CN202592389U - Single-curvature flexible joint device for limbs of bionic machines and robots - Google Patents
Single-curvature flexible joint device for limbs of bionic machines and robots Download PDFInfo
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- CN202592389U CN202592389U CN 201220233137 CN201220233137U CN202592389U CN 202592389 U CN202592389 U CN 202592389U CN 201220233137 CN201220233137 CN 201220233137 CN 201220233137 U CN201220233137 U CN 201220233137U CN 202592389 U CN202592389 U CN 202592389U
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Abstract
The utility model discloses a single-curvature flexible joint device for limbs of bionic machines and robots. An upper end cover and a lower end cover are located at the two ends of a joint respectively; a plurality of double-ring restricting elements are arranged between the upper end cover and the lower end cover; the double-ring restricting elements are closely arranged and serially connected at the same phase in a coaxial manner to form two parallel tubular cavities having parallel central lines; the section of one cavity is rectangular, and the section of the other cavity is circular; the tubular cavity with the rectangular section is internally provided with a rectangular plate spring; the plate spring and the tubular cavity with the rectangular section form clearance fit; the two ends of the plate spring are fixedly connected with the double-ring restricting elements at the two ends of the tubular cavity with the rectangular section in an integrated manner respectively; the tubular cavity with the circular section is internally provided with a rubber hose; the two ends of the rubber hose are sealed and connected with the upper end cover and the lower end cover to form a sealed cavity; and the double-ring restricting elements at the two ends of the tubular cavity with the circular section are fixedly connected with the upper end cover and the lower end cover in an integrated manner respectively. The single-curvature flexible joint device for the limbs of the bionic machines and robots disclosed by the utility model is small in size and high in single-curvature flexibility, and can realize complicated behaviors of bionic artificial joints.
Description
Technical field
The utility model relates to a kind of robot limb and uses the flexible joint components and parts, particularly a kind of bend in one direction flexible joint device that is used for bionic mechanical and robot limb.
Background technology
Along with science and technology development; The application of robot more and more receives people's attention, and flexible joint in the application in Robotics and bionics techniques field more and more widely, and the limbs flexible joint has important effect aspect the adaptability that solves compliant motion and grasping objects; Therefore; Research to it both at home and abroad more and more receives publicity, and achievement is rich, and the main contents of research have the realization of articulated driving equipment, driving material and flexibility of joint structure.The flexible joint of now developing, developing mainly contains micro machine driving, air cylinder driven, artificial-muscle driving, pneumatic bellows driving and electricity and causes several kinds of versions such as driving.Use the flexible joint of micro machine driving and cylinder type of drive, its technology is mature on the whole, and be widely used, but volume is bigger, and the flexibility of joint degree receives some effects limit; Artificial-muscle is a non-linear element, and the power output rule is difficult to grasp the control algolithm more complicated; And the pneumatic bellows stroke is less, and volume is big, is mainly used in amphiarthrosis.More than several kinds of drive units in application process, all to be used with frame for movement, volume is big, miniaturization difficulty.The movement locus in joint is determined that by frame for movement compliance is poor.
Present existing joint prosthesis still can not satisfy the special requirement in field such as bionical and specialized robot in carrying at the bigger industrial goods of variation, the water fully, is necessary to continue to develop the joint with highly flexible.
The utility model content
The utility model is in order to remedy the deficiency of prior art, provides that a kind of volume is little, flexible compound action, adaptability good, that can realize the biomimetic prosthetic joint of bend in one direction is good, the bend in one direction flexible joint device that is used for bionic mechanical and robot limb of stable action.
The utility model is realized through following technical scheme:
A kind of bend in one direction flexible joint device that is used for bionic mechanical and robot limb comprises upper end cover, dicyclo confinement element, leaf spring, sebific duct, bottom end cover; Upper end cover and bottom end cover lay respectively at the two ends, joint; Between upper end cover and bottom end cover; Be provided with a plurality of dicyclo confinement elements; The coaxial same-phase solid matter series connection of said dicyclo confinement element back forms two parallel tubular cavities arranged side by side of center line, and a cavity cross section is a rectangle, and another cavity cross section is circular; In said cross section is the tubular cavity of rectangle, the leaf spring that the cross section is a rectangle is set, said leaf spring and cross section are that the tubular cavity of rectangle is a matched in clearance, and said leaf spring two ends are that the dicyclo confinement element at the tubular cavity two ends of rectangle connects firmly and is integral with the cross section respectively; In the tubular cavity of said cross section for circle, sebific duct is set, said sebific duct two ends and upper end cover and bottom end cover are tightly connected, and constitute seal chamber; Said cross section is integral for the dicyclo confinement element at circular tubular cavity two ends connects firmly with said upper end cover and bottom end cover respectively.
Wherein, said dicyclo confinement element is the straight-flanked ring and the circular rings parallel construction of parallel axes.
Wherein, be provided with fluid intake in the bottom end cover lower end.
Concrete; The coaxial same-phase solid matter series connection of a plurality of dicyclo confinement elements, the series connection back forms two parallel tubular cavities arranged side by side of center line, and a cavity cross section is a rectangle; Another cavity cross section is circular, and each dicyclo confinement element is the straight-flanked ring and the circular rings parallel construction of parallel axes; In said cross section is the tubular cavity of rectangle, the leaf spring that the cross section is a rectangle is set; Said leaf spring and said rectangular enclosure are matched in clearance; Said leaf spring two ends connect firmly with the confinement element at said rectangular tubular cavity two ends respectively and are integral; Can not relatively move along axis between said dicyclo confinement element, can only make relative swing with said leaf spring flexural deformation, forming does not have the many hinge arrangements of axle; The sebific duct of being processed by elastomeric material is set in said cross section in for circular tubular cavity; Said sebific duct two ends are provided with upper end cover and bottom end cover; Constitute seal chamber, said cross section is integral for the confinement element at circular tubular cavity two ends connects firmly with said upper and lower end cap respectively; On bottom end cover, be provided with fluid intake, with the charged pressure fluid, increase when charging into fluid pressure, seal chamber expands and promotes the leaf spring distortion, and the arthrogryposis angle strengthens, and reduces when charging into fluid pressure, and leaf spring recovers, and the arthrogryposis angle reduces; The said fluid that charges into can be the avirulent medium of no burn into, like compressed air, water etc.
