CN105666484B - Two-tube suit type Pneumatic artificial muscle - Google Patents
Two-tube suit type Pneumatic artificial muscle Download PDFInfo
- Publication number
- CN105666484B CN105666484B CN201610217090.9A CN201610217090A CN105666484B CN 105666484 B CN105666484 B CN 105666484B CN 201610217090 A CN201610217090 A CN 201610217090A CN 105666484 B CN105666484 B CN 105666484B
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- China
- Prior art keywords
- inner tube
- gas
- gap
- tpe fitting
- clip
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- 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
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
The invention belongs to artificial pneumatic technical field, more particularly to a kind of two-tube suit type Pneumatic artificial muscle.The present invention includes elastic outer pipe, outer fiber silk, flexible inner tube, interior filament, the first gas-tpe fitting, the second gas-tpe fitting, gap, inner tube cavity, the first clip, the second clip, gap blow vent, inner tube cavity blow vent；By controlling gap and the air pressure magnitude relationship in inner tube cavity, axial actively contraction, vertically the active rotation function of two-tube suit type Pneumatic artificial muscle are realized；With compared with the pneumatic muscles of model, the pneumatic muscles gas consumption is less, more saves on the market；The present invention improves and enriched pneumatic muscles performance, has innovation and extension functionally, is worth application.
Description
Technical field
The invention belongs to artificial pneumatic technical field, more particularly to a kind of two-tube suit type Pneumatic artificial muscle.
Background technology
Pneumatic muscles have a very big similitude as novel pneumatic executive component, with biological muscles, and with it is flexible it is high,
The advantages that in light weight, easy to use, fast response time, cheap cost, have in the fields such as robot, bionic mechanical extensive
Using.Pneumatic muscles are mainly by inflatable elastic flexible pipe, the mesh grid of constraint elastic hose dilatancy and clip three parts group
Into.The mesh grid of constraint elastic hose deformation is formed by the filament braiding of two kinds of canoes, and one group of filament is around flexible pipe
Left-handed winding, another group of filament are wound around flexible pipe dextrorotation.
Ripe pneumatic muscles have the pneumatic muscles that FESTO companies produce with SHADOW companies, two kinds of pneumatic fleshes on the market
Meat has axial active contractile function, but does not possess active rotation function vertically；Meanwhile the friction between braided fiber silk
Caused sluggish sex chromosome mosaicism is difficult to be resolved.
The content of the invention
The defects of purpose of the present invention is aiming at prior art and deficiency, it is proposed that a kind of two-tube suit type artificial pneumatic
Muscle.
To solve the above problems, present invention employs following technical scheme：It includes elastic outer pipe, outer fiber silk, elasticity
Inner tube, interior filament, the first gas-tpe fitting, the second gas-tpe fitting, gap, inner tube cavity, the first clip, the second clip, gap
Blow vent, inner tube cavity blow vent；The elastic outer pipe and flexible inner tube are caoutchouc elasticity flexible pipe, are expanded after inflation；And bullet
Property outer tube diameter is bigger than flexible inner tube diameter, and elastic outer pipe is enclosed on outside flexible inner tube, between elastic outer pipe and flexible inner tube
Gap be present；Elastic outer pipe surface wrap outer fiber silk, and outer fiber silk uses the winding direction of dextrorotation, meanwhile, flexible inner tube
Surface wrap interior filament, and interior filament uses left-handed winding direction, and outer fiber silk is in different circles from interior filament
Cylinder, spatially interweave, form mesh grid；Elastic outer pipe is close using the first clip and the second clip respectively with flexible inner tube both ends
Envelope；On second clip, provided with the first gas-tpe fitting and the second gas-tpe fitting；First gas-tpe fitting and the second gas-tpe fitting be used for
The connection of source of the gas；Wherein, what the first gas-tpe fitting connected is the gap of elastic outer pipe and flexible inner tube, and the second gas-tpe fitting connects
Be flexible inner tube inner tube cavity；Gap is realized by gap blow vent with inner tube cavity blow vent respectively with inner tube cavity to be filled
Gas is with deflating.
The present invention is using double elastic hoses suit designs, the opposite outer fiber silk of winding direction and interior filament spatially group
Into mesh grid, while ensureing that pneumatic muscles inflation is shunk, compared to traditional, pneumatic muscle, filament in mesh grid is substantially reduced
Between frictional force, improve the hysteresis of pneumatic muscles；By adjusting gap and the air pressure size in inner tube cavity, Neng Goushi
Existing pneumatic muscles are axially counterclockwise or clockwise active rotation, enrich the driveability of pneumatic muscles；With it is same on the market
The pneumatic muscles of external diameter are compared, and it is less to be filled with gas, more saves；Present invention improves over to enrich traditional, pneumatic macular
Can, there is innovation and extension functionally, be worth application.
Brief description of the drawings
Fig. 1 is two-tube suit type Pneumatic artificial muscle perspective view；
Fig. 2 is two-tube suit type Pneumatic artificial muscle longitudinal section view；
In figure, 1, elastic outer pipe；2nd, outer fiber silk；3rd, flexible inner tube；4th, interior filament；5th, the first gas-tpe fitting；6th,
Two gas-tpe fittings；7th, gap；8th, inner tube cavity；9th, the first clip；10th, the second clip；11st, gap blow vent；12nd, inner tube cavity
Blow vent.
Embodiment
The present invention is described further with specific embodiment below in conjunction with the accompanying drawings.
As shown in Figure 1 and Figure 2, the present invention includes elastic outer pipe 1, outer fiber silk 2, flexible inner tube 3, interior filament 4, first
It is gas-tpe fitting 5, the second gas-tpe fitting 6, gap 7, inner tube cavity 8, the first clip 9, the second clip 10, gap blow vent 11, interior
Pipe cavity blow vent 12；The elastic outer pipe 1 and flexible inner tube 3 are caoutchouc elasticity flexible pipe, are expanded after inflation；And elastic outer pipe
1 diameter is bigger than the diameter of flexible inner tube 3, and elastic outer pipe 1 is enclosed on outside flexible inner tube 3, between elastic outer pipe 1 and flexible inner tube 3
Gap 7 be present；The surface wrap of elastic outer pipe 1 outer fiber silk 2, and outer fiber silk 2 uses the winding direction of dextrorotation, meanwhile, elasticity
The surface wrap of inner tube 3 interior filament 4, and interior filament 4 uses left-handed winding direction, and outer fiber silk 2 is in interior filament 4
The different faces of cylinder, spatially interweaves, and forms mesh grid；Elastic outer pipe 1 uses the first clip 9 respectively with the both ends of flexible inner tube 3
Sealed with the second clip 10；Second clip 10 is provided with the first gas-tpe fitting 5 and the second gas-tpe fitting 6；First gas-tpe fitting 5 with
Second gas-tpe fitting 6 is used for the connection with source of the gas；Wherein, the connection of the first gas-tpe fitting 5 is elastic outer pipe 1 and flexible inner tube 3
Gap, the second gas-tpe fitting 6 connection is flexible inner tube 3 inner tube cavity 8；Gap 7 passes through gap respectively with inner tube cavity 8
Blow vent 11 is realized inflation with inner tube cavity blow vent 12 and deflated.
During the work of two-tube suit type Pneumatic artificial muscle, by the first gas-tpe fitting 5 and the second gas-tpe fitting 6 respectively to
Gap 7 in inner tube cavity 8 with inflating.Because single dextrorotation and left-handed winding side is respectively adopted in outer fiber silk 2 and interior filament 4
To when being inflated into gap 7 or inner tube cavity 8, pneumatic muscles can axial rotation；Adjust gap 7 and the gas in inner tube cavity 8
Pressure so that the rotating torque of elastic outer pipe 1 and flexible inner tube 3 is offset, and pneumatic muscles realize that axial shrinkage acts；Adjust gap 7
In air pressure be more than air pressure in inner tube cavity 8, the anti-clockwise direction of pneumatic muscles rotates；The air pressure adjusted in inner tube cavity 8 is big
Air pressure in gap 7, pneumatic muscles left hand direction rotate；Two-tube suit type Pneumatic artificial muscle not only has the active of axial direction
Contractile function, while it is also equipped with active rotation function vertically.
Described above is only the preferred embodiment of the present invention, every not depart from the premise of spirit and scope of the invention
Under to the various changes done of the present invention and improvement, all without surmounting scope defined in appended claims.
