CN203371556U - Water pressure artificial muscle - Google Patents
Water pressure artificial muscle Download PDFInfo
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- CN203371556U CN203371556U CN201320436711.4U CN201320436711U CN203371556U CN 203371556 U CN203371556 U CN 203371556U CN 201320436711 U CN201320436711 U CN 201320436711U CN 203371556 U CN203371556 U CN 203371556U
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- tooth
- back taper
- elastic rubber
- mesh grid
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Abstract
The utility model discloses a water pressure artificial muscle which comprises a sealing end connector, an elastic rubber pipe, a high-strength fiber mesh grid, a water passing end connector, two end buckle pressing rings, two middle buckle pressing rings and two back taper tooth surface buckle pressing rings. When the water pressure artificial muscle works, under the action of the water pressure, the elastic rubber pipe and the high-strength fiber mesh grid deform, the diameter of the water pressure artificial muscle is increased, the length is decreased, and therefore tensile force action on a driving object connected with a thread blind hole of the sealing end connector is generated. The water with the certain pressure is sealed in the elastic rubber pipe, due to the fact that high-strength fibers are tightly woven to form the tubular high-strength fiber mesh grid, the elastic rubber pipe is covered by the high-strength fiber mesh grid, and the water pressure artificial muscle can bear the large enough interior water pressure. Due to the buckle pressing action of the buckle pressing rings and the structural action of back taper tooth surfaces and a protrusion shoulder, the water pressure artificial muscle can bear large tensile loads, and the high-strength water pressure artificial muscle is formed.
Description
Technical field
The utility model relates to the fluid-driven artificial muscle, particularly a kind of high strength hydraulic pressure artificial-muscle of the field application such as robot, job that requires special skills manipulator and automatic production line.
Background technology
In joint of robot drives and controls, fluid-operated artificial-muscle is a kind of novel driver, can be divided into Pneumatic artificial muscle and hydraulic pressure artificial-muscle.Pneumatic artificial muscle is applied in the fields such as robot and automatic production line, has the advantages such as simple in structure, that action is level and smooth, power output/weight ratio is large.The hydraulic pressure artificial-muscle not only has simple in structure, is conducive to realize the advantage of miniaturization and lightness, compares that the Pneumatic artificial muscle power output is larger, response speed is faster, work noise is lower.Artificial-muscle is without relative fricting movement parts, for the underwater operation operating mode, can not produce the problem that the hydraulic cylinder extension bar is subject to environmental pollution or other influences, with low cost and maintainable good, thereby the hydraulic pressure artificial-muscle is specially adapted to joint drive and the control of Controller of Underwater Manipulator.
The hydraulic pressure artificial-muscle is different from the Pneumatic artificial muscle driving medium, and air easily compresses, and the general pressure of Pneumatic Transmission is below 1MPa, and, higher than the high-pressure pneumatic that belongs to of 1MPa, there are a lot of safety issues in pressure with the gas-powered artificial-muscle under elevated pressures.Therefore, the Pneumatic artificial muscle operating pressure is no more than 1MPa, and Pneumatic artificial muscle self is not high for the requirement of intensity yet.But the power output of fluid-operated artificial-muscle is along with the raising of operating pressure increases, the operating pressure that improves artificial-muscle can significantly improve its power output.And, existing hydraulic pressure actuated element, as high a lot of as the working pressure range of the operating pressure ratio Pneumatic artificial muscle of pump, control valve etc., the pressure that improves artificial-muscle also is conducive to be complementary with the operating pressure of hydraulic pressure actuated element.
Existing hydraulic pressure artificial-muscle still adopts the structure of Pneumatic artificial muscle, the general form that adopts rubber tube, two ends couple together with fastening joint, its intensity is lower, main relevant with two aspects: the one, fiber knitted net is more sparse, intensity is not high, and under elevated pressures, rubber tube can swell from the mesh grid hole, produces and destroys; The 2nd, the joint that two ends connect use is only to block rubber tube and fiber knitted net by fastening effect, under higher tensile load, can produce the phenomenon of throwing off.The structure of existing artificial-muscle can't meet the requirement of strength of hydraulic pressure artificial-muscle, also not having at present can be at the high strength hydraulic pressure artificial-muscle of elevated pressures and power output work, so need the high strength hydraulic pressure artificial-muscle of development of new to meet the demand of withstand voltage and high power output.
Summary of the invention
The problems referred to above that exist for solving prior art, the utility model will design a kind of hydraulic pressure artificial-muscle that can bear elevated pressures and tensile load.
To achieve these goals, the technical solution of the utility model is as follows: a kind of hydraulic pressure artificial-muscle comprises that closed end connection, elastic rubber pipe, high strength fibre mesh grid, water flowing end connector, two ends are withheld to withhold ring in ring, two and two back taper flank of tooth are withheld ring, described high strength fibre mesh grid closely is woven into tubulose by high strength fibre, and its axial length is than elastic caoutchouc pipe range, and elastic rubber pipe penetrates in the high strength fibre mesh grid, on described closed end connection and water flowing end connector, the back taper flank of tooth and convex shoulder are arranged, periphery between the back taper flank of tooth and convex shoulder is withheld face in being, the back taper flank of tooth of closed end connection and the back taper flank of tooth of water flowing end connector all insert elastic rubber pipe towards the inside of elastic rubber pipe from two ends, during reaching, the back taper flank of tooth of elastic rubber pipe covering closed end connection and water flowing end connector withholds face, the part that the high strength fibre mesh grid grows than elastic rubber pipe strides across the convex shoulder of closed end connection and water flowing end connector, the end that covers closed end connection and water flowing end connector is withheld face, and withhold ring by two ends and withhold respectively at the end of closed end connection and water flowing end connector and withhold on face, the high strength fibre mesh grid capped end that turns over is withheld ring, stride across again convex shoulder, and withhold face and the back taper flank of tooth in covering, the high strength fibre mesh grid is withheld the elastic rubber pipe of the part of face and the back taper flank of tooth together with high strength fibre mesh grid and internal layer in turning over and covering, in two, withhold ring and two back taper flank of tooth withhold latch closure be pressed in closed end connection and water flowing end connector in withhold on face and the back taper flank of tooth,
Described water flowing end connector center has limbers and screwed hole, and closed end connection is withheld one, face at end and had tapped blind hole.
The fibrous material that high strength fibre mesh grid described in the utility model is used is Fanglun l414 or high-strength polyethylene fiber or pbo fiber; The material that described closed end connection and water flowing end connector use is the stainless steel of stainless steel or seawater corrosion resistance.
During the utility model work, the screwed hole of water flowing end connector connects the jointing for fixing and water flowing, and the tapped blind hole of closed end connection connects driven object.After the hydraulic pressure artificial-muscle passes into the water of certain pressure, under the effect of hydraulic pressure, elastic rubber pipe and high strength fibre mesh grid deform, and hydraulic pressure artificial-muscle diameter is increased, length reduces, and then the driven object that the tapped blind hole of closed end connection is connected produces the pulling force effect.Elastic rubber pipe in inside, because the high strength fibre mesh grid closely is woven into tubulose by high strength fibre, covers the elastic caoutchouc tube outside to the water seal of certain pressure, makes the hydraulic pressure artificial-muscle can bear enough large internal water pressure.At back taper cutting structure and the convex shoulder structure of closed end connection and water flowing end connector, and end withhold ring, in withhold and encircle and the back taper flank of tooth is withheld withholding under effect of ring, make the hydraulic pressure artificial-muscle can bear large drag load.
Concrete principle and effect are: end is withheld ring and is limited in end by convex shoulder, the high strength fibre mesh grid walk around end withhold after ring again by withhold ring and the back taper flank of tooth is withheld the latch closure pressure.During hydraulic pressure artificial-muscle tension, the opposite direction that the upturned part of high strength fibre mesh grid and former part pull, be subject to again end and withhold the barrier effect of ring and convex shoulder, add upper withhold ring and the effect of withholding of withholding ring of the back taper flank of tooth, the high strength fibre mesh grid firmly is fastened on closed end connection and water flowing end connector, and then make the hydraulic pressure artificial-muscle be difficult for being destroyed by large tensile load, can not produce the phenomenon that closed end connection or water flowing end connector are thrown off.And, elastic rubber pipe by the back taper flank of tooth withhold ring and in withhold latch closure and press to compress after, elastic rubber pipe and closed end connection are with together with the back taper flank of tooth on the water flowing end connector is staggered in, form enough large drag effect, further prevent elastic rubber pipe and closed end connection and the disengagement of water flowing end connector.Therefore, hydraulic pressure artificial-muscle of the present utility model has high pressure resistant and bears the high-intensity performance of large drag load, is high strength hydraulic pressure artificial-muscle.
Compared with prior art, the utlity model has following beneficial effect:
1, the high strength fibre mesh grid that the utility model employing closely is woven into tubulose by high strength fibre covers outside elastic rubber pipe, makes the utility model can tolerate very high pressure and drag load.
2, on two end connectors of the present utility model, the back taper flank of tooth and convex shoulder are arranged, after withholding at two ends the high strength fibre mesh grid that strides across convex shoulder, withhold upturned high strength fibre mesh grid and elastic rubber pipe at middle part and two positions of the back taper flank of tooth of two end connectors again, make the utility model two ends can tolerate very high drag load and can not produce the phenomenon that throw off the joint, two ends.
3, hydraulic pressure artificial-muscle of the present utility model has high pressure resistant and bears the high-intensity performance of large drag load, and then can significantly improve along with the raising of operating pressure power output, and make working pressure range and the existing hydraulic pressure actuated element of artificial-muscle, as the operating pressure of pump, control valve etc. is complementary.
4, closed end connection of the present utility model and water flowing end connector adopt stainless steel or other non-corrosive materials, can tolerate the action of rust of water, adopt stainless steel or other non-corrosive materials of seawater corrosion resistance during for seawater, can work in underwater environment.
5, the hydraulic drives element that the utility model combines as artificial-muscle and Hydraulic Drive Technology, have clean environment firendly, the weight ratio of an exerting oneself advantages of higher.The utility model does not have the piston rod extended part of similar hydraulic cylinder, does not have movable sealing place seawater pollution problem, adopts in sea water hydraulic transmission application Yu Haiyang underwater environment, is conducive to the small light of underwater operating machine.
The accompanying drawing explanation
The utility model is 1 of drawings attached only, wherein:
Fig. 1 is structural representation of the present utility model.
In figure: 1. closed end connection, 2. elastic rubber pipe, 3. high strength fibre mesh grid, 4. water flowing end connector, 12. end is withheld face A, 13. convex shoulder A withhold face A, 15. back taper flank of tooth A in 14,16. tapped blind hole, 41. limbers, 42. ends are withheld face B, 43. convex shoulder B, 44. in withhold face B, 45. back taper flank of tooth B, 46. screwed holes, 51. end is withheld ring A, 52. ends are withheld ring B, withhold ring A in 61., 62. in withhold the ring B, the 71. back taper flank of tooth withhold the ring A, the 72. back taper flank of tooth withhold the ring B.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is described further.As shown in Figure 1, a kind of hydraulic pressure artificial-muscle, comprise closed end connection 1, elastic rubber pipe 2, high strength fibre mesh grid 3, water flowing end connector 4, end withhold ring A51, in withhold ring A61, the back taper flank of tooth withhold ring A71, end withhold ring B52, in withhold ring B62, the back taper flank of tooth is withheld ring B72, described high strength fibre mesh grid 3 closely is woven into tubulose by high strength fibre, its axial length is longer than elastic rubber pipe 2, elastic rubber pipe 2 penetrates in high strength fibre mesh grid 3, back taper flank of tooth A15 and convex shoulder A13 are arranged on described closed end connection 1, back taper flank of tooth B45 and convex shoulder B43 are arranged on water flowing end connector 4, the back taper flank of tooth B45 of the back taper flank of tooth A15 of closed end connection 1 and water flowing end connector 4 all inserts elastic rubber pipe 2 towards the inside of elastic rubber pipe 2 from two ends, elastic rubber pipe 2 covers the back taper flank of tooth A15 of closed end connection 1, in withhold face A14 and water flowing end connector 4 back taper flank of tooth B45 and in withhold face B44, high strength fibre mesh grid 3 strides across the convex shoulder A13 of closed end connection 1 and the convex shoulder B43 of water flowing end connector 4 than elastic rubber pipe 2 long parts, the end of covering closed end connection 1 is withheld the end of face A12 and water flowing end connector 4 and is withheld face B42, and withhold ring A51 and end by end and withhold ring B52 and withhold respectively the end of withholding face A12 and water flowing end connector 4 at the end of closed end connection 1 and withhold on face B42, high strength fibre mesh grid 3 two ends turn over respectively, and capped end is withheld ring A51 and end is withheld ring B52, stride across respectively again convex shoulder A13 and convex shoulder B43, and cover respectively closed end connection in withhold face A14, withhold face B44 in back taper flank of tooth A15 and water flowing end connector, back taper flank of tooth B45, high strength fibre mesh grid 3 is withheld the elastic rubber pipe 2 of the part of face and the back taper flank of tooth together with high strength fibre mesh grid 3 and internal layer in turning over and covering, by in withhold the ring A61, in withhold ring B62 and the back taper flank of tooth and withhold ring A71, the back taper flank of tooth is withheld ring B72 and is withheld respectively withhold face A14 in closed end connection 1, in back taper flank of tooth A15 and water flowing end connector 4, withhold on face B44 and back taper flank of tooth B45.
Described water flowing end connector 4 centers have limbers 41 and screwed hole 46, and closed end connection 1 is withheld mono-of face A12 at end and had tapped blind hole 16.The fibrous material that described high strength fibre mesh grid 3 is used can be Fanglun l414 or high-strength polyethylene fiber or pbo fiber.The material that described closed end connection 1 and water flowing end connector 4 use is stainless steel or other non-corrosive materials, adopts stainless steel or other non-corrosive materials of seawater corrosion resistance during for seawater.
During the utility model work, the jointing that the screwed hole 46 of water flowing end connector 4 connects for fixing and water flowing, the tapped blind hole 16 of closed end connection 1 connects driven object.After hydraulic pressure artificial-muscle of the present utility model passes into the water of certain pressure, under the effect of hydraulic pressure, elastic rubber pipe 2 and high strength fibre mesh grid 3 deform, hydraulic pressure artificial-muscle diameter of the present utility model is increased, length reduces, and then the driven object that the tapped blind hole 16 of closed end connection 1 connects is produced to the pulling force effect.Elastic rubber pipe 2 in inside, because described high strength fibre mesh grid 3 closely is woven into tubulose by high strength fibre, covers elastic rubber pipe 2 outsides to the water seal of certain pressure, makes the hydraulic pressure artificial-muscle can bear enough large internal water pressure.Under the convex shoulder structure effect of the teeth structure of back taper flank of tooth A15, the back taper flank of tooth B45 of closed end connection 1 and water flowing end connector 4 and convex shoulder A13, convex shoulder B43, and end withhold ring A51, end withhold ring B52, in withhold ring A61, in withhold that ring B62 and the back taper flank of tooth are withheld ring A71, the back taper flank of tooth is withheld withholding under effect of ring B72, make hydraulic pressure artificial-muscle of the present utility model can bear large drag load.Concrete principle and effect are: end is withheld ring A51, end is withheld ring B52 by convex shoulder A13, convex shoulder B43 is limited in respectively the end of closed end connection 1 and water flowing end connector 4, high strength fibre mesh grid 3 two ends are walked around end and are withheld ring A51, the end withhold the ring B52 after again by withhold the ring A61, in withhold ring B62 and the back taper flank of tooth and withhold ring A71, the back taper flank of tooth is withheld ring B72 and is withheld, like this, during hydraulic pressure artificial-muscle tension of the present utility model, the direction that the high strength fibre mesh grid 3 upturned parts in two ends pull with mid portion is contrary, be subject to again end and withhold ring A51, end is withheld ring B52 and convex shoulder A13, the barrier effect of convex shoulder B43, add the upper ring A61 that withholds, in withhold ring B62 and the back taper flank of tooth and withhold ring A71, the back taper flank of tooth is withheld the effect of withholding of ring B72, high strength fibre mesh grid 3 firmly is fastened on closed end connection 1 and water flowing end connector 4, and then make the hydraulic pressure artificial-muscle be difficult for being destroyed by large tensile load, can not produce the phenomenon that closed end connection 1 or water flowing end connector 4 and high strength fibre mesh grid 3 are thrown off.And, elastic rubber pipe 2 by the back taper flank of tooth withhold ring A71, the back taper flank of tooth withhold ring B72 and in withhold ring A61, in withhold ring B62 and withhold compression after, elastic rubber pipe 2 and back taper flank of tooth A15 on closed end connection 1 are with together with back taper flank of tooth B45 on water flowing end connector 4 is staggered in, form enough large drag effect, further prevent elastic rubber pipe 2 and closed end connection 1 and 4 disengagements of water flowing end connector.Therefore, hydraulic pressure artificial-muscle of the present utility model has high pressure resistant and bears the high-intensity performance of large drag load, and then can significantly improve along with the raising of operating pressure power output, and make working pressure range and the existing hydraulic pressure actuated element of artificial-muscle, as the operating pressure of pump, control valve etc. is complementary.
The hydraulic drives element that hydraulic pressure artificial-muscle of the present utility model combines as artificial-muscle and Hydraulic Drive Technology, have clean environment firendly, the weight ratio of an exerting oneself advantages of higher.The utility model does not have the piston rod extended part of similar hydraulic cylinder, does not have movable sealing place seawater pollution problem, adopts in sea water hydraulic transmission application Yu Haiyang underwater environment, is conducive to the small light of underwater operating machine.
Claims (2)
1. a hydraulic pressure artificial-muscle is characterized in that: comprising that closed end connection (1), elastic rubber pipe (2), high strength fibre mesh grid (3), water flowing end connector (4), two ends are withheld withholds ring in ring, two and two back taper flank of tooth are withheld ring; Described high strength fibre mesh grid (3) closely is woven into tubulose by high strength fibre, and its axial length is longer than elastic rubber pipe (2), and elastic rubber pipe (2) penetrates in high strength fibre mesh grid (3); on described closed end connection (1) and water flowing end connector (4), the back taper flank of tooth and convex shoulder are arranged, periphery between the back taper flank of tooth and convex shoulder is withheld face in being, the back taper flank of tooth of the back taper flank of tooth of closed end connection (1) and water flowing end connector (4) all inserts elastic rubber pipe (2) towards the inside of elastic rubber pipe (2) from two ends, during reaching, the back taper flank of tooth of elastic rubber pipe (2) covering closed end connection (1) and water flowing end connector (4) withholds face, the part that high strength fibre mesh grid (3) grows than elastic rubber pipe (2) strides across the convex shoulder of closed end connection (1) and water flowing end connector (4), the end that covers closed end connection (1) and water flowing end connector (4) is withheld face, and withhold ring by two ends and withhold respectively at the end of closed end connection (1) and water flowing end connector (4) and withhold on face, high strength fibre mesh grid (3) capped end that turns over is withheld ring, stride across again convex shoulder, and withhold face and the back taper flank of tooth in covering, high strength fibre mesh grid (3) is withheld the elastic rubber pipe (2) of the part of face and the back taper flank of tooth together with high strength fibre mesh grid (3) and internal layer in turning over and covering, in two, withhold ring and two back taper flank of tooth withhold latch closure be pressed in closed end connection (1) and water flowing end connector (4) in withhold on face and the back taper flank of tooth,
Described water flowing end connector (4) center has limbers (41) and screwed hole (46), and closed end connection (1) is withheld one, face at end and had tapped blind hole (16).
2. a kind of hydraulic pressure artificial-muscle according to claim 1 is characterized in that: the fibrous material that described high strength fibre mesh grid (3) is used is Fanglun l414 or high-strength polyethylene fiber or pbo fiber; The material that described closed end connection (1) and water flowing end connector (4) use is stainless steel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320436711.4U CN203371556U (en) | 2013-07-22 | 2013-07-22 | Water pressure artificial muscle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320436711.4U CN203371556U (en) | 2013-07-22 | 2013-07-22 | Water pressure artificial muscle |
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| Publication Number | Publication Date |
|---|---|
| CN203371556U true CN203371556U (en) | 2014-01-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201320436711.4U Withdrawn - After Issue CN203371556U (en) | 2013-07-22 | 2013-07-22 | Water pressure artificial muscle |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103395072A (en) * | 2013-07-22 | 2013-11-20 | 大连海事大学 | Hydraulic artificial muscle |
| CN105729465A (en) * | 2016-04-15 | 2016-07-06 | 东南大学 | Pneumatic soft linear telescopic device |
| CN111775177A (en) * | 2020-06-30 | 2020-10-16 | 大连海事大学 | Integrated valve-controlled modular double-acting hydraulic artificial muscle joint |
| CN111975813A (en) * | 2020-08-11 | 2020-11-24 | 大连海事大学 | Deep sea simulated environment water pressure artificial muscle performance degradation test system |
| WO2021104090A1 (en) * | 2019-11-29 | 2021-06-03 | 中国科学院深圳先进技术研究院 | Pneumatic muscle |
-
2013
- 2013-07-22 CN CN201320436711.4U patent/CN203371556U/en not_active Withdrawn - After Issue
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103395072A (en) * | 2013-07-22 | 2013-11-20 | 大连海事大学 | Hydraulic artificial muscle |
| CN103395072B (en) * | 2013-07-22 | 2015-10-28 | 大连海事大学 | A kind of hydraulic artificial muscle |
| CN105729465A (en) * | 2016-04-15 | 2016-07-06 | 东南大学 | Pneumatic soft linear telescopic device |
| WO2021104090A1 (en) * | 2019-11-29 | 2021-06-03 | 中国科学院深圳先进技术研究院 | Pneumatic muscle |
| CN111775177A (en) * | 2020-06-30 | 2020-10-16 | 大连海事大学 | Integrated valve-controlled modular double-acting hydraulic artificial muscle joint |
| CN111775177B (en) * | 2020-06-30 | 2022-07-08 | 大连海事大学 | Integrated valve-controlled modular double-acting hydraulic artificial muscle joint |
| CN111975813A (en) * | 2020-08-11 | 2020-11-24 | 大连海事大学 | Deep sea simulated environment water pressure artificial muscle performance degradation test system |
| CN111975813B (en) * | 2020-08-11 | 2021-06-25 | 大连海事大学 | Deep sea simulated environment water pressure artificial muscle performance degradation test system |
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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: 20140101 Effective date of abandoning: 20151028 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |