CN204610745U - For the action driver that action is bionical - Google Patents
For the action driver that action is bionical Download PDFInfo
- Publication number
- CN204610745U CN204610745U CN201520025212.5U CN201520025212U CN204610745U CN 204610745 U CN204610745 U CN 204610745U CN 201520025212 U CN201520025212 U CN 201520025212U CN 204610745 U CN204610745 U CN 204610745U
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- air bag
- action
- bionical
- control valve
- 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 - Fee Related
Links
Landscapes
- Sampling And Sample Adjustment (AREA)
Abstract
The utility model relates to a kind of action driver bionical for action, comprises first connecting rod, second connecting rod, the hollow balloon of flexible material formation and the Pneumatic actuator for carrying out air feed or exhaust to air bag.First connecting rod, second connecting rod are hinged with end, and air bag comprises two relative first ends, the second end is connected with first connecting rod and second connecting rod respectively, forms triangular structure.Pneumatic actuator, to inflation in air bag or exhaust, change, and the aeration quantity of the first state is less than the aeration quantity of the second state between the second state that the first state making air bag can be filled with gas at and are filled with gas.Air bag is when the first state, and the length elongation between first end, the second end, increases the angle between first connecting rod, second connecting rod; Air bag is when the second state, and the shorten length between first end, the second end, reduces the angle between first connecting rod, second connecting rod.Realize the flexor in similar joint, the muscle of approximating anatomy stretches, and process is soft.
Description
Technical field
The utility model relates to robot bionic field, more particularly, relates to a kind of action driver bionical for action.
Background technique
The action driver of the action bionic machine in correlation technique is generally traditional mechanical structure formula, its complex structure, undue rigidity, with control system difficult coordination, high cost, bionical effect is poor.
Model utility content
The technical problems to be solved in the utility model is, provides a kind of action driver bionical for action of improvement.
The utility model solves the technological scheme that its technical problem adopts: construct a kind of action driver bionical for action, comprise first connecting rod, second connecting rod, the hollow balloon of flexible material formation and the Pneumatic actuator for carrying out air feed or exhaust to described air bag
Described first connecting rod, second connecting rod are hinged with end, and described air bag comprises two relative first end, the second ends, and described first end, the second end are connected with first connecting rod and second connecting rod respectively, form triangular structure;
Described Pneumatic actuator, to inflation in described air bag or exhaust, change, and the aeration quantity of described first state is less than the aeration quantity of described second state between the second state that the first state making described air bag can be filled with gas at and are filled with gas;
Described air bag is when the first state, and the length elongation between described first end, the second end, increases the angle between described first connecting rod, second connecting rod;
Described air bag is when the second state, and the shorten length between described first end, the second end, reduces the angle between described first connecting rod, second connecting rod.
Preferably, the middle part of described air bag comprises the spherical structure that can arch upward after inflation and be out of shape and stretch afterwards in exhaust.
Preferably, described air bag is rugby shape.
Preferably, described first end, the second end are the major axis two ends of described rugby shape air bag.
Preferably, described first end, the second end are hinged with described first connecting rod, second connecting rod respectively.
Preferably, described air bag is provided with the ventilating hole removably connected with described Pneumatic actuator.
Preferably, described Pneumatic actuator comprises air pump, air collector, control valve, also gas holder is provided with between described control valve and described air pump, described air pump is communicated with the suction port of described gas holder with described control valve respectively, the air outlet of described control valve is communicated with described air collector, and the working hole of described control valve is communicated with described ventilating hole.
Preferably, described control valve comprises three-way control valve.
Preferably, the described action driver bionical for action also comprises the pressure test device for detecting gas atmosphere in described air bag, and described pressure test device and described air pump and described control valve are electrically connected.
Preferably, described pressure test device is arranged in described air bag; Or,
The sidewall of described air bag is provided with the air pressure be communicated with described pressure test device by inner chamber and detects mouth.
Implement the action driver bionical for action of the present utility model, there is following beneficial effect: the utility model by Pneumatic actuator to inflating in air bag or being vented, realize the flexor in first connecting rod, the similar joint of second connecting rod, the muscle of approximating anatomy stretches, operating process is soft, structure is simple, reduces cost.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is described in further detail, in accompanying drawing:
Fig. 1 is the principle schematic of the action driver bionical for action in the utility model embodiment;
Fig. 2 is the structural representation of air bag when the first state in Fig. 1;
Fig. 3 is the structural representation of air bag when the second state in Fig. 1.
Embodiment
In order to there be understanding clearly to technical characteristics of the present utility model, object and effect, now contrast accompanying drawing and describe embodiment of the present utility model in detail.
As shown in Figure 1 to Figure 3, the action driver bionical for action in the utility model preferred embodiment comprises first connecting rod 10, second connecting rod 20, the hollow balloon 30 of flexible material formation and the Pneumatic actuator 40 for carrying out air feed or exhaust to air bag 30.
First connecting rod 10, second connecting rod 20 are hinged with end, the joint being similar to robot and two bones combined with joint.Air bag 30 comprises two relative first end 31, second ends 32, and first end 31, second end 32 is connected with first connecting rod 10 and second connecting rod 20 respectively, forms triangular structure.
Inflation or exhaust in Pneumatic actuator 40 pairs of air bags 30, change, and the aeration quantity of the first state is less than the aeration quantity of the second state between the second state that the first state making air bag 30 can be filled with gas at and are filled with gas.Utilize the difference of air bag 30 aeration quantity, the characteristic that the distance between first end 31 and the second end 32 can change, drive first connecting rod 10 and second connecting rod 20 to swing back and forth, regulate angle between the two, be similar to the flexor of joint of robot, the muscle of approximating anatomy stretches, and action is soft.
Air bag 30 is when the first state, and the length elongation between first end 31, second end 32, increases the angle between first connecting rod 10, second connecting rod 20; Air bag 30 is when the second state, and the shorten length between first end 31, second end 32, reduces the angle between first connecting rod 10, second connecting rod 20.
Preferably, air bag 30 is in rugby shape, and first end 31, second end 32 is the major axis two ends of rugby shape air bag 30.Further, first end 31, second end 32 is hinged with first connecting rod 10, second connecting rod 20 respectively, and when first connecting rod 10, the adjustment of second connecting rod 20 pendulum angle, air bag 30 also adjusts corner automatically.In other embodiments, air bag 30 also can rely on flexible characteristic to be directly connected with first connecting rod 10, second connecting rod 20.Certainly, air bag 30 also can be middle part and comprises the spherical structure that can arch upward after inflation and be out of shape and stretch afterwards in exhaust, and when aeration quantity is different, two opposed end distances can change.
Air bag 30 is provided with the ventilating hole 33 removably connected with Pneumatic actuator 40, and in other embodiments, Pneumatic actuator 40 also can be integrated linkage structure with the ventilating hole 33 of air bag 30.Pneumatic actuator 40 comprises air pump 41, gas holder 42, air collector 43 and control valve 44, air pump 41 is communicated with air collector 43 with gas holder 42 respectively, suction port 441, the air outlet 442 of control valve 44 are communicated with air collector 43 with gas holder 42 respectively, and the working hole 443 of control valve 44 is communicated with ventilating hole 33.Preferably, control valve 44 comprises three-way control valve, and the gas that air pump 41 extracts air collector 43 is delivered to the suction port 441 of control valve 44 through gas holder 42, gas holder 42 can arrange the devices such as pressure gauge, can can tentatively understand air feed air pressure before inflation, prevent inflation too fast uncontrollable.When control valve 44 is in inflation station, inflates, allow the middle part of air bag 30 arch upward distortion in air bag 30, because the length of the positive camber of air bag 30 is constant, thus drive first end 31 is mutually close with the second end 32, reduces the angle of first connecting rod 10 and second connecting rod 20.
When control valve 44 is in venting station, gas in air bag 30 through the air outlet 442 of control valve 44 discharged to air collector 43, the middle part of air bag 30 diminishes after arching upward and reclaiming, thus drives the length elongation between first end 31 and the second end 32, increases the angle between first connecting rod 10, second connecting rod 20.In other embodiments, control valve 44 also can be the valve that can control air flow switch and the flow direction of other types, and in addition, gas holder 42 also can be cancelled, and allows air pump 41 directly to suction port 441 air feed of control valve 44.
Further, also comprise the pressure test device (not shown) for detecting gas atmosphere in air bag 30 for the action driver that action is bionical, pressure test device and air pump 41 and control valve 44 are electrically connected.Due to the distance between the large I reflection first end 31 of the force value in air bag 30 and the second end 32, and then reflect action form and the action dynamics of first connecting rod 10 and second connecting rod 20, so pressure test device can according to the force information back in air bag 30 to air pump 41 and control valve 44, allow air pump 41 air feed or by the air scavenge in air bag 30, allow first connecting rod 10 and second connecting rod 20 reach suitable wobbling action form and action dynamics.
Further, pressure test device is arranged in air bag 30, detects in real time.Certainly, in other embodiments, also the air pressure be communicated with pressure test device by inner chamber can be set at the sidewall of air bag 30 and detect mouth (not shown), pressure test device is arranged on air pressure and detects on mouth, pressure test device also detects mouth by tracheae etc. with air pressure and is connected, and detects the air pressure in air bag 30.
Understandably, above-mentioned each technical characteristics can combination in any use and unrestricted.
The foregoing is only embodiment of the present utility model; not thereby the scope of the claims of the present utility model is limited; every utilize the utility model specification and accompanying drawing content to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical fields, be all in like manner included in scope of patent protection of the present utility model.
Claims (10)
1. one kind for the bionical action driver of action, it is characterized in that, comprise first connecting rod (10), second connecting rod (20), the hollow balloon (30) of flexible material formation and the Pneumatic actuator (40) for carrying out air feed or exhaust to described air bag (30)
Described first connecting rod (10), second connecting rod (20) are hinged with end, described air bag (30) comprises two relative first end (31), the second ends (32), described first end (31), the second end (32) are connected with first connecting rod (10) and second connecting rod (20) respectively, form triangular structure;
Described Pneumatic actuator (40) is to inflation in described air bag (30) or exhaust, change between the second state that the first state making described air bag (30) can be filled with gas at and are filled with gas, and the aeration quantity of described first state is less than the aeration quantity of described second state;
Described air bag (30) is when the first state, and the length elongation between described first end (31), the second end (32), increases the angle between described first connecting rod (10), second connecting rod (20);
Described air bag (30) is when the second state, and the shorten length between described first end (31), the second end (32), reduces the angle between described first connecting rod (10), second connecting rod (20).
2. the action driver bionical for action according to claim 1, is characterized in that, the middle part of described air bag (30) comprises the spherical structure that can arch upward after inflation and be out of shape and stretch afterwards in exhaust.
3. the action driver bionical for action according to claim 2, is characterized in that, described air bag (30) is in rugby shape.
4. the action driver bionical for action according to claim 3, is characterized in that, described first end (31), the second end (32) are the major axis two ends of described rugby shape air bag (30).
5. the action driver bionical for action according to any one of Claims 1-4, is characterized in that, described first end (31), the second end (32) are hinged with described first connecting rod (10), second connecting rod (20) respectively.
6. the action driver bionical for action according to any one of Claims 1-4, is characterized in that, described air bag (30) is provided with the ventilating hole (33) removably connected with described Pneumatic actuator (40).
7. the action driver bionical for action according to claim 6, it is characterized in that, described Pneumatic actuator (40) comprises air pump (41), air collector (43), control valve (44), gas holder (42) is also provided with between described control valve (44) and described air pump (41), described air pump (41) is communicated with the suction port (441) of described control valve (44) with described gas holder respectively, the air outlet (442) of described control valve (44) is communicated with described air collector (43), the working hole (443) of described control valve (44) is communicated with described ventilating hole (33).
8. the action driver bionical for action according to claim 7, is characterized in that, described control valve (44) comprises three-way control valve.
9. the action driver bionical for action according to claim 7, it is characterized in that, the described action driver bionical for action also comprises the pressure test device for detecting described air bag (30) interior gas atmosphere, and described pressure test device and described air pump (41) and described control valve (44) are electrically connected.
