CN105030389B - A kind of intelligent pneumatic power muscle based on shape memory alloy spring - Google Patents
A kind of intelligent pneumatic power muscle based on shape memory alloy spring Download PDFInfo
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- CN105030389B CN105030389B CN201510440930.3A CN201510440930A CN105030389B CN 105030389 B CN105030389 B CN 105030389B CN 201510440930 A CN201510440930 A CN 201510440930A CN 105030389 B CN105030389 B CN 105030389B
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Abstract
The invention discloses a kind of intelligent pneumatic power muscle based on shape memory alloy spring.Shape memory alloy spring is placed in inside rubber tube, it is equipped with one layer of corrugated tube between rubber tube and shape memory alloy spring, bellows interior is passed through air-flow by a-road-through QI KOU and shape memory alloy spring is radiated, ventilated by another road blow vent between corrugated tube and rubber tube, make rubber tube expanded radially, produce axial contraction force.Corrugated tube is built-in with two bracing frames, prevents corrugated tube from because external pressure acts on, radial deformation occurring.After pneumatic muscles internal gas reach certain pressure intensity, active deformation is produced using Current Heating shape memory alloy spring so as to produce contraction distortion further.The positive effect of the present invention is to improve the dynamic characteristic of pneumatic muscles, improves pneumatic muscles maximum contraction rate so as to stiffness characteristics change is more flexible, more prominent.The present invention can be used for needing the fields such as the rehabilitation medical of submissive driving, high-accuracy manufacturing industry, bio-robot.
Description
Technical field
The present invention relates to a kind of intelligent pneumatic power muscle based on shape memory alloy spring, it belongs to pneumatic muscles technology neck
Domain, intellectual material field and bionics field.
Background technology
Pneumatic artificial muscle（Pneumatic Artificial Muscle, abbreviation PAM）Drive as a kind of novel bionic
Device, it is to be proposed in nineteen thirty by USSR man S.Garasiev at first, subsequently occurs in that all kinds of similar conceptions.For example
American Mckibben has invented the Mckibben type pneumatic muscles being nowadays used widely, day afterwards in the 1950's
This have developed Rubbertuator pneumatic muscles on this basis, and Britain have developed Air Muscle pneumatic muscles.Business at present
Main type pneumatic muscles i.e. the pneumatic flesh of Mckibben type of Shadow company and the production of Festo company that metaplasia is produced
Meat.This traditional pneumatic muscles mainly by inflatable elastic rubber tube and rise constraint elastic rubber pipe expanded radially deformation outward
Portion's mesh grid is constituted, because mesh grid has extremely low ductility, so longitudinal contraction can load produces driving force to connecting.
Pneumatic muscles major advantage is that working method, response time, telescopic extensions are more similar to biological muscles, and it is non-
Linear characteristic is close with human skeletal muscle, and possesses the compliance that the drivers such as motor do not possess, and its power-weight ratio is big, no
Pollution, fricton-tight, be easy to miniaturization.It uses as a kind of high efficiency driver, can not only produce sufficiently large power, also simultaneously
Can have good compliance so that driven device has environmental friendliness characteristic.Pneumatic artificial muscle driving means are permissible
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 these traditional, pneumatic fleshes
The mechanism principle of meat is all similar, all or controls its amount of contraction by being filled with the pressure of pneumatic muscles internal gas, produces
Raw contractility.Due to rubber tube attribute reason itself, in limited pressure range, the amount of contraction of pneumatic muscles and stiffness characteristics
Also it is restricted, this point deficiency is also the key issue of impact pneumatic muscles development and application, solves this problem, Ke Yiti
The maximum contraction rate of high pneumatic muscles, so as to have more flexible stiffness characteristics, promotes pneumatic muscles in submissive driving field
Application, thus promote the development in the fields such as rehabilitation medical, high-accuracy manufacturing industry, bio-robot.
, as a kind of new functional material, it is main for marmem (Shape Memory Alloy, abbreviation SMA)
Using shape memory effect, occur by temperature change change of shape to produce contractility, connector is driven, be intelligence
A kind of very wide driving element is applied in material.Using the spring that marmem makes, there is the big feature of amount of contraction, can root
Obtain the wider spring of power output scope according to the size of string diameter and spring diameter.Therefore shape memory alloy spring can be used as one
Plant preferable smart material driver.
