CN105965537B - A kind of dual openings fibers straight type connecting hose artificial-muscle - Google Patents
A kind of dual openings fibers straight type connecting hose artificial-muscle Download PDFInfo
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- CN105965537B CN105965537B CN201610443215.XA CN201610443215A CN105965537B CN 105965537 B CN105965537 B CN 105965537B CN 201610443215 A CN201610443215 A CN 201610443215A CN 105965537 B CN105965537 B CN 105965537B
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- fibers straight
- sebific duct
- fibers
- line
- muscle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0208—Compliance devices
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
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Abstract
The invention discloses a kind of dual openings fibers straight type connecting hose artificial-muscle, including internal layer sebific duct, more fibers straights being axially arranged on the outside of the internal layer sebific duct, the anti-deformation line of lateral confinement fibers straight at middle part, positioned at fibers straight both ends and end fixing line in conjunction, at both ends, the sealed end of lateral confinement fibers straight compresses line, in the middle part of described fibers straight wrapping inner layer sebific duct, the part that internal layer sebific duct is not wrapped up by fibers straight, then it is closely wound with the outside close line of pressure-bearing, form catheter, sealed end compresses line adjacent end fixing line and set, fibers straight is wrapped on internal layer silicone tube.Present invention connection is more compliant, is hardly damaged, and muscle can be achieved and be flexibly connected with driven object.
Description
Technical field
Should the present invention relates to fields such as robot, rehabilitation medical instrument, job that requires special skills manipulator and automatic production lines
Driving artificial-muscle, particularly a kind of complete soft dual openings fibers straight type connecting hose artificial-muscle.
Background technology
Artificial-muscle has power output with mass ratio greatly in medical rehabilitation instrument and joint of robot driving, artificial muscle
Meat is used widely.After being filled with the gas of certain pressure inside artificial-muscle, axial shrinkage, it is radially expanded, produces convergent force.
Traditional Man muscle includes three parts, the joint at both ends, the fibers straight of inner rubber pipe and outside.Artificial-muscle junction portion
Connection relies primarily on the frictional force of joint and fibers straight and rubber tube.Existing artificial-muscle majority is single radial cut, i.e., only one
Individual joint is the part as ventilation, and another joint is mainly used to seal and connect external loading.Therefore, inside artificial-muscle
Some gas is not circulated, when artificial-muscle moves reciprocatingly for a long time, the temperature of the portion gas can gradually rise,
This has had a strong impact on the service life of artificial-muscle.In the present invention, both ends are all open, and are realized by controlling the pressure differential at both ends
The internal pressure of artificial-muscle is controlled, so can not only be accurately controlled pressure can also realize the circulation of internal gas, prevent
The only temperature too high life-span for influenceing muscle.
With the development of wearable medicine equipment, software medicine equipment turns into a hot topic.Artificial-muscle is medical treatment
Driver element on apparatus.Dual openings connecting hose artificial-muscle not only realizes full soft structure, additionally it is possible to realizes that internal flow circulates
Use.
The content of the invention
Technical problem：It is all opening that the present invention, which provides a kind of both ends, and connection is more compliant, is hardly damaged, and muscle can be achieved
With the dual openings connecting hose artificial-muscle of driven object flexible connection.
Technical scheme：The dual openings fibers straight type connecting hose artificial-muscle of the present invention, including it is internal layer sebific duct, axially disposed
More fibers straights on the outside of the internal layer sebific duct, in the anti-deformation line of middle part lateral confinement fibers straight, positioned at fibers straight both ends
And end fixing line in conjunction, in the sealed end of both ends lateral confinement fibers straight compress line, in described fibers straight parcel
In the middle part of layer sebific duct, internal layer sebific duct by the part of fibers straight parcel, is not then closely wound with the outside close line of pressure-bearing, forms drain
Pipe, sealed end compress line adjacent end fixing line and set, and are wrapped on the outside of all fibers straights, are constrained on internal layer sebific duct.
Further, heretofore described fibers straight is made up of hard material.
Further, heretofore described fibers straight is made up of soft material, and outer layer sebific duct is provided with the outside of internal layer sebific duct,
Fibers straight is laid between internal layer sebific duct and outer layer sebific duct.
Further, heretofore described outer layer sebific duct forms with internal layer sebific duct for integral manufacturing, and fibers straight is embedded into it
In.
Further, the both ends of heretofore described outer layer sebific duct are alignd with the both ends of fibers straight respectively.
