CN2767081Y - Flexible joint capable of multidirectional bending - Google Patents
Flexible joint capable of multidirectional bending Download PDFInfo
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- CN2767081Y CN2767081Y CN 200420054820 CN200420054820U CN2767081Y CN 2767081 Y CN2767081 Y CN 2767081Y CN 200420054820 CN200420054820 CN 200420054820 CN 200420054820 U CN200420054820 U CN 200420054820U CN 2767081 Y CN2767081 Y CN 2767081Y
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Abstract
The utility model relates to a flexible joint capable of bending in multiple directions, which can be used as various joints of robots, mechanical hands, and artificial limbs of the disabled, particularly joints of robots which need multi-directional bend. The utility model belongs to the field of the application technique of robots, mechanical hands, artificial limbs of the disabled, etc. Fluid drives muscle assemblies, generating stressed expansion, the joint uses the expansion as dynamic force, the bending angle of the joint is relative to the fluid pressure in the cavity of the joint. When the joint works, the acting force towards outside is increased with the increase of fluid pressure in the cavity of the joint; when the joint is impacted, the joint has a good buffer function and the joint structure also has a buffer function on the torque. The deformation of the wave shell of the joint is sensitive to the variation of fluid pressure, having the requirements of less fluid flow and flexible bend. The utility model has the characteristics of small duty cycle, lower power/mass ratio, and less energy consumption, and has the advantages that the spring of the utility model can be replaced with springs with different rigidness according to the needs of use and the relation of the bent deformation value and the fluid pressure has the advantages of easy mathematical modeling and high precision on dynamic control.
Description
Technical field:
The utility model relates to a kind of flexible joint of multi-directionally bending, this flexible joint can be used as all kinds of joints of robot, manipulator and disabled person's artificial limb, especially the robot joint of the need multi-directional bending as the shoulder joint of human body belongs to applied technical fields such as robot, manipulator and disabled person's artificial limb.
Background technology:
Before the utility model is made, in prior art, for bending joint: be power generally, adopt various frame for movements, or liquid gas pressure cylinder and motor with all kinds of motors or liquid gas pressure, or with their executive component that is combined as.Aforesaid way is a rigid structure, complex structure, and volume is bigger, the manufacturing cost height.The bending joint that adopts logical compressed-air actuated rubber wall (but the big round rubber pipe of a kind of axial deformation) is also arranged, since rubber wall axially, radially all will expand, but being radially expanded is the waste energy, and the flexural deformation to rubber wall can't obtain than mathematical models, dynamically the control effect is bad, and is sensitive inadequately; More crucial is the flexible joint of prior art, can only a direction bending, can not realize multi-directional bending.
Summary of the invention:
The purpose of this utility model is to overcome above-mentioned weak point, and it is flexible back bone that the utility model bending joint adopts flat spring or round bar spring, and the ripple shell is subjected to axially to expand as muscular motivation behind the fluid pressure, can realize multi-directional bending as the shoulder joint of human body.The rebound effect of backup plate spring or round bar spring, the reinstatement of diastrophic joint.The variation sensitivity of the distortion fluid pressure of ripple shell requires fluid flow little, the arthrogryposis flexible movements, and it is little to consume energy, simultaneously dynamic control accuracy height.
Main solution of the present utility model is achieved in that
Ripple shell 3 (vertical sectional shape of single-unit ripple shell is the rubber bellows of shapes such as " V ", " U ", " Ω ") is clamped on the bayonet socket of headstock 1 and tailstock 4 by clip 2, the enclosed cavity that ripple shell 3, headstock 1 and tailstock 4 constitute; Fluid enters the joint cavity by flexible pipe 7 and angle coupling 6, and 4 of angle coupling 6 and tailstocks have sealing ring 5 sealings; Constitute an independent fluid by above-mentioned part and driven the muscle assembly.The two ends of flat spring 9 are clamped in two fluids by hexagon socket head cap screw 8 location and drive in the guiding square groove 17 of the headstock 1 of muscle assemblies and tailstock 4, drive the muscle assemblies by two fluids like this and flat spring 9 shapes have constituted the compound bending flexible joint.Or a plurality of fluids drive the muscle assemblies respectively by hexagon socket head cap screw 8 through guide pads 10 location after, be fixed on the regular polygon base 16 at two ends, the limit number of regular polygon base 16 equals the number that fluid drives the muscle assembly; The two ends of round bar spring 13 connect semicircle guide pin bushing 11, semicircle guide pin bushing 11 little plugs with gap in the spiral cover 12 that has fine thread by split pin 14; Rotation spiral cover 12 is regulated the position of round bar spring 13; Change the semicircle guide pin bushing 11 and the round bar spring 13 of different-diameter,, make the joint have different dynamic characteristics to change the rigidity of round bar spring 13.
Compared with the prior art the utility model has the following advantages:
It is flexible back bone that the flexible joint of the utility model multi-directionally bending adopts flat spring or round bar spring, and the ripple shell is subjected to expand as muscular motivation after the fluid pressure action.The arthrogryposis angle is relevant with the fluid pressure in the cavity of joint; During work, grip increases with the fluid pressure in each joint cavity; When being hit, cushioning effect, and articulation structure preferably also has cushioning effect to moment of torsion.The effect of backup plate spring or round bar spring, reinstatement after the arthrogryposis.The utility model joint requires fluid flow little, the variation sensitivity of the distortion fluid pressure of ripple shell, and little pressure variation just produces obvious bending change; It is little to have dutycycle (ratio of the fluid space that the bending of ripple shell takies when stretching), and power/quality is than little, and little characteristics consume energy.And the relation of bending deformation quantity and fluid pressure is easily set up Mathematical Modeling, dynamic control accuracy height, and arthrogryposis is flexible.
Description of drawings:
Fig. 1 is A-A master's cutaway view of multi-directional bending flexible joint of the present utility model
Fig. 2 is the B-B cutaway view of multi-directional bending flexible joint of the present utility model
Fig. 3 is the front view in compound bending of the present utility model joint
Fig. 4 is the C-C cutaway view of compound bending ball and socket joint of the present utility model
Fig. 5 is the D-D cutaway view that fluid of the present utility model drives the muscle assembly
Fig. 6 is the front view that fluid of the present utility model drives the muscle assembly
Fig. 7 is the front view of semicircle guide pin bushing of the present utility model
Fig. 8 is the E-E cutaway view of semicircle guide pin bushing of the present utility model
Fig. 9 is the vertical view of round bar spring of the present utility model
The specific embodiment:
Embodiment during following the utility model is incited somebody to action in conjunction with the accompanying drawings is further described:
The utility model mainly is made up of headstock 1, clip 2, ripple shell 3, tailstock 4, sealing ring 5, angle coupling 6, flexible pipe 7, hexagon socket head cap screw 8, flat spring 9, guide pad 10, semicircle guide pin bushing 11, spiral cover 12, round bar spring 13, split pin 14, dome 15, regular polygon base 16, guiding square groove 17 etc.The single-unit vertical sectional shape of ripple shell 3 of the present utility model is rubber bellows such as " V ", " U ", " Ω ".
Fluid shown in accompanying drawing 5,6 drives the muscle assembly: ripple shell 3 is clamped on the bayonet socket of headstock 1 and tailstock 4 by clip 2, the enclosed cavity that ripple shell 3, headstock 1 and tailstock 4 constitute; Fluid enters the joint cavity by flexible pipe 7 and angle coupling 6, and 4 of angle coupling 6 and tailstocks have sealing ring 5 sealings.
Compound bending flexible joint shown in accompanying drawing 3,4: the two ends of flat spring 9 are clamped in two fluids by hexagon socket head cap screw 8 location and drive in the guiding square groove 17 identical on muscle assembly headstocks 1 and the tailstock 4.
Multi-directional bending flexible joint shown in accompanying drawing 1,2: after a plurality of pneumatic muscles assemblies are located through guide pad 10 by hexagon socket head cap screw 8 respectively, be fixed on regular polygon base 16, the limit number of regular polygon base 16 equals the number that fluid drives the muscle assembly, and the limit number of regular polygon base 16 can be 3～20; Round bar spring 13 is passed in split pin 14 and two semicircle guide pin bushings 11 are installed, the semicircle guide pin bushing 11 that merges pairing is filled in the spiral cover 12 that has fine thread with gap with very little, dome 15 usefulness screws are screwed on the spiral cover 12, and split pin 14 and dome 15 be moving axially of restriction round bar springs 13 jointly; Rotation spiral cover 12 is regulated the position of round bar spring 13; Change the semicircle guide pin bushing 11 and the round bar spring 13 of different-diameter,, make flexible joint have different dynamic characteristics to change the rigidity of round bar spring 13.
