Flexible redundant bionic joint based on series-parallel pneumatic tendon

Abstract

The utility model is suitable for the field of bionic robots, and provides a flexible redundant bionic joint based on a series-parallel pneumatic tendon, which comprises a first connecting piece and a second connecting piece, the two first connecting pieces are oppositely arranged, and the second connecting piece is connected between the two first connecting pieces; more than two series-parallel pneumatic tendon redundant muscle groups are further connected between the two first connecting pieces, and the more than two series-parallel pneumatic tendon redundant muscle groups surround the periphery of the second connecting piece; the parallel-serial pneumatic tendon is driven by a parallel-serial pneumatic tendon redundant muscle group, in the parallel-serial pneumatic tendon redundant muscle group, two short pneumatic tendons with the same length are connected in series, and two short pneumatic tendons with different lengths are connected in series; the robot has the characteristics of multiple degrees of freedom, large movement range, good flexibility and large output force.

Description

Technical Field

[0001] The utility model belongs to the field of bionic robots, and in particular relates to a flexible redundant bionic joint based on hybrid pneumatic tendons. Background Art

[0002] As a pneumatic actuator, pneumatic tendon has good flexibility and an output force that is more than ten times that of a cylinder of the same diameter. At the same time, it has properties similar to human muscles. Therefore, its application in robot joints has attracted the attention of domestic and foreign universities and research institutes, and is mainly used in research on bionic joints, vehicle vibration testing, and soft joints.

[0003] However, the movement length of the pneumatic tendon is affected by the total length of its rubber tube. According to the pneumatic tendon manual provided by FESTO, at around 7 bar, the range of movement of the pneumatic tendon is only 25% of the length of the rubber tube, and the contraction length further limits the output force. Therefore, the output force of a joint driven by a single pneumatic tendon is greatly restricted, and the movement state and range of motion are limited. It is necessary to design a flexible redundant bionic joint based on a hybrid pneumatic tendon. Utility Model Content

[0004] The purpose of the embodiment of the utility model is to provide a flexible redundant bionic joint based on hybrid pneumatic tendons, aiming to solve the problem that the output force of the existing joint driven by a single pneumatic tendon is greatly limited, and the movement state and range of motion are limited.

[0005] An embodiment of the present utility model is implemented as follows: an antagonistic muscle joint based on a hybrid pneumatic muscle group includes a first connecting member and a second connecting member; the two first connecting members are arranged opposite to each other, and the second connecting member is connected between the two first connecting members; more than two hybrid pneumatic tendon redundant muscle groups are also connected between the two first connecting members, and the more than two hybrid pneumatic tendon redundant muscle groups are surrounded by the periphery of the second connecting member.

[0006] Preferably, the second connecting member is a pneumatic muscle or a support rod, or a combination of a pneumatic muscle and a support rod.

[0007] Preferably, the number of the hybrid pneumatic muscle-tendon redundant muscle groups is three.

[0008] Preferably, the hybrid pneumatic muscle-tendon redundant muscle group includes: a first pneumatic muscle, a second pneumatic muscle, a third pneumatic muscle, and a fourth pneumatic muscle;

[0009] The two first pneumatic muscles are connected in series, and the second pneumatic tendon and the third pneumatic tendon are connected in series;

[0010] The first pneumatic muscle connected in series, the second pneumatic muscle connected in series, and the third pneumatic muscle and the fourth pneumatic muscle are connected in parallel.

[0011] Preferably, any two of the first pneumatic muscle, the second pneumatic muscle, the third pneumatic muscle, and the fourth pneumatic muscle have different lengths.

[0012] Preferably, the first pneumatic muscle connected in series, the second pneumatic muscle connected in series, and the third pneumatic tendon and the fourth pneumatic tendon are connected in parallel via a hinge structure;

[0013] Wherein, the hinge structure includes a ball joint and an end plate.

[0014] Preferably, a tension sensor is provided at one end or both ends of the first pneumatic muscle, the second pneumatic muscle, the third pneumatic muscle, and the fourth pneumatic muscle.

[0015] Preferably, the first pneumatic muscle is a DMSP-20-200-RM-CM pneumatic muscle; the second pneumatic muscle is a DMSP-20-240-RM-CM pneumatic muscle; the third pneumatic muscle is a DMSP-20-160-RM-CM pneumatic muscle; the fourth pneumatic muscle is a DMSP-20-640-RM-CM pneumatic muscle;

[0016] The second connecting member is rotatably connected to the first connecting member, and the second connecting member is a pneumatic muscle of model DMSP-20-715-RM-CM.

