CN207373205U - The Pneumatic flexible cradle head of stiffness variable - Google Patents
The Pneumatic flexible cradle head of stiffness variable Download PDFInfo
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- CN207373205U CN207373205U CN201721440857.0U CN201721440857U CN207373205U CN 207373205 U CN207373205 U CN 207373205U CN 201721440857 U CN201721440857 U CN 201721440857U CN 207373205 U CN207373205 U CN 207373205U
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- joint
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- shoe
- cradle head
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Abstract
The utility model is mainly used in the cradle head of robot, the Pneumatic flexible cradle head of more particularly to a kind of stiffness variable, including joint upper arm and joint underarm, it is hinged between joint upper arm and joint underarm by joint shaft, joint shaft one end connects balanced type brake, balanced type brake includes left brake-shoe and right braking hoof, the outside of left brake-shoe and right braking hoof sets friction plate, friction plate is mounted in the shaft of joint, the both ends of left brake-shoe and right braking hoof set pneumaticpiston respectively, the end of pneumaticpiston is installed in pneumatic cylinder, pneumatic cylinder is separately fixed on back-plate, return spring is set between left brake-shoe and right braking hoof.After brake is changed to air pressure driving by the utility model by motor driving, gas-pressure component can export larger power, and complex equilibrium formula brake is capable of providing more wholesale brake force so that cradle head can have higher rigidity.
Description
Technical field
The utility model is related to a kind of Pneumatic flexible cradle head of stiffness variable, the rotation for being mainly used in robot is closed
Section.
Background technology
Each joint of human body has higher flexibility so submissive movement can be realized, joint of robot is wanted to realize submissive
Movement not only needs submissive control method, and articulation mechanism is also needed with higher flexibility, meanwhile, when robot needs to realize
During its snatch function, but generally require articulation mechanism can have higher rigidity, so we need a kind of stiffness variable
Flexible rotational joint.The revolute joint of air pressure driving has higher flexibility, but because the self-characteristic of air, can such as press
The reasons such as contracting can cause joint stiffness poor, and brake is installed on joint rotational axis, can be by changing brake
The brake force on joint is applied to change the rigidity of joint of robot, so as to fulfill the variation rigidity robot with high-flexibility
Cradle head.
Someone installs balanced type brake additional on revolute joint axis, and uses transmission of the motor by sector gear
Brake force of the brake-shoe to cradle head is controlled, so as to changing the rigidity in joint.But motor is used as brake
Driving source when, the brake force that motor can be provided is smaller, the rigidity in entire joint is promoted it is limited, at this time joint loads compared with
It is low, and because the quadrant drive used, make braking process reaction slower, certain deviation can be caused in control, together
When since it is desired that install motor on joint, can so that joint size is larger.
Utility model content
The technical problems to be solved in the utility model is：There is provided a kind of simple and reasonable, can improve brake force can
The Pneumatic flexible cradle head of variation rigidity.
The Pneumatic flexible cradle head of stiffness variable described in the utility model including joint upper arm and joint underarm, is closed
It is hinged between section upper arm and joint underarm by joint shaft, air-leg, joint is set between joint upper arm and joint underarm
Shaft one end connect balanced type brake, between joint shaft and joint underarm, between balanced type brake and joint upper arm
By spline drived, balanced type brake includes left brake-shoe and right braking hoof, the outside setting of left brake-shoe and right braking hoof
Friction plate, friction plate are mounted in the shaft of joint, and the both ends of left brake-shoe and right braking hoof set pneumaticpiston respectively, and air pressure is lived
The end of plug is installed in pneumatic cylinder, and pneumatic cylinder is separately fixed on back-plate, is set between left brake-shoe and right braking hoof
Put return spring.
The joint shaft corresponds to friction plate installation place equipped with installation cavity, and the inner wall of friction plate corresponding joint shaft is set
For arc.
The both ends of the return spring are separately mounted to the medium position of left brake-shoe and right braking hoof.
Mechanism installs balanced type brake additional on the rotating shaft, and terminal is held by being converted into the control of beginning driving element
The braking of units is converted into the control to large-scale pneumatic element hydraulic push rod to miniaturized component on balanced type brake
Control, makes control simpler, and movement is more accurate.
The beneficial effects of the utility model are：
After brake is changed to air pressure driving by motor driving, gas-pressure component can export larger power, complex equilibrium formula system
Dynamic device is capable of providing more wholesale brake force so that cradle head can have higher rigidity；Because without actuated element, system
Dynamic process is rapider；In addition after using air pressure driving as the driving source of brake, entire joint is air pressure driving, is used
One pulsometer can be achieved with function of joint, help to realize the miniaturization in the joint.
Description of the drawings
Fig. 1 is the structure diagram of the utility model.
Fig. 2 is joint shaft and the configuration schematic diagram of balanced type brake in Fig. 1.
Fig. 3 is the structure diagram of balanced type brake.
In figure：1st, joint upper arm；2nd, joint shaft；3rd, air-leg；4th, joint underarm；5th, balanced type brake；6th, it is left
Brake-shoe；7th, friction plate；8th, pneumaticpiston；9th, pneumatic cylinder；10th, return spring；11st, right braking hoof；12nd, back-plate.
