WO2002023050A1

WO2002023050A1 - Mechanical muscle

Info

Publication number: WO2002023050A1
Application number: PCT/RU2001/000148
Authority: WO
Inventors: Alexandr Nikolaevich Marti; Ildar Urazmukhametovich Sulejmanov; Vyacheslav Vasiljevich Kozlov; Elena Vladimirovna Usova; Sergey Georgievich Zanozin; Vasiliy Ivanovich Kaplun; Nikolay Borisovich Sofonov
Original assignee: Alexandr Nikolaevich Marti; Sulejmanov Ildar Urazmukhameto; Vyacheslav Vasiljevich Kozlov; Elena Vladimirovna Usova; Sergey Georgievich Zanozin; Vasiliy Ivanovich Kaplun; Nikolay Borisovich Sofonov
Priority date: 2000-09-14
Filing date: 2001-04-13
Publication date: 2002-03-21
Also published as: EA005653B1; EA200300371A1; EP1325235A4; EP1325235A1; RU2224916C2; AU2001248942A1

Abstract

The invention relates to pneumohydraulic engines of forward movement. The goal is reached by execution of an elastic envelope containing at least one cross-section, a perimeter length of which one differs from a perimeter length of a cross-section that coincides with a thread of the lateral reinforcement. Thus the elastic envelope is covered at least by one, oriented concerning to envelope axes, closed layer of an elastic material with expressed antifriction properties, for example of polyamide or capron. And even one thread of a longitudinal reinforcement is arranged above an external surface of the given layer with fomation of contradirectional, including closed, circular helixes with a demanded step. Thus the interval of arrangement of threads of the lateral reinforcement is nonconstant along the axis of a mechanical muscle.

Description

MECHANICAL MUSCLE

Technical field The invention relates to controlled drives and is intended for transformation of an internal energy of energy carrier in the mechanical movement of technical objects with changing inertial parameters.

Background Art.

It is known the actuator of axial compression containing filled by energy carrier elastic envelope, executed with reinforcement. EP 0146261 Al / KUKOLI MIRKO 26.05.85/.

A disadvantage of the given device is the absence of a lateral reinforcement in the form of flexible inextensible threads.

It is known a mechanical muscle containing filled by energy carrier elastic envelope, executed with reinforcement in a lateral direction by oriented in parallel to this direction elements. SU 1622659 Al / VNII MEΗZNOY PROMYSHLE NOSTI / 23. 01. 91.

A disadvantage of the given device is the absence of reinforcement in longitudinal and lateral directions by the way of flexible inextensible threads.

Most close to the proposed energy transformation is the mechanical muscle. RU 2137950 6 F15B 11/10, Vodyanik G.M., Vodyanik A.G., Tsibizov A.N., 16.07.98, bull. N°7).

A known mechanical muscle contains filled by energy carrier cylindrical envelope, reinforced in longitudinal and lateral directions by flexible inextensible threads.

Low precision of positioning concerns to disadvantages of the known device. The given disadvantage is caused by poor spatial rigidity of the mechanical muscle.

Brief Description of the Invention. A goal of the invention is increasing of precision of positioning of the mechanical muscle.

The goal is reached by executing an elastic envelope containing at least one cross-section, a perimeter length of which one differs from a perimeter length of a cross-section that coincides with a thread of the lateral reinforcement, thus the elastic envelope is covered at least by one, oriented concerning to envelope axes, closed layer of an elastic material with expressed antifriction properties, for example of polyamide or capron. And even one thread of a longitudinal reinforcement is arranged above an external surface of the given layer with formation of contradirectional, including closed, circular helixes with a demanded step, thus the interval of arrangement of threads of the lateral reinforcement is nonconstant along the axis of a mechanical muscle, and threads themselves are communicated both with each other and with butt-ends of the mechanical muscle, thus an elastic envelope and threads of longitudinal reinforcement are fixed at butt ends of a mechanical muscle separately from each other, and the geometry of a surface of butt ends of a mechanical muscle, contacting with an elastic envelope and threads of reinforcement, excludes mutual movement of an elastic envelope, threads of reinforcement and butt ends during a mechanical muscle activity. Thus a mechanical muscle is supplied with at least one external layer that ensures a mechanical muscle activity in environment conditions, and with a limiting layer that does not allow a mechanical muscle expansion to exceed previously set value.

Best Method Of Carrying Out The Invention. The mechanical muscle works as follows. At increase of internal energy of energy carrier by any known method (by heating, chemical reaction, increase of quantity etc.) the elastic envelope starts to deform. Nascent efforts accepted by threads of longitudinal and lateral reinforcement, that supposes a controlled deformation of the envelope with formation of corrugations. Formation of corrugations along the length of a mechanical muscle causes its linear contraction (shrinkage). The increase of spatial rigidity of a mechanical muscle is reached by the initial profiling of sections of a mechanical muscle, by spiral laying of threads of longitudinal reinforcement, including above the closed layer of an antifriction material. Thus the proposed offer allows to increase spatial rigidity and to increase precision of positioning of a mechanical muscle.

Claims

Claims.

1. A mechanical muscle containing conjunctive elements and filled by energy carrier elastic envelope, executed with reinforcement in the lateral and longitudinal direction oriented in parallel by flexible inextensible threads, and reinforcement of an envelope in the longitudinal direction is executed with an ensuring lateral deforming of an envelope without loss of tightness step, reinforcement of an envelope in a lateral direction is executed with a step that is chosen on the assumption of conditions of ensuring of maximum linear contraction of an envelope with simultaneous reduction of the lateral size, cost of the energy carrier and increasing an operating speed, characterized in that an elastic envelope containing at least one cross-section, a perimeter length of which one differs from a perimeter length of a cross-section that coincides with a thread of the lateral reinforcement, thus the elastic envelope is covered at least by one, oriented concerning to envelope axes, closed layer of an elastic material with expressed antifriction properties, for example of polyamide or capron. And even one thread of a longitudinal reinforcement is arranged above an external surface of the given layer with formation of contradirectional, including closed, circular helixes with a demanded step, thus the interval of arrangement of threads of the lateral reinforcement is nonconstant along the axis of a mechanical muscle, and threads themselves are communicated both with each other and with butt-ends of the mechanical muscle, thus an elastic envelope and threads of longitudinal reinforcement are fixed at butt ends of a mechanical muscle separately from each other, and the geometry of a surface of butt ends of a mechanical muscle, contacting with an elastic envelope and threads of reinforcement, excludes mutual movement of an elastic envelope, threads of reinforcement and butt ends during a mechanical muscle activity.

2. A mechanical muscle according to item. 1 characterized in that the mechanical muscle is supplied with at least one external layer that ensures a mechanical muscle activity in environment conditions, and with a limiting layer that does not allow a mechanical muscle expansion to exceed previously set value.