An artificial muscle joint that rotates around a parallel axis

Abstract

The present invention provides an artificial muscle joint that rotates around a parallel installation axis, comprising a ball screw shaft, a driving slider, a first artificial muscle, a second artificial muscle, an upper base, a lower base, four wire rope tightening devices, four combined slide rails, four slider movable pulleys, and four base fixed pulleys; the ball screw shaft and the four combined slide rails are fixed between the upper and lower bases; the first and second artificial muscles are centrally symmetrically distributed and fixed between the upper and lower bases; the four wire rope tightening devices and the four base fixed pulleys are evenly fixed on the upper and lower bases; the four slider movable pulleys are evenly fixed on the upper and lower surfaces of the driving slider; the present invention uses artificial muscles to convert the movement of the ball screw nut into the rotation of the screw, so that the screw can output a 360° rotation angle range, solving the problem of a small output rotation angle range of traditional artificial muscle joints.

Description

Technical Field

[0001] The present invention relates to the technical field of special operation robot arms, and in particular to an artificial muscle joint that rotates around a parallel installation axis. Background Art

[0002] As a crucial piece of technical equipment, a robotic arm's ability to efficiently complete various tasks depends on the output energy density of its drive mechanism and the range of motion of its joints. Existing robotic arm drive methods primarily include pneumatic, hydraulic, and electric motors, with the drive units primarily comprising hydraulic cylinders, hydraulic motors, and electric motors.

[0003] In recent years, fluid pressure artificial muscles, as a new type of actuator, have demonstrated significant advantages in power density, load capacity, flexibility, and lifespan. Therefore, fluid pressure artificial muscle joints have great potential for application in flexible grasping, flexible exoskeletons, and underwater robotic arms. Current artificial muscle-driven joints primarily employ an antagonistic pull mechanism, enabling only a narrow range of rotation angles and limiting the range of the robotic arm. Summary of the Invention

[0004] In response to the technical problems raised above, an artificial muscle joint that rotates about a parallel axis is provided. The present invention uses artificial muscle to convert the movement of the ball screw nut into the rotation of the lead screw, enabling the lead screw to output a 360° rotation range, thereby increasing the working range of the joint.

[0005] The technical means adopted in the present invention are as follows:

[0006] An artificial muscle joint that rotates around a parallel axis of installation uses artificial muscle to convert the movement of the ball screw nut into the rotation of the screw, so that the screw can output a 360° rotation angle range. It includes: a ball screw shaft, a drive slider, an artificial muscle, an upper base, a lower base, a wire rope tightening device, a combined slide rail, a slider movable pulley, and a base fixed pulley, wherein:

[0007] The ball screw shaft is fixed between the upper base and the lower base and is arranged at the center point of the upper base and the lower base; the ball screw includes a first extension shaft segment, a lead screw, a lead screw nut, and a second extension shaft segment, and the lead screw passes through the lead screw nut and is connected end to end with the first extension shaft segment and the second extension shaft segment;

[0008] The combined slide rails include a first combined slide rail, a second combined slide rail, a third combined slide rail and a fourth combined slide rail, which are respectively fixed between the upper base and the lower base, and the two ends of the four combined slide rails are respectively arranged at the four corners of the upper base and the lower base;

[0009] The slider movable pulleys include a first slider movable pulley, a second slider movable pulley, a third slider movable pulley and a fourth slider movable pulley. The first slider movable pulley and the second slider movable pulley are symmetrically fixed between the first combined slide rail and the second combined slide rail. The third slider movable pulley and the fourth slider movable pulley are symmetrically fixed between the third combined slide rail and the fourth combined slide rail.

[0010] The upper surface of the driving slider is fixedly connected to the first slider movable pulley and the third slider movable pulley, and the lower surface of the driving slider is fixedly connected to the second slider movable pulley and the fourth slider movable pulley;

[0011] The artificial muscle includes a first artificial muscle and a second artificial muscle, the first artificial muscle and the second artificial muscle are centrally symmetrically distributed and fixed between the upper base and the lower base, and the first artificial muscle is fixedly arranged between the first combined slide rail and the fourth combined slide rail, and the second artificial muscle is fixedly arranged between the second combined slide rail and the third combined slide rail;

[0012] The transmission wire tightening device includes a first upper base transmission wire tightening device, a first lower base transmission wire tightening device, a second upper base transmission wire tightening device and a second lower base transmission wire tightening device, the first upper base transmission wire tightening device and the second upper base transmission wire tightening device are fixed on the lower surface of the upper base; the first lower base transmission wire tightening device and the second lower base transmission wire tightening device are fixed on the upper surface of the lower base;

[0013] The base fixed pulley includes a first upper base fixed pulley, a second upper base fixed pulley, a first lower base fixed pulley and a second lower base fixed pulley. The first upper base fixed pulley and the second upper base fixed pulley are fixed on the lower surface of the upper base; the first lower base fixed pulley and the second lower base fixed pulley are fixed on the upper surface of the lower base.

