CN103395072B - A hydraulic artificial muscle - Google Patents

Abstract

The invention discloses a hydraulic artificial muscle which comprises a closed end connector, an elastic rubber tube, a high-strength fiber woven mesh, a water-passing end connector, two end buckling rings, two middle buckling rings and two inverted-cone tooth-surface buckling rings. When the hydraulic artificial muscle is in work, under the action of water pressure, the elastic rubber tube and the high-strength fiber woven mesh deform, so that the diameter of the hydraulic artificial muscle is increased, the length of the hydraulic artificial muscle is reduced, and a tension effect is further generated on a driving object connected with the threaded blind hole of the closed-end joint. The elastic rubber tube seals water with certain pressure inside, and the high-strength fiber woven mesh is tightly woven into a tubular shape by high-strength fibers and covers the outside of the elastic rubber tube, so that the hydraulic artificial muscle can bear enough internal water pressure; due to the buckling and pressing effect of the buckling and pressing ring and the structure effect of the inverted cone tooth surface and the convex shoulder, the hydraulic artificial muscle can bear large tensile load, and further the high-strength hydraulic artificial muscle is formed.

Description

A hydraulic artificial muscle

technical field

The invention relates to a fluid-driven artificial muscle used in the fields of robots, special operation manipulators, and automated production lines, in particular to a high-strength water pressure artificial muscle.

Background technique

In the drive and control of robot joints, fluid-driven artificial muscles are a new type of drive, which can be divided into pneumatic artificial muscles and hydraulic artificial muscles. Pneumatic artificial muscles have been applied in the fields of robots and automated production lines, and have the advantages of simple structure, smooth movement, and large output force/weight ratio. The hydraulic artificial muscle not only has the advantages of simple structure, but also helps to achieve miniaturization and light weight. Compared with pneumatic artificial muscles, it has higher output force, faster response speed and lower working noise. Artificial muscles have no relative friction moving parts. For underwater working conditions, there will be no problem of environmental pollution or other influences on the extension rod of the hydraulic cylinder. The cost is low and the maintainability is good, so the hydraulic artificial muscle is especially suitable for underwater Joint drive and control of operating manipulator.

The hydraulic artificial muscle is different from the pneumatic artificial muscle transmission medium. Air is easy to compress. The general pressure of pneumatic transmission is below 1MPa, and the pressure higher than 1MPa belongs to high-pressure pneumatic. There are many safety problems in using gas to drive artificial muscle under higher pressure. Therefore, the working pressure of the pneumatic artificial muscle does not exceed 1MPa, and the pneumatic artificial muscle itself does not require high strength. However, the output force of the fluid-driven artificial muscle increases with the increase of the working pressure, and increasing the working pressure of the artificial muscle can greatly increase its output force. Moreover, the working pressure of existing hydraulic transmission components, such as pumps and control valves, is much higher than the working pressure range of pneumatic artificial muscles, and increasing the pressure of artificial muscles is also conducive to matching the working pressure of hydraulic transmission components.

The existing hydraulic artificial muscles still adopt the structure of pneumatic artificial muscles, which are generally in the form of rubber tubes, and the two ends are connected by fastened joints. Sparse, the strength is not high, the rubber cylinder will swell out from the pores of the braided mesh under high pressure, resulting in damage; the second is that the joints used for the two ends of the connection only clamp the rubber cylinder and the fiber braided mesh through fastening. Disengagement occurs under high tensile loads. The structure of existing artificial muscles cannot meet the strength requirements of hydraulic artificial muscles, and currently there is no high-strength hydraulic artificial muscle that can work under higher pressure and output force, so it is necessary to develop a new type of high-strength hydraulic artificial muscle to meet the requirements of water pressure artificial muscles. pressure and high output force requirements.

Contents of the invention

In order to solve the above-mentioned problems in the prior art, the present invention is to design a hydraulic artificial muscle that can withstand relatively high pressure and tension loads.

In order to achieve the above object, the technical solution of the present invention is as follows: a hydraulic artificial muscle, including a closed end joint, an elastic rubber tube, a high-strength fiber braided net, a water end joint, two end buckle rings, two middle buckle rings and two buckle rings with inverted bevel tooth surfaces; the high-strength fiber braided net is tightly woven into a tubular shape by high-strength fibers, and its axial length is longer than the elastic rubber tube, and the elastic rubber tube penetrates into the high-strength fiber braided net; Both the closed end joint and the water end joint have inverted bevel tooth surfaces and convex shoulders. The inverted bevel tooth surfaces of the end joints are all facing the inside of the elastic rubber tube and inserted into the elastic rubber tube from both ends. The elastic rubber tube covers the inverted bevel tooth surface and the middle buckle surface of the closed end joint and the water end joint. The high-strength fiber braided mesh ratio The extended part of the elastic rubber tube spans the shoulders of the closed end joint and the water end joint, covers the end buckle surface of the closed end joint and the water end joint, and is respectively buckled on the closed end joint and the water end joint by two end buckle rings. On the end crimping surface of the water end joint, the high-strength fiber braided mesh is turned over to cover the end crimping ring, then crosses the shoulder, and covers the middle crimping surface and the inverted bevel tooth surface, and the high-strength fiber braided mesh is turned over to cover the middle crimping surface and The part of the inverted bevel tooth surface, together with the high-strength fiber braided mesh and the inner elastic rubber tube, is buckled on the middle buckle surface of the closed end joint and the water end joint by two middle buckle rings and two reverse bevel tooth surface buckle rings and inverted bevel tooth surfaces;

A water hole and a threaded hole are opened in the center of the water end joint, and a threaded blind hole is opened on the end buckle surface of the closed end joint.

The fiber material used in the high-strength fiber braided net of the present invention is aramid fiber 1414 or high-strength polyethylene fiber or PBO fiber; the material used in the closed end joint and the water end joint is stainless steel.

When the present invention works, the threaded hole of the water end joint is connected to the connection joint for fixing and water passage, and the threaded blind hole of the closed end joint is connected to the driving object. When the hydraulic artificial muscle is fed with water of a certain pressure, under the action of the water pressure, the elastic rubber tube and the high-strength fiber braided mesh are deformed, so that the diameter of the hydraulic artificial muscle increases and the length decreases, and then the closed end joint The driving object of the threaded blind hole connection produces a pulling force. The elastic rubber tube seals a certain pressure of water inside. Since the high-strength fiber braided mesh is tightly woven into a tubular shape by high-strength fibers and covers the outside of the elastic rubber tube, the hydraulic artificial muscle can withstand a large enough internal water pressure. Under the action of the inverted bevel tooth surface structure and convex shoulder structure of the closed end joint and the water end joint, as well as the end crimping ring, the middle crimping ring and the reverse bevel tooth surface crimping ring, the hydraulic artificial muscle can withstand large tensile loads .

The specific principle and function are as follows: the end crimping ring is restricted at the end by the shoulder, and the high-strength fiber woven net bypasses the end crimping ring and then is crimped by the middle crimping ring and the reverse bevel tooth surface crimping ring. When the hydraulic artificial muscle is pulled, the overturned part of the high-strength fiber woven net is in the opposite direction to the original part, and is blocked by the end buckle ring and the shoulder, plus the middle buckle ring and the inverted bevel tooth surface buckle ring. Withholding effect, the high-strength fiber woven mesh is firmly fastened on the closed end joint and the water end joint, so that the hydraulic artificial muscle is not easy to be damaged by a large tensile load, and no closed end joint or water end joint will be produced. phenomenon of detachment. Moreover, after the elastic rubber tube is buckled and compressed by the reverse bevel tooth surface buckle ring and the middle buckle pressure ring, the elastic rubber tube is interlaced with the reverse bevel tooth surface on the closed end joint and the water end joint to form a large enough resistance. Further prevent the elastic rubber tube from being disengaged from the closed end joint and the water end joint. Therefore, the hydraulic artificial muscle of the present invention has high-strength properties of high pressure resistance and high tensile load, and is a high-strength hydraulic artificial muscle.

Compared with the prior art, the present invention has the following beneficial effects:

1. The present invention uses a high-strength fiber braided net tightly woven into a tube to cover the elastic rubber tube, so that the present invention can withstand high pressure and tensile loads.

2. The joints at both ends of the present invention have inverted bevel tooth surfaces and convex shoulders. After the high-strength fiber braided mesh that crosses the convex shoulders is buckled at both ends, the middle part of the joints at both ends and the two positions of the inverted bevel tooth surfaces are The overturned high-strength fiber braided net and the elastic rubber tube are crimped, so that the two ends of the invention can withstand high tensile loads without disengagement at the joints at the two ends.

3. The hydraulic artificial muscle of the present invention has the high-strength performance of high pressure resistance and high tensile load, and can greatly increase the output force with the increase of working pressure, and the working pressure range of the artificial muscle is different from that of the existing hydraulic muscle. The working pressure of pressure transmission components, such as pumps, control valves, etc., is matched.

4. The closed end joint and the water end joint of the present invention are made of stainless steel or other stainless materials, which can withstand the corrosion of water. When used in seawater, stainless steel or other stainless materials resistant to seawater corrosion can be used to work in water. environment.

5. The present invention, as a hydraulic driving element combining artificial muscles and hydraulic transmission technology, has the advantages of cleanliness, environmental protection, and high output-to-weight ratio. The invention does not have a piston rod protruding part similar to a hydraulic cylinder, and there is no problem of seawater pollution at the dynamic seal. The seawater hydraulic transmission is used in the marine underwater environment, which is beneficial to the lightness and miniaturization of the underwater operating machinery.

Description of drawings

The present invention has only one accompanying drawing, wherein:

Fig. 1 is a structural schematic diagram of the present invention.

In the figure: 1. Closed end joint, 2. Elastic rubber tube, 3. High-strength fiber braided net, 4. Water end joint, 12. End crimping surface A, 13. Shoulder A, 14 Middle crimping surface A, 15 .Inverted bevel tooth surface A, 16. Threaded blind hole, 41. Water hole, 42. End buckle surface B, 43. Shoulder B, 44. Middle buckle surface B, 45. Inverted bevel tooth surface B, 46. Thread Holes, 51. end buckle ring A, 52. end buckle ring B, 61. middle buckle ring A, 62. middle buckle ring B, 71. inverted bevel tooth surface buckle ring A, 72. inverted bevel tooth surface buckle ring B.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings. As shown in Figure 1, a water pressure artificial muscle includes a closed end joint 1, an elastic rubber tube 2, a high-strength fiber braided net 3, a water end joint 4, an end buckle ring A51, a middle buckle ring A61, and an inverted bevel tooth Surface crimping ring A71, end crimping ring B52, middle crimping ring B62, inverted bevel tooth surface crimping ring B72; the high-strength fiber braided mesh 3 is tightly woven into a tubular shape by high-strength fibers, and its axial length is longer than that of the elastic rubber tube 2 Long, the elastic rubber tube 2 penetrates into the high-strength fiber braided net 3, the closed end joint 1 has an inverted bevel tooth surface A15 and a raised shoulder A13, and the water end joint 4 has an inverted bevel tooth surface B45 and a raised shoulder B43, the inverted bevel tooth surface A15 of the closed end joint 1 and the inverted bevel tooth surface B45 of the water end joint 4 both face the inside of the elastic rubber tube 2 and insert the elastic rubber tube 2 from both ends, and the elastic rubber tube 2 covers the closed end joint 1 The inverted bevel tooth surface A15, the middle buckle surface A14, the inverted bevel tooth surface B45 and the middle buckle surface B44 of the water end joint 4, the part of the high-strength fiber braided mesh 3 longer than the elastic rubber tube 2 crosses the closed end joint 1 The shoulder A13 and the shoulder B43 of the water end joint 4 cover the end buckle surface A12 of the closed end joint 1 and the end buckle surface B42 of the water end joint 4, and are respectively buckled by the end buckle ring A51 and the end buckle ring B52. On the end crimping surface A12 of the closed end connector 1 and the end crimping surface B42 of the water end connector 4, the two ends of the high-strength fiber braided net 3 are turned over to cover the end crimping ring A51 and the end crimping ring B52 respectively, and then straddle the shoulders respectively A13 and protruding shoulder B43, and cover the middle crimping surface A14 and the inverted bevel tooth surface A15 of the closed end joint and the middle crimping surface B44 and the inverted bevel tooth surface B45 of the water end joint respectively, and the high-strength fiber braided net 3 is turned over and covered The crimping surface and the reverse bevel tooth surface, together with the high-strength fiber braided net 3 and the inner elastic rubber tube 2, are crimped by the middle crimping ring A61, the middle crimping ring B62, the reverse bevel tooth surface crimping ring A71, and the reverse bevel tooth surface. The ring B72 is buckled on the middle buckling surface A14 and the inverted bevel tooth surface A15 of the closed end joint 1 and the middle buckle surface B44 and the inverted bevel tooth surface B45 of the water end joint 4 respectively.

A water hole 41 and a threaded hole 46 are provided in the center of the water end joint 4, and a threaded blind hole 16 is opened in the closed end joint 1 at one end of the buckling surface A12. The fiber material used in the high-strength fiber braided net 3 may be aramid 1414 or high-strength polyethylene fiber or PBO fiber. The material used for the closed end joint 1 and the water end joint 4 is stainless steel or other stainless materials, and when used in seawater, stainless steel or other stainless materials resistant to seawater corrosion are used.

When the present invention works, the threaded hole 46 of the water end joint 4 is connected to the connection joint for fixing and passing water, and the threaded blind hole 16 of the closed end joint 1 is connected to the driving object. When the water pressure artificial muscle of the present invention is fed with water of a certain pressure, under the action of water pressure, the elastic rubber tube 2 and the high-strength fiber braided net 3 are deformed, so that the diameter of the hydraulic artificial muscle of the present invention increases, and the length decrease, and then produce a pulling force on the driving object connected to the threaded blind hole 16 of the closed-end joint 1 . The elastic rubber tube 2 seals the water of a certain pressure inside. Since the high-strength fiber braided net 3 is tightly woven into a tubular shape by high-strength fibers, it covers the outside of the elastic rubber tube 2, so that the water pressure artificial muscle can withstand enough pressure. High internal water pressure. Under the action of the inverted bevel tooth surface A15 of the closed end joint 1 and the water end joint 4, the inverted bevel tooth structure of the inverted bevel tooth surface B45 and the shoulder structure of the shoulder A13 and the shoulder B43, as well as the end buckle ring A51, the end Withholding ring B52, middle withholding ring A61, middle withholding ring B62, inverted bevel tooth surface withholding ring A71, and inverted bevel tooth surface withholding ring B72, under the crimping action, the hydraulic artificial muscle of the present invention can withstand large tensile loads. The specific principle and function are as follows: the end buckle ring A51 and the end buckle ring B52 are respectively limited to the ends of the closed end joint 1 and the water end joint 4 by the shoulder A13 and the shoulder B43, and the two ends of the high-strength fiber braided net 3 are bypassed After the end crimping ring A51 and the end crimping ring B52, the middle crimping ring A61, the middle crimping ring B62, the inverted bevel tooth surface crimping ring A71, and the inverted bevel tooth surface crimping ring B72 are crimped again. In this way, the hydraulic artificial muscle of the present invention is pulled At the same time, the part turned over at the two ends of the high-strength fiber braided net 3 is opposite to the pulling direction of the middle part, and is blocked by the end buckle ring A51, the end buckle ring B52, the shoulder A13, and the shoulder B43. The crimping ring A61, middle crimping ring B62, inverted bevel tooth surface crimping ring A71, and inverted bevel tooth surface crimping ring B72 make the high-strength fiber braided mesh 3 be firmly fastened to the closed end joint 1 and the water end joint 4, so that the hydraulic artificial muscle is not easy to be damaged by a large tensile load, and there will be no phenomenon that the closed end joint 1 or the water end joint 4 is disengaged from the high-strength fiber braided net 3. And, after the elastic rubber tube 2 is crimped and compressed by the inverted bevel tooth surface crimping ring A71, the inverted bevel tooth surface crimping ring B72, the middle crimping ring A61, and the middle crimping ring B62, the elastic rubber tube 2 and the inverted cone on the closed end joint 1 The tooth surface A15 and the inverted bevel tooth surface B45 on the water end joint 4 are interlaced together to form a large enough resistance to further prevent the elastic rubber tube 2 from being disengaged from the closed end joint 1 and the water end joint 4 . Therefore, the hydraulic artificial muscle of the present invention has the high-strength performance of high pressure resistance and high tensile load, and can greatly increase the output force with the increase of working pressure, and the working pressure range of the artificial muscle is different from that of the existing hydraulic muscle. The working pressure of pressure transmission components, such as pumps, control valves, etc., is matched.

The hydraulic artificial muscle of the present invention is used as a hydraulic driving element combining artificial muscle and hydraulic transmission technology, and has the advantages of cleanness, environmental protection, high output-to-weight ratio, and the like. The invention does not have a piston rod protruding part similar to a hydraulic cylinder, and there is no problem of seawater pollution at the dynamic seal. The seawater hydraulic transmission is used in the marine underwater environment, which is beneficial to the lightness and miniaturization of the underwater operating machinery.

Claims (2)

1. a hydraulic artificial muscle, is characterized in that: comprise closed end connection (1), elastic rubber pipe (2), high strength fibre mesh grid (3), water flowing end connector (4), two ends withhold ring, withhold ring in two and two back taper flank of tooth withhold ring; Described high strength fibre mesh grid (3) becomes tubulose by high strength fibre close weave, and its axial length is longer than elastic rubber pipe (2), and elastic rubber pipe (2) penetrates in high strength fibre mesh grid (3); described closed end connection (1) and water flowing end connector (4) there are the back taper flank of tooth and convex shoulder, periphery between the back taper flank of tooth and convex shoulder withholds face in being, the back taper flank of tooth of closed end connection (1) and the back taper flank of tooth of water flowing end connector (4) all insert elastic rubber pipe (2) towards the inside of elastic rubber pipe (2) from two ends, elastic rubber pipe (2) cover closed end connection (1) and water flowing end connector (4) the back taper flank of tooth and in withhold face, high strength fibre mesh grid (3) strides across the convex shoulder of closed end connection (1) and water flowing end connector (4) than the part that elastic rubber pipe (2) grows, the end covering closed end connection (1) and water flowing end connector (4) withholds face, and withhold ring by two ends and withhold respectively and withhold on face at the end of closed end connection (1) and water flowing end connector (4), high strength fibre mesh grid (3) capped end that turns over withholds ring, stride across convex shoulder again, and withhold face and the back taper flank of tooth in covering, high strength fibre mesh grid (3) part of withholding face and the back taper flank of tooth in turning over and covering is together with the elastic rubber pipe (2) of high strength fibre mesh grid (3) and internal layer, withhold latch closure and be pressed in closed end connection (1) and water flowing end connector (4) by withholding ring and two back taper flank of tooth in two and withhold on face and the back taper flank of tooth,

Described water flowing end connector (4) center has limbers (41) and screwed hole (46), and closed end connection (1) is withheld one, face at end and had tapped blind hole (16).

2. a kind of hydraulic artificial muscle according to claim 1, is characterized in that: the fibrous material that described high strength fibre mesh grid (3) uses is Fanglun l414 or high-strength polyethylene fiber or pbo fiber; The material that described closed end connection (1) and water flowing end connector (4) use is stainless steel.