CN104196816B - A kind of artificial-muscle - Google Patents
A kind of artificial-muscle Download PDFInfo
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- CN104196816B CN104196816B CN201410424839.8A CN201410424839A CN104196816B CN 104196816 B CN104196816 B CN 104196816B CN 201410424839 A CN201410424839 A CN 201410424839A CN 104196816 B CN104196816 B CN 104196816B
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Abstract
The invention discloses a kind of artificial-muscle, it is characterized in that: unit and a Flexible element composition tandem arrangement are shunk in a damping, element length Lc is shunk in damping and Flexible element length Ls sum is artificial-muscle length L, damping shrinks unit and Flexible element all by equal force pulling, i.e. pulling force T suffered by artificial-muscle.The present invention is that a kind of bionical degree to biological muscles performance is high, have that accurate control mode and work model, action response time be short, stable performance, can easily be accommodated, capacity usage ratio and high artificial-muscle fatigue life.
Description
Technical field
The present invention relates to a kind of artificial-muscle, especially meet the artificial-muscle of Hill mechanics of muscle model, belong to bionic mechanical neck
Territory.
Background technology
The motor system of human or animal is with skeleton and to depend on muscle thereon (skeletal muscle) for mainly comprising, by nervous system control
The motor system of system.The skeletal muscle being distributed in animal whole body is the driver of animal kinematic scheme, and chemical energy is converted into mechanical energy
And do work.Skeletal muscle actively shrinks under nerve signal encourages, and drives skeleton to close by pulling force
Joint rotates.The relation of the contraction rate of skeletal muscle, driving pulling force and nerve signal excitation is that the motion of research animal and people is moved
The important foundation of mechanics, has important application at numerous aspects such as Aero-Space, motion, medical science.Nineteen twenty-two, Archibald Vivian
Hill obtains Nobel Prize in Physiology or Medicine owing to establishing about the Macroscopic phenomenological method theory of muscle contraction.Skeletal muscle energy utilization rate
Up to 50%, directly drive skeleton motion, it is not necessary to deceleration device and actuated element, belong to unidirectional force device, forms of motion is
Linear reciprocating.Bionical as to skeletal muscle, artificial-muscle increasingly comes into one's own, medical apparatus and instruments, rehabilitation medical, bionical,
The numerous areas such as intelligent robot, military issue weapons, Aero-Space will play the biggest effect.
Existing artificial-muscle is divided into Material shrinkage type and structure both shrinks type.Material shrinkage type artificial-muscle is to have receipts to surrounding
The compound of contracting reaction is that material is made, and chemical energy or electric energy are converted into mechanical energy.Structure both shrinks type artificial-muscle is with gas
Dynamic artificial-muscle is representative, is mainly strengthened sleeve pipe by the airtight elastic tube of internal layer and outer layer and forms, and two ends seal, at airtight elastic tube
During interior pressurization, whole Pneumatic artificial muscle is thicker to shorten, and produces axial shortening, pulls two ends load.Either Material shrinkage type is also
Being structure both shrinks type, current artificial-muscle is all dependent on material deformation and produces axial shortening, pulls two ends load.The problem existed
It is: do not correspond with Hill muscle model, therefore the highest to the bionical degree of biological skeletal muscle performance；Lack contraction speed, receipts
Shrinkage and pulling force and between the accurate control mode of relation, it is difficult to set up work model accurately；Action response time length, stable
Property, bad adaptability, it is difficult to regulation；Energy utilization efficiency and fatigue life are the highest.
Summary of the invention
The present invention is for avoiding the weak point existing for above-mentioned prior art, it is provided that a kind of bionical degree to biological muscles performance
High, have that accurate control mode and work model, action response time be short, stable performance, can easily be accommodated, capacity usage ratio and tired
The artificial-muscle that the labor life-span is high.
The present invention solves that technical problem adopts the following technical scheme that
Being structurally characterized in that of artificial-muscle of the present invention: unit and a Flexible element composition tandem arrangement are shunk in a damping, described
It is described artificial-muscle length L that element length Lc and Flexible element length Ls sum are shunk in damping, described damping shrink unit and
Flexible element all by equal force pulling, pulling force T suffered by the most described artificial-muscle.
The construction features of artificial-muscle of the present invention lies also in: described Flexible element has elongation Δ Ls, pulling force under pulling force T effect
The relation of T and elongation Δ Ls is determined by the design of the structure and material character of described Flexible element and is regulated；Described damping is received
Contracting unit has amount of contraction Δ Lc, contraction speed v under working media Pm effect and hinders the pulling force T shunk；Described pulling force T,
Having quantity constraints relation between amount of contraction Δ Lc, working media Pm and contraction speed v, described quantity constraints relation is passed through
The design of structure and working media Pm that unit is shunk in damping determines and regulates.
The construction features of artificial-muscle of the present invention also resides in: the amount of contraction Δ L of described artificial-muscle is:
Δ L=Δ Lc-Δ Ls,
Described artificial-muscle can only bear pulling force, and in range of application, the elongation of described artificial-muscle and contraction are no longer by other structure
On constraint；Described artificial-muscle produces actively to shrink and produce under the working media Pm effect that unit is shunk in described damping and draws
Power T, when actively shrinking, the amount of contraction Δ L of artificial-muscle is on the occasion of, i.e. Δ Lc > Δ Ls, and by described damping shrink unit with
The design of Flexible element realizes；When damping contraction cell operation medium Pm does not acts on, described artificial-muscle is by additional pulling force T
The effect passively pulled, has passive elongation, and amount of contraction Δ L is negative value.
The construction features of artificial-muscle of the present invention also resides in: described damping is shunk cell operation medium Pm and included air-liquid and electromagnetism.
The present invention is being structurally characterized in that as the artificial-muscle of working media using gas: a damping with piston cylinder mechanism is received
Contracting unit and a Flexible element constitute tandem arrangement, and damping shrinks the total length of unit and Flexible element by pulling force and operating air pressure
Control, do not retrained by other.
The present invention lies also in using gas as the construction features of the artificial-muscle of working media:
Described damping is shunk unit and is set to: rear end cap and middle end cap are connected by thread seal with cylinder barrel, pass through screw thread with piston
The piston rod connected runs through middle end cap, arranges inlet suction port installing hole on middle-end lid；Rear end cap arranges air vent；
The structure of described Flexible element is set to: have cavity in the inside of described piston rod, and its other end is threadeded with drive end bearing bracket
And through middle end cap；Arranging spring in described piston rod, one end of spring is fixing with the round nut in piston rod to be connected, another
End connects guide rod；Described guide rod connects the first draw ring through drive end bearing bracket and being positioned at the outside rod end of piston rod, passes through on rear end cap
Fixed support arranges the second draw ring.
The present invention also resides in using gas as the construction features of the artificial-muscle of working media:
The rear end cap that unit is shunk in described damping is provided with caging bolt, with the stroke of caging bolt limiting piston, caging bolt
Axial location is adjustable；Piston is connected by hexagon socket head cap screw with piston rod.
The outer circumference surface of described piston is embedded with in cannelure support ring and first " O " RunddichtringO respectively；At piston rod
And being respectively arranged with Y-shaped sealing ring and guide pin bushing between middle end cap, the binding face at piston rod Yu piston is provided with second " O "
RunddichtringO, the binding face at the two ends of described cylinder barrel with rear end cap and middle end cap is respectively provided with sealing gasket.
Compared with the prior art, the present invention has the beneficial effect that:
1, artificial-muscle of the present invention is shunk unit and a Flexible element and constitutes Was Used tandem arrangement by a damping, in theory with
The skeletal muscle Was Used functional mode of Hill is consistent, and two unit of artificial-muscle of the present invention embody being excited of skeletal muscle respectively
Encouraging contraction and have resilient feature, both series connection further embody the specific features of skeletal muscle.It is in particular in:
One is that deformation and the working media parameter of Flexible element are without independence；Two is that the size of pulling force T can not independently control damping and shrinks
The amount of contraction of unit, thus cannot independently control the amount of contraction of described artificial-muscle；Three is to there is the described artificial-muscle determined
Amount of contraction Δ Lc, relation between artificial-muscle contraction speed v, pulling force T and working media Pm, such that it is able to set up accurate work
Make model and control mode.Therefore can realize straight-line flexible shrinkage tensions by operation medium drive and control, it is achieved to bone
The driving of bone flesh is bionical with control mechanism, the advantage with driving and the control mechanism being prone to bionic skeletal muscle meat.
2, the basic composition of the present invention is that unit and Flexible element are shunk in damping, and its action response time is short, stable performance, is prone to
Regulation, capacity usage ratio is high, and fatigue life is long.
3, present configuration is simple, but can carry big pulling force；Damping therein is shunk unit and is adapted to that working media scope is wide, has
Controllability, shrinkage factor can be the biggest；Therefore have that pulling force mass ratio is big, shrinkage ratio is big and the adjustable feature of speed.
The driving of artificial-muscle the most of the present invention and control characteristic can shrink the parameter designing realization of unit and Flexible element by damping
Customization obtains various character, the artificial-muscle of shape and size, has feature that is easily designed and that regulate, can be widely used in
Bio-robot, industrial robot, medical assistance apparatus and other field, the straight line as bionic skeletal muscle meat performance is soft
Property shrinkage tensions driver.
Accompanying drawing explanation
Fig. 1 is the present invention artificial myoarchitecture schematic diagram；
Fig. 2 is the Pneumatic artificial muscle structural scheme of mechanism that working media is gas of the present invention；
Fig. 3 is that the Pneumatic artificial muscle of the present invention is in operating air pressure p0=0, the view of pulling force T=0；
Fig. 4 is that the Pneumatic artificial muscle of the present invention is in operating air pressure p0=0, the view of pulling force T ≠ 0；
Fig. 5 be the Pneumatic artificial muscle of the present invention be p1 at operating air pressure, pulling force is the view of T1；
Fig. 6 be the Pneumatic artificial muscle of the present invention be p2 at operating air pressure, pulling force is the state of T2, and has P2 > P1, T2 > T1；
Label in figure: 1 drive end bearing bracket, end cap in 2,3 sealing gaskets, 4 cylinder barrels, 5 springs, 6 support rings, 7 first " O " type
Sealing ring, 8 rear end caps, 9 throttle type acoustic filters, 10 fixed supports, 11 caging bolts, 12 hexagon socket head cap screws, 13 pistons,
14 second " O " RunddichtringO, 15 piston rods, 16 round nuts, 17 Y-shaped sealing rings, 18 guide pin bushings, 19 guide rods, 20
Draw ring, a inlet suction port installing hole, b air vent, unit, 22 Flexible elements are shunk in 21 dampings.
Detailed description of the invention
Seeing Fig. 1, in the present embodiment, the version of artificial-muscle is: unit 21 and a Flexible element 22 are shunk in a damping
Constituting tandem arrangement, element length Lc is shunk in damping and Flexible element length Ls sum is artificial-muscle length L, and damping is shunk
Unit and Flexible element all by equal force pulling, pulling force T suffered by the most described artificial-muscle.
In the present embodiment, Flexible element has the relation of elongation Δ Ls, pulling force T and elongation Δ Ls by institute under pulling force T effect
The design of the structure and material character stating Flexible element determines and regulates；Unit is shunk in damping to be had under working media Pm effect
The pulling force T that amount of contraction Δ Lc, contraction speed v and obstruction are shunk；Described pulling force T, amount of contraction Δ Lc, working media Pm, with
And there is between contraction speed v quantity constraints relation, the structure that described quantity constraints relation shrinks unit by damping is situated between with work
The design of matter Pm determines and regulates.
The amount of contraction Δ L of artificial-muscle is: Δ L=Δ Lc-Δ Ls, artificial-muscle can only bear pulling force, institute in range of application
State the elongation of artificial-muscle and shrink no longer by the constraint in other structure；The work that artificial-muscle shrinks unit in described damping is situated between
Pulling force T is shunk and produced to lower generation of matter Pm effect actively, and when actively shrinking, the amount of contraction Δ L of artificial-muscle is on the occasion of, i.e. Δ
Lc > Δ Ls, and realized by the design of described damping contraction unit with Flexible element；Cell operation medium Pm is shunk in damping
When not acting on, the effect that described artificial-muscle is passively pulled by additional pulling force T, there is passive elongation, amount of contraction Δ L is negative value.
Damping is shunk cell operation medium Pm and is included air-liquid and electromagnetism.
In the present embodiment, the specific constructive form of artificial-muscle is as shown in Figure 2:
See Fig. 2, the present embodiment using gas as the version of the artificial-muscle of working media is: one has cylinder barrel and lives
Unit is shunk in the damping of plug mechanism and a Flexible element constitutes tandem arrangement, and damping is shunk the total length of unit and Flexible element and is subject to
Pulling force and the control of operating air pressure, do not retrained by other.Shrink unit due to damping and Flexible element is to be connected in series, Liang Zhesuo
Identical by pulling force, both change in the length of artificial-muscle described in the deformation construction of length direction.This be embedded in piston at cylinder
The effect of the cylinder of back-moving spring has essence different with effect.
It is set to as in figure 2 it is shown, unit is shunk in damping: rear end cap 8 and middle end cap 2 are connected by thread seal with cylinder barrel 4,
The piston rod 15 being threaded connection with piston 13 runs through middle end cap 2, arranges inlet suction port installing hole a on middle end cap 2, uses
In being fixedly installed catheter adapter, pass hose through hole a for importing the medium hose of working media, and be connected in catheter adapter,
Working media uses compressed air after filtering, is entered ante-chamber through conduit by hole a；Rear end cap 8 arranges air vent b,
The intake and exhaust of back cavity when piston moves；Air vent b is threaded connection throttle type acoustic filter 9 is set, by regulation
The knob of throttle type acoustic filter 9, can change back cavity intake and exhaust amount size, can be pre-adjusted acquisition one and piston 13 is moved speed
The restriction of degree v, contributes to adjusting described damping and shrinks the scope of application of unit, and reduce noise.Back cavity gas is by air vent b
Place discharges through throttle type acoustic filter 9.
The structure of Flexible element is set to: there is cavity the inside of piston rod 15, and its other end is threadeded with drive end bearing bracket 1 and passes
Middle end cap 2；Arranging spring 5 in piston rod 15, one end of spring 5 is fixing with the round nut 16 in piston rod 15 to be connected,
The other end connects guide rod 19, it is achieved damping contraction unit is connected with Flexible element；Guide rod 19 is through drive end bearing bracket 1 and is being positioned at
The outside rod end of piston rod 15 connects the first draw ring 20, arranges the second draw ring, two draw rings by fixed support 10 on rear end cap 8
It is connected with external agency, bears pulling force T in opposite directions.
When Pneumatic artificial muscle works, the first draw ring 20 and the second draw ring bear pulling force T in opposite directions, i.e. piston rod with spring simultaneously
All under tensions T.Distance between the two is designated as L, and the distance between the second draw ring and spring and piston rod junction is i.e. resistance
Buddhist nun shrinks the length of unit, and the distance being designated as between Lc, spring and piston rod junction and the first draw ring 20 is designated as Ls, pneumatic
Artificial-muscle total length is designated as L, has L=Lc+Ls.Inflation and the state of stopping the supple of gas or steam of operating air pressure be equivalent to the activation of artificial-muscle with
Quiescent condition.
Seeing Fig. 3 and Fig. 4, artificial-muscle is when quiescent condition, i.e. during operating air pressure p=0, with the energy that biological muscles has approximation
The function of enough passive elongations: piston is in cylinder body front end, and as pulling force T=0, spring is contraction state；When pulling force T ≠ 0, spring
Passive elongation Δ Ls；For the spring rate determined and length, the elongation Δ Ls of spring is directly proportional to pulling force T.
Artificial-muscle, when state of activation, sees Fig. 5 and Fig. 6, operating air pressure p ≠ 0 by hole a enter ante-chamber, promote piston and
Piston rod moves the amount of contraction Δ Lc, pulling force T causing damping to shrink unit to back cavity makes spring passive extend Δ Ls, by cylinder
The design of cylinder piston mechanism and spring can make Δ Lc > Δ Ls；The total length amount of contraction Δ L of artificial-muscle is that unit is shunk in damping
The difference of amount of contraction Δ Lc and spring elongation Δ Ls, i.e. Δ L=Δ Lc-Δ Ls > 0.
One key property of biological skeletal muscle is when state of activation, the size of the myotility corresponding with Length Contraction amount
It not uniquely to determine, also simultaneously proportional with institute excited target size.Described artificial-muscle, when state of activation, has similar
Relation schema: the size of the pulling force T corresponding with artificial-muscle total length amount of contraction Δ L is not uniquely to determine, goes back simultaneously and work
Make air pressure p size proportional, see Fig. 5 and Fig. 6, although the total length amount of contraction phase of artificial-muscle in both cases
With, but in Fig. 5, the less amount of contraction Δ Lc of unit generation is shunk in damping, spring also produces less elongation Δ Ls, shows
The operating air pressure p and myotility T that act on piston are smaller, and in Fig. 6, operating air pressure p and myotility T compares
Greatly, corresponding given artificial-muscle Length Contraction amount being described, myotility T and operating air pressure p has proportional relation between the two.
Bionical driving and biomimetic control that this characteristic of described artificial-muscle is biological bionic mechanical provide basis.
When piston by frictional resistance suffered by operating air pressure area and piston for determining, the contraction speed of unit, i.e. piston are shunk in damping
Movement speed v, mainly relevant with pulling force T, ante-chamber operating air pressure p, back cavity gas exit velocity；The contraction of unit is shunk in damping
Amount Δ Lc is the movement speed v integration to the time of piston；The elongation Δ Ls of spring, at the elastic coefficient and its length
In the case of determining, be the function of pulling force T, it is seen that the total length amount of contraction of Pneumatic artificial muscle and pulling force T, contraction speed v and
Relation between operating air pressure p has approximation relation pattern with human muscle's, related parameter can be had to reach optimal by adjustment
Approximation, it is achieved the design to artificial-muscle character；Realize the control to artificial-muscle duty of the bionical human muscle's controlling behavior.
In the present embodiment, damping is shunk and is provided with caging bolt 11, with caging bolt 11 limiting piston on the rear end cap 8 of unit
The stroke of 13, the axial location of caging bolt 11 is adjustable so that can be according to pulling force numerical range, operating air pressure scope and spring
The elongation of 17 adjusts suitable piston stroke, it is to avoid cause described artificial-muscle excessive shrinkage；Piston 13 leads to piston rod 15
Cross hexagon socket head cap screw 12 to be connected.
The outer circumference surface of piston 13 is embedded with in cannelure support ring 6 and first " O " RunddichtringO 7 respectively；At piston
Y-shaped sealing ring 17 and guide pin bushing 18 it is respectively arranged with, in the patch of piston rod 15 with piston 13 between bar 15 and middle end cap 2
Conjunction face is provided with second " O " RunddichtringO 14, and the binding face at cylinder barrel 4 two ends with rear end cap 8 and middle end cap 2 is respectively provided with
Sealing gasket 3, reveals in order to working media in preventing described damping from shrinking the cylinder barrel ante-chamber of unit, improves work efficiency.
Claims (3)
1. using gas as an artificial-muscle for working media, it is characterized in that: a damping with piston cylinder mechanism is shunk
Unit and Flexible element constitute tandem arrangement, and damping shrinks the total length of unit and Flexible element by pulling force and operating air pressure
Control, do not retrained by other；
Described damping is shunk unit and is set to: rear end cap (8) and middle end cap (2) are connected by thread seal with cylinder barrel (4), with piston (13)
The piston rod (15) being threaded connection runs through middle end cap (2), arranges inlet suction port installing hole (a) on middle end cap (2)；At rear end cap
(8) air vent (b) is set on；
The structure of described Flexible element is set to: have cavity in the inside of described piston rod (15), its other end and drive end bearing bracket (1) spiral shell
Stricture of vagina is connected and through middle end cap (2)；Described piston rod (15) is arranged in spring (5), one end of spring (5) and piston rod (15)
Round nut (16) is fixing to be connected, and the other end connects guide rod (19)；Described guide rod (19) is through drive end bearing bracket (1) and is being positioned at piston rod (15)
Outside rod end connects the first draw ring (20), arranges the second draw ring by fixed support (10) on rear end cap (8).
Artificial-muscle the most according to claim 1, is characterized in that: the rear end cap (8) that unit is shunk in described damping is provided with
Caging bolt (11), with the stroke of caging bolt (11) limiting piston (13), the axial location of caging bolt (11) is adjustable；Piston (13)
It is connected by hexagon socket head cap screw (12) with piston rod (15).
Artificial-muscle the most according to claim 1, is characterized in that: on the outer circumference surface of described piston (13) in cannelure
It is embedded with support ring (6) and first " O " RunddichtringO (7) respectively；It is respectively arranged with " Y " between piston rod (15) and middle end cap (2)
RunddichtringO (17) and guide pin bushing (18), the binding face at piston rod (15) Yu piston (13) is provided with second " O " RunddichtringO (14),
Binding face at the two ends of described cylinder barrel (4) with rear end cap (8) and middle end cap (2) is respectively provided with sealing gasket (3).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410424839.8A CN104196816B (en) | 2014-08-26 | 2014-08-26 | A kind of artificial-muscle |
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| CN201410424839.8A CN104196816B (en) | 2014-08-26 | 2014-08-26 | A kind of artificial-muscle |
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| CN104196816B true CN104196816B (en) | 2016-10-26 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104772759B (en) * | 2015-04-29 | 2016-06-29 | 浙江大学 | The flexible actuator of bionic muscle |
| CN105083535A (en) * | 2015-07-21 | 2015-11-25 | 哈尔滨工业大学 | Integrated fluid artificial muscle driver |
| CN105313116B (en) * | 2015-11-17 | 2017-07-11 | 哈尔滨工程大学 | A kind of artificial-muscle device |
| CN106002990B (en) * | 2016-02-03 | 2018-11-06 | 王远瞻 | Iodine power artificial-muscle |
| WO2017138663A1 (en) * | 2016-02-14 | 2017-08-17 | 学校法人冬木学園 | Elastic tube for fluid pressure actuator and actuator |
| CN107511820B (en) * | 2017-09-30 | 2019-07-09 | 金勇� | A kind of bubble type bionic muscle |
| CN110695981B (en) * | 2019-10-11 | 2022-07-15 | 大连海事大学 | Double-acting hydraulic artificial muscle linear reciprocating actuator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US3897682A (en) * | 1973-11-15 | 1975-08-05 | Heyer Schulte Corp | Cystometer system and pressure transducer |
| CN201002071Y (en) * | 2007-02-01 | 2008-01-09 | 西安交通大学 | Pneumatic artificial muscle drive type vibration exciter |
| DE102008058604B4 (en) * | 2008-11-20 | 2024-06-27 | Friedrich-Schiller-Universität Jena | Device for simulating the movement behaviour of a natural muscle |
| CN102441893A (en) * | 2010-09-30 | 2012-05-09 | 西北工业大学 | Muscle bionic-driving device based on electromagnetic force |
| CN102829009B (en) * | 2012-09-13 | 2015-01-21 | 大连海事大学 | Hydraulic artificial muscle hydraulic drive and control system |
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Effective date of registration: 20220926 Address after: 230001 floor 6, block B, blue diamond Shangjie, No. 335, Suixi Road, Bozhou road street, Luyang District, Hefei City, Anhui Province Patentee after: Hefei Luyang Technology Innovation Group Co.,Ltd. Address before: Tunxi road in Baohe District of Hefei city of Anhui Province, No. 193 230009 Patentee before: Hefei University of Technology |