CN202241293U - Artificial tubular muscle - Google Patents
Artificial tubular muscle Download PDFInfo
- Publication number
- CN202241293U CN202241293U CN201120413204XU CN201120413204U CN202241293U CN 202241293 U CN202241293 U CN 202241293U CN 201120413204X U CN201120413204X U CN 201120413204XU CN 201120413204 U CN201120413204 U CN 201120413204U CN 202241293 U CN202241293 U CN 202241293U
- Authority
- CN
- China
- Prior art keywords
- end cover
- inner layer
- section
- layer expansion
- bottom end
- 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.)
- Expired - Lifetime
Links
- 210000003205 muscle Anatomy 0.000 title claims abstract description 14
- 229920001971 elastomer Polymers 0.000 claims description 5
- 230000002457 bidirectional effect Effects 0.000 claims description 2
- 238000009826 distribution Methods 0.000 claims description 2
- 239000012530 fluid Substances 0.000 abstract description 9
- 230000009471 action Effects 0.000 abstract description 2
- 238000005452 bending Methods 0.000 abstract description 2
- 238000004804 winding Methods 0.000 abstract 2
- 238000010276 construction Methods 0.000 description 3
- 239000000835 fiber Substances 0.000 description 3
- 230000006872 improvement Effects 0.000 description 3
- 239000002131 composite material Substances 0.000 description 2
- 229920006351 engineering plastic Polymers 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000007769 metal material Substances 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 229910000881 Cu alloy Inorganic materials 0.000 description 1
- 244000043261 Hevea brasiliensis Species 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 239000004676 acrylonitrile butadiene styrene Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- MTAZNLWOLGHBHU-UHFFFAOYSA-N butadiene-styrene rubber Chemical compound C=CC=C.C=CC1=CC=CC=C1 MTAZNLWOLGHBHU-UHFFFAOYSA-N 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229920003052 natural elastomer Polymers 0.000 description 1
- 229920001194 natural rubber Polymers 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 210000002445 nipple Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 229920002379 silicone rubber Polymers 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Images
Landscapes
- Prostheses (AREA)
Abstract
The utility model relates to an artificial tubular muscle, which comprises an upper end cover (1), a lower end cover (4), an inner layer expansion pipe (2) and an outer winding layer (3) sleeved outside the inner layer expansion pipe (2); the lower end cover (4) is provided with a through hole (5) with internal threads, and two parallel inner layer expansion pipes (2) and outer winding layers (3) are arranged between the upper end cover (1) and the lower end cover (4). When isobaric fluid is filled in the two inner layer expansion pipes (2), the expansion pipes can axially expand and extend, and can automatically contract and rebound when pressure is relieved; when filling into non-isobaric fluid in two inlayer expansion pipes (2), can realize two-way initiative bending, its flexibility is good, and the function is strong, and the action is steady, uses in a flexible way, compact structure, simple, and the preparation is easy, low price, simple to operate, the utility model discloses fine popularization and application value and good market prospect have.
Description
Technical field
The utility model relates to a kind of robot limb and uses artificial tubular muscle.
Background technology
At present, artificial-muscle is widely used in robot field, medical field, military field and industrial circle as the driving element of bionic joint and manipulator.Artificial-muscle has two types of fluid drives and Electromagnetic Drive.Fluid-operated artificial-muscle; Power-weight ratio is big; Control is convenient, flexible, and flexibility and shock-absorbing capacity are good, is the focus of research always; Chinese invention patent CN200810116379.7 discloses a kind of type artificial-muscle that is radially expanded, and Chinese invention patent CN97110134.5 discloses a kind of axial elongation type artificial-muscle.Be radially expanded the type artificial-muscle, volume is big, on little joint, uses to be restricted, existing axial elongation type artificial-muscle; Adopt macromolecular material to accompany high strength fibre and process, become tubular structure, when this composite construction inner chamber is inflated; The helical structure that fiber constitutes can twist around its axis, can cause robot actuating station, like hand, pin dislocation; Influence its operation degree of accuracy,, then can strengthen cladding rigidity in order to reduce its influence; If rubber rigidity during greater than helical structure rigidity, forms internal force and strengthens, influence the service life of muscle; Because tube wall adopts composite construction, make difficulty, technological requirement is high, and price is more expensive, and its application also is restricted.
The utility model content
The technical problem that (one) will solve
The technical problem that the utility model will solve provides a kind of artificial tubular muscle simple in structure, easy to manufacture, easy for installation.
(2) technical scheme
For solving the problems of the technologies described above, the artificial tubular muscle that the utility model provided comprises upper end cover, bottom end cover, is arranged on the inner layer expansion pipe between upper end cover and the bottom end cover and is set in the outer wrap outside the inner layer expansion pipe; The place is provided with tapped through hole at described bottom end cover; Be provided with two parallel inner layer expansion pipes between upper end cover and the bottom end cover.
As a kind of optimal way of the utility model, described outer wrap can be processed with a spring wire that is the multilayer distribution, and every layer of first section camber along curved on the hand of helix, advances the second section counterclockwise; The spring wire of second section is along same helical angle direction, and camber is gone up curved more counterclockwise, advances third section; Third section spring wire is along same helical angle direction, and is curved on the camber clockwise direction, advances the fourth section; The spring wire of fourth section is along same helical angle direction, and is curved on the camber clockwise direction, gets into another layer of dicyclo bidirectional screw spring.The available elasticity of inner layer expansion pipe is good, and the fatigue proof rubber that deformation quantity is big is processed.
As the further improvement of the utility model, the tapped through hole place of described bottom end cover is provided with restrictor ring, and the upper end cover top is provided with internal thread hole.
(3) beneficial effect
The advantage of the utility model is: but axial expansion, elongation when hydraulic fluid such as charging in two inner layer expansion pipes can be shunk during pressure release, resilience automatically; When charging into hydraulic fluid such as non-in two inner layer expansion pipes, can realize that two-way active is crooked, its flexibility is good; Function is strong, and stable action is used flexibly; Compact conformation, simple is made easily, and is cheap; Easy for installation, the utlity model has excellent popularization using value and good market prospects.
Description of drawings
Fig. 1 is the structural representation of the utility model.
The helical spring sketch map of the two-way cylindricality of dicyclo that Fig. 2 provides for the utility model.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment, the specific embodiment of the utility model is described in further detail.Following examples are used to explain the utility model, but are not used for limiting the scope of the utility model.
Can be known by Fig. 1: the artificial tubular muscle that the utility model adopts comprises upper end cover 1, bottom end cover 4, inner layer expansion pipe 2 and is set in the outer wrap 3 outside the inner layer expansion pipe 2; Be provided with tapped through hole 5 at bottom end cover 4 places, be provided with two parallel inner layer expansion pipes 2 between upper end cover 1 and the bottom end cover 4.
Inner layer expansion pipe 2 can be good with elasticity, and the fatigue proof rubber that deformation quantity is big is processed, like natural rubber, butadiene-styrene rubber, organic silicon rubber.Upper end cover 1, bottom end cover 4 available metal materials or engineering plastics are processed.Above-described upper end cover 1 can press notes or machining to be integral with inner layer expansion pipe 2 or bottom end cover 4 with inner layer expansion pipe 2.The seal nipple that feeds pressure fluid is installed at bottom end cover 4 places of threaded through hole 5, can link to each other with corresponding joint through its outer side bayonet slot, and tapped through hole 5 places are provided with restrictor ring 6; Upper end cover 1 top is provided with internal thread hole, links to each other with corresponding joint with the screw mode.
During use, the pipe joint that connects through bottom end cover 4 injects fluid in artificial tubular muscle, when hydraulic fluid such as charging into; Inner layer expansion pipe 2 pressurizeds, distortion are identical, because the constraint of outer wrap 3 is arranged, inner layer expansion pipe 2 extends vertically; Export certain thrust, artificial-muscle shortens during release; When charging into hydraulic fluid such as non-, the axial elongation amount of two inner layer expansion pipes 2 is inequality, integrally bending.
The above is merely the preferred implementation of the utility model; Should be understood that; For those skilled in the art; Under the prerequisite that does not break away from the utility model know-why, can also make some improvement and retouching, these improvement and retouching also should be regarded as the protection domain of the utility model.
Claims (5)
1. an artificial tubular muscle comprises upper end cover (1), bottom end cover (4), is arranged on the inner layer expansion pipe (2) between upper end cover (1) and the bottom end cover (4) and is set in the outer wrap (3) outside the said inner layer expansion pipe (2); Locate to be provided with tapped through hole (5) at said bottom end cover (4); It is characterized in that: be provided with two parallel said inner layer expansion pipes (2) between said upper end cover (1) and the said bottom end cover (4).
2. artificial tubular muscle according to claim 1 is characterized in that: the available spring wire that is the multilayer distribution of said outer wrap (3) is processed, and every layer of first section (11) camber along curved on the hand of helix, advances second section (12) counterclockwise; The spring wire of second section (12) is along same helical angle direction, and camber is gone up curved more counterclockwise, enters third section (13); The spring wire of third section (13) is along same helical angle direction, and is curved on the camber clockwise direction, advances fourth section (14); The spring wire of fourth section (14) is along same helical angle direction, and is curved on the camber clockwise direction, gets into another layer of dicyclo bidirectional screw spring.
3. artificial tubular muscle according to claim 1 is characterized in that: the available elasticity of said inner layer expansion pipe (2) is good, and the fatigue proof rubber that deformation quantity is big is processed.
4. artificial tubular muscle according to claim 1 is characterized in that: locate to be provided with restrictor ring (6) at said tapped through hole (5).
5. artificial tubular muscle according to claim 1 is characterized in that: said upper end cover (1) top is provided with internal thread hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120413204XU CN202241293U (en) | 2011-10-26 | 2011-10-26 | Artificial tubular muscle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120413204XU CN202241293U (en) | 2011-10-26 | 2011-10-26 | Artificial tubular muscle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202241293U true CN202241293U (en) | 2012-05-30 |
Family
ID=46102587
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201120413204XU Expired - Lifetime CN202241293U (en) | 2011-10-26 | 2011-10-26 | Artificial tubular muscle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202241293U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104999475A (en) * | 2015-08-28 | 2015-10-28 | 刘伟 | Artificial muscle and application thereof |
| CN106113023A (en) * | 2016-06-20 | 2016-11-16 | 东南大学 | A kind of dual openings braiding net type connecting hose artificial-muscle |
| CN109159109A (en) * | 2018-10-19 | 2019-01-08 | 哈尔滨工业大学 | A kind of restructural soft robot module and robot of single source of the gas driving |
| CN111300459A (en) * | 2020-03-13 | 2020-06-19 | 哈尔滨工业大学 | Multi-degree-of-freedom humanoid rigid-flexible hybrid hand and manufacturing process thereof |
-
2011
- 2011-10-26 CN CN201120413204XU patent/CN202241293U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104999475A (en) * | 2015-08-28 | 2015-10-28 | 刘伟 | Artificial muscle and application thereof |
| CN106113023A (en) * | 2016-06-20 | 2016-11-16 | 东南大学 | A kind of dual openings braiding net type connecting hose artificial-muscle |
| CN109159109A (en) * | 2018-10-19 | 2019-01-08 | 哈尔滨工业大学 | A kind of restructural soft robot module and robot of single source of the gas driving |
| CN111300459A (en) * | 2020-03-13 | 2020-06-19 | 哈尔滨工业大学 | Multi-degree-of-freedom humanoid rigid-flexible hybrid hand and manufacturing process thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20120530 Effective date of abandoning: 20120731 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20120530 Effective date of abandoning: 20120731 |
|
| C20 | Patent right or utility model deemed to be abandoned or is abandoned |