CN108943007B - Pneumatic torsion joint with rigidity enhanced by air pressure - Google Patents
Pneumatic torsion joint with rigidity enhanced by air pressure Download PDFInfo
- Publication number
- CN108943007B CN108943007B CN201810971412.8A CN201810971412A CN108943007B CN 108943007 B CN108943007 B CN 108943007B CN 201810971412 A CN201810971412 A CN 201810971412A CN 108943007 B CN108943007 B CN 108943007B
- Authority
- CN
- China
- Prior art keywords
- cavity
- torsion
- rigidity
- end plate
- plunger
- 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.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Actuator (AREA)
Abstract
The invention belongs to the technical field of robots, particularly relates to a pneumatic torsion joint, and particularly relates to a pneumatic torsion joint with rigidity enhanced by air pressure, which comprises a top end plate, a retaining ring, a rigidity enhancing cavity, a torsion cavity, an external air pipe and a bottom end plate, wherein the top end plate is fixedly connected to the torsion cavity; the torsion cavity is fixedly connected to the bottom end plate; the two retaining rings are sleeved at the upper end and the lower end of the torsion cavity respectively; the two retaining rings are arranged between the top end plate and the bottom end plate; two ends of the rigidity enhancing cavity are respectively and fixedly connected to the upper retaining ring and the lower retaining ring; the rigidity enhancing cavity and the torsion cavity are both provided with air pipe connectors; a plurality of external air pipes are arranged; the outer end of the air pipe connector is connected with an external air pipe. The invention can realize the torsional movement of the joint and has certain rigidity maintaining function, thereby ensuring the reliability and stability of the movement and improving the integral rigidity and pose accuracy and reliability of the robot.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a pneumatic torsion joint, in particular to a pneumatic torsion joint with rigidity enhanced by air pressure.
Background
For the application fields of robots with quality requirements and cleanliness requirements, such as the aerospace field, the rehabilitation robot field and the like, the pneumatic torsion joint can replace the traditional mechanical torsion joint to a certain extent. The pneumatic torsion joint has the advantages of light weight, large power density ratio, small inertia and the like, but the rigidity of the joint is low and the precision is poor.
Disclosure of Invention
The invention aims to provide a pneumatic torsion joint with rigidity enhanced by air pressure, which can effectively solve the problems of poor connection rigidity, poor rigidity holding capacity after bearing load and large joint deformation of the existing pneumatic torsion joint; the pneumatic torsion joint with the rigidity enhanced by air pressure can realize the torsion motion of the joint and has a certain rigidity maintaining function, the reliability and the stability of the motion are ensured, and the integral rigidity and the pose accuracy and the reliability of the robot are improved.
The purpose of the invention is realized by the following technical scheme:
a pneumatic torsion joint with rigidity enhanced by air pressure comprises a top end plate, a retaining ring, a rigidity enhancing cavity, a torsion cavity, an external air pipe and a bottom end plate, wherein the top end plate is fixedly connected to the torsion cavity; the torsion cavity is fixedly connected to the bottom end plate; the two retaining rings are sleeved at the upper end and the lower end of the torsion cavity respectively; the two retaining rings are arranged between the top end plate and the bottom end plate; two ends of the rigidity enhancing cavity are respectively and fixedly connected to the upper retaining ring and the lower retaining ring; the rigidity enhancing cavity and the torsion cavity are both provided with air pipe connectors; a plurality of external air pipes are arranged; the outer end of the air pipe connector is connected with an external air pipe.
The top end plate and the bottom end plate are both disc-shaped structures; and the top end plate and the bottom end plate are uniformly provided with connecting bolt holes.
The torsion cavity is of a cylindrical structure; the torsion cavity consists of a torsion cavity body, a torsion cavity top plunger, a torsion cavity fiber rope and a torsion cavity bottom plunger; the plunger piston at the top of the torsion cavity and the plunger piston at the bottom of the torsion cavity are respectively connected with the upper end and the lower end of the inner side of the cavity of the torsion cavity in a sealing manner by adopting strong sealant; the torsion cavity fiber rope is wound and bonded on the torsion cavity body by adopting silicon rubber; the plunger at the bottom of the torsion cavity is provided with a gas pipe connector, and the outer end of the gas pipe connector is connected with an external gas pipe; the top end plate is fixedly connected to the top plunger of the torsion cavity; the bottom plunger of the torsion cavity is fixedly connected to the bottom end plate; the two retaining rings are respectively sleeved on the top plunger of the torsion cavity and the bottom plunger of the torsion cavity.
