CN106837913A - Pneumatic muscles and its control system - Google Patents
Pneumatic muscles and its control system Download PDFInfo
- Publication number
- CN106837913A CN106837913A CN201710204404.6A CN201710204404A CN106837913A CN 106837913 A CN106837913 A CN 106837913A CN 201710204404 A CN201710204404 A CN 201710204404A CN 106837913 A CN106837913 A CN 106837913A
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- Prior art keywords
- pneumatic muscles
- seal
- cavity
- pneumatic
- aerating
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/08—Characterised by the construction of the motor unit
- F15B15/10—Characterised by the construction of the motor unit the motor being of diaphragm type
- F15B15/103—Characterised by the construction of the motor unit the motor being of diaphragm type using inflatable bodies that contract when fluid pressure is applied, e.g. pneumatic artificial muscles or McKibben-type actuators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B15/00—Fluid-actuated devices for displacing a member from one position to another; Gearing associated therewith
- F15B15/20—Other details, e.g. assembly with regulating devices
- F15B15/202—Externally-operated valves mounted in or on the actuator
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B3/00—Intensifiers or fluid-pressure converters, e.g. pressure exchangers; Conveying pressure from one fluid system to another, without contact between the fluids
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2215/00—Fluid-actuated devices for displacing a member from one position to another
- F15B2215/30—Constructional details thereof
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Jet Pumps And Other Pumps (AREA)
Abstract
A kind of pneumatic muscles and its control system, including：Pneumatic muscles body, the cavity with axial direction, for discharge charge compressed gas, pulling force is axially provided with along pneumatic muscles body；First seal and second seal, are separately positioned on the two ends of pneumatic muscles body axial direction, to seal the cavity of pneumatic muscles body；First seal has the discharge charge stomata of the cavity of connection pneumatic muscles body；Aerating and exhaust device, is positioned close to first seal end；The gas pressurized of pneumatic muscles body exterior is filled with the cavity of pneumatic muscles body by discharge charge stomata after the trigger signal for receiving pressurization for aerating and exhaust device；Aerating and exhaust device after the trigger signal for receiving decompression, by discharge charge stomata by the intrinsic high pressure gas discharge of pneumatic muscles to pneumatic muscles body exterior.Realize by the air pressure of pneumatic muscles surrounding environment to provide gases at high pressure to pneumatic muscles, can then reduce extra high-pressure air source, improve the portability of pneumatic muscles application.
Description
Technical field
The present invention relates to field of drivers, and in particular to a kind of pneumatic muscles and its control system.
Background technology
Pneumatic muscles are a kind of because its flexibility is high, lightweight, can be made with the next-generation drive of mimic biology contraction of muscle
With convenience, fast response time, it is with low cost the advantages of, be widely used in the driving such as various bionic mechanicals field.Pneumatic flesh
The main mesh grid deformed by inflatable elastic flexible pipe, constraint elastic hose of meat and the part of clip three constitute.Outside is a floor height
The fiber knitted net of intensity, when compressed air is filled with, pneumatic muscles structure in axial shrinkage and being radially expanded, if by one
End fix, the other end connection load just can by axial shrinkage produces driving force.
Pneumatic muscles possess excellent performance, have in fields such as rehabilitation, virtual reality and bio-robots good
Potential application foreground.Ripe pneumatic muscles mainly have such as FESTO companies pneumatic with what SHADOW companies produced on the market
Muscle.Generally, the intracavity space of above-mentioned pneumatic muscles is comparatively larger, and the time of inflation/deflation is more long, and pneumatic muscles are in work
During, air consumption is also than larger.In the prior art, Fig. 1 is refer to, is existing pneumatic muscles drive system schematic diagram, it is pneumatic
Muscle 100 needs the independent external air source device 200 such as air compressor to provide compressed gas for it, and needs by magnetic valve etc.
Gas control device realizes the charging-discharging function of pneumatic muscles so that system seems lengthy and jumbled, and, it is difficult to set suitable for portable execution
It is standby.
Therefore, how technical problem urgently to be resolved hurrily is turned into for pneumatic muscles provide portable source of the gas.
The content of the invention
The technical problem to be solved in the present invention is how for pneumatic muscles provide portable source of the gas, so as to provide a kind of gas
Dynamic muscle and its control system.
