CN105030389A - Intelligent pneumatic muscle based on shape memory alloy spring - Google Patents
Intelligent pneumatic muscle based on shape memory alloy spring Download PDFInfo
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- CN105030389A CN105030389A CN201510440930.3A CN201510440930A CN105030389A CN 105030389 A CN105030389 A CN 105030389A CN 201510440930 A CN201510440930 A CN 201510440930A CN 105030389 A CN105030389 A CN 105030389A
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Abstract
The invention discloses an intelligent pneumatic muscle based on a shape memory alloy spring. The shape memory alloy spring is arranged in a rubber pipe. A layer of corrugated pipe is arranged between the rubber pipe and the shape memory alloy spring. Air flow is introduced into the corrugated pipe through a path of ventilation opening to cool the shape memory alloy spring, and air is introduced between the corrugated pipe and the rubber pipe through the other path of ventilation opening, so that the rubber pipe expands in the radial direction, and axial contraction force is generated. Two supporting racks are arranged in the corrugated pipe to prevent radial deformation of the corrugated pipe caused by the action of external air pressure. After air in the pneumatic muscle reaches a certain press intensity, the shape memory alloy spring is heated through pulse current to deform actively, and accordingly the alloy spring further contracts and deforms. The intelligent pneumatic muscle has the advantages that dynamic features of the pneumatic muscle are improved, the maximum contraction rate of the pneumatic muscle is increased, and accordingly the stiffness feature of the pneumatic muscle is changed more flexibly and more prominently. The intelligent pneumatic muscle can be used for the fields, such as rehabilitation therapy, the high-precision manufacturing industry and bionic-robots, needing compliant drive.
Description
Technical field
The present invention relates to a kind of intelligent pneumatic power muscle of Shape-based interpolation memory alloy spring, it belongs to pneumatic muscles technical field, intellectual material field and bionics field.
Background technology
As a kind of Novel bionic driving device, it is proposed in nineteen thirty by USSR man S.Garasiev Pneumatic artificial muscle (PneumaticArtificialMuscle is called for short PAM) at first, has occurred all kinds of similar conception subsequently.Such as American Mckibben has invented the Mckibben type pneumatic muscles of being nowadays used widely in the 1950's, Japan have developed Rubbertuator pneumatic muscles on this basis afterwards, and Britain have developed AirMuscle pneumatic muscles.The Mckibben type pneumatic muscles of the main type pneumatic muscles commercially produced at present i.e. Shadow company and the production of Festo company.This traditional pneumatic muscles is primarily of inflatable elastic rubber tube and work the outer braid net formation retraining elastic rubber pipe expanded radially distortion, because mesh grid has extremely low ductility, so longitudinal contraction can produce driving force to connection load.
Pneumatic muscles major advantage is that working method, response time, telescopic extensions and biological muscles are comparatively similar, its nonlinear characteristic is close with human skeletal muscle, and possess the compliance that the drivers such as motor do not possess, its power-weight ratio is large, pollution-free, fricton-tight, be easy to miniaturization.It uses as a kind of high efficiency driver, can not only produce enough large power, can also have good compliance simultaneously, make driven device have environmental friendliness characteristic.Pneumatic artificial muscle driving device may be used for human body artificial limb, limb rehabilitating equipment and the industry such as bio-robot and amusement.
Although current pneumatic muscles can be divided into woven, mesh-type, the type such as embedded.But the mechanism principle of these traditional, pneumatic muscle is all similar, all still control its amount of contraction by the pressure being filled with pneumatic muscles internal gas, produce contractility.Due to the attribute reason of rubber tube own, in limited pressure range, amount of contraction and the stiffness characteristics of pneumatic muscles are also restricted, this some deficiency is also the key issue affecting pneumatic muscles development and application, address this problem, the maximum contraction rate of pneumatic muscles can be improved, make it have stiffness characteristics more flexibly, promote the application of pneumatic muscles in submissive driving field, thus promote the development in the fields such as rehabilitation medical, high-accuracy manufacturing industry, bio-robot.