The twisting cavity body is made of elastic rubber materials, the twisting cavity fiber rope is a single spiral rope, and the twisting cavity fiber rope cannot be stretched.
The retaining ring is of a disc-shaped structure.
The rigidity enhancing cavity is of a cylindrical structure and consists of a rigidity enhancing cavity body, a rigidity enhancing cavity top plunger, a rigidity enhancing cavity fiber rope and a rigidity enhancing cavity bottom plunger; the rigidity enhancing cavity top plunger and the rigidity enhancing cavity bottom plunger are respectively connected to the upper end and the lower end of the inner side of the rigidity enhancing cavity body in a sealing mode through strong sealant; the rigidity enhancing cavity fiber rope is wound and bonded on the rigidity enhancing cavity body by adopting silicon rubber; the plunger at the bottom of the rigidity enhancing cavity is provided with a gas pipe connector, and the outer end of the gas pipe connector is connected with an external gas pipe; and the plunger at the top of the rigidity enhancing cavity and the plunger at the bottom of the rigidity enhancing cavity are respectively and fixedly connected with an upper retaining ring and a lower retaining ring.
The rigidity enhancing cavity body is made of elastic rubber materials; the rigidity-enhanced cavity is characterized in that a bidirectional antisymmetric spiral rigidity-enhanced cavity fiber rope is wound outside the rigidity-enhanced cavity, and the rigidity-enhanced cavity fiber rope is not stretchable.
The number of the rigidity-enhancing cavities is three.
The pneumatic torsion joint with the rigidity enhanced by air pressure has the beneficial effects that:
according to the pneumatic torsion joint with the rigidity enhanced by air pressure, the torsion cavity is twisted by filling air with certain pressure into the torsion cavity, so that the torsion of the top end plate is driven to realize the joint torsion function; the retaining ring is sleeved on the plungers at two sides of the torsion cavity, and when the torsion cavity is twisted, the relative positions of the three rigidity enhancement cavities can be ensured to be fixed; when the whole pneumatic torsion joint reaches a preset torsion angle by controlling the pressure of gas filled in the torsion cavity, certain pressure gas is filled in the rigidity enhancing cavity, the rigidity enhancing cavity extends to drive the retaining ring to move axially and be abutted against the top end plate and the bottom end plate, the pre-tightening loading of the joint is realized, and the rigidity of the whole pneumatic torsion joint is improved.
Drawings
FIG. 1 is a first general structural diagram of the present invention;
FIG. 2 is a half sectional view of the overall structure of the present invention;
FIG. 3 is a schematic view of a stiffness enhancing chamber configuration of the present invention;
FIG. 4 is a schematic view of the torsional chamber configuration of the present invention;
FIG. 5 is a schematic view of the top endplate construction of the present invention;
FIG. 6 is a schematic view of the bottom endplate construction of the present invention;
fig. 7 is a schematic view of the retainer ring of the present invention.
In the figure: a top end plate 1; a retainer ring 2; a rigidity-enhancing chamber 3; a stiffness enhancing cavity 3-1; a stiffness enhancing chamber top plunger 3-2; 3-3 of a stiffness enhancing cavity fiber rope; a rigidity enhancing cavity bottom plunger 3-4; a torsion chamber 4; a torsion cavity 4-1; a torsional cavity top plunger 4-2; twisting the cavity fiber rope 4-3; a torsion chamber bottom plunger 4-4; is externally connected with an air pipe 5; a bottom end plate 6.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.
The first embodiment is as follows:
the following description of the specific embodiment is made with reference to fig. 1 to 7, and the pneumatic torsion joint with pneumatic rigidity enhancement comprises a top end plate 1, a retaining ring 2, a rigidity enhancement cavity 3, a torsion cavity 4, an external air pipe 5 and a bottom end plate 6, wherein the top end plate 1 is fixedly connected to the torsion cavity 4; the torsion cavity 4 is fixedly connected to the bottom end plate 6; the number of the retaining rings 2 is two, and the two retaining rings 2 are respectively sleeved at the upper end and the lower end of the torsion cavity 4; the two retaining rings 2 are arranged between the top end plate 1 and the bottom end plate 6, and the top end plate 1 and the bottom end plate 6 are used for limiting the shaft ends; two ends of the rigidity enhancing cavity 3 are respectively and fixedly connected to the upper retaining ring 2 and the lower retaining ring 2, and the two retaining rings 2 can drive the three rigidity enhancing cavities 3 which are uniformly distributed to rotate around the central axis; the rigidity enhancing cavity 3 and the torsion cavity 4 are both provided with air pipe connectors; a plurality of external air pipes 5 are arranged; the outer end of the air pipe connector is connected with an external air pipe 5.
