CN105437228B - Pneumatic muscle - Google Patents
Pneumatic muscle Download PDFInfo
- Publication number
- CN105437228B CN105437228B CN201510975045.5A CN201510975045A CN105437228B CN 105437228 B CN105437228 B CN 105437228B CN 201510975045 A CN201510975045 A CN 201510975045A CN 105437228 B CN105437228 B CN 105437228B
- Authority
- CN
- China
- Prior art keywords
- fibrous membrane
- pneumatic muscles
- annulus
- rigid
- memory alloy
- 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.)
- Expired - Fee Related
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Classifications
-
- 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 robotically-driven technical field, is related to a kind of pneumatic muscles.
Background technology
With the fast development of roboticses, pneumatic muscles as a kind of power to weight ratio is high, cleanliness without any pollution driver,
It has been widely used in robot field.
At present, occurred promoting pneumatic muscles to produce the pneumatic flesh of bending and torsional freedom using shape-memory alloy wire
Meat scheme, and separated the elastic rubber pipe of shape-memory alloy wire and pneumatic muscles and mesh grid by adiabatic gum, but smear
Adiabatic gum can increase the thickness and deformation resistance of pneumatic muscles sidewall fibers film, cause the overall driveability and sound of pneumatic muscles
Answer speed to reduce, and the thermal losses of the part of fibrous membrane and shape-memory alloy wire directly contact can be significantly hotter than fibrous membrane other
Part, so as to shorten the useful life longevity of pneumatic muscles.
The content of the invention
The purpose of the present invention is for the problems referred to above, there is provided a kind of fast response time, the high pneumatic muscles of useful life longevity.
To reach above-mentioned purpose, following technical proposal is present invention employs：A kind of pneumatic muscles, including two ends have opening
The fibrous membrane in portion, the two ends of described fibrous membrane are provided with the containment member being tightly connected with the peristome of fibrous membrane, in fibrous membrane
Portion is provided with least one shape-memory alloy wire, and the two ends of described shape-memory alloy wire are fixedly connected respectively with containment member
And the angle between shape-memory alloy wire and the axial line of fibrous membrane is more than 0 ° and less than 90 °.
In a kind of above-mentioned pneumatic muscles, described containment member include being tightly connected with fibrous membrane two ends respectively the
Set on one sealing inner member and the second sealing inner member, described the first sealing inner member or the second sealing inner member
There are the passage and the Wiring port for connecting with wire of supplied gas turnover.
In a kind of above-mentioned pneumatic muscles, described fibrous membrane inwall is fixed with what is be at least made up of a rigid annulus
Rigid annulus component.
In a kind of above-mentioned pneumatic muscles, described rigid annulus component includes that the plane residing at least two is mutually put down
Capable the first rigid annulus and the second rigid annulus, and the first described rigid annulus and the plane residing for the second rigid annulus with
The axial line of fibrous membrane is vertical.
In a kind of above-mentioned pneumatic muscles, at least one one end and rigid annulus component are additionally provided with described fibrous membrane
It is fixedly connected, the shape-memory alloy wire that the other end is fixedly connected with containment member, and the shape-memory alloy wire and fibrous membrane
Axial line between angle more than 0 ° and less than 90 °.
In a kind of above-mentioned pneumatic muscles, the two ends of described fibrous membrane and it is fixed with containment member for even
The connector for connecing.
In a kind of above-mentioned pneumatic muscles, described connector includes being fixed on the containment member of fibrous membrane wherein one end
On the first connector and the second connector for being fixed on the containment member of the fibrous membrane other end.
In a kind of above-mentioned pneumatic muscles, described the first connector and the second connector is one-way joint or Universal connector
Head.
In a kind of above-mentioned pneumatic muscles, described the first sealing inner member and the second sealing inner member is metal
Disk.
In a kind of above-mentioned pneumatic muscles, the fibrous membrane includes rubber tube and is bonded in the rubber tube lateral surface
Mesh grid, described rigid annulus are rigid thermal resistance annulus or rigid metal annulus.
Compared with prior art, it is an advantage of the current invention that：It is pneumatic by the way that shape-memory alloy wire is inclined at
Between the first sealing inner member and the second sealing inner member of muscle inner chamber so that pneumatic muscles are internally under gas pressure
During contraction, can be produced bending by the effect of the deformation resistance of shape-memory alloy wire and rotate, by electric current heated shape
Memory alloy wire can make pneumatic muscles active produces driving force, lift pneumatic muscles entirety driveability, and due to shape memory
B alloy wire is isolated with the fibrous membrane of pneumatic muscles, and shape-memory alloy wire temperature is lifted directly will not conduct thermal energy to fiber
Film, the thermal losses of reduction pneumatic muscles, the useful life longevity of raising pneumatic muscles, and the heat that shape-memory alloy wire is distributed
Pneumatic muscles inner chamber air pressure can be made actively to increase, so as to lift the response speed of pneumatic muscles to a certain extent.
Description of the drawings
Fig. 1 is the structural representation that the present invention is provided；
Fig. 2 is another kind of structural representation that the present invention is provided；
Fig. 3 is another kind of structural representation that the present invention is provided；
Fig. 4 is the fundamental diagram that the present invention is provided.
In figure：First sealing inner member 1, fibrous membrane 2, the sealing inner member 4 of shape-memory alloy wire 3, second, rigidity
Annulus component 5, the first rigid annulus 51, the second rigid annulus 52, the first connector 6, the second connector 7.
Specific embodiment
With reference to the accompanying drawings and detailed description the present invention will be further described in detail.
As shown in figure 1, a kind of pneumatic muscles, including two ends have a fibrous membrane 2 of peristome, the two of described fibrous membrane 2
End is provided with the containment member being tightly connected with the peristome of fibrous membrane 2, and at least one marmem is provided with inside fibrous membrane 2
Silk 3, the two ends of described shape-memory alloy wire 3 are fixedly connected respectively and shape-memory alloy wire 3 and fiber with containment member
Angle between the axial line of film 2 is more than 0 ° and less than 90 °.
When galvanization C generates heat phase transformation, shape-memory alloy wire 3 shortens the shape-memory alloy wire 3 of pneumatic muscles inner chamber
So that pneumatic muscles are actively produced shrinks driving force, and the heat that shape-memory alloy wire 3 is distributed is so that in pneumatic muscles
Chamber air pressure becomes big, is further lifted and shrinks driving force and response speed.
It is close by the first sealing inner member and second that shape-memory alloy wire is inclined at pneumatic muscles inner chamber
Between envelope inner member so that while contraction under pneumatic muscles air pressure increase internally effect, by shape-memory alloy wire
The effect of deformation resistance can produce bending and rotate, pneumatic muscles can be made actively by electric current heated shape memory alloy silk
Produces driving force, lifts pneumatic muscles entirety driveability, and due to shape-memory alloy wire and pneumatic muscles fibrous membrane every
From shape-memory alloy wire temperature is lifted directly will not conduct thermal energy to fibrous membrane, so as to reduce the heat waste of pneumatic muscles
Consumption, improves the useful life longevity of pneumatic muscles, and the heat that shape-memory alloy wire is distributed can make pneumatic muscles inner chamber gas
Pressure actively increases, so as to lift the response speed of pneumatic muscles to a certain extent.
Containment member is the object that can be sealed at the two ends of fibrous membrane 2, can be plate-like structure or membrane structure, at this
In embodiment, containment member includes that the first sealing inner member 1 being tightly connected with the two ends of fibrous membrane 2 respectively and the second sealing are used
Inner member 4, described the first sealing inner member 1 or the second sealing inner member 4 be provided with supplied gas turnover passage and
For the Wiring port connected with wire.
