Nested vacuum-driven tension-enhanced pneumatic artificial muscle

Abstract

The application provides a nested vacuum-driven tension-enhanced pneumatic artificial muscle and relates to the technical field of flexible actuators.The nested vacuum-driven tension-enhanced pneumatic artificial muscle comprises a negative pressure collapse driving module and a positive pressure expansion and collapse driving module, has a first cavity and a gas extraction hole structure; the positive pressure expansion and collapse driving module has a second cavity and a gas passage hole structure, the second cavity is communicated with the external atmosphere through the gas passage hole structure; the positive pressure expansion and collapse driving module is embedded in the first cavity, and the axial ends of the positive pressure expansion and collapse driving module are fixedly installed with the negative pressure collapse driving module, respectively, a gas cavity is formed between the positive pressure expansion and collapse driving module and the negative pressure collapse driving module, and the gas cavity is communicated with a vacuum pump through the gas extraction hole structure; the vacuum pump extracts gas from the gas cavity through the gas extraction hole structure, so that the negative pressure collapse driving module is contracted along the axial direction of the negative pressure collapse driving module and the positive pressure expansion and collapse driving module is expanded along the radial direction of the positive pressure expansion and collapse driving module and is contracted along the axial direction of the positive pressure expansion and collapse driving module; and the application can improve the output force of the pneumatic artificial muscle.

Description

Technical Field

[0001] This invention relates to the field of flexible actuator technology, and more specifically, to a nested vacuum-driven tension-enhanced pneumatic artificial muscle. Background Technology

[0002] With the continuous development of pneumatic technology, new pneumatic components and applications are constantly emerging. As the most representative form of realization, pneumatic artificial muscles, with their inherent compliance, controllable high output force and lightweight characteristics, have become the core carrier for the industrial application of flexible drive technology.

[0003] In related technologies, negative pressure (vacuum) type pneumatic artificial muscles are compressed inward by external atmospheric pressure after the cavity is evacuated. However, due to the limitation of negative pressure difference, the output force per unit diameter is usually low, which cannot meet the user's needs. Summary of the Invention

[0004] The problem addressed by this invention is how to improve the output force of pneumatic artificial muscles.

[0005] To address the above problems, this invention provides a nested vacuum-driven tension-enhanced pneumatic artificial muscle.

[0006] A nested vacuum-driven tension-enhanced pneumatic artificial muscle includes:

[0007] The negative pressure collapse drive module has a first cavity and an air extraction port structure;

[0008] A positive pressure expansion and contraction drive module has a second cavity and a vent structure. The second cavity is connected to the external atmosphere through the vent structure. The positive pressure expansion and contraction drive module is embedded in the first cavity, and its axial ends are fixedly installed with the negative pressure collapse drive module. An air cavity is formed between the positive pressure expansion and contraction drive module and the negative pressure collapse drive module. The air cavity is connected to a vacuum pump through the air extraction hole structure.

[0009] The vacuum pump draws air from the air chamber through the air extraction hole structure, causing the negative pressure collapse drive module to contract axially and the positive pressure expansion drive module to expand radially and contract axially.

[0010] Optionally, the negative pressure collapse drive module includes a flexible cylinder, and the positive pressure expansion drive module includes two sealing seats. The opposite ends of the flexible cylinder are respectively sealed to the sealing seats. At least one of the two sealing seats is provided with the vent structure, and the sealing seat is provided with the air extraction structure. The air extraction structure and the vent structure are distributed at intervals. The flexible cylinder and the two sealing seats together form the first cavity.

[0011] Optionally, the negative pressure collapse drive module further includes multiple support rings, which are arranged at intervals along the axial direction of the flexible cylinder and are embedded and fixed to the inner wall of the flexible cylinder.

[0012] Optionally, the negative pressure collapse drive module further includes multiple positioning rings, which are arranged at intervals along the axial direction of the flexible cylinder. The positioning rings are sleeved on the outer peripheral wall of the flexible cylinder and aligned with the support ring. The flexible cylinder is fixedly installed between the positioning rings and the support ring.

[0013] Optionally, the positioning ring includes a first arc segment and a second arc segment, wherein the first arc segment and the second arc segment are detachably connected and enclose each other to form a circular ring structure.

[0014] Optionally, the sealing seat includes a first connecting portion and a second connecting portion connected sequentially along the axial direction of the flexible cylinder, wherein the diameter of the first connecting portion is larger than the diameter of the second connecting portion;

[0015] The outer wall of the first connecting part is sealed to the inner wall of the flexible cylinder, and the second connecting part is sealed to the axial end of the positive pressure expansion and contraction drive module.

[0016] The first connecting part is provided with the vent structure and the air extraction structure arranged at intervals.

[0017] Optionally, the positive pressure expansion and contraction drive module further includes an elastic tube and a constraint tube. The elastic tube has the second cavity, and its axial ends are fixedly connected to the second connecting portion. The ends of the elastic tube are in sealed communication with the vent structure.

[0018] The constraint tube is sleeved and connected to the outer peripheral wall of the elastic tube. The constraint tube is used to restrict the expansion direction of the elastic tube and guide its axial contraction while restricting the radial expansion of the elastic tube.

[0019] Optionally, the constraint tube is fixedly connected to the elastic tube.

[0020] Optionally, the positive pressure expansion and contraction drive module is any one of the following: a pleated positive pressure drive structure, a combined pleated positive pressure drive structure, a symmetrical bubble positive pressure drive structure, or a bubble positive pressure drive structure.

[0021] Optionally, the negative pressure collapse drive module is any one of a folding negative pressure drive structure, a spring-type negative pressure drive structure, a scissor-type negative pressure drive structure, or a paper-folding type negative pressure drive structure.

[0022] The beneficial effects of the nested vacuum-driven tension-enhanced pneumatic artificial muscle of the present invention are:

[0023] The nested vacuum-driven tension-enhanced pneumatic artificial muscle mainly comprises a negative pressure collapse drive module and a positive pressure expansion drive module. The first cavity of the negative pressure collapse drive module provides installation space for the fixation of the positive pressure expansion drive module. A vent structure can be located at the end of the positive pressure expansion drive module, and the second cavity of the positive pressure expansion drive module can be connected to the external atmosphere through the vent structure. An air extraction port structure can be located at the end of the positive pressure expansion drive module, and the air cavity between the positive pressure expansion drive module and the negative pressure collapse drive module can be connected to a vacuum pump through the air extraction port structure.

[0024] When the vacuum pump starts working, it evacuates the air chamber, reducing the pressure in the air chamber. Under the negative pressure of the air chamber, the negative pressure collapse drive module can collapse. Since the second chamber is connected to the external atmosphere through the vent structure, and the two ends of the positive pressure expansion drive module are fixedly connected to the negative pressure collapse drive module, the pressure in the air chamber during evacuation is significantly lower than the internal air pressure of the second chamber. Therefore, the pressure difference between the second chamber and the air chamber causes the area between the two ends of the positive pressure expansion drive module to expand radially. The tension generated by the radial expansion of the positive pressure expansion drive module is converted into the axial contraction of the negative pressure collapse drive module. The tension generated by the radial collision of the positive pressure expansion drive module and the axial force experienced by the negative pressure collapse drive module during evacuation and collapse are coupled to improve the axial contraction force of the negative pressure collapse drive module, thereby meeting the usage requirements of nested vacuum-driven tension-enhanced pneumatic artificial muscles.

[0025] During the expansion process, the positive pressure expansion and contraction drive module further compresses the volume of the air chamber to reduce the effective volume of the air chamber, thereby significantly reducing the effective volume of the air chamber that actually needs to be evacuated. Therefore, without increasing the supply pressure and speed of the vacuum pump, it can not only reduce the time for the air chamber pressure to drop to the target value, but also indirectly increase the nested vacuum drive tension to enhance the output force of the pneumatic artificial muscle. Attached Figure Description

[0026] Figure 1 This is a schematic cross-sectional view of the nested vacuum-driven tension-enhanced pneumatic artificial muscle in its initial state, as described in an embodiment of the present invention.

[0027] Figure 2 This is a schematic diagram of the nested vacuum-driven tension-enhanced pneumatic artificial muscle in its initial state, as described in an embodiment of the present invention.

[0028] Figure 3 This is a cross-sectional schematic diagram of the nested vacuum-driven tension-enhanced pneumatic artificial muscle in the air-evacuation state in an embodiment of the present invention.

[0029] Figure 4 This is one of the structural schematic diagrams of a nested vacuum-driven tension-enhanced pneumatic artificial muscle in the air-evacuation state in an embodiment of the present invention;

[0030] Figure 5 This is the second schematic diagram of the nested vacuum-driven tension-enhanced pneumatic artificial muscle in the air-evacuation state in an embodiment of the present invention;

[0031] Figure 6 for Figure 1 Enlarged view of point A in the middle;

[0032] Figure 7 This is a schematic diagram of the explosion structure of the nested vacuum-driven tension-enhanced pneumatic artificial muscle in the degassing state in an embodiment of the present invention.

[0033] Figure 8 This is a schematic diagram of the two sealing seats of the negative pressure collapse drive module in an embodiment of the present invention;

[0034] Figure 9 This is a partial structural diagram of a nested vacuum-driven tension-enhanced pneumatic artificial muscle in an embodiment of the present invention;

[0035] Figure 10 These are schematic diagrams of the positive pressure expansion and contraction drive modules according to five embodiments of the present invention;

[0036] Figure 11 These are schematic diagrams of the negative pressure collapse drive modules according to five embodiments of the present invention;

[0037] Figure 12 This is a partial structural diagram of the combination of the positive pressure expansion and contraction drive module and the negative pressure collapse drive module in an embodiment of the present invention;

[0038] Figure 13 This is another structural schematic diagram of the combination of the positive pressure expansion and contraction drive module and the negative pressure collapse drive module in an embodiment of the present invention;

[0039] Figure 14 This is another structural schematic diagram of the combination of the positive pressure expansion and contraction drive module and the negative pressure collapse drive module in an embodiment of the present invention.

