CN201086293Y

CN201086293Y - Pneumatic globe joint

Info

Publication number: CN201086293Y
Application number: CNU2007201111492U
Authority: CN
Inventors: 张立彬; 钱少明; 杨庆华; 高峰; 鲍官军
Original assignee: Zhejiang University of Technology ZJUT
Current assignee: Zhejiang University of Technology ZJUT
Priority date: 2007-06-22
Filing date: 2007-06-22
Publication date: 2008-07-16
Anticipated expiration: 2017-06-22

Abstract

A pneumatic globe joint comprises a movable plate, three drivers and a fixing base, wherein the upper end covers of the drivers are respectively connected with the movable plate; the lower end covers of the drivers are respectively fixedly connected with the fixing base; via-holes for charging air are formed on the lower end covers of the drivers; and a rubber pipe is respectively hermetically connected with the upper end covers and the lower end covers on both ends thereof. The utility model is characterized in that the upper end covers of the drivers are fixedly connected with a rigid inner liner at the outer sides; the inner liner is sheathed outside the rubber pipe and is slidably and firmly attached on the outer wall of the rubber pipe; the lower end covers are fixedly connected with a rigid outer liner at the outer sides; and the outer liner is sheathed outside inner liner and is slidably and firmly attached on the outer wall of the inner liner.

Description

A kind of Pneumatic ball joint

(1) technical field

The utility model belongs to ball-joint, and especially Pneumatic ball joint is applicable to the occasion that designs and produces multi-finger clever 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 mechanical finger.Traditional multi-finger dexterous hand of robot many with motor or hydraulic pressure as driver, need add transmission mechanism, its major defect is that physical dimension is big, is not easy to the miniaturization of multi-finger clever hand, complex structure, the control difficulty influences implementation result.Given this, publication number is that the patent of invention of CN1570407A has proposed a kind of Pneumatic flexible ball joint, is made up of end cap, sealing joint, rubber tube, tight loop, sealing joint, end cap.The shortcoming that this invention also exists is: the poor rigidity of total, because rubber tube has yielding characteristics, when driver is subjected to load perpendicular to axis direction, driver will produce crooked towards this external applied load direction.

(3) summary of the invention

In order to solve the deficiency of existing Pneumatic ball joint poor rigidity, flexible distortion, the utility model provides a kind of rigidity better, is difficult for the flexural deformation Pneumatic ball joint.

The utility model adopts following technical scheme:

A kind of Pneumatic ball joint, comprise portable plate, driver, holder, described driver has three, its upper end cover is affixed with portable plate respectively, and bottom end cover is affixed with holder respectively, has the through hole of inflation on the bottom end cover of described driver, the two ends of rubber tube are tightly connected with upper end cover, bottom end cover respectively, it is characterized in that: the outside of the upper end cover of described driver and the neck bush of rigidity are affixed, and neck bush is socketed in outside the rubber tube, and neck bush is close to the rubber tube outer wall slidably; The outside of described bottom end cover and the external bushing of rigidity are affixed, and external bushing is socketed in outside the neck bush, and external bushing is close to the neck bush outer wall slidably.

Preferably, described three drivers interval 120 degree on same circumference are arranged.

The upper end cover of described three drivers is connected with portable plate by the ball pin, and the bulb of described ball pin is loaded in the ball hole on the described portable plate, and the other end of ball pin is threaded with the upper end cover of driver.

The bottom end cover of described three drivers is threaded with holder.

Adopt seccotine bonding between described two end cap and rubber tube, upper end cover and neck bush, bottom end cover and the external bushing.

Operation principle of the present utility model is: for single driver, by the through hole on the end cap Compressed Gas is filled into the rubber tube inner chamber, under the effect of compression pressure, the rubber tube anamorphic stretching, lining is that rigidity does not deform, the relative reverse slide with neck bush of external bushing in the rubber tube elongation guarantees that by the length that designs external bushing rubber tube its outer surface after stretching still can be covered by lining; If discharge the Compressed Gas in the rubber tube inner chamber, rubber tube restores to the original state gradually, the also relative indentation of external bushing simultaneously with neck bush, owing to fit mutually by the tapering of an outer incline between neck bush free end and the rubber tube, after rubber tube inner chamber gas discharges, two inclined-planes contact gradually, friction, help slowing down the impulsive force of contact moment neck bush and rubber tube, reduce structural failure, when rubber tube inner chamber gas pressure equated with atmospheric pressure, driver returned to reset condition, because the effect of contraction of external bushing and neck bush, in the motion process, whole driver has only axial stretching, does not have radial deformation.For whole Pneumatic ball joint, by controlling the pressure of the gases at high pressure that feed three rubber tubes, then can make three drivers obtain the elongation of different lengths, thereby make the portable plate run-off the straight, finally form a ball-joint.

