CN102813563A - Active and passive type intelligent simulated muscle - Google Patents
Active and passive type intelligent simulated muscle Download PDFInfo
- Publication number
- CN102813563A CN102813563A CN2012103087879A CN201210308787A CN102813563A CN 102813563 A CN102813563 A CN 102813563A CN 2012103087879 A CN2012103087879 A CN 2012103087879A CN 201210308787 A CN201210308787 A CN 201210308787A CN 102813563 A CN102813563 A CN 102813563A
- Authority
- CN
- China
- Prior art keywords
- muscle
- gripper shoe
- memory alloy
- shape
- rubber tube
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Prostheses (AREA)
Abstract
The invention discloses an active and passive type intelligent simulated muscle which comprises a first support plate, a second support plate, a polyethylene glycol terephthalate (PET) net, a rubber tube, a muscle support body and a plurality of shape memory alloy wires which are connected in parallel; the muscle support body is positioned in the rubber tube, the PET net wraps the rubber tube, and the two ends of the rubber tube and the PET net are respectively fixed to the first support plate and the second support plate; the shape memory alloy wires are fixed to the first support plate and/or the second support plate through the muscle support body; the diameter of the rubber tube is smaller than the maximum diameter of the muscle support body, and the parts of the rubber tube, which are respectively positioned between the first support plate and the muscle support body and between the second support plate and the muscle support body, are in a loose state; and the whole PET net is in a loose state. Compared with the prior art, the simulated muscle realizes the simulation of the active and passive biomechanics characteristic of the human muscle through effectively combining the shape memory alloy wires, the rubber tube and the PET net.
Description
Technical field
The present invention relates to a kind of bionical muscle, relate in particular to and a kind ofly can simulate human muscle's biomechanics characteristic, is the active/passive intelligent bionic muscle that drives with the intellectual material.
Background technology
The human muscle has very high power density and power weight ratio as the driving device of human motion.Existing conventional driver is such as motor, hydraulic pressure etc., because of big quality, big volume can't effectively be simulated the human muscle.In addition, the human muscle has special biomechanics characteristic: muscle shows as the active drive characteristic when shrinking, when diastole, then show as non-linear passive elastic characteristic.It mainly is Pneumatic artificial muscle that present stage is studied more bionical muscle both at home and abroad.Utilize McKibben pneumatic muscles simulation human muscle's biomechanics characteristic (Glenn K.Klute such as Washington, DC university; Joseph M.Czerniecki and Blake Hannaford; Artificial Muscles:Actuators for Biorobotic Systems; The International Journal of Robotics Research, 200221:295).Yet the McKibben pneumatic muscles must carry source of the gas, makes troubles for actual driven application.
Marmem (SMA) is a kind of novel driving element as a kind of intellectual material.SMA has a lot of types of muscle properties, such as high power density, big power output, flexibility, unidirectional contraction, from functions such as perception.In addition, SMA drives simple, and current flow heats can realize, realizes the bionical muscle based on the SMA driving thereby have ready conditions.Utilize many parallelly connected SMA silks to realize big power output, integrate sensing-artificial-muscle that drives such as Shanghai Communications University's robot research.(Jianjun?Zhang，Yuehong?Yin，SMA-based?bionic?integration?design?of?self-sensor-actuator-structure?for?artificial?skeletal?muscle，Sensors?and?Actuators?A：Physical，2012(181)94-102)。Yet SMA can not well simulate human muscle's passive elastic characteristic, and in addition, the slow-response speed of SMA remains the greatest problem of restriction SMA on bionical muscle is used.
Summary of the invention
Because the above-mentioned defective of prior art; Technical problem to be solved by this invention provides a kind of active/passive intelligent bionic muscle; This bionical muscle can be simulated human muscle's biomechanics characteristic preferably; Wherein the active drive characteristic is provided by the shape-memory alloy wire of parallel connection, and non-linear passive elastic characteristic is provided by rubber tube and the parallel connection of PET net.
Technical scheme of the present invention is following:
A kind of active/passive intelligent bionic muscle comprises the shape-memory alloy wire of first gripper shoe, second gripper shoe, PET net, rubber tube, muscle supporter, some parallel connections;
Said muscle supporter is positioned at rubber tube inside, and the PET net is coated on the rubber tube outside, and the two ends of rubber tube, PET net are fixed with first gripper shoe, second gripper shoe respectively; Shape-memory alloy wire is fixed through muscle supporter and first gripper shoe and/or second gripper shoe;
The diameter of rubber tube is less than the maximum gauge of muscle supporter, and is relaxed state in the part between second gripper shoe and muscle supporter on part between first gripper shoe and the muscle supporter and the rubber tube on the rubber tube; Whole PET net is relaxed state.
