CN1171924A - Artificial tubular muscle and its application - Google Patents
Artificial tubular muscle and its application Download PDFInfo
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- CN1171924A CN1171924A CN 97110134 CN97110134A CN1171924A CN 1171924 A CN1171924 A CN 1171924A CN 97110134 CN97110134 CN 97110134 CN 97110134 A CN97110134 A CN 97110134A CN 1171924 A CN1171924 A CN 1171924A
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- tubular
- muscle
- artificial
- fiber
- tubular muscle
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/02—Prostheses implantable into the body
- A61F2/08—Muscles; Tendons; Ligaments
- A61F2002/0894—Muscles
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- Actuator (AREA)
Abstract
The present invention relates to an artificial tubular muscle. It is a tubular-structure made of high-molecular elastic material and fiber in which the fiber is uniformly distributed in tube wall, and one end of said tubular structure is closed, and another end is connected with pump through interface, flexible hose and control valve. Said tubular muscle can be axially extended along the tube axis under the driving action of the pump, and doesn't produce lateral expansion, and possesses the flexibility and elasticity of muscle and forceful extension-contraction properties of muscle. It can be extensively used in the fields of flexible robot, artificial limb, bionic toy and stage property, etc..
Description
The present invention relates to artificial-muscle, especially a kind of artificial tubular muscle and application thereof.
The development of artificial-muscle at present, generally be the electrochemical properties that utilizes gelinite, the digest 118:103287h on " U.S. chemical abstract " " Achemomechanlcal polymer gel with electrlcally drlven motlllty. " (translation: a kind of chemical machinery polymer gel) for example with electric driven nature.Though the artificial-muscle of this utilization mechanochemistry method manufacturing can be simulated the function of natural muscle, response speed and contractility also do not reach the level of natural muscle, and particularly its complicated manufacturing process makes it can't realize industrial applications.
Purpose of the present invention just provides and a kind ofly can reach on response speed and strength, even surpasses natural muscle, and is easy to the artificial tubular muscle that large-scale industrialization is produced, and the application of this artificial tubular flesh.
Artificial tubular muscle of the present invention is to make tubular structure by rubber or other macromolecular materials (as high cis-butadiene cement, acrylonitrile-butadiene rubber) and high strength fibre, fiber laterally is evenly distributed in the tube wall with respect to tubular axis, the sealing of tubular structure one end, the other end is connected with pump by interface, flexible pipe, control valve, and pump is liquid pump or air pump.Artificial tubular muscle is stretching motion under the adjusting of the driving of liquid pump or air pump and control valve, because the constraint of transverse fiber, tubular muscle can't lateral magnification when being subjected to managing internal pressure, can only longitudinal tensile strain.The expansion force of tubular muscle depends on the pressure in ips and the pipe, and the contractility of tubular muscle depends on the elastic modelling quantity and the drawing coefficient of the cross-sectional area of tube wall, pipe wall material.
Tubular muscle can adopt multiple structure, and its skin is the tubulose flesh that is covered with transverse fiber, and its internal layer is thicker, is made of not fibrous macromolecular material, and the used elastomeric material of inside and outside layer can be different, and the elastic modelling quantity of inner layer material can be bigger.
Artificial tubular muscle of the present invention is according to different needs, can be made into the tubule of 1 millimeter of diameter, also can be made into tens millimeters extra heavy pipe, for thicker tubular muscle, for preventing to be rolled over when crooked flatly stressed, can in tube wall, settle coil spring, helical spring axis overlaps with tubular axis, the diameter of spring is equal to or greater than the internal diameter of tubular muscle, less than its external diameter.
Artificial tubular muscle of the present invention can be made uniform tubular structure, also can make variable cross-section tubulose structure as required, and promptly the tubular structure diameter changes according to certain rules.
When artificial tubular muscle of the present invention uses, with the tubular muscle parallel connection more than three or three together, with the elastic gel adhesion or be injected into a whole, the pressure in each bar tubular muscle independently control, can realize the bending with any direction of stretching of tubular muscle in parallel.
When artificial tubular muscle of the present invention uses, the tubular muscle more than two or two is together in series with adapter, not connected between the tubular muscle, its internal pressure is independently controlled, and can form a more piece tubular muscle.
