CN206367008U - A kind of nested type marmem Pneumatic artificial muscle - Google Patents
A kind of nested type marmem Pneumatic artificial muscle Download PDFInfo
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- CN206367008U CN206367008U CN201720025481.0U CN201720025481U CN206367008U CN 206367008 U CN206367008 U CN 206367008U CN 201720025481 U CN201720025481 U CN 201720025481U CN 206367008 U CN206367008 U CN 206367008U
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- fixed disk
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- pneumatic muscles
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Abstract
The utility model discloses a kind of nested type marmem Pneumatic artificial muscle.The utility model includes mounting disc under upper fixed disk, fix bar, axial direction SMA, slider disc, pneumatic muscles, PM, lower fixed disk, slides square shaft, rotating shaft, the upper mounting discs of PM, spring, radial direction SMA, drive circuit, upper fixed disk wire hole, shaft hole, slider disc pole perforating hole, slider disc wire hole, lower fixed disk wire hole, square hole；It is nested in by pneumatic muscles inside fixed mount, realizes that apparatus structure is compact；Axial SMA, by repeatedly winding, increases effective length, produces big deformation, pulls muscle package, increase its amount of contraction, and sluggish cyclical effect of the silk in super-elasticity, can alleviate the influence that load vibration is produced；By the radial direction contraction of SMA, realize that muscle package is rotated, change pneumatic muscles rigidity；Compared with the pneumatic muscles of same model on the market, the pneumatic muscles compact conformation, amount of contraction are big, variable rigidity scope is wide.
Description
Technical field
The utility model belongs to pneumatic muscles technical field, and in particular to a kind of nested type marmem artificial pneumatic
Muscle.
Background technology
In recent years, with the research and development of bionics techniques, pneumatic muscles increasingly obtain the attention of people, big both at home and abroad
Expert and scholar are criticized in extensive research with applying pneumatic muscles.Pneumatic muscles (Pneumatic Muscle, PM) are roots
A new flexible actuator designed according to human muscular's motion principle, mainly by outer mesh, rubber tube and clip
Three parts are constituted.When being passed through compressed air, tightly touched with mesh grid after rubber tube swelling, the active force of gas is delivered to
In mesh grid so that expansion is transformed into axial contraction force.Compared with traditional drives, pneumatic muscles have flexible high, work(weight
Than it is big, be easy to miniaturization, it is easy to use, with low cost the advantages of, be widely used in the driving field of various bionic mechanicals.
However, the pneumatic muscles of the pneumatic muscles, such as FESTO companies and the production of SHADOW companies of current maturation on the market,
There is the problem of shrinkage factor is small.Pneumatic muscles have axially actively contraction to change rigidity function, but do not possess the master around axial direction
Dynamic to rotate to change the function of rigidity, the form for changing rigidity is single；Meanwhile, in the case that pneumatic muscles structural parameters are certain,
Its rigidity changes with the blowing pressure size, the change of pneumatic muscles real work length, due to the material of pneumatic muscles in itself
Limitation, stiffness variation is limited in scope.Pneumatic muscles when in use, come driving load generally by the way of affixed, are sent out when loading
During raw vibration, this fixed connection mode can not alleviate the influence of shuttle belt well, and attachment means can be caused with certain damage.
Also have using servicing unit or new material to aid in pneumatic muscles work, change its amount of contraction, driving force now
With the design of the performance such as rigidity.Such as Chinese patent literature [application number：201610385406.5] disclose a kind of with certainly
Perceive the Pneumatic artificial muscle with driving function, including filament, elastic hose, collection silk clip, piezoelectrics, cylindrical casing, gas
Pipe joint, clip, electrode, drive circuit, aware circuit and collection silk hole, in pneumatic muscles normal work, pass through drive circuit
Piezoelectrics inverse piezoelectric effect, piezoelectrics can drive filament to shrink, it is possible to increase pneumatic muscles amount of contraction and stiffness tuning
Scope.The deformation that piezoelectrics inverse piezoelectric effect in foregoing invention is produced is smaller, whole pneumatic if the size of increase piezoelectrics
The size of muscle can also increase therewith.
Marmem（Shape Memory Alloy, abbreviation SMA）As a kind of new intellectual material, it is led
If using SME, change in shape occurring by temperature change and produces convergent force, connector is driven, is
Using a kind of very wide driving element.Marmem is combined with pneumatic muscles can improve pneumatic muscles performance well,
So as to promote the development in the fields such as rehabilitation medical and bio-robot.
The content of the invention
Defect and deficiency of the purpose of this utility model aiming at above-mentioned technology, it is proposed that a kind of nested type shape memory
Alloy Pneumatic artificial muscle.