First gripper shoe and second gripper shoe are applied carrying laterally; Before the elongation that shape-memory alloy wire takes place arrives the maximum flexibility deformation quantity of its elongation state, be relaxed state in the part between second gripper shoe and muscle supporter on part between first gripper shoe and the muscle supporter and the rubber tube on the rubber tube; Whole PET net is relaxed state.When the shape-memory alloy wire elongation continued to increase, rubber tube and PET net got into tensioning state rapidly, thereby effectively protected shape-memory alloy wire to avoid overload and simulation human muscle's passive tensile properties.
Preferably, said muscle supporter has some through holes, and said shape-memory alloy wire passes those through holes and fixes with first gripper shoe and/or second gripper shoe respectively.
Preferably, said active/passive intelligent bionic muscle also comprises and is used to pass in and out cooling water inlet pipe, the cooling water outlet pipe of cold water with cooling shape memory alloy silk; All have through hole on said first gripper shoe and second gripper shoe; Said cooling water inlet pipe, cooling water outlet pipe respectively with first gripper shoe and second gripper shoe on through hole be tightly connected; Through hole on said cooling water inlet pipe, rubber tube, the muscle supporter, cooling water outlet pipe form the passage of a cooling water flows.
Preferably, said shape-memory alloy wire is a swinging; Said marmem doubling is walked around on the muscle supporter behind any two through holes, and its two tail ends are fixed on first gripper shoe or second gripper shoe.
Preferably, said some shape-memory alloy wires are divided into two groups at least: first group and second group; Each group comprises a helicoid shape-memory alloy wire at least; Being folded to of said two groups shape-memory alloy wire is opposite;
Any two through holes on the muscle supporter are walked around in first group shape-memory alloy wire doubling, and its two tail ends are fixedly connected with first gripper shoe;
Any two through holes on the muscle supporter are walked around in second group shape-memory alloy wire doubling, and its two tail ends are fixedly connected with second gripper shoe.
Preferably, said shape-memory alloy wire is a linearity, and it passes the through hole on the muscle supporter, and fixing respectively first gripper shoe in its two ends and second gripper shoe.
Preferably, said muscle supporter comprises the first muscle bracing frame, second muscle bracing frame and the back shaft; The two ends of back shaft connect the first muscle bracing frame, the second muscle bracing frame respectively; The first muscle bracing frame and the second muscle bracing frame are symmetrical structure; Have some limbers that are used to flow through cold water on the said first muscle bracing frame; The diameter of the said first muscle bracing frame is greater than the diameter of rubber tube; The said first muscle bracing frame and the second muscle bracing frame are the insulation material.
Preferably, shape-memory alloy wire is divided into two groups at least: first group and second group; Every group comprises a helicoid shape-memory alloy wire at least; Being folded to of said two groups shape-memory alloy wire is opposite; After any two limbers on the second muscle bracing frame were walked around in first group shape-memory alloy wire doubling, the limbers that its two tail ends pass the first muscle bracing frame was fixedly connected with first gripper shoe; After any two limbers on the first muscle bracing frame were walked around in second group shape-memory alloy wire doubling, the limbers that its two tail ends pass the second muscle bracing frame was fixedly connected with second gripper shoe.
Preferably, also comprise conductor wire, the first bionical tendon, the second bionical tendon; Said conductor wire is connected with said marmem; The said first bionical tendon, the second bionical tendon are positioned at the upper and lower sides of said bionical muscle, and fix with first gripper shoe, second gripper shoe respectively.
Compared with prior art, beneficial effect of the present invention is following:
The first, bionical muscle of the present invention has been realized the main Passive Biomechanical Properties simulation to the human muscle through the parallel connection of shape-memory alloy wire, nonlinear elasticity rubber tube and the non-linear PET net of many parallel connections.Wherein the active drive characteristic is provided by the shape-memory alloy wire of parallel connection, and non-linear passive elastic characteristic is provided by rubber tube and the parallel connection of PET net.Particularly through the passive device parameter value (density of the caliber of rubber tube 18, wall thickness and PET net) of change bionical muscle of the present invention, it can be simulated human muscle's nonlinear elasticity preferably by dynamic elasticity.
The second, bionical muscle of the present invention has been realized the Fast Heating and the cooling of marmem, thereby has been improved the response speed of shape-memory alloy wire greatly through introducing water cooling plant.When marmem was switched on, shape-memory alloy wire can be realized the Fast Heating contraction.During outage, fast through cooling water, can realize the quick cooling elongation of shape-memory alloy wire to rubber tube inside.Thereby improved the response speed of bionical muscle greatly.
