Pneumatic flexible wrist with elastic hemispherical braking device

Abstract

The invention relates to a pneumatic flexible wrist with an elastic hemispherical braking device, belongs to a robot-driven executing device, is applied to a robot wrist component and an executing mechanism, and aims to solve the problems of large size, insufficient flexibility, difficulty in realizing posture keeping and the like in existing motor-driven, hydraulic and pneumatic flexible joints.The pneumatic flexible wrist is structurally characterized in that an inner elastic hemisphere, a ball seat, a flexible axial driver and artificial muscles are arranged between upper and lower flangesof a wrist; wrist braking force is determined by assembly pre-tightening force between the inner elastic hemisphere and the ball seat; the flexible wrist is in a braking state when not working, so that the posture of a robot can be kept well under different loads; after pressure gas is introduced into the flexible axial driver, the wrist can release the braking state or adjust the braking force as required; the flexible wrist has two degrees of freedom, namely, pitching and swinging in a working state; and the pneumatic flexible wrist has flexibility and an overload protection function.

Description

technical field [0001] The invention relates to a pneumatically flexible wrist with braking function used on a robot arm. Background technique [0002] Robot technology is widely used in the fields of military, intelligent manufacturing, medical treatment and intelligent services, and has become one of the important supporting technologies of the national strategy; flexible joints play an important role in solving the flexible motion and grasping of robots, and the flexibility of the robot wrist determines the The flexibility of the end effector of the arm has been improved; the joint structure, drive, motion performance and control methods of the robot wrist have been studied in depth internationally; the current driving methods of the robot wrist mainly include: motor drive, hydraulic drive, cylinder drive and manual drive. Muscle drive and other forms; the wrist using motor drive, hydraulic drive and cylinder as the drive mode is mature and has a wide range of application...

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to solve the problem of insufficient flexibility of the current robot wrist and self-braking technology, and provides a self-braking pneumatic flexible wrist for robots with the function of maintaining space posture; The driving joint is characterized in that several pneumatic artificial muscles are evenly distributed between the upper and lower flanges of the wrist, and an elastic hemispherical braking device is installed in the flexible joint; the axis of the elastic hemispherical braking device is located at the geometric center connecting the upper and lower wrist flanges. thread; the lower flange of the flexible wrist is provided with threaded connection holes, and four pneumatic artificial muscles uniformly distributed around the circumference are fixed with bolts; the pneumatic artificial muscles are composed of elastic airbags and radial restraint elements, which can complete axial drive and deformation, Combined drive of four pneumatic artificial muscles can realize the movement of two degrees of freedom of the wrist joint pitch and yaw; the elastic hemispherical braking device is composed of adjusting gaskets, fixing bolts, left and right hemispherical seats, inner elastic hemispheres, pneumatic flexible axial Drive, wedge-shaped slider, pull rod, and rollers; there is a threaded hole in the geometric center of the lower flange of the wrist, and the base of the elastic hemisphere in the elastic hemisphere braking device is fixed with bolts. The inner elastic hemisphere is a petal-shaped thin-walled hollow hemisphere, and the hemisphere Four grooves are symmetrically distributed on the body to form a petal-like structure; each elastic petal of the inner elastic hemisphere is fixedly connected with a pull rod, and the end of the pull rod is equipped with a roller, which is assembled in the T-shaped groove of the inverted tapered wedge-shaped slider. The central axis of the pull rod is perpendicular to the central axis of the wedge-shaped slider; the structural feature of the pneumatic flexible axial driver is that an elastic annular airbag is provided between the upper and lower end covers of the actuator, and a guide shaft is provided at the central axis of the annular airbag; the elastic annular airbag is fed with gas After that, it can be extended axially along the guide shaft; the elongation and driving force depend on the pressure of the gas fed into the annular air bag; the lower end cover of the pneumatic flexible axial driver is fixed to the bottom of the inner elastic hemisphere cavity, and the pneumatic flexible shaft is guaranteed The central axis of the axial driver coincides with the central axis of the joint; the upper end cover of the pneumatic flexible axial driver is fixedly connected with the inverted tapered wedge-shaped slider; there are four T-shaped slideways evenly distributed on the tapered surface of the wedge-shaped slider, and the centerline of the T-shaped slide

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