CN111421532B - Two-degree-of-freedom combined joint with hydraulic artificial muscle displacement amplification function - Google Patents
Two-degree-of-freedom combined joint with hydraulic artificial muscle displacement amplification function Download PDFInfo
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- CN111421532B CN111421532B CN202010443293.6A CN202010443293A CN111421532B CN 111421532 B CN111421532 B CN 111421532B CN 202010443293 A CN202010443293 A CN 202010443293A CN 111421532 B CN111421532 B CN 111421532B
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- pulley
- transmission wire
- movable pulley
- artificial muscle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Mechanical Engineering (AREA)
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a two-degree-of-freedom combined joint with hydraulic artificial muscle displacement amplification, which comprises a first joint and a second joint, wherein the first joint and the second joint are connected through a joint transition block; the first joint comprises a fixing plate, two hydraulic artificial muscles, two pulley blocks and two transmission wire tightening devices; the second joint comprises an output end, two hydraulic artificial muscles, two pulley blocks and two transmission wire tightening devices. The invention adopts the pulley block to carry out transmission, the movable pulley in the pulley block is connected with the hydraulic artificial muscle, the hydraulic artificial muscle contracts to drive the movable pulley to move, and the movable pulley is substantially a lever with a power arm equal to 2 times of a resistance arm, so that the load of a transmission wire can be reduced; secondly, the moving distance of the tail end of the transmission wire is 2 times of the moving distance of the movable pulley, so that the effective stroke of the hydraulic artificial muscle is enlarged by the pulley block transmission, and the joint has a large-range motion space and high output torque.
Description
Technical Field
The invention relates to the field of special operation manipulators, deep sea operation equipment and the like, in particular to an underwater operation manipulator in a deep sea environment.
Background
The underwater mechanical arm is a core part for exploring and developing ocean resources by the underwater robot. The combination of a plurality of joints realizes the multi-degree-of-freedom motion of the underwater mechanical arm. Therefore, there is a need for a joint having a compact structure and a wide range of motion space. The existing underwater mechanical arm driving mode comprises hydraulic driving and motor driving; the extension rod of the hydraulic cylinder is easily polluted and corroded by the environment, and in a deep sea environment, a heating device is needed to prevent the hydraulic oil from increasing in viscosity and being incapable of flowing, so that the system reliability is low in the sea environment, and the equipment maintenance cost is increased; and the power density of motor drive is low, and utilizes the underwater cable transmission power, needs to carry out sealed design at the position that the cable runs through, increases the cost. In recent years, the pneumatic artificial muscle is widely applied to the field of medical machinery as a novel driver, the working pressure of the pneumatic artificial muscle is generally not more than 1MPa, and the output force is small; therefore, the output torque of the mechanical arm driven by the pneumatic artificial muscle is small. In addition, in a deep sea environment, the pneumatic artificial muscle needs a pressure compensation device to provide an air source, and the hydraulic artificial muscle can use filtered seawater as a working medium, so that the pneumatic artificial muscle is compatible with the environment and does not need the pressure compensation device.
The hydraulic artificial muscle has smooth action and no relative friction motion part when working. Compared with a hydraulic cylinder and a hydraulic motor, the weight and the volume of the underwater mechanical arm driven by the hydraulic artificial muscle can be greatly reduced, the structure is more flexible, and the underwater mechanical arm has great value and significance for carrying a submersible limited strictly. Compared with pneumatic artificial muscle, the hydraulic artificial muscle does not need a pressure compensation device and has the advantages of large output force, high response speed, low working noise and the like. However, the diameter of the transmission wire of the existing hydraulic artificial muscle is too large, so that the movement range of the joint is limited.
Disclosure of Invention
In view of the defects of the prior art, the invention aims to provide a two-degree-of-freedom combined joint with hydraulic artificial muscle displacement amplification, which can amplify the effective stroke of the hydraulic artificial muscle, reduce the load of a transmission wire and enable the joint to have a large-range motion space and high output torque.
