Pneumatic rotary extension type four-helix flexible joint

Abstract

The invention discloses a pneumatic rotation stretching type four-spiral flexible joint. The pneumatic rotation stretching type four-spiral flexible joint comprises restraining components, a skeleton, an air bag, cylindrical spiral springs, an upper end cover, a lower end cover, an upper sealing head, a lower sealing head and fluid inlets, wherein the restraining components are arranged between the upper end cover and the lower end cover, and are coaxially connected in series and are densely arranged to form a cylindrical structure, two spiral tubular cavities with different pitch diameters are formed inside the cylindrical structure, and are named as the first spiral tubular cavity and the second spiral tubular cavity respectively, the cylindrical spiral springs are arranged in the first spiral tubular cavity, and the air bag is arranged in the second spiral tubular cavity. The pneumatic rotation stretching type four-spiral flexible joint is compact in structure and flexible in motion, and four spiral artificial muscle driving devices of an active joint and a joint body are combined into a whole; the pneumatic rotation stretching type four-spiral flexible joint has one degree of freedom and two degrees of mobility, can achieve the space rotation function, the bending function and the axial stretching function of a bionic joint, and belong to space flexible joints with the fluid driving deformation function.

Description

technical field [0001] The invention relates to a flexible joint for robot limbs, in particular to a four-helix flexible joint with pneumatic rotation and extension. Background technique [0002] At present, robot technology is widely used in the fields of industry, military, medical and service, and has become one of the important strategic support technologies of all countries in the world. As the key technology and core components of the robot, the structure, drive, motion performance and control methods of various active joints will determine the overall level of the robot. In the field of terrestrial, aquatic and humanoid robots, the flexible joints of limbs play an important role in solving the adaptability of flexible motion and grasping objects. Therefore, in-depth research on flexible joints has been carried out at home and abroad for many years and gratifying results have been obtained. The main content of the research is the realization of joint drive devices, dr...

AI Technical Summary

Problems solved by technology

Among them, the flexible joints driven by servo motors, hydraulic pressure and cylinders are basically mature in technology and widely used, but they are large in size and the degree of joint flexibility is limited; while conductive polymers and electric drives have small strokes and are mainly used in micro Dynamic joints; Pneumatic artificial muscle drives have good comprehensive flexibility and have been developed rapidly in recent years, but they have strong nonlinearity

The above driving devices must be used in conjunction with the mechanical structure in the application process, which is large in size and difficult to miniaturize. The movement track of the joint is determined by the mechanical structure and has poor flexibility.

[0004] Therefore, the existing artificial joints cannot fully meet the special needs in the fields of handling industrial products with large changes in form, underwater bionics, and special robots. It is necessary to continue to develop highly flexible joints.

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