Placed in-line tubular muscle more than three or three is sticky side by side or is injected into a whole, be called artificial trunk, it is flexible mechanical arm, but its each all independent telescope, bending of joint, stretch as ichthyosis and trunk and to bend freely, for strengthening the globality of artificial trunk, can twine with transverse fiber in the more piece tubular muscle periphery of parallel connection and reinforce.
An end is drawn several tiny artificial trunks in above-mentioned artificial trunk, and the independent control of can dividing into groups of the artificial tubular muscle of these little trunks makes it can co-operating, is called flexible manipulator.
Thicker artificial tubular muscle is because pressure inside seems that some is stiff, and very thin tubular muscle then can keep flexible as glass fibre.Many very thin tubulose fleshes can be together in parallel for this reason, an end of opening is bonded together a shared tubaeform interface.The two ends of tubulose flesh in parallel connect into two bundles with fiber respectively, form the flesh key.
Artificial tubular muscle of the present invention is compared with artificial-muscle at present at the experimental stage, structure not only, manufacturing process is simple, and its response speed and contractility all can surpass other artificial-muscles and natural muscle, particularly other muscle are unexistent especially for the brute force of tubular muscle extension function, the artificial trunk of making by this artificial tubular muscle (flexible mechanical arm), the flexible manipulator retractable, and it is crooked and reverse to any direction, the article of grasping arbitrary shape flexibly, can be widely used in the flexible robot, mechanical hand, artificial limb, bionic toy, fields such as stage property.
Below in conjunction with drawings and Examples the present invention is elaborated.
Fig. 1 is the artificial tubular muscle structural representation;
Fig. 2 is a fiber scattergram in the artificial tubular muscle tube wall;
Fig. 3 is an artificial tubular muscle sketch map in parallel;
Fig. 4 is placed in-line artificial tubular muscle sketch map;
Fig. 5 is the flexible mechanical arm sketch map;
Fig. 6 is the flexible manipulator sketch map;
Fig. 7 is an emulation strip of muscle sketch map.
Embodiment 1:
As Fig. 1, Fig. 2: artificial tubular muscle 1 is made tubular structure by macromolecular material and fiber, is uniform-distribution with transverse fiber 2 in the tube wall 3, and the distribution of fiber 2 can be: as Fig. 2 a, annular spread is in tube wall 3, and planar annular is perpendicular to tubular axis; As Fig. 2 b, spiral type is distributed in the tube wall 3, and the pitch of fiber should be much smaller than the diameter of spiral; As Fig. 2 c, fibrous web-like is distributed in the tube wall 3.The sealing of one end of artificial tubular muscle, the other end is connected with air pump or liquid pump by sealed interface, flexible pipe, control valve, and artificial tubular muscle is made stretching motion under the adjusting of the driving of air pump or liquid pump and control valve.
Artificial tubular muscle can be made into the tubule of 1 millimeter of diameter, also makes tens millimeters extra heavy pipe.Can settle coil spring in its tube wall for thicker tubular muscle, the axis of spring overlaps with tubular axis, and the diameter of spring is equal to or greater than the internal diameter of tube wall, and less than its external diameter, the pitch of spring spiral should be less than the sixth of screw diameter.
Artificial tubular muscle can be made uniform tubular structure, also can be made into variable cross-section tubulose structure.
Embodiment 2: artificial tubular muscle in parallel
As Fig. 3: three artificial tubular muscles, 1 finished product word is side-by-side, with elastic gel 4 they are bonded to and are injection molded into one, and reinforce its peripheral winding with fiber 5.Elastic gel 4 can adopt the macromolecular material identical with tubular muscle 1, also can adopt the elastic modelling quantity materials with smaller.When the pressure in three tubular muscles increases with onesize and speed or reduces, tubular muscle elongation or contraction in parallel, when the pressure of the tubular muscle that has only a side increased, then Bing Lian tubular muscle was to the opposite side bending, when pressure reduces to the bending of the same side.
