CN205111850U - Gentle and agreeable driver of three degrees of freedom with hybrid source - Google Patents
Gentle and agreeable driver of three degrees of freedom with hybrid source Download PDFInfo
- Publication number
- CN205111850U CN205111850U CN201520753917.9U CN201520753917U CN205111850U CN 205111850 U CN205111850 U CN 205111850U CN 201520753917 U CN201520753917 U CN 201520753917U CN 205111850 U CN205111850 U CN 205111850U
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- silicone tube
- pneumatic muscles
- termination
- artificial pneumatic
- steel wire
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Abstract
The utility model discloses a gentle and agreeable driver of three degrees of freedom with hybrid source comprises the parallelly connected three pneumatic muscle of manual work, end cover and central fixed disks that set up, and the every pneumatic muscle of manual work has the silicone tube of spring to constitute by built -in, and outside cover of silicone tube has the nylon sleeving, the both ends of silicone tube are provided with the end of stretching into in the silicone tube respectively, and the gassing joint is filled to overhead being provided with of one of them side, still be provided with the steel wire in the silicone tube and be used for the restriction piece of steel wire restriction in silicone tube pipeline axis, one end fixed connection in the end of steel wire, the other end is through wearing out the pneumatic muscle of manual work behind the opposite side end. The utility model provides the high rigidity of artifical pneumatic muscle under the low pressure condition for it is controlled in the motion process more easily, and can the automatic recovery after atmospheric pressure is removed to initial sharp state, satisfy diversified engineering demands such as high accuracy, height are born the weight of, big stroke, quick response totally.
Description
Technical field
The utility model relates to soft drive technical field, in particular, relates to a kind of three freedom meek driver with hybrid power source.
Background technology
Along with people to the Capability Requirement of robot and the requirement of workplace more and more higher.Flexible robot obtains in recent years develops fast.Compared to traditional rigid machine people, the advantages such as flexible robot has high flexibility, high-flexibility, can carry out work in various complicated dangerous environment and the man-machine environment melted altogether.Nearest 10 years, European and American developed countries implement the multinomial major research item about flexible soft robot in succession, from imitative snake-shaped robot to imitative trunk robot, arrive imitative octopus robot again, the body construction of flexible robot more and more " soft ", therefore in the urgent need to developing corresponding submissive driver.
Existing submissive type of drive has memory alloy wire driving, silk drives, artificial pneumatic muscles drives and electric polymer drives etc.Each type of drive all has its merits and demerits: memory alloy actuator light structure, but power output is less, and cool time is longer, and dynamic property is not good; Silk drived control is accurate, but silk itself can not bear pressure, needs extra supporting construction, is difficult to realize bending and stretching motion simultaneously; Artificial pneumatic muscle actuator bearing capacity is strong, dynamic property good, but control accuracy, and the control accuracy especially under low voltage situations is poor, there is the non-linear factor such as dead band, sluggishness; Electric polymer actuator response is fast, but delivery stroke and power are very limited.There is no a kind of flexible actuator at present and can meet the diversified engineering demand such as high accuracy, high-mechanic, Long Distances, fast response completely.
Utility model content
The purpose of this utility model is to overcome deficiency of the prior art, a kind of three freedom meek driver with hybrid power source is provided, the utility model on the basis of artificial pneumatic muscle actuator in the past, adds silk drive, combine the high-mechanic of artificial pneumatic muscles and the high precision performance of silk driving, and silk is placed on artificial pneumatic muscles inside, improves control accuracy when not changing volume; In addition, the utility model improves the structure of Traditional Man pneumatic muscles, a spring is provided with in silicone tube inside, improve the rigidity of artificial pneumatic muscles under low air pressure condition, it is more easily being controlled in motion process, and initial linear state can be automatically restored to after air pressure is removed, meet the diversified engineering demand such as high accuracy, high-mechanic, Long Distances, fast response completely.
The purpose of this utility model is achieved through the following technical solutions:
A kind of three freedom meek driver with hybrid power source, by three that are arranged in parallel artificial pneumatic muscles A, artificial pneumatic muscles B, artificial pneumatic muscles C, first end cap (4), second end cap and central fixed disk composition, it is characterized in that, artificial pneumatic muscles A, artificial pneumatic muscles B and artificial pneumatic muscles C is formed by the silicone tube being built-in with spring, the outside of described silicone tube is coated with knit nylon and applies mechanically to prevent silicone tube from inflating rear excessive expansion, the two ends of described silicone tube are respectively arranged with stretches into the first termination in silicone tube and the second termination, described second termination is provided with inflation/deflation joint, steel wire and the margining tablet for steel wire being limited in silicone tube pipeline axis is also provided with in described silicone tube, described margining tablet is equally spaced is disposed with at least three, one end of described steel wire is fixedly connected on the first termination, the other end is by passing artificial pneumatic muscles A, artificial pneumatic muscles B and artificial pneumatic muscles C respectively behind the second termination, be provided with rubber stopper between described second termination and steel wire for sealing, rubber stopper is also provided with end cover outward.
Wire passage and the dovetail groove for placing rubber stopper is provided with in described second termination.
One end that silicone tube inside is stretched in described first termination and the second termination is provided with the helicla flute for being connected with spring.
Compared with prior art, the beneficial effect that the technical solution of the utility model is brought is:
1. the utility model driver is by the three artificial pneumatic muscles be arranged in parallel, end cap and central fixed disk composition, by single or many artificial pneumatic muscles inflation/deflations arbitrarily, can realize the motions such as the bending and axial stretching of driver any direction; Driver entirety is flexible structure, under curved, torsion effect, have ability in returning, and produce power by air pressure and export and primary position control, the fine setting driven by silk realizes Accurate Position Control.
2., by arranging the silicone tube device that steel wire carries out silk driving and is built-in with spring in artificial pneumatic muscles inside, the fine setting driven by silk realizes Accurate Position Control, utilizes the resilient protection of silica gel itself and the extensional motion of restraining spring.Compared to the ordinary silicon sebific duct used in Traditional Man pneumatic muscles, the rigidity with the silicone tube of built-in spring strengthens, improve the control accuracy in low pressure situation, and curved, during torsional moment can be returned after removing voluntarily, there is fabulous automatic recovery ability, improve the rigidity of artificial pneumatic muscles under low air pressure condition, it is more easily being controlled in motion process, and initial linear state can be automatically restored to after air pressure is removed, the shortcoming cannot located after overcoming traditional, pneumatic muscle control accuracy low (especially in low pressure situation) and venting, improve stability and the controllability of overall driver, and do not increase driver size.
3. the two ends of the utility model silicone tube are provided with termination, wherein termination, side is provided with inflation/deflation joint, steel wire is by passing artificial pneumatic muscles after this side head, wire passage and dovetail groove is also provided with in this side head, be provided with rubber stopper in dovetail groove for sealing, rubber stopper is also provided with end cover outward; These settings have following effect: silicone tube is blocked to inflate to the inside by first; The second, provide source of the gas by air compressor, gas cylinder, enter silicone tube inside by inflation/deflation joint; 3rd, rubber stopper ensure steel wire can free-moving while also serve the effect of sealing.In addition in order to ensure steel wire all the time with the axis conllinear of silicone tube, the steel wire in silicone tube is fixedly connected with margining tablet, and its diameter is slightly less than the internal diameter of silicone tube, does not therefore affect the normal axial motion of silk.
4. equally spacedly in the silicone tube of the utility model in artificial pneumatic muscles be disposed with margining tablet, its effect ensures that steel wire does not offset in motion process, make the basic conllinear of active force that silk drives and air pressure drives, power is avoided to offset the departure caused, control accuracy is high, reliable and stable.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is plan structure schematic diagram of the present utility model.
Fig. 3 is the state diagram that the utility model driver produces bending motion.
Fig. 4 is the structural representation of artificial pneumatic muscles in the utility model driver.
