CN108340400A - A kind of flexible drive type bidirectional rotation joint of robot - Google Patents
A kind of flexible drive type bidirectional rotation joint of robot Download PDFInfo
- Publication number
- CN108340400A CN108340400A CN201810144540.5A CN201810144540A CN108340400A CN 108340400 A CN108340400 A CN 108340400A CN 201810144540 A CN201810144540 A CN 201810144540A CN 108340400 A CN108340400 A CN 108340400A
- Authority
- CN
- China
- Prior art keywords
- artificial
- muscle
- stator
- drive type
- flexible drive
- 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.)
- Granted
Links
- 230000002457 bidirectional effect Effects 0.000 title claims abstract description 18
- 239000000835 fiber Substances 0.000 claims abstract description 6
- 210000003205 muscle Anatomy 0.000 claims description 5
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- BGOFCVIGEYGEOF-UJPOAAIJSA-N helicin Chemical compound O[C@@H]1[C@@H](O)[C@H](O)[C@@H](CO)O[C@H]1OC1=CC=CC=C1C=O BGOFCVIGEYGEOF-UJPOAAIJSA-N 0.000 claims description 3
- 229920005594 polymer fiber Polymers 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000739 chaotic effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 229920001746 electroactive polymer Polymers 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 229920000831 ionic polymer Polymers 0.000 description 1
- -1 marmem Polymers 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229920000642 polymer Polymers 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
Abstract
A kind of flexible drive type bidirectional rotation joint of robot of the present invention, is related to flexible actuator technical field.It solves the problems, such as that existing flexible actuator cannot generate rotary motion.The flexible rotating driver of the present invention includes coiling sheave, 2 artificial-muscles, shaft and stator；2 artificial-muscles are wrapped in the opposite direction on coiling sheave, every described artificial-muscle one end is fixed on coiling sheave, the other end is fixed on stator, the coiling sheave is mounted in shaft and is fixedly connected with shaft, is connect in the mounting hole that the shaft is mounted on stator and with stator rotation.The present invention realizes flexible rotating driver by being combined the convoluted artificial-muscle of fiber with rotating mechanism；Compared with conventional flex driver, the present invention can generate rotary motion；Compared with conventional rigid rotating driver, the configuration of the present invention is simple, small, light-weight, power density is high, output is flexible big, can be used for the driving of flexible robot.
Description
Technical field
The present invention relates to a kind of flexible drive type bidirectional rotation joint of robot, belong to flexible actuator technical field.
Background technology
Flexible actuator is all the important branch of robot field all the time, due to conventional rigid driver volume, again
Amount is big, and action rigidity is high, and there are certain limitations on some are applied.Flexible actuator has flexibility height, is easily deformed
Feature is easily arranged in flexible robot or narrow structure, and because it is with very strong action compliance, it is easy to accomplish machine
Device people, environment and people secure interactive, have broad application prospects.
Common flexible actuator includes that electroactive polymer, marmem, ionic polymer metal are compound at present
Material etc..These flexible actuators are expensive, power output and limited displacement and can only export straight line or flexural deformation, cannot produce
Raw rotary motion, it is difficult to meet flexible machine Man's Demands.
Invention content
The present invention is in order to solve the problems, such as that existing flexible actuator cannot generate rotary motion, it is proposed that a kind of flexible drive
Type bidirectional rotation joint of robot, the technical solution taken are as follows：
A kind of flexible drive type bidirectional rotation joint of robot, including 1,2 artificial-muscle 2 of coiling sheave, shaft 3 and fixed
Son 4；2 artificial-muscles 2 are wrapped in the opposite direction on coiling sheave 1, every 2 one end of the artificial-muscle be fixed on around
On wire casing wheel 1, the other end is fixed on stator 4, and the coiling sheave 1 is mounted in shaft 3 and is fixedly connected with shaft 3, institute
Shaft 3 is stated in the mounting hole on stator 4 and is rotatablely connected with stator 4.
It further limits, spiral helicine groove is provided on the coiling sheave 1.
It further limits, 2 artificial-muscles 2 are wrapped in the groove of coiling sheave 1.
It further limits, 1 surface of coiling sheave is coated with heat insulating coat.
It further limits, 2 artificial-muscles 2 are the spiral knot of polymer fiber and the co-wound formation of wire
The fibre strip of structure.
It further limits, is powered when to the wire in artificial-muscle 2, it is described artificial when 2 temperature of artificial-muscle being made to increase
2 length of muscle shortens.
It further limits, the deformation of 2 artificial-muscles 2 is individually controllable.
It further limits, the shaft 3 can rotate around own axes under the limitation of the stator 4 and cannot edge
Axial-movement.
It further limits, there are mounting hole positions for 4 bottom of the stator.