According to the pneumatic torsion joint with the rigidity enhanced by air pressure, during work, air with certain pressure is filled into the cavity 4-1 of the torsion cavity, the torsion cavity 4 is twisted and axially contracted under the constraint of the fiber rope 4-3 of the torsion cavity, and the torsion cavity 4 is twisted at a preset angle by controlling the pressure of the filled air. The rigidity enhancing cavity 3-1 is filled with gas with certain pressure, the rigidity enhancing cavity 3 contracts in the radial direction and extends in the axial direction under the constraint of the rigidity enhancing cavity fiber rope 3-3, the retaining rings 2 on the two sides are driven to move in the axial direction and are abutted against the top end plate 1 and the bottom end plate 6, the integral loading and pre-tightening of the joint are realized, and the aim of enhancing the rigidity of the whole pneumatic torsion joint is fulfilled.
The second embodiment is as follows:
referring now to fig. 1-7, the embodiment is illustrated, wherein the top end plate 1 and the bottom end plate 6 are both disc-shaped structures; all the equipartition has the connecting bolt hole on top end plate 1 and the bottom end plate 6, and the connecting bolt hole is used as the external interface of pneumatic torsion joint.
The third concrete implementation mode:
referring to fig. 1-7, the torsion chamber 4 has a cylindrical structure; the torsion cavity 4 consists of a torsion cavity body 4-1, a torsion cavity top plunger 4-2, a torsion cavity fiber rope 4-3 and a torsion cavity bottom plunger 4-4; the plunger 4-2 at the top of the torsion cavity and the plunger 4-4 at the bottom of the torsion cavity are respectively connected with the upper end and the lower end of the inner side of the cavity 4-1 of the torsion cavity in a sealing manner by strong sealant; the torsion cavity fiber rope 4-3 is wound and bonded on the torsion cavity body 4-1 by adopting silicon rubber; a gas pipe connector is arranged on the plunger 4-4 at the bottom of the torsion cavity, and the outer end of the gas pipe connector is connected with an external gas pipe 5; the top end plate 1 is fixedly connected to a top plunger 4-2 of the torsion cavity; the bottom plunger 4-4 of the torsion cavity is fixedly connected to the bottom end plate 6; the two retaining rings 2 are respectively sleeved on the top plunger 4-2 of the torsion cavity and the bottom plunger 4-4 of the torsion cavity.
The twisting cavity 4-1 is made of elastic rubber materials, the twisting cavity fiber rope 4-3 is a single spiral rope, and the twisting cavity fiber rope 4-3 cannot be stretched.
The plunger 4-2 at the top of the torsion cavity and the plunger 4-4 at the bottom of the torsion cavity are plugged into the cavity 4-1 of the torsion cavity and then sealed by strong sealant; the twisting cavity fiber rope 4-3 is wound on the twisting cavity 4-1 and then is bonded and fixed by silicon rubber. The single-spiral twisted cavity fiber rope 4-3 with a certain angle is wound outside the twisted cavity 4-1, the twisted cavity fiber rope 4-3 cannot be stretched, when the included angle between the twisted cavity fiber rope 4-3 and the axis is smaller than 54.74 degrees, gas with certain pressure is filled into the twisted cavity 4-1 to generate expansion, and under the constraint action of the twisted cavity fiber rope 4-3, the twisted cavity 4 generates twisting and axial contraction actions.
The fourth concrete implementation mode:
the embodiment is described below with reference to fig. 1 to 7, where the retaining ring 2 is a disk-shaped structure, the retaining ring 2 is used to connect with the stiffness enhancing cavities 3 to ensure that the circumferential relative positions of the three stiffness enhancing cavities 3 are fixed, and the retaining ring 2 is sleeved on the torsion cavity 4 to ensure that the relative positions of the three stiffness enhancing cavities 3 are fixed when the torsion cavity 4 is twisted.
