CN108000552A - A kind of Modular Flexible artificial-muscle joint - Google Patents
A kind of Modular Flexible artificial-muscle joint Download PDFInfo
- Publication number
- CN108000552A CN108000552A CN201711246968.2A CN201711246968A CN108000552A CN 108000552 A CN108000552 A CN 108000552A CN 201711246968 A CN201711246968 A CN 201711246968A CN 108000552 A CN108000552 A CN 108000552A
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- China
- Prior art keywords
- artificial
- muscle
- mounting flange
- module interface
- modular flexible
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Prostheses (AREA)
Abstract
A kind of Modular Flexible artificial-muscle joint, the present invention relates to a kind of muscle arthrosis, for the present invention in order to solve the problems, such as that existing soft drive joint structure is complicated, size is relatively bulky and multi-joint combination is difficult, it includes front module interface, rear module interface, elastic supporting beams, two mounting flange components and N root artificial-muscles；N is the integer more than or equal to 3, one end of front module interface is installed with a mounting flange component, one end of module interface is installed with another mounting flange component afterwards, the both ends of elastic supporting beams are respectively and fixedly installed on two mounting flange components, N root artificial-muscles are separately positioned between two mounting flange components, and the both ends of every artificial-muscle are fixedly connected with two mounting flange components respectively, the invention belongs to flexible robot's technical field.
Description
Technical field
The present invention relates to a kind of muscle arthrosis, present invention relates particularly to a kind of Modular Flexible artificial-muscle joint, belongs to
Flexible robot's technical field.
Background technology
Flexible robot's technology becomes the important branch of robotic technology field in recent years, due to conventional rigid robot
The free degree is less, the rigidity of structure is larger, and there are limitation on some are applied.And flexible robot has high flexibility, variable
The features such as shape and energy absorption characteristics, have stronger adaptability to environment, and it is multiple that some can be completed with simpler mode
Auxiliary work acts.
It is mostly at present electroactive polymer, rope driver, marmem and fluid using more compliant mechanism
Driver etc..The external secondary system that the general volume of these compliant mechanisms is larger, expensive and needs are complicated, and be difficult to combine
Use.
Reverse that the spiral wound type artificial-muscle driver sluggishness that forms is small, long lifespan based on polymer fiber (nylon etc.)
And (about 30 yuan/kilogram of the price of nylon) of low cost, its lifting capacity is 100 times of the human muscle of equal length and weight
More than.And this kind of convoluted artificial-muscle of polymer spiral is easy to, structure size is small, have highly flexible and can braided nature,
It is easier to be applied in combination.
The content of the invention
Existing soft drive joint structure is complicated, size is relatively bulky and multi-joint combines difficulty in order to solve by the present invention
Problem, and then propose a kind of Modular Flexible artificial-muscle joint.
It is of the invention to be for the technical solution used that solves the above problems：It includes front module interface, rear module interface, bullet
Property supporting beam, two mounting flange components and N root artificial-muscles；N is the integer more than or equal to 3, and one end of front module interface is consolidated
Dingan County is equipped with a mounting flange component, and one end of rear module interface is installed with another mounting flange component, elasticity branch
The both ends of support beam are respectively and fixedly installed on two mounting flange components, and N root artificial-muscles are separately positioned on two mounting flanges
Between component, and the both ends of every artificial-muscle are fixedly connected with two mounting flange components respectively.
The beneficial effects of the invention are as follows：The present invention uses modularized design, simple in structure, small, light weight, cost
Low, cost reduction 20%-40%, the present invention are easily achieved micromation.Connection is simple with dismounting between multi-joint at the same time, passes through string
Join or be connected in parallel and be easily achieved multifunctional combination.Build in low-cost system, flexible robot makes, the machinery of small space
The fields such as operation have broad application prospects, and N roots artificial-muscle 4 can independently drive, and become by the way that N roots artificial-muscle 4 is different
The combination of shape amount, can make joint produce the bending motion along any direction；, can by controlling the deflection of different artificial-muscles 4
To realize the accurate adjustment in flexible artificial-muscle arthrogryposis direction and angle of bend size.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present invention, and the number of artificial-muscle 4 is three in Fig. 1.
