CN108652909A - A kind of joint of robot device of pneumatic muscles driving - Google Patents
A kind of joint of robot device of pneumatic muscles driving Download PDFInfo
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- CN108652909A CN108652909A CN201810131878.7A CN201810131878A CN108652909A CN 108652909 A CN108652909 A CN 108652909A CN 201810131878 A CN201810131878 A CN 201810131878A CN 108652909 A CN108652909 A CN 108652909A
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- pneumatic muscles
- steel wire
- wire rope
- connecting plate
- wheel assembly
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- 210000003205 muscle Anatomy 0.000 title claims abstract description 94
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 56
- 239000010959 steel Substances 0.000 claims abstract description 56
- 238000009434 installation Methods 0.000 claims 1
- 210000001364 upper extremity Anatomy 0.000 abstract description 7
- 230000000149 penetrating effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 230000035876 healing Effects 0.000 description 6
- 230000008901 benefit Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 210000003414 extremity Anatomy 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 229920000049 Carbon (fiber) Polymers 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 239000004917 carbon fiber Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 230000001050 lubricating effect Effects 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 210000002310 elbow joint Anatomy 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000003767 neural control Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 210000002027 skeletal muscle Anatomy 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/06—Arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to upper limb rehabilitation robot field, spy is related to a kind of joint of robot device of pneumatic muscles driving.The braced frame upper and lower ends of the present invention are separately connected top connecting plate and bottom connecting plate, and pneumatic muscles component is set among braced frame；The pneumatic muscles component includes steel wire rope connector, steel wire rope, pneumatic muscles, gas-tpe fitting, pneumatic muscles adapter, pull pressure sensor, force snesor adapter；Pneumatic muscles upper end connecting steel wire ropes connector, steel wire penetrating top connecting plate is caught in steel wire rope connector, the lower end of pneumatic muscles connects pull pressure sensor by pneumatic muscles adapter, the pull pressure sensor other end is fixedly connected by force snesor adapter with bottom connecting plate, and gas-tpe fitting is arranged on pneumatic muscles.The present invention allows pneumatic muscles executive module to be stripped out with simple joint device, to alleviate the weight of user's wearing.
Description
Technical field
The present invention relates to upper limb rehabilitation robot field, spy is related to a kind of joint of robot device of pneumatic muscles driving.
Background technology
Upper-limbs rehabilitation training robot be by robotic technology field and rehabilitation medical domain in conjunction with and generate, be
A kind of supplement or alternative specialist completes the new technology of human upper limb rehabilitation training, its appearance is the health of upper limb hemiplegia patient
Multiple treatment opens new road, compensates for the deficiency of hemiplegic patient's clinical treatment.The therapy of recovery exercising robot is
Suffering limb is connected with robot, limbs of patient completes various actions under the drive of robot, stimulates human upper limb joint and flesh
The Neural control system of meat, to achieve the purpose that restore limbs of patient motion function.This mode is alleviated to treating physician
Dependence, it can help medical teacher to complete rehabilitation training task heavy, repeatedly, and patient is helped preferably to restore limb motion machine
Energy.It is to suffer from that the rehabilitation modality of healing robot, which mainly has two kinds of passive rehabilitation pattern and initiative rehabilitation pattern, passive rehabilitation pattern,
Person is in passive state, and rehabilitation action is completed under the guiding of healing robot；Initiative rehabilitation pattern is that patient has the initiative shape
State, healing robot assists patient's execution, such as gravity compensation or power effect emulation are carried out to it.
Because ectoskeleton upper limb rehabilitation robot is a kind of rehabilitation medical equipment with hemiplegic patient's direct physical contact,
Safety and compliance are extremely important, in addition, rehabilitation exercise will make every effort to steady, naturally, and these depend on rehabilitation machine
The actuator of people.Current most of healing robots are driven using motor, and other types of actuator is mainly pneumatic muscles, gas
Cylinder and hydraulic pressure etc..Wherein, the major advantage of pneumatic muscles is its manner of execution, response time, telescopic extensions and biological muscles
More similar, nonlinear characteristic is close with human skeletal muscle, has the unexistent intrinsic compliance of the actuators such as motor；Its
Secondary, pneumatic muscles are light-weight, export big pulling force, compact-sized, using flexible, cleaning, and can directly drive load, are not necessarily to tooth
The decelerations mechanisms such as wheel are conducive to the lightness of healing robot, simplify.In addition, the movement travel of pneumatic muscles by length,
The limitations such as input air pressure can only move in limited range, therefore pneumatic muscles are in the driving of healing robot, more than motor
It is safe and reliable；In addition, by two pneumatic muscles by both-end reversely to the pneumatic muscles driven in a manner of drawing drive diarthrodial structure with
Biological joint is similar, can drive diarthrodial position to pneumatic muscles simultaneously and rigidity controls, and this characteristic is exactly single
Not available for motor-driven mechanical arm.Therefore, pneumatic muscles more can guarantee rehabilitation machines relative to other actuators such as motor
The safety of device people and compliance.
