Rolling inflatable pneumatic artificial muscle

Abstract

The invention discloses a rolling inflatable pneumatic artificial muscle. The device comprises an inflating and deflating device used for inflating and deflating the pneumatic artificial muscle; the inflation and deflation device comprises a rolling device used for extruding the pneumatic artificial muscle, so that gas in the pneumatic artificial muscle is compressed and inflated into the pneumatic artificial muscle; the winding device is used for winding the extruded pneumatic artificial muscle so as to realize further compression and storage of gas; the pressing device is used for pressing the wound pneumatic artificial muscle to ensure that gas does not leak; and the rebounding device is used for recovering the initial state of the pneumatic artificial muscle when the pneumatic artificial muscle is deflated. The load is pulled through the pneumatic artificial muscle, so that displacement generated by contraction of the pneumatic artificial muscle is increased on the basis of original rope-driven displacement. The pneumatic artificial muscle is pressurized through the rolling device and the pressing device, and the using steps and equipment of the pneumatic artificial muscle are simplified. According to the invention, the motor and the pneumatic artificial muscle are combined, and the device has high output force and flexibility and is convenient to control.

Description

Technical Field

[0001] The present invention belongs to the technical field of pneumatic muscle, and particularly relates to a rolling inflation type pneumatic artificial muscle. Background Art

[0002] A pneumatic muscle is a new type of actuator that can imitate the contraction of biological muscles. Due to its advantages such as high flexibility, light weight, easy use, fast response speed, and low cost, it is widely used in various driving fields such as bionic machinery. The pneumatic muscle mainly consists of an inflatable elastic hose, a woven mesh that restricts the deformation of the elastic hose, and a clamp. After compressed air is introduced, the rubber tube expands and clings to the woven mesh, transferring the force of the gas to the woven mesh, causing the expansion to transform into an axial contraction force.

[0003] The pneumatic muscle has excellent performance and has good potential application prospects in the fields of rehabilitation therapy, virtual reality, and bionic robots. The mature pneumatic muscles on the market mainly include those produced by companies such as FESTO and SHADOW. Generally, during the working process of the above-mentioned pneumatic muscles, an independent external gas source device such as an air compressor is required to provide compressed gas for them, and pneumatic control devices such as solenoid valves are needed to realize the inflation and deflation functions of the pneumatic muscles, making the system appear cumbersome and difficult to be applicable to portable execution devices.

[0004] Therefore, how to achieve a pneumatic muscle driven without a high-pressure gas source has become an urgent technical problem to be solved. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides a rolling inflation type pneumatic artificial muscle to solve the problems raised in the above background art.

[0006] The technical solution adopted by the present invention to solve its technical problems is as follows: A rolling inflation type pneumatic artificial muscle, comprising: Inflation and deflation device: For performing inflation and deflation operations on the pneumatic artificial muscle; The inflation and deflation device includes: Rolling device: For squeezing the pneumatic artificial muscle so that the gas inside it is compressed and filled into the pneumatic artificial muscle; Winding device: For winding the squeezed pneumatic artificial muscle to achieve further compression and storage of the gas; Pressing device: For pressing the wound pneumatic artificial muscle to ensure that the gas does not leak; Rebound device: For restoring the initial state of the pneumatic artificial muscle when it deflates.

[0007] Pneumatic artificial muscle: It includes a sealing device, a braided mesh, a pre-inflated device, a soft gel, a valve, a transverse air chamber and a rubber tube; The sealing device and the pre-inflating device are respectively arranged at both ends of the rubber tube, and the braided mesh is sleeved on the outside of the rubber tube and fixed by the sealing device and the pre-inflating device; The soft rubber is arranged on the side of the rubber tube close to the sealing device, the valve is arranged inside the rubber tube close to the side of the soft rubber, and the transverse air chamber is arranged on the side of the rubber tube close to the pre-inflating device; The valve is used to prevent gas backflow, the soft rubber is used to adjust the initial position of the pneumatic artificial muscle, and the transverse air chamber is used to resist the baffle during inflation to prevent the rubber tube from being rolled in.

[0008] Compared with the prior art, the present invention has the following beneficial effects: The invention pulls the load through the pneumatic artificial muscle, thereby increasing the displacement generated by the contraction of the pneumatic artificial muscle on the basis of the displacement of the original rope drive.

