LU500681B1

LU500681B1 - Pneumatic muscle

Info

Publication number: LU500681B1
Application number: LU500681A
Authority: LU
Inventors: Guanglin Li; Kai Zheng; Lin Wang; Ziye Zhou; Gunghui WANG
Original assignee: Shenzhen Institutes Of Advanced Tech Chinese Academy Of Science
Priority date: 2021-09-23
Filing date: 2021-09-23
Publication date: 2022-03-23

Abstract

The application belongs to the technical field of bionic drivers and in particular relates to a pneumatic muscle. However, the existing pneumatic muscle has the disadvantages of complex structure and high manufacturing cost. A pneumatic muscle is provided, comprising an air bag, wherein an outer side of the air bag is provided with a woven mesh pipe, the air bag is connected to one end of the woven mesh pipe via a first connecting joint assembly, the air bag is connected to the other end of the woven mesh pipe via a second connecting joint assembly, the air bag is internally provided with an air guide pipe, the first connecting joint assembly comprises an inflating channel, and the air guide pipe passes through the inflating channel. The pneumatic muscle provided by the application is a bag type artificial pneumatic muscle. Compared with the existing pneumatic muscle, it is an air bag structure that is inflated and is subjected to expansive deformation. In the expanded air bag, there is a space needed not to be inflated. Due to the structure, a compressed gas is saved, and meanwhile, the pressure that the air bag needs to bear is reduced, the response time is shortened and the work efficiency is improved.

Description

BL-5298 LU500681

PNEUMATIC MUSCLE

TECHNICAL FIELD The application belongs to the technical field of bionic drivers and in particular relates to a pneumatic muscle.

BACKGROUND Aged tendency of population in 21% century will sweep across the globe to bring severe challenge to social development. Up to 2018, aged population over 60 years old in China surpasses 250 million. With recession of muscular strength, the walking ability of the aged people declines to different extents. In order to improve the walking states and prevent damage of the aged people due to tumbling, walking aid devices have emerged, and exoskeletons are popular walking aid devices. As rigid exoskeletons will limit the degree of freedom of a human body, a flexible exoskeleton becomes a research hotspot. The flexible exoskeleton needs a driver with good flexibility to provide power, and a pneumatic muscle is a good choice. Compared with heavy rigid drivers such as a hydraulic cylinder and an air cylinder, there will be a wider application prospect for the pneumatic muscle driver which is light, good in flexibility and simple in structure.

The pneumatic artificial muscle is driven by compressed air supplied externally to push and pull, like a muscle movement of a human body. It can provide very large strength with relatively light weight, and the smallest pneumatic artificial muscle is only 10g in weight. The pneumatic artificial muscle will be braked automatically in case of reaching the push-pull limit without breaking through a predetermined range. A plurality of pneumatic artificial muscles can be combined in any direction and position, and it is unnecessary to arrange the pneumatic artificial muscle orderly.

However, an existing pneumatic muscle has the disadvantages of complex structure and high manufacturing cost.

BL-5298 LU500681

SUMMARY

1. The technical problem to be solved by the present application Aiming at the problem that an existing pneumatic muscle has the disadvantages of complex structure and high manufacturing cost, the application provides a pneumatic muscle.

2. Technical solution In order to achieve the above object, the present application provides a pneumatic muscle, including an air bag, wherein an outer side of the air bag is provided with a woven mesh pipe, the air bag is connected to one end of the woven mesh pipe via a first connecting joint assembly, the air bag is connected to the other end of the woven mesh pipe via a second connecting joint assembly, the air bag is internally provided with an air guide pipe, the first connecting joint assembly comprises an inflating channel, and the air guide pipe passes through the inflating channel.

The application provides another embodiment: the first connecting joint assembly comprises a perforated push pin, a perforated head and a perforated joint, the air guide pipe and the air bag are arranged fixedly, and the air guide pipe passes through the perforated push pin, the perforated head and the perforated joint successively; and one end of the perforated push pin is arranged in the air bag and the other end of the perforated push pin is connected to one end of the perforated head, the perforated head is arranged in the woven mesh pipe, the other end of the perforated head is connected to the perforated joint, and the perforated joint is arranged in the outer side of the woven mesh pipe.

The application provides another embodiment: the second connecting joint assembly comprises a push pin, a head and a joint, one end of the push pin is arranged in the air bag and the other end of the push pin is connected with one end of the head , the head is arranged in the woven mesh pipe, the other end of the head is connected to the joint, and the joint is arranged in the outer side of the woven mesh pipe.

BL-5298 The application provides another embodiment: the air guide pipe is connected to 750088) an inflating apparatus.

The application provides another embodiment: the perforated head is a perforated conical head, and the head is a conical head.

The application provides another embodiment: an outer side of the perforated conical head is provided with a conical sleeve, the perforated conical head is connected to the perforated joint via the conical sleeve, an outer side of the conical head is provided with a second conical sleeve, and the conical head is connected to the joint via the second conical sleeve.

The application provides another embodiment: the perforated joint comprises a first fixing ring and the first fixing ring is arranged on an end portion of the perforated joint, and the joint includes a second fixing ring and the second fixing ring is arranged on an end portion of the second fixing ring.

The application provides another embodiment: the perforated conical head includes a groove and a conical surface, the perforated push pin is connected to the groove, the groove is matched with the perforated push pin to fix the air bag, and the conical surface is matched with the conical sleeve to fix the woven mesh pipe; and the conical head includes a groove and a conical surface, the push pin is connected to the groove, the groove is matched with the push pin to fix the air bag, and the conical surface is matched with the second conical sleeve to fix the woven mesh pipe.

The application provides another embodiment: the air bag is internally provided with a supporting assembly.

The application provides another embodiment: the supporting assembly is a sponge.

3. Beneficial effects: Compared with the prior art, the pneumatic muscle provided by the present application has the following beneficial effects:

BL-5298 The pneumatic muscle provided by the application has the advantages of being 77000681 simple in structure, good in flexibility, pollution-free, light in weight, large in power- to-mass ratio, large in shrinkage ratio and the like, and can be applied to fields of rehabilitation medical apparatus and instruments, medical treatment, aircrafts and the like.

The pneumatic muscle provided by the application can be widely applied to walking aid exoskeletons and rehabilitation medical apparatus and instruments to provide assistance.

The pneumatic muscle provided by the present application is a bag type artificial pneumatic muscle. Compared with an existing pneumatic muscle, it is an air bag structure that 1s inflated and is subjected to expansive deformation. In the expanded air bag, there is a space needed not to be inflated. By means of the structure, a compressed gas is saved, and meanwhile, the pressure the air bag needs to bear is reduced, the response time is shortened and the work efficiency is improved.

The pneumatic muscle provided by the application is the bag type artificial pneumatic muscle. In fixing the air bag and the woven mesh pipe, the push pin is matched with the groove of the conical head to fix the air bag, and the conical head and the conical surface of the conical sleeve fix the woven mesh pipe. The air bag and the woven mesh pipe are not fixed together but are separately fixed, and in this fixing manner, it is suitable for working manner of the bag-type artificial muscle. When the air bag expands, under constraint of the woven mesh pipe, the pneumatic muscle starts to shrink, the force needed to fix the air bag is reduced as the pneumatic muscle body is shortened, such that the air bag is prevented from being prolapsed. The sponge is placed in the air bag to prevent an inner layer of the air bag from dilating towards the inner side when expanding to a certain extent. The pneumatic muscle is simple in structural design with very high suitability, low in manufacturing cost and apt to line production, and has a wide application prospect.

BL-5298 The pneumatic muscle provided by the application is light in weight and simple 77000681 and reliable in structure, and has very high suitability; during work, a needed compressed gas 1s saved, the air pressure endured by the air bag 1s reduced, the response time is shortened and the work efficiency is improved; the pneumatic muscle is low in manufacturing cost, apt to line production, good in flexibility and large in power-to- mass ratio, and can be widely applied to walking aid exoskeletons and rehabilitation medical apparatus and instruments.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is an integral structural schematic diagram of a pneumatic muscle of the application; Fig. 2 is an integral section schematic diagram of a pneumatic muscle of the application; Fig. 3 is a second integral section schematic diagram of a pneumatic muscle of the application; Fig. 4 is a section schematic diagram of a pneumatic muscle of the application; Fig. 5 is a second integral section schematic diagram of a pneumatic muscle of the application; Fig. 6 is a third integral section schematic diagram of a pneumatic muscle of the application; In the drawings, 1-airbag, 2-woven mesh pipe, 3-air guide pipe, 4-perforated push pin, 5-perforated head, 6-perforated joint, 7-push pin, 8-head, 9-joint, 10-conical sleeve, 11-first fixing ring, 12-second fixing ring, 13-supporting assembly.

DETAILED DESCRIPTION Detailed description on the specific embodiments of the application will be made with reference to the drawings below. Those skilled in the art can understand the application clearly and implement the application in accordance with the detailed

BL-5298 description. Features in the different embodiments can be combined to obtain new 750088) embodiments or some features in some embodiments can be replaced to obtain other preferred embodiments without violating the principle of the application.

Referring to Fig. 1 to Fig. 6, the application provides a pneumatic muscle, including an air bag 1, wherein an outer side of the air bag 1 is provided with a woven mesh pipe 2, the air bag 1 is connected to one end of the woven mesh pipe 2 via a first connecting joint assembly, the air bag 1 is connected to the other end of the woven mesh pipe 2 via a second connecting joint assembly, the air bag 1 is internally provided with an air guide pipe 3, the first connecting joint assembly comprises an inflating channel, and the air guide pipe 3 passes through the inflating channel.

Further, the first connecting joint assembly includes a perforated push pin 4, a perforated head 5 and a perforated joint 6 , the air guide pipe 3 and the air bag 1 are arranged fixedly, and the air guide pipe 3 passes through the perforated push pin 4 , the perforated head 5 and the perforated joint 6 successively; and one end of the perforated push pin 4 is arranged in the air bag 1 and the other end of the perforated push pin 4 is connected with one end of the perforated head 5, the perforated head 5 is arranged in the woven mesh pipe 2, the other end of the perforated head 5 is connected with the perforated joint 6, and the perforated joint 6 is arranged in the outer side of the woven mesh pipe 2.

Further, the second connecting joint assembly comprises a push pin 7, an head 8 and a joint 9, one end of the push pin 7 is arranged in the air bag 1 and the other end of the push pin 7 is connected to one end of the head 8, the head 8 is arranged in the woven mesh pipe 2, the other end of the head 8 is connected to the joint 9, and the joint 9 is arranged in the outer side of the woven mesh pipe 2.

Further, the air guide pipe 3 is connected to an inflating apparatus.

Further, the perforated head 5 is a perforated conical head, and the head 8 is a conical head.

BL-5298 Further, an outer side of the perforated conical head is provided with a conical 77000681 sleeve 10, the perforated conical head is connected to the perforated joint 6 via the conical sleeve 10, an outer side of the conical head is provided with a second conical sleeve, and the conical head is connected to the joint 9 via the second conical sleeve.

Further, the perforated joint 6 includes a first fixing ring 11 and the first fixing ring 11 is arranged on an end portion of the perforated joint 6, and the joint 9 includes a second fixing ring 12 and the second fixing ring 12 is arranged on an end portion of the joint ring 9.

Further, the perforated conical head includes a groove and a conical surface, the perforated push pin 4 is connected to the groove, the groove is matched with the perforated push pin 4 to fix the air bag 1, and the conical surface is matched with the conical sleeve 10 to fix the woven mesh pipe 2; and the conical head comprises a groove and a conical surface, the push pin 7 is connected to the groove, the groove is matched with the push pin 7 to fix the air bag 1, and the conical surface is matched with the second conical sleeve to fix the woven mesh pipe 2.

Further, the air bag 1 is internally provided with a supporting assembly 13.

Further, the supporting assembly is a sponge.

Fig. 1 to Fig. 4 show a non-working state and Fig. 5 and Fig. 6 show a working state.

Examples The bag type artificial pneumatic muscle involved in the application is composed of the woven mesh pipe 2, the air bag 1, two connecting joint assemblies and the sponge. The connecting joint capable of being communicated with air is composed of the perforated push pin 4, the perforated conical head, the conical sleeve 10 and the perforated joint 6. The fully closed connecting joint is composed of the unperforated push pin 7, the conical head, the second conical sleeve and the joint 9.