The 3rd; The passive elastomer of the bionical muscle that nonlinear elasticity rubber tube and PET net compose in parallel among the present invention its except above-mentioned first effect; It can bear external loading fast before shape-memory alloy wire reaches maximum distortion, therefore can avoid the overload and the overstretching of shape-memory alloy wire.In addition, this by dynamic elasticity carry can also simulate among the human muscle the energy memory function, initiatively shrink time institute's work thereby under the excessive situation of extraneous carrying, can reduce shape-memory alloy wire.
The 4th; The marmem that the present invention adopts adopts the special connected mode of form of revolution winding, many parallel connections; Its deflection that can satisfy the bionical muscle that adopts this form marmem can reach 18%, approximate simulation human muscle's large deformation characteristic.
Description of drawings
Fig. 1 is the external structure of bionical muscle of the present invention;
Fig. 2 is the structure chart of the muscle supporter of bionical muscle of the present invention;
Fig. 3 is the radial section figure of the first gripper shoe position of bionical muscle of the present invention;
Fig. 4 is the sketch map of A-A section among Fig. 1;
Fig. 5 is the shape sketch map of swinging shape-memory alloy wire.
The specific embodiment
A kind of active/passive intelligent bionic muscle comprises the shape-memory alloy wire of first gripper shoe, second gripper shoe, PET net, rubber tube, muscle supporter, some parallel connections;
Said muscle supporter is positioned at rubber tube inside, and the PET net is coated on the rubber tube outside, and the two ends of rubber tube, PET net are fixed with first gripper shoe, second gripper shoe respectively; Shape-memory alloy wire is fixed through muscle supporter and first gripper shoe and/or second gripper shoe;
The diameter of rubber tube is less than the maximum gauge of muscle supporter, and is relaxed state in the part between second gripper shoe and muscle supporter on part between first gripper shoe and the muscle supporter and the rubber tube on the rubber tube; Whole PET net is relaxed state.
First gripper shoe and second gripper shoe are applied carrying laterally; Before the elongation that shape-memory alloy wire takes place arrives the maximum flexibility deformation quantity of its elongation state, be relaxed state in the part between second gripper shoe and muscle supporter on part between first gripper shoe and the muscle supporter and the rubber tube on the rubber tube; Whole PET net is relaxed state.
The below combines accompanying drawing and specific embodiment that a kind of active/passive intelligent bionic of the present invention muscle is done further description:
As shown in Figure 1, the external structure of bionical muscle of the present invention comprises PET net 4, first gripper shoe, second gripper shoe 5, cooling water inlet pipe 10, cooling water outlet pipe 9, first electric lead 2, second electric lead, 6, first bionical tendon 1, the second bionical tendon 7.
Internal structure comprises shape-memory alloy wire, rubber tube, the muscle supporter of some parallel connections.
The muscle supporter is positioned at rubber tube inside, and PET net 4 is coated on the rubber tube outside, and the two ends of rubber tube, PET net are fixed with first gripper shoe, second gripper shoe respectively.
The muscle supporter has some through holes, and above-mentioned shape-memory alloy wire passes those through holes and fixes with first gripper shoe and/or second gripper shoe respectively.
Wherein, all have through hole on first gripper shoe and second gripper shoe 5; Said cooling water inlet pipe, cooling water outlet pipe respectively with first gripper shoe and second gripper shoe on through hole be tightly connected; Through hole on said cooling water inlet pipe, rubber tube, the muscle supporter, cooling water outlet pipe form the passage of a cooling water flows.
First electric lead 2, second electric lead 6 are connected with its corresponding shape memory alloy wire respectively.First bionical tendon 1, the second bionical tendon 7 lays respectively at bionical muscle both sides up and down, is fixedly connected with first gripper shoe, second gripper shoe 5 respectively.The two all is strand, and in the present embodiment, the two constitutes by four identical nylon yarns of length.Here be merely for example, the present invention does not make qualification to the material of bionical tendon.
In the present embodiment, adopt helicoid shape-memory alloy wire, concrete connected mode can be explained in the back in detail.Here " swinging " refers to does corresponding shape after the doubling with the marmem of a linearity, and the fold position calls closing end 30 here, and the other end corresponding with its fold position is called two tail ends 31,32 (referring to Fig. 5).Here " parallel connection " refers to parallel setting of marmem after the many doublings.
During practical implementation, also can adopt the shape-memory alloy wire of orthoscopic, it passes the through hole on the muscle supporter, and fixing respectively first gripper shoe in its two ends and second gripper shoe.So the present invention does not make qualification to the shape of shape alloy silk; But adopt helicoid shape-memory alloy wire can reach better effect; Reason is following: because marmem dependent variable too small (less than 10%), and human muscle's deflection is generally more than 20%, in order to increase the deflection of bionical muscle; Marmem adopts the form of revolution winding, many parallel connections; Can find in the experiment, adopt the deflection of the bionical muscle of this form marmem can reach 18%, approximate simulation human muscle's large deformation characteristic.
