WO2011050758A1 - 一种仿生伸缩基体单元 - Google Patents

一种仿生伸缩基体单元 Download PDF

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Publication number
WO2011050758A1
WO2011050758A1 PCT/CN2010/079486 CN2010079486W WO2011050758A1 WO 2011050758 A1 WO2011050758 A1 WO 2011050758A1 CN 2010079486 W CN2010079486 W CN 2010079486W WO 2011050758 A1 WO2011050758 A1 WO 2011050758A1
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WO
WIPO (PCT)
Prior art keywords
bionic
base unit
telescopic
telescopic base
metal conduit
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Application number
PCT/CN2010/079486
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English (en)
French (fr)
Inventor
赵德政
Original Assignee
Zhao Dezheng
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Zhao Dezheng filed Critical Zhao Dezheng
Priority to EP10826121.5A priority Critical patent/EP2495213A4/en
Priority to EA201270603A priority patent/EA201270603A1/ru
Priority to US13/496,343 priority patent/US8395466B2/en
Priority to JP2012531230A priority patent/JP5433082B2/ja
Publication of WO2011050758A1 publication Critical patent/WO2011050758A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/123—Linear actuators
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/06—Electromagnets; Actuators including electromagnets
    • H01F7/08—Electromagnets; Actuators including electromagnets with armatures
    • H01F7/16—Rectilinearly-movable armatures
    • H01F7/1607—Armatures entering the winding
    • H01F7/1615—Armatures or stationary parts of magnetic circuit having permanent magnet

Definitions

  • the invention relates to the field of application to microelectromechanical technology, in particular to a bionic telescopic base unit.
  • the object of the present invention is to provide a bionic telescopic base unit, which can function as a mimicry of animal muscle tissue expansion and contraction, and is fully applied to humanoid robots or other limb animal mechanical techniques to make humanoid robots or other limbs.
  • the activities of animal machinery are more flexible and free.
  • the object of the present invention is achieved by a bionic telescopic base unit, a sliding column, a metal conduit, an elastic telescopic housing and an electromagnetic coil forming a telescopic base unit.
  • a sliding rod composed of a permanent magnet is passed through a metal conduit.
  • the front end protrudes into the metal conduit and is slidably engaged with the inner tube wall of the metal conduit, and the rear end of the duct and the front end of the spool respectively pass forward and backward of the front and rear openings of the elastic telescopic housing, and the front of the elastic telescopic housing
  • the rear open end is respectively fixed on the outer tube wall and the sliding column of the metal conduit to make the metal conduit and the sliding column cooperatively connected, and the tensile length of the elastic expansion housing is matched with the reciprocating stroke of the sliding column in the conduit; the outer circumference of the metal conduit is wrapped around
  • the electromagnetic coil on the wall is covered by the elastic telescopic housing, and the two ends of the electromagnetic coil are connected and matched with the positive and negative power terminals.
  • the principle of the present invention is that, in each of the bionic telescopic base units, the magnetic force generated by the electromagnetic coil of the sliding column composed of the permanent magnets wrapped around the outer tube wall of the catheter slides back and forth in the conduit, and the structure of the bionic telescopic base unit is similar to
  • the stretching function of muscle cells mimics the principle of stretching and contraction of each muscle cell, so that each bionic telescopic matrix unit cluster collaborates at the same time and reciprocates to form a bionic telescopic tissue, which can be applied in the field of humanoid robots or other types of extremity mechanical technology.
  • the invention can play the function of simulating the movement of the muscle tissue of the animal, and is fully applied to the mechanical technology of the humanoid robot or other limbs, so that the activities of the humanoid robot or other limb animal machinery are more flexible and free.
  • FIG. 1 is a cross-sectional structural view showing each of the bionic telescopic base units of the present invention in an extended state
  • FIG. 2 is a cross-sectional structural view showing each of the bionic telescopic base units of the present invention in a contracted state
  • Figure 3 is a cross-sectional structural view showing the connection of two bionic telescopic base units of the present invention
  • FIG. 4 is a schematic view showing the structure of a bionic telescopic structure composed of a bionic telescopic chain and a bionic telescopic chain which are connected by a telescopic base unit.
  • a bionic telescopic base unit as shown in FIGS. 1 to 4, the strut 6, the metal conduit 7, the elastic telescopic housing 2 and the electromagnetic coil 3 constitute an expansion and contraction base unit, and in the elastic telescopic housing 2, a permanent magnet is formed
  • the sliding strut 6 extends into the metal conduit 7 through the front end of the metal conduit 7 and is slidably engaged with the inner tube wall of the metal conduit 7, and the rear end of the duct 7 and the front end of the spool 6 respectively pass through the elastic telescopic housing 2 forward and backward.
  • Front and rear openings, and the front and rear open ends of the elastic expansion and contraction housing 2 are respectively