The fifth concrete implementation mode:
the present embodiment is described below with reference to fig. 1 to 7, where the stiffness enhancing chamber 3 is a cylindrical structure, and the stiffness enhancing chamber 3 is composed of a stiffness enhancing chamber cavity 3-1, a stiffness enhancing chamber top plunger 3-2, a stiffness enhancing chamber fiber rope 3-3, and a stiffness enhancing chamber bottom plunger 3-4; the rigidity enhancing cavity top plunger 3-2 and the rigidity enhancing cavity bottom plunger 3-4 are respectively connected to the upper end and the lower end of the inner side of the rigidity enhancing cavity 3-1 in a sealing mode through strong sealant; the rigidity enhancing cavity fiber rope 3-3 is wound and bonded on the rigidity enhancing cavity 3-1 by adopting silicon rubber; a gas pipe connector is arranged on the plunger 3-4 at the bottom of the rigidity enhancing cavity, and the outer end of the gas pipe connector is connected with an external gas pipe 5; and the plunger 3-2 at the top of the rigidity enhancing cavity and the plunger 3-4 at the bottom of the rigidity enhancing cavity are respectively and fixedly connected with the upper retaining ring 2 and the lower retaining ring 2.
The rigidity enhancing cavity 3-1 is made of elastic rubber materials; the rigidity-enhanced cavity body 3-1 is externally wound with a bidirectional antisymmetric spiral rigidity-enhanced cavity fiber rope 3-3, and the rigidity-enhanced cavity fiber rope 3-3 is not stretchable.
The number of the rigidity increasing cavities 3 is three.
The rigidity enhancing cavity top plunger 3-2 and the rigidity enhancing cavity bottom plunger 3-4 are plugged into the rigidity enhancing cavity 3-1 and then sealed by strong sealant, and the rigidity enhancing cavity fiber rope 3-3 is wound on the rigidity enhancing cavity 3-1 and then is bonded and fixed by silicon rubber; the rigidity enhancement cavity body 3-1 is made of elastic rubber materials, a certain-angle rigidity enhancement cavity fiber rope 3-3 of a bidirectional antisymmetric spiral is wound outside the rigidity enhancement cavity body 3-1, and the rigidity enhancement cavity fiber rope 3-3 is not stretchable; when the included angle between the fiber rope 3-3 of the rigidity enhancing cavity and the axis is larger than 54.74 degrees, the gas with certain pressure is filled in the cavity 3-1 of the rigidity enhancing cavity to generate expansion, under the constraint action of the fiber rope 3-3 of the rigidity enhancing cavity, the rigidity enhancing cavity 3 generates axial stretching and radial contraction to drive the retaining rings 2 at two sides to move along the axial direction, and the two retaining rings 2 are respectively dead against the top end plate 1 and the bottom end plate 6, so that the integral loading and pre-tightening of the joint are realized, and the aim of enhancing the rigidity of the pneumatic torsion joint is fulfilled.
The invention relates to a pneumatic torsion joint with rigidity enhanced by air pressure, which has the working principle that: when the pneumatic torsion joint is used, gas with certain pressure is filled into the torsion cavity 4-1, the torsion cavity 4-1 expands, the torsion cavity 4 twists and axially contracts under the constraint of the torsion cavity fiber rope 4-3, the torsion cavity 4 realizes twisting at a preset angle by controlling the pressure of the filled gas, the gas with certain pressure is filled into the rigidity enhancement cavity 3-1, the rigidity enhancement cavity 3-1 expands, the rigidity enhancement cavity 3 radially contracts and axially extends under the constraint of the rigidity enhancement cavity fiber rope 3-3, the two side retaining rings 2 are driven to axially move and are abutted against the top end plate 1 and the bottom end plate 6, the integral loading and pre-tightening of the joint are realized, and the aim of enhancing the rigidity of the pneumatic torsion joint is fulfilled.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.
Claims (8)
1. The utility model provides a pneumatic torsional joint of atmospheric pressure reinforcing rigidity, includes top end plate (1), retainer ring (2), rigidity reinforcing chamber (3), twists reverse chamber (4), external trachea (5) and bottom end plate (6), its characterized in that: the top end plate (1) is fixedly connected to the torsion cavity (4); the torsion cavity (4) is fixedly connected to the bottom end plate (6); the number of the holding rings (2) is two, and the two holding rings (2) are respectively sleeved at the upper end and the lower end of the torsion cavity (4); the two retaining rings (2) are arranged between the top end plate (1) and the bottom end plate (6); two ends of the rigidity enhancing cavity (3) are respectively and fixedly connected to the upper retaining ring (2) and the lower retaining ring (2); the rigidity enhancing cavity (3) and the torsion cavity (4) are both provided with air pipe connectors; a plurality of external air pipes (5) are arranged; the outer end of the air pipe connector is connected with an external air pipe (5).
2. The pneumatically-actuated torsional joint of claim 1, wherein: the top end plate (1) and the bottom end plate (6) are both disc-shaped structures; and the top end plate (1) and the bottom end plate (6) are uniformly provided with connecting bolt holes.
3. The pneumatically-actuated torsional joint of claim 1, wherein: the torsion cavity (4) is of a cylindrical structure; the torsion cavity (4) consists of a torsion cavity body (4-1), a torsion cavity top plunger (4-2), a torsion cavity fiber rope (4-3) and a torsion cavity bottom plunger (4-4); the torsion cavity top plunger (4-2) and the torsion cavity bottom plunger (4-4) are respectively connected to the upper end and the lower end of the inner side of the torsion cavity body (4-1) in a sealing manner by adopting strong sealant; the torsion cavity fiber rope (4-3) is wound and bonded on the torsion cavity body (4-1) by adopting silicon rubber; a gas pipe connector is arranged on the plunger (4-4) at the bottom of the torsion cavity, and the outer end of the gas pipe connector is connected with an external gas pipe (5); the top end plate (1) is fixedly connected to a top plunger (4-2) of the torsion cavity; the bottom plunger (4-4) of the torsion cavity is fixedly connected to the bottom end plate (6); the two retaining rings (2) are respectively sleeved on the torsion cavity top plunger (4-2) and the torsion cavity bottom plunger (4-4).
4. The pneumatically powered torsional joint of claim 3, wherein: the twisting cavity body (4-1) is made of elastic rubber materials, the twisting cavity fiber rope (4-3) is a single spiral rope, and the twisting cavity fiber rope (4-3) cannot be stretched.
5. The pneumatically powered torsional joint of claim 3, wherein: the retaining ring (2) is of a disc-shaped structure.
6. The pneumatically-actuated torsional joint of claim 5, wherein: the rigidity enhancing cavity (3) is of a cylindrical structure, and the rigidity enhancing cavity (3) consists of a rigidity enhancing cavity body (3-1), a rigidity enhancing cavity top plunger (3-2), a rigidity enhancing cavity fiber rope (3-3) and a rigidity enhancing cavity bottom plunger (3-4); the rigidity enhancing cavity top plunger (3-2) and the rigidity enhancing cavity bottom plunger (3-4) are respectively connected to the upper end and the lower end of the inner side of the rigidity enhancing cavity body (3-1) in a sealing mode through strong sealant; the rigidity enhancing cavity fiber rope (3-3) is wound and bonded on the rigidity enhancing cavity body (3-1) by adopting silicon rubber; a gas pipe connector is arranged on the plunger (3-4) at the bottom of the rigidity enhancing cavity, and the outer end of the gas pipe connector is connected with an external gas pipe (5); the rigidity enhancing cavity top plunger (3-2) and the rigidity enhancing cavity bottom plunger (3-4) are respectively and fixedly connected with the upper retaining ring and the lower retaining ring (2).
7. The pneumatically-actuated torsional joint of claim 6, wherein: the rigidity enhancing cavity body (3-1) is made of elastic rubber materials; the rigidity-enhanced cavity body (3-1) is externally wound with a bidirectional antisymmetric spiral rigidity-enhanced cavity fiber rope (3-3), and the rigidity-enhanced cavity fiber rope (3-3) is not stretchable.