Further, all fibers straights, end fixing line are formed by a fibrage in the present invention.
Further, heretofore described end fixing line is the U-shaped line formed of being turned back by fiber, every U-shaped line
Two ends are connected respectively a fibers straight.
Further, the end fixing line of heretofore described fibers straight and corresponding connection is one by a fibrage
Body.
In the present invention, both ends are all the fibers straight described in the internal layer sebific duct of opening, portion envelops on the outside of internal layer sebific duct.Set
Alignd respectively at the both ends of fibers straight at the both ends of the outer layer sebific duct of the fibers straight.The end fixing line and fibers straight are that have
A piece fiber or plurality of fibers braiding form, and fixing line originates from outer layer glue tube end respectively, positioned at the both ends of internal layer sebific duct
Between and with the end fixing line of fibers straight one be the U-shaped line that is formed of being turned back by the fiber of fibers straight.The fibers straight is from interior
The middle part of layer sebific duct, is wrapped on the outside of internal layer sebific duct, the part that internal layer sebific duct is not wrapped up by fibers straight, is then held outside
Compress close line to be closely wound, it is from outer layer sebific duct to compress line positioned at hose lining tube end and the end that is wrapped on the outside of outer layer sebific duct
Rise toward direction in the middle part of outer layer sebific duct and be closely wound in end.
Fibers straight forms end fixing line in the part for being longer than outer layer sebific duct positioned at one end of hose lining pipe.It is wrapped in outer layer
On the outside of sebific duct, and there is anti-deformation line in the middle part of outer layer sebific duct.There is certain overhang at described internal layer sebific duct both ends, this portion
Exceptionally side is closely wound with the outside close line of pressure-bearing, forms catheter.By internal layer sebific duct, fibers straight and outer layer sebific duct in two side pressures
Expandable part is formed between stringing.Line is compressed away from fibers straight in end by internal layer sebific duct and its outside close line of pressure-bearing
Part forms not expandable part.So, when being passed through the liquid or gas of certain pressure from catheter, pressure-bearing pipe will not be sent out
Change shape, can be used as catheter or airway tube, conveys liquid or gas enters the fibers straight part of muscle, internally pressure
In the presence of, radially expanding, axial shortening.Anti-deformation line is used for preventing the excessive of muscle.During work, be filled with hydraulic pressure or
Air pressure, the pressure at both ends is controlled, center section is produced pressure difference, elastic rubber tube becomes therewith with high-strength direct fiber
Shape, increase the diameter of dual openings fibers straight type connecting hose artificial-muscle, contraction in length, and then to the drive of both ends fixing line connection
Dynamic object produces pulling force effect.Anti-deformation line is used for preventing muscle from excessive deformation occurs in radial direction.Fibers straight part can be radially swollen
Swollen, the outside close line part of pressure-bearing can not expand.The fibers straight in intermediate layer, fixing line, end compress line and outside pressure-bearing
Close line is an entirety, therefore forms dual openings fibers straight type connecting hose artificial-muscle.The fixing line at both ends, both ends compress line
And fibers straight forms connecting hose, is connected with external drive object.
The dual openings fibers straight type connecting hose artificial-muscle of the present invention is to change traditional traditional single radial cut artificial-muscle
It is changed into the dual openings artificial-muscle using connecting hose, is designed to that there are two openings by what fibers straight fiber and compression line formed
Structure, the structure only include fibers straight fiber and sebific duct, it is not necessary to add other materials, can obtain real software driving
Unit, and temperature will not be produced and risen sharply phenomenon.
During present invention work, both ends fixing line is used to connect driven object, and the outside close line of pressure-bearing compresses catheter, two
Opening is connected to pressure-control valve, the accurate pressure differential controlled inside muscle, makes to reach inside muscle certain pressure.When
When reaching a pressure inside muscle, elastic rubber tube deforms with high-strength direct fiber, increases the diameter of connecting hose artificial-muscle
Greatly, length direction shortens, and then the driven object of the fixing line connection to both ends produces pulling force effect.Fibers straight is clipped in hose lining
Between pipe and outer layer sebific duct, deformation synchronous with internal layer sebific duct and outer layer sebific duct.Anti-deformation line is used for preventing muscle in radial direction position
Generation excessive deformation is put, multiple small deformations are changed into a large deformation.Liquid or gas of the internal layer sebific duct certain pressure
It is enclosed in inside.Fibers straight, the fixing line at both ends, both ends compression line and the close line of outside pressure-bearing are an entirety.Both ends
Fixing line forms dual openings fibers straight type connecting hose with fibers straight, is connected with external drive object.Fibers straight and outside pressure-bearing
Close line forms the different two parts of radial rigidity, and fibers straight can be radially expanded, and the outside close line part of pressure-bearing can not expand.
