Antagonistic Bidirectional Rotary Flexible Driver

Abstract

The antagonistic bidirectional rotary flexible driver of the present invention is an antagonistic drive mechanism for robots, which can achieve bidirectional rotation, precise positioning, and flexible control. It is mainly applied to robot joints, bionic devices, and mechanical equipment actuators. It can solve the problems of large rotary volume and insufficient flexible driving ability of motors, rotary cylinders, rotary hydraulic cylinders, etc. The present invention has the advantages of continuously adjustable rotary angle and controllable driving force. Its structural feature is that components such as an annular brake, a shaft, and a sleeve are provided between the clockwise driver and the counterclockwise driver with opposite installation phases. When the clockwise driver is supplied with pressure fluid, the shaft can be accurately driven to continuously rotate clockwise. When the counterclockwise driver is supplied with pressure fluid, the shaft can be accurately driven to continuously rotate counterclockwise. The annular brake realizes the posture holding function. The output angular displacement, speed, acceleration, and driving force depend on the magnitude of the pressure of the supplied fluid and the cross-sectional area of the driver.

Description

Technical Field

[0001] The present invention relates to a pneumatic two-way rotating body with an antagonistic function for application on a robotic arm. Background Art

[0002] With the development and application of robotics and bionics, traditional robotic arms have insufficient flexibility and low adaptability to unstructured environments, failing to meet the development requirements of flexibility and lightweight for robotic arms. There is an urgent need to develop a robotic arm with a certain buffering capacity. The pneumatic two-way rotating body with an antagonistic function of the present invention uses pneumatic artificial muscles and pneumatic brakes that work together in both forward and reverse directions of air to achieve a rotation angle of ±90° and a braking and holding function. Its motion mode is closer to the joint motion mode of organisms. The present invention can be used as a mechanical forearm to connect the wrist and the upper arm to change and adjust the pose of the robotic hand, and can also be used in various devices in the industrial, medical, and service fields that require flexible motion and braking and holding. The antagonistic two-way rotating flexible actuator has broad application prospects. Summary of the Invention

