CN110733022B

CN110733022B - Cartilage iliac muscle driver based on ferrofluid and electromagnetic coil

Info

Publication number: CN110733022B
Application number: CN201910890910.4A
Authority: CN
Inventors: 徐炜
Original assignee: Southeast University
Current assignee: Southeast University
Priority date: 2019-09-20
Filing date: 2019-09-20
Publication date: 2023-05-12
Anticipated expiration: 2039-09-20
Also published as: CN110733022A

Abstract

The invention discloses a cartilage muscle driver based on ferrofluid and electromagnetic coils, wherein artificial skeletal muscle (I) is cylindrical or semi-cylindrical, and the inside is designed as a grid hollow tube and is made of artificial elastic fiber materials; ferrofluid (II) is filled in the grid hollow tube and can flow freely; the surface of the artificial skeletal muscle (I) is provided with an electromagnetic coil (III), and flexible copper coil materials are adopted to deform and bend along with the artificial skeletal muscle (I); the electromagnetic coil (III) is electrified to generate a magnetic field, so that the ferrofluid (II) is caused to gather at different positions in the artificial skeletal muscle (I) to generate internal pressure, the bending deformation of the artificial skeletal muscle (I) is realized, and the driving of the soft skeletal muscle is realized. The system has the advantages of high controllability, portability and no need of additional pneumatic equipment compared with the pneumatic artificial skeletal muscle which is popular nowadays.

Description

Cartilage iliac muscle driver based on ferrofluid and electromagnetic coil

Technical Field

The invention relates to a cartilage and muscle driver based on ferrofluid and electromagnetic coils, which is applied to a wearable exoskeleton robot and used for assisting in fusing a human body to complete complex heavy physical labor or providing the physical function of a disabled person with the physical function of the disabled person, and belongs to the technical field of bionic robots.

Background

The exoskeleton robot is a novel wearable robot, and a wearer and the exoskeleton robot need to be integrated into a whole to assist in work. Since the 40 s of the last century, countries such as the united states, began to study artificial skeletal muscles and apply them to fields such as military reconnaissance and battlefield transportation. However, limited to conventional drive systems (hydraulic and motor, etc.), studies on safety, energy consumption and lightweight performance of wearable mechanical exoskeletons have not been greatly developed. Therefore, research on the wearable exoskeleton robot driven by new material soft skeletal muscles in recent years is greatly paid attention to by domestic and foreign specialists. Wherein, based on the pneumatic muscle of new fiber material, the center scholars at home and abroad attach importance, and the developed sample is preliminarily verified on feasibility. However, pneumatic has a high degree of nonlinearity, is difficult to control, and requires additional pneumatic gas storage equipment, and the whole set of equipment is not portable. In order for pneumatic muscles to function optimally as a flexible drive, accurate aerodynamic modeling and control is more desirable. Another type of flexible driver based on various intelligent materials is also gradually studied by students at home and abroad, and the material characteristics are deeply excavated. The novel cartilage and muscle drive is provided by combining the artificial fiber and the ferromagnetic fluid, so that the performance of the wearable exoskeleton robot in the aspects of light weight, safety and high-speed precise control is improved.

Disclosure of Invention

Technical problems: in order to further improve the light weight, safety and controllability of the wearable exoskeleton robot, the invention provides a cartilage and iliac muscle driver based on ferrofluid and electromagnetic coils. The basic structure of the driver is a hollow cylinder or a semi-cylinder, and the driver can be bent with multiple degrees of freedom by using a new fiber material.

The technical scheme is as follows: the invention relates to a cartilage and iliac muscle driver based on ferrofluid and electromagnetic coils, which comprises artificial skeletal muscle, ferrofluid and electromagnetic coils; the artificial skeletal muscle is cylindrical or semi-cylindrical, the interior of the artificial skeletal muscle is designed as a grid hollow tube, and artificial elastic fiber materials are adopted; ferrofluid is filled in the grid hollow tube and can flow freely; the grid-shaped hollow tube is similar to a human blood vessel and extends to various places of the artificial skeletal muscle, and the ferrofluid is similar to human blood and flows in the human blood vessel; electromagnetic coils are distributed on the surface of the artificial skeletal muscle, and flexible copper coil materials are adopted to deform and bend along with the artificial skeletal muscle; the electromagnetic coil is electrified to generate a magnetic field, so that ferrofluid is promoted to gather at different positions in the artificial skeletal muscle to generate internal pressure, the bending deformation of the artificial skeletal muscle is realized, and the driving of the soft skeletal muscle is realized.

Wherein, the artificial skeletal muscle is made of high-performance artificial elastic material.

The ferrofluid is a stable colloidal liquid formed by mixing magnetic solid particles with the diameter of nanometer magnitude, a base carrier liquid and a surfactant.

The soft skeletal muscle driver does not need additional pneumatic components, has the characteristics of high power density and strong controllability, and can be directly applied to the joint skeleton driving of the wearable exoskeleton robot.

The beneficial effects are that: since the cartilage driver has a lattice hollow tube structure and is made of an artificial elastic fiber material, the cartilage muscle has a merit of satisfying high stress requirements and being lightweight as a whole. The ferrofluid is used as artificial blood to be filled in the grid-shaped hollow tube, so that the free flow of the ferrofluid can be realized, and the advantage of high power density of the ferrofluid is fully utilized. Unlike the electro-polymers, the driving of the ferrofluid does not require high voltage, the design requirements for the coil and the driver are not high, and the design of the flexible copper coil can be easily adopted. The design can fully utilize the surface area of the cylindrical or semi-cylindrical artificial skeletal muscle, increase the coil area, and can be freely bent along with the artificial skeletal muscle, so that the functions are not affected, and the system volume is not additionally increased. The conduction of different electromagnetic coils can form the aggregation of ferrofluid to different positions in the artificial skeletal muscle, so that the pressure to the positions is increased, and the bending function of the artificial skeletal muscle is realized. Therefore, the cartilage driver has the advantages of light weight, no extra redundant parts, accurate control, simple circuit and the like, and is more suitable for the application of a wearable exoskeleton robot compared with artificial skeletal muscles made of pneumatic and other intelligent materials.

Drawings

Fig. 1 is a schematic driving diagram of a cartilaginous muscle driver based on a ferrofluid and an electromagnetic coil;

fig. 2 is a schematic perspective view of a cartilage-iliac actuator assembly based on a ferrofluid and an electromagnetic coil;

fig. 3 is a schematic plan view of the end of a cartilage muscle driver based on ferrofluid and electromagnetic coils;

fig. 4 is a schematic view of a hollow tube in the form of a mesh for a cartilaginous muscle driver based on a ferrofluid and an electromagnetic coil.

Detailed Description

The cartilage muscle driver based on the ferrofluid and the electromagnetic coil is cylindrical (as shown in figure 1) or semi-cylindrical outside, and can realize a bending function under the action of pressure.

The specific embodiment of the cartilage and iliac muscle driver based on the ferrofluid and the electromagnetic coil is shown in fig. 2, and mainly comprises three parts, namely an artificial skeletal muscle I, a ferrofluid II and an electromagnetic flexible coil III.

The ferromagnetic material is packed inside the skeletal muscle of the artificial elastic fiber material and can be gathered to various positions by free flow, as shown in fig. 3.

The artificial elastic fiber skeletal muscle is internally provided with a grid structure hollow tube, as shown in fig. 4, and the lightweight design can be realized on the premise of meeting the stress requirement.

The cartilage iliac muscle driver based on the ferrofluid and the electromagnetic coil adopts elastic fiber as artificial skeletal muscle, has a cylindrical or semi-cylindrical shape, and can realize a bending function under pressure. The interior adopts a grid topology hollow tube design, and the design requirement of light weight is achieved under the condition of meeting the stress requirement.

According to the cartilage and iliac muscle driver based on the ferrofluid and the electromagnetic coil, the ferrofluid is filled in the grid-shaped hollow tube formed by the artificial elastic fiber, so that the ferrofluid can flow freely in the grid-shaped hollow tube.

The cartilage muscle driver based on the ferrofluid and the electromagnetic coils is characterized in that a plurality of electromagnetic flexible copper coils are arranged on the surface of the artificial skeletal muscle in order to realize controllable directional flow gathering of the ferrofluid. The electromagnetic coil is electrified to generate a magnetic field, the magnetic field attracts the ferrofluid to gather to different positions, and pressure at the positions is formed, so that the bending function of the soft skeletal muscle is realized.

The cartilage iliac muscle driver based on the ferrofluid and the electromagnetic coil, wherein the artificial skeletal muscle I consists of high-performance artificial elastic fibers, the outside is of a cylindrical or semi-cylindrical structure, the inside is of a grid-shaped hollow tube structure, and the cartilage iliac muscle driver can be manufactured by 3D printing; the nano ferrofluid II is poured into the grid hollow tube. The electromagnetic coil III adopts a flexible copper coil, has good electric conductivity and large heat conductivity coefficient, and can be bent and deformed along with artificial skeletal muscles.

The cartilage and iliac muscle driver based on the ferrofluid and the electromagnetic coil can be applied to a wearable exoskeleton robot, and meets the requirements of portability, safety and high power density.

The basic structure of the driver is a hollow cylinder or a semi-cylinder, and the driver can be bent with multiple degrees of freedom by using a new fiber material. The inside of the new fiber material cylinder or semi-cylinder is a hollow grid structure (as shown in figure 3), and ferrofluid is poured. On the basis, a flexible electromagnetic copper coil is printed on the surface of the cylinder, and the coil is electrified to realize the accurate control of the flow direction of the ferrofluid. The ferrofluid is electrified through the coil to generate electromagnetic fluid effect, so that directional pressure on the new fiber material is generated, the bending of the cylinder is realized, and the driving effect is achieved.

Claims

1. The utility model provides a cartilage iliac muscle driver based on ferrofluid and solenoid, soft skeletal muscle driver need not extra pneumatic parts, directly uses in the joint skeleton drive of wearable ectoskeleton robot, its characterized in that: comprises artificial skeletal muscle (I), ferrofluid (II) and electromagnetic coil (III); the artificial skeletal muscle (I) is in a hollow cylinder or semi-cylinder shape, a grid topological hollow tube is arranged in the artificial skeletal muscle (I), and the grid topological hollow tube is manufactured by 3D printing and is made of artificial elastic fiber materials; ferrofluid (II) is filled in the grid topological hollow tube, can flow freely, and the grid topological hollow tube is like a human body blood vessel and extends to various places of artificial skeletal muscles; a plurality of electromagnetic coils (III) are printed on the surface of the artificial skeletal muscle (I), and the electromagnetic coils (III) are flexible copper coils and deform and bend along with the artificial skeletal muscle (I); the electromagnetic coil (III) is electrified to generate a magnetic field, so that ferrofluid (II) is promoted to gather at different positions in the artificial skeletal muscle (I) to generate internal pressure, the bending deformation of the artificial skeletal muscle (I) is realized, and the driving of the soft skeletal muscle is realized;

the ferrofluid (II) is a stable colloidal liquid formed by mixing magnetic solid particles with the diameter of nanometer level, a base carrier liquid and a surfactant.