Fig. 2 is the schematic diagram of mounting flange component 2.
Fig. 3 is the structure type and its deformation state schematic diagram of artificial-muscle 4.
Fig. 4 is the bending motion deformation schematic diagram in the joint of Modular Flexible artificial-muscle shown in Fig. 1.
Fig. 5 is that multiple Modular Flexible artificial-muscle joints shown in Fig. 1 are connected in parallel and form flexible hand on base 6
The schematic diagram of pawl；
Fig. 6 is the schematic diagram that multiple Modular Flexible artificial-muscle joints shown in Fig. 1 are connected in series composition flexible mechanical arm,
Together with the raised dovetail groove with adjacent rear module interface 3 of swallow-tail form on one of front module interface 1 is embedded in.
Embodiment
Embodiment one：Illustrate present embodiment, a kind of Modular Flexible described in present embodiment with reference to Fig. 1-Fig. 6
Artificial-muscle joint, it includes front module interface 1, rear module interface 3,5, two mounting flange components 2 of elastic supporting beams and N roots
Artificial-muscle 4；N is the integer more than or equal to 3, and one end of front module interface 1 is installed with a mounting flange component 2, after
One end of module interface 3 is installed with another mounting flange component 2, and the both ends of elastic supporting beams 5 are respectively and fixedly installed to
On two mounting flange components 2, N roots artificial-muscle 4 is separately positioned between two mounting flange components 2, and every artificial muscle
The both ends of meat 4 are fixedly connected with two mounting flange components 2 respectively, and elastic supporting beams 5 are arranged in two mounting flange components 2
Center.
Embodiment two：Illustrate present embodiment, a kind of modularization described in present embodiment with reference to Fig. 1, Fig. 4-Fig. 6
Flexible artificial-muscle joint, the end face of 1 one end of front module interface are machined with swallow-tail form protrusion, one end processing of rear module interface 3
There is dovetail groove.The raised dovetail groove with rear module interface 3 of swallow-tail form on front module interface 1 is engaged, preceding mould
Quickly it can connect and dismantle between block interface 1 and rear module interface 3, multiple Modular Flexible artificial-muscle joints pass through series connection
Or be connected in parallel and can form multifunction flexible mechanism, it is other identical with embodiment one.
Embodiment three：Illustrate present embodiment with reference to Fig. 2, a kind of Modular Flexible described in present embodiment is artificial
Muscle arthrosis, the initial length of each helical spring and the equal length of elastic supporting beams 5 are other with one phase of embodiment
Together.
Embodiment four：Illustrate present embodiment, a kind of Modular Flexible described in present embodiment with reference to Fig. 3-Fig. 6
Artificial-muscle joint, mounting flange component 2 include flanged plate and supporting beam connecting pole 2-2, are radially uniformly processed on flanged plate
There is N number of muscle mounting groove 2-1, one end of supporting beam connecting pole 2-2 is fixedly mounted on the end face of flanged plate one end, resilient support
Supporting beam connecting pole 2-2 of the both ends of beam 5 respectively with two mounting flange components 2 is fixedly connected, other and embodiment
One is identical.
Embodiment five：Illustrate present embodiment with reference to Fig. 1, a kind of Modular Flexible described in present embodiment is artificial
Muscle arthrosis, artificial-muscle 4 reverses the spiral wound type structure formed for polymer fiber, and can produce length when heated
Change.It is other identical with embodiment one.
Embodiment six：Illustrate present embodiment with reference to Fig. 1, a kind of Modular Flexible described in present embodiment is artificial
Muscle arthrosis, artificial-muscle 4 reverse the spiral wound type structure formed jointly for polymer fiber and wire.It is other with it is specific
Embodiment one is identical.
Embodiment seven：Illustrate present embodiment with reference to Fig. 1, a kind of Modular Flexible described in present embodiment is artificial
Muscle arthrosis, every artificial-muscle 4 can independently drive, and by the combination of N root artificial-muscle different distortion amounts, can produce joint
The raw bending motion along any direction；By the deflection for controlling different artificial-muscles, it is possible to achieve flexible artificial-muscle joint
The accurate adjustment of bending direction and angle of bend size, it is other identical with embodiment one.
Operation principle
Every artificial-muscle 4 in the present invention can independently drive, by the combination of every artificial-muscle different distortion amount,
Joint can be made to produce the bending motion along any direction；By the deflection for controlling different artificial-muscles, it is possible to achieve flexible people
The accurate adjustment of work muscle arthrosis bending direction and angle of bend size.
The work muscle arthrosis end of the present invention is fixedly connected by front module interface 1 or rear module interface 3 with base 6, and
Connection forms a soft drive paw, and each joint of paw can independently drive；Flexural deformation by controlling each joint can be with
The operating state of accurate control paw；Single or multiple joints lateral bend into paw is driven, produces grasping movement；Drive single
Or multiple joints lateral bend to outside paw, release movement is produced, and then realize the basic function of soft drive paw.
The head end in the artificial-muscle joint of the present invention and end are fixed successively by front module interface 1 and rear module interface 3
Connection, forms a flexible mechanical arm, each joint of mechanical arm can independently drive；By controlling the flexural deformation in each joint,
The spatial attitude of flexible mechanical arm can accurately be controlled；It can realize that the flexibility of mechanical arm is moved by the combination driving in multiple joints
Make, execution end is reached target operation points.
Claims (6)
- A kind of 1. Modular Flexible artificial-muscle joint, it is characterised in that：It includes front module interface (1), rear module interface (3), elastic supporting beams (5), two mounting flange components (2) and N roots artificial-muscle (4)；N is integer more than or equal to 3, preceding mould One end of block interface (1) is installed with a mounting flange component (2), and one end of rear module interface (3) is installed with separately One mounting flange component (2), the both ends of elastic supporting beams (5) are respectively and fixedly installed on two mounting flange components (2), N Root artificial-muscle (4) is separately positioned between two mounting flange components (2), and the both ends of every artificial-muscle (4) respectively with Two mounting flange components (2) are fixedly connected.
- A kind of 2. Modular Flexible artificial-muscle joint according to claim 1, it is characterised in that：Front module interface (1) one The end face at end is machined with swallow-tail form protrusion, and one end of rear module interface (3) is machined with dovetail groove.
- A kind of 3. Modular Flexible artificial-muscle joint according to claim 1, it is characterised in that：Each helical spring is first The equal length of beginning length and elastic supporting beams (5).
- A kind of 4. Modular Flexible artificial-muscle joint according to claim 1, it is characterised in that：Artificial-muscle (4) is poly- Compound fiber reverses the spiral wound type structure formed, and can produce the change of length when heated.
- A kind of 5. Modular Flexible artificial-muscle joint according to claim 1, it is characterised in that：Artificial-muscle (4) is poly- Compound fiber and wire reverse the spiral wound type structure formed jointly.