Therefore, according in a first aspect, the embodiment of the invention discloses a kind of pneumatic muscles, including：
Pneumatic muscles body, the cavity with axial direction, for discharge charge compressed gas, axially carries with along pneumatic muscles body
For pulling force；First seal and second seal, are separately positioned on the two ends of pneumatic muscles body axial direction, to seal pneumatic muscles
The cavity of body；First seal has the discharge charge stomata of the cavity of connection pneumatic muscles body；Aerating and exhaust device, is arranged on
Near first seal end；Aerating and exhaust device after the trigger signal for receiving pressurization, by discharge charge stomata by pneumatic muscles sheet
The gas pressurized of external body is filled with the cavity of pneumatic muscles body；Aerating and exhaust device leads to after the trigger signal for receiving decompression
Overcharge/air vent is by the intrinsic high pressure gas discharge of pneumatic muscles to pneumatic muscles body exterior.
Alternatively, aerating and exhaust device includes：Blower, is positioned close to first seal end, for by pneumatic muscles sheet
The gas pressurized of external body is filled with the cavity of pneumatic muscles body, or by the intrinsic high pressure gas discharge of pneumatic muscles to gas
Dynamic muscle body exterior.
Alternatively, aerating and exhaust device also includes：Air deflector, is arranged in the cavity of pneumatic muscles body, close near first
Sealing end, extends to second seal, the cavity of the gas flow guiding being filled with for blower to be pressurizeed to pneumatic muscles body.
Alternatively, air deflector is less than the cavity of pneumatic muscles body along pneumatic muscles along the length of pneumatic muscles body axial direction
The length of body axial direction.
Alternatively, blower is fan blade；Air deflector is screw rod；Screw rod and fan blade can coaxial rotation fixations
Near first seal end, fan blade is relative to screw rod close to first seal.
Alternatively, screw rod and fan blade synchronous axial system.
Alternatively, spiral groove depth of the screw rod near first seal position is more than screw rod away from first seal position
Spiral groove depth.
Alternatively, aerating and exhaust device also includes：Sleeve, air deflector is covered for covering, and sleeve has and pneumatic muscles body
The through hole of cavity connection.
Alternatively, aerating and exhaust device also includes：Switch valve, is arranged on first seal end；Switch valve be used for when opening to
Blower provides the gas of pneumatic muscles body exterior, or switch valve is used for the intrinsic high pressure gas of pneumatic muscles when opening
Body is emitted into pneumatic muscles body exterior.
Technical solution of the present invention, has the following advantages that：
Pneumatic muscles provided in an embodiment of the present invention and its control system, inflation/deflation is being provided near first seal end
Device, aerating and exhaust device after the trigger signal for receiving pressurization, by discharge charge stomata by the gas of pneumatic muscles body exterior
Pressurization is filled with the cavity of pneumatic muscles body, because the two ends of pneumatic muscles body axial direction are provided with first seal and second close
Sealing, therefore, after by aerating and exhaust device, outside gas is filled with the cavity of pneumatic muscles body, can cause pneumatic
Air pressure in muscle cavity rises, it is achieved thereby that to the effect of pneumatic muscles pressurization, it is external relative to needing in the prior art
The mode of high-voltage power supply, the scheme of the embodiment of the present invention realizes by the air pressure of pneumatic muscles surrounding environment to carry pneumatic muscles
For gases at high pressure, extra high-pressure air source can be then reduced, improve the portability of pneumatic muscles application.
As optional technical scheme, gas flow guiding is carried out by screw rod, can caused in pneumatic muscles cavity
Heat is produced in gas replenishment process, so that so that the gas expansion being filled with, it is possible to increase to the pumping efficiency of pneumatic muscles cavity.
Brief description of the drawings
In order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art, below will be to specific
The accompanying drawing to be used needed for implementation method or description of the prior art is briefly described, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of pneumatic muscles drive system schematic diagram of the prior art；
Fig. 2 is a kind of pneumatic muscles cross-sectional view disclosed in the present embodiment；
Fig. 3 is a kind of pneumatic muscles dimensional structure diagram in the present embodiment；
Fig. 4 is a kind of aerating and exhaust device configuration schematic diagram in the present embodiment；
Fig. 5 is a kind of a kind of example structure schematic diagram of aerating and exhaust device in the present embodiment；
Fig. 6 is a kind of aerating and exhaust device another kind example structure schematic diagram in the present embodiment.