[0014] Furthermore, an upper base tapered roller bearing and a lower base tapered roller bearing are respectively provided at the center points of the upper base and the lower base, the upper base tapered roller bearing is fixed on the lower surface of the upper base, and the lower base tapered roller bearing is fixed on the upper surface of the lower base; the shoulder of the first extended shaft section rests on the upper base tapered roller bearing, and the shoulder of the second extended shaft section rests on the lower base tapered roller bearing.

[0015] Furthermore, the first artificial muscle is provided with a charging end and a closed end, the charging end is connected to the first muscle charging transition block, and the closed end is connected to the first muscle connecting pulley; the second artificial muscle is provided with a charging end and a closed end, the charging end of the second artificial muscle is connected to the second muscle charging transition block, and the closed end of the second artificial muscle is connected to the second muscle connecting pulley; the first muscle charging transition block is connected to the upper surface of the lower base, and the second muscle charging transition block is connected to the lower surface of the upper base.

[0016] Furthermore, the first muscle charging transition block is provided with a muscle connection hole, a charging hole and a charging transition block fixed end, the charging end of the first artificial muscle is connected to the muscle connection hole, the charging hole is used for charging, and the charging transition block fixed end is used to fix the first muscle charging transition block.

[0017] Furthermore, the driving slider is respectively provided with a first slide rail groove, a second slide rail groove, a third slide rail groove, a fourth slide rail groove and a screw nut fixing groove; the first combination slide rail, the second combination slide rail, the third combination slide rail and the fourth combination slide rail respectively pass through the first slide rail groove, the second slide rail groove, the third slide rail groove and the fourth slide rail groove and are connected to the lower surface of the upper base and the upper surface of the lower base; the screw nut is fixed to the screw nut fixing groove on the lower surface of the driving slider.

[0018] Furthermore, the first combination slide rail, the second combination slide rail, the third combination slide rail and the fourth combination slide rail have the same structural size, wherein the first combination slide rail is composed of a male section and a female section threadedly connected, the male section has a threaded connection hole at the left end and an external thread at the right end, and the female section has an internal thread at the left end and a threaded connection hole at the right end.

[0019] Furthermore, the first upper base transmission wire tightening device, the first lower base transmission wire tightening device, the second upper base transmission wire tightening device and the second lower base transmission wire tightening device have the same structure and size, wherein: the first lower base transmission wire tightening device includes a transmission wire retaining joint, a limit block slide rail, a limit block, an eye bolt, a tension spring, a connecting pipe, an eye nut, and a transmission wire tightening joint, and the connection relationship is as follows:

[0020] One end of the transmission wire retaining joint retains the second transmission wire, and the other end is connected to the limit block; the other end of the limit block is connected to the eye bolt; the other end of the eye bolt is connected to the tension spring, the other end of the tension spring is connected to the eye nut, and the other end of the eye nut is connected to the transmission wire tightening joint; the limit block slide rail is threadedly connected to the connecting pipe, and the connecting pipe is provided with internal and external threads, and the transmission wire tightening joint is fixed by the internal thread, and the transmission wire tightening device of the first lower base is fixed to the lower base by the external thread;

[0021] The diameter of the through hole at the left end of the limit block slide rail is slightly larger than the maximum outer diameter of the transmission wire retaining joint; the diameter of the inner slide rail of the limit block slide rail is slightly larger than the outer diameter of the limit block and the tension spring; the circumferential wall of the limit block slide rail has three strip holes distributed at an interval of 120°; the end face of the transmission wire tightening joint has three through holes distributed at an interval of 120°.

[0022] Furthermore, the first transmission wire is led out from the transmission wire take-up device of the first upper base, vertically downward, bypasses the movable pulley of the first slider, vertically upward, bypasses the fixed pulley of the first upper base, vertically downward, bypasses the first muscle connecting pulley, vertically upward, bypasses the fixed pulley of the second upper base, vertically downward, bypasses the movable pulley of the third slider, vertically upward, and enters the transmission wire take-up device of the second upper base;

[0023] The second transmission wire is led out from the transmission wire tightening device of the first lower base, vertically upward, bypasses the movable pulley of the second slider, vertically downward, bypasses the fixed pulley of the first lower base, vertically upward, bypasses the second muscle connecting pulley, vertically downward, bypasses the fixed pulley of the second lower base, vertically upward, bypasses the movable pulley of the fourth slider, vertically downward, and enters the transmission wire tightening device of the second lower base.

