CN110695981B - Double-acting hydraulic artificial muscle linear reciprocating actuator - Google Patents

Abstract

The invention provides a double-acting hydraulic artificial muscle linear reciprocating actuator, which comprises a hydraulic artificial muscle, a pressure-isolating sealing linkage device and a guide fluid director; the hydraulic artificial muscle comprises a closed end connector, a rubber pipe and a water-through end connector; a cylindrical blind hole is axially formed in the center of the inverted cone tooth surface part of the closed end joint; the center of the water-through end joint is sequentially provided with a water-through hole A and a water-through hole B from outside to inside along the axial direction; the pressure-isolating sealing linkage device comprises a cylindrical linkage device, a pressure-isolating sealing main body and a sealing ring; the cylinder linkage device extends into the through hole of the pressure-isolating sealing main body; two ends of the pressure-isolating sealing linkage are respectively connected with a hydraulic artificial muscle; the guide fluid director is provided with a flow guide groove, a flow guide hole A, a flow guide hole B, a flow guide hole C and a flow guide hole D which are mutually communicated; two ends of the cylindrical linkage device respectively extend into the flow guide holes D of the guide flow guider in a clearance fit manner. The invention solves various problems caused by the complex structure of the hydraulic system of the traditional hydraulic actuator.

Description

A double-acting hydraulic artificial muscle linear reciprocating actuator

technical field

The invention relates to the technical field of artificial muscles and reciprocating actuators, in particular, to a double-acting hydraulic artificial muscle linear reciprocating actuator.

Background technique

At present, the fluid-driven artificial muscle is a new type of driver, which can be divided into pneumatic artificial muscle and hydraulic artificial muscle. Pneumatic and hydraulic artificial muscles have been applied in fields such as robots and automated production lines, and have the advantages of simple structure, smooth action, and large output force/weight ratio. The hydraulic artificial muscle not only has the advantages of simple structure, but also is conducive to the realization of miniaturization and light weight. Compared with the pneumatic artificial muscle, the output force is larger, the response speed is faster, and the working noise is lower. The output force of the fluid-driven artificial muscle increases with the increase of the working pressure. Increasing the working pressure of the artificial muscle can increase its output force. , control valve, etc. to match the working pressure.

The existing hydraulic actuator relies on mechanical external force when the hydraulic cylinder is extended, which is generally realized by a complex actuator circuit. The hydraulic system has a complex structure, and the pipeline layout is cumbersome. After the system has been working for a period of time, air bubbles appear, and the air bubbles dissolve in the system. After the hydraulic oil is used, faults such as noise, crawling and system heating are prone to occur, and the system oil is polluted.

SUMMARY OF THE INVENTION

According to the above proposal, the hydraulic system of the existing hydraulic actuator is complex in structure, prone to technical problems such as noise, creep, system temperature rise, system oil pollution, etc., and a double-acting hydraulic artificial muscle linear reciprocating actuator is provided. The present invention mainly utilizes the improved hydraulic artificial muscle as a driver, thereby functioning as a linear reciprocating actuator.

The technical means adopted in the present invention are as follows:

A double-acting hydraulic artificial muscle linear reciprocating actuator, comprising a hydraulic artificial muscle, a pressure-isolating and sealing linkage and a guide flow guide;

The hydraulic artificial muscle includes a closed end joint, a rubber tube and a water-passing end joint, and the closed-end joint and the water-passing end joint are respectively located at both ends of the rubber tube;

A cylindrical blind hole is axially provided in the center of the reverse bevel tooth surface part of the closed end joint, and the cylindrical blind hole is communicated with the rubber tube;

The center of the water-passing end joint is provided with a water-passing hole A and a water-passing hole B in turn from the outside to the inside along the axial direction. The water-passing hole A and the water-passing hole B are connected and the diameter of the water-passing hole A is larger than the diameter of the water through hole B;

The pressure isolation seal linkage includes a cylinder linkage, a pressure isolation seal body and a sealing ring;

The center of the pressure isolation sealing body is provided with a through hole along the axial direction, and the inner wall is provided with a sealing ring groove; the sealing ring is placed in the sealing ring groove;

The cylindrical linker extends into the through hole of the pressure-isolating sealing body through clearance fit, and the outer surface of the cylindrical linker closely fits with the inner surface of the sealing ring;

The two ends of the pressure-isolating seal linkage are respectively connected to one of the hydraulic artificial muscles detachably through threads, and the water-passing end joint of the hydraulic artificial muscle is connected to the pressure-isolating seal linkage;

A water injection hole is respectively provided at both ends of the pressure isolation sealing body, and the water injection hole is communicated with the water through hole A;

Each of the hydraulic artificial muscles is provided with a guide deflector;

A guide groove is arranged on the outer surface of the guide flow guide;

The center of the guide deflector is arranged along the axial direction from one end of the guide deflector on which the guide groove is arranged to the other end in turn with a guide hole A, a guide hole C and a guide hole D that communicate with each other. The diameter of the guide hole C is smaller than the diameter of the guide hole D; the guide hole A is communicated with the cylindrical blind hole;

A guide hole B is arranged radially inside the guide deflector, and the guide hole B is arranged between the guide hole A and the guide hole C, and is connected with the guide hole A and the guide hole B. the guide hole C is in communication; the distance between the center of the guide hole B and the end face of the end of the guide deflector away from the guide groove is greater than the depth of the cylindrical blind hole;

The end of the guide deflector that is far away from the guide groove extends into the cylindrical blind hole through clearance fit; in the water hole B; the diversion groove is communicated with the rubber tube and the water hole B respectively;

Both ends of the cylindrical link extend into the guide holes D of the guide flow guide through clearance fit, respectively.

Further, the inner side of the outer end of the closed end joint is provided with a threaded blind hole, and the outer surface is provided with an external thread.

Further, inner threads for connecting the hydraulic artificial muscles are provided on the inner sides of the two ends of the pressure-isolating seal body; The pressure isolation sealing body is detachably connected.

Further, the guide deflector is made of stainless material; the cylindrical link and the pressure isolation sealing body are made of stainless material.

Further, the pressure isolation seal linkage and the two hydraulic artificial muscles are on the same axis.

Compared with the prior art, the present invention has the following advantages:

1. The double-acting hydraulic artificial muscle linear reciprocating actuator provided by the present invention adopts the hydraulic artificial muscle as a driver, and the axial output force of the hydraulic artificial muscle will decrease with the length of the hydraulic artificial muscle and the working pressure. And become smaller, enabling the invention to protect the load.

2. The double-acting hydraulic artificial muscle linear reciprocating actuator provided by the present invention adopts the hydraulic artificial muscle as the driver, which is beneficial to the lightweight design; the hydraulic system is simple, and the corresponding hydraulic system can be completed only by controlling the pressure of the water inside each muscle. Work.

3. The double-acting hydraulic artificial muscle linear reciprocating actuator provided by the present invention uses water as the driving medium, which is environmentally friendly and pollution-free; the selected materials are all anti-rust and anti-corrosion materials, which can be applied to water environment operations.

To sum up, applying the technical solution of the present invention utilizes the improved hydraulic artificial muscle as a driver, thereby functioning as a linear reciprocating actuator. Therefore, the technical solution of the present invention solves the problems that the hydraulic system of the existing hydraulic actuator is complicated in structure, prone to noise, creep, system temperature rise, system oil pollution and the like.

Based on the above reasons, the present invention can be widely applied in the fields of reciprocating actuators and the like.

Description of drawings

In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained from these drawings without any creative effort.

FIG. 1 is a schematic diagram of the internal structure of the double-acting hydraulic artificial muscle linear reciprocating actuator according to the present invention.

FIG. 2 is an enlarged view of part A in FIG. 1 .

3 is a schematic diagram of the external structure of the double-acting hydraulic artificial muscle linear reciprocating actuator according to the present invention.

In the figure: 1, hydraulic artificial muscle; 11, closed end joint; 111, threaded blind hole; 112, external thread; 113, cylindrical blind hole; 12, water end joint; 121, water hole A; 122, through Water hole B; 13. Rubber tube; 14. High-strength fiber woven mesh; 151. Inverted bevel tooth surface air pressure ring A; 152. Inverted bevel tooth surface withholding ring B; 161. Middle withholding ring A; 162, Middle withholding ring B; 171, end crimping ring A; 172, end crimping ring B; 2, pressure isolation seal linkage; 21, cylinder linkage; 22, pressure isolation seal body; 221, water injection hole; 23, sealing ring; 3, Guide guide; 31, guide hole A; 32, guide hole B; 33, guide hole C; 33, guide hole D; 35, guide groove.

Detailed ways

It should be noted that the embodiments of the present invention and the features of the embodiments may be combined with each other under the condition of no conflict. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is only a part of the embodiments of the present invention, but not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that the terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural as well, furthermore, it is to be understood that when the terms "comprising" and/or "including" are used in this specification, it indicates that There are features, steps, operations, devices, components and/or combinations thereof.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the invention unless specifically stated otherwise. Meanwhile, it should be understood that, for convenience of description, the dimensions of various parts shown in the accompanying drawings are not drawn in an actual proportional relationship. Techniques, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the authorized specification. In all examples shown and discussed herein, any specific values should be construed as illustrative only and not limiting. Accordingly, other examples of exemplary embodiments may have different values. It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further discussion in subsequent figures.

In the description of the present invention, it should be understood that the orientations indicated by orientation words such as "front, rear, top, bottom, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" etc. Or the positional relationship is usually based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and these orientation words do not indicate or imply the indicated device or element unless otherwise stated. It must have a specific orientation or be constructed and operated in a specific orientation, so it should not be construed as a limitation on the scope of protection of the present invention: the orientation words "inside and outside" refer to the inside and outside relative to the contour of each component itself.

For ease of description, spatially relative terms, such as "on", "over", "on the surface", "above", etc., may be used herein to describe what is shown in the figures. The spatial positional relationship of one device or feature shown to other devices or features. It should be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or features would then be oriented "below" or "over" the other devices or features under its device or structure". Thus, the exemplary term "above" can encompass both an orientation of "above" and "below." The device may also be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptions used herein interpreted accordingly.

In addition, it should be noted that the use of words such as "first" and "second" to define components is only for the convenience of distinguishing corresponding components. Unless otherwise stated, the above words have no special meaning and therefore cannot be understood to limit the scope of protection of the present invention.

Example 1

As shown in Figures 1-3, the present invention provides a double-acting hydraulic artificial muscle linear reciprocating actuator, including a hydraulic artificial muscle 1, a pressure-isolating seal linkage 2 and a guide deflector 3;

The hydraulic artificial muscle 1 includes a closed end joint 11, a rubber tube 13 and a water passing end joint 12, and the closed end joint 11 and the water passing end joint 12 are respectively located at both ends of the rubber tube 13; in this embodiment In the example, the hydraulic artificial muscle also includes a high-strength fiber woven mesh 14, a reverse bevel tooth surface air pressure ring A151, a bevel tooth surface crimping ring B152, a crimping ring A161, a middle crimping ring B162, an end crimping ring A171, and an end crimping ring. Ring B172, wherein the high-strength fiber woven mesh 14 constrains the deformation of the rubber tube 13 during the process of filling the hydraulic artificial muscle 1 with high-pressure water, so that the hydraulic artificial muscle 1 is regularly deformed ;

A cylindrical blind hole 113 is arranged in the center of the bevel tooth surface of the closed end joint 11 along the axial direction, and the cylindrical blind hole 113 communicates with the rubber tube 13;

The water-passing end joint 12 is provided with a water-passing hole A121 and a water-passing hole B122 in turn from the outside to the inside in the axial direction. the diameter of the water through hole B122;

The pressure isolation seal linkage 2 includes a cylindrical linkage 21, a pressure isolation seal body 22 and a sealing ring 23;

The center of the pressure isolation sealing body 22 is provided with a through hole along the axial direction, and the inner wall is provided with a sealing ring groove; the sealing ring 23 is placed in the sealing ring groove;

The cylindrical linker 21 extends into the through hole of the pressure-isolating sealing body 22 through clearance fit, and the outer surface of the cylindrical linker 21 closely fits the inner surface of the sealing ring 23;

Both ends of the pressure isolation seal linkage 2 are detachably connected to one of the hydraulic artificial muscles 1 through threads, and the water passage end joint 12 of the hydraulic artificial muscle 1 is in phase with the pressure isolation seal linkage 2 . connect;

A water injection hole 221 is respectively provided at both ends of the pressure isolation sealing body 22, and the water injection hole 221 is communicated with the water through hole A121;

Each of the hydraulic artificial muscles 1 is provided with a guiding deflector 3; the guiding deflector 3 is inserted into the water-passing end joint 12 of the hydraulic artificial muscle 1 through clearance fit, and is placed on the Inside the hydraulic artificial muscle 1;

The outer surface of the guide deflector 3 is provided with a guide groove 35;

In the center of the guide deflector 3 along the axial direction, from one end of the guide deflector 3 where the guide groove 35 is arranged to the other end are sequentially provided with a guide hole A31, a guide hole C33 and a guide hole that communicate with each other. D34, the diameter of the guide hole C33 is smaller than the diameter of the guide hole D34; the guide hole A31 communicates with the cylindrical blind hole 113;

A guide hole B34 is arranged radially inside the guide deflector 3, and the guide hole B34 is arranged between the guide hole A31 and the guide hole C33, and is connected with the guide hole A31 and the guide hole A31. The guide hole C33 is connected; the distance between the center of the guide hole B32 and the end face of the end of the guide guide 3 away from the guide groove 35 is greater than the depth of the cylindrical blind hole 113 ;

The end of the guide deflector 3 away from the guide groove 35 protrudes into the cylindrical blind hole 113 through clearance fit; the end of the guide deflector 3 where the guide groove 35 is arranged through clearance fit Extend into the water through hole B122; the diversion groove 35 communicates with the rubber tube 13 and the water through hole B122 respectively;

In this embodiment, the diversion groove 35 communicates with the rubber tube 13 and the water through hole B122, the water through hole A121 communicates with the water injection hole 221, and the water through hole A121 communicates with the water through hole B122. The water passage holes B122 are connected, thereby ensuring that the present invention directly controls the water filling pressure of the water pressure artificial muscle under all working conditions;

Both ends of the cylindrical link 21 are respectively inserted into the guide holes D34 of the guide flow guide 3 through clearance fit;

Inside the hydraulic artificial muscle 1 , the diversion hole A31 , the diversion hole B32 , the diversion hole C33 and the diversion hole D34 are communicated in sequence, for connecting the cylindrical blind hole 113 The flowing medium is guided into the rubber tube 13 through each guide hole; wherein, the guide hole C44 is mainly used for the weight reduction design of the guide flow guide; the guide hole D34 is mainly used for the The cylindrical link 21 completes the clearance fit.

Further, a threaded blind hole 111 is provided on the inner side of the outer end of the closed end joint 11, and an external thread 112 is provided on the outer surface; The movement can realize the driving of the driving member.

Further, inner threads for connecting the hydraulic artificial muscle 1 are provided on the inner sides of the two ends of the pressure-isolating sealing body 22; The screw thread of the upper part is detachably connected with the pressure isolation sealing body 22; the above-mentioned design can facilitate the installation and disassembly of the present invention.

Further, the guide deflector 3 is made of stainless material; the cylindrical link 21 and the pressure isolation sealing body 22 are made of stainless material.

Further, the pressure isolation seal linkage 2 and the two hydraulic artificial muscles 1 are on the same axis.

When the present invention works, the water medium passes through the two water injection holes of the pressure-isolating seal linkage, flows through the water hole A, the water hole B and the diversion groove, respectively, and enters the rubber pipes of the two hydraulic artificial muscles.

First, control the water filling pressure of the two hydraulic artificial muscles to keep the same, so that the first hydraulic artificial muscle and the second hydraulic artificial muscle expand and contract, and drive the guide diverter inside each hydraulic artificial muscle to the same state. Move so that the two end faces of the middle cylindrical link are against the stepped surfaces of the guide holes D and the guide holes C on both sides respectively. At this time, the closed end joint of the first hydraulic artificial muscle, the second hydraulic The closed end joint for pressing the artificial muscle, the guiding diverter inside each hydraulic artificial muscle and the cylinder linkage are connected into a whole;

Then, change the water filling pressure of the first hydraulic artificial muscle and the second hydraulic artificial muscle:

The water filling pressure of the first hydraulic artificial muscle is increased to continue to expand and contract, and the water filling pressure of the second hydraulic artificial muscle is reduced to achieve relaxation and elongation, which is the first linear motion state;