Semicircle guide pin bushing 11 shown in accompanying drawing 7,8 is joined work, mark and pairing assembling in twos; To upset in as shown in Figure 9 round bar spring 13 two ends flat, after the boring, heat treatment.
Be the operation principle of the present utility model and the course of work below:
The operation principle of the flexible joint of the utility model multi-directionally bending is: be subjected to fluid pressure action, ripple shell 3 axial elongations are because of the restriction that is subjected to flat spring 9 or round bar spring 13 produces bending.To two-way or multidirectional flexible bending joint, according to working condition, the ripple shell 3 that can make one or more fluids drive the muscle assembly is subjected to fluid pressure action simultaneously and expands, thereby produces different arthrogryposis driving forces.
The flexible joint of the utility model multi-directionally bending can drive the muscle assembly by two or more fluids and form, and each fluid drives the muscle assembly respectively a circuits system; When static control or dynamic accuracy are less demanding, the pressure transmitter of control system pipe-line system transmits pressure signal, in computer relatively according to the pressure parameter of model numerical value calculated value or experiment parameter matched curve and predefined value, close inlet valve, guarantee each arthrogryposis angle and keep external active force; Connect outlet valve, backup plate spring 9 or round bar spring 13 rebound effects, IA fluid evacuation, stretch in the joint, discharges to grasp thing.The fast jogging speed of arthrogryposis, answer is by the throttle valve control of pipe-line system.
Claims (6)
1. the flexible joint of a multi-directionally bending, it is characterized in that: ripple shell (3) is clamped on the bayonet socket of headstock (1) and tailstock (4) by clip (2), the enclosed cavity that ripple shell (3), headstock (1) and tailstock (4) constitute, fluid enters cavity by flexible pipe (7) and angle coupling (6), sealing ring (5) sealing is arranged between angle coupling (6) and tailstock (4), and above-mentioned part has constituted an independent fluid and has driven the muscle assembly; The two ends of flat spring (9) are clamped in two fluids by hexagon socket head cap screw (8) location and drive in the guiding square groove (17) of the headstock (1) of muscle assemblies and tailstock (4) formation compound bending flexible joint; Or a plurality of fluids drive the muscle assembly respectively by behind hexagon socket head cap screw (8) process guide pad (10) location, be fixed on the regular polygon base (16), the two ends of round bar spring (13) are installed on two semicircle guide pin bushings (11) by split pin (14), and semicircle guide pin bushing (11) is very little to be filled in gap in having the spiral cover of fine thread (12).
2. the flexible joint of a kind of multi-directionally bending according to claim 1, it is characterized in that: round bar spring (13) is passed in split pin (14) and two semicircle guide pin bushings (11) are installed, the semicircle guide pin bushing (11) that merges pairing is filled in having the spiral cover of fine thread (12) with gap with very little, and dome (15) is screwed on the spiral cover (12) with screw.
3. the flexible joint of a kind of multi-directionally bending according to claim 1 is characterized in that: upset after flat, the boring in round bar spring (13) two ends, heat treatment.
4. the flexible joint of a kind of multi-directionally bending according to claim 1 is characterized in that: the limit number of regular polygon base (16) equals the number that fluid drives the muscle assembly.
5. the flexible joint of a kind of multi-directionally bending according to claim 1, it is characterized in that: rotation spiral cover (12) is regulated the position of round bar spring (13), change the semicircle guide pin bushing (11) and the round bar spring (13) of different-diameter, to change round bar spring (13) rigidity.
