CN112775941B - Pneumatic-driven variable-rigidity flexible actuator - Google Patents
Pneumatic-driven variable-rigidity flexible actuator Download PDFInfo
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- CN112775941B CN112775941B CN202011615129.5A CN202011615129A CN112775941B CN 112775941 B CN112775941 B CN 112775941B CN 202011615129 A CN202011615129 A CN 202011615129A CN 112775941 B CN112775941 B CN 112775941B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
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Abstract
The invention provides a pneumatic-driven variable-rigidity flexible actuator, which comprises a sealed extensor and a sealed contractive muscle, wherein the extensor is arranged in the extensor; the extensor muscle comprises a hollow extensor muscle matrix, and an air passage A communicated with the interior of the extensor muscle matrix is communicated with the end part of the extensor muscle matrix; the contraction muscle comprises a hollow contraction muscle matrix, and an air passage B communicated with the interior of the extension muscle matrix is communicated with the end part of the contraction muscle matrix; the air passage A and the air passage B are respectively connected with an air supply end; the extensor muscle matrix and the constrictor muscle matrix are both made of flexible materials. The flexible actuator can randomly adjust the structure length within a certain range only by inflating the extensor muscle or the contractive muscle, and can realize random adjustment of the structure rigidity within a certain range by cooperatively adjusting the ventilation pressure of the extensor muscle and the contractive muscle when the length is determined.
Description
Technical Field
The invention relates to the technical field of machinery, in particular to an actuator with variable rigidity, and particularly relates to an air pressure driven flexible actuator with variable rigidity.
Background
Compared with a rigid actuator, the flexible actuator has the characteristics of high flexibility, strong environmental adaptability, good human-computer interaction and the like. In practical applications, the flexible actuator is required to have not only high flexibility, but also stable and controllable shape and certain output force under specific conditions, and therefore, the flexible actuator with variable stiffness has certain research value. At present, there are two main principles for making a flexible actuator variable in stiffness: the first is to increase antagonism in the material or structure, such as: coupling a driving structure, a layer interference structure and a blocking principle; the second one is to change the rigidity by the phase change of the material between solid and liquid state, such as magnetic fluid. However, the flexible actuator in the prior art is difficult to realize the variable rigidity problem under the two-way action and the fixed length.
Disclosure of Invention
In accordance with the above technical problem, a pneumatically driven variable stiffness flexible actuator is provided. The invention designs an actuator with a coupling driving structure based on the antagonism mechanism of extensor and contractive muscles, the mode of realizing variable rigidity of the coupling structure is that redundant driving is utilized, the coupling structure is in a state of stress balance and stable structure by forming the antagonism between structures, the actuator can realize the compound action of extension and shortening, and realize the control of rigidity and keep the length of the actuator unchanged by cooperatively adjusting the pushing force and the pulling force.
The technical means adopted by the invention are as follows:
a pneumatically driven variable stiffness flexible actuator comprising a sealed extensor muscle and a sealed constrictor muscle disposed within the extensor muscle;
the extensor muscle comprises a hollow extensor muscle matrix, and an air passage A communicated with the interior of the extensor muscle matrix is communicated with the end part of the extensor muscle matrix;
the contraction muscle comprises a hollow contraction muscle matrix, and an air passage B communicated with the interior of the extension muscle matrix is communicated with the end part of the contraction muscle matrix;
the air passage A and the air passage B are respectively connected with an air supply end;
the extensor muscle matrix and the constrictor muscle matrix are both made of flexible materials.
Further, the flexible material is the silica gel material, the muscle base member is stretched with the muscle base member that contracts is the silica gel material and casts in the mould that 3D printed and forms.
Further, the extensor muscle further comprises an elastic fabric wrapped on the outer surface of the extensor muscle substrate, and the elastic fabric has anisotropy, and the stretchability of the elastic fabric in the warp direction is greater than that of the elastic fabric in the weft direction.
Further, the contraction muscle further comprises a woven fabric wrapped on the outer surface of the contraction muscle substrate.