[0017] The flexible redundant bionic joint based on hybrid pneumatic tendons provided by the embodiment of the present invention, compared with the existing bionic joint structure, can simultaneously realize the movement of the joint in multiple directions by utilizing various forms of pneumatic tendons and hybrid pneumatic tendon redundant muscle group combinations; by utilizing the series, parallel and hybrid combinations of pneumatic tendons of various lengths, it can give full play to the advantages of the isobaric, isotonic and isometric states of each pneumatic tendon in different trajectory control and force control processes, and realize the complementary advantages of each pneumatic tendon; by using the hybrid pneumatic tendon redundant muscle group as the driving element, compared with a single pneumatic tendon, it retains the advantage of the good flexibility of the pneumatic tendon and also has the advantage of large output force. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A mechanical structure diagram of a flexible redundant bionic joint based on a hybrid pneumatic muscle-tendon in one embodiment;

[0019] Figure 2 A mechanical structure diagram of a hybrid pneumatic muscle-tendon redundant muscle group in one embodiment;

[0020] In the accompanying drawings: upper end fixed plate 1, hybrid pneumatic muscle redundant muscle group 1 2, middle pneumatic muscle 3, lower end fixed plate 4, hybrid pneumatic muscle redundant muscle group 2 5, hybrid pneumatic muscle redundant muscle group 3 6, muscle group end plate 1 7, short pneumatic muscle 1 8, short pneumatic muscle 2 9, long pneumatic muscle 10, short pneumatic muscle 3 11, short pneumatic tendon 4 12, rod end joint bearing 1 13, rod end joint bearing 2 14, tension sensor 3 15, tension sensor 2 16, tension sensor 1 17, tension sensor 4 18, tension sensor 5 19, tension sensor 6 20, tension sensor 7 21, rod end joint bearing 3 22, muscle group end plate 2 23. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0022] Glossary: Pneumatic muscle generally refers to pneumatic artificial muscle. Pneumatic artificial muscle is driven by external compressed air, performing push and pull movements, similar to the movement of human muscles.

[0023] The specific implementation of the present invention is described in detail below with reference to specific embodiments.

[0024] like Figure 1-Figure 2 As shown, a hybrid pneumatic tendon flexible redundant bionic joint based on an embodiment of the present invention includes a first connecting member and a second connecting member; the two first connecting members are arranged opposite to each other, and the second connecting member is connected between the two first connecting members; there are also two or more hybrid pneumatic tendon redundant muscle groups connected between the two first connecting members, and the two or more hybrid pneumatic tendon redundant muscle groups are surrounded by the periphery of the second connecting member.

[0025] In an example of this embodiment, the first connecting member may be a plate, a ring, a frame or the like. When a plate is used, the two first connecting members are specifically: an upper fixing plate 1 and a lower fixing plate 4 .

[0026] In an example of this embodiment, the second connecting member is a pneumatic muscle or a support rod, or a combination of a pneumatic muscle and a support rod.

[0027] In this example, the second connecting member is a pneumatic muscle, specifically the middle pneumatic muscle 3;

[0028] The connection between the middle pneumatic muscle 3 and the upper fixing plate 1 and the lower fixing plate 4 is configured to be rotatable. The rotatable connection can be achieved by a rod end joint bearing or a ball joint.

[0029] In addition, the middle pneumatic muscle 3 is connected to the centers of the upper fixing plate 1 and the lower fixing plate 4 .

[0030] For example, the second connecting member is rotatably connected to the first connecting member, and the second connecting member is a pneumatic muscle of the DMSP-20-715-RM-CM model of FESTO.

[0031] In an example of this embodiment, the second connecting member is a support rod, which can be an electric rod, a cylinder, a fixed rod or a hydraulic rod.

[0032] In an example of this embodiment, the number of the hybrid pneumatic tendon redundant muscle groups is two, three, four or five, etc. Preferably, the number of the hybrid pneumatic tendon redundant muscle groups is three, such as Figure 1 shown.

[0033] In one example of this embodiment, two or more hybrid pneumatic muscle-tendon redundant muscle groups are arranged around the periphery of the second connector; specifically, when there are three hybrid pneumatic muscle-tendon redundant muscle groups, the arrangement is as follows:

[0034] The hybrid pneumatic muscle-tendon redundant muscle group 1 2, the hybrid pneumatic muscle-tendon redundant muscle group 2 5, and the hybrid pneumatic muscle-tendon redundant muscle group 3 6, which are evenly distributed on the circumference, have exactly the same structures.