10. the action driver bionical for action according to claim 9, is characterized in that, described pressure test device is arranged in described air bag (30); Or,
The sidewall of described air bag (30) is provided with the air pressure be communicated with described pressure test device by inner chamber and detects mouth.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520025212.5U CN204610745U (en) | 2015-01-14 | 2015-01-14 | For the action driver that action is bionical |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520025212.5U CN204610745U (en) | 2015-01-14 | 2015-01-14 | For the action driver that action is bionical |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204610745U true CN204610745U (en) | 2015-09-02 |
Family
ID=53963313
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520025212.5U Expired - Fee Related CN204610745U (en) | 2015-01-14 | 2015-01-14 | For the action driver that action is bionical |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204610745U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105417013A (en) * | 2015-12-05 | 2016-03-23 | 重庆市恒固席勒装饰工程有限公司 | Crossed type swing rod transporting device |
| CN110253562A (en) * | 2019-06-04 | 2019-09-20 | 广东省智能制造研究所 | A kind of quadruped robot flexible spinal based on pneumatic muscles |
| CN113153835A (en) * | 2021-03-08 | 2021-07-23 | 杭州电子科技大学 | Air recirculation system based on pericardial soft air supplement valve and working method thereof |
| CN114426066A (en) * | 2020-10-29 | 2022-05-03 | 通用汽车环球科技运作有限责任公司 | Reconfigurable pickup box side and tailgate |
-
2015
- 2015-01-14 CN CN201520025212.5U patent/CN204610745U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105417013A (en) * | 2015-12-05 | 2016-03-23 | 重庆市恒固席勒装饰工程有限公司 | Crossed type swing rod transporting device |
| CN110253562A (en) * | 2019-06-04 | 2019-09-20 | 广东省智能制造研究所 | A kind of quadruped robot flexible spinal based on pneumatic muscles |
| CN110253562B (en) * | 2019-06-04 | 2024-05-17 | 广东省智能制造研究所 | Flexible backbone of quadruped robot based on pneumatic muscle |
| CN114426066A (en) * | 2020-10-29 | 2022-05-03 | 通用汽车环球科技运作有限责任公司 | Reconfigurable pickup box side and tailgate |
| CN114426066B (en) * | 2020-10-29 | 2024-04-02 | 通用汽车环球科技运作有限责任公司 | Reconfigurable pick-up box side and endgate |
| CN113153835A (en) * | 2021-03-08 | 2021-07-23 | 杭州电子科技大学 | Air recirculation system based on pericardial soft air supplement valve and working method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204610745U (en) | For the action driver that action is bionical | |
| CN105818143B (en) | Based on active envelope and passive moulding flexible multi-arm pneumatic clamps holder | |
| CN105856264B (en) | Software drives radial direction open-close type pneumatic gripping device | |
| CN204487583U (en) | Software drives radial open-close type pneumatic gripping device | |
| CN108527409A (en) | A kind of pneumatic software manipulator and its application method of adaptive gripped object shape | |
| CN108076822A (en) | Pineapple picker and its method of work | |
| CN113001574A (en) | Novel air bag type pneumatic mechanical claw | |
| CN201040379Y (en) | Manipulator | |
| CN204106275U (en) | A kind of vapour-pressure type pelvis correction belt | |
| CN206841396U (en) | A kind of sensor-type tire pressure monitoring equipment | |
| CN201911372U (en) | Helmet air bag | |
| CN204246282U (en) | A kind of vapour-pressure type O, X-type lower limb appliance | |
| CN206357236U (en) | A kind of air bag regulates and controls the robot bone of size | |
| CN104526698A (en) | High-strength mechanical arm, control method and manipulator device | |
| CN204248892U (en) | A kind of mechanical arm of high strength and robot device | |
| CN207692412U (en) | Pineapple picker | |
| CN205937072U (en) | Gasbag aerating device | |
| CN202833056U (en) | Inflating device for double balloons | |
| CN200984260Y (en) | Cervical spine tractor | |
| CN201108483Y (en) | Improved air bag for induced labor | |
| CN102661408B (en) | Gas flow control device | |
| CN203234874U (en) | Air pressure type pelvis straightener | |
| CN111625026A (en) | Constant volume aerating device for plastic bag | |
| CN206582086U (en) | A kind of automatic air supplying pump | |
| CN207026916U (en) | A kind of material receiving mechanism for automatic screw dismounting |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150902 Termination date: 20190114 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |