CN2767081Y - Flexible joint capable of multidirectional bending - Google Patents

Abstract

The utility model relates to a flexible joint capable of bending in multiple directions, which can be used as various joints of robots, manipulators and prosthetics for disabled people, especially the joints of robots that need to be bent in multiple directions, belonging to robots, manipulators and prosthetics for disabled people and other fields of application technology. The joint is powered by fluid-driven expansion of muscle components, and the bending angle of the joint is related to the fluid pressure in the joint cavity; when working, the external force increases with the fluid pressure in the joint cavity; when impacted, there is Good buffering effect, and the joint structure also has a buffering effect on torque. The deformation of the joint wave shell is sensitive to the change of fluid pressure, requiring small fluid flow and flexible bending; it has the characteristics of small duty cycle, small power/mass ratio, and low energy consumption; and springs with different rigidities can be replaced according to the requirements of use; at the same time The relationship between bending deformation and fluid pressure is easy to establish a mathematical model, and the dynamic control accuracy is high.

Description

A flexible joint capable of bending in multiple directions

Technical field:

The utility model relates to a flexible joint capable of bending in multiple directions. The flexible joint can be used as various joints of robots, manipulators and prosthetics for disabled people, especially the joints of robots that need to bend in multiple directions like the arm joints of human bodies. It belongs to the application technology field of robots, manipulators and artificial limbs for the disabled.

Background technique:

Before the utility model was made, in the prior art, for the bending joints: generally, various types of motors or hydraulic pressure were used as power, and various mechanical structures, or hydraulic cylinders and motors, or their combinations were used as actuators. . The above method has a rigid structure, complex structure, large volume and high manufacturing cost. There are also bending joints that use a rubber wall (a circular rubber tube that can deform axially) through compressed air. Since the rubber wall expands in both the axial and radial directions, radial expansion is a waste of energy and is harmful to The bending deformation of the rubber wall cannot obtain a more accurate mathematical model, the dynamic control effect is not good, and it is not sensitive enough; more importantly, the flexible joint of the prior art can only bend in one direction, and cannot bend in multiple directions.

Invention content:

The purpose of this utility model is to overcome the above disadvantages. The utility model uses a plate spring or a round rod spring as a flexible skeleton for the bending joint, and the wave shell expands axially after being subjected to fluid pressure as muscle power. The direction is bent. Relying on the rebound effect of leaf spring or round rod spring, the bent and deformed joint returns to its original shape. The deformation of the wave shell is sensitive to the change of fluid pressure, which requires small fluid flow, flexible joint bending, low energy consumption, and high dynamic control precision.

The main solution of the utility model is achieved in this way:

The wave shell 3 (the rubber bellows whose longitudinal section shape of the single-section wave shell is "V", "U", "Ω", etc.) is clamped on the bayonet of the headstock 1 and the tailstock 4 by the clamp 2, The closed cavity formed by the wave shell 3, the headstock 1 and the tailstock 4; the fluid enters the joint cavity through the hose 7 and the right-angle joint 6, and there is a sealing ring 5 between the right-angle joint 6 and the tailstock 4; it is composed of the above parts A separate fluid-driven muscle assembly. The two ends of the plate spring 9 are positioned and clamped in the guide square grooves 17 of the headstock 1 and the tailstock 4 of the two fluid-driven muscle assemblies by the hexagon socket bolt 8, so that the two fluid-driven muscle assemblies and a leaf spring 9 form A two-way bending flexible joint is formed. Or a plurality of fluid-driven muscle components are fixed on the regular polygonal base 16 at both ends after the guide block 10 is positioned by the inner hexagon bolt 8 respectively, and the number of sides of the regular polygonal base 16 is equal to the number of fluid-driven muscle components; the round rod spring 13 The two ends are connected with the semicircle guide sleeve 11 by the cotter pin 14, and the semicircle guide sleeve 11 is plugged in the screw cap 12 with fine thread; rotate the screw cap 12 to adjust the position of the round rod spring 13; replace the semicircle guide with different diameters The sleeve 11 and the round bar spring 13 are used to change the rigidity of the round bar spring 13 so that the joint has different dynamic characteristics.