[0035] In this example, in order to facilitate disassembly or maintenance, the hybrid pneumatic muscle tendon redundant muscle group 1 2, the hybrid pneumatic muscle tendon redundant muscle group 2 5, and the hybrid pneumatic muscle tendon redundant muscle group 3 6 are all rotatably connected to the upper end fixed plate 1, and the rotatable connection is a ball joint; the hybrid pneumatic muscle tendon redundant muscle group 1 2, the hybrid pneumatic tendon redundant muscle group 2 5, and the hybrid pneumatic tendon redundant muscle group 3 6 are all fixedly connected to the lower end fixed plate 4, and the fixed connection is a threaded connection.

[0036] In an example of this embodiment, the hybrid pneumatic tendon redundant muscle group 1 2, the hybrid pneumatic tendon redundant muscle group 2 5, the hybrid pneumatic tendon redundant muscle group 3 6, and the intermediate pneumatic tendon 3 can be inflated together to drive the upper fixed plate 1 to move relative to the lower fixed plate 4 along the Z axis; the intermediate pneumatic tendon 3 is filled with compressed air of a certain pressure as a support rod, and the length of the support rod can be adjusted by adjusting the air pressure of the intermediate pneumatic tendon 3; the hybrid pneumatic tendon redundant muscle group 1 2, the hybrid pneumatic tendon redundant muscle group 2 5, and the hybrid pneumatic tendon redundant muscle group 3 6 serve as power elements to drive the upper fixed plate 1 to rotate relative to the lower fixed plate 4 around the X axis and Y axis.

[0037] In one embodiment, Figure 1 、 Figure 2As shown, one of the hybrid pneumatic muscle-tendon redundant muscle groups is taken as an example; the hybrid pneumatic muscle-tendon redundant muscle group includes: a first pneumatic muscle, a second pneumatic muscle, a third pneumatic muscle, and a fourth pneumatic muscle;

[0038] The two first pneumatic muscles are connected in series, and the second pneumatic tendon and the third pneumatic tendon are connected in series;

[0039] The first pneumatic muscle connected in series, the second pneumatic muscle connected in series, and the third pneumatic muscle and the fourth pneumatic muscle are connected in parallel.

[0040] More specifically, the two first pneumatic muscles are short pneumatic muscle 1 and short pneumatic muscle 3, the second pneumatic muscle is short pneumatic muscle 2 9, the third pneumatic muscle is short pneumatic muscle 4 12, and the fourth pneumatic muscle is long pneumatic muscle 10;

[0041] In an example of this embodiment, the lengths of any two of the first pneumatic tendon, the second pneumatic tendon, the third pneumatic tendon, and the fourth pneumatic tendon are different;

[0042] The length of the short pneumatic muscle 1 8 is consistent with that of the short pneumatic muscle 3 11; the length of the short pneumatic muscle 2 9 is different from that of the short pneumatic muscle 4 12, and is also different from the length of the short pneumatic muscle 1 8 and the short pneumatic muscle 3 11.

[0043] The pneumatic tendons of different lengths can more realistically simulate the state of muscle fibers during joint movement.

[0044] In one example of this embodiment, the first pneumatic muscle connected in series, the second pneumatic muscle connected in series, and the third and fourth pneumatic tendons are connected in parallel via a hinge structure.

[0045] Wherein, the hinge structure includes a ball joint and an end plate.

[0046] In this example, taking one of the hybrid pneumatic muscle-tendon redundant muscle groups as an example, the end plates include muscle group end plate 1 7 and muscle group end plate 2 23 ; the ball joint includes rod end joint bearing 1 13 , rod end joint bearing 2 14 , and rod end joint bearing 3 22 .

[0047] In one embodiment, a tension sensor is provided at one end or both ends of the first pneumatic muscle, the second pneumatic muscle, the third pneumatic muscle, and the fourth pneumatic muscle.

[0048] In an example of this embodiment, the tension sensors provided are: tension sensor 1 17, tension sensor 2 16, tension sensor 3 15, tension sensor 4 18, tension sensor 5 19, tension sensor 6 20, tension sensor 7 21;

[0049] like Figure 2As shown, the upper and lower ends of the short pneumatic muscle 1 8 are fixedly connected to the tension sensor 1 17 and the tension sensor 4 18 respectively, and the upper and lower ends of the short pneumatic muscle 3 11 are fixedly connected to the tension sensor 4 18 and the tension sensor 6 20 respectively; the upper and lower ends of the short pneumatic muscle 2 9 are fixedly connected to the tension sensor 2 16 and the tension sensor 5 19 respectively, and the upper and lower ends of the short pneumatic muscle 4 12 are fixedly connected to the tension sensor 5 19 and the tension sensor 7 21 respectively; one end of the long pneumatic tendon 10 is fixedly connected to the tension sensor 3 15, and the other end is rotatably connected to the rod end joint bearing 3 22, and the rod end joint bearing 3 22 is rotatably connected to the muscle group end plate 2 23;

