CN102813563B - Active and passive type intelligent simulated muscle - Google Patents
Active and passive type intelligent simulated muscle Download PDFInfo
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- CN102813563B CN102813563B CN201210308787.9A CN201210308787A CN102813563B CN 102813563 B CN102813563 B CN 102813563B CN 201210308787 A CN201210308787 A CN 201210308787A CN 102813563 B CN102813563 B CN 102813563B
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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 bionic muscle, particularly relate to one and can simulate human muscle's biomechanics characteristic, take intellectual material as the active/passive intelligent bionic muscle driven.
Background technology
Human muscle, as the driving device of human motion, has very high power density and power weight ratio.Existing conventional drives, such as motor, hydraulic pressure etc., because large quality, large volume effectively cannot simulate human muscle.In addition, human muscle has special biomechanics characteristic: muscle shows as active drive characteristic when shrinking, and then shows as non-linear passive elastic characteristic when diastole.Current Domestic studies more bionic muscle mainly Pneumatic artificial muscle outward.Such as Washington, DC university utilizes McKibben pneumatic muscles to simulate biomechanics characteristic (the Glenn K.Klute of human muscle, Joseph M.Czerniecki and Blake Hannaford, Artificial Muscles:Actuators for Biorobotic Systems, The International Journal of Robotics Research, 200221:295).But McKibben pneumatic muscles must carry source of the gas, make troubles to actual driving application.
Marmem (SMA), as a kind of intellectual material, is a kind of novel driving element.SMA has a lot of class muscle property, such as high power density, large power output, flexibility, unidirectional contraction, from functions such as perception.In addition, SMA drives simple, and current flow heats can realize, thus the bionic muscle realizing driving based on SMA of having ready conditions.Such as Shanghai Communications University's robot research utilize many SMA silks in parallel to achieve large power output, integrate sensing-the artificial-muscle that drives.(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)。But SMA well can not simulate the passive elastic characteristic of human muscle, in addition, the slow-response speed of SMA remains the greatest problem of restriction SMA in bionic muscle application.
Summary of the invention
Because the above-mentioned defect of prior art, technical problem to be solved by this invention is to provide a kind of active/passive intelligent bionic muscle, this bionic muscle can simulate the biomechanics characteristic of human muscle preferably, wherein 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 PET net parallel connection.
Technical scheme of the present invention is as follows:
A kind of active/passive intelligent bionic muscle, comprises the first gripper shoe, the second gripper shoe, PET net, rubber tube, muscle supporter, some shape-memory alloy wires in parallel;
Described muscle supporter is positioned at rubber tube inside, and PET net is coated on outside rubber tube, and the two ends of rubber tube, PET net are fixed with the first gripper shoe, the second gripper shoe respectively; Shape-memory alloy wire is fixed by muscle supporter and the first gripper shoe and/or the second gripper shoe;
The diameter of rubber tube is less than the maximum gauge of muscle supporter, and the part on part on rubber tube between the first gripper shoe and muscle supporter and rubber tube between the second gripper shoe and muscle supporter is relaxed state; Whole PET net is relaxed state.
Laterally carrying is applied to the first gripper shoe and the second gripper shoe, before the elongation occurred at shape-memory alloy wire arrives the maximum flexibility deformation quantity of its elongation state, the part on the part on rubber tube between the first gripper shoe and muscle supporter and rubber tube between the second gripper shoe and muscle supporter is relaxed state; Whole PET net is relaxed state.When shape-memory alloy wire elongation continues to increase, rubber tube and PET net enter tensioning state rapidly, thus available protecting shape-memory alloy wire avoids the passive drawing characteristic of overload and simulation human muscle.
Preferably, described muscle supporter has some through holes, and described shape-memory alloy wire is fixed with the first gripper shoe and/or the second gripper shoe respectively through those through holes.