Concrete principle is with effect：Both ends compress fixing end of the line as sebific duct and fibers straight, both ends fixing line and directly
Fiber is overall by one, and the end of pressure-bearing pipe is connected with pressure-control valve, be passed through inside muscle certain pressure liquid words or
During gas, certain pressure is kept during by adjusting pressure valve inside muscle, under pressure effect internally, fibers straight part is swollen
It is swollen, pulling force is produced, is delivered in the fixing line of both ends, pulling force is produced to driven object.Therefore, both ends fixing line, both ends compress
Line and fibers straight constitute connecting hose, instead of traditional metal joint.The both ends of internal layer sebific duct are stretched out, and in extension
Outer layer be closely wound high intensity line, for carrying the pressure inside catheter or airway tube, the part is ultimately connected to pressure
In control valve.Outer layer glue pipe is used to support and protect fibers straight, prevents it from coming off.Anti-deformation line is used for preventing that muscle generation is excessive
Deformation.By adding anti-deformation line, multiple small deformations are changed into a big deformation.Dual openings fibers straight type connecting hose
Artificial-muscle is avoided in motion process and collided with human body, therefore, it is possible to preferably agreeing with human body.
Beneficial effect：Compared with prior art, the present invention has advantages below：
1st, it is inflatable and deflatable to pass through this mouth because traditional fibers straight artificial-muscle only has an opening, so, often
It is secondary inflatable and deflatable process to be completed come switching gas circuit by valve, and dual openings type artificial-muscle is due to can real-time control ratio
The pressure of example valve, therefore can realize in gas replenishment process with slowly deflation, it is only necessary to adjustment proportioning valve can in real time, therefore can
To improve the response speed of muscle.
2nd, traditional fibers straight artificial-muscle joint area is hard material, and dependence is joint and fibers straight and rubber tube
Frictional force transmit convergent force, and in the present invention, single is drawn, as the unit being connected with external load, aid in
Line is compressed, realizes single and the direct force transmission of load.
3rd, relative to traditional fibers straight type artificial-muscle, due to only existing an opening, internal gas flow is limited, and
And the mobility of closed end portion gas is smaller, during muscle moves reciprocatingly, internal gas acting, and mobility is small
The temperature of part gas will be raised quickly, and in the present invention, using Two-ports structure, internal gas can flow completely
Get up, therefore, greatly reduce the speed of temperature rising, service life increases accordingly.
4th, traditional fibers straight artificial-muscle and during external connection, is often rigidly connected, and in body-worn medical equipment,
Generally require to be flexibly connected, so being flexibly connected when needing traditional artificial-muscle to realize, it is necessary to connecting line is additionally added, this
In invention, use is exactly that connecting line directly load is connected, it is not necessary to which additionally addition part can realizes flexible connection again.
5th, traditional fibers straight artificial-muscle, because both ends all have the joint of hard material, when in body-worn medical equipment
During middle application, in the contraction process of each muscle, the hard joint at both ends can all follow dynamic, therefore, it is very easy to be sent out with human body
Life is collided with, and in the present invention, both ends are all using the line of softness, and therefore, will not collide with phenomenon.
Brief description of the drawings
Fig. 1 a are dual openings fibers straight type connecting hose artificial-muscle contraction state schematic diagrames, Fig. 1 b nature schematic diagrames.
Have in figure：1. end fixing line, 2. outer layer sebific ducts, 3. fibers straights, 4. internal layer sebific ducts, 5. anti-deformation lines, 6. ends
Compress line, the 7. close lines of outside pressure-bearing.
Embodiment
With reference to the accompanying drawings and examples, the present invention is further described.
