CN105856219A - Pneumatic artificial muscle with self-sensing and driving functions - Google Patents
Pneumatic artificial muscle with self-sensing and driving functions Download PDFInfo
- Publication number
- CN105856219A CN105856219A CN201610385406.5A CN201610385406A CN105856219A CN 105856219 A CN105856219 A CN 105856219A CN 201610385406 A CN201610385406 A CN 201610385406A CN 105856219 A CN105856219 A CN 105856219A
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- China
- Prior art keywords
- pneumatic
- piezoelectrics
- muscle
- silk
- elastic hose
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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
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
-
- 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
- B25J19/02—Sensing devices
- B25J19/028—Piezoresistive or piezoelectric sensing devices
Abstract
The invention belongs to the pneumatic artificial technical field and in particular relates to a pneumatic artificial muscle with self-sensing and driving functions. The pneumatic artificial muscle comprises fibers, an elastic hose, a cylindrical sleeve pipe, a fiber collecting hoop, a fiber collecting hole, a piezoelectric body, an electrode, a sensing circuit, a drive circuit, a hoop and an air pipe joint. The pneumatic artificial muscle has the beneficial effects that via the direct piezoelectric effects of the piezoelectric body, the contractility of the fibers can be measured to obtain the external load driving force of the pneumatic muscle; meanwhile, collision of the pneumatic muscle can be self-sensed according to the real-time reading of a voltmeter; via the inverse piezoelectric effects of the piezoelectric body, the amount of contraction of the pneumatic muscle can be increased and the rigidity of the pneumatic muscle can be changed; compared with the same model of pneumatic muscle on the market, the pneumatic muscle provided by the invention can achieve the effects of detecting the external load driving force, self-sensing collision, increasing the amount of contraction of the pneumatic muscle and changing the rigidity of the pneumatic muscle; the properties of the pneumatic muscle are improved and enriched; and the pneumatic muscle has function innovation and extension and is worthy to be applied.
Description
Technical field
The invention belongs to pneumatic muscles technical field, have from perception and the artificial pneumatic of driving function particularly to a kind of
Muscle.
Background technology
Pneumatic muscles as novel pneumatic executive component, owing to its flexibility is high, lightweight, easy to use, fast response time,
The advantage such as with low cost, is widely used in the driving field of various bionic mechanical.Pneumatic muscles is mainly soft by inflatable elastic
Pipe, the mesh grid of constraint elastic hose deformation and clip three part composition.After in pneumatic muscles, pressure raises, rubber tube is swollen
Swollen, drive braiding netting twine motion, while the braid angle of mesh grid becomes greatly, pneumatic muscles shrinks at axial direction, thus carries
Dynamic load works.
At present, pneumatic muscles is widely used in life, such as limb rehabilitating medical domain, anthropomorphic robot neck
Territory, the working environment of its application is complicated, increasingly closer with the interactive cooperation of people, therefore, outstanding to the collision detection of pneumatic muscles
For important.Present collision checking method mainly installs multiple sensor on whole pneumatic muscles arm, forms one and is similar to
The neural perception net of skin, program cost is high, and structure is complicated, dyscalculia.When pneumatic muscles drives loaded work piece, examine in real time
Surveying the necessary work that pneumatic muscles has been control task to the action effect of load, current detection mode is mainly in load
Upper installation pulling force sensor directly detects pulling force, or installs pressure transducer detection pneumatic muscles internal pressure, and the two is both needed to
External sensor, carries out secondary development.In the case of pneumatic muscles structural parameters are certain, its rigidity is with the blowing pressure size, gas
Moving the change of muscle real work length and change, owing to the material of pneumatic muscles itself limits, stiffness variation is limited in scope.
Summary of the invention
The purpose of the present invention is aiming at defect and the deficiency of above-mentioned technology, it is proposed that one has from perception and drives merit
The Pneumatic artificial muscle of energy.
