CN202862215U - Flexible pneumatic actuator - Google Patents
Flexible pneumatic actuator Download PDFInfo
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- CN202862215U CN202862215U CN 201220589970 CN201220589970U CN202862215U CN 202862215 U CN202862215 U CN 202862215U CN 201220589970 CN201220589970 CN 201220589970 CN 201220589970 U CN201220589970 U CN 201220589970U CN 202862215 U CN202862215 U CN 202862215U
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- Prior art keywords
- axial
- radial
- flexible
- limit module
- pneumatic actuator
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- 239000000463 material Substances 0.000 claims description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 229920001971 elastomer Polymers 0.000 claims description 3
- 239000002657 fibrous material Substances 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 210000003205 muscle Anatomy 0.000 abstract description 3
- 230000007547 defect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 2
- 230000001154 acute effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920006395 saturated elastomer Polymers 0.000 description 1
- 210000003437 trachea Anatomy 0.000 description 1
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Abstract
Recently, an industrial robot is electrically driven, firstly is driven by a direct current motor, and then is driven by an alternating current motor. Electric driving is characterized by being simple in control, clean, low in noise and relatively low in cost. Defects of being small in power/envelope bulk to weight ratio exist, and particularly are prominent when a dexterous hand is designed. The utility model provides a flexible pneumatic actuator which comprises an air supply pipe, a flexible driving body, a connector, an axial limit module and a radial limit module, wherein the axial limit module is connected with the connector through a hook on the axial limit module, and the radial limit module is fixed on the surface of the flexible driving body through a fastening ring. Due to the fact that the axial limit module and the radial limit module are assembled, the flexible pneumatic actuator can achieve radial driving or axial driving. The flexible pneumatic actuator can flexibly achieve the radial driving and the axial driving, and has wide application prospect in the fields of robots, artificial muscles and the like.
Description
(I) technical field
The utility model belongs to the technical field of pneumatic element and specifically relates to a flexible pneumatic actuator is related to.
(II) background of the invention
With the development of science and technology, the application of the traditional industrial robot tends to be saturated, and the intelligent robot is developed more rapidly. The hydraulic drive of the robot is adopted earlier in view of the type of the actuator of the robot joint, but the hydraulic drive has problems of leakage, high cost and the like. Recent industrial robots are electrically driven, firstly by dc motors and later by ac motors. It features simple control, clean, low noise and low cost. The disadvantages are that the power/volume-weight ratio is small, and in some (such as inflammable and explosive) occasions, the explosion danger exists. These problems are particularly acute when designing dexterous hands, which require a large number of small, flexible, and efficient drivers.
Disclosure of the invention
The utility model provides a flexible pneumatic actuator, including air supply pipe, flexible driving body, connector, axial restriction module, radial restriction module, its characterized in that: the flexible pneumatic actuator can be driven radially or axially by assembling an axial restraint module or a radial restraint module. Wherein,
the axial limiting module is connected with the connector through a hook on the axial limiting module;
the radial limiting module is fixed on the surface of the flexible driving body through a fastening ring;
the flexible driving body is made of cylindrical rubber materials;
the flexible driving body is connected with the air supply pipe;
the axial limiting module is made of tensile steel materials and nylon fiber materials;
the radial limiting module is made of a steel material which is not easy to deform.
The utility model provides a flexible pneumatic actuator provides the air supply through the air supply pipe, lets in gas back, and extension or inflation can be realized to flexible driving body. When the axial limiting module is assembled, radial driving can be realized because the axial extension is limited; when the radial restraint module is assembled, axial drive can be achieved as radial expansion is restrained. The utility model provides a flexible driver, realization axial, the radial drive that can be nimble have wide application prospect in fields such as intelligent robot, artificial muscle.
(IV) description of the drawings
Fig. 1 is a schematic structural diagram of the present invention.
In the figure: 1. trachea, 2, flexible driving body, 3, connector, 4, axial restriction module, 5, radial restriction module
(V) detailed description of the preferred embodiments
The present invention will be described in further detail with reference to the following embodiments.
Fig. 1 is the structure diagram of the present invention, which includes a gas pipe 1, a flexible driving body 2, a connector 3, an axial limiting module 4, and a radial limiting module 5. Wherein the flexible driving body 2 is a cylindrical rubber material; the air tube 1 is connected with the flexible driving body 2; the axial limiting module 4 is made of tensile steel materials and nylon fiber materials; the connector 3 is connected with the axial limiting module 4 through a hook; the radial limiting module 5 is made of a non-deformable steel material; the radial limiting module 5 is fixed on the surface of the flexible driving body 2 through a fastening ring; the gas source is provided by the gas supply pipe, and after the gas is introduced, the flexible driving body 2 can realize extension or expansion. When the axial restraint module 4 is assembled, radial drive can be achieved as axial elongation is restrained; when the radial restraint module 5 is assembled, axial drive can be achieved as radial expansion is restrained. The utility model provides a flexible driver, realization axial, the radial drive that can be nimble have wide application prospect in fields such as intelligent robot, artificial muscle.
The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are intended to illustrate the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, and the invention is intended to be protected by the following claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. The utility model provides a flexible pneumatic actuator, includes air supply pipe, flexible driving body, connector, axial restriction module, radial restriction module, its characterized in that:
the axial limiting module is connected with the connector through a hook on the axial limiting module;
the radial limiting module is fixed on the surface of the flexible driving body through a fastening ring.
2. A flexible pneumatic actuator as defined in claim 1 wherein:
the flexible driving body is made of cylindrical rubber materials;
the flexible driving body is connected with the air supply pipe.
3. A flexible pneumatic actuator as defined in claim 1 wherein:
the axial limiting module is made of tensile steel materials and nylon fiber materials.
4. A flexible pneumatic actuator as defined in claim 1 wherein:
the radial limiting module is made of a steel material which is not easy to deform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220589970 CN202862215U (en) | 2012-11-06 | 2012-11-06 | Flexible pneumatic actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220589970 CN202862215U (en) | 2012-11-06 | 2012-11-06 | Flexible pneumatic actuator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202862215U true CN202862215U (en) | 2013-04-10 |
Family
ID=48028968
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220589970 Expired - Fee Related CN202862215U (en) | 2012-11-06 | 2012-11-06 | Flexible pneumatic actuator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202862215U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104309714A (en) * | 2014-01-28 | 2015-01-28 | 浙江大学 | Intelligent flexible crawling machine |
| CN106426140A (en) * | 2015-08-28 | 2017-02-22 | 刘伟 | Artificial muscle, application thereof and robot |
| CN108161929A (en) * | 2018-01-02 | 2018-06-15 | 北京理工大学 | A kind of Pneumatic artificial muscle of negative pressure driving |
| CN111618839A (en) * | 2020-05-21 | 2020-09-04 | 大连理工大学 | Array type series-parallel structure plane soft pneumatic driver |
-
2012
- 2012-11-06 CN CN 201220589970 patent/CN202862215U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104309714A (en) * | 2014-01-28 | 2015-01-28 | 浙江大学 | Intelligent flexible crawling machine |
| CN104309714B (en) * | 2014-01-28 | 2016-06-15 | 浙江大学 | The flexible intelligent machine of creeping |
| CN106426140A (en) * | 2015-08-28 | 2017-02-22 | 刘伟 | Artificial muscle, application thereof and robot |
| CN108161929A (en) * | 2018-01-02 | 2018-06-15 | 北京理工大学 | A kind of Pneumatic artificial muscle of negative pressure driving |
| CN108161929B (en) * | 2018-01-02 | 2020-06-26 | 北京理工大学 | Negative pressure driven pneumatic artificial muscle |
| CN111618839A (en) * | 2020-05-21 | 2020-09-04 | 大连理工大学 | Array type series-parallel structure plane soft pneumatic driver |
| CN111618839B (en) * | 2020-05-21 | 2022-08-09 | 大连理工大学 | Array type series-parallel structure plane soft pneumatic driver |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130410 Termination date: 20131106 |