CN105313115B - A kind of flexible cable artificial-muscle - Google Patents
A kind of flexible cable artificial-muscle Download PDFInfo
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- CN105313115B CN105313115B CN201510789839.2A CN201510789839A CN105313115B CN 105313115 B CN105313115 B CN 105313115B CN 201510789839 A CN201510789839 A CN 201510789839A CN 105313115 B CN105313115 B CN 105313115B
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- spring
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Abstract
The present invention is to provide a kind of flexible cable artificial-muscle.Including framework, Wire driven robot device, pulling force sensor and encoder, Wire driven robot device includes motor, first flexible rope, first spring, second spring, spring shunting means, second flexible rope, the upper end of the first spring and second spring is in parallel by spring shunting means, the lower end of second spring is arranged on framework by supporting plate, motor is fixed on framework, flexible cable traction wheel is installed on motor output shaft, one end of first flexible rope is fixed on flexible cable traction wheel, the another end of the first flexible rope is connected with the lower end of the first spring, one end of second flexible rope is connected with the upper end of the first spring, pulling force sensor is arranged on framework, second flexible rope passes through pulling force sensor and contacts, encoder is arranged on motor.The present invention is a kind of simple structure, lightweight, it is easy to control, and high precision, compliance is good, and action incubation period is short, stable performance and the artificial-muscle high to muscle bionic degree.
Description
Technical field
It is specifically a kind of for robot building, the symbol of bionic mechanical the present invention relates to a kind of artificial-muscle
Close the artificial-muscle of Hill mechanics of muscle models.
Background technology
Muscle (skeletal muscle) is the power source of human or animal's motion, and used as the vital tissue mechanism of human or animal, he can
Realize the conversion between chemical energy and mechanical energy.After by the stimulation of kinesitherapy nerve signal, generation muscular force will be shunk, directly
Driving skeleton motion is connect, and does not need deceleration device and actuated element, belong to unidirectional power apparatus, forms of motion is linear reciprocation
Formula.Most muscle is present in the form of " flesh of flying up and down ", and this structure can make mechanical lever keep stabilization in any position,
Bear various pressure.Therefore, rational muscle model is built for the research of muscle provides new approaches.Hill muscle models are right
The description of muscle macromechanical property, the model and its correction model are widely used in biomethanics and motion simulation field.
As the development of bionics technology, bionical for muscle have turned into the focus that scholars study, many countries have carried out manually
The research of muscle.Artificial-muscle is divided into inherent contraction type and external contraction type according to its material structure and energy source.Receive inherence
Contracting formula artificial-muscle is a kind of compound-material with simple contractile function, is capable of achieving the conversion of energy.External contraction type people
Work muscle, with air-liquid and electromagnetism as working media, is, using the design feature of artificial-muscle, to be completed in the presence of working media
The contractile function of axial direction.The problem of presence：Myoarchitecture is complicated, and functional realiey gets up trouble；Weight and volume are big；It is not easily-controllable
System, compliance is poor；Action incubation period is long, and contraction speed, shrinkage factor are to be improved.Therefore, study a kind of with light weight, volume
Small, compliance is good, easy to control, and artificial-muscle high to muscle bionic degree is particularly important.
Research at present both at home and abroad for artificial-muscle is increasingly extensive, and the open source literature on artificial-muscle is also a lot.
Number of patent application be disclosed in 201410424839.8 patent document be based on Hill Was Useds functional mode utilize one
Damping shrinks device connect with a Flexible element of unit to simulate human muscular, consideration parallel connection Flexible element this
Factor, thus the device is not high for the bionical degree of muscle.
The content of the invention
Lightweight it is an object of the invention to provide a kind of simple structure, it is easy to control, high precision, compliance is good, action
Incubation period is short, the flexible cable artificial-muscle high to muscle bionic degree.
The object of the present invention is achieved like this：
Including framework, Wire driven robot device, pulling force sensor and encoder, the Wire driven robot device includes motor, the
One flexible rope, the first spring, second spring, spring shunting means, the second flexible rope, the first spring and second spring it is upper
End is in parallel by spring shunting means, and the lower end of second spring is arranged on framework by supporting plate, and motor is fixed on framework,
Flexible cable traction wheel is installed, one end of the first flexible rope is fixed on flexible cable traction wheel, the first flexible rope on motor output shaft
The other end be connected with the lower end of the first spring, one end of the second flexible rope is connected with the upper end of the first spring, pull sensing
Device is arranged on framework, and the second flexible rope is contacted through pulling force sensor and with pulling force sensor, and encoder is arranged on motor
On.
The present invention can also include：
The 1st, spacing rope is set in the first spring, and the two ends of spacing rope connect the two ends of the first spring respectively.
2nd, guiding stopping means is also included, the guiding stopping means includes guide rod and the spacing spiral shell on guide rod
Mother, guide rod is located in second spring, and lower end of the guide rod is fixed in the supporting plate of second spring.
3rd, described motor is permanent magnet D.C. torque motor.
Lightweight the invention provides a kind of simple structure, it is easy to control, high precision, compliance is good, acts incubation period
It is short, stable performance and the artificial-muscle high to muscle bionic degree.
Artificial-muscle of the invention mainly includes frame, Wire driven robot device, pulling force sensor and encoder.Flexible strand
Rope drive device can drive flexible rope to move, and the muscular movement of biology is simulated with this.
Wire driven robot device include the spring that light-duty elastic driver, rigidity in parallel therewith can select as needed and
Flexible rope.Flexible rope passes through pulling force sensor, pulling force sensor to be arranged in frame, is used to detect the drawing on flexible rope
Power.
Described light-duty elastic driver include permanent magnet D.C. torque motor, flexible cable traction wheel, photoelectric encoder and just
Spend selectable spring.Permanent magnet D.C. torque motor is arranged in frame, and the output shaft of torque motor drives flexible cable traction rotation
It is dynamic, drive the flexible rope motion being connected with traction wheel, the other end connecting spring of flexible rope.It is straight that encoder is arranged on permanent magnetism
On stream torque motor.
The light-duty elastic driver can also include a spacing rope for playing position-limiting action.Two ends are connected to
Variable rate spring two ends.
The Wire driven robot device also includes a guiding stopping means that guiding position-limiting action is played to spring in parallel.
The advantage of the invention is that：
1st, the artificial-muscle constitutes a series driver by flexible rope one spring of series connection being wound on motor, then
A spring in parallel, finally combines the system that flexible rope is constituted again.The artificial-muscle system complies fully with the element fleshes of Hill tri-
Meat model.By adjusting the parameter of each element, can preferably reflect the elastic shrinkage characteristic after muscle stress deformation.
2nd, the present invention is the biological inspiration based on human motion muscular strength line, from terms of bionics angle, using flexible rope come
Transmission power and motion, are closer to biological by way of muscle transmits power and motion.
3rd, the selectable spring assembly of rigidity is employed in the present invention, its introducing solves muscle in different motion state
The problem of the ride comfort change of lower hardness.By the rigidity for changing the stiffness coefficient of each spring to change whole system, so that mould
Intend the change of muscle hardness and change is more smoothed out.
4th, simple structure of the invention, can carry certain pulling force, with traditional artificial muscle that can only bear axial tension
Meat is compared, and it can not only bear axial tension, also can change direction of pull by the third wheel installed additional on flexible rope, makes it
With being more widely applied space.
5th, the present invention is driven by motor belt motor running rope rope and spring, its action incubation period is shortened, energy utilization
Efficiency high, the requirement to working environment is relatively low, and regulation is got up, and more convenient and stability is high.
Brief description of the drawings
Fig. 1 is artificial-muscle principle schematic of the present invention；
Fig. 2 is the front view of mechanism of the present invention；
Fig. 3 is the side view of mechanism of the present invention.
Specific embodiment
Illustrate below in conjunction with the accompanying drawings and the present invention is described in more detail.
With reference to Fig. 1, the structure type of artificial-muscle of the present invention is：One series connection elasticity unit and a string for shrinking unit's composition
It is coupled structure, and is combined with an elasticity unit in parallel, constitutes the artificial-muscle device being made up of the elements of Hill tri-, artificial muscle
The length of meat be series connection elasticity unit length with shrink raw footage and.
With reference to Fig. 2~3, the artificial muscle systems composition of the present invention includes：It is support system framework 1, Wire driven robot device, spacing
Device, detection means composition.Support system framework 1 is built by section bar, can arbitrarily be moved as needed.Wire driven robot device
By permanent magnet D.C. torque motor 12, flexible cable traction wheel 18, the first flexible rope 2, the first spring 3, second spring 5 and spring simultaneously
The flexible rope 9 of coupling device 7 and second is constituted.Permanent magnet D.C. torque motor 12 drives flexible cable traction wheel 18 to rotate, and realizes that first is soft
The traction of property rope.First spring connected in series, the second flexible rope and in parallel therewith are driven by the first flexible rope
Second spring realizes motion.The length of artificial-muscle be the elongation of the first flexible rope and spring type variable and.Guiding
Stopping means includes two parts, and Part I is the spacing rope 4 that position-limiting action is only played to the first spring, spacing rope
Two ends are connected to the two ends of the first spring, and when the first spring elongation reaches capacity, spacing rope is stretched, and the first spring is played
Protective effect；Part II is the spacing guide rod that guiding position-limiting action is played to second spring, by guiding bar 6 and stop nut 8
Composition, the structure can not only play position-limiting action but also can limit second spring and can only move in the axial direction.Detection means includes
Photoelectric encoder 11 on permanent magnet D.C. torque motor 12 and the pulling force sensor 10 on the second rope, by the dress
Put the convergent force of the elongation and muscle that can detect whole artificial-muscle.
In actual applications, skeleton can be regarded as the framework of artificial-muscle device, can be by Wire driven robot device
It is fixed on bone, equivalent to human synovial, the second rope can be connected on another piece of bone third wheel 15 by human synovial, leads to
Rotation of the bone around joint is realized in the driving of over-driving device.
Claims (5)
1. a kind of flexible cable artificial-muscle, including framework, Wire driven robot device, pulling force sensor and encoder, it is characterized in that：It is described
Wire driven robot device includes motor, the first flexible rope, the first spring, second spring, spring shunting means, the second flexible strand
The upper end of rope, the first spring and second spring is in parallel by spring shunting means, and the lower end of second spring is installed by supporting plate
On framework, motor is fixed on framework, and flexible cable traction wheel is installed on motor output shaft, and one end of the first flexible rope is fixed on
On flexible cable traction wheel, the other end of the first flexible rope is connected with the lower end of the first spring, one end of the second flexible rope and the
The upper end connection of one spring, pulling force sensor is arranged on framework, and the second flexible rope is passed through pulling force sensor and with pulling force
Sensor is contacted, and encoder is arranged on motor.
2. a kind of flexible cable artificial-muscle according to claim 1, it is characterized in that：Spacing rope is set in the first spring, is limited
The two ends of position rope connect the two ends of the first spring respectively.
3. a kind of flexible cable artificial-muscle according to claim 1 and 2, it is characterized in that：Also include guiding stopping means, it is described
Guiding stopping means includes guide rod and the stop nut on guide rod, and guide rod is located in second spring, and lower end of the guide rod is fixed
In the supporting plate of second spring.
4. a kind of flexible cable artificial-muscle according to claim 1 and 2, it is characterized in that：Described motor is DC power
Torque motor.
5. a kind of flexible cable artificial-muscle according to claim 3, it is characterized in that：Described motor is DC torque electricity
Machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510789839.2A CN105313115B (en) | 2015-11-17 | 2015-11-17 | A kind of flexible cable artificial-muscle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510789839.2A CN105313115B (en) | 2015-11-17 | 2015-11-17 | A kind of flexible cable artificial-muscle |
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| CN105313115A CN105313115A (en) | 2016-02-10 |
| CN105313115B true CN105313115B (en) | 2017-06-20 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107097215B (en) * | 2017-06-16 | 2023-04-11 | 洛阳理工学院 | Elastic mechanical muscle group |
| CN109676599A (en) * | 2019-01-04 | 2019-04-26 | 广东协禾医业有限公司 | Magnetic force emulates myoarchitecture |
| CN110251892B (en) * | 2019-06-10 | 2021-01-05 | 华中科技大学 | Flexible lower limb exoskeleton based on variable-stiffness spring |
| CN110812124B (en) * | 2019-12-06 | 2021-12-03 | 上海大学 | Pneumatic-driven flexible wearable upper limb rehabilitation system |
| CN111938990B (en) * | 2020-07-20 | 2022-05-20 | 哈尔滨工程大学 | Muscle-imitating driving rope for lower limb rehabilitation training |
| CN112972201B (en) * | 2021-02-22 | 2023-07-14 | 宁波大学 | Ankle joint rehabilitation training device and robot |
| CN113146604B (en) * | 2021-05-06 | 2022-08-26 | 吉林大学 | Compact artificial muscle module with variable rigidity and passive flexibility |
| CN113146605B (en) * | 2021-05-06 | 2022-08-26 | 吉林大学 | Compact artificial muscle module with mechanical flexibility |
| CN114406999B (en) * | 2022-02-11 | 2023-11-21 | 吉林大学 | Rope-driven coaxial artificial muscle actuator and control method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3918955A1 (en) * | 1989-06-09 | 1989-12-21 | Ringer Michael | Technical simulation of the biological muscle principle as a technical muscle. Robot resembling an animal or a human being and having technical muscles. Parts of this robot as prostheses. Further applications of the muscle: as lifting and tensioning device, as muscle motor, for positioning of an object by several muscles, as adjustment means for the range of spring |
| CN101947177A (en) * | 2010-09-03 | 2011-01-19 | 哈尔滨工程大学 | Rope driving walking aid |
| CN202288736U (en) * | 2011-10-19 | 2012-07-04 | 汕头大学医学院第一附属医院 | Rehabilitation training device for preventing foot drop |
| CN102525782A (en) * | 2012-01-14 | 2012-07-04 | 哈尔滨工程大学 | Waist movement rehabilitation control mechanism |
| CN205201522U (en) * | 2015-11-17 | 2016-05-04 | 哈尔滨工程大学 | Gentle cable artificial muscle |
-
2015
- 2015-11-17 CN CN201510789839.2A patent/CN105313115B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3918955A1 (en) * | 1989-06-09 | 1989-12-21 | Ringer Michael | Technical simulation of the biological muscle principle as a technical muscle. Robot resembling an animal or a human being and having technical muscles. Parts of this robot as prostheses. Further applications of the muscle: as lifting and tensioning device, as muscle motor, for positioning of an object by several muscles, as adjustment means for the range of spring |
| CN101947177A (en) * | 2010-09-03 | 2011-01-19 | 哈尔滨工程大学 | Rope driving walking aid |
| CN202288736U (en) * | 2011-10-19 | 2012-07-04 | 汕头大学医学院第一附属医院 | Rehabilitation training device for preventing foot drop |
| CN102525782A (en) * | 2012-01-14 | 2012-07-04 | 哈尔滨工程大学 | Waist movement rehabilitation control mechanism |
| CN205201522U (en) * | 2015-11-17 | 2016-05-04 | 哈尔滨工程大学 | Gentle cable artificial muscle |
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