CN2628779Y - Pneumatic flexible torsional joint - Google Patents
Pneumatic flexible torsional joint Download PDFInfo
- Publication number
- CN2628779Y CN2628779Y CN 03255643 CN03255643U CN2628779Y CN 2628779 Y CN2628779 Y CN 2628779Y CN 03255643 CN03255643 CN 03255643 CN 03255643 U CN03255643 U CN 03255643U CN 2628779 Y CN2628779 Y CN 2628779Y
- Authority
- CN
- China
- Prior art keywords
- air
- fixed tray
- end cap
- driven flexible
- links
- 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
- 210000001503 joint Anatomy 0.000 title 1
- 238000000034 method Methods 0.000 abstract description 3
- 230000006835 compression Effects 0.000 abstract 1
- 238000007906 compression Methods 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 210000002700 urine Anatomy 0.000 description 1
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- Manipulator (AREA)
Abstract
An air operated flexible reverse joint is composed of air operated flexible air cylinders (1), a tinsel (2), end covers (3,4), a fixed tray (5), a middle axle (6) and a circular turntable (7).Two air operated flexible air cylinder (1) of the same size are arranged in the fixed tray (5) axisymmetrically. The circular turntable (7) can revolve the middle axle(6) with a body axis, thus realizing the free rotation in the fixed tray (5).When the compression gas passes the two air operated flexible air cylinders(1), the circular turntable (7) can circle the middle axle (6)under the impetus of the air operated flexible air cylinders (1) and revolve an angle oppositely with the fixed tray (5), thereby forming the twisting motion process of the simulates robot. With simple and reasonable structure, low cost, reliable performance and quick speed, the utility model is effective and has great practical value.
Description
Technical field
The utility model belongs to torsion knuckle, and especially Pneumatic flexible torsional knuckle is applicable to the occasion that designs and produces mechanism hand.
Background technique
All driver parts of electric robot or hydraulic control robot all were reciprocating or rotatablely moved the present age.When they are used to build the joint of robot, one cover mechanical device must be arranged usually back and forth or rotatablely move and convert desired other motion modes to.She Ji joint of robot may have pinpoint accuracy and big output power by this way.Yet they trend towards, and volume is big, complex structure and costing an arm and a leg.And flexibility also lags far behind the joint of human body.
Because there is above shortcoming in contemporary robot driver part, so the common interest place of developing into the manufacturer of robot of dexterous robot driver part, it is old to replace those that the robot engineering teacher is seeking the newtype of driver part.We are managing to develop a kind of Pneumatic flexible torsional knuckle of newtype, and this parts can directly apply to the bending motion of joint of robot, particularly the application in the robot of microminiaturization.
Summary of the invention
Task of the present utility model is the shortcoming that overcomes prior art, provides a kind of simple and reasonable, with low cost, easy and simple to handle, the Pneumatic flexible torsional knuckle that using effect is good.
Pneumatic flexible torsional knuckle, it is characterized in that by air-driven flexible cylinder 1, tinsel 2, end cap 3,4, fixed tray 5, axis 6 and round turntable 7 are formed, the two ends, the left and right sides of air-driven flexible cylinder 1 respectively with end cap 3,4 are connected, air-driven flexible cylinder 1 top is provided with tinsel 2, this tinsel 2 respectively with the end cap 3 at two ends, the left and right sides, 4 are connected, end cap 3 has a through hole and ambient atmosphere to be communicated with, the end that air-driven flexible cylinder 1 links to each other with end cap 4 seals, two identical air-driven flexible cylinders 1 of size are placed on the fixed tray 5 axisymmetricly, axis 6 is housed on the fixed tray 5, axis 6 upper ends are fixed with round turntable 7, the end that air-driven flexible cylinder 1 links to each other with end cap 3 links to each other with fixed tray 5 simultaneously, the end that while air-driven flexible cylinder 1 links to each other with end cap 4 links to each other with round turntable 7 simultaneously, round turntable 7 and stationary axle can be done freely to rotate with respect to fixed tray 5 round axis 6 together.
The utility model compared with prior art, it is simple and reasonable, adopts pneumatics, the twist motion process in simulating human joint reaches the ability of the flexion torsion motion that is used for joint of robot, and is with low cost, easy and simple to handle, using effect is good, has bigger implementary value.
Description of drawings
Fig. 1 is the Pneumatic flexible torsional knuckle structural representation of original state.
Wherein: 1-air-driven flexible cylinder, 2-tinsel, 3, the 4-end cap, 5-fixed tray, 6-axis, 7-round turntable
Fig. 2 is the Pneumatic flexible torsional knuckle structural representation of inflated condition.