[0024] Compared with the prior art, the present invention has the following advantages:

[0025] 1. The artificial muscle joint provided by the present invention rotates around a parallel axis of installation, and uses artificial muscles to convert the movement of the ball screw nut into the rotation of the lead screw, so that the lead screw can output a 360° rotation angle range.

[0026] 2. The artificial muscle joint provided by the present invention, which rotates around a parallel axis, uses artificial muscle as a driver. The materials used are basically fiber and high-strength 7-series aluminum alloy, which is conducive to the lightweight design of the robotic arm; when water or gas is used as the driving medium, it is environmentally friendly and pollution-free.

[0027] 3. The artificial muscle joint provided by the present invention, which rotates around a parallel installation axis, adopts a unique pulley assembly placement method and transmission wire winding method to change the direction of the artificial muscle driving force, amplify the driving force of the artificial muscle, and enhance the structural stability of the mechanical joint.

[0028] 4. The artificial muscle joint provided by the present invention, which rotates around a parallel axis of installation, has bearings arranged between the internal kinematic pairs, thereby effectively reducing energy loss.

[0029] Based on the above reasons, the present invention can be widely promoted in fields such as special operation robot arms. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0031] Figure 1 It is the upper right schematic diagram of the whole structure of the present invention.

[0032] Figure 2 It is the upper left schematic diagram of the whole structure of the present invention.

[0033] Figure 3 This is a positional layout diagram of the drive slider, four slider movable pulleys and the lead screw nut of the present invention.

[0034] Figure 4 This is a diagram showing the positional arrangement of the first muscle charging transition block, the first artificial muscle, and the first muscle connecting pulley of the present invention.

[0035] Figure 5 This is a positional layout diagram of the first extended shaft segment, lead screw, lead screw nut and second extended shaft segment of the present invention.

[0036] Figure 6 This is a diagram showing the positional arrangement of the upper base and the tapered roller bearing of the upper base according to the present invention.

[0037] Figure 7 It is a structural schematic diagram of the first combined slide rail of the present invention.

[0038] Figure 8 This is a schematic diagram of the first artificial muscle structure of the present invention.

[0039] Figure 9 It is a schematic structural diagram of the driving slider of the present invention.

[0040] Figure 10 This is a schematic diagram of the structure of the first muscle charging transition block.

[0041] Figure 11 It is a structural schematic diagram of the first lower base transmission wire tightening device of the present invention.

[0042] Figure 12 This is a diagram showing the positional arrangement of the lower base and the tapered roller bearing of the lower base according to the present invention.

[0043] In the figure: 1. Upper base; 1-1. First upper base slide rail fixing groove; 1-2. Second upper base slide rail fixing groove; 1-3. Third upper base slide rail fixing groove; 1-4. Fourth upper base slide rail fixing groove; 1-5. First upper base tightening device fixing threaded hole; 1-6. Second upper base tightening device fixing threaded hole; 1-7. First upper base fixed pulley fixing hole; 1-8. Second upper base fixed pulley fixing hole; 1-9. First pressurized transition block fixing position; 2. First upper base fixed pulley; 3. First combined slide rail; 3-1. Male section; 3-2. Female section; 4. First muscle connecting pulley; 5. First transmission wire; 6. First artificial muscle Meat; 6-1, closed end; 6-2, charging end; 7, first slider movable pulley; 8, driving slider; 8-1, first slide rail groove; 8-2, second slide rail groove; 8-3, third slide rail groove; 8-4, fourth slide rail groove; 8-5, screw nut fixing groove; 9, second slider movable pulley; 10, second combined slide rail; 11, first muscle charging transition block; 11-1, muscle connection hole; 11-2, charging hole; 11-3, charging transition block fixed end; 12, first lower base transmission wire tightening device; 12-1, transmission wire buckling joint; 12-2, limit block slide rail; 12-3, limit block; 12-4, eye bolt; 12- 5. Tension spring; 12-6. Connecting pipe; 12-7. Eye nut; 12-8. Drive wire tightening joint; 13. Lower base; 13-1. First lower base slide rail fixing slot; 13-2. Second lower base slide rail fixing slot; 13-3. Third lower base slide rail fixing slot; 13-4. Fourth lower base slide rail fixing slot; 13-5. First lower base tightening device fixing threaded hole; 13-6. Second lower base tightening device fixing threaded hole; 13-7. First lower base fixed pulley fixing hole; 13-8. Second lower base fixed pulley fixing hole; 13-9. Second pressurized transition block fixing position; 14. First upper base drive wire tightening device; 15. Second muscle pressurizing transition block; 16. Third combined slide rail; 17. Second artificial muscle; 18. Second muscle connecting pulley; 19. First lower base fixed pulley; 20. Second lower base fixed pulley; 21. Second upper base fixed pulley; 22. Second upper base transmission wire tightening device; 23. Fourth combined slide rail; 24. Third slider movable pulley; 25. Fourth slider movable pulley; 26. Second lower base transmission wire tightening device; 27. First extension shaft section; 28. Lead screw; 29. ​​Lead screw nut; 30. Second extension shaft section; 31. Second transmission wire; 32. Upper base tapered roller bearing; 33. Lower base tapered roller bearing. DETAILED DESCRIPTION

