CN220614051U

CN220614051U - Pneumatic rigidity-variable joint

Info

Publication number: CN220614051U
Application number: CN202322294034.3U
Authority: CN
Inventors: 袁港; 王昌辉; 李文丞; 张龙; 柴永生; 梁美
Original assignee: Yantai University
Current assignee: Yantai University
Priority date: 2023-08-25
Filing date: 2023-08-25
Publication date: 2024-03-19
Anticipated expiration: 2033-08-25

Abstract

The utility model discloses a pneumatic rigidity-changing joint which comprises an upper base, a lower base and a cross joint, wherein two first lifting lugs on the upper base are rotatably connected with the cross joint, two second lifting lugs on the lower base are rotatably connected with the cross joint, a first air bag is arranged in the first lifting lug and is in friction contact with a rotating shaft of the cross joint, a second air bag is arranged in the second lifting lug and is in friction contact with the rotating shaft of the cross joint. The utility model has the beneficial effects that: the air bag is filled with air with different pressures, so that the friction force between the air bag and the rotating shaft can be adjusted, the joint rigidity is adjusted, the rigidity is adjusted steplessly, different rigidity is corresponding to different pneumatic pressure, the controllability is stronger, the pneumatic rigidity-changing joint and the connecting rod are designed in a modularized mode, the pneumatic rigidity-changing joint and the connecting rod can be added according to requirements, the length and the freedom degree of the rope-driven flexible mechanical arm are increased, and the rope-driven flexible mechanical arm can be better adapted to task requirements.

Description

Pneumatic rigidity-variable joint

Technical Field

The utility model belongs to the technical field of mechanical arms, and particularly relates to a pneumatic rigidity-variable joint.

Background

In recent years, the rope-driven flexible mechanical arm is widely applied to the fields of post-disaster search and rescue, medical health, aerospace and the like. The rope-driven flexible mechanical arm drives a series of joints in series by using a light rope, and the bending of the mechanical arm is realized through the mutual rotation among the joints. The rope-driven flexible mechanical arm has the advantages of multiple degrees of freedom and strong dexterity, has strong adaptability to complex and unstructured environments, and has important application in the fields of medical health, aerospace and the like. Compared with the traditional rigid mechanical arm, the higher flexibility of the mechanical arm also influences the rigidity and the precision of the rope-driven flexible mechanical arm, and becomes a big bottleneck for restricting the development of the mechanical arm.

Stiffness is a very important index of the mechanical arm, and the precision, bearing capacity and anti-interference capacity of the mechanical arm are directly affected. For different tasks, different stiffness is required to meet the task requirements. When the flexible rope-driven mechanical arm needs to enter an unstructured complex environment, higher freedom degree and flexibility are often needed, and the higher the freedom degree and flexibility are, the lower the opposite rigidity is needed; and when the flexible rope drive mechanical arm needs to bear a large load or higher movement precision, high rigidity is needed to ensure. The stiffness-variable technology is used as one of important enabling technologies of the flexible mechanical arm, and the stiffness problem of the flexible mechanical arm can be well improved through stiffness adjustment, so that the flexible mechanical arm can be balanced between bearing capacity and flexible movement, and different task requirements can be met.

The currently common stiffness-changing methods are the particle blocking method and the drive line tension adjustment method. The particle blocking method adjusts the rigidity of the flexible mechanical arm by adjusting the acting force among particles. The driving rope tension adjusting method changes the rigidity of the driving cable by changing the tension of the driving cable so as to change the rigidity of the rope driving flexible mechanical arm. The particle blocking method has slow regulation response and cannot be well adapted to different work tasks. The driving rope tension adjusting method only adjusts the rigidity of the driving rope, but does not adjust the rigidity of the framework of the rope-driven flexible mechanical arm, so that the rigidity of the rope-driven flexible mechanical arm is limited by the rigidity of the framework.

Disclosure of Invention

Aiming at the problem of the rigidity changing method in the prior art, the pneumatic rigidity changing joint is provided.

The utility model provides a pneumatic variable stiffness joint, includes base, lower base, ten bytes, and wherein two first lugs on the base rotate with the cross section to be connected, and two second lugs on the lower base rotate with the cross section to be connected, install first gasbag in the first lug, first gasbag and the pivot friction contact of ten bytes, install the second gasbag in the second lug, this second gasbag and the pivot friction contact of ten bytes.

The pneumatic rigidity-variable joint is characterized in that a first bearing is further installed in the first lifting lug, and the first bearing is sleeved on a rotating shaft of the ten-joint.

And the second bearing is also arranged in the second lifting lug and sleeved on the rotating shaft of the ten-joint.

The pneumatic rigidity-variable joint comprises an upper base, a first ventilation pipeline is arranged on the upper base, a ventilation pipeline is arranged in the first ventilation pipeline, and the ventilation pipeline is used for conveying compressed gas for a first air bag.

The pneumatic rigidity-changing joint is characterized in that a second ventilation pipeline is arranged on the lower base, a ventilation pipeline is arranged in the second ventilation pipeline, and the ventilation pipeline is used for conveying compressed gas for the second air bag.

