CN105666484A

CN105666484A - Double-tube sleeved type pneumatic artificial muscle

Info

Publication number: CN105666484A
Application number: CN201610217090.9A
Authority: CN
Inventors: 王斌锐; 张斌; 王飞洋; 金英连; 严天宏
Original assignee: China Jiliang University
Current assignee: China Jiliang University
Priority date: 2016-04-11
Filing date: 2016-04-11
Publication date: 2016-06-15
Anticipated expiration: 2036-04-11
Also published as: CN105666484B

Abstract

The invention belongs to the pneumatic artificial technical field, and particularly relates to double-tube sleeved type pneumatic artificial muscle.The double-tube sleeved type pneumatic artificial muscle comprises an elastic outer tube, outer cellosilk, an elastic inner tube, inner cellosilk, a first air pipe connector, a second air pipe connector, a gap, an inner tube cavity, a first clamp, a second clamp, a gap vent and an inner tube cavity vent.By controlling the relationship of air pressure in the gap and air pressure in the inner tube cavity, active axial contraction and active axial rotation of the double-tube sleeved type pneumatic artificial muscle are achieved.Compared with pneumatic muscle of the same model in the market, the double-tube sleeved type pneumatic artificial muscle has the advantage that air consumption is lower, so that energy saving is better achieved.The performance of the pneumatic muscle is improved and enriched, functional innovation and expansion are achieved, and the double-tube sleeved type pneumatic artificial muscle is worth application.

Description

Two-tube suit type Pneumatic artificial muscle

Technical field

The invention belongs to artificial pneumatic technical field, in particular to the two-tube suit type Pneumatic artificial muscle of one.

Background technology

Pneumatic muscles, as novel pneumatic power element, has very big similarity with biological muscles, and have flexible high, weight is light, easy to use, fast response time, the advantage such as with low cost, have a wide range of applications in the field such as robot, bionic mechanical. Pneumatic muscles forms primarily of braiding net and card hoop three part of inflatable elastic flexible pipe, constraint elastic hose dilatational strain. The braiding net of constraint elastic hose distortion weaves by the fiber yarn of two kinds of canoes, and one group of fiber yarn is around the left-handed winding of flexible pipe, and another group fiber yarn is wound around around flexible pipe dextrorotation.

Pneumatic muscles ripe on the market has FESTO company and the pneumatic muscles of SHADOW company production, and two kinds of pneumatic muscles all have axially initiatively contractile function, but do not possess active rotation function vertically; Meanwhile, the sluggish sex chromosome mosaicism that friction between braided fiber silk produces is difficult to be resolved.

Summary of the invention

The object of the present invention is exactly the defect for prior art and deficiency, it is proposed that a kind of two-tube suit type Pneumatic artificial muscle.

For solving the problem, present invention employs following technical scheme: it comprises pipe in elastic outer pipe, outer fiber yarn, elasticity, interior fiber yarn, the first gas fittings, the 2nd gas fittings, gap, interior pipe cavity, the first card hoop, the 2nd card hoop, gap ventage, interior pipe cavity ventage; In described elastic outer pipe and elasticity, pipe is caoutchouc elasticity flexible pipe, expands after inflation; And elastic outer pipe diameter is bigger than elasticity diameter of inner pipe, it is outside that elastic outer pipe is enclosed within elasticity pipe, there is gap in elastic outer pipe and elasticity between pipe; Elastic outer pipe surface is wrapped outer fiber yarn, and outer fiber yarn adopts the winding direction of dextrorotation, simultaneously, in elasticity, tube-surface is wrapped interior fiber yarn, and interior fiber yarn adopts left-handed winding direction, and outer fiber yarn is in different cylindrical surface from interior fiber yarn, spatially interweave, composition braiding net; In elastic outer pipe and elasticity, pipe two ends use the first card hoop and the 2nd card hoop sealing respectively; On 2nd card hoop, it is provided with the first gas fittings and the 2nd gas fittings; First gas fittings and the 2nd gas fittings are used for the connection with gas source;Wherein, what the first gas fittings was connected is elastic outer pipe and the gap of pipe in elasticity, the 2nd gas fittings connection be the interior pipe cavity of pipe in elasticity; Gap and interior pipe cavity realize inflation and venting by gap ventage and interior pipe cavity ventage respectively.

The present invention adopts two elastic hose suit design, the outer fiber yarn that winding direction is contrary and interior fiber yarn spatially form braiding net, while ensureing that pneumatic muscles inflation is shunk, compare traditional, pneumatic muscle, substantially reduce the frictional force between fiber yarn in braiding net, improve the sluggishness of pneumatic muscles; By the air pressure size in adjusting play and interior pipe cavity, it is possible to realize the active rotation that pneumatic muscles is axially counterclockwise or clockwise, enriched the driving performance of pneumatic muscles; With on the market with external diameter pneumatic muscles compared with, insufflation gas is less, more energy-conservation; Present invention improves over and enriched traditional, pneumatic muscle performance, there is innovation functionally and expansion, be worth application.

Accompanying drawing explanation

Fig. 1 is two-tube suit type Pneumatic artificial muscle skeleton view;

Fig. 2 is two-tube suit type Pneumatic artificial muscle longitudinal section view;

In figure, 1, elastic outer pipe; 2, outer fiber yarn; 3, pipe in elasticity; 4, interior fiber yarn; 5, the first gas fittings; 6, the 2nd gas fittings; 7, gap; 8, interior pipe cavity; 9, the first card hoop; 10, the 2nd card hoop; 11, gap ventage; 12, interior pipe cavity ventage.

