CN102551918B - Electroshock extension artificial muscle movement device - Google Patents
Electroshock extension artificial muscle movement device Download PDFInfo
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- CN102551918B CN102551918B CN201210039670.5A CN201210039670A CN102551918B CN 102551918 B CN102551918 B CN 102551918B CN 201210039670 A CN201210039670 A CN 201210039670A CN 102551918 B CN102551918 B CN 102551918B
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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, particularly a kind of electroshock extension artificial muscle movement.
Background technology
In mid-term in 20th century, people more and more heightened awareness arrive the inspiration of the Nature for the importance of exploitation new material and new technique, thereby propose bionics concept and set up this subject of bionics; Along with the development of research, bionics has become a natural science applied forward position and focus; Since entering 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, the 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, very urgent to the development of artificial muscle.
Muscle is contractile tissue biologically, to rely on neuroelectricity to reach the effect of telescopic shape change, have information transmission, energy delivery, refuse eliminating, Power supply, transmission and self-repair function, the mankind are devoted to the artificial-muscle research and development of imitative biological muscles very early; The fifties in last century, McKibben has developed air impeller first, and develops into coml McKibben driver, but as artificial thews material, material low side, McKibben driver volume is large, and is subject to the restriction of aid system.
Although marmem is also attempted as artificial thews material, has the features such as high-energy-density and low-gravity, because it has deformation unpredictability, many unfavorable factors such as the slow and use size of response speed is limited; Another candidate materials that electroactive pottery is artificial-muscle, its response speed is fast compared with marmem, but fragility is large, can only obtain the strain that is less than 1%; Owing to being subject to the restriction of material, the research of artificial-muscle is always for slow developmental stage.
The now at present appearance of new material electroactive polymer (Electroactive polymers, EAP) to artificial-muscle field with new impact; Large two orders of magnitude of the electroactive pottery of strain ratio that EAP can produce, and compared with marmem fast response time, density is little, resilience force is large, has in addition the high anti-tearing strength of similar biological muscles and intrinsic vibration damping performance etc.From eighties of last century beginning of the nineties, the artificial-muscle driver based on electroactive polymer material is rapidly developed.
Electroactive polymer driving material refers to and can under electric current, voltage or electric field action, produce the polymeric material of physical deformation, and its marked feature is to be mechanical energy by electric energy conversion.EAP Application and Development can be traced back to 1880, and roentgen finds that the fixing rubber strip in one end, under electric field, the change of length can occur.Afterwards nineteen twenty-five piezopolymer be found, but due to strain and acting very little, be only used as sensor; Katchalsky in 1949 finds that collagen fibers can repeated contraction and expansion in acid-base solution, and this is that the Chemical response of polymeric material is found first.
Along with the deepening continuously and develop of EAP investigation of materials, its huge application prospect has been presented in face of people; EAP material can be used as AFL and artificial organ, endoscopic catheters, supplies spaceman and the outer skeleton of reinforcement and making machine people muscle for disabled persons, can be used for the more tiny device of manufacturing dimension and carrys out manipulating cells for genetic engineering; Utilize electroactive polymer can realize the miniaturization of equipments and devices, thereby promote the development of micro-electronic mechanical skill; The science application being developed at present mainly contains: people's machinery face, aircraft applications, controlled weaving thing, robot, medical treatment etc., however mostly at the experimental stage.The mechanism producing according to deformation, electroactive polymer artificial thews material can be divided into electron type and the large class of ion-type two.Electron type is electric field active material, by electric field and electrostatic interaction (Coulomb force), drives, because driving system does not need to remain under wet condition, is also referred to as dry driving system; This class mainly comprises dielectric elastomers, piezopolymer, ferroelectric polymers, electrostrictive polymers and liquid crystal elastic body.Ionomer is current activity material, comprise polymer dielectric gel, carbon nano tube compound material, ionomer, metallic composite and conducting polymer, because system need be worked under wet condition, also claim wet driving system, mainly by the caused deformation of motion of ion, reach the object of driving; Due to electronics than ionic transfer more hurry up, the response time of electron type polymer is shorter, several microseconds only, its energy density is also larger, and can in air, move for a long time, and ionic material must be bathed in liquid flux.
Be an impediment to domestic advanced material technical limitations, domestic less for imitative Muscle Simulation fabric study, 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 ", with " drive circuit of Intelligent step motor " after improving, as the drive circuit of motor, carry out " skeleton ", " muscle ", visual system and the control system of control; 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 to be solved in the present invention be to provide a kind of respond to sensitive, bio-imitability is strong, the electroshock extension artificial muscle movement of simple in structure and easy installation and removal.