Preferably, described active/passive intelligent bionic muscle also comprises for passing in and out cold water with the cooling water inlet pipe of cooling shape memory B alloy wire, cooling water outlet pipe; Described first gripper shoe and the second gripper shoe all have through hole; Described cooling water inlet pipe, cooling water outlet pipe are tightly connected with the through hole in the first gripper shoe and the second gripper shoe respectively; Through hole on described cooling water inlet pipe, rubber tube, muscle supporter, cooling water outlet pipe form a passage for cold water flow.
Preferably, described shape-memory alloy wire is swinging; Described marmem doubling is walked around on muscle supporter after any two through holes, and two tail end is fixed in the first gripper shoe or the second gripper shoe.
Preferably, described some shape-memory alloy wires are at least divided into two groups: first group and second group; Each group at least comprises a helicoid shape-memory alloy wire; Being folded to of the shape-memory alloy wire of described two groups is contrary;
Any two through holes on muscle supporter are walked around in the shape-memory alloy wire doubling of first group, and two tail end is fixedly connected with the first gripper shoe;
Any two through holes on muscle supporter are walked around in the shape-memory alloy wire doubling of second group, and two tail end is fixedly connected with the second gripper shoe.
Preferably, described shape-memory alloy wire is linearity, and it is through the through hole on muscle supporter, and its two ends fix the first gripper shoe and the second gripper shoe respectively.
Preferably, described muscle supporter comprises the first muscle bracing frame, the second muscle bracing frame and back shaft; The two ends of back shaft connect the first muscle bracing frame, the second muscle bracing frame respectively; First muscle bracing frame and the second muscle bracing frame are symmetrical structure; Described first muscle bracing frame has some limbers for flowing through cold water; The diameter of described first muscle bracing frame is greater than the diameter of rubber tube; Described first muscle bracing frame and the second muscle bracing frame are isolation material.
Preferably, shape-memory alloy wire is at least divided into two groups: first group and second group; Often organize and at least comprise a helicoid shape-memory alloy wire; Being folded to of the shape-memory alloy wire of described two groups is contrary; After any two limbers on the second muscle bracing frame are walked around in the shape-memory alloy wire doubling of first group, two tail end is fixedly connected with the first gripper shoe through the limbers of the first muscle bracing frame; After any two limbers on the first muscle bracing frame are walked around in the shape-memory alloy wire doubling of second group, two tail end is fixedly connected with the second gripper shoe through the limbers of the second muscle bracing frame.
Preferably, conductor wire, the first bionical tendon, the second bionical tendon is also comprised; Described conductor wire is connected with described marmem; Described first bionical tendon, the second bionical tendon are positioned at the upper and lower sides of described bionic muscle, and fix with the first gripper shoe, the second gripper shoe respectively.
Compared with prior art, beneficial effect of the present invention is as follows:
The first, bionic muscle of the present invention, by the parallel connection of many shape-memory alloy wire, nonlinear elasticity rubber tube and non-linear PET net in parallel, achieves the main Passive Biomechanical Properties simulation to human muscle.Wherein 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 PET net parallel connection.Particularly by changing the passive device parameter value (density of the caliber of rubber tube 18, wall thickness and PET net) of bionic muscle of the present invention, it can be simulated the nonlinear elasticity of human muscle preferably by dynamic elasticity.
The second, bionic muscle of the present invention, by introducing water cooling plant, achieves Fast Heating and the cooling of marmem, thus substantially increases the response speed of shape-memory alloy wire.When being energized to marmem, shape-memory alloy wire can realize Fast Heating and shrink.During power-off, to rubber tube inside quickly through cooling water, the quick cooling that can realize shape-memory alloy wire is extended.Thus substantially increase the response speed of bionic muscle.
3rd, the passive elastomer of the bionic muscle that in the present invention, nonlinear elasticity rubber tube and PET net compose in parallel its except except the effect of above-mentioned first, it can bear external loading fast before shape-memory alloy wire reaches maximum distortion, therefore can avoid overload and the overstretching of shape-memory alloy wire.In addition, this by dynamic elasticity carry can also simulate in human muscle stored energy function, thus shape-memory alloy wire can be reduced when extraneous carrying is excessive initiatively shrink time institute's work.
4th, the connected mode that the form that marmem employing revolution is wound around, many in parallel that the present invention adopts is special, it can meet and adopt deflection of bionic muscle of this form marmem to reach 18%, the approximate simulation large deformation characteristic of human muscle.
Accompanying drawing explanation
Fig. 1 is the external structure of bionic muscle of the present invention;
Fig. 2 is the structure chart of the muscle supporter of bionic muscle of the present invention;
Fig. 3 is the radial section figure of the first gripper shoe position of bionic muscle of the present invention;
Fig. 4 is the schematic diagram of A-A section in Fig. 1;
Fig. 5 is the schematic shapes of swinging shape-memory alloy wire.
Detailed description of the invention
A kind of active/passive intelligent bionic muscle, comprises the first gripper shoe, the second gripper shoe, PET net, rubber tube, muscle supporter, some shape-memory alloy wires in parallel;
Described muscle supporter is positioned at rubber tube inside, and PET net is coated on outside rubber tube, and the two ends of rubber tube, PET net are fixed with the first gripper shoe, the second gripper shoe respectively; Shape-memory alloy wire is fixed by muscle supporter and the first gripper shoe and/or the second gripper shoe;
The diameter of rubber tube is less than the maximum gauge of muscle supporter, and the part on part on rubber tube between the first gripper shoe and muscle supporter and rubber tube between the second gripper shoe and muscle supporter is relaxed state; Whole PET net is relaxed state.
Laterally carrying is applied to the first gripper shoe and the second gripper shoe, before the elongation occurred at shape-memory alloy wire arrives the maximum flexibility deformation quantity of its elongation state, the part on the part on rubber tube between the first gripper shoe and muscle supporter and rubber tube between the second gripper shoe and muscle supporter is relaxed state; Whole PET net is relaxed state.
Below with the drawings and specific embodiments, a kind of active/passive intelligent bionic of the present invention muscle is further described:
As shown in Figure 1, the external structure of bionic muscle of the present invention comprises PET net 4, first gripper shoe, the second gripper shoe 5, cooling water inlet pipe 10, the bionical tendon 7 of cooling water outlet pipe 9, first electric lead 2, second electric lead the 6, first bionical tendon 1, second.
Internal structure comprises some shape-memory alloy wires in parallel, rubber tube, muscle supporter.
Muscle supporter is positioned at rubber tube inside, and PET net 4 is coated on outside rubber tube, and the two ends of rubber tube, PET net are fixed with the first gripper shoe, the second gripper shoe respectively.
Muscle supporter has some through holes, and above-mentioned shape-memory alloy wire is fixed with the first gripper shoe and/or the second gripper shoe respectively through those through holes.
Wherein, the first gripper shoe and the second gripper shoe 5 all have through hole; Described cooling water inlet pipe, cooling water outlet pipe are tightly connected with the through hole in the first gripper shoe and the second gripper shoe respectively; Through hole on described cooling water inlet pipe, rubber tube, muscle supporter, cooling water outlet pipe form a passage for cold water flow.
The shape-memory alloy wire that first electric lead 2, second electric lead 6 is corresponding with it respectively connects.The bionical tendon 7 of first bionical tendon 1, second lays respectively at the upper and lower both sides of bionic muscle, is fixedly connected with respectively with the first gripper shoe, the second gripper shoe 5.The two is all in strand, and in the present embodiment, the two is by the identical nylon yarn formation of four length.Here be only citing, the present invention does not make restriction to the material of bionical tendon.
In the present embodiment, adopt helicoid shape-memory alloy wire, concrete connected mode can be explained in detail below.Here the shape that " swinging " is corresponding after referring to and the marmem of a linearity being done a doubling, here call closing end 30 one of fold position, the other end corresponding with its fold position is called two tail ends 31,32 (see Fig. 5).Here " parallel connection " refers to the parallel setting of the marmem after many doublings.
During concrete enforcement, also can adopt the shape-memory alloy wire of orthoscopic, it is through the through hole on muscle supporter, and its two ends fix the first gripper shoe and the second gripper shoe respectively.Therefore the present invention does not make restriction to the shape of shape alloy silk, but adopt helicoid shape-memory alloy wire can reach better effect, reason is as follows: due to marmem dependent variable too small (being less than 10%), and human muscle's deflection is generally more than 20%, in order to increase the deflection of bionic muscle, marmem adopts the form that revolution is wound around, many in parallel, can find in experiment, the deflection of the bionic muscle of this form marmem is adopted to reach 18%, the approximate simulation large deformation characteristic of human muscle.
In the present embodiment, adopt 4 swinging shape-memory alloy wires in parallel as drive source, these shape-memory alloy wires are divided into two groups (2 is one group), and being folded to of the shape-memory alloy wire of two groups is contrary.Any two through holes on muscle supporter are walked around in each shape-memory alloy wire doubling of first group, and two tail end is fixedly connected with the first gripper shoe; Any two through holes on muscle supporter are walked around in each shape-memory alloy wire doubling of second group, and two tail end is fixedly connected with the second gripper shoe.Here select 4 swinging shape-memory alloy wires to be only citing, the present invention does not limit with group number the radical of shape-memory alloy wire.
PET net is by the reticulate body of poly terephthalic acid class plastic production, has nonlinear elasticity characteristic, and the mesh-density changing PET net can change the elastic curve of PET net.Rubber tube also has nonlinear elastic characteristic, changes caliber and the wall thickness of rubber tube, also can change its elastic curve.Here by utilizing being connected in parallel of PET net and rubber tube, and by changing their relevant parameter, the passive elastic effective simulation of bionic muscle is realized.
In the present embodiment, the outer face of corresponding with it the respectively PET net in the outer face of the first gripper shoe and the second gripper shoe 5, rubber tube at grade.First gripper shoe is achieved a fixed connection by copper sheathing 3 interference fit with the PET net of its correspondence and one end of rubber tube.Second gripper shoe 5 is achieved a fixed connection by copper sheathing 22 interference fit with the PET net 4 of its correspondence and one end of rubber tube.
As shown in Figure 2, muscle supporter is made up of the first muscle bracing frame 11, second muscle bracing frame 14 and back shaft 13.Back shaft 13 is aluminum alloy material, cylindrical.First muscle bracing frame 11, second muscle bracing frame 14 is symmetrical structure, and the two all in colyliform, and is made up of insulation board.For the second muscle bracing frame 14, the structure of both explanations.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 screwed hole 15.Second muscle bracing frame 14 is threaded with back shaft 13 by screwed hole 15.The structure of the first muscle bracing frame 11, with the second muscle bracing frame 14, repeats no more here.Quantity and the size of the limbers on the second muscle bracing frame can be determined according to actual needs, and adopt 8 holes to be uniformly distributed in the present embodiment, be only citing, the present invention does not limit it.
In the present embodiment, the swinging shape-memory alloy wire of the 4 two groups of parallel connections adopted specifically connects as 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 the second gripper shoe 5 and the first muscle bracing frame 11.
Fig. 2 is seen in ocean, and after the limbers on the second muscle bracing frame 14 is walked around in two swinging shape-memory alloy wires doubling of first group 12, the limbers through the first muscle bracing frame 11 is fixedly connected with the first gripper shoe; Namely the closing end of every root marmem of first group 12 is fixed on the limbers on the second muscle bracing frame 14, is fixedly connected with after two tail end stretches out from the limbers of the first muscle bracing frame 11 with the first gripper shoe.In like manner, after two swinging shape-memory alloy wires of second group 16 walk around the first muscle bracing frame 11, the limbers through the second muscle bracing frame 14 is fixedly connected with the second gripper shoe 5.From Fig. 2, can find out, two groups of swinging shape-memory alloy wires are uniformly distributed parallel connection, and the deformation effects of such shape-memory alloy wire can be better.But be also fine in the mode of the form parallel connection of uneven distribution, the present invention does not make restriction to it.
