阅读说明：本技术 一种气动肌肉驱动的柔性连续型关节 (Flexible continuous joint driven by pneumatic muscles ) 是由 邱智伟 王文彪 鲍官军 于 2021-08-20 设计创作，主要内容包括：本发明公开了一种气动肌肉驱动的柔性连续型关节,包括骨架体及气动人工肌肉,所述骨架体包括刚性骨架、骨架接头及骨架挂钩,所述骨架接头设置在刚性骨架两端位置处,所述骨架挂钩设置在刚性骨架上且靠近骨架接头位置,所述骨架接头上设有万向节,所述气动人工肌肉一端与骨架挂钩相连,另一端通过固定挂钩与对应的万向节相连。本发明的有益效果是：该连续型关节由柔性气动人工肌肉驱动,转动部分由灵活的万向节关节控制,万向节与挂钩结构相互配合安装在关节骨架上,该关节整体结构十分简单、且易于安装,但结构整体十分牢固具有很好的结构强度。(The invention discloses a flexible continuous joint driven by pneumatic muscles, which comprises a skeleton body and pneumatic artificial muscles, wherein the skeleton body comprises a rigid skeleton, skeleton joints and skeleton hooks, the skeleton joints are arranged at two ends of the rigid skeleton, the skeleton hooks are arranged on the rigid skeleton and are close to the positions of the skeleton joints, universal joints are arranged on the skeleton joints, one end of each pneumatic artificial muscle is connected with the corresponding skeleton hook, and the other end of each pneumatic artificial muscle is connected with the corresponding universal joint through a fixed hook. The invention has the beneficial effects that: this continuous type joint is driven by flexible pneumatic artificial muscle, and the rotating part is controlled by nimble universal joint, and the universal joint is mutually supported with the couple structure and is installed on the joint skeleton, and this joint overall structure is very simple, and easily installation, but the whole very firm of structure has fine structural strength.)

1. The utility model provides a flexible continuous type joint of pneumatic muscle driven, its characterized in that, includes skeleton body (2) and pneumatic artificial muscle (1), skeleton body (2) are including rigidity skeleton (203), skeleton joint and skeleton couple (5), the skeleton joint sets up in rigidity skeleton (203) both ends position department, skeleton couple (5) set up on rigidity skeleton (203) and are close to the skeleton and connect the position, be equipped with universal joint (4) on the skeleton joint, pneumatic artificial muscle (1) one end links to each other with skeleton couple (5), and the other end links to each other with corresponding universal joint (4) through fixed couple (3).

2. A pneumatic muscle-driven flexible continuous joint according to claim 1, wherein the frame joint comprises a transverse frame joint (201) and a longitudinal frame joint (202), the transverse frame joint (201) and the longitudinal frame joint (202) each comprising two oppositely arranged connection sleeves (204), the universal joint (4) being arranged at a position between the two connection sleeves (204).

3. The pneumatic muscle-driven flexible continuous joint according to claim 1, wherein the skeleton hook (5) comprises a hook fixing seat (501) and a hook main body I (502) arranged on the hook fixing seat (501), and the hook fixing seat (501) is fixedly connected with the rigid skeleton (203).

4. The pneumatic muscle-driven flexible continuous joint as claimed in claim 1, wherein the fixed hook (3) comprises a hook locking seat (301) and a hook main body II (302) arranged on the hook locking seat (301), and the hook locking seat (301) is fixedly connected with the universal joint (4).

5. The pneumatic muscle-driven flexible continuous joint as claimed in claim 1, wherein the pneumatic artificial muscle (1) comprises a silica gel woven mesh (101), an air inlet head (103) arranged at one end of the silica gel woven mesh (101), and a sealing head (102) arranged at the other end of the silica gel woven mesh (101), the air inlet head (103) is connected with the fixed hook (3), and the sealing head (102) is connected with the skeleton hook (5).