Specific embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that described implementation
Example is a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", D score, "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outward " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify describe, rather than indicate imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.Additionally, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that indicating or implying relative importance.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Company ", " connection " should be interpreted broadly, for example, it may be being fixedly connected, or being detachably connected, or be integrally connected；Can
Being to mechanically connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, can be with
It is two connections of element internal, can is wireless connection, or wired connection.For one of ordinary skill in the art
For, above-mentioned term concrete meaning in the present invention can be understood with concrete condition.
As long as additionally, technical characteristic involved in invention described below different embodiments non-structure each other
Can just be combined with each other into conflict.
Fig. 2 and Fig. 3 is refer to, wherein, Fig. 2 is a kind of pneumatic muscles cross-sectional view, Fig. 3 disclosed in the present embodiment
It is a kind of pneumatic muscles dimensional structure diagram in the present embodiment.A kind of pneumatic muscles include disclosed in the present embodiment：Pneumatic flesh
Meat body 1, first seal 21, second seal 22 and aerating and exhaust device 3, wherein：
Pneumatic muscles body 1 has the cavity of axial direction, for discharge charge compressed gas, is axially carried with along pneumatic muscles body 1
For pulling force.In a particular embodiment, when compressed gas (such as compressed air) is injected in the cavity of pneumatic muscles body 1, gas
Dynamic muscle body 1 can be axially contracted, so as to form pulling force to external world；As the compressed gas row in the cavity of pneumatic muscles body 1
When going out, pneumatic muscles body 1 can playback vertically, so that it is zero that the pulling force for being formed to external world can be progressively smaller until.Need
Bright, in other embodiments, the outer surface of pneumatic muscles body 1 can also set metal alloy wires, as shown in Figure 3.
Fig. 2 and Fig. 3 is refer to, first seal 21 and second seal 22 are separately positioned on pneumatic muscles body 1 axially
Two ends, to seal the cavity of pneumatic muscles body 1.In a particular embodiment, first seal 21 has connection pneumatic muscles
The discharge charge stomata 210 of the cavity of body 1, source of the gas can be connected to by the discharge charge stomata 210, to realize to pneumatic muscles sheet
Body 1 carries out charge/discharge gas process.It should be noted that in this example, can be by pneumatic muscles body by discharge charge stomata 210
1 cavity is connected with external environment condition, so that the cavity for obtaining pneumatic muscles body 1 can be with the ring residing for the pneumatic muscles body 1
Border carries out gaseous exchange.In the present embodiment, alleged environment can be air ambient, or other rings with gas
Border, such as inert gas, mixed gas etc..
Fig. 2 is refer to, aerating and exhaust device 3 is positioned close to the end of first seal 21.Aerating and exhaust device 3 is receiving pressurization
Trigger signal after, the gas pressurized outside pneumatic muscles body 1 is filled with by pneumatic muscles body 1 by discharge charge stomata 210
Cavity；Aerating and exhaust device 3 after the trigger signal for receiving decompression, by discharge charge stomata 210 by pneumatic muscles body 1
Outside high pressure gas discharge to pneumatic muscles body 1.In the present embodiment, connection pneumatic muscles sheet is provided with first seal 21
The discharge charge stomata 210 of the cavity of body 1, specifically, the discharge charge stomata 210 can also be communicated to the outside of pneumatic muscles body 1,
Atmospheric pressure can for example be connected.Aerating and exhaust device 3, can be by pneumatic muscles body 1 after the trigger signal for receiving pressurization
Outside gas is fed through the cavity of pneumatic muscles body 1.Because the cavity of pneumatic muscles body 1 is by first seal 21 and
Two seals 22 are sealed, therefore, during being blown in cavity of the aerating and exhaust device 3 to pneumatic muscles body 1, pneumatic muscles
Pressure in the cavity of body 1 can be increasing, it is achieved thereby that the operation pressurizeed to pneumatic muscles body 1.In charge and discharge
Device of air 3, because the air pressure in the cavity of pneumatic muscles body 1 is big, therefore, it can lead to after the trigger signal for receiving decompression
Cross aerating and exhaust device 3 and the gases at high pressure in the cavity of pneumatic muscles body 1 are discharged into pneumatic muscles via discharge charge stomata 210
The outside of body 1, it is achieved thereby that the operation depressurized to pneumatic muscles body 1.