Claims (1)
1. two-tube suit type Pneumatic artificial muscle, it is characterised in that including elastic outer pipe（1）, outer fiber silk（2）, flexible inner tube
（3）, interior filament（4）, the first gas-tpe fitting（5）, the second gas-tpe fitting（6）, gap（7）, inner tube cavity（8）, the first clip
（9）, the second clip（10）, gap blow vent（11）, inner tube cavity blow vent（12）；The elastic outer pipe（1）And flexible inner tube
（3）It is caoutchouc elasticity flexible pipe, is expanded after inflation；And elastic outer pipe（1）Diameter is than flexible inner tube（3）Diameter is big, and elasticity is outer
Pipe（1）It is enclosed on flexible inner tube（3）Outside, elastic outer pipe（1）With flexible inner tube（3）Between gap (7) be present；Elastic outer pipe (1)
Surface wrap outer fiber silk (2), and outer fiber silk (2) uses the winding direction of dextrorotation, meanwhile, flexible inner tube (3) surface wrap
Filament (4) in, interior filament (4) use left-handed winding direction, and outer fiber silk (2) is in different from interior filament (4)
The face of cylinder, spatially interweave, form mesh grid；Elastic outer pipe (1) uses the first clip respectively with flexible inner tube (3) both ends
(9) sealed with the second clip (10)；On second clip (10), provided with the first gas-tpe fitting (5) and the second gas-tpe fitting (6)；The
One gas-tpe fitting (5) is used for the connection with source of the gas with the second gas-tpe fitting (6)；Wherein, the first gas-tpe fitting (5) connection is bullet
Property outer tube (1) with the gap of flexible inner tube (3), the second gas-tpe fitting (6) connection is flexible inner tube (3) inner tube cavity (8)；
Inflation is realized by gap blow vent (11) and inner tube cavity blow vent (12) respectively with inner tube cavity (8) and deflated in gap (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610217090.9A CN105666484B (en) | 2016-04-11 | 2016-04-11 | Two-tube suit type Pneumatic artificial muscle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610217090.9A CN105666484B (en) | 2016-04-11 | 2016-04-11 | Two-tube suit type Pneumatic artificial muscle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105666484A CN105666484A (en) | 2016-06-15 |
| CN105666484B true CN105666484B (en) | 2017-12-15 |
Family
ID=56310169
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610217090.9A Expired - Fee Related CN105666484B (en) | 2016-04-11 | 2016-04-11 | Two-tube suit type Pneumatic artificial muscle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105666484B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106113023B (en) * | 2016-06-20 | 2018-03-20 | 东南大学 | A kind of dual openings weave net type connecting hose artificial-muscle |
| CN106625575B (en) * | 2016-11-08 | 2019-02-01 | 上海宇航系统工程研究所 | A kind of inflatable wire saws can take down the exhibits flexible parallel mechanism |
| CN106426146B (en) * | 2016-12-08 | 2018-10-16 | 燕山大学 | A kind of double acting Pneumatic artificial muscle |
| CN109695551A (en) * | 2017-10-22 | 2019-04-30 | 董广计 | Using pressure fluid as the flexible acting device of power |
| CN109909990A (en) * | 2019-04-25 | 2019-06-21 | 苏州柔性智能科技有限公司 | Insertion type software mechanical arm for internal medicine operation |
| CN110281541B (en) * | 2019-07-29 | 2023-09-08 | 北京理工大学 | Negative pressure linear contraction pneumatic artificial muscle and manufacturing method thereof |
| CN110695980A (en) * | 2019-09-29 | 2020-01-17 | 上海交通大学 | Pneumatic artificial muscle with scale protection structure |
| CN111618839B (en) * | 2020-05-21 | 2022-08-09 | 大连理工大学 | Array type series-parallel structure plane soft pneumatic driver |
| CN111975759B (en) * | 2020-07-28 | 2021-08-17 | 杭州电子科技大学 | Optical sensor embedded artificial muscle and using and preparing method thereof |
| CN112775941B (en) * | 2020-12-30 | 2022-03-08 | 大连海事大学 | Pneumatic-driven variable-rigidity flexible actuator |
| CN113427480B (en) * | 2021-04-28 | 2023-03-28 | 浙江工业大学 | Artificial muscle with physical sealing structure |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60227003A (en) * | 1984-04-25 | 1985-11-12 | Bridgestone Corp | High fidelity elastic shrinkable cylinder responsive to internal pressure |
| CN101219075B (en) * | 2007-11-27 | 2010-06-02 | 中国计量学院 | Multi-freedom intelligent pneumatic power muscle based on shape memory alloy deformation net |
| CN101524844B (en) * | 2009-04-20 | 2011-04-06 | 浙江工业大学 | Two-way directional force output air-powered flexible drive device |
| JP2014131558A (en) * | 2013-01-07 | 2014-07-17 | Haruo Araki | Double corrugated pipe artificial muscle |
| CN103786166B (en) * | 2014-01-22 | 2017-01-04 | 北华大学 | Type Double helix flexible joint is stretched in pneumatic rotation |
| CN105030389B (en) * | 2015-07-25 | 2017-03-01 | 东北大学 | A kind of intelligent pneumatic power muscle based on shape memory alloy spring |
| CN205552523U (en) * | 2016-04-11 | 2016-09-07 | 中国计量学院 | Pneumatic artificial muscle of double -barrelled suit type |
-
2016
- 2016-04-11 CN CN201610217090.9A patent/CN105666484B/en not_active Expired - Fee Related
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| CN105666484A (en) | 2016-06-15 |
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