CN105437228A - Pneumatic muscle - Google Patents
Pneumatic muscle Download PDFInfo
- Publication number
- CN105437228A CN105437228A CN201510975045.5A CN201510975045A CN105437228A CN 105437228 A CN105437228 A CN 105437228A CN 201510975045 A CN201510975045 A CN 201510975045A CN 105437228 A CN105437228 A CN 105437228A
- Authority
- CN
- China
- Prior art keywords
- tunica fibrosa
- pneumatic muscles
- memory alloy
- alloy wire
- shape
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Actuator (AREA)
Abstract
The invention belongs to the technical field of robot driving, and relates to a pneumatic muscle. The pneumatic muscle comprises a fiber film having opening parts at two ends; sealing components tightly connected with the opening parts of the fiber films are arranged at two ends of the fiber films; at least one shape memory alloy wire is arranged in the fiber film; the two ends of the shape memory alloy wires are fixedly connected with the sealing components, respectively; and included angles betwen the shape memory alloy wires and the axis of the fiber films are bigger than 0 degree and smaller than 90 degrees. The pneumatic muscle is high in durability and fast in response speed.
Description
Technical field
The invention belongs to robot actuation techniques field, relate to a kind of pneumatic muscles.
Background technology
Along with the fast development of Robotics, pneumatic muscles is high as a kind of power to weight ratio, the driver of cleanliness without any pollution, is widely used in robot field.
At present, occur utilizing shape-memory alloy wire to impel pneumatic muscles to produce the pneumatic muscles scheme of the bending and torsion free degree, and by adiabatic gum, the elastic rubber pipe of shape-memory alloy wire and pneumatic muscles and mesh grid are separated, but smear thickness and deformation resistance that adiabatic gum can increase pneumatic muscles sidewall fibers film, the overall driveability of pneumatic muscles and response speed is caused to reduce, and the thermal losses of part that tunica fibrosa and shape-memory alloy wire directly contact apparently higher than other parts of tunica fibrosa, thus can shorten the useful life longevity of pneumatic muscles.
Summary of the invention
The object of the invention is for the problems referred to above, a kind of fast response time is provided, the pneumatic muscles that useful life longevity is high.
For achieving the above object, present invention employs following technical proposal: a kind of pneumatic muscles, comprise the tunica fibrosa that two ends have opening portion, the two ends of described tunica fibrosa are provided with the containment member be tightly connected with the opening portion of tunica fibrosa, tunica fibrosa inside is provided with at least one shape-memory alloy wire, and the two ends of described shape-memory alloy wire are fixedly connected with containment member respectively and angle between shape-memory alloy wire and the axial line of tunica fibrosa is greater than 0 ° and is less than 90 °.
In above-mentioned a kind of pneumatic muscles, described containment member comprises the first sealing inner member and the second sealing inner member that are tightly connected with tunica fibrosa two ends respectively, and the first described sealing inner member or the second sealing inner member are provided with the passage of supplied gas turnover and the Wiring port for being connected with wire.
In above-mentioned a kind of pneumatic muscles, described tunica fibrosa inwall is fixed with the rigid annulus assembly be at least made up of a rigid annulus.
In above-mentioned a kind of pneumatic muscles, the first rigid annulus that the described rigid annulus assembly plane comprised residing at least two is parallel to each other and the second rigid annulus, and the first described rigid annulus is vertical with the axial line of tunica fibrosa with the plane residing for the second rigid annulus.
In above-mentioned a kind of pneumatic muscles, also be provided with at least one one end in described tunica fibrosa to be fixedly connected with rigid annulus assembly, the shape-memory alloy wire that the other end is fixedly connected with containment member, and the angle between this shape-memory alloy wire and axial line of tunica fibrosa is greater than 0 ° and is less than 90 °.
In above-mentioned a kind of pneumatic muscles, the two ends of described tunica fibrosa and be positioned at connector containment member is fixed with for connecting.
In above-mentioned a kind of pneumatic muscles, the second connector that described connector comprises the first connector on the containment member being fixed on tunica fibrosa wherein one end and is fixed on the containment member of the tunica fibrosa other end.
In above-mentioned a kind of pneumatic muscles, the first described connector and the second connector are one-way joint or universal joint.
In above-mentioned a kind of pneumatic muscles, the first described sealing inner member and the second sealing inner member are metal disk.
In above-mentioned a kind of pneumatic muscles, described tunica fibrosa comprises rubber tube and is bonded in the mesh grid of described rubber tube lateral surface, and described rigid annulus is rigidity thermal resistance annulus or rigid metal annulus.
Compared with prior art, the invention has the advantages that: by shape-memory alloy wire being inclined between the first sealing inner member of pneumatic muscles inner chamber and the second sealing inner member, when pneumatic muscles is shunk under air pressure inside effect, the effect being subject to the deformation resistance of shape-memory alloy wire can produce bending and rotate, pneumatic muscles can be made initiatively to produce driving force by current flow heats shape-memory alloy wire, promote the overall driveability of pneumatic muscles, and isolate due to the tunica fibrosa of shape-memory alloy wire and pneumatic muscles, thermal energy directly can not be conducted to tunica fibrosa by shape-memory alloy wire temperature increase, reduce the thermal losses of pneumatic muscles, improve the useful life longevity of pneumatic muscles, and the heat that shape-memory alloy wire distributes can make pneumatic muscles inner chamber air pressure initiatively increase, thus promote the response speed of pneumatic muscles to a certain extent.
Accompanying drawing explanation
Fig. 1 is structural representation provided by the invention;
Fig. 2 is another kind of structural representation provided by the invention;
Fig. 3 is another kind of structural representation provided by the invention;
Fig. 4 is fundamental diagram provided by the invention.
In figure: the first sealing inner member 1, tunica fibrosa 2, shape-memory alloy wire 3, second seal with inner member 4, rigid annulus assembly 5, first rigid annulus 51, second rigid annulus 52, first connector 6, second connector 7.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention will be further described in detail.
As shown in Figure 1, a kind of pneumatic muscles, comprise the tunica fibrosa 2 that two ends have opening portion, the two ends of described tunica fibrosa 2 are provided with the containment member be tightly connected with the opening portion of tunica fibrosa 2, tunica fibrosa 2 inside is provided with at least one shape-memory alloy wire 3, and the two ends of described shape-memory alloy wire 3 are fixedly connected with containment member respectively and angle between the axial line of shape-memory alloy wire 3 and tunica fibrosa 2 is greater than 0 ° and is less than 90 °.
The shape-memory alloy wire 3 of pneumatic muscles inner chamber is when galvanization C generates heat phase transformation, shape-memory alloy wire 3 shortens thus pneumatic muscles is initiatively produced and shrinks driving force, and the heat that shape-memory alloy wire 3 distributes makes pneumatic muscles inner chamber air pressure become large, promotes further and shrinks driving force and response speed.
By shape-memory alloy wire being inclined between the first sealing inner member of pneumatic muscles inner chamber and the second sealing inner member, while pneumatic muscles is shunk under air pressure inside increase effect, the effect being subject to the deformation resistance of shape-memory alloy wire can produce bending and rotate, pneumatic muscles can be made initiatively to produce driving force by current flow heats shape-memory alloy wire, promote the overall driveability of pneumatic muscles, and isolate due to the tunica fibrosa of shape-memory alloy wire and pneumatic muscles, thermal energy directly can not be conducted to tunica fibrosa by shape-memory alloy wire temperature increase, thus reduce the thermal losses of pneumatic muscles, improve the useful life longevity of pneumatic muscles, and the heat that shape-memory alloy wire distributes can make pneumatic muscles inner chamber air pressure initiatively increase, thus promote the response speed of pneumatic muscles to a certain extent.
Containment member is the object that the two ends of tunica fibrosa 2 can be sealed, can be plate-like structure or membrane structure, in the present embodiment, containment member comprises the first sealing inner member 1 and the second sealing inner member 4 be tightly connected with tunica fibrosa 2 two ends respectively, and the first described sealing inner member 1 or the second sealing inner member 4 are provided with the passage of supplied gas turnover and the Wiring port for being connected with wire.
Preferred version, as shown in Figure 3, tunica fibrosa 2 inwall is fixed with the rigid annulus assembly 5 be at least made up of a rigid annulus.The two ends of tunica fibrosa 2 and be positioned at connector containment member is fixed with for connecting.Connector comprise be fixed on tunica fibrosa 2 wherein one end containment member on the first connector 6 and the second connector 7 of being fixed on the containment member of tunica fibrosa 2 other end.First connector 6 and the second connector 7 are one-way joint or universal joint.
As shown in Figure 2, the first rigid annulus 51 and the second rigid annulus 52 that rigid annulus assembly 5 plane comprised residing at least two is parallel to each other, and the first described rigid annulus 51 is vertical with the axial line of tunica fibrosa 2 with the plane residing for the second rigid annulus 52.Also be provided with at least one one end in tunica fibrosa 2 to be fixedly connected with rigid annulus assembly 5, the shape-memory alloy wire 3 that the other end is fixedly connected with containment member, that is, first rigid annulus 51 and/or the second rigid annulus 52 at least connect a shape-memory alloy wire 3 and this shape-memory alloy wire 3 is fixedly connected with the first sealing inner member 1 or the second sealing inner member 4, and the angle between this shape-memory alloy wire 3 and axial line of tunica fibrosa 2 is greater than 0 ° and is less than 90 °.Shape-memory alloy wire 3 is when phase transformation shortens, the pulling force of shape-memory alloy wire 3 on rigid annulus can impel rigid annulus to drive tunica fibrosa 2 to rotate, and shape-memory alloy wire 3 and tunica fibrosa 2 are isolated by rigid annulus, reduce the thermal losses of pneumatic muscles, improve the useful life longevity of pneumatic muscles.In addition, rigid annulus can while increase pneumatic muscles integral rigidity, being radially expanded of restriction tunica fibrosa 2, thus the volume of pneumatic muscles inner chamber is less under same pressure, the contraction driving force causing pneumatic muscles to produce is larger, promotes the overall driveability of pneumatic muscles.
First sealing inner member 1 and the second sealing inner member 4 are metal disk.Tunica fibrosa comprises rubber tube and is bonded in the mesh grid of described rubber tube lateral surface, and rubber tube has elasticity, and mesh grid can be fiber knitted net or woven wire cloth, and described rigid annulus is rigidity thermal resistance annulus or rigid metal annulus.
For example, above-mentioned first connector 6 and the second connector 7 can be such as the joints that nipple etc. plays fixed installation effect; Above-mentioned first sealing inner member 1 and the second sealing inner member 4 can be such as alloy disks, diameter range desirable 10 millimeters, 15 millimeters, 20 millimeters, 40 millimeters etc., thickness desirable 0.2 millimeter, 0.5 millimeter, 1 millimeter etc.; The angle being inclined at shape-memory alloy wire 3 between the first sealing inner member 1 and the second sealing inner member 4 and the first sealing inner member 1 place plane can be such as 30 degree, 45 degree, 60 degree etc.
Operation principle of the present invention is: as shown in Figure 4, suppose that the air pressure after the inflation of pneumatic muscles is 1.2MPa, under this state, the first sealing inner member 1 of pneumatic muscles and the second sealing inner member 4 to expand and close to each other under rigid annulus restriction at tunica fibrosa 2, and pneumatic muscles produces contraction driving force F vertically; Meanwhile, the first shape-memory alloy wire is compressed generation first deformation resistance F
11, the second shape-memory alloy wire is compressed generation second deformation resistance F
21, the n-th shape-memory alloy wire is compressed generation n-th deformation resistance F
n1, along be parallel to axial direction and Directional Decomposition perpendicular to axial direction above-mentioned first, second ...., the n-th deformation resistance, can find out, along being parallel to the deformation resistance component F in axial direction
11y, F
21y..., F
n1ycan produce and pneumatic muscles is bent, the first deformation resistance component F in direction perpendicular to axial direction
11x, F
21x..., F
n1xthe component that can produce along the tangential direction of pneumatic muscles circumference can make pneumatic muscles rotate, wherein, n be more than or equal to 1 positive integer.
Specific embodiment described herein is only to the explanation for example of the present invention's spirit.Those skilled in the art can make various amendment or supplement or adopt similar mode to substitute to described specific embodiment, but can't depart from spirit of the present invention or surmount the scope that appended claims defines.
Although more employ the terms such as the first sealing inner member 1, tunica fibrosa 2, shape-memory alloy wire 3, second sealing inner member 4, rigid annulus assembly 5, first rigid annulus 51, second rigid annulus 52, first connector 6, second connector 7 herein, do not get rid of the possibility using other term.These terms are used to be only used to describe and explain essence of the present invention more easily; The restriction that they are construed to any one additional is all contrary with spirit of the present invention.
Claims (10)
1. a pneumatic muscles, comprise the tunica fibrosa (2) that two ends have opening portion, it is characterized in that, the two ends of described tunica fibrosa (2) are provided with the containment member be tightly connected with the opening portion of tunica fibrosa (2), tunica fibrosa (2) inside is provided with at least one shape-memory alloy wire (3), and the two ends of described shape-memory alloy wire (3) are fixedly connected with containment member respectively and angle between the axial line of shape-memory alloy wire (3) and tunica fibrosa (2) is greater than 0 ° and is less than 90 °.
2. a kind of pneumatic muscles according to claim 1, it is characterized in that, described containment member comprises the first sealing inner member (1) and the second sealing inner member (4) that are tightly connected with tunica fibrosa (2) two ends respectively, and the first described sealing inner member (1) or the second sealing inner member (4) are provided with the passage of supplied gas turnover and the Wiring port for being connected with wire.
3. a kind of pneumatic muscles according to claim 1 and 2, is characterized in that, described tunica fibrosa (2) inwall is fixed with the rigid annulus assembly (5) be at least made up of a rigid annulus.
4. a kind of pneumatic muscles according to claim 3, it is characterized in that, the first rigid annulus (51) that described rigid annulus assembly (5) plane comprised residing at least two is parallel to each other and the second rigid annulus (52), and described the first rigid annulus (51) is vertical with the axial line of tunica fibrosa (2) with the plane residing for the second rigid annulus (52).
5. a kind of pneumatic muscles according to claim 4, it is characterized in that, also be provided with at least one one end in described tunica fibrosa (2) to be fixedly connected with rigid annulus assembly (5), the shape-memory alloy wire (3) that the other end is fixedly connected with containment member, and the angle between the axial line of this shape-memory alloy wire (3) and tunica fibrosa (2) is greater than 0 ° and is less than 90 °.
6. a kind of pneumatic muscles according to claim 3, is characterized in that, the two ends of described tunica fibrosa (2) and be positioned at connector containment member is fixed with for connecting.
7. a kind of pneumatic muscles according to claim 6, it is characterized in that, the second connector (7) that described connector comprises the first connector (6) on the containment member being fixed on tunica fibrosa (2) wherein one end and is fixed on the containment member of tunica fibrosa (2) other end.
8. a kind of pneumatic muscles according to claim 7, is characterized in that, described the first connector (6) and the second connector (7) are one-way joint or universal joint.
9. a kind of pneumatic muscles according to claim 2, is characterized in that, the first described sealing inner member (1) and the second sealing inner member (4) are metal disk.
