CN103786165A - Pneumatic space bending flexible joint - Google Patents
Pneumatic space bending flexible joint Download PDFInfo
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- CN103786165A CN103786165A CN201410029746.5A CN201410029746A CN103786165A CN 103786165 A CN103786165 A CN 103786165A CN 201410029746 A CN201410029746 A CN 201410029746A CN 103786165 A CN103786165 A CN 103786165A
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Abstract
The invention discloses a pneumatic space bending flexible joint which comprises constraint elements, a joint framework, air bags, an upper end cover, a lower end cover, upper sealing heads, lower sealing heads and fluid inlets. The constraint elements are arranged between the upper end cover and the lower end cover and are coaxially connected in series and densely arranged to form a columnar structure, four tubular cavities with parallel axes are formed in the columnar structure, the axis of one of the tubular cavities overlaps with the axis of the columnar structure to form a first tubular cavity, the other three tubular cavities expect the first tubular cavity are called as second tubular cavities, the air bags are arranged in the second tubular cavities, the two ends of the air bags are connected with the upper sealing heads and the lower sealing heads respectively and the lower sealing heads are provided with the fluid inlets. A driving device of the joint is combined with the joint to form an integral structure which is equivalent to three pneumatic artificial muscles in parallel connection and has three degrees of freedom, and composite actions such as bending and extension of a bionic joint in random directions of space can be achieved.
Description
Technical field
The present invention relates to robot limb flexible joint, particularly a kind of pneumatic curvature of space flexible joint.
Background technology
Robotics is widely used in fields such as industry, military affairs, medical treatment and services at present, has become one of grand strategy support technology of countries in the world.As key technology and the core component of robot, the diarthrodial structure of all kinds of masters, driving, exercise performance and control method, will determine the integral level of robot.In Lu Sheng, aquatic and anthropomorphic robot field, limbs flexible joint has important function aspect the adaptability of solution compliant motion and crawl object.Therefore, flexible joint is conducted in-depth research and obtained for many years gratifying results both at home and abroad, the main contents of research have articulated driving equipment, drive the realization of material and flexibility of joint structure.Wherein joint drive structure and control mode are research emphasis, and driving material is Research Challenges.
The flexible joint of having researched and developed both at home and abroad mainly contains driven by servomotor, hydraulic-driven, air cylinder driven, conducting polymer, electricity and causes and drive and several forms such as artificial-muscle driving.The flexible joint of wherein applying driven by servomotor, hydraulic pressure and cylinder type of drive, its technology is mature on the whole, and be widely used, but volume is larger, and flexibility of joint degree is restricted; And conducting polymer and electricity cause drive stroke less, be mainly used in amphiarthrosis; Pneumatic artificial muscle drives to be had preferably comprehensive flexiblely, is developed rapidly in recent years, but has stronger non-linear.Several drive units all will be used in conjunction with frame for movement in application process above, and volume is large, miniaturization difficulty, and the movement locus in joint determines by frame for movement, compliance is poor.
Therefore, current existing joint prosthesis still can not meet the special requirement in the fields such as bionical in the carrying, water of the industrial goods larger in variation and specialized robot completely, is necessary that continual exploitation has the joint of highly flexible.
Summary of the invention
The object of the invention is to overcome the deficiency of prior art, pneumatic curvature of space flexible joint for a kind of robot limb is provided.
The pneumatic curvature of space flexible joint of one of the present invention, comprise confinement element, joint skeleton, air bag, upper end cover, bottom end cover, upper cover, low head, fluid intake, between upper end cover and bottom end cover, be provided with several confinement elements, described several confinement elements coaxially connect solid matter form column structure, at 4 tubular cavities that axis is parallel of the inner formation of column structure, the axis of a tubular cavity and the dead in line of described column structure in described 4 tubular cavities, be called tubular cavity one, in tubular cavity one, joint skeleton is set, joint skeleton two ends respectively with upper end cover, bottom end cover is fixedly connected with, 3 tubular cavity physical dimensions except tubular cavity one are identical, axis about tubular cavity one is symmetrical, is called tubular cavity two, in tubular cavity two, air bag is set, balloon ends is connected with upper cover, low head respectively, forms seal chamber, upper cover, low head are fixedly connected with integral with upper end cover, bottom end cover, be provided with fluid intake on low head.
Described confinement element is sheet, and the profile of confinement element is circle or regular polygon, and the openwork part of confinement element is 4 circular holes, is the partial structurtes of described tubular cavity at different confinement elements, and the diameter of confinement element equals the diameter of described tubular cavity.
Described skeleton is flexible shaft or axial scalable axle sleeve.
Described flexible shaft is cylindrically coiled spring or rubber axis; Axial scalable axle sleeve is made up of sleeve and optical axis, sleeve and optical axis matched in clearance.
Described low head is provided with fluid intake, with charged pressure fluid, increase when being filled with fluid pressure, seal chamber expansion promotion confinement element moves joint active deformation is strengthened, reduce when being filled with fluid pressure, rubber pneumatic bag recovers, and dysarthrasis reduces, and deformation is relevant with logical pressure condition with described skeleton form; When skeleton is flexible shaft, when 3 air bag venting pressures are different, the multidirectional active bending in generation space, joint and elongation composite deformation, bending direction and deformation extent are determined jointly by fluid medium pressure and logical pressuring gasbag quantity, when identical the or symmetrical air bag venting pressure in position of 3 air bag venting pressures is identical, joint occurs initiatively to extend, and deformation extent is determined jointly by fluid medium pressure and logical pressuring gasbag quantity; When skeleton is axial scalable axle sleeve, when air bag ventilation, joint only occurs initiatively to extend, and deformation extent is determined jointly by fluid medium pressure and logical pressuring gasbag quantity; The described fluid that is filled with can be corrosion-free, avirulent medium, as compressed air, water etc.
Advantage of the present invention is articulation structure compactness, flexible movements and flexibility, is equivalent to three Pneumatic artificial muscle parallel connections, has 3 frees degree, can realize spatially any direction bending of bionic joint and elongation and wait composite move; Can adopt three proportioning valves to jointly control, method is controlled conveniently flexibly; The combination of application multi-joint can realize the complicated compliant motion of organism, be mainly used on bionic joint that adaptability has relatively high expectations, as the mankind's thumb, multi-foot robot shank joint, molluscan joint in snake class, trunk, octopus and water, be particularly useful for capturing on the actuator of irregular-shaped objects, there is good using value in fields such as bionical and specialized robots.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation:
Fig. 1 is the pneumatic curvature of space flexible joint of the present invention exploded perspective view;
Fig. 2 is the pneumatic curvature of space flexible joint of the present invention axle side schematic diagram;
Fig. 3 is the pneumatic curvature of space flexible joint of the present invention flexible shaft skeleton schematic diagram;
Fig. 4 is the axial scalable axle sleeve skeleton schematic diagram of the pneumatic curvature of space flexible joint of the present invention.
In figure 1, upper cover; 2, upper end cover; 3, joint skeleton; 3-1, sleeve; 3-2, optical axis; 4, confinement element; 5, air bag; 6, bottom end cover; 7, low head; 8, fluid intake.
The specific embodiment
Embodiment:
Below in conjunction with accompanying drawing and instantiation, the present invention is made further and being described in detail.
The pneumatic spatial flexible of the present invention joint is made up of upper cover 1, upper end cover 2, joint skeleton 3, confinement element 4, air bag 5, bottom end cover 6, low head 7 and fluid intake 8, upper end cover 1 and bottom end cover 6 lay respectively at two ends, pneumatic spatial flexible joint, in the middle of joint, pneumatic spatial flexible joint, be the coaxial solid matter series connection of 20 confinement elements 4, after series connection, profile is column structure, 4 tubular cavities that axis is parallel of inner formation, the axis of a tubular cavity and the dead in line of described column structure in described 4 tubular cavities, be called tubular cavity one, joint skeleton 3(accompanying drawing 3 flexible shaft skeleton examples are set in tubular cavity one, the axial scalable axle sleeve skeleton example of accompanying drawing 4), joint skeleton 3 two ends respectively with upper end cover 2, bottom end cover 6 is fixedly connected with, all the other 3 tubular cavity physical dimensions except tubular cavity one are identical, axis about tubular cavity one is symmetrical, is called tubular cavity two, and rubber pneumatic bag 5 is set in tubular cavity two, rubber pneumatic bag two ends are connected with upper cover 1, low head 7 respectively, form seal chamber, upper cover 1, low head 7 are fixedly connected with integral with upper end cover 2, bottom end cover 6, on low head 7, be provided with fluid intake, the mode that upper end cover 2 and bottom end cover 6 can be threaded connection and robot body assembling.
Claims (4)
1. a pneumatic curvature of space flexible joint, it is characterized in that: comprise confinement element, joint skeleton, air bag, upper end cover, bottom end cover, upper cover, low head, fluid intake, between upper end cover and bottom end cover, be provided with several confinement elements, described several confinement elements coaxially connect solid matter form column structure, at 4 tubular cavities that axis is parallel of the inner formation of column structure, the axis of a tubular cavity and the dead in line of described column structure in described 4 tubular cavities, be called tubular cavity one, in tubular cavity one, joint skeleton is set, joint skeleton two ends respectively with upper end cover, bottom end cover is fixedly connected with, 3 tubular cavity physical dimensions except tubular cavity one are identical, about the axis symmetry of tubular cavity one, are called tubular cavity two, in tubular cavity two, air bag are set, and balloon ends is connected with upper cover, low head respectively, form seal chamber, upper cover, low head are fixedly connected with integral with upper end cover, bottom end cover, be provided with fluid intake on low head.
2. the pneumatic curvature of space flexible joint of one according to claim 1, it is characterized in that: described confinement element is sheet, the profile of confinement element is circle or regular polygon, the openwork part of confinement element is 4 circular holes, be the partial structurtes of described tubular cavity at different confinement elements, the diameter of confinement element equals the diameter of described tubular cavity.
3. the pneumatic curvature of space flexible joint of one according to claim 1, is characterized in that: described skeleton is flexible shaft or axial scalable axle sleeve.
4. the pneumatic curvature of space flexible joint of one according to claim 3, is characterized in that: described flexible shaft is cylindrically coiled spring or rubber axis; Axial scalable axle sleeve is made up of sleeve and optical axis, sleeve and optical axis matched in clearance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410029746.5A CN103786165A (en) | 2014-01-22 | 2014-01-22 | Pneumatic space bending flexible joint |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410029746.5A CN103786165A (en) | 2014-01-22 | 2014-01-22 | Pneumatic space bending flexible joint |
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| CN103786165A true CN103786165A (en) | 2014-05-14 |
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| CN201410029746.5A Pending CN103786165A (en) | 2014-01-22 | 2014-01-22 | Pneumatic space bending flexible joint |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105171737A (en) * | 2015-09-25 | 2015-12-23 | 天津大学 | Three-freedom-degree smooth driver with hybrid power source |
| CN106493723A (en) * | 2016-12-08 | 2017-03-15 | 燕山大学 | Based on the air articulated type flexible mechanical arm that rope drives |
| CN107251414A (en) * | 2015-01-30 | 2017-10-13 | 森福鼎股份有限公司 | jet actuator system and method |
| US10384354B2 (en) | 2012-10-26 | 2019-08-20 | Sunfolding, Inc. | Fluidic solar actuator |
| CN110142783A (en) * | 2019-06-18 | 2019-08-20 | 北京大学口腔医学院 | For coelenteron, pipeline or the hollow type air bag creepage robot for climbing wall |
| CN110270987A (en) * | 2019-06-26 | 2019-09-24 | 清华大学深圳研究生院 | Gas drive moves software climbing robot and its manufacture and control method |
| US10562180B2 (en) | 2016-03-29 | 2020-02-18 | Other Lab, Llc | Fluidic robotic actuator system and method |
| US10917038B2 (en) | 2017-04-17 | 2021-02-09 | Sunfolding, Inc. | Pneumatic actuator system and method |
| CN114012781A (en) * | 2021-08-27 | 2022-02-08 | 北华大学 | Continuous spiral nested constraint pneumatic variable-stiffness flexible arm |
| CN114274138A (en) * | 2022-01-11 | 2022-04-05 | 浙江大学 | Hydraulic control soft robot for bionic spine |
| 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 |
| US11502639B2 (en) | 2018-05-29 | 2022-11-15 | Sunfolding, Inc. | Tubular fluidic actuator system and method |
| US11683003B2 (en) | 2020-06-22 | 2023-06-20 | Sunfolding, Inc. | Locking, dampening and actuation systems and methods for solar trackers |
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Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10605365B1 (en) | 2012-10-26 | 2020-03-31 | Other Lab, Llc | Fluidic actuator |
| US11772282B2 (en) | 2012-10-26 | 2023-10-03 | Sunfolding, Inc. | Fluidic solar actuation system |
| US11059190B2 (en) | 2012-10-26 | 2021-07-13 | Sunfolding, Inc. | Fluidic solar actuator |
| US10875197B2 (en) | 2012-10-26 | 2020-12-29 | Other Lab, Llc | Robotic actuator |
| US11420342B2 (en) | 2012-10-26 | 2022-08-23 | Sunfolding, Inc. | Fluidic solar actuator |
| US10384354B2 (en) | 2012-10-26 | 2019-08-20 | Sunfolding, Inc. | Fluidic solar actuator |
| EP3251207A4 (en) * | 2015-01-30 | 2018-12-19 | Sunfolding, Inc. | Fluidic actuator system and method |
| US11791764B2 (en) | 2015-01-30 | 2023-10-17 | Sunfolding, Inc. | Fluidic actuator system and method |
| US10601366B2 (en) | 2015-01-30 | 2020-03-24 | Sunfolding, Inc. | Fluidic actuator system and method |
| EP3736974A1 (en) * | 2015-01-30 | 2020-11-11 | Sunfolding, Inc. | Fluidic actuator system and method |
| CN107251414A (en) * | 2015-01-30 | 2017-10-13 | 森福鼎股份有限公司 | jet actuator system and method |
| CN105171737A (en) * | 2015-09-25 | 2015-12-23 | 天津大学 | Three-freedom-degree smooth driver with hybrid power source |
| US10562180B2 (en) | 2016-03-29 | 2020-02-18 | Other Lab, Llc | Fluidic robotic actuator system and method |
| CN106493723B (en) * | 2016-12-08 | 2018-09-04 | 燕山大学 | Air articulated type flexible mechanical arm based on rope driving |
| CN106493723A (en) * | 2016-12-08 | 2017-03-15 | 燕山大学 | Based on the air articulated type flexible mechanical arm that rope drives |
| US10917038B2 (en) | 2017-04-17 | 2021-02-09 | Sunfolding, Inc. | Pneumatic actuator system and method |
| US10944353B2 (en) | 2017-04-17 | 2021-03-09 | Sunfolding, Inc. | Pneumatic actuation circuit system and method |
| US10951159B2 (en) | 2017-04-17 | 2021-03-16 | Sunfolding, Inc. | Solar tracker control system and method |
| US11502639B2 (en) | 2018-05-29 | 2022-11-15 | Sunfolding, Inc. | Tubular fluidic actuator system and method |
| CN110142783A (en) * | 2019-06-18 | 2019-08-20 | 北京大学口腔医学院 | For coelenteron, pipeline or the hollow type air bag creepage robot for climbing wall |
| CN110270987A (en) * | 2019-06-26 | 2019-09-24 | 清华大学深圳研究生院 | Gas drive moves software climbing robot and its manufacture and control method |
| US11683003B2 (en) | 2020-06-22 | 2023-06-20 | Sunfolding, Inc. | Locking, dampening and actuation systems and methods for solar trackers |
| CN114012781A (en) * | 2021-08-27 | 2022-02-08 | 北华大学 | Continuous spiral nested constraint pneumatic variable-stiffness flexible arm |
| CN114274138A (en) * | 2022-01-11 | 2022-04-05 | 浙江大学 | Hydraulic control soft robot for bionic spine |
| CN114274138B (en) * | 2022-01-11 | 2023-11-07 | 浙江大学 | Hydraulic control soft robot for bionic vertebra |
| 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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Application publication date: 20140514 |