In the present embodiment, the swinging shape-memory alloy wire that adopts 4 parallel connections is as drive source, and these shape-memory alloy wires are divided into two groups (2 is one group), and being folded to of two groups shape-memory alloy wire is opposite.Any two through holes on the muscle supporter are walked around in each shape-memory alloy wire doubling of first group, and its two tail ends are fixedly connected with first gripper shoe; Any two through holes on the muscle supporter are walked around in each shape-memory alloy wire doubling of second group, and its two tail ends are fixedly connected with second gripper shoe.Here select for use 4 swinging shape-memory alloy wires to be merely for example, the present invention does not limit with the group number the radical of shape-memory alloy wire.
The PET net is the reticulate body that is formed by poly terephthalic acid class plastic production, has nonlinear elasticity characteristic, and the mesh-density that changes the PET net can change the elastic curve of PET net.Rubber tube also has nonlinear elastic characteristic, changes the caliber and the wall thickness of rubber tube, also can change its elastic curve.Here through utilizing being connected in parallel of PET net and rubber tube, and, realize the passive elastic effective simulation of bionical muscle through changing their relevant parameter.
In the present embodiment, the outer face of corresponding with it the respectively PET net in the outer face of first gripper shoe and second gripper shoe 5, rubber tube at grade.First gripper shoe achieves a fixed connection through copper sheathing 3 interference fit with an end of its corresponding PET net and rubber tube.Second gripper shoe 5 achieves a fixed connection through copper sheathing 22 interference fit with an end of its corresponding PET net 4 and rubber tube.
As shown in Figure 2, the muscle supporter is made up of the first muscle bracing frame 11, the second muscle bracing frame 14 and back shaft 13.Back shaft 13 is aluminum alloy material, and is cylindrical.The first muscle bracing frame 11, the second muscle bracing frame 14 are symmetrical structure, and the two all is colyliform, and is made up of insulation board.With the second muscle bracing frame 14 is example, and the structure of the two is described.The center of the second muscle bracing frame 14 is drilled with screwed hole 15, is evenly distributed with the limbers 17 of 8 equal sizes around the screwed hole 15.The second muscle bracing frame 14 is threaded with back shaft 13 through screwed hole 15.The structure of the first muscle bracing frame 11 repeats no more with the second muscle bracing frame 14 here.The quantity and the size of the limbers on the second muscle bracing frame can be confirmed according to actual needs, adopt 8 hole uniform distribution in the present embodiment, are merely for example, and the present invention does not limit it.
In the present embodiment; The swinging shape-memory alloy wire of the 4 two groups parallel connections of adopting specifically connects like Fig. 2; Wherein be fixed on for first group 12 between first gripper shoe and the second muscle bracing frame 14, second group 16 is fixed between second gripper shoe 5 and the first muscle bracing frame 11.
Fig. 2 is seen in the ocean, and after the limbers on the second muscle bracing frame 14 was walked around in two swinging shape-memory alloy wires doubling of first group 12, the limbers of passing the first muscle bracing frame 11 was fixedly connected with first gripper shoe; Promptly the closing end of first group 12 every marmem is fixed on the limbers on the second muscle bracing frame 14, and its two tail ends stretch out the back and are fixedly connected with first gripper shoe from the limbers of the first muscle bracing frame 11.In like manner, after two swinging shape-memory alloy wires of second group 16 were walked around the first muscle bracing frame 11, the limbers of passing the second muscle bracing frame 14 was fixedly connected with second gripper shoe 5.From Fig. 2, can find out that two groups of swinging shape-memory alloy wires are uniform distribution parallel connections, the deformation effect of such shape-memory alloy wire can be better.But the mode parallelly connected with the form of uneven distribution also is fine, and the present invention does not make qualification to it.
Marmem is in the twin crystal martensite state when the primary state that does not stress, at this moment, shape-memory alloy wire length is the shortest, and after receiving external loading, the marmem elongation also gets into and removes twin martensitic state.When it was carried out current flow heats, marmem can undergo phase transition and get into austenitic state and realize initiatively contraction, thereby has realized the active drive characteristic of bionical muscle.
In the present embodiment, each shape-memory alloy wire has identical length and diameter.
First gripper shoe, second gripper shoe 5 are symmetrical structure, all are colyliform, only introduce the structure of first gripper shoe here.Fig. 3 is the radial section figure of first gripper shoe, 19 positions.The centre of first gripper shoe 19 is drilled with water-guiding hole 21,8 apertures 20 of evenly arranging around the water-guiding hole, and wherein 4 apertures are connected with the first bionical tendon 1, and other four are connected through homemade copper pin 8 with the tail end of first group 12 shape-memory alloy wire.Cooling water inlet pipe 10 and outlet pipe 9 are connected through glue sealing with the water-guiding hole of first gripper shoe 19, second gripper shoe 5 respectively.
