CN1274473C - Pneumatic flexible bend joint - Google Patents
Pneumatic flexible bend joint Download PDFInfo
- Publication number
- CN1274473C CN1274473C CN 200410017444 CN200410017444A CN1274473C CN 1274473 C CN1274473 C CN 1274473C CN 200410017444 CN200410017444 CN 200410017444 CN 200410017444 A CN200410017444 A CN 200410017444A CN 1274473 C CN1274473 C CN 1274473C
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- CN
- China
- Prior art keywords
- rubber tube
- steel wire
- wire
- end cap
- joint
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- Expired - Fee Related
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Abstract
The present invention relates to a pneumatic flexible bending joint which comprises end covers, a rubber tube, a metal wire and a constraining steel wire, wherein the metal wire is sheathed in the tube wall of the rubber tube, both ends of the rubber tube are hermetically connected with the two end covers, the end covers are provided with through holes communicated with the atmosphere, the metal wire is a spiral steel wire, the constraining steel wire is arranged in the tube wall at one side of the rubber tube, the constraining steel wire is wound with each turn of the spiral steel wire, the rubber tube and the two end covers are provided with a bonding layer which is strong adhesive, the rubber tube is provided with an outer layer and an inner layer, and a connecting body of the spiral steel wire and the constraining steel wire is embedded and sheathed between the outer layer and the inner layer. The present invention provides the pneumatic flexible bending joint which has the advantages of flexible action, simple fixation and easy installation.
Description
(1) technical field
The invention belongs to bending joint, especially Pneumatic power flexible bending joint is applicable to the occasion that designs and produces mechanical Dextrous Hand.
(2) background technology
The design in joint is a key technology during mechanical finger designs and produces, and the sensitivity in joint and the complexity of articulation structure directly determine the structure and the size of manipulator.Traditional design philosophy is based on pure frame for movement and carries out, constitute the bending joint of manipulator with forms such as pulley, cable wire, chains, major defect is to add transmission mechanism, need motor or hydraulic pressure as driving, bulk is big, complex structure, and power is little from anharmonic ratio, the control difficulty influences implementation result.The artificial pneumatic of proposition joint is also arranged, as the patent No. be: 87214574, patent name is the utility model patent in artificial pneumatic joint, a kind of artificial pneumatic joint is disclosed, form by end cap, lasso, wire or filament, rubber wall, elastic sheet metal, lasso is connected with end cap by screw, by the lasso trip bolt rubber wall is clamped in the formed conical surface of end cap head, and the two ends of sheet metal connect respectively at two end caps.Also the shortcoming of Cun Zaiing is: 1, sheet metal is installed in the inboard of rubber wall, and sheet metal has certain thickness, makes whole joint underaction; 2, be connected by screw between lasso and the end cap, sheet metal is connected with end cap, and the bore seal that rubber wall forms is relatively poor; 3, fixing trouble, installation inconvenience between end cap, the rubber wall; 4, sheet metal is installed at outside the rubber wall, needs to calculate the springback capacity of steel disc.
(3) summary of the invention
In order to overcome artificial pneumatic joint action underaction in the prior art, to install and fix the deficiency of trouble, the invention provides a kind of flexible movements, fixing Pneumatic power flexible bending joint simple, easy for installation.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of Pneumatic power flexible bending joint, comprise end cap, rubber tube, be nested in the wire in the described rubber tube tube wall, described rubber tube terminal is connected with two end cap seal, have the through hole that is communicated with atmosphere on the end cap, described wire is a spiral wire, also comprise a constraint steel wire, described constraint steel wire is installed in the tube wall of rubber tube one side, and each circle of described constraint steel wire and described spiral wire twines.
Described rubber tube and two end caps are tightly connected by seccotine.
Described rubber tube is provided with skin, internal layer, and the combination of described spiral wire and constraint steel wire is nested between described skin and the internal layer.
The beneficial effect of Pneumatic power flexible bending joint of the present invention mainly shows: 1, at the inwall of rubber tube spiral wire has been installed, each circle of constraint steel wire and spiral wire twines the flexible movements of whole turning joint; 2, the joint is simple and reasonable, easy for installation; 3, rubber tube and two end caps are tightly connected good airproof performance by seccotine; 4, for prior art, each linkage of constraint steel wire and spiral wire connects, and need not to calculate the springback capacity of steel wire.
(4) description of drawings
Fig. 1 is the structural representation of the reset condition of Pneumatic power flexible bending joint of the present invention;
Fig. 2 is the structural representation of the case of bending of Pneumatic power flexible bending joint of the present invention.
(5) specific embodiment
Below in conjunction with accompanying drawing the present invention is further described.
With reference to Fig. 1, Fig. 2, a kind of Pneumatic power flexible bending joint, comprise left end cap 1, right end cap 4, rubber tube 2, be nested in the spiral wire 3 in the tube wall of rubber tube, rubber tube 2 two ends are connected with two end cap seal, have the through hole that is communicated with atmosphere on the right end cap 4, also comprise a constraint steel wire 5, constraint steel wire 5 is installed in the tube wall of rubber tube 2 one sides, and constraint steel wire 5 twines with each circle of spiral wire 3, and rubber tube 2 is tightly connected by seccotine and left end cap 1, right end cap 4.Centre bit at right end cap 4 installs a screwed hole, and by this screwed hole, the inner chamber in whole joint can communicate with atmosphere.Rubber tube 2 is divided into internal layer and skin, and the combination of spiral wire and constraint steel wire is nested between described rubber tube internal layer and the skin, compresses by the ectonexine of mould with rubber tube.
Operation principle of the present invention is: the inner chamber that Compressed Gas is fed whole joint from right end cap 4 by screwed hole, because the effect of spiral wire 3 and constraint steel wire 5, whole joint bends to the direction of constraint steel wire 5, as shown in Figure 2, Wan Qu angle increases along with the increase of the pressure that feeds Compressed Gas; By the Compressed Gas of screwed hole release joint cavity, under the effect of rubber tube 2 and spiral wire 3, the joint restores to the original state, as shown in Figure 1.In motion process, whole joint has only axial stretching, does not have distortion radially.Flexible pneumatic bending joint of the present invention, simple in structure, design ingenious, control easily, motion has bigger implementary value flexibly.
Claims (3)
1, a kind of Pneumatic power flexible bending joint, comprise end cap, ring-shaped rubber pipe, be nested in the wire in the described rubber tube tube wall, described rubber tube terminal is connected with two end cap seal, have the through hole that is communicated with atmosphere on the end cap, it is characterized in that: described wire is a spiral wire, also comprise a constraint steel wire, described constraint steel wire is installed in the tube wall of rubber tube one side, and each circle of described constraint steel wire and described spiral wire twines.
2, Pneumatic power flexible bending joint as claimed in claim 1 is characterized in that: described rubber tube and two end caps are tightly connected by seccotine.
3, as claim 1 or 2 described Pneumatic power flexible bending joints, it is characterized in that: described rubber tube is provided with skin, internal layer, and the combination of described spiral wire and constraint steel wire is nested between described skin and the internal layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410017444 CN1274473C (en) | 2004-03-31 | 2004-03-31 | Pneumatic flexible bend joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200410017444 CN1274473C (en) | 2004-03-31 | 2004-03-31 | Pneumatic flexible bend joint |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1562583A CN1562583A (en) | 2005-01-12 |
| CN1274473C true CN1274473C (en) | 2006-09-13 |
Family
ID=34478971
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200410017444 Expired - Fee Related CN1274473C (en) | 2004-03-31 | 2004-03-31 | Pneumatic flexible bend joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN1274473C (en) |
Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100368161C (en) * | 2005-02-23 | 2008-02-13 | 江南大学 | Combined muscular multi-directional bending flexible joint |
| CN100348385C (en) * | 2005-03-02 | 2007-11-14 | 浙江工业大学 | Pneumatic flexible finger prosthesis |
| CN101239468B (en) * | 2007-02-07 | 2012-05-30 | 浙江工业大学 | Pneumatic rigid/flexible bending joint |
| CN100546776C (en) * | 2007-10-12 | 2009-10-07 | 浙江工业大学 | A kind of multiple degrees of freedom soft human-imitated finger |
| CN102198663B (en) * | 2011-06-10 | 2013-04-24 | 浙江工业大学 | Incompletely symmetrical section pneumatic flexible bending joint |
| CN102579018B (en) * | 2012-03-06 | 2014-10-01 | 河南海王星科技发展有限公司 | Pulse condition acquiring contact device |
| CN102579228A (en) * | 2012-03-22 | 2012-07-18 | 上海交通大学医学院附属上海儿童医学中心 | Pneumatic hand function rehabilitation gloves |
| CN102920568B (en) * | 2012-10-30 | 2014-11-05 | 浙江工业大学 | Bending joint of finger rehabilitation device based on double pneumatic flexible actuators |
| CN105619397B (en) * | 2016-03-17 | 2017-12-19 | 华东交通大学 | A kind of flexibly direct writing device and its control method |
| CN105598995B (en) * | 2016-03-17 | 2017-12-19 | 华东交通大学 | A kind of flexible machine hand and its control method |
| CN106965155A (en) * | 2017-03-22 | 2017-07-21 | 袁建新 | A kind of elastomeric hydraulic muscle |
| CN110253561A (en) * | 2018-03-12 | 2019-09-20 | 哈尔滨工业大学 | Flexible drive device for bending motion |
-
2004
- 2004-03-31 CN CN 200410017444 patent/CN1274473C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN1562583A (en) | 2005-01-12 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20060913 Termination date: 20120331 |