Marmem (ShapeMemoryAlloy, be called for short SMA) as a kind of novel functional material, it mainly utilizes shape memory effect, there is change of shape by variations in temperature and produce contractility, driving connector, is apply very wide a kind of driving element in intellectual material.The spring utilizing marmem to make has the large feature of amount of contraction, can obtain the wider spring of power output scope according to the size of string diameter and spring diameter.Therefore shape memory alloy spring can as the better smart material driver of one.
Consider that pneumatic muscles and shape memory alloy spring two kinds of drivers are all the contraction generation driving forces by self, there is similar operating characteristic, therefore both are combined the intelligent pneumatic power muscle developing a kind of Shape-based interpolation memory alloy spring, can be good at the shrinkage factor and the stiffness characteristics that improve traditional, pneumatic muscle.
Summary of the invention
The object of the present invention is to provide a kind of intelligent pneumatic power muscle of Shape-based interpolation memory alloy spring, can under the condition keeping pneumatic muscles internal pressure certain, further adjustment is done to the drive characteristic of pneumatic muscles, increase its amount of contraction, change its stiffness characteristics, thus the drive characteristic of traditional, pneumatic muscle is further improved, expand its application.
The technical solution adopted in the present invention:
Corrugated tube, bracing frame, connection hairspring nine, shape memory alloy spring is inwardly equipped with successively at elastic rubber pipe; Elastic rubber pipe has outwards been provided with the mesh grid of constraint effect; One end of elastic rubber pipe is outwards equipped with the interior plug of forward end seal, forward end seal successively and is connected with outer plug, the fastening outside collar in front end; The other end of elastic rubber pipe is outwards equipped with the interior plug of back-end sealing, back-end sealing successively and connects with outer plug, the fastening outside collar in rear end.Outside front end, plug has two air inlets, outside rear end, plug has two air vents, bracing frame has wire port, shape memory alloy spring front end wire is made to be incorporated into rear end, draw with bellows interior air vent, convenient to shape memory alloy spring heat treated, there is insulating barrier wire outside, prevents short circuit phenomenon from occurring.The inner bellows surface of pneumatic muscles scribbles adiabatic gum, when preventing shape memory alloy spring from heating on the one hand, portion gas beyond corrugated tube and elastic rubber pipe are had an impact, corrugated tube can be divided into two parts pneumatic muscles inner space on the other hand, respectively inflation work is carried out to each several part, and non-interference; Bracing frame mainly plays a part to support corrugated tube, prevent corrugated tube due to the effect generation radial deformation of external pressure, bracing frame is connected with two ends plug by nine hairsprings, and hairspring, except the effect having fixing support rack, can make bracing frame move along with the axially-movable of corrugated tube.
When pneumatic muscles is started working, source of the gas by tubes connection on the pneumatic joint of air inlet, gas passes into the enclosed space between corrugated tube and rubber tube, make rubber tube expanded radially, and sidewall is close to mesh grid, axial shrinkage, produces contractility, because mesh grid has extremely low ductility, produce contractility so axially main by mesh grid; After pneumatic muscles inside reaches setting pressure, to shape memory alloy spring electrified regulation, make it that austenite phase transformation occur, produce contraction distortion, drive pneumatic muscles to shrink further.When pneumatic muscles needs to reduce amount of contraction, to shape memory alloy spring power down process, and pass into circulated gases by another road air inlet to bellows interior, make shape memory alloy spring fast cooling, reply the front state of energising, regulating the gas pressure intensity between corrugated tube and rubber tube, requirement of finishing the work afterwards.
The present invention can, by passing into pulse current to shape memory alloy spring two ends, make shape memory alloy spring temperature raise, and produces deformation and regulates pneumatic muscles, thus adapt to different driving load requests, has intelligence effect.Compared with traditional, pneumatic muscle, it under maintenance identical inner pressure condition, can increase the amount of contraction of pneumatic muscles, regulates pneumatic muscles stiffness characteristics further.The present invention can be widely used in the fields such as rehabilitation medical, high-accuracy manufacturing industry, bio-robot, has good compliance, safety, high power density ratio.
Accompanying drawing explanation
Below in conjunction with accompanying drawing description, this patent is described:
Fig. 1 is a kind of Shape-based interpolation memory alloy spring intelligent pneumatic power muscle decomposition texture schematic diagram;
Fig. 2 is a kind of Shape-based interpolation memory alloy spring intelligent pneumatic power muscle overall structure schematic diagram;
Fig. 3 is a kind of Shape-based interpolation memory alloy spring intelligent pneumatic power muscle overall structure three-view diagram;
Fig. 4 is stopper structure schematic diagram outside a kind of Shape-based interpolation memory alloy spring intelligent pneumatic power muscle front end;
Fig. 5 is stopper structure schematic diagram outside a kind of Shape-based interpolation memory alloy spring intelligent pneumatic power muscle rear end;
Fig. 6 is a kind of Shape-based interpolation memory alloy spring intelligent pneumatic power muscle bracing frame schematic diagram;
In figure: 1, front end outside collar; 2, pneumatic joint; 3, plug outside front end; 4, air inlet; 5, plug in front end; 6, hairspring; 7, corrugated tube; 8, bracing frame; 9, shape memory alloy spring; 10, bracing frame; 11, wire; 12, mesh grid; 13, rubber tube; 14, plug in rear end; 15, plug outside rear end; 16, pneumatic joint; 17, rear end outside collar; 18, central row QI KOU; 19, air vent; .
Detailed description of the invention
Fig. 1 is a kind of intelligent pneumatic power muscle decomposition texture schematic diagram of Shape-based interpolation memory alloy spring.Below in conjunction with accompanying drawing, the specific embodiment of the invention is described further.
A. pneumatic muscles is built-in with corrugated tube, and surface scribbles adiabatic gum, when can prevent shape memory alloy spring from heating on the one hand, portion gas beyond corrugated tube and elastic rubber pipe are had an impact, being used on the other hand a pneumatic muscles inner space is divided into two parts, respective inflation completes different tasks, and non-interference;
B. shape memory alloy spring is built-in with at pneumatic muscles, after pneumatic muscles internal pressure reaches setting value, start to apply pwm pulse electric current to shape memory alloy spring, it is heated, make it that austenite phase transformation occur, cause shape memory alloy spring that initiatively contraction distortion occurs, thus produce axial driving force.This makes pneumatic muscles when keeping internal pressure certain, can produce initiatively contraction distortion further, thus have intelligent effect.After use terminates, cut off pwm pulse electric current, ventilate to another air inlet, gas flows into bellows interior space from pneumatic muscles upper end, flows out from base bleed mouth, forms circulated gases, cools to shape memory alloy spring.
C. the sealing at pneumatic muscles two ends adopts two-layer plug, adopts and is threaded, fix corrugated tube between two-layer plug between interior plug and outer plug.Outside pneumatic muscles two ends, plug outer end is all designed with external hanger, can directly connect outer load, or direct connection for transmission mechanism.The design of plug internal porosity is complicated, has been difficult to punching work, therefore adopts 3D printing technique to print pneumatic muscles two ends plug.The elastic rubber pipe of pneumatic muscles and mesh grid two ends are overlapped outside on plug respectively, with outside collar, elastic rubber pipe and mesh grid and outer plug are secured together, and apply fluid sealant, thus realize the sealing to pneumatic muscles two ends.Plug has two air inlets outside pneumatic muscles front end, one makes it complete the work of normal pneumatic muscles to pneumatic muscles inflation, and another to cool use to inner shape memory alloy spring.Plug has two steam vents outside pneumatic muscles rear end, exit for one to pneumatic muscles internal gas, another and bellows interior air inlet form circulation gas circuit, dispel the heat to shape memory alloy spring.
D. bellows interior uses two circular support framves, and bracing frame is used for preventing corrugated tube from producing radial contraction distortion due to external pressure effect.Three hairsprings adopting even circumferential to arrange between the first bracing frame with front end plug are connected, and plug and circular support frame all have the hanger of fixing spring; Also three hairsprings of circumference uniform distribution are adopted to connect between two circular support framves; Also adopt this kind of connected mode between the second bracing frame and rear end plug, pneumatic muscles inside has 9 hairsprings for connection.Nine hairsprings, except fixing support rack, can also make bracing frame along with pneumatic muscles axially-movable.