Marmem is in twin crystal martensite state when the original state do not stressed, and now, shape-memory alloy wire length is the shortest, and after being subject to external loading, marmem extends and enters twin martensitic state.In time carrying out current flow heats to it, marmem can undergo phase transition and enters austenitic state and realize initiatively shrinking, thus achieves the active drive characteristic of bionic muscle.
In the present embodiment, each shape-memory alloy wire has identical length and diameter.
First gripper shoe, the second gripper shoe 5 are symmetrical structure, all in colyliform, only introduce the structure of the first gripper shoe here.Fig. 3 is the radial section figure of the first gripper shoe 19 position.The centre of the first gripper shoe 19 is drilled with water-guiding hole 21, and 8 apertures 20 of evenly arranging around water-guiding hole, wherein 4 apertures are connected with the first bionical tendon 1, and other four are connected by homemade copper pin 8 with the tail end of the shape-memory alloy wire of first group 12.Cooling water inlet pipe 10 and outlet pipe 9 are connected by glue sealing with the water-guiding hole of the first gripper shoe 19, second gripper shoe 5 respectively.
Simultaneously see Fig. 3, in the present embodiment, rubber tube 18 envelopes the ring-type side of the first gripper shoe 19, and rubber tube 18 is embedded in the inside of PET net 4 simultaneously.The outer face of the first gripper shoe 19, rubber tube 18 and PET net 4 is positioned at same plane, and three is by copper sheathing 3 interference fit.
The annexation of the shape-memory alloy wire of the second gripper shoe 14 and 2, second group 16, the second bionical tendon is with the first gripper shoe 19.The outer face of rubber tube 18 and corresponding second gripper shoe 5 of PET net 4 is at grade and with the second gripper shoe 5 by copper sheathing 22 interference fit.
In the present embodiment, first gripper shoe 19, second gripper shoe 5 is not only used for fixing bionical tendon, shape-memory alloy wire, rubber tube and PET net, also be used for realizing entering and export and realize current flow heats wire and being connected with the effective of shape-memory alloy wire of cooling water, therefore be Multifunctional supporting plate.
Fig. 4 is the schematic diagram of the A-A section of Fig. 1.It is outside that rubber tube 18 is wrapped in the first muscle bracing frame 11, and PET net 4 is wrapped in outside rubber tube 18.Simultaneously see Fig. 1, known, muscle supporter is positioned at the inside of rubber tube 18, and the end winding support of the first gripper shoe 19 and rubber tube.An intersegmental gap is there is between first muscle bracing frame 11 and the first gripper shoe 19.
First muscle bracing frame 11, with the second muscle bracing frame 14 symmetrical configuration, repeats no more here.
Here also it should be noted that, in the present embodiment, rubber tube 18 diameter under radial relaxation state is less than the diameter of first, second muscle bracing frame 11,14, therefore the diameter that the nonlinear elasticity rubber tube 18 in Fig. 3 and Fig. 4 shows is different, the diameter that Fig. 3 is corresponding is the diameter of rubber tube 18 under radial relaxation state, and diameter corresponding to Fig. 4 is the diameter after rubber tube 18 is stretched.Because the diameter of PET net 4 also there occurs change at different sections, therefore the diameter of PET net 4 correspondence in Fig. 3 and Fig. 4 is also different.
Because rubber tube 18 diameter under radial relaxation state is less than the diameter of first, second muscle bracing frame 11,14, therefore being sealed and matched of rubber tube 18 and muscle bracing frame 11,14 can be ensured, thus ensure that cooling water flows into the limbers 17 of muscle bracing frame 11,14 from cooling water inlet pipe 10, thus can effective cooling two groups of shape-memory alloy wires 12,16.In addition, due to being sealed and matched of rubber tube 18 and muscle bracing frame 11,14, in bionic muscle telescopic process, the rubber tube part that elastic deformation occurs is only limitted to the part beyond muscle supporter.