Embodiment 3: placed in-line artificial tubular muscle
As Fig. 4: the two ends that two artificial tubular muscles end separately are enclosed within adapter 6 respectively, adapter 6 is the rigid rod structure, its middle part is provided with and is communicated with mouth 7, one end of adapter 6 is a hollow, is communicated with mouth 7 and communicates with hollow bulb, is communicated with mouth 7 and passes through flexible pipe, control valve links to each other with air pump or liquid pump, the outer surface of the two ends of adapter 6 and connection mouth 7 is provided with annular burr, and artificial tubular muscle is tightened with fiber after being enclosed within on the adapter 6, to strengthen bonding strength and sealing.
Embodiment 4: flexible mechanical arm (artificial trunk).
As Fig. 5: three finished product words of placed in-line artificial tubular muscle are connected in parallel, with fiber it are twined, the adhesion of reuse elastic gel becomes to be injected into a whole, and the pressure in each tubular muscle independently is controlled, thus formation flexible mechanical arm 8.For flexible mechanical arm 8 can be reversed along the axis of self, can be at its peripheral artificial tubular muscle 9 that twines, when this tubular muscle elongation or contraction, just can drive flexible mechanical arm 8 reverses, produce bigger moment of torsion as need, can twine many tubular muscles, the also available elastic gel of tubular muscle 9 and the mechanical arm 8 that are wrapped in flexible mechanical arm 8 peripheries bond or are injected into a whole.10 for connecting the flexible pipe cross section of control valve.
Embodiment 5: flexible manipulator
As Fig. 6: draw several tiny artificial trunks 12 at an end of a thicker flexible mechanical arm 11, these several tiny artificial trunks 12 constitute the flexible mechanical finger, the root of these several fingers is clipped between the tubular muscle of flexible mechanical arm front end, and twining harness around with fiber, whole flexible manipulator is with the elastic gel bonding or be injected into an integral body.
Embodiment 6: a kind of emulation strip of muscle
As Fig. 7: many very thin tubular muscles 1 are together in parallel, one end of opening is bonded together (13 are agglutinating position) shared tubaeform interface 14, this interface is made with non-stretchable flexible material, it with tubular muscle in parallel between be tightly connected.The two ends of tubular muscle link together with fiber respectively, form two fibre bundles 15 and 16, and fibre bundle 15 is an one with tubaeform interface 14 gluings.Two fibre bundles are equivalent to tendon, can be fixed in the region of interest of artificial skeleton.
Claims (11)
1, a kind of artificial tubular muscle is made tubular structure by rubber or other macromolecular materials and fiber, and fiber laterally is evenly distributed in the tube wall with respect to tubular axis, the sealing of tubular structure one end, and the other end is connected with pump by interface, flexible pipe, control valve.
2, artificial tubular muscle according to claim 1 is characterized in that: the fiber (2) in the tube wall (3) can distribute ringwise or spiral type distributes or net distribution.
3, artificial tubular muscle according to claim 2, it is characterized in that: settle coil spring in the tube wall (3), the axis of spring overlaps with tubular axis, the diameter of spring is equal to or greater than the internal diameter of tube wall (3), less than the external diameter of tube wall (3), the pitch of spring spiral should be less than the sixth of screw diameter.
4, artificial tubular muscle according to claim 1, it is characterized in that: tube wall can be made up of multiple structure, its skin is the tubular muscle that is covered with transverse fiber, and internal layer is made of not fibrous macromolecular material, and the elastomeric material of inside and outside layer can be different.
5, artificial tubular muscle according to claim 1 is characterized in that: tubular muscle can be made uniform tubular structure, also can make variable cross-section tubulose structure.
6, artificial tubular muscle according to claim 1 is characterized in that: with the tubular muscle parallel connection more than three or three together, with elastic gel bonding or be injection molded into an integral body, and twine with fiber in the periphery and to reinforce.
7, artificial tubular muscle according to claim 1, it is characterized in that: the tubular muscle more than two or two is together in series with adapter (6), article two, a tubular muscle end separately is enclosed within the two ends of adapter (6) respectively, adapter (6) is the rigid rod structure, its middle part is provided with and is communicated with mouth (7), one end of adapter (6) is a hollow, is communicated with mouth (7) and communicates with hollow bulb, is communicated with mouth (7) and links to each other with pump by flexible pipe, control valve.
8, a kind of flexible mechanical arm of being made by artificial tubular muscle is characterized in that: the series connection artificial tubular muscle more than three or three is connected in parallel, twines with fiber, the reuse elastic gel bonds or is injected into a whole.
