CN114872032B - Electric drive artificial muscle based on stretch-draw integral structure - Google Patents
Electric drive artificial muscle based on stretch-draw integral structure Download PDFInfo
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- CN114872032B CN114872032B CN202210428531.5A CN202210428531A CN114872032B CN 114872032 B CN114872032 B CN 114872032B CN 202210428531 A CN202210428531 A CN 202210428531A CN 114872032 B CN114872032 B CN 114872032B
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- electronic belt
- elastic body
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- 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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- 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
-
- 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
- B25J19/0091—Shock absorbers
Abstract
The invention relates to an electrically driven artificial muscle based on a tensile integral structure, and belongs to the field of bionic robots. The artificial muscle has the form of a tensegrity structure; the artificial muscle comprises an electronic beam, an elastomer and an electronic belt; the electronic tape comprises a first electronic tape and a second electronic tape; the elastic body comprises a first elastic body and a second elastic body; the first electronic belt and the second electronic belt are arranged in parallel and opposite to each other, and one end of the first electronic belt is connected with the other end of the second electronic belt through an electronic beam; one end of the first electronic belt is connected with one end of the second electronic belt through the first elastic body; the other end of the first electronic belt is connected with the other end of the second electronic belt through the second elastic body. The invention reduces the difference between the working mode of the electrically driven artificial muscle and the working mode of the biological muscle in the prior art.
Description
Technical Field
The invention relates to the field of bionic robots, in particular to an electrically driven artificial muscle based on a tensile integral structure.
Background
The bionic robot needs to be provided with a software driver similar to the biological muscle to simulate various behaviors of organisms in nature. The soft driver comprises artificial muscles, and the existing artificial muscles mainly comprise three forms of fluid driving, temperature driving and electric driving. The fluid-driven artificial muscle has the advantages of high power density, high load capacity and the like, but has high air tightness requirement, and needs external devices such as a pressure source and the like. The temperature driven artificial muscle has small volume, low cost, slow response speed and energy dissipation. The electric driven artificial muscle has the characteristics of high response speed, simple installation, high load, large contraction ratio and the like, but has a great difference with the biological muscle in structural design, so that the working mode of the electric driven artificial muscle is different from that of the biological muscle, and the electric driven artificial muscle does not have the characteristics of excellent impact resistance and the like of the biological muscle.
Disclosure of Invention
The invention aims to provide an electric driving artificial muscle based on a tensile integral structure, which solves the problem that the working mode of the electric driving artificial muscle in the prior art is greatly different from that of a biological muscle.
In order to achieve the above object, the present invention provides the following solutions:
an electrically driven artificial muscle based on a tensile overall structure; the artificial muscle has the form of a tensegrity structure;
the artificial muscle comprises an electronic beam, an elastomer and an electronic belt; the electronic tape comprises a first electronic tape and a second electronic tape; the elastic body comprises a first elastic body and a second elastic body;
the first electronic belt and the second electronic belt are oppositely arranged in parallel, and one end of the first electronic belt is connected with the other end of the second electronic belt through the electronic beam; one end of the first electronic belt is connected with one end of the second electronic belt through the first elastomer; the other end of the first electronic belt is connected with the other end of the second electronic belt through the second elastic body.
Optionally, the device further comprises a plurality of connecting pieces; both ends of the first electronic belt and the second electronic belt are connected with one connecting piece;
one end of the first electronic belt is connected with one end of the electronic beam through the connecting piece; the other end of the second electronic belt is connected with the other end of the electronic beam through the connecting piece;
one end of the first electronic belt is connected with one end of the first elastic body through the connecting piece, and one end of the second electronic belt is connected with the other end of the first elastic body through the connecting piece; the other end of the first electronic belt is connected with one end of the second elastic body through the connecting piece, and the other end of the second electronic belt is connected with the other end of the second elastic body through the connecting piece.
Optionally, silicone oil is also included; the silicone oil is arranged at the included angle between the first electronic band and the electronic beam and at the included angle between the second electronic band and the electronic beam.
