CN108608421A - The bionical power plant of machinery - Google Patents
The bionical power plant of machinery Download PDFInfo
- Publication number
- CN108608421A CN108608421A CN201810595538.XA CN201810595538A CN108608421A CN 108608421 A CN108608421 A CN 108608421A CN 201810595538 A CN201810595538 A CN 201810595538A CN 108608421 A CN108608421 A CN 108608421A
- Authority
- CN
- China
- Prior art keywords
- elastic capsule
- grid
- power plant
- capsule
- diagonal line
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000002775 capsule Substances 0.000 claims abstract description 86
- 230000008602 contraction Effects 0.000 claims abstract description 9
- 229910003460 diamond Inorganic materials 0.000 claims description 4
- 239000010432 diamond Substances 0.000 claims description 4
- 210000003205 muscle Anatomy 0.000 description 13
- 238000010586 diagram Methods 0.000 description 5
- 239000011664 nicotinic acid Substances 0.000 description 5
- 239000000835 fiber Substances 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- 238000007789 sealing Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000001114 myogenic effect Effects 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 239000000565 sealant Substances 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
Abstract
The present invention relates to a kind of bionical power plants of machinery.The bionical power plant of the machinery includes elastic capsule and the fibrous layer for providing axial tension for elastic capsule, fibrous layer is the reticular structure with regular polygon grid, the number of edges of the grid is four or more, grid has the stretching, extension diagonal line vertical with the axis of elastic capsule, grid also has the contraction diagonal line vertical with stretching, extension diagonal line or two opposite side parallel with diagonal line is stretched, and two sides that the grid is used to form vertex are fixed to each other.Elastic capsule is during expansion, the radial dimension of elastic capsule changes, the stretching, extension diagonal line of grid is stretched to be stretched along elastic capsule circumferencial direction, the contraction Diagonal Dimension of grid shortens or is parallel to cornerwise two back gauges of stretching, extension and shortens, can further the relative distance at elastic capsule axial direction both ends, elastic capsule generates more uniform axial force, simple in structure, strong applicability.
Description
Technical field
The present invention relates to a kind of bionical power plants of machinery.
Background technology
So far, the function that biology has is all superior more than any made machinery, such as human muscle's conduct
The drive part of human motion has higher flexibility and flexibility.Bionics is that people study organism structure and work(
The operation principle of energy, and produced according to these operation principles and be suitable for producing, the technology of studying and living.
Publication No. is CN103802126A, and it is imitative that date of publication is that the Chinese patent application of 2014.05.21 discloses a kind of hydraulic pressure
Myogenic meat, the hydraulic pressure bionic muscle include elastic capsule and with the high pressure hydraulic fluid port that is connected to inside elastic capsule, the axis of elastic capsule
Mounting Earrings are fixedly connected with to both ends, it is to stretch fibrous layer that elastic capsule, which has internal layer, middle layer and face layer, middle layer, when
When by high pressure hydraulic fluid port to elastic capsule internal pressurization, elastic capsule expansion gradually increases, under the action of expansive force, elastic gum
The fibrous layer in intracapsular portion further axial both ends articulated joint relative distance, simulate the contraction state of muscle；Conversely, when elasticity
When capsule pressure release, the articulated joint relative distance at elastic capsule axial direction both ends is gradually restored, and the diastole state of muscle is simulated.
But the fibrous layer of above-mentioned hydraulic pressure bionic muscle needs to limit the axial deformation of elastic capsule, causes elastic capsule
The axial deformation amount of generation is smaller and pulling force is weaker.In addition, since radial dilatation, fiber occur again for elastic capsule itself
Layer is easy to happen opposite sliding in elastic capsule circumferential direction, causes the axial force in circumferential direction everywhere uneven.
Invention content
The purpose of the present invention is to provide a kind of bionical power plants of machinery, to solve the existing bionical power plant of machinery
The problem that axial deformation amount is smaller and pulling force is weaker.
To achieve the above object, the technical solution of the bionical power plant of present invention machinery is：The bionical power plant of the machinery
Fibrous layer including elastic capsule and for providing axial tension for elastic capsule, fibrous layer are the net with regular polygon grid
The number of edges of shape structure, the grid is four or more, and grid has the stretching, extension diagonal line vertical with the axis of elastic capsule, grid
Also have and is used for the vertical contraction diagonal line of stretching, extension diagonal line or two opposite side parallel with stretching, extension diagonal line, the grid
Two sides for forming vertex are fixed to each other.
Advantage is：During expansion, the radial dimension of elastic capsule changes elastic capsule, grid
Stretching, extension diagonal line is stretched to be stretched along elastic capsule circumferencial direction, and the contraction Diagonal Dimension of grid shortens or be parallel to stretching, extension
Cornerwise two back gauges shorten, the relative distance at the elastic capsule axial direction both ends that can further, and so that elastic capsule is generated larger
Pulling force and larger deformation quantity, and can ensure that circumferential axial force everywhere is uniform, simple in structure, strong applicability.
The shape of the grid is diamond shape or regular hexagon.
The fibrous layer is wrapped in the outer surface of elastic capsule.
The fibrous layer is opposite with elastic capsule to slide setting.
The axial both ends of the elastic capsule are equipped with opening, and articulated joint is equipped in the opening, is set on the outside of fibrous layer
It is useful for that elastic capsule is fixed in articulated joint to and is made the fastener of articulated joint and opening sealing cooperation.
Advantage：Fastener being fixed elastic capsule in articulated joint, while can realize hinge
The sealing of connector and opening, structure type are simpler.
The fastener is band.
Wall thickness in the middle part of the elastic capsule is less than the wall thickness at elastic capsule axial direction both ends.
Advantage is：For elastic capsule during inflation, the deformation quantity at middle part is more than the deformation quantity at both ends,
Further the relative distance of elastic capsule both ends articulated joint convenient for fibrous layer.
Outer diameter in the middle part of the elastic capsule is more than the outer diameter at elastic capsule both ends.
The elastic capsule is rubber pneumatic bag.
Description of the drawings
Fig. 1 is the structural schematic diagram of the embodiment 1 of invention bionic muscle power plant；
Fig. 2 is the structural schematic diagram that bionic muscle power plant shown in FIG. 1 simulates muscle diastole state；
Fig. 3 is the sectional view of Fig. 2；
Fig. 4 is the partial structural diagram of fibrous layer in Fig. 2；
Fig. 5 is the structural schematic diagram that bionic muscle power plant shown in FIG. 1 simulates delta state of muscle；
Fig. 6 is the sectional view of Fig. 5；
Fig. 7 is the partial structural diagram of fibrous layer in Fig. 5.
Reference sign：1. articulated joint；2. band；3. fibrous layer；4. elastic capsule；5. inflating port.
Specific implementation mode
Embodiments of the present invention are described further below in conjunction with the accompanying drawings.
The embodiment 1 of the bionical power plant of machinery of the invention, as shown in Figures 1 to 7, the bionical power plant of the machinery includes
Fibrous layer 3, fibrous layer 3 are wrapped up in elastic capsule 4 and the inflating port 5 being connected to 4 inside of elastic capsule, the outer surface of elastic capsule 4
Axial both ends be fixedly connected respectively with two articulated joints 1, fibrous layer 3 and 4 adhesion of elastic capsule can be slided mutually, fine
The shape for tieing up 3 grid of layer is diamond shape.
In the present embodiment, elastic capsule 4 is more than using the preferable rubber pneumatic bag of elasticity, the outer diameter at 4 middle part of elastic capsule
The wall thickness of the outer diameter at the axial both ends of elastic capsule 4,4 middle part of elastic capsule is less than the wall thickness at the axial both ends of elastic capsule 4.The elasticity
Capsule 4 during inflation, in the middle part of deformation quantity be more than the deformation quantity at its axial both ends, further convenient for fibrous layer 3
The relative distance of the articulated joint 1 at elastic capsule axial direction both ends.
The axial both ends of elastic capsule 4 are equipped with opening, and opening is fixedly connected with articulated joint 1, and the setting of inflating port 5 is being cut with scissors
On connector 1, articulated joint 1 is stretched by opening inside elastic capsule 4, and the outside of fibrous layer 3 is equipped with for by elastic capsule 4
Be fixed in articulated joint 1 and make articulated joint 1 with opening sealing cooperation fastener, fastener be arranged in fiber
The band 2 in 3 outside of layer, band 2 tighten it is fixed after, the contact surface of elastic capsule 4 and articulated joint 1, which is formed, to be sealed.
When the above-mentioned bionical power plant of machinery assembles, in 4 outer cover upper fibrage 3 of elastic capsule, articulated joint 1 is packed into
In the opening of elastic capsule 4, the axial both ends of fibrous layer 3 and elastic capsule 4 are tightened into fixation with band 2, after being completed
The bionical power plant of machinery can be as the motion of bio-robot.
When the above-mentioned bionical power plant of machinery works, when being inflated into elastic capsule 4 by carrying inflating port 5, elastic gum
4 air pressure inside of capsule increases, and since 3 use of fibrous layer is not easily stretchable, the material being easily bent constrains the axial direction of elastic capsule 4
It extends, in 4 expansion process of elastic capsule, radial dimension gradually increases, at this point, elastic capsule 4 can force its surface coated fibre
The outer diameter of dimension layer 3 equally becomes larger, and the grid of fibrous layer 3 is diamond shape, and the grid of prismatic is curved under the action of 4 expansive force of elastic capsule
Song, i.e., the diagonal line of Y-direction is stretched in figure, corresponding X to diagonal line shorten.Since the both ends of fibrous layer 3 are pricked by band 2
It fastens on elastic capsule 4, and articulated joint 1 is located at X to both ends and is fixedly connected with the axial both ends of elastic capsule, therefore
The relative distance of two articulated joints 1 can gradually be furthered, and simulate the contraction state of muscle, the gas in elastic capsule 4 is by filling
When gas port 5 is released, the relative distance between two articulated joints 1 can gradually be restored, and simulate muscle diastole state.
For the elastic capsule 4 of the above-mentioned bionical power plant of machinery during expansion, fibrous layer 3 also increases elastic capsule
The pulling force of 4 pairs of articulated joints 1, additionally it is possible to protect the safety of elastic capsule 4 in the deflated condition.
The embodiment 2 of the bionical power plant of machinery of the invention, difference from example 1 is that, the grid of fibrous layer
Shape be regular hexagon.
In other embodiments, the grid of fibrous layer can be more sides regular polygon, as long as meet grid have with
The vertical stretching, extension diagonal line of elastic capsule axis also has the contraction diagonal line vertical with stretching, extension diagonal line or diagonal with stretching, extension
Two parallel opposite side of line, two sides that the grid is used to form vertex are fixed to each other.
In other embodiments, articulated joint can be sealed by fluid sealant with opening and be coordinated.
In other embodiments, elastic capsule can also realize contraction and the diastole state of simulation muscle by hydraulic pressure.
Claims (9)
1. the bionical power plant of machinery, including elastic capsule and the fibrous layer for providing axial tension for elastic capsule, special
Sign is：Fibrous layer is the reticular structure with regular polygon grid, and the number of edges of the grid is four or more, grid have with
The vertical stretching, extension diagonal line of the axis of elastic capsule, grid also have the contraction diagonal line vertical with stretching, extension diagonal line or with stretch
Two parallel opposite side of diagonal line are opened up, two sides that the grid is used to form vertex are fixed to each other.
2. the bionical power plant of machinery according to claim 1, it is characterised in that：The shape of the grid be diamond shape or
Regular hexagon.
3. the bionical power plant of machinery according to claim 1 or 2, it is characterised in that：The fibrous layer is wrapped in elasticity
The outer surface of capsule.
4. the bionical power plant of machinery according to claim 3, it is characterised in that：The fibrous layer is opposite with elastic capsule
Sliding setting.
5. the bionical power plant of machinery according to claim 1 or 2, it is characterised in that：Axial the two of the elastic capsule
End is equipped with opening, and articulated joint is equipped in the opening, and the outside of fibrous layer is equipped with for elastic capsule to be fixed hinge
On connector and articulated joint is made to seal the fastener coordinated with opening.
6. the bionical power plant of machinery according to claim 5, it is characterised in that：The fastener is band.
7. the bionical power plant of machinery according to claim 1 or 2, it is characterised in that：Wall in the middle part of the elastic capsule
Thickness is less than the wall thickness at elastic capsule axial direction both ends.
8. the bionical power plant of machinery according to claim 1 or 2, it is characterised in that：It is outer in the middle part of the elastic capsule
Diameter is more than the outer diameter at elastic capsule both ends.
9. the bionical power plant of machinery according to claim 1 or 2, it is characterised in that：The elastic capsule is rubber gas
Capsule.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810595538.XA CN108608421A (en) | 2018-06-11 | 2018-06-11 | The bionical power plant of machinery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810595538.XA CN108608421A (en) | 2018-06-11 | 2018-06-11 | The bionical power plant of machinery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108608421A true CN108608421A (en) | 2018-10-02 |
Family
ID=63665059
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810595538.XA Pending CN108608421A (en) | 2018-06-11 | 2018-06-11 | The bionical power plant of machinery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108608421A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110877331A (en) * | 2019-12-20 | 2020-03-13 | 中国科学院沈阳自动化研究所 | Twist reverse artificial muscle that contracts |
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|---|---|---|---|---|
| GB2207702A (en) * | 1987-07-23 | 1989-02-08 | Dr Colin George Morgan | Pneumatic or hydraulic actuator mechanism (an artificial muscle) |
| GB2328981A (en) * | 1997-09-05 | 1999-03-10 | Richard Martin Greenhill | Improved component of mechanical actuator |
| US20020083828A1 (en) * | 2000-12-29 | 2002-07-04 | Alain Bernier | Flexible actuator |
| JP2004314219A (en) * | 2003-04-14 | 2004-11-11 | Institute Of Physical & Chemical Research | Linear motion artificial muscle actuator and method of manufacturing linear motion artificial muscle actuator |
| CN101014449A (en) * | 2004-09-01 | 2007-08-08 | 松下电器产业株式会社 | Joint driving device |
| KR20070115052A (en) * | 2006-05-30 | 2007-12-05 | 양 원 김 | Structure of artificial muscle |
| CN201842256U (en) * | 2010-10-11 | 2011-05-25 | 沈振忠 | Bionic air bag |
| CN103612387A (en) * | 2013-12-04 | 2014-03-05 | 烟台鑫海矿山机械有限公司 | Process for bonding metal circular tube rubber lining |
| 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 |
| CN105805076A (en) * | 2016-04-26 | 2016-07-27 | 中国计量大学 | Pneumatic muscle and realized driving mechanism thereof |
| CN106181994A (en) * | 2016-09-22 | 2016-12-07 | 哈尔滨工业大学 | Deep-sea based on hydraulic-driven artificial-muscle flexible grabbing device |
| US20170043138A1 (en) * | 2014-03-07 | 2017-02-16 | Translational Biologic Infusion Catheter, Llc | Prolate spheroid-shaped balloon with central hinge |
| CN106956254A (en) * | 2016-01-08 | 2017-07-18 | 东北大学 | Multiple degrees of freedom combination drive artificial-muscle |
| CN208342841U (en) * | 2018-06-11 | 2019-01-08 | 河南森源电气股份有限公司 | A kind of bionical power device of machinery |
-
2018
- 2018-06-11 CN CN201810595538.XA patent/CN108608421A/en active Pending
Patent Citations (14)
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|---|---|---|---|---|
| GB2207702A (en) * | 1987-07-23 | 1989-02-08 | Dr Colin George Morgan | Pneumatic or hydraulic actuator mechanism (an artificial muscle) |
| GB2328981A (en) * | 1997-09-05 | 1999-03-10 | Richard Martin Greenhill | Improved component of mechanical actuator |
| US20020083828A1 (en) * | 2000-12-29 | 2002-07-04 | Alain Bernier | Flexible actuator |
| JP2004314219A (en) * | 2003-04-14 | 2004-11-11 | Institute Of Physical & Chemical Research | Linear motion artificial muscle actuator and method of manufacturing linear motion artificial muscle actuator |
| CN101014449A (en) * | 2004-09-01 | 2007-08-08 | 松下电器产业株式会社 | Joint driving device |
| KR20070115052A (en) * | 2006-05-30 | 2007-12-05 | 양 원 김 | Structure of artificial muscle |
| CN201842256U (en) * | 2010-10-11 | 2011-05-25 | 沈振忠 | Bionic air bag |
| CN103612387A (en) * | 2013-12-04 | 2014-03-05 | 烟台鑫海矿山机械有限公司 | Process for bonding metal circular tube rubber lining |
| 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 |
| US20170043138A1 (en) * | 2014-03-07 | 2017-02-16 | Translational Biologic Infusion Catheter, Llc | Prolate spheroid-shaped balloon with central hinge |
| CN106956254A (en) * | 2016-01-08 | 2017-07-18 | 东北大学 | Multiple degrees of freedom combination drive artificial-muscle |
| CN105805076A (en) * | 2016-04-26 | 2016-07-27 | 中国计量大学 | Pneumatic muscle and realized driving mechanism thereof |
| CN106181994A (en) * | 2016-09-22 | 2016-12-07 | 哈尔滨工业大学 | Deep-sea based on hydraulic-driven artificial-muscle flexible grabbing device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110877331A (en) * | 2019-12-20 | 2020-03-13 | 中国科学院沈阳自动化研究所 | Twist reverse artificial muscle that contracts |
| CN110877331B (en) * | 2019-12-20 | 2023-12-26 | 中国科学院沈阳自动化研究所 | Torsion contraction artificial muscle |
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