Reference numeral: 1-artificial pneumatic muscles A2-artificial pneumatic muscles B3-artificial pneumatic muscles C4-first end cap 5-second end cap 6-central authorities fixed disk 7-spring 8-silicone tube 9-knit nylon cover 10-first termination 11-second termination 12-inflation/deflation joint 13-steel wire 14-margining tablet 15-rubber stopper 16-end cover
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model will be further described:
As shown in Figure 1, Figure 2 and Figure 3, a kind of three freedom meek driver with hybrid power source, by three that are arranged in parallel artificial pneumatic muscles A1, artificial pneumatic muscles B2, artificial pneumatic muscles C3, first end cap 4, second end cap 5 and central fixed disk 6 form, first end cap 4 and the second end cap 5 are separately positioned on the two ends of artificial pneumatic muscles A1, artificial pneumatic muscles B2 and artificial pneumatic muscles C3, and central fixed disk 6 is arranged on the middle part of artificial pneumatic muscles A1, artificial pneumatic muscles B2 and artificial pneumatic muscles C3 in order to fix three artificial pneumatic muscles.The utility model driver entirety by single or two artificial pneumatic muscles inflations arbitrarily, will the length of three artificial pneumatic muscles be caused to occur difference, so will bend to comparatively direction, and brevis meat place; If fill with same air pressure to three artificial pneumatic muscles, then can realize the axial stretching of driver entirety; When the blowing pressure reduces, pneumatic muscles is under the effect of spring 7, initial linear state will be got back to gradually, the resolution ratio driven due to air pressure is lower, easy generation position error, can realize exact position further by the fine setting of steel wire 13 to compensate, the air pressure of the utility model driver can be provided by air compressor, gas cylinder etc., and the drive unit of steel wire 13 can provide traction by servomotor, stepper motor etc.
Artificial pneumatic muscles A1, artificial pneumatic muscles B2 and artificial pneumatic muscles C3 are formed by silicone tube 8, spring 7 is set in silicone tube 8, the outside of silicone tube 8 is coated with knit nylon cover 9, rear excessive expansion is inflated in order to prevent silicone tube 8, the two ends of silicone tube 8 are respectively arranged with the first termination 10 and the second termination 11 stretched in silicone tube 8, one end that silicone tube 8 inside is stretched in first termination 10 and the second termination 11 is provided with helicla flute, for being connected with spring 7; Second termination 11 is provided with inflation/deflation joint 12, realizes the change on a large scale of whole ML by inflation/deflation joint 12 to silicone tube 8 inflation/deflation; Also be provided with steel wire 13 and margining tablet 14 in silicone tube 8, regulate artificial pneumatic muscles length among a small circle by traction steel wire 13.Margining tablet 14 is for being limited in silicone tube 8 pipeline axis by steel wire 13, its effect ensures that steel wire 13 is in silicone tube 8 approximate centerline all the time in motion process, make the basic conllinear of active force that silk drives and air pressure drives, avoid power to offset the departure caused; The diameter of margining tablet 14 is slightly less than the internal diameter of silicone tube 8, and in the present embodiment, margining tablet 14 is equally spaced is disposed with three.
One end of steel wire 13 is fixedly connected on the first termination 10, the other end is by passing artificial pneumatic muscles 1 respectively behind the second termination 11, artificial pneumatic muscles 2 and artificial pneumatic muscles 3, wire passage and dovetail groove is also provided with in second termination 11, rubber stopper 15 is installed in dovetail groove, rubber stopper 15 ensure steel wire 13 can free-moving while also serve the effect of sealing, rubber stopper 15 is outer is also provided with end cover 16.
In the utility model, the making of artificial pneumatic muscles is divided into following steps: first the silicone tube 8 of built-in spring 7 is screwed in the first termination 10, again steel wire 13 is fixed on the first termination 10, steel wire 13 is passing the second termination 11 through silicone tube 8 inside, second termination 11 is tightened with silicone tube 8, steel wire 13 is passed rubber stopper 15 and then rubber stopper put into the second termination 11, with end cover 16, rubber stopper 15 is shut, finally knit nylon cover 9 is enclosed within the outside of silicone tube 8, closes knit nylon cover 9 with nylon cable tie.