In a particular embodiment, Fig. 2, Fig. 4 and Fig. 5 are refer to, the aerating and exhaust device 3 includes：Blower 31, blower 31
The end of first seal 21 is positioned close to, for the gas pressurized outside pneumatic muscles body 1 to be filled with into pneumatic muscles body 1
Cavity, or by outside the high pressure gas discharge in pneumatic muscles body 1 to pneumatic muscles body 1.Specifically, the blower 31
Can be such as fan blade, when fan blade rotation (such as clockwise) in the first direction, outside pneumatic muscles body 1
Gas be filled with the cavity of pneumatic muscles body 1 so that the gas in the cavity of pneumatic muscles body 1 is more and more, so that right
Pneumatic muscles body 1 is pressurizeed；When fan blade rotation (such as counterclockwise) in a second direction, by pneumatic muscles body 1
Cavity in high pressure gas discharge to the outside of pneumatic muscles body 1 so that the gas in the cavity of pneumatic muscles body 1 is got over
Come fewer, so as to be depressurized to pneumatic muscles body 1.It should be noted that in other alternate embodiments, when filling/
When air vent 210 is connected with the external environment condition of pneumatic muscles body 1, fan blade can not also be rotated, by step-down naturally
Mode causes that the gases at high pressure in the cavity of pneumatic muscles body 1 are emitted into outside via discharge charge stomata 210.
For further condensed gas, in an alternate embodiment of the invention, Fig. 4 and Fig. 5 is refer to, aerating and exhaust device 3 also includes：
Air deflector 32, air deflector 32 is arranged in the cavity of pneumatic muscles body 1, near the end of first seal 21, to second seal
22 extend, the cavity of the gas flow guiding being filled with for blower 31 to be pressurizeed to pneumatic muscles body 1.In a particular embodiment,
Air deflector 32 is along the cavity of the length less than pneumatic muscles body 1 of the axial direction of pneumatic muscles body 1 along the axial direction of pneumatic muscles body 1
Length, as a result, gas of the gas being filled with after via the water conservancy diversion of air deflector 32 can condense upon the sky of pneumatic muscles body 1
Chamber end (near the end of second seal 22), and reduce the gas of cohesion and have larger fluctuation (being for example vortexed).
In an alternate embodiment of the invention, air deflector 32 be screw rod, screw rod during rotation, the gas that will can be filled with
Body is fed through the cavity end of pneumatic muscles body 1 by screw channel.In order to the cavity preferably to pneumatic muscles body 1 is added
Pressure, in a preferred embodiment, spiral groove depth of the screw rod near the position of first seal 21 is close away from first more than screw rod
The spiral groove depth of the position of sealing 21.As a result, with screw rod rotate, near second seal 22 air pressure access compared with
Big raising.
In a particular embodiment, screw rod and fan blade coaxial can rotate and be fixed near the end of first seal 21, wind
Fan leaf is relative to screw rod close to first seal 21.Specifically, screw rod and fan blade can by rotating shaft 33
It is rotatably secured to be close to the end of first seal 21, rotating shaft 33 can be driven by motor.In a particular embodiment, screw rod and
Fan blade can be fixed in rotating shaft 33, so that screw rod and fan blade can follow the synchronous axial system of rotating shaft 33.
In a particular embodiment, screw rod and fan blade can be driven by alternating current generator, specifically, alternating current generator
The end of first seal 21 can be arranged on.In general, the increase of the cavity inside pressure with pneumatic muscles body 1, spiral
Bar rotates big by resistive, to increase the output torque of alternating current generator, deceleration can also be set between alternating current generator and screw rod
Device.
Fig. 3 and Fig. 6 is refer to, in an alternate embodiment of the invention, aerating and exhaust device 3 also includes：Switch valve 34, switch valve 34 sets
Put at the end of first seal 21, the gas outside pneumatic muscles body 1 is provided to blower when switch valve 34 is used to open, or
Switch valve 34 is used for outside the high pressure gas discharge in pneumatic muscles body 1 to pneumatic muscles body 1 when opening.Specific real
In applying example, switch valve 34 can be for example magnetic valve or other can connect/isolate the valve body of extraneous gas.
In an alternate embodiment of the invention, Fig. 4 and Fig. 6 is refer to, aerating and exhaust device 3 also includes：Sleeve 35, water conservancy diversion is covered for covering
Device 32, sleeve 35 has the through hole connected with the cavity of pneumatic muscles body 1.In a particular embodiment, the through hole of sleeve 35 can
To be arranged on the side of sleeve 35, the end of sleeve 35 is preferably provided at, be vortexed caused by the air-flow because of side through hole with being reduced,
On the other hand, it is also possible to the gas flow guiding for being rapidly filled with the pressurization of blower 31 to the cavity end of pneumatic muscles body 1.This
In embodiment, the quantity of through hole is not intended to limit.