For solving the problems referred to above, present invention employs techniques below scheme:
It includes cellosilk, elastic hose, collection silk clip, piezoelectrics, cylindrical casing, gas-tpe fitting, clip, electrode, driving electricity
Road, aware circuit and collection silk hole；Cellosilk is wrapped in elastic hose outer surface with fixing braid angle, forms mesh grid；Wherein
The cellosilk of elastic hose two end is individually drawn, and the cellosilk of extraction is divided into n equal portions, forms n gathering silk.Every a
In, two cellosilks of cross are joined together to form fibre bundle, and plurality of fiber tows assembles one by heat-shrink tube
Gathering silk；Cylindrical casing is hollow, metal material, and the end of elastic hose is socketed in the distal outer surface of cylindrical casing；Piezoelectricity
Body is in vertical direction through polarization, and n the piezoelectrics corresponding to n gathering silk are uniformly and symmetrically distributed, are fixed in cylindrical casing appearance
Face, the two ends of piezoelectrics extraction electrode, external drive circuit or aware circuit, wherein one end piezoelectrics of elastic hose respectively
All external drive circuit, whole external aware circuits of other end piezoelectrics；Collection silk clip is torus, and it is with corresponding to collection
Equally distributed n the collection silk hole of silk, collects silk clip and is fixed in the end of cylindrical casing, and by elastic hose card between,
The collection silk formed by cellosilk is fixed in one end of piezoelectrics through collection silk hole；One lateral edges of clip leaves air inlet, trachea
Joint is fixed on air inlet, and clip is fixed together with the end of cylindrical casing, seals whole device.
Furtherly, described elastic hose is caoutchouc elasticity flexible pipe, expands after inflation.
The present invention uses the combination design of new material and conventional bio-mechanism, and the present invention inflates contraction, utilizes piezoelectrics
Inverse piezoelectric effect, piezoelectrics can drive cellosilk to shrink, it is possible to increase pneumatic muscles amount of contraction and stiffness tuning scope；This
Bright inflation is shunk, and piezoelectrics pullled by cellosilk, and due to the direct piezoelectric effect of piezoelectrics, piezoelectrics both end voltage changes, energy
Enough come perception cellosilk output pulling force；Pneumatic muscles collides and necessarily causes the change of cellosilk output pulling force, it is possible to root
N the piezoelectrics both end voltage change sensing collision according to aware circuit.
When pneumatic muscles normally works, by the inverse piezoelectric effect of the piezoelectrics of drive circuit, piezoelectrics can drive fibre
Dimension silk shrinks, it is possible to increase pneumatic muscles amount of contraction and stiffness tuning scope, enriches the type of drive of pneumatic muscles；Pneumatic
When muscle normally works, by the direct piezoelectric effect of piezoelectrics, the pulling force of cellosilk line concentration can be measured, obtain pneumatic muscles pair
The driving force of load；When pneumatic muscles exists external world's collision, by the change in voltage of each piezoelectrics of aware circuit, can feel
Know the external impact of pneumatic muscles.Compared with conventional pneumatic muscles, this device can be from the collision of perception pneumatic muscles, pneumatic flesh
Meat to load action effect, increase pneumatic muscles stiffness tuning scope.
Accompanying drawing explanation
Fig. 1 is the front view with the Pneumatic artificial muscle from perceptive function；
Fig. 2 is that connection figure is amplified in the side with the Pneumatic artificial muscle from perceptive function；
In figure, 1, cellosilk；2, elastic hose；3, collection silk clip；4, piezoelectrics；5, cylindrical casing；6, gas-tpe fitting；7, card
Hoop；8, electrode；9, drive circuit；10, aware circuit；11, collection silk hole.
Detailed description of the invention
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 embodiment includes cellosilk 1, elastic hose 2, collection silk clip 3, piezoelectrics 4, cylindrical sleeve
Pipe 5, gas-tpe fitting 6, clip 7, electrode 8, drive circuit 9, aware circuit 10, collection silk hole 11.In this example, air inlet pipe interface will be leaned on
The piezoelectrics 4 perceptually part of 6, the piezoelectrics 4 of the pneumatic muscles other end are as drive part；Described elastic hose 2 is
Caoutchouc elasticity flexible pipe, expands after inflation；Cellosilk 1 is wrapped in elastic hose 2 outer surface, composition braiding with fixing braid angle
Net, wherein the cellosilk 1 of elastic hose two end is individually drawn, and the cellosilk of extraction is divided into 6 equal portions.In every portion,
Two cellosilks 1 of cross are joined together to form fibre bundle, and the fibre bundle heat-shrink tube collection connected by multi beam
Synthesize a gathering silk.Cylindrical casing 5 is hollow, metal material, and the end of elastic hose 2 is socketed in outside the end of cylindrical casing 5
Surface；Piezoelectrics 4 are to be uniformly and symmetrically distributed in vertical direction through polarization, 6 piezoelectrics 4 corresponding to collection silk, be fixed in circle
Column sleeve pipe 5 outer surface, two ends of piezoelectrics 4 extraction electrode 8 respectively, external drive circuit 9 or aware circuit 10, it is hit by a bullet
The whole external drive circuit 9 of one end piezoelectrics 4 of property flexible pipe 2, the whole external aware circuit 10 of other end piezoelectrics 4；Collection silk card
Hoop 3 is torus, and it is with corresponding to equally distributed 6 the collection silk holes 11 of collection silk, and collection silk clip 3 is fixed in cylindrical casing 5
End, and elastic hose 2 is blocked between, cellosilk 1 the collection silk formed is fixed in piezoelectrics 4 through collection silk hole 11
Bottom；One lateral edges of clip 7 leaves air inlet, and gas-tpe fitting 6 is fixed on air inlet, clip 7 and the end of cylindrical casing 5
It is fixed together, seals whole device.
