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Two-degree-of-freedom combined joint with hydraulic artificial muscle displacement amplification

A technology of artificial muscle and displacement amplification, which is applied in the direction of manufacturing tools, underwater operation equipment, program-controlled manipulators, etc. It can solve the problems of thick diameter and limited range of joint motion, and achieve smooth motion, compact structure, and a large range of motion space. Effect

Active Publication Date: 2020-07-17
DALIAN MARITIME UNIVERSITY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the diameter of the existing hydraulic artificial muscle transmission wire is too thick, which limits the range of motion of the joint

Method used

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  • Two-degree-of-freedom combined joint with hydraulic artificial muscle displacement amplification
  • Two-degree-of-freedom combined joint with hydraulic artificial muscle displacement amplification
  • Two-degree-of-freedom combined joint with hydraulic artificial muscle displacement amplification

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Embodiment Construction

[0022] The present invention will be further described below in conjunction with the accompanying drawings. like Figure 1-3 As shown, a two-degree-of-freedom combined joint with hydraulic artificial muscle displacement amplification includes a first joint and a second joint, and the first joint and the second joint are connected through a joint transition block 26;

[0023]The first joint includes a fixed plate 1, a first hydraulic artificial muscle 2, a second hydraulic artificial muscle 33, a first pulley block, a second pulley block, a first transmission wire tightening device 5, and a second transmission wire tightening device 29. The first joint support plate 7, the first lock nut 8, the second lock nut 27, the first Y-shaped bracket 9, the first joint wheel 28, the first transmission wire 6 and the second transmission wire 30; The first pulley block includes a first movable pulley 4; the second pulley block includes a second movable pulley 31; the fixed plate 1 is conn...

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Abstract

The invention discloses a two-degree-of-freedom combined joint with hydraulic artificial muscle displacement amplification. The two-degree-of-freedom combined joint comprises a first joint and a second joint, the first joint and the second joint are connected through a joint transition block, the first joint comprises a fixed plate, two hydraulic artificial muscles, two pulley sets and two drivingwire tightening devices, the second joint comprises an output end, two hydraulic artificial muscles, two pulley sets and two driving wire tightening devices. According to the two-degree-of-freedom combined joint, the pulley sets are adopted for transmission, a movable pulley in each pulley set is connected with the corresponding hydraulic artificial muscle, each hydraulic artificial muscles contracts to drive the corresponding movable pulley to move, each movable pulley is actually a lever with a power arm equal to 2 times of a resistance arm, and therefore, the load of driving wires can be reduced; and secondly, the moving distance of the terminal ends of the driving wires is 2 times of the moving distance of the movable pulleys, and therefore, the effective stroke of the hydraulic artificial muscles is improved further by driving of the pulley sets, so that the joint has a large range of motion space and high output torque.

Description

technical field [0001] The invention relates to the fields of special operation manipulators and deep sea operation equipment, especially the underwater operation manipulator in deep sea environment. Background technique [0002] The underwater robotic arm is the core part of the underwater robot's exploration and development of marine resources. The combination of multiple joints realizes the multi-degree-of-freedom movement of the underwater robotic arm. Therefore, it is urgent to develop joints with compact structure and large range of motion space. The existing underwater manipulator drive methods include hydraulic drive and motor drive; the extension rod of the hydraulic cylinder is easily polluted and corroded by the environment, and in the deep sea environment, a heating device is required to prevent the hydraulic oil from increasing in viscosity and unable to flow. The reliability is low, which increases the cost of equipment maintenance; while the power density of...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10B25J17/02B63C11/52
CPCB25J9/1075B25J17/0258B63C11/52
Inventor 张增猛车进凯弓永军贾云瑞田昊
Owner DALIAN MARITIME UNIVERSITY
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