Artificial muscle of flexible difform elastic sylphon bellowss

Abstract

The invention relates to an artificial muscle of a flexible abnormal elastic corrugated pipe, which belongs to the application technology field of a robot, a machine and a machine tool. The invention is characterized in that a eudipleural double conical abnormal elastic corrugated pipe is adopted, which is provided with various hoops in circular shape and ellipse, with a small ratio between major diameter and minor diameter of the ellipse and a large ratio between major diameter and minor diameter of the ellipse. The hoops are arranged at wave trough rounds with different diameters of the elastic corrugated pipe; wherein, the elliptic hoops are rigid and keeps undeformed, section shapes of the hoops are round, ellipse, V-shape, half-hoop shape and U-shape. Compared with a columniform elastic corrugated pipe, the invention has the advantages of improving the bearing capability, more particularly the bearing capability in the middle part, and increasing the bent angle of an arthrosis; the abnormal elastic corrugated pipe has lesser volume of the inner cavity of the elastic corrugated pipe, and the increasing of the whole bent angle of the abnormal elastic corrugated pipe requires less increasing amount of the volume of the fluid in the inner cavity, thus being convenient for controlling the fluid.

Description

Technical field: [0001] The invention relates to an artificial muscle of a flexible special-shaped elastic bellows. The artificial muscle is driven by fluid and can be used as a drive element for joints such as fingers, wrists, knees, shoulders, elbows, and ankles of a robot, or as a driver for a parallel machine tool. The actuator of the equipment, the artificial muscle of this kind of flexible special-shaped elastic bellows, has fast and agile adaptability, flexibility to adapt to deformation according to internal and external loads, large power / (volume*mass) ratio, easy to bend The characteristics and certain cushioning properties belong to the application technical field of robots, machines and machine tools. Background technique: [0002] Before the present invention, in the prior art, the artificial muscles of the existing elastic bellows were all cylindrical, and the elastic bellows were made of rubber material. , Weft reinforcing wires are woven and intertwined (com...

AI Technical Summary

Problems solved by technology

Because the whole is cylindrical, it has the following defects: (1) when installed on the hinge skeleton, it is limited by the middle part of the cylindrical elastic bellows, and the bending angle of the joint is small; (2) the inner cavity of the cylindrical elastic bellows The volume is large, especially its overall bending angle requires a large increase in the volume of the inner cavity fluid; (3) Although the braided and wound warp and weft reinforcing wires are used, the load-bearing capacity of the elastic bellows is not large enough

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