Invention content
In view of the deficiencies of the prior art, the present invention provides a kind of joint of robot devices of pneumatic muscles driving.This hair
Bright pneumatic muscles executive module is connect with simple joint device by steel wire rope with well, to make pneumatic muscles executive module
It can be stripped out with simple joint device, to alleviate the weight of user's wearing.And the device of the invention is two pneumatic
Muscle realizes that the driving of joint of robot, the application of torsional spring make the device of the invention have automatic by steel wire rope bi-directional drive
Tight function, to avoid steel wire rope from derailing.
The technical scheme is that：A kind of joint of robot device of pneumatic muscles driving, including pneumatic muscles execute
Component and simple joint device, it is characterised in that：Pneumatic muscles executive module includes braced frame, top connecting plate, bottom connection
Plate and pneumatic muscle groups part, braced frame upper and lower ends are separately connected top connecting plate and bottom connecting plate, among braced frame
If pneumatic muscles component；The pneumatic muscles component includes steel wire rope connector, steel wire rope, pneumatic muscles, gas-tpe fitting, gas
Dynamic muscle adapter, pull pressure sensor, force snesor adapter；Pneumatic muscles upper end connecting steel wire ropes connector, steel wire rope
It is caught in steel wire rope connector across top connecting plate, the lower end of pneumatic muscles connects pressure by pneumatic muscles adapter and passes
Sensor, the pull pressure sensor other end are fixedly connected with bottom connecting plate by force snesor adapter, are arranged on pneumatic muscles
Gas-tpe fitting；The simple joint device includes axis one, self-lubricating bearing one, base supports bar one, certainly profit washer one, output pendulum
Bar one, torsional spring one, around wheel assembly one, steel wire rope fixed block one, from profit washer three, steel wire rope fixed block two, around wheel assembly two, turn round
Spring two, output swing rod two, certainly profit washer two, base supports bar two, self-lubricating bearing two, axis two；Around wheel assembly one by moistening certainly
Washer three is connect with around wheel assembly two, is connected by torsional spring one with the side that output swing rod one is worked in coordination around wheel assembly one, defeated
Going out one other side of swing rod by connecting base supports bar one from profit washer one, base supports bar one is connected firmly with self-lubricating bearing one, from
Lubricating bearing one is rotatablely connected axis one, is connected by torsional spring two with the side that output swing rod two is worked in coordination around wheel assembly two, defeated
Going out two other side of swing rod by being connect from profit washer two with base supports bar two, base supports bar two is connected firmly with self-lubricating bearing two,
Self-lubricating bearing two is rotatablely connected axis two；The steel wire rope of every pneumatic muscles component is connected by a snap respectively around wheel assembly two
Or on wheel assembly one；It is reversely installed around wheel assembly two and around wheel assembly one.
The joint of robot device driven according to pneumatic muscles as described above, it is characterised in that：It further include steel wire loop
Pipe, wire rope casing are wrapped in steel wire rope surface and are connected through a screw thread with top connecting plate.
The joint of robot device driven according to pneumatic muscles as described above, it is characterised in that：Further include fixed link, base
Seat supports bar one and base supports bar two are bolted to connection with fixed link.
The joint of robot device driven according to pneumatic muscles as described above, it is characterised in that：Further include load beam, it is defeated
Go out swing rod one and output swing rod two is bolted to connection with load beam.
The beneficial effects of the invention are as follows：1, the present invention adopts to overcome limitation of the physical size of cylinder in layout
With pneumatic muscles driving in conjunction with the mode of wire rope gearing, this takes full advantage of the correlation properties and steel wire rope of pneumatic muscles
The flexible advantage in layout, and on this basis, driving actuator is stripped out from ectoskeleton ontology, is greatly reduced
The weight of ectoskeleton simplifies structure.2, pneumatic muscles are because be single effect in present invention design, and during the work time
There are stretching in length, steel wire rope derailing easily caused when start and stop state switches, in order to realize the two-way drive of joint of robot
It is dynamic, a kind of joint of robot being driven through steel wire rope Bidirectional driving by two pneumatic muscles is devised in the present invention, torsional spring
Using making joint arrangement have the function of auto-tensioning；3, each joint is all made of the aluminium alloy processing of high intensity during the present invention designs
Thin-wall construction, bearing use compact-sized lightweight self-lubricating bearing, related skeleton use carbon fiber pipe, purpose be exactly in order to
Weight is reduced as far as possible, makes more compact structure.
