CN110056721A - Pneumatic flexure bellows - Google Patents
Pneumatic flexure bellows Download PDFInfo
- Publication number
- CN110056721A CN110056721A CN201910347182.2A CN201910347182A CN110056721A CN 110056721 A CN110056721 A CN 110056721A CN 201910347182 A CN201910347182 A CN 201910347182A CN 110056721 A CN110056721 A CN 110056721A
- Authority
- CN
- China
- Prior art keywords
- bellows
- filler
- pneumatic
- flexure
- air pressure
- Prior art date
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L11/00—Hoses, i.e. flexible pipes
- F16L11/04—Hoses, i.e. flexible pipes made of rubber or flexible plastics
- F16L11/11—Hoses, i.e. flexible pipes made of rubber or flexible plastics with corrugated wall
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L11/00—Hoses, i.e. flexible pipes
- F16L11/14—Hoses, i.e. flexible pipes made of rigid material, e.g. metal or hard plastics
- F16L11/15—Hoses, i.e. flexible pipes made of rigid material, e.g. metal or hard plastics corrugated
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Laminated Bodies (AREA)
Abstract
The invention belongs to Design of Mechanical Structure technical fields, and in particular to a kind of pneumatic flexure bellows fills filler along generatrix direction in side in ripple, and the side for filling filler is inside；For filler filling region centered on the origin of bellows cross section, filling region both ends to center are wired to certain angular range；Pneumatic flexure bellows of the invention use asymmetric design, ripple tube cavity air pressure increase when, bellows has the tendency that elongation, but inside suffers restraints, lateral displacement be significantly greater than inside, cause macroscopically bellows axis be curved to the inside；As air pressure increases, bellows bending angle is gradually increased；When ripple tube cavity air pressure reduces, bellows is gradually recovered original state, until bellows axis reverts to linear state by being bent.Pneumatic flexure bellows flexible movements of the invention, flexibility are good, meet the crawl demand of precision workpiece.
Description
Technical field
The invention belongs to technical field of mechanical design, are related to a kind of pneumatic flexure bellows.
Background technique
Robot mechanical arm generallys use mechanical linkage, hinge arrangement at present, is original with motor (electromagnetism), liquid (gas) cylinder pressure
Power, dexterity of action, flexibility are poor, are not able to satisfy the crawl demand of precision workpiece.
Summary of the invention
The purpose of the present invention is: a kind of pneumatic flexure bellows is designed, bellows realizes fixation under the gas pressure of inner cavity
The flexure (bending) in direction deforms, and air pressure restores to the original state after eliminating, and becomes bionic pneumatic joint after combination, to solve to use at present
Mechanical linkage, the robot mechanical arm dexterity of action of hinge arrangement and the poor technical problem of flexibility.
To solve this technical problem, the technical scheme is that a kind of pneumatic flexure bellows, bellows is in a lateral edge
Generatrix direction fill filler in internal ripple, fill filler side be deflection deformation joint on the inside of；Filler fill area
Centered on the center of circle of bellows cross section, filling region both ends to center are wired to certain angular range in domain.Using asymmetric
Design makes its tensible rigidity that asymmetry be presented in a circumferential direction by increasing the constraint to local ripple.
The angular range of the filling region are as follows:D is bellows wave crest diameter, i.e. ripple
The outer diameter of pipe；D is bellows trough diameter, the i.e. internal diameter of bellows.
The filler is metal solder, it is preferable that metal solder is tin-lead solder, or tin solder or lead pricker
Material, or other metal solders for that can be soaked with bellows material.
The filler be epoxy filler, silicone gasket, or for solidification after can be firmly combined with bellows material
Other gluing agent materials.
The beneficial effects of the present invention are: pneumatic flexure bellows of the invention uses asymmetric design, ripple is pneumatically bent
Pipe flexible movements, flexibility are good, meet the crawl demand of precision workpiece.It is realized under the gas pressure of inner cavity curved close to 90 degree
Song, and can restoring to the original state after air pressure unloading, can be used for bionic mechanical hand finger-joint structure, dexterity of action, flexible
Property is good.
Detailed description of the invention
It, below will be to be used to being needed in example of the invention in order to illustrate more clearly of the technical solution that the present invention is implemented
Attached drawing makees simple explain.It is clear that drawings described below is only some embodiments of the present invention, for this field
Technical staff for, without creative efforts, be also possible to obtain other drawings based on these drawings.
Fig. 1 is that traditional bellows stretches schematic diagram；
Fig. 2 is pneumatic flexure bellows curved schematic of the invention；
Fig. 3 is pneumatic flexure bellows filling region schematic diagram of the invention；
Fig. 4 is pneumatic flexure bellows filling region angle schematic diagram of the invention；
Fig. 5 is pneumatic flexure bellows filling region another kind schematic diagram of the invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described.Obviously, described embodiment is
A part of the embodiments of the present invention, rather than whole embodiments.Based on the embodiments of the present invention, the ordinary skill people of this field
Without making creative work, every other embodiment obtained shall fall within the protection scope of the present invention member.
The feature of the various aspects of the embodiment of the present invention is described more fully below.In the following detailed description, it proposes
Many concrete details, so as to complete understanding of the present invention.But for those of ordinary skill in the art, very bright
Aobvious, the present invention can also be implemented in the case where not needing these details.Below to the description of embodiment
Just for the sake of being better understood by showing example of the invention to the present invention.The present invention is not limited to presented below any
Specific setting and method, but cover all product structures covered without departing from the spirit of the invention, method
Any improvement, replacement etc..
In each attached drawing and following description, well known structure and technology is not shown, is caused to avoid to the present invention
It is unnecessary fuzzy.The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
The bellows of the prior art is not as shown in Figure 1, stretcher strain may be implemented in bellows under the gas pressure of inner cavity, but not
The function of bending flexure can be achieved.Pneumatic flexure bellows of the invention is filled in internal ripple in side along generatrix direction
Filler when pressurized, may be implemented pneumatically to bend, as shown in Fig. 2, flexible movements using asymmetric design.
Filling region is also referred to as constraint, such as the angular range of figure are as follows:D is bellows
Wave crest diameter, the i.e. outer diameter of bellows；D is bellows trough diameter, i.e. the internal diameter of bellows, as shown in Figure 3 and Figure 4.Filling
Another embankment formula in region is as shown in Figure 5.
The specific embodiment of pneumatic flexure bellows of the invention is as follows:
Embodiment 1
Pneumatic flexure outside diameter of bel D is φ 11.6mm, and internal diameter d is φ 6.4mm, wall thickness 0.15mm, ripple number 30, material
Matter is beryllium-bronze, and filling filler is tin-lead solder, and filling region is as shown in Figure 3, and angle is 120 °, maximum deflection operating pressure
For 1.5~2Mpa, 90 ° of bending angle.
Metal filler material generally uses plumber's solder, and angle is 120 °, which is nature after linear brazing filler metal melts, solidification
It is formed, it is related to preset solder diameter.The constrained increase of bellows part institute, leads to bending angle under same pressure when excessive
Reduce；Angle too small will lead under working condition bellows and locally meet with stresses excessive, and corrugated pipe fatigue life is caused to reduce
Or constraint failure.
Embodiment 2
Pneumatic flexure outside diameter of bel D=φ 11.6mm, internal diameter d=φ 6.4mm, wall thickness 0.15mm, ripple number 30, material
Matter is beryllium-bronze, and filling filler is epoxy resin, and filling region is as shown in Figure 3, and angle is 120 °, maximum deflection operating pressure
For 1.5~2Mpa, 90 ° of bending angle.
Epoxy resin can also be used in filler material, and angle is 120 °, which is self-assembling formation after epoxy resin solidification, and pre-
The amount of resin of addition is related.The constrained increase of bellows part institute, causes bending angle under same pressure to reduce when excessive；Angle
The too small bellows that will lead under working condition locally meets with stresses excessive, and corrugated pipe fatigue life is caused to reduce or constraint mistake
Effect.
When ripple tube cavity air pressure of the invention increases, bellows has the tendency that elongation, but inside suffers restraints, outside position
Move be significantly greater than inside, cause macroscopically bellows axis be curved to the inside (asymmetrical stretch), and along central axis only stretching
It is long then can as low as ignore.As air pressure increases, bellows bending angle is gradually increased；When ripple tube cavity air pressure reduces, wave
Line pipe is gradually recovered original state, until bellows axis reverts to linear state by being bent.
In various embodiments, adjustment changes its structural parameters, maximum deflection operating pressure can corresponding change, and then reach
Required bend angle in engineering.It can be used for bionic mechanical hand finger-joint structure, dexterity of action, flexibility are good.
Finally it should be noted that: the above embodiments are merely illustrative of the technical solutions of the present invention, but protection of the invention
Range is not limited thereto, and anyone skilled in the art in the technical scope disclosed by the present invention, can be thought easily
It is modified or replaceed to various equivalent, these, which are modified or replaceed, should all be included within the scope of the present invention.
Claims (8)
1. a kind of pneumatic flexure bellows, it is characterised in that: the bellows is in side along generatrix direction in internal ripple
Middle filling filler, the joint inside when side for filling filler is bending；The filler filling region is with bellows cross section
Centered on the center of circle, filling region both ends to center are wired to certain angular range, angle α.
2. bellows according to claim 1, it is characterised in that: the range of the angle α are as follows:In formula, D is bellows wave crest diameter, and d is bellows trough diameter.
3. bellows according to claim 2, it is characterised in that: the bellows wave crest diameter is the outer diameter of bellows,
The bellows trough diameter is the internal diameter of bellows.
4. bellows according to claim 3, it is characterised in that: the filler is metal solder.
5. bellows according to claim 3, it is characterised in that: the filler is epoxy resin.
6. bellows according to claim 3, it is characterised in that: the filler is silicon rubber.
7. bellows according to claim 4, it is characterised in that: the metal solder is tin-lead solder.
8. bellows according to claim 4, it is characterised in that: the metal solder is tin solder or lead solder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910347182.2A CN110056721A (en) | 2019-04-26 | 2019-04-26 | Pneumatic flexure bellows |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910347182.2A CN110056721A (en) | 2019-04-26 | 2019-04-26 | Pneumatic flexure bellows |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110056721A true CN110056721A (en) | 2019-07-26 |
Family
ID=67319501
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910347182.2A Pending CN110056721A (en) | 2019-04-26 | 2019-04-26 | Pneumatic flexure bellows |
Country Status (1)
| Country | Link |
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| CN (1) | CN110056721A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111002300A (en) * | 2020-03-10 | 2020-04-14 | 山东华宜同创自动化科技有限公司 | Manipulator with high flexibility and low precision requirement |
| CN111452066A (en) * | 2020-04-07 | 2020-07-28 | 安徽大学 | Full-flexible bionic pneumatic manipulator |
| CN112709881A (en) * | 2019-10-24 | 2021-04-27 | 克罗内斯股份公司 | Pipeline compensator |
| CN113427503A (en) * | 2021-06-25 | 2021-09-24 | 西安交通大学 | Pneumatic software driver of ripple and software manipulator |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1253666C (en) * | 2001-12-13 | 2006-04-26 | 精工爱普生株式会社 | Flexible actuator |
| US20130298759A1 (en) * | 2010-09-30 | 2013-11-14 | Christine Rotinat-Libersa | Integrated mecatronic structure for portable manipulator assembly |
| CN103889876A (en) * | 2011-10-25 | 2014-06-25 | 谢雷克斯公司 | Insert for bellows with non-linear compression / expansion in a vacuum powered tool |
| CN104315271A (en) * | 2014-10-20 | 2015-01-28 | 戴爱清 | Single-direction curved corrugated pipe |
| CN204986077U (en) * | 2015-09-29 | 2016-01-20 | 江苏广通管业制造有限公司 | Soft tube |
| CN107110130A (en) * | 2014-11-18 | 2017-08-29 | 软机器人公司 | The improvement of software robot |
| CN108724239A (en) * | 2017-04-21 | 2018-11-02 | 新加坡国立大学 | Flexible manipulator |
-
2019
- 2019-04-26 CN CN201910347182.2A patent/CN110056721A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1253666C (en) * | 2001-12-13 | 2006-04-26 | 精工爱普生株式会社 | Flexible actuator |
| US20130298759A1 (en) * | 2010-09-30 | 2013-11-14 | Christine Rotinat-Libersa | Integrated mecatronic structure for portable manipulator assembly |
| CN103889876A (en) * | 2011-10-25 | 2014-06-25 | 谢雷克斯公司 | Insert for bellows with non-linear compression / expansion in a vacuum powered tool |
| CN104315271A (en) * | 2014-10-20 | 2015-01-28 | 戴爱清 | Single-direction curved corrugated pipe |
| CN107110130A (en) * | 2014-11-18 | 2017-08-29 | 软机器人公司 | The improvement of software robot |
| CN204986077U (en) * | 2015-09-29 | 2016-01-20 | 江苏广通管业制造有限公司 | Soft tube |
| CN108724239A (en) * | 2017-04-21 | 2018-11-02 | 新加坡国立大学 | Flexible manipulator |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112709881A (en) * | 2019-10-24 | 2021-04-27 | 克罗内斯股份公司 | Pipeline compensator |
| CN112709881B (en) * | 2019-10-24 | 2024-05-14 | 克罗内斯股份公司 | Pipeline compensator |
| CN111002300A (en) * | 2020-03-10 | 2020-04-14 | 山东华宜同创自动化科技有限公司 | Manipulator with high flexibility and low precision requirement |
| CN111002300B (en) * | 2020-03-10 | 2020-06-16 | 山东华宜同创自动化科技有限公司 | Manipulator with high flexibility and low precision requirement |
| CN111452066A (en) * | 2020-04-07 | 2020-07-28 | 安徽大学 | Full-flexible bionic pneumatic manipulator |
| CN113427503A (en) * | 2021-06-25 | 2021-09-24 | 西安交通大学 | Pneumatic software driver of ripple and software manipulator |
| CN113427503B (en) * | 2021-06-25 | 2024-04-02 | 西安交通大学 | Ripple pneumatic soft driver and soft manipulator |
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| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190726 |