9, a kind of flexible manipulator of making by artificial tubular muscle, it is characterized in that: the series connection artificial tubular muscle more than three or three is connected in parallel, and draw several tiny tubular muscles at the one end, twine reuse elastic gel bonding or be injected into a whole with fiber.
10, flexible mechanical arm according to claim 8 is characterized in that: the periphery of flexible mechanical arm (8) is wound with tubular muscle (9).
11, a kind of emulation muscle masses of making by artificial tubular muscle, it is characterized in that: many tiny tubular muscles are together in parallel, an end of opening is bonded together a shared sealed interface, the two ends of tubular muscle in parallel link together with fiber respectively, form two fibre bundles.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 97110134 CN1171924A (en) | 1997-05-08 | 1997-05-08 | Artificial tubular muscle and its application |
| AU69172/98A AU6917298A (en) | 1997-05-08 | 1998-04-16 | An artificial tubular muscle and application thereof |
| PCT/CN1998/000062 WO1998049976A1 (en) | 1997-05-08 | 1998-04-16 | An artificial tubular muscle and application thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 97110134 CN1171924A (en) | 1997-05-08 | 1997-05-08 | Artificial tubular muscle and its application |
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| Publication Number | Publication Date |
|---|---|
| CN1171924A true CN1171924A (en) | 1998-02-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 97110134 Pending CN1171924A (en) | 1997-05-08 | 1997-05-08 | Artificial tubular muscle and its application |
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| CN (1) | CN1171924A (en) |
Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100467881C (en) * | 2003-07-14 | 2009-03-11 | 浙江工业大学 | Pneumatic flexible ball-joint |
| CN101053146B (en) * | 2005-08-23 | 2010-09-08 | 松下电器产业株式会社 | Polymer actuator |
| CN102551918A (en) * | 2012-02-21 | 2012-07-11 | 上海海事大学 | Electroshock extension artificial muscle movement device |
| CN102579158A (en) * | 2012-03-28 | 2012-07-18 | 李子怡 | Bionic muscle fiber and bionic muscle made of same |
| CN106426143A (en) * | 2015-08-28 | 2017-02-22 | 刘伟 | Artificial muscle, application of artificial muscle and robot |
| CN107160624A (en) * | 2017-06-30 | 2017-09-15 | 杨海兵 | A kind of bionic muscle preparation method |
| CN107243923A (en) * | 2017-05-24 | 2017-10-13 | 东北大学 | A kind of binodal McKibben muscle variation rigidity soft robot arm |
| CN107363822A (en) * | 2016-05-13 | 2017-11-21 | 株式会社东芝 | Driver, drive system and flow passage structure portion |
| CN107582214A (en) * | 2017-09-04 | 2018-01-16 | 云南靖创液态金属热控技术研发有限公司 | A kind of artificial muscle fibre and artificial muscle |
| US20180042803A1 (en) * | 2014-12-30 | 2018-02-15 | Ekso Bionics, Inc. | Exoskeleton and Method of Transferring a Weight of a Load from the Exoskeleton to a Support Surface |
| CN108454131A (en) * | 2017-12-28 | 2018-08-28 | 中国空间技术研究院 | Artificial thews material with fiber |
| CN108927787A (en) * | 2017-05-27 | 2018-12-04 | 魏相东 | Artificial-muscle and emulation arm |
| 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 |
| CN110906104A (en) * | 2019-12-20 | 2020-03-24 | 中国科学院沈阳自动化研究所 | Modular pipeline robot based on hydraulic artificial muscles |
| CN111660286A (en) * | 2020-06-04 | 2020-09-15 | 清华大学 | Pneumatic artificial muscle fiber and bionic mechanical arm |
| CN113172640A (en) * | 2021-04-15 | 2021-07-27 | 清华大学 | Software driver |
| CN113771022A (en) * | 2021-09-24 | 2021-12-10 | 天津大学 | Self-sensing pneumatic artificial muscle based on flexible special-shaped pipe weaving mode |
