RU2137950C1 - Mechanical muscle - Google Patents

Abstract

FIELD: industrial robots, manipulators, machines. SUBSTANCE: mechanical muscle includes flexible cylindrical envelope filled with power carrier, for example, with liquid. Envelope is reinforced with flexible non-elastic threads both in longitudinal and transversal directions. Reinforcement in longitudinal direction is made at pitch sufficient for transversal deformation of envelope without loss of tightness. Pitch selected for transversal reinforcement ensures maximum shortening of muscle. End faces of envelope are provided with connecting members one of which may be used for supply of power carrier to inner cavity of envelope. EFFECT: enhanced reliability. 3 cl, 2 dwg

Description

 The invention relates to controlled drives and is intended for use, if necessary, the movement of messages to mechanical objects with changing weight and size parameters, in particular, in industrial robots, manipulators, machines and other objects that have high demands on the dynamics of work.

 Known mechanical muscle containing filled with an energy carrier elastic shell made with reinforcement. EP 0146261 A1 / KUKOLI MIRKO 06/26/85 /.

 The disadvantage of this device is the lack of transverse reinforcement in the form of flexible irreversible threads.

 Closest to the proposed one is a mechanical muscle containing an elastic shell filled with an energy carrier, made with reinforcement in the transverse direction, parallel to the elements oriented in this direction. SU 1622659 A1 / VNIIMETSINA INDUSTRY / 01/23/91.

 The disadvantage of this device is the lack of reinforcement in the longitudinal and transverse directions in the form of flexible inextensible threads.

 The objective of the invention is to ensure the predictability of deformation of the shell in any direction.

 The problem is solved in that in a mechanical muscle containing an elastic shell filled with energy, made with reinforcement in the transverse direction, parallel oriented in this direction. Moreover, the sheath is also made with reinforcement in the longitudinal direction, and the reinforcement in the transverse and longitudinal directions is made in the form of flexible inextensible threads.

 Partial essential features of this technical solution also contribute to the solution of the problem.

 The reinforcement of the shell in the longitudinal direction is performed with a step selected from the condition of ensuring transverse deformation of the shell without loss of tightness.

 The reinforcement of the shell in the transverse direction is performed with a step selected from the condition of ensuring maximum shortening of the shell while reducing the transverse size and energy consumption, as well as improving performance.

 In FIG. 1 shows a general view of the proposed mechanical muscle, and in FIG. 2 shows its operating position.

 The basis of the mechanical muscle is a cylindrical elastic shell 1, filled with energy / compressed liquid or gas / 2. In the shell 1 there are threads of longitudinal 3 and transverse 4 reinforcement. At the ends of the shell 1, connecting elements 5 are installed, one of which is made with the possibility of supplying energy 2 to the inner cavity of the shell.

 Mechanical muscle works as follows.

 When the internal energy of the energy carrier 2 is increased by any known method / due to heating, a chemical reaction, an increase in the amount, etc. /, the elastic shell begins to deform. The resulting forces are perceived by the threads of longitudinal 3 and transverse 4 reinforcement, which determines the controlled deformation of the shell 1 with the formation of corrugations / Fig. 2 /. The formation of corrugations along the length of the mechanical muscle causes its linear shortening / contraction /.

где F - сила натяжения механической мышцы, Н;
P - давление энергоносителя, Па;
R_o - радиуса поперечной армировки, м;
Ne - число элементов в мышце;
L - длина мышцы в свободном состоянии;
α - - угол гофра, рад.Thus, this proposal allows you to implement a spatially flexible linear motor without rubbing moving elements. His workflow is described by the expression:

where F is the tension force of the mechanical muscle, N;
P is the pressure of the energy carrier, Pa;
R _o - the radius of the transverse reinforcement, m;
Ne is the number of elements in the muscle;
L is the length of the muscle in a free state;
α - - corrugation angle, rad.

For example: for P = 0.5 Pa, Ne = 10, R ₀ = 0.02 m, L = 0.6 m, α = 0.523599 rad, the tension force F is about 4200 N with a muscle contraction of 0.08 m .

Claims (3)

 1. A mechanical muscle containing an elastic shell filled with energy carrier, made with reinforcement in the transverse direction, parallel oriented in this direction, characterized in that the shell is also made with reinforcement in the longitudinal direction, and the reinforcement in the transverse and longitudinal directions is made in the form of flexible inextensible threads .  2. The mechanical muscle according to claim 1, characterized in that the reinforcement of the shell in the longitudinal direction is performed with a step selected from the condition of ensuring transverse deformation of the shell without loss of tightness.  3. The mechanical muscle according to claim 1, characterized in that the reinforcement of the shell in the transverse direction is performed with a step selected from the condition of ensuring maximum shortening of the shell while reducing the transverse size and energy consumption, as well as improving performance.

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