Flexible joint of helical spring type artificial muscle

Abstract

The invention relates to a flexible joint of helical spring type artificial muscle, which is not only similar to the unidirectional bending joints of fingers, elbows, knees and other parts of the human body, but also can become the ankle, ankle, etc. And the multi-directional bending joint of the shoulder, as an actuator of automation equipment, belongs to the technical field of robot and manipulator application. The axial expansion of elastic bellows under fluid pressure is used as muscle power, and one or more artificial muscle components are used to form a flexible joint; plate hinges and spherical universal joints are used as the skeleton of flexible joints; The elastic action restores the bent and deformed joints to straighten. The helical spring and the closed compressible elastic bellows have excellent cushioning properties. The elastic bellows walls are clamped with reinforcing warp and weft threads. The deformation of the elastic bellows is sensitive to changes in fluid pressure, requiring small fluid flow and low consumption. The energy is small, so that the flexible joints can move flexibly.

Description

Technical field: [0001] The invention relates to a flexible joint of a helical spring type artificial muscle, which is a curved joint and can be used as various joints of robots, manipulators and artificial limbs of the disabled; The unidirectional bending joints can also be multi-directional bending joints for ankles and shoulders that need to maintain balance and better cushioning. As actuators of automation equipment, they belong to the technical field of robot and manipulator applications. Background technique: [0002] Before the present invention was made, in the prior art, for bending joints: generally, various types of motors or hydraulic pressure were used as power, and combinations of various mechanical structures, hydraulic cylinders, motors, etc. were used as actuators; the above methods were Rigid structure, poor cushioning, high requirements for control precision, complex structure, large volume, high manufacturing cost. Especially the joints of existing manip...

AI Technical Summary

Problems solved by technology

[0002] Before the present invention was made, in the prior art, for bending joints: generally, various types of motors or hydraulic pressure were used as power, and combinations of various mechanical structures, hydraulic cylinders, motors, etc. were used as actuators; the above methods were Rigid structure, poor cushioning, high precision control requirements, complex structure, large volume, high manufacturing cost

In particular, the joints of existing manipulators and robots do not have the characteristics of multi-directional bending, and cannot reflect the characteristics of animal joint flexibility, flexibility and multi-joint coordination

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