CN100500114C - Artificial muscle - Google Patents
Artificial muscle Download PDFInfo
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- CN100500114C CN100500114C CNB021339082A CN02133908A CN100500114C CN 100500114 C CN100500114 C CN 100500114C CN B021339082 A CNB021339082 A CN B021339082A CN 02133908 A CN02133908 A CN 02133908A CN 100500114 C CN100500114 C CN 100500114C
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- artificial
- muscle
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- flow liquid
- magnetic flow
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Abstract
An artificial muscle is composed of many artificial muscle fibre bunches. A single artificial muscle fibre bunch consists of double helical coils, elastic colloid and magnetic rheopectic liquid microball composed of magnetic rheopectic liquid carrier and polarizable magnetic particles. Its advantages are use of magnetic rheopectic effect to implement muscular contraction with strong contraction force, light weight and simple structure.
Description
Technical field
The invention belongs to robot manufacturing, dynamic motion simulation technical field, be specifically related to a kind of artificial-muscle.
Technical background
Artificial-muscle can be widely used in fields such as robot, mechanical hand, artificial limb, bionic toy, stage property.Prior art has multiple mode at the design aspect of artificial-muscle, Chinese patent 97110134.5 discloses a kind of artificial tubular muscle and application thereof, its specific design is to make tubular structure by macromolecular material and fiber, fiber is evenly distributed in the tube wall, the sealing of tubular structure one end, the other end is connected with pump by interface, flexible pipe, control valve, and tubular muscle to stretching, and does not produce lateral magnification at the driving lower edge of pump tubular axis.This artificial-muscle has certain muscle contraction function, but has following technical problem:
1, this artificial-muscle is to realize radial expansion by the gas that acts on tubular artificial muscle end face, hydraulic coupling, when diameter is very little (as 0.3 in this invention
-1 millimeter, deduct thickness of pipe wall, effective diameter should be littler), the pressure potential that acts on the end face must be very little, and act on lateral pressure much bigger than on the end face, make tubular artificial muscle flexible effectively, can only increase pressure, pressure is high more, and pressure is big more, thereby is difficult to guarantee the sealing of tubular artificial muscle tube wall.
2, when pressure was big, the difficult sealing between pump, interface, flexible pipe, the control valve was with assurance, and this class sealant costs an arm and a leg.
Summary of the invention
The present invention is directed to the prior art above shortcomings, designed a kind of artificial-muscle, with the contraction of magnetic current effect realization muscle, simple in structure, convenient, flexible, muscular contraction force is strong.
Technical scheme of the present invention is as follows:
This artificial muscle serves as to constitute the unit with single bundle artificial-muscle fiber, single bundle artificial-muscle fiber is made of double-spiral coil, elastic gum, magnetic flow liquid micelle, double-spiral coil appearance and inner the coating by elastic gum are filled, be full of the magnetic flow liquid micelle in the elastic gum, the magnetic flow liquid micelle is made up of magnetic flow liquid carrier and polarizable magnetic-particle.The energising of double-spiral coil two ends makes the polarization of magnetic flow liquid micelle, and single bundle artificial-muscle fiber produces distortion.
Described magnetic flow liquid carrier is selected silicone oil, and polarizable magnetic-particle is selected straight iron powder or oxidate powder.Double-spiral coil is formed by the tinsel coiling of diameter very thin (as being 20).Products for Cooked Whole Muscle is made of many single bundle artificial-muscle fibers.
Artificial-muscle provided by the invention is by the contraction of magnetic current effect realization muscle, and contractility is strong, in light weight, convenient, flexible, simple in structure.By using the artificial-muscle group of different size, to install according to its intended purposes, and current intensity is advanced control, artificial-muscle can produce contraction in various degree and reverse.The present invention can be widely used in fields such as robot manufacturing, cybernetics, dynamic motion simulation, provides a kind of means for using artificial muscular tissue simulation biological motion.
Description of drawings
Fig. 1 is the front perspective view of single bundle artificial-muscle fiber;
Fig. 2 is the side perspective view of single bundle artificial-muscle fiber;
Fig. 3 is when passing to electric current, producing the sketch map in magnetic field around the double-spiral coil;
Fig. 4 is that polarizable part of speech granule produces polarization in the magnetic flow liquid under the action of a magnetic field, arranges the sketch map of growth magnetic linkage;
Fig. 5 is the sectional schematic diagram of monoblock artificial-muscle.