6. the flexible joint of a kind of multi-directionally bending according to claim 1 is characterized in that: the flexible joint of compound bending is the two ends of flat spring (9) to be clamped in two fluids by hexagon socket head cap screw (8) location drive in the guiding square groove (17) of the headstock (1) of muscle assemblies and tailstock (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420054820 CN2767081Y (en) | 2004-12-27 | 2004-12-27 | Flexible joint capable of multidirectional bending |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420054820 CN2767081Y (en) | 2004-12-27 | 2004-12-27 | Flexible joint capable of multidirectional bending |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2767081Y true CN2767081Y (en) | 2006-03-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200420054820 Expired - Fee Related CN2767081Y (en) | 2004-12-27 | 2004-12-27 | Flexible joint capable of multidirectional bending |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2767081Y (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100368161C (en) * | 2005-02-23 | 2008-02-13 | 江南大学 | Combined muscular multi-directional bending flexible joint |
| CN102678778A (en) * | 2012-05-15 | 2012-09-19 | 江南大学 | Flexible coupler with adjustable torsional rigidity |
| CN102922536A (en) * | 2012-10-16 | 2013-02-13 | 中国计量学院 | Mechanism-parameter-adjustable universal type pneumatic muscle bionic joint mechanism |
| CN103042535A (en) * | 2012-12-26 | 2013-04-17 | 安科智慧城市技术（中国）有限公司 | Three-degree-of-freedom movable joint mechanism and bionic robot |
| CN104398366A (en) * | 2014-11-24 | 2015-03-11 | 江苏大学 | Torsional spring type flexible elastic joint applicable to rehabilitation robot |
| CN104626188A (en) * | 2011-12-09 | 2015-05-20 | 江南大学 | Trapezoid special-shaped leaf spring skeleton flexible joint |
| CN104867381A (en) * | 2014-12-23 | 2015-08-26 | 谌桂生 | Dynamic deformation geometry mechanism |
| CN105598995A (en) * | 2016-03-17 | 2016-05-25 | 华东交通大学 | Flexible mechanical arm and control method thereof |
| CN105619397A (en) * | 2016-03-17 | 2016-06-01 | 华东交通大学 | Flexible actuator and control method thereof |
| CN106927000A (en) * | 2017-03-06 | 2017-07-07 | 浙江大学 | Transformation compound bending module, S types advance around module and soft robot |
| 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 |
-
2004
- 2004-12-27 CN CN 200420054820 patent/CN2767081Y/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100368161C (en) * | 2005-02-23 | 2008-02-13 | 江南大学 | Combined muscular multi-directional bending flexible joint |
| CN104626188A (en) * | 2011-12-09 | 2015-05-20 | 江南大学 | Trapezoid special-shaped leaf spring skeleton flexible joint |
| CN102678778B (en) * | 2012-05-15 | 2015-01-14 | 江南大学 | Flexible coupler with adjustable torsional rigidity |
| CN102678778A (en) * | 2012-05-15 | 2012-09-19 | 江南大学 | Flexible coupler with adjustable torsional rigidity |
| CN102922536A (en) * | 2012-10-16 | 2013-02-13 | 中国计量学院 | Mechanism-parameter-adjustable universal type pneumatic muscle bionic joint mechanism |
| CN102922536B (en) * | 2012-10-16 | 2015-03-11 | 中国计量学院 | Mechanism-parameter-adjustable universal type pneumatic muscle bionic joint mechanism |
| CN103042535A (en) * | 2012-12-26 | 2013-04-17 | 安科智慧城市技术（中国）有限公司 | Three-degree-of-freedom movable joint mechanism and bionic robot |
| CN103042535B (en) * | 2012-12-26 | 2015-01-14 | 安科智慧城市技术（中国）有限公司 | Three-degree-of-freedom movable joint mechanism and bionic robot |
| CN104398366A (en) * | 2014-11-24 | 2015-03-11 | 江苏大学 | Torsional spring type flexible elastic joint applicable to rehabilitation robot |
| CN104867381A (en) * | 2014-12-23 | 2015-08-26 | 谌桂生 | Dynamic deformation geometry mechanism |
| CN104867381B (en) * | 2014-12-23 | 2018-08-28 | 北京功顺达仿生机械有限公司 | Dynamic deformation geometry mechanism |
| CN105598995A (en) * | 2016-03-17 | 2016-05-25 | 华东交通大学 | Flexible mechanical arm and control method thereof |
| CN105619397A (en) * | 2016-03-17 | 2016-06-01 | 华东交通大学 | Flexible actuator and control method thereof |
| CN106927000A (en) * | 2017-03-06 | 2017-07-07 | 浙江大学 | Transformation compound bending module, S types advance around module and soft robot |
| CN106927000B (en) * | 2017-03-06 | 2019-02-26 | 浙江大学 | Transformation compound bending module, S type advance around module and soft robot |
| 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 |
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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 |