[0003] The present invention aims to overcome the deficiencies of the current two-way flexible rotary drive technology for robotic motion joints and provides an antagonistic two-way rotary flexible drive. It can precisely adjust the rotary direction and the magnitude of the driving force output of the drive according to different working requirements. The antagonistic two-way rotary flexible drive is characterized in that a shaft is provided at the central axis positions of the upper end cover and the lower end cover, and a clockwise drive and a counterclockwise drive with the same structure and opposite installation phases are provided between the upper end cover and the lower end cover. An annular pneumatic brake is provided at the middle position between the two drives. A coaxial cylindrical outer shell is provided around the annular brake, the clockwise drive, and the counterclockwise drive. The clockwise drive is connected to the lower sleeve, and the lower sleeve is connected to the shaft by a key. The counterclockwise drive is connected to the upper sleeve, and the upper sleeve is connected to the shaft by a key. The lower end cover is a disc-shaped part with a bearing hole at the central position. A vertical plate perpendicular to the upper surface of the lower end cover is provided radially on the upper surface of the lower end cover, and the vertical plate can be connected to the upper surface of the lower end cover by welding, bolt fixing, or integral molding. Two through holes are provided on the vertical plate for fixedly connecting the air inlet end of the clockwise drive. The number of through holes on the vertical plate can be 1, 3, 4, 5, 6, 7, 8, 9. A shaft is provided between the centers of the upper and lower end covers. The shaft has four shoulders. A bearing is installed at the first shoulder at the bottom end of the shaft. A keyway is provided between the first shoulder and the second shoulder at the bottom, and a key is installed in the keyway. A bearing retainer is provided between the lower part of the lower sleeve and the upper part of the bearing. The bearing retainer is a T-shaped sleeve, and the bearing retainer is used for positioning the lower sleeve. The lower sleeve is characterized in that a keyway is provided inside the lower sleeve, and the lower sleeve is connected to the shaft by a key and can rotate in the same direction simultaneously. A rectangular baffle is provided radially on the outer surface of the lower sleeve. Two through holes are provided on the baffle for fixedly connecting the clockwise drive. The number of through holes can be 1, 3, 4, 5, 6, 7, 8, 9. The clockwise drive is structurally characterized in that the air inlet end cover of the clockwise drive is installed on the vertical plate of the lower end cover, and the other end cover is installed on the rectangular baffle of the lower sleeve. It is composed of a set of 8-shaped wedge double-hole constraint pieces, two semi-circular annular air bags, two plugs, two air inlet connectors, two fixing bolts, two drive end covers, and two pneumatic connectors. The two semi-circular annular air bags and the two plugs can be connected by bundling or gluing. The two semi-circular annular air bags and the two air inlet connectors can be connected by bundling or gluing. The two semi-circular annular air bags are connected in parallel to form two sealed air bags. A set of 8-shaped wedge double-hole constraint pieces is installed outside the two semi-circular annular air bags. Two springs can also be used for constraint. The springs are closely wound springs with a wire diameter of 0.8 mm, 0.7 mm, 0.6 mm, or 0.5 mm. The constraint pieces or springs restrict the radial deformation of the two semi-circular annular air bags of the clockwise drive, and the two semi-circular annular air bags can only perform clockwise circular motion around the shaft. The 8-shaped wedge double-hole constraint pieces can also be replaced by a triangular three-hole wedge constraint piece in a product shape or a square four-hole wedge constraint piece. The air inlet end of the clockwise drive is installed on the vertical plate of the lower end cover and cannot rotate. Thus, it pushes the lower sleeve to perform clockwise circular motion, and then drives the shaft to perform clockwise circular motion.An annular brake is provided at the second and third shoulders of the shaft; the annular brake is characterized in that an annular drive bladder and a number of sector brake pads located in the inner ring of the annular drive bladder are provided between the upper and lower end covers of the annular brake; the vertical section of