Unlock instant, AI-driven research and patent intelligence for your innovation.

A Rigid-Flexible Coupled Large-Stroke High-Load Actuator and Its Driving Method

A rigid-flexible coupling, actuator technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., can solve the problem of unreliable operating space and achieve the effect of resisting mechanical interference

Active Publication Date: 2022-05-13
HANGZHOU DIANZI UNIV
View PDF6 Cites 0 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, at present, artificial muscles have project limitations between stroke length and load; the resulting unreliable operating space and other problems
In addition, artificial muscles have compliance, that is, it is difficult to suppress when there is an external disturbance force, which will cause a series of problems such as control and precision.

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • A Rigid-Flexible Coupled Large-Stroke High-Load Actuator and Its Driving Method
  • A Rigid-Flexible Coupled Large-Stroke High-Load Actuator and Its Driving Method
  • A Rigid-Flexible Coupled Large-Stroke High-Load Actuator and Its Driving Method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0038] Such as figure 1 As shown, a rigid-flexible coupling actuator with large stroke and high load includes a system frame 2 and multiple actuator units 1 . The system rack 2 is cylindrical. The actuator unit 1 is in the shape of a long strip, and the number in this embodiment is three. The three actuator units 1 are arranged in an equilateral triangle.

[0039] Such as figure 2 , 3 As shown in and 4, the actuator unit 1 includes a pneumatic artificial muscle 6, a spine 3, a safety lock mechanism 4, a damping system 9, a first one-way locking mechanism 5 and a second one-way locking mechanism 7 . The first one-way locking mechanism 5 and the second one-way locking mechanism 7 are respectively arranged at both ends of the pneumatic artificial muscle 6 . The pawl frame 5 - 1 in the first one-way locking mechanism 5 is fixed to the inner side wall of the system frame 2 . The pawl frame 5-1 in the second one-way locking mechanism 7 and the inner side wall of the system f...

Embodiment 2

[0054] The difference between this embodiment and Embodiment 1 is that a spring for providing a reset force for the ratchets is provided between each ratchet and the system frame 2 .

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a rigid-flexible coupling large-stroke high-load actuator and a driving method thereof. The actuator includes a system frame and a plurality of actuator cells. Each actuator unit arranged side by side is mounted on the system frame. The actuator unit includes a pneumatic artificial muscle, a spine, a damping system, a first one-way locking mechanism and a second one-way locking mechanism. Pneumatic artificial muscles are able to expand and contract. The first one-way locking mechanism and the second one-way locking mechanism are respectively installed at both ends of the pneumatic artificial muscle. Both the pneumatic artificial muscle and the ratchet frame are provided with a central channel. The ratchet is slidingly connected with the central channel of the pneumatic artificial muscle and the two ratchet racks. The first one-way locking mechanism and the second one-way locking mechanism have the same structure, and both include a pawl frame, a limit spring, a pawl, a pawl slide block, a slide block platform and an actuating air bag. The present invention can accumulate the strokes of each rise of the spines, and the total stroke length is only related to the length of the spines, so it has the characteristic of long strokes.

Description

technical field [0001] The invention belongs to the field of actuators, and relates to a rigid-flexible coupling artificial muscle actuator for realizing larger strokes, in particular to a pneumatic artificial muscle integrated with spines, which can realize high load and stroke of the actuator accumulation. Background technique [0002] With the wide application of pneumatic artificial muscles, and the innovation and development of related flexible actuators. In the future, more and more flexible actuators such as artificial muscles will be used in practical engineering practice. However, there are project limitations between the stroke length and the load of artificial muscles at present; the resulting unreliable operating space and other problems. In addition, artificial muscles have compliance, that is, it is difficult to suppress when there is an external disturbance force, which will cause a series of problems such as control and precision. Therefore, a rigid-flexib...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/10
CPCB25J9/1075
Inventor 许明王旭孙启民胡润泽
Owner HANGZHOU DIANZI UNIV