CN104029217B - Pneumatic-muscled bionic joint based on universal-joint parallel mechanism - Google Patents
Pneumatic-muscled bionic joint based on universal-joint parallel mechanism Download PDFInfo
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- CN104029217B CN104029217B CN201410267007.XA CN201410267007A CN104029217B CN 104029217 B CN104029217 B CN 104029217B CN 201410267007 A CN201410267007 A CN 201410267007A CN 104029217 B CN104029217 B CN 104029217B
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Abstract
The invention relates to a pneumatic-muscled bionic joint based on a universal-joint parallel mechanism. The pneumatic-muscled bionic joint mainly structurally comprises a support rod, a fixed end platform, connecting shafts, deep groove ball bearings, pneumatic muscles, universal joints, a front arm platform, internal circlips, and round nuts. When the pneumatic-muscled bionic joint operates, rubber tubes are inflated and expanded by inflating the pneumatic muscles and act on a woven net; weaving angle of lines of the woven net increases, the pneumatic muscles are driven to axially contract; the front arm platform can rotate at three rotational degrees of freedom by inflating one, two or three pneumatic muscles respectively. The pneumatic-muscled bionic joint is simpler in structure, light in weight, good in flexibility and low in cost; space for movement poses is large, the movement range is more approximate to that of human arms, compliance of a mechanism is enhanced accordingly, and pose adjustment range is enlarged. By the use of the pneumatic-muscled bionic joint in the field of medical rehabilitation, functional rehabilitation can be improved for old people or people with upper arms disabled.
Description
Technical field
The present invention relates to robot and simulation of human body field, more particularly to a kind of pneumatic muscles bionic joint.
Background technology
Today's society, with while economic rapid growth and fast development, produces and the deformity caused by transportation disasters
Number just increases year by year, and various diseases also cause the upper limbs of many people to lose function.In terms of another, the old-age group of population in the world
Change brings substantial amounts of problem, such as the elderly to need the timely nurse of specialty to complete daily life, medical care problem.These problems
Solution will bring substantial amounts of financial burden.Human upper limb bio-mechanism can be used for the limb function of these patients and recover, and
Can be used to provide power assisting device to complete daily life campaign for the elderly, this will alleviate current practicing engineer's number deficiency
Situation, and enable to reduce their financial burden, with great social effect.At present, although Chinese scholars are to gas
The research in dynamic muscle upper limb healing field has expanded many years, also varied to the structure design of bionical elbow joint, bag
The parallel institutions such as 3-SPS/S are included, but the space of these mechanisms is universal less, much smaller than the range of movement of human arm, and
Mostly Motor drive so that its quality is big, poor safety performance, this allows comfort level, scope of activities and the patient of bionic arm
Rehabilitation efficacy is differed greatly with actual demand.Novel bionic driving means are pneumatic（Manually）Muscle（Pneumatic
Artificial Muscle, abbreviation PAM）, major advantage be working method, response time, telescopic extensions and biological muscles compared with
For similar, its nonlinear characteristic is close with human skeletal muscle, and possesses the compliance that the drivers such as motor do not possess.It is pneumatic
（Manually）Muscle driving means can be applicable to multiple fields, widely used motor driver in alternative present robot,
So that robot has more preferable flexibility, such as can be used for human body artificial limb, limb rehabilitating equipment and bio-robot and joy
Happy industry etc..
1961848 B of Chinese patent CN propose a kind of flexible exoskeleton elbow joint of single-degree-of-freedom pneumatic muscles, the elbow
Articulation mechanism is made up of two pneumatic muscles and a single-degree-of-freedom rotary motion pair, and the structure can only realize that single-degree-of-freedom is transported
It is dynamic.
Chinese patent CN 101181175A propose a kind of single-degree-of-freedom device for healing and training elbow joint, and the mechanism adopts
Two pneumatic muscles both-ends are driven to the mode drawn, and the structure can only realize single dof mobility.
A kind of 102126210 A of Chinese patent CN, it is proposed that Pneumatic muscle-flexible mechanical arm with seven degrees of freedom, the mechanism
The motion of every free degree be that the result brought is bulky, cost to drawing principle to drive by the both-end of two pneumatic muscles
It is high.
The content of the invention
It is an object of the invention to provide a kind of simple structure, light, with good flexibility and compliance and it is capable of achieving
The pneumatic muscles bionic joint of pose adjustment on a large scale.
The present invention pneumatic muscles bionic joint there is the three-dimensional rotation free degree, which is characterized in that, pneumatic muscles with it is front
The coupling part of arm platform and fixing end platform is using the connection of universal coupling, connecting shaft, deep groove ball bearing and circlip.It is logical
Overdrive pneumatic muscles, and then drive forearm platform three-dimensional rotating.