the upper end cover of the annular brake is an inverted concave structure, with a through hole left in the middle, and the diameter of the through hole is larger than the shaft diameter of the middle part of the shaft; four evenly distributed arc-shaped rib plates are provided at the through hole position of the upper end cover of the annular brake, and the top of the arc-shaped rib plates is in a stepped shape; the number of rib plates can be 3, 5, 6, 8, 9; evenly distributed threaded holes are provided on the outer side of the upper end cover of the annular brake, and the upper end cover of the annular brake can be fixed to the outer shell through bolts; the vertical section of the lower end cover of the annular brake is a concave structure, with a through hole of the same size as the upper end cover left in the middle; arc-shaped rib plates with the same number and distribution as those of the upper end cover are provided at the through hole position of the lower end cover of the annular brake, and the top of the arc-shaped rib plates of the lower end cover is also in a stepped shape; the stepped structure at the top of the arc-shaped rib plates of the lower end cover can be installed in cooperation with the stepped structure of the arc-shaped rib plates of the upper end cover; evenly distributed threaded holes are provided on the outer side of the lower end cover of the annular brake, and the lower end cover of the annular brake can be fixed to the outer shell through bolts; two concentric circular bosses with different diameters are provided on the bottom surface of the lower end cover of the annular brake, and their centers are located on the central axis of the lower end cover of the annular brake; a groove with a rectangular cross-section is formed between the two circular bosses; an annular drive bladder is installed in the circular cavity formed by the upper and lower end covers of the annular brake; the cross-section of the annular drive bladder can be a rectangular or circular cross-section; a gas inlet is provided on the outer side of the annular drive bladder, and the annular drive bladder expands when pressurized gas is input; due to being restricted by the brake in the vertical direction and on the outer side of the brake, the annular drive bladder can only expand inward, thereby pushing the annular drive bladder to drive the sector brake pads installed inside to move towards the shaft; the longitudinal section of the sector brake pad is a T-shaped structure, and the cross-section is a sector structure; a number of sector brake pads of the same size can form a circular ring structure and be assembled inside the annular drive bladder, and the sector brake pads can move inward as the annular drive bladder expands; the smaller end of the sector brake pad moves towards the shaft, and as the pressure increases, the sector brake pad contacts the shaft, thereby generating a force to achieve the braking purpose; the greater the pressure of the pressurized gas input into the annular drive bladder, the stronger the braking force; the larger end of the sector brake pad is installed inside the annular drive bladder, and the smaller end of the sector brake pad passes through the window formed by the arc-shaped rib plates on the inner side wall of the ring after the upper and lower end covers of the annular brake are assembled; the larger end of the sector brake pad cannot pass through the window formed by the arc-shaped rib plates on the inner side wall of the ring after the upper and lower end covers are assembled; the horizontal section of the sector brake pad is perpendicular to the shaft; a keyway is provided at the third and fourth shoulders above the annular brake, and a key is installed in the keyway; the key is installed between the upper sleeve and the shaft; the upper sleeve is characterized in that a keyway is provided inside the upper sleeve, and the upper sleeve is connected to the shaft as a whole through the key and can rotate simultaneously in the same direction; a rectangular baffle is provided radially on the outer surface of the upper sleeve, and two through holes are provided on the baffle for fixedly connecting the other end of the counterclockwise driver; the number of through holes can be 1, 3, 4, 5, 6, 7, 8, 9;The counterclockwise driver is characterized in that the end cover at the air inlet end of the counterclockwise driver is installed on the vertical plate of the upper end cover, and the other end cover is installed on the rectangular baffle of the upper sleeve; it is composed of a set of figure-eight wedge-shaped double-hole restraint pieces, two semi-circular