JP3062296U - Artificial muscle with shape memory alloy fiber bundle - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To make a shape memory alloy into an ultra-fine fiber bundle, form a muscle-like shape composed of muscle fibers, and apply heat from inside and outside to reduce the length, It seeks to perform complex joint movements similar to the muscles of living organisms. An artificial muscle using a shape memory alloy fiber bundle can obtain a complicated movement by applying heat or by forming an artificial muscle fiber having a plurality of types of restored shapes into a bundle. In other words, the strength and speed of the contraction of the muscle fiber and the strength and speed of the contraction change by changing the shape of the shape memory alloy of the artificial muscle fiber, or by changing the shape of the heat conduction that causes the contraction of the artificial muscle fiber, or It can produce instantaneous and horsepower movements, as well as delicate and soft movements. Artificial muscles with shape memory alloy fiber bundles can reproduce the same movements as a living body by simultaneously working artificial muscles contracting in multiple directions, just as the actual muscle works. By moving the artificial muscle in the opposite direction, another artificial muscle that has contracted once can be returned to its original length and can be repeatedly exercised.

Description

[Detailed description of the invention]

[0001]

[Problem to be solved by the invention: 1] The artificial muscle using the shape memory alloy fiber bundle can obtain a complicated movement by applying heat or bundling artificial muscle fibers having a plurality of types of restored shapes. Can be In other words, the strength and speed of the contraction of the muscle fiber and the strength and speed of the contraction change by changing the strength of the heat conduction that causes the contraction of the artificial muscle fiber, or by changing the shape of the shape memory alloy of the artificial muscle fiber. It can produce instantaneous and horsepower movements, as well as delicate and soft movements. Like artificial muscles, artificial muscles made of shape memory alloy fiber bundles can reproduce the same movements as a living body by simultaneously working artificial muscles that contract in multiple directions, just as the actual muscles do. By moving the artificial muscle in the opposite direction, one artificial muscle that has contracted once can be returned to its original length and can be repeatedly exercised.

[0002]

[Problem to be solved by the invention. 2] A system for exercising an artificial muscle using a shape memory alloy fiber bundle is composed of three elements: an artificial muscle, a heat conductor, and an information processing part for controlling heat conduction. There are various types of heat sources and heat conductors that move artificial muscles using shape memory alloy fiber bundles, depending on the application. a. A method of heat conduction by electricity, in which alloy fibers that generate heat when energized, such as nichrome wires, are woven into an alloy braid bundle. b. A method of controlling heat conduction by moving a liquid through a capillary inner tube. c. A method of controlling heat conduction by moving gas through a capillary tube or outer membrane. d. A method of generating heat internally by remote control from outside using electromagnetic waves. e. A. b. c. d. A method of using two or more together.

[0003]

[Prior art]

 The power of current robots is mainly electric motors, and since the motors are attached to each joint, the power consumption becomes excessive, and the number of motors will increase if complicated movements are required. The weight of batteries and motors will increase, and the number of wires connecting batteries, motors, and control devices will be enormous. This is a major barrier to the progress of robot development. Although there are artificial muscles that use pneumatic pressure, delicate movements can be expressed, but the power is weak, so moving the mannequin itself does not provide practical horsepower or instantaneous power at best. The application of joint power by a hydraulic pump is most advanced in power shovels and the like, but it cannot cope with robots that perform large and complicated movements because of the large equipment. Artificial muscles made of shape memory alloy fiber bundles can comprehensively compensate for this advantage.

[0004]

[Embodiment of the invention]

 The joints of a living body have muscle fiber bundles in various directions, and these contractions are mixed to create complex joint movements. In the case of artificial muscles made of shape memory alloy fiber bundles, biomechanics that clarifies muscle movement control systems based on imitation of biological models enables the exercise control that mixes contractions of multiple artificial muscle fiber bundles to be an information device equivalent to an electronic brain. The complex muscle movements are artificially reproduced by commands from the parts. From the basic repetitive exercise model, the possibility of infinitely improving exercise performance and function appears. This brings an artificial moving body that uses artificial muscles made of shape memory alloy fiber bundles closer to the concept of cyborg, which more closely resembles biological movement, from the robot domain. In addition, after the movement of the artificial muscle by one shape memory alloy fiber bundle due to heat conduction, when trying to cause the movement of another artificial muscle fiber, the artificial muscle fiber that has been moved forward and heated becomes It must be cooled at that time. In order to prevent this artificial muscle fiber from heating up, the artificial muscle made of the bundle of shape memory alloy fibers is normally kept at a substantially constant temperature by a liquid or gel-like solid coolant similar to the body. It is necessary to keep the body warm only when the body moves, and to cool it down when the movement ends. In addition, it must be shielded by heat insulation from external heat, which is an unnecessary motion command. Therefore, the embodiment of the present invention artificially reproduces a structure similar to a living body muscular exercise system composed of skin, fat, blood vessels, nerves, muscles, and bone joints.

[0005]

[Effect of the invention]

 In the case of an artificial muscle made of a shape memory alloy fiber bundle, a motor and a battery are not required, so the robot body is composed of three elements: an artificial muscle, a heat conductor, and an information processing unit that controls heat conduction. This leads to simplification of the robot motion control system, reduction of the total weight, and reduction of overall costs related to production and use such as power consumption. Artificial muscle using shape memory alloy fiber bundles can evolve the movement of a robot into a biological muscle movement equivalent to the concept of cyborg. In addition, the construction principle that eliminates the need for batteries and motors can be applied to the motive power of micro machines.

[Brief description of the drawings]

Fig. 1 Basic structure of artificial muscle using shape memory alloy fiber bundle

FIG. 2 Contraction motion of artificial muscle by shape memory alloy fiber bundle

Fig. 3 Basic model of repetitive motion by artificial muscle using shape memory alloy fiber bundle

[Description of Signs] Artificial muscle made of shape memory alloy fiber bundle Heat conductor that heats artificial muscle made of shape memory alloy fiber bundle Coolant Artificial muscle made of shape memory alloy fiber bundle heated by heat conductor contracts. Unused artificial muscle is deprived of heat by coolant,
It is stretched according to the movement of the other artificial muscle.

Claims (1)

[Utility model registration claims] 1. A shape-memory alloy is formed into an ultra-fine fiber bundle to form a muscle-like shape composed of muscle fibers, and the length of the muscle is reduced by applying heat from inside and outside to reduce the length of the muscle. An artificial muscle that seeks to perform the same complex joint movement.