[0009] The present invention pressurizes the pneumatic artificial muscle through a rolling device and a pressing device, thereby simplifying the use steps and equipment of the pneumatic artificial muscle.

[0010] The present invention combines a motor and a pneumatic artificial muscle, has high output force and flexibility, and is easy to control. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the structure of the rolling device of the embodiment of the present application.

[0012] Figure 2a It is a schematic diagram of a part of the structure of the winding device in the embodiment of the present application.

[0013] Figure 2b It is a structural schematic diagram of another part of the winding device in the embodiment of the present application.

[0014] Figure 3 It is a schematic diagram of the structure of the clamping device of the embodiment of the present application.

[0015] Figure 4 It is a schematic diagram of the structure of the rebound device of the embodiment of the present application.

[0016] Figure 5 It is a schematic diagram of the pneumatic artificial muscle structure of an embodiment of the present application.

[0017] Figure 6 It is a schematic diagram of inflating the pneumatic artificial muscle according to an embodiment of the present application. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the implementation cases of the present invention.

[0019] An embodiment of the present application provides a rolling inflatable pneumatic artificial muscle, including an air charging and discharging device; the air charging and discharging device is used for charging and discharging the pneumatic artificial muscle, and the air charging and discharging device includes a rolling device, and the rolling device is used for squeezing the pneumatic artificial muscle; it includes a winding device and a pressing device, the winding device is used for winding the squeezed pneumatic artificial muscle, and the pressing device is used for pressing the squeezed pneumatic artificial muscle; it includes a spring-back device for restoring the initial state of the pneumatic artificial muscle.

[0020] As a preferred technical solution, one end of the winding device is connected to the pneumatic artificial muscle, and the squeezing causes the pneumatic artificial muscle to inflate and contract.

[0021] The winding device is configured with a ball screw, which is connected to one end of the winding device and drives the winding device to rotate; the winding device is also configured with a gear.

[0022] The rolling device is configured with rollers for squeezing the pneumatic artificial muscle; the rolling device is also configured with a gear and a motor for driving the rolling device; the motor is connected to the rollers through the gear. The rolling device is also configured with a pre-compression device for pre-compressing the pneumatic artificial muscle.

[0023] The rolling device is also configured with a spring for tightening the rollers so that the rolling device is not affected by the internal pressure change of the pneumatic artificial muscle and its function is not affected.

[0024] The winding device and the rolling device are driven by the same motor through gear transmission, which simplifies the structure.

[0025] The spring-back device is also configured with a spring.

[0026] A valve is arranged inside the pneumatic artificial muscle to prevent backflow.

[0027] Soft glue is also arranged inside the pneumatic artificial muscle for adjusting the position in the initial state.

[0028] One end of the pneumatic artificial muscle is configured with an air charging device for pre-charging and supplementary air; the other end is configured with a sealing device to prevent gas leakage inside the pneumatic artificial muscle.

[0029] The pneumatic artificial muscle is also configured with a transverse air chamber for resisting the baffle.

[0030] In a certain embodiment, as Figure 1 shown, the rolling device includes motor 1, spring 2-1, spring 2-2, gear 3-1, gear 3-2, roller 4-1, roller 4-2 and pre-compression device 5.

[0031] The motor 1 is fixed on the outer shell, and the output shaft is directly connected to one side of the roller 4-2; on the other side of the roller 4-2, there is a gear 3-1, which is connected to the roller 4-2 by a key. At the same time, the gear 3-1 cooperates with the gear 3-2; the gear 3-2 is connected to the roller 4-1 by a key; the springs 2-1 and 2-2 are respectively installed on the connecting shafts at both ends of the roller, pulling the rollers 4-1 and 4-2 tightly. When the motor 1 rotates, it drives the roller 4-2, and the gear 3-1 rotates with the roller 4-2; the gear 3-2 rotates with the gear 3-1 through meshing, and then drives the roller 4-1 to rotate. Thus, the rollers 4-1 and 4-2 rotate simultaneously; the springs 2-1 and 2-2 ensure that the distance between the rollers 4-1 and 4-2 remains unchanged, and the pneumatic artificial muscle passes through the pre-compression device 5 before being rolled.