[0044] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0045] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is in no way intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0046] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0047] Unless otherwise specifically stated, the relative arrangement of the parts and steps, numerical expressions and numerical values ​​described in these embodiments do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The techniques, methods and equipment known to ordinary technicians in the relevant fields may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary and not as a limitation. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, so once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0048] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0049] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0050] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0051] like Figure 1 、 2 As shown, the present invention provides an artificial muscle joint that rotates around a parallel axis of installation, uses artificial muscles to convert the movement of the ball screw nut into the rotation of the screw, so that the screw can output a 360° rotation angle range, including: a ball screw shaft, a driving slider, an artificial muscle, an upper base, a lower base, a wire rope tightening device, a combined slide rail, a slider movable pulley, and a base fixed pulley, wherein:

[0052] The ball screw shaft is fixed between the upper base 1 and the lower base 13 and is set at the center point of the upper base 1 and the lower base 13; the ball screw includes a first extension shaft section 27, a screw rod 28, a screw nut 29, and a second extension shaft section 30. Figure 5 As shown, the lead screw 28 passes through the lead screw nut 29 and is connected end to end with the first extension shaft segment 27 and the second extension shaft segment 30;

[0053] The combined slide rails include a first combined slide rail 3, a second combined slide rail 10, a third combined slide rail 16 and a fourth combined slide rail 23. The first combined slide rail 3, the second combined slide rail 10, the third combined slide rail 16 and the fourth combined slide rail 23 are respectively fixed between the upper base 1 and the lower base 13, and the ends of the four combined slide rails are respectively set at the four corners of the upper base 1 and the lower base 13;

[0054] The slider movable pulleys include a first slider movable pulley 7, a second slider movable pulley 9, a third slider movable pulley 24 and a fourth slider movable pulley 25. The first slider movable pulley 7 and the second slider movable pulley 9 are symmetrically fixed between the first combined slide rail 3 and the second combined slide rail 10. The third slider movable pulley 24 and the fourth slider movable pulley 25 are symmetrically fixed between the third combined slide rail 16 and the fourth combined slide rail 23. Figure 3 The figure shows the position layout of the driving slider, four slider movable pulleys and the screw nut.

[0055] The upper surface of the driving slider 8 is fixedly connected to the first slider movable pulley 7 and the third slider movable pulley 24, and the lower surface of the driving slider 8 is fixedly connected to the second slider movable pulley 9 and the fourth slider movable pulley 25;

[0056] The artificial muscle includes a first artificial muscle 6 and a second artificial muscle 17. The first artificial muscle 6 and the second artificial muscle 17 are centrally symmetrically distributed and fixed between the upper base and the lower base. The first artificial muscle 6 is fixedly arranged between the first combined slide 3 and the fourth combined slide 23, and the second artificial muscle 17 is fixedly arranged between the second combined slide 10 and the third combined slide 16.

[0057] The transmission wire tightening device includes a first upper base transmission wire tightening device 14, a first lower base transmission wire tightening device 12, a second upper base transmission wire tightening device 22 and a second lower base transmission wire tightening device 26. The first upper base transmission wire tightening device 14 and the second upper base transmission wire tightening device 22 are fixed on the lower surface of the upper base 1; the first lower base transmission wire tightening device 12 and the second lower base transmission wire tightening device 26 are fixed on the upper surface of the lower base 13; Figure 6 and 12 As shown, the first upper base transmission wire tightening device 14 and the second upper base transmission wire tightening device 22 are respectively connected to the first upper base tightening device fixing threaded hole 1-5 and the second upper base tightening device fixing threaded hole 1-6 of the upper base 1; the first lower base transmission wire tightening device 12 and the second upper base transmission wire tightening device 26 are respectively connected to the first lower base tightening device fixing threaded hole 13-5 and the second lower base tightening device fixing threaded hole 13-6 of the lower base 13;

