Fluid driving bending joint of spiral spring frame

Abstract

A flexible joint with spiral spring as its skeleton and driven by fluid for robot features that the axial extension at one side of spiral spring is restricted by a fixing wire and its another side can be axially extended, so realizing bending. When there is no external force, the bent angle of joint is relative to the air pressure in joint. When it is working, its action force is increased with the air pressure in it.

Description

Technical field: [0001] The invention relates to a helical spring framework fluid-driven bending joint, which can be used as elbows, legs and other joints of robots, and is also suitable for mechanical fingers composed of multiple bending joints, and multiple mechanical fingers can be combined The utility model relates to an operating manipulator, as an executive mechanism of automation equipment, and belongs to the technical field of robot and manipulator application. Background technique: [0002] Before the present invention was made, in the prior art, for bending joints: generally, various types of motors or hydraulic pressure were used as power, and combinations of various mechanical structures, hydraulic cylinders, motors, etc. were used as actuators; the above methods were The rigid structure requires high control precision, and the structure is complicated, the volume is large, and the manufacturing cost is high. There is also a rubber wall driven by air pressure (a...

AI Technical Summary

Problems solved by technology

[0002] Before the present invention was made, in the prior art, for bending joints: generally, various types of motors or hydraulic pressure were used as power, and combinations of various mechanical structures, hydraulic cylinders, motors, etc. were used as actuators; the above methods were Rigid structure, high precision control requirements, complex structure, large volume, high manufacturing cost

There is also a rubber wall driven by air pressure (a circular rubber tube that is deformable and stores energy, and a helical wire that restricts radial expansion is clamped inside the tube wall), which produces axial expansion and joints due to limited elongation on one side The flexible joint is restored to its original shape by the elastic action of the rubber tube (Patent No. ZL89214574); because the axial and slight radial expansion of the rubber wall consumes energy, the response is not sensitive enough, and it cannot respond to the bending deformation of the elastic rubber wall. A more accurate mathematical model is obtained, and the dynamic control effect is not good enough to realize the coordination of multi-joint bending applications (such as mechanical fingers)

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