Beneficial effects of the present invention：The present invention is realized by being combined the convoluted artificial-muscle of fiber with rotating mechanism
Flexible rotating drives, and the number of turns wound on coiling sheave by increase artificial-muscle is, it can be achieved that big angle rotary drives；With biography
System flexible actuator is compared, and the present invention can generate rotary motion；Compared with conventional rigid rotating driver, structure of the invention letter
It is single, small, light-weight, power density is high, output is flexible big, can be used for the driving of flexible robot.
Description of the drawings
Fig. 1 is that of the present invention have a kind of structural schematic diagram of flexible drive type bidirectional rotation joint of robot；
Fig. 2 is artificial-muscle of the present invention canoe schematic diagram on coiling sheave；
Fig. 3 is the structure type and its deformation state schematic diagram of artificial-muscle of the present invention；
Fig. 4 is the principle schematic that artificial-muscle of the present invention drives the rotation of coiling sheave；
Fig. 5 is flexible rotating driver rotary motion schematic diagram of the present invention.
Specific implementation mode
With reference to specific embodiment, the present invention will be further described, but the present invention should not be limited by the examples.
Specific implementation mode one：Illustrate present embodiment in conjunction with Fig. 1 to Fig. 5：
A kind of flexible drive type bidirectional rotation joint of robot that present embodiment proposes, including 1,2 people of coiling sheave
Work muscle 2, shaft 3 and stator 4；2 artificial-muscles 2 are wrapped in the opposite direction on coiling sheave 1, and every described artificial
2 one end of muscle is fixed on coiling sheave 1, and the other end is fixed on stator 4, the coiling sheave 1 be mounted on shaft 3 on and with
Shaft 3 is fixedly connected, and the shaft 3 is mounted in the mounting hole on stator 4 and is rotatablely connected with stator 4.The coiling sheave 1
On be provided with spiral helicine groove.2 artificial-muscles 2 are wrapped in the groove of coiling sheave 1.Flexible rotating driver work
During work, the artificial-muscle 2 remains in spiral groove, and chaotic winding will not occur, to ensure flexible rotating
The motion stability of driver is reliable.1 surface of coiling sheave is coated with heat insulating coat.2 artificial-muscles 2 are polymer
The fibre strip of fiber and the helical structure of the co-wound formation of wire.The increase of its temperature and Length Contraction after being powered to it,
Length restores to the original state after power-off.It is powered when to the wire in artificial-muscle 2, it is described artificial when 2 temperature of artificial-muscle being made to increase
2 length of muscle shortens.When being individually powered to an artificial-muscle 2, length is shunk, and coiling sheave 1 is driven to revolve
Turn, while another artificial-muscle 2 being elongated.After being powered off to it, two 2 length of artificial-muscle restore to the original state, coiling sheave 1
Angle restores to the original state.When being individually powered to another artificial-muscle 2, coiling sheave 1 reversely rotates.2 artificial-muscles 2
It deforms individually controllable.The shaft 3 can rotate around own axes under the limitation of the stator 4 and cannot be transported along axis
It is dynamic.There are mounting hole positions for 4 bottom of the stator.Coiling sheave 1 is fixedly connected with shaft 3, and coiling sheave 1 drives when rotating
Shaft 3 rotates, and realizes the output of spinning movement.
A kind of structure of flexible drive type bidirectional rotation joint of robot of the present invention is not limited to and above-mentioned each reality
Concrete structure described in mode is applied, can also be the reasonable combination of feature described in above-mentioned each embodiment.
Claims (9)
1. a kind of flexible drive type bidirectional rotation joint of robot, it is characterised in that：Including coiling sheave (1), 2 artificial-muscles
(2), shaft (3) and stator (4)；2 artificial-muscles (2) are wrapped in the opposite direction on coiling sheave (1), described in every
Artificial-muscle (2) one end is fixed on coiling sheave (1), and the other end is fixed on stator (4), coiling sheave (1) installation
It is fixedly connected in shaft (3) and with shaft (3), the shaft (3) is mounted in the mounting hole on stator (4) and and stator
(4) it is rotatablely connected.
2. a kind of flexible drive type bidirectional rotation joint of robot according to claim 1, it is characterised in that：The coiling
Sheave is provided with spiral helicine groove on (1).
3. a kind of flexible drive type bidirectional rotation joint of robot according to claim 2, it is characterised in that：Described 2
Artificial-muscle (2) is wrapped in the groove of coiling sheave (1).
4. a kind of flexible drive type bidirectional rotation joint of robot according to claim 1, it is characterised in that：The coiling
Sheave (1) surface is coated with heat insulating coat.
5. a kind of flexible drive type bidirectional rotation joint of robot according to claim 1, it is characterised in that：Described 2
Artificial-muscle (2) is the fibre strip of polymer fiber and the helical structure of the co-wound formation of wire.
6. a kind of flexible drive type bidirectional rotation joint of robot according to claim 1, it is characterised in that：When to artificial
Wire in muscle (2) is powered, and when artificial-muscle (2) temperature being made to increase, artificial-muscle (2) length shortens.