[0058] The base fixed pulley includes a first upper base fixed pulley 2, a second upper base fixed pulley 21, a first lower base fixed pulley 19 and a second lower base fixed pulley 20. The first upper base fixed pulley 2 and the second upper base fixed pulley 21 are fixed to the lower surface of the upper base 1; the first lower base fixed pulley 19 and the second lower base fixed pulley 20 are fixed to the upper surface of the lower base 13. Figure 6 and 12As shown, the first upper base fixed pulley 2 and the second upper base fixed pulley 21 are respectively fixed to the first upper base fixed pulley fixing hole 1-7 and the second upper base fixed pulley fixing hole 1-8 on the lower surface of the upper base 1 using bolts; the first lower base fixed pulley 19 and the second lower base fixed pulley 20 are respectively fixed to the first lower base fixed pulley fixing hole 13-7 and the second lower base fixed pulley fixing hole 13-8 on the upper surface of the lower base 13 using bolts.

[0059] When specifically implemented, as a preferred embodiment of the present invention, Figure 6 As shown, an upper base tapered roller bearing 32 and a lower base tapered roller bearing 33 are respectively provided at the center points of the upper base 1 and the lower base 13. The upper base tapered roller bearing 32 is fixed to the lower surface of the upper base 1, and the lower base tapered roller bearing 33 is fixed to the upper surface of the lower base 13; the shoulder of the first extended shaft segment 27 rests on the upper base tapered roller bearing 32, and the shoulder of the second extended shaft segment 30 rests on the lower base tapered roller bearing 33.

[0060] When specifically implemented, as a preferred embodiment of the present invention, Figure 4 and 8 As shown, the first artificial muscle 6 is provided with a charging end 6-2 and a closed end 6-1, the charging end 6-2 is connected to the first muscle charging transition block 11, and the closed end 6-1 is connected to the first muscle connecting pulley 4; the second artificial muscle 17 is provided with a charging end and a closed end, the charging end of the second artificial muscle 17 is connected to the second muscle charging transition block 15, and the closed end of the second artificial muscle 17 is connected to the second muscle connecting pulley 18; Figure 6 and 12 As shown, the first muscle charging transition block 11 is fixed on the second charging transition block fixing position 13-9 of the lower base 13, and the second muscle charging transition block 15 is fixed on the first charging transition block fixing position 1-9 of the upper base 1.

[0061] When specifically implemented, as a preferred embodiment of the present invention, Figure 10 As shown, the first muscle charging transition block 11 is provided with a muscle connection hole 11-1, a charging hole 11-2 and a charging transition block fixed end 11-3. The charging end 6-2 of the first artificial muscle 6 is connected to the muscle connection hole 11-1, the charging hole 11-2 is used for charging, and the charging transition block fixed end 11-3 is used to fix the first muscle charging transition block 11.

[0062] When specifically implemented, as a preferred embodiment of the present invention, Figure 6 、 9As shown in FIG12, the driving slider 8 is respectively provided with a first slide rail groove 8-1, a second slide rail groove 8-2, a third slide rail groove 8-3, a fourth slide rail groove 8-4 and a screw nut fixing groove 8-5, and the first combined slide rail 3, the second combined slide rail 10, the third combined slide rail 16, and the fourth combined slide rail 23 respectively pass through the first slide rail groove 8-1, the second slide rail groove 8-2, the third slide rail groove 8-3, the fourth slide rail groove 8-4 and the first guide rail groove 8-4 on the lower surface of the upper base 1. The upper base slide rail fixing groove 1-1, the second upper base slide rail fixing groove 1-2, the third upper base slide rail fixing groove 1-3, the fourth upper base slide rail fixing groove 1-4 and the first lower base slide rail fixing groove 13-1, the second lower base slide rail fixing groove 13-2, the third lower base slide rail fixing groove 13-3, and the fourth lower base slide rail fixing groove 13-4 on the upper surface of the lower base 13 are connected; the screw nut 29 is fixed to the screw nut fixing groove 8-5 on the lower surface of the driving slider 8.

[0063] In specific implementation, as a preferred embodiment of the present invention, the first combined slide rail 3, the second combined slide rail 10, the third combined slide rail 16 and the fourth combined slide rail 23 have the same structure and size, wherein, Figure 7 As shown, the first combined slide rail 3 is composed of a male section 3-1 and a female section 3-2 threadedly connected. The left end of the male section 3-1 is provided with a threaded connection hole and the right end is provided with an external thread. The left end of the female section 3-2 is provided with an internal thread and the right end is provided with a threaded connection hole.

