CN110253557A - A kind of multilayer airproof water-cooled artificial muscle - Google Patents
A kind of multilayer airproof water-cooled artificial muscle Download PDFInfo
- Publication number
- CN110253557A CN110253557A CN201910643210.5A CN201910643210A CN110253557A CN 110253557 A CN110253557 A CN 110253557A CN 201910643210 A CN201910643210 A CN 201910643210A CN 110253557 A CN110253557 A CN 110253557A
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- Prior art keywords
- insulated
- heat
- artificial muscle
- multilayer
- inner tube
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0054—Cooling means
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
- Thermotherapy And Cooling Therapy Devices (AREA)
Abstract
The present invention relates to artificial muscle technical fields, and disclose a kind of multilayer airproof water-cooled artificial muscle, including telescoping tube, fixed device, memory alloy spring and sealed bladder, the telescoping tube includes insulated exterior duct and heat-insulated inner tube, side similar in the insulated exterior duct and heat-insulated inner tube is opening, one end that the heat-insulated inner tube is equipped with opening is equipped with the inside of one end insertion insulated exterior duct of opening from insulated exterior duct, it can be movable between the heat-insulated inner tube and insulated exterior duct, the fixed device includes two screws and two nuts, two screws are through to the outside of telescoping tube from the inside of telescoping tube, the nut being threaded on two screws on the outside of telescoping tube.The multilayer airproof water-cooled artificial muscle imitates muscular movement, both can shrink or extend, and the mechanical structure used is simple, it is not easy to break down, without Biological Principles control is used, be simple to manufacture, cost is not high, is easy universal.
Description
Technical field
The present invention relates to artificial muscle technical field, specially a kind of multilayer airproof water-cooled artificial muscle.
Background technique
Existing artificial muscle is made of to be called electroactive polymerization using a kind of novel intelligent high molecular material in the market
Object, it can be stretched, be bent, tighten or be expanded by the change of material internal structure and biological muscles under extra electric field
It is quite similar, it is according to Biological Principles, in certain sequence by three kinds of amino acid, respectively valine, proline and glycine
Arrangement and constitute, it be similar to people meat fiber, have elasticity.
The function of simulation human muscle is although able to achieve using artificial muscle made of novel intelligent high molecular material, still
Due to being controlled using the principle of biology, not only involves great expense, makes that difficult, complexity is high, it can not be general on the market
And and only can be used on biology, can not be used in the enterprising enforcement of the smart machines such as robot.
It is that the function for imitating muscle is realized by theories of mechanics such as cylinder or motors at present there are also a kind of artificial muscle
Can, although this artificial muscle can be used on the smart machines such as robot, but since mechanical structure is excessively complicated, repeatedly
Mechanical wear or failure are easy to appear after running, volume is larger, and calorific value is larger when the equipment operations such as cylinder and motor, makes
Not only the service life is short when on biology, and quality cannot ensure, and easily causes patient's discomfort, is also easy to cause when serious concurrent
Disease, so a kind of multilayer airproof water-cooled artificial muscle is proposed to solve the problems, such as above-mentioned propose.
Summary of the invention
(1) the technical issues of solving
In view of the deficiencies of the prior art, the present invention provides a kind of multilayer airproof water-cooled artificial muscle, has structure
Simply, the advantages that applied widely, when solving existing artificial muscle using the manufacture of novel intelligent high molecular material, due to cost
Expensive, production difficulty, complexity are high, can not popularize on the market, and only can be used on biology, can not be in the intelligence such as robot
The enterprising enforcement of equipment is used, the artificial muscle manufactured using theory of mechanics, since mechanical structure is excessively complicated, is repeatedly easy after running
There is mechanical wear or failure, and calorific value larger problem when the equipment operations such as cylinder and motor.
(2) technical solution
To realize that above structure is simple, purpose applied widely, the invention provides the following technical scheme: a kind of multilayer is airtight
Type water-cooled artificial muscle, including telescoping tube, fixed device, memory alloy spring and sealed bladder, the telescoping tube include heat-insulated
Side similar in outer tube and heat-insulated inner tube, the insulated exterior duct and heat-insulated inner tube is opening, and the heat-insulated inner tube is equipped with opening
One end from insulated exterior duct be equipped with opening one end insertion insulated exterior duct inside, can between the heat-insulated inner tube and insulated exterior duct
With activity, the fixed device includes two screws and two nuts, and two screws are through to from the inside of telescoping tube
The outside of telescoping tube, the nut being threaded on two screws on the outside of telescoping tube offer on the screw
Limbers, two opposite sides of the screw are fixedly installed with memory alloy spring, and the memory alloy spring is located at flexible
The inside of pipe is fixedly installed with sealed bladder between two nuts, and formed between the sealed bladder and nut one it is closed
Space, the telescoping tube is located at the inside of sealed bladder.