8. The pneumatically-actuated torsional joint of claim 6, wherein: the number of the rigidity enhancing cavities (3) is three.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810971412.8A CN108943007B (en) | 2018-08-24 | 2018-08-24 | Pneumatic torsion joint with rigidity enhanced by air pressure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810971412.8A CN108943007B (en) | 2018-08-24 | 2018-08-24 | Pneumatic torsion joint with rigidity enhanced by air pressure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108943007A CN108943007A (en) | 2018-12-07 |
| CN108943007B true CN108943007B (en) | 2020-06-02 |
Family
ID=64473979
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810971412.8A Active CN108943007B (en) | 2018-08-24 | 2018-08-24 | Pneumatic torsion joint with rigidity enhanced by air pressure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108943007B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111055299B (en) * | 2019-12-24 | 2021-04-27 | 江西理工大学 | Variable-rigidity omnidirectional movement soft driver based on line interference technology |
| CN111331586B (en) * | 2019-12-26 | 2023-07-04 | 北京理工大学 | Fluid-controlled logic software driver |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101066592A (en) * | 2007-05-31 | 2007-11-07 | 浙江工业大学 | Pneumatic flexible torsional knuckle |
| WO2015127231A1 (en) * | 2014-02-21 | 2015-08-27 | Intuitive Surgical Operations, Inc. | Mechanical joints, and related systems and methods |
| CN106309083A (en) * | 2016-09-05 | 2017-01-11 | 西安交通大学 | EMG controlled air-operated soft body rehabilitative mechanical hand |
| CN106859770A (en) * | 2017-02-27 | 2017-06-20 | 西安交通大学 | A kind of pneumatic operation technique arm of multiple degrees of freedom variable rigidity and preparation method |
| CN108044613A (en) * | 2017-11-29 | 2018-05-18 | 上海交通大学 | Flexible pneumatic unit is connected mechanical arm with multiple-unit |
| CN108422418A (en) * | 2018-05-18 | 2018-08-21 | 燕山大学 | A kind of variation rigidity gasbag-type omnidirectional is bent flexible robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017172902A1 (en) * | 2016-03-29 | 2017-10-05 | Other Lab, Llc | Fluidic robotic actuator system and method |
-
2018
- 2018-08-24 CN CN201810971412.8A patent/CN108943007B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101066592A (en) * | 2007-05-31 | 2007-11-07 | 浙江工业大学 | Pneumatic flexible torsional knuckle |
| WO2015127231A1 (en) * | 2014-02-21 | 2015-08-27 | Intuitive Surgical Operations, Inc. | Mechanical joints, and related systems and methods |
| CN106309083A (en) * | 2016-09-05 | 2017-01-11 | 西安交通大学 | EMG controlled air-operated soft body rehabilitative mechanical hand |
| CN106859770A (en) * | 2017-02-27 | 2017-06-20 | 西安交通大学 | A kind of pneumatic operation technique arm of multiple degrees of freedom variable rigidity and preparation method |
| CN108044613A (en) * | 2017-11-29 | 2018-05-18 | 上海交通大学 | Flexible pneumatic unit is connected mechanical arm with multiple-unit |
| CN108422418A (en) * | 2018-05-18 | 2018-08-21 | 燕山大学 | A kind of variation rigidity gasbag-type omnidirectional is bent flexible robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108943007A (en) | 2018-12-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109015741B (en) | Pneumatic torsion joint with rigidity enhanced by particles | |
| CN108943007B (en) | Pneumatic torsion joint with rigidity enhanced by air pressure | |
| CN102632508B (en) | Planar torsion spring suitable for robot joints | |
| CN108972527B (en) | Rigidity-variable snakelike arm robot based on phase change material | |
| CN110900592B (en) | Reconfigurable redundant mechanical arm based on rope driving | |
| CN108214474B (en) | Bionic flexible mechanical arm for narrow limited space operation | |
| CN108582058B (en) | Negative pressure rotary artificial muscle | |
| CN107053245B (en) | Rotary variable stiffness flexible joint | |
| CN201419397Y (en) | Multidimensional composite flexible joint | |
| CN102126210A (en) | 7-DOF (Degree of Freedom) pneumatic muscle flexible mechanical arm | |
| CN107009345A (en) | A kind of freedom degree parallel connection micro-manipulating robot | |
| WO2022199385A1 (en) | Wheel-legged structure and robot using same | |
| WO2022083129A1 (en) | Smart elastic bearing and control method | |
| CN207005518U (en) | A kind of double flange force transmission joint structures of new high-efficiency | |
| CN108045970B (en) | Four-axis pile up neatly industrial robot | |
| CN112454344A (en) | Parallel type torsion soft robot module | |
| WO2024012582A1 (en) | Flexible mechanical arm and robot | |
| CN211729172U (en) | Four-drive pneumatic one-way bending joint | |
| CN209648761U (en) | Three driving Pneumatic unidirectionals are bent flexible joint | |
| CN201047442Y (en) | X-shape combined seal ring | |
| CN103786169A (en) | Pneumatic rotation stretching type four-spiral flexible joint | |
| CN109623870B (en) | Vector control rotary joint | |
| CN210135125U (en) | Can bear big moment of flexure swing pneumatic cylinder | |
| US20220241986A1 (en) | Micro electro-hydraulic linear actuator and hand of electro-hydraulic driven robot | |
| CN212564179U (en) | Multi-branch plane scroll torsion spring |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |