CN106965155A - A kind of elastomeric hydraulic muscle - Google Patents
A kind of elastomeric hydraulic muscle Download PDFInfo
- Publication number
- CN106965155A CN106965155A CN201710176987.6A CN201710176987A CN106965155A CN 106965155 A CN106965155 A CN 106965155A CN 201710176987 A CN201710176987 A CN 201710176987A CN 106965155 A CN106965155 A CN 106965155A
- Authority
- CN
- China
- Prior art keywords
- elastomeric
- protective layer
- elastomeric hydraulic
- hydraulic
- bands
- 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
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Actuator (AREA)
Abstract
The present invention relates to a kind of elastomeric hydraulic muscle, the hydraulic pressure muscle includes：Elastomeric hydraulic pipe (1), bands (2), protective layer (3) and multiple quantitative loops (4)；The protective layer (3) is wrapped in the periphery of the elastomeric hydraulic pipe (1); axial direction of the bands (2) along the elastomeric hydraulic pipe (1) is clipped between the elastomeric hydraulic pipe (1) and protective layer (3), and the quantitative loop (4) is enclosed on the protective layer (3) periphery and set along the axially spaced-apart of the protective layer (3)；The one end open of the elastomeric hydraulic pipe (1) and it is provided with anchor point for connecting hydraulic power supply joint, the other end is sealed, and is passed through liquid with one end in elastomeric hydraulic pipe (1) and is driven the bands (2) to bend.The elastomeric hydraulic muscle that the present invention is provided can act as the driving original paper of emulated robot.
Description
Technical field
The present invention relates to bionics techniques field, and in particular to a kind of elastomeric hydraulic muscle.
Background technology
Hydraulic pressure muscle refers to the artificial muscle driven by fluid pressure, with existing by metal wire and CNT preparation
Artificial muscle is simultaneously differed.
Chinese patent CN1586830A discloses a kind of artificial muscle and emulated robot.
Chinese patent CN101829990A discloses a kind of artificial muscle package, is to make mechanical arm of force picture in artificial muscle working system
The equally flexible artificial tissue of animal limb, flexible wriggling, driving mechanical arm of force completion activity are completed by internal pressure change.
But the above-mentioned artificial muscle only rests on concept aspect, undisclosed concrete structure.
Hydraulic pressure muscle does not have play-by-play in the prior art.
The content of the invention
It is an object of the invention to provide a kind of elastomeric hydraulic muscle, the elastomeric hydraulic muscle that the present invention is provided can
Driving original paper as emulated robot.
To achieve the above object, the present invention provides a kind of elastomeric hydraulic muscle, and the hydraulic pressure muscle includes：Elastomeric hydraulic
Pipe, bands, protective layer and multiple quantitative loops；The protective layer is wrapped in the periphery of the elastomeric hydraulic pipe, the bands edge
The axial direction of the elastomeric hydraulic pipe is clipped between the elastomeric hydraulic pipe and protective layer, and the quantitative loop is enclosed on the protection
Layer periphery is simultaneously set along the axially spaced-apart of the protective layer；The one end open of the elastomeric hydraulic pipe and it is provided with for connecting
The anchor point of hydraulic power supply joint, other end sealing, is passed through liquid with one end in elastomeric hydraulic pipe and drives the rope
Line is bent.
Optionally, the material of the elastomeric hydraulic pipe is at least one in nitrile rubber, polyurethane and silicon rubber
Kind.
Optionally, the material of the bands is selected from least one of carbon fiber, aramid fiber and multiply metal wire.
Optionally, the material of the protective layer is selected from least one of nitrile rubber, polyurethane and silicon rubber.
Optionally, the material of the quantitative loop is resin or metal.
Optionally, the internal diameter of the elastomeric hydraulic pipe is 1-20 millimeters, and external diameter is between 3-30 millimeters, two quantitative loops
Length is 2-3 times of external diameter.
Optionally, a diameter of 0.2-1 millimeters of the bands, length is 2-4 times of bands diameter.
Optionally, the thickness of the protective layer is 0.3-1 millimeters.
Optionally, the thickness of the quantitative loop is 0.5-1.2 millimeters；Along the axial direction of the protective layer, adjacent quantitative loop
Distance is 2-4.5 times of quantitative loop external diameter.
Elastomeric hydraulic muscle of the present invention has the following advantages that：
1. cost is low, 2. is simple in construction, and 3. is easy to control, 4. environmental protection and energy saving.
Brief description of the drawings
Fig. 1 is a kind of structural representation of embodiment of elastomeric hydraulic muscle of the present invention.
Embodiment
Detailed description below is used to illustrate the present invention, but is not limited to the scope of the present invention.
The present invention provides a kind of elastomeric hydraulic muscle, and the hydraulic pressure muscle includes：Elastomeric hydraulic pipe 1, bands 2, protection
Layer 3 and multiple quantitative loops 4；The protective layer 3 is wrapped in the periphery of the elastomeric hydraulic pipe 1, and the bands 2 is along the elasticity
The axial direction of body fluid pressure pipe 1 is clipped between the elastomeric hydraulic pipe 1 and protective layer 3, and the quantitative loop 4 is enclosed on the protective layer 3
Periphery is simultaneously set along the axially spaced-apart of the protective layer 3；The one end open of the elastomeric hydraulic pipe 1 and it is provided with for connecting
The anchor point of hydraulic power supply joint, other end sealing, is passed through liquid with one end in elastomeric hydraulic pipe 1 and drives the rope
Line 2 is bent.The elastomeric hydraulic muscle that the present invention is provided is that a kind of action for robot drives original paper, is used as imitating
The actuator of true robot.
In actual use, A ends will connect hydraulic power supply joint (such as hydraulic oil pump) and be formed with anchor point, B end seals
Close and connect stress action spot, now hydraulic pressure muscle formation obturator.When pressure medium (such as hydraulic oil and emulsion) enters
Enter after elastic hydraulic pipe 1, its expansion can be forced to make its enlarged diameter.Because the enlarged diameter of elastic hydraulic pipe 1 causes the (rope of bands 2
Line 2 uses the material of the high numerical value of modulus of elasticity) bend, bands 2 bends the axial length by elastic hydraulic pipe 1 is changed, so that
A, B two ends act power.So, elastic hydraulic pipe 1 can realize driving function.Bands 2 is maintained at and is permanently fixed by protective layer 3
Position is so as to realize stable function.Quantitative loop 4 uses resin or metal material, is shunk for setting the axis of elastic hydraulic pipe 1
Position and amount of contraction, its interval can be set according to actual needs.The modulus of elasticity of elastic hydraulic pipe 1 determines medium in the present invention
Back-flow velocity, its parameter is adjusted according to robot limb sensitivity requirement.
The elastomeric hydraulic muscle weight of the present invention is light so inertia is small, sensitivity enlarged relative, therefore Automated condtrol
Cost is reduced.Its small volume will make robot closer to mankind's hand so be more suitable for the design application of service type robot
Arm.Its scope of application can spread all over robot entirety and realize hydraulic-driven.In addition, elastomeric hydraulic muscle of the present invention only has one
An individual input A and blind end B, so the probability of leakage is smaller.
Moreover, compared with conventional hydraulic oil cylinder, this invention takes elastomeric resilient hydraulic tube and low elongation bands
With reference to, the axial expansion of elastic hydraulic pipe can be limited, and the active force at its AB two ends is produced, it can further mitigate reduction machine
The weight and volume of device people.
In addition, according to Newton's third law, applying to elastomer after pressure medium, the counter-force that its deformation is produced will be with medium
Pressure balance, so that elastomeric hydraulic muscle keeps different contraction states, therefore elastic body fluid according to pressure medium different value
The drive volume of compressor meat is determined according to pressure medium.Since pressure medium determines drive volume, its controllability and control program are compiled
System can simplify to a great extent, and elastomeric hydraulic muscle, which is used for humanoid robot, will improve robot humanoid level.
Although above with general explanation and embodiment, the present invention is described in detail,
On the basis of the present invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Cause
This, these modifications or improvements, belong to the scope of protection of present invention without departing from theon the basis of the spirit of the present invention.
Claims (9)
1. a kind of elastomeric hydraulic muscle, it is characterised in that the hydraulic pressure muscle includes：
Elastomeric hydraulic pipe (1), bands (2), protective layer (3) and multiple quantitative loops (4)；
The protective layer (3) is wrapped in the periphery of the elastomeric hydraulic pipe (1), and the bands (2) is along the elastomeric hydraulic
The axial direction of pipe (1) is clipped between the elastomeric hydraulic pipe (1) and protective layer (3), and the quantitative loop (4) is enclosed on the protective layer
(3) periphery and along the protective layer (3) axially spaced-apart set；
The one end open of the elastomeric hydraulic pipe (1) and anchor point for connecting hydraulic power supply joint is provided with, it is another
End sealing, is passed through liquid with one end in elastomeric hydraulic pipe (1) and drives the bands (2) to bend.
2. elastomeric hydraulic muscle according to claim 1, it is characterised in that the material of the elastomeric hydraulic pipe (1)
For selected from least one of nitrile rubber, polyurethane and silicon rubber.
3. elastomeric hydraulic muscle according to claim 1, it is characterised in that the material of the bands (2) is selected from carbon
At least one of fiber, aramid fiber and multiply metal wire.
4. elastomeric hydraulic muscle according to claim 1, it is characterised in that the material of the protective layer (3) be selected from
At least one of nitrile rubber, polyurethane and silicon rubber.
5. elastomeric hydraulic muscle according to claim 1, it is characterised in that the material of the quantitative loop (4) is resin
Or metal.
6. elastomeric hydraulic muscle according to claim 1, it is characterised in that the internal diameter of the elastomeric hydraulic pipe (1)
For 1-20 millimeters, external diameter is length is external diameter between 3-30 millimeters, two quantitative loops 2-3 times.
7. elastomeric hydraulic muscle according to claim 1, it is characterised in that a diameter of 0.2-1 millis of the bands (2)
Rice, length is 2-4 times of bands diameter.
8. elastomeric hydraulic muscle according to claim 1, it is characterised in that the thickness of the protective layer (3) is 0.3-1
Millimeter.
9. elastomeric hydraulic muscle according to claim 1, it is characterised in that the thickness of the quantitative loop (4) is 0.5-
1.2 millimeter；Along the axial direction of the protective layer (3), the distance of adjacent quantitative loop (4) is 2-4.5 times of quantitative loop (4) external diameter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710176987.6A CN106965155A (en) | 2017-03-22 | 2017-03-22 | A kind of elastomeric hydraulic muscle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710176987.6A CN106965155A (en) | 2017-03-22 | 2017-03-22 | A kind of elastomeric hydraulic muscle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106965155A true CN106965155A (en) | 2017-07-21 |
Family
ID=59329817
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710176987.6A Pending CN106965155A (en) | 2017-03-22 | 2017-03-22 | A kind of elastomeric hydraulic muscle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106965155A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108170191A (en) * | 2018-01-18 | 2018-06-15 | 北京化工大学 | A kind of PVT accurately controls artificial muscle |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3864983A (en) * | 1972-09-15 | 1975-02-11 | Stephen C Jacobsen | Rotary-to-linear and linear-to-rotary motion converters |
| JPS60146695A (en) * | 1984-01-05 | 1985-08-02 | 株式会社ブリヂストン | Robot hand |
| US5083498A (en) * | 1989-09-25 | 1992-01-28 | Bridgestone Corporation | Bendable actuator |
| CN1562583A (en) * | 2004-03-31 | 2005-01-12 | 浙江工业大学 | Pneumatic flexible bend joint |
| CN201006607Y (en) * | 2007-02-07 | 2008-01-16 | 浙江工业大学 | Pneumatic Rigid-Flexible Bending Joints |
-
2017
- 2017-03-22 CN CN201710176987.6A patent/CN106965155A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3864983A (en) * | 1972-09-15 | 1975-02-11 | Stephen C Jacobsen | Rotary-to-linear and linear-to-rotary motion converters |
| JPS60146695A (en) * | 1984-01-05 | 1985-08-02 | 株式会社ブリヂストン | Robot hand |
| US5083498A (en) * | 1989-09-25 | 1992-01-28 | Bridgestone Corporation | Bendable actuator |
| CN1562583A (en) * | 2004-03-31 | 2005-01-12 | 浙江工业大学 | Pneumatic flexible bend joint |
| CN201006607Y (en) * | 2007-02-07 | 2008-01-16 | 浙江工业大学 | Pneumatic Rigid-Flexible Bending Joints |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108170191A (en) * | 2018-01-18 | 2018-06-15 | 北京化工大学 | A kind of PVT accurately controls artificial muscle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170721 |
|
| RJ01 | Rejection of invention patent application after publication |