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Fluid artificial muscle driving and controlling system

A fluid artificial muscle and control system technology, which is applied in the application fields of robots and machinery, can solve the problems of inability to drive and control fluid artificial muscles well, difficulty in driving and controlling, and increased economic costs, and achieve easy installation and operation, The effect of low cost and increased smoothness of motion

Inactive Publication Date: 2015-12-02
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The response speed of fluid artificial muscles is faster and the control stiffness is greater, but the pressure-flow coupling characteristics of fluid artificial muscles are also stronger, making it more difficult to drive and control
Fluid artificial muscles generally regulate muscle pressure through components such as pressure sensors, throttle control valves, filters, overflow valves, and one-way valves, but this not only cannot drive and control fluid artificial muscles well, but also to a certain extent economic cost

Method used

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  • Fluid artificial muscle driving and controlling system

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Experimental program
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Effect test

specific Embodiment approach 1

[0012] Specific implementation mode one: as figure 1 As shown, the fluid artificial muscle drive and control system provided by this embodiment mainly includes a pressure transmitter 1 , a fluid artificial muscle 2 , a hydraulic cylinder 3 , a ball screw 4 , a motor 5 , and a PC control terminal 6 . One end of the fluid artificial muscle 2 is connected to the pressure transmitter 1, and the other end is in airtight communication with the hydraulic cylinder 3; the two ends of the ball screw 4 are respectively connected to the end of the piston rod of the hydraulic cylinder 3 and the motor 5; the motor 5 and the pressure transmitter The device 1 is connected to the PC control terminal 6 respectively.

[0013] work process:

[0014] When the PC control terminal 6 sends a signal, the motor 5 will drive the ball screw 4 to rotate, and the ball screw 4 will drive the piston of the hydraulic cylinder 3 to advance along the axis of the hydraulic cylinder, and the internal pressure of...

specific Embodiment approach 2

[0015] Specific embodiment two: the difference between this embodiment and specific embodiment one is that the relationship between the number of revolutions of the motor 5 and the output pressure of the fluid artificial muscle 2 can be obtained through experiments, and then the pressure transmitter 1 is not used, but the pressure of the motor 5 is directly used. The number of revolutions is fed back to the PC control terminal 6 as a corresponding parameter, and then the drive and control of the fluid artificial muscle 2 are realized directly through the motor 5 .

specific Embodiment approach 3

[0016] Embodiment 3: The difference between this embodiment and Embodiment 1 or 2 is that the pressure transmitter 1, the motor 5 and the PC control terminal 6 can be connected by wires, and the wire connection length is determined according to actual application needs; In addition, a wireless signal sending and receiving device can also be installed on the motor 5 , the pressure transmitter 1 and the PC control terminal 6 to realize long-distance wireless remote control.

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Abstract

The invention discloses a fluid artificial muscle driving and controlling system. The system is composed of fluid artificial muscle, a motor, a hydraulic cylinder, a pressure transmitter, a ball screw and a PC control terminal. One end of the fluid artificial muscle is connected to the pressure transmitter, and the other end of the fluid artificial muscle is in enclosed connection with the hydraulic cylinder. The two ends of the ball screw are respectively connected to a piston rod end portion of the hydraulic cylinder and the motor. The motor and the pressure transmitter are connected to the PC control terminal. The flowing part of the fluid artificial muscle driving and controlling system is liquid, and the fluid artificial muscle is driven by the hydraulic cylinder and without components such as a water tank, a water hydraulic pump, a throttling control valve, a filter, an overflow valve and a one-way valve, so that the system is simple in structure and low in cost, is easy to install and operate, and is portable. Furthermore, the liquid is incompressible, the system is high in rigidity, and the motion stability of the hydraulic cylinder is greatly improved, so that the control by the system is facilitated, and the system is applicable to fields such as morphing wings and robots.

Description

technical field [0001] The invention belongs to the technical field of application of robots and machinery, and relates to a fluid artificial muscle drive and control system applied in the fields of robots and modified wings, in particular to a low-pressure, small-flow power drive and control system for robots and machinery. Control System. Background technique [0002] In the driving and control of robot joints and variant wings, artificial muscle actuators are a new type of actuators. Artificial muscles can be divided into pneumatic artificial muscles and fluid artificial muscles. Pneumatic artificial muscles have been applied in the fields of robots and modified wings, and have the advantages of simple structure, smooth movement, and large output force / weight ratio. Fluid artificial muscles not only have the advantages of simple structure, which is conducive to miniaturization and light weight, but also have the advantages of greater output force, faster response speed, ...

Claims

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Application Information

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IPC IPC(8): F15B21/02
Inventor 尹维龙蔡朝灿赫晓东邹恢燃杨知寒
Owner HARBIN INST OF TECH
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