Further, the airway a and the airway B are disposed at the same end of the extensor muscle matrix; one end of the contraction muscle matrix, which is communicated with the air passage B, penetrates out of the elongation muscle matrix;
the extensor muscle further comprises an extensor muscle sealing element for sealing one end of the extensor muscle base body far away from the airway A, one end of the extensor muscle base body near the airway A is internally provided with an extensor muscle joint, the extensor muscle joint circumferentially seals a gap between the extensor muscle base body and the end of the contractive muscle base body, and the end of the contractive muscle base body is circumferentially limited by the extensor muscle joint, and the airway A is processed on the extensor muscle joint;
the contraction muscle further comprises a contraction muscle sealing member for sealing one end of the contraction muscle base body far away from the air passage B, one end of the contraction muscle base body close to the air passage B is internally provided with a contraction muscle joint, the contraction muscle joint is circumferentially sealed at the end of the contraction muscle base body, and the air passage B is processed on the contraction muscle joint;
a buckling and pressing ring A and a buckling and pressing ring B are respectively arranged at two ends of the extensor muscle matrix, and the buckling and pressing ring A tightly presses the end part of the extensor muscle matrix, the extensor muscle sealing element, the end part of the contractive muscle matrix and the contractive muscle sealing element; and the buckling ring B tightly clamps the contracting muscle matrix and the elongating muscle joint.
Further, the contracting muscle seal is in the shape of a cylindrical plug which penetrates into the contracting muscle matrix;
the contracting muscle joint is in a cylindrical plug shape and penetrates into the contracting muscle matrix;
the contracting muscle sealing element is barrel-shaped, penetrates into a gap between the ends of the elongating muscle base body and the contracting muscle base body and is sealed;
the extensor muscle joint is barrel-shaped, one end of the extensor muscle joint close to the extensor muscle base body penetrates into a gap between the ends of the extensor muscle base body and the contractive muscle base body, the outer surface of the extensor muscle joint is attached to the inner surface of the end of the extensor muscle base body, the inner surface of the extensor muscle joint is provided with a gap between the outer surface of the contractive muscle base body and the inner surface of the extensor muscle joint, one end of the extensor muscle joint far away from the extensor muscle base body is bent inwards, the inner surface of the extensor muscle joint is attached to the outer surface of a part of the contractive muscle base body, which penetrates out of the extensor muscle base body, and is sealed, and the air passage A is arranged at the bent part;
the outer surface of one end, penetrating into the contracting muscle base body, of the contracting muscle sealing element, the outer surface of one end, penetrating into the contracting muscle base body, of the contracting muscle joint, the outer surface of one end, penetrating into the extending muscle base body, of the extending muscle joint and the outer surface of one end, penetrating into the contracting muscle base body, of the contracting muscle sealing element are all provided with a plurality of conical surface bulges.
Further, the extensor muscle joint, the extensor muscle seal, the constrictor muscle joint, and the constrictor muscle seal are all thermoformed from a resin material and formed from a 3D printing fabrication.
Compared with the prior art, the invention has the following advantages:
when the flexible actuator is not inflated, the extensor muscles are in a natural state, and the constrictor muscles are in an axial compression state, so that the whole structure has small rigidity and large flexibility; when the extensor muscles are independently inflated, the whole flexible actuator can be extended, and the contractive muscles are passively stretched at the moment; when the contractile muscles are independently pressurized, the contractile muscles can radially expand and pull the actuator to integrally shorten, and at the moment, the extensor muscles passively contract; when the extensor and constrictor muscles are inflated simultaneously, the inflation pressure of the extensor and constrictor muscles is cooperatively adjusted due to the compressibility of air, so that the actuator as a whole is maintained at a fixed length and the stiffness is changed.
In summary, the flexible actuator can adjust the structural length within a certain range by inflating the extensor muscle or the constrictor muscle, and when the length is determined, the ventilation pressure of the extensor muscle and the constrictor muscle is adjusted in a coordinated manner, so that the structural rigidity can be adjusted within a certain range.
Based on the reason, the invention can be widely popularized in the fields of flexible actuators and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a semi-sectional view of a pneumatically actuated variable stiffness flexible actuator in accordance with an embodiment of the present invention.
FIG. 2 is a schematic view of an elongated muscle joint configuration in accordance with an embodiment of the present invention.
FIG. 3 is a force-elongation test chart for elastic and woven fabrics.
In the figure: 1. contracting muscle seal, 2, elongating muscle seal, 3, crimping rings a, 4, elastic fabric, 5, elongating muscle matrix, 6, woven fabric, 7, contracting muscle matrix, 8, elongating muscle joint, 9, crimping rings B, 10, airway a, 11, contracting muscle joint, 12, airway B.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.
1-3, a pneumatically driven variable stiffness flexible actuator includes a sealed extensor muscle and a sealed constrictor muscle disposed within the extensor muscle;
the extensor muscle comprises a hollow extensor muscle matrix 5, and an air passage A10 communicated with the interior of the extensor muscle matrix 5 is communicated with the end part of the extensor muscle matrix 5;
the contraction muscle comprises a hollow contraction muscle matrix 7, and an air passage B12 communicated with the interior of the extension muscle matrix 7 is communicated with the end part of the contraction muscle matrix 7;
the air passage A10 and the air passage B12 are respectively connected with an air supply end;
the extensor matrix 5 and the constrictor matrix 7 are both made of flexible material.
Further, the flexible material is a silica gel material, and the extensor muscle base body 5 and the constrictor muscle base body 7 are both cast by the silica gel material in a 3D printing mold. The manufacturing steps are as follows: firstly, mixing a silica gel reagent and a catalyst according to a mass ratio of 9:1, putting the mixed preparation into a stirrer for full mixing, then putting the preparation into a vacuum generation chamber for degassing and soaking, slowly pouring the preparation into a mould, then putting the mould into a heating box for baking and curing, and finally demoulding.
Further, the extensor muscle further comprises an elastic fabric 4 wrapped on the outer surface of the extensor muscle base 7, and the elastic fabric 5 has anisotropy, and the stretchability of the elastic fabric in the warp direction is greater than that of the elastic fabric in the weft direction.
Further, the contraction muscle further comprises a woven fabric 6 wrapped on the outer surface of the contraction muscle base body 5.
The elastic fabric 4 in the embodiment is composed of warp-wise latex fibers, weft-wise terylene low-elasticity fibers and latex fiber chaining coils, has obvious anisotropy, and has an experiment result on a tensile machine that the warp-wise stretching ratio is 32:1 of the weft-wise stretching ratio; the woven fabric 6 is woven by double strands of nylon fibers, the weaving angle of the woven fabric can be changed to adjust the stretchability of the warp direction and the weft direction, and when the weaving angle is 55 degrees, the experimental result on a tensile machine shows that the warp direction stretching rate is 1.2:1 of the weft direction; the textile such as the elastic fabric and the woven fabric is used for improving the strength and the pressure resistance of the substrate and realizing the elongation movement of the extensor and the contraction movement of the contractive muscle.
Further, the airway a10 and the airway B12 are disposed at the same end of the extensor muscle matrix 5; one end of the contraction muscle matrix 5 communicated with the air passage B12 penetrates out of the elongation muscle matrix 5;
the extensor muscle further includes an extensor muscle seal 2 sealing an end of the extensor muscle base 5 distal from the airway a10, an end of the extensor muscle base 2 proximal to the airway a10 has an extensor muscle joint 8 mounted therein, and the extensor muscle joint 8 circumferentially seals the gap between the extensor muscle base 5 and the end of the constrictor muscle base 7 and circumferentially restrains the end of the constrictor muscle base 7 through the extensor muscle joint 8, the airway a10 being machined on the extensor muscle joint 8;
the contraction muscle further comprises a contraction muscle sealing member 1 for sealing one end of the contraction muscle base 7 far away from the air passage B12, a contraction muscle joint 11 is arranged in one end of the contraction muscle base 7 close to the air passage B12, the contraction muscle joint 11 is circumferentially sealed at the end of the contraction muscle base 7, and the air passage B12 is processed on the contraction muscle joint 11;
a buckling ring A3 and a buckling ring B9 are respectively arranged at two ends of the extensor muscle matrix 2, and the buckling ring A3 compresses the end part of the extensor muscle matrix 5, the extensor muscle seal 2, the end part of the contractive muscle matrix 7 and the contractive muscle seal 1; the buckling ring B9 clamps the contracting muscle matrix 7 and the extensor muscle joint 8.
