CN87214574U - Pneumatic artificial joint - Google Patents
Pneumatic artificial joint Download PDFInfo
- Publication number
- CN87214574U CN87214574U CN 87214574 CN87214574U CN87214574U CN 87214574 U CN87214574 U CN 87214574U CN 87214574 CN87214574 CN 87214574 CN 87214574 U CN87214574 U CN 87214574U CN 87214574 U CN87214574 U CN 87214574U
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- CN
- China
- Prior art keywords
- artificial joint
- pneumatic artificial
- lasso
- joint
- end cap
- 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.)
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Abstract
The utility model relates to a robotic pneumatic artificial joint. When a cylindrical body wall with the closed rubber elasticity is charged into pressure gas, the robotic pneumatic artificial joint can directly simulate the bending action of the joint of the human being, and an intermediate conversion mechanism is not needed. The robotic pneumatic artificial joint which has the advantages of simple structure, flexible action, and low cost is easy to realize the miniaturization and is convenient to popularize. J[-130].
Description
The utility model belongs to robot and makes the field.
At present, the driver part of robot actuating mechanism adopts mainly that all kinds of motor are gentle, oil hydraulic motor and cylinder, and the forms of motion of these driver parts is rotation or straight line motion.Because the neither energy of these two kinds of forms of motion direct modeling human joint's bending motion, and must these two kinds of forms of motion be changed by a cover intermediary agency, therefore entire machine people's actuator just complicated, be unfavorable for miniaturization, and owing to adopted intermediate conversion mechanism, inertia matter increases, and makes the rapidity of robot, flexibility all influenced.
The purpose of this utility model manufactures and designs for solving these deficiencies.
The utility model---artificial pneumatic joint is as shown in the figure: end cap 1 plays end face seal, lasso 2 works to connect firmly rubber wall and end cap, wire or cellosilk 3 play radially to strengthen restriction rubber wall radial deformation, rubber wall 4 plays distortion and storing energy, and elastic sheet metal 5 plays the rubber wall distortion of restriction near its position.When charged pressure gas in the rubber elasticity cylindrical wall of sealing, except that indeformable near the elastic wall at metallic elastic sheet place, extend vertically at all the other positions, and the result will make whole elastic wall bending.It is linear that crooked angle θ and the pressure P of gas are similar to, and the size of control gaseous pressure P just can change the size at θ angle.Pressure P by control gaseous changes the bending motion that bend angle θ just can simulate a human joint like this.
Joint with existing robots is compared, the flexure operation that the artificial pneumatic joint can the direct modeling human joint, and do not need a cover intermediate conversion mechanism, and simple in structure, flexible movements.From practical angle have cost low, be easy to miniaturization and characteristics such as be easy to be extended and applied.Adopt this artificial pneumatic joint just can constitute an AFL by the serial or parallel connection of a graded.As adopt this artificial pneumatic joint series connection can also constitute a finger prosthesis, and this to be existing robots body dynamic component be difficult to realize.
Claims (1)
1, a kind ofly adopt that all kinds of motor are gentle, oil hydraulic motor and cylinder be the driver part of machine actuator, the cylinder that is characterized as of the present invention is made up of end cap, lasso, wire or cellosilk, rubber wall, elastic sheet metal, and lasso connects with end cap by screw, by the lasso fastening screw trip bolt rubber wall is clamped in the lasso and the formed conical surface of end cap head, the two ends of tinsel link with two ends respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 87214574 CN87214574U (en) | 1987-10-20 | 1987-10-20 | Pneumatic artificial joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 87214574 CN87214574U (en) | 1987-10-20 | 1987-10-20 | Pneumatic artificial joint |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN87214574U true CN87214574U (en) | 1988-10-12 |
Family
ID=4828863
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 87214574 Withdrawn CN87214574U (en) | 1987-10-20 | 1987-10-20 | Pneumatic artificial joint |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN87214574U (en) |
Cited By (1)
| 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 |
-
1987
- 1987-10-20 CN CN 87214574 patent/CN87214574U/en not_active Withdrawn
Cited By (1)
| 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 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| 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 |