air bags, two plugs, two air inlet connectors, two fixing bolts, two driver end covers, and two pneumatic connectors; the two semi-circular air bags and the two plugs can be connected by bundling or gluing; the two semi-circular air bags and the two air inlet connectors can be connected by bundling or gluing; the two semi-circular air bags are connected in parallel to form two sealed air bags; a set of figure-eight wedge-shaped double-hole restraint pieces is installed outside the two semi-circular air bags; two springs can also be used for restraint, and the wire diameter of the springs can be a closely wound spring of 0.8mm or 0.7mm or 0.6mm or 0.5mm; the restraint pieces or springs restrict the radial deformation of the two semi-circular air bags of the counterclockwise driver, and the two semi-circular air bags can only make counterclockwise circular motion around the axis; the figure-eight wedge-shaped double-hole restraint pieces can also be replaced by a triangular three-hole wedge-shaped restraint piece in a character shape or a square four-hole wedge-shaped restraint piece in a field shape; the air inlet end of the counterclockwise driver is installed on the vertical plate of the lower end cover and cannot rotate; thus, it drives the upper sleeve to make counterclockwise circular motion, and then drives the shaft to make counterclockwise circular motion; an upper end cover is installed above the counterclockwise driver, and the upper end cover is a disc-shaped part with a bearing hole at the central position; a vertical plate perpendicular to the lower surface of the upper end cover is provided on the lower surface of the upper end cover in the radial direction, and the vertical plate can be connected to the lower surface of the upper end cover by welding or bolt fixing or integral molding; two through holes are provided on the vertical plate for fixedly connecting the air inlet end of the counterclockwise driver; the number of through holes on the vertical plate can be 1, 3, 4, 5, 6, 7, 8, 9; a barrel-shaped outer shell is provided between the upper and lower end covers, and the outer shell is characterized in that a number of threaded holes are provided on the upper end surface for fixedly installing the upper end cover; the same number of threaded holes are also provided on the lower end surface for fixedly installing the lower end cover; a number of through holes are provided at the middle position of the outer shell for fixedly installing an annular brake; a threaded hole is provided on the top end surface of the shaft for fixedly installing a mounting plate; the mounting plate can be connected to other components to complete corresponding work; the antagonistic bidirectional rotary flexible driver is a normally open pneumatic bidirectional rotary joint. During operation, certain pressures need to be input as preloads for the forward driver and the counterclockwise driver, and the pressure magnitudes can be inconsistent or consistent. The preload determines the initial position of the antagonistic bidirectional rotary flexible driver; when the input pressure of the counterclockwise driver continues to increase and is greater than the preload, due to the deformation limitation of the counterclockwise driver, the counterclockwise driver pushes the clockwise driver to move counterclockwise, compressing the clockwise driver to achieve counterclockwise rotation of the shaft; the counterclockwise rotation of the shaft can also be achieved by reducing the preload pressure of the clockwise driver, or by reducing the preload pressure of the clockwise driver and increasing the input pressure of the counterclockwise driver simultaneously; when the shaft reaches the specified working position, inputting pressure to the annular brake can achieve braking and position holding of the counterclockwise movement of the shaft;When the input pressure of the clockwise driver continues to increase and exceeds the preload, due to the deformation limit of the clockwise driver, the clockwise driver pushes the counterclockwise driver to move in the clockwise direction, compressing the counterclockwise driver to achieve the clockwise rotation of the shaft; the clockwise rotation of the shaft can also be achieved by reducing the preload pressure of the counterclockwise driver, or by reducing the preload pressure of the counterclockwise driver while increasing the input pressure of the clockwise driver; when the shaft reaches the specified working position, applying pressure to the annular brake can achieve the braking and position holding of the clockwise movement of the shaft. Description of the Drawings

