Plate spring skeleton hydrulic pneumatic flexible bending joint

Abstract

A pneumatic flexible joint for robot or manipulator features that the leaf spring is used as its flexible skeleton and the corrugated shell is pneumatically expanded for providing the muscle power. Under the action of leaf spring, it can be bent but not axially extended. Its advantages are high flexibility and control accuracy, and low energy consumption.

Description

Technical field: [0001] The invention relates to a flexible bending joint of a plate spring skeleton liquid pneumatic type, which can be used as various joints such as elbows and legs of robots, and is especially suitable for mechanical fingers composed of multiple bending joints, and multiple mechanical fingers can be used The combined operation manipulator is used 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...

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 a little radial expansion of the rubber wall consumes energy, the response is not sensitive enough, and the bending deformation of the rubber wall cannot be obtained. Precise mathematical model, the dynamic control effect is not good enough, and the action coordination of multi-joint bending applications (such as mechanical fingers) cannot be realized

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