6. A pneumatic muscle-actuated flexible continuous joint according to claim 1, wherein the universal joint (4) is of a cubic configuration having two opposite faces provided with a circular outer joint (401) and one opposite face provided with a square fixed joint (402).

Technical Field

The invention relates to the technical field of flexible continuous joint structures, in particular to a flexible continuous joint driven by pneumatic muscles.

Background

In recent years, with the rapid development of the biomimetic technology, the continuous robot receives more and more attention. The continuous robot is a novel bionic robot, is similar to soft organisms such as elephant noses, octopus beards and the like, and does not have any discrete joints and rigid connecting rods. The continuous robot has strong structural flexibility and environmental adaptability, and does not need to be provided with a complex sensing system. Continuous robots can be flexibly controlled to accommodate a variety of narrow work spaces and unstructured environments in which grabbing, exploring, etc. actions can be performed. The method has wide application prospect, and can be applied to the occasions of operation in multi-obstacle industrial environment, detection and search and rescue in bent pipelines and collapsed buildings, maintenance of internal pipelines of nuclear power stations, diagnosis and treatment of human digestive tract diseases and the like. In addition, from the perspective of human interaction, the continuum robot has been widely used in the multi-human-machine interaction work scenario due to its highly controllable structural design and the advantages of multi-degree of freedom motion space, such as: medical rehabilitation, aerospace, old and disabled assisting and the like. The continuum robot also has the advantages of stable attitude estimation, accurate motion control, larger terminal load capacity and the like, and because the continuum robot plays an important role in the working life of people, the design of a continuum robot joint which has an excellent structure and can safely interact is particularly important.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a pneumatic muscle driven flexible continuous joint with reasonable structural design.

The technical scheme of the invention is as follows:

the utility model provides a flexible continuous type joint of pneumatic muscle driven, includes skeleton body and pneumatic artificial muscle, the skeleton body includes rigidity skeleton, skeleton joint and skeleton couple, the skeleton joint sets up in rigidity skeleton both ends position department, the skeleton couple sets up on the rigidity skeleton and is close to skeleton joint position, be equipped with the universal joint on the skeleton joint, pneumatic artificial muscle one end links to each other with the skeleton couple, and the other end links to each other with the universal joint that corresponds through fixed couple.

The utility model provides a flexible continuous type joint of pneumatic muscle driven, its characterized in that, the skeleton connects including horizontal skeleton joint and vertical skeleton joint, horizontal skeleton joint and vertical skeleton joint all include the adapter sleeve of two relative settings, the universal joint sets up the position department between two adapter sleeves.

The pneumatic muscle-driven flexible continuous joint is characterized in that a framework hook comprises a hook fixing seat and a hook main body I arranged on the hook fixing seat, and the hook fixing seat is fixedly connected with a rigid framework.

The pneumatic muscle-driven flexible continuous joint is characterized in that the fixed hook comprises a hook locking seat and a hook main body II arranged on the hook locking seat, and the hook locking seat is fixedly connected with the universal joint.

A flexible continuous type joint of pneumatic muscle driven, its characterized in that, pneumatic artificial muscle includes that the net cover is woven to silica gel, sets up the head of admitting air and the sealed head of setting at the net cover other end is woven to silica gel at the net cover is woven to silica gel one end, the head of admitting air links to each other with fixed couple, sealed head links to each other with the skeleton couple.

The pneumatic muscle-driven flexible continuous joint is characterized in that the universal joint is of a cubic structure, two opposite surfaces of the universal joint are provided with circular external joints, and one opposite surface of the universal joint is provided with a square fixed joint.