| CN116538056A (en) * | 2023-06-06 | 2023-08-04 | 西湖大学 | Method for pumping fluid motion based on tubular flexible actuator and application |
| CN118163009A (en) * | 2024-05-15 | 2024-06-11 | 四川大学 | Flexible self-adaptive stress control contact device |
| CN118205693A (en) * | 2024-05-21 | 2024-06-18 | 自然资源部第二海洋研究所 | Artificial muscle parallel driving deep sea optical investigation jellyfish robot and investigation method |
-
1997
- 1997-05-08 CN CN 97110134 patent/CN1171924A/en active Pending
Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100467881C (en) * | 2003-07-14 | 2009-03-11 | 浙江工业大学 | Pneumatic flexible ball-joint |
| CN101053146B (en) * | 2005-08-23 | 2010-09-08 | 松下电器产业株式会社 | Polymer actuator |
| CN102551918A (en) * | 2012-02-21 | 2012-07-11 | 上海海事大学 | Electroshock extension artificial muscle movement device |
| CN102551918B (en) * | 2012-02-21 | 2014-11-19 | 上海海事大学 | Electroshock extension artificial muscle movement device |
| CN102579158A (en) * | 2012-03-28 | 2012-07-18 | 李子怡 | Bionic muscle fiber and bionic muscle made of same |
| US20180042803A1 (en) * | 2014-12-30 | 2018-02-15 | Ekso Bionics, Inc. | Exoskeleton and Method of Transferring a Weight of a Load from the Exoskeleton to a Support Surface |
| CN106426143B (en) * | 2015-08-28 | 2018-09-25 | 温州市洞头北岙晟立机械设计工作室 | A kind of artificial-muscle and its application, robot |
| CN106426143A (en) * | 2015-08-28 | 2017-02-22 | 刘伟 | Artificial muscle, application of artificial muscle and robot |
| CN107363822A (en) * | 2016-05-13 | 2017-11-21 | 株式会社东芝 | Driver, drive system and flow passage structure portion |
| CN107243923A (en) * | 2017-05-24 | 2017-10-13 | 东北大学 | A kind of binodal McKibben muscle variation rigidity soft robot arm |
| CN108927787A (en) * | 2017-05-27 | 2018-12-04 | 魏相东 | Artificial-muscle and emulation arm |
| CN107160624A (en) * | 2017-06-30 | 2017-09-15 | 杨海兵 | A kind of bionic muscle preparation method |
| CN107582214A (en) * | 2017-09-04 | 2018-01-16 | 云南靖创液态金属热控技术研发有限公司 | A kind of artificial muscle fibre and artificial muscle |
| CN108454131A (en) * | 2017-12-28 | 2018-08-28 | 中国空间技术研究院 | Artificial thews material with fiber |
| CN108454131B (en) * | 2017-12-28 | 2024-04-05 | 中国空间技术研究院 | Artificial muscle material with fiber |
| 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 |
| CN110906104A (en) * | 2019-12-20 | 2020-03-24 | 中国科学院沈阳自动化研究所 | Modular pipeline robot based on hydraulic artificial muscles |
| CN110906104B (en) * | 2019-12-20 | 2024-03-01 | 中国科学院沈阳自动化研究所 | Modularized pipeline robot based on hydraulic artificial muscle |
| 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 |
| CN111660286A (en) * | 2020-06-04 | 2020-09-15 | 清华大学 | Pneumatic artificial muscle fiber and bionic mechanical arm |
| CN113172640A (en) * | 2021-04-15 | 2021-07-27 | 清华大学 | Software driver |
| CN113771022A (en) * | 2021-09-24 | 2021-12-10 | 天津大学 | Self-sensing pneumatic artificial muscle based on flexible special-shaped pipe weaving mode |
| CN113771022B (en) * | 2021-09-24 | 2023-12-12 | 天津大学 | Self-sensing pneumatic artificial muscle based on flexible special-shaped tube knitting mode |
| CN116538056A (en) * | 2023-06-06 | 2023-08-04 | 西湖大学 | Method for pumping fluid motion based on tubular flexible actuator and application |
| CN118163009A (en) * | 2024-05-15 | 2024-06-11 | 四川大学 | Flexible self-adaptive stress control contact device |
| CN118205693A (en) * | 2024-05-21 | 2024-06-18 | 自然资源部第二海洋研究所 | Artificial muscle parallel driving deep sea optical investigation jellyfish robot and investigation method |
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