Compared with the prior art, the utility model has the following advantages:

The flexible joint capable of bending in multiple directions of the utility model adopts a plate spring or a round rod spring as a flexible skeleton, and the wave shell expands after being subjected to fluid pressure as muscle power. The joint bending angle is related to the fluid pressure in the joint cavity; when working, the grip force increases with the increase of the fluid pressure in each joint cavity; when impacted, it has a better cushioning effect, and the joint structure also has an effect on the torque buffering effect. Relying on the effect of leaf spring or round rod spring, the joint returns to its original shape after bending. The joint of the utility model requires a small fluid flow rate, and the deformation of the wave shell is sensitive to the change of the fluid pressure, and a small pressure change will produce obvious bending changes; it has a small duty cycle (the ratio of the fluid space occupied by the wave shell bending and straightening) , The power/mass ratio is small, and the energy consumption is small. Moreover, the relationship between the amount of bending deformation and the fluid pressure is easy to establish a mathematical model, the dynamic control precision is high, and the joint bending is flexible.

Description of drawings:

Fig. 1 is the A-A main sectional view of the multi-directional bending flexible joint of the present invention

Fig. 2 is the B-B cross-sectional view of the multidirectional bending flexible joint of the present utility model

Fig. 3 is the front view of the bidirectional bending joint of the present invention

Fig. 4 is the C-C sectional view of the two-way bending joint head of the present invention

Fig. 5 is the D-D cross-sectional view of the fluid-driven muscle assembly of the present utility model

Fig. 6 is the front view of the fluid-driven muscle assembly of the present utility model

Fig. 7 is the front view of the semicircular guide bush of the present utility model

Fig. 8 is the E-E sectional view of the semicircular guide bush of the present utility model

Fig. 9 is the top view of the round bar spring of the present utility model

Detailed ways:

Below the utility model will be further described in conjunction with the embodiment in the accompanying drawing:

The utility model is mainly composed of a headstock 1, a clamp 2, a wave shell 3, a tailstock 4, a sealing ring 5, a right-angle joint 6, a hose 7, an inner hexagonal bolt 8, a plate spring 9, a guide block 10, a semicircular guide sleeve 11, Rotary cover 12, round bar spring 13, cotter pin 14, round cover 15, regular polygon base 16, guiding square groove 17 etc. are formed. The shape of the single-section longitudinal section of the wave shell 3 of the present utility model is a rubber bellows such as "V", "U", and "Ω".

As shown in Figures 5 and 6, the fluid-driven muscle assembly: the wave shell 3 is clamped on the bayonet of the headstock 1 and the tailstock 4 by the clamp 2, and the wave shell 3, the headstock 1 and the tailstock 4 constitute a closed Cavity; the fluid enters the joint cavity through the hose 7 and the right-angle joint 6, and there is a sealing ring 5 between the right-angle joint 6 and the tailstock 4 for sealing.

Two-way bending flexible joint as shown in accompanying drawings 3 and 4: the two ends of the plate spring 9 are positioned and clamped in the same guiding square groove 17 on the headstock 1 and tailstock 4 of the two fluid-driven muscle components by hexagon socket bolts 8 .

Multi-directional bending flexible joints as shown in Figures 1 and 2: a plurality of pneumatic muscle components are fixed on the regular polygon base 16 after being positioned by the inner hexagonal bolt 8 through the guide block 10, and the number of sides of the regular polygon base 16 is equal to that of the fluid drive. The number of muscle components, the number of sides of regular polygonal base 16 can be 3～20; Cotter pin 14 is installed through round bar spring 13 and two semicircle guide bushings 11, and the semicircle guide bushing 11 of merging pair is plugged with very little clearance In the screw cap 12 with fine thread, the round cap 15 is screwed on the screw cap 12, the cotter pin 14 and the round cap 15 jointly restrict the axial movement of the round rod spring 13; the rotating cap 12 adjusts the round rod spring 13 position; replace the semicircular guide sleeve 11 and the round rod spring 13 of different diameters to change the rigidity of the round rod spring 13 so that the flexible joint has different dynamic characteristics.

