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Pneumatic artificial muscle with self-sensing and driving functions

A pneumatic artificial muscle, self-sensing technology, applied in the direction of manufacturing tools, manipulators, program-controlled manipulators, etc., can solve problems such as high cost, complex structure, difficult calculation, etc., and achieve the effect of improving the shrinkage and stiffness adjustment range

Inactive Publication Date: 2016-08-17
CHINA JILIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The current collision detection method is mainly to install multiple sensors on the entire pneumatic muscle arm to form a skin-like neural perception network, which is costly, complex in structure, and difficult to calculate

Method used

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  • Pneumatic artificial muscle with self-sensing and driving functions
  • Pneumatic artificial muscle with self-sensing and driving functions

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Embodiment Construction

[0013] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0014] Such as figure 1 , figure 2 As shown, this embodiment includes a fiber filament 1, an elastic hose 2, a wire-collecting clamp 3, a piezoelectric body 4, a cylindrical sleeve 5, a trachea joint 6, a clamp 7, an electrode 8, a driving circuit 9, and a sensing circuit 10 , thread collecting hole 11. In this example, the piezoelectric body 4 close to the intake pipe interface 6 is used as the sensing part, and the piezoelectric body 4 at the other end of the pneumatic muscle is used as the driving part; the elastic hoses 2 are all rubber elastic hoses, which expand after inflation; The filament 1 is wound on the outer surface of the elastic hose 2 at a fixed braiding angle to form a braided net, wherein the filaments 1 at both ends of the elastic hose are drawn out separately, and the drawn filaments are divided into 6 equal parts. In ea...

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Abstract

The invention belongs to the pneumatic artificial technical field and in particular relates to a pneumatic artificial muscle with self-sensing and driving functions. The pneumatic artificial muscle comprises fibers, an elastic hose, a cylindrical sleeve pipe, a fiber collecting hoop, a fiber collecting hole, a piezoelectric body, an electrode, a sensing circuit, a drive circuit, a hoop and an air pipe joint. The pneumatic artificial muscle has the beneficial effects that via the direct piezoelectric effects of the piezoelectric body, the contractility of the fibers can be measured to obtain the external load driving force of the pneumatic muscle; meanwhile, collision of the pneumatic muscle can be self-sensed according to the real-time reading of a voltmeter; via the inverse piezoelectric effects of the piezoelectric body, the amount of contraction of the pneumatic muscle can be increased and the rigidity of the pneumatic muscle can be changed; compared with the same model of pneumatic muscle on the market, the pneumatic muscle provided by the invention can achieve the effects of detecting the external load driving force, self-sensing collision, increasing the amount of contraction of the pneumatic muscle and changing the rigidity of the pneumatic muscle; the properties of the pneumatic muscle are improved and enriched; and the pneumatic muscle has function innovation and extension and is worthy to be applied.

Description

technical field [0001] The invention belongs to the technical field of pneumatic muscles, in particular to a pneumatic artificial muscle with self-sensing and driving functions. Background technique [0002] Pneumatic muscle, as a new type of pneumatic actuator, is widely used in the driving field of various bionic machinery due to its advantages of high flexibility, light weight, convenient use, fast response, and low cost. The pneumatic muscle is mainly composed of three parts: an inflatable elastic hose, a braided mesh that restrains the deformation of the elastic hose, and a clamp. After the internal pressure of the pneumatic muscle increases, the rubber tube expands, driving the movement of the braided mesh wire. When the braiding angle of the braided mesh becomes larger, the pneumatic muscle contracts in the axial direction, thereby driving the load to work. [0003] At present, pneumatic muscles are widely used in daily life, such as in the field of limb rehabilitati...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10B25J19/02
CPCB25J9/1075B25J19/028
Inventor 王斌锐杨雪锋金英连张斌
Owner CHINA JILIANG UNIV
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