JP2547580B2 - Artificial muscle connected with electromagnet - Google Patents

Description

TECHNICAL FIELD The present invention relates to an artificial muscle capable of contracting the entire length by the force of an electromagnet.

(Prior art) Up to now, the amount of fluid or gas is increased or decreased and the pressure is used to expand or contract the piston, or the electric power of the motor is used to reciprocate the shaft or string by a crank or pinion. An artificial muscular device that does this has been proposed. These devices have a drip surface for obtaining a large force, but the ones with pistons have a slow reaction, those with motors have a large overall weight, and they have the drawback of making the device very large. It was

On the other hand, a device relating to an artificial muscle, which is capable of contracting the entire length by the force of an electromagnet, for example,
60-82296 and Japanese Utility Model Application 58-116678.

In the former device, the distance between the electromagnets can be expanded or contracted, but since the electromagnets slide on the shaft, the length of the shaft itself does not become short.

Also, in the latter device, electromagnets and elastic bodies are alternately arranged, the elastic body itself has an unstable length, and it is difficult to stop the length when pulling elongation is desired, There is a drawback that the magnetic force does not work effectively if the whole stretches greatly even if you try to pull it in, and even if you try to pull it close, the elastic body interferes and the electromagnet can not approach the position where the strong magnetic force works. is there.

Further, in Japanese Patent Laid-Open No. 59-136081, which is restricted by a bobbin extending in the coil axial direction, and slides back and forth along a coupling guide shaft provided on the side surface of the bobbin,
The repulsive force and the attractive force of the electromagnets provided on the bobbin can increase or decrease the mutual distance. However, because there is a constraint in the coil axis direction, you can bend it at any point,
It was not possible to exert the expansion and contraction function when it was wrapped around an object flexibly like a string.

(Problems to be Solved by the Invention) The present invention makes it possible to contract the entire length that the magnetic force of the electromagnet effectively works and is achieved by electricity, regardless of the water pressure or the force of the motor, and is folded at any point. It can be bent or wrapped around an object flexibly like a string.
It provides a compact artificial muscle that has a fast contraction reaction.

(Means for Solving the Problems) A large number of electromagnets having different magnetic poles adjacent to each other and connected in series, a circuit for sending a current to the electromagnets, and a power supply thereof.
In an artificial muscle that electrically controls the strength of the magnetic force of the electromagnet to control the strength of the current sent to the electromagnet connected to the circuit and contracts the entire length, the neighbors of the electromagnets The electromagnet and the hard connector are alternately connected in a chain shape in a state where the section from the position where the magnetic force of the magnetic pole effectively works to the contact position is reciprocally movable within a predetermined range in distance, angle and rotation.

(Operation) When the electric current is adjusted, the strength of the magnetic force of the electromagnet is controlled, and the magnetic poles at both ends of the electromagnet are attracted to each other to contract the entire length of the chain.

At that time, since the adjacent magnets are constrained by the hard coupler so as not to be separated from the distance where the magnetic force effectively works, the distance between the adjacent electromagnets does not open any further,
You can effectively meet.

At that time, the mutual connection of the electromagnet and the hard connector can be held within a predetermined range in a state in which the distance, angle, and rotation are free, and the entire length can be contracted according to the degree of the freedom.

(Example) An example of the present invention will be described below with reference to the drawings.

As shown in FIGS. 1 to 4, a copper wire coil 2 is wound around a cylindrical iron core 1 to form a cylindrical electromagnet.

The iron core 1 is provided with a circumferential engagement groove 3 at both ends thereof, and a cylindrical hard connector 4 having a U-shaped cross section with engagement portions 3 formed at both ends of the engagement groove 3. Combine with electromagnet and connector 4
And are alternately connected in a chain.

Regarding the depth, width 7 and position of the engaging groove 3, the sections 6 from the position where the magnetic force of the end magnetic poles of the electromagnets 1 and 5 connected by the hard connecting tool 4 works effectively to the contact position. It is formed such that a gap is secured and the distance, angle, and rotation can freely reciprocate within a predetermined range.

Each of the copper wire coils 2 is connected with a cord 8 having play so that the N pole and the S pole face each other, and the cord 12 at the connecting end is connected to the power supply 14 via the control unit 13.

Therefore, the distance, the angle, and the freedom of rotation between the adjacent electromagnets 1 and 5 are determined by the size of the play of the connected cords 8 and the size of the gap formed in the adjacent section 6.

As another aspect, as shown in FIGS. 5 and 6, an iron core 1 is wound with a copper wire coil 2 to form an electromagnet.

The iron core 1 has an engaging hole 10 that widens in the center of both ends.
And a rod-shaped hard connecting tool 11 having a bulge larger than the mouth of the engaging hole 10 is inserted into both ends of the engaging hole 10 to form engaging portions at both ends thereof to engage the electromagnet and the hard connecting tool. 11
And are alternately connected in a chain.

Regarding the shape of the engaging hole 10, when the hard connecting tool 11 is inserted and engaged, a section 6 from the position where the magnetic force of the end magnetic poles of the adjacent electromagnets 1 effectively works to the contact position 6 Is formed by providing a play space 10 capable of freely reciprocating so that the distance, angle, and rotation can freely reciprocate within a predetermined range.

Then, similarly to the above-mentioned embodiment, each of the copper wire coils 2 is connected so that the N pole and the S pole face each other with the cord 8 having play, and the cord 12 at the connecting end is connected to the control portion (not shown). Via a power source (not shown).

When using, as shown in FIG. 7, both connecting end portions 9 of the present invention 17 are connected between the arms 15 and 15 having the joint 16, and the connecting end portion 9 through the cord 12 controls the control portion. The current is adjusted by 13 to control the strength and weakness of the magnetic force of the electromagnet to expand and contract the entire length.

When used, the present invention only shortens the length, so when it is expanded or contracted, another artificial muscle is attached so as to pull it in the direction to open the joint, or a bias such as rubber or spring is applied. It is necessary to attach a means so as to urge the joint in the opening direction.

(Effects of the Invention) Since the present invention has the above-mentioned configuration, the magnetic force of the electromagnet is effectively controlled by the hard connector 4 and is effectively controlled by the hard connector 4 regardless of the water pressure, the force of the motor, or the like. Can be made to contract.

And, since the mutual connection of the electromagnet and the hard connector can be held within a predetermined range with the distance, the angle and the rotation being free, the entire length can be contracted according to the degree of the freedom. Even in the middle of bending, even if it is bent or wrapped around a rod, the contraction function is secured.

Also, since the magnetic force of the electromagnet is controlled by electricity, the expansion and contraction reaction is very fast.

In addition, it can be made very compact and large in output, and if a large number of similar artificial muscles are attached, it is possible to combine them to generate a great force.

In use, it is possible to freely combine and operate a plurality of actuators such as a robot by combining a plurality of joints between various joints and controlling the contraction direction and tensile strength thereof.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a vertical side view of the present invention, FIG. 2 is a front view of FIG. 1, and FIG. 3 is a sectional view of a coil portion of FIG.
1 is a vertical perspective view of FIG. 1, FIG. 5 is a vertical side view of another aspect, FIG. 6 is a sectional perspective view of the aspect of FIG. 5, and FIG. 7 is a perspective view showing a use state. 1 ... Iron core, 2 ... Copper wire coil, 3 ... Engagement groove, 4 ...
Hard connector, 5 ... Next iron core, 6 ... Space between adjacent iron cores, 7 ... Width of engaging groove, 8 ... Electrical cord, 9 ...
End connector, 10 ... Engagement hole, 11 ... Rod-shaped hard connector, 12 ... Power cord, 13 ... Control part, 14 ... Power supply, 15
... arms, 16 ... joints, 17 ... artificial muscles.

Claims (1)

(57) [Claims] 1. A large number of electromagnets in which different magnetic poles are adjacently connected in series, a circuit for supplying a current to the electromagnet and its power source, and a control unit for controlling the intensity of the current sent to the electromagnet connected to the circuit. In an artificial muscle that electrically controls the strength and weakness of the magnetic force of the electromagnet to contract the entire length, the section from the position where the magnetic force of the end magnetic poles of adjacent electromagnets effectively works to the contact position within a predetermined range An artificial muscle in which electromagnets are connected, characterized in that electromagnets and hard connectors are alternately connected in a chain shape in a state where distance, angle and rotation can be freely reciprocated.