CN102551918A - Electroshock extension artificial muscle movement device - Google Patents
Electroshock extension artificial muscle movement device Download PDFInfo
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- CN102551918A CN102551918A CN2012100396705A CN201210039670A CN102551918A CN 102551918 A CN102551918 A CN 102551918A CN 2012100396705 A CN2012100396705 A CN 2012100396705A CN 201210039670 A CN201210039670 A CN 201210039670A CN 102551918 A CN102551918 A CN 102551918A
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Abstract
The invention discloses an electroshock extension artificial muscle movement device. The movement device comprises seven driving long cylinders, an artificial skin surface and outgoing lines, wherein one of the driving long cylinders is arranged in the middle of the movement device, and the other six driving long cylinders are symmetrically arranged on both sides of the movement device; the movement device is filled of silica gel; each driving long cylinder consists of dielectric elastomer double thin layers, a spring, end cylinder covers and a long cylinder surface; the dielectric elastomer double thin layers are symmetrically arranged on the inner wall of the long cylinder surface, the spring is arranged in the middle of the driving long cylinder, the end cylinder covers are installed on both ends of the driving long cylinder; on end of the outgoing line is connected with the end cylinder covers on both ends of the driving long cylinder. The movement device has a flexible structure, can be assembled and disassembled directly and conveniently, and has the advantages of a light and simple structure.
Description
Technical field
The present invention relates to a kind of bionics techniques field, the flexible imitative muscular movement device of particularly a kind of electric shock.
Background technology
In mid-term in 20th century, the People more and more heightened awareness arrives the importance of the inspiration of the Nature for exploitation new material and new technique, thereby proposes the bionics notion and set up this subject of bionics; Along with the development of research, bionics has become a natural science applied forward position and focus; Got into since 21 century, all kinds of traffic, building and industrial accident cause muscle damage day by day to increase; Because myoarchitecture is complicated, repair quite difficulty of muscle technology.At present, clinical normal employing is corrected, operations such as transplanting, and therapeutic efficiency and surgical effect are often not ideal enough.In addition, the develop rapidly of robotics, biological machine is as following new technique, and is very urgent to the development of artificial muscle.
Muscle is biologically contractile tissue; Be to rely on neuroelectricity to reach the effect of flexible deformation; Have information transmission, energy delivery, refuse eliminating, energy supply, transmission and self-repair function, the human artificial-muscle research and development of being devoted to bionical thing muscle very early; The fifties in last century, McKibben has developed air impeller first, and develops into coml McKibben driver, but as artificial thews material, the material low side, McKibben driver volume is big, and receives the restriction of aid system.
Had characteristics such as high-energy-density and low-gravity though marmem also attempts as artificial thews material, because it has the deformation unpredictability, response speed slowly and use many unfavorable factors such as size-constrained; Another alternative materials that electroactive pottery is an artificial-muscle, its response speed is fast than marmem, but fragility is big, can only obtain the strain less than 1%; Owing to receive the restriction of material, the research of artificial-muscle is always from slow developmental stage.
Existing present new material electroactive polymer (Electroactive polymers, appearance EAP) gives the artificial-muscle field with new impact; Big two one magnitude of the electroactive pottery of the strain ratio that EAP can produce, and fast than the marmem response speed, density is little, resilience force is big, has high anti-tearing strength and inherent vibration damping performance of similar biological muscles etc. in addition.From eighties of last century beginning of the nineties, obtain fast development based on the artificial-muscle driver of electroactive polymer material.
The electroactive polymer driving material is meant the polymeric material that can under electric current, voltage or electric field action, produce physical deformation, and its marked feature is can electric energy be converted into mechanical energy.The EAP Application and Development can be traced back to 1880, and the roentgen finds that the change of length can take place the fixed rubber strip of an end under electric field.Afterwards nineteen twenty-five piezopolymer come to light, but since strain with the acting very little, only be used as pick off; Katchalsky in 1949 finds that collagen fibers can repeat pucker & bloat in acid-base solution, and this is that the chemical response of polymeric material comes to light first.
