CN2783952Y - Hinge type bi-directional or multi-directional bending flexible joint - Google Patents
Hinge type bi-directional or multi-directional bending flexible joint Download PDFInfo
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- CN2783952Y CN2783952Y CN 200520068241 CN200520068241U CN2783952Y CN 2783952 Y CN2783952 Y CN 2783952Y CN 200520068241 CN200520068241 CN 200520068241 CN 200520068241 U CN200520068241 U CN 200520068241U CN 2783952 Y CN2783952 Y CN 2783952Y
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- bending flexible
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Abstract
The utility model relates to a hinge type bi-directional or multi-directional bending flexible joint, 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, and the joint uses the expansion as dynamic force and adopts a cross-shaped universal joint, or a sphere-shaped universal joint, or a plate hinge as a joint frame. When the joint works, the acting force towards outside is increased with the increase of fluid pressure in the muscle cavity of the joint; when the joint is impacted, the joint has a good buffer function. 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. The joint has the advantages of more possibility of the establishment of mathematic models, and high precision for dynamic control.
Description
Technical field:
This utility model relates to the two-way or multi-directional bending flexible joint of hinge type, this flexible joint can be used as all kinds of joints of robot, mechanical hand and people with disability'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, mechanical hand and people with disability's artificial limb.
Background technology:
Before this 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 expanded radially 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.
The utility model content:
The purpose of this utility model is to overcome above-mentioned weak point, and it is joint skeleton that this utility model bending joint adopts universal joint or plate hinge, 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 variation sensitivity of the distortion fluid pressure of ripple shell requires fluid flow little, and it is little to consume energy, arthrogryposis flexible movements simultaneously, dynamically 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 plate hinge 9 are clamped in the guiding square groove 14 of the headstock 1 of two fluid drives muscle assemblies and tailstock 4 by hexagon socket head cap screw 8 location, have constituted the compound bending flexible joint by two fluid drives muscle assemblies and plate hinge 9 shapes like this.After a plurality of fluid drives muscle assemblies are located through guide pad 10 by hexagon socket head cap screw 8 respectively, be fixed on the regular polygon base 12 at two ends; Universal joint 13 (cross or universal ball joint, drawn in this utility model accompanying drawing is the cross universal joint) two ends fastening by nut and regular polygon base 12, and the axle journal 11 at universal joint 13 two ends is a matched in clearance with cooperating of regular polygon base 12 interstitial holes.
The flexible joint of two-way or multi-directional bending is by two or more fluid drives muscle assemblies; Its main distinction is that the hinge skeleton of the flexible joint of compound bending is a plate hinge 9, and the hinge skeleton of the flexible joint of multi-directional bending is a universal joint 13.
Compared with the prior art this utility model has the following advantages:
It is joint skeleton that this utility model flexible joint two-way or multi-directional bending adopts universal joint 13 or plate hinge 9, and ripple shell 3 is subjected to expand as muscular motivation after the fluid pressure action.During work, externally active force increases with the fluid pressure in each articular muscle cavity; When being hit, cushioning effect preferably.This 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.Easily set up mathematical model, dynamic control accuracy height, 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 C place enlarged drawing of multi-directional bending flexible joint of the present utility model
Fig. 4 is the D-D cutaway view of compound bending ball and socket joint of the present utility model
Fig. 5 is the main cutaway view in compound bending of the present utility model joint
Fig. 6 is the E-E cutaway view of fluid drives muscle assembly of the present utility model
Fig. 7 is the main cutaway view of fluid drives muscle assembly of the present utility model
The specific embodiment:
Embodiment during following this utility model is incited somebody to action in conjunction with the accompanying drawings is further described:
This 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, plate hinge 9, guide pad 10, axle journal 11, regular polygon base 12, universal joint 13, guiding square groove 14 etc.
The single-unit vertical sectional shape of ripple shell 3 of the present utility model is rubber bellows such as " V ", " U ", " Ω "; Universal joint 13 is cross universal joint or universal ball joint (only having represented the cross universal joint in this utility model accompanying drawing 1,2,3), and the hinge number in the universal joint 13 can be 1～40 pair; The limit number of regular polygon base 12 equals the number of fluid drives muscle assembly, and the limit number of regular polygon base 12 can be 3～20.
Fluid drives muscle assembly shown in accompanying drawing 6,7: 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 4,5: the two ends of plate hinge 9 are clamped in the guiding square groove 14 identical on two fluid drives muscle assembly headstocks 1 and the tailstock 4 by hexagon socket head cap screw 8 location.