[0004] Figure 1 It is a schematic diagram of the overall structure of the antagonistic bidirectional rotary flexible driver

[0005] Figure 2 It is a sectional view of the counterclockwise driver A-A and the clockwise driver B-B of the antagonistic bidirectional rotary flexible driver

[0006] Figure 3 It is a schematic exploded view of the overall structure of the antagonistic bidirectional rotary flexible driver

[0007] Figure 4 It is an axonometric view of the antagonistic bidirectional rotary flexible driver

[0008] Figure 5 It is a schematic exploded view of the component annular brake

[0009] Figure 6 It is the upper end cover of the component annular brake

[0010] Figure 7 It is the lower end cover of the component annular brake

[0011] Figure 8 It is a schematic exploded view of the component counterclockwise driver

[0012] Figure 9 It is a schematic exploded view of the component clockwise driver Detailed Implementation Modes

[0013] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific examples: The antagonistic bidirectional rotary flexible driver consists of fastening screw 1, mounting disk 2, fastening screw 3, flange 4, rubber washer 5, bearing 6, end cover set screw 7, upper end cover 8, bearing retainer 9, key 10, upper sleeve 11, counterclockwise driver mounting screw 12, counterclockwise driver 13, pneumatic brake 14, housing 15, pneumatic brake fixing screw 16, shaft 17, key 18, lower sleeve 19, clockwise driver mounting screw 20, clockwise driver 21, bearing retainer 22, bearing 23, lower end cover 24, end cover set screw 25; The component pneumatic brake 14 is composed of annular brake upper end cover 14-1, annular drive bladder 14-2, sector brake pad 14-3, and annular brake lower end cover 14-4; Install the larger end of the sector brake pad 14-3 between the two arc-shaped ribs of the annular brake lower end cover 14-4, and install four pieces in sequence; Install the annular drive bladder 14-2 in the groove formed by the annular brake lower end cover 14-4 and the larger end of the sector brake pad 14-3; Install the annular brake upper end cover 14-1 above the annular drive bladder 14-2, and install its arc-shaped ribs in cooperation with the arc-shaped ribs of the annular brake lower end cover 14-4 to assemble the component pneumatic brake 14; Install the component pneumatic brake 14 at the second and third shaft shoulder positions of the shaft 17; Fix the housing 15 and the pneumatic brake 14 together with the pneumatic brake fixing screw 16; The pneumatic brake 14 is installed in the middle part of the housing 15; The component counterclockwise driver 13 consists of a set of figure-eight wedge-shaped double-hole restraint pieces 13-1, two annular air bladders 13-2, two plugs 13-3, two air inlet connectors 13-4, two fixing bolts 13-5, two driver end covers 13-6, and two pneumatic connectors 13-7; Bundle or glue the two plugs 13-3 to the same end of the two annular air bladders 13-2, and bundle or glue the other ends of the two annular air bladders 13-2 to the two air inlet connectors 13-4 to form two air bladders; Install a set of figure-eight wedge-shaped double-hole restraint pieces 13-1 on the outside of the annular air bladders 13-2 in sequence to make the counterclockwise driver 13 in a semi-circular ring shape; Install the two driver end covers 13-6 at both ends of the counterclockwise driver 13 respectively, and install the two pneumatic connectors 13-7 at the end with the two air inlet connectors 13-4; Fix the end of the component counterclockwise driver 13 with the two plugs 13-3 on the rectangular plate of the upper sleeve 11; Fix the end of the component counterclockwise driver 13 with the two pneumatic connectors 13-7 on the rectangular rib of the upper end cover 8; Fix the key 10 in the keyway above the shaft 17; Install the assembly composed of the component counterclockwise driver 13, upper end cover 8, and upper sleeve 11 onto the shaft 17 and the housing 15, and install the upper sleeve 11 at the assembly position of the shaft 17 and the key 10; Install the upper end cover 8 on the top of the housing 15 and connect and install it through the end cover set screw 7; Pass the bearing retainer 9 through the upper end cover 8 and install it on the top of the upper sleeve 11;The bearing 6 is assembled above the bearing retainer 9, and the bearing 6 is installed in the central hole of the upper end cover 8. The shaft 17 passes through the bearing 6. The rubber washer 5 is installed in the central hole of the flange 4. The flange 4 is installed and fixed above the central hole of the upper end cover 8 by the fastening screw 3, so that the flange 4 and the upper end cover 8 are coaxial and collinear. The mounting disc 2 is installed and connected to the top end of the shaft 17 by the fastening screw 1. The component clockwise driver 21 is composed of a set of figure-eight wedge-shaped double-hole restraint pieces 21-1, two annular air bags 21-2, two plugs 21-3, two air inlet hole connectors 21-4, two fixing bolts 21-5, two driver end covers 21-6, and two pneumatic connectors 21-7. Bind or glue the two plugs 21-3 to the same end of the two annular air bags 21-2, and bind or glue the other ends of the two annular air bags 21-2 to the two air inlet hole connectors 21-4 to form two air bags. Install a set of figure-eight wedge-shaped double-hole restraint pieces 21-1 on the outside of the annular air bag 21-2 in sequence, so that the clockwise driver 21 forms a semi-circular ring. Install the two driver end covers 21-6 at both ends of the clockwise driver 21 respectively, and install the two pneumatic connectors 21-7 at the end with the two air inlet hole connectors 21-4. Fix the end of the component clockwise driver 21 with the two plugs 21-3 on the rectangular plate of the lower sleeve 19. Fix the end of the component clockwise driver 21 with the two pneumatic connectors 21-7 on the rectangular rib of the lower end cover 24. Fix the key 18 in the keyway below the shaft 17. Install the assembly composed of the component clockwise driver 21, the lower end cover 24, and the lower sleeve 19 onto the shaft 17 and the lower half of the housing 15. Install the lower sleeve 19 at the assembly position of the shaft 17 and the key 18. Pass the bearing retainer 22 through the shaft 17 and install it at the bottom of the lower sleeve 19. Install the bearing 23 at the first shaft shoulder position of the shaft 17. Install the lower end cover 24 by connecting it to the bottom of the housing 15 with the end cover set screw 25.;