The utility model beneficial effect mainly shows: 1, the design of external bushing and neck bush makes the driver good springiness, and rigidity is big, and when being subjected to non axial external load function, air impeller can not produce flexural deformation; 2, rubber tube, end cap and lining are realized connecting good airproof performance by bonding mode; 3, fit mutually by the tapering of an outer incline between neck bush free end and the rubber tube, help slowing down after rubber tube inner chamber gas discharges, the impulsive force between two inclined-planes contact moment neck bush and the rubber tube, thus reduce structural failure.

(4) description of drawings

Fig. 1 is the profile of the driver of a kind of Pneumatic ball joint of the utility model.

Fig. 2 is the location diagram of three drivers of the present utility model.

(5) specific embodiment

Below in conjunction with accompanying drawing the utility model is described further.

A kind of Pneumatic ball joint, comprise portable plate 1, driver, holder 2, described driver has three, its upper end cover 3 is affixed with portable plate 1 respectively, bottom end cover 5 is affixed with holder 2 respectively, have the through hole of inflation on the bottom end cover 5 of described driver, the two ends of rubber tube 6 are tightly connected with upper end cover 3, bottom end cover 5 respectively, it is characterized in that: the outside of the upper end cover 3 of described driver and the neck bush 7 of rigidity are affixed, neck bush 7 is socketed in outside the rubber tube 6, and neck bush 7 is close to rubber tube 6 outer walls slidably; The outside of described bottom end cover 5 and the external bushing of rigidity 8 are affixed, and external bushing 8 is socketed in outside the neck bush 7, and external bushing 8 is close to neck bush 7 outer walls slidably.

Described three drivers interval 120 degree on same circumference are arranged.

The upper end cover 3 of described three drivers is connected with portable plate 1 by ball pin 4, and the bulb of described ball pin 4 is loaded in the ball hole on the described portable plate 1, and the other end of ball pin 4 is threaded with the upper end cover of driver 3.

The bottom end cover 5 of described three drivers is threaded with holder 2.

Adopt seccotine bonding between described two end cap and rubber tube 6, upper end cover 3 and neck bush 7, bottom end cover 5 and the external bushing 8.

Operation principle of the present utility model is: for single driver, by the through hole on the end cap Compressed Gas is filled into rubber tube 6 inner chambers, under the effect of compression pressure, rubber tube 6 anamorphic stretchings, lining is that rigidity does not deform, external bushing 8 and neck bush 7 relative reverse slide in rubber tube 6 elongations guarantee that by the length that designs external bushing 8 rubber tube 6 its outer surface after stretching still can be covered by lining; If discharge the Compressed Gas in rubber tube 6 inner chambers, rubber tube 6 restores to the original state gradually, the also relative indentation of external bushing 8 simultaneously with neck bush 7, owing to fit mutually by the tapering of an outer incline between neck bush 7 free ends and the rubber tube 6, after rubber tube 6 inner chamber gases discharge, two inclined-planes contact gradually, friction, help slowing down the impulsive force of contact moment neck bush 7 and rubber tube 6, reduce structural failure, when rubber tube 6 inner chamber gas pressures equated with atmospheric pressure, driver returned to reset condition, because the effect of contraction of external bushing 8 and neck bush 7, in the motion process, whole driver has only axial stretching, does not have radial deformation.For whole Pneumatic ball joint, by controlling the pressure of the gases at high pressure that feed three rubber tubes 6, then can make three drivers obtain the elongation of different lengths, thereby make portable plate 1 run-off the straight, finally form a ball-joint.

Claims

1. Pneumatic ball joint, comprise portable plate, driver, holder, described driver has three, its upper end cover is affixed with portable plate respectively, and bottom end cover is affixed with holder respectively, has the through hole of inflation on the bottom end cover of described driver, the two ends of rubber tube are tightly connected with upper end cover, bottom end cover respectively, it is characterized in that: the outside of the upper end cover of described driver and the neck bush of rigidity are affixed, and neck bush is socketed in outside the rubber tube, and neck bush is close to the rubber tube outer wall slidably; The outside of described bottom end cover and the external bushing of rigidity are affixed, and external bushing is socketed in outside the neck bush, and external bushing is close to the neck bush outer wall slidably.

2. a kind of Pneumatic ball joint as claimed in claim 1 is characterized in that: described three drivers interval 120 degree on same circumference are arranged.

3. a kind of Pneumatic ball joint as claimed in claim 1 or 2, it is characterized in that: the upper end cover of described three drivers is connected with portable plate by the ball pin, the bulb of described ball pin is loaded in the ball hole on the described portable plate, and the other end of ball pin is threaded with the upper end cover of driver.

4. a kind of Pneumatic ball joint as claimed in claim 3 is characterized in that: the bottom end cover of described three drivers is threaded with holder.

5. a kind of Pneumatic ball joint as claimed in claim 4 is characterized in that: adopt seccotine bonding between described two end cap and rubber tube, upper end cover and neck bush, bottom end cover and the external bushing.