CN108527353A - A kind of drawing Pneumatic artificial muscle - Google Patents
A kind of drawing Pneumatic artificial muscle Download PDFInfo
- Publication number
- CN108527353A CN108527353A CN201810598914.0A CN201810598914A CN108527353A CN 108527353 A CN108527353 A CN 108527353A CN 201810598914 A CN201810598914 A CN 201810598914A CN 108527353 A CN108527353 A CN 108527353A
- Authority
- CN
- China
- Prior art keywords
- mobile dish
- fixed disk
- sebific duct
- fixed
- pneumatic
- 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.)
- Pending
Links
- 210000003205 muscle Anatomy 0.000 title claims abstract description 46
- 238000004519 manufacturing process Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 6
- 239000007787 solid Substances 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 235000013372 meat Nutrition 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
Abstract
The invention discloses a kind of drawing Pneumatic artificial muscles, including upper fixed disk, internal layer sebific duct, I-shaped type joint, upper sliding axle, fixed link, mesh grid, outer layer sebific duct, upper mobile dish, lower mobile dish, downslide moving axis and lower fixed disk, the fixed link smooth outer surface, both ends are threaded, disk is fixed in the connection of one end, the other end connects lower fixed disk, and four fixed links and upper fixed disk, lower fixed disk form fixed structure；Pneumatic muscles are made of internal layer sebific duct, oblique mesh grid and outer layer sebific duct, and the pneumatic muscles of upper end are fixedly connected with upper fixed disk and upper mobile dish, and the pneumatic muscles of lower end are fixedly connected with lower mobile dish and lower fixed disk；Pneumatic muscles can expand then drive mobile dish axial movement after being filled with gas.A kind of drawing Pneumatic artificial muscle provided by the invention is attached between mobile dish and sliding axle using I-shaped inlaid type joint, and the complexity of artificial-muscle structure is significantly reduced so that overall structure is compacter, and stability is high.
Description
Technical field
The invention belongs to driving element design fields, and in particular to a kind of drawing artificial-muscle design is especially adopted
The mode connected with I-shaped connector can provide pulling force and thrust simultaneously as needed while enhancing structure reliability.
Background technology
In recent years, artificial intelligence technology has become the important trend of development in science and technology of world, and scientists weigh like never before
Depending on machine man-based development.In addition to commercial Application, robot yields unusually brilliant results in fields such as service, medical treatment, disaster reliefs.As machine
The pith of device person joint driving, the development of artificial-muscle largely restrict machine man-based development.Such as 2017
The Atlas anthropomorphic robots of year Boston power development in November, there is the joint as many with people with it.It not only can be as people one
Sample skips the barrier of certain altitude, and can also after the completion of somersault, exactly its outstanding joint drive system ensure that these
The perfect of action is realized.
Meanwhile the continuous development of robot technology has also largely pushed the development of artificial-muscle technology.Foreign countries are
Through there is company to achieve larger achievement in this respect, for example the Festo companies of Germany design and are suitble to industrially apply
Artificial-muscle.But artificial-muscle currently produced on the market all haves the shortcomings that drive force direction single, complicated.This
The artificial-muscle of Patent design has and can provide pulling force but also provide the ability of thrust, while can also carry out thrust and pulling force
While operate and meet SWR Special Work Request, it is simple in structure, reliable.
Invention content
The present invention provides a kind of drawing Pneumatic artificial muscles.Circumferentially equally distributed each artificial muscle in the present invention
Meat can voluntarily provide power, and two mobile dish can move up and down, make artificial-muscle while obtain pulling force and thrust.And it is mobile
Disk is connected with sliding axle using I-shaped inlaid type joint, and reliability of structure is enhanced.
