CN103598930A - Artificial muscle for generating hydraulic pressure with magnetofluid - Google Patents
Artificial muscle for generating hydraulic pressure with magnetofluid Download PDFInfo
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- CN103598930A CN103598930A CN201310621985.5A CN201310621985A CN103598930A CN 103598930 A CN103598930 A CN 103598930A CN 201310621985 A CN201310621985 A CN 201310621985A CN 103598930 A CN103598930 A CN 103598930A
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Abstract
The invention relates to an artificial muscle. A single artificial muscle fiber bundle is used as a constitution unit, and a whole muscle is composed of a plurality of artificial muscle fiber bundles. The single artificial muscle fiber bundle is composed of a spiral coil, a strip-shaped bag, reinforcing ribs and the magnetofluid, the reinforcing ribs are axially distributed on the surfaces of the strip-shaped bags, the spiral coils are wound on the surfaces of the strip-shaped bags, the insides of the strip-shaped bags are filled with the magnetofluid, and the magnetofluid is composed of magnetic solid particles, base carrier liquid and interfacial agents. The two ends of each spiral coil are powered on, the magnetofluid is polarized, pressure is generated in the magnetofluid and acts on the strip-shaped bags, the single artificial muscle fiber bundle is thickened and shortened, and the effect similar to muscle contraction is generated. Hydraulic pressure depends on magnetic field strength, magnetofluid quality and the length of the single artificial muscle fiber bundle, and through different combination modes and different currents, different kinds of tension force can be provided.
Description
Technical field
The invention belongs to robot building, dynamic motion simulation technical field, be specifically related to a kind of artificial-muscle.
Background technology
Artificial-muscle can be widely used in the fields such as robot, mechanical hand, artificial limb, bionic toy, stage property.Prior art has various ways at the design aspect of artificial-muscle, Chinese patent 2133908.2 discloses a kind of artificial strip muscle and application thereof, its specific design is to consist of double-spiral coil, elastic gum, magnetic flow liquid micelle, double-spiral coil appearance and inner by the coated filling of elastic gum, in elastic gum, be full of magnetic flow liquid micelle, at double-spiral coil, by electric current, polarization magnetic flow liquid micelle, produces axial shrinkage.This artificial-muscle has certain muscle contraction function, but has following technical problem:
1. this artificial-muscle is to rely on elastic gum carrying external pull, and in the time of carrying external pull, two ends elastic gum certainly will be elongated, and the amount of elongation at two ends can be offset the amount of contraction that artificial-muscle produces, and overall shrinkage amount and pulling force are reduced.Adopt the larger elastic gum of elastic modelling quantity, really can alleviate the problems referred to above, but artificial-muscle shrinks the elastic force that need to overcome, but will increase, can increase again the waste of energy, even this energy dissipation also cannot be eliminated in the ideal situation.
2. the tension that the arbitrary cross section of this artificial-muscle bears all equals the business of external pull and this cross-sectional area, and double-spiral coil magnetic field intensity is successively decreased to two ends by middle part.The contractility of artificial-muscle arbitrary section both sides all will with this tension balance of locating cross section, will consume more multipotency.Artificial-muscle is shunk evenly, have to design to propose requirements at the higher level, therefore will raise the cost.
Summary of the invention
The present invention is directed to prior art above shortcomings, designed a kind of artificial-muscle, realize the contraction of muscle with the hydraulic pressure of magnetic fluid, simple in structure, convenient, flexible, muscular contraction force is strong.
Technical scheme of the present invention is as follows:
It is Component units that this artificial-muscle be take single bundle artificial-muscle unit, single bundle artificial-muscle unit consists of spiral winding, strip capsule, reinforcement, magnetic fluid, the appearance axial distribution of strip capsule has reinforcement, and is tied with spiral winding, and strip capsule inside is full of magnetic fluid.Spiral winding energising, makes magnetic fluid polarization, and the magnetic fluid oneself of polarization attracts, and produces hydraulic pressure, makes the pressurized chap of strip capsule middle part, and transmits pulling force by reinforcement, and artificial-muscle shrinks.
The selecting of magnetic fluid usingd polarization effect and stability as standard.Spiral winding is formed by diameter tinsel coiling very thin and surface insulation.Monoblock artificial-muscle is by many single bundle artificial-muscle cell formations, and adjacent artificial-muscle unit magnetic direction should be tried one's best on the contrary.
Artificial-muscle provided by the invention produces magnetic field polarization magnetic fluid by spiral winding, at the inner hydraulic pressure that produces of magnetic fluid, forces the expansion of strip capsule middle part, transmits pulling force, and then realize the contraction of muscle by reinforcement.The structure stress division of labor is clear and definite, loose to material requirements, simple in structure.The pulling force producing due to single bundle artificial-muscle fiber derives from hydraulic pressure, so the pulling force size of its generation depends on magnetic field intensity, magnetic fluid character and artificial-muscle element length, and irrelevant with strip capsule thickness.In theory, in the situation that monoblock artificial-muscle thickness is constant, single bundle artificial-muscle unit is thinner, the artificial-muscle unit containing in monoblock artificial-muscle is just more, the pulling force that artificial-muscle produces is larger, and this characteristic can be saved the use amount of magnetic fluid, and provides space for the improvement of technique.The present invention can extensive use and the field such as robot building, cybernetics, dynamic motion simulation, for using artificial muscular tissue simulation biological motion that a kind of means are provided.
Accompanying drawing explanation
Fig. 1 is the front view of single bundle artificial-muscle unit.
Fig. 2 is the sectional drawing of single bundle artificial-muscle unit.
Fig. 3 is the force diagram of reinforcement.
Fig. 4 is the constitutional diagram of two artificial-muscle unit.
The specific embodiment
Referring to Fig. 1 and Fig. 2, it is basic comprising unit that artificial-muscle be take many single bundle artificial-muscle unit.Single bundle artificial-muscle unit consists of spiral winding 1, strip capsule 2, reinforcement 3, magnetic fluid 4.In the middle of strip capsule 2, thick two are thin, and surface is as pliciform, and its section is star, as Fig. 2, but are not limited only to five-pointed star.Along strip capsule 2, be tied with spiral winding 1, coil should be close to the outer surface of strip capsule.The situation that cross section is five-pointed star of take is example, and strip capsule 2 surfaces can exist 10 ribs, and wherein 5 is indent, and 5 is evagination.Along the rib of indent, lay reinforcement 3, as Fig. 2, and at reinforcement 3, converge at strip capsule 2 two ends parts constraint ring 5 is installed respectively, as Fig. 1, reinforcement 3 is bundled into one.In strip capsule inside, fill with magnetic fluid 4.
Spiral winding 1 is formed by the tinsel coiling of the very thin surface insulation of diameter; Strip capsule 2 adopts the larger materials processing of elastic modelling quantity; Pliable and tough, difficult material manufacture of elongating that reinforcement 3 should adopt; The criteria for selection of magnetic fluid 4 is that polarization effect is good, good stability, good fluidity.
Spiral winding 1 passes to unidirectional current, not only as the generation source in magnetic field, and can when 2 expansion of strip capsule, reduce its circumferential tension, plays reinforcement effect.After magnetic fluid 4 is polarized, on magnetic direction, oneself attracts, and produces to the concentrated trend in artificial-muscle middle part, and the inner pressure that produces of magnetic fluid, makes the middle part expansion of strip capsule 2.The expansion of strip capsule 2 bends the stage casing of surperficial reinforcement 3, and the Distance Shortened between reinforcement 3 ends A, B, as Fig. 3.Make a concerted effort and the list of all reinforcements 3 are restrainted artificial-muscle unit axis and are overlapped.Constraint ring 5 is strapped in reinforcement 3 together, can avoid reinforcement 3 when bearing larger pulling force to peel off with strip capsule 2, causes strip capsule two ends damaged.
With reference to Fig. 4, two artificial-muscle unit are in parallel, and direction is a positive and a negative, and a part of magnetic induction line 6 can form circulation in two artificial-muscle unit.This arranging reinforcement artificial-muscle unit internal magnetic field, and reduce the external magnetic field at two ends, artificial-muscle unit.When adopting many artificial-muscle unit parallel connections, also should adopt the positive and negative method being mingled with.The spiral winding of artificial-muscle unit is together in series and also can makes circuit more succinct simultaneously, still, if there is a place to open circuit, can cause that the artificial-muscle of series connection all lost efficacy, so too much artificial-muscle unit should not be cascaded entirely.
Claims (6)
1. an artificial-muscle, it is characterized in that take that single bundle artificial-muscle fiber is Component units, single bundle artificial-muscle fiber consists of spiral winding, strip capsule, reinforcement, magnetic fluid, the appearance axial distribution of strip capsule has reinforcement, and be tied with spiral winding, in strip capsule, be full of magnetic fluid, magnetic fluid is comprised of magnetic retention granule, base load liquid and interfacial agent.
2. single bundle artificial-muscle fiber according to claim 1, is characterized in that, in the energising of spiral winding two ends, making magnetic fluid polarization, and single bundle artificial-muscle fiber produces distortion.
3. single bundle artificial-muscle fiber according to claim 1, is characterized in that the cross section of strip capsule is star, and being subject to internal pressure can expand, and during expansion, cross sectional shape is tending towards circular.
4. single bundle artificial-muscle fiber according to claim 1, is characterized in that the axial arranged reinforcement in strip capsule surface, is used for transmitting pulling force.
5. single bundle artificial-muscle fiber according to claim 1, is characterized in that spiral winding is formed by tinsel coiling, and tinsel should be close to strip capsule.
6. single bundle artificial-muscle fiber according to claim 1, is characterized in that reinforcement bundle being bunched up with constraint ring at the two ends of artificial-muscle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310621985.5A CN103598930A (en) | 2013-11-30 | 2013-11-30 | Artificial muscle for generating hydraulic pressure with magnetofluid |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310621985.5A CN103598930A (en) | 2013-11-30 | 2013-11-30 | Artificial muscle for generating hydraulic pressure with magnetofluid |
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| CN103598930A true CN103598930A (en) | 2014-02-26 |
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| CN201310621985.5A Pending CN103598930A (en) | 2013-11-30 | 2013-11-30 | Artificial muscle for generating hydraulic pressure with magnetofluid |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104999475A (en) * | 2015-08-28 | 2015-10-28 | 刘伟 | Artificial muscle and application thereof |
| CN106816074A (en) * | 2017-03-21 | 2017-06-09 | 淮阴师范学院 | A kind of musculature reproduces interface arrangement |
| CN106920450A (en) * | 2017-03-21 | 2017-07-04 | 淮阴师范学院 | Musculature for realizing man-machine interaction reproduces interface arrangement |
| CN108543165A (en) * | 2018-02-27 | 2018-09-18 | 宁波胜杰康生物科技有限公司 | A kind of muscular function auxiliary device based on carrier |
| CN108972510A (en) * | 2018-08-22 | 2018-12-11 | 广州大学 | Soft robot, mold former based on ferrofluid driving and preparation method thereof |
| CN110733022A (en) * | 2019-09-20 | 2020-01-31 | 东南大学 | Soft skeletal muscle driver based on ferrofluid and electromagnetic coil |
| CN111923034A (en) * | 2020-07-08 | 2020-11-13 | 浙江工业大学 | Rigidity-variable soft finger and control method thereof |
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| US4176411A (en) * | 1977-11-28 | 1979-12-04 | Runge Thomas M | Cardiac assist device employing electrically stimulated artificial muscle |
| US5948654A (en) * | 1996-08-28 | 1999-09-07 | Univ Minnesota | Magnetically oriented tissue-equivalent and biopolymer tubes comprising collagen |
| US6168634B1 (en) * | 1999-03-25 | 2001-01-02 | Geoffrey W. Schmitz | Hydraulically energized magnetorheological replicant muscle tissue and a system and a method for using and controlling same |
| CN1413562A (en) * | 2002-10-14 | 2003-04-30 | 重庆工学院 | Artificial muscle |
| JP2005058351A (en) * | 2003-08-08 | 2005-03-10 | Doshisha | Artificial muscle |
| CN100998525A (en) * | 2007-01-04 | 2007-07-18 | 王剑火 | Muscle prothesis device |
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2013
- 2013-11-30 CN CN201310621985.5A patent/CN103598930A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4176411A (en) * | 1977-11-28 | 1979-12-04 | Runge Thomas M | Cardiac assist device employing electrically stimulated artificial muscle |
| US5948654A (en) * | 1996-08-28 | 1999-09-07 | Univ Minnesota | Magnetically oriented tissue-equivalent and biopolymer tubes comprising collagen |
| US6168634B1 (en) * | 1999-03-25 | 2001-01-02 | Geoffrey W. Schmitz | Hydraulically energized magnetorheological replicant muscle tissue and a system and a method for using and controlling same |
| CN1413562A (en) * | 2002-10-14 | 2003-04-30 | 重庆工学院 | Artificial muscle |
| JP2005058351A (en) * | 2003-08-08 | 2005-03-10 | Doshisha | Artificial muscle |
| CN100998525A (en) * | 2007-01-04 | 2007-07-18 | 王剑火 | Muscle prothesis device |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104999475A (en) * | 2015-08-28 | 2015-10-28 | 刘伟 | Artificial muscle and application thereof |
| CN106426140A (en) * | 2015-08-28 | 2017-02-22 | 刘伟 | Artificial muscle, application thereof and robot |
| CN106816074A (en) * | 2017-03-21 | 2017-06-09 | 淮阴师范学院 | A kind of musculature reproduces interface arrangement |
| CN106920450A (en) * | 2017-03-21 | 2017-07-04 | 淮阴师范学院 | Musculature for realizing man-machine interaction reproduces interface arrangement |
| CN108543165A (en) * | 2018-02-27 | 2018-09-18 | 宁波胜杰康生物科技有限公司 | A kind of muscular function auxiliary device based on carrier |
| CN108543165B (en) * | 2018-02-27 | 2021-06-18 | 宁波胜杰康生物科技有限公司 | Carrier-based muscle function auxiliary device |
| CN108972510A (en) * | 2018-08-22 | 2018-12-11 | 广州大学 | Soft robot, mold former based on ferrofluid driving and preparation method thereof |
| CN108972510B (en) * | 2018-08-22 | 2022-01-04 | 广州大学 | Soft robot based on ferrofluid drive, mold model and preparation method thereof |
| CN110733022A (en) * | 2019-09-20 | 2020-01-31 | 东南大学 | Soft skeletal muscle driver based on ferrofluid and electromagnetic coil |
| CN111923034A (en) * | 2020-07-08 | 2020-11-13 | 浙江工业大学 | Rigidity-variable soft finger and control method thereof |
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Application publication date: 20140226 |