As shown in accompanying drawing 7, 8 semicircular guide bushes 11 are matched in pairs, marked and paired to assemble; As shown in accompanying drawing 9 round bar spring 13 two ends are upset flat, after drilling, heat treatment.

The working principle and working process of the utility model are as follows:

The working principle of the flexible joint capable of bending in multiple directions of the utility model is that the wave shell 3 is axially elongated by the action of fluid pressure, and is bent due to the limitation of the plate spring 9 or the round rod spring 13 . For two-way or multi-directional flexible bending joints, according to the working conditions, one or more wave shells 3 of fluid-driven muscle components can be simultaneously expanded by fluid pressure, thereby generating different joint bending driving forces.

The multi-directional flexible joint of the utility model can be composed of two or more fluid-driven muscle components, and each fluid-driven muscle component has a set of pipeline system; when the static control or dynamic precision requirements are not high, the control system tube The pressure transmitter of the road system transmits the pressure signal, compares the preset value in the computer according to the model numerical calculation value or the pressure parameter of the experimental parameter fitting curve, and closes the inlet valve to ensure the bending angle of each joint and maintain the external force ; Connect the outlet valve, rely on the rebound effect of plate spring 9 or round rod spring 13, the fluid in the joint is emptied, the joint is straightened, and the grab is released. The speed of joint bending and recovery is controlled by the throttle valve of the pipeline system.

Claims (6)

1. A flexible joint that can be bent in multiple directions is characterized in that: the wave shell (3) is clamped on the bayonet of the headstock (1) and the tailstock (4) by the clamp (2), and the wave shell (3) ), the headstock (1) and the tailstock (4) constitute a closed cavity, the fluid enters the cavity through the hose (7) and the right-angle joint (6), and there is a seal between the right-angle joint (6) and the tailstock (4) The ring (5) is sealed, and the above parts constitute an independent fluid-driven muscle assembly; the two ends of the leaf spring (9) are positioned and clamped on the head seats (1) and In the guide square groove (17) of the tailstock (4), two-way bending flexible joints are formed; or a plurality of fluid-driven muscle assemblies are fixed on the regular polygonal base ( 16), the two ends of the round bar spring (13) are installed on the two semicircular guide bushes (11) by cotter pins (14), and the semicircular guide bushes (11) are plugged into the screw thread with a small gap. Inside the cover (12). 2. A flexible joint that can bend in multiple directions according to claim 1, characterized in that: the cotter pin (14) is installed through the round bar spring (13) and two semicircular guide bushes (11), and the paired Semicircle guide sleeve (11) is plugged in the screw cap (12) that has fine tooth thread with very little gap, and round cover (15) is screwed on the screw cap (12). 3. A flexible joint that can bend in multiple directions according to claim 1, characterized in that: both ends of the round rod spring (13) are flattened and drilled, and then heat-treated. 4. A flexible joint capable of bending in multiple directions according to claim 1, characterized in that: the number of sides of the regular polygonal base (16) is equal to the number of fluid-driven muscle components. 5. A flexible joint that can bend in multiple directions according to claim 1, characterized in that: the rotating cover (12) adjusts the position of the round rod spring (13), and replaces semicircular guide sleeves (11) and Round bar spring (13), to change round bar spring (13) rigidity. 6. A flexible joint that can bend in multiple directions according to claim 1, characterized in that: the flexible joint that bends in both directions is that the two ends of the leaf spring (9) are positioned and clamped between the two ends by the hexagon socket head bolts (8). In the guide square groove (17) of the headstock (1) and tailstock (4) of a fluid-driven muscle assembly.

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