The invention has the beneficial effects that: this continuous type joint is driven by flexible pneumatic artificial muscle, and the rotating part is controlled by nimble universal joint, and the universal joint is mutually supported with the couple structure and is installed on the joint skeleton, and this joint overall structure is very simple, and easily installation, but the whole very firm of structure has fine structural strength.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic diagram of the skeleton structure of the present invention;

FIG. 3 is a schematic view of the fixed hook structure of the present invention;

FIG. 4 is a schematic view of the gimbal design of the present invention;

FIG. 5 is a schematic view of a pneumatic artificial muscle structure of the present invention;

FIG. 6 is a schematic view of a hook structure of the present invention;

FIG. 7 is a schematic view of a plurality of integral connections of the present invention;

in the figure: 1. pneumatic artificial muscles; 101. weaving a silica gel mesh sleeve; 102. a sealing head; 103. an air inlet head; 2. a skeleton body; 201. a transverse skeleton joint; 202. a longitudinal joint; 203. a rigid skeleton; 204. connecting sleeves; 3. fixing the hook; 301. a hook locking seat; 302. a second hook body; 4. a universal joint; 401. a circular outer joint; 402. a square fixed joint; 5. a framework hook; 501. a hook fixing seat; 502. the hook comprises a first hook body.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

As shown in fig. 1 to 7, a pneumatic muscle-driven flexible continuous joint includes a pneumatic artificial muscle 1, a silica gel woven mesh 101, a sealing head 102, an air inlet 103, a skeleton body 2, a transverse skeleton joint 201, a longitudinal joint 202, a rigid skeleton 203, a connecting sleeve 204, a fixed hook 3, a hook locking seat 301, a hook main body two 302, a universal joint 4, a circular external joint 401, a square fixed joint 402, a skeleton hook 5, a hook fixing seat 501, and a hook main body one 502.

Example (b):

the flexible continuous joint driven by pneumatic muscles mainly comprises pneumatic artificial muscles 1, a skeleton body 2, a fixed hook 3, a universal joint 4 and a skeleton hook 5;

specifically, skeleton body 2 includes rigid skeleton 203, skeleton joint and skeleton couple 5, and the skeleton joint sets up in rigid skeleton 203 both ends position department, and skeleton couple 5 sets up on rigid skeleton 203 and is close to the skeleton and connects the position, is equipped with universal joint 4 on the skeleton joint, and 1 one end of pneumatic artificial muscle links to each other with skeleton couple 5, and the other end links to each other with corresponding universal joint 4 through fixed couple 3.

More specifically, the frame joint includes a transverse frame joint 201 and a longitudinal frame joint 202, the transverse frame joint 201 and the longitudinal frame joint 202 both include two oppositely-arranged connecting sleeves 204 (circular ring shape), and the universal joint 4 is arranged at a position between the two connecting sleeves 204.

Specifically, the framework hook 5 comprises a hook fixing seat 501 and a hook main body one 502 arranged on the hook fixing seat 501, and the hook fixing seat 501 is fixedly connected with the rigid framework 203.

Specifically, the fixed hook 3 comprises a hook locking seat 301 and a second hook body 302 arranged on the hook locking seat 301, and the hook locking seat 301 is fixedly connected with the universal joint 4.

Specifically, the pneumatic artificial muscle 1 comprises a silica gel woven net cover 101, an air inlet head 103 arranged at one end of the silica gel woven net cover 101 and a sealing head 102 arranged at the other end of the silica gel woven net cover 101, wherein the air inlet head 103 is connected with the fixed hook 3, and the sealing head 102 is connected with the framework hook 5.

Specifically, the universal joint 4 is of a cubic structure, and has two opposite surfaces provided with a circular external connector 401, and one opposite surface provided with a square fixed connector 402, and is fixed with the hook locking seat 301 through the square fixed connector 402 in a threaded manner.

Specifically, when a plurality of pneumatic muscle-driven flexible continuous joints (three joints are shown in fig. 7) are connected, the fixed hook 3 is arranged at the round external connector 401, that is, the fixed hook 3 penetrates through the connecting sleeve 204 and is screwed and fixed with the square fixed connector 402 through the hook locking seat 301.

The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the technical solutions of the present invention, so long as the technical solutions can be realized on the basis of the above embodiments without creative efforts, which should be considered to fall within the protection scope of the patent of the present invention.