CN2790700Y - Pneumatic flexible driver - Google Patents
Pneumatic flexible driver Download PDFInfo
- Publication number
- CN2790700Y CN2790700Y CN 200520101465 CN200520101465U CN2790700Y CN 2790700 Y CN2790700 Y CN 2790700Y CN 200520101465 CN200520101465 CN 200520101465 CN 200520101465 U CN200520101465 U CN 200520101465U CN 2790700 Y CN2790700 Y CN 2790700Y
- Authority
- CN
- China
- Prior art keywords
- rubber tube
- end cap
- driver
- rubber pipe
- pneumatic flexible
- 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
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Abstract
The utility model relates to a pneumatic flexible driver which comprises end covers and a rubber pipe, wherein both ends of the rubber pipe are hermetically connected with the two end covers, a pipe joint is arranged on one end cover, a spring is embedded into a pipe wall of the rubber pipe and the rubber pipe can be hermetically connected with the two end covers by a strong adhesive layer. The spring is embedded into the inner wall of the rubber pipe, which leads the elasticity of the driver to be good and the rigidity to be high. The driver of the utility model has the advantages of simple and reasonable structure, and convenient installation. The rubber pipe is hermetically connected with the two end covers by strong adhesive, and the sealing performance is good.
Description
(1) technical field
The utility model relates to a kind of driver, relates in particular to a kind of Pneumatic flexible actuator, is applicable to the driven machine finger.
(2) background technology
The Efficient and Flexible driver is the basis and the prerequisite of multi-finger dexterous hand of robot design, and traditional multi-finger dexterous hand of robot is many to be driver with the motor, and physical dimension is big, is not easy to the miniaturization of multi-finger clever hand.The proposition flexible cylinder is also arranged, can be used for driver and joint designs, as publication number is CN87107075A, patent name is the Chinese invention patent of air-driven flexible cylinder and bending, torsion knuckle, disclose a kind of air-driven flexible cylinder, be made up of end cap, lasso, spiral wire, rubber wall, lasso is connected with end cap by screw, by the lasso trip bolt rubber wall is clamped in the formed conical surface of end cap head, spiral wire is embedded in the rubber wall.Also the shortcoming of Cun Zaiing is: 1, be connected by screw between lasso and the end cap, complex structure is not easy to miniaturization, and the bore seal that rubber wall forms is relatively poor; 2, fixing trouble, installation inconvenience between end cap, the rubber wall; 3, rubber tube is strengthened with spiral wire, the elasticity deficiency, and the rigidity of total is poor.
(3) summary of the invention
Air-driven flexible cylinder rigidity in the prior art is poor, physical dimension big in order to overcome, install and fix the deficiency of trouble, the invention provides that a kind of structural rigidity is good, sealing and fixing is simple, easy for installation, be easy to miniaturization, Pneumatic flexible actuator.
The technical scheme in the invention for solving the technical problem is: a kind of Pneumatic flexible actuator, comprise end cap, rubber tube, described rubber tube terminal is connected with two end cap seal, on one of them end cap pipe joint is installed, and is nested with spring in the described rubber tube tube wall.
Further, be provided with tack coat between described rubber tube and two end caps, described tack coat is a seccotine.
The beneficial effect of Pneumatic flexible actuator of the present invention mainly shows: 1, the inwall at rubber tube has embedded spring, makes this driver good springiness, and rigidity is big.2, activation configuration advantages of simple, easy for installation 3, rubber tube and two end caps are tightly connected good airproof performance by seccotine.
(4) description of drawings
Fig. 1 is the structural representation of Pneumatic flexible actuator of the present invention;
(5) specific embodiment
Below in conjunction with the drawings and specific embodiments the utility model is described in further detail.
With reference to Fig. 1, a kind of Pneumatic flexible actuator, comprise left end cap 1, rubber tube 2, be nested in spring 3, right end cap 4, pipe joint 5 in the described rubber tube tube wall, described rubber tube 2 two ends are tightly connected by seccotine with left end cap 1 and right end cap 4 respectively, also can otherwise be connected and sealed.Right end cap 4 middle parts have screwed hole, and described pipe joint 5 is installed on the right end cap 4 by screw thread, and then described rubber tube 2 inner chambers are communicated with atmosphere by pipe joint 5.
Operation principle of the present invention is: by pipe joint 5 and right end cap 4 Compressed Gas is filled into rubber tube 2 inner chambers, under the effect of compression pressure, rubber tube 2 and spring 3 anamorphic stretchings, then whole driver are at axial elongation, and its elongation is directly proportional with the pressure of Compressed Gas; Discharge the Compressed Gas in rubber tube 2 inner chambers, because the return action of rubber tube 2 and spring 3, driver shortens, and when rubber tube 2 inner chamber gas pressures equated with atmospheric pressure, driver returned to reset condition.Because the effect of contraction of spring 3, in motion process, whole driver has only axial stretching, does not have distortion radially.Pneumatic flexible actuator of the present invention, simple in structure, size is little, is easy to miniaturization, and motion is flexible, and good rigidly has bigger implementary value.
Claims (2)
1. a Pneumatic flexible actuator comprises end cap, rubber tube, and described rubber tube terminal is connected with two end cap seal, on one of them end cap pipe joint is installed, and it is characterized in that: be nested with spring in the described rubber tube tube wall.
2. Pneumatic flexible actuator as claimed in claim 1 is characterized in that: be provided with tack coat between described rubber tube and two end caps, described tack coat is a seccotine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520101465 CN2790700Y (en) | 2005-04-07 | 2005-04-07 | Pneumatic flexible driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520101465 CN2790700Y (en) | 2005-04-07 | 2005-04-07 | Pneumatic flexible driver |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2790700Y true CN2790700Y (en) | 2006-06-28 |
Family
ID=36806780
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200520101465 Expired - Fee Related CN2790700Y (en) | 2005-04-07 | 2005-04-07 | Pneumatic flexible driver |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2790700Y (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101829004A (en) * | 2010-04-14 | 2010-09-15 | 南京理工大学 | Bidirectional flexible knee-joint active-passive rehabilitation training device |
| CN101863030A (en) * | 2010-04-14 | 2010-10-20 | 南京理工大学 | Inflated elongation type pneumatic flexible actuator |
| CN105108767A (en) * | 2015-09-30 | 2015-12-02 | 杭州南江机器人股份有限公司 | Bionic finger of flexible robot |
| CN108381548A (en) * | 2018-05-03 | 2018-08-10 | 佛山伊贝尔科技有限公司 | A kind of soft robot of hollow glass micropearl composition |
-
2005
- 2005-04-07 CN CN 200520101465 patent/CN2790700Y/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101829004A (en) * | 2010-04-14 | 2010-09-15 | 南京理工大学 | Bidirectional flexible knee-joint active-passive rehabilitation training device |
| CN101863030A (en) * | 2010-04-14 | 2010-10-20 | 南京理工大学 | Inflated elongation type pneumatic flexible actuator |
| CN101829004B (en) * | 2010-04-14 | 2012-01-25 | 南京理工大学 | Bidirectionally flexible knee-joint active-passive rehabilitation training device |
| CN105108767A (en) * | 2015-09-30 | 2015-12-02 | 杭州南江机器人股份有限公司 | Bionic finger of flexible robot |
| CN108381548A (en) * | 2018-05-03 | 2018-08-10 | 佛山伊贝尔科技有限公司 | A kind of soft robot of hollow glass micropearl composition |
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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: 20060628 Termination date: 20110407 |