Decrease the water filling pressure of the first hydraulic artificial muscle to achieve relaxation and elongation, and increase the water filling pressure of the second hydraulic artificial muscle to achieve expansion and contraction, which is the second linear motion state;

The linear reciprocating motion can be realized by continuously changing the flushing pressure of the two hydraulic artificial muscles; the threaded blind holes and external threads of the closed end joints on the hydraulic artificial muscles are used to connect the driving components, and the linear reciprocating motion of the present invention is The actuation of the drive member can be achieved.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or some or all of the technical features thereof are equivalently replaced; these modifications or replacements do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (5)

1. a double-acting hydraulic artificial muscle linear reciprocating actuator, is characterized in that, comprises hydraulic artificial muscle, pressure isolation sealing linkage and guide flow guide; The hydraulic artificial muscle includes a closed end joint, a rubber tube and a water-passing end joint, and the closed-end joint and the water-passing end joint are respectively located at both ends of the rubber tube; A cylindrical blind hole is axially provided in the center of the reverse bevel tooth surface part of the closed end joint, and the cylindrical blind hole is communicated with the rubber tube; The center of the water-passing end joint is provided with a water-passing hole A and a water-passing hole B in turn from the outside to the inside along the axial direction. The water-passing hole A and the water-passing hole B are connected and the diameter of the water-passing hole A is larger than the diameter of the water through hole B; The pressure isolation seal linkage includes a cylinder linkage, a pressure isolation seal body and a sealing ring; The center of the pressure isolation sealing body is provided with a through hole along the axial direction, and the inner wall is provided with a sealing ring groove; the sealing ring is placed in the sealing ring groove; The cylindrical linker extends into the through hole of the pressure-isolating sealing body through clearance fit, and the outer surface of the cylindrical linker closely fits with the inner surface of the sealing ring; The two ends of the pressure-isolating seal linkage are respectively connected to one of the hydraulic artificial muscles detachably through threads, and the water-passing end joint of the hydraulic artificial muscle is connected to the pressure-isolating seal linkage; Two ends of the pressure-isolating sealing body are respectively provided with a water injection hole, and the water injection hole is communicated with the water through hole A; Each of the hydraulic artificial muscles is provided with a guide deflector; A guide groove is arranged on the outer surface of the guide flow guide; The center of the guide deflector is arranged along the axial direction from one end of the guide deflector on which the guide groove is arranged to the other end in turn with a guide hole A, a guide hole C and a guide hole D that communicate with each other. The diameter of the guide hole C is smaller than the diameter of the guide hole D; the guide hole A is communicated with the cylindrical blind hole; A guide hole B is arranged radially inside the guide deflector, the guide hole B is arranged between the guide hole A and the guide hole C, and is connected with the guide hole A and the guide hole B. the guide hole C is in communication; the distance between the center of the guide hole B and the end face of the end of the guide deflector away from the guide groove is greater than the depth of the cylindrical blind hole; The end of the guide deflector away from the guide groove extends into the cylindrical blind hole through clearance fit; the end of the guide deflector provided with the guide groove extends into the through hole through clearance fit. in the water hole B; the diversion groove is communicated with the rubber tube and the water hole B respectively; Both ends of the cylindrical link extend into the guide holes D of the guide flow guide through clearance fit, respectively. 2 . The double-acting hydraulic artificial muscle linear reciprocating actuator according to claim 1 , wherein a threaded blind hole is arranged inside the outer end of the closed end joint, and an outer thread is arranged on the outer surface. 3 . 3. The double-acting hydraulic artificial muscle linear reciprocating actuator according to claim 1, characterized in that, an inner thread for connecting the hydraulic artificial muscle is provided on the inner sides of both ends of the pressure-isolating seal body; the The hydraulic artificial muscle is detachably connected to the pressure-isolating sealing body through threads provided on the outer surface of the outer end portion of the water-passing end joint. 4. The double-acting hydraulic artificial muscle linear reciprocating actuator according to claim 1, characterized in that, the guide deflector is made of stainless material; the cylinder linkage and the pressure isolation seal The main body is made of stainless material. 5 . The double-acting hydraulic artificial muscle linear reciprocating actuator according to claim 1 , wherein the pressure isolation seal linkage and the two hydraulic artificial muscles are on the same axis. 6 .

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