Rigid-flex coupling driven joint

Abstract

The application discloses a rigid-flexible coupling driving joint, which comprises a joint support, a pneumatic driving joint unit arranged on the joint support, a base, a connecting arm arranged on the base and connected with the joint support, a pneumatic muscle arranged on the connecting arm, a gas source control device connected with the pneumatic muscle, and a baffle arranged on the joint support and matched with the pneumatic driver. The application adopts a sectional mixed driving to realize micro amplitude and flexibility within a specific range and high-speed high dynamic response in the rest part. The driving joint has good tensile resistance, stability and reliability, can realize high-speed high response while keeping micro amplitude and flexibility within a specific range, and has the advantages of rigid driving joints and flexible driving joints.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a rigid-flexible coupling driving joint. BACKGROUND

[0002] In recent years, the development of the field of robot technology has been continuously deepened, and the driving joint is an indispensable part of the robot system device. Although the rigid coupling driving joint can support larger load and provide higher precision, it has lower flexibility and is difficult to meet various motion requirements. The flexible coupling driving joint has good tensile resistance, but the power transmission efficiency is low and the structure is complex. The rigid-flexible coupling driving joint can improve the stability of the mechanical system, but the reliability is low and is easily affected by the external environment. The development of flexible arms and robots requires them to be used in various occasions. In order to provide better control and operation performance, the flexible arms and robots can be more flexible and stable in operation, so it is necessary to use rigid-flexible coupling technology. SUMMARY

[0003] The present application provides a rigid-flexible coupling driving joint, which has good tensile resistance, high precision and high dynamic response, and can ensure micro amplitude and compliance within a certain range.

[0004] A rigid-flexible coupling driving joint, comprising:

[0005] A joint support;

[0006] A pneumatic driving joint unit provided on the joint support, the pneumatic driving joint unit being a first pneumatic driving joint unit and a second pneumatic driving joint unit;

[0007] The pneumatic driving joint unit comprises:

[0008] A base;

[0009] A connecting arm provided on the base and connected with the joint support;

[0010] A pneumatic muscle provided on the connecting arm;

[0011] A gas source control device connected with the pneumatic muscle;

[0012] The joint support is provided with a baffle matched with the pneumatic driver.

[0013] The present application adopts segmented hybrid driving to realize micro amplitude and compliance within a certain range and high speed and high dynamic response of the rest. The driving joint has good tensile resistance, stability and reliability, can realize high speed and high response while maintaining micro amplitude and compliance within a certain range, and has the advantages of rigid and flexible driving joints.

[0014] The first pneumatic assembly and the second pneumatic assembly are arranged on two sides of the joint support.

[0015] The joint support is provided with four connecting shafts, fixing rings arranged on the connecting shafts and bearings arranged on the connecting shafts.

[0016] The connecting arm of the pneumatic driving joint unit is mounted on the bearing on the joint support.

[0017] The pneumatic muscle matched baffle is arranged on the connecting shaft of the joint support.

[0018] The base is provided with a driving pulley, and the driving pulley and the fixing ring of the joint support are connected through a flexible rope.

[0019] The rigid-flexible coupling driving joint comprises:

[0020] The pneumatic assembly is mounted on the rigid cabin, contains an electric push rod and is connected to a pneumatic element fixing plate through bolts, the electric push rod is connected to a push rod connecting shaft, the push rod connecting shaft is connected to a cylinder piston, so that the piston can reciprocate in the cylinder, and the piston outlet is connected to a pneumatic driver through a hose.

[0021] The joint core structure is mounted on the rigid cabin, contains a connecting shaft and a fixing ring, and the two are connected through deep groove ball bearings, the connecting shaft is provided with a baffle to ensure that the pneumatic driver can be successfully driven, the connecting shaft baffles at the same position are in the same direction, and the connecting shaft baffles at the adjacent positions are in opposite directions.

[0022] The waterproof steering wheel is mounted on the steering wheel fixing frame, the height of the steering wheel fixing frame can be adjusted through adjusting screws, the steering wheel of the waterproof steering wheel is connected with the driving pulley, and the tension rope is connected between the driving pulley and the fixing ring.

[0023] Compared with the prior art, the present application has the following advantages:

[0024] In the rigid-flexible coupling joint, good tensile performance, high precision and high dynamic response can be achieved without overly complex structure, the micro amplitude and flexibility can be ensured within a specific range, the joint is not easily disturbed by external environment, has good stability and reliability, and has the advantages of rigid and flexible driving joints. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 is a rigid-flexible coupling driving joint assembly diagram;

[0026] Figure 2 is a schematic view of a pneumatic assembly;

[0027] Figure 3 is a schematic view of a joint support;

[0028] Figure mark: 1. rigid cabin, 2. main pulley, 3. pneumatic muscle, 4. waterproof steering gear, 5. steering gear fixing frame, 6. air hose, 7. electric push rod, 8. air cylinder piston, 9. pneumatic element fixing plate, 10. air cylinder, 11. push rod connecting shaft, 12. deep groove ball bearing, 13. connecting shaft, 14. fixing ring, 15. baffle, 16. elastic baffle ring, 17. flexible rope. DETAILED DESCRIPTION

[0029] The application will be described in further detail below with reference to the accompanying drawings.

[0030] The driving joint adopts rigid universal joint structure, and is driven flexibly by flexible rope and segmented mixedly by air pressure and pneumatic muscle. The power driving part is installed on the upper and lower sides of the rigid cabin 1, and mainly includes the electric push rod 7, the push rod connecting shaft 11, the air cylinder piston 8, the air cylinder 10, the pneumatic element fixing plate 9, the air hose 6, the baffle 15, the elastic baffle ring 16, the waterproof steering gear 4, the steering gear fixing frame 5, the flexible rope 17, and the connecting shaft 13.

[0031] The specific working principle of the application is as follows:

[0032] The waterproof steering gear 4 rotates, and the main pulley 2 rotates with it, driving the fixing ring 14 to rotate through the flexible rope 17. At the same time, the driving motor rotates, driving the electric push rod 7 to move, thereby driving the push rod connecting shaft 11 to move. The single push rod drives the two air cylinder pistons 8 to make differential motion in the moving process, so that one of the left and right pistons is inflated and the other is deflated, and the extension and retraction of the pneumatic muscle 3 are promoted by air pressure. When the motor rotates, the pneumatic muscle 3 does antagonistic driving to push the baffle 15 on the connecting shaft 13, thereby driving the fixing ring to rotate. Thus, the segmented mixed driving of the steering gear synchronous belt driving and the pneumatic soft body driving is completed, and the mixed driving in the positive and negative 90-degree return stroke and the zero positive and negative 30-degree range is ensured to be micro-amplitude and flexible. In other parts, pure steering gear synchronous belt driving is adopted to ensure high-speed and high dynamic response.

Claims

1. A rigid-flexible coupled driven joint, characterized in that, The utility model relates to a kind of joint support and the pneumatic drive joint unit of joint support, the pneumatic drive joint unit is first pneumatic drive joint unit and second pneumatic drive joint unit. The utility model discloses a kind of joint support and the pneumatic drive joint unit of joint support, the pneumatic drive joint unit is first pneumatic drive joint unit and second pneumatic drive joint unit. The utility model discloses a kind of joint support and the pneumatic drive joint unit of joint support, the pneumatic drive joint unit is first pneumatic drive joint unit and second pneumatic drive joint unit. The utility model discloses a kind of joint support and the pneumatic drive joint unit of joint support, the pneumatic drive joint unit is first pneumatic drive joint unit and second pneumatic drive joint unit. The utility model discloses a kind of joint support and the pneumatic drive joint unit of joint support, the pneumatic drive joint unit is first pneumatic drive joint unit and second pneumatic drive joint unit. The utility model discloses a kind of joint support and the pneumatic drive joint unit of joint support, the pneumatic drive joint unit is first pneumatic drive joint unit and second pneumatic drive joint unit. The utility model discloses a kind of joint support and the pneumatic drive joint unit of joint support, the pneumatic drive joint unit is first pneumatic drive joint unit and second pneumatic drive joint unit. The utility model discloses a kind of joint support and the pneumatic drive joint unit of joint support, the pneumatic drive joint unit is first pneumatic drive joint unit and second pneumatic drive joint unit. The utility model discloses a kind of joint support and the pneumatic drive joint unit of joint support, the pneumatic drive joint unit is first pneumatic drive joint unit and second pneumatic drive joint unit. The utility model discloses a kind of joint support and the pneumatic drive joint unit of joint support, the pneumatic drive joint unit is first pneumatic drive joint unit and second pneumatic drive joint unit. The utility model discloses a kind of joint support and the pneumatic drive joint unit of joint support, the pneumatic drive joint unit is first pneumatic drive joint unit and second pneumatic drive joint unit.

2. The rigid-flex coupled driven joint of claim 1, wherein, The utility model discloses a kind of joint support and the pneumatic drive joint unit of joint support, the pneumatic drive joint unit is first pneumatic drive joint unit and second pneumatic drive joint unit.

3. The rigid-flex coupled driven joint of claim 1, wherein, The utility model discloses a kind of joint support and the pneumatic drive joint unit of joint support, the pneumatic drive joint unit is first pneumatic drive joint unit and second pneumatic drive joint unit.

4. The rigid-flex coupled driven joint of claim 1, wherein, The utility model discloses a kind of joint support and the pneumatic drive joint unit of joint support, the pneumatic drive joint unit is first pneumatic drive joint unit and second pneumatic drive joint unit. The utility model discloses a kind of joint support and the pneumatic drive joint unit of joint support, the pneumatic drive joint unit is first pneumatic drive joint unit and second pneumatic drive joint unit. The utility model discloses a kind of joint support and the pneumatic drive joint unit of joint support, the pneumatic drive joint

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