It is all the contraction produces driving force by itself in view of pneumatic muscles and two kinds of drivers of shape memory alloy spring,
There is similar operating characteristic, therefore combine both a kind of intelligent pneumatic power flesh based on shape memory alloy spring of exploitation
Meat, can be good at improving shrinkage factor and the stiffness characteristics of traditional, pneumatic muscle.
Content of the invention
It is an object of the invention to provide a kind of intelligent pneumatic power muscle based on shape memory alloy spring, can keep
Under conditions of pneumatic muscles internal pressure is certain, the drive characteristic of pneumatic muscles is done and adjusts further, increase its amount of contraction, change
Become its stiffness characteristics, so that the drive characteristic of traditional, pneumatic muscle is further improved, expand its application.
The technical solution adopted in the present invention：
Inwardly it is equipped with corrugated tube, bracing frame successively, connects hairspring nine, marmem bullet in elastic rubber pipe
Spring；Elastic rubber pipe has outwards been provided with the mesh grid of constraint effect；It is close that one end of elastic rubber pipe is outwards sequentially arranged with front end
Envelope with interior plug, forward end seal and connects with outer plug, front end fastening outside collar；The other end of elastic rubber pipe is outwards successively
And connect with outer plug, rear end fastening outside collar with interior plug, back-end sealing equipped with back-end sealing.Have on plug outside front end
Two air inlets, plug outside rear end has two air vents, bracing frame has wire port so that marmem bullet
Spring front end wire is incorporated into rear end, draws with bellows interior air vent, conveniently to shape memory alloy spring heat treated, leads
There is insulating barrier outside line, prevent short circuit phenomenon from occurring.The internal bellows surface of pneumatic muscles scribbles adiabatic gum, on the one hand prevents shape
During the heating of shape memory alloys spring, impact is produced on portion gas beyond corrugated tube and elastic rubber pipe, another aspect corrugated tube can
Pneumatic muscles inner space is divided into two parts, respectively work is inflated to each several part, and non-interference；Bracing frame is main
Play the effect of support corrugated tube, prevent corrugated tube from producing radial deformation due to the effect of external pressure, bracing frame is by nine thin bullets
Spring is connected with two ends plug, and hairspring, in addition to playing the role of fixing support rack, can make bracing frame with the axle of corrugated tube
Move to motion.
When pneumatic muscles are started working, source of the gas is connected on the pneumatic joint of air inlet by conduit, and gas is passed through ripple
Closing space between pipe and rubber tube, makes rubber tube expanded radially, and side wall is close to mesh grid, axial shrinkage, produces and receives
Contracting power, because mesh grid has extremely low ductility, so axially produce contractility mainly by mesh grid；Reach inside pneumatic muscles
To setting after pressure, to shape memory alloy spring electrified regulation so as to there is austenite phase transformation, produce contraction distortion, drive
Pneumatic muscles shrink further.When pneumatic muscles need to reduce amount of contraction, to shape memory alloy spring power down process, and by
Another road air inlet is passed through circulated gases to bellows interior, makes shape memory alloy spring fast cooling, replys shape before energising
State, is adjusting the gas pressure intensity between corrugated tube and rubber tube afterwards, is completing job requirement.
The present invention can make shape memory alloy spring temperature by being passed through pulse current to shape memory alloy spring two ends
Degree raises, and produces deformation to adjust pneumatic muscles, thus adapt to different driving loads requiring, has intelligent effect.With tradition
Pneumatic muscles are compared, and it under keeping identical inner pressure condition, can increase the amount of contraction of pneumatic muscles further, adjusts gas
Dynamic muscle stiffness characteristics.The composite can be widely applied to the fields such as rehabilitation medical, high-accuracy manufacturing industry, bio-robot, have
Preferably compliance, safety, high power density ratio.
Brief description
Description illustrates to this patent below in conjunction with the accompanying drawings：
Fig. 1 is a kind of based on shape memory alloy spring intelligent pneumatic power muscle decomposition texture schematic diagram；
Fig. 2 is a kind of based on shape memory alloy spring intelligent pneumatic power muscle overall structure diagram；
Fig. 3 is a kind of based on shape memory alloy spring intelligent pneumatic power muscle overall structure three-view diagram；
Fig. 4 is a kind of based on stopper structure schematic diagram outside shape memory alloy spring intelligent pneumatic power muscle front end；
Fig. 5 is a kind of based on stopper structure schematic diagram outside shape memory alloy spring intelligent pneumatic power muscle rear end；
Fig. 6 is a kind of based on shape memory alloy spring intelligent pneumatic power muscle bracing frame schematic diagram；
In figure：1st, front end outside collar；2nd, pneumatic joint；3rd, plug outside front end；4th, air inlet；5th, plug in front end；6th, thin
Spring；7th, corrugated tube；8th, bracing frame；9th, shape memory alloy spring；10th, bracing frame；11st, wire；12nd, mesh grid；13rd, rubber
Pipe；14th, plug in rear end；15th, plug outside rear end；16th, pneumatic joint；17th, rear end outside collar；18th, center air vent；19th, arrange
QI KOU；.
Specific embodiment
Fig. 1 is a kind of intelligent pneumatic power muscle decomposition texture schematic diagram based on shape memory alloy spring.With reference to attached
Figure is described further to the specific embodiment of the invention.
A. pneumatic muscles are built-in with corrugated tube, and surface scribbles adiabatic gum, on the one hand can prevent marmem bullet
During spring heating, impact is produced on portion gas beyond corrugated tube and elastic rubber pipe, be on the other hand used for internal for pneumatic muscles empty
Between be divided into two parts, each inflation completes different tasks, and non-interference；
B. it is built-in with shape memory alloy spring in pneumatic muscles, after pneumatic muscles internal pressure reaches setting value, open
Begin to apply pwm pulse electric current to shape memory alloy spring, it is heated so as to be there is austenite phase transformation, lead to shape
There is active contraction distortion in memory alloy spring, thus producing axial driving force.This makes pneumatic muscles keep internal pressure
In the case of certain, active contraction distortion can be produced further, thus having intelligent effect.After terminating, cut off PWM arteries and veins
Rush electric current, another air inlet is ventilated, gas flows into bellows interior space from pneumatic muscles upper end, from base bleed mouth stream
Go out, form circulated gases, shape memory alloy spring is cooled.
C. the sealing at pneumatic muscles two ends adopts two-layer plug, adopts threaded, two-layer between interior plug and outer plug
Corrugated tube is fixed between plug.Outside pneumatic muscles two ends, plug outer end is designed with external hanger, can be directly connected to outer load,
Or it is directly connected to drive mechanism.The design of plug internal porosity is complicated, is difficult to complete work of punching, and therefore adopts 3D printing technique
Print pneumatic muscles two ends plug.The elastic rubber pipe of pneumatic muscles and mesh grid two ends are respectively fitted on outer plug, use wild card
Hoop is secured together elastic rubber pipe and mesh grid with outer plug, and applies fluid sealant, thus realizing to pneumatic muscles two ends
Sealing.Two air inlets are had on plug outside pneumatic muscles front end, one pneumatic muscles is inflated so as to complete normally pneumatic
The work of muscle, another use that internal shape memory alloy spring is carried out cooling.Have on plug outside pneumatic muscles rear end
Pneumatic muscles internal gas are exitted for one by two steam vents, and another and bellows interior air inlet form circulation gas circuit, right
Shape memory alloy spring radiates.
D. bellows interior uses two circular support framves, and bracing frame is used for preventing corrugated tube because external pressure acts on
Produce radial contraction deformation.It is connected using three hairsprings of even circumferential arrangement between the first bracing frame and front end plug,
The hanger of fixing spring is all had on plug and circular support frame；It is also adopted by three thin bullets of circumference uniform distribution between two circular support framves
Spring connects；Also adopt this kind of connected mode between the second bracing frame and rear end plug, have 9 pieces inside pneumatic muscles for connection
Hairspring.Nine hairsprings, in addition to fixing support rack, can also make bracing frame with pneumatic muscles axially-movable.
Claims (5)
1. a kind of intelligent pneumatic power muscle based on shape memory alloy spring, its feature：In elastic rubber pipe (13) inwardly successively
It is equipped with corrugated tube (7), two bracing frames (8,10), 9 connections hairspring (6), shape memory alloy springs (9), gum elastic
Pipe (13) has outwards been provided with the mesh grid (12) of constraint effect；One end of elastic rubber pipe (13) is outwards sequentially arranged with front end
Plug (3), front end pneumatic joint (2), front end outside collar (1) outside plug (5), front end；Elastic rubber pipe (13) other end is outside
It is sequentially arranged with plug in rear end (14), plug (15), rear end pneumatic joint (16), rear end outside collar (17) outside rear end；Outside front end
Two air inlets (4) are had on plug (3), plug (15) outside rear end has center air vent (18) and air vent (19), two
Wire port is had on individual bracing frame (8,10), draws wire (11), shape memory alloy spring front end wire is incorporated into
Rear end, draws with bellows interior center air vent (18), conveniently to shape memory alloy spring electrified regulation；This pneumatic muscles
Internal two bracing frames are connected with plug plug in plug in front end and rear end by nine hairsprings, nine hairsprings and shape
It is in extended state when memory alloy spring is initial；In plug and rear end outside plug in the dependence front end of corrugated tube two ends, front end
Outside plug, rear end, plug is fixed；Elastic rubber pipe and outer mesh are enclosed within plug outside plug and rear end outside front end, so
It is fixed with front end outside collar and rear end outside collar afterwards；Wire carries dielectric film, prevents short circuit phenomenon.
2. a kind of intelligent pneumatic power muscle based on shape memory alloy spring according to claim 1 it is characterised in that：Open
During beginning work, source of the gas is connected on the pneumatic joint of air inlet by conduit, and gas is passed through the envelope between corrugated tube and rubber tube
Close space, make rubber tube expanded radially, and side wall is close to mesh grid, axial shrinkage, produces contractility, because mesh grid has pole
Low ductility, so axially produce contractility mainly by mesh grid；Now shape memory alloy spring is in obstructed electricity condition,
Can shrink with the contraction of pneumatic muscles, after reaching setting pressure inside pneumatic muscles, start to marmem bullet
Spring electrified regulation, so as to there is austenite phase transformation, produces active contraction distortion, drives pneumatic muscles to shrink further, makes pneumatic
Muscle, in the case of keeping internal pressure constant, can increase shrinkage factor further；Need to reduce amount of contraction in pneumatic muscles
When being operated, to shape memory alloy spring power down process, and circulation gas is passed through to bellows interior from another road air inlet
Body, makes shape memory alloy spring fast cooling, replys state before energising, adjusts the gas between corrugated tube and rubber tube afterwards again
Pressure, completes job requirement；In whole work process, corrugated tube moves with the axially-movable of pneumatic muscles all the time, and two
Individual bracing frame is driven by the hairspring being in extended state, with pneumatic muscles axially-movable.
3. a kind of intelligent pneumatic power muscle based on shape memory alloy spring according to claim 1 it is characterised in that：Interior
The corrugated tube in portion can move with the axially-movable of pneumatic muscles, and adiabatic gum is coated on surface, can prevent shape memory
During alloy spring heating, impact is produced on portion gas beyond corrugated tube and elastic rubber pipe, in addition corrugated tube is inside and outside two parts
Gas separates so that inside and outside two parts gas completes different tasks, and is independent of each other.
4. a kind of intelligent pneumatic power muscle based on shape memory alloy spring according to claim 1 it is characterised in that：Two
Individual bracing frame, effect is to prevent corrugated tube from producing radial contraction because external pressure acts on；Nine hairspring one side are used for
Fixing support rack, on the other hand makes bracing frame produce axially-movable with pneumatic muscles.
5. a kind of intelligent pneumatic power muscle based on shape memory alloy spring according to claim 1 it is characterised in that：Before
It is secured together by the way of threaded between the outer plug at two ends and interior plug afterwards；The outer plug of rear and front end sets simultaneously
In respect of connection hanger, outer load can be directly connected to, or connect drive mechanism.
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| CN201510440930.3A CN105030389B (en) | 2015-07-25 | 2015-07-25 | A kind of intelligent pneumatic power muscle based on shape memory alloy spring |
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| CN201510440930.3A CN105030389B (en) | 2015-07-25 | 2015-07-25 | A kind of intelligent pneumatic power muscle based on shape memory alloy spring |
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| CN105030389B true CN105030389B (en) | 2017-03-01 |
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| CN105437228B (en) * | 2015-12-22 | 2017-05-03 | 中国计量学院 | Pneumatic muscle |
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| CN106514645B (en) * | 2017-01-10 | 2018-10-09 | 中国计量大学 | Nested type marmem Pneumatic artificial muscle |
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