Having the Pneumatic artificial muscle from perceptive function, according to the characteristic of piezoelectrics 4, the perception sketching this device respectively is special
Property and drive characteristic.
Perception characteristic: expanded to elastic hose 2 inner inflatable, elastic hose 2 by air pipe interface 6, at the bundle of mesh grid
Tiing up under effect, the radial deformation of elastic hose 2 reduces, and axial stretching quantitative change is big, and braided wires 1 mutually involves with elastic hose 2,
Now piezoelectrics 4 are produced deformation, direct piezoelectric effects based on piezoelectrics 4, pressure by the effect of pullling of braided wires in polarised direction
Two ends on electricity body 4 axial direction produce voltage difference, by aware circuit, measure the pulling force size of cellosilk 1；Work as pneumatic muscles
When normally working, being collided by the external world, the pulling force closing on cellosilk 1 of position of collision can change, and each piezoelectrics 4 are external
The output signal of aware circuit 10 is different, can be with the collision of perception pneumatic muscles.
Drive characteristic: when pneumatic muscles normally works, drive circuit 9 applies pumping signal, based on piezoelectricity to piezoelectrics 4
The inverse piezoelectric effect of body 4, the polarised direction of piezoelectrics 4 produces a deformation of length, drives cellosilk 1 to shrink, changes pneumatic flesh
The rigidity of meat.
The above is only a preferred embodiments of the present invention, every without departing from the spirit and scope of the present invention
The various changes and improvements being the present invention, all without surmounting scope defined in appended claims.
Claims (2)
1. have from perception and the Pneumatic artificial muscle of driving function, it is characterised in that include cellosilk, elastic hose, collection silk
Clip, piezoelectrics, cylindrical casing, gas-tpe fitting, clip, electrode, drive circuit, aware circuit and collection silk hole；Cellosilk is with solid
Fixed braid angle is wrapped in elastic hose outer surface, forms mesh grid；Wherein the cellosilk of elastic hose two end is individually drawn,
The cellosilk drawn is divided into n equal portions, forms n gathering silk；In every portion, two cellosilks of cross are connected to one
Rising and form fibre bundle, plurality of fiber tows assembles a gathering silk by heat-shrink tube；Cylindrical casing is hollow, metal material,
The end of elastic hose is socketed in the distal outer surface of cylindrical casing；Piezoelectrics pass through polarization in vertical direction, corresponding to n gathering
N piezoelectrics of silk are uniformly and symmetrically distributed, are fixed in cylindrical casing outer surface, the two ends of piezoelectrics extraction electrode respectively, external
Drive circuit or aware circuit, the wherein whole external drive circuit of one end piezoelectrics of elastic hose, other end piezoelectrics are complete
The external aware circuit in portion；Collection silk clip is torus, and it, with corresponding to equally distributed n the collection silk hole of collection silk, collects silk clip
It is fixed in the end of cylindrical casing, and by elastic hose card between, cellosilk the collection silk formed is through collecting silk Kong Gu
It is connected on one end of piezoelectrics；One lateral edges of clip leaves air inlet, and gas-tpe fitting is fixed on air inlet, clip and cylindrical sleeve
The end of pipe is fixed together, and seals whole device.