As shown in figure 1, a kind of dual openings fibers straight type connecting hose artificial-muscle, including internal layer sebific duct 4, it is axially arranged on
The fibers straight 3 in the outside of internal layer sebific duct 4, the end fixing line 1 integral positioned at the both ends of internal layer sebific duct 4 and with fibers straight 3, it is described
Part of the wrapping inner layer sebific duct 4 of fibers straight 3 between both ends, the part that internal layer sebific duct 4 is not wrapped up by fibers straight 3, then
It is closely wound with the close line 7 of outside pressure-bearing, composition catheter, the outside of adjacent end fixing line 1 is wound with end on internal layer sebific duct 4
Compress line 6.The fibers straight 3 is made up of hard material.The fibers straight 3 is made up of soft material, and the outside of internal layer sebific duct 4 is set
There is outer layer sebific duct 2, fibers straight 3 is laid between internal layer sebific duct 4 and outer layer sebific duct 2.The outer layer sebific duct 2 is with internal layer sebific duct 4
Integral manufacturing forms, and fibers straight 3 is embedded into wherein.The both ends fixing line 1 and fibers straight 3 are integrated by a fibrage.
The end fixing line 2 at the both ends is the U-shaped line formed of being turned back by fiber.Anti-deformation line 5 is used for becoming a large deformation
Multiple small deformations, reduce deformation of the artificial-muscle in radial direction.
The radial rigidity for the pressure-bearing pipe that fibers straight line close from outside pressure-bearing is formed is different, and fibers straight can be radially expanded, and two
The outside close line part of pressure-bearing in end can not expand.So, the pressure control valve at both ends is controlled, makes to keep necessarily inside muscle
During pressure, pressure-bearing pipe will not deform, and can be used as catheter or airway tube, convey liquid or gas enters the straight of muscle
Fiber part, internally in the presence of pressure, muscle radially expands, axial shortening.Fig. 1 a are that dual openings fibers straight type is soft
The contraction state schematic diagram of joint artificial-muscle structure, Fig. 1 b are nature schematic diagrames.
The present invention dual openings fibers straight type connecting hose artificial-muscle, both ends fixing line 2, fibers straight 4, both ends compress line 6,
What the outside close line 1 of pressure-bearing used is all high intensity line.With conventional artificial-muscle use high pressure withhold or screw thread compress
Joint is compared, and fibers straight 3 of the present invention and end fixing line 1, end compress line 6 and form connecting hose, realize full connecting hose.It is traditional single
Some gas does not circulate inside opening artificial-muscle, causes the internal temperature rate of climb quickly, in the present invention, using
Two-ports structure, internal gas circulation completely are got up, and greatly reduce the speed of temperature rising.
During present invention work, both ends compress fixing end of the line as sebific duct and fibers straight, both ends fixing line and fibers straight
It is one overall, the end of pressure-bearing pipe is connected with pressure-control valve, when the liquid words or gas of certain pressure are passed through inside muscle,
Certain pressure is kept during by adjusting pressure valve inside muscle, under pressure effect internally, fibers straight expansion, producing pulling force,
It is delivered in the fixing line of both ends, pulling force is produced to driven object.Therefore, both ends fixing line, both ends compress line and fibers straight
Connecting hose is constituted, instead of traditional metal joint.Fibers straight is clipped between internal layer sebific duct and outer layer sebific duct, with internal layer sebific duct
And outer layer sebific duct synchronously deforms.Anti-deformation line is used for preventing muscle from excessive deformation occurs in radial position, by a large deformation
Change into multiple small deformations.Internal layer sebific duct the liquid or gas confinement of certain pressure internally..The fixing line at both ends with it is straight
Fiber forms connecting hose, is connected with external drive object.The both ends of internal layer sebific duct are stretched out, and close in the outer layer of extension
High intensity line is wound, for carrying the pressure inside catheter or airway tube, the part is ultimately connected on pressure-control valve.Outside
Layer sebific duct is used to support and protect fibers straight, prevents it from coming off.Connecting hose artificial-muscle avoid in motion process with human body
Collide with, therefore, dual openings fibers straight type artificial-muscle can preferably realize the control of pressure, and realize gas inside muscle
The circulation of body, and can preferably agree with human body.
Above-described embodiment is only the preferred embodiment of the present invention, it should be pointed out that：For the ordinary skill of the art
For personnel, under the premise without departing from the principles of the invention, some improvement and equivalent substitution can also be made, these are to the present invention
Claim be improved with the technical scheme after equivalent substitution, each fall within protection scope of the present invention.
