Pneumatic flexible wrist with elastic hemispherical braking device
A braking device and elastic technology, applied in the direction of program-controlled manipulators, manipulators, manufacturing tools, etc., can solve the problems of insufficient flexibility of the robot wrist and self-braking
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[0012] Below in conjunction with accompanying drawing and specific example the present invention is described in further detail:
[0013] Such as figure 1 As shown, a pneumatically flexible wrist with an elastic hemispherical braking device, the present invention is provided with a wrist upper flange 3, a left hemispherical seat 5, a right hemispherical seat 6, an inner elastic hemispherical 14, a pull rod 12, a roller, and a wedge-shaped slider 11 , flexible axial driver 13, artificial muscle 16, wrist lower flange 17 and some connecting bolts and nuts; the artificial muscle 16 is evenly and symmetrically distributed on the wrist lower flange 17 in the circumferential direction and fixed with bolts; the inner elastic hemisphere 14 is bolted It is fixed on the geometric center of the flange 17 under the wrist; the center of the inner elastic hemisphere 14 is on the line connecting the upper and lower flange geometric centers of the wrist; the bottom of the inner elastic hemisp...
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