The Pneumatic artificial muscle having from perceptive function the most according to claim 1, it is characterised in that described elastic hose
For caoutchouc elasticity flexible pipe, expand after inflation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610385406.5A CN105856219B (en) | 2016-06-03 | 2016-06-03 | With the Pneumatic artificial muscle from perception and driving function |
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| CN201610385406.5A CN105856219B (en) | 2016-06-03 | 2016-06-03 | With the Pneumatic artificial muscle from perception and driving function |
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| CN105856219B CN105856219B (en) | 2017-11-21 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107598910A (en) * | 2017-10-17 | 2018-01-19 | 燕山大学 | The driving Rescaling continuity humanoid robot of tendon |
| CN107618028A (en) * | 2017-10-31 | 2018-01-23 | 平顶山学院 | A kind of two-way artificial-muscle |
| CN107655674A (en) * | 2017-10-25 | 2018-02-02 | 吉林大学 | It is a kind of to drive transmission integrated imitative skeletal muscle driver and its performance testing device |
| CN108927787A (en) * | 2017-05-27 | 2018-12-04 | 魏相东 | Artificial-muscle and emulation arm |
| CN109249382A (en) * | 2018-09-27 | 2019-01-22 | 上海交通大学 | Large span variation rigidity driving unit |
| CN109648552A (en) * | 2019-01-28 | 2019-04-19 | 中国计量大学 | Inner cavity iron ball electromagnetic levitation type Pneumatic artificial muscle |
| CN110015609A (en) * | 2019-03-12 | 2019-07-16 | 华中科技大学 | A kind of petrochemical industry Lift-on/Lift-off System and hanging method based on Pneumatic artificial muscle |
| CN110282032A (en) * | 2019-07-29 | 2019-09-27 | 江苏徐工工程机械研究院有限公司 | Cab lifting system and vehicle |
| CN110906104A (en) * | 2019-12-20 | 2020-03-24 | 中国科学院沈阳自动化研究所 | Modular pipeline robot based on hydraulic artificial muscles |
| CN112518720A (en) * | 2020-12-01 | 2021-03-19 | 上海交通大学 | Robot system based on coupling effect of multiple software drivers and operation method |
| CN113290550A (en) * | 2021-05-26 | 2021-08-24 | 北京理工大学 | Scalable bionical trunk device based on pneumatic artificial muscle drive of Mckiben type |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108927787A (en) * | 2017-05-27 | 2018-12-04 | 魏相东 | Artificial-muscle and emulation arm |
| CN107598910A (en) * | 2017-10-17 | 2018-01-19 | 燕山大学 | The driving Rescaling continuity humanoid robot of tendon |
| CN107598910B (en) * | 2017-10-17 | 2023-10-13 | 燕山大学 | Tendon-driven variable-scale continuous robot |
| CN107655674B (en) * | 2017-10-25 | 2023-09-08 | 吉林大学 | Skeletal muscle imitation driver with integrated driving and transmission and performance testing device thereof |
| CN107655674A (en) * | 2017-10-25 | 2018-02-02 | 吉林大学 | It is a kind of to drive transmission integrated imitative skeletal muscle driver and its performance testing device |
| CN107618028A (en) * | 2017-10-31 | 2018-01-23 | 平顶山学院 | A kind of two-way artificial-muscle |
| CN109249382A (en) * | 2018-09-27 | 2019-01-22 | 上海交通大学 | Large span variation rigidity driving unit |
| CN109249382B (en) * | 2018-09-27 | 2021-06-04 | 上海交通大学 | Large-span variable-rigidity driving unit |
| CN109648552A (en) * | 2019-01-28 | 2019-04-19 | 中国计量大学 | Inner cavity iron ball electromagnetic levitation type Pneumatic artificial muscle |
| CN110015609A (en) * | 2019-03-12 | 2019-07-16 | 华中科技大学 | A kind of petrochemical industry Lift-on/Lift-off System and hanging method based on Pneumatic artificial muscle |
| CN110015609B (en) * | 2019-03-12 | 2023-09-29 | 华中科技大学 | Petrochemical hoisting system and hoisting method based on pneumatic artificial muscles |
| CN110282032A (en) * | 2019-07-29 | 2019-09-27 | 江苏徐工工程机械研究院有限公司 | Cab lifting system and vehicle |
| CN110906104A (en) * | 2019-12-20 | 2020-03-24 | 中国科学院沈阳自动化研究所 | Modular pipeline robot based on hydraulic artificial muscles |
| CN110906104B (en) * | 2019-12-20 | 2024-03-01 | 中国科学院沈阳自动化研究所 | Modularized pipeline robot based on hydraulic artificial muscle |
| CN112518720A (en) * | 2020-12-01 | 2021-03-19 | 上海交通大学 | Robot system based on coupling effect of multiple software drivers and operation method |
| CN113290550A (en) * | 2021-05-26 | 2021-08-24 | 北京理工大学 | Scalable bionical trunk device based on pneumatic artificial muscle drive of Mckiben type |
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