To solve the above problems, the utility model employs following technical scheme：
It include upper fixed disk, fix bar, axial direction SMA, slider disc, pneumatic muscles, PM under mounting disc, lower fixed disk,
Slide square shaft, rotating shaft, the upper mounting discs of PM, spring, radial direction SMA, drive circuit.The fix bar smooth outer surface, two ends band
There are screw thread, the upper fixed disk of one end connection, other end connection lower fixed disk, four fix bars and upper fixed disk, lower fixed disk composition
Outer fixed structure；Slider disc has pole perforating hole, can be slided in fix bar；Axial SMA passes through upper fixed disk wire hole, lower solid
Price fixing wire hole, slider disc wire hole, multiple " S " type winding between upper and lower fixed disk, one end are fixed on lower fixed disk, separately
One end is fixed on slider disc, and is driven by external drive circuit；Many pneumatic muscles surround circle-shaped pneumatic muscles beam,
And there is certain interval between every pneumatic muscles, pneumatic muscles Shu Yiduan is fixed on mounting disc on PM, and the other end is fixed on PM
Lower mounting disc, whole pneumatic muscles binding is set up inside outer fixed structure；Square shaft is slided by the square hole on lower fixed disk, can
Slide axially, slide square shaft one end and be connected with mounting disc under PM, the other end is connected with load；Rotating shaft passes through turning in slider disc
Axis hole, and the diameter of the diameter more than shaft hole of one end, the other end are fixed on mounting disc on PM, mounting disc on PM can be driven to turn
It is dynamic；A pair of springs are used in the antiparallel mounting means in rotating shaft side, and one end is fixed in slider disc, and the other end, which is fixed on, to be turned
Axle side, the line of two mount points is the tangent line of mount point where rotating shaft side；SMA mounting means of a pair of radial directions and spring
It is identical, and the SMA projections with spring in slider disc plane of radial direction are mutually perpendicular to.
Preferably, fixed disk, lower fixed disk and slider disc are prepared from insulation, wear-resisting, smooth polymer
Or coating, such as polytetrafluoroethylene (PTFE) in being carried out with polymer.
The utility model retains Conventional pneumatic flesh using novel intelligent material and the design scheme combining of conventional bio-mechanism
While meat advantage, its performance is improved with novel intelligent material；Novel intelligent material in the utility model uses shape memory
B alloy wire, power to weight ratio is high, using simple, pollution-free；Pneumatic muscles beam is nested in the inside of fixed mount, and structure is more compact, together
The driving force of Shi Duogen pneumatic muscles is big, and variable rigidity scope is wide；Axial SMA between upper and lower fixed disk multiple " S " type twine
Around the length of silk, reaches the purpose for producing big deformation quantity during increase work；Axial SMA produces shape note after being activated
Recall effect, it will shorten, driving slider disc, up fixed disk direction is moved, and increases pneumatic muscles beam amount of contraction；Axial SMA
Sluggish cyclical effect occurs during hyperelastic deformation, during Load-unload, big energy is can absorb, effectively alleviates load vibration
When damage that attachment means are caused；Radial direction SMA produces pre-stretching under the action of the spring, and shape memory is produced after being activated
Effect, it will shorten, drives pneumatic muscles beam to rotate, changes its rigidity and amount of contraction.Compared with Conventional pneumatic muscle, this practicality
Novel improved and the performance for enriching pneumatic muscles, are worth application.
Brief description of the drawings
Fig. 1 is the structural representation of nested type marmem pneumatic muscles；
Fig. 2 is multiple " S " type canoe figure in axial direction SMA；
Fig. 3 is rotating shaft, mounting disc connected mode enlarged drawing on slider disc and PM；
Fig. 4 is spring and SMA mounting means enlarged drawings of radial direction；
Fig. 5 is the external type of drive figure in axial direction SMA；
In figure, 1, upper fixed disk；2nd, fix bar；3rd, axial direction SMA；4th, slider disc；5th, pneumatic muscles；6th, installed under PM
Disk；7th, lower fixed disk；8th, square shaft is slided；9th, rotating shaft；10th, the upper mounting discs of PM；11st, spring；12nd, radial direction SMA；13rd, electricity is driven
Road；101st, upper fixed disk wire hole；401st, shaft hole；402nd, slider disc pole perforating hole；403rd, slider disc wire hole；701st, lower fixation
Disk wire hole；702nd, square hole.
Embodiment
The technical solution of the utility model is clearly and completely described below in conjunction with accompanying drawing, it is clear that described
Embodiment is a part of embodiment of the utility model, rather than whole embodiments.Based on the embodiment in the utility model, sheet
The every other embodiment that field those of ordinary skill is obtained under the premise of creative work is not made, belongs to this practicality
Novel protected scope.