[0064] When specifically implemented, as a preferred embodiment of the present invention, Figure 11 As shown, the first upper base transmission wire tightening device 14, the first lower base transmission wire tightening device 12, the second upper base transmission wire tightening device 22 and the second lower base transmission wire tightening device 26 have the same structure and size, wherein: the first lower base transmission wire tightening device 12 includes a transmission wire retaining joint 12-1, a limit block slide rail 12-2, a limit block 12-3, an eye bolt 12-4, a tension spring 12-5, a connecting pipe 12-6, a lifting eye nut 12-7, and a transmission wire tightening joint 12-8, and the connection relationship is as follows:

[0065] One end of the transmission wire retaining joint 12-1 retains the second transmission wire 31, and the other end is connected to the limit block 12-3; the other end of the limit block 12-3 is connected to the eye bolt 12-4; the other end of the eye bolt 12-4 is connected to the tension spring 12-5, the other end of the tension spring 12-5 is connected to the eye nut 12-7, and the other end of the eye nut 12-7 is connected to the transmission wire tightening joint 12-8; the limit block slide rail 12-2 is threadedly connected to the connecting pipe 12-6, and the connecting pipe 12-6 is provided with internal and external threads, and the transmission wire tightening joint 12-8 is fixed by the internal thread, and the first lower base transmission wire tightening device 12 is fixed to the lower base 13 by the external thread;

[0066] The diameter of the left end through hole of the limit block slide rail 12-2 is slightly larger than the maximum outer diameter of the transmission wire retaining joint 12-1; the inner slide rail diameter of the limit block slide rail 12-2 is slightly larger than the outer diameter of the limit block 12-3 and the tension spring 12-5; the circumferential wall of the limit block slide rail 12-2 has three strip holes distributed at an interval of 120°; the end face of the transmission wire tightening joint 12-8 has three through holes distributed at an interval of 120°.

[0067] When implementing the invention, please refer to the preferred embodiment of the invention. Figure 1 、 2 The first transmission wire 5 is led out from the first upper base transmission wire tightening device 14, vertically downward, bypasses the first slider movable pulley 7, vertically upward, bypasses the first upper base fixed pulley 2, vertically downward, bypasses the first muscle connecting pulley 4, vertically upward, bypasses the second upper base fixed pulley 21, vertically downward, bypasses the third slider movable pulley 24, vertically upward, and enters the second upper base transmission wire tightening device 22; the second transmission wire 31 is led out from the first lower base transmission wire tightening device 12, vertically upward, bypasses the second slider movable pulley 9, vertically downward, bypasses the first lower base fixed pulley 19, vertically upward, bypasses the second muscle connecting pulley 18, vertically downward, bypasses the second lower base fixed pulley 20, vertically upward, bypasses the fourth slider movable pulley 25, vertically downward, and enters the second lower base transmission wire tightening device 26.

[0068] During specific implementation, as a preferred embodiment of the present invention, the structural dimensions of the first upper base fixed pulley 2, the first lower base fixed pulley 19, the second lower base fixed pulley 20 and the second upper base fixed pulley 21 are consistent; the structural dimensions of the first slider movable pulley 7, the second slider movable pulley 9, the third slider movable pulley 24 and the fourth slider movable pulley 25 are consistent; the structural dimensions of the first artificial muscle 6 and the second artificial muscle 17 are consistent; the structural dimensions of the first muscle charging transition block 11 and the second muscle charging transition block 15 are consistent; the structural dimensions of the first muscle connecting pulley 4 and the second muscle connecting pulley 18 are consistent.

[0069] The artificial muscle joint provided by the present invention, which rotates around a parallel axis of installation, has the following working process:

[0070] When not in operation, the first artificial muscle 6 and the second artificial muscle 17 remain in their original length; under the action of the first upper base transmission wire tightening device 14, the first lower base transmission wire tightening device 12, the second upper base transmission wire tightening device 22 and the second lower base transmission wire tightening device 26, the first transmission wire 5 and the second transmission wire 31 are in a slightly tensioned state.