Operation principle of the present utility model is as follows: the gas that air compressor produces filters impurity and moisture etc. by filter, obtain pure 8bar constant air pressure, pressure is dropped to 5bar through a pressure-reducing valve by gas again, then the air pressure entered in artificial pneumatic muscles can be adjusted by electric Proportion valve, extend after artificial pneumatic muscles inflation, realize the preliminary control of position, and then finely tuned by the length of steel wire 13 to artificial pneumatic muscles.Due to the embedded spring 7 of artificial pneumatic muscles, previous status can be automatically restored to after pressure reduces.
Claims (3)
1. one kind has the three freedom meek driver of hybrid power source, by three that are arranged in parallel artificial pneumatic muscles A (1), artificial pneumatic muscles B (2), artificial pneumatic muscles C (3), first end cap (4), second end cap (5) and central fixed disk (6) composition, it is characterized in that, artificial pneumatic muscles A (1), artificial pneumatic muscles B (2) and artificial pneumatic muscles C (3) are formed by the silicone tube (8) being built-in with spring (7), the outside of described silicone tube (8) is coated with knit nylon cover (9) and inflates rear excessive expansion in order to prevent silicone tube (8), the two ends of described silicone tube (8) are respectively arranged with stretches into the first termination (10) in silicone tube (8) and the second termination (11), described second termination (11) is provided with inflation/deflation joint (12), steel wire (13) and the margining tablet (14) for steel wire (13) being limited in silicone tube (8) pipeline axis is also provided with in described silicone tube (8), described margining tablet (14) is equally spaced is disposed with at least three, one end of described steel wire (13) is fixedly connected on the first termination (10), the other end is by passing artificial pneumatic muscles A (1), artificial pneumatic muscles B (2) and artificial pneumatic muscles C (3) respectively behind the second termination (11), be provided with rubber stopper (15) between described second termination (11) and steel wire (13) for sealing, rubber stopper (15) is also provided with end cover (16) outward.
2. a kind of three freedom meek driver with hybrid power source according to claim 1, is characterized in that, is provided with wire passage and the dovetail groove for placing rubber stopper (15) in described second termination (11).
3. a kind of three freedom meek driver with hybrid power source according to claim 1, it is characterized in that, described first termination (10) and the second termination (11) are stretched into the inner one end of silicone tube (8) and are provided with helicla flute for being connected with spring (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520753917.9U CN205111850U (en) | 2015-09-25 | 2015-09-25 | Gentle and agreeable driver of three degrees of freedom with hybrid source |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520753917.9U CN205111850U (en) | 2015-09-25 | 2015-09-25 | Gentle and agreeable driver of three degrees of freedom with hybrid source |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205111850U true CN205111850U (en) | 2016-03-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520753917.9U Withdrawn - After Issue CN205111850U (en) | 2015-09-25 | 2015-09-25 | Gentle and agreeable driver of three degrees of freedom with hybrid source |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205111850U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105171737A (en) * | 2015-09-25 | 2015-12-23 | 天津大学 | Three-freedom-degree smooth driver with hybrid power source |
| CN108524193A (en) * | 2018-05-02 | 2018-09-14 | 京东方科技集团股份有限公司 | A kind of hand convalescence device, device for healing and training and its control method |
| CN112757276A (en) * | 2020-12-31 | 2021-05-07 | 西北工业大学深圳研究院 | Negative pressure driven pneumatic artificial muscle and preparation method thereof |
| CN112828870A (en) * | 2021-03-02 | 2021-05-25 | 河北工业大学 | Pneumatic soft robot for pipeline |
-
2015
- 2015-09-25 CN CN201520753917.9U patent/CN205111850U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105171737A (en) * | 2015-09-25 | 2015-12-23 | 天津大学 | Three-freedom-degree smooth driver with hybrid power source |
| CN108524193A (en) * | 2018-05-02 | 2018-09-14 | 京东方科技集团股份有限公司 | A kind of hand convalescence device, device for healing and training and its control method |
| CN112757276A (en) * | 2020-12-31 | 2021-05-07 | 西北工业大学深圳研究院 | Negative pressure driven pneumatic artificial muscle and preparation method thereof |
| CN112828870A (en) * | 2021-03-02 | 2021-05-25 | 河北工业大学 | Pneumatic soft robot for pipeline |
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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 | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160330 Effective date of abandoning: 20170412 |