As shown in Fig. 1 ~ 5, the present embodiment includes upper fixed disk 1, fix bar 2, axial direction SMA silks 3, slider disc 4, pneumatic muscles
5th, mounting disc 6, lower fixed disk 7, slip square shaft 8, rotating shaft 9, the upper mounting discs 10 of PM, spring 11, radial direction SMA silks 12, driving under PM
Circuit 13, upper fixed disk wire hole 101, shaft hole 401, slider disc pole perforating hole 402, slider disc wire hole 403, lower fixed disk are worn
Silk hole 701, square hole 702；In the present embodiment, the pneumatic muscles 5 on the market have pneumatic muscles, fixed disk 1, under
Fixed disk 7, slider disc 4 are that polytetrafluoroethylmaterial material is made；The smooth outer surface of fix bar 2, two ends are threaded, one end connection
Upper fixed disk 1, other end connection lower fixed disk 7, four fix bars 2 and fixed disk 1,7 constitute outer fixed structure；Slider disc 4 has
There is pole perforating hole 402, can be slided in fix bar 2；Axial SMA silks 3 pass through upper fixed disk wire hole 101, lower fixed disk wire hole
701st, slider disc wire hole 403, multiple " S " type winding between upper and lower fixed disk, one end is fixed on lower fixed disk 7, the other end
Slider disc 4 is fixed on, and is driven by external drive circuit 13；Nine pneumatic muscles 5 surround circle-shaped pneumatic muscles beam,
And there is certain interval between every pneumatic muscles, pneumatic muscles Shu Yiduan is fixed on mounting disc 10 on PM, and the other end is fixed on
Mounting disc 6 under PM, whole pneumatic muscles binding is set up inside the outer fixed structure constituted in fix bar 2 and fixed disk 1,7；Slide
Square shaft 8 can be slid axially by the square hole 702 on lower fixed disk 7, and one end is connected with mounting disc under PM 6, the other end and load
Connection；Rotating shaft 9 passes through the shaft hole 401 in slider disc, and the diameter of the diameter more than shaft hole 401 of one end, and the other end is fixed
Mounting disc 10 on PM, can drive mounting disc 10 on PM to rotate；A pair of springs 11 are using in the antiparallel installation in rotating shaft side
Mode, one end is fixed in slider disc 4, and the other end is fixed on the side of rotating shaft 9, and the line of two mount points is the side institute of rotating shaft 9
In the tangent line of mount point；A pair of mounting means of radial direction SMA silks 12 are identical with spring 11, and radial direction SMA silks 12 and spring 11 are in cunning
Projection in the plane of Moving plate 4 is mutually perpendicular to.
When nested type marmem Pneumatic artificial muscle works, according to the work of axial SMA silks 3 and radial direction SMA silks 12
Make mode different, the axial drive characteristic of the device and pneumatic muscle package rotational characteristic are sketched respectively.
Device axial direction drive characteristic：The muscle package being made up of stomata to pneumatic muscles 5 is inflated, and muscle package will be just
Often work, drive characteristic is produced to load.Axial SMA silks 3 by upper fixed disk wire hole 101, lower fixed disk wire hole 701,
Slider disc wire hole 403, multiple " S " type winding between upper and lower fixed disk, one end is fixed on lower fixed disk 7, and the other end is fixed
In slider disc 4, the length of silk in work is considerably increased；In the presence of drive circuit 13, the temperature rise of axial SMA silks 3,
SME is produced when reaching phase transition temperature, Length Contraction drives slider disc 4 to move, increases the amount of contraction of muscle package.When
When load is vibrated, the temperature of axial SMA silks 3 can be made to be higher than the knot that martensite changes to austenite by drive circuit 13
Shu Wendu, axial SMA silks 3 produce superelastic effect, now load, will produce superelastic strain, and being unloaded to when stress is zero should
Change also returns to zero, and sluggish cyclical effect occurs in strain during Load-unload, big energy is can absorb, based on this characteristic
The influence that vibration to reduce external loading is produced.
Pneumatic muscles beam rotational characteristic：Radial direction SMA silks 12 are installed in the state of spring 11 is in compression, are installed
Cheng Hou, radial direction SMA silk 12 produces pre-stretching under the Hooke power effect of spring 11.When pneumatic muscles beam is in air pressure and axial direction SMA
In the presence of silk 3, axial shrinkage amount is maximum or during in poised state, is added by 13 pairs of radial direction SMA silks 12 of external drive circuit
Heat, makes its temperature rise to phase transition temperature, produces SME, and length is recovered, compression spring, and drives rotating shaft 9 to rotate.
Because the slip square shaft 8 of downside can not be rotated, the rotating shaft 9 of upside can be rotated, and pneumatic muscles beam produces torsion under force
Turn, the rigidity of pneumatic muscles 5 will change.In the presence of twisting resistance, pneumatic muscles beam also can further shrink axially.
Described above is only a preferred embodiment of the present utility model, every not depart from the utility model spirit and model
The various changes done on the premise of enclosing to the utility model and improvement, all without surmounting model defined in appended claims
Enclose.
Claims (1)
1. a kind of nested type marmem Pneumatic artificial muscle, including upper fixed disk, fix bar, axial direction SMA, slip
Mounting disc, lower fixed disk, slip square shaft, rotating shaft, the upper mounting discs of PM, spring, radial direction SMA, driving under disk, pneumatic muscles, PM
Circuit, it is characterised in that：The fix bar smooth outer surface, two ends are threaded, the upper fixed disk of one end connection, other end connection
Lower fixed disk, four fix bars and upper fixed disk, lower fixed disk constitute outer fixed structure；Slider disc has pole perforating hole, can be solid
Slided in fixed pole；Axial SMA by upper fixed disk wire hole, lower fixed disk wire hole, slider disc wire hole, upper and lower solid
Multiple " S " type winding between price fixing, one end is fixed on lower fixed disk, and the other end is fixed on slider disc, and passes through external driving electricity
Road is driven；Many pneumatic muscles surround circle-shaped pneumatic muscles beam, and there is certain interval, gas between every pneumatic muscles
Dynamic muscle package one end is fixed on mounting disc on PM, and the other end is fixed on mounting disc under PM, and whole pneumatic muscles binding is set up in outer
Inside fixed structure；Square shaft is slided by the square hole on lower fixed disk, can be slid axially, square shaft one end is slided with being installed under PM
Disk is connected, and the other end is connected with load；Rotating shaft is through the shaft hole in slider disc, and the diameter of one end is more than the straight of shaft hole
Footpath, the other end is fixed on mounting disc on PM, and mounting disc on PM can be driven to rotate；A pair of springs use antiparallel in rotating shaft side
Mounting means, one end is fixed in slider disc, and the other end is fixed on rotating shaft side, and the line of two mount points is rotating shaft side
The tangent line of place mount point；SMA mounting means of a pair of radial directions are identical with spring, and radial direction SMA is flat in slider disc with spring
Projection on face is mutually perpendicular to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720025481.0U CN206367008U (en) | 2017-01-10 | 2017-01-10 | A kind of nested type marmem Pneumatic artificial muscle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720025481.0U CN206367008U (en) | 2017-01-10 | 2017-01-10 | A kind of nested type marmem Pneumatic artificial muscle |
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| CN201720025481.0U Expired - Fee Related CN206367008U (en) | 2017-01-10 | 2017-01-10 | A kind of nested type marmem Pneumatic artificial muscle |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514645A (en) * | 2017-01-10 | 2017-03-22 | 中国计量大学 | Nesting type shape memory alloy pneumatic artificial muscle |
| CN108406753A (en) * | 2018-05-24 | 2018-08-17 | 枣庄学院 | A kind of flexible mechanical arm of memory polymers piece driving |
| CN109973342A (en) * | 2019-03-12 | 2019-07-05 | 中国人民解放军军事科学院国防科技创新研究院 | Shape memory drive-type software driver and its control method, production method |
| CN110065060A (en) * | 2019-04-02 | 2019-07-30 | 杭州电子科技大学 | A kind of Three Degree Of Freedom software robot and its driving method |
-
2017
- 2017-01-10 CN CN201720025481.0U patent/CN206367008U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106514645A (en) * | 2017-01-10 | 2017-03-22 | 中国计量大学 | Nesting type shape memory alloy pneumatic artificial muscle |
| CN106514645B (en) * | 2017-01-10 | 2018-10-09 | 中国计量大学 | Nested type marmem Pneumatic artificial muscle |
| CN108406753A (en) * | 2018-05-24 | 2018-08-17 | 枣庄学院 | A kind of flexible mechanical arm of memory polymers piece driving |
| CN108406753B (en) * | 2018-05-24 | 2023-06-20 | 枣庄学院 | Flexible mechanical arm driven by memory polymer sheet |
| CN109973342A (en) * | 2019-03-12 | 2019-07-05 | 中国人民解放军军事科学院国防科技创新研究院 | Shape memory drive-type software driver and its control method, production method |
| CN110065060A (en) * | 2019-04-02 | 2019-07-30 | 杭州电子科技大学 | A kind of Three Degree Of Freedom software robot and its driving method |
| CN110065060B (en) * | 2019-04-02 | 2020-09-29 | 杭州电子科技大学 | Three-degree-of-freedom soft robot and driving method thereof |
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Granted publication date: 20170801 Termination date: 20210110 |