Referring to Fig. 3, in the present embodiment, rubber tube 18 envelopes the ring-type side of first gripper shoe 19 simultaneously, and rubber tube 18 is embedded in the inside of PET net 4 simultaneously.The outer face of first gripper shoe 19, rubber tube 18 and PET net 4 is positioned at same plane, and the three is through copper sheathing 3 interference fit.
In the present embodiment; First gripper shoe 19, second gripper shoe 5 not only are used for fixing bionical tendon, shape-memory alloy wire, rubber tube and PET net; Be used for also realizing that the entering of cooling water is connected with the effective of shape-memory alloy wire with output and realization current flow heats lead, so be multi-functional gripper shoe.
Fig. 4 is the sketch map of the A-A section of Fig. 1.Rubber tube 18 is wrapped in the first muscle bracing frame, 11 outsides, and PET net 4 is wrapped in rubber tube 18 outsides.Referring to Fig. 1, can know that the muscle supporter is positioned at the inside of rubber tube 18 simultaneously, and first gripper shoe 19 is fixed with the end of rubber tube.There is an intersegmental crack between the first muscle bracing frame 11 and first gripper shoe 19.
The first muscle bracing frame 11 repeats no more with the second muscle bracing frame, 14 symmetrical configuration here.
Here also need to prove; In the present embodiment; Rubber tube 18 under the radial relaxation state diameter less than the diameter of first, second muscle bracing frame 11,14; So the diameter that the nonlinear elasticity rubber tube 18 among Fig. 3 and Fig. 4 shows is different, the diameter that Fig. 3 is corresponding is the diameter of rubber tube 18 under the radial relaxation state, and the corresponding diameter of Fig. 4 is the diameter after rubber tube 18 is stretched.Because variation has also taken place at different sections in the diameter of PET net 4, so Fig. 3 is also different with the diameter that PET among Fig. 4 nets 4 correspondences.
Since rubber tube 18 under the radial relaxation state diameter less than the diameter of first, second muscle bracing frame 11,14; Therefore can guarantee being sealed and matched of rubber tube 18 and muscle bracing frame 11,14; Thereby guarantee that cooling water flows into the limbers 17 of muscle bracing frame 11,14 from cooling water inlet pipe 10, thereby can effectively cool off two groups of shape-memory alloy wires 12,16.In addition, owing to being sealed and matched of rubber tube 18 and muscle bracing frame 11,14, in bionical muscle telescopic process, the rubber tube that strain takes place partly only limits to the part beyond the muscle supporter.
Need to prove simultaneously; The part of rubber tube 18 between first gripper shoe 19 and the first muscle bracing frame 11 is relaxed state; The part of rubber tube 18 between second gripper shoe 5 and the second muscle bracing frame 14 is relaxed state, and whole PET net 4 also is in relaxed state.Aforesaid part all can be carried out effectively flexible.Can guarantee the effectiveness of the integral telescopic amount and the simulation human muscle Passive Biomechanical Properties of bionical muscle through the initial length that changes PET net 4.
Extraneous carrying acts on respectively on the first bionical tendon 1 and the second bionical tendon 7, and acts on the bionical muscle of the present invention through bionical tendon.Under non-power status, the shape-memory alloy wire group 12,16 of bionical muscle is extended passively, and gets into the twin martensitic state that goes of self.At this moment, bionical skeletal muscle of the present invention is in the state that integral body is stretched.
It may be noted that bionical skeletal muscle of the present invention is not unlimited the elongation along with the increase of carrying.When the elongation of shape- memory alloy wire 12,16 generations can recover elongation less than its maximum, the passive device of bionical muscle (rubber tube 18 and PET net 4) was in relaxed state; But when carrying is excessive; The elongation that the shape- memory alloy wire 12,16 of bionical skeletal muscle of the present invention takes place is when being about to arrive its maximum and can recovering elongation (being the maximum flexibility deformation quantity of its elongation state), and the passive device in the bionical muscle (rubber tube 18 and PET net 4) is stretched stressed.
Through the passive device parameter value (density of the caliber of rubber tube 18, wall thickness and PET net) that changes bionical muscle of the present invention; It can be simulated human muscle's nonlinear elasticity preferably by dynamic elasticity; And can play the effect of bearing carrying and energy storage, act on the pulling force on the shape- memory alloy wire 12,16 thereby reduce.
Simultaneously; Passive device parameter value (density of the caliber of rubber tube 18, wall thickness and PET net) through with bionical muscle of the present invention is adjusted to suitable numerical value; Just can realize " when carrying is excessive; the elongation that the shape-memory alloy wire of bionical skeletal muscle of the present invention 12,16 takes place can recover elongation (being the maximum flexibility deformation quantity of its elongation state) being about to arrive its maximum, and the passive device in the bionical muscle (rubber tube 18 and PET net 4) is stretched stressed.”
Under "on" position, two groups of shape- memory alloy wires 12,16 are heated, and produce initiatively contractive action, the active drive characteristic of imitating muscle well owing to temperature raises.
In the present embodiment, first electric lead 3 connects shape-memory alloy wire group 12, for it provides electric current; Second electric lead 6 connects shape-memory alloy wire group 16, for it provides electric current.When enough big electric current was provided to shape-memory alloy wire group 12,16, shape- memory alloy wire 12,16 can all get into austenitic state when temperature is elevated to uniform temperature, and this moment, bionical muscle of the present invention was in the shortest state.In shape- memory alloy wire 12,16 contraction processes, the passive device of bionical muscle (rubber tube 18 and PET net 4) is in relaxed state, thereby can not influence the mechanical characteristic of shape- memory alloy wire 12,16.
When marmem was switched on, because the inner relative sealing of rubber tube, shape-memory alloy wire can be realized the Fast Heating contraction.During outage,, can realize the quick cooling elongation of shape-memory alloy wire through cooling water inlet pipe 10, the inner cooling water that passes through fast of 9 pairs of rubber tubes of cooling water outlet pipe.Thereby improved the response speed of bionical muscle greatly.
Preferred embodiment of the present invention has carefully been described in above ocean.Should be appreciated that those of ordinary skill in the art need not creative work and just can design according to the present invention make many modifications and variation.Therefore, the technical staff in all present technique field all should be in the determined protection domain by claims under this invention's idea on the basis of existing technology through the available technical scheme of logical analysis, reasoning, or a limited experiment.
Claims (10)
1. an active/passive intelligent bionic muscle is characterized in that, comprises the shape-memory alloy wire of first gripper shoe, second gripper shoe, PET net, rubber tube, muscle supporter, some parallel connections;
Said muscle supporter is positioned at rubber tube inside, and the PET net is coated on the rubber tube outside, and the two ends of rubber tube, PET net are fixed with first gripper shoe, second gripper shoe respectively; Shape-memory alloy wire is fixed through muscle supporter and first gripper shoe and/or second gripper shoe;
The diameter of rubber tube is less than the maximum gauge of muscle supporter, and is relaxed state in the part between second gripper shoe and muscle supporter on part between first gripper shoe and the muscle supporter and the rubber tube on the rubber tube; Whole PET net is relaxed state.
2. active/passive intelligent bionic muscle according to claim 1; It is characterized in that; First gripper shoe and second gripper shoe are applied carrying laterally; Before the elongation that shape-memory alloy wire takes place arrives the maximum flexibility deformation quantity of its elongation state, be relaxed state in the part between second gripper shoe and muscle supporter on part between first gripper shoe and the muscle supporter and the rubber tube on the rubber tube; Whole PET net is relaxed state.
3. active/passive intelligent bionic muscle according to claim 1 is characterized in that said muscle supporter has some through holes, and said shape-memory alloy wire passes those through holes and fixes with first gripper shoe and/or second gripper shoe respectively.
4. active/passive intelligent bionic muscle according to claim 3 is characterized in that, also comprises being used to pass in and out cooling water inlet pipe, the cooling water outlet pipe of cold water with cooling shape memory alloy silk; All have through hole on said first gripper shoe and second gripper shoe; Said cooling water inlet pipe, cooling water outlet pipe respectively with first gripper shoe and second gripper shoe on through hole be tightly connected; Through hole on said cooling water inlet pipe, rubber tube, the muscle supporter, cooling water outlet pipe form the passage of a cooling water flows.
5. active/passive intelligent bionic muscle according to claim 3 is characterized in that said shape-memory alloy wire is a swinging; Said marmem doubling is walked around on the muscle supporter behind any two through holes, and its two tail ends are fixed on first gripper shoe or second gripper shoe.
6. active/passive intelligent bionic muscle according to claim 5 is characterized in that, said some shape-memory alloy wires are divided into two groups at least: first group and second group; Each group comprises a helicoid shape-memory alloy wire at least; Being folded to of said two groups shape-memory alloy wire is opposite;
Any two through holes on the muscle supporter are walked around in first group shape-memory alloy wire doubling, and its two tail ends are fixedly connected with first gripper shoe;
Any two through holes on the muscle supporter are walked around in second group shape-memory alloy wire doubling, and its two tail ends are fixedly connected with second gripper shoe.