In order to achieve the purpose, the technical scheme of the invention is as follows: a two-degree-of-freedom combined joint with hydraulic artificial muscle displacement amplification comprises a first joint and a second joint, wherein the first joint and the second joint are connected through a joint transition block;
the first joint comprises a fixing plate, a first hydraulic artificial muscle, a second hydraulic artificial muscle, a first pulley block, a second pulley block, a first transmission wire tightening device, a second transmission wire tightening device, a first joint supporting plate, a first locking nut, a second locking nut, a first Y-shaped bracket, a first joint wheel, a first transmission wire and a second transmission wire; the first pulley block comprises a first movable pulley; the second pulley block comprises a second movable pulley; the fixing plate is respectively connected with water inlet end joints A of the first water pressure artificial muscle and the second water pressure artificial muscle; the first movable pulley is connected with a closed end joint B of the first hydraulic artificial muscle; the second movable pulley is connected with a closed end joint B of a second hydraulic artificial muscle; the first transmission wire tightening device is connected with the first joint support plate through a first locking nut; the second transmission wire tightening device is connected with the first joint support plate through a second locking nut; the first joint supporting plate is connected with the first joint wheel through a first Y-shaped support; the first joint wheel is connected with the first transmission wire tightening device through a first transmission wire; the first joint wheel is connected with the second transmission wire tightening device through a second transmission wire, two ends of the first supporting rod are respectively connected with the fixing plate and the first joint supporting plate, and two ends of the second supporting rod are respectively connected with the fixing plate and the first joint supporting plate;
the second joint comprises an output end, a third hydraulic artificial muscle, a fourth hydraulic artificial muscle, a third pulley block, a fourth pulley block, a third transmission wire tightening device, a fourth transmission wire tightening device, a second joint support plate, a third locking nut, a fourth locking nut, a second Y-shaped support, a second joint wheel, a third transmission wire and a fourth transmission wire; the third pulley block comprises a third movable pulley; the fourth pulley block comprises a fourth movable pulley; the output end is respectively connected with the water inlet end joint A of the third hydraulic artificial muscle and the fourth hydraulic artificial muscle; the third movable pulley is connected with a closed end joint B of a third hydraulic artificial muscle; the fourth movable pulley is connected with a closed end joint B of a fourth hydraulic artificial muscle; the third transmission wire tightening device is connected with the second joint support plate through a third locking nut; the fourth transmission wire tightening device is connected with the second joint support plate through a fourth locking nut; the second joint support plate is connected with the second joint wheel through a second Y-shaped support; the second joint wheel is connected with a third transmission wire tightening device through a third transmission wire; the second joint wheel is connected with the fourth transmission wire tightening device through a fourth transmission wire, two ends of the third supporting rod are connected with the output end and the second joint supporting plate respectively, and two ends of the fourth supporting rod are connected with the output end and the second joint supporting plate respectively.
Furthermore, the first pulley block comprises a first movable pulley and a first fixed pulley, the second pulley block comprises a second movable pulley and a second fixed pulley, the third pulley block comprises a third movable pulley and a third fixed pulley, and the fourth pulley block comprises a fourth movable pulley and a fourth fixed pulley; one end of the first transmission wire is fixedly connected with the first movable pulley, then the first transmission wire winds around the first fixed pulley, winds around the first movable pulley again, and finally the other end of the first transmission wire is connected with the first joint wheel; one end of the second transmission wire is fixedly connected with the second movable pulley, then the second transmission wire winds around the second fixed pulley and again winds around the second movable pulley, and finally the other end of the second transmission wire is connected with the first joint wheel; one end of a third transmission wire is fixedly connected with the third movable pulley, then the third transmission wire rounds the third fixed pulley and rounds the third movable pulley again, and finally the other end of the third transmission wire is connected with the second joint wheel; one end of the fourth transmission wire is fixedly connected with the fourth movable pulley, then the fourth transmission wire rounds the fourth fixed pulley and rounds the fourth movable pulley again, and finally the other end of the fourth transmission wire is connected with the second joint wheel.
Furthermore, the fork mouth end parts of the first Y-shaped support and the second Y-shaped support are both arc-shaped, the two ends of the joint transition block are both arc-shaped, and the fork mouth end part is provided with a pin shaft hole. The first joint is connected with the joint transition block through a pin shaft; the second joint is connected with the joint transition block through a pin shaft.
Furthermore, the first pulley block comprises a first movable pulley, a fifth movable pulley and a first fixed pulley, the second pulley block comprises a second movable pulley, a sixth movable pulley and a second fixed pulley, the third pulley block comprises a third movable pulley, a seventh movable pulley and a third fixed pulley, and the fourth pulley block comprises a fourth movable pulley, an eighth movable pulley and a fourth fixed pulley. One end of the first transmission wire is fixedly connected with the first fixed pulley, then winds around the fifth movable pulley, then winds around the first fixed pulley, and finally winds around the first movable pulley, and the other end of the first transmission wire is connected with the first joint wheel; one end of the second transmission wire is fixedly connected with the second fixed pulley, then winds around the sixth movable pulley, then winds around the second fixed pulley, and finally winds around the second movable pulley, and the other end of the second transmission wire is connected with the first joint wheel; one end of a third transmission wire is fixedly connected with the third fixed pulley, then winds around the seventh movable pulley, winds around the third fixed pulley again, and finally winds around the third movable pulley, and the other end of the third transmission wire is connected with the second joint wheel; one end of the fourth transmission wire is fixedly connected with the fourth fixed pulley, then the fourth transmission wire rounds the eighth movable pulley, the fourth fixed pulley is wound again, and finally the fourth movable pulley is wound, and the other end of the fourth transmission wire is connected with the second joint wheel.
Further, the first pulley block comprises N movable pulleys and M fixed pulleys, the second pulley block comprises N movable pulleys and M fixed pulleys, the third pulley block comprises N movable pulleys and M fixed pulleys, the fourth pulley block comprises N movable pulleys and M fixed pulleys, and M = N or M = N-1.
Compared with the prior art, the invention has the following beneficial effects:
1. the hydraulic artificial muscle is driven by the pulley block, the movable pulley in the pulley block is connected with the hydraulic artificial muscle, the hydraulic artificial muscle contracts to drive the movable pulley to move, and the movable pulley is a lever with a power arm equal to 2 times of a resistance arm, so that the load of a driving wire can be reduced, the advantage of large output weight ratio of the hydraulic artificial muscle is fully utilized, and the moving distance of the tail end of the driving wire is 2 times of the moving distance of the movable pulley, so that the effective stroke of the hydraulic artificial muscle is enlarged by the transmission of the pulley block, and the joint has large-range motion space and high output torque.
2. The invention adopts the hydraulic artificial muscle as the driver, is compatible with the seawater environment, does not need an oil tank and a pressure compensation device, greatly simplifies the underwater device and has compact structure.
3. The pulley block can adopt various combination modes, the stroke of the hydraulic artificial muscle can be amplified by two times by a single pulley, and the arc length corresponding to the joint corner is two times of the contraction quantity of the hydraulic artificial muscle; the two pulleys can amplify the stroke of the hydraulic artificial muscle by three times, and the arc length corresponding to the joint corner is three times of the contraction quantity of the hydraulic artificial muscle; the three pulleys can amplify the stroke of the hydraulic artificial muscle by four times, and the arc length corresponding to the joint corner is four times of the contraction quantity of the hydraulic artificial muscle.
4. The invention is driven by hydraulic artificial muscle, has large output weight ratio, fast response speed, low working noise, smooth action during working and no relative friction motion part.
5. The two-degree-of-freedom motion decoupling mechanism comprises a first joint and a second joint, wherein the first joint and the second joint are connected through a joint transition block, so that two-degree-of-freedom motion is realized, and the orthogonal decoupling of the motion of the first joint and the motion of the second joint is ensured.
Drawings
Fig. 1 is a schematic structural diagram of the invention (a pulley block comprises 1 movable pulley).
Fig. 2 is a schematic diagram of the invention (the pulley block comprises 1 movable pulley and 1 fixed pulley).
Fig. 3 is a schematic diagram of the invention (the pulley block comprises 2 movable pulleys and 1 fixed pulley).
In the figure: 1. a fixing plate, 2, a first hydraulic artificial muscle, 3, a first supporting rod, 4, a first movable pulley, 5, a first transmission wire tightening device, 6, a first transmission wire, 7, a first joint supporting plate, 8, a first locking nut, 9, a first Y-shaped bracket, 10, a second joint supporting plate, 11, a third locking nut, 12, a second Y-shaped bracket, 13, a third transmission wire tightening device, 14, a third transmission wire, 15, a third movable pulley, 16, a third supporting rod, 17, a third hydraulic artificial muscle, 18, an output end, 19, a fourth hydraulic artificial muscle, 20, a fourth supporting rod, 21 and a fourth movable pulley, 22, a fourth driving wire tightening device, 23, a fourth lock nut, 24, a fourth driving wire, 25, a second joint wheel, 26, a joint transition block, 27, a second lock nut, 28, a first joint wheel, 29, a second driving wire tightening device, 30, a second driving wire, 31, a second movable pulley, 32, a second support rod, 33, a second hydraulic artificial muscle, 34, a first fixed pulley, 35, a second fixed pulley, 36, a third fixed pulley, 37, a fourth fixed pulley, 38, a fifth movable pulley, 39, a sixth movable pulley, 40, a seventh movable pulley, 41 and an eighth movable pulley.
Detailed Description
The invention is further described below with reference to the accompanying drawings. As shown in fig. 1-3, a two-degree-of-freedom combined joint with hydraulic artificial muscle displacement amplification comprises a first joint and a second joint, wherein the first joint and the second joint are connected through a joint transition block 26;
the first joint comprises a fixing plate 1, a first hydraulic artificial muscle 2, a second hydraulic artificial muscle 33, a first pulley block, a second pulley block, a first transmission wire tightening device 5, a second transmission wire tightening device 29, a first joint supporting plate 7, a first locking nut 8, a second locking nut 27, a first Y-shaped support 9, a first joint wheel 28, a first transmission wire 6 and a second transmission wire 30; the first pulley block comprises a first movable pulley 4; the second pulley block comprises a second movable pulley 31; the fixing plate 1 is respectively connected with water inlet end connectors A of the first water pressure artificial muscle 2 and the second water pressure artificial muscle 33; the first movable pulley 4 is connected with a closed end joint B of the first hydraulic artificial muscle 2; the second movable pulley 31 is connected with a closed end joint B of a second hydraulic artificial muscle 33; the first transmission wire tightening device 5 is connected with a first joint support plate 7 through a first locking nut 8; the second transmission wire tightening device 29 is connected with the first joint support plate 7 through a second lock nut 27; the first joint supporting plate 7 is connected with the first joint wheel 28 through the first Y-shaped bracket 9; the first joint pulley 28 is connected to the first drive wire take-up device 5 via the first drive wire 6; the first joint wheel 28 is connected with the second transmission wire tightening device 29 through a second transmission wire 30, two ends of the first support rod 3 are respectively connected with the fixing plate 1 and the first joint support plate 7, and two ends of the second support rod 32 are respectively connected with the fixing plate 1 and the first joint support plate 7;
the second joint comprises an output end 18, a third hydraulic artificial muscle 17, a fourth hydraulic artificial muscle 19, a third pulley block, a fourth pulley block, a third transmission wire tightening device 13, a fourth transmission wire tightening device 22, a second joint support plate 10, a third locking nut 11, a fourth locking nut 23, a second Y-shaped support 12, a second joint wheel 25, a third transmission wire 14 and a fourth transmission wire 24; the third pulley block comprises a third movable pulley 15; the fourth pulley block comprises a fourth movable pulley 21; the output end 18 is respectively connected with the water inlet end joints A of the third water pressure artificial muscle 17 and the fourth water pressure artificial muscle 19; the third movable pulley 15 is connected with a closed end joint B of a third hydraulic artificial muscle 17; the fourth movable pulley 21 is connected with a closed end joint B of a fourth hydraulic artificial muscle 19; the third transmission wire tightening device 13 is connected with the second joint support plate 10 through a third lock nut 11; the fourth transmission wire tightening device 22 is connected with the second joint support plate 10 through a fourth lock nut 23; the second joint support plate 10 is connected with a second joint wheel 25 through a second Y-shaped bracket 12; the second joint wheel 25 is connected with the third transmission wire tightening device 13 through a third transmission wire 14; the second joint wheel 25 is connected with the fourth transmission wire tightening device 22 through a fourth transmission wire 24, two ends of the third support rod 16 are respectively connected with the output end 18 and the second joint support plate 10, and two ends of the fourth support rod 20 are respectively connected with the output end 18 and the second joint support plate 10.
Further, the first pulley block comprises a first movable pulley 4 and a first fixed pulley 34, the second pulley block comprises a second movable pulley 31 and a second fixed pulley 35, the third pulley block comprises a third movable pulley 15 and a third fixed pulley 36, and the fourth pulley block comprises a fourth movable pulley 21 and a fourth fixed pulley 37; one end of the first transmission wire 6 is fixedly connected with the first movable pulley 4, then the first transmission wire passes through the first fixed pulley 34 and is wound back around the first movable pulley 4 again, and finally the other end of the first transmission wire 6 is connected with the first joint wheel 28; one end of the second transmission wire 30 is fixedly connected with the second movable pulley 31, then the second transmission wire winds around the second fixed pulley 35 and winds around the second movable pulley 31 again, and finally the other end of the second transmission wire 30 is connected with the first joint wheel 28; one end of the third transmission wire 14 is fixedly connected with the third movable pulley 15, then the third transmission wire rounds the third fixed pulley 36 and rounds the third movable pulley 15 again, and finally the other end of the third transmission wire 14 is connected with the second joint wheel 25; one end of the fourth transmission wire 24 is fixedly connected with the fourth movable pulley 21, then the fourth transmission wire passes through the fourth fixed pulley 37, and then the fourth transmission wire is wound around the fourth movable pulley 21 again, and finally the other end of the fourth transmission wire 24 is connected with the second joint wheel 25.
Further, the fork ends of the first Y-shaped support 9 and the second Y-shaped support 12 are both arc-shaped, the two ends of the joint transition block 26 are both arc-shaped, and the fork ends are provided with pin shaft holes. The first joint is connected with the joint transition block 26 through a pin shaft; the second joint is connected with the joint transition block 26 through a pin shaft.
Further, the first pulley block comprises a first movable pulley 4, a fifth movable pulley 38 and a first fixed pulley 34, the second pulley block comprises a second movable pulley 31, a sixth movable pulley 39 and a second fixed pulley 35, the third pulley block comprises a third movable pulley 15, a seventh movable pulley 40 and a third fixed pulley 36, and the fourth pulley block comprises a fourth movable pulley 21, an eighth movable pulley 41 and a fourth fixed pulley 37. One end of the first transmission wire 6 is fixedly connected with the first fixed pulley 34, then winds around the fifth movable pulley 38, then winds around the first fixed pulley 34, and finally winds around the first movable pulley 4, and the other end of the first transmission wire 6 is connected with the first joint wheel 28; one end of the second transmission wire 30 is fixedly connected with the second fixed pulley 35, then winds around the sixth movable pulley 39, then winds around the second fixed pulley 35, and finally winds around the second movable pulley 31, and the other end of the second transmission wire 30 is connected with the first joint wheel 28; one end of the third transmission wire 14 is fixedly connected with the third fixed pulley 36, then winds around the seventh movable pulley 40, again winds around the third fixed pulley 36, and finally winds around the third movable pulley 15, and the other end of the third transmission wire 14 is connected with the second joint wheel 25; one end of the fourth transmission wire 24 is fixedly connected with the fourth fixed pulley 37, then passes through the eighth movable pulley 41, again passes through the fourth fixed pulley 37, and finally passes through the fourth movable pulley 21, and the other end of the fourth transmission wire 24 is connected with the second joint wheel 25.
Further, the first pulley block comprises N movable pulleys and M fixed pulleys, the second pulley block comprises N movable pulleys and M fixed pulleys, the third pulley block comprises N movable pulleys and M fixed pulleys, the fourth pulley block comprises N movable pulleys and M fixed pulleys, and M = N or M = N-1.
The working process of the invention is as follows:
the first transmission wire tightening device 5 is connected with the first joint support plate 7 through a first locking nut 8; the second transmission wire tightening device 29 is connected with the first joint support plate 7 through a second lock nut 27; in the non-working state, the first lock nut 8 and the second lock nut 27 are respectively matched with the first driving wire tightening device 5 and the second driving wire tightening device 29 at the root parts of the threads to tighten the first driving wire 6 and the second driving wire 30; in the initial operating state, the first lock nut 8 and the second lock nut 27 are respectively engaged with the first drive wire take-up device 5 and the second drive wire take-up device 29 at the threaded end portions, and the first drive wire 6 and the second drive wire 30 are loosened;
the third transmission wire tightening device 13 is connected with the second joint support plate 10 through a third lock nut 11; the fourth transmission wire tightening device 22 is connected with the second joint support plate 10 through a fourth locking nut 23, and in a non-working state, the third locking nut 11 and the fourth locking nut 23 are respectively matched with the third transmission wire tightening device 13 and the fourth transmission wire tightening device 22 at the root of threads to tighten the third transmission wire 14 and the fourth transmission wire 24; in the initial operating state, the third and fourth lock nuts 11 and 23 are engaged with the third and fourth drive wire take- up devices 13 and 22, respectively, at the threaded ends, and the third and fourth drive wires 14 and 24 are loosened.