Claims (5)
1. the intelligent pneumatic power muscle of a Shape-based interpolation memory alloy spring, its feature: elastic rubber pipe (13) be inwardly equipped with successively corrugated tube (7), bracing frame (8) and (10), 9 be connected hairspring (6), shape memory alloy spring (9), elastic rubber pipe (13) has outwards been provided with the mesh grid (12) of constraint effect; One end of elastic rubber pipe (13) is outwards equipped with forward end seal interior plug (5), forward end seal successively and is connected with outer plug (3), front end pneumatic joint (2), the fastening outside collar in front end (1); Elastic rubber pipe (13) other end is outwards equipped with back-end sealing interior plug (14), back-end sealing successively and connects with outer plug (15), rear end pneumatic joint (16), the fastening outside collar in rear end (17); Plug (3) has two air inlets (4) outside front end, plug (15) has two air vents (18) (19) outside rear end, bracing frame (8) (10) have wire port, draw wire (11), make shape memory alloy spring front end wire be incorporated into rear end, draw with bellows interior air vent (18), convenient to shape memory alloy spring electrified regulation; Inner two bracing frames of this pneumatic muscles are connected with front and back plug by nine hairsprings, nine hairsprings and shape memory alloy spring initial time be all in extended state; The inside and outside plug of dependence rear and front end, corrugated tube two ends is fixed; Elastic rubber pipe and outer mesh are overlapped outside on plug, are then fixed with outside collar; Article two, wire is all with dielectric film, preventing short circuit phenomenon.
2. when the intelligent pneumatic power muscle of a kind of Shape-based interpolation memory alloy spring according to claim 1 is started working, source of the gas by tubes connection on the pneumatic joint of air inlet, gas passes into the enclosed space between corrugated tube and rubber tube, make rubber tube expanded radially, and sidewall is close to mesh grid, axial shrinkage, produces contractility, because mesh grid has extremely low ductility, produce contractility so axially main by mesh grid; Now shape memory alloy spring is in no power state, can shrink along with the contraction of pneumatic muscles, after pneumatic muscles inside reaches setting pressure, start shape memory alloy spring electrified regulation, make it that austenite phase transformation occur, produce initiatively contraction distortion, drive pneumatic muscles to shrink further, making pneumatic muscles when keeping internal pressure constant, shrinkage factor can be increased further; When pneumatic muscles needs reduction amount of contraction to carry out work, to shape memory alloy spring power down process, and pass into circulated gases by another road air inlet to bellows interior, make shape memory alloy spring fast cooling, reply the front state of energising, regulate the gas pressure intensity between corrugated tube and rubber tube afterwards again, requirement of finishing the work; In whole work process, corrugated tube moves along with the axially-movable of pneumatic muscles all the time, and two bracing frames are driven, along with pneumatic muscles axially-movable by the hairspring being in extended state.
3. the corrugated tube of the intelligent pneumatic power muscle inside of a kind of Shape-based interpolation memory alloy spring according to claim 1 can move along with the axially-movable of pneumatic muscles, and adiabatic gum is coated on surface, when can prevent shape memory alloy spring from heating, portion gas beyond corrugated tube and elastic rubber pipe are had an impact, corrugated tube separates inside and outside two parts gas in addition, make inside and outside two parts gas complete different tasks, and be independent of each other.
4. two bracing frames of the intelligent pneumatic power muscle of a kind of Shape-based interpolation memory alloy spring according to claim 1, effect prevents corrugated tube from producing radial contraction due to external pressure effect; Nine hairsprings are used for fixing bracing frame on the one hand, make bracing frame produce axially-movable along with pneumatic muscles on the other hand.
5. adopt the mode be threaded to be secured together between the outer plug of the intelligent pneumatic power muscle rear and front end of a kind of Shape-based interpolation memory alloy spring according to claim 1 and interior plug; The outer plug of rear and front end is designed with connection hanger simultaneously, can directly connect outer load, or connection for transmission mechanism.
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| CN105805076A (en) * | 2016-04-26 | 2016-07-27 | 中国计量大学 | Pneumatic muscle and realized driving mechanism thereof |
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| CN106514645A (en) * | 2017-01-10 | 2017-03-22 | 中国计量大学 | Nesting type shape memory alloy pneumatic artificial muscle |
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