CN101306535A - Pneumatic artificial muscles - Google Patents
Pneumatic artificial muscles Download PDFInfo
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- CN101306535A CN101306535A CNA2008101163797A CN200810116379A CN101306535A CN 101306535 A CN101306535 A CN 101306535A CN A2008101163797 A CNA2008101163797 A CN A2008101163797A CN 200810116379 A CN200810116379 A CN 200810116379A CN 101306535 A CN101306535 A CN 101306535A
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Abstract
The invention belongs to the pneumatic technology field, and relates to pneumatic artificial muscle. The artificial muscle consists of an outer mesh grid, an inner expansion tube, a sealing component and a sealing component with air vents. The outer mesh grid is aligned with the inner expansion tube at two ends and sleeved on the inner expansion tube, with the original length thereof a little longer than that of the inner expansion tube; and one end of the outer mesh grid is inserted into the sealing component, and the other end thereof is inserted into the sealing component with air vents. The inner expansion tube of the pneumatic artificial muscle is inflated with air with a certain pressure, so that the inner expansion deforms to cause the outer mesh grid to expand in the radial direction, so as to enable the pneumatic artificial muscle to expand in the radial direction, contract in the axial direction and output certain tensile force. The pneumatic artificial muscle has the characteristics of compact structure, simple manufacture, low price, high flexibility, high ratio of output force to dead weight, effective energy conservation, automatic buffer, pollution resistance, etc., and can be widely applied to the fields of robots, auxiliary medical apparatus and instruments, aviation, defense industry, etc.
Description
Technical field
The present invention relates to a kind of Pneumatic artificial muscle, especially utilize the novel pneumatic artificial-muscle of compressed air control, belong to the pneumatics field.
Background technology
The prosthetic product (bionic arm, bionic leg) that designs for the disabled person at present, or complex structure, cost an arm and a leg, otherwise similar to human body in shape but function is simply impracticable.Causing a big main cause of this phenomenon is most of bionic arms, bionic leg, adopts motor as driver.The characteristics that motor weight is big, relative power output is little have limited its application in prosthetic product.Pneumatic artificial muscle is a kind of executing agency similar to the biological muscles characteristic that have, and helps to promote prosthetic product direction of apery on the function and develops.
Along with the arrival of aging society, the nursing robot is undoubtedly a Gospel for society.The apery flexible manipulator is the key content among the nursing robot.Pneumatic artificial muscle is applied in the development of nursing robot's apery flexible manipulator, promotes the development of pneumatics and Robotics, have very high practical value.
Pneumatic artificial muscle has widely to be used, and can be applied in robot field, medical assistance instrument field, aerospace field, military field, industrial circle.
Nearly more than ten years, the research to Pneumatic artificial muscle never was interrupted in the world, no matter be research institution or commercial company, very big research interest and achievement was arranged all.Bridgestone company began one's study and produces Pneumatic artificial muscle the eighties, and development has the abundant free degree and flexible mechanical arm, and they successfully are applied to spray robot and nursing robot.The people such as C.P.Chou, B.Hannaford of U.S. Washington university have inquired into Pneumatic artificial muscle and have gone up possibility of its application at medical science manipulator (as disabled person's artificial limb).The Pneumatic artificial muscle of Britain Shadow company exploitation is research both at home and abroad and uses the widest at most a kind ofly that its profile is as shown below.Its advantage is simple in structure, just because of its structure is too simple, makes this product be difficult to standardized production, is difficult to be applied in the industrial environment.
Summary of the invention
The purpose of this invention is to provide a kind ofly by outer mesh, the combination of inner layer expansion pipe and mechanical sealing assembly utilizes compressed air control, has the novel pneumatic artificial-muscle with the biological muscles similar characteristic.
Technical scheme of the present invention is as follows:
A kind of Pneumatic artificial muscle, comprise outer mesh, inner layer expansion pipe, black box and band passage black box, outer mesh and inner layer expansion pipe justify align, be sleeved on outside the inner layer expansion pipe, its raw footage is more longer than inner layer expansion pipe raw footage, one end is inserted black box, and the other end inserts band passage black box.
Described outer mesh is formed by the form coiling of inelastic fiber with cross-helicity.