From shown in Fig. 1, the performance of the bionic joint includes：With ground as fixed coordinate system, the support bar of forearm platform
Parallel toZAxle, and vertically upward.Forearm platform aroundXAxle,YAxle, range of movement are reachable（-50°,50°）AroundZAxle rotary motion model
Enclose reachable（-25°,25°）, bionic joint power output is up to 300N.
Compared with technology before, it is an advantage of the current invention that：
1st, bionic joint of the present invention, during motion, configuration space is larger, closer to the range of movement of human arm, so as to strengthen
The compliance of mechanism, increases pose adjusting range；
2nd, make the structure of the bionic joint relatively easy, light, with preferable by using pneumatic muscles as driver
Flexibility；
3rd, bionic joint of the present invention is applied in medical rehabilitation field, the elderly or physical disabilities' upper limbs work(can be strengthened
The effect that can recover.
Description of the drawings
Fig. 1 bionic joint structural representations；
Fig. 2 fixing end platform structure schematic diagrames；
Fig. 3 forearm platform structure schematic diagrames；
Fig. 4 pneumatic muscles bionic joint system diagrams.
In figure：1 support bar, 2 fixing end platforms, 3 connecting shafts, 4 deep groove ball bearings, 5 pneumatic muscles, 6 universal couplings, 7
Forearm platform, 8 circlip for holes, 9 round nuts, 10 air compressors, 11 pneumatic triple pieces, 12 tracheaes, 13 pneumatic muscles controls
Unit processed（SPCU controllers）.
Specific embodiment
Below embodiments of the invention are elaborated, the present embodiment is carried out under premised on technical solution of the present invention
Implement, give detailed embodiment and specific operating process, but protection scope of the present invention is not limited to following enforcements
Example.
From Fig. 1, shown in 2,3, the bionic joint is mainly made up of four parts：Fixing end platform 2, forearm platform 7 are pneumatic
Muscle 5 and support bar 1.
From Fig. 1, shown in 2,3, six universal couplings 6, wherein three by the pin-and-hole end of connecting shaft 3 and fixing end platform
2 are connected, and its excess-three is connected with forearm platform 7 by the pin-and-hole end of connecting shaft 3.3 mounting means of connecting shaft is：Respectively at two
Platform processes three 120 ° of uniform shoulder holes, and deep groove ball bearing 4 is installed in shoulder hole, and is fixed with circlip for hole 8
The outer ring of deep groove ball bearing 4；Coordinate with deep groove ball bearing 4 in the shoulder hole of two platforms of insertion of connecting shaft 3 and install so as to the shaft shoulder
Contact with the inner ring of deep groove ball bearing 4；Round nut 9 be arranged on connecting shaft 3 fine thread end, and with deep groove ball bearing 4 in
Circle contact.
From shown in Fig. 2 and Fig. 3, one end and the fixing end platform 2 of support bar 1 are connected centrally through screw thread, and the other end leads to
Cross universal coupling 6 and connecting shaft 3 is connected with forearm platform.From shown in Fig. 3,3 mounting means of connecting shaft is：In forearm platform
Center processes a shoulder hole, and deep groove ball bearing 4 is installed in shoulder hole, and fixes deep groove ball bearing 4 with circlip for hole 8
Outer ring；Coordinate with deep groove ball bearing 4 in the shoulder hole of two platforms of insertion of connecting shaft 3 and install so as to the shaft shoulder and deep groove ball bearing 4
Inner ring contact；Round nut 9 is arranged on the fine thread end of connecting shaft 3, and contacts with the inner ring of deep groove ball bearing 4.
From shown in Fig. 4, pneumatic muscles bionic joint system mainly includes：Pneumatic muscles bionic joint, air compressor
10th, pneumatic triple piece 11, tracheae 12, pneumatic muscles control unit SPCU controller 13.
Pneumatic muscles bionic joint operation principle is：Air compressor 10 is started, then the source of the gas in air compressor 10
By pneumatic triple piece 11 by air voltage stabilizing and filtration, it is transported in pneumatic muscles control unit SPCU13, PC sends instruction, leads to
Extra pulse signal or input program realize that control air valve is opened and closed, and then control the flowing of air in pneumatic muscles 5, adjust internal
Air pressure；Rubber tube expands after inflation, and acts on mesh grid so as to which braid angle increases, and drives pneumatic muscles to shrink.By not
With the dynamic muscle of mode drive gas, the three axle rotary motion of forearm platform is capable of achieving.