It should be noted that simultaneously, the part of rubber tube 18 between the first gripper shoe 19 and the first muscle bracing frame 11 is relaxed state, the part of rubber tube 18 between the second gripper shoe 5 and the second muscle bracing frame 14 is relaxed state, and whole PET net 4 is also in relaxed state.Aforesaid part all can effectively be stretched.The integral telescopic amount of bionic muscle and the effectiveness of simulation human muscle Passive Biomechanical Properties can be ensured by the initial length changing PET net 4.
Extraneous carrying acts on the first bionical tendon 1 and the second bionical tendon 7 respectively, and is acted in bionic muscle of the present invention by bionical tendon.Under non-power status, the shape-memory alloy wire group 12,16 of bionic muscle is extended passively, and enter self remove twin martensitic state.Now, bionic skeletal muscle of the present invention is in the state that entirety is stretched.
It may be noted that bionic skeletal muscle of the present invention is not infinitely extend along with the increase of carrying.When shape-memory alloy wire 12,16 occur elongation be less than its maximum recover elongation time, the passive device (rubber tube 18 and PET net 4) of bionic muscle is in relaxed state; But when carrying is excessive time, the elongation that the shape-memory alloy wire 12,16 of bionic skeletal muscle of the present invention occurs be about to arrive its maximum recover elongation (i.e. the maximum flexibility deformation quantity of its elongation state) time, the passive device (rubber tube 18 and PET net 4) in bionic muscle is stretched stressed.
By changing the passive device parameter value (density of the caliber of rubber tube 18, wall thickness and PET net) of bionic muscle of the present invention, it can be simulated the nonlinear elasticity of human muscle preferably by dynamic elasticity, and the effect bearing carrying and energy storage can be played, thus reduce the pulling force acted on shape-memory alloy wire 12,16.
Simultaneously, by the passive device parameter value of bionic muscle of the present invention (density of the caliber of rubber tube 18, wall thickness and PET net) is adjusted to suitable numerical value, just can realize " when carrying is excessive time; the elongation that the shape-memory alloy wire 12,16 of bionic skeletal muscle of the present invention occurs maximumly recovers elongation (i.e. the maximum flexibility deformation quantity of its elongation state) being about to arrive it, and the passive device (rubber tube 18 and PET net 4) in bionic muscle is stretched stressed.”
In the energized state, two groups of shape-memory alloy wires 12,16 are heated, and produce initiatively contractive action because temperature raises, and imitate the active drive characteristic of muscle well.
In the present embodiment, the 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 provide enough large electric current to shape-memory alloy wire group 12,16 time, shape-memory alloy wire 12,16 can when temperature be elevated to uniform temperature, and all enter austenitic state, now bionic muscle of the present invention is in the shortest state.In shape-memory alloy wire 12,16 contraction process, the passive device (rubber tube 18 and PET net 4) of bionic muscle is in relaxed state, thus can not affect the mechanical characteristic of shape-memory alloy wire 12,16.
When being energized to marmem, due to the opposing seal of rubber tube inside, shape-memory alloy wire can realize Fast Heating and shrink.During power-off, by cooling water inlet pipe 10, cooling water outlet pipe 9 pairs of rubber tubes inside quickly through cooling water, the quick cooling that can realize shape-memory alloy wire is extended.Thus substantially increase the response speed of bionic muscle.
Above ocean carefully describes preferred embodiment of the present invention.Should be appreciated that those of ordinary skill in the art just design according to the present invention can make many modifications and variations without the need to creative work.Therefore, all those skilled in the art, all should by the determined protection domain of claims under this invention's idea on the basis of existing technology by the available technical scheme of logical analysis, reasoning, or a limited experiment.
