CN2774720Y - Flexible joint with built-in spring element in spring wave shell - Google Patents
Flexible joint with built-in spring element in spring wave shell Download PDFInfo
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- CN2774720Y CN2774720Y CN 200520068537 CN200520068537U CN2774720Y CN 2774720 Y CN2774720 Y CN 2774720Y CN 200520068537 CN200520068537 CN 200520068537 CN 200520068537 U CN200520068537 U CN 200520068537U CN 2774720 Y CN2774720 Y CN 2774720Y
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Abstract
The utility model relates to a flexible joint with a built-in elastic element for an elastic wave casing, which can be used as various joints of robots, manipulators and artificial limbs of disabled people and belongs to the technical field of an application of the robots, the manipulators, the artificial limbs of the disabled people, etc. The utility model is driven by fluids and uses stress expansion of the elastic wave casing as power. The bending angle of the joint is relevant to the fluid pressure of an inner cavity of the elastic wave casing. The utility model overcomes the function of the elastic element, is bent for snatching at articles, increases external acting force following increases of the fluid pressure in the hollow cavity of the joint and restores straightening by the function of the elastic element. The elastic elements with different rigidity can be replaced for obtaining different static performance and dynamic performance according to use requirements. The utility model has the advantages of sensitivity of deformation of the joint wave casing to changes of the fluid pressure, small required fluid flow and flexible bending, has the characteristics of small duty ratio, small power/mass ratio and small energy consumption, and simultaneously, has the advantages of easy establishment of relation between a bending deformation angle and the fluid pressure, simple control models and high precision of dynamic control.
Description
Technical field:
The utility model relates to the flexible joint of the built-in flexible member of elastomeric bellow, and this flexible joint can be used as all kinds of joints of robot, manipulator and disabled person's artificial limb, 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.Also has the bending joint that adopts logical compressed-air actuated rubber wall (but the big round rubber pipe of a kind of axial deformation), 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 action is sensitive inadequately.
Summary of the invention:
The purpose of this utility model is to overcome above-mentioned weak point, and the utility model flexible joint drives with fluid, and with the stressed power that is expanded to of elastomeric bellow, the angle of bend in joint is relevant with the fluid pressure of elastomeric bellow inner chamber; Overcome the effect of flexible member, arthrogryposis also grasps article, and externally active force increases with the fluid pressure of elastomeric bellow inner chamber; By the effect of flexible member, the joint is replied and is stretched; And can change the flexible member of different rigidity according to instructions for use, obtain different quiet, dynamic property.The variation sensitivity of the distortion fluid pressure of joint ripple shell requires fluid flow little, and is flexibly crooked; It is little to have dutycycle, and power/quality is than little, and little characteristics consume energy; Easily set up simultaneously the relation of flexural deformation angle and fluid pressure, the control model is simple, dynamically the control accuracy height.
Main solution of the present utility model is achieved in that
First kind of scheme is: elastomeric bellow 6 is clamped on the bayonet socket of headstock 3 and tailstock 8 by clip 5, and fluid enters the inner chamber of elastomeric bellow 6 by flexible pipe 11 and angle coupling 12, and angle coupling 12 is spun on the tailstock 8, and there are sealing ring 10 sealings the centre; The two ends of plate hinge 7 are fixed on headstock 3 and the tailstock 8 by hexagon socket head cap screw 4, and spiral draws spring 14 two ends to be hooked in two shackles 13, and two shackles 13 are spun on headstock 3 and the tailstock 8 with suitable length respectively, and use nut check; Finger tip 1 is spun on the headstock 3, and the thickness of adjusting pad 2 is adjusted the rotatable phase of finger tip 1; Equally, spacer shell 9 also is spun on tailstock 8 by adjusting pad 2, and the screw thread of headstock 3 and tailstock 8 is identical.
Second kind of scheme is: without helical spring 14, and pass two shackles 13 with elastic strip 16, and the mode that elastic strip 16 two ends are tightened by locking plate 15 again, all the other structures are with first kind of scheme.
Compared with the prior art the utility model has the following advantages:
It is flexible back bone that the flexible joint of the built-in flexible member of the utility model elastomeric bellow adopts the plate hinge, and elastomeric bellow is subjected to expand as muscular motivation after the fluid pressure action, and the angle of bend in joint is relevant with the fluid pressure of elastomeric bellow inner chamber; Overcome the effect of flexible member, arthrogryposis also grasps article, and externally active force increases with the fluid pressure of elastomeric bellow inner chamber; By the effect of flexible member, the joint is replied and is stretched; And can change the flexible member of different rigidity according to instructions for use, obtain different quiet, dynamic property.The variation sensitivity of the distortion fluid pressure of joint ripple shell requires fluid flow little, and is flexibly crooked; Have dutycycle little (ratio of the fluid space that the elastomeric bellow bending takies when stretching), power/quality is than little, and little characteristics consume energy; Easily set up simultaneously the relation of flexural deformation angle and fluid pressure, the control model is simple, dynamically the control accuracy height.
Description of drawings:
Fig. 1 is the main cutaway view of the flexible joint scheme one of the built-in flexible member of the utility model elastomeric bellow
Fig. 2 is the A-A cutaway view of the flexible joint scheme one of the built-in flexible member of the utility model elastomeric bellow
Fig. 3 is the main cutaway view of the flexible joint scheme two of the built-in flexible member of the utility model elastomeric bellow
Fig. 4 is the main cutaway view of the flexible joint plate hinge of the built-in flexible member of the utility model elastomeric bellow
Fig. 5 is the vertical view of the flexible joint plate hinge of the built-in flexible member of the utility model elastomeric bellow
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 draws spring 14, locking plate 15, elastic strip 16 etc. to form by finger tip 1, adjustment pad 2, headstock 3, hexagon socket head cap screw 4, clip 5, elastomeric bellow 6, plate hinge 7, tailstock 8, spacer shell 9, sealing ring 10, flexible pipe 11, angle coupling 12, shackle 13, spiral.