For achieving the above object, technical scheme of the present invention is as follows:
Electroshock extension artificial muscle movement, described telecontrol equipment comprises that 7 drive long cylinder, imitative skin surface and lead-out wire, a described wherein middle part that drives length cylinder to be placed in telecontrol equipment, other 6 drive the symmetrical both sides that are placed in telecontrol equipment of long cylinder, and fill with silica gel described telecontrol equipment inside; The long cylinder of described driving is comprised of the two thin layers of dielectric elastomers, spring, end cover and long cylinder top layer; On the inwall that is placed in long cylinder top layer of the two thin layer symmetries of described dielectric elastomers, described spring is placed in and drives long cylinder middle part, and described end cover is placed in the two ends that drive long cylinder, and one end of described lead-out wire is connected with driving the end cover at long cylinder two ends.
Preferably, described end cover is middle part engraved structure.
Preferably, the long cylinder of described end cover and driving is for removably connecting.
Preferably, the two thin layer end faces of described dielectric elastomers are semicircle.
By technique scheme, the invention has the beneficial effects as follows:
1, the present invention responds to sensitively, and artificial muscle is reequiped, and its electric shock telescopic variation, bio-imitability are strong.
2, the present invention has the features such as structure dexterity, easy installation and removal.
3, the present invention has regular variation, can measure quantitatively muscle deformation quantity.
4, the present invention, for simulating human nerve electric current, triggers the artificial muscle design of muscular movement, and principle basis is provided, and for muscle transplantation and Robot Design, provides abundant technical support, and has wide technical prospect and objective using value.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is structural representation of the present invention;
Fig. 2 is cutaway view of the present invention;
Fig. 3 is the axial cross section schematic diagram that the present invention drives long cylinder;
Fig. 4 is the two laminate structure schematic diagrams of dielectric elastomers of the present invention;
Fig. 5 is the three-dimensional fracture schematic diagram that the present invention drives long cylinder;
Fig. 6 is that the present invention drives long cylinder end top view;
Fig. 7 is that dielectric elastomers of the present invention is subject to electric deformation principle schematic.
Numeral and the represented corresponding component title of letter in figure:
10, telecontrol equipment 20, the long cylinder 21 of driving, the two thin layers 22 of dielectric elastomers, spring 23, end cover 24, a long top layer 30, imitative skin surface 40, lead-out wire 50, silica gel
The specific embodiment
For technological means, creation characteristic that the present invention is realized, reach object and effect is easy to understand, below in conjunction with concrete diagram, further set forth the present invention.
Shown in Fig. 1 and Fig. 2, electroshock extension artificial muscle movement 10 of the present invention comprises that 7 drive long cylinder 20, imitative skin surface 30 and lead-out wire 40, a described wherein middle part that drives length cylinder 20 to be placed in telecontrol equipment 10, other 6 both sides that are placed in telecontrol equipment 10 that drive long cylinder 20 symmetries, the inner silica gel 50 that adopts of described telecontrol equipment 10 is filled.
Referring to shown in Fig. 3 to Fig. 7, the present invention drives long cylinder 20 to be comprised of the two thin layers 21 of dielectric elastomers, spring 22, end cover 23 and long cylinder top layer 24; On the inwall that is placed in long cylinder top layer 24 of two thin layer 21 symmetries of described dielectric elastomers, described spring 22 is placed in and drives long cylinder 20 middle parts, and described end cover 23 is placed in the two ends that drive long cylinder 20; Described end cover 23 is middle part engraved structure, and described end cover 23 is with the long cylinder 20 of driving for removably connecting, and one end of described lead-out wire 40 is connected with driving the end cover 23 at long 20 two ends.
The two thin layers 21 of dielectric elastomers of the present invention adopt electron type electroactive polymer as material; Electron type electroactive polymer (Electroactive polymers, EAP) is to make polymer molecular chain rearrange to realize expansion and the contraction of each dimension on volume by the electrostatic force on molecular dimension (Coulomb force) effect; It is a kind of physical process that this electromechanical transforms, and comprises two kinds of mechanism, electrostriction effect and Maxwell effect; The stress and strain that two kinds of mechanism produces all to square being directly proportional of electric field.
Electrostriction effect is the strain that the change due to dielectric material character causes, electric polarization and mechanical strain relation are as follows, S=-QEo2 (Er-1) 2E2; S represents the longitudinal strain that electrostriction causes, and, in the strain of film thickness direction, Q is electrostriction coefficient, and Eo is permittivity of vacuum, and Er is relative dielectric constant, and E is electric field intensity; Dielectric constant E, by permittivity of vacuum and the relative dielectric constant gained (E=EoEr) that multiplies each other.If there is electrostriction phenomena, in material structure, must contain crystal region; When material generation prestrain, its dielectric constant increases the probability that is indicating that electrostriction effect occurs; The dielectric constant of material can record by dielectric analysis instrument.