- A kind of 6. Modular Flexible artificial-muscle joint according to claim 1, it is characterised in that：Every artificial-muscle (4) It can carry out independent driving.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711246968.2A CN108000552A (en) | 2017-11-30 | 2017-11-30 | A kind of Modular Flexible artificial-muscle joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711246968.2A CN108000552A (en) | 2017-11-30 | 2017-11-30 | A kind of Modular Flexible artificial-muscle joint |
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| CN108000552A true CN108000552A (en) | 2018-05-08 |
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| CN201711246968.2A Pending CN108000552A (en) | 2017-11-30 | 2017-11-30 | A kind of Modular Flexible artificial-muscle joint |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015741A (en) * | 2018-08-24 | 2018-12-18 | 哈尔滨工业大学 | A kind of aerodynamic twist joint of particle strengthen rigidity |
| CN109262600A (en) * | 2018-10-17 | 2019-01-25 | 尉长虹 | A kind of scalable software mechanical device |
| CN111775177A (en) * | 2020-06-30 | 2020-10-16 | 大连海事大学 | Integrated valve-controlled modular double-acting hydraulic artificial muscle joint |
| CN112571440A (en) * | 2020-12-09 | 2021-03-30 | 中国空间技术研究院 | Joint unit, finger-shaped device and gripper |
| CN114872074A (en) * | 2022-04-12 | 2022-08-09 | 南京信息工程大学 | Soft machine gripper based on gear motor and twisted fiber hybrid drive |
| CN114905491A (en) * | 2022-05-17 | 2022-08-16 | 大连海事大学 | Water pressure artificial muscle driven modularized flexible bionic robot module and robot |
| CN117207165A (en) * | 2023-09-18 | 2023-12-12 | 南京农业大学 | Modular telescopic soft mechanical arm of pneumatic drive-by-wire |
| CN117532596A (en) * | 2024-01-08 | 2024-02-09 | 之江实验室 | Artificial muscle fiber bundling device and method with multiple movement modes |
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| CN107053155A (en) * | 2017-01-20 | 2017-08-18 | 北京航空航天大学 | A kind of trunk type sequential machine people of marmem driving |
| CN107225566A (en) * | 2017-06-16 | 2017-10-03 | 广东工业大学 | The software module of two-way shape memory alloy driving |
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| CN102889188A (en) * | 2012-09-29 | 2013-01-23 | 黑龙江科技学院 | Two-way linear driver based on shape memory material actuator |
| CN104216413A (en) * | 2014-09-15 | 2014-12-17 | 湖北三江航天红林探控有限公司 | Posture control device |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015741A (en) * | 2018-08-24 | 2018-12-18 | 哈尔滨工业大学 | A kind of aerodynamic twist joint of particle strengthen rigidity |
| CN109262600A (en) * | 2018-10-17 | 2019-01-25 | 尉长虹 | A kind of scalable software mechanical device |
| CN109262600B (en) * | 2018-10-17 | 2022-02-22 | 尉长虹 | Telescopic soft mechanical device |
| CN111775177A (en) * | 2020-06-30 | 2020-10-16 | 大连海事大学 | Integrated valve-controlled modular double-acting hydraulic artificial muscle joint |
| CN111775177B (en) * | 2020-06-30 | 2022-07-08 | 大连海事大学 | Integrated valve-controlled modular double-acting hydraulic artificial muscle joint |
| CN112571440A (en) * | 2020-12-09 | 2021-03-30 | 中国空间技术研究院 | Joint unit, finger-shaped device and gripper |
| CN114872074A (en) * | 2022-04-12 | 2022-08-09 | 南京信息工程大学 | Soft machine gripper based on gear motor and twisted fiber hybrid drive |
| CN114905491A (en) * | 2022-05-17 | 2022-08-16 | 大连海事大学 | Water pressure artificial muscle driven modularized flexible bionic robot module and robot |
| CN117207165A (en) * | 2023-09-18 | 2023-12-12 | 南京农业大学 | Modular telescopic soft mechanical arm of pneumatic drive-by-wire |
| CN117532596A (en) * | 2024-01-08 | 2024-02-09 | 之江实验室 | Artificial muscle fiber bundling device and method with multiple movement modes |
| CN117532596B (en) * | 2024-01-08 | 2024-04-23 | 之江实验室 | Artificial muscle fiber bundling device and method with multiple movement modes |
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Application publication date: 20180508 |
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