The single-unit vertical sectional shape of elastomeric bellow 3 of the present utility model is rubber bellows such as " V ", " U ", " Ω ".
First kind of scheme shown in accompanying drawing 1,2 is: elastomeric bellow 6 is clamped on the bayonet socket of headstock 3 and tailstock 8 by clip 5, the enclosed cavity that elastomeric bellow 6, headstock 3 and tailstock 8 constitute; Fluid enters the joint cavity by flexible pipe 11 and angle coupling 12, and angle coupling 12 is spun on the tailstock 8, and there are sealing ring 10 sealings the centre; The two ends of plate hinge 7 are fixed on headstock 3 and the tailstock 8 by hexagon socket head cap screw 4; Spiral draws spring 14 two ends to be hooked in two shackles 13, and two shackles 13 are spun on headstock 3 and the tailstock 8 with suitable length respectively, and use nut check, and when guaranteeing that spiral draws spring 14 to be in free state, stretch in the joint; Finger tip 1 is spun on the headstock 3, and the thickness of adjusting pad 2 is adjusted the rotatable phase of finger tip 1; Equally, the spacer shell 9 that connects with second same flexible joint also is spun on tailstock 8 by adjusting pad 2; The screw thread of headstock 3 and tailstock 8 is identical, so can connect second flexible joint, forms manipulator or mechanical finger.
Second kind of scheme as shown in Figure 3 is: without helical spring 14, pass two shackles 13 with elastic strip 16, elastic strip 16 two ends are tightened by locking plate 15 again, and all the other structures are with first kind of scheme.
Can change the spring or the elastic strip of different rigidity according to instructions for use, to change quiet, the dynamic mechanical of flexible joint.
Shown in accompanying drawing 4,5, the page or leaf plate of plate hinge 7 is shaped as trapezoidal, to improve the bending rigidity of page or leaf plate.
Be the operation principle of the present utility model and the course of work below:
The flexible joint of the built-in flexible member of the utility model elastomeric bellow can be formed the finger of multi-joint manipulator, and each elastomeric bellow 6 respectively has a circuits system; Control system is transmitted pressure signal according to the pressure transmitter of pipe-line system, and more predefined value is closed inlet valve by computer control, guarantees each arthrogryposis angle or keeps external active force; Connect outlet valve, by helical spring 14 or elastic strip 16 rebound effects, the fluid of elastomeric bellow inner chamber is discharged, and stretch in the joint, discharges and grasps thing.The fast jogging speed of arthrogryposis, answer is by the throttle valve control of pipe-line system.
Claims (3)
1. the utility model relates to the flexible joint of the built-in flexible member of elastomeric bellow, it is characterized in that: elastomeric bellow (6) is clamped on the bayonet socket of headstock (3) and tailstock (8) by clip (5), fluid enters the inner chamber of elastomeric bellow (6) by flexible pipe (11) and angle coupling (12), angle coupling (12) is spun on the tailstock (8), and there is sealing ring (10) sealing the centre; The two ends of plate hinge (7) are fixed on headstock (3) and the tailstock (8) by hexagon socket head cap screw (4), spiral draws spring (14) two ends to be hooked in two shackles (13), two shackles (13) are spun on headstock (3) and the tailstock (8) with suitable length respectively, and use nut check; Finger tip (1) is spun on the headstock (3), and the thickness of adjusting pad (2) is adjusted the rotatable phase of finger tip (1); Equally, spacer shell (9) also is spun on tailstock (8) by adjusting pad (2), and headstock (3) is identical with the screw thread of tailstock (8), so can connect second flexible joint, forms manipulator or mechanical finger.
2. the flexible joint of the built-in flexible member of elastomeric bellow, it is characterized in that: with the helical spring (14) in the structure of elastic strip (16) replacement aforementioned schemes, promptly use elastic strip (16) to pass two shackles (13), by locking plate (15) chucking, all the other structures are with aforementioned scheme again at elastic strip (16) two ends.
3. the flexible joint of the built-in flexible member of elastomeric bellow according to claim 1 and 2 is characterized in that: the page or leaf plate of plate hinge (7) is shaped as trapezoidal, to improve the bending rigidity of page or leaf plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520068537 CN2774720Y (en) | 2005-01-21 | 2005-01-21 | Flexible joint with built-in spring element in spring wave shell |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520068537 CN2774720Y (en) | 2005-01-21 | 2005-01-21 | Flexible joint with built-in spring element in spring wave shell |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2774720Y true CN2774720Y (en) | 2006-04-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200520068537 Expired - Fee Related CN2774720Y (en) | 2005-01-21 | 2005-01-21 | Flexible joint with built-in spring element in spring wave shell |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2774720Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102152319A (en) * | 2011-05-11 | 2011-08-17 | 哈尔滨工程大学 | Elastically-driven rotational joint |
| CN108501032A (en) * | 2018-06-19 | 2018-09-07 | 苏州大学 | The pneumatic software handgrip of adjustable |
-
2005
- 2005-01-21 CN CN 200520068537 patent/CN2774720Y/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102152319A (en) * | 2011-05-11 | 2011-08-17 | 哈尔滨工程大学 | Elastically-driven rotational joint |
| CN108501032A (en) * | 2018-06-19 | 2018-09-07 | 苏州大学 | The pneumatic software handgrip of adjustable |
| CN108501032B (en) * | 2018-06-19 | 2023-09-19 | 苏州大学 | Adjustable pneumatic soft gripper |
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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 |