Claims (8)
1. an active/passive intelligent bionic muscle, is characterized in that, comprises the first gripper shoe, the second gripper shoe, PET net, rubber tube, muscle supporter, some shape-memory alloy wires in parallel;
Described muscle supporter is positioned at rubber tube inside, and PET net is coated on outside rubber tube, and the two ends of rubber tube, PET net are fixed with the first gripper shoe, the second gripper shoe respectively; Shape-memory alloy wire is fixed by muscle supporter and the first gripper shoe and/or the second gripper shoe;
The diameter of rubber tube is less than the maximum gauge of muscle supporter, and the part on part on rubber tube between the first gripper shoe and muscle supporter and rubber tube between the second gripper shoe and muscle supporter is relaxed state; Whole PET net is relaxed state;
Described muscle supporter has some through holes, and described shape-memory alloy wire is fixed with the first gripper shoe and/or the second gripper shoe respectively through those through holes;
Described active/passive intelligent bionic muscle also comprises for passing in and out cold water with the cooling water inlet pipe of cooling shape memory B alloy wire, cooling water outlet pipe; Described first gripper shoe and the second gripper shoe all have through hole; Described cooling water inlet pipe, cooling water outlet pipe are tightly connected with the through hole in the first gripper shoe and the second gripper shoe respectively; Through hole on described cooling water inlet pipe, rubber tube, muscle supporter, cooling water outlet pipe form a passage for cold water flow.
2. active/passive intelligent bionic muscle according to claim 1, it is characterized in that, laterally carrying is applied to the first gripper shoe and the second gripper shoe, before the elongation occurred at shape-memory alloy wire arrives the maximum flexibility deformation quantity of its elongation state, the part on the part on rubber tube between the first gripper shoe and muscle supporter and rubber tube between the second gripper shoe and muscle supporter is relaxed state; Whole PET net is relaxed state.
3. active/passive intelligent bionic muscle according to claim 1, is characterized in that, described shape-memory alloy wire is swinging; Described marmem doubling is walked around on muscle supporter after any two through holes, and two tail end is fixed in the first gripper shoe or the second gripper shoe.
4. active/passive intelligent bionic muscle according to claim 3, is characterized in that, described some shape-memory alloy wires are at least divided into two groups: first group and second group; Each group at least comprises a helicoid shape-memory alloy wire; Being folded to of the shape-memory alloy wire of described two groups is contrary;
Any two through holes on muscle supporter are walked around in the shape-memory alloy wire doubling of first group, and two tail end is fixedly connected with the first gripper shoe;
Any two through holes on muscle supporter are walked around in the shape-memory alloy wire doubling of second group, and two tail end is fixedly connected with the second gripper shoe.
5. active/passive intelligent bionic muscle according to claim 1, is characterized in that, described shape-memory alloy wire is linearity, and it is through the through hole on muscle supporter, and its two ends fix the first gripper shoe and the second gripper shoe respectively.
6. active/passive intelligent bionic muscle according to claim 1, is characterized in that, described muscle supporter comprises the first muscle bracing frame, the second muscle bracing frame and back shaft; The two ends of back shaft connect the first muscle bracing frame, the second muscle bracing frame respectively; First muscle bracing frame and the second muscle bracing frame are symmetrical structure;
Described first muscle bracing frame has some limbers for flowing through cold water; The diameter of described first muscle bracing frame is greater than the diameter of rubber tube; Described first muscle bracing frame and the second muscle bracing frame are isolation material.
7. active/passive intelligent bionic muscle according to claim 6, is characterized in that, shape-memory alloy wire is at least divided into two groups: first group and second group; Each group at least comprises a helicoid shape-memory alloy wire; Being folded to of the shape-memory alloy wire of described two groups is contrary; After any two limbers on the second muscle bracing frame are walked around in the shape-memory alloy wire doubling of first group, two tail end is fixedly connected with the first gripper shoe through the limbers of the first muscle bracing frame; After any two limbers on the first muscle bracing frame are walked around in the shape-memory alloy wire doubling of second group, two tail end is fixedly connected with the second gripper shoe through the limbers of the second muscle bracing frame.
8. 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; Described conductor wire is connected with described shape-memory alloy wire; Described first bionical tendon, the second bionical tendon are positioned at the upper and lower sides of described bionic muscle, and fix with the first gripper shoe, the second gripper shoe respectively.
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| 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 |
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