7. active/passive intelligent bionic muscle according to claim 3 is characterized in that said shape-memory alloy wire is a linearity, and it passes the through hole on the muscle supporter, and fixing respectively first gripper shoe in its two ends and second gripper shoe.
8. active/passive intelligent bionic muscle according to claim 4 is characterized in that, said muscle supporter comprises the first muscle bracing frame, second muscle bracing frame and the back shaft; The two ends of back shaft connect the first muscle bracing frame, the second muscle bracing frame respectively; The first muscle bracing frame and the second muscle bracing frame are symmetrical structure; Have some limbers that are used to flow through cold water on the said first muscle bracing frame; The diameter of the said first muscle bracing frame is greater than the diameter of rubber tube; The said first muscle bracing frame and the second muscle bracing frame are the insulation material.
9. active/passive intelligent bionic muscle according to claim 8 is characterized in that, shape-memory alloy wire is divided into two groups at least: first group and second group; Each group comprises a helicoid shape-memory alloy wire at least; Being folded to of said two groups shape-memory alloy wire is opposite; After any two limbers on the second muscle bracing frame were walked around in first group shape-memory alloy wire doubling, the limbers that its two tail ends pass the first muscle bracing frame was fixedly connected with first gripper shoe; After any two limbers on the first muscle bracing frame were walked around in second group shape-memory alloy wire doubling, the limbers that its two tail ends pass the second muscle bracing frame was fixedly connected with second gripper shoe.
10. active/passive intelligent bionic muscle according to claim 1 is characterized in that, also comprises conductor wire, the first bionical tendon, the second bionical tendon; Said conductor wire is connected with said shape-memory alloy wire; The said first bionical tendon, the second bionical tendon are positioned at the upper and lower sides of said bionical muscle, and fix with first gripper shoe, second gripper shoe respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210308787.9A CN102813563B (en) | 2012-08-27 | 2012-08-27 | Active and passive type intelligent simulated muscle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210308787.9A CN102813563B (en) | 2012-08-27 | 2012-08-27 | Active and passive type intelligent simulated muscle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102813563A true CN102813563A (en) | 2012-12-12 |
| CN102813563B CN102813563B (en) | 2015-01-14 |
Family
ID=47298258
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210308787.9A Active CN102813563B (en) | 2012-08-27 | 2012-08-27 | Active and passive type intelligent simulated muscle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102813563B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104088762A (en) * | 2014-07-21 | 2014-10-08 | 佛山市禾才科技服务有限公司 | Control method with shape memory alloy line as power element |
| CN105437228A (en) * | 2015-12-22 | 2016-03-30 | 中国计量学院 | Pneumatic muscle |
| CN109807875A (en) * | 2019-03-27 | 2019-05-28 | 浙江大学 | A kind of artificial-muscle and preparation method thereof based on the reversible decomposition of gas solution |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0533050A1 (en) * | 1991-09-17 | 1993-03-24 | Olympus Optical Co., Ltd. | Bending operation apparatus for tubular insertion member |
| JPH06121808A (en) * | 1992-10-08 | 1994-05-06 | Yutaka Tanaka | Pressure controller |
| US6379393B1 (en) * | 1998-09-14 | 2002-04-30 | Rutgers, The State University Of New Jersey | Prosthetic, orthotic, and other rehabilitative robotic assistive devices actuated by smart materials |
| US6405532B1 (en) * | 2000-07-21 | 2002-06-18 | Environmental Robots, Inc. | Metal hydride artificial muscles |
| JP2006297005A (en) * | 2005-04-15 | 2006-11-02 | Yoshimoto Ando | Artificial muscle with double layer structure |
| CN101219075A (en) * | 2007-11-27 | 2008-07-16 | 中国计量学院 | Multi-freedom intelligent pneumatic power muscle based on shape memory alloy deformation net |
| GB2455582A (en) * | 2007-12-14 | 2009-06-17 | Dennis Majoe | Artificial muscles |
| CN102152309A (en) * | 2011-03-08 | 2011-08-17 | 浙江工业大学 | Artificial muscle aggregation group |
| CN102551918A (en) * | 2012-02-21 | 2012-07-11 | 上海海事大学 | Electroshock extension artificial muscle movement device |
| CN102579157A (en) * | 2012-02-22 | 2012-07-18 | 上海交通大学 | Novel bionic skeletal muscle based on shape memory alloy driving |
-
2012
