CN109760038A - A kind of hydraulic-driven flexibility artificial-muscle - Google Patents
A kind of hydraulic-driven flexibility artificial-muscle Download PDFInfo
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- CN109760038A CN109760038A CN201910048117.XA CN201910048117A CN109760038A CN 109760038 A CN109760038 A CN 109760038A CN 201910048117 A CN201910048117 A CN 201910048117A CN 109760038 A CN109760038 A CN 109760038A
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- flexible sleeve
- rope
- piston
- muscle
- traction rope
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Abstract
The present invention discloses a kind of hydraulic-driven flexibility artificial-muscle, the piston moved in the flexible sleeve can be hydraulically operated by being equipped with the flexible sleeve for being embedded with helical wire of the connector for connecting with hydraulic pump including both ends and being placed in the flexible sleeve, the piston is connected with traction rope, the other end of the traction rope stretches out in outside the flexible sleeve, for connecting with the load outside the flexible sleeve；The inner wall of the outer wall of the piston and the flexible sleeve is in sealing contact and the inside of the flexible sleeve is formed with rope chamber and wireless chamber, the traction rope pass through described in there is rope is intracavitary to extend back outside for the flexible sleeve.Artificial-muscle of the invention in terms of existing technologies, contraction process will not generate it is additional be radially expanded and stroke is longer, the application range of artificial-muscle can be expanded significantly, the driving for existing robot and exoskeleton system provides more outstanding scheme.
Description
Technical field
The present invention relates to artificial-muscle technical fields, more particularly to a kind of hydraulic-driven flexibility artificial-muscle.
Background technique
Artificial-muscle is that one kind can be as muscle one in given input signal based on engineering and bionic design
The Mechatronic Systems of sample generation contractile motion and power output.Artificial-muscle because its with certain flexibility and structure it is more compact
Feature and be widely used in various robots and exoskeleton system, realize the driving of various mechanisms.
Traditional artificial muscle generally uses braided material, under input highly pressurised liquid or gas station, passes through tubular muscle
Axial contraction is realized in being radially expanded for outer wall.Traditional artificial muscle has the disadvantage that firstly, traditional artificial muscle is to production
Raw contractile motion, radial necessarily to expand, this feature is easy to interfere the movement of other structures near muscle, limits its application；
Secondly, the actuation principle of traditional artificial muscle causes its contractile motion stroke smaller, it is unable to satisfy the requirement of bigger stroke applications.
Summary of the invention
In view of the technical drawbacks of the prior art, it is an object of the present invention to provide one kind for for robot and outside
Skeletal system provides the hydraulic-driven flexibility artificial-muscle of driving.
The technical solution adopted to achieve the purpose of the present invention is:
A kind of hydraulic-driven flexibility artificial-muscle is equipped with being embedded with for the connector for connecting with hydraulic pump including both ends
It the flexible sleeve of helical wire and is placed in the flexible sleeve and can be hydraulically operated the piston moved in the flexible sleeve,
The piston is connected with traction rope, and the other end of the traction rope stretches out in outside the flexible sleeve, is used for and the flexible sleeve
Outer load connection；The inner wall of the outer wall of the piston and the flexible sleeve is in sealing contact and forms the inside of the flexible sleeve
There are rope chamber and wireless chamber, there is rope is intracavitary to extend back outside for the flexible sleeve described in the traction rope process.
The piston includes the piston bush of coaxially arranged piston core and drum shape, the piston bush by groove with it is convex
It plays fit structure to be mounted on outside the piston core, the piston core is co-axially mounted after assembling with piston bush with the flexible sleeve, institute
It states piston bush middle section cylindrical surface to contact with the flexible tube inner surface, and can be slided relatively along the flexible tube inner surface；It is described
Traction rope passes through the cord hole inside the piston core, has rope clamp to be fixed on traction rope at the both ends of the cord hole and leads described
Messenger is connect with the piston core.
The front and rear end of the flexible sleeve is coaxially installed with the inner wall sealed connection of outer wall and the flexible sleeve respectively
Drive end bearing bracket and rear end cap, the drive end bearing bracket are contacted with coaxially arranged middle end cap, and the drive end bearing bracket is covered with middle-end to be respectively formed
There is corresponding traction rope to pass through hole, rope chamber connector and wireless chamber connector are separately installed on the drive end bearing bracket and rear end cap.
The drive end bearing bracket is bolted with middle end cap by connection, and the traction rope between the drive end bearing bracket and middle end cap is worn
Crossing hole site has traction rope sealing ring, has non-through threaded hole on the lid end cap, the middle-end has covered dormant bolt hole.
It is respectively formed on the drive end bearing bracket and rear end cap and connect the interior spiral shell for having rope chamber connector and wireless chamber connector
Pit, the middle-end cover the through-hole to be formed and have rope chamber connector described in correspondence.
The outside of the flexible sleeve before the position of the drive end bearing bracket and rear end cap is respectively arranged with pipe collar with
Pipe collar afterwards, for clamping the flexible sleeve and the drive end bearing bracket, middle end cap and rear end cap.
Compared with prior art, the beneficial effects of the present invention are:
Artificial-muscle of the invention will not generate additional be radially expanded in terms of existing technologies, in contraction process
And stroke is longer, can expand the application range of artificial-muscle significantly, the driving for existing robot and exoskeleton system provides
More outstanding scheme.
Detailed description of the invention
Fig. 1 is the structure principle chart of hydraulic-driven flexibility artificial-muscle；
Fig. 2 is the A-A sectional view of Fig. 1；
Fig. 3 A-3B is the main view and sectional structure chart of the drive end bearing bracket in Fig. 1；
Fig. 4 A-4B is the main view and sectional structure chart of the middle end cap in Fig. 1；
Fig. 5 is working drawing of the hydraulic-driven artificial-muscle under straight configuration；
Fig. 6 is the working drawing of hydraulic-driven artificial-muscle in the bent state.
In figure: 1- traction rope；2- has rope chamber connector；3- drive end bearing bracket；4- connection bolt；5- drive end bearing bracket sealing ring；6- traction
Rope sealing ring；Pipe collar before 7-；End cap in 8-；9- flexible sleeve；10- piston core；11- piston bush；12- rope clamp；13- rear end cap；14-
Wireless chamber connector；15- rear end cap sealing ring；Pipe collar after 16-；17- supporting mass, the wireless chamber of 18-；19- has rope chamber；20- motor；
21- hydraulic pump.
Specific embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.It should be appreciated that described herein
Specific embodiment be only used to explain the present invention, be not intended to limit the present invention.
As shown in Figure 1, hydraulic-driven flexibility artificial-muscle of the invention, including traction rope 1, there are rope chamber connector 2, drive end bearing bracket
3, bolt 4, drive end bearing bracket sealing ring 5, traction rope sealing ring 6, preceding pipe collar 7, middle end cap 8, flexible sleeve 9, piston core 10, piston are connected
Cover 11, rope clamp 12, rear end cap 13, wireless chamber connector 14, rear end cap sealing ring 15, rear pipe collar 16.
The flexible sleeve be tubular structure, main body using flexible material manufacture, inside be disposed with spiral steel wire,
Ensure that flexible sleeve can be arbitrarily bent, and it is radial still with greater stiffness, it bears to generate under pressure condition in inside
It is radially expanded.
The traction rope passes through the through-hole inside drive end bearing bracket, traction rope sealing ring, middle end cap and piston core and two rope clamps,
The traction rope can be free to slide in drive end bearing bracket, traction rope sealing ring and middle end cap inner hole.The traction rope is in piston core two
Side is compressed by rope clamp, makes traction rope and piston core that can not generate axially opposing movement.
The traction rope guarantees that traction rope can bear larger drawing using the encapsulated wirerope material production of industry, the material
Power, and there is smooth cylindrical outer surface, it is easy to seal, and traction rope can be arbitrarily bent, has preferable flexibility.Wherein, institute
The traction rope front end stated has cyclic structure, convenient to be attached with different institutions or load.
It is described to have restrict chamber connector, wireless chamber connector for standard quick coupling, connected respectively by screw thread and drive end bearing bracket, rear end cap
It connects.Described to have rope chamber connector using right angle quick connector form, the wireless chamber connector is using straight-through quick connector form.
The piston core is made of steel, to be cylindrical, has through-hole on axis, for running through traction rope；Its cylinder
Three circumferential direction rectangular groove structures are arranged on face, for realizing the fixation with piston bush.The piston bush is made of rubber material,
For cydariform, there is through-hole on axis, and be machined with circumferential rectangular protrusions in through-hole surfaces, is used for and piston core cooperates, piston bush
Outer surface two sides are pyramidal structure, and middle section is cylindrical structure.The piston core and piston bush are coaxially arranged, the two contact surface
Protrusion and groove structure coincide, and be connected and fixed using adhesive.The piston core is same with flexible sleeve after assembling with piston bush
Axis installation, piston bush middle section cylindrical surface are contacted with flexible tube inner surface, and can be along the opposite sliding of flexible tube inner surface.
The drive end bearing bracket is made of steel, is disc, and circumference uniform distribution 3 identical non-through threaded holes, are used thereon
It is bolted in connection, middle end cap is firmly connected with it；Drive end bearing bracket top is there are one thread pore structure is penetrated through, with peace
Equipped with rope chamber connector；There is a cylindrical hole on drive end bearing bracket axis, for passing through traction rope；On drive end bearing bracket outer circumference surface, add
Work has circumferential rectangular groove structure, for placing drive end bearing bracket sealing ring.
The middle end cap is made of steel, is disc, circumference uniform distribution 3 identical dormant bolt holes, are used for thereon
Connect the installation of bolt；In dormant bolt hole opposite side, there is a circular trough on middle end cap axis, for placing traction rope sealing
Circle；There is a cylindrical hole on middle end cap axis, for passing through traction rope；Middle-end covers portion, and there are one cylindrical holes, realize
Flexible muscle has rope chamber and has the connection of rope chamber connector.
The drive end bearing bracket and middle end cap are coaxially arranged, and are fixed using three connection bolts, are equipped with traction rope therebetween
Sealing ring.The drive end bearing bracket, middle end cap and flexible sleeve are coaxially arranged, and drive end bearing bracket left side is aligned with flexible sleeve end face, in front end
It covers on axial position corresponding with middle end cap, preceding pipe collar is equipped with, for reinforcing the connection of drive end bearing bracket, middle end cap and flexible sleeve.
The rear end cap using steel make, be disc, on its axis arrange a tapped through hole, for it is wireless
The connection of chamber connector；At its edge, it is machined with circumferential rectangular groove structure, for placing rear end cap sealing ring.The rear end cap with it is soft
Property cylinder is coaxially arranged, and rear end cap right side is aligned with flexible sleeve other end, on the corresponding axial position of rear end cap, after being equipped with
Pipe collar, for reinforcing the connection of rear end cap and flexible sleeve.
The preceding pipe collar, rear pipe collar are industrial standard pipe collar, for clamping flexible sleeve and drive end bearing bracket, middle end cap and rear end cap
Connection.
In the present invention, the flexible sleeve, traction rope and piston bush are manufactured using flexible material, such as rubber, so that entire soft
Property muscle have certain flexibility, can arbitrarily be bent, be suitable in different installation space demands and use process environment deformation, increase
The strong environmental suitability of artificial-muscle, considerably increases the application range of artificial-muscle.
In the present invention, entirety -- the piston that the piston core and piston bush are constituted can arbitrarily slide into inside flexible sleeve
The position that two sides rope clamp is contacted with middle end cap and rear end cap respectively, stroke is very long, overcome traditional artificial muscle stroke it is short lack
Point can satisfy the application of bigger range demands.
In the present invention, inside the flexible sleeve there is spiral structure of steel wire to reinforce its radial rigidity, make in flexible sleeve
Portion will not generate in the case where bearing larger pressure condition and be radially expanded, and overcome traditional artificial muscle contraction and generate additional radial
The shortcomings that expansion.
The present invention stretch under bending state working condition difference it is as shown in Figure 5 and Figure 6.The present invention stretch with it is curved
Contractile motion is generated under curved state and the working principle of power output is described below respectively:
1) contractile motion and power output are generated under straight configuration.
As shown in figure 5, controller controls motor 20 and rotates forward in contraction process, motor drives hydraulic pump 21 to suck nothing
The liquid of rope chamber 18, which enters, rope chamber 19, there is the intracavitary pressure rise due to liquid inflow of rope at this time, wireless intracavitary due to liquid
Outflow and pressure reduction, therefore generate pressure difference in piston core and piston bush two sides, both the effect of this pressure difference makes generate to
On force action.Due to the fixed function of rope clamp, the trend that moves upwards of piston core and piston bush entirety drives traction rope one
It rises and moves upwards, artificial-muscle generates contractile motion.The load connecting at this time with traction rope end circular loop can be by artificial muscle
The convergent force of meat.
During diastole, controller controls motor reversion, and the liquid that motor drives hydraulic pump sucking to have rope chamber enters
Wireless chamber, the intracavitary pressure rise due to liquid inflow wireless at this time have the intracavitary pressure reduction due to liquid outflow of rope,
Piston core and piston bush two sides generate pressure difference, and the effect of this pressure difference makes the two generate downward force action.Due to rope
The whole trend that moves downward of the fixed function of folder, piston core and piston bush drives traction rope to move downwardly together, and traction rope is same
When by the downward active force loaded, artificial-muscle generates diastole campaign.
2) contractile motion and power output are generated under bending state.
As shown in fig. 6, since flexible sleeve uses flexible material as body making, it is possible to any bending is generated, this
When due to its internal spiral steel wire supporting role, the section of flexible sleeve is still approximate circle.Since piston bush is also flexible
Material production, so it still can be free to slide inside flexible sleeve after generating corresponding micro-strain.
As shown in fig. 6, controller controls motor and rotates forward in contraction process, motor drives hydraulic pump to suck wireless chamber
Liquid enter have rope chamber, have at this time rope it is intracavitary due to liquid flow into and pressure rise, it is wireless it is intracavitary due to liquid flow out and press
Power reduces, therefore generates pressure difference in piston core and piston bush two sides, and the effect of this pressure difference makes the two generate the conjunction to upper right
Power effect.Due to the fixed function of rope clamp, piston core and piston bush it is whole to upper right movement tendency drive traction rope together to
Upper right movement, part of the traction rope between middle end cap and piston core is straightened at this time, and the band dynamic load of traction rope end is transported upwards
Dynamic, artificial-muscle generates contractile motion.The load connecting at this time with traction rope end circular loop can be by the contraction of artificial-muscle
Power.
During diastole, controller controls motor reversion, and the liquid that motor drives hydraulic pump sucking to have rope chamber enters
Wireless chamber, the intracavitary pressure rise due to liquid inflow wireless at this time have the intracavitary pressure reduction due to liquid outflow of rope,
Piston core and piston bush two sides generate pressure difference, and the effect of this pressure difference makes the force action of the two generation to left down.Due to
The movement tendency to left down of the fixed function of rope clamp, piston core and piston bush entirety drives traction rope to move to left down together, leads
Messenger is simultaneously by the downward active force loaded, and part of the traction rope between middle end cap and piston core is still straightened at this time,
Traction rope end moves downward, and artificial-muscle generates diastole campaign.
The above is only a preferred embodiment of the present invention, it is noted that for the common skill of the art
For art personnel, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (6)
1. a kind of hydraulic-driven flexibility artificial-muscle, which is characterized in that be equipped with including both ends and connect for what is connect with hydraulic pump
Head the flexible sleeve for being embedded with helical wire and be placed in can be hydraulically operated in the flexible sleeve in the flexible sleeve
Mobile piston, the piston are connected with traction rope, and the other end of the traction rope stretches out in outside the flexible sleeve, for
Load connection outside the flexible sleeve；The inner wall of the outer wall of the piston and the flexible sleeve it is in sealing contact and by the flexible sleeve
Inside be formed with rope chamber and wireless chamber, the traction rope pass through described in there is rope is intracavitary to extend back outside for the flexible sleeve.