The specific technical solution that foregoing invention purpose may be implemented is as follows：
A kind of drawing Pneumatic artificial muscle of the present invention, including upper fixed disk, internal layer sebific duct, I-shaped type joint, upper sliding
Axis, pneumatic muscles, fixed link, mesh grid, outer layer sebific duct, upper mobile dish, lower mobile dish, downslide moving axis, lower fixed disk.It is described solid
Fixed pole smooth outer surface, both ends are threaded, and disk is fixed in the connection of one end, and the other end connects lower fixed disk, four fixed links and
Upper fixed disk, lower fixed disk form fixed structure.Pneumatic muscles are made of internal layer sebific duct, oblique mesh grid and outer layer sebific duct, on
The pneumatic muscles at end are fixedly connected with upper fixed disk and upper mobile dish, and the pneumatic muscles of lower end and lower mobile dish and lower fixed disk are solid
Fixed connection.Pneumatic muscles can expand then drive mobile dish axial movement after being filled with gas.Heretofore described internal layer sebific duct and
Outer layer sebific duct forms for integral manufacturing, and oblique mesh grid is embedded between ectonexine sebific duct.
Upper and lower sliding axle has " I " fonts inlaid type joint that sliding axle can be made closely to be connect with mobile dish in the present invention,
Wherein upper sliding axle one end is embedded in mobile dish, and downslide moving axis one end is embedded in lower mobile dish.It is being slided above and below when work
The connection load of moving axis bottom end.When the pneumatic muscles inflation between upper fixed disk and upper mobile dish, drive connected to it
Upper mobile dish move up, and then drive the upper sliding axle upward sliding with its mutually embedding connection, obtain pulling force；Similarly, instantly solid
When pneumatic muscles inflation between price fixing and downslide moving axis, lower mobile dish connected to it are driven to move down, then band
The dynamic lower slider glides downward with its mutually embedding connection obtains thrust.
A kind of drawing Pneumatic artificial muscle of the present invention, moving up and down disk can be by the pneumatic flesh that is uniformly distributed circumferentially
It is slided up and down respectively along the sliding axle respectively connected under the drive of meat, obtains pulling force and thrust respectively.It is single in addition to that can complete
Thrust or pulling force process, can also be as needed to providing pulling force and thrust simultaneously on jobbie different location.This way
The frictional force of artificial-muscle during exercise is not only reduced, and it is single to compensate for artificial-muscle force direction currently on the market
Deficiency so that the flexibility of artificial-muscle significantly improves.I-shaped inlaid type joint is used between mobile dish and sliding axle
It is attached, significantly reduces the complexity of artificial-muscle structure so that overall structure is compacter, and stability is high.
Description of the drawings
Fig. 1 is drawing Pneumatic artificial muscle stereogram.
Fig. 2 is the front view of drawing Pneumatic artificial muscle.
Fig. 3 is the sectional view of the pneumatic muscles of drawing artificial-muscle.
Fig. 4 is the faces the a-a sectional view of drawing Pneumatic artificial muscle.
Fig. 5 is the faces the b-b sectional view of drawing Pneumatic artificial muscle.
Fig. 6 is the faces the c-c sectional view of drawing Pneumatic artificial muscle.
Fig. 7 is the I-shaped embedded joint structure detail drawing moved up and down between disk and upper and lower sliding axle.
In figure：Fix disk on 1-, 2- internal layer sebific ducts, 3- I-shaped type joints, the upper sliding axles of 4-, 5- pneumatic muscles, 6- fixes
Bar, 7- mesh grids, 8- outer layer sebific ducts, the upper mobile dish of 9-, mobile dish under 10-, 11- downslide moving axis, 12- lower fixed disks.
Specific implementation mode
The present invention is described in further detail with example below in conjunction with the accompanying drawings.These attached drawings are simplified signal
Figure, only illustrates the quick molding method of the present invention in a schematic way, therefore only shows composition related to the present invention.
As depicted in figs. 1 and 2, a kind of drawing Pneumatic artificial muscle of the present invention, including upper fixed disk 1, I-shaped type joint
3, upper sliding axle 4, pneumatic muscles 5, fixed link 6, upper mobile dish 9, lower mobile dish 10, downslide moving axis 11, lower fixed disk 12.It is described
6 smooth outer surface of fixed link, both ends are threaded, and disk 1 is fixed in the connection of one end, and the other end connects lower fixed disk 12, and four solid
Fixed pole 6 and upper fixed disk 1, lower fixed disk 12 form fixed structure.The pneumatic muscles 5 of upper end and upper fixed disk 1 and upper mobile dish 9
It is fixedly connected, the pneumatic muscles 5 of lower end are fixedly connected with lower mobile dish 10 and lower fixed disk 12.After pneumatic muscles 5 are filled with gas
It can expand and then mobile dish be driven to be axially moved.