Further, the contracting muscle seal 1 is in the shape of a cylindrical plug, which penetrates into the contracting muscle matrix 7;
the contracting muscle joint 11 is in a cylindrical plug shape and penetrates into the contracting muscle matrix 7;
the contracting muscle sealing element 1 is in a barrel shape, penetrates into a gap between the ends of the elongating muscle matrix 5 and the contracting muscle matrix 7 and is sealed;
the extensor muscle joint 8 is barrel-shaped, one end of the extensor muscle joint close to the extensor muscle base body 5 penetrates into a gap between the ends of the extensor muscle base body 5 and the contractive muscle base body 7, the outer surface of the extensor muscle joint is attached to the inner surface of the end of the extensor muscle base body 5, the inner surface of the extensor muscle joint is attached to the outer surface of the contractive muscle base body 7, one end of the extensor muscle joint 8, which is far away from the extensor muscle base body 5, is bent inwards, the inner surface of the extensor muscle joint is attached to the outer surface of the portion, which penetrates out of the extensor muscle base body 5, is sealed, and the air passage A10 is arranged at the bent position;
the outer surface of one end, penetrating into the contractile muscle base body 7, of the contractile muscle sealing element 1, the outer surface of one end, penetrating into the contractile muscle base body 7, of the contractile muscle joint 11, the outer surface of one end, penetrating into the extensive muscle base body 5, of the extensive muscle joint 8 and the outer surface of one end, penetrating into the contractile muscle base body 7, of the contractile muscle sealing element 1 are all provided with a plurality of conical surface protrusions.
Further, the extensor muscle joint 8, the extensor muscle seal 2, the constrictor muscle joint 11 and the constrictor muscle seal 1 are all thermoformed from a resin material and are formed by 3D printing fabrication.
Still further, the extensor muscle joint, the extensor muscle seal, the constrictor muscle joint and the constrictor muscle seal are made of resin materials through thermoforming and are manufactured through 3D printing, and due to the soft and smooth characteristic of the silica gel materials, pagoda structures are designed on the outer surfaces of the joint and the seal, so that the joint and the seal can be easily embedded into two end portions of the extensor muscle and the constrictor muscle respectively to ensure the connection strength and the connection air tightness.
And the buckling ring A and the buckling ring B are made of light stainless steel.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (6)
1. A pneumatically driven variable stiffness flexible actuator comprising a sealed extensor muscle and a sealed constrictor muscle disposed within said extensor muscle;
the extensor muscle comprises a hollow extensor muscle matrix, and an air passage A communicated with the interior of the extensor muscle matrix is communicated with the end part of the extensor muscle matrix;
the contraction muscle comprises a hollow contraction muscle matrix, and an air passage B communicated with the interior of the extension muscle matrix is communicated with the end part of the contraction muscle matrix;
the air passage A and the air passage B are respectively connected with an air supply end;
the extensor muscle matrix and the constrictor muscle matrix are both made of flexible materials;
the airway A and the airway B are arranged at the same end of the extensor muscle matrix; one end of the contraction muscle matrix, which is communicated with the air passage B, penetrates out of the elongation muscle matrix;
the extensor muscle further comprises an extensor muscle sealing element for sealing one end of the extensor muscle base body far away from the airway A, one end of the extensor muscle base body near the airway A is internally provided with an extensor muscle joint, the extensor muscle joint circumferentially seals a gap between the extensor muscle base body and the end of the contractive muscle base body, and the end of the contractive muscle base body is circumferentially limited by the extensor muscle joint, and the airway A is processed on the extensor muscle joint;
the contraction muscle further comprises a contraction muscle sealing member for sealing one end of the contraction muscle base body far away from the air passage B, one end of the contraction muscle base body close to the air passage B is internally provided with a contraction muscle joint, the contraction muscle joint is circumferentially sealed at the end of the contraction muscle base body, and the air passage B is processed on the contraction muscle joint;
a buckling and pressing ring A and a buckling and pressing ring B are respectively arranged at two ends of the extensor muscle matrix, and the buckling and pressing ring A tightly presses the end part of the extensor muscle matrix, the extensor muscle sealing element, the end part of the contractive muscle matrix and the contractive muscle sealing element; and the buckling ring B tightly clamps the contracting muscle matrix and the elongating muscle joint.
2. The pneumatically driven variable stiffness flexible actuator of claim 1, wherein the flexible material is a silicone material, and wherein the extensor and constrictor muscle matrices are both cast from a silicone material in a 3D printed mold.
3. The pneumatically actuated variable stiffness flexible actuator of claim 1, wherein the extensor muscle further comprises an elastic fabric wrapped around an outer surface of the extensor muscle base, the elastic fabric having an anisotropic characteristic with a greater stretchability in the warp direction than in the weft direction.
4. The pneumatically actuated variable stiffness flexible actuator of claim 1, wherein the contracting muscle further comprises a woven fabric wrapped around an outer surface of the contracting muscle base.
5. A pneumatically actuated variable stiffness flexible actuator of claim 1 wherein the contracting muscle seal is in the form of a cylindrical plug that penetrates into the contracting muscle matrix;
the contracting muscle joint is in a cylindrical plug shape and penetrates into the contracting muscle matrix;
the contracting muscle sealing element is barrel-shaped, penetrates into a gap between the ends of the elongating muscle base body and the contracting muscle base body and is sealed;
the extensor muscle joint is barrel-shaped, one end of the extensor muscle joint close to the extensor muscle base body penetrates into a gap between the ends of the extensor muscle base body and the contractive muscle base body, the outer surface of the extensor muscle joint is attached to the inner surface of the end of the extensor muscle base body, the inner surface of the extensor muscle joint is provided with a gap between the outer surface of the contractive muscle base body and the inner surface of the extensor muscle joint, one end of the extensor muscle joint far away from the extensor muscle base body is bent inwards, the inner surface of the extensor muscle joint is attached to the outer surface of a part of the contractive muscle base body, which penetrates out of the extensor muscle base body, and is sealed, and the air passage A is arranged at the bent part;
the outer surface of one end, penetrating into the contracting muscle base body, of the contracting muscle sealing element, the outer surface of one end, penetrating into the contracting muscle base body, of the contracting muscle joint, the outer surface of one end, penetrating into the extending muscle base body, of the extending muscle joint and the outer surface of one end, penetrating into the contracting muscle base body, of the contracting muscle sealing element are all provided with a plurality of conical surface bulges.
6. The pneumatically actuated variable stiffness flexible actuator of claim 5, wherein the extensor muscle joint, the extensor muscle seal, the constrictor muscle joint, and the constrictor muscle seal are all thermoformed from a resin material and are formed from a 3D printing fabrication.
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| CN101219075B (en) * | 2007-11-27 | 2010-06-02 | 中国计量学院 | Multi-freedom intelligent pneumatic power muscle based on shape memory alloy deformation net |
| US10259129B2 (en) * | 2014-05-06 | 2019-04-16 | The Johns Hopkins University | Adjustable stiffness morphable manipulator |
| JP5906506B1 (en) * | 2014-09-12 | 2016-04-20 | 株式会社国際電気通信基礎技術研究所 | Actuator device, power assist robot and humanoid robot |
| CN105030389B (en) * | 2015-07-25 | 2017-03-01 | 东北大学 | A kind of intelligent pneumatic power muscle based on shape memory alloy spring |
| CN106956254B (en) * | 2016-01-08 | 2019-03-05 | 东北大学 | Multiple degrees of freedom combination drive artificial-muscle |
| CN105666484B (en) * | 2016-04-11 | 2017-12-15 | 中国计量学院 | Two-tube suit type Pneumatic artificial muscle |
| CN106426146B (en) * | 2016-12-08 | 2018-10-16 | 燕山大学 | A kind of double acting Pneumatic artificial muscle |
| CN107984467B (en) * | 2017-12-21 | 2019-11-19 | 哈尔滨工业大学 | A kind of variation rigidity parallel connection artificial-muscle |
| CN110695981B (en) * | 2019-10-11 | 2022-07-15 | 大连海事大学 | Double-acting hydraulic artificial muscle linear reciprocating actuator |
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