[0071] In the initial working state, the first artificial muscle 6 and the second artificial muscle 17 contract to their initial working positions. When the pressure of the first artificial muscle 6 is greater than that of the second artificial muscle 17, the first artificial muscle 6 continues to contract while the second artificial muscle 17 relaxes, driving the driving slider 8 upward under the action of the first transmission wire 5, thereby generating relative rotation with the lead screw 28. When the pressure of the first artificial muscle 6 is less than that of the second artificial muscle 17, the first artificial muscle 6 begins to relax while the second artificial muscle 17 begins to contract, driving the driving slider 8 downward under the action of the second transmission wire 31, thereby generating opposite relative rotation with the lead screw 28.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An artificial muscle joint that rotates around a parallel axis of installation, characterized in that: Artificial muscle is used to convert the movement of the ball screw nut into the rotation of the screw, so that the screw can output a 360° rotation angle range, including: a ball screw shaft, a driving slider, an artificial muscle, an upper base, a lower base, a wire rope tightening device, a combined slide rail, a slider movable pulley, and a base fixed pulley, among which: The ball screw shaft is fixed between the upper base (1) and the lower base (13) and is arranged at the center point of the upper base (1) and the lower base (13); the ball screw comprises a first extension shaft section (27), a lead screw rod (28), a lead screw nut (29), and a second extension shaft section (30); the lead screw rod (28) passes through the lead screw nut (29) and is connected end to end with the first extension shaft section (27) and the second extension shaft section (30); The combined slide rails include a first combined slide rail (3), a second combined slide rail (10), a third combined slide rail (16) and a fourth combined slide rail (23); the first combined slide rail (3), the second combined slide rail (10), the third combined slide rail (16) and the fourth combined slide rail (23) are respectively fixed between the upper base (1) and the lower base (13); and the two ends of the four combined slide rails are respectively arranged at the four corners of the upper base (1) and the lower base (13); The slider movable pulley comprises a first slider movable pulley (7), a second slider movable pulley (9), a third slider movable pulley (24) and a fourth slider movable pulley (25); the first slider movable pulley (7) and the second slider movable pulley (9) are symmetrically fixedly arranged between the first combined slide rail (3) and the second combined slide rail (10); the third slider movable pulley (24) and the fourth slider movable pulley (25) are symmetrically fixedly arranged between the third combined slide rail (16) and the fourth combined slide rail (23); The upper surface of the driving slider (8) is fixedly connected to the first slider movable pulley (7) and the third slider movable pulley (24), and the lower surface of the driving slider (8) is fixedly connected to the second slider movable pulley (9) and the fourth slider movable pulley (25); the driving slider (8) is respectively provided with a first slide rail groove (8-1), a second slide rail groove (8-2), a third slide rail groove (8-3), a fourth slide rail groove (8-4) and a lead screw nut fixing groove (8-5); the first combined slide rail (3), the second combined slide rail (10), the third combined slide rail (16) and the fourth combined slide rail (23) respectively pass through the first slide rail groove (8-1), the second slide rail groove (8-2), the third slide rail groove (8-3) and the fourth slide rail groove (8-4) and are connected to the lower surface of the upper base (1) and the upper surface of the lower base (13); the lead screw nut (29) is fixed to the lead screw nut fixing groove (8-5) on the lower surface of the driving slider (8); The artificial muscle comprises a first artificial muscle (6) and a second artificial muscle (17), the first artificial muscle (6) and the second artificial muscle (17) are centrally symmetrically distributed and fixed between an upper base and a lower base, the first artificial muscle (6) is fixedly arranged between a first combined slide rail (3) and a fourth combined slide rail (23), and the second artificial muscle (17) is fixedly arranged between a second combined slide rail (10) and a third combined slide rail (16); the first artificial muscle (6) is provided with a charging end (6-2) and a closed end (6-1), the charging end (6-2) is connected to the first muscle charging transition block (11), and the closed end (6-1) is connected to the first muscle connecting pulley (4); the second artificial muscle (17) is provided with a charging end and a closed end, the charging end of the second artificial muscle (17) is connected to the second muscle charging transition block (15), and the closed end of the second artificial muscle (17) is connected to the second muscle connecting pulley (18); the first muscle charging transition block (11) is connected to the upper surface of the lower base (13), and the second muscle charging transition block (15) is connected to the lower surface of the upper base (1); The transmission wire tightening device comprises a first upper base transmission wire tightening device (14), a first lower base transmission wire tightening device (12), a second upper base transmission wire tightening device (22) and a second lower base transmission wire tightening device (26), wherein the first upper base transmission wire tightening device (14) and the second upper base transmission wire tightening device (22) are fixed on the lower surface of the upper base (1); the first lower base transmission wire tightening device (12) and the second lower base transmission wire tightening device (26) are fixed on the upper surface of the lower base (13); The base fixed pulley comprises a first upper base fixed pulley (2), a second upper base fixed pulley (21), a first lower base fixed pulley (19) and a second lower base fixed pulley (20); the first upper base fixed pulley (2) and the second upper base fixed pulley (21) are fixed on the lower surface of the upper base (1); the first lower base fixed pulley (19) and the second lower base fixed pulley (20) are fixed on the upper surface of the lower base (13); The first transmission wire (5) is led out from the first upper base transmission wire tightening device (14), vertically downward, bypasses the first slider movable pulley (7), vertically upward, bypasses the first upper base fixed pulley (2), vertically downward, bypasses the first muscle connecting pulley (4), vertically upward, bypasses the second upper base fixed pulley (21), vertically downward, bypasses the third slider movable pulley (24), vertically upward, and enters the second upper base transmission wire tightening device (22); The second transmission wire (31) is led out from the first lower base transmission wire tightening device (12), vertically upward, bypasses the second slider movable pulley (9), vertically downward, bypasses the first lower base fixed pulley (19), vertically upward, bypasses the second muscle connecting pulley (18), vertically downward, bypasses the second lower base fixed pulley (20), vertically upward, bypasses the fourth slider movable pulley (25), vertically downward, and enters the second lower base transmission wire tightening device (26).