As shown in figure 3, heretofore described internal layer sebific duct 2 and outer layer sebific duct 8 form for integral manufacturing, oblique mesh grid 7
It is embedded between ectonexine sebific duct, is integrally formed pneumatic muscles 5.
Sectional view on Fig. 4, Fig. 5, respectively three faces of drawing Pneumatic artificial muscle shown in fig. 6.Such as Fig. 7 institutes
Showing, upper and lower sliding axle has " I " fonts inlaid type joint 3 that sliding axle can be made closely to be connect with mobile dish in the present invention, wherein
4 one end of upper sliding axle is embedded in mobile dish 9, and 11 one end of downslide moving axis is embedded in lower mobile dish 10.Upper and lower sliding axle,
The distribution of pneumatic muscles 5 and fixed link 6 is as shown in Figure 3.When the pneumatic muscles 5 between upper fixed disk 1 and upper mobile dish 9 inflate it is swollen
When swollen, upper mobile dish 9 connected to it is driven to move up, then drives 4 upward sliding of upper sliding axle with its mutually embedding connection,
Obtain pulling force；Similarly, when 5 inflation of pneumatic muscles between lower fixed disk 12 and downslide moving axis 11, drive is connected thereto
Lower mobile dish 10 move down, then drive and 11 slide downward of downslide moving axis of its mutually embedding connection, acquisition thrust.
It is connected in upper sliding axle 4,11 bottom end of downslide moving axis when a kind of drawing Pneumatic artificial muscle in the present invention works
Load, can also be as needed to carrying in addition to that can complete single thrust or pulling force process simultaneously on jobbie different location
For pulling force and thrust.
The quantity of sliding axle can change in the present invention, and the position of sliding axle can change, but must ensure
Its force stability determines sliding shaft position to integrate.
It is enlightenment with above-mentioned desirable embodiment according to the present invention, through the above description, relevant staff is complete
Various changes and amendments, the technology of this invention can be carried out without departing from the scope of the technological thought of the present invention' entirely
Property range is not limited to the contents of the specification, it is necessary to determine its technical scope according to right.
Claims (4)
1. a kind of drawing Pneumatic artificial muscle, it is characterised in that：Including upper fixed disk, internal layer sebific duct, I-shaped type joint, upper cunning
Moving axis, fixed link, mesh grid, outer layer sebific duct, upper mobile dish, lower mobile dish, downslide moving axis and lower fixed disk, outside the fixed link
Surface is smooth, and both ends are threaded, and disk is fixed in the connection of one end, and the other end connects lower fixed disk, four fixed links and upper fixation
Disk, lower fixed disk form fixed structure；Pneumatic muscles are made of internal layer sebific duct, oblique mesh grid and outer layer sebific duct, the gas of upper end
Dynamic muscle is fixedly connected with upper fixed disk and upper mobile dish, and the pneumatic muscles of lower end are fixed with lower mobile dish and lower fixed disk to be connected
It connects；Pneumatic muscles can expand then drive mobile dish axial movement after being filled with gas.
2. a kind of drawing Pneumatic artificial muscle according to claim 1, it is characterised in that：The internal layer sebific duct and outer layer
Sebific duct forms for integral manufacturing, and oblique mesh grid is embedded between ectonexine sebific duct.
3. a kind of drawing Pneumatic artificial muscle according to claim 1, it is characterised in that：Upper sliding axle, downslide moving axis
There is I-shaped inlaid type joint that sliding axle can be made closely to be connect with mobile dish, wherein upper sliding axle one end is embedded in mobile dish
In, downslide moving axis one end is embedded in lower mobile dish, upper sliding axle, the connection load of downslide moving axis bottom end.
4. a kind of drawing Pneumatic artificial muscle according to claim 1, it is characterised in that：Upper mobile dish, lower mobile dish
It can respectively be obtained by being slided up and down respectively along the sliding axle respectively connected under the drive for the pneumatic muscles being uniformly distributed circumferentially
Pulling force and thrust.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810598914.0A CN108527353A (en) | 2018-06-12 | 2018-06-12 | A kind of drawing Pneumatic artificial muscle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810598914.0A CN108527353A (en) | 2018-06-12 | 2018-06-12 | A kind of drawing Pneumatic artificial muscle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108527353A true CN108527353A (en) | 2018-09-14 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810598914.0A Pending CN108527353A (en) | 2018-06-12 | 2018-06-12 | A kind of drawing Pneumatic artificial muscle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108527353A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109877819A (en) * | 2019-04-17 | 2019-06-14 | 中南大学 | The snakelike arm of variation rigidity software |
Citations (10)
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|---|---|---|---|---|
| US4615260A (en) * | 1983-04-25 | 1986-10-07 | Bridgestone Corporation | Pneumatic actuator for manipulator |
| JPH0217063A (en) * | 1988-07-06 | 1990-01-22 | Olympus Optical Co Ltd | Artificial muscle actuator |
| CN1623742A (en) * | 2004-12-15 | 2005-06-08 | 张帆 | Bionic moving mechanism driven by artificial muscle |
| JP2007032743A (en) * | 2005-07-28 | 2007-02-08 | Tama Tlo Kk | Actuator system, robot arm and medical rehabilitation system |
| JP2008125301A (en) * | 2006-11-15 | 2008-05-29 | Dainippon Printing Co Ltd | Actuator |
| US20080223680A1 (en) * | 2005-11-19 | 2008-09-18 | Zf Friedrichshafen Ag | Automated Shift Transmission and Automated Friction Clutch |
| EP3020982A1 (en) * | 2014-11-13 | 2016-05-18 | Bell Helicopter Textron Inc. | Actuator utilizing pneumatic muscles |
| KR20170130647A (en) * | 2016-05-18 | 2017-11-29 | 한국기계연구원 | Artificial muscle module, Manufacturing method for the artificial muscle module and Control system of the artificial muscle module |
| CN107984467A (en) * | 2017-12-21 | 2018-05-04 | 哈尔滨工业大学 | A kind of variation rigidity parallel connection artificial-muscle |
| CN208451639U (en) * | 2018-06-12 | 2019-02-01 | 北京化工大学 | A kind of drawing Pneumatic artificial muscle |
-
2018
- 2018-06-12 CN CN201810598914.0A patent/CN108527353A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4615260A (en) * | 1983-04-25 | 1986-10-07 | Bridgestone Corporation | Pneumatic actuator for manipulator |
| JPH0217063A (en) * | 1988-07-06 | 1990-01-22 | Olympus Optical Co Ltd | Artificial muscle actuator |
| CN1623742A (en) * | 2004-12-15 | 2005-06-08 | 张帆 | Bionic moving mechanism driven by artificial muscle |
| JP2007032743A (en) * | 2005-07-28 | 2007-02-08 | Tama Tlo Kk | Actuator system, robot arm and medical rehabilitation system |
| US20080223680A1 (en) * | 2005-11-19 | 2008-09-18 | Zf Friedrichshafen Ag | Automated Shift Transmission and Automated Friction Clutch |
| JP2008125301A (en) * | 2006-11-15 | 2008-05-29 | Dainippon Printing Co Ltd | Actuator |
| EP3020982A1 (en) * | 2014-11-13 | 2016-05-18 | Bell Helicopter Textron Inc. | Actuator utilizing pneumatic muscles |
| US20160138621A1 (en) * | 2014-11-13 | 2016-05-19 | Bell Helicopter Textron Inc. | Actuator Utilizing Pneumatic Muscles |
| KR20170130647A (en) * | 2016-05-18 | 2017-11-29 | 한국기계연구원 | Artificial muscle module, Manufacturing method for the artificial muscle module and Control system of the artificial muscle module |
| CN107984467A (en) * | 2017-12-21 | 2018-05-04 | 哈尔滨工业大学 | A kind of variation rigidity parallel connection artificial-muscle |
| CN208451639U (en) * | 2018-06-12 | 2019-02-01 | 北京化工大学 | A kind of drawing Pneumatic artificial muscle |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109877819A (en) * | 2019-04-17 | 2019-06-14 | 中南大学 | The snakelike arm of variation rigidity software |
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Application publication date: 20180914 |