Preferred version, as shown in figure 3, the inwall of fibrous membrane 2 is fixed with the rigid annulus being at least made up of a rigid annulus
Component 5.The two ends of fibrous membrane 2 and be fixed with containment member for connection connector.Connector includes being fixed on fibre
The first connector 6 and second be fixed on the containment member of the other end of fibrous membrane 2 on the dimension film 2 wherein containment member of one end
Connector 7.First connector 6 and the second connector 7 are one-way joint or universal joint.
As shown in Fig. 2 rigid annulus component 5 includes the first rigid annulus 51 that the plane residing at least two is parallel to each other
With the second rigid annulus 52, and the first described rigid annulus 51 and the plane residing for the second rigid annulus 52 and fibrous membrane 2
Axial line is vertical.At least one one end is additionally provided with fibrous membrane 2 to be fixedly connected with rigid annulus component 5, the other end with seal structure
The shape-memory alloy wire 3 that part is fixedly connected, that is to say, that on the first rigid annulus 51 and/or the second rigid annulus 52 at least
Connect a shape-memory alloy wire 3 and interior structure is used in the sealing sealing of inner member 1 or second of shape-memory alloy wire 3 and first
Part 4 is fixedly connected, and the angle between the shape-memory alloy wire 3 and the axial line of fibrous membrane 2 is more than 0 ° and less than 90 °.Shape
Shape memory alloys silk 3 becomes in short-term in phase transformation, and pulling force of the shape-memory alloy wire 3 on rigid annulus can promote rigid annulus band
Kinetodesma film 2 is rotated, and rigid annulus isolate shape-memory alloy wire 3 with fibrous membrane 2, reduce the heat of pneumatic muscles
Loss, improves the useful life longevity of pneumatic muscles.Additionally, rigid annulus can increase pneumatic muscles integral rigidity while,
The expanded radially of fibrous membrane 2 is limited, so as to the volume in the pneumatic intramuscular chamber under same pressure is less, causes pneumatic muscles to produce
Contraction driving force it is bigger, lifted pneumatic muscles overall driveability.
First sealing inner member 1 and the second sealing inner member 4 are metal disk.Fibrous membrane includes rubber tube and bonding
In the mesh grid of the rubber tube lateral surface, rubber tube has elasticity, and mesh grid can be fiber knitted net or metal wire knitted
Net, described rigid annulus are rigid thermal resistance annulus or rigid metal annulus.
For example, the connector 7 of above-mentioned first connector 6 and second for example can be that nipple etc. plays fixed installation
The joint of effect；Above-mentioned first sealing inner member 1 and the second sealing inner member 4 for example can be alloy disks, diameter model
Desirable 10 millimeters, 15 millimeters, 20 millimeters, 40 millimeters etc. are enclosed, thickness is desirable 0.2 millimeter, 0.5 millimeter, 1 millimeter etc.；It is obliquely installed
The sealing inner member of shape-memory alloy wire 3 and first between the first sealing inner member 1 and the second sealing inner member 4
The angle of 1 place plane for example can be 30 degree, 45 degree, 60 degree etc..
The present invention operation principle be：It is assumed that the air pressure after the inflation of pneumatic muscles is 1.2MPa, this shape
First sealing of pneumatic muscles under state is limited with the sealing inner member 4 of inner member 1 and second in the expansion of fibrous membrane 2 and rigid annulus
Close to each other under effect, pneumatic muscles are produced and axially contract driving force F；Meanwhile, first shape memory alloy wire is compressed product
Raw first deformation resistance F11, the second shape-memory alloy wire is compressed produces the second deformation resistance F21, the n-th marmem
Silk produces the n-th deformation resistance F by compressionn1, along parallel to axial direction and perpendicular to axial direction decompose it is above-mentioned first, the
2nd ...., the n-th deformation resistance, it can be seen that along parallel to axially direction deformation resistance component F11y、F21y、…、Fn1yEnergy
Enough generation causes pneumatic muscles bending, perpendicular to the first deformation resistance component F of axial direction11x、F21x、…、Fn1xCan produce
Component along the tangential direction of pneumatic muscles circumference enables to pneumatic muscles rotation, wherein, n is more than or equal to 1 just
Integer.
Specific embodiment described herein is only explanation for example spiritual to the present invention.Technology neck belonging to of the invention
The technical staff in domain can be made various modifications to described specific embodiment or supplement or replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Although more having used the first sealing inner member 1, fibrous membrane 2, shape-memory alloy wire 3, second close herein
Envelope inner member 4, rigid annulus component 5, the first rigid annulus 51, the second rigid annulus 52, the first connector 6, second connect
The grade term of part 7, but be not precluded from using the probability of other terms.Using these terms just for the sake of more easily description and
Explain the essence of the present invention；It is all contrary with spirit of the invention to be construed as any additional restriction.
Claims (9)
1. a kind of pneumatic muscles, including two ends have the fibrous membrane (2) of peristome, it is characterised in that described fibrous membrane (2)
Two ends are provided with inside the containment member being tightly connected with the peristome of fibrous membrane (2), fibrous membrane (2) and are provided with least one shape note
Recall B alloy wire (3), the two ends of described shape-memory alloy wire (3) are fixedly connected respectively and marmem with containment member
Angle between silk (3) and the axial line of fibrous membrane (2) is more than 0 ° and less than 90 °,
Described fibrous membrane (2) inwall is fixed with the rigid annulus component (5) being at least made up of a rigid annulus.
2. a kind of pneumatic muscles according to claim 1, it is characterised in that described containment member include respectively with fiber
The first sealing inner member (1) and the second sealing inner member (4) that film (2) two ends are tightly connected, the first described sealing is used
Inner member (1) or the second sealing inner member (4) are provided with the passage of supplied gas turnover and the wiring for connecting with wire
Port.
3. a kind of pneumatic muscles according to claim 1, it is characterised in that described rigid annulus component (5) include to
The first rigid annulus (51) and the second rigid annulus (52) that plane residing for few two is parallel to each other, and the first described rigidity
Plane residing for annulus (51) and the second rigid annulus (52) is vertical with the axial line of fibrous membrane (2).
4. a kind of pneumatic muscles according to claim 3, it is characterised in that is additionally provided with least in described fibrous membrane (2)
A piece one end is fixedly connected with rigid annulus component (5), the shape-memory alloy wire that the other end is fixedly connected with containment member
(3) angle, and between the shape-memory alloy wire (3) and the axial line of fibrous membrane (2) is more than 0 ° and less than 90 °.
5. a kind of pneumatic muscles according to claim 1, it is characterised in that the two ends of described fibrous membrane (2) and be located at
The connector for connection is fixed with containment member.
6. a kind of pneumatic muscles according to claim 5, it is characterised in that described connector includes being fixed on fibrous membrane
(2) the first connector (6) wherein on the containment member of one end and be fixed on the containment member of fibrous membrane (2) other end
Two connectors (7).
7. a kind of pneumatic muscles according to claim 6, it is characterised in that described the first connector (6) and second connects
Fitting (7) is one-way joint or universal joint.
8. a kind of pneumatic muscles according to claim 2, it is characterised in that the first described sealing with inner member (1) and
Second sealing inner member (4) is metal disk.
9. a kind of pneumatic muscles according to claim 1, it is characterised in that the fibrous membrane includes rubber tube and is bonded in
The mesh grid of the rubber tube lateral surface, described rigid annulus are rigid 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 CN105437228A (en) | 2016-03-30 |
| CN105437228B true CN105437228B (en) | 2017-05-03 |
Family
ID=55548098
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 |
|---|---|
| CN (1) | CN105437228B (en) |
Families Citing this family (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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|---|---|---|---|---|
| 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 |
Family Cites Families (1)
| 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 |
-
2015
- 2015-12-22 CN CN201510975045.5A patent/CN105437228B/en not_active Expired - Fee Related
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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| Publication number | Publication date |
|---|---|
| CN105437228A (en) | 2016-03-30 |
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Granted publication date: 20170503 Termination date: 20211222 |