7. a kind of flexible drive type bidirectional rotation joint of robot according to claim 1, it is characterised in that：Described 2
The deformation of artificial-muscle (2) is individually controllable.
8. a kind of flexible drive type bidirectional rotation joint of robot according to claim 1, it is characterised in that：The shaft
(3) can rotate around own axes under the limitation of the stator (4) and cannot be along axial-movement.
9. a kind of flexible drive type bidirectional rotation joint of robot according to claim 1, it is characterised in that：The stator
(4) there are mounting hole positions for bottom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810144540.5A CN108340400B (en) | 2018-02-12 | 2018-02-12 | Flexible driving type bidirectional rotary robot joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810144540.5A CN108340400B (en) | 2018-02-12 | 2018-02-12 | Flexible driving type bidirectional rotary robot joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108340400A true CN108340400A (en) | 2018-07-31 |
| CN108340400B CN108340400B (en) | 2021-03-30 |
Family
ID=62959325
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810144540.5A Expired - Fee Related CN108340400B (en) | 2018-02-12 | 2018-02-12 | Flexible driving type bidirectional rotary robot joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108340400B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112792804A (en) * | 2021-01-06 | 2021-05-14 | 江苏大学 | Soft robot of spiral winding type polymer artificial muscle |
| CN113771022A (en) * | 2021-09-24 | 2021-12-10 | 天津大学 | Self-sensing pneumatic artificial muscle based on flexible special-shaped pipe weaving mode |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005195998A (en) * | 2004-01-09 | 2005-07-21 | Matsushita Electric Ind Co Ltd | Lens driving device |
| KR20110125514A (en) * | 2010-05-13 | 2011-11-21 | 서울대학교산학협력단 | Shape memory alloy double spring and shape memory alloy actuator having the same |
| CN102962850A (en) * | 2012-11-05 | 2013-03-13 | 南京航空航天大学 | Flexible mechanical arm mechanism driven by shape memory alloy (SMA) wires and flexible mechanical arm thereof |
| CN103647369A (en) * | 2013-12-24 | 2014-03-19 | 北京航空航天大学 | Variable-pitch shape memory alloy rotary motor |
| CN203804999U (en) * | 2014-03-20 | 2014-09-03 | 西北工业大学 | Shape memory alloy spring driven flexible mechanical arm |
| CN104769834A (en) * | 2012-08-01 | 2015-07-08 | 德克萨斯州大学系统董事会 | Coiled and non-coiled twisted nanofiber yarn and polymer fiber torsional and tensile actuators |
| CN105082129A (en) * | 2015-09-06 | 2015-11-25 | 黑龙江科技大学 | Mechanical arm |
| CN107304753A (en) * | 2016-04-22 | 2017-10-31 | 彩虹量子有限公司 | The rotary actuator being made using marmem |
-
2018
- 2018-02-12 CN CN201810144540.5A patent/CN108340400B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005195998A (en) * | 2004-01-09 | 2005-07-21 | Matsushita Electric Ind Co Ltd | Lens driving device |
| KR20110125514A (en) * | 2010-05-13 | 2011-11-21 | 서울대학교산학협력단 | Shape memory alloy double spring and shape memory alloy actuator having the same |
| CN104769834A (en) * | 2012-08-01 | 2015-07-08 | 德克萨斯州大学系统董事会 | Coiled and non-coiled twisted nanofiber yarn and polymer fiber torsional and tensile actuators |
| CN102962850A (en) * | 2012-11-05 | 2013-03-13 | 南京航空航天大学 | Flexible mechanical arm mechanism driven by shape memory alloy (SMA) wires and flexible mechanical arm thereof |
| CN103647369A (en) * | 2013-12-24 | 2014-03-19 | 北京航空航天大学 | Variable-pitch shape memory alloy rotary motor |
| CN203804999U (en) * | 2014-03-20 | 2014-09-03 | 西北工业大学 | Shape memory alloy spring driven flexible mechanical arm |
| CN105082129A (en) * | 2015-09-06 | 2015-11-25 | 黑龙江科技大学 | Mechanical arm |
| CN107304753A (en) * | 2016-04-22 | 2017-10-31 | 彩虹量子有限公司 | The rotary actuator being made using marmem |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112792804A (en) * | 2021-01-06 | 2021-05-14 | 江苏大学 | Soft robot of spiral winding type polymer artificial muscle |
| CN112792804B (en) * | 2021-01-06 | 2022-06-21 | 江苏大学 | Soft robot of spiral winding type polymer artificial muscle |
| CN113771022A (en) * | 2021-09-24 | 2021-12-10 | 天津大学 | Self-sensing pneumatic artificial muscle based on flexible special-shaped pipe weaving mode |
| CN113771022B (en) * | 2021-09-24 | 2023-12-12 | 天津大学 | Self-sensing pneumatic artificial muscle based on flexible special-shaped tube knitting mode |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108340400B (en) | 2021-03-30 |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210330 |
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