint skeleton 3(accompanying drawing 3 flexible shaft skeleton
Example, the axial scalable axle sleeve skeleton example of accompanying drawing 4), joint skeleton 3 two ends respectively with institute
State upper end cover 2 and bottom end cover 7 is fixedly connected into one；Spiral tube chamber (spiral shell in described big central diameter
Rotation tubular cavity one) in cylindrically coiled spring 6 is set, toroidal-shaped cavity one quantity is 2,
Initial phase difference is 180 °, described cylindrically coiled spring 6 two ends respectively with upper end cover 1 and under
End cap 5 is fixedly connected into one；Toroidal-shaped cavity two quantity is 3, and initial phase difference is
120 °, rubber gas is set in the spiral tube chamber (toroidal-shaped cavity two) of described little central diameter
Capsule 5, described air bag 5 two ends are connected with upper cover 1 and low head 8 respectively, constitute annular seal space
Body, upper cover and low head are fixedly connected into one respectively with described upper end cover 2 and bottom end cover 7；
Low head is provided with what fluid intake 9, upper end cover 2 and bottom end cover 7 can be threaded connection
Mode assembles with robot body.
Claims (5)
1. type three helical flexible joint is stretched in a pneumatic rotation, it is characterised in that: include constraint unit
Part, joint skeleton, air bag, cylindrically coiled spring, upper end cover, bottom end cover, upper cover, under
End socket, fluid intake, be provided with several confinement elements between upper end cover and bottom end cover, described
Several confinement elements coaxially connect solid matter formed column structure, in column structure is internally formed
Two groups of coaxial toroidal-shaped cavity that footpath is different, are called toroidal-shaped cavity one and spiral
Tubular cavity two, forms cylindrical empty at the common axis of two groups of coaxial spiral tubular cavities
Chamber, arranges joint skeleton at cylindrical empty intracavity, joint skeleton two ends respectively with upper end cover, under
End cap is fixing to be connected；Toroidal-shaped cavity one quantity is 2, and initial phase difference is 180 °,
Arranging cylindrically coiled spring in described toroidal-shaped cavity one, the two ends of cylindrically coiled spring are divided
It is not fixedly connected into integrally with upper end cover, bottom end cover；Toroidal-shaped cavity two quantity is 3,
Initial phase difference is 120 °, arranges air bag in toroidal-shaped cavity two, and balloon ends is respectively
Being connected with upper cover, low head, constitute and seal cavity, upper cover and low head are respectively with described
Upper end cover, bottom end cover are fixedly connected into one, are provided with fluid intake, to be filled with on low head
Pressure fluid.
Type three helical flexible joint is stretched in the pneumatic rotation of one the most according to claim 1, its
It is characterised by: described air bag has 3, each air bag caliber, central diameter, pitch, rotation direction and circle
Count up to exactly the same；Three air bags constitute triple-helix structure.
Type three helical flexible joint is stretched in the pneumatic rotation of one the most according to claim 1, and it is special
Levying and be: described confinement element is lamellar, profile is circular or regular polygon, confinement element
Openwork part is referred to as threaded hole, and threaded hole has two groups, and described threaded hole is that two groups of helix are empty
Chamber is in the partial structurtes of confinement element, and the central diameter of threaded hole is equal to corresponding toroidal-shaped cavity
Central diameter, on same confinement element, the phase contrast between two groups of threaded hole is by confinement element place axle
Determine to position.
Type three helical flexible joint is stretched in the pneumatic rotation of one the most according to claim 1, its
It is characterised by: described joint skeleton is flexible shaft or axial scalable axle sleeve.
Type three helical flexible joint is stretched in the pneumatic rotation of one the most according to claim 4, its
It is characterised by: described flexible shaft is cylindrically coiled spring or rubber axis；Axial scalable axle sleeve by
Sleeve and optical axis composition, sleeve and optical axis matched in clearance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410029791.0A CN103786168B (en) | 2014-01-22 | 2014-01-22 | Type three helical flexible joint is stretched in pneumatic rotation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410029791.0A CN103786168B (en) | 2014-01-22 | 2014-01-22 | Type three helical flexible joint is stretched in pneumatic rotation |
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| Publication Number | Publication Date |
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| CN103786168A CN103786168A (en) | 2014-05-14 |
| CN103786168B true CN103786168B (en) | 2016-12-07 |
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| Application Number | Title | Priority Date | Filing Date |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106426139B (en) * | 2015-08-28 | 2019-02-22 | 范甬挺 | A kind of artificial-muscle and its application, robot |
| CN105500383B (en) * | 2016-02-23 | 2018-12-07 | 哈尔滨工业大学 | A kind of soft robot module with multi-motion form |
| CN114012781B (en) * | 2021-08-27 | 2023-06-16 | 北华大学 | Continuous spiral nested constraint pneumatic variable stiffness flexible arm |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2696783Y (en) * | 2004-01-30 | 2005-05-04 | 江南大学 | Pneumatic flexible freedom restricted mechanical finger |
| CN201295928Y (en) * | 2008-11-03 | 2009-08-26 | 浙江工业大学 | Side-sway joint based on flexible pneumatic actuator |
| CN101531009A (en) * | 2009-04-04 | 2009-09-16 | 北华大学 | Three-dimensional composite flexible joint |
| CN202540314U (en) * | 2011-10-25 | 2012-11-21 | 兰州交通大学 | Flexible pneumatic snake-shaped robot joint module |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6870343B2 (en) * | 2001-03-30 | 2005-03-22 | The University Of Michigan | Integrated, proportionally controlled, and naturally compliant universal joint actuator with controllable stiffness |
-
2014
- 2014-01-22 CN CN201410029791.0A patent/CN103786168B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2696783Y (en) * | 2004-01-30 | 2005-05-04 | 江南大学 | Pneumatic flexible freedom restricted mechanical finger |
| CN201295928Y (en) * | 2008-11-03 | 2009-08-26 | 浙江工业大学 | Side-sway joint based on flexible pneumatic actuator |
| CN101531009A (en) * | 2009-04-04 | 2009-09-16 | 北华大学 | Three-dimensional composite flexible joint |
| CN202540314U (en) * | 2011-10-25 | 2012-11-21 | 兰州交通大学 | Flexible pneumatic snake-shaped robot joint module |
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| CN103786168A (en) | 2014-05-14 |
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