CN106625578A

CN106625578A - Artificial muscle, application thereof and robot

Info

Publication number: CN106625578A
Application number: CN201611023595.8A
Authority: CN
Inventors: 刘伟
Original assignee: Individual
Current assignee: Shenlan Robot Shanghai Co ltd
Priority date: 2015-08-28
Filing date: 2015-08-28
Publication date: 2017-05-10
Anticipated expiration: 2035-08-28
Also published as: CN106695772A; CN106426141A; CN106426144B; CN106695772B; CN106426139A; CN106426142A; CN106426140A; CN106426138B; CN104999475A; CN106426143A; CN104999475B; CN106426144A; CN106625578B; CN106426138A; CN106426141B; CN106426139B; CN106426143B; CN106426142B; CN106426140B

Abstract

The invention provides an artificial muscle. The artificial muscle is mainly composed of a driving body, a nemaline body and a spiral track. The maximum length of the nemaline body is greater than the total length of the spiral track. Part of the nemaline body is limited to be spiral through the spiral track. The spiral track is composed of a uniform-reducing cylinder and at least one limiting ring, wherein the limiting rings are located on the cylinder surface of one end of the cylinder, and diameter lines of the limiting rings are perpendicular to the axis of the cylinder. The nemaline body is wound on the cylinder, one end of the nemaline body is fixedly connected with the cylinder, and the other end of the nemaline body penetrates through the limiting rings. The nemaline body has at least one spiral between the fixed connection point of the nemaline body and the cylinder and the limiting rings. The driving body reasonably comprises and uses the artificial muscle. A machine using the artificial muscle is provided with the artificial muscle. A robot uses the artificial robot. The artificial muscle is simple in structure, economical and practical.

Description

A kind of artificial-muscle and its application, robot

Technical field

The invention belongs to dynamic field, especially designs a kind of artificial-muscle.

Background technology

Artificial-muscle is a difficult problem for robot, the artificial-muscle of prior art stretch have that the fast strength of contracting is little, that strength is big is flexible Slowly, the problems such as flexible percentage deficiency, it is difficult to practical application, the present invention proposes a kind of a kind of practical artificial-muscle, real Existing fine motion superposition, smoothly can dock with prior art, can quickly popularize.

The content of the invention

Present invention aims to the deficiencies in the prior art propose a kind of artificial-muscle, present invention achieves stroke amplifies.

The present invention has following technology contents.

1st, a kind of artificial-muscle, it is characterised in that：Mainly it is made up of driving body, thread like body, helical orbit；Thread like body is most greatly enhanced Overall length of the degree more than helical orbit；A thread like body part is limited to spirality by helical orbit；Helical orbit limits thread like body Motion makes the motion of the particle on the spiral part of thread like body predominantly slide along the helix of spiral part；Thread like body has soft Property or elasticity；Driving body drives the screw diameter of helical orbit to stretch.

2nd, a kind of artificial-muscle as described in technology contents 1, it is characterised in that：Described driving body is fluid pressure actuated, electricity Actuating, thermal actuation, magnetic actuation, light actuating, Electromagnetically actuated, chemical actuating.

3rd, a kind of artificial-muscle as described in technology contents 1, it is characterised in that：The helical orbit at least 2 is enclosed in the axial direction.

4th, a kind of artificial-muscle as described in technology contents 1, it is characterised in that：The helical orbit diametrically at least 2 is enclosed.

5th, a kind of artificial-muscle as described in technology contents 1, it is characterised in that：Spiral overall length of the helix tube under driving body driving Change is more than the change of pitch overall length.

6th, a kind of artificial-muscle as described in technology contents 1, it is characterised in that：Described helical orbit is uniform by a reducing Double-layered cylinder is constituted；The distance of two layers of double-layered cylinder is less than two times of thread like body diameter more than thread like body diameter；Double-layer circular At least one section of attachment between two layers of cylinder has the passage that thread like body can slide wherein.

7th, a kind of artificial-muscle as described in technology contents 1, it is characterised in that：Described helical orbit is uniform by a reducing Cylinder and at least one spacing ring are constituted；Spacing ring is located on the cylinder of cylinder one end, the diameter line vertical cylinder axle of spacing ring Line；Thread like body is looped around on cylinder, and thread like body one end is fixedly connected with cylinder, and the thread like body other end passes through spacing ring；Wire Body has at least one circle spiral between thread like body and cylinder fixed connection point and spacing ring.