Claims (8)
- A kind of 1. dual openings fibers straight type connecting hose artificial-muscle, it is characterised in that the artificial-muscle include internal layer sebific duct (4), More fibers straights (3), preapring for an unfavorable turn of events in middle part lateral confinement fibers straight (3) being axially arranged on the outside of the internal layer sebific duct (4) Shape line (5), positioned at fibers straight (3) both ends and end fixing line (1) in conjunction, in both ends lateral confinement fibers straight (3) Sealed end compresses line (6), and described fibers straight (3) wrapping inner layer sebific duct (4) middle part, internal layer sebific duct (4) is not by fibers straight (3) The part of parcel, then it is closely wound with the close line of outside pressure-bearing (7), forms catheter, the sealed end compresses line (6) approach end Portion's fixing line (1) is set, and is wrapped on the outside of all fibers straights (3), is constrained on internal layer sebific duct (4).
- 2. dual openings fibers straight type connecting hose artificial-muscle according to claim 1, it is characterised in that：The fibers straight (3) it is made up of hard material.
- 3. dual openings fibers straight type connecting hose artificial-muscle according to claim 1, it is characterised in that：The fibers straight (3) it is made up of soft material, is provided with outer layer sebific duct (2) on the outside of internal layer sebific duct (4), fibers straight (3) is laid in internal layer sebific duct (4) Between outer layer sebific duct (2).
- 4. dual openings fibers straight type connecting hose artificial-muscle according to claim 3, it is characterised in that：The outer layer sebific duct (2) formed with internal layer sebific duct (4) for integral manufacturing, fibers straight (3) is embedded into wherein.
- 5. dual openings fibers straight type connecting hose artificial-muscle according to claim 3, it is characterised in that：The outer layer sebific duct (2) align at both ends of the both ends respectively with fibers straight (3).
- 6. the dual openings fibers straight type connecting hose artificial-muscle according to claim 1,2,3,4 or 5, it is characterised in that：Institute There are fibers straight (3), end fixing line (1) to be formed by a fibrage.
- 7. the dual openings fibers straight type connecting hose artificial-muscle according to claim 1,2,3,4 or 5, it is characterised in that：Institute It is the U-shaped line formed of being turned back by fiber to state end fixing line (1), and two ends of every U-shaped line are connected respectively one Fibers straight (3).
- 8. dual openings fibers straight type connecting hose artificial-muscle according to claim 7, it is characterised in that：The fibers straight (3) the end fixing line (1) with corresponding connection is integrated by a fibrage.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610443215.XA CN105965537B (en) | 2016-06-20 | 2016-06-20 | A kind of dual openings fibers straight type connecting hose artificial-muscle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610443215.XA CN105965537B (en) | 2016-06-20 | 2016-06-20 | A kind of dual openings fibers straight type connecting hose artificial-muscle |
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| CN105965537A CN105965537A (en) | 2016-09-28 |
| CN105965537B true CN105965537B (en) | 2017-12-22 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP6873468B2 (en) * | 2017-03-16 | 2021-05-19 | 学校法人 中央大学 | Actuator |
| CN107440414A (en) * | 2017-08-17 | 2017-12-08 | 张石均 | A kind of intelligent balloon people system and its control method |
| CN109623786B (en) * | 2018-12-24 | 2021-02-05 | 燕山大学 | Negative pressure contraction type fiber reinforced soft driver |
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| CN1413562A (en) * | 2002-10-14 | 2003-04-30 | 重庆工学院 | Artificial muscle |
| EP2148097A1 (en) * | 2007-05-11 | 2010-01-27 | Chuo University | Fluid pouring type actuator |
| CN202505522U (en) * | 2012-03-28 | 2012-10-31 | 李子怡 | Bionic muscle fiber and bionic muscle body made from same |
| CN103802126A (en) * | 2014-03-07 | 2014-05-21 | 上海当世流体动力控制设备有限公司 | Hydraulic bionic muscle |
| CN105083535A (en) * | 2015-07-21 | 2015-11-25 | 哈尔滨工业大学 | Integrated fluid artificial muscle driver |
| CN205054509U (en) * | 2015-10-28 | 2016-03-02 | 巢湖学院 | Novel artificial muscle |
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|---|---|---|---|---|
| SU1710331A2 (en) * | 1989-10-03 | 1992-02-07 | Самарский Центр Научно-Технического Творчества Молодежи "Синтез" | Artificial muscle |
| CN1413562A (en) * | 2002-10-14 | 2003-04-30 | 重庆工学院 | Artificial muscle |
| EP2148097A1 (en) * | 2007-05-11 | 2010-01-27 | Chuo University | Fluid pouring type actuator |
| CN202505522U (en) * | 2012-03-28 | 2012-10-31 | 李子怡 | Bionic muscle fiber and bionic muscle body made from same |
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