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Robot joint device of mimic muscle contraction drive

A robot joint, telescopic drive technology, applied in the field of robots, to achieve the effects of good energy saving, easy telescopic deformation accuracy, and high degree of bionics

Pending Publication Date: 2019-07-26
胡杰
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0010] So far, no one has been involved in designing a mechanical stretchable structure to imitate the human muscle stretching mechanism at the mechanical structure level to generate the driving force to directly drive the joints. This design of the joint drive device from the level of imitating the muscle stretching to generate the driving force to directly drive the joints can simplify the joint device. Structure, lower manufacturing cost, better power / weight / volume ratio, easy flexibility and reduced control difficulty, etc., is a new structure of robot joint drive

Method used

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  • Robot joint device of mimic muscle contraction drive
  • Robot joint device of mimic muscle contraction drive
  • Robot joint device of mimic muscle contraction drive

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0179] Such as Figure 1a to Figure 8 As shown, the robot joint device driven by imitating muscle expansion and contraction includes an upper drive housing, a lower drive housing 1, a joint cylinder main shaft 2, a joint housing 3, and two sets of telescopic drive unit 8 integrated telescopic drive unit assembly.

[0180] Among them: the upper drive housing and the lower drive housing 1 are hexahedral frames, and the slider guide rail 5 is arranged on the side of the frame, the joint housing 3 is composed of the upper joint housing 6 and the lower joint housing 7, and the upper joint housing 6 and the joint cylinder The main shaft 2 is fixed, and the lower joint shell 7 is screwed with the joint cylinder main shaft 2 to form the joint rotating body. The extension, flexion and retraction of the joints are driven by two sets of telescopic drive unit components fixed in series with the telescopic drive unit 8. The telescopic drive The upper edge of the drive chamber front plate 1...

Embodiment 2

[0190] Such as Figures 9a-9c Shown is a schematic diagram of the structure of this embodiment. The joint device of the imitation muscle telescopic robot consists of an upper drive shell, a lower drive shell 1, two joint shells 3, two joint cylinder spindles 2, and four sets of telescopic drive units 8 integrated telescopic Drive unit components.

[0191] Among them: the driving housing 1 adopts a hexahedral frame structure, and the slider guide rails 5 are arranged on both sides of the frame, and one end surface thereof is fixedly connected with the end surface of the upper joint housing 6; the joint housing 3 is composed of the upper joint housing 6 and the lower joint housing 7 , the upper joint housing 6 is fixedly connected to the joint cylindrical main shaft 2, the lower joint housing 7 is screwed to the joint cylindrical main shaft 2 to form the joint rotating body, and the two joint housings 3 are fixedly connected by a flange connecting plate 51. In this implementatio...

Embodiment 3

[0200] Such as Figures 15a-15d Shown is a schematic diagram of the structure of this embodiment. The robot joint device driven by imitating muscle expansion and contraction includes an upper drive housing, a lower drive housing 1, a joint cylindrical spindle 2, a joint housing 3, and a telescopic drive unit integrated with a set of telescopic drive units 8. components.

[0201] Among them: the drive housing 1 is a hexahedral frame, the side of the frame is provided with a slider guide rail 5, the joint housing 3 is composed of an upper joint housing 6 and a lower joint housing 7, the upper joint housing 6 is fixedly connected with the joint cylinder main shaft 2, and the lower joint housing 6 The joint housing 7 and the joint cylindrical main shaft 2 are screwed together to form the joint rotating body. The joint extension, flexion, and expansion activities are driven by a group of telescopic drive unit components connected in series with the telescopic drive unit 8. The tele...

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PUM

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Abstract

The invention discloses a robot joint device of mimic muscle contraction drive. The robot joint device is composed of a driving shell, a telescopic drive unit component, a joint main shaft, a joint shell and a drive transmission connecting piece, wherein the telescopic drive unit component is embedded into the driving shell through a sliding block along sliding block guide rails, and subjected totelescopic deformation along the sliding block guide rails; the component is formed by connecting telescopic deformation driving units in series, and each telescopic deformation driving unit is formedby connecting every two of folding units forming a driving cavity; the driving cavity is internally provided with a driving capsule, and telescopic units are driven to perform mimic muscle telescopicdeformation through import and export of a driving source; and the joint shell is driven to do flexion and retraction motion around the joint main shaft through transfer of the driving force generated via telescopic deformation of the driving units through the drive transmission connecting piece. The robot joint device has the advantages of the simple structure, easy control over telescopic deformation accuracy, high bionic degree of a human body, excellent energy saving, high stability and flexibility, small size and easy control.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a robot joint device driven by imitating muscle stretching. Background technique [0002] With the development of robot technology, the application of robots in the manufacturing field has become increasingly widespread. Industrial robots have been widely used in various processes such as welding and spraying. It has effectively realized unmanned factories and automated operations, and has become an indispensable important device and means in the manufacturing industry. Its core technology joint drive device is also constantly updated, showing high torque, high precision, responsive, miniaturized, modular The development trend of globalization and standardization. [0003] At present, the robot joint drive device is mainly composed of a controller, a servo motor, and a reducer, which are regarded as the three core parts of the robot, accounting for 70% of the cost of the robot. ...

Claims

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Application Information

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IPC IPC(8): B25J17/02
CPCB25J17/0258
Inventor 胡杰胡楚璇胡浩峰
Owner 胡杰