Along with the deepening continuously and develop of EAP investigation of materials, its great application prospect has been presented in face of the people; The EAP material can be used as AFL and artificial organ, endoscopic catheters, confession spaceman and the outer skeleton of reinforcement for disabled persons and makes robot muscle, can be used for the more tiny device of manufacturing dimension and is used for genetic engineering and comes manipulating cells; Utilize electroactive polymer can realize the miniaturization of equipments and devices, thereby promote the development of micro-electronic mechanical skill; The Scientific Application field of having been developed at present mainly contains: people's machinery face, aircraft applications, may command fabric, robot, medical treatment etc., however mostly at the experimental stage.According to the mechanism that deformation produces, the electroactive polymer artificial thews material can be divided into electron type and ion-type two big classes.Electron type is the electric field active material, drives through electric field and electrostatic interaction (Coulomb force), because the driving system need not remain under the hygrometric state environment, also is called as the driving system of doing; This class mainly comprises dielectric elastomers, piezopolymer, ferroelectric polymers, electrostrictive polymers and liquid crystal elastic body.Ionomer is the current activity material; Comprise polymer dielectric gel, carbon nano tube compound material, ionomer; Metallic composite and conducting polymer; Because system needs work under the hygrometric state environment, also claim wet driving system, mainly reach the purpose of driving through ionic caused by movement deformation; Since electronics than ion move more hurry up, the response time of electron type polymer is shorter, only several microseconds, its energy density is also bigger, and can in air, move for a long time, and ionic material must be bathed in the liquid flux.
Be an impediment to domestic advanced material technical limitations, domestic less for the research of imitative muscle simulated tissue, for example artificial muscle and emulated robot; Application number is 200410069382 patent; It is to utilize circuit, and it mainly uses " thin slice line coil ", does the spool of " permanent magnetic simple stepper moter "; As the drive circuit of motor, control " skeleton ", " muscle ", visual system and the control system of robot with " drive circuit of intelligent motor " after improving; But these technology all do not have real being used for to accomplish bionics techniques, accomplish to rely on analog neuron electric power to make imitative muscular tissue produce the flexible effect of deformation.
Summary of the invention
The technical problem that the present invention will solve provide a kind ofly respond to sensitivity, bio-imitability is strong, simple in structure and the flexible imitative muscular movement device of the electric shock of easy installation and removal.
For achieving the above object, technical scheme of the present invention is following:
Flexible imitative muscular movement device gets an electric shock; Said telecontrol equipment comprises that 7 drive long tube, imitation leather skin top layer and lead-out wire; Long middle part that is placed in telecontrol equipment of a said wherein driving; Other 6 drive the symmetric both sides that are placed in telecontrol equipment of long tube, and fill with silica gel said telecontrol equipment inside; The long tube of said driving is made up of the two thin layers of dielectric elastomers, spring, terminal cover and long tube top layer; The two thin layers of said dielectric elastomers are symmetric to be placed on the inwall on long tube top layer, and said spring is placed in and drives long tube middle part, and said terminal cover is placed in the two ends that drive long tube, and an end of said lead-out wire is connected with the terminal cover that drives a long two ends.
Preferably, said terminal cover is the middle part engraved structure.
Preferably, the long tube of said terminal cover and driving is for removably connecting.
Preferably, the two thin layer end faces of said dielectric elastomers are semicircle.
Through technique scheme, the invention has the beneficial effects as follows:
1, the present invention responds to sensitivity, and artificial muscle is reequiped, and its electric shock telescopic variation, bio-imitability are strong.
2, the present invention has characteristics such as structure dexterity, easy installation and removal.
3, the present invention has regular variation, can measure the muscle deformation quantity quantitatively.
4, the present invention is for anthropomorphic dummy's somatic nerves electric current, and the artificial muscle design of triggering muscular movement provides the principle basis, for muscle transplantation and robot design, abundant technical support is provided, and has wide technical prospect and objective using value.
Description of drawings
In order to be illustrated more clearly in the embodiment of the invention or technical scheme of the prior art; To do to introduce simply to the accompanying drawing of required use in embodiment or the description of the Prior Art below; Obviously, the accompanying drawing in describing below only is some embodiments of the present invention, for those of ordinary skills; Under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings.
Fig. 1 is a structural representation of the present invention;
Fig. 2 is a cutaway view of the present invention;
Fig. 3 drives the axial cross section sketch map of long tube for the present invention;
Fig. 4 is the two laminate structure sketch maps of dielectric elastomers of the present invention;
Fig. 5 drives the three-dimensional fracture sketch map of long tube for the present invention;
Fig. 6 is the terminal vertical view of long tube for the present invention drives;
Fig. 7 receives electric deformation principle schematic for dielectric elastomers of the present invention.