Claims (1)
1. a kind of pneumatic muscles bionic joint based on universal coupling formula parallel institution, it is characterised in that：Critical piece includes：
Support bar, fixing end platform, connecting shaft, deep groove ball bearing, three pneumatic muscles, the first universal coupling, forearm platform, Kong Yong
Circlip, round nut and six the second universal couplings, one end of support bar are solid centrally through screw thread with fixing end platform
Even, the other end is connected with forearm platform by the first universal coupling and connecting shaft；Three pneumatic muscles are put down with forearm
The coupling part of platform and fixing end platform is respectively adopted the universal coupling, connecting shaft, deep groove ball bearing and circlip and connects
Connect, the connecting shaft is a multidiameter, its one end processing screw thread, the other end are machined with pin hole, wherein three second universal
Joint is connected with fixing end platform by the pin-and-hole end of connecting shaft, its excess-three pin-and-hole of second universal coupling by connecting shaft
End is connected with forearm platform；Process three 120 ° of uniform shoulder holes on two platforms respectively；Deep-groove ball is installed in shoulder hole
Bearing, and fixed by connecting shaft, round nut and circlip for hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410267007.XA CN104029217B (en) | 2014-06-17 | 2014-06-17 | Pneumatic-muscled bionic joint based on universal-joint parallel mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410267007.XA CN104029217B (en) | 2014-06-17 | 2014-06-17 | Pneumatic-muscled bionic joint based on universal-joint parallel mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN104029217A CN104029217A (en) | 2014-09-10 |
| CN104029217B true CN104029217B (en) | 2017-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410267007.XA Expired - Fee Related CN104029217B (en) | 2014-06-17 | 2014-06-17 | Pneumatic-muscled bionic joint based on universal-joint parallel mechanism |
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Families Citing this family (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104842345B (en) * | 2015-06-10 | 2017-01-25 | 东北大学 | Human-simulated mechanical arm based on hybrid driving of various artificial muscles |
| CN105691572B (en) * | 2016-01-25 | 2017-08-11 | 哈尔滨工业大学 | A kind of imitative frog travel robot of pneumatic muscles antagonism formula driving |
| CN106181999B (en) * | 2016-07-05 | 2019-01-18 | 上海交通大学 | A kind of Pneumatic artificial muscle actuator's parameters scaling method |
| CN106272543B (en) * | 2016-09-30 | 2018-08-21 | 重庆交通大学 | Bionical composite drive humanoid robot joint |
| 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 |
| CN107243923A (en) * | 2017-05-24 | 2017-10-13 | 东北大学 | A kind of binodal McKibben muscle variation rigidity soft robot arm |
| CN107253188B (en) * | 2017-06-29 | 2019-07-26 | 常州大学 | A kind of multiple degrees of freedom Simple mechanical arm based on IPMC driving |
| CN108818457B (en) * | 2018-07-11 | 2021-04-27 | 南京工程学院 | Multi-degree-of-freedom workbench based on pneumatic artificial muscles |
| CN108858273A (en) * | 2018-07-17 | 2018-11-23 | 东北大学 | A kind of submissive joint of six degree of freedom of pneumatic muscles driving |
| CN108927792B (en) * | 2018-09-25 | 2023-08-08 | 电子科技大学中山学院 | Wearable power-assisted manipulator device |
| CN109550185B (en) * | 2018-11-16 | 2020-11-10 | 鹤壁市人民医院 | Rehabilitation device |
| CN109664272B (en) * | 2019-01-14 | 2023-07-28 | 南昌大学 | Novel wearable walking-assisting robot mechanism device |
| CN112276996B (en) * | 2019-07-25 | 2024-07-12 | 芜湖隆深机器人有限公司 | Flexible unit and mechanical arm applying same |
| CN110353949B (en) * | 2019-08-08 | 2020-12-01 | 北京交通大学 | Active knee and ankle joint artificial limb mechanism based on metamorphic parallel mechanism |
| CN113084789B (en) * | 2021-04-02 | 2023-03-14 | 浙江工业大学 | Rigid-flexible coupling pneumatic muscle |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003172418A (en) * | 2001-12-07 | 2003-06-20 | Koji Kondo | Parallel mechanism robot arm (3) |
| CN202790181U (en) * | 2012-08-28 | 2013-03-13 | 湖北中烟工业有限责任公司 | Novel universal coupler |
| CN103831839B (en) * | 2014-01-17 | 2016-01-20 | 南京航空航天大学 | Robot bionic wrist joint and structural optimization method thereof |
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2014
- 2014-06-17 CN CN201410267007.XA patent/CN104029217B/en not_active Expired - Fee Related
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