The utility model has the beneficial effects that:

1. by filling gases with different pressures into the air bag, the friction force between the air bag and the rotating shaft can be adjusted, so that the joint rigidity is adjusted, the rigidity is adjusted steplessly, different rigidities are corresponding to different air pressures, and the controllability is higher;

2. the pneumatic rigidity-variable joint and the connecting rod are in modularized design, and the pneumatic rigidity-variable joint and the connecting rod can be added according to the requirements, so that the length and the degree of freedom of the rope-driven flexible mechanical arm are increased, and the rope-driven flexible mechanical arm can better adapt to the task requirements.

Drawings

FIG. 1 is a schematic illustration of a joint according to an embodiment of the present utility model;

FIG. 2 is a cross-sectional view of FIG. 1;

FIG. 3 is a cross-sectional view of FIG. 1;

FIG. 4 is a cross-sectional view of FIG. 1;

FIG. 5 is a schematic illustration of the connection of a joint and a link according to an embodiment of the present utility model;

fig. 6 is a schematic diagram of a mechanical arm according to an embodiment of the utility model.

Detailed Description

In order to make the technical problems solved, the technical scheme adopted and the technical effects achieved by the utility model more clear, the technical scheme of the utility model is further described below by a specific embodiment in combination with the attached drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the drawings related to the present utility model are shown.

Referring to fig. 1-5, the present embodiment provides a pneumatic stiffness-changing joint.

As shown in fig. 1, 2 and 3, the device comprises an upper base 1, a lower base 2 and a cross joint 3, wherein two first lifting lugs 13 on the upper base 1 are rotatably connected with the cross joint 3, two second lifting lugs on the lower base 2 are rotatably connected with the cross joint 3, a first air bag 14 is installed in the first lifting lugs 13, the first air bag 14 is in friction contact with a rotating shaft of the cross joint 3, and a second air bag 24 is installed in the second lifting lugs 23, and the second air bag 24 is in friction contact with the rotating shaft of the cross joint 3.

As shown in fig. 2, a first bearing 15 is further installed in the first lifting lug 13, and the first bearing 15 is sleeved on the rotating shaft of the ten-joint 3.

As shown in fig. 3, a second bearing 25 is also installed in the second lifting lug 23, and the second bearing 25 is sleeved on the rotating shaft of the ten-joint 3.

As shown in fig. 2, the upper base 1 is provided with a first ventilation pipe 16, and a ventilation pipe is provided in the first ventilation pipe 16, and the ventilation pipe is used for conveying compressed gas to the first air bag 14.

As shown in fig. 3, the lower base 2 is provided with a second air duct 26, and an air duct is provided in the second air duct 26, and the air duct supplies compressed air to the second air bag 24.

As shown in fig. 1, a rope threading hole 11 and a flange connection hole 12 are formed in the upper base 1, and the upper base 1 is in flange connection with the connecting rod 4.

As shown in fig. 4, the pneumatic rigidity-variable joints are alternately connected with the connecting rods 4 to form the mechanical arm, and the mechanical arm is driven to act through a rope drive and a driving motor, as shown in fig. 5.

The principle of the pneumatic rigidity-variable joint is as follows: the mechanism is designed by adopting a cross joint and an air bag and combining the principle of friction adjustment and rigidity.

Two bases are connected by a cross joint. The outer wall of the air bag is fixed on the inner wall of the base, and the inner side of the air bag is in friction contact with the rotating shaft. Stiffness is the ability to resist deformation. When the air bag is filled with air with different pressures, the friction force between the air bag and the rotating shaft can be adjusted. The larger the friction force between the air bag and the rotating shaft is, the larger the rigidity of the joint is; the smaller the friction between the balloon and the shaft, the less stiff the joint. According to the requirements of different tasks, the pressure of the air fed into the air bag is adjusted to realize the adjustment of rigidity.

In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "clockwise" and "counterclockwise" and the like are based on the directions or positional relationships shown in the drawings, are merely for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or element to be referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

The above embodiments merely illustrate the basic principle and features of the present utility model, and the present utility model is not limited to the above embodiments, but may be varied and altered without departing from the spirit and scope of the present utility model, which is within the scope of the claimed utility model. The scope of the utility model is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a pneumatic rigidity-variable joint, a serial communication port, including last base (1), lower base (2), cross festival (3), wherein go up two first lug (13) on base (1) and cross festival (3) rotate and be connected, two second lugs on lower base (2) rotate with cross (3) and be connected, install first gasbag (14) in first lug (13), first gasbag (14) and the pivot frictional contact of cross festival (3), install second gasbag (24) in second lug (23), this second gasbag (24) and the pivot frictional contact of cross festival (3).

2. The pneumatic variable stiffness joint as claimed in claim 1, characterized in that a first bearing (15) is also mounted in the first lifting lug (13), the first bearing (15) being sleeved on the rotary shaft of the ten-joint (3).

3. Pneumatic variable stiffness joint according to claim 1, characterized in that a second bearing (25) is also mounted in the second lifting lug (23), the second bearing (25) being sleeved on the rotation shaft of the decade (3).

4. The pneumatic variable stiffness joint according to claim 1, characterized in that the upper base (1) is provided with a first ventilation pipeline (16), the first ventilation pipeline (16) is provided with a ventilation pipeline, and the ventilation pipeline is used for conveying compressed gas for the first air bag (14).

5. Pneumatic variable stiffness joint according to claim 1, characterized in that the lower base (2) is provided with a second ventilation duct (26), in which second ventilation duct (26) a ventilation duct is provided, which ventilation duct delivers compressed gas for the second air-bag (24).