The numeral corresponding component title represented among the figure with letter:
10, telecontrol equipment 20, long 21 of driving, the two thin layers 22 of dielectric elastomers, spring 23, terminal cover 24, a long top layer 30, imitation leather skin top layer 40, lead-out wire 50, silica gel
The specific embodiment
For technological means, creation characteristic that the present invention is realized, reach purpose and effect and be easy to understand and understand, below in conjunction with concrete diagram, further set forth the present invention.
Referring to illustrated in figures 1 and 2; The present invention's flexible imitative muscular movement device 10 that gets an electric shock comprises that 7 drive long tube 20, imitation leather skin top layer 30 and lead-out wires 40; Long 20 middle part that is placed in telecontrol equipment 10 of a said wherein driving; Other 6 drive the long tube 20 symmetric both sides that are placed in telecontrol equipment 10, and the said telecontrol equipment 10 inner silica gel 50 that adopt are filled.
To shown in Figure 7, the present invention drives long tube 20 and is made up of the two thin layers 21 of dielectric elastomers, spring 22, terminal cover 23 and long tube top layer 24 referring to Fig. 3; The two thin layer of said dielectric elastomers 21 is symmetric to be placed on the inwall on long tube top layer 24, and said spring 22 is placed in and drives long tube 20 middle parts, and said terminal cover 23 is placed in the two ends that drive long tube 20; Said terminal cover 23 is the middle part engraved structure, and said terminal cover 23 and the long tube 20 of driving are for removably connecting, and an end of said lead-out wire 40 is connected with the terminal cover 23 that drives length 20 two ends.
The two thin layers 21 of dielectric elastomers of the present invention adopt the electron type electroactive polymer as material; (Electroactive polymers is through the electrostatic force on the molecular dimension (Coulomb force) effect polymer molecular chain to be arranged to realize the expansion and the contraction of each dimension on the volume again EAP) to the electron type electroactive polymer; It is a kind of physical process that this electromechanical transforms, and comprises two kinds of mechanism, electrostriction effect and Maxwell effect; Two kinds of stress and strains that mechanism produced all with square being directly proportional of electric field.
Electrostriction effect is the strain that the change owing to dielectric material character causes, electric polarization and mechanical strain relation are following, S=-QEo2 (Er-1) 2E2; S representes the longitudinal strain that electrostriction causes, and promptly in the strain of film thickness direction, Q is an electrostriction coefficient, and Eo is a permittivity of vacuum, and Er is a relative dielectric constant, and E is an electric field intensity; Dielectric constant E is by permittivity of vacuum and the relative dielectric constant gained (E=EoEr) that multiplies each other.If electrostriction phenomena will take place, must contain crystal region in the material structure; Its dielectric constant increases the probability that is indicating that then electrostriction effect occurs when material generation prestrain; The dielectric constant of material can record through the dielectric analysis appearance.
Maxwell stress is the result that Electric Field Distribution changes in the electrolyte.S '=-sEoErE2P2; S ' is the strain on the film thickness direction, and s is an elastic compliance, and stress and dielectric constant are proportional; This mechanism plays a major role such as having in the high strained dielectric elastomers in low-modulus material; The performance of electron type EAP is that deformation is big, needs very high electric field intensity, and this just makes driving voltage generally be higher than 1kv, but because electric current is very low, power consumption is lower; In electron type EAP material, select for use dielectric elastomers to make main device materials, dielectric elastomers is the mollielast of chemical crosslinking, can provide very big field to cause strain (10%-100%).
Referring to shown in Figure 7, the two thin layers 21 of dielectric elastomers of the present invention are " sandwich " structure; Under no-voltage condition, have the Zo height, applying under the voltage condition, double-deck dielectric elastomers is squeezed, and produces horizontal longitudinal deformation.
The two thin layers 21 of dielectric elastomers of the present invention are processed semi-circular structure, and it has the function that receives electric deformation.
Operation principle of the present invention does; Feed electric current through 40 pairs of devices of lead-out wire and apply voltage, the two thin layers 21 of dielectric elastomers will increase two thin layer 21 length of monoblock dielectric elastomers and produce deformation in driving upwards generation extruding of long tube 20 footpaths; If be the one-sided voltage that applies; Opposite side breaks off, and one-sided generation deformation is increased, and makes 20 bendings of the long tube of whole driving; Every drives the curved change effect that long tube 20 all has twocouese, is controlling the deformation of muscle to the different directions different shape respectively.
When the present invention touched voltage, the long tube 20 of inner driving was being controlled the deformation of muscle to the different directions different shape respectively, thereby accomplishes electric shock signal, produces the function of deformation and power.
More than show and described ultimate principle of the present invention and principal character and advantage of the present invention.The technical staff of the industry should understand; The present invention is not restricted to the described embodiments; That describes in the foregoing description and the description just explains principle of the present invention; Under the prerequisite that does not break away from spirit and scope of the invention, the present invention also has various changes and modifications, and these variations and improvement all fall in the scope of the invention that requires protection.The present invention requires protection domain to be defined by appending claims and equivalent thereof.
Claims (4)
1. flexible imitative muscular movement device gets an electric shock; It is characterized in that; Said telecontrol equipment comprises that 7 drive long tube, imitation leather skin top layer and lead-out wire; Long middle part that is placed in telecontrol equipment of a said wherein driving, other 6 drive a long symmetric both sides that are placed in telecontrol equipment, and fill with silica gel said telecontrol equipment inside; The long tube of said driving is made up of the two thin layers of dielectric elastomers, spring, terminal cover and long tube top layer; The two thin layers of said dielectric elastomers are symmetric to be placed on the inwall on long tube top layer, and said spring is placed in and drives long tube middle part, and said terminal cover is placed in the two ends that drive long tube, and an end of said lead-out wire is connected with the terminal cover that drives a long two ends.
2. the flexible imitative muscular movement device of electric shock according to claim 1, it is characterized in that: said terminal cover is the middle part engraved structure.
3. based on the flexible imitative muscular movement device of the described electric shock of claim 1, it is characterized in that: the long tube of said terminal cover and driving is for removably connecting.
4. the flexible imitative muscular movement device of electric shock according to claim 1 is characterized in that: the two thin layer end faces of said dielectric elastomers are for semicircle.
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| CN201210039670.5A CN102551918B (en) | 2012-02-21 | 2012-02-21 | Electroshock extension artificial muscle movement device |
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| CN201210039670.5A CN102551918B (en) | 2012-02-21 | 2012-02-21 | Electroshock extension artificial muscle movement device |
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| CN102551918B CN102551918B (en) | 2014-11-19 |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102813563A (en) * | 2012-08-27 | 2012-12-12 | 上海交通大学 | Active and passive type intelligent simulated muscle |
| CN102990644A (en) * | 2012-11-30 | 2013-03-27 | 电子科技大学 | Photo-induced bending conductive actuator and manufacturing method thereof |
| CN103018061A (en) * | 2012-11-26 | 2013-04-03 | 浙江工业大学 | Artificial muscle group test platform and artificial muscle group framework |
| CN103192383A (en) * | 2013-04-25 | 2013-07-10 | 上海海事大学 | Artificial muscle and mechanical arm device driven by same |
| CN104816315A (en) * | 2015-03-18 | 2015-08-05 | 苏州市恒加新精密机械科技有限公司 | Bionic mechanical arm controlled through fiber shrinkage |
| CN104848095A (en) * | 2015-05-27 | 2015-08-19 | 京东方科技集团股份有限公司 | Adjustable curvature backboard, backlight module and surface display device |
| CN106652713A (en) * | 2017-01-03 | 2017-05-10 | 合肥讯创信息科技有限公司 | Acupuncture manipulation simulation analysis instrument |
| CN106781949A (en) * | 2017-01-03 | 2017-05-31 | 合肥讯创信息科技有限公司 | A kind of acupuncture manipulation practicing device |
| CN106875801A (en) * | 2016-12-29 | 2017-06-20 | 合肥讯创信息科技有限公司 | A kind of massage manipulation exercise apparatus |