8th, a kind of artificial-muscle as described in technology contents 1, it is characterised in that：Described helical orbit is uniform by a reducing Cylinder and at least 2 spacing rings are constituted；Spacing ring is located on the cylinder at cylinder two ends, the diameter line vertical cylinder axle of spacing ring Line；Thread like body is looped around on cylinder, and the two ends of thread like body pass respectively from spacing ring；Thread like body has between two spacing rings At least one circle spiral.

9th, a kind of artificial-muscle as described in technology contents 1, it is characterised in that：Also there is telescoping tube outside it；The two of thread like body End is connected to the two ends of telescoping tube.

10th, a kind of artificial-muscle as described in technology contents 6, it is characterised in that：Also there is dimension shape spring；Tie up shape spring and stretch Pipe is connected.

11st, a kind of artificial-muscle, it is characterised in that：Driving body is reasonably comprising the artificial-muscle described in application technology content 1-7.

12nd, a kind of machine of use artificial-muscle, it is characterised in that：With described in any one in technology contents 1-7 Artificial-muscle.

Technology contents are illustrated and its advantage：

The cardinal principle of the present invention：Change the screw diameter of thread like body to change the actuation length of thread like body, due to spirals it is straight The change in footpath can cause the change of spiral part girth, and the change of each circumference of same helix can be superimposed, therefore may achieve The technique effect for amplifying the superposition of trickle expanding-contracting action, this drastically becomes for overcoming Electromagnetically actuated magnetic force with distance increase It is little, fluid pressure actuated（Air pressure, hydraulic pressure）Space more big-movement is slower, inverse piezoelectric effect is activated（One kind of electric actuation）Stroke is little Etc. the defect of prior art have a very big significance；

If spiral number of turns are N；If Zhou Changwei T1, radius are r1 before single turn helix radius change, a diameter of R1, spiral overall length are L1；If Zhou Changwei T2, radius are r2 before single turn helix radius change, a diameter of R2, spiral overall length are L2；

Then there is formula：（1）、ΔL=L2-L1=ΔT*N=（T2-T1）*N=2πΔr*N；

From above formula, the displacement equations mode of spiral reducing is mainly relevant with the number of turns unrelated with quantity, so can be by adjusting Number of full circle N is adjusting magnification ratio；

Assume to be used for the driving body of the present invention using the artificial-muscle of the present invention, and set artificial-muscle（It is non-for driving body）'s Number of turns M of helical orbit, set spiral overall length and become and turn to Δ L', radius change is Δ r'；

Then there are Δ L'=2 π Δ r'*M；

Using at least one artificial-muscle as driving body, because spiral is round, therefore identification that can be rough is arranged on and drives The radius change size Δ r'=Δs of the spiral of the caused artificial-muscle of meeting under the displacement L ideal effect of internal artificial-muscle L/2（There may be Δ r'=Δ L as the driving body of the artificial-muscle of the present invention using the artificial-muscle of a plurality of present invention, in order to Problem reduction does not do excessive description；）

Then have most：ΔL'=2πΔL/2*M；

Above formula substitutes into formula（1）Then have：ΔL'=2πΔL/2*M=π*（2πΔr*N）*M=2π2*Δr*N*M；

As from the foregoing, used as driving body, regulation parameter N, M can for the artificial-muscle of the present invention used in the artificial-muscle of the present invention To obtain very big displacement equations multiple；

As from the foregoing of the invention can be in structure recursive structure（The word of recursive structure one is the present inventor oneself definition, Refer mainly to repeat nonlinear superposition design structure, in the present invention recursive structure is referred at many levels（More than or equal to 3 layers）Weight Again ' using the flexible reducing to drive the helical orbit of higher level artificial-muscle of the thread like body of low level artificial-muscle ' Design, constitute a displacement equations chain）, so as to the raising displacement equations multiple of great-jump-forward（Assume third layer helical orbit circle Number is B circles, then have the π 3* Δ r*N*M*B of Δ L''=2, and regulation parameter N, M, B can obtain very big displacement equations multiple）；

More than computing be that multiplication factor in order to illustrate the present invention is main related to the helical orbit number of turns, the iterative design number of plies, Also the understanding of reader will not be impacted even if calculating and a small amount of falsehood occur.

Vocabulary explanation.

' driving body ' refers to the entity for driving the change of helical orbit screw diameter, driving body can be element, device, or Functional module, driving body may be with other devices or element common elements or structure, and this is common situations in machinery；Driving body For example：A large amount of piezoelectric ceramics are filled on a columnar shape basal surface, piezoelectric ceramics radially stretching in matrix is manipulated；It is hollow to fill Elastic ball of gas etc..

' thread like body ' refers to thread, such as iron hoop chain, steel cable, spring etc., using should be with reference to ' public during thread like body of different nature Know general knowledge ', ' prior art ', ' rudimentary knowledge ' using different designs, should not run counter to that ' design one can normal Recycle mechanism Artificial-muscle ' technical purpose be deliberately set to what is can not run, such as：Activated using adopting during flexible linear body The mode of Shi Zeng great helical orbit screw diameters, and the length of the slack of flexible linear body can not be more than contraction length when activating Degree, and such as：During using elastic thread like body, it should be noted that thread like body elastic force and stretching, extension span relation, avoid as far as possible using elastic force very Little stretching, extension span but very big elastic thread like body, and such as：It should be noted that the strength of driving body reducing should enough overcome the interior of thread like body Stress, so as not to occur causing because thread like body intensity is too big thread like body spiral part cannot reducing situation, etc..

' helical orbit ' refers to when thread like body can be limited into reducing the constant spiral entity of the number of turns or is limited by entity Space path；Helical orbit can be element, device, with spiral-shaped cavity or groove, constitute helical orbit element, Device may be with other devices or element common elements or structure, and this is common situations in mechanical field；Helical orbit is such as：Spiral shell The threaded hole in spiral-shaped, cylinder body that coil, the helicla flute of periphery, the slotted element of multiple tools are arranged in groove Etc., helical orbit can be multiple spiral, and helical orbit can be on the whole bending, avoid making because trying one's best using during design With flexible too strong material manufacture helical orbit；It should be noted that person trained in a certain field may attempt design, some are strange Evading the application, but as long as track of its design contains helical orbit, and thread like body coordinates its track to define spiral shell to track Rotation should then regard its track as helical orbit described herein；Because the change of pitch can affect spiral overall length therefore the spiral shell of the present invention Should avoid weakening the spiral shell that screw diameter change is produced because pitch changes the spiral overall length for producing change as far as possible during rotation Track desigh The situation of rotation overall length change；In the case where thread like body is ignored completely, possibility is gone in vision judgement of getting on to the helical orbit of the present invention It is not spirality（Situation such as described in technology contents 6-8 is could visually to draw spiral shell after the winding for coordinating thread like body Rotation shape）, during the helical orbit design of the present invention slip of the spiral coil of helical orbit or thread like body in helical axis upwards is considered as Problem, and be defined by appropriate design and to prevent that cause the product designed because of the slip of spiral coil non-retractable Situation.

' helical orbit limits the motion of thread like body makes the motion of the particle on the spiral part of thread like body be mainly along spiral Partial helix slides ' because there is micro turn and radially transport in the athletic meeting of the particle on the spiral part of thread like body Dynamic, so using ' main ' one word to meet human language custom, the reader of the application should not be considered as ' main ' one word Fuzzy sets.

' a thread like body part is limited to spirality by helical orbit ' contains thread like body in helical orbit interior volume, thread like body Slidably being coated on track solid exterior etc. can make thread like body be subject to the annexation of helical orbit constraint.

' driving body drives the screw diameter of helical orbit to stretch ' is the change that driving body drives screw diameter.

' telescoping tube ' refers to the pipe that length can passively change.

' dimension shape spring ' refers to the spring for safeguarding telescoping tube profile, and its elastic force can not be too big.

Maximum length when ' maximum length of thread like body ' refers to that thread like body can be used normally, because some thread like bodies are long It is short variable, therefore have this to limit.

' spiral overall length ' is the length that spiral part expands into straight line after straight line, namely the summation of each circumference of helical orbit.

