CN104608143A - Flexible parabola-shaped abnormal plate spring framework joint - Google Patents
Flexible parabola-shaped abnormal plate spring framework joint Download PDFInfo
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- CN104608143A CN104608143A CN201510009990.XA CN201510009990A CN104608143A CN 104608143 A CN104608143 A CN 104608143A CN 201510009990 A CN201510009990 A CN 201510009990A CN 104608143 A CN104608143 A CN 104608143A
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Abstract
The invention relates to a flexible parabola-shaped abnormal plate spring framework joint, and belongs to the technical field of application of robots and mechanical arms. According to the joint, an abnormal plate spring is used as a framework, the joint is bent through the drive of fluid, and the joint can be used as various joints of a robot. When an elastic corrugated pipe is inflated, the elastic corrugated pipe extends and is restrained by the plate spring to be bent towards one side of the plate spring. When gas in the elastic corrugated pipe is released, the joint is restored to be in an extension state under the effect of the plate spring. The pressure in the elastic corrugated pipe is controlled to enable the joint to be bent and to be kept at a certain angle. The elastic corrugated pipe has good flexibility, the plate spring has good elasticity, and therefore the joint has good flexibility. Through the improvement of the cross section of the plate spring, the bending space can be increased, the strength demand can be met, the flexibility is improved, and plate spring materials are saved. The flexible parabola-shaped abnormal plate spring framework joint is flexible in bending action, small in energy consumption, convenient to control and has a good flexible adaptability effect.
Description
Technical field:
The present invention relates to a kind of parabola shaped submissive joint of Abnormal plate spring skeleton, it is patent application (invention and created name: the submissive joint of flat spring skeleton of variable cross-section and abnormity, application number: 201110406737.X, applying date: on December 09th, 2011) divisional application.This bending joint has good compliance and controllability, can be used as all kinds of joints of robot, is particularly useful for the flexible mechanical finger be made up of multiple bending joint, as the executing agency of automation equipment, belongs 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 parabola shaped submissive joint of Abnormal plate 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: longitudinal section is that parabola shaped parabola shaped Abnormal plate spring (15d) is embedded in the notch of cephalomere (1) and periproct (14) respectively, and fix with bolt (3) and rectangle pad (2), described longitudinal section is parabola shaped parabola shaped Abnormal plate spring (15d), its two ends embedded groove oral area is divided into rectangle, and its arbitrary cross section is rectangle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510009990.XA CN104608143A (en) | 2011-12-09 | 2011-12-09 | Flexible parabola-shaped abnormal plate spring framework joint |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510009990.XA CN104608143A (en) | 2011-12-09 | 2011-12-09 | Flexible parabola-shaped abnormal plate spring framework joint |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201110406737.XA Division CN102490183B (en) | 2011-12-09 | 2011-12-09 | Compliant joint taking irregular plate spring with variable cross section as skeleton |
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| CN104608143A true CN104608143A (en) | 2015-05-13 |
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| CN201510009990.XA Pending CN104608143A (en) | 2011-12-09 | 2011-12-09 | Flexible parabola-shaped abnormal plate spring framework joint |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107998646A (en) * | 2017-09-22 | 2018-05-08 | 深圳市御嘉鑫五金制品有限公司 | A kind of intelligent switch joint variable force protector |
| CN108673541A (en) * | 2018-05-04 | 2018-10-19 | 江南大学 | A kind of electrical composite drive thickness Abnormal plate spring skeleton flexible manipulator |
| CN118544387A (en) * | 2024-07-24 | 2024-08-27 | 清华大学深圳国际研究生院 | Self-sensing flexible mechanical arm joint and three-dimensional reconstruction method |
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| 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 |
| CN1676289A (en) * | 2005-02-23 | 2005-10-05 | 江南大学 | Combined muscular multi-directional bending flexible joint |
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2011
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Patent Citations (4)
| 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 |
| CN1676289A (en) * | 2005-02-23 | 2005-10-05 | 江南大学 | Combined muscular multi-directional bending flexible joint |
Non-Patent Citations (1)
| Title |
|---|
| 黄选剑 等: "柔性关节板弹簧骨架大挠度变形的数值计算方法", 《机械设计与制造》, no. 2, 28 February 2010 (2010-02-28), pages 46 - 48 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107998646A (en) * | 2017-09-22 | 2018-05-08 | 深圳市御嘉鑫五金制品有限公司 | A kind of intelligent switch joint variable force protector |
| CN107998646B (en) * | 2017-09-22 | 2023-01-06 | 深圳市御嘉鑫科技股份有限公司 | Intelligent joint variable force protective tool |
| CN108673541A (en) * | 2018-05-04 | 2018-10-19 | 江南大学 | A kind of electrical composite drive thickness Abnormal plate spring skeleton flexible manipulator |
| CN108673541B (en) * | 2018-05-04 | 2021-04-27 | 江南大学 | Electric composite drive thickness special-shaped plate spring skeleton flexible manipulator |
| CN118544387A (en) * | 2024-07-24 | 2024-08-27 | 清华大学深圳国际研究生院 | Self-sensing flexible mechanical arm joint and three-dimensional reconstruction method |
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Application publication date: 20150513 |
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