The specific embodiment
Referring to Fig. 1 and Fig. 2, this artificial muscle is to be the basic comprising unit by many single bundle artificial-muscle fibers.Single bundle artificial-muscle fiber is made of double-spiral coil 1, elastic gum 2, magnetic flow liquid micelle 3, double-spiral coil 1 appearance and inner the coating by elastic gum 2 are filled, drench with the elasticity glue by double-spiral coil 1 during making, the elasticity glue is met air and is solidified gradually, slow rotating screw coil 1 in the solidification process evenly covers thereon elastic gum 2.Be full of magnetic flow liquid micelle 3 in the elastic gum 2, magnetic flow liquid micelle 3 is made up of magnetic flow liquid carrier and polarizable magnetic-particle.The magnetic flow liquid carrier is selected silicone oil, and polarizable magnetic-particle is selected straight iron powder or oxidate powder.Double-spiral coil 1 is formed by the tinsel coiling of diameter very thin (as being 20).
Under the situation of no externally-applied magnetic field, polarizable magnetic-particle is to distribute disorderly in a jumble in the magnetic flow liquid carrier.After the double-spiral coil two ends pass to DC current A, will produce magnetic field at double-spiral coil 1 surrounding space, referring to Fig. 3.Magnetic field magnetic line C direction is the central shaft B direction along double-spiral coil 1.Referring to Fig. 4, polarizable magnetic-particle 5 in the magnetic flow liquid 4 produces polarization effect under the action of a magnetic field, polar direction is along the direction of magnetic field magnetic line, the polarizable magnetic-particle of same magnetic flow liquid micelle is arranged as neat magnetic linkage, when magnetic field intensity reaches certain certain value, all polarizable magnetic-particles all are aligned to magnetic linkage, and this moment, the gravitation of magnetic flow liquid micelle was the strongest, and promptly artificial-muscle shrinks and reaches maximum.The quantity of polarizable magnetic-particle is determined by the amounts of particles of saturated magnetic flow liquid in the magnetic flow liquid.So attract each other between the adjacent and close magnetic flow liquid micelle.With regard to two magnetic flow liquid micelles, gravitation between them is along its center line connecting direction, and not necessarily along the central axis direction of double-spiral coil, but owing to exist a large amount of magnetic flow liquid micelles in the elastic gum, gravitational between each magnetic flow liquid micelle must be along magnetic line of force direction with joint efforts, i.e. the direction of the central shaft of double-spiral coil thisly makes a concerted effort to make that elastic gum changes together with the shape of double-spiral coil, i.e. contraction shortens, and produces the motion of similar muscle contraction.Electric current strengthens, and gravitation increases, and deflection increases, and the contractility of artificial-muscle strengthens, thereby can realize the controllability of people's muscular contraction force.After disconnecting DC current, the magnetic field around the double-spiral coil disappears, and the polarity effect of polarizable magnetic-particle disappears thereupon in the magnetic flow liquid micelle, thereby makes the magnetic linkage collapse, and polarizable magnetic-particle is got back to mixed and disorderly unordered state again.Gravitation between the magnetic flow liquid micelle disappears, and double-spiral coil and elastic gum restore to the original state.
Referring to Fig. 5, the artificial-muscle of monoblock is made up of many single bundle artificial-muscle fibers 6, and the surface forms clad 7 with elastic gum.
Elastic gum in this patent can be with selecting latex, lactoprene etc.
Claims (5)
1, a kind of artificial-muscle, it is characterized in that with single bundle artificial-muscle fiber serve as to constitute the unit, single bundle artificial-muscle fiber is made of double-spiral coil, elastic gum, magnetic flow liquid micelle, double-spiral coil appearance and inner the coating by elastic gum are filled, be full of the magnetic flow liquid micelle in the elastic gum, the magnetic flow liquid micelle is made up of magnetic flow liquid carrier and polarizable magnetic-particle.
2, artificial-muscle according to claim 1 is characterized in that in the energising of double-spiral coil two ends the magnetic flow liquid micelle being intensified, and single bundle artificial-muscle fiber produces distortion.