[0040] Explanation of reference numerals in the attached figures:

[0041] 100 - Negative pressure collapse drive module; 110 - Flexible cylinder; 120 - Support ring; 130 - Positioning ring; 131 - First arc segment; 132 - Second arc segment; 140 - Air cavity; 150 - Air extraction hole structure; 151 - Air extraction hole; 152 - Air pipe; 160 - Positioning groove; 170 - Positioning protrusion; 200 - Positive pressure expansion and contraction drive module; 210 - Sealing seat; 211 - Vent hole structure; 212 - First connecting part; 213 - Second connecting part; 220 - Elastic tube; 221 - Second cavity; 230 - Constraint tube; 240 - Sealing ring. Detailed Implementation

[0042] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0043] In the accompanying drawings, the X-axis represents the axial direction of the negative pressure collapse drive module; the Y-axis represents the radial direction of the negative pressure collapse drive module. It should be noted that the aforementioned representations of the X and Y axes are merely for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting the invention.

[0044] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "based on" means "at least partially based on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; and the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0045] It should be noted that the terms "one" and "more" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0046] like Figures 1 to 4 As shown, an embodiment of the present invention provides a nested vacuum-driven tension-enhanced pneumatic artificial muscle, which includes:

[0047] The negative pressure collapse drive module 100 has a first cavity and an air extraction hole structure 150.

[0048] The positive pressure expansion and contraction drive module 200 has a second cavity 221 and a vent structure 211. The second cavity 221 is connected to the external atmosphere through the vent structure 211. The positive pressure expansion and contraction drive module 200 is embedded in the first cavity, and the two axial ends of the positive pressure expansion and contraction drive module 200 are respectively fixedly installed with the negative pressure collapse drive module 100. An air cavity 140 is formed between the positive pressure expansion and contraction drive module 200 and the negative pressure collapse drive module 100. The air cavity 140 is connected to a vacuum pump through the air extraction hole structure 150.

[0049] The vacuum pump draws air from the air chamber 140 through the air extraction hole structure 150, so that the negative pressure collapse drive module 100 contracts axially and the positive pressure expansion drive module 200 expands radially and contracts axially.

[0050] Specifically, the diameter of the first cavity is larger than the diameter of the positive pressure expansion and contraction drive module 200, so that the positive pressure expansion and contraction drive module 200 can be smoothly embedded inside the first cavity.

[0051] The two ends of the positive pressure expansion and contraction drive module 200 are fixedly installed with the negative pressure collapse drive module 100, and the part between the two ends of the positive pressure expansion and contraction drive module 200 and the negative pressure collapse drive module 100 forms an air cavity 140.

[0052] The air chamber 140 is connected to the vacuum pump through the air extraction hole structure 150. The part between the two ends of the positive pressure expansion and contraction drive module 200 is the second chamber 221, which is connected to the air vent structure 211.

[0053] In this embodiment, the nested vacuum-driven tension-enhanced pneumatic artificial muscle mainly includes a negative pressure collapse drive module 100 and a positive pressure expansion drive module 200. The first cavity of the negative pressure collapse drive module 100 provides installation space for fixing the positive pressure expansion drive module 200. A vent structure can be located at the end of the positive pressure expansion drive module 200, and the second cavity 221 of the positive pressure expansion drive module 200 can be connected to the external atmosphere through the vent structure 211. An air extraction port structure 150 can be located at the end of the positive pressure expansion drive module 200, and the air cavity 140 between the positive pressure expansion drive module 200 and the negative pressure collapse drive module 100 can be connected to a vacuum pump through the air extraction port structure 150.

[0054] When the vacuum pump starts working, it evacuates the gas chamber 140, reducing the pressure in the gas chamber 140. Under the negative pressure of the gas chamber 140, the negative pressure collapse drive module 100 collapses. Since the second chamber 221 is connected to the external atmosphere through the vent structure 211, and the two axial ends of the positive pressure expansion and contraction drive module 200 are fixedly connected to the negative pressure collapse drive module 100, the pressure in the gas chamber 140 is significantly lower than the internal pressure of the second chamber 221 during evacuation. Therefore, the pressure difference between the second chamber 221 and the gas chamber 140 causes… The region between the two ends of the positive pressure expansion and contraction drive module 200 can generate radial expansion along itself, and the tension generated by the radial expansion of the positive pressure expansion and contraction drive module 200 will be converted into axial contraction of the negative pressure collapse drive module 100. The tension generated by the radial collision of the positive pressure expansion and contraction drive module 200 and the axial force experienced by the negative pressure collapse drive module 100 during air extraction and collapse are coupled with each other, which can improve the axial contraction force of the negative pressure collapse drive module 100 to meet the usage requirements of nested vacuum-driven tension-enhanced pneumatic artificial muscles.

[0055] During the expansion process, the positive pressure expansion and contraction drive module 200 further compresses the volume of the air chamber 140 to reduce the effective volume of the air chamber 140, thereby significantly reducing the effective volume of the air chamber 140 that actually needs to be evacuated. Therefore, without increasing the supply pressure and speed of the vacuum pump, it can not only reduce the time for the pressure of the air chamber 140 to drop to the target value, but also indirectly increase the nested vacuum drive tension to enhance the output force of the pneumatic artificial muscle.

[0056] In this embodiment, while the vacuum pump evacuates the air chamber 140, the air pump can also actively fill the second chamber 221 with air, or the air pump can actively fill the second chamber 221 with air without starting the vacuum pump. Both methods can drive the negative pressure collapse drive module 100 to contract to meet the usage requirements of the device.

[0057] Optionally, combined Figure 1 and Figure 3 As shown, the negative pressure collapse drive module 100 includes a flexible cylinder 110, and the positive pressure expansion drive module 200 includes two sealing seats 210. The opposite ends of the flexible cylinder 110 are respectively sealed to the sealing seats 210. At least one of the two sealing seats 210 is provided with the vent structure 211, and the sealing seat 210 is provided with the air extraction hole structure 150. The air extraction hole structure 150 and the vent structure 211 are distributed at intervals. The flexible cylinder 110 and the two sealing seats 210 together form the first cavity.

[0058] Specifically, the flexible cylinder 110 can be made of flexible materials such as rubber or skin. The flexible cylinder 110 can be a cylindrical structure with open ends and a hollow interior. The two sealing seats 210 are respectively embedded in the axial ends of the flexible cylinder 110, so the flexible cylinder 110 and the two connecting seats can form a first cavity. The two ends of the flexible cylinder 110 can be fixedly connected to the two sealing seats 210 by means of bonding, welding, etc.

[0059] A vent structure 211 can be provided on one sealing seat 210, or vent structures 211 can be provided on both sealing seats 210. A suction port structure 150 can be provided on one sealing seat 210, which can serve as a connection interface between the air chamber 140 and the vacuum pump. The vent structure 211 and the suction port structure 150 are independent and spaced apart.

[0060] In this optional embodiment, the two sealing seats 210 are respectively sealed to both ends of the flexible cylinder 110, which can ensure that the air chamber 140 connected to the vacuum pump and the second chamber 221 connected to the external atmosphere have a stable pressure difference during the operation of the nested vacuum-driven tension-enhanced pneumatic artificial muscle. At the same time, the flexible cylinder 110 made of flexible material can generate a continuous axial contraction force when the air is pumped and collapsed, so as to ensure the stability of the nested vacuum-driven tension-enhanced pneumatic artificial muscle during operation.

[0061] Optionally, combined Figure 1 , Figure 3 and Figure 4 As shown, the air extraction hole structure 150 includes an air extraction hole 151 and an air pipe 152. The sealing seat 210 is provided with the air extraction hole 151, and the two ends of the air pipe 152 are respectively connected to the air extraction hole 151 and the vacuum pump.

[0062] Specifically, the sealing seat 210 is provided with an air extraction hole 151 that extends through its own axial direction. The air extraction hole 151 is connected to the air chamber 140. One end of the air pipe 152 is sealed and fixedly inserted into the air extraction hole 151, and the other end of the air pipe 152 can be connected to the vacuum pump.

[0063] In this optional embodiment, since the two ends of the air pipe 152 are respectively connected to the air extraction port 151 and the vacuum pump, the ease of communication between the vacuum pump and the air chamber 140 can be improved.

[0064] Optionally, combined Figures 1 to 4 As shown, the negative pressure collapse drive module 100 also includes a plurality of support rings 120, which are arranged at intervals along the axial direction of the flexible cylinder 110 and are embedded and fixed to the inner wall of the flexible cylinder 110.

[0065] Specifically, the inner diameter of the multiple support rings 120 can be slightly smaller than the inner diameter of the flexible cylinder 110, so that the support rings 120 can be smoothly embedded inside the first cavity of the flexible cylinder 110; the outer diameter of the support rings 120 is adapted to the inner diameter of the flexible cylinder 110 and the outer peripheral wall of the support rings 120 is connected to the inner peripheral wall of the flexible cylinder 110.

[0066] In this optional embodiment, when the vacuum pump starts working, the air chamber 140 is evacuated. At this time, the pressure in the air chamber 140 decreases, and the flexible cylinder 110 can collapse under the negative pressure of the air chamber 140. Since the outer peripheral wall of the support ring 120 is connected to the inner peripheral wall of the flexible cylinder 110, the support ring 120 can restrict the deformation of the flexible cylinder 110 in the radial direction during the evacuation and collapse, so that the force on the flexible cylinder 110 during the evacuation and collapse is converted as much as possible into the axial force along the flexible cylinder 110. Therefore, the expansion and contraction can be made along its own axial direction. In this process, the flexible cylinder 110 will circumferentially contract at the locations of two adjacent support rings 120.

[0067] Optionally, combined Figures 1 to 4 As shown, the negative pressure collapse drive module 100 also includes a plurality of positioning rings 130. The plurality of positioning rings 130 are arranged at intervals along the axial direction of the flexible cylinder 110. The positioning rings 130 are sleeved on the outer peripheral wall of the flexible cylinder 110 and are aligned with the support ring 120. The flexible cylinder 110 is fixedly installed between the positioning rings 130 and the support ring 120.

[0068] Specifically, the alignment of the positioning ring 130 and the support ring 120 means that they are concentric, and the inner diameter of the positioning ring 130 may be slightly larger than the outer diameter of the support ring 120.

[0069] In this optional embodiment, the inner diameter of the positioning ring 130 matches the outer diameter of the flexible cylinder 110, and the inner peripheral wall of the positioning ring 130 is tightly connected to the outer peripheral wall of the flexible cylinder 110. This can limit the maximum radial deformation of the flexible cylinder 110, ensuring that the flexible cylinder 110 shrinks axially during operation. At the same time, the positioning ring 130 and the support ring 120 are aligned to prevent the support ring 120 from having relative displacement with respect to the flexible cylinder 110, thereby ensuring the assembly stability of the flexible cylinder 110, the support ring 120 and the positioning ring 130.

[0070] The inner peripheral wall of the positioning ring 130 and the outer peripheral wall of the flexible cylinder 110 can be fixedly connected by adhesive bonding, and the outer peripheral wall of the support ring 120 is bonded to the inner peripheral wall of the flexible cylinder 110. Thus, the positioning ring 130 and the support ring 120 can be fixedly connected to the flexible cylinder 110 respectively without damaging the flexible cylinder 110.

[0071] Furthermore, each set of positioning rings 130 and support rings 120 are precisely aligned, which can divide the air chamber 140 into multiple independent annular sub-cavities along the axial direction. This ensures that each annular sub-cavity is bidirectionally constrained by the positioning rings 130 and support rings 120, avoiding uncontrolled deformation of the flexible cylinder 110 due to a certain unconstrained section, thereby ensuring the uniformity of the axial contraction of the flexible cylinder 110.

[0072] The positioning ring 130 and the support ring 120 can be fixedly connected in the following manner, optionally, in combination. Figure 6 As shown, one of the positioning ring 130 and the support ring 120 is provided with a positioning protrusion 170, and the other of the positioning ring 130 and the support ring 120 is provided with a positioning groove 160 adapted to the positioning protrusion 170. The positioning protrusion 170 and the positioning groove 160 are inserted into each other.

[0073] By setting up the above structure and utilizing the precise alignment of the plug-in fit, the plug-in fit between the positioning protrusion 170 and the positioning groove 160 in mass production can shorten the assembly time of the positioning ring 130 and the support ring 120, thereby improving the assembly efficiency of the positioning ring 130 and the support ring 120. At the same time, the positioning groove 160 and the positioning protrusion 170 can also limit the relative displacement of the positioning ring 130 and the support ring 120 along the flexible cylinder 110 in the axial direction. This ensures that the tension of the flexible cylinder 110 is converted into axial contraction force to the maximum extent, thereby ensuring the stability of the axial output force of the flexible cylinder 110 during use.

[0074] Specifically, if a positioning protrusion 170 is provided on the inner wall of the positioning ring 130, then a positioning groove 160 is provided on the outer wall of the support ring 120, see Figure 6 As shown. If a positioning groove 160 is provided on the inner wall of the positioning ring 130, a positioning protrusion 170 is provided on the outer wall of the support ring 120. The axial cross-sectional shape of the positioning protrusion 170 is adapted to the axial cross-sectional shape of the positioning groove 160, thereby increasing the contact area between the positioning protrusion 170 and the positioning groove 160, and correspondingly increasing the engagement stability between the positioning ring 130 and the support ring 120.

[0075] Optionally, combined Figure 5 and Figure 7 As shown, the positioning ring 130 includes a first arc segment 131 and a second arc segment 132. The first arc segment 131 and the second arc segment 132 are detachably connected and enclose each other to form a ring structure.

[0076] Specifically, the arc lengths of the first arc segment 131 and the second arc segment 132 may be equal or unequal.

[0077] As long as the arc structure formed by the first arc segment 131 and the second arc segment 132 can be smoothly fitted onto the outside of the flexible cylinder 110.

[0078] The first arc segment 131 and the second arc segment 132 can be detachably connected in the following ways: for example, one end of the first arc segment 131 is rotatably connected to one end of the second arc segment 132, and the other end of the first arc segment 131 is detachably connected to the other end of the second arc segment 132, such as by snap-fit ​​or bolt connection. Alternatively, both ends of the first arc segment 131 and both ends of the second arc segment 132 can be detachably connected, such as by snap-fit, bolt connection, pin connection, or key connection.

[0079] In this optional embodiment, the first arc segment 131 and the second arc segment 132 are detachably connected, thereby improving the ease of assembly and disassembly of the positioning ring 130 relative to the flexible cylinder 110.

[0080] Optionally, combined Figure 8 and Figure 9 As shown, the sealing seat 210 includes a first connecting part 212 and a second connecting part 213 connected sequentially along the axial direction of the flexible cylinder 110, wherein the diameter of the first connecting part 212 is larger than the diameter of the second connecting part 213.

[0081] The outer wall of the first connecting part 212 is sealed to the inner wall of the flexible cylinder 110, and the second connecting part 213 is sealed to the axial end of the positive pressure expansion and contraction drive module 200.

[0082] The first connecting part 212 is provided with the vent structure 211 and the air extraction structure 150 arranged at intervals.

[0083] Specifically, both the first connecting part 212 and the second connecting part 213 are cylindrical structures with a vent structure 211 that extends through their axial direction, and the outer diameter of the first connecting part 212 is larger than the outer diameter of the second connecting part 213.

[0084] The first connecting part 212 is provided with an air extraction hole structure 150. The axial direction of the air extraction hole structure 150 is parallel to the axial direction of the flexible cylinder 110. Therefore, the air extraction hole structure 150 and the vent hole structure 211 of the sealing seat 210 are arranged at intervals.

[0085] The first connecting portion 212 and the second connecting portion 213 can be constructed as an integral structure, thereby ensuring the structural strength of the sealing seat 210. The axes of the first connecting portion 212 and the second connecting portion 213 coincide.

[0086] The outer diameter of the first connecting part 212 matches the inner diameter of the flexible cylinder 110, so that the first connecting part 212 of the sealing seat 210 can be smoothly embedded in the axial end of the flexible cylinder 110. The outer wall of the first connecting part 212 and the inner wall of the axial end of the flexible cylinder 110 can be sealed and fixedly connected by bonding, welding or other methods. The second connecting part 213 and the axial end of the positive pressure expansion and contraction drive module 200 can be sealed and fixedly connected by bonding, welding or other methods.

[0087] In this optional embodiment, since the outer walls of the first connecting portions 212 of the two sealing seats 210 at both axial ends of the flexible cylinder 110 are sealed and fixedly connected, and the second connecting portions 213 of the two sealing seats 210 at both axial ends of the positive pressure expansion and contraction drive module 200 are sealed and fixedly connected, the flexible cylinder 110 collapses under the negative pressure of the air chamber 140 when the air is pumped into the air chamber 140 by the vacuum pump. Since the outer peripheral walls of the support ring 120 and the positioning ring 130 correspond to the flexible cylinder... The inner and outer peripheral walls of 110 are connected, so the support ring 120 and the positioning ring 130 can restrict the deformation of the flexible cylinder 110 in the radial direction during the vacuum collapse, so that the force on the flexible cylinder 110 during the vacuum collapse is converted into the axial force along the flexible cylinder 110 as much as possible. Therefore, the flexible cylinder 110 can contract along its own axial direction, and correspondingly, it also drives the two sealing seats 210 to move towards the center point of the flexible cylinder 110, thereby realizing the axial contraction of the nested vacuum-driven tension-enhanced pneumatic artificial muscle.

[0088] Optionally, combined Figure 9 As shown, the positive pressure expansion and contraction drive module 200 also includes a sealing ring 240, which is fixedly sleeved on the end of the flexible cylinder 110 and is correspondingly arranged with the first connecting part 212.

[0089] Specifically, the positive pressure expansion and contraction drive module 200 may include two sealing rings 240, which may be sleeved on the outer side of the axial end of the flexible cylinder 110.

[0090] The inner diameter of the sealing ring 240 can be slightly larger than the outer diameter of the flexible cylinder 110 so that the sealing ring 240 can be smoothly fitted onto the outside of the flexible cylinder 110.

[0091] The sealing ring 240 can be positioned to correspond to the sealing seat 210.

[0092] In this optional embodiment, since sealing rings 240 are respectively sleeved on both axial ends of the flexible cylinder 110, and sealing seats 210 are respectively installed inside both axial ends of the flexible cylinder 110, the position of the sealing rings 240 corresponds to the position of the first connecting portion 212 of the sealing seat 210. In other words, the flexible cylinder 110 is located between the sealing rings 240 and the first connecting portion 212, so that the flexible cylinder 110 can be supported from the inside of the axial end of the flexible cylinder 110 through the first connecting portion 212. The sealing rings 240 not only restrict the flexible cylinder 110 from both axial ends of the flexible cylinder 110, but also enhance the connection sealing between the flexible cylinder 110 and the first connecting portion 212 of the sealing seat 210.

[0093] Optionally, combined Figure 9 As shown, the positive pressure expansion and contraction drive module 200 further includes an elastic tube 220 and a constraint tube 230. The elastic tube 220 has a second cavity 221. The axial ends of the elastic tube 220 are fixedly connected to the second connecting portion 213, and the ends of the elastic tube 220 are sealed and connected to the vent structure 211.

[0094] The constraint tube 230 is sleeved and connected to the outer peripheral wall of the elastic tube 220. The constraint tube 230 is used to restrict the expansion direction of the elastic tube 220 and guide its axial contraction while constraining the radial expansion of the elastic tube 220.

[0095] Specifically, the elastic tube 220 can be a tubular structure made of flexible materials such as latex or silicone. The constraint tube 230 can be a tube made of braided mesh, a flexible tube with regular or irregular holes or slits in the circumference, or a tube formed by multiple rigid segments connected by flexible hinges.

[0096] In this optional embodiment, the two ends of the flexible tube are fixedly connected to the second connecting portions 213 of the two sealing seats 210 respectively. The second cavity 221 of the flexible tube is connected to the external atmosphere. When the air is pumped out, the pressure in the air cavity 140 is significantly lower than the internal air pressure of the second receiving cavity. Since the two ends of the flexible tube are fixedly connected to the sealing seats 210 and the constraint tube 230 restricts it, it will not expand. Therefore, the pressure difference mentioned above can drive the elastic tube 220 to expand radially along the flexible cylinder 110, thereby ensuring the uniformity of the expansion of the elastic tube 220.

[0097] The elastic tube 220, through its flexible material, can adapt to the expansion and deformation requirements, ensuring that the expansion process can respond quickly to the pressure changes in the air chamber 140. At the same time, the constraint tube 230 is sleeved on the outer peripheral wall of the elastic tube 220. Through the constraint of the constraint tube 230, the radial expansion of the elastic tube 220 can be restricted, so as to force the elastic tube 220 to expand uniformly only in the radial direction. This not only converts the tension generated by the radial expansion into the contraction force along the axial direction of the flexible cylinder 110 and drives the two sealing seats 210 to move towards each other, but also guides the axial contraction of the elastic tube 220, thereby further strengthening the stability of the axial output force of the nested vacuum drive tension enhanced pneumatic artificial muscle.

[0098] Optionally, combined Figure 9 As shown, the constraint tube 230 is fixedly connected to the elastic tube 220.

[0099] Specifically, the fixed connection between the constraint tube 230 and the elastic tube 220 may be as follows: for example, the two ends of the constraint tube 230 are fixedly connected to the two ends of the elastic tube 220, or the entire constraint tube 230 is fixedly connected to the outer wall of the elastic tube 220.

[0100] The constraint tube 230 and the elastic tube 220 can be fixedly connected by means of bonding, welding or other methods.

[0101] In this optional embodiment, the two ends of the constraint tube 230 are fixedly connected to the two ends of the elastic tube 220 to ensure that during the process of radial expansion of the elastic tube 220 and tensile stress of the constraint tube 230, there is no relative circumferential displacement or axial sliding between the constraint tube 230 and the elastic tube 220. This provides a basis for the directional constraint of the constraint tube 230 on the elastic tube 220. At the same time, the above connection method is simple and reliable, which not only helps to improve the assembly efficiency of the two but also reduces the production cost accordingly.

[0102] Optionally, combined Figure 10 As shown, the positive pressure expansion and contraction drive module is any one of the following: a pleated positive pressure drive structure, a combined pleated positive pressure drive structure, a symmetrical bubble positive pressure drive structure, or a bubble positive pressure drive structure.

[0103] Specifically, Figure 10 (m1) is a schematic diagram of a pleated positive pressure drive structure. Figure 10 (m2) is a schematic diagram of a combined pleated positive pressure drive structure. Figure 10 (m3) is a schematic diagram of a symmetrical bubble-type positive pressure driven structure. Figure 10 (m4) is a schematic diagram of a bubble-type positive pressure driven structure. Figure 10 (m5) is a schematic diagram of the elastic tube positive pressure drive structure.

[0104] Optionally, combined Figure 11As shown, the negative pressure collapse drive module is any one of the following: folding negative pressure drive structure, spring negative pressure drive structure, scissor negative pressure drive structure, origami negative pressure drive structure.

[0105] Specifically, Figure 11 (n1) is a schematic diagram of a (Z-type) folded negative pressure drive structure. Figure 11 (n2) is a schematic diagram of a spring-type negative pressure drive structure. Figure 11 (n3) is a schematic diagram of a scissor-type negative pressure drive structure. Figure 11 (n4) is a schematic diagram of the origami-type negative pressure drive structure. Figure 11 (n5) is a schematic diagram of the flexible tube positive pressure drive structure.

[0106] Furthermore, since both the negative pressure collapse drive module 100 and the positive pressure expansion drive module 200 have five structural embodiments, there are a total of 25 possible combinations of the negative pressure collapse drive module and the positive pressure expansion drive module. Figures 12 to 14 To demonstrate, exemplify, Figure 12 The above five positive pressure expansion and contraction drive modules are shown in five schematic diagrams (m1n5, m2n5, m3n5, m4n5 and m5n5) respectively, which are combined with the flexible tube positive pressure drive structure (n5), and the above five positive pressure expansion and contraction drive modules are shown in five schematic diagrams (m1n4, m2n4, m3n4, m4n4 and m5n4) respectively, which are combined with the origami-type negative pressure drive structure (n4).

[0107] Figure 13 The diagrams shown are of five positive pressure expansion and contraction drive modules combined with scissor-type negative pressure drive structure (n3) (m1n3, m2n3, m3n3, m4n3 and m5n3 respectively), and five positive pressure expansion and contraction drive modules combined with spring-type negative pressure drive structure (n2) (m1n2, m2n2, m3n2, m4n2 and m5n2 respectively).

[0108] Figure 14 The above five positive pressure expansion and contraction drive modules are shown in five schematic diagrams (m1n1, m2n1, m3n1, m4n1 and m5n1) respectively, which are combined with the (Z-type) folded negative pressure drive structure (n1).

[0109] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A nested vacuum-driven tension-enhanced pneumatic artificial muscle, characterized in that, include: The negative pressure collapse drive module (100) has a first cavity and an air extraction hole structure (150). A positive pressure expansion and contraction drive module (200) has a second cavity (221) and a vent structure (211). The second cavity (221) is connected to the external atmosphere through the vent structure (211). The positive pressure expansion and contraction drive module (200) is embedded in the first cavity, and the two axial ends of the positive pressure expansion and contraction drive module (200) are fixedly installed with the negative pressure collapse drive module (100). An air cavity (140) is formed between the positive pressure expansion and contraction drive module (200) and the negative pressure collapse drive module (100). The air cavity (140) is connected to a vacuum pump through the air extraction hole structure (150). The vacuum pump draws air from the air chamber (140) through the air extraction hole structure (150) to cause the negative pressure collapse drive module (100) to contract axially and the positive pressure expansion drive module (200) to expand radially and contract axially.

2. The nested vacuum-driven tension-enhanced pneumatic artificial muscle according to claim 1, characterized in that, The negative pressure collapse drive module (100) includes a flexible cylinder (110), and the positive pressure expansion drive module (200) includes two sealing seats (210). The two ends of the flexible cylinder (110) are respectively sealed to the sealing seats (210). At least one of the two sealing seats (210) is provided with the vent structure (211). The sealing seat (210) is provided with the air extraction structure (150). The air extraction structure (150) and the vent structure (211) are distributed at intervals. The flexible cylinder (110) and the two sealing seats (210) together form the first cavity.

3. The nested vacuum-driven tension-enhanced pneumatic artificial muscle according to claim 2, characterized in that, The negative pressure collapse drive module (100) also includes a plurality of support rings (120), which are arranged at intervals along the axial direction of the flexible cylinder (110) and are embedded and fixed to the inner wall of the flexible cylinder (110).

4. The nested vacuum-driven tension-enhanced pneumatic artificial muscle according to claim 3, characterized in that, The negative pressure collapse drive module (100) also includes a plurality of positioning rings (130), which are arranged at intervals along the axial direction of the flexible cylinder (110). The positioning rings (130) are sleeved on the outer peripheral wall of the flexible cylinder (110) and aligned with the support ring (120). The flexible cylinder (110) is fixedly installed between the positioning rings (130) and the support ring (120).

5. The nested vacuum-driven tension-enhanced pneumatic artificial muscle according to claim 4, characterized in that, The positioning ring (130) includes a first arc segment (131) and a second arc segment (132), the first arc segment (131) and the second arc segment (132) being detachably connected and enclosing each other to form a ring structure.

6. The nested vacuum-driven tension-enhanced pneumatic artificial muscle according to claim 2, characterized in that, The sealing seat (210) includes a first connecting part (212) and a second connecting part (213) connected sequentially along the axial direction of the flexible cylinder (110), wherein the diameter of the first connecting part (212) is larger than the diameter of the second connecting part (213); The outer wall of the first connecting part (212) is sealed to the inner wall of the flexible cylinder (110), and the second connecting part (213) is sealed to the axial end of the positive pressure expansion and contraction drive module (200). The first connecting part (212) is provided with the vent structure (211) and the air extraction structure (150) arranged at intervals.

7. The nested vacuum-driven tension-enhanced pneumatic artificial muscle according to claim 6, characterized in that, The positive pressure expansion and contraction drive module (200) further includes an elastic tube (220) and a constraint tube (230). The elastic tube (220) has a second cavity (221). The axial ends of the elastic tube (220) are fixedly connected to the second connecting part (213). The ends of the elastic tube (220) are sealed and connected to the vent structure (211). The constraint tube (230) is sleeved and connected to the outer peripheral wall of the elastic tube (220). The constraint tube (230) is used to restrict the expansion direction of the elastic tube (220) and guide its axial contraction while restricting the radial expansion of the elastic tube (220).

8. The nested vacuum-driven tension-enhanced pneumatic artificial muscle according to claim 7, characterized in that, The constraint tube (230) is fixedly connected to the elastic tube (220).

9. The nested vacuum-driven tension-enhanced pneumatic artificial muscle according to claim 2, characterized in that, The positive pressure expansion and contraction drive module (200) is any one of the following: pleated positive pressure drive structure, combined pleated positive pressure drive structure, symmetrical bubble positive pressure drive structure, and bubble positive pressure drive structure.

10. The nested vacuum-driven tension-enhanced pneumatic artificial muscle according to claim 2, characterized in that, The negative pressure collapse drive module (100) is any one of the following: folding negative pressure drive structure, spring negative pressure drive structure, scissor negative pressure drive structure, or folding negative pressure drive structure.

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