Claims

1. Antagonistic functional pneumatic two-way rotator, characterized in that, A shaft, an upper end cover and a lower end cover are provided at the central axis positions of the upper end cover and the lower end cover. A clockwise driver and a counterclockwise driver with the same structure and opposite installation phases are provided between the upper end cover and the lower end cover. An annular pneumatic brake is provided at the middle position between the two drivers; A coaxial cylindrical outer shell is provided around the annular brake, the clockwise driver and the counterclockwise driver; The clockwise driver is connected to the lower sleeve, and the lower sleeve is connected to the shaft by a key; The counterclockwise driver is connected to the upper sleeve, and the upper sleeve is connected to the shaft by a key; The end cover at the air inlet end of the clockwise driver is installed on the vertical plate of the lower end cover, and the other end cover is installed on the rectangular baffle of the lower sleeve; It is composed of a group of eight-shaped wedge double-hole constraint pieces, two semi-circular annular air bags, two plugs, two air inlet connectors, two fixing bolts, two driver end covers, and two pneumatic connectors; The two semi-circular annular air bags and the two plugs are connected by bundling or gluing; The two semi-circular annular air bags and the two air inlet connectors are connected by bundling or gluing; The two semi-circular annular air bags are connected in parallel to form two sealed air bags; A group of eight-shaped wedge double-hole constraint pieces are installed outside the two semi-circular annular air bags; Two springs are used for restraint, and the springs are closely wound springs with a wire diameter of 0.8mm or 0.7mm or 0.6mm or 0.5mm; The constraint pieces or springs restrict the radial deformation of the two semi-circular annular air bags of the clockwise driver, and the two semi-circular annular air bags can only make a clockwise circular motion around the shaft; The eight-shaped wedge double-hole constraint piece adopts a three-hole wedge constraint piece in a product shape or a four-hole wedge constraint piece in a field shape; The air inlet end of the clockwise driver is installed on the vertical plate of the lower end cover and cannot rotate; Thus, it drives the lower sleeve to make a clockwise circular motion, and then drives the shaft to make a clockwise circular motion; The end cover at the air inlet end of the counterclockwise driver is installed on the vertical plate of the upper end cover, and the other end cover is installed on the rectangular baffle of the upper sleeve; It is composed of a group of eight-shaped wedge double-hole constraint pieces, two semi-circular annular air bags, two plugs, two air inlet connectors, two fixing bolts, two driver end covers, and two pneumatic connectors; The two semi-circular annular air bags and the two plugs are connected by bundling or gluing; The two semi-circular annular air bags and the two air inlet connectors are connected by bundling or gluing; The two semi-circular annular air bags are connected in parallel to form two sealed air bags; A group of eight-shaped wedge double-hole constraint pieces are installed outside the two semi-circular annular air bags; Two springs are used for restraint, and the springs are closely wound springs with a wire diameter of 0.8mm or 0.7mm or 0.6mm or 0.5mm; The constraint pieces or springs restrict the radial deformation of the two semi-circular annular air bags of the counterclockwise driver, and the two semi-circular annular air bags can only make a counterclockwise circular motion around the shaft; The eight-shaped wedge double-hole constraint piece adopts a three-hole wedge constraint piece in a product shape or a four-hole wedge constraint piece in a field shape; The air inlet end of the counterclockwise driver is installed on the vertical plate of the lower end cover and cannot rotate; Thus, it drives the lower sleeve to make a counterclockwise circular motion, and then drives the shaft to make a counterclockwise circular motion; There is an annular drive bladder and several sector brake pads located in the inner ring of the annular drive bladder between the upper and lower end covers of the annular brake; the vertical section of the upper end cover of the annular brake is an inverted concave structure, with a through hole left in the middle, and the diameter of the through hole is larger than the shaft diameter of the middle part of the shaft; there are four evenly distributed arc-shaped ribs at the position of the through hole of the upper end cover of the annular brake, the top of the arc-shaped ribs is in a stepped shape, and the number of ribs is any one of 3, 5, 6, 8, 9; there are evenly distributed threaded holes on the outer side of the upper end cover of the annular brake, and the upper end cover of the annular brake is fixed to the outer shell by bolts; the vertical section of the lower end cover of the annular brake is a concave structure, with a through hole of the same size as the upper end cover left in the middle; there are arc-shaped ribs with the same number and distribution as those of the upper end cover at the position of the through hole of the lower end cover of the annular brake, and the top of the arc-shaped ribs of the lower end cover is also in a stepped shape; the stepped structure of the top of the arc-shaped ribs of the lower end cover is installed in cooperation with the stepped structure of the arc-shaped ribs of the upper end cover; there are several evenly distributed threaded holes on the outer side of the lower end cover of the annular brake, and the lower end cover of the annular brake is fixed to the outer shell by bolts; there are two concentric circular bosses with different diameters on the bottom surface of the lower end cover of the annular brake, and their centers are located on the central axis of the lower end cover of the annular brake; a groove with a rectangular cross-section is formed between the two circular bosses; an annular drive bladder is installed in the circular cavity formed by the upper and lower end covers of the annular brake; the cross-section of the annular drive bladder is rectangular or circular; there is a gas inlet on the outer side of the annular drive bladder, and the annular drive bladder expands when pressurized gas is input; due to the restriction of the brake in the vertical direction and on the outer side of the brake, the annular drive bladder can only expand inward, thereby pushing the annular drive bladder to drive the sector brake pads installed on the inner side to move towards the shaft; the longitudinal section of the sector brake pad is a T-shaped structure, and the cross-section is a sector structure; several sector brake pads of the same size form a circular ring structure and are assembled on the inner side of the annular drive bladder, and can move inward with the expansion of the annular drive bladder; the smaller end of the sector brake pad moves towards the shaft, and as the pressure increases, the sector brake pad contacts the shaft, thereby generating a force to achieve the braking purpose; the greater the pressure of the pressurized gas input into the annular drive bladder, the stronger the braking force; the larger end of the sector brake pad is installed on the inner side of the annular drive bladder, and the smaller end of the sector brake pad passes through the window formed by the arc-shaped ribs on the inner side wall of the ring after the upper and lower end covers of the annular brake are assembled; the larger end of the sector brake pad cannot pass through the window formed by the arc-shaped ribs on the inner side wall of the ring after the upper and lower end covers are assembled; the horizontal section of the sector brake is perpendicular to the shaft.