The ratio of the length of outer mesh and inner layer expansion length of tube is 10: 6-8.
Emulsion tube or rubber tube that described inner layer expansion pipe is good by elasticity, deformation quantity is big are made.
Described black box comprises hermetic collar, seal plug and connector, and wherein the hermetic collar inwall is the conical surface, and the seal plug front end has circular protrusion, and hermetic collar and seal plug are by being threaded, and seal plug and connector are by being threaded;
The black box of described band passage comprises hermetic collar, band port sealing plug and ventilation connector, wherein the hermetic collar inwall is the conical surface, band port sealing plug front end has circular protrusion, shaft core position is provided with passage, ventilation position, connector axle center is provided with passage, and hermetic collar and band port sealing plug are by being threaded, and band port sealing plug and ventilation connector are by being threaded.
Pneumatic artificial muscle is to be pressed on the conical surface of inboard wall (311,411) of hermetic collar (31,41) by the circular protrusion (321,421) on seal plug and the band port sealing plug, by screw thread (312,412) locking, outer mesh and inner layer expansion pipe are compressed the formation sealing.
The course of work is: Pneumatic artificial muscle charges into the air of certain pressure to the inner layer expansion pipe inside of Pneumatic artificial muscle through passage and passage, the distortion of inner layer expansion pipe, and force outer mesh together radially to expand, Pneumatic artificial muscle is radially expanded, shrink vertically, and export certain pulling force.
Pneumatic artificial muscle is under the certain situation of amount of contraction, and the almost linear proportional relation of its pressure inside and output loading pulling force is promptly when the blowing pressure one timing, Pneumatic artificial muscle contraction quantitative change and the power output relation of being inversely proportional to; Pneumatic artificial muscle is because the inner layer expansion pipe has certain elasticity after being elongated and deformed, so when not inflating, muscle is output effectively still, and this power is that initial length with pneumatic muscles increases; Pneumatic artificial muscle is because the frictional force between outer braid layer and the inner layer expansion pipe causes its characteristic stagnant ring.
The present invention has following advantage and effect: compact conformation of the present invention, make simply, and easy for installation, cheap, highly flexible, power output/big from anharmonic ratio, effectively energy-conservation, and have from characteristics such as buffering, self-damping, antipollutions.
Description of drawings
Fig. 1 is a general structure cross-sectional schematic of the present invention;
Fig. 2 is the amount of contraction-force characteristic curve of Pneumatic artificial muscle;
Fig. 3 is the pressure-force characteristic curve of Pneumatic artificial muscle;
Among the figure: 1-outer braid net, 2-inner layer expansion pipe, 3-black box, 4-band passage black box, 32-seal plug, 42-band port sealing plug, 321,421-circular protrusion, 31,41-hermetic collar, 311,411-conical surface of inboard wall, 312,412-screw thread; 33-connector, 43-ventilation connector, 322,422-screwed hole, 423-passage, 431-passage.
The specific embodiment
Illustrated by Fig. 1, the present invention is mainly by outer braid net 1, inner layer expansion pipe 2, and black box 3 and band passage black box 4 are formed, and wherein: outer braid net 1 is formed by the form coiling of inelastic fiber with cross-helicity; Outer mesh 1 can radially expand or shrink under external force; Outer mesh 1 is sleeved on outside the inner layer expansion pipe 2, the former length of outer mesh is 210mm, the former length of inner layer expansion pipe 2 is 150mm, outer mesh 1 and inner layer expansion pipe 2 justify aligns during installation, one end is inserted black box 3, the other end inserts band passage black box 4, is pressed on the conical surface of inboard wall 311,411 of hermetic collar 31,41 by the circular protrusion 321,421 on seal plug 32 and the band port sealing plug 42, by screw thread 312,412 lockings; The front end of the seal plug 32 of black box 3 and band passage black box 4 and band port sealing plug 42 respectively has the circular protrusion 321,421 of two different-diameters, the formed tapering of its difference in height should match with the conical surface of inboard wall 311,411 of hermetic collar 31,41, the screwed hole 322,422 that is connected with ventilation connector 43 with connector 33 is arranged in the rear end; Centre at band port sealing plug 42 and ventilation connector 43 is provided with passage 423 and passage 431.