Preferably, the insulated exterior duct and the axial line of heat-insulated inner tube are located along the same line, the insulated exterior duct and every
The equal length of hot inner tube.
Preferably, the insulated exterior duct and heat-insulated inner tube are polyurethane, and the memory alloy spring is Nitinol, institute
Stating sealed bladder can be neoprene, butyl rubber, ethylene propylene diene rubber or polyvinyl chloride.
Preferably, the nut is fixedly connected with telescoping tube.
Preferably, the diameter of the heat-insulated inner tube inner sidewall is greater than the diameter of memory alloy spring.
It preferably, further include decorative sheath, the decorative sheath wraps sealed bladder.
It preferably, further include installation set, the quantity of the installation set is two, and two installation sets respectively protect decoration
The both ends of set are wrapped on nut, and the screw runs through installation set.
(3) beneficial effect
Compared with prior art, the present invention provides a kind of multilayer airproof water-cooled artificial muscle, have following beneficial
Effect:
The multilayer airproof water-cooled artificial muscle, by by two screws or nut respectively with the positive and negative anodes of power supply
It connects, makes there is electric current to pass through on memory alloy spring, increase the temperature of memory alloy spring, heated up using memory alloy spring
The characteristic of contraction makes memory alloy spring pull telescoping tube, sealed bladder and decorative sheath by screw and nut, drives entire people
Contraction of muscle is made, when needing to extend, memory alloy spring need to only be powered off, by opening up limbers on screw, by logical
Cooling water, by the setting of sealed bladder, is sealed in the inside of sealed bladder to cooling water is passed through inside artificial muscle by water hole, cooling
Liquid will not leak outside, and the temperature of cooling memory alloy spring makes memory alloy spring restore deformation, entire artificial muscle is propped up drawing
It is long, imitate muscular movement, both can shrink or extend, and the mechanical structure used is simple, it is not easy to break down, also without
It need to be controlled, be simple to manufacture using Biological Principles, cost is not high, is easy to popularize, and both can be used on biology, can also make
With on the smart machines such as robot, without using equipment such as motor or cylinders, calorific value is reduced, the longevity of artificial muscle is increased
Life, ensures the quality of artificial muscle, and reduce volume, keeps patient's use more comfortable.
Detailed description of the invention
Fig. 1 is a kind of multilayer airproof water-cooled artificial muscle structural schematic diagram proposed by the present invention；
Fig. 2 is a kind of multilayer airproof water-cooled artificial muscle appearance diagram proposed by the present invention.
In figure: 1 telescoping tube, 101 insulated exterior ducts, 102 heat-insulated inner tubes, 2 fixed devices, 201 screws, 202 nuts, 3 memories
Alloy spring, 4 sealed bladders, 5 decorative sheaths, 6 installation sets.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
A kind of multilayer airproof water-cooled artificial muscle referring to FIG. 1-2, including telescoping tube 1, fixed device 2, memory conjunction
Golden spring 3, sealed bladder 4, decorative sheath 5 and installation set 6；
Telescoping tube 1 includes insulated exterior duct 101 and heat-insulated inner tube 102, one similar in insulated exterior duct 101 and heat-insulated inner tube 102
Side is opening, and the inside diameter of insulated exterior duct 101 is greater than the outside diameter of heat-insulated inner tube 102, and heat-insulated inner tube 102 is equipped with opening
One end be equipped with from insulated exterior duct 101 opening one end insertion insulated exterior duct 101 inside, and insulated exterior duct 101 and heat-insulated interior
The axial line of pipe 102 is located along the same line, can be movable between heat-insulated inner tube 102 and insulated exterior duct 101, insulated exterior duct 101
With the equal length of heat-insulated inner tube 102, contract by distance is maximized；
Preferably, insulated exterior duct 101 and heat-insulated inner tube 102 are polyurethane, and polyurethane is the abbreviation of polyurethanes,
It is a kind of high molecular material, polyurethane has the performances such as good heat-insulation and heat-preservation, can prevent from being powered in memory alloy spring 3
When, the temperature of memory alloy spring 3 increases, and heat is dispersed into the outside of artificial muscle, passes into the human body, causes patient's discomfort
Problem；
Fixed device 2 includes two screws 201 and two nuts 202, and two screws 201 are passed through from the inside of telescoping tube 1
It wears to the outside of telescoping tube 1, is threaded with the nut 202 positioned at 1 outside of telescoping tube on two screws 201, on screw 201
Limbers is offered, coolant liquid is facilitated to flow in and out artificial muscle；
Preferably, nut 202 is fixedly connected with telescoping tube 1, guarantees the stabilization connected between fixed device 2 and telescoping tube 1
Property；
Two opposite sides of screw 201 are fixedly installed with memory alloy spring 3, and memory alloy spring 3 is located at telescoping tube 1
Inside, memory alloy spring 3 is electrically connected with screw 201, and the diameter of heat-insulated 102 inner sidewall of inner tube is greater than memory alloy spring 3
Diameter, be that memory alloy spring 3 will not be blocked in 1 internal activity of telescoping tube, shrink it is more smooth；
Preferably, memory alloy spring 3 is Nitinol, and Nitinol is a kind of marmem, and shape memory closes
Gold is the special alloy that the plastic deformation of itself can be automatically restored to original-shape under a certain specific temperature, is had good
Plasticity allows memory alloy spring 3 to be powered when heating up and preferably shrinks deformation；
Sealed bladder 4 is fixedly installed between two nuts 202, and formed between sealed bladder 4 and nut 202 one it is closed
Space, telescoping tube 1 are located at the inside of sealed bladder 4, escape to the coolant liquid entered inside telescoping tube 1 by limbers will not close
Encapsulated 4 outside；
Preferably, sealed bladder 4 can be the rubber such as neoprene, butyl rubber, ethylene propylene diene rubber or polyvinyl chloride
Plastic waterproof material, that is, have good waterproof performance while, it may have it is good can deformation behavior, preferably support artificial muscle
The contraction of meat extends, and the elastic force that can also restore deformation by sealed bladder 4 in elongation assists artificial muscle movement；
Decorative sheath 5 wraps sealed bladder 4, plays decoration function, and when in use, and only decorative sheath 5 is exposed to
Inside of human body can distribute to avoid the material inside artificial muscle, enter inside of human body, patient is made not feel good or cause
When the problem of adverse reaction, sealed bladder 4 or decorative sheath 5 are stretched to longest state, heat-insulated inner tube 102 also can not be from heat-insulated outer
The inside of pipe 101 is detached from；
Specifically, decorative sheath 5 can be carbon fiber, carbon fiber has the function of good high temperature resistant and anti-friction etc.,
Using effect is more preferable when shrinking elongation, and the service life is longer；
Again specifically, decorative sheath 5 can be silica gel, it is mounted on lift face mechanism or hospital etc. using same material
Inside of human body is more comfortable when using patient；
The quantity of installation set 6 is two, and the both ends of decorative sheath 5 are wrapped on nut 202 by two installation sets 6 respectively,
Screw 201 runs through installation set 6, prevent sealed bladder 4 or decorative sheath 5 produce cut when, in one end of cutting there are hair defect,
In use, the problem of hair defect falls, causes some ill symptoms, while the installation of sealed bladder 4 and decorative sheath 5 can also be made more
Add firm.
When in use, by connecting with the positive and negative anodes of power supply respectively by two screws 201 or nut 202, make to remember
There is electric current to pass through on alloy spring 3, increases the temperature of memory alloy spring 3, the spy shunk using the heating of memory alloy spring 3
Property, so that memory alloy spring 3 is pulled telescoping tube 1, sealed bladder 4 and decorative sheath 5 by screw 201 and nut 202, drives entire
Artificial muscle is shunk, and when needing to extend, need to only be powered off memory alloy spring 3, by opening up limbers on screw 201,
By limbers to cooling water is passed through inside artificial muscle, by the setting of sealed bladder 4, cooling water is sealed in sealed bladder 4
Inside, coolant liquid will not leak outside, and the temperature of cooling memory alloy spring 3 makes memory alloy spring 3 restore deformation, by entire people
It makes muscle and props up elongation, imitate muscular movement.
In conclusion the multilayer airproof water-cooled artificial muscle, imitates muscular movement, both can shrink or stretch
It is long, and the mechanical structure used is simple, it is not easy to it breaks down, controls, be simple to manufacture, cost is not without using Biological Principles
Height is easy to popularize, and both can be used on biology, also can be used on the smart machines such as robot, without using motor
Or the equipment such as cylinder, calorific value is reduced, increases the service life of artificial muscle, ensures the quality of artificial muscle, and reduce volume,
Keep patient's use more comfortable.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (7)
1. a kind of multilayer airproof water-cooled artificial muscle, it is characterised in that: including
Telescoping tube (1), the telescoping tube (1) include insulated exterior duct (101) and heat-insulated inner tube (102), the insulated exterior duct (101)
It is opening with side similar in heat-insulated inner tube (102), the heat-insulated inner tube (102) is equipped with one end of opening from insulated exterior duct
(101) be equipped with the inside of one end insertion insulated exterior duct (101) of opening, the heat-insulated inner tube (102) and insulated exterior duct (101) it
Between can activity；
Fixed device (2), the fixed device (2) include two screws (201) and two nuts (202), two screws
(201) it is through to the outside of telescoping tube (1) from the inside of telescoping tube (1), is threaded on two screws (201)
Nut (202) on the outside of telescoping tube (1) offers limbers on the screw (201)；
Memory alloy spring (3), two opposite sides of the screw (201) are fixedly installed with memory alloy spring (3), described
Memory alloy spring (3) is located at the inside of telescoping tube (1)；
Sealed bladder (4) is fixedly installed with sealed bladder (4) between two nuts (202), and the sealed bladder (4) and nut
(202) a closed space is formed between, the telescoping tube (1) is located at the inside of sealed bladder (4).
2. a kind of multilayer airproof water-cooled artificial muscle according to claim 1, it is characterised in that: the insulated exterior duct
(101) it is located along the same line with the axial line of heat-insulated inner tube (102), the insulated exterior duct (101) and heat-insulated inner tube (102)
Equal length.
3. a kind of multilayer airproof water-cooled artificial muscle according to claim 1, it is characterised in that: the insulated exterior duct
(101) and heat-insulated inner tube (102) is polyurethane, and the memory alloy spring (3) is Nitinol, and the sealed bladder (4) can
Think neoprene, butyl rubber, ethylene propylene diene rubber or polyvinyl chloride.
4. a kind of multilayer airproof water-cooled artificial muscle according to claim 1, it is characterised in that: the nut
(202) it is fixedly connected with telescoping tube (1).
5. a kind of multilayer airproof water-cooled artificial muscle according to claim 1, it is characterised in that: the heat-insulated inner tube
(102) diameter of inner sidewall is greater than the diameter of memory alloy spring (3).
6. a kind of multilayer airproof water-cooled artificial muscle according to claim 1, it is characterised in that: further include decoration shield
It covers (5), the decorative sheath (5) wraps sealed bladder (4).
7. a kind of multilayer airproof water-cooled artificial muscle according to claim 6, it is characterised in that: further include installation set
(6), the quantity of the installation set (6) is two, and the both ends of decorative sheath (5) are wrapped in by two installation sets (6) respectively
On nut (202), the screw (201) runs through installation set (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910643210.5A CN110253557A (en) | 2019-07-17 | 2019-07-17 | A kind of multilayer airproof water-cooled artificial muscle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910643210.5A CN110253557A (en) | 2019-07-17 | 2019-07-17 | A kind of multilayer airproof water-cooled artificial muscle |
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| Publication Number | Publication Date |
|---|---|
| CN110253557A true CN110253557A (en) | 2019-09-20 |
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ID=67926544
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910643210.5A Pending CN110253557A (en) | 2019-07-17 | 2019-07-17 | A kind of multilayer airproof water-cooled artificial muscle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113062895A (en) * | 2021-05-08 | 2021-07-02 | 甘肃黄灿机器人有限责任公司 | Muscle structure of robot |
| CN114474029A (en) * | 2022-02-16 | 2022-05-13 | 之江实验室 | Thermal response artificial muscle capable of being driven at high frequency |
-
2019
- 2019-07-17 CN CN201910643210.5A patent/CN110253557A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113062895A (en) * | 2021-05-08 | 2021-07-02 | 甘肃黄灿机器人有限责任公司 | Muscle structure of robot |
| CN114474029A (en) * | 2022-02-16 | 2022-05-13 | 之江实验室 | Thermal response artificial muscle capable of being driven at high frequency |
| CN114474029B (en) * | 2022-02-16 | 2023-09-01 | 之江实验室 | High-frequency driven thermal response artificial muscle |
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Legal Events
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190920 |
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| WD01 | Invention patent application deemed withdrawn after publication |