10. a kind of pneumatic muscles according to claim 3, is characterized in that, described tunica fibrosa comprises rubber tube and is bonded in the mesh grid of described rubber tube lateral surface, and described rigid annulus is rigidity thermal resistance annulus or rigid metal annulus.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510975045.5A CN105437228B (en) | 2015-12-22 | 2015-12-22 | Pneumatic muscle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510975045.5A CN105437228B (en) | 2015-12-22 | 2015-12-22 | Pneumatic muscle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105437228A true CN105437228A (en) | 2016-03-30 |
| CN105437228B CN105437228B (en) | 2017-05-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510975045.5A Expired - Fee Related CN105437228B (en) | 2015-12-22 | 2015-12-22 | Pneumatic muscle |
Country Status (1)
| Country | Link |
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| CN (1) | CN105437228B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111085989A (en) * | 2020-01-04 | 2020-05-01 | 东北林业大学 | Variable-rigidity bionic trunk soft arm with multiple degrees of freedom |
| CN112518803A (en) * | 2020-12-16 | 2021-03-19 | 合肥工业大学 | Bending and twisting combined soft actuator |
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| JPS63136014A (en) * | 1986-11-28 | 1988-06-08 | Res Dev Corp Of Japan | Active bending device for flexible tube |
| US5727391A (en) * | 1995-10-16 | 1998-03-17 | Mcgill University | Deformable structural arrangement |
| CN1830636A (en) * | 2006-04-14 | 2006-09-13 | 华中科技大学 | Assemblied anthropomorphic manipulator based on imbedded shape memory alloy electric machine |
| CN101219075A (en) * | 2007-11-27 | 2008-07-16 | 中国计量学院 | Multi-freedom intelligent pneumatic power muscle based on shape memory alloy deformation net |
| JP4229855B2 (en) * | 2004-02-19 | 2009-02-25 | 株式会社東芝 | Bending actuator and camera module |
| CN102813563A (en) * | 2012-08-27 | 2012-12-12 | 上海交通大学 | Active and passive type intelligent simulated muscle |
| CN102962850A (en) * | 2012-11-05 | 2013-03-13 | 南京航空航天大学 | Flexible mechanical arm mechanism driven by shape memory alloy (SMA) wires and flexible mechanical arm thereof |
| CN105030389A (en) * | 2015-07-25 | 2015-11-11 | 东北大学 | Intelligent pneumatic muscle based on shape memory alloy spring |
-
2015
- 2015-12-22 CN CN201510975045.5A patent/CN105437228B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63136014A (en) * | 1986-11-28 | 1988-06-08 | Res Dev Corp Of Japan | Active bending device for flexible tube |
| US5727391A (en) * | 1995-10-16 | 1998-03-17 | Mcgill University | Deformable structural arrangement |
| JP4229855B2 (en) * | 2004-02-19 | 2009-02-25 | 株式会社東芝 | Bending actuator and camera module |
| CN1830636A (en) * | 2006-04-14 | 2006-09-13 | 华中科技大学 | Assemblied anthropomorphic manipulator based on imbedded shape memory alloy electric machine |
| CN101219075A (en) * | 2007-11-27 | 2008-07-16 | 中国计量学院 | Multi-freedom intelligent pneumatic power muscle based on shape memory alloy deformation net |
| CN102813563A (en) * | 2012-08-27 | 2012-12-12 | 上海交通大学 | Active and passive type intelligent simulated muscle |
| CN102962850A (en) * | 2012-11-05 | 2013-03-13 | 南京航空航天大学 | Flexible mechanical arm mechanism driven by shape memory alloy (SMA) wires and flexible mechanical arm thereof |
| CN105030389A (en) * | 2015-07-25 | 2015-11-11 | 东北大学 | Intelligent pneumatic muscle based on shape memory alloy spring |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111085989A (en) * | 2020-01-04 | 2020-05-01 | 东北林业大学 | Variable-rigidity bionic trunk soft arm with multiple degrees of freedom |
| CN112518803A (en) * | 2020-12-16 | 2021-03-19 | 合肥工业大学 | Bending and twisting combined soft actuator |
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| Publication number | Publication date |
|---|---|
| CN105437228B (en) | 2017-05-03 |
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Granted publication date: 20170503 Termination date: 20211222 |
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