The present embodiment also discloses a kind of pneumatic muscles control system, including：Pneumatic muscles disclosed in above-described embodiment and
Controller, wherein, controller is used to provide the trigger signal of pressurization or the trigger signal of decompression.In a particular embodiment, control
Device processed is additionally operable to opening and shutting off for controlling switch valve 34.In a particular embodiment, can be positioned close to first close for controller
One end of sealing 21.
In an alternate embodiment of the invention, the pneumatic muscles control system also includes：Pressure sensor, pressure sensor is arranged on
In the cavity of pneumatic muscles body 1, it is connected with controller signals, it is concurrent for gathering the pressure in the cavity of pneumatic muscles body 1
Give controller.In a particular embodiment, Fig. 5 is refer to, pressure sensor 4 can be arranged on the end of air deflector 32.Certainly,
Pressure sensor 4 can also be arranged on the end of sleeve 35, or side.
It should be noted that in a particular embodiment, pressure sensor 4 can carry out letter with wireless form and controller
Number connection, it is also possible to signal is carried out by wire and controller and is connected.Letter is carried out by wire and controller in pressure sensor 4
Number connection when, metallic channel can be opened up on pneumatic muscles body, pressure sensor and controller are laid by the metallic channel
Carry out the wire of signal connection；Metallic channel can also be opened up on sleeve 35, laid by the metallic channel pressure sensor with
Controller carries out the wire of signal connection.
Pneumatic muscles and its control system that the present embodiment is provided, inflation/deflation dress is being provided near first seal end
Put, aerating and exhaust device is added the gas of pneumatic muscles body exterior by discharge charge stomata after the trigger signal for receiving pressurization
Pressure is filled with the cavity of pneumatic muscles body, because the two ends of pneumatic muscles body axial direction are provided with first seal and the second sealing
Part, therefore, after outside gas is filled with the cavity of pneumatic muscles body by aerating and exhaust device, pneumatic flesh can be caused
Air pressure in meat cavity rises, it is achieved thereby that to the effect of pneumatic muscles pressurization, relative to needing external height in the prior art
The mode of potential source, the scheme of the embodiment of the present invention realizes by the air pressure of pneumatic muscles surrounding environment to provide pneumatic muscles
Gases at high pressure, can then reduce extra high-pressure air source, improve the portability of pneumatic muscles application.
In an alternate embodiment of the invention, gas flow guiding is carried out by screw rod, can causes to be filled in pneumatic muscles cavity
Heat is produced during gas, so that so that the gas expansion being filled with, it is possible to increase to the pumping efficiency of pneumatic muscles cavity.
Obviously, above-described embodiment is only intended to clearly illustrate example, and not to the restriction of implementation method.It is right
For those of ordinary skill in the art, can also make on the basis of the above description other multi-forms change or
Change.There is no need and unable to be exhaustive to all of implementation method.And the obvious change thus extended out or
Among changing still in the protection domain of the invention.
Claims (10)
1. a kind of pneumatic muscles, it is characterised in that including：
Pneumatic muscles body (1), the cavity with axial direction, for discharge charge compressed gas, with along the pneumatic muscles body (1)
Pulling force is axially provided；
First seal (21) and second seal (22), are separately positioned on the two ends of pneumatic muscles body (1) axial direction, with
Seal the cavity of the pneumatic muscles body (1)；The first seal (21) is with the connection pneumatic muscles body (1)
The discharge charge stomata (210) of cavity；
Aerating and exhaust device (3), is positioned close to the first seal (21) end；
The aerating and exhaust device (3) after the trigger signal for receiving pressurization, by the discharge charge stomata (210) by the gas
The outside gas pressurized of dynamic muscle body (1) is filled with the cavity of the pneumatic muscles body (1)；The aerating and exhaust device (3) exists
After receiving the trigger signal of decompression, by the discharge charge stomata (210) by the high pressure gas in the pneumatic muscles body (1)
It is outside that body is emitted into the pneumatic muscles body (1).
