CN108340400B - Flexible driving type bidirectional rotary robot joint - Google Patents
Flexible driving type bidirectional rotary robot joint Download PDFInfo
- Publication number
- CN108340400B CN108340400B CN201810144540.5A CN201810144540A CN108340400B CN 108340400 B CN108340400 B CN 108340400B CN 201810144540 A CN201810144540 A CN 201810144540A CN 108340400 B CN108340400 B CN 108340400B
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- Prior art keywords
- winding
- rotating shaft
- artificial
- stator
- flexible
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- 230000002457 bidirectional effect Effects 0.000 title claims abstract description 17
- 210000003205 muscle Anatomy 0.000 claims abstract description 58
- 238000004804 winding Methods 0.000 claims abstract description 50
- 239000000835 fiber Substances 0.000 claims abstract description 10
- 238000009434 installation Methods 0.000 claims abstract description 4
- 239000002184 metal Substances 0.000 claims description 7
- 229920005594 polymer fiber Polymers 0.000 claims description 4
- 239000011248 coating agent Substances 0.000 claims description 3
- 238000000576 coating method Methods 0.000 claims description 3
- 238000009413 insulation Methods 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 abstract description 2
- 230000009471 action Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 229920001746 electroactive polymer Polymers 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 229920000831 ionic polymer Polymers 0.000 description 1
- 239000002905 metal composite material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 1
Images
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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- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a flexible driving type bidirectional rotary robot joint, and relates to the technical field of flexible drivers. It has solved the problem that current flexible drive can not produce rotary motion. The flexible rotary driver comprises a winding grooved wheel, 2 artificial muscles, a rotating shaft and a stator; the winding device comprises a stator, a winding grooved wheel, 2 artificial muscles, a rotating shaft and a stator, wherein the 2 artificial muscles are wound on the winding grooved wheel in opposite directions, one end of each artificial muscle is fixed on the winding grooved wheel, the other end of each artificial muscle is fixed on the stator, the winding grooved wheel is installed on the rotating shaft and is fixedly connected with the rotating shaft, and the rotating shaft is installed in an installation hole in the stator and is rotatably connected with the. The invention realizes the flexible rotary driver by combining the fiber winding type artificial muscle with the rotary mechanism; compared with the traditional flexible driver, the invention can generate rotary motion; compared with the traditional rigid rotary driver, the invention has the advantages of simple structure, small volume, light weight, high power density and large output flexibility, and can be used for driving a flexible robot.
Description
Technical Field
The invention relates to a flexible driving type bidirectional rotary robot joint, and belongs to the technical field of flexible drivers.
Background
Flexible actuators have been an important branch of the field of robotics, and some limitations exist in some applications due to the large volume, weight and high motion stiffness of conventional rigid actuators. The flexible driver has the characteristics of high flexibility, easy deformation and the like, is easy to arrange in a flexible robot or a narrow structure, is easy to realize safe interaction among the robot, the environment and people due to strong action flexibility, and has wide application prospect.
Currently common flexible actuators include electroactive polymers, shape memory alloys, ionic polymer metal composites, and the like. These flexible drivers are expensive, have limited output force and displacement, can only output linear or bending deformation, cannot generate rotary motion, and are difficult to meet the requirements of flexible robots.
Disclosure of Invention
The invention provides a flexible driving type bidirectional rotation robot joint for solving the problem that the existing flexible driver cannot generate rotation motion, and the adopted technical scheme is as follows:
a flexible driving type bidirectional rotary robot joint comprises a winding grooved pulley 1, 2 artificial muscles 2, a rotating shaft 3 and a stator 4; the winding device comprises a winding grooved wheel 1, 2 artificial muscles 2, a stator 4, a rotating shaft 3 and a winding grooved wheel 1, wherein the 2 artificial muscles 2 are wound on the winding grooved wheel 1 in opposite directions, one end of each artificial muscle 2 is fixed on the winding grooved wheel 1, the other end of each artificial muscle is fixed on the stator 4, the winding grooved wheel 1 is installed on the rotating shaft 3 and is fixedly connected with the rotating shaft 3, and the rotating shaft 3 is installed in an installation hole in the stator 4.