Multi-directional bending flexible joint shown in accompanying drawing 1,2,3: after a plurality of fluid drives muscle assemblies are located through guide pad 10 by hexagon socket head cap screw 8 respectively, be fixed on the regular polygon base 12 at two ends, the limit number of regular polygon base 12 equals the number of fluid drives muscle assembly; Universal joint 13 (can be cross universal joint or universal ball joint, what represent in the accompanying drawing is the cross universal joint) two ends fastening by nut and regular polygon base 12, simultaneously the axle journal 11 at universal joint 13 two ends is a matched in clearance with cooperating of regular polygon base 12 interstitial holes.
Be operation principle of the present utility model and work process below:
The operation principle of the flexible joint of the two-way or multi-directional bending of this utility model: be subjected to fluid pressure action, ripple shell 3 axial elongations are because of the axial restraint that is subjected to plate hinge 9 or universal joint 13 produces bending.To two-way or multidirectional flexible bending joint, according to working condition, can make the ripple shell 3 of one or more fluid drives muscle assemblies be subjected to fluid pressure action simultaneously and expand, thereby produce different crooked driving forces or change crooked direction.
The flexible joint of the two-way or multi-directional bending of this utility model can be made up of two or more fluid drives muscle assemblies, and each fluid drives muscle assembly respectively has a circuits system; According to feedback signal, by computer control, close inlet valve, guarantee the arthrogryposis angle and keep external active force; Connect the inlet valve of outlet valve and crooked reciprocal fluid drives muscle assembly, the joint recovers to stretch, and discharges and grasps thing.Arthrogryposis, the fast jogging speed of stretching are by the throttle valve control of pipe-line system.
Claims (3)
1. this utility model relates to the two-way or multi-directional bending flexible joint of hinge type, 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 plate hinge (9) are clamped in by hexagon socket head cap screw (8) location in the guiding square groove (14) of the headstock (1) of two fluid drives muscle assemblies and tailstock (4), formation compound bending flexible joint; Or a plurality of fluid drives muscle assemblies are respectively by behind hexagon socket head cap screw (8) process guide pad (10) location, be fixed on the regular polygon base (12), the two ends of universal joint (13) are fastening by nut and regular polygon base (12), and the axle journal (11) at universal joint (13) two ends is a matched in clearance with cooperating of regular polygon base (12) interstitial hole, forms the multi-direction bending flexible joint.
2. the two-way or multi-directional bending flexible joint of hinge type according to claim 1 is characterized in that: for the multi-direction bending flexible joint, universal joint (13) is cross universal joint or universal ball joint.
3. the two-way or multi-directional bending flexible joint of hinge type according to claim 1 is characterized in that: for the multi-direction bending flexible joint, the limit number of regular polygon base (12) equals the number of fluid drives muscle assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520068241 CN2783952Y (en) | 2005-01-10 | 2005-01-10 | Hinge type bi-directional or multi-directional bending flexible joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520068241 CN2783952Y (en) | 2005-01-10 | 2005-01-10 | Hinge type bi-directional or multi-directional bending flexible joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2783952Y true CN2783952Y (en) | 2006-05-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200520068241 Expired - Fee Related CN2783952Y (en) | 2005-01-10 | 2005-01-10 | Hinge type bi-directional or multi-directional bending flexible joint |
Country Status (1)
| Country | Link |
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| CN (1) | CN2783952Y (en) |
Cited By (5)
| 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 |
| CN102241015A (en) * | 2011-06-10 | 2011-11-16 | 浙江工业大学 | Pneumatic flexible swinging joint |
| CN106003006A (en) * | 2016-07-29 | 2016-10-12 | 江门市蚂蚁机器人有限公司 | Drive device |
| CN112690943A (en) * | 2020-12-29 | 2021-04-23 | 江西省人民医院 | Clinical joint protection device of rheumatological department |
| CN114227661A (en) * | 2021-10-30 | 2022-03-25 | 关春东 | Multipurpose mechanical arm based on electric artificial muscle |
-
2005
- 2005-01-10 CN CN 200520068241 patent/CN2783952Y/en not_active Expired - Fee Related
Cited By (7)
| 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 |
| CN102241015A (en) * | 2011-06-10 | 2011-11-16 | 浙江工业大学 | Pneumatic flexible swinging joint |
| CN106003006A (en) * | 2016-07-29 | 2016-10-12 | 江门市蚂蚁机器人有限公司 | Drive device |
| CN106003006B (en) * | 2016-07-29 | 2018-07-31 | 江门市蚂蚁机器人有限公司 | A kind of driving device |
| CN112690943A (en) * | 2020-12-29 | 2021-04-23 | 江西省人民医院 | Clinical joint protection device of rheumatological department |
| CN112690943B (en) * | 2020-12-29 | 2022-06-14 | 江西省人民医院 | Clinical joint protection device of rheumatological department |
| CN114227661A (en) * | 2021-10-30 | 2022-03-25 | 关春东 | Multipurpose mechanical arm based on electric artificial muscle |
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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 |