2. The antagonistic functional pneumatic two-way rotating body according to claim 1, wherein There is a bearing hole at the center position of the lower end cover; there is a vertical plate perpendicular to the upper surface of the lower end cover on the upper surface of the lower end cover in the radial direction, and the vertical plate is connected to the upper surface of the lower end cover by welding or bolt fixing or integral molding; there are two through holes on the vertical plate for fixedly connecting the air inlet end of the clockwise driver; the number of through holes on the vertical plate is any one of 1, 3, 4, 5, 6, 7, 8, 9.

3. The antagonistic functional pneumatic two-way rotating body according to claim 1, characterized in that, The lower sleeve is provided with a keyway. The lower sleeve is integrated with the shaft through a key, enabling the lower sleeve and the shaft to rotate in the same direction simultaneously. A rectangular baffle is provided radially on the outer surface of the lower sleeve, and two through holes are provided on the baffle for fixedly connecting the other end of the clockwise driver. The number of through holes is any one of 1, 3, 4, 5, 6, 7, 8, and 9.

4. The antagonistic functional pneumatic two-way rotating body according to claim 1, characterized in that, The upper end cover is a disc-shaped part with a bearing hole at the central position. A vertical plate perpendicular to the lower surface of the upper end cover is provided radially on the lower surface of the upper end cover. The vertical plate is connected to the lower surface of the upper end cover by welding, bolt fixing, or integral molding. Two through holes are provided on the vertical plate for fixedly connecting the air inlet end of the counterclockwise driver. The number of through holes on the vertical plate is any one of 1, 3, 4, 5, 6, 7, 8, and 9.

5. The antagonistic functional pneumatic two-way rotating body according to claim 1, characterized in that, The upper sleeve is provided with a keyway. The upper sleeve is integrated with the shaft through a key, enabling simultaneous rotation in the same direction. A rectangular baffle is provided radially on the outer surface of the upper sleeve, and two through holes are provided on the baffle for fixedly connecting the other end of the counterclockwise driver. The number of through holes is any one of 1, 3, 4, 5, 6, 7, 8, and 9.

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