Maxwell stress is the result that in electrolyte, Electric Field Distribution changes.S '=-sEoErE2P2; S ' is the strain on film thickness direction, and s is elastic compliance, and stress and dielectric constant are proportional; This mechanism plays a major role in having the dielectric elastomers of high strain in low-modulus material; The performance of electron type EAP is that deformation is large, needs very high electric field intensity, and this just makes driving voltage generally higher than 1kv, but because electric current is very low, power consumption is lower; In electron type EAP material, select dielectric elastomers to make main device materials, dielectric elastomers is the mollielast of chemical crosslinking, can provide very large field to cause strain (10%-100%).
Shown in Figure 7, the two thin layers 21 of dielectric elastomers of the present invention are " sandwich " structure; Under no-voltage condition, have Zo height, executing in alive situation, double-layer electric dielectric elastomer is squeezed, and produces horizontal longitudinal deformation.
The two thin layers 21 of dielectric elastomers of the present invention are made semi-circular structure, and it has the function that is subject to electric deformation.
Operation principle of the present invention is, by 40 pairs of devices of lead-out wire, pass into electric current and apply voltage, the two thin layers 21 of dielectric elastomers will drive long cylinder 20 footpaths upwards to produce extruding, two thin layer 21 length of monoblock dielectric elastomers are increased and produce deformation, if be the one-sided voltage that applies, opposite side disconnects, and one-sided generation deformation is increased, and makes 20 bendings of the long cylinder of whole driving; Every drives long cylinder 20 all to have the Bending Deformation effect of twocouese, is controlling respectively muscle to the deformation of different directions different shape.
When the present invention touches voltage, the long cylinder 20 of inner driving is being controlled respectively muscle to the deformation of different directions different shape, thereby completes 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 in above-described embodiment and description, describes just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (1)
1. electroshock extension artificial muscle movement, it is characterized in that, described telecontrol equipment comprises that 7 drive long cylinder, imitative skin surface and lead-out wire, a described wherein middle part that drives length cylinder to be placed in telecontrol equipment, other 6 drive the symmetrical both sides that are placed in telecontrol equipment of long cylinder, and fill with silica gel described telecontrol equipment inside; The long cylinder of described driving is comprised of the two thin layers of dielectric elastomers, spring, end cover and long cylinder top layer; On the inwall that is placed in long cylinder top layer of the two thin layer symmetries of described dielectric elastomers, described spring is placed in and drives long cylinder middle part, and described end cover is placed in the two ends that drive long cylinder, and one end of described lead-out wire is connected with driving the end cover at long cylinder two ends;
Described end cover is middle part engraved structure;
The long cylinder of described end cover and driving is for removably connecting;
The two thin layers of described dielectric elastomers are " sandwich " structure; Under no-voltage condition, have Zo height, executing in alive situation, double-layer electric dielectric elastomer is squeezed, and produces horizontal longitudinal deformation; The two thin layer end faces of dielectric elastomers are semicircle;
By lead-out wire, device is passed into electric current and apply voltage, the two thin layers of dielectric elastomers will drive long barrel dliameter upwards to produce extruding, the two thin layer length of monoblock dielectric elastomers is increased and produce deformation, if be the one-sided voltage that applies, opposite side disconnects, one-sided generation deformation is increased, make the long cylinder of whole driving crooked; Every drives long cylinder all to have the Bending Deformation effect of twocouese, is controlling respectively muscle to the deformation of different directions different shape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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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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| CN102551918A CN102551918A (en) | 2012-07-11 |
| CN102551918B true CN102551918B (en) | 2014-11-19 |
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| CN102813563B (en) * | 2012-08-27 | 2015-01-14 | 上海交通大学 | Active and passive type intelligent simulated muscle |
| CN103018061B (en) * | 2012-11-26 | 2014-12-03 | 浙江工业大学 | Artificial muscle group test platform and artificial muscle group framework |
| CN102990644B (en) * | 2012-11-30 | 2015-03-18 | 电子科技大学 | Photo-induced bending conductive actuator and manufacturing method thereof |
| 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 |
| CN104816315B (en) * | 2015-03-18 | 2016-08-24 | 苏州市恒加新精密机械科技有限公司 | The bionic mechanical arm that a kind of filament contraction controls |
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| 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 |
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| CN111618837B (en) * | 2020-05-22 | 2022-09-16 | 大连理工大学 | Electric control telescopic type composite artificial muscle |
| CN112440271B (en) * | 2020-05-22 | 2022-04-12 | 大连理工大学 | Electric control bidirectional bending type composite artificial muscle |
| CN112571440B (en) * | 2020-12-09 | 2022-02-18 | 中国空间技术研究院 | Joint unit, finger-shaped device and gripper |
| 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 |
| 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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