Pneumatic-muscled bionic joint based on universal-joint parallel mechanism

Abstract

The invention relates to a pneumatic-muscled bionic joint based on a universal-joint parallel mechanism. The pneumatic-muscled bionic joint mainly structurally comprises a support rod, a fixed end platform, connecting shafts, deep groove ball bearings, pneumatic muscles, universal joints, a front arm platform, internal circlips, and round nuts. When the pneumatic-muscled bionic joint operates, rubber tubes are inflated and expanded by inflating the pneumatic muscles and act on a woven net; weaving angle of lines of the woven net increases, the pneumatic muscles are driven to axially contract; the front arm platform can rotate at three rotational degrees of freedom by inflating one, two or three pneumatic muscles respectively. The pneumatic-muscled bionic joint is simpler in structure, light in weight, good in flexibility and low in cost; space for movement poses is large, the movement range is more approximate to that of human arms, compliance of a mechanism is enhanced accordingly, and pose adjustment range is enlarged. By the use of the pneumatic-muscled bionic joint in the field of medical rehabilitation, functional rehabilitation can be improved for old people or people with upper arms disabled.

Description

technical field [0001] The invention relates to the fields of robots and human body bionics, in particular to a pneumatic muscle bionic joint. Background technique [0002] In today's society, with the rapid economic growth and development, the number of disabled people caused by production and traffic disasters is increasing year by year, and many diseases have also caused many people to lose their upper limbs. On the other hand, the aging of the global population has brought about a large number of problems, such as the need for professional and timely care for the elderly to complete their daily life and medical problems. The resolution of these problems will entail substantial financial burdens. Human upper limb bionic mechanisms can be used to restore limb function in these patients, and can be used to provide assisting devices for the elderly to complete activities of daily living, which will alleviate the current shortage of professional technicians and allow them to...

AI Technical Summary

Problems solved by technology

[0003] Chinese patent CN 1961848 B proposes a flexible exoskeleton elbow joint with single-degree-of-freedom pneumatic muscles. The elbow joint mechanism is composed of two pneumatic muscles and a single-degree-of-freedom rotary motion pair. This structure can only realize single-degree-of-freedom movement

[0004] Chinese patent CN 101181175A proposes a single-degree-of-freedom elbow joint rehabilitation training device. The mechanism is driven by two pneumatic muscles pulling opposite ends. This structure can only realize single-degree-of-freedom movement

[0005] Chinese patent CN 102126210 A proposes a seven-degree-of-freedom pneumatic muscle flexible robot arm. The movement of each degree of freedom of the mechanism is driven by the double-end pull principle of two pneumatic muscles, which results in large volume and high cost.

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