Flexible joint of helical spring type artificial muscle

Abstract

The invention relates to a helical spring type flexible joint of artificial muscle as executing agency of automated equipment, belonging to application technology of mechanical arm. Said flexible joint is similar to one-way flexible joint of finger, elbow, and knee, can be used as ankle that need keeping balance and having better, and the multiple-directional flexible joint of shoulder. The elastomeric bellow pressed by fluid expand axially to supple power of muscle; the flexible joint consist of one artificial muscle component or more; plate butt and sphere universal joint are utilized as the skeleton of flexible joint; the joints that bended stretch again by the rebound of helical spring. The helical spring and closed squeezable elastomeric bellow have perfect function of buffer; the longitudinal and latitudinal threads are held in the tube wall of elastomeric bellow whose deformation is sensitive to the pressure change of fluid, therefore demanding small quantity of flow and little dissipating energy for flexible action of joint.

Description

Technical field: [0001] The invention relates to a flexible joint of a helical spring type artificial muscle, which is a curved joint and can be used as various joints of robots, manipulators and artificial limbs of the disabled; The unidirectional bending joints can also be multi-directional bending joints for ankles and shoulders that need to maintain balance and better cushioning. As actuators of automation equipment, they belong to the technical field of robot and manipulator applications. Background technique: [0002] Before the present invention was made, in the prior art, for bending joints: generally, various types of motors or hydraulic pressure were used as power, and combinations of various mechanical structures, hydraulic cylinders, motors, etc. were used as actuators; the above methods were Rigid structure, poor cushioning, high requirements for control precision, complex structure, large volume, high manufacturing cost. Especially the joints of existing manip...

AI Technical Summary

Problems solved by technology

[0002] Before the present invention was made, in the prior art, for bending joints: generally, various types of motors or hydraulic pressure were used as power, and combinations of various mechanical structures, hydraulic cylinders, motors, etc. were used as actuators; the above methods were Rigid structure, poor cushioning, high precision control requirements, complex structure, large volume, high manufacturing cost

In particular, the joints of existing manipulators and robots do not have the characteristics of multi-directional bending, and cannot reflect the characteristics of animal joint flexibility, flexibility and multi-joint coordination

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