The utility model has the advantages that: volume is little, belongs to the bend in one direction flexible joint, and the drive unit in joint and joint are compound to be one, and crooked compliance is good on prescribed direction, other direction good rigidly; Use simple joint or multiarticulate combination, can realize the compound action in biomimetic prosthetic joint, be aided with packing, have more humanistic feature; As the action executive component, because its structure is the kindred one, in the contact difformity during with different hardness object; Adaptability can be better, and stable action has certain buffering effect; Be particularly useful for grasping or carrying erose object, have application value with application specialized robot, have good market prospects bionical.
Description of drawings
Fig. 1 is the utility model structural representation.
Fig. 2 is a dicyclo confinement element structural representation.
The specific embodiment
Further specify the utility model below in conjunction with accompanying drawing through embodiment.
Claims (3)
1. a bend in one direction flexible joint device that is used for bionic mechanical and robot limb is characterized in that: comprise upper end cover (1), dicyclo confinement element (2), leaf spring (3), sebific duct (4), bottom end cover (5); Upper end cover (1) and bottom end cover (5) lay respectively at the two ends, joint; Between upper end cover (1) and bottom end cover (5); Be provided with a plurality of dicyclo confinement elements (2); The coaxial same-phase solid matter series connection of said dicyclo confinement element (2) back forms two parallel tubular cavities arranged side by side of center line, and a cavity cross section is a rectangle, and another cavity cross section is circular; In said cross section is the tubular cavity of rectangle, the leaf spring that the cross section is a rectangle (3) is set; Said leaf spring (3) and cross section are that the tubular cavity of rectangle is a matched in clearance, and said leaf spring (3) two ends are that the dicyclo confinement element (2) at the tubular cavity two ends of rectangle connects firmly and is integral with the cross section respectively; In the tubular cavity of said cross section for circle, sebific duct (4) is set, said sebific duct (4) two ends and upper end cover (1) and bottom end cover (5) are tightly connected, and constitute seal chamber; Said cross section is integral for the dicyclo confinement element (2) at circular tubular cavity two ends connects firmly with said upper end cover (1) and bottom end cover (5) respectively.
2. according to the described a kind of bend in one direction flexible joint device that is used for bionic mechanical and robot limb of claim 1, it is characterized in that said dicyclo confinement element (2) is the straight-flanked ring and the circular rings parallel construction of parallel axes.
3. according to the described a kind of bend in one direction flexible joint device that is used for bionic mechanical and robot limb of claim 1, it is characterized in that, be provided with fluid intake (6) in bottom end cover (5) lower end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220233137 CN202592389U (en) | 2012-05-23 | 2012-05-23 | Single-curvature flexible joint device for limbs of bionic machines and robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220233137 CN202592389U (en) | 2012-05-23 | 2012-05-23 | Single-curvature flexible joint device for limbs of bionic machines and robots |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202592389U true CN202592389U (en) | 2012-12-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220233137 Expired - Fee Related CN202592389U (en) | 2012-05-23 | 2012-05-23 | Single-curvature flexible joint device for limbs of bionic machines and robots |
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| CN (1) | CN202592389U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103786167A (en) * | 2014-01-22 | 2014-05-14 | 北华大学 | Pneumatic plane bending flexible joint |
| CN103786164A (en) * | 2014-01-22 | 2014-05-14 | 北华大学 | Pneumatic multidirectional bending flexible joint |
| CN103786169A (en) * | 2014-01-22 | 2014-05-14 | 北华大学 | Pneumatic rotation stretching type four-spiral flexible joint |
| CN103786165A (en) * | 2014-01-22 | 2014-05-14 | 北华大学 | Pneumatic space bending flexible joint |
| CN103786166A (en) * | 2014-01-22 | 2014-05-14 | 北华大学 | Pneumatic rotation stretching type double-spiral flexible joint |
| CN111283672A (en) * | 2018-12-10 | 2020-06-16 | 北华大学 | Annular section pneumatic flexible axial driver |
-
2012
- 2012-05-23 CN CN 201220233137 patent/CN202592389U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103786167A (en) * | 2014-01-22 | 2014-05-14 | 北华大学 | Pneumatic plane bending flexible joint |
| CN103786164A (en) * | 2014-01-22 | 2014-05-14 | 北华大学 | Pneumatic multidirectional bending flexible joint |
| CN103786169A (en) * | 2014-01-22 | 2014-05-14 | 北华大学 | Pneumatic rotation stretching type four-spiral flexible joint |
| CN103786165A (en) * | 2014-01-22 | 2014-05-14 | 北华大学 | Pneumatic space bending flexible joint |
| CN103786166A (en) * | 2014-01-22 | 2014-05-14 | 北华大学 | Pneumatic rotation stretching type double-spiral flexible joint |
| CN103786166B (en) * | 2014-01-22 | 2017-01-04 | 北华大学 | Type Double helix flexible joint is stretched in pneumatic rotation |
| CN111283672A (en) * | 2018-12-10 | 2020-06-16 | 北华大学 | Annular section pneumatic flexible axial driver |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20121212 Termination date: 20200523 |
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| CF01 | Termination of patent right due to non-payment of annual fee |