The first joint is connected with the second joint through a joint transition block 26, the joint transition block 26 is in the shape of two mutually perpendicular Y-shaped supports, and orthogonal connection of the first joint and the second joint is achieved. The first water pressure artificial muscle 2 and the second water pressure artificial muscle 33 drive the first joint wheel 28 to rotate, and the third water pressure artificial muscle 17 and the fourth water pressure artificial muscle 19 drive the second water pressure artificial muscle 33 to rotate. When the second joint rotates, the first joint is a frame, and the output end 18 is at the water inlet end of the third water pressure artificial muscle 17 and the fourth water pressure artificial muscle 19.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be able to cover the technical solutions and their inventive concepts equally or alternatively within the scope of the present invention.
Claims (5)
1. A two-degree-of-freedom combined joint with hydraulic artificial muscle displacement amplification comprises a first joint and a second joint, wherein the first joint and the second joint are connected through a joint transition block (26);
the method is characterized in that: the first joint comprises a fixing plate (1), a first hydraulic artificial muscle (2), a second hydraulic artificial muscle (33), a first pulley block, a second pulley block, a first transmission wire tightening device (5), a second transmission wire tightening device (29), a first joint supporting plate (7), a first locking nut (8), a second locking nut (27), a first Y-shaped support (9), a first joint wheel (28), a first transmission wire (6) and a second transmission wire (30); the first pulley block comprises a first movable pulley (4); the second pulley block comprises a second movable pulley (31); the fixing plate (1) is respectively connected with water inlet end joints A of a first water pressure artificial muscle (2) and a second water pressure artificial muscle (33); the first movable pulley (4) is connected with a closed end joint B of the first hydraulic artificial muscle (2); the second movable pulley (31) is connected with a closed end joint B of a second hydraulic artificial muscle (33); the first transmission wire tightening device (5) is connected with the first joint support plate (7) through a first locking nut (8); the second transmission wire tightening device (29) is connected with the first joint support plate (7) through a second locking nut (27); the first joint support plate (7) is connected with the first joint wheel (28) through a first Y-shaped bracket (9); the first joint wheel (28) is connected with the first drive wire take-up device (5) through a first drive wire (6); the first joint wheel (28) is connected with the second transmission wire tightening device (29) through a second transmission wire (30), two ends of the first supporting rod (3) are respectively connected with the fixing plate (1) and the first joint supporting plate (7), and two ends of the second supporting rod (32) are respectively connected with the fixing plate (1) and the first joint supporting plate (7);
the second joint comprises an output end (18), a third hydraulic artificial muscle (17), a fourth hydraulic artificial muscle (19), a third pulley block, a fourth pulley block, a third transmission wire tightening device (13), a fourth transmission wire tightening device (22), a second joint support plate (10), a third locking nut (11), a fourth locking nut (23), a second Y-shaped support (12), a second joint wheel (25), a third transmission wire (14) and a fourth transmission wire (24); the third pulley block comprises a third movable pulley (15); the fourth pulley block comprises a fourth movable pulley (21); the output end (18) is respectively connected with water inlet end joints A of a third water pressure artificial muscle (17) and a fourth water pressure artificial muscle (19); the third movable pulley (15) is connected with a closed end joint B of a third hydraulic artificial muscle (17); the fourth movable pulley (21) is connected with a closed end joint B of a fourth hydraulic artificial muscle (19); the third transmission wire tightening device (13) is connected with the second joint support plate (10) through a third locking nut (11); the fourth transmission wire tightening device (22) is connected with the second joint support plate (10) through a fourth locking nut (23); the second joint support plate (10) is connected with a second joint wheel (25) through a second Y-shaped support (12); the second joint wheel (25) is connected with the third transmission wire tightening device (13) through a third transmission wire (14); the second joint wheel (25) is connected with the fourth transmission wire tightening device (22) through a fourth transmission wire (24), two ends of the third support rod (16) are respectively connected with the output end (18) and the second joint support plate (10), and two ends of the fourth support rod (20) are respectively connected with the output end (18) and the second joint support plate (10).
2. The two-degree-of-freedom combined joint with hydraulic artificial muscle displacement amplification as claimed in claim 1, is characterized in that: the first pulley block comprises a first movable pulley (4) and a first fixed pulley (34), the second pulley block comprises a second movable pulley (31) and a second fixed pulley (35), the third pulley block comprises a third movable pulley (15) and a third fixed pulley (36), and the fourth pulley block comprises a fourth movable pulley (21) and a fourth fixed pulley (37); one end of the first transmission wire (6) is fixedly connected with the first movable pulley (4), then the first transmission wire winds around the first fixed pulley (34) and winds around the first movable pulley (4) again, and finally the other end of the first transmission wire (6) is connected with the first joint wheel (28); one end of a second transmission wire (30) is fixedly connected with the second movable pulley (31), then the second transmission wire rounds the second fixed pulley (35), the second movable pulley (31) is wound again, and finally the other end of the second transmission wire (30) is connected with the first joint wheel (28); one end of a third transmission wire (14) is fixedly connected with a third movable pulley (15), then the third transmission wire rounds a third fixed pulley (36), the third movable pulley (15) is wound again, and finally the other end of the third transmission wire (14) is connected with a second joint wheel (25); one end of the fourth transmission wire (24) is fixedly connected with the fourth movable pulley (21), then the fourth transmission wire rounds the fourth fixed pulley (37) and rounds the fourth movable pulley (21) again, and finally the other end of the fourth transmission wire (24) is connected with the second joint wheel (25).
3. The two-degree-of-freedom combined joint with hydraulic artificial muscle displacement amplification as claimed in claim 1, characterized in that: the end parts of the fork openings of the first Y-shaped support (9) and the second Y-shaped support (12) are both arc-shaped, the two ends of the joint transition block (26) are both arc-shaped, and the fork opening end is provided with a pin shaft hole; the first joint is connected with a joint transition block (26) through a pin shaft; the second joint is connected with a joint transition block (26) through a pin shaft.
4. The two-degree-of-freedom combined joint with hydraulic artificial muscle displacement amplification as claimed in claim 1, is characterized in that: the first pulley block comprises a first movable pulley (4), a fifth movable pulley (38) and a first fixed pulley (34), the second pulley block comprises a second movable pulley (31), a sixth movable pulley (39) and a second fixed pulley (35), the third pulley block comprises a third movable pulley (15), a seventh movable pulley (40) and a third fixed pulley (36), and the fourth pulley block comprises a fourth movable pulley (21), an eighth movable pulley (41) and a fourth fixed pulley (37); one end of the first transmission wire (6) is fixedly connected with the first fixed pulley (34), then the first transmission wire rounds the fifth movable pulley (38), then rounds the first fixed pulley (34) and finally rounds the first movable pulley (4), and the other end of the first transmission wire (6) is connected with the first joint wheel (28); one end of the second transmission wire (30) is fixedly connected with the second fixed pulley (35), then the second transmission wire winds around the sixth movable pulley (39), then winds around the second fixed pulley (35) and finally winds around the second movable pulley (31), and the other end of the second transmission wire (30) is connected with the first joint wheel (28); one end of the third transmission wire (14) is fixedly connected with the third fixed pulley (36), then the third transmission wire rounds the seventh movable pulley (40), rounds the third fixed pulley (36) again, and finally rounds the third movable pulley (15), and the other end of the third transmission wire (14) is connected with the second joint wheel (25); one end of the fourth transmission wire (24) is fixedly connected with the fourth fixed pulley (37), then the fourth transmission wire rounds the eighth fixed pulley (41), rounds the fourth fixed pulley (37) again, and finally rounds the fourth movable pulley (21), and the other end of the fourth transmission wire (24) is connected with the second joint wheel (25).
5. The two-degree-of-freedom combined joint with hydraulic artificial muscle displacement amplification as claimed in claim 1, is characterized in that: the first pulley block comprises N movable pulleys and M fixed pulleys, the second pulley block comprises N movable pulleys and M fixed pulleys, the third pulley block comprises N movable pulleys and M fixed pulleys, the fourth pulley block comprises N movable pulleys and M fixed pulleys, and M = N or M = N-1.
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| CN202010443293.6A CN111421532B (en) | 2020-05-22 | 2020-05-22 | Two-degree-of-freedom combined joint with hydraulic artificial muscle displacement amplification function |
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| CN202010443293.6A CN111421532B (en) | 2020-05-22 | 2020-05-22 | Two-degree-of-freedom combined joint with hydraulic artificial muscle displacement amplification function |
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| CN111421532B true CN111421532B (en) | 2022-11-01 |
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