CN211729172U - Four-drive pneumatic one-way bending joint - Google Patents
Four-drive pneumatic one-way bending joint Download PDFInfo
- Publication number
- CN211729172U CN211729172U CN202020004892.3U CN202020004892U CN211729172U CN 211729172 U CN211729172 U CN 211729172U CN 202020004892 U CN202020004892 U CN 202020004892U CN 211729172 U CN211729172 U CN 211729172U
- Authority
- CN
- China
- Prior art keywords
- plug
- end cover
- end cap
- silicone tube
- joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 238000005452 bending Methods 0.000 title claims abstract description 20
- 210000003205 muscle Anatomy 0.000 claims abstract description 14
- 229920001296 polysiloxane Polymers 0.000 claims abstract description 14
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 12
- 239000010959 steel Substances 0.000 claims abstract description 12
- 239000012530 fluid Substances 0.000 claims abstract description 7
- 230000000452 restraining effect Effects 0.000 claims abstract 4
- 239000011664 nicotinic acid Substances 0.000 abstract 1
- 229910000639 Spring steel Inorganic materials 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000009972 noncorrosive effect Effects 0.000 description 1
- 231100000252 nontoxic Toxicity 0.000 description 1
- 230000003000 nontoxic effect Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a four-wheel drive pneumatic one-way bending joint relates to pneumatic robot technical field. The four-drive pneumatic unidirectional bending joint comprises an upper end cover, a lower end cover, pneumatic artificial muscles, a restraining ring, a leaf spring and a quick-connection plug, wherein the restraining ring is axially densely arranged into a columnar structure, and leaf spring mounting holes and four artificial muscle mounting holes are reserved in the columnar structure. The artificial muscle is internally provided with a silicone tube, a restraint ring is embedded outside the silicone tube, two ends of the silicone tube are respectively connected into a closed cavity by an upper plug and a lower plug, the upper plug is provided with a threaded hole, and the lower plug is provided with a threaded hole and a fluid inlet; the upper end cap and the lower end cap are fixedly connected to the upper end cap and the lower end cap through bolts; two ends of the steel plate spring are respectively fixedly connected with the upper end cover and the lower end cover; the quick-plug connector is arranged on the lower end cover and is in threaded connection with the lower plug. The joint is formed by connecting four artificial muscles in parallel, can realize unidirectional bending, has the advantage of large bending moment, and can be used as a bionic manipulator joint.
Description
Technical Field
The utility model relates to a pneumatic robot field specifically is four-drive pneumatic one-way bending joint.
Background
In recent years, with the trend of aging population and the continuous vigorous medical and educational needs, the demand for service robots is increased explosively; the flexible driving technology of the robot is one of the development routes of the robot in the coming decade planned by the national science foundation of the United states, and gives the robot the basis of endogenous safety, situation perception enhancement and human-computer interaction capacity enhancement; the flexible joint driving technology is just applied to the field of service robots; as a novel field of robots, the joint of the robot is poor in universality and applicability and cannot meet requirements; the traditional robot joint is usually a hard joint, the flexibility and the driving flexibility of a joint body are poor, the weight is heavy, and the traditional robot joint cannot adapt to an unstructured environment; therefore, a joint with a compact structure, a large driving force and good flexibility needs to be developed to be used as a tail end execution joint of the manipulator, so that different shapes of objects can be grabbed, and the manipulator has a certain buffering capacity and avoids harm to a human body in a human-computer interaction process.
Disclosure of Invention
The utility model provides a four-drive pneumatic one-way bending joint which can be used for a manipulator end effector, can realize one-way bending according to the specification of a grabbed object and has controllable bending angle; the utility model relates to a four-drive pneumatic one-way bending joint, which consists of an upper end cover, a lower end cover, pneumatic artificial muscles, a restraint ring, a leaf spring and a quick connector; the artificial muscle is internally provided with a silicone tube, and two ends of the silicone tube are respectively connected into a closed cavity by an upper plug and a lower plug; threaded holes are reserved on the cylindrical surfaces of the upper plug and the lower plug and are respectively fixedly connected with the upper end cover and the lower end cover through bolts, and the lower plug is provided with an air inlet through hole and is reserved with threads; the upper end cover and the lower end cover are of four-petal structures, four cylindrical cavities and a rectangular cavity are reserved in the upper end cover and the lower end cover, and a steel plate spring mounting hole and a plug mounting hole are reserved in the side faces of the upper end cover and the lower end cover respectively; the restraint ring is formed by axially arranging independent restraint sheets in an array mode, and four cylindrical cavities parallel to the axis and a rectangular cavity are reserved on the restraint ring; the four cylindrical cavities are provided with four artificial muscles, the rectangular cavity is provided with a steel plate spring, and the spring steel plate is arranged on the side surfaces of the upper end cover and the lower end cover through bolts; the artificial muscles are respectively provided with a quick-plug connector which is connected with the lower end cover and fixed on the lower plug through threads; the four artificial muscles are filled with compressed fluid, when the pressure of the filled fluid is increased, the constraint ring limits radial expansion of the silicone tube, the silicone tube drives the upper end cover to axially extend, because the spring steel plate cannot axially extend, one side of the upper end cover is constrained to extend and bend towards one side of the steel plate spring, and the joint bending angle is related to the pressure of the filled fluid; when the pressure of the filled fluid is reduced, the silicone tube is recovered, and the joint is recovered under the elasticity of the silicone tube; the charging fluid can be a non-corrosive and non-toxic medium, such as compressed air, water and the like; the utility model has the advantages that the four-drive pneumatic one-way bending joint is driven by four artificial muscles, and the driving force is large; the four-drive pneumatic unidirectional bending joint is more compact in structure and flexible in driving by nesting the artificial muscle in the constraint ring; the four-drive pneumatic one-way bending joint is simple to control and can be controlled by using one proportional valve and four reversing valves; the four-drive pneumatic unidirectional bending joint is formed by axially arranging a plurality of constraint sheets, each constraint sheet can rotate in the bending process, and the four-drive pneumatic unidirectional bending joint has better structural flexibility and motion flexibility and can adapt to grabbers with different shapes when being used as a tail end device of a manipulator.
Drawings
Fig. 1 is an exploded schematic view of the present invention;
FIG. 2 is a schematic side view of the present invention;
fig. 3 is a cross-sectional view of the present invention;
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific examples.
The utility model provides a four-drive pneumatic unidirectional bending joint, which consists of an upper end cover 1, an upper fastening bolt 2, an upper plug 3, a silicone tube 4, a lower plug 5, a restraint ring 6, an upper fastening bolt 7 of a steel plate spring, a steel plate spring 8, a lower fastening bolt 9 of the steel plate spring, a lower end cover 10, a lower fastening bolt 11 and a quick-plugging joint 12; the restraint rings 6 are axially connected in series and densely arranged to form a columnar structure, and four silica gel tubes 4 and a steel plate spring 8 are arranged in parallel in the middle of the columnar structure; the upper end and the lower end of the silicone tube 4 are respectively connected by an upper plug 3 and a lower plug 5 to form a sealed cavity, and the upper plug 3 and the lower plug 5 are respectively fixedly connected with an upper end cover 1 and a lower end cover 10 by an upper fastening bolt 2 and a lower fastening bolt 11; the upper end and the lower end of the steel plate spring 8 are fixedly connected to the upper end cover 1 and the lower end cover 10 through steel plate spring upper fastening bolts 7 and steel plate spring lower fastening bolts 9; the quick-plug connector 12 is arranged on the lower end cover 10 and is in threaded connection with the lower plug 5.
Claims (1)
1. A four-drive pneumatic unidirectional bending joint comprises an upper end cover, a lower end cover, pneumatic artificial muscles, a restraining ring, a leaf spring and a quick connector, and is characterized in that the restraining ring is axially densely arranged into a columnar structure, and leaf spring mounting holes and four artificial muscle mounting holes are reserved in the columnar structure; the artificial muscle is internally provided with a silicone tube, a restraint ring is embedded outside the silicone tube, two ends of the silicone tube are respectively connected into a closed cavity by an upper plug and a lower plug, the upper plug is provided with a threaded hole, and the lower plug is provided with a threaded hole and a fluid inlet; the upper end cap and the lower end cap are fixedly connected to the upper end cap and the lower end cap through bolts; two ends of the steel plate spring are respectively fixedly connected with the upper end cover and the lower end cover; the quick connector is arranged on the lower end cover and is in threaded connection with the lower plug.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020004892.3U CN211729172U (en) | 2020-01-02 | 2020-01-02 | Four-drive pneumatic one-way bending joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020004892.3U CN211729172U (en) | 2020-01-02 | 2020-01-02 | Four-drive pneumatic one-way bending joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211729172U true CN211729172U (en) | 2020-10-23 |
Family
ID=72866870
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020004892.3U Expired - Fee Related CN211729172U (en) | 2020-01-02 | 2020-01-02 | Four-drive pneumatic one-way bending joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211729172U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113427480A (en) * | 2021-04-28 | 2021-09-24 | 浙江工业大学 | Artificial muscle with physical sealing structure |
| CN114454142A (en) * | 2022-02-11 | 2022-05-10 | 中国科学院沈阳自动化研究所 | Endoskeleton type pneumatic soft continuous robot |
-
2020
- 2020-01-02 CN CN202020004892.3U patent/CN211729172U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113427480A (en) * | 2021-04-28 | 2021-09-24 | 浙江工业大学 | Artificial muscle with physical sealing structure |
| CN114454142A (en) * | 2022-02-11 | 2022-05-10 | 中国科学院沈阳自动化研究所 | Endoskeleton type pneumatic soft continuous robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN211682131U (en) | Multi-degree-of-freedom pneumatic flexible driver | |
| CN211729172U (en) | Four-drive pneumatic one-way bending joint | |
| CN205363953U (en) | Flexible mechanical arm of pneumatic rope accuse load type | |
| CN108481305B (en) | Electromagnetic drive's imitative snakelike software robot | |
| CN108972527B (en) | Rigidity-variable snakelike arm robot based on phase change material | |
| Steltz et al. | Jsel: Jamming skin enabled locomotion | |
| CN103836101B (en) | The plane torsion spring of flexible joint | |
| CN109015741B (en) | Pneumatic torsion joint with rigidity enhanced by particles | |
| US9945458B2 (en) | Actuator using expansion or contraction to produce linear or rotary motion | |
| CN107498538B (en) | Novel self-deformation modular soft robot with high adaptability | |
| CN103786164A (en) | Pneumatic multidirectional bending flexible joint | |
| CN103786165A (en) | Pneumatic space bending flexible joint | |
| CN113942004B (en) | Snake-like soft robot based on tension structure | |
| CN108326833B (en) | Super-redundant flexible mechanical arm and use method thereof | |
| CN110497395B (en) | Bidirectional movement pneumatic flexible driver and working method thereof | |
| CN111452066A (en) | Full-flexible bionic pneumatic manipulator | |
| CN111906811A (en) | Full-flexible pneumatic actuator | |
| CN113601542A (en) | Variable-rigidity flexible manipulator based on bionic adhesion | |
| CN111113397B (en) | Underwater pressure self-adaptive electromechanical hybrid drive control software intelligent mechanical arm | |
| CN205343163U (en) | Pneumatic bend in one direction flexible joint of dual drive | |
| CN103317505A (en) | Shape-shifting soft robot | |
| CN107263452A (en) | A kind of parallel line driving soft robot flexion torsion deformation module | |
| CN108943007B (en) | Pneumatic torsion joint with rigidity enhanced by air pressure | |
| CN210650686U (en) | Flexible backbone of quadruped robot based on pneumatic muscle | |
| CN209648761U (en) | Three driving Pneumatic unidirectionals are bent flexible joint |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201023 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |