CN206840087U - A kind of gas or liquid machine muscle unit - Google Patents
A kind of gas or liquid machine muscle unit Download PDFInfo
- Publication number
- CN206840087U CN206840087U CN201720710196.2U CN201720710196U CN206840087U CN 206840087 U CN206840087 U CN 206840087U CN 201720710196 U CN201720710196 U CN 201720710196U CN 206840087 U CN206840087 U CN 206840087U
- Authority
- CN
- China
- Prior art keywords
- gas
- iron core
- soft iron
- exciting coil
- muscle
- 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.)
- Expired - Fee Related
Links
- 210000003205 muscle Anatomy 0.000 title claims abstract description 32
- 239000007788 liquid Substances 0.000 title claims abstract description 19
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 20
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 13
- 239000010959 steel Substances 0.000 claims abstract description 13
- 239000012528 membrane Substances 0.000 claims abstract description 7
- 238000000034 method Methods 0.000 abstract description 3
- 238000010923 batch production Methods 0.000 abstract description 2
- 230000001413 cellular effect Effects 0.000 abstract description 2
- 238000010276 construction Methods 0.000 abstract description 2
- 230000004118 muscle contraction Effects 0.000 abstract description 2
- 238000006073 displacement reaction Methods 0.000 description 8
- 230000008602 contraction Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 239000002775 capsule Substances 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003387 muscular Effects 0.000 description 1
- 230000037452 priming Effects 0.000 description 1
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- Manipulator (AREA)
Abstract
A kind of gas or liquid machine muscle unit, including moving magnet steel (1), soft iron core (6) and clamping elastomeric bladder (3) between, the unit connector of projection one (2) is distinguished on the dynamic magnet steel (1), soft iron core (6)；The soft iron core (6) is along the circumferential direction laid with magnet exciting coil (5), and two terminals of magnet exciting coil (5) are connected with the both positive and negative polarity of power supply respectively；The elastomeric bladder (3) wraps up gas by elastic membrane (4) or liquid forms.The utility model proposes mechanical muscle cellular construction it is simple, can small miniaturization batch production, cost is low, simultaneously by the characteristic of gas or liquid, contraction of muscle, loosen the operation that process is slowly steady, can realize precision, becomes more meticulous, be highly suitable for small microrobot field.
Description
Technical field
The utility model belongs to mechanical muscle technical field, more particularly to a kind of gas or liquid machine muscle unit.
Background technology
In actual applications, the mechanical arm of robot mainly passes through motor, pneumatic and three kinds of driving sides of hydraulic pressure at present
Formula moves back and forth to realize, and then realizes various functions, but size can not possibly realize miniaturization and micro- due to its structures shape
Type, therefore the application on small microrobot is restricted.In addition, the kinematic accuracy of existing robot is not high, motion side
Formula is stiff, it is difficult to which realization becomes more meticulous, the operation of precision.The problem of existing in view of above-mentioned existing machinery arm, the present inventor's base
In being engaged in the practical experience and professional knowledge of such product design manufacture for many years, actively it is subject to research and innovation, to found one kind
The mechanical muscle unit of new structure, can solve the problem that existing problem, it is had more practicality.By constantly studying,
Design, and study repeatedly sample and improve after, create the utility model with practicality finally.
The content of the invention
The defects of the purpose of this utility model is to overcome existing machinery muscle to exist, and machinery can be realized by proposing one kind
The mechanical muscle unit of muscle miniaturization, and be applied on small microrobot to realize the strong behaviour of precision height, flexibility
Make, thus more suitable for practicality.
The purpose of this utility model and to solve its technical problem realized using following technical scheme.It is new according to this practicality
The gas or liquid machine muscle unit that type proposes, including dynamic magnet steel 1, soft iron core 6 and clamping elastomeric bladder 3 between,
Distinguish the unit connector 2 of projection one on the dynamic magnet steel 1, soft iron core 6；The soft iron core 6 is along the circumferential direction laid with magnet exciting coil 5,
Two terminals of magnet exciting coil 5 are connected with the both positive and negative polarity of power supply respectively；The elastomeric bladder 3 wraps up gas or liquid by elastic membrane 4
Composition.
The purpose of this utility model and solve its technical problem and also further realized using following technical measures.
Foregoing gas or liquid machine muscle unit, the soft iron core 6 are along the circumferential direction machined with annular groove, excitation
Coil 5 is laid in the annular groove.
The utility model is by controlling the change of electric signal, and control magnet exciting coil produces the magnetic field of varying strength, and magnetic field is inhaled
Priming magnet steel produces convergent force, and dynamic magnet steel elasticity of compression capsule deforms elastic membrane, and mechanical muscle unit, which produces, shrinks displacement；Control
Signal cancellation, mechanical muscle unit loosen mechanical muscle unit under the effect of elastic membrane elastic force.
The utility model proposes mechanical muscle cellular construction it is simple, can small miniaturization batch production, cost is low, borrows simultaneously
The characteristic of gas or liquid is helped, contraction of muscle, loosens the operation that process is slowly steady, can realize precision, becomes more meticulous, very
Suitable for small microrobot field.
Described above is only the general introduction of technical solutions of the utility model, in order to better understand technology of the present utility model
Means, and being practiced according to the content of specification, and to allow above and other purpose of the present utility model, feature and excellent
Point can become apparent, and below especially exemplified by preferred embodiment, and coordinate accompanying drawing, describe in detail as follows.