The circular protrusion step 321,421 of seal plug 32 and band port sealing plug 42 front ends tightly is pressed on the conical surface of inboard wall 311,411 of hermetic collar 31,41, outer mesh 1, inner layer expansion pipe 2 are extruded into its internal compression air and can reveal from contact-making surface, finish sealing.
Charge into compressed air through passage 423 and passage 431 to inner layer expansion pipe 2 inside of Pneumatic artificial muscle with certain pressure, 2 distortion of inner layer expansion pipe, and force outer mesh 1 together radially to expand.Because the length of the fiber of composition outer mesh 1 is constant, outer braid net 1 radially increases makes its axial shortening, and the power transmission effect of fiber will be radially expanded power and become vertically convergent force, so just set up the contraction displacement of compressed-air actuated pressure, Pneumatic artificial muscle and the relation between the convergent force three.
Other knows that the diameter of outer mesh 1 increases can cause its axial length shortening, otherwise the axial length elongation can cause its reduced.The diameter of outer mesh 1 and inner layer expansion pipe 2 is big more, and the maximum pull that Pneumatic artificial muscle can be exported is big more.
When charging into compressed air to its inside, along with internal pressure rises, inner layer expansion pipe 2 radially expands, and radially outwards pushes outer braid net 1.Outer braid net 1 is by the helix intersection coiled of inelastic fiber with definite shape.
Connector 33 is installed on the seal plug 32 by screw thread 322, can artificial tendon be installed at this end of Pneumatic artificial muscle.Ventilation connector 43 1 ends are installed on the band port sealing plug 42 by canalis spinalis screw thread 422, and the other end is installed the tracheae quick connector, gives the Pneumatic artificial muscle air feed.Connector 33, ventilation connector 43 also can adopt the dividing plate mode to be connected with seal plug 32, band port sealing plug 42.
The contraction displacement of compressed-air actuated pressure, Pneumatic artificial muscle and the relation between the convergent force three are by shown in Figure 2, and promptly under the certain situation of amount of contraction, the relation of Pneumatic artificial muscle pressure inside P and output loading tensile force f is almost linear.Pneumatic artificial muscle contraction quantitative change is big, and characteristic slope diminishes, and promptly when the blowing pressure one timing, the amount of contraction of Pneumatic artificial muscle is more little, and power output is big more.Because the inner layer expansion pipe has certain elasticity after being elongated and deformed, so when pneumatic muscles was not inflated, muscle is output effectively still, and this power is that initial length with pneumatic muscles increases.
By shown in Figure 3, regularly the Pneumatic artificial muscle amount of contraction is more little when the blowing pressure one, and power output is big more.The Pneumatic artificial muscle internal pressure is big more, and characteristic slope is big more, and promptly the blowing pressure of shrinkage factor one timing Pneumatic artificial muscle is big more, and power output is big more.The stagnant ring phenomenon that exists in the curve is to be caused by the frictional force between the rubber layer of outer field braid and internal layer.
Claims (5)
1. Pneumatic artificial muscle, comprise outer mesh, inner layer expansion pipe, black box and band passage black box, it is characterized in that: outer mesh and inner layer expansion pipe justify align, be sleeved on outside the inner layer expansion pipe, its raw footage is more longer than inner layer expansion pipe raw footage, one end is inserted black box, and the other end inserts band passage black box; Described black box comprises hermetic collar, seal plug and connector, and wherein the hermetic collar inwall is the conical surface, and the seal plug front end has circular protrusion, and hermetic collar and seal plug are by being threaded, and seal plug and connector are by being threaded; The black box of described band passage comprises hermetic collar, band port sealing plug and ventilation connector, wherein the hermetic collar inwall is the conical surface, band port sealing plug front end has circular protrusion, shaft core position is provided with passage, ventilation position, connector axle center is provided with passage, and hermetic collar and band port sealing plug are by being threaded, and band port sealing plug and ventilation connector are by being threaded; The sealing of Pneumatic artificial muscle is to be pressed on the conical surface of inboard wall (311,411) of hermetic collar (31,41) by the circular protrusion (321,421) on seal plug and the band port sealing plug, by screw thread (312,412) locking, outer mesh and inner layer expansion pipe are compressed.
2. a kind of Pneumatic artificial muscle according to claim 1 is characterized in that: outer mesh is formed by the form coiling of inelastic fiber with cross-helicity.
3. a kind of Pneumatic artificial muscle according to claim 1 is characterized in that: emulsion tube or rubber tube that the inner layer expansion pipe is good by elasticity, deformation quantity is big are made.
4. a kind of Pneumatic artificial muscle according to claim 4 is characterized in that: band port sealing plug also can adopt the dividing plate mode to connect.
5. Pneumatic artificial muscle according to claim 1 is characterized in that: the ratio of the length of outer mesh and inner layer expansion length of tube is 10: 6-8.
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| CNA2008101163797A CN101306535A (en) | 2008-07-09 | 2008-07-09 | Pneumatic artificial muscles |
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| CNA2008101163797A CN101306535A (en) | 2008-07-09 | 2008-07-09 | Pneumatic artificial muscles |
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Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102211334A (en) * | 2011-05-13 | 2011-10-12 | 苏州市伦琴工业设计有限公司 | Air pressure robot joint |
| CN102241015A (en) * | 2011-06-10 | 2011-11-16 | 浙江工业大学 | Pneumatic flexible swinging joint |
| CN103144101A (en) * | 2013-03-26 | 2013-06-12 | 上海大学 | Flexible body of bionic robot |
| CN103192983A (en) * | 2013-04-01 | 2013-07-10 | 哈尔滨工业大学 | Miniaturized pneumatic muscle driver |
| CN103253368A (en) * | 2013-06-09 | 2013-08-21 | 哈尔滨工业大学 | Pneumatic bionic muscle |
| CN104999475A (en) * | 2015-08-28 | 2015-10-28 | 刘伟 | Artificial muscle and application thereof |
| CN105287000A (en) * | 2015-10-13 | 2016-02-03 | 西安交通大学 | Single-gas-drive flexible minimally invasive surgery operating arm and manufacturing method thereof |
| CN105729465A (en) * | 2016-04-15 | 2016-07-06 | 东南大学 | Pneumatic soft linear telescopic device |
| CN105736505A (en) * | 2016-04-26 | 2016-07-06 | 苏州普来可瑞机电技术有限公司 | Energy-saving pneumatic muscle actuator capable of outputting linear motions and push force |
| CN105856219A (en) * | 2016-06-03 | 2016-08-17 | 中国计量大学 | Pneumatic artificial muscle with self-sensing and driving functions |
| CN106181991A (en) * | 2016-07-18 | 2016-12-07 | 杨海兵 | A kind of bionic muscle |
| CN106956254A (en) * | 2016-01-08 | 2017-07-18 | 东北大学 | Multiple degrees of freedom combination drive artificial-muscle |
| CN109363886A (en) * | 2018-11-05 | 2019-02-22 | 山东大学 | A kind of device for healing and training elbow joint and implementation method |
| CN109449559A (en) * | 2018-11-26 | 2019-03-08 | 哈尔滨工业大学 | A kind of shape memory gas tube structure and preparation method thereof |
| CN109674636A (en) * | 2018-12-19 | 2019-04-26 | 北京航空航天大学 | A kind of external counterpulsation apparatus based on Pneumatic artificial muscle |
| CN110645314A (en) * | 2019-10-17 | 2020-01-03 | 贵州詹阳动力重工有限公司 | Quasi-zero stiffness vibration isolator with low-frequency broadband characteristic |
| CN110695981A (en) * | 2019-10-11 | 2020-01-17 | 大连海事大学 | Double-acting hydraulic artificial muscle linear reciprocating actuator |
| CN110695980A (en) * | 2019-09-29 | 2020-01-17 | 上海交通大学 | Pneumatic artificial muscle with scale protection structure |
| CN110840713A (en) * | 2019-11-29 | 2020-02-28 | 中国科学院深圳先进技术研究院 | Pneumatic muscle |