Description of the drawings
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the single pneumatic muscles executive module dimensional structure diagram of the present invention；
Fig. 2 is the configuration schematic diagram of single pneumatic muscles component of the invention top and bottom connection type；
Fig. 3 is the configuration schematic diagram of elbow joint of the present invention；
Fig. 4 is the dimensional structure diagram of steel wire rope fixed form of the present invention；
Fig. 5 is structural schematic diagram of the present invention around wheel part；
Fig. 6 is the structural schematic diagram of present invention output swing rod part.
Reference sign：Pneumatic muscles executive module 1, top connecting plate 11, braced frame 12, pneumatic muscles component
13, bottom connecting plate 14, fixed link 110, wire rope casing 31, steel wire rope connector 32, steel wire rope 33, pneumatic muscles 34, gas
Pipe fitting 35, pneumatic muscles adapter 36, pull pressure sensor 37, force snesor adapter 38, simple joint device 2, axis one
211, self-lubricating bearing 1, base supports bar 1, from profit washer 1, output swing rod 1, torsional spring 1, around wheel
Component 1, steel wire rope fixed block 1, from profit washer 3 219, load beam 210, steel wire rope fixed block 2 228, around wheel group
Part 2 227, torsional spring 2 226, output swing rod 2 225, from profit washer 2 224, base supports bar 2 223, self-lubricating bearing 2 222,
Axis 2 221, buckle 2171.
Specific implementation mode
The present invention is described in further detail with example below in conjunction with the accompanying drawings.
As shown in Figure 1, the pneumatic muscles executive module 1 of the present invention includes braced frame 12 and is separately fixed at scaffold
The top connecting plate 11 and bottom connecting plate 14 of 12 upper and lower ends, 12 centre of braced frame are equipped with pneumatic muscles component 13.This hair
Bright pneumatic muscles component 13 is 2, the quantity of pneumatic muscles component 13 is determined according to simple joint device 2, such as simple joint device 2
It it is 4, then pneumatic muscles component 13 needs 8.
As shown in Fig. 2, single pneumatic muscles component 13 described in the present embodiment, including wire rope casing 31, steel wire rope connect
Connector 32, steel wire rope 33, pneumatic muscles 34, gas-tpe fitting 35, pneumatic muscles adapter 36, pull pressure sensor 37, power sensing
Device adapter 38；34 upper end of pneumatic muscles is connected through a screw thread steel wire rope connector 32, and steel wire rope 33 of the end with connector is worn
It crosses top connecting plate 11 to be caught in steel wire rope connector 32, the lower end of pneumatic muscles 34 is connected by pneumatic muscles adapter 36 draws
Pressure sensor 37,37 other end of pull pressure sensor are solid by screw thread by force snesor adapter 38 and bottom connecting plate 14
It is fixed to connect, gas-tpe fitting 35 is set on pneumatic muscles 34, and steel wire rope 33 is preferably provided steel wire rope with 11 junction of top connecting plate
Casing 31, to protect steel wire rope 33.Pneumatic muscles executive module 1 includes two pneumatic muscles components 13, two pneumatic muscles groups
The steel wire rope 33 of part 13 is connected by a snap respectively around wheel assembly 2 227 or on wheel assembly 1.
