Pneumatic multidirectional bending flexible joint

Abstract

The invention discloses a pneumatic multidirectional bending flexible joint which comprises constraint elements, a joint framework, air bags, an upper end cover, a lower end cover, upper sealing heads, lower sealing heads and fluid inlets. The constraint elements are arranged between the upper end cover and the lower end cover and are coaxially connected in series and densely arranged to form a columnar structure, a plurality of tubular cavities with parallel axes are formed in the columnar structure, the axis of one of the tubular cavities overlaps with the axis of the columnar structure to form a first tubular cavity, the tubular cavities expect the first tubular cavity are called as second tubular cavities, the air bags are arranged in the second tubular cavities, the two ends of the air bags are connected with the upper sealing heads and the lower sealing heads respectively and the lower sealing heads are provided with the fluid inlets. A driving device of the joint is combined with the joint to form an integral structure which is equivalent to four pneumatic artificial muscles in parallel connection and has one degree of freedom and two degrees of operation, and active bending, axial elongation and other functions of the joint in eight directions of space can be achieved.

Description

technical field [0001] The invention relates to a flexible joint for robot limbs, in particular to a pneumatic multidirectional bending flexible joint. Background technique [0002] At present, robot technology is widely used in the fields of industry, military, medical and service, and has become one of the important strategic support technologies of all countries in the world. As the key technology and core components of the robot, the structure, drive, motion performance and control methods of various active joints will determine the overall level of the robot. In the field of terrestrial, aquatic and humanoid robots, the flexible joints of limbs play an important role in solving the adaptability of flexible motion and grasping objects. Therefore, in-depth research on flexible joints has been carried out at home and abroad for many years and gratifying results have been obtained. The main content of the research is the realization of joint drive devices, drive materials ...

AI Technical Summary

Problems solved by technology

Among them, the flexible joints driven by servo motors, hydraulic pressure and cylinders are basically mature in technology and widely used, but they are large in size and the degree of joint flexibility is limited; while conductive polymers and electric drives have small strokes and are mainly used in micro Dynamic joints; Pneumatic artificial muscle drives have good comprehensive flexibility and have been developed rapidly in recent years, but they have strong nonlinearity

The above driving devices must be used in conjunction with the mechanical structure in the application process, which is large in size and difficult to miniaturize. The movement track of the joint is determined by the mechanical structure and has poor flexibility.

[0004] Therefore, the existing artificial joints cannot fully meet the special needs in the fields of handling industrial products with large changes in form, underwater bionics, and special robots. It is necessary to continue to develop highly flexible joints.

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