CN114102569B - Bidirectional linear quick-response spiral winding type pneumatic artificial muscle based on braided tube - Google Patents
Bidirectional linear quick-response spiral winding type pneumatic artificial muscle based on braided tube Download PDFInfo
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- CN114102569B CN114102569B CN202111383168.1A CN202111383168A CN114102569B CN 114102569 B CN114102569 B CN 114102569B CN 202111383168 A CN202111383168 A CN 202111383168A CN 114102569 B CN114102569 B CN 114102569B
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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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- 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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
- F15B15/103—Characterised by the construction of the motor unit the motor being of diaphragm type using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators
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Abstract
The invention relates to the technical field of linear driving of soft robots, in particular to bidirectional linear quick-response spiral winding type pneumatic artificial muscles based on a braided tube. The invention realizes the output of force and displacement by utilizing the characteristic that the mechanical property of the spiral braided tube changes along with the internal expansion. Because the direction of the applied load affects the expansion direction of the braided tube, when the load direction is different, the output force and the displacement direction are different, and therefore bidirectional driving is achieved. Compared with other pneumatic artificial muscles, the pneumatic artificial muscle has the advantages that the volume of the air cavity of the pneumatic artificial muscle is smaller, the inflation and deflation speed is higher, the pneumatic artificial muscle reduces the driving air pressure, improves the shrinkage rate and has high response speed while keeping the high mass ratio and the power ratio of the conventional pneumatic artificial muscle.
Description
Technical Field
The invention relates to the technical field of linear driving of soft robots, in particular to bidirectional linear quick-response spiral winding type pneumatic artificial muscles based on a braided tube.
Background
With the rapid development of smart materials in recent years, flexible drivers based on smart materials have become a current research focus. Artificial muscles, as a typical flexible actuator, can produce reversible contraction, rotation, bending and their combined motion under external excitation conditions (electricity, light, heat, magnetism, humidity, electrochemistry, etc.) and output similar power to biological muscles, and in addition, artificial muscles can bear large loads and large deformations. Compared with the traditional rigid driver, the artificial muscle has the advantages of infinite multi-degree of freedom, high output energy density, good flexibility, good biocompatibility and the like, and has important application prospects in the fields of medical treatment, industry, rescue and the like.
At present, the materials for manufacturing the artificial muscle driver mainly comprise Shape Memory Alloy (SMA), Dielectric Elastomer (DEA), ionic polymer-metal composite (IPMC), carbon nano tube, graphene fiber, semi-crystalline polymer material and the like. The driving mode comprises thermal driving, electric driving, optical driving, fluid driving and the like, wherein the fluid driving (mainly pneumatic) realizes the driving by utilizing the uneven deformation of materials when the materials are inflated. For example, through structural design, the air cavity has expansion anisotropy, and further, axial contraction can be generated by inflation, however, the contraction amount generated by the driving mode is not large, and the response speed is slow; in addition, the gas drive can be realized by designing a paper folding structure and the like, but the gas drive has the defects of low response speed, unidirectional drive and the like.
Disclosure of Invention
In view of this, the invention provides a bidirectional linear fast-response spiral-wound pneumatic artificial muscle based on a braided tube. The artificial muscle not only has the characteristics of large load and high output energy density of the traditional pneumatic artificial muscle, but also has excellent performances of large shrinkage rate, bidirectional driving, high-frequency response and the like.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a bidirectional linear fast-response spirally wound pneumatic artificial muscle based on a braided tube, comprising: the heat-setting braided tube covers the surface of the tubular elastic air cavity.
Wherein:
the tubular elastic air cavity expands radially after being inflated inside to provide radial force for the heat-setting braided tube.
The heat-set braided tube has anisotropic expansion, and when expanded, the diameter of the heat-set braided tube becomes larger and the length of the heat-set braided tube becomes smaller.
The pneumatic artificial muscle is covered on the surface of the tubular elastic air cavity by the braided tube, then the tubular elastic air cavity is wound on the mandrel and heated and shaped to form a heat-shaped braided tube, and the mandrel is removed to obtain the spiral wound pneumatic artificial muscle.
The helix angle of the heat-set braided tube increases with the increase of the air pressure of the tubular elastic cavity. The helix angle is the acute angle formed by the braided wires after heat setting.