2. hydraulic-driven flexibility artificial-muscle as described in claim 1, which is characterized in that the piston includes coaxially arranged work
The piston bush of core and drum shape is filled in, the piston bush is mounted on outside the piston core by groove and male cooperation structure, institute
It states piston core to be co-axially mounted with after piston bush assembly with the flexible sleeve, in piston bush middle section cylindrical surface and the flexible sleeve
Surface contact, and can be slided relatively along the flexible tube inner surface；The traction rope passes through the cord hole inside the piston core,
The both ends of the cord hole have rope clamp to be fixed on traction rope to connect the traction rope with the piston core.
3. hydraulic-driven flexibility artificial-muscle as described in claim 1, which is characterized in that the front and rear end of the flexible sleeve point
It is not coaxially installed with the drive end bearing bracket and rear end cap of the inner wall sealed connection of outer wall and the flexible sleeve, the drive end bearing bracket and coaxial cloth
The middle end cap contact set, the drive end bearing bracket is covered with middle-end is respectively formed with corresponding traction rope across hole, the drive end bearing bracket
And rope chamber connector and wireless chamber connector are separately installed on rear end cap.
4. hydraulic-driven flexibility artificial-muscle as claimed in claim 3, which is characterized in that the drive end bearing bracket and middle end cap pass through company
Connecting bolt connection, the traction rope between the drive end bearing bracket and middle end cap pass through hole location and are equipped with traction rope sealing ring, the lid
There is non-through threaded hole on end cap, the middle-end has covered dormant bolt hole.
5. hydraulic-driven flexibility artificial-muscle as claimed in claim 3, which is characterized in that on the drive end bearing bracket and rear end cap respectively
It is formed with the connection internal thread hole having rope chamber connector and wireless chamber connector, the middle-end, which covers to be formed described in correspondence, rope
The through-hole of chamber connector.
6. hydraulic-driven flexibility artificial-muscle as claimed in claim 3, which is characterized in that the outside of the flexible sleeve is in correspondence
The position of the drive end bearing bracket and rear end cap is respectively arranged with preceding pipe collar and rear pipe collar, for by the flexible sleeve and described
Drive end bearing bracket, middle end cap and rear end cap clamp.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910048117.XA CN109760038B (en) | 2019-01-18 | 2019-01-18 | Hydraulic drive flexible artificial muscle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910048117.XA CN109760038B (en) | 2019-01-18 | 2019-01-18 | Hydraulic drive flexible artificial muscle |
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| CN109760038A true CN109760038A (en) | 2019-05-17 |
| CN109760038B CN109760038B (en) | 2021-12-24 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110561406A (en) * | 2019-08-31 | 2019-12-13 | 华南理工大学 | Bionic person-oriented artificial muscle bidirectional driving mechanism |
| CN111665141A (en) * | 2020-06-03 | 2020-09-15 | 大连海事大学 | Hydraulic artificial muscle radial mechanical property test system |
| CN111660286A (en) * | 2020-06-04 | 2020-09-15 | 清华大学 | Pneumatic artificial muscle fiber and bionic mechanical arm |
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| CN111665141A (en) * | 2020-06-03 | 2020-09-15 | 大连海事大学 | Hydraulic artificial muscle radial mechanical property test system |
| CN111665141B (en) * | 2020-06-03 | 2022-11-29 | 大连海事大学 | Hydraulic artificial muscle radial mechanical property test system |
| CN111660286A (en) * | 2020-06-04 | 2020-09-15 | 清华大学 | Pneumatic artificial muscle fiber and bionic mechanical arm |
| CN111660286B (en) * | 2020-06-04 | 2022-05-17 | 清华大学 | Pneumatic artificial muscle fiber and bionic mechanical arm |
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| Publication number | Publication date |
|---|---|
| CN109760038B (en) | 2021-12-24 |
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