3, artificial-muscle according to claim 1 and 2 is characterized in that magnetic flow liquid carrier selection silicone oil, and polarizable magnetic-particle is selected straight iron powder or oxidate powder.
4, artificial-muscle according to claim 1 and 2 is characterized in that Products for Cooked Whole Muscle is made of many single bundle artificial-muscle fibers.
5, artificial-muscle according to claim 1 and 2 is characterized in that double-spiral coil is formed by the tinsel coiling.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB021339082A CN100500114C (en) | 2002-10-14 | 2002-10-14 | Artificial muscle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB021339082A CN100500114C (en) | 2002-10-14 | 2002-10-14 | Artificial muscle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1413562A CN1413562A (en) | 2003-04-30 |
| CN100500114C true CN100500114C (en) | 2009-06-17 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB021339082A Expired - Fee Related CN100500114C (en) | 2002-10-14 | 2002-10-14 | Artificial muscle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100500114C (en) |
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| CN102551918B (en) * | 2012-02-21 | 2014-11-19 | 上海海事大学 | Electroshock extension artificial muscle movement device |
| CN103192383B (en) * | 2013-04-25 | 2016-06-08 | 上海海事大学 | The robot arm device of a kind of artificial-muscle and driving thereof |
| CN103598930A (en) * | 2013-11-30 | 2014-02-26 | 陆华峰 | Artificial muscle for generating hydraulic pressure with magnetofluid |
| CN106625578B (en) * | 2015-08-28 | 2019-04-05 | 深兰科技（上海）有限公司 | A kind of artificial-muscle and its application, robot |
| CN106002994B (en) * | 2016-05-18 | 2018-02-02 | 东南大学 | A kind of single radial cut fibers straight type connecting hose artificial-muscle |
| CN105965537B (en) * | 2016-06-20 | 2017-12-22 | 东南大学 | A kind of dual openings fibers straight type connecting hose artificial-muscle |
| CN106920450B (en) * | 2017-03-21 | 2020-05-19 | 淮阴师范学院 | Muscle tissue reproduction interface device for realizing man-machine interaction |
| CN106816074B (en) * | 2017-03-21 | 2020-05-19 | 淮阴师范学院 | Muscle tissue reappears interface arrangement |
| CN108127658B (en) * | 2017-12-21 | 2020-01-24 | 哈尔滨工业大学 | Artificial muscle driven by electromagnetic force |
| CN108115664B (en) * | 2017-12-21 | 2020-09-04 | 哈尔滨工业大学 | Artificial muscle with self-sensing function |
| CN108054950A (en) * | 2017-12-21 | 2018-05-18 | 哈尔滨工业大学 | A kind of artificial-muscle of inverse piezoelectric effect driving |
| CN108543165B (en) * | 2018-02-27 | 2021-06-18 | 宁波胜杰康生物科技有限公司 | Carrier-based muscle function auxiliary device |
| US11028504B2 (en) * | 2018-04-16 | 2021-06-08 | The Hong Kong Polytechnic University | Multi-level-architecture multifiber composite yarn |
| CN109746897B (en) * | 2019-01-07 | 2023-12-22 | 吉林大学 | Back bionic exoskeleton power assisting device |
| CN110370257A (en) * | 2019-07-26 | 2019-10-25 | 深圳大学 | A kind of auxiliary drive device and automatic drive |
| CN111360803B (en) * | 2020-03-20 | 2022-01-28 | 哈尔滨工程大学 | Electromagnetic artificial muscle |
| CN113737533B (en) * | 2021-09-08 | 2023-03-21 | 青岛大学 | Hybrid controllable magnetorheological elastomer damping element and preparation method thereof |
| CN114792487A (en) * | 2022-05-16 | 2022-07-26 | 福州大学 | Touch-controllable human tissue simulating system and manufacturing method thereof |
| CN115570593A (en) * | 2022-09-19 | 2023-01-06 | 大连理工大学 | Multi-degree-of-freedom magnetic control spiral bionic flexible joint and application |
-
2002
- 2002-10-14 CN CNB021339082A patent/CN100500114C/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN1413562A (en) | 2003-04-30 |
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Granted publication date: 20090617 Termination date: 20111014 |