The rigidity and the elastic coefficient of the pneumatic artificial muscle are increased along with the increase of input air pressure, so that the pneumatic artificial muscle can generate restoring force tending to restore the original length after being subjected to stretching deformation. Specifically, when the pneumatic artificial muscle is in a stretching state, the spiral angle of the pneumatic artificial muscle is increased along with the increase of air pressure, and then the pneumatic artificial muscle is contracted; when the pneumatic artificial muscle is in a compressed state, the helix angle of the pneumatic artificial muscle is reduced along with the increase of the air pressure, so that the pneumatic artificial muscle is elongated.
The pneumatic artificial muscle can be stretched and contracted, so that bidirectional force and displacement can be output. The maximum deformation of the elongation and contraction is determined by the pitch of the helix of the pneumatic artificial muscle. When the pitch is reduced, the maximum shrinkage is increased, and the maximum elongation is reduced; the maximum shrinkage decreases and the maximum elongation increases with increasing pitch.
The ratio of the diameter of the spiral structure of the pneumatic artificial muscle to the diameter of the heat-setting braided tube is the spring index of the pneumatic artificial muscle.
Preferably, the pneumatic artificial muscle has a spring index of 5.
Preferably, the tubular elastic air cavity adopts 2.8mm outer diameter and 0.9mm wall thickness, and the material adopts PS6600 series No. 5 silica gel.
Preferably, the braided tube has a maximum diameter ratio of 1: 3, the initial inner diameter of the braided tube is equal to the outer diameter of the tubular elastic air cavity, so that the braided tube can cover the tubular elastic air cavity. The manufacturing material of the braided tube is nylon 66.
Preferably, a restraining mechanism at the distal end of the pneumatic artificial muscle to prevent the pneumatic artificial muscle from rotating due to inflation.
The pneumatic artificial muscle uses a pneumatic pump as a power source, proper input air pressure is selected according to the inner diameter of the tubular elastic air cavity and the diameter of the heat-setting woven tube, and linear displacement and force can be output by the pneumatic artificial muscle when the input air pressure is greater than 0.04 MPa. The maximum shrinkage in the actual measurement is 54%, and the maximum shrinkage under the input 5Hz high-frequency on-off air pressure is 44%. The range of input air pressure required for the pneumatic artificial muscle to reach the maximum contraction rate or the maximum elongation is only 0.07MPa to 0.1MPa for different loads.
The invention has the following excellent effects:
the traditional hydraulic drive and motor drive have the defects of large noise, low power density and the like. Compared with hydraulic and motor drive, the pneumatic artificial muscle has the advantages of silence, high degree of freedom, high power/mass ratio, high power/volume ratio and the like. However, the pneumatic artificial muscle still has many limitations, such as slow response speed, high working pressure, poor high-frequency driving effect, unidirectional driving only, and the like. In addition, the pneumatic artificial muscle has strong nonlinear time-varying characteristics, and is difficult to realize accurate control.
The invention realizes the output of force and displacement by utilizing the characteristic that the mechanical property of the spiral braided tube changes along with the internal expansion. Because the direction of the applied load affects the expansion direction of the braided tube, when the load direction is different, the output force and the displacement direction are different, and therefore bidirectional driving is achieved. Compared with other pneumatic artificial muscles, the pneumatic artificial muscle has the advantages that the volume of the air cavity of the pneumatic artificial muscle is smaller, the inflation and deflation speed is higher, the pneumatic artificial muscle reduces the driving air pressure and improves the shrinkage rate while keeping the high mass ratio and the power ratio of the conventional pneumatic artificial muscle, and the pneumatic artificial muscle has high response speed.
In addition, when the output air pressure is constant, the output force of the pneumatic artificial muscle is in a linear relation with the applied load. Therefore, under constant load conditions, precise control of the output displacement can be achieved by controlling the air pressure. Under the condition of constant displacement, the magnitude of the output force can be accurately controlled by controlling the air pressure.
The pneumatic artificial muscle has the advantages of simple manufacturing process and low cost, and has good application prospect in a plurality of fields of industrial automation, mobile robots, exoskeleton robots, medical rehabilitation, remote control and the like.
Drawings
FIG. 1 is a schematic view of an application example (spiral wound pneumatic artificial muscle of only output one-way tension type) of the present invention;
FIG. 2 is a mold for making a tubular elastomeric cavity in an embodiment of the present invention;
FIG. 3 is a schematic diagram of the wrapping of the pneumatic artificial muscle portion of FIG. 1 during heat setting;
wherein: 1. a mandrel; 2. a tubular elastic air cavity; 3. heat setting the braided tube.
FIG. 4 is a graph of stress-strain relationship of the pneumatic artificial muscle of FIG. 1 under different input air pressure conditions.
FIG. 5 is a graph showing the shrinkage rate of the pneumatic artificial muscle of FIG. 1 loaded with 20g at 5Hz and an input air pressure of 0.1 MPa.
Detailed Description
The present invention will be described in detail with reference to the following detailed description in order to fully understand the objects, features and functions of the present invention. The following examples will aid those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any manner. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the concept of the invention. All falling within the scope of the present invention.
Taking a spiral winding type artificial muscle outputting unidirectional pulling force as an example (as shown in fig. 1), the artificial muscle is composed of a tubular elastic cavity and a braided tube wrapped outside the tubular elastic cavity, and is formed into a spiral winding type structure through winding a mandrel and heat setting, and other components further comprise an air tube, an air pressure gauge, an air pressure valve, a rotation limiting mechanism and the like. The air pipe is an input channel of air pressure required by the pneumatic artificial muscle, and the pneumatic artificial muscle main body consisting of the tubular elastic air cavity and the spiral heat-setting braided pipe wrapped outside the tubular elastic air cavity contracts when the input air pressure is increased, and simultaneously, the linear displacement and the force output are completed.
The tubular elastic cavity is made by injecting PS6600 series No. 5 silica gel into a specific mold, as shown in FIG. 2. The length of the upper and lower cuboids forming the die is 300mm, and each cuboid is provided with a semicircular through groove with the diameter of 2.8 mm. Two cuboid laminating back two semicircle grooves form the through-hole of diameter 2.8 mm. The diameter of the middle mandrel is 1mm, and two ends of the mandrel are respectively fixed by two circular tubes with the inner diameter of 1mm, the outer diameter of 2.8mm and the length of 10mm so as to ensure that the mandrel and the through hole are coaxial. And placing the prepared No. 5 silica gel in a vacuum box for five minutes, taking out, and injecting the silica gel from the pouring hole in the upper half part of the mold until the silica gel is filled in the cavity of the mold. Then the mould is placed in an environment with the temperature of 45 ℃ for 30min and then taken out. And finishing the preparation of the tubular elastic cavity.
The muscle main body consisting of the tubular elastic air cavity and the spiral heat-setting braided tube wrapped outside the tubular elastic air cavity is manufactured in the following mode:
selecting a width of 3mm in a flattened state, and setting the ratio of the initial diameter to the maximum diameter after axial compression to be 1: 3, cutting 300mm of the telescopic nylon woven hose to be sleeved on the surface of the tubular elastic air cavity to form a simple muscle tube. Then (as shown in fig. 3) it was tightly wound on a mandrel with a diameter of 10mm and left in an environment of 150 c for 30min to complete heat setting. And sealing one end of the shaped muscle, connecting the other end of the shaped muscle with the gas transmission port, and finishing the preparation of the muscle main body.
The muscle rotation restriction mechanism is shown in fig. 1. The tail end of the muscle seal is connected with the load by two parallel thin rods which pass through a fixing plate with two corresponding holes so as to limit the rotation of the tail end of the muscle after the air pressure is increased.
FIG. 4 shows the results of the tensile testing of the pneumatic muscles of this example at different air pressures. In the case of constant air pressure, the elastic coefficient of the muscle can be approximated to be constant after the stretching amount exceeds a certain small value, and the elastic coefficient of the muscle is increased when the air pressure is increased. As can be seen from fig. 4, when the muscle load is known, the output displacement can be precisely controlled within a certain interval by changing the input air pressure; when the length of the muscle is a fixed point in a certain interval, the output force can be accurately controlled by changing the input air pressure.
The pneumatic muscle in this example showed an increase in contraction with increasing air pressure, with a maximum of 54% at pressures above 0.1MPa under a 20g load. When a 5Hz square wave pneumatic signal is input, the maximum contraction amount of the artificial muscle can still exceed 40 percent, as shown in figure 5.
The above is an example in which the pitch is the minimum, i.e., the braided tube is tightly wound, and the muscle is hardly extended under such winding and the contraction amount and contraction rate both reach the maximum.