[0050] Tension sensor 17, tension sensor 2 16, and tension sensor 3 15 are all fixedly connected to muscle group end plate 1 7, and muscle group end plate 1 7 is rotatably connected to the upper end fixed plate 1; one end of the rod end joint bearing 1 13 is fixedly connected to tension sensor 6 20, and the other end is rotatably connected to muscle group end plate 2 23; one end of the rod end joint bearing 2 14 is fixedly connected to tension sensor 7 21, and the other end is rotatably connected to muscle group end plate 2 23; muscle group end plate 23 is fixedly connected to the lower end fixed plate 4.

[0051] In an example of this embodiment, the first pneumatic muscle is a DMSP-20-200-RM-CM pneumatic muscle; the second pneumatic muscle is a DMSP-20-240-RM-CM pneumatic muscle; the third pneumatic muscle is a DMSP-20-160-RM-CM pneumatic muscle; and the fourth pneumatic muscle is a DMSP-20-640-RM-CM pneumatic muscle.

[0052] In one example of this embodiment, in order to ensure the wear resistance of the joint and to ensure that the friction force of the joint remains unchanged, the rod end joint bearing 13, the rod end joint bearing 2 14, and the rod end joint bearing 3 22 are preferably THK brand model RBI10D rod end bearings;

[0053] In one embodiment, the flexible redundant bionic joint based on the hybrid pneumatic muscle also includes a motion monitoring control unit, which is used to monitor and control the movements of the short pneumatic muscle 1 8, the short pneumatic muscle 2 9, the long pneumatic tendon 10, the short pneumatic tendon 3 11, and the short pneumatic tendon 4 12, and the movements are characterized by isobaric, isotonic, and isometric states.

[0054] This embodiment controls the position of a hybrid pneumatic muscle-tendon flexible redundant bionic joint by controlling individual pneumatic muscles and redundant muscle groups. Furthermore, by incorporating intelligent control models such as fuzzy control, sliding mode control, and neural networks, precise trajectory control is achieved. This embodiment offers advantages unmatched by other bionic joints. It can be used in medical and engineering education, international exhibitions, and high-load rotational actuation, achieving a near-realistic simulation of human joints.

[0055] It should be noted that the short pneumatic muscle 1 8, the short pneumatic muscle 2 9, the long pneumatic muscle 10, the short pneumatic muscle 3 11, the short pneumatic muscle 4 12 and the muscle group end plate 1 7 or the muscle group end plate 2 23 can be directly connected, or can be indirectly connected through other connecting rods, connecting sleeves and other connecting elements; other structures, such as sensors, can also be connected between the short pneumatic tendon 1 8 and the short pneumatic tendon 3 11, and between the short pneumatic tendon 2 9 and the short pneumatic tendon 4 12.

[0056] In one example of this embodiment, the motion monitoring control unit includes: a sensor component, a data acquisition card, and a computer;

[0057] The sensor assembly is connected to the computer via the data acquisition card;

[0058] Among them, the short pneumatic muscle 1 8, the short pneumatic muscle 2 9, the long pneumatic muscle 10, the short pneumatic muscle 3 11, and the short pneumatic muscle 4 12 are connected to a pneumatic pipeline for pumping air, and a valve assembly is provided on the pneumatic pipeline, and the valve assembly is connected to the computer through the data acquisition card;

[0059] Among them, the sensor assembly is used to monitor the actions of the short pneumatic muscle 1 8, the short pneumatic muscle 2 9, the long pneumatic muscle 10, the short pneumatic muscle 3 11, and the short pneumatic muscle 4 12, and feed back the monitoring results to the computer through the data acquisition card. The computer outputs a control signal to the valve assembly through the data acquisition card, and the valve assembly controls the flow and on-off of the compressed air in the pneumatic pipeline.

[0060] Generally, the movements of the short pneumatic muscle 18, the short pneumatic muscle 29, the long pneumatic muscle 10, the short pneumatic muscle 311, and the short pneumatic muscle 412 can be monitored by monitoring the internal air pressure, tension changes or displacement (or extension) of the short pneumatic muscle 18, the short pneumatic muscle 29, the long pneumatic tendon 10, the short pneumatic muscle 311, and the short pneumatic muscle 412; and the movements of the short pneumatic muscle 18, the short pneumatic muscle 29, the long pneumatic tendon 10, the short pneumatic tendon 311, and the short pneumatic tendon 412 can be controlled by adjusting the internal air pressure of the short pneumatic muscle 18, the short pneumatic tendon 29, the long pneumatic tendon 10, the short pneumatic tendon 311, and the short pneumatic tendon 412.

[0061] In one example, the valve assembly includes at least a proportional pressure regulating valve; the sensor assembly includes at least: an air pressure sensor; the air pressure sensor is used to monitor the internal air pressure of the short pneumatic muscle 1 8, the short pneumatic muscle 2 9, the long pneumatic muscle 10, the short pneumatic muscle 3 11, and the short pneumatic muscle 4 12 respectively.

[0062] In this example, all analog signals measured by the air pressure sensor are transmitted to the computer through the data acquisition card. The computer compares the collected signal with the output signal and makes a difference. Through the data acquisition card, it further outputs a control signal to control the internal air pressure (or simply air pressure) of the short pneumatic muscle 1 8, short pneumatic muscle 2 9, long pneumatic tendon 10, short pneumatic tendon 3 11, and short pneumatic tendon 4 12 through the valve assembly.

[0063] In one example of this embodiment, the pneumatic pipeline is connected to an air source, which may be the air outlet of a compressor through which compressed air is generated; the air source may also be a high-pressure gas storage tank through which compressed air is provided; of course, it may also be other air supply equipment, which is not specifically limited here.

[0064] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A flexible redundant bionic joint based on a hybrid pneumatic tendon, comprising a first connecting member and a second connecting member; characterized in that: The two first connecting members are arranged opposite to each other, and the second connecting member is connected between the two first connecting members; Two or more hybrid pneumatic muscle-tendon redundant muscle groups are connected between the two first connecting members, and the two or more hybrid pneumatic muscle-tendon redundant muscle groups surround the periphery of the second connecting member.

2. The flexible redundant bionic joint based on hybrid pneumatic tendon according to claim 1 is characterized in that: The second connecting member is a pneumatic muscle or a support rod, or a combination of a pneumatic muscle and a support rod.

3. The flexible redundant bionic joint based on hybrid pneumatic tendon according to claim 1 is characterized in that: The number of the hybrid pneumatic muscle-tendon redundant muscle groups is three.

4. The flexible redundant bionic joint based on hybrid pneumatic tendon according to claim 1 is characterized in that: The hybrid pneumatic muscle redundant muscle group includes: a first pneumatic muscle, a second pneumatic muscle, a third pneumatic muscle, and a fourth pneumatic muscle; The two first pneumatic muscles are connected in series, and the second pneumatic tendon and the third pneumatic tendon are connected in series; The first pneumatic muscle connected in series, the second pneumatic muscle connected in series, and the third pneumatic muscle and the fourth pneumatic muscle are connected in parallel.

5. The flexible redundant bionic joint based on hybrid pneumatic tendon according to claim 4 is characterized in that: Any two of the first pneumatic muscles, the second pneumatic muscles, the third pneumatic muscles, and the fourth pneumatic muscles have different lengths.

6. The flexible redundant bionic joint based on hybrid pneumatic tendon according to claim 4 is characterized in that: The first pneumatic muscle connected in series, the second pneumatic muscle connected in series, the third pneumatic tendon and the fourth pneumatic tendon are connected in parallel via a hinge structure; Wherein, the hinge structure includes a ball joint and an end plate.

7. The flexible redundant bionic joint based on hybrid pneumatic tendon according to claim 4 is characterized in that: A tension sensor is provided at one end or both ends of the first pneumatic muscle, the second pneumatic muscle, the third pneumatic muscle, and the fourth pneumatic muscle.

8. The flexible redundant bionic joint based on hybrid pneumatic tendon according to claim 4 is characterized in that: The first pneumatic muscle selects the pneumatic muscle of DMSP-20-200-RM-CM model; the second pneumatic muscle selects the pneumatic muscle of DMSP-20-240-RM-CM model; the third pneumatic muscle selects the pneumatic muscle of DMSP-20-160-RM-CM model; the fourth pneumatic muscle selects the pneumatic muscle of DMSP-20-640-RM-CM model.

9. The flexible redundant bionic joint based on hybrid pneumatic tendon according to claim 1 is characterized in that: The second connecting member is rotatably connected to the first connecting member, and the second connecting member is a pneumatic muscle of model DMSP-20-715-RM-CM.

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