[0032] In one embodiment, as Figure 2a and Figure 2b shown, the winding device includes a boss 6, a ball screw rod 7-1, a ball screw nut 7-2 and a gear 8. The top cover of the boss 6 is provided with an opening and is fixedly connected to the ball screw nut 7-2 by bolts. The gear 8 is key-connected to the ball screw rod 7-1. There is a recess on the boss 6. After the pneumatic artificial muscle is rolled, it winds as it rotates. The ball screw rod 7-1 is connected to the outer shell. The gear 8 drives the ball screw rod 7-1 to rotate by meshing with the gear 3-2, and the boss 6 moves translationally as it rotates.

[0033] In one embodiment, as Figure 3 shown, the pressing device 9 is fixed on the outer shell, with threads provided on one side for cooperation with the boss 6 and a protrusion provided on the other side. While the winding device pulls the pneumatic artificial muscle, it rotates into the pressing device through thread cooperation, and then the pneumatic artificial muscle wound around the boss 6 is pressed by the protrusion inside the pressing device 9.

[0034] In one embodiment, as Figure 4 shown, the rebound device includes springs 10-1, 10-2, connecting lines 11-1, 11-2 and a baffle 12. One end of the springs 10-1 and 10-2 is connected to the baffle 12, and the other end is connected to the outer shell. One end of the connecting lines 11-1 and 11-2 is connected to the roller 4-2, and the other end is connected to the baffle 12. When the pneumatic artificial muscle needs to contract and inflate, the rotation of the roller 4-2 drives the connecting lines 11-1 and 11-2 to shorten, compressing the springs 10-1 and 10-2 and pulling the baffle 12; when the pneumatic artificial muscle needs to return, the springs 10-1 and 10-2 drive the baffle 12 to retract.

[0035] In one embodiment, as Figure 5As shown in the figure, the pneumatic artificial muscle includes a sealing device 13, a braided mesh 14, a pre-inflation device 15, a soft rubber 16-1, a valve 16-2, a transverse air chamber 16-3, and a rubber tube 16-4. The sealing device 13 and the pre-inflation device 15 are respectively arranged at both ends of the rubber tube 16-4. The braided mesh 14 is sleeved outside the rubber tube 16-4 and fixed by the sealing device 13 and the pre-inflation device 15. The soft rubber 16-1 is arranged on one side of the rubber tube 16-4 close to the sealing device 13. The valve 16-2 is arranged inside the rubber tube 16-4 close to the soft rubber 16-1. The transverse air chamber 16-3 is arranged on one side of the rubber tube 16-4 close to the pre-inflation device. Among them, the sealing device 13 is fixed through the hole provided in the boss 6. The pneumatic artificial muscle extends out from the hole, passes through the gap between the roller 4-1 and the roller 4-2, and then passes through the pre-compression device 5 and extends out through the baffle 12. The soft rubber 16-1 is used to ensure that the rubber tube 16-4 is completely outside the gap between the roller 4-1 and 4-2 when the pneumatic artificial muscle adjusts the initial position. When inflated and contracted, the valve 16-2 is squeezed by the pre-compression device 5 to ensure the one-way extrusion of gas and prevent gas backflow. When recovering, it opens as the pneumatic artificial muscle is pulled out, and the gas inside the pneumatic artificial muscle can flow back.

[0036] As Figure 6 shown, in the embodiment of the present application, the pneumatic artificial muscle is pre-filled with a small amount of gas. After receiving the pressurization signal, the motor 1 rotates forward to drive the rollers 4-1 and 4-2 to rotate. The gear 8 rotates with the gear 3-2 to drive the winding device to pull the pneumatic artificial muscle. After passing through the pre-compression device 5, it is preliminarily compressed. The rolling device squeezes the pneumatic artificial muscle to squeeze the gas into the rubber tube 16-4. Then the winding device winds this part around the boss 6, and then enters the pressing device 9, and is pressed by the protruding part inside the pressing device 9. During this process, the roller 4-2 drives the connecting lines 11-1 and 11-2 to shorten, and the tension springs 10-1 and 10-2 are tightened to drive the baffle 12 to contract. After the transverse air chamber 16-3 is inflated, it expands to block the baffle 12 to prevent the rubber tube 16-4 from being involved. After receiving the decompression signal, the motor rotates in reverse. The winding device exits the pressing device 9. Driven by the pulling force of the springs 10-1 and 10-2, the baffle 12 retracts. The pneumatic artificial muscle is pulled out through the rolling device and the pre-compression device 5. The valve 16-2 opens to allow the gas to flow back, and the pneumatic artificial muscle returns to its original state.

[0037] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution of the present invention and its inventive concept, makes equivalent substitutions or changes, and should be covered within the protection scope of the present invention.

Claims

1. A rolling inflatable pneumatic artificial muscle, characterized in that: include: Inflating and deflation device: Used to inflate and deflate pneumatic artificial muscles; The inflation and deflation device comprises: Rolling device: used to squeeze the pneumatic artificial muscle so that the gas inside it is compressed and filled into the pneumatic artificial muscle; Winding device: used to wind the pneumatic artificial muscle after extrusion to achieve further compression and storage of gas; Compressing device: used to compress the wound pneumatic artificial muscle to ensure that the gas does not leak; Rebound device: used to restore the pneumatic artificial muscle to its original state when it is deflated; Pneumatic artificial muscles: It includes a sealing device, a braided mesh, a pre-inflated device, a soft gel, a valve, a transverse air chamber and a rubber tube; The sealing device and the pre-inflating device are respectively arranged at both ends of the rubber tube, and the braided mesh is sleeved on the outside of the rubber tube and fixed by the sealing device and the pre-inflating device; The soft rubber is arranged on the side of the rubber tube close to the sealing device, the valve is arranged inside the rubber tube close to the side of the soft rubber, and the transverse air chamber is arranged on the side of the rubber tube close to the pre-inflating device; The valve is used to prevent gas backflow, the soft rubber is used to adjust the initial position of the pneumatic artificial muscle, and the transverse air chamber is used to resist the baffle during inflation to prevent the rubber tube from being rolled in.

2. The rolling inflatable pneumatic artificial muscle according to claim 1, characterized in that: The winding device is equipped with a ball screw and a gear. The ball screw is connected to one end of the winding device to drive the winding device to rotate. The gear is used to connect to an external driving device to achieve precise winding control.

3. The rolling inflatable pneumatic artificial muscle according to claim 1, characterized in that: The rolling device includes a roller and a driving mechanism, wherein the roller is used to squeeze the pneumatic artificial muscle, the driving mechanism includes a motor and a gear, and the motor is connected to the roller via the gear. The rolling device is also equipped with a pre-compression device for pre-compressing the pneumatic artificial muscle before squeezing.

4. The rolling inflatable pneumatic artificial muscle according to claim 3, characterized in that: The rolling device is also equipped with a spring, which is used to tighten the roller to ensure that the rolling device can still work stably when the internal pressure of the pneumatic artificial muscle changes.

5. The rolling inflatable pneumatic artificial muscle according to claim 2, characterized in that: The winding device and the rolling device are driven by the same motor through gear transmission.

6. The rolling inflatable pneumatic artificial muscle according to claim 3, characterized in that: The rebound device comprises a spring and a connecting line, wherein the spring is used to provide a restoring force when the pneumatic artificial muscle is deflated, and the connecting line is used to connect the roller with the baffle to realize the rebound action of the pneumatic artificial muscle.

7. The rolling inflatable pneumatic artificial muscle according to claim 3, characterized in that: The pneumatic artificial muscle is internally provided with a valve, and the valve is used to prevent gas backflow and ensure the unidirectionality of the inflation process.

8. The rolling inflatable pneumatic artificial muscle according to claim 7, characterized in that: The pneumatic artificial muscle is also provided with soft glue inside, and the soft glue is used to adjust the position of the pneumatic artificial muscle in the initial state to ensure its correct position between the rollers.

9. The rolling inflatable pneumatic artificial muscle according to claim 7, characterized in that: One end of the pneumatic artificial muscle is equipped with an inflation device for pre-inflation and air replenishment; the other end is equipped with a sealing device for preventing gas leakage inside the pneumatic artificial muscle and ensuring the air tightness of the system.

10. The rolling inflatable pneumatic artificial muscle according to claim 7, characterized in that: The pneumatic artificial muscle is also provided with a radial air chamber, which is used to abut against the baffle during inflation to prevent the rubber tube from being rolled in.

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