The pneumatic muscle of the invention can extend and contract, and outputs bidirectional force and displacement. The maximum deformation for elongation and contraction is determined by the pitch of the muscle helix. The maximum shrinkage is increased and the maximum elongation is reduced when the screw pitch is reduced; an increase in pitch decreases the maximum shrinkage and increases the maximum elongation. The pitch can be adjusted to meet different requirements for extension or contraction, output pressure or tension in practical application.
In conclusion, compared with the conventional pneumatic muscle, the pneumatic muscle has the advantages that the mass ratio and the power ratio are high; the driving air pressure is smaller, the shrinkage rate is larger, the bidirectional driving can be realized, and the high-frequency performance is excellent; the relation between the output force and the displacement is linear, so that a mathematical model is easier to establish to realize accurate control; the manufacturing cost is low and the process is simple. Therefore, the pneumatic artificial muscle has very good application prospect in a plurality of fields such as industrial automation, mobile robots, exoskeleton robots, medical rehabilitation, remote control and the like.
The above-described embodiment is only one of the preferred embodiments of the present invention, and general changes and substitutions by those skilled in the art within the technical scope of the present invention are included in the protection scope of the present invention.
Claims (6)
1. The bidirectional linear quick-response spirally-wound pneumatic artificial muscle based on the braided tube is characterized in that the pneumatic artificial muscle comprises a heat-setting braided tube and a tubular elastic air cavity, the heat-setting braided tube covers the surface of the tubular elastic air cavity, the pneumatic artificial muscle covers the surface of the tubular elastic air cavity through the braided tube, then the tubular elastic air cavity is wound on a mandrel and is heated and set to form a heat-setting braided tube, and the mandrel is removed to obtain the spirally-wound pneumatic artificial muscle;
the maximum diameter ratio of the initial diameter to the axially compressed braided tube is 1: 3, the initial inner diameter of the braided tube is equal to the outer diameter of the tubular elastic air cavity, so that the braided tube can cover the tubular elastic air cavity, and the braided tube is made of nylon 66;
a restriction mechanism at the distal end of the pneumatic artificial muscle for preventing the pneumatic artificial muscle from rotating due to inflation; the tail end of the pneumatic artificial muscle seal is connected with a load through two parallel thin rods, and the two parallel thin rods penetrate through a fixing plate with two corresponding holes, so that the rotation of the tail end of the muscle after the air pressure is increased is limited;
the tubular elastic cavity is manufactured by injecting PS6600 series No. 5 silica gel into a specific mold, the length of an upper cuboid and a lower cuboid forming the mold is 300mm, each cuboid is provided with a semicircular through groove with the diameter of 2.8mm, the two semicircular grooves form a through hole with the diameter of 2.8mm after the two cuboids are attached, the diameter of a middle mandrel is 1mm, two ends of the mandrel are respectively fixed by two circular tubes with the inner diameter of 1mm, the outer diameter of 2.8mm and the length of 10mm so as to ensure that the mandrel and the through holes are coaxial, the prepared No. 5 silica gel is placed in a vacuum box for five minutes and then taken out, the silica gel is injected into a pouring hole in the upper half part of the mold until the silica gel is filled in the cavity of the mold, then the mold is placed in an environment at 45 ℃ for 30 minutes and then taken out, and the preparation of the tubular elastic cavity is completed;
the pneumatic artificial muscle uses a pneumatic pump as a power source, proper input air pressure is selected according to the inner diameter of the tubular elastic air cavity and the diameter of the heat-setting braided tube, and linear displacement and force can be output by the pneumatic artificial muscle when the input air pressure is greater than 0.04 MPa; the range of input air pressure required for the pneumatic artificial muscle to reach maximum contraction rate or maximum elongation is only 0.07MPa to 0.1MPa for different loads.
2. The woven tube-based, bi-directional, linear, fast-response, spiral wound, pneumatic artificial muscle of claim 1 wherein the tubular, elastic air chamber expands radially upon inflation of the interior to provide a radial force to the heat-set woven tube, the heat-set woven tube having an anisotropic expansion characteristic that expands in diameter and decreases in length upon expansion; the helix angle of the heat-setting braided tube is increased along with the increase of the air pressure of the tubular elastic cavity, and the helix angle is an acute angle formed by the braided wires after heat setting.
3. The woven tube based bi-directional linear fast response spiral wound pneumatic artificial muscle of claim 1, wherein the stiffness and elastic modulus of the pneumatic artificial muscle increase with increasing input air pressure, and the pneumatic artificial muscle generates a restoring force tending to restore its original length after undergoing a stretching deformation; specifically, when the pneumatic artificial muscle is in a stretching state, the spiral angle of the pneumatic artificial muscle is increased along with the increase of air pressure, and then the pneumatic artificial muscle is contracted; when the pneumatic artificial muscle is in a compressed state, the helix angle of the pneumatic artificial muscle is reduced along with the increase of the air pressure, so that the pneumatic artificial muscle is elongated.
4. The bidirectional linear fast response spiral wound pneumatic artificial muscle based on braided tubes as claimed in claim 1, wherein the pneumatic artificial muscle is both stretchable and contractible, capable of outputting bidirectional force and displacement; the maximum deformation quantity of the elongation and the contraction of the artificial muscle is determined by the screw pitch of the spiral structure of the pneumatic artificial muscle, the maximum contraction quantity is reduced when the screw pitch is reduced, and the maximum elongation quantity is increased; an increase in pitch increases the maximum shrinkage and decreases the maximum elongation.
5. The woven tube-based, bi-directional, linear, fast-response, spiral wound pneumatic artificial muscle of claim 1, wherein the ratio of the diameter of the spiral structure of the pneumatic artificial muscle to the diameter of the heat-set woven tube is the spring index of the pneumatic artificial muscle.
6. The woven tube-based bi-directional linear fast-response spiral wound pneumatic artificial muscle of claim 5, wherein the pneumatic artificial muscle has a spring index of 5.
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| CN2021112450945 | 2021-10-26 | ||
| CN202111245094 | 2021-10-26 |
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| CN114102569A CN114102569A (en) | 2022-03-01 |
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| GB (1) | GB2614512A (en) |
| WO (1) | WO2023070805A1 (en) |
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| CN114102569B (en) * | 2021-10-26 | 2022-08-19 | 江苏大学 | Bidirectional linear quick-response spiral winding type pneumatic artificial muscle based on braided tube |
| US11788562B1 (en) * | 2022-05-19 | 2023-10-17 | The Chinese University Of Hong Kong | Artificial muscle for robotic systems |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101306535A (en) * | 2008-07-09 | 2008-11-19 | 北京理工大学 | Pneumatic artificial muscles |
| US9541196B2 (en) * | 2009-11-13 | 2017-01-10 | The Boeing Company | Miniature McKibben actuator |
| US20180252244A1 (en) * | 2015-09-14 | 2018-09-06 | Tokyo Institute Of Technology | Mckibben artificial muscle |
| CN105805076B (en) * | 2016-04-26 | 2017-11-14 | 中国计量大学 | Pneumatic muscles and its drive mechanism of realization |
| JP6709972B2 (en) * | 2016-07-13 | 2020-06-17 | パナソニックＩｐマネジメント株式会社 | Actuator body, control method thereof, and gripping hand using the same |
| CN107618028B (en) * | 2017-10-31 | 2019-12-27 | 平顶山学院 | Bidirectional artificial muscle |
| CN112921459B (en) * | 2019-12-05 | 2022-06-07 | 天津理工大学 | Spiral winding type artificial muscle and preparation method and application thereof |
| CN211250043U (en) * | 2019-12-20 | 2020-08-14 | 中国科学院沈阳自动化研究所 | Twist and contract artificial muscle |
| KR102262031B1 (en) * | 2019-12-27 | 2021-06-07 | 한양대학교 산학협력단 | Artificial muscle and manufacturing method for the same |
| CN111702751A (en) * | 2020-07-13 | 2020-09-25 | 西安交通大学 | Device and method for manufacturing nylon winding type artificial muscle |
| CN112391831B (en) * | 2020-08-24 | 2022-04-26 | 江苏大学 | Preparation method of electrothermal driving artificial muscle with large strain and rapid response |
| CN114102569B (en) * | 2021-10-26 | 2022-08-19 | 江苏大学 | Bidirectional linear quick-response spiral winding type pneumatic artificial muscle based on braided tube |
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| GB202306273D0 (en) | 2023-06-14 |
| GB2614512A (en) | 2023-07-05 |
| CN114102569A (en) | 2022-03-01 |
| WO2023070805A1 (en) | 2023-05-04 |
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