As shown in Figure 3 and Figure 6, simple joint device described in the present embodiment 2 includes fixed link 110, axis 1, Zi Run
Bearing 1, base supports bar 1 moisten washer 1, output swing rod 1, torsional spring 1, around wheel assembly one certainly
217, steel wire rope fixed block 1, from profit washer 3 219, load beam 210, steel wire rope fixed block 2 228, around wheel assembly two
227, torsional spring 2 226, output swing rod 2 225, certainly profit washer 2 224, base supports bar 2 223, self-lubricating bearing 2 222, axis
2 221；Around wheel assembly 1 by being connect from profit washer 3 219 with around wheel assembly 2 227, put around wheel assembly 1 and output
The side that bar 1 is worked in coordination is each provided with rotation-limited seam allowance and the torsional spring 1 by being detachably connected is connected, output
One 215 other side of swing rod from profit washer 1 by connecting base supports bar 1, base supports bar 1 and self-lubricating bearing
One 212 connect firmly, and self-lubricating bearing 1 is rotatablely connected axis 1, work in coordination around wheel assembly 2 227 and output swing rod 2 225
Side be each provided with rotation-limited seam allowance and the torsional spring 2 226 by being detachably connected and be connected, 2 225 other side of output swing rod
By being connect from profit washer 2 224 with base supports bar 2 223, base supports bar 2 223 is connected firmly with self-lubricating bearing 2 222, from
Lubricating bearing 2 222 is rotatablely connected axis 2 221, then axis 1 is first bolted to connection the heart with axis 2 221,
Base supports bar 1 and base supports bar 2 223 are bolted in fixed link 110, export swing rod 1 and output
Swing rod 2 225 is fixedly connected by bolt with load beam 210.In this way, simple joint device 2 can be relative to fixed link 110, load beam
210 rotations, and the limited block by being carried around wheel assembly is limited, it, also can will be movable in the case where ensuring normal activity
Scope limitation is in the region of safety, and the torsional spring of both sides can be then carried out when pneumatic muscles are stopped from tensioning steel wire
Rope, prevents steel wire rope from derailing.
As shown in Figure 4 and Figure 5, the steel wire rope 33 of belt end is looped around on wheel assembly 1 and band edge in the present embodiment
The steel wire rope 33 of head is caught in buckle 2171, is then buckled 2171 and is pressed abd fixed on wheel assembly 1 by screw.This hair
It is bright around wheel assembly 2 227, it is identical around the structure type of wheel assembly 1, it is also identical as the connection type of steel wire rope 33, herein not
In repeated description.
In the present invention, reversely installed around wheel assembly 2 227 and around wheel assembly 1, to realize bi-directional drive robot
Joint.
In the present invention, pneumatic muscles executive module 1 is connect with simple joint device 2 by steel wire rope 33, such pneumatic muscles
Executive module 1 can be stripped out with simple joint device 2, to alleviate the weight of user's wearing.
As shown in Figure 4 and Figure 5, the range moved in the present embodiment in view of each joint recovering should be expanded as much as possible,
Secondary injury cannot be brought to patient again, therefore limited block (this is being each provided with around wheel and the mutually matched side of output swing rod
Limited block be integrated around wheel assembly, if diagonal positions are exactly limited block immediately below Fig. 4, this local protrusion comes one
Block, output swing rod similarly have such one piece of raised step, after exporting swing rod and going to certain angle, their respective limits
Block is in contact and limits the rotation of joint arrangement, to not allow patient by secondary injury.), by the movement angle of joint ectoskeleton
Degree is limited within limiting value, and at the same time pneumatic muscles steel wire rope when being stopped derails because of relaxation in order to prevent, therefore
Dismountable torsional spring part is being housed between wheel and output swing rod, when pneumatic muscles work, because the power of pneumatic muscles is more than
The power of torsional spring makes torsional spring compressing store power, and when pneumatic muscles are stopped, shackle line has certain relaxation, at this time
Torsional spring, which generates reversed tensile force because of normal condition to be returned to, to be made steel wire rope tighten and is unlikely to derail.
In conclusion by means of the above-mentioned technical proposal of the present invention：A kind of robot of pneumatic muscles driving of the present invention closes
Regulating device uses the mode of pneumatic muscles combination wire rope gearing, takes full advantage of the correlation properties and steel wire of pneumatic muscles
Driving actuator is stripped out from ectoskeleton ontology, greatly reduces on this basis by the flexible advantage in layout of rope
The weight of ectoskeleton simplifies structure.In addition each joint is all made of the thin-wall construction of the aluminium alloy processing of high intensity, and bearing is adopted
With the self-lubricating bearing of compact-sized lightweight, related skeleton uses carbon fiber pipe, purpose be exactly in order to reduce weight as far as possible,
Make more compact structure.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (4)
1. a kind of joint of robot device of pneumatic muscles driving, including pneumatic muscles executive module (1) and simple joint device