Wherein: 1-air-driven flexible cylinder, 2-tinsel, 3, the 4-end cap, 5-fixed tray, 6-axis, 7-round turntable
Embodiment
Accompanying drawing 1 and accompanying drawing 2 are an embodiment of the present utility model.As shown in Figure 1, embodiment of the present utility model is: Pneumatic flexible torsional knuckle, it is characterized in that by air-driven flexible cylinder 1, tinsel 2, end cap 3,4, fixed tray 5, axis 6 and round turntable 7 are formed, the two ends, the left and right sides of air-driven flexible cylinder 1 respectively with end cap 3,4 are connected, air-driven flexible cylinder 1 top is provided with tinsel 2, this tinsel 2 respectively with the end cap 3 at two ends, the left and right sides, 4 are connected, end cap 3 has a through hole and ambient atmosphere to be communicated with, the end that air-driven flexible cylinder 1 links to each other with end cap 4 seals, two identical air-driven flexible cylinders 1 of size are placed on the fixed tray 5 axisymmetricly, axis 6 is housed on the fixed tray 5, axis 6 upper ends are fixed with round turntable 7, the end that air-driven flexible cylinder 1 links to each other with end cap 3 links to each other with fixed tray 5 simultaneously, the end that while air-driven flexible cylinder 1 links to each other with end cap 4 links to each other with round turntable 7 simultaneously, round turntable 7 and stationary axle can be done freely to rotate with respect to fixed tray 5 round axis 6 together.Working principle of the present utility model is: when feeding pressurized gas in two air-driven flexible cylinders 1, round turntable 7 will rotate an angle around axis 6 with respect to fixed tray 5 under the promotion of air-driven flexible cylinder 1, as shown in Figure 2.Change inflation pressure stool and urine may command windup-degree.Finally control the size of windup-degree by the size of inflation pressure of control flexible torsional knuckle, realize accurate control the flexible joint rotation angle by the mode of closed loop control.In the starting stage, two air-driven flexible cylinders 1 of An Zhiing are in the natural length state axisymmetricly, and promptly the axial elongation amount is 0, as shown in Figure 1; Then two air-driven flexible cylinders 1 are all fed the pressurized air that pressure is P, air-driven flexible cylinder 1 is elongated owing to being subjected to the gas pressure stretching, because an end of air-driven flexible cylinder 1 links to each other with fixed tray, throws off with round turntable 7; And the other end and fixed tray 5 are thrown off, link to each other with round turntable 7, so round turntable 7 will be under the promotion of the air-driven flexible cylinder 1 that extends, rotate angle 2 α (the windup-degree contribution of the Elastic Cylindrical shell of each elongation is angle [alpha]) around axis 6 with respect to fixed tray 5, as shown in Figure 2, so just realized the final control of the size of windup-degree.
Claims (1)
1. Pneumatic flexible torsional knuckle, it is characterized in that by air-driven flexible cylinder (1), tinsel (2), end cap (3), (4), fixed tray (5), axis (6) and round turntable (7) are formed, the two ends, the left and right sides of air-driven flexible cylinder (1) respectively with end cap (3), (4) be connected, air-driven flexible cylinder (1) top is provided with tinsel (2), this tinsel (2) respectively with the end cap (3) at two ends, the left and right sides, (4) be connected, end cap (3) has a through hole and ambient atmosphere to be communicated with, air-driven flexible cylinder (1) seals with the end that end cap (4) links to each other, two identical air-driven flexible cylinders (1) of size are placed in axisymmetricly on the fixed tray (5), axis (6) is housed on the fixed tray (5), axis (6) upper end is fixed with round turntable (7), the end that air-driven flexible cylinder (1) links to each other with end cap (3) links to each other with fixed tray (5) simultaneously, the end that while air-driven flexible cylinder (1) links to each other with end cap (4) links to each other with round turntable (7) simultaneously, round turntable (7) and stationary axle can be done freely to rotate with respect to fixed tray (5) round axis (6) together.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03255643 CN2628779Y (en) | 2003-07-14 | 2003-07-14 | Pneumatic flexible torsional joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03255643 CN2628779Y (en) | 2003-07-14 | 2003-07-14 | Pneumatic flexible torsional joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2628779Y true CN2628779Y (en) | 2004-07-28 |
Family
ID=34253756
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 03255643 Expired - Fee Related CN2628779Y (en) | 2003-07-14 | 2003-07-14 | Pneumatic flexible torsional joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2628779Y (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1305647C (en) * | 2004-11-04 | 2007-03-21 | 江南大学 | Fluid driving bending joint of spiral spring frame |
| CN1330465C (en) * | 2004-10-23 | 2007-08-08 | 江南大学 | Plate spring skeleton hydrulic pneumatic flexible bending joint |
| CN107648012A (en) * | 2017-11-03 | 2018-02-02 | 中国科学院合肥物质科学研究院 | A kind of wearable exoskeleton robot flexible joint |
-
2003
- 2003-07-14 CN CN 03255643 patent/CN2628779Y/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1330465C (en) * | 2004-10-23 | 2007-08-08 | 江南大学 | Plate spring skeleton hydrulic pneumatic flexible bending joint |
| CN1305647C (en) * | 2004-11-04 | 2007-03-21 | 江南大学 | Fluid driving bending joint of spiral spring frame |
| CN107648012A (en) * | 2017-11-03 | 2018-02-02 | 中国科学院合肥物质科学研究院 | A kind of wearable exoskeleton robot flexible joint |
| CN107648012B (en) * | 2017-11-03 | 2023-12-01 | 中国科学院合肥物质科学研究院 | Flexible joint of wearable exoskeleton robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |