Pneumatic muscle flexible elbow joint device with buffer spring and flexible shaft sleeves

Abstract

The invention relates to a pneumatic muscle flexible elbow joint device with a buffer spring and flexible shaft sleeves. The device mainly comprises a front connecting rod, a rear connecting rod, a joint rotating shaft, a joint bearing, the flexible shaft sleeves, pneumatic muscle, a buffer mechanism and an offset spring, wherein the pneumatic muscle is used as a main joint driving part; internal gas pressure is changed to generate axial pull force, so that the connecting rods are rotated around a joint; the buffer offset spring which is arranged on the buffer mechanism and has a large rigidity value can effectively relieve impacts when the tail ends of the connecting rods are impacted; and the non-coaxially arranged flexible shaft sleeves have the effect of buffering the impacts applied onto the rotating shaft and can enlarge the freedom of motion of a rotational joint. The device has a flat shape integrally, and a joint mechanism which can compositely and rotationally moves without a fixed shaft in a non-planar mode can be assembled by parallelly connecting a plurality of devices. The invention has the characteristics that: the elbow joint device can bear large loads and impacts, is smoothly operated, has high flexibility, moves similar to the elbow joint of a human body, and can meet the requirement of the fields of a simulate robot, a recovery robot and the like on the performance of a flexible mechanical joint.

Description

technical field [0001] The invention belongs to the technical field of compliant robot joint mechanisms, and relates to a compliant artificial elbow device driven by pneumatic muscles and provided with flexible bushings and spring collision buffers. Background technique [0002] Among various types of robots, the articulated robot that simulates the human arm has the advantages of simple structure, small footprint, and large relative movement space, and is one of the most widely used robots. Based on the need for convenient control, there is a high demand for the rigidity of the robot arm. Therefore, this type of robot has the characteristics of thick and strong base and high structural rigidity, which makes people who approach it feel dangerous. When colliding with people, the collision force is often very large, which is easy to cause damage to the human body, which limits the robot from entering the human living environment and directly providing services for people. One...

AI Technical Summary

Problems solved by technology

The existing force transmission structure between joint mechanisms is relatively complicated. Each joint needs to be driven by a motor, which makes the weight of the robot arm heavy. At the same time, the bending angle of the joint is not large enough, and the position control is difficult to meet the requirements; at the same time, the joint drive device lacks modular design. The possibility of assembling multiple joints into a compound kinematic joint is small; the flexibility is limited, especially in the case of a large collision force, it is difficult to achieve good protection for the human body; there is only one degree of freedom of rotation; and it is fixed-axis rotation joint

Therefore, the characteristics of joints driven by human biological muscles are quite different, which limits the development of advanced biomimetic robotics

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