2. pneumatic muscles as claimed in claim 1, it is characterised in that the aerating and exhaust device (3) includes：
Blower (31), is positioned close to the first seal (21) end, for that the pneumatic muscles body (1) is outside
Gas pressurized is filled with the cavity of the pneumatic muscles body (1), or the gases at high pressure in the pneumatic muscles body (1) are arranged
Put outside to the pneumatic muscles body (1).
3. pneumatic muscles as claimed in claim 2, it is characterised in that the aerating and exhaust device (3) also includes：
Air deflector (32), is arranged in the cavity of the pneumatic muscles body (1), is held near the first seal (21), to
The second seal (22) extends, the gas flow guiding being filled with for the blower to be pressurizeed to the pneumatic muscles body
(1) cavity.
4. pneumatic muscles as claimed in claim 3, it is characterised in that the air deflector is along pneumatic muscles body (1) axle
To length less than the pneumatic muscles body (1) cavity along the pneumatic muscles body (1) axial direction length.
5. pneumatic muscles as claimed in claim 3, it is characterised in that
The blower is fan blade；
The air deflector is screw rod；
The screw rod and the fan blade coaxial can rotate and be fixed near the first seal (21) end, the fan
Blade is relative to the screw rod close to the first seal (21).
6. pneumatic muscles as claimed in claim 5, it is characterised in that the screw rod is near the first seal (21) position
The spiral groove depth put is more than spiral groove depth of the screw rod away from the first seal (21) position.
7. pneumatic muscles as described in claim 3-6 any one, it is characterised in that the aerating and exhaust device (3) also includes：
Sleeve (35), the air deflector (32) is covered for covering, and the sleeve (35) connects with the cavity with the pneumatic muscles body (1)
Logical through hole.
8. pneumatic muscles as described in claim 2-6 any one, it is characterised in that the aerating and exhaust device (3) also includes：
Switch valve (34), is arranged on the first seal (21) end；The switch valve is used to be carried to the blower when opening
By the pneumatic muscles body (1) when being used to open for the outside gas of the pneumatic muscles body (1), or the switch valve
Interior high pressure gas discharge is outside to the pneumatic muscles body (1).
9. a kind of pneumatic muscles control system, it is characterised in that including：
Pneumatic muscles as described in claim 1-8 any one；
Controller, for providing the trigger signal of the pressurization or the trigger signal of the decompression.
10. pneumatic muscles control system as claimed in claim 9, it is characterised in that also include：
Pressure sensor, is arranged in the cavity of the pneumatic muscles body (1), is connected with the controller signals, for adopting
Collect the pressure in pneumatic muscles body (1) cavity and be sent to the controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710204404.6A CN106837913B (en) | 2017-03-24 | 2017-03-24 | Pneumatic muscles and its control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710204404.6A CN106837913B (en) | 2017-03-24 | 2017-03-24 | Pneumatic muscles and its control system |
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| CN106837913A true CN106837913A (en) | 2017-06-13 |
| CN106837913B CN106837913B (en) | 2018-05-04 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108524193A (en) * | 2018-05-02 | 2018-09-14 | 京东方科技集团股份有限公司 | A kind of hand convalescence device, device for healing and training and its control method |
| CN109648552A (en) * | 2019-01-28 | 2019-04-19 | 中国计量大学 | Inner cavity iron ball electromagnetic levitation type Pneumatic artificial muscle |
| CN112912632A (en) * | 2018-10-19 | 2021-06-04 | 株式会社普利司通 | Actuator |
| CN114074593A (en) * | 2020-08-11 | 2022-02-22 | 诺创汽车科技(上海)有限公司 | Pneumatic module based on pneumatic muscle, active headrest and passive safety device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| 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 |
| CN108524193A (en) * | 2018-05-02 | 2018-09-14 | 京东方科技集团股份有限公司 | A kind of hand convalescence device, device for healing and training and its control method |
| CN112912632A (en) * | 2018-10-19 | 2021-06-04 | 株式会社普利司通 | Actuator |
| US11821114B2 (en) | 2018-10-19 | 2023-11-21 | Bridgestone Corporation | Actuator |
| CN109648552A (en) * | 2019-01-28 | 2019-04-19 | 中国计量大学 | Inner cavity iron ball electromagnetic levitation type Pneumatic artificial muscle |
| CN114074593A (en) * | 2020-08-11 | 2022-02-22 | 诺创汽车科技(上海)有限公司 | Pneumatic module based on pneumatic muscle, active headrest and passive safety device |
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