| CN111390876A (en) * | 2020-01-03 | 2020-07-10 | 腾讯科技（深圳）有限公司 | Intelligent soft manipulator |
| CN111658434A (en) * | 2020-06-29 | 2020-09-15 | 黑龙江佳德医疗器械有限公司 | Knee hyperextension flexible exoskeleton rehabilitation robot based on pneumatic muscles and rehabilitation method |
| CN112043067A (en) * | 2020-09-16 | 2020-12-08 | 中国计量大学 | Intelligent burden-reducing flexible suspension backpack based on pneumatic artificial muscles |
| CN113062895A (en) * | 2021-05-08 | 2021-07-02 | 甘肃黄灿机器人有限责任公司 | Muscle structure of robot |
| CN113665768A (en) * | 2021-08-09 | 2021-11-19 | 哈尔滨工程大学 | Octopus robot for ocean detection |
| WO2023070805A1 (en) * | 2021-10-26 | 2023-05-04 | 江苏大学 | Bidirectional linear fast-response spiral winding type pneumatic artificial muscle based on braided tube |
| CN117001651A (en) * | 2023-08-23 | 2023-11-07 | 大连理工大学 | Small artificial muscle driven by high-voltage electricity and driving method thereof |
| CN114260356B (en) * | 2021-10-14 | 2024-03-29 | 重庆江东机械有限责任公司 | Novel hot gas expansion forming process for titanium alloy aviation hollow blade |
-
2008
- 2008-07-09 CN CNA2008101163797A patent/CN101306535A/en active Pending
Cited By (44)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102211334A (en) * | 2011-05-13 | 2011-10-12 | 苏州市伦琴工业设计有限公司 | Air pressure robot joint |
| CN102241015A (en) * | 2011-06-10 | 2011-11-16 | 浙江工业大学 | Pneumatic flexible swinging joint |
| CN103144101A (en) * | 2013-03-26 | 2013-06-12 | 上海大学 | Flexible body of bionic robot |
| CN103144101B (en) * | 2013-03-26 | 2015-10-07 | 上海大学 | A kind of flexible body of bio-robot |
| CN103192983A (en) * | 2013-04-01 | 2013-07-10 | 哈尔滨工业大学 | Miniaturized pneumatic muscle driver |
| CN103253368B (en) * | 2013-06-09 | 2015-12-02 | 哈尔滨工业大学 | A kind of Pneumatic bionic muscle |
| CN103253368A (en) * | 2013-06-09 | 2013-08-21 | 哈尔滨工业大学 | Pneumatic bionic muscle |
| CN106426144A (en) * | 2015-08-28 | 2017-02-22 | 刘伟 | Artificial muscle, application of artificial muscle, robot |
| CN104999475A (en) * | 2015-08-28 | 2015-10-28 | 刘伟 | Artificial muscle and application thereof |
| CN106426143A (en) * | 2015-08-28 | 2017-02-22 | 刘伟 | Artificial muscle, application of artificial muscle and robot |
| CN106426140A (en) * | 2015-08-28 | 2017-02-22 | 刘伟 | Artificial muscle, application thereof and robot |
| CN106426144B (en) * | 2015-08-28 | 2019-01-18 | 朱正直 | A kind of artificial-muscle and its application, robot |
| CN106695772A (en) * | 2015-08-28 | 2017-05-24 | 刘伟 | Artificial muscle, application thereof and robot |
| CN106695772B (en) * | 2015-08-28 | 2019-03-05 | 范宝莲 | A kind of artificial-muscle and its application, robot |
| CN106426143B (en) * | 2015-08-28 | 2018-09-25 | 温州市洞头北岙晟立机械设计工作室 | A kind of artificial-muscle and its application, robot |
| CN105287000A (en) * | 2015-10-13 | 2016-02-03 | 西安交通大学 | Single-gas-drive flexible minimally invasive surgery operating arm and manufacturing method thereof |
| CN106956254B (en) * | 2016-01-08 | 2019-03-05 | 东北大学 | Multiple degrees of freedom combination drive artificial-muscle |
| CN106956254A (en) * | 2016-01-08 | 2017-07-18 | 东北大学 | Multiple degrees of freedom combination drive artificial-muscle |
| CN105729465A (en) * | 2016-04-15 | 2016-07-06 | 东南大学 | Pneumatic soft linear telescopic device |
| CN105736505A (en) * | 2016-04-26 | 2016-07-06 | 苏州普来可瑞机电技术有限公司 | Energy-saving pneumatic muscle actuator capable of outputting linear motions and push force |
| CN105856219A (en) * | 2016-06-03 | 2016-08-17 | 中国计量大学 | Pneumatic artificial muscle with self-sensing and driving functions |
| CN105856219B (en) * | 2016-06-03 | 2017-11-21 | 中国计量大学 | With the Pneumatic artificial muscle from perception and driving function |
| CN106181991A (en) * | 2016-07-18 | 2016-12-07 | 杨海兵 | A kind of bionic muscle |
| CN109363886A (en) * | 2018-11-05 | 2019-02-22 | 山东大学 | A kind of device for healing and training elbow joint and implementation method |
| CN109449559A (en) * | 2018-11-26 | 2019-03-08 | 哈尔滨工业大学 | A kind of shape memory gas tube structure and preparation method thereof |
| CN109449559B (en) * | 2018-11-26 | 2021-01-15 | 哈尔滨工业大学 | Shape memory gas tube structure and preparation method thereof |
| CN109674636A (en) * | 2018-12-19 | 2019-04-26 | 北京航空航天大学 | A kind of external counterpulsation apparatus based on Pneumatic artificial muscle |
| CN110695980A (en) * | 2019-09-29 | 2020-01-17 | 上海交通大学 | Pneumatic artificial muscle with scale protection structure |
| CN110695981A (en) * | 2019-10-11 | 2020-01-17 | 大连海事大学 | Double-acting hydraulic artificial muscle linear reciprocating actuator |
| CN110695981B (en) * | 2019-10-11 | 2022-07-15 | 大连海事大学 | Double-acting hydraulic artificial muscle linear reciprocating actuator |
| CN110645314A (en) * | 2019-10-17 | 2020-01-03 | 贵州詹阳动力重工有限公司 | Quasi-zero stiffness vibration isolator with low-frequency broadband characteristic |
| CN110840713A (en) * | 2019-11-29 | 2020-02-28 | 中国科学院深圳先进技术研究院 | Pneumatic muscle |
| WO2021104090A1 (en) * | 2019-11-29 | 2021-06-03 | 中国科学院深圳先进技术研究院 | Pneumatic muscle |
| CN111390876A (en) * | 2020-01-03 | 2020-07-10 | 腾讯科技（深圳）有限公司 | Intelligent soft manipulator |
| CN111658434A (en) * | 2020-06-29 | 2020-09-15 | 黑龙江佳德医疗器械有限公司 | Knee hyperextension flexible exoskeleton rehabilitation robot based on pneumatic muscles and rehabilitation method |
| CN112043067A (en) * | 2020-09-16 | 2020-12-08 | 中国计量大学 | Intelligent burden-reducing flexible suspension backpack based on pneumatic artificial muscles |
| CN113062895A (en) * | 2021-05-08 | 2021-07-02 | 甘肃黄灿机器人有限责任公司 | Muscle structure of robot |
| CN113665768A (en) * | 2021-08-09 | 2021-11-19 | 哈尔滨工程大学 | Octopus robot for ocean detection |
| CN113665768B (en) * | 2021-08-09 | 2022-07-15 | 哈尔滨工程大学 | Octopus robot for ocean detection |
| CN114260356B (en) * | 2021-10-14 | 2024-03-29 | 重庆江东机械有限责任公司 | Novel hot gas expansion forming process for titanium alloy aviation hollow blade |
| WO2023070805A1 (en) * | 2021-10-26 | 2023-05-04 | 江苏大学 | Bidirectional linear fast-response spiral winding type pneumatic artificial muscle based on braided tube |
| GB2614512A (en) * | 2021-10-26 | 2023-07-05 | Univ Jiangsu | Bidirectional linear fast-response spiral winding type pneumatic artificial muscle based on braided tube |
| CN117001651A (en) * | 2023-08-23 | 2023-11-07 | 大连理工大学 | Small artificial muscle driven by high-voltage electricity and driving method thereof |
| CN117001651B (en) * | 2023-08-23 | 2024-03-29 | 大连理工大学 | Small artificial muscle driven by high-voltage electricity and driving method thereof |
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Open date: 20081119 |