Brief description of the drawings
Fig. 1 is the structural representation of a kind of gas of the utility model or liquid machine muscle unit.
【Main element symbol description】
1：Dynamic magnet steel
2：Unit connector
3：Elastomeric bladder
4：Elastic membrane
5：Magnet exciting coil
6：Soft iron core
Embodiment
Further to illustrate that the utility model is to reach the technological means and effect that predetermined goal of the invention taken, below
With reference to accompanying drawing and preferred embodiment, to according to the utility model proposes a kind of gas or liquid machine muscle unit it is specific real
Mode, structure, feature and its effect are applied, is described in detail as after.
Referring to Fig. 1, the utility model proposes muscle unit include dynamic magnet steel 1, soft iron core 6 and it is clamping between
Elastomeric bladder 3, the unit connector 2 of projection one respectively on the dynamic magnet steel 1, soft iron core 6；The soft iron core 6 is along the circumferential direction laid with
Magnet exciting coil 5, two terminals of magnet exciting coil 5 are connected with the both positive and negative polarity of power supply respectively；The elastomeric bladder 3 is wrapped up by elastic membrane 4
Gas or liquid composition.
Preferably, the soft iron core 6 is along the circumferential direction machined with annular groove, and magnet exciting coil 5 is laid in the annular groove
It is interior.
The operation principle of a kind of gas of the utility model or liquid machine muscle unit is as follows：
Magnet exciting coil 5 can produce first magnetic field after switching on power, while soft iron core 6 is magnetized and produces second magnetic field,
Two magnetic field superpositions produce bigger magnetic force.Dynamic magnet steel 1 moves under the attraction of magnetic force towards soft iron core 6, starts elasticity of compression capsule 3
Displacement is produced, and then causes whole mechanical muscle unit produces to shrink displacement.Displacement reduces as caused by needing muscle unit
When, then reduce electric current by actual demand, the elastomeric bladder 3 compressed provides what mechanical muscle loosened in the presence of gas or liquid
Reset force so that the contraction displacement of elastic mechanical muscle unit reduces.After power-off, the elastomeric bladder 3 compressed is slowly multiple
Position is to original state.
The utility model proposes mechanical muscle unit there are three features：
First, miniaturization.According to be actually needed adjustment magnet steel, iron core and elastomeric bladder size, can make micron level with
Under size；
Second, dual regulation.Not only can by the contraction displacement of the whole mechanical muscle unit of big minor adjustment of control electric current,
Also can be by controlling the pressure of elastomeric bladder to adjust the contraction displacement of whole mechanical muscle unit；
Third, reseting procedure is more steady.Because what is filled in elastomeric bladder is gas or liquid, after power-off, compressed
Elastomeric bladder slowly can smoothly reset.
By These characteristics, it is thousands of the utility model proposes the muscle group attachment that is combined into of mechanical muscle unit
On the metallic framework of microrobot, it is possible to achieve the high displacement stroke of precision, in conjunction with the phase such as circuit, electromagnetism, bionical
Art is closed, the robot being made up of elastic mechanical muscle unit of the present utility model can realize flexible such as human muscular
Property, accuracy.
It is described above, only it is preferred embodiment of the present utility model, any person skilled in the art is not
Depart from the range of technical solutions of the utility model, according to the technical essence of the utility model to any letter made for any of the above embodiments
Single modification, equivalent variations and modification, in the range of still falling within technical solutions of the utility model.
Claims (2)
1. a kind of gas or liquid machine muscle unit, it is characterised in that including dynamic magnet steel (1), soft iron core (6) and clamping two
Elastomeric bladder (3) between person, the unit connector of projection one (2) respectively on the dynamic magnet steel (1), soft iron core (6)；The soft iron core (6)
Magnet exciting coil (5) is along the circumferential direction laid with, two terminals of magnet exciting coil (5) are connected with the both positive and negative polarity of power supply respectively；Should
Elastomeric bladder (3) wraps up gas by elastic membrane (4) or liquid forms.
2. gas according to claim 1 or liquid machine muscle unit, it is characterised in that the soft iron core (6) is circumferentially
Direction is machined with annular groove, and magnet exciting coil (5) is laid in the annular groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720710196.2U CN206840087U (en) | 2017-06-16 | 2017-06-16 | A kind of gas or liquid machine muscle unit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720710196.2U CN206840087U (en) | 2017-06-16 | 2017-06-16 | A kind of gas or liquid machine muscle unit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206840087U true CN206840087U (en) | 2018-01-05 |
Family
ID=60800873
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720710196.2U Expired - Fee Related CN206840087U (en) | 2017-06-16 | 2017-06-16 | A kind of gas or liquid machine muscle unit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206840087U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109648552A (en) * | 2019-01-28 | 2019-04-19 | 中国计量大学 | Inner cavity iron ball electromagnetic levitation type Pneumatic artificial muscle |
| CN114310858A (en) * | 2021-12-22 | 2022-04-12 | 中国农业银行股份有限公司山东省分行 | Agile robot |
-
2017
- 2017-06-16 CN CN201720710196.2U patent/CN206840087U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109648552A (en) * | 2019-01-28 | 2019-04-19 | 中国计量大学 | Inner cavity iron ball electromagnetic levitation type Pneumatic artificial muscle |
| CN114310858A (en) * | 2021-12-22 | 2022-04-12 | 中国农业银行股份有限公司山东省分行 | Agile robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180105 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |