Rotating shaft changing bionic joint driven by pneumatic muscle
A technology of pneumatic muscles and bionic joints, which is applied to manipulators, manufacturing tools, joints, etc., can solve the problems that bionic joints are not flexible, the mechanism parameters are difficult to adjust, and the mechanism adjustment is not flexible enough to increase the swing angle and load range. The joint swing angle range is large and the working performance is good.
Inactive Publication Date: 2015-07-08
CHINA JILIANG UNIV
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Problems solved by technology
[0004] The above solution solves the problem that the existing bionic joints do not have flexibility and the mechanism parameters are difficult to adjust to a certain extent. Easy to shake, unstable, and the displacement of the rotation axis can only change in the vertical direction
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[0023]As shown in Figures 1-4, the variable-axis bionic joint driven by pneumatic muscles includes a horizontal cylinder body 1, and an upper flange 2 is fixed on the upper side of the cylinder body 1. A first flexible link assembly 3 is pierced on one side of the cylinder body 1, a second flexible linkage assembly 4 is pierced on the other side, and a third flexible linkage assembly 5 is pierced on the lower side of the cylinder body 1. An elastic member 6 is provided on the upper side, and a curved edge turntable 7 with a concave side arc 71 is provided inside the cylinder body 1, and the first flexible link assembly 3, the second flexible link assembly 4, the third flexible link assembly The flexible link assembly 5 and the elastic member 6 respectively abut against the edge of the curved edge turntable 7 . A swing rod 8 is fixedly connected to the curved edge turntable 7. The lower end of the swing rod 8 is located outside the cylinder body 1 and is fixedly connected to a ...
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The invention belongs to the field of bionic mechanism design, and relates to a rotating shaft changing bionic joint driven by pneumatic muscle. The rotating shaft changing bionic joint solves the technical problem that the existing technology is unreasonable in design. The rotating shaft changing bionic joint comprises a barrel body, an upper flange is fixedly arranged on the upper side of the barrel body, a first flexible connecting rod assembly penetrates through one side of the barrel body, a second flexible connecting rod assembly penetrates through the other side of the barrel body, a third flexible connecting rod assembly penetrates through the lower side of the barrel body, an elastic piece is arranged on the upper side inside the barrel body, a curved edge rotary table provided with an inward-concave side edge arc is arranged inside the barrel body and is fixedly connected with an oscillating rod, the lower end of the oscillating rod is located outside the barrel body and is fixedly connected with an installing plate, and a lower flange is fixedly connected to the installing plate. The rotating shaft changing bionic joint has the advantages of being reasonable in design, simple in structure, flexible in mechanical adjustment and high in universality. The bionic joint is good in flexibility and small in vibration through the flexible connecting assemblies, and the joint is wide in pivot angle and high in loading capacity through a pulley assembly. The oscillating rod can swing in a more bionic mode in the process of swinging, and the working performance is better under the restraint of the related structures.
Description
technical field [0001] The invention belongs to the field of bionic mechanism design, in particular to a bionic joint with variable rotation axis driven by pneumatic muscles. Background technique [0002] The rotation mechanism of the multi-link mechanism is the hot spot and direction in the design of bionic mechanism at present. In most bionic mechanisms, the rotating joints adopt a fixed-axis rotation method, but the bone-type rotation of animals and humans is not a fixed-axis rotation method, but a complex meshing and sliding of the end surfaces of the bones, which is similar to a cam mechanism in a machine, but the curved surface It is much more complicated. In addition, the bionic mechanism does not have flexibility, so it is very difficult to simulate the flexible movement characteristics of animal and human limbs. The multi-link rotating mechanism is the key point in the research field of bionic mechanism, especially the four-link mechanism. However, the current des...
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IPC IPC(8): B25J17/00
Inventor 王斌锐骆浩华李青金英连
Owner CHINA JILIANG UNIV