The air bag 1 is hollow and is inflated via the air guide pipe 3. The air guide pipe 3 and the air bag 1 are integrated and are connected to the inflating apparatus via a hole

BL-5298 in the connecting joint assembly communicated with air. Two ends of the air bag 1 are 750088) fixed to the perforated conical head by means of the perforated push pin 4 and the conical head by means of the push pin 7 respectively.

The perforated push pin 4 is configured to fix the air bag 1 and the air guide pipe

3. The perforated push pin 4 presses one end of the air bag 1 into the groove below the perforated conical head in the middle of the air bag 1 to fix the air bag 1 by means of a friction force generated by extrusion. The push pin 7 presses the other end of the air bag 1 into the groove below the conical head.

The woven mesh pipe 2 is a mesh with high toughness to provide tension. Two ends of the woven mesh pipe 2 are fixed respectively by means of the perforated conical head and the conical surface between the conical head and the conical sleeve 10 and that between the conical head and the second conical sleeve.

The groove is formed below the perforated conical head, a periphery thereof is a conical surface, and a top thereof a column with a thread. The groove below the perforated conical head is matched with the perforated push pin 4 to fix the air bag. The periphery conical surface of the perforated conical head is matched with the conical surface on the inner side of the conical sleeve 10 to fix the woven mesh pipe 2. The column with the thread on the top of the perforated conical head is matched with an inner thread of the perforated joint 6. The conical head plays a role same with the perforated conical head. The hole in the perforated conical head is a channel which inflates the air bag 1.

The perforated joint 6 and the joint 9 are connected to a foreign object via a round ring on the top end to fix the position of the pneumatic muscle. The perforated joint 6 is connected to the perforated conical head via the inner thread, and meanwhile, it jacks the conical sleeve 10 to increase the friction force between the conical sleeve 10 and the perforated conical head so as to fix the woven mesh pipe 2. The joint 9 plays a role same with the perforated joint 6. The hole of the perforated joint 6 is configured to connect the inflating apparatus.

BL-5298 The sponge is located in the air bag 1 to play a supporting role so as to prevent an 77000681 inner layer of the air bag 1 from dilating towards the inner side when expanding to a certain extent. The air bag 1 is located in the woven mesh pipe 2 and two ends thereof are fixed to the perforated conical head by means of the perforated push pin 4 and the conical head by means of the push pin 7. When the pneumatic muscle works, the inflating apparatus inflates the air bag 1 via the air guide pipe 3. The air bag 1 starts to expand. Restrained by the woven mesh pipe 2, the pneumatic muscle starts to dilate and shrink so as to generate axial tension to the outside world. When it is unnecessary to provide tension to the pneumatic muscle, as the air pressure in the air bag 1 of the pneumatic muscle is too large, a high pressure gas in the air bag 1 will be discharged, the pneumatic muscle body will be homed axially, such that the axial tension generated to the outside world will be decreased gradually till it is decreased to zero, which is a working period of the pneumatic muscle.

The pneumatic muscle provided by the application is the bag type artificial pneumatic muscle. In fixing the air bag 1 and the woven mesh pipe 2, the push pin 7 is matched with the groove of the conical head to fix the air bag 1, and the conical head and the conical surface of the conical sleeve 10 fix the woven mesh pipe 2. The air bag 1 and the woven mesh pipe 2 are not fixed together but are separately fixed, and in this fixing manner, it is suitable for working manner of the bag-type artificial muscle. When the air bag 1 expands, under constraint of the woven mesh pipe 2, the pneumatic muscle starts to shrink, the force needed to fix the air bag 1 is reduced as the pneumatic muscle body is shortened, such that the air bag 1 is prevented from being prolapsed. The sponge is placed in the middle of the air bag 1 to prevent an inner layer of the air bag 1 from dilating towards the inner side when expanding to a certain extent. The pneumatic muscle is simple in structural design, has very high suitability, is low in manufacturing cost, is apt to line production and has a wide application prospect.

The pneumatic muscle provided by the application is light in weight and simple and reliable in structure, and has very high suitability; during work, a needed

BL-5298 compressed gas is saved, the air pressure endured by the air bag is reduced, the response 77000681 time is shortened and the work efficiency is improved; the pneumatic muscle is low in manufacturing cost, apt to line production, good in flexibility and large in power-to- mass ratio, and can be widely applied to walking aid exoskeletons and rehabilitation medical apparatus and instruments.

Although description is made on the application with reference to specific embodiments herein, those skilled in the art shall understand that many modifications can be made on configuration and detail disclosed by the application within the principle and scope disclosed by the application. The protection scope of the application is determined by attached claims, and the claims are intended to cover all modifications contained in sensus litteralis or scope of equivalents of technical features in the claims.

Claims

BL-5298 LU500681 CLAIMS

1. A pneumatic muscle, comprising an air bag (1), wherein an outer side of the air bag (1) is provided with a woven mesh pipe (2), the air bag (1) is connected to one end of the woven mesh pipe (2) via a first connecting joint assembly, the air bag (1) is connected to the other end of the woven mesh pipe (2) via a second connecting joint assembly, the air bag (1) is internally provided with an air guide pipe (3), the first connecting joint assembly comprises an inflating channel, and the air guide pipe (3) passes through the inflating channel.

2. The pneumatic muscle according to claim 1, wherein the first connecting joint assembly comprises a perforated push pin (4), a perforated head (5) and a perforated joint (6), the air guide pipe (3) and the air bag (1) are arranged fixedly, and the air guide pipe (3) passes through the perforated push pin (4) , the perforated head (5) and the perforated joint (6) successively; and one end of the perforated push pin (4) is arranged in the air bag (1) and the other end of the perforated push pin (4) is connected to one end of the perforated head (5), the perforated head (5) is arranged in the woven mesh pipe (2), the other end of the perforated head (5) is connected to the perforated joint (6), and the perforated joint (6) is arranged in the outer side of the woven mesh pipe (2).

3. The pneumatic muscle according to claim 2, wherein the second connecting joint assembly comprises a push pin (7), an head (8) and a joint (9), one end of the push pin (7) is arranged in the air bag (1) and the other end of the push pin (7) is connected to one end of the head (8), the head (8) is arranged in the woven mesh pipe (2), the other end of the head (8) is connected to the joint (9), and the joint (9) is arranged in the outer side of the woven mesh pipe (2).

BL-5298 LU500681

4. The pneumatic muscle according to claim 1, wherein the air guide pipe (3) is connected to an inflating apparatus.

5. The pneumatic muscle according to claim 3, wherein the perforated head (5) is a perforated conical head, and the head (8) is a conical head.

6. The pneumatic muscle according to claim 3, wherein an outer side of the perforated conical head is provided with a conical sleeve (10), the perforated conical head is connected to the perforated joint (6) via the conical sleeve (10), an outer side of the conical head is provided with a second conical sleeve, and the conical head is connected to the joint (9) via the second conical sleeve.

7. The pneumatic muscle according to claim 3, wherein the perforated joint (6) comprises a first fixing ring (11) and the first fixing ring (11) is arranged on an end portion of the perforated joint (6), and the joint (9) comprises a second fixing ring (12) and the second fixing ring (12) is arranged on an end portion of the joint ring (9).

8. The pneumatic muscle according to claim 6, wherein the perforated conical head comprises a groove and a conical surface, the perforated push pin (4) is connected to the groove, the groove is matched with the perforated push pin (4) to fix the air bag (1), and the conical surface is matched with the conical sleeve (10) to fix the woven mesh pipe (2); and the conical head comprises a groove and a conical surface, the push pin (7) 1s connected to the groove, the groove is matched with the push pin (7) to fix the air bag (1), and the conical surface is matched with the second conical sleeve to fix the woven mesh pipe (2).

BL-5298 LU500681

9. The pneumatic muscle according to any one of claims 1-8, wherein the air bag (1) is internally provided with a supporting assembly (13).

10. The pneumatic muscle according to claim 9, wherein the supporting assembly (13) is a sponge.