2. The artificial muscle joint that rotates around a parallel axis of installation according to claim 1, characterized in that: An upper base tapered roller bearing (32) and a lower base tapered roller bearing (33) are respectively provided at the center points of the upper base (1) and the lower base (13); the upper base tapered roller bearing (32) is fixed to the lower surface of the upper base (1), and the lower base tapered roller bearing (33) is fixed to the upper surface of the lower base (13); the shoulder of the first extended shaft section (27) abuts against the upper base tapered roller bearing (32), and the shoulder of the second extended shaft section (30) abuts against the lower base tapered roller bearing (33).

3. The artificial muscle joint that rotates around a parallel axis of installation according to claim 1, characterized in that: The first muscle charging transition block (11) is provided with a muscle connection hole (11-1), a charging hole (11-2), and a charging transition block fixed end (11-3); the charging end (6-2) of the first artificial muscle (6) is connected to the muscle connection hole (11-1); the charging hole (11-2) is used for charging; and the charging transition block fixed end (11-3) is used for fixing the first muscle charging transition block (11).

4. The artificial muscle joint that rotates around a parallel axis of installation according to claim 1, characterized in that: The first combined slide rail (3), the second combined slide rail (10), the third combined slide rail (16) and the fourth combined slide rail (23) have the same structure and size, wherein the first combined slide rail (3) is composed of a male section (3-1) and a female section (3-2) connected by threads, the male section (3-1) is provided with a threaded connection hole at the left end and an external thread at the right end, and the female section (3-2) is provided with an internal thread at the left end and a threaded connection hole at the right end.

5. The artificial muscle joint that rotates around a parallel axis of installation according to claim 1, characterized in that: The first upper base transmission wire tightening device (14), the first lower base transmission wire tightening device (12), the second upper base transmission wire tightening device (22) and the second lower base transmission wire tightening device (26) have the same structure and size, wherein the first lower base transmission wire tightening device (12) comprises a transmission wire retaining joint (12-1), a limit block slide rail (12-2), a limit block (12-3), a lifting eye bolt (12-4), a tension spring (12-5), a connecting pipe (12-6), a lifting eye nut (12-7), and a transmission wire tightening joint (12-8), and the connection relationship is as follows: One end of the transmission wire retaining joint (12-1) retains the second transmission wire (31), and the other end is connected to the limit block (12-3); the other end of the limit block (12-3) is connected to the eye bolt (12-4); the other end of the eye bolt (12-4) is connected to the tension spring (12-5), the other end of the tension spring (12-5) is connected to the eye nut (12-7), and the other end of the eye nut (12-7) is connected to the transmission wire tightening joint (12-8); the limit block slide rail (12-2) is threadedly connected to the connecting pipe (12-6), and the connecting pipe (12-6) is provided with internal and external threads. The transmission wire tightening joint (12-8) is fixed by the internal thread, and the first lower base transmission wire tightening device (12) is fixed to the lower base (13) by the external thread. The diameter of the left end through hole of the limit block slide rail (12-2) is slightly larger than the maximum outer diameter of the transmission wire retaining joint (12-1); the inner slide rail diameter of the limit block slide rail (12-2) is slightly larger than the outer diameters of the limit block (12-3) and the tension spring (12-5); the circumferential wall surface of the limit block slide rail (12-2) has three strip-shaped holes distributed at intervals of 120 degrees; and the end surface of the transmission wire tightening joint (12-8) has three through holes distributed at intervals of 120 degrees.

6. The artificial muscle joint that rotates around a parallel axis of installation according to claim 1, characterized in that: The first upper base fixed pulley (2), the first lower base fixed pulley (19), the second lower base fixed pulley (20) and the second upper base fixed pulley (21) have the same structural dimensions; The first slider movable pulley (7), the second slider movable pulley (9), the third slider movable pulley (24) and the fourth slider movable pulley (25) have the same structural dimensions; The first artificial muscle (6) and the second artificial muscle (17) have the same structural dimensions; The first muscle pressure-charging transition block (11) and the second muscle pressure-charging transition block (15) have the same structural dimensions; The first muscle connecting pulley (4) and the second muscle connecting pulley (18) have the same structural dimensions.

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