(2), it is characterised in that：Pneumatic muscles executive module (1) includes braced frame (12), top connecting plate (11), bottom connecting plate
(14) and pneumatic muscle groups part (13), braced frame (12) upper and lower ends are separately connected top connecting plate (11) and bottom connecting plate
(14), pneumatic muscles component (13) is set among braced frame (12)；The pneumatic muscles component (13) includes steel wire rope connection
Head (32), steel wire rope (33), pneumatic muscles (34), gas-tpe fitting (35), pneumatic muscles adapter (36), pull pressure sensor
(37), force snesor adapter (38)；Pneumatic muscles (34) upper end connecting steel wire ropes connector (32), steel wire rope (33) pass through top
Portion's connecting plate (11) is caught in steel wire rope connector (32), and the lower end of pneumatic muscles (34) is connected by pneumatic muscles adapter (36)
Pull pressure sensor (37) is connect, pull pressure sensor (37) other end passes through force snesor adapter (38) and bottom connecting plate
(14) it is fixedly connected, gas-tpe fitting (35) is set on pneumatic muscles (34)；The simple joint device (2) includes axis one
(211), self-lubricating bearing one (212), base supports bar one (213), certainly profit washer one (214), output swing rod one (215), torsional spring
One (216), around wheel assembly one (217), steel wire rope fixed block one (218), from profit washer three (219), steel wire rope fixed block two
(228), around wheel assembly two (227), torsional spring two (226), output swing rod two (225), certainly profit washer two (224), base supports bar
Two (223), self-lubricating bearing two (222), axis two (221)；Pass through from profit washer three (219) and around wheel around wheel assembly one (217)
Component two (227) connects, and passes through torsional spring one (216) around the side that wheel assembly one (217) and output swing rod one (215) are worked in coordination
It is connected, output swing rod one (215) other side from profit washer one (214) by connecting base supports bar one (213), base supports bar
One (213) are connected firmly with self-lubricating bearing one (212), and self-lubricating bearing one (212) is rotatablely connected axis one (211), around wheel assembly two
(227) side worked in coordination with output swing rod two (225) is connected by torsional spring two (226), exports swing rod two (225) other side
By being connect from profit washer two (224) with base supports bar two (223), base supports bar two (223) and self-lubricating bearing two (222)
It connects firmly, self-lubricating bearing two (222) is rotatablely connected axis two (221)；The steel wire rope (33) of every pneumatic muscles component (13) is respectively
It is connected by a snap around wheel assembly two (227) or on wheel assembly one (217)；Around wheel assembly two (227) and around wheel assembly one
(217) reversed installation.
2. the joint of robot device of pneumatic muscles driving according to claim 1, it is characterised in that：It further include steel wire rope
Casing (31), wire rope casing (31) are wrapped on steel wire rope (33) surface and are connected through a screw thread with top connecting plate (11).
3. the joint of robot device of pneumatic muscles driving according to claim 1, it is characterised in that：It further include fixed link
(110), base supports bar one (213) and base supports bar two (223) are bolted to connection with fixed link (110).
4. the joint of robot device of pneumatic muscles driving according to claim 1, it is characterised in that：It further include load beam
(210), output swing rod one (215) and output swing rod two (225) are bolted to connection with load beam (210).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810131878.7A CN108652909B (en) | 2018-02-09 | 2018-02-09 | A kind of joint of robot device of pneumatic muscles driving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810131878.7A CN108652909B (en) | 2018-02-09 | 2018-02-09 | A kind of joint of robot device of pneumatic muscles driving |
Publications (2)
| Publication Number | Publication Date |
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| CN108652909A true CN108652909A (en) | 2018-10-16 |
| CN108652909B CN108652909B (en) | 2019-08-30 |
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| CN201810131878.7A Active CN108652909B (en) | 2018-02-09 | 2018-02-09 | A kind of joint of robot device of pneumatic muscles driving |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109974777A (en) * | 2019-03-11 | 2019-07-05 | 华中科技大学鄂州工业技术研究院 | A kind of ectoskeleton joint experiment porch of pneumatic muscles driving |
| CN110812124A (en) * | 2019-12-06 | 2020-02-21 | 上海大学 | Pneumatic-driven flexible wearable upper limb rehabilitation system |
| CN111955981A (en) * | 2020-08-31 | 2020-11-20 | 安徽省佳艺休闲用品有限公司 | Method for changing sitting and lying states of folding chair |
| WO2021197256A1 (en) * | 2020-03-31 | 2021-10-07 | 袁博 | Parallel elastic driver of power-assisted exoskeleton, and control method therefor |
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| CN104476565A (en) * | 2014-11-10 | 2015-04-01 | 华中科技大学 | Power output device for achieving pneumatic muscle opposite pull mechanism |
| CN204450526U (en) * | 2014-12-31 | 2015-07-08 | 浙江大学 | The ectoskeleton servomechanism that a kind of pneumatic muscles drives |
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| WO2021197256A1 (en) * | 2020-03-31 | 2021-10-07 | 袁博 | Parallel elastic driver of power-assisted exoskeleton, and control method therefor |
| CN111955981A (en) * | 2020-08-31 | 2020-11-20 | 安徽省佳艺休闲用品有限公司 | Method for changing sitting and lying states of folding chair |
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