Modular 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, which includes a torsion joint shell, a torsion joint inner shell and a built-in air circuit. The outer shell and the inner shell of the torsion joint are installed coaxially, and the outer shell of the torsion joint and the inner shell of the torsion joint are arranged to rotate relative to each other; between the outer shell of the torsion joint and the inner shell of the torsion joint, several groups of reversely distributed airbag groups and several groups of forwardly distributed airbag groups are fixed. The airbag group, the built-in air circuit is installed in the internal through hole of the torsion joint inner shell and the torsion joint shell, all the airbags distributed in the reverse direction and all the airbags distributed in the forward direction are respectively connected to a built-in air circuit, and the airbags with the same distribution direction are inflated at the same time Deformation is generated to realize the relative rotation between the torsion joint inner shell and the torsion joint outer shell. The invention utilizes the inflated deformation of the airbag to trigger the rotation between the inner and outer shells of the torsion joint, and has the characteristics of low triggering, low impact and high 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

Images