Modularized flexible torsion joint based on air bag inflation and deflation actuation

Abstract

The invention provides a modularized flexible torsion joint based on air bag inflation and deflation actuation. The modularized flexible torsion joint comprises a torsion joint outer shell, a torsionjoint inner shell and built-in air channels, wherein the torsion joint outer shell and the torsion joint inner shell are each of a cylindrical structure; the torsion joint outer shell and the torsionjoint inner shell are coaxially installed and are arranged in a relative rotation mode; a plurality of air bag sets distributed reversely and a plurality of air bag sets distributed forwards are fixedbetween the torsion joint outer shell and the torsion joint inner shell; the built-in air channels are installed in through holes in the torsion joint inner shell and the torsion joint outer shell; all the air bags distributed reversely and all the air bags distributed forwards are connected with the built-in air channels correspondingly; and the air bags distributed in the same direction are inflated at the same time to deform, and relative rotation between the torsion joint inner shell and the torsion joint outer shell is achieved. Rotation between the torsion joint inner shell and the torsion joint outer shell is triggered through inflation deformation of the air bags, and the modularized flexible torsion joint has the characteristics of being low in triggering and impact and high in flexibility.

Description

technical field [0001] The invention belongs to the field of flexible robots, and in particular relates to a modular flexible torsion joint actuated based on air bag inflation and deflation. Background technique [0002] In the traditional mechanical structure, the rotating joint is generally driven by a motor, which has good control accuracy, but the cost of the micro servo control motor is relatively high, and it needs to install bearings and apply lubricating oil, which will cause certain pollution to the mechanism. Rotary joints in traditional mechanical structures usually have high stiffness, but they cannot resist vibrations during rotation very well. The flexible torsion joint actuated by airbag inflation in the present invention has good flexibility in motion and can realize the functions of connection and torsion. The flexible connection of the airbag endows the torsion joint with strong motion adaptability, which can slow down the vibration phenomenon during the r...

AI Technical Summary

Problems solved by technology

[0002] In the traditional mechanical structure, the rotary joint is generally driven by a motor, which has good control accuracy, but the cost of the micro servo control motor is relatively high, and it is necessary to install bearings and apply lubricating oil, which will cause certain pollution to the mechanism

Rotary joints in traditional mechanical structures usually have high stiffness, but cannot resist vibrations during rotation very well

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