Specific embodiment
The utility model is described further below in conjunction with the accompanying drawings：
As shown in FIG. 1 to 3, the Pneumatic flexible cradle head of stiffness variable described in the utility model, including on joint
Arm 1 and joint underarm 4, hinged by joint shaft 2 between joint upper arm 1 and joint underarm 4, joint upper arm 1 and joint underarm 4
Between air-leg 3 is set, 2 one end of joint shaft connection balanced type brake 5, between joint shaft 2 and joint underarm 4, flat
By spline drived between weighing apparatus formula brake 5 and joint upper arm 1, balanced type brake 5 includes left brake-shoe 6 and right braking hoof
11, the outside of left brake-shoe 6 and right braking hoof 11 sets friction plate 7, and friction plate 7 is mounted in joint shaft 2, left brake-shoe 6
Pneumaticpiston 8 is set respectively with the both ends of right braking hoof 11, the end of pneumaticpiston 8 is installed in pneumatic cylinder 9, pneumatic cylinder 9
It is separately fixed on back-plate 12, return spring 10 is set between left brake-shoe 6 and right braking hoof 11.Joint shaft 2 corresponds to
7 installation place of friction plate is equipped with installation cavity, and the inner wall of 7 corresponding joint shaft 2 of friction plate is arranged to arc.The both ends of return spring 10
It is separately mounted to the medium position of left brake-shoe 6 and right braking hoof 11.
When joint needs movement, air-leg 3 is rotated with movable joint underarm 4 around joint shaft 2, and pneumatic cylinder 9 pressurizes, and is driven
Pneumaticpiston 8 promotes left brake-shoe 6, right braking hoof 11, makes to generate certain frictional force between friction plate 7 and joint shaft 2.It used
Cheng Zhong, can be by setting photoelectric code disk to detect joint angular displacement and angular speed, and when joint needs to slow down, pneumatic cylinder 9 pressurizes, and makes
Braking friction increases between friction plate 7 and joint shaft 2, realizes that joint is slowed down.When joint needs to accelerate, pneumatic cylinder 9 depressurizes,
Return spring 10 drives left brake-shoe 6, right braking hoof 11, and to contract, braking friction subtracts between friction plate 7 and joint shaft 2
It is small, make joint angular acceleration increase.
Claims (3)
1. a kind of Pneumatic flexible cradle head of stiffness variable, including joint upper arm (1) and joint underarm (4), joint upper arm (1)
It is hinged by joint shaft (2) between joint underarm (4), air-leg is set between joint upper arm (1) and joint underarm (4)
(3), it is characterised in that：Joint shaft (2) one end connection balanced type brake (5), joint shaft (2) and joint underarm (4) it
Between, between balanced type brake (5) and joint upper arm (1) by spline drived, balanced type brake (5) includes left brake-shoe
(6) and right braking hoof (11), the outside of left brake-shoe (6) and right braking hoof (11) sets friction plate (7), friction plate (7) installation
In joint in shaft (2), the both ends of left brake-shoe (6) and right braking hoof (11) set pneumaticpiston (8), pneumaticpiston respectively
(8) end is installed in pneumatic cylinder (9), and pneumatic cylinder (9) is separately fixed on back-plate, left brake-shoe (6) and right system
Return spring (10) is set between dynamic hoof (11).
2. the Pneumatic flexible cradle head of stiffness variable according to claim 1, it is characterised in that：Joint shaft (2) is right
Friction plate (7) installation place is answered to be equipped with installation cavity, the inner wall of friction plate (7) corresponding joint shaft (2) is arranged to arc.
3. the Pneumatic flexible cradle head of stiffness variable according to claim 1, it is characterised in that：Return spring (10)
Both ends are separately mounted to the medium position of left brake-shoe (6) and right braking hoof (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721440857.0U CN207373205U (en) | 2017-11-01 | 2017-11-01 | The Pneumatic flexible cradle head of stiffness variable |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721440857.0U CN207373205U (en) | 2017-11-01 | 2017-11-01 | The Pneumatic flexible cradle head of stiffness variable |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207373205U true CN207373205U (en) | 2018-05-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721440857.0U Active CN207373205U (en) | 2017-11-01 | 2017-11-01 | The Pneumatic flexible cradle head of stiffness variable |
Country Status (1)
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| CN (1) | CN207373205U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818610A (en) * | 2018-07-06 | 2018-11-16 | 宣城南巡智能科技有限公司 | A kind of joint structure of emulated robot |
| CN118288335A (en) * | 2024-06-06 | 2024-07-05 | 山东康泰智能科技股份有限公司 | Flexible braking mechanism of intelligent robot joint and control method |
-
2017
- 2017-11-01 CN CN201721440857.0U patent/CN207373205U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108818610A (en) * | 2018-07-06 | 2018-11-16 | 宣城南巡智能科技有限公司 | A kind of joint structure of emulated robot |
| CN118288335A (en) * | 2024-06-06 | 2024-07-05 | 山东康泰智能科技股份有限公司 | Flexible braking mechanism of intelligent robot joint and control method |
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