CN110509308A - A kind of bio-robot bulb joint of rigid flexible system - Google Patents
A kind of bio-robot bulb joint of rigid flexible system Download PDFInfo
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- CN110509308A CN110509308A CN201910800476.6A CN201910800476A CN110509308A CN 110509308 A CN110509308 A CN 110509308A CN 201910800476 A CN201910800476 A CN 201910800476A CN 110509308 A CN110509308 A CN 110509308A
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- bulb
- robot
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- ball
- socket
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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
- B25J17/0258—Two-dimensional joints
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a kind of bio-robot bulb joints of rigid flexible system, it is related to bio-robot bulb joint technical field, it include: bulb handle, bulb, ball-and-socket, artificial-muscle and composite bush, bulb handle lower end taper is locked in the bulb, the ball-and-socket is arranged below the bulb, the composite lining is set in the ball-and-socket, the bulb is arranged in the composite bush, described artificial-muscle one end is connect with bulb handle top elastic fastening, the artificial-muscle other end is connect with the ball-and-socket elastic fastening, to overcome existing bio-robot bulb joint inflexible and flexible and impact resistance difference defect, the present invention can not only improve the flexibility of bio-robot bulb joint simultaneously, flexibility and impact resistance, and be conducive to improve the damping property of whole device.
Description
Technical field
The present invention relates to bio-robot bulb joint technical fields, more particularly to a kind of bionic machine of rigid flexible system
People's bulb joint.
Background technique
Bulb joint is widely used, and there are 3 to swing and rotational freedom, can be applicable to the displacement of human hip and all
In more high flexibly equipment of complex mechanism.With the rapid development and bionic continuous maturation of robot technology, bulb joint
It also can be applicable to knee, the foot etc. of bio-robot, but simple application bulb joint, do not have sufficiently flexible.Currently, imitative
The joint applied in raw robot is broadly divided into: using the rigid elements such as connecting rod, hinge composition bionic machine person joint and set
Set the rigid joint of elastic piece.
The joint on bio-robot is applied to there are some problems at present.Such as, simple rigid member connection, part compared with
More, structure is complicated, and does not have sufficiently flexible and kinetic stability, under power effect, cannot keep a certain pose, especially in wink
Between can also generate larger vibration under impact force action, influence service life.Though and the joint that elastic piece is arranged makes it have one
Fixed flexibility, but the range of motion is limited, it is inflexible.
Summary of the invention
The object of the present invention is to provide a kind of bio-robot bulb joints of rigid flexible system, to solve the above-mentioned prior art
There are the problem of, flexibility, flexibility and the impact resistance of bio-robot bulb joint can not only be improved simultaneously, and advantageous
In the damping property for improving whole device.
To achieve the above object, the present invention provides following schemes:
The present invention provides a kind of bio-robot bulb joints of rigid flexible system, including bulb handle, bulb, ball-and-socket, people
Work muscle and composite bush, bulb handle lower end taper are locked in the bulb, and the ball-and-socket is arranged under the bulb
Side, the composite lining are set in the ball-and-socket, and the bulb is arranged in the composite bush, described artificial-muscle one end
It is connect with bulb handle top elastic fastening, the artificial-muscle other end is connect with the ball-and-socket elastic fastening.
Preferably, the bulb handle includes cylindrical section and conical surface section, and the cylindrical section side wall offers first annular groove,
Artificial-muscle upper end elastic fastening is connected in the first annular groove, and conical surface section lower end taper is locked in described
In bulb.
Preferably, bulb conical hole is offered in the bulb, conical surface section lower end taper is locked in the bulb cone
In face.
Preferably, the ball-and-socket side wall offers second annular groove, and artificial-muscle lower end elastic fastening is connected to
In the second annular groove of the ball-and-socket side wall.
Preferably, the artificial-muscle includes flexible body and spring wire, the flexible body upper end and bulb handle top
Elastic fastening connection, the flexible body lower end are connect with the ball-and-socket elastic fastening, and the spring wire is fixed at described soft
Inside property body.
Preferably, the flexible body is rubber bodies.
Preferably, the composite bush includes the wear resistant inner layer being fixedly connected from inside to outside and flexible outer layer.
Preferably, the wear resistant inner layer is ceramic layer, and the flexible outer layer is metal-rubber layer.
The present invention achieves following technical effect compared with the existing technology:
The present invention provides a kind of bio-robot bulb joint of rigid flexible system, rigid member part include bulb handle,
Bulb and ball-and-socket are able to carry out the movement of directional rotating and swing；When bulb handle is by external force, bulb handle is swung
Or rotation, artificial-muscle is stretched, a certain action is kept under the damping action of artificial-muscle；When removing external force, bulb handle
Under the restoring force effect of artificial-muscle, restore initial position, in this way, being conducive to improve the flexibility and flexibility of device；
When bulb handle is by instantaneous impact, composite bush have it is sufficiently resilient, part of impact force can be absorbed, so as to reduce
The impact that the vibration and ball-and-socket that ball-and-socket generates are subject to, that is, improve the damping property and impact resistance of whole device.
Detailed description of the invention
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 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 bio-robot bulb joint cross-sectional view of rigid flexible system provided by the invention；
Fig. 2 is that the bulb handle of the bio-robot bulb joint of rigid flexible system provided by the invention shows with bulb connection structure
It is intended to；
Fig. 3 is the artificial rubber schematic diagram of the bio-robot bulb joint of rigid flexible system provided by the invention；
Fig. 4 is 2-2 three-dimensional structure detail drawing in Fig. 3；
Fig. 5 is the composite bush three-dimensional Section View of the bio-robot bulb joint of rigid flexible system provided by the invention；
Fig. 6 is the ball-and-socket three-dimensional Section View of the bio-robot bulb joint of rigid flexible system provided by the invention.
Wherein: 1, bulb handle；2, artificial-muscle；2-1, rubber bodies；2-2, spring wire；3, bulb；4, composite bush；4-1,
Ceramic layer；4-2, metal-rubber layer；5, ball-and-socket；6, first annular groove；7, the bulb handle conical surface；8, bulb conical hole.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art under the premise of not making the creative labor it is obtained it is all its
His embodiment, shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of bio-robot bulb joints of rigid flexible system, to solve prior art presence
The problem of, flexibility, flexibility and the impact resistance of bio-robot bulb joint can not only be improved simultaneously, and are conducive to mention
The damping property of high whole device.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
As shown in figs. 1 to 6: present embodiments providing a kind of bio-robot bulb joint of rigid flexible system, including bulb
Handle 1, bulb 3, ball-and-socket 5, artificial-muscle 2 and composite bush 4,1 lower end taper of bulb handle are locked in bulb 3, and the setting of ball-and-socket 5 exists
3 lower section of bulb, bulb handle 1, bulb 3 and ball-and-socket 5 carry out swing and the movement of directional rotating for the present apparatus, specifically, bulb
When 1 top of handle is by external force, bulb handle 1 is able to drive bulb 3 and relatively rotates and swing with respect to ball-and-socket 5；Composite lining
Set 4 is arranged in ball-and-socket 5, and bulb 3 is arranged in composite bush 4, when composite bush 4 is used to reduce bulb handle 1 by impact force,
The vibration that caused ball-and-socket 5 occurs and the impact being subject to；2 one end of artificial-muscle is connect with 1 top elastic fastening of bulb handle, people
2 other end of work muscle is connect with 5 elastic fastening of ball-and-socket, is occurred to swing or be rotated in bulb handle 1, artificial-muscle 2 is stretched, artificial
A certain action is kept under the damping action of muscle 2；When removing external force, bulb handle 1 is acted in the restoring force of artificial-muscle 2
Under, restore initial position.
Bulb handle 1 includes cylindrical section and conical surface section, and cylindrical section side wall offers first annular groove 6, artificial-muscle upper end
Elastic fastening is connected in first annular groove 6, and 7 taper of the bulb handle conical surface of conical surface section lower end setting is locked in bulb 3.
Bulb 3 is the revolving body that inside offers bulb conical hole 8, and conical surface section lower end taper is locked in bulb conical hole 8
It is interior.
5 side wall of ball-and-socket offers second annular groove, and 2 lower end elastic fastening of artificial-muscle is connected to the of 5 side wall of ball-and-socket
In second ring groove.
Artificial-muscle 2 includes flexible body and spring wire 2-2, and flexible body upper end is connect with 1 top elastic fastening of bulb handle, soft
Property body lower end is connect with 5 elastic fastening of ball-and-socket, and spring wire 2-2 is fixed inside flexible body.
Flexible body is rubber bodies 2-1.
Composite bush 4 includes the wear resistant inner layer being fixedly connected from inside to outside and flexible outer layer.
Wear resistant inner layer is ceramic layer 4-1, and flexible outer layer is metal-rubber layer 4-2.
The course of work is as follows: firstly, carrying out assembly preparation, composite pad 4 being put into ball-and-socket 5, by bulb handle 1 and bulb
3 are assembled using taper locking structure and are put into composite bush 4, then by the upper/lower terminal of artificial-muscle 2 respectively with bulb handle 1
First annular groove 6 and ball-and-socket 5 second annular groove elastic fastening connection；
When having external force at bulb 1 top of handle, bulb handle 1 is swung, and artificial-muscle 2 is stretched, in artificial muscle
Under the damping action of meat 2, it is able to maintain movement, when external force removes, bulb handle 1 is extensive under the restoring force effect of artificial-muscle 2
Multiple initial position, when there is instant impact to act on bulb handle 1, bulb handle 1 is swung, simultaneously because composite bush 4
The setting of middle metal-rubber is conducive to reduce the vibration that ball-and-socket 5 generates and the impact being subject to.
Apply that a specific example illustrates the principle and implementation of the invention in this specification, above embodiments
Explanation be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art,
According to the thought of the present invention, there will be changes in the specific implementation manner and application range.In conclusion in this specification
Appearance should not be construed as limiting the invention.
Claims (8)
1. a kind of bio-robot bulb joint of rigid flexible system, it is characterised in that: including bulb handle, bulb, ball-and-socket, artificial muscle
Meat and composite bush, bulb handle lower end taper are locked in the bulb, and the ball-and-socket is arranged below the bulb, institute
It states composite lining to be set in the ball-and-socket, the bulb is arranged in the composite bush, described artificial-muscle one end and institute
The connection of bulb handle top elastic fastening is stated, the artificial-muscle other end is connect with the ball-and-socket elastic fastening.
2. the bio-robot bulb joint of rigid flexible system according to claim 1, it is characterised in that: the bulb handle packet
Cylindrical section and conical surface section are included, the cylindrical section side wall offers first annular groove, and artificial-muscle upper end elastic fastening connects
It is connected in the first annular groove, conical surface section lower end taper is locked in the bulb.
3. the bio-robot bulb joint of rigid flexible system according to claim 2, it is characterised in that: opened in the bulb
Equipped with bulb conical hole, conical surface section lower end taper is locked in the bulb conical hole.
4. the bio-robot bulb joint of rigid flexible system according to claim 1, it is characterised in that: the ball-and-socket side wall
Second annular groove is offered, second annular that artificial-muscle lower end elastic fastening is connected to the ball-and-socket side wall is recessed
In slot.
5. the bio-robot bulb joint of rigid flexible system according to claim 1, it is characterised in that: the artificial-muscle
Including flexible body and spring wire, the flexible body upper end is connect with bulb handle top elastic fastening, the flexible body lower end
It is connect with the ball-and-socket elastic fastening, the spring wire is fixed inside the flexible body.
6. the bio-robot bulb joint of rigid flexible system according to claim 5, it is characterised in that: the flexible body is
Rubber bodies.
7. the bio-robot bulb joint of rigid flexible system according to claim 1, it is characterised in that: the composite bush
Including the wear resistant inner layer being fixedly connected from inside to outside and flexible outer layer.
8. the bio-robot bulb joint of rigid flexible system according to claim 7, it is characterised in that: the wear resistant inner layer
For ceramic layer, the flexible outer layer is metal-rubber layer.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910800476.6A CN110509308A (en) | 2019-08-28 | 2019-08-28 | A kind of bio-robot bulb joint of rigid flexible system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910800476.6A CN110509308A (en) | 2019-08-28 | 2019-08-28 | A kind of bio-robot bulb joint of rigid flexible system |
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| CN110509308A true CN110509308A (en) | 2019-11-29 |
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| CN201910800476.6A Pending CN110509308A (en) | 2019-08-28 | 2019-08-28 | A kind of bio-robot bulb joint of rigid flexible system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111844125A (en) * | 2020-08-01 | 2020-10-30 | 蔡世勋 | Compact and firm single-degree-of-freedom bionic joint and manufacturing method thereof |
| CN111872973A (en) * | 2020-08-01 | 2020-11-03 | 蔡世勋 | Compact and firm multi-degree-of-freedom bionic joint and manufacturing method thereof |
| CN112720437A (en) * | 2020-12-14 | 2021-04-30 | 浙江工业大学 | Pneumatic locking type variable-rigidity soft arm framework for ball joint |
| CN114811517A (en) * | 2021-01-22 | 2022-07-29 | 海拉有限双合股份公司 | Device for adjusting a support frame of a headlight of a motor vehicle |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111844125A (en) * | 2020-08-01 | 2020-10-30 | 蔡世勋 | Compact and firm single-degree-of-freedom bionic joint and manufacturing method thereof |
| CN111872973A (en) * | 2020-08-01 | 2020-11-03 | 蔡世勋 | Compact and firm multi-degree-of-freedom bionic joint and manufacturing method thereof |
| CN112720437A (en) * | 2020-12-14 | 2021-04-30 | 浙江工业大学 | Pneumatic locking type variable-rigidity soft arm framework for ball joint |
| CN112720437B (en) * | 2020-12-14 | 2022-04-08 | 浙江工业大学 | Pneumatic locking type variable-rigidity soft arm framework for ball joint |
| CN114811517A (en) * | 2021-01-22 | 2022-07-29 | 海拉有限双合股份公司 | Device for adjusting a support frame of a headlight of a motor vehicle |
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