' spiral ', the mankind accurately define to spiral without perfection, and people even call spiral shell the camber line of a plurality of radial arrangement Rotation, in order to ensure the clear of definition, the spiral of the present invention is defined in：At least there is the set of points of continuity of a complete not selfing convolution Or the path of line-segment sets, wherein ' complete ' refers to convolution more than or equal to 360 degree, such as spring, Archimedes spiral, electromagnet Solenoid etc., helical axis can be straight line（When helix tube is straight）, curve（When helix tube bends）, helical curve（Helix tube is again It is helix during secondary spiral）, the present invention in spiral include helix（Axial multi-turn）Path, vortex filament（Radial multi-ring）Road The road of footpath, taper helical path, variable-pitch propeller path, reducing helical path, multilayer helical path and other helical wire forms Footpath and combinations thereof, there may be corner angle on the spiral of the present invention.

Beneficial effects of the present invention：Simple structure, it is economical and practical.

Description of the drawings Fig. 1 is an embodiment schematic diagram of the invention.

Fig. 2 is an embodiment schematic diagram of the invention.

Fig. 3 is an embodiment schematic diagram of the invention.

Fig. 4 is an embodiment schematic diagram of the invention.

Fig. 5 is an embodiment schematic diagram of the invention.

Fig. 6 is an embodiment schematic diagram of the invention；Fig. 7 is the schematic diagram of an embodiment of the present invention.

Specific embodiment

Embodiments of the present invention are illustrated below in conjunction with embodiment.

Embodiment 1, as shown in figure 1, a kind of artificial-muscle, by layered electrode A1, piezoelectric ceramics A11, conducting circular cylinder A10, bullet Spring A3, multiple snak link A2 are constituted；Snak link A2 helical arrangements constitute helical orbit；The helical orbit that spring A3 winding A2 are constituted It is interior；Piezoelectric ceramics A11 is covered in conducting circular cylinder A10 surface；Layered electrode A1 covers piezoelectric ceramics A11 surfaces；Conducting circular cylinder A10 It is connected with wire A50；Layered electrode A1 is connected with wire A5；Layered electrode A1 has extension ability；Press after being powered to A5, A50 Electroceramics expands, and is helical orbit screw diameter（X）Increase, make spring A3 in the axial direction of helical orbit（Y）Shrink.

Embodiment 2, as shown in Fig. 2 a kind of artificial-muscle, from ball B1, limit and constituted to block B4, steel wire B3；Ball B1 Inside has cavity B10, cavity B10 to have inlet channel B100；There is spiral vestibule in the wall of ball B1 as helical orbit B2；Steel In silk B3 winding screw track B2；It is helical orbit B2 to limit the expansion direction for having very strong rigidity restriction ball B1 to block B4 Radial direction；After the air pressure that B100 increases in B10；Ball B1 is in helical orbit B2 radial directions（X）Expand on direction, cause The screw diameter increase of helical orbit B2；And then cause steel wire B3 in the axial direction of helical orbit（Y）Shrink；Can be by when using The two ends of steel wire B3 are connected to the mechanical joint two ends for needing to activate.

Embodiment 3, as shown in figure 3, a kind of artificial-muscle, by conductive drum C1, spring C3, multiple piezoelectric ceramics C2, C20, Multiple arcs conductive plate C4, C40, multiple annulus C6 are constituted；Annulus C6 is helically arranged to make up helical orbit；By wire C51 with C50 short circuits, are powered between wire C50, C5, and piezoelectric ceramics C20 elongations reduce the screw diameter of spring, and then make spring Stretching；Matrix is conductive drum C1, and actuation body is conductive drum C1, piezoelectric ceramics C2, arc conductive plate C4, C40；In machinery Common elements, structure are common situations between each part function module in field.

Embodiment 4, change on the basis of embodiment 3 and piezoelectric ceramics is revised as into Pneumatic extension body.

Embodiment 5, change on the basis of embodiment 3 and piezoelectric ceramics is revised as into Pneumatic extension body, spring is revised as Steel cable.

Embodiment 6, change on the basis of embodiment 3 and be changed to matrix can passively extend the entity of shortening, thread like body All in matrix.

Embodiment 7, on the basis of embodiment 2 modification will increase helical orbit quantity in ball B1 wall, and make spiral Track is coaxial parallel（The parallel concept of helix is with reference to oriented parallel concept）, one or more steel is penetrated in each helical orbit Rope, increases load-carrying ability and redundant ability.

Embodiment 8, design one have the vortex-like pipe of toughness, extrusome are installed between the tube wall of vortex-like pipe, by thread like body In being through vortex-like pipe.

Embodiment 9, such as Fig. 4 increase a telescoping tube D1 in the outside of embodiment 2, and steel wire is connected into telescoping tube Two ends, by inlet channel B100 the air pressure inside ball B1 is improved, and telescoping tube D1 just shrinks under the drive of steel wire, relatively Embodiment 2 has dust-proof benefit.

Embodiment 10, such as Fig. 5 are axially mounted between telescoping tube D1 and helical orbit on the flexible inside pipe wall of embodiment 9 The two ends of the spring D2 of one elastic force very little, spring D2 are connected with the two ends of telescoping tube D1.

Embodiment 11, such as Fig. 6 increase contraction unit on the basis of embodiment 10.

Modification on the basis of embodiment 12, embodiment 9 makes limit be fixedly linked to one end of block B4 and telescoping tube D1.

Embodiment 13, embodiment 2 is changed into hydraulic control.

Embodiment 14, embodiment 2 is changed into Chemical Control control, produces gas to improve in cavity using various reactants Pressure expands ball B1, and increases a drain passage.

Embodiment 15, the piezoelectric ceramics of embodiment 3 is changed into mutual exclusion coil, between mutual exclusion coil guide post is increased, make mutual exclusion Magnetic force is not result in rotary motion between coil, and the motion of distance change is only carried out after energization.

Embodiment 16, the metal clips that the piezoelectric ceramics of embodiment 3 is changed to black, using LASER HEATING metal clips it is made Stretch because of heating power.

Embodiment 17, the metal clips that the piezoelectric ceramics of embodiment 3 is changed to black, being passed through the fluid of different temperatures makes Metal clips produces change in size.

Embodiment 18, as shown in fig. 7, a kind of artificial-muscle, by layered electrode E1, piezoelectric ceramic tube E11, layered electrode E10, steel wire E3,2 ring E2 are constituted；2 snak link E2 are located at the two ends of piezoelectric ceramic tube E11；Steel wire E3 winds piezoelectric ceramic tube E11, steel wire E3 two ends are from passing from two rings respectively；Layered electrode E1 covers piezoelectric ceramic tube E11 outer surfaces；Layered electrode E10 covers piezoelectric ceramic tube E11 inner surfaces；Layered electrode E10 is connected with wire E50；Layered electrode E1 is connected with wire E5；Layer Shape electrode E1 has extension ability；Piezoelectric ceramic tube E11 expansions, make the spiral of steel wire E3 straight after being powered to wire E5, wire E50 Footpath increases, and steel wire E3 is shunk in the axial direction of the spiral of steel wire E3.

Embodiment 19, the improvement on the basis of embodiment 10, add a certain amount of lubricating oil, for reducing in telescoping tube The frictional resistance of steel wire.

It is above the feasible program of the present invention；Because the artificial-muscle of the present invention is extrusome, extrusome can change spiral track The principle of the road radius of spin has embodied in content of the invention above embodiment, therefore does not repeat；The present invention includes many kinds side Case, but its principle is all to change helical orbit screw diameter to change spiral circumference and then change the actuation length of thread like body, this Art personnel understand that can carry out enforcement to the present invention with reference to ' common knowledge ', ' prior art ' after this central principle sets Meter, therefore do not repeat one by one.

Claims

1. a kind of artificial-muscle, it is characterised in that：Mainly it is made up of driving body, thread like body, helical orbit；Thread like body is most greatly enhanced Overall length of the degree more than helical orbit；A thread like body part is limited to spirality by helical orbit；Helical orbit limits thread like body Motion makes the motion of the particle on the spiral part of thread like body predominantly slide along the helix of spiral part；Thread like body has soft Property or elasticity；Driving body drives the screw diameter of helical orbit to stretch；Described helical orbit is by the uniform cylinder of reducing Constitute with least one spacing ring；Spacing ring is located on the cylinder of cylinder one end, the diameter line vertical cylinder axis of spacing ring；Line Shape body is looped around on cylinder, and thread like body one end is fixedly connected with cylinder, and the thread like body other end passes through spacing ring；Thread like body is online There is at least one circle spiral between shape body and cylinder fixed connection point and spacing ring.

2. a kind of artificial-muscle, it is characterised in that：Driving body is reasonably comprising the artificial-muscle described in application technology content 1.

3. a kind of machine of use artificial-muscle, it is characterised in that：With the artificial muscle described in any one in technology contents 1 Meat.

4. robot, it is characterised in that using the artificial-muscle described in technology contents 1.