Embodiment

Below in conjunction with the drawings and specific embodiments, the present invention is described further.

As shown in Figure 1 and Figure 2, the present invention comprises pipe 3 in elastic outer pipe 1, outer fiber yarn 2, elasticity, interior fiber yarn 4, first gas fittings 5, the 2nd gas fittings 6, gap 7, interior pipe cavity 8, first card hoop 9, the 2nd card hoop 10, gap ventage 11, interior pipe cavity ventage 12; In described elastic outer pipe 1 and elasticity, pipe 3 is caoutchouc elasticity flexible pipe, expands after inflation; And elastic outer pipe 1 diameter is bigger than pipe in elasticity 3 diameter, it is outside that elastic outer pipe 1 is enclosed within elasticity pipe 3, there is gap 7 in elastic outer pipe 1 and elasticity between pipe 3; Elastic outer pipe 1 surface is wrapped outer fiber yarn 2, and outer fiber yarn 2 adopts the winding direction of dextrorotation, simultaneously, in elasticity, pipe 3 surface is wrapped interior fiber yarn 4, and interior fiber yarn 4 adopts left-handed winding direction, and outer fiber yarn 2 is in different cylindrical surface from interior fiber yarn 4, spatially interweave, composition braiding net; Elastic outer pipe 1 and pipe 3 two ends in elasticity use the first card hoop 9 and the 2nd card hoop 10 sealing respectively; On 2nd card hoop 10, it is provided with the first gas fittings 5 and the 2nd gas fittings 6; First gas fittings 5 and the 2nd gas fittings 6 are for the connection with gas source; Wherein, what the first gas fittings 5 was connected is the gap of elastic outer pipe 1 with pipe 3 in elasticity, and what the 2nd gas fittings 6 was connected is the interior pipe cavity 8 of pipe 3 in elasticity; Gap 7 and interior pipe cavity 8 realize inflation and venting by gap ventage 11 and interior pipe cavity ventage 12 respectively.

When two-tube suit type Pneumatic artificial muscle works, inflated respectively in gap 7 and interior pipe cavity 8 by the first gas fittings 5 and the 2nd gas fittings 6. Owing to outer fiber yarn 2 adopts single dextrorotation and left-handed winding direction respectively with interior fiber yarn 4, when inflating in gap 7 or interior pipe cavity 8, pneumatic muscles meeting axial rotation; Regulate gap 7 and the air pressure in interior pipe cavity 8 so that the swinging moment of elastic outer pipe 1 and pipe 3 in elasticity is offset, and pneumatic muscles realizes axial shrinkage action; Regulating the air pressure that the air pressure in gap 7 is greater than in interior pipe cavity 8, the anti-clockwise direction of pneumatic muscles is rotated;The air pressure that in regulating, the air pressure in pipe cavity 8 is greater than in gap 7, pneumatic muscles left hand direction is rotated; Two-tube suit type Pneumatic artificial muscle not only has axial active contractile function, also possesses active rotation function vertically simultaneously.

The above is only a better embodiment of the present invention, and every various changes and improvements the present invention done without departing from the spirit and scope of the present invention, all can not surmount the scope that appended claims defines.

Claims

1. two-tube suit type Pneumatic artificial muscle, it is characterized in that, comprise pipe (3), interior fiber yarn (4) in elastic outer pipe (1), outer fiber yarn (2), elasticity, the first gas fittings (5), the 2nd gas fittings (6), gap (7), interior pipe cavity (8), the first card hoop (9), the 2nd card hoop (10), gap ventage (11), interior pipe cavity ventage (12); Described elastic outer pipe (1) and the interior pipe (3) of elasticity are caoutchouc elasticity flexible pipe, expand after inflation; And elastic outer pipe 1 diameter is bigger than pipe in elasticity 3 diameter, elastic outer pipe (1) is enclosed within elasticity exists gap (7) between pipe 3 in pipe (3) outside, elastic outer pipe 1 and elasticity; Elastic outer pipe (1) surface is wrapped outer fiber yarn (2), outer fiber yarn (2) adopts the winding direction of dextrorotation, simultaneously, in elasticity, pipe (3) surface is wrapped interior fiber yarn (4), interior fiber yarn (4) adopts left-handed winding direction, outer fiber yarn (2) is in different cylindrical surface from interior fiber yarn (4), spatially interweaves, composition braiding net; Elastic outer pipe (1) and pipe (3) two ends in elasticity use the first card hoop (9) and the 2nd card hoop (10) sealing respectively; On 2nd card hoop (10), it is provided with the first gas fittings (5) and the 2nd gas fittings (6); First gas fittings (5) and the 2nd gas fittings (6) are for the connection with gas source; Wherein, what the first gas fittings (5) was connected is the gap of elastic outer pipe (1) with pipe (3) in elasticity, and what the 2nd gas fittings (6) was connected is the interior pipe cavity (8) of pipe (3) in elasticity; Gap (7) and interior pipe cavity (8) realize inflation and venting by gap ventage (11) and interior pipe cavity ventage (12) respectively.