CN103878762A

CN103878762A - Bionic stretching structured chain

Info

Publication number: CN103878762A
Application number: CN201210561948.5A
Authority: CN
Inventors: 赵德政
Original assignee: Individual
Current assignee: Individual
Priority date: 2012-12-22
Filing date: 2012-12-22
Publication date: 2014-06-25

Abstract

The invention relates to the technical field of micro-electromechanics, in particular to a movable robot device and a power device with a bionic stretching structured chain comprising iron cores, coils and a soft connecting shell. In the soft connecting shell, the iron coils are fixedly connected to the iron cores. The soft connecting shell is fixedly connected to the coils. The front end of one iron core, made of easy-magnetized material, focuses on the rear portion of another iron core, and the drawing length of an elastic stretching shell can determined according to the thickness and distance of basic modules. The soft connecting shell covers the electromagnetic coils wrapping the outer circumferential walls of the iron cores, two ends of the electromagnetic coils are connected to the negative and positive electrodes of a power supply. The bionic stretching structured chain is capable of imitating animal muscle stretching to move, so that limb mechanical activities of humanoid robots are more flexible and free; changes of appearances and sizes can be applied to large-scale traction and reciprocating motion of mechanical movements.

Description

Bionic telescopic is organized chain

Technical field

The present invention relates to be applied to field of micro electromechanical technology and mechanical field, particularly bionic telescopic and organize reciprocating motion machine people's device and the power set of chain.

Background technology

The reciprocating motion of existing many dynamic power machines mainly relies on motor, engine that driving is rotated and become reciprocating motion, special industrial robot in many factories all relies on motor to drive, and this is restricted the joint motion mode of the mechanical arm of robot.In addition, the research that existing robot is relevant just manages how to change the walking balance of humanoid robot or other class quadrupeds machinery, the association areas such as control, its bionical degree is lower, the manners such as walking such as humanoid robot or other class quadrupeds machinery are stiff, also make its flexibility be restricted.

Summary of the invention

The object of the present invention is to provide bionic telescopic to organize chain, it can play imitation animal muscle tissue and stretch and the function of motion, fully be applied in other quadrupeds mechanical technique of humanoid robot or class, the activity that makes other quadrupeds machinery of humanoid robot or class more flexibly and freely.

The object of the present invention is achieved like this: bionic telescopic is organized chain, by iron core, coil with flexibly connect housing and form bionic telescopic and organize chain, separately basic module be do not have effective.Flexibly connecting in shell, affixed or be glued to and flexibly connect on housing by coil, iron core is affixed or glued joint in coil, and distance decision of coil and iron core is organized with another in the thickness of the contracted length of elastic telescopic housing and coil and iron core self and it; The solenoid being wrapped on iron core periphery wall is covered by the flexible housing of flexibility, and the two ends of solenoid are connected with the positive and negative level of power supply corresponding matching.Form the N utmost point and the S utmost point of coil, there is a natural attraction between the sexes forms and shrink and repulsive force for two like magnetic poles repel each other.

The principle of the invention is: organize in chain at each bionic telescopic, another group iron-core coil of the magnetic attraction being produced by the solenoid being entangled on iron core outer wall, its imitative bionic telescopic organizes the structure of chain to be similar to the Telescopic of muscle cell, imitate the flexible principle of meat fiber, make each bionic telescopic organize scm cluster to cooperate and the composition bionic telescopic musculature of back and forth stretching simultaneously, can be applicable in the middle of humanoid robot or other class quadrupeds field of mechanical technique.The present invention can play and imitate that animal muscle tissue is flexible and the function of motion is fully applied in other quadrupeds mechanical technique of humanoid robot or class, and the activity that makes other quadrupeds machinery of humanoid robot or class more flexibly and freely.

Accompanying drawing explanation

Fig. 1 is the basic module that bionic telescopic of the present invention is organized chain.

Fig. 2 is that bionic telescopic of the present invention is organized the sectional structure schematic diagram of chain in extended configuration;

Fig. 3 is that bionic telescopic of the present invention is organized the sectional structure schematic diagram of chain in contraction state;

Fig. 4 is the structural representation of the bionic telescopic musculature that forms of the bionic telescopic chain that connected and composed by telescopic matrix unit of the present invention and bionic telescopic chain.

The specific embodiment

Bionic telescopic is organized chain, as shown in Figures 1 to 4, iron core 1, coil 2, flexibly connect housing 3 and form bionic telescopic and organize chain, coil 2 is wound around and is fixed in iron core 1, coil 2 is flexibly connected housing 3 and is covered, the two ends of solenoid 2 are connected with the positive and negative level of power supply corresponding matching, in the time of coil electricity, bionic telescopic organizes the iron core 1 of chain to attract each other, make bionic telescopic organize chain to shrink, as human muscle action, as at interval of one adopt reversing the current bionic telescopic organize chain can produce the action of diastole.

Each above-mentioned matrix basic module initial and end connects in a row, and adjacent base modules front end is organized chain with the corresponding bionic telescopic that connects and composes in rear end of another base modules; In the time that coil 2 is switched on, producing magnetic field attracts each other the basic module of bionic telescopic chain, wherein, bionic telescopic is organized the power supply input two ends of this bionic telescopic tissue of formation parallel with one another between its coil 2 of each telescopic matrix module in chain, match with power supply in these power supply input two ends, the sense of current in the same way time module attract each other, bionic telescopic organizes chain to shrink.When the sense of current is reverse, mutually repel, bionic telescopic is organized chain-unfolding.Organize in chain at adjacent two bionic telescopics, the base modules of one bionic telescopic chain is staggered with respect to the telescopic matrix module of another bionic telescopic chain, and can be connected by the good artificial bionic soft material of pliability, make it more compact structure, mutually not discrete.

Iron core 1 is made up of the metal material of easy magnetization, and front and back are shaped as identical spigot-and-socket external surface shape, and can smooth close contact, and the front and rear part of iron core mutually socket joint connects, and adopts cylinder, circular cone, sphere, and two iron core contact-making surfaces can close contact.Coil 2 is formed by the low good wire coiling of resistance.Flexibly connect housing 3 and formed by other flexible materials such as flexible textile material or rubber, use metal material to form and can use sleeve bayonet joint, and clamping mutually between sleeve, form as the power set of Pneumatic piston.

If Fig. 1 is the basic module that bionic telescopic is organized chain, single basic module is without any effect.Fig. 2 is that bionic telescopic organizes chain in extended configuration, after Fig. 3 switches on bionic telescopic organize chain in contraction state, Fig. 4 is the bionic telescopic tissue that multiple imitative bionic telescopics are organized the similar musculature that chain is connected to form.

In sum, the present invention is in conjunction with bionics techniques, machinery, electromagnetism, Electronic Control, the current situation in the related fields fields such as lubrication system, simple in structure, easily manufacture, and easily standardization, utilize modern high-new micro electronmechanical and micro-processing technology, finally can make the size below micron order, as manufacturing integration large scale integrated circuit, organize chain to couple together if any thousands of imitative bionic telescopic, will form total length and exceed 25% mechanical movement stroke, by these mechanical type bionic telescopic tissue apposition on as the hinged metal bone of humanoid robot or other class quadrupeds machinery or metallic framework, just can make above-mentioned humanoid robot or other class quadrupeds machinery more nimbly and freely.

In the time that multiply bionic telescopic organizes chain to be attached on hinged mechanical arm, imitative bionic telescopic organizes chain solenoid two ends to connect with power supply, and the size of electric current can produce magnetic field, and magnetic field makes the basic module movement that attracts each other, make resilient flexibility housing 3 produce distortion, form displacement stroke.As Fig. 3 be shrink after state, bionic telescopic organizes chain to complete release current after an action, bionic telescopic organizes chain to restore, can not restore if any other external force, just need another strand to stretch as musculature rises or the bionic telescopic tissue stretching of contraction, because mechanical arm is born the effect of lever therein.If Fig. 2 and Fig. 3 are the state that stretches and shrink.

The present invention realizes various motions by the control of electric current, even if there are indivedual telescopic matrix units to break down, also can not affect molar behavior and motion.By the signal of telecommunication, to the similar response to nerve stimulation of the control of electric current, if Fig. 4 is that numerous imitative bionic telescopics are organized the interconnective schematic diagram of chain, power supply must adopt and is connected in parallel or is partly connected in series.Per share bionic telescopic tissue need only change its length just can control the strength that it applies exactly, connection each other adopt flexibly connect soft and can change direction; Simultaneously, bionic telescopic organization table reveals the attribute of proportions constant: for the bionic telescopic tissue of various sizes size, its mechanism is all the same, identical bionic telescopic tissue, if its imitative bionic telescopic organizes the quantity of chain significantly to increase, will give mechanical arm very large flexible strength.Therefore, make the machinery with electrical motor driven for being difficult to, the present invention can be used as a kind of micro electronmechanical widespread adoption of organizing of innovation in various production technical field.In the very thin thickness of module and the very large application of diameter, can realize large travel displacement, and High power Traction.

Claims

1. bionic telescopic is organized chain, it is characterized in that: iron core (1) and coil (2) form telescopic matrix module, connect and compose bionic telescopic and organize chain by flexibly connecting housing (3), flexibly connecting in housing, coil (2) is fixed on iron core (1), flexibly connecting housing (3) is fixed on coil (2), the anterior rear portion of aiming at another iron core of iron core (1) being formed by easy magnetization material, the tensile elongation of elastic telescopic housing can determine according to the thickness of basic module and spacing; Be wrapped in solenoid on iron core periphery wall and flexibly connected housing and cover, the positive and negative level of the two ends of coil (2) and power supply corresponding matching is connected.

2. bionic telescopic according to claim 1 is organized chain, it is characterized in that: it is characterized in that: the affixed formation bionic telescopic of adjacent expansion base modules chain; Match and form bionic telescopic and organize by bionic telescopic chain, wherein, the power supply of this bionic telescopic tissue parallel with one another or in series input two ends between bionical each its coil of telescopic matrix module (2) of stretching in organizing, the both positive and negative polarity of power supply changes can produce repulsive force.

3. bionic telescopic according to claim 1 is organized chain, it is characterized in that: flexibly connecting in housing, the iron core front end being made up of easy magnetization material is aimed at the rear portion of another iron core, the front and rear part of iron core mutually socket joint connects, adopt cylinder, circular cone, sphere, two iron core contact-making surfaces can close contact.

4. bionic telescopic according to claim 2 is organized chain, it is characterized in that: in the middle of adjacent two bionic telescopic chains, the telescopic matrix module of a bionic telescopic chain is staggered with respect to the telescopic matrix module of another bionic telescopic chain.

5. bionic telescopic according to claim 1 is organized chain, it is characterized in that: flexibly connect housing (3) and formed by the flexible material that is difficult for stretching, use metal material to form and can use sleeve bayonet joint, and clamping mutually between sleeve, forms as the power set of Pneumatic piston.