| CN109131876A (en) * | 2018-10-24 | 2019-01-04 | 上海海事大学 | A kind of Novel imitation dragonfly wing Computation of Flexible Flapping-Wing |
| CN110811923A (en) * | 2019-11-05 | 2020-02-21 | 长沙理工大学 | Method for optimizing percutaneous electric energy transmission system of artificial anal sphincter |
| CN111618837A (en) * | 2020-05-22 | 2020-09-04 | 大连理工大学 | Electric control telescopic type composite artificial muscle |
| CN112440271A (en) * | 2020-05-22 | 2021-03-05 | 大连理工大学 | Electric control bidirectional bending type composite artificial muscle |
| CN112571440A (en) * | 2020-12-09 | 2021-03-30 | 中国空间技术研究院 | Joint unit, finger-shaped device and gripper |
| CN113247136A (en) * | 2021-05-27 | 2021-08-13 | 南京航空航天大学 | Bionic adhesion part driven by solid-liquid mixing and with controllable adhesion-desorption |
| CN113580195A (en) * | 2021-08-11 | 2021-11-02 | 上海大学 | Many closed loops of wire winding thin wall can open and receive arm |
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Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102813563A (en) * | 2012-08-27 | 2012-12-12 | 上海交通大学 | Active and passive type intelligent simulated muscle |
| CN102813563B (en) * | 2012-08-27 | 2015-01-14 | 上海交通大学 | Active and passive type intelligent simulated muscle |
| CN103018061A (en) * | 2012-11-26 | 2013-04-03 | 浙江工业大学 | Artificial muscle group test platform and artificial muscle group framework |
| CN103018061B (en) * | 2012-11-26 | 2014-12-03 | 浙江工业大学 | Artificial muscle group test platform and artificial muscle group framework |
| CN102990644A (en) * | 2012-11-30 | 2013-03-27 | 电子科技大学 | Photo-induced bending conductive actuator and manufacturing method thereof |
| CN102990644B (en) * | 2012-11-30 | 2015-03-18 | 电子科技大学 | Photo-induced bending conductive actuator and manufacturing method thereof |
| CN103192383A (en) * | 2013-04-25 | 2013-07-10 | 上海海事大学 | Artificial muscle and mechanical arm device driven by same |
| 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 |
| CN104816315A (en) * | 2015-03-18 | 2015-08-05 | 苏州市恒加新精密机械科技有限公司 | Bionic mechanical arm controlled through fiber shrinkage |
| CN104848095A (en) * | 2015-05-27 | 2015-08-19 | 京东方科技集团股份有限公司 | Adjustable curvature backboard, backlight module and surface display device |
| CN106875801A (en) * | 2016-12-29 | 2017-06-20 | 合肥讯创信息科技有限公司 | A kind of massage manipulation exercise apparatus |
| CN106781949A (en) * | 2017-01-03 | 2017-05-31 | 合肥讯创信息科技有限公司 | A kind of acupuncture manipulation practicing device |
| CN106652713A (en) * | 2017-01-03 | 2017-05-10 | 合肥讯创信息科技有限公司 | Acupuncture manipulation simulation analysis instrument |
| CN109131876A (en) * | 2018-10-24 | 2019-01-04 | 上海海事大学 | A kind of Novel imitation dragonfly wing Computation of Flexible Flapping-Wing |
| CN110811923A (en) * | 2019-11-05 | 2020-02-21 | 长沙理工大学 | Method for optimizing percutaneous electric energy transmission system of artificial anal sphincter |
| CN112440271B (en) * | 2020-05-22 | 2022-04-12 | 大连理工大学 | Electric control bidirectional bending type composite artificial muscle |
| CN112440271A (en) * | 2020-05-22 | 2021-03-05 | 大连理工大学 | Electric control bidirectional bending type composite artificial muscle |
| CN111618837A (en) * | 2020-05-22 | 2020-09-04 | 大连理工大学 | Electric control telescopic type composite artificial muscle |
| CN111618837B (en) * | 2020-05-22 | 2022-09-16 | 大连理工大学 | Electric control telescopic type composite artificial muscle |
| CN112571440A (en) * | 2020-12-09 | 2021-03-30 | 中国空间技术研究院 | Joint unit, finger-shaped device and gripper |
| CN113247136A (en) * | 2021-05-27 | 2021-08-13 | 南京航空航天大学 | Bionic adhesion part driven by solid-liquid mixing and with controllable adhesion-desorption |
| CN113247136B (en) * | 2021-05-27 | 2022-07-12 | 南京航空航天大学 | Bionic adhesion part driven by solid-liquid mixing and with controllable adhesion-desorption |
| CN113580195A (en) * | 2021-08-11 | 2021-11-02 | 上海大学 | Many closed loops of wire winding thin wall can open and receive arm |
| CN113580195B (en) * | 2021-08-11 | 2023-10-27 | 上海大学 | Coiled thin-wall multi-closed-loop foldable mechanical arm |
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Granted publication date: 20141119 Termination date: 20190221 |