Further, a spiral groove is formed in the winding sheave 1.
Further, the 2 artificial muscles 2 are wound in the groove of the winding sheave 1.
Further, the surface of the winding sheave 1 is coated with a thermal insulation coating.
Further, the 2 artificial muscles 2 are all strip-shaped fibers which are formed by winding polymer fibers and metal wires together to form a spiral structure.
Further defined, the artificial muscle 2 is shortened when the temperature of the artificial muscle 2 is increased by energizing the wire in the artificial muscle 2.
Further, the deformation of the 2 artificial muscles 2 is independently controllable.
Further, the rotating shaft 3 can rotate around the axis of the rotating shaft and cannot move along the axis under the limit of the stator 4.
Further, the bottom of the stator 4 is provided with a mounting hole.
The invention has the beneficial effects that: according to the invention, the fiber winding type artificial muscle is combined with the rotating mechanism, so that flexible rotation driving is realized, and large-angle rotation driving can be realized by increasing the number of turns of the artificial muscle wound on the winding grooved wheel; compared with the traditional flexible driver, the invention can generate rotary motion; compared with the traditional rigid rotary driver, the invention has the advantages of simple structure, small volume, light weight, high power density and large output flexibility, and can be used for driving a flexible robot.
Drawings
Fig. 1 is a schematic structural view of a joint of a flexible drive type bidirectional rotary robot according to the present invention;
FIG. 2 is a schematic view of the manner in which the artificial muscle of the present invention is wound around a wound sheave;
FIG. 3 is a schematic view of the structural form of the artificial muscle and its deformation state;
FIG. 4 is a schematic view of the artificial muscle of the present invention driving the winding sheave to rotate;
FIG. 5 is a schematic view of the rotational movement of the flexible rotary drive of the present invention.
Detailed Description
The present invention will be further described with reference to the following specific examples, but the present invention is not limited to these examples.
The first embodiment is as follows: the present embodiment is described with reference to fig. 1 to 5:
the flexible driving type bidirectional rotary robot joint provided by the embodiment comprises a winding grooved pulley 1, 2 artificial muscles 2, a rotating shaft 3 and a stator 4; the winding device comprises a winding grooved wheel 1, 2 artificial muscles 2, a stator 4, a rotating shaft 3 and a winding grooved wheel 1, wherein the 2 artificial muscles 2 are wound on the winding grooved wheel 1 in opposite directions, one end of each artificial muscle 2 is fixed on the winding grooved wheel 1, the other end of each artificial muscle is fixed on the stator 4, the winding grooved wheel 1 is installed on the rotating shaft 3 and is fixedly connected with the rotating shaft 3, and the rotating shaft 3 is installed in an installation hole in the stator 4. And a spiral groove is formed in the winding grooved wheel 1. The 2 artificial muscles 2 are wound in the grooves of the winding grooved wheel 1. In the working process of the flexible rotary driver, the artificial muscle 2 is always kept in the spiral groove, and disordered winding can not occur, so that the stable and reliable action of the flexible rotary driver is ensured. The surface of the winding sheave 1 is coated with a thermal insulation coating. The 2 artificial muscles 2 are strip-shaped fibers of a spiral structure formed by co-winding polymer fibers and metal wires. The temperature of the cable is increased and the length of the cable is contracted after the cable is electrified, and the length of the cable is restored to the original shape after the cable is powered off. When the metal wire in the artificial muscle 2 is electrified to raise the temperature of the artificial muscle 2, the length of the artificial muscle 2 is shortened. When one artificial muscle 2 is independently electrified, the length of the artificial muscle is contracted, the winding grooved wheel 1 is driven to rotate, and the other artificial muscle 2 is lengthened. After the power is cut off, the lengths of the two artificial muscles 2 are restored, and the angle of the winding grooved wheel 1 is restored. When the other artificial muscle 2 is electrified independently, the winding grooved wheel 1 rotates reversely. The deformation of the 2 artificial muscles 2 is independently controllable. The rotating shaft 3 can rotate around the axis of the rotating shaft and cannot move along the axis under the limitation of the stator 4. And a mounting hole position is reserved at the bottom of the stator 4. The winding grooved wheel 1 is fixedly connected with the rotating shaft 3, and the winding grooved wheel 1 drives the rotating shaft 3 to rotate when rotating, so that the output of the rotating action is realized.
The structure of the flexible drive type bidirectional rotary robot joint according to the present invention is not limited to the specific structure described in each of the above embodiments, and may be a reasonable combination of the features described in each of the above embodiments.
Claims (8)
1. A flexible driving type bidirectional rotary robot joint is characterized in that: comprises a winding grooved pulley (1), 2 artificial muscles (2), a rotating shaft (3) and a stator (4); the artificial muscle comprises 2 artificial muscles (2), a winding grooved wheel (1) and a rotating shaft (3), wherein one end of each artificial muscle (2) is fixed on the winding grooved wheel (1), the other end of each artificial muscle is fixed on a stator (4), the winding grooved wheel (1) is installed on the rotating shaft (3) and is fixedly connected with the rotating shaft (3), the rotating shaft (3) is installed in an installation hole in the stator (4) and is rotatably connected with the stator (4), a spiral groove is formed in the winding grooved wheel (1), the 2 artificial muscles (2) are strip fibers of a spiral structure formed by winding polymer fibers and metal wires together, the temperature of the strip fibers is increased and the length of the strip fibers is contracted after the strip fibers are electrified, the length of the strip fibers is recovered to an original shape after the power is cut off, and when the metal wires in the artificial muscles (2) are electrified to enable the temperature of the artificial muscles (2) to be increased, when independently switching on one artificial muscle (2), its length takes place to shrink, drives wire winding sheave 1 and takes place to rotate, lengthens another artificial muscle (2) simultaneously, to its outage back, two artificial muscles (2) length reconversion, the angle reconversion of wire winding sheave (1), when independently switching on another artificial muscle (2), wire winding sheave (1) counter rotation, the deformation of 2 artificial muscles (2) is independently controllable.
2. The flexible drive type bidirectional rotary robot joint according to claim 1, characterized in that: the 2 artificial muscles (2) are wound in the grooves of the winding grooved wheel (1).
3. The flexible drive type bidirectional rotary robot joint according to claim 1, characterized in that: the surface of the winding sheave (1) is coated with a heat insulation coating.
4. The flexible drive type bidirectional rotary robot joint according to claim 1, characterized in that: the 2 artificial muscles (2) are strip-shaped fibers of a spiral structure formed by co-winding polymer fibers and metal wires.
5. The flexible drive type bidirectional rotary robot joint according to claim 1, characterized in that: when the metal wires in the artificial muscle (2) are electrified to increase the temperature of the artificial muscle (2), the length of the artificial muscle (2) is shortened.
6. The flexible drive type bidirectional rotary robot joint according to claim 1, characterized in that: the deformation of the 2 artificial muscles (2) is independently controllable.
7. The flexible drive type bidirectional rotary robot joint according to claim 1, characterized in that: the rotating shaft (3) can rotate around the axis of the rotating shaft and cannot move along the axis under the limitation of the stator (4).
8. The flexible drive type bidirectional rotary robot joint according to claim 1, characterized in that: and mounting hole positions are reserved at the bottom of the stator (4).
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 CN108340400A (en) | 2018-07-31 |
| CN108340400B true CN108340400B (en) | 2021-03-30 |
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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 |
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| Country | Link |
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| CN (1) | CN108340400B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112792804B (en) * | 2021-01-06 | 2022-06-21 | 江苏大学 | Soft robot of spiral winding type polymer artificial muscle |
| CN113386160A (en) * | 2021-06-29 | 2021-09-14 | 大连大华中天科技有限公司 | Rigid-flexible coupling under-actuated dexterous hand device |
| 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 |
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 |
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| CN108340400A (en) | 2018-07-31 |
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