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Plate spring skeleton hydrulic pneumatic flexible bending joint

A hydropneumatic and bending joint technology, applied in the direction of manipulators, manufacturing tools, joints, etc., can solve the problems of insufficient sensitivity, inability to achieve multi-joint coordination, and the inability to obtain a more accurate mathematical model for the bending deformation of cylindrical elastic bodies, etc.

Inactive Publication Date: 2007-08-08
JIANGNAN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Since the axial and a little radial expansion of the cylindrical elastic body consumes energy, the response is not sensitive enough, and a more accurate mathematical model cannot be obtained for the bending deformation of the cylindrical elastic body, the dynamic control effect is not good enough, and the coordination of multiple joints cannot be well realized sex

Method used

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  • Plate spring skeleton hydrulic pneumatic flexible bending joint
  • Plate spring skeleton hydrulic pneumatic flexible bending joint
  • Plate spring skeleton hydrulic pneumatic flexible bending joint

Examples

Experimental program
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Embodiment Construction

[0020] The present invention will be further described below in conjunction with the implementation of scheme 1 in the accompanying drawings:

[0021] The joint of scheme I is mainly composed of head section 1, head seat 2, clamp 3, wave shell elastic body 4, leaf spring 5, spacer 6, tailstock 7, gasket 8, pipe joint 9, hose 10, long hinge seat 11. The hinge 12, the short hinge seat 13, the annular weft 14, the winding warp 15, the middle section 16, etc. are constituted.

[0022] The wave shell elastic body 4 is clamped on the bayonet of the headstock 2 and the tailstock 7 by the clamp 3, and the two ends of the leaf spring 5 are fixed on the headstock 2 and the tailstock 7 through the spacer 6; inside the joint, two The inner hexagon bolts pass through the gasket 8 to fix the long hinge seat 11 and the short hinge seat 13 on the tailstock 7 and the head seat 2 respectively. The long hinge seat 11 and the short hinge seat 13 are connected by the hinge 12; The head seat 2 is ...

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Abstract

A pneumatic flexible joint for robot or manipulator features that the leaf spring is used as its flexible skeleton and the corrugated shell is pneumatically expanded for providing the muscle power. Under the action of leaf spring, it can be bent but not axially extended. Its advantages are high flexibility and control accuracy, and low energy consumption.

Description

Technical field: [0001] The invention relates to a hydropneumatic flexible bending joint of a leaf spring skeleton, which can be used as various joints such as elbows and legs of robots, and is especially suitable for mechanical fingers composed of multiple bending joints. The invention is combined into an operating manipulator, which is used as an actuator of automation equipment, and belongs to the technical field of robots and manipulators. Background technique: [0002] Before the present invention is made, in the prior art, the axial expansion of the cylindrical rubber elastic wall is driven by air pressure, and the bending of the joint occurs due to one side of the metal elastic sheet restricting the axial expansion of the elastic wall, and the recovery depends on the elastic action of the elastic wall. Undisturbed flexible joint ("Pneumatic flexible cylinder and bending and twisting joint", patent application number CN 87107075 A). Energy is consumed due to the axial...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J17/00
Inventor 章军须文波吕兵
Owner JIANGNAN UNIV
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