Optionally, the electronic beam includes two first conductive layers and one first insulating layer; the first insulating layer is arranged between the two first conductive layers;
the length of the first insulating layer is greater than the length of the first conductive layer; the width of the first insulating layer is larger than that of the first conductive layer.
Optionally, each of the first electronic ribbon and the second electronic ribbon includes a second conductive layer and a second insulating layer; the first electronic belt and the second electronic belt are provided with an upper surface on one surface close to the electronic beam, and the second conductive layer is arranged on the upper surface of the second insulating layer;
the length of the second insulating layer is greater than the length of the second conductive layer; the width of the second insulating layer is larger than that of the second conductive layer.
Optionally, each of the first electronic ribbon and the second electronic ribbon further includes a dielectric film, the dielectric film being disposed on an upper surface of the second conductive layer; the dielectric film has the same size as the second insulating layer.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the invention, by introducing the concept of the stretching integral structure into the artificial muscle, the structure and the working mode of the biological muscle are simulated, the artificial muscle can generate larger contraction force under the action of high voltage, the contraction degree can be controlled through input voltage and can be measured through self-perception capability, so that the difference between the working mode of the electric driving artificial muscle and the working mode of the biological muscle in the prior art is reduced, and the artificial muscle with the stretching integral structure characteristic has good impact resistance and can be used for driving and structural shock absorption of a bionic robot.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a basic block diagram of an electrically driven artificial muscle based on a tensile overall structure according to the present invention;
FIG. 2 is a schematic diagram of the driving of an electrically driven artificial muscle based on a tensile overall structure according to the present invention; fig. 2 (a) is a schematic driving diagram when v=0; FIG. 2 (b) is a schematic diagram of the driving when Vc > V > 0; fig. 2 (c) is a schematic diagram of driving when V > Vc.
Symbol description: 1-an electron beam; 2-an elastomer; 3-an electronic band; 4-a connecting piece; 5-silicone oil.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide an electric driving artificial muscle based on a tensile integral structure, which solves the problem that the working mode of the electric driving artificial muscle in the prior art is greatly different from that of a biological muscle.
In order to overcome the defects of the existing electrically driven artificial muscle, the artificial muscle with more biological similarity of functions and structures is necessary to be invented in consideration of the requirements of the bionic robot on high strength, good impact resistance and self-sensing capability of a driver.
A tensile overall structure is a special mechanical structure consisting of compression rods and tension net, which is commonly found in living organisms in nature. Because of the coordination and balance of the compression force and the tension force, the tension integral structure has self-stability and impact resistance and has stronger adaptability to the environment. The concept of the tension integral structure is combined with a soft driver, and the electric driving artificial muscle of the tension integral structure is invented, which simulates the working mode of biological muscle, can generate larger contraction force, and has the characteristics of shock resistance, self-sensing, self-locking and the like.
The application of the bionic robot brings high requirements on the strength, impact resistance and self-perception capability of an artificial muscle driver, and the invention provides the electric driving artificial muscle with a tensile integral structure by combining the requirements of the bionic robot on the driver on the basis of the existing electric driving artificial muscle. The artificial muscle is made of light, thin and easily available materials, has a structure and a working mode similar to those of biological muscles, can generate larger contraction force under the action of high-voltage electricity, and has controllability and self-sensing capability. In addition, the self-locking characteristic enables the device to bear high load under low voltage, and the energy consumption is low. The structure has good impact resistance, and has wide application in structural driving and component shock absorption of a bionic robot system.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
The invention provides an electrically driven artificial muscle based on a tensile overall structure, wherein the artificial muscle has the form of the tensile overall structure.
Fig. 1 is a basic structure diagram of an electrically driven artificial muscle based on a tensile integral structure, wherein the artificial muscle comprises an electronic beam 1, an elastomer 2 and an electronic belt 3 as shown in fig. 1; the electronic tape 3 comprises a first electronic tape and a second electronic tape; the elastic body 2 includes a first elastic body and a second elastic body. In practical use, the electronic beam 1 corresponds to a compression rod of a tensile overall structure, and the elastic body 2 and the electronic belt 3 correspond to a tensile net of the tensile overall structure.
The first electronic belt and the second electronic belt are oppositely arranged in parallel, and one end of the first electronic belt is connected with the other end of the second electronic belt through the electronic beam 1; one end of the first electronic belt is connected with one end of the second electronic belt through the first elastomer; the other end of the first electronic belt is connected with the other end of the second electronic belt through the second elastic body.
In one embodiment, the electrically driven artificial muscle based on a tensegrity structure further comprises a plurality of connectors 4; both ends of the first electronic belt and the second electronic belt are connected with one connecting piece 4.
One end of the first electronic belt is connected with one end of the electronic beam 1 through the connecting piece 4; the other end of the second electronic belt is connected with the other end of the electronic beam 1 through the connecting piece 4.
One end of the first electronic belt is connected with one end of the first elastic body through the connecting piece 4, and one end of the second electronic belt is connected with the other end of the first elastic body through the connecting piece 4; the other end of the first electronic belt is connected with one end of the second elastic body through the connecting piece 4, and the other end of the second electronic belt is connected with the other end of the second elastic body through the connecting piece 4.
In one embodiment, the electrically driven artificial muscle based on a tensile overall structure further comprises silicone oil 5; the silicone oil 5 is arranged at the included angle between the first electronic band and the electronic beam 1 and at the included angle between the second electronic band and the electronic beam 1.
In one embodiment, the electronic beam 1 comprises two first conductive layers and one first insulating layer; the first insulating layer is disposed between the two first conductive layers.
The length of the first insulating layer is greater than the length of the first conductive layer; the width of the first insulating layer is larger than that of the first conductive layer.
In one embodiment, the first electronic tape and the second electronic tape each comprise a second conductive layer and a second insulating layer; the first electronic band and the second electronic band are arranged on the upper surface of the second insulating layer, and the surface, close to the electronic beam 1, of the first electronic band is the upper surface.
The length of the second insulating layer is greater than the length of the second conductive layer; the width of the second insulating layer is larger than that of the second conductive layer.
In one embodiment, the first electronic tape and the second electronic tape each further comprise a dielectric film disposed on an upper surface of the second conductive layer; the dielectric film has the same size as the second insulating layer.
In practical application, the tension integral structure comprises an electronic beam 1, an elastomer 2, an electronic belt 3, a connecting piece 4 and silicone oil 5. The two electronic belts 3 are connected with one electronic beam 1 in an N-type structure through a connecting piece 4, and one surface of the electronic belt 3 with a dielectric film faces the electronic beam 1; the two elastic bodies 2 are respectively connected with the two ends of the two electronic belts 3 through connecting pieces 4; the silicone oil 5 is dripped at the included angle between the electronic beam 1 and the electronic belt 3.
The electronic beam 1 is characterized in that two conductive layers are respectively stuck on the upper surface and the lower surface of an elastic insulating layer, and the periphery of the elastic insulating layer is provided with a margin.
The electronic tape 3 is formed by adhering a conductive layer to the upper surface of an insulating layer, leaving a margin around the insulating layer, and simultaneously placing a dielectric film having the same size as the insulating layer on the conductive layer.
When no external force is applied, the artificial muscle is in a completely contracted state, and when a stretching force is applied, if the force value is larger than a critical value, the electronic beam 1 will flex, at the moment, the electronic belt 3 slides longitudinally, and the artificial muscle expands transversely. As shown in fig. 2, when the electron beam 1 and the electron band 3 are energized, they generate opposite charges. A large electric field is generated at the included angle between the electronic belt 3 and the electronic beam 1, and the electric field force is further amplified by the liquid dielectric silicone oil 5, so that the flexed electronic beam 1 approaches the electronic belt 3, the whole artificial muscle generates longitudinal displacement, and the contraction of the elastomer 2 is accompanied in the process. The degree of contraction of the artificial muscle depends on the voltage value and can be sensed by the capacitor itself, thereby achieving closed loop control.
When the artificial muscle is completely contracted under the action of the applied voltage, the electronic band 3 is attached to the electronic beam 1, the generated electric field force is maximized, the voltage is reduced and the load is increased, and the artificial muscle can still be kept in a completely contracted state under the condition of low voltage and high load, and the characteristic can be called as self-locking characteristic. The artificial muscle has lower energy consumption when working for a long time.
When external impact exists, the impact force generated by the artificial muscle is relatively small and can be quickly stabilized due to the structural characteristics of the artificial muscle, and the characteristic enables the artificial muscle to exhibit good damping effect.
The invention has the technical effects that: the electric driving artificial muscle based on the stretching integral structure simulates the structure and the working mode of biological muscle, can generate larger contraction force under the action of high voltage, can control the contraction degree through input voltage, and can be measured through self-sensing capability. In addition, when the device is completely contracted, the self-locking property enables the device to have the capability of bearing high load under low voltage, so that the energy consumption during long-time working is reduced. The structure has good impact resistance, and can be used for driving and structural shock absorption of the bionic robot.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (5)
1. An electrically driven artificial muscle based on a tensile overall structure, characterized in that the artificial muscle has the form of a tensile overall structure;
the artificial muscle comprises silicone oil, an electronic beam, an elastomer and an electronic belt; the electronic tape comprises a first electronic tape and a second electronic tape; the elastic body comprises a first elastic body and a second elastic body;
the first electronic belt and the second electronic belt are oppositely arranged in parallel, and one end of the first electronic belt is connected with the other end of the second electronic belt through the electronic beam; one end of the first electronic belt is connected with one end of the second electronic belt through the first elastomer; the other end of the first electronic belt is connected with the other end of the second electronic belt through the second elastomer;
the silicone oil is arranged at the included angle between the first electronic band and the electronic beam and at the included angle between the second electronic band and the electronic beam.
2. The tension-based, electrically-driven artificial muscle of claim 1, further comprising a plurality of connectors; both ends of the first electronic belt and the second electronic belt are connected with one connecting piece;
one end of the first electronic belt is connected with one end of the electronic beam through the connecting piece; the other end of the second electronic belt is connected with the other end of the electronic beam through the connecting piece;
one end of the first electronic belt is connected with one end of the first elastic body through the connecting piece, and one end of the second electronic belt is connected with the other end of the first elastic body through the connecting piece; the other end of the first electronic belt is connected with one end of the second elastic body through the connecting piece, and the other end of the second electronic belt is connected with the other end of the second elastic body through the connecting piece.
3. The electrically driven artificial muscle based on a tensile overall structure according to claim 1, wherein the electronic beam comprises two first conductive layers and one first insulating layer; the first insulating layer is arranged between the two first conductive layers;
the length of the first insulating layer is greater than the length of the first conductive layer; the width of the first insulating layer is larger than that of the first conductive layer.
4. The tension-based, electrically driven artificial muscle of claim 1, wherein the first and second electronic ribbons each comprise a second conductive layer and a second insulating layer; the first electronic belt and the second electronic belt are provided with an upper surface on one surface close to the electronic beam, and the second conductive layer is arranged on the upper surface of the second insulating layer;
the length of the second insulating layer is greater than the length of the second conductive layer; the width of the second insulating layer is larger than that of the second conductive layer.
5. The tension-based, electrically-driven artificial muscle of claim 4, wherein the first and second electronic ribbons each further comprise a dielectric film disposed on an upper surface of the second conductive layer; the dielectric film has the same size as the second insulating layer.
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| CN202210428531.5A CN114872032B (en) | 2022-04-22 | 2022-04-22 | Electric drive artificial muscle based on stretch-draw integral structure |
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| CN202210428531.5A CN114872032B (en) | 2022-04-22 | 2022-04-22 | Electric drive artificial muscle based on stretch-draw integral structure |
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| CN114872032B true CN114872032B (en) | 2023-09-15 |
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