- 2012-08-27 CN CN201210308787.9A patent/CN102813563B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0533050A1 (en) * | 1991-09-17 | 1993-03-24 | Olympus Optical Co., Ltd. | Bending operation apparatus for tubular insertion member |
| JPH06121808A (en) * | 1992-10-08 | 1994-05-06 | Yutaka Tanaka | Pressure controller |
| US6379393B1 (en) * | 1998-09-14 | 2002-04-30 | Rutgers, The State University Of New Jersey | Prosthetic, orthotic, and other rehabilitative robotic assistive devices actuated by smart materials |
| US6405532B1 (en) * | 2000-07-21 | 2002-06-18 | Environmental Robots, Inc. | Metal hydride artificial muscles |
| JP2006297005A (en) * | 2005-04-15 | 2006-11-02 | Yoshimoto Ando | Artificial muscle with double layer structure |
| CN101219075A (en) * | 2007-11-27 | 2008-07-16 | 中国计量学院 | Multi-freedom intelligent pneumatic power muscle based on shape memory alloy deformation net |
| GB2455582A (en) * | 2007-12-14 | 2009-06-17 | Dennis Majoe | Artificial muscles |
| CN102152309A (en) * | 2011-03-08 | 2011-08-17 | 浙江工业大学 | Artificial muscle aggregation group |
| CN102551918A (en) * | 2012-02-21 | 2012-07-11 | 上海海事大学 | Electroshock extension artificial muscle movement device |
| CN102579157A (en) * | 2012-02-22 | 2012-07-18 | 上海交通大学 | Novel bionic skeletal muscle based on shape memory alloy driving |
Non-Patent Citations (2)
| Title |
|---|
| ZHANG JJ，ET AL: ""SMA-based bionic integration design of self-sesor-actuator-structure for artificial skeletal muscle"", 《SENSORS AND ACTUATORS A:PHYSICAL》, vol. 181, 31 July 2012 (2012-07-31), pages 94 - 102 * |
| 应申舜 等: ""基于形状记忆合金弹簧阵列的人工肌肉设计与研究"", 《中国机械工程》, vol. 19, no. 15, 17 August 2008 (2008-08-17), pages 1782 - 1786 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104088762A (en) * | 2014-07-21 | 2014-10-08 | 佛山市禾才科技服务有限公司 | Control method with shape memory alloy line as power element |
| CN105437228A (en) * | 2015-12-22 | 2016-03-30 | 中国计量学院 | Pneumatic muscle |
| CN105437228B (en) * | 2015-12-22 | 2017-05-03 | 中国计量学院 | Pneumatic muscle |
| CN109807875A (en) * | 2019-03-27 | 2019-05-28 | 浙江大学 | A kind of artificial-muscle and preparation method thereof based on the reversible decomposition of gas solution |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102813563B (en) | 2015-01-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Zou et al. | Progresses in tensile, torsional, and multifunctional soft actuators | |
| Fu et al. | Textiles in soft robots: Current progress and future trends | |
| Zhou et al. | The power of fiber twist | |
| CN107984467B (en) | A kind of variation rigidity parallel connection artificial-muscle | |
| CN106956254A (en) | Multiple degrees of freedom combination drive artificial-muscle | |
| Wang et al. | Multistimulus responsive actuator with GO and carbon nanotube/PDMS bilayer structure for flexible and smart devices | |
| Cao et al. | Review of soft linear actuator and the design of a dielectric elastomer linear actuator | |
| CN203804999U (en) | Shape memory alloy spring driven flexible mechanical arm | |
| CN107276449B (en) | Chiral negative poisson's ratio structure based on dielectric type electroactive polymer | |
| CN107924989A (en) | Actuator device based on electroactive polymer or optical active polymer | |
| CN102551918B (en) | Electroshock extension artificial muscle movement device | |
| CN107276452B (en) | Star negative poisson's ratio structure based on dielectric type electroactive polymer | |
| CN107618028B (en) | Bidirectional artificial muscle | |
| CN102483049B (en) | For utilizing being obedient to or submitting to element of the power transmitting fluid of moving fluid or generating | |
| CN104769236B (en) | Actuator | |
| CN103384957A (en) | Mechanisms for creating undulating motion such as for propulsion and for harnessing the energy of moving fluid | |
| Rahman et al. | Ultra-robust and broadband rotary hybridized nanogenerator for self-sustained smart-farming applications | |
| CN102813563A (en) | Active and passive type intelligent simulated muscle | |
| CN106078791A (en) | A kind of plane elastic body being applicable to high-mechanic robot series elastic driver | |
| CN103350424B (en) | The corrosion-proof lightweight of Shape-based interpolation memory polymer is without the need to oil feeder mechanical arm | |
| CN106041913A (en) | Bionic flexible drive robot based on magnetic repulsive force | |
| Xu et al. | A photoactuator based on stiffness-variable carbon nanotube nanocomposite yarn | |
| CN102579158B (en) | Bionic muscle fiber and bionic muscle made of same | |
| CN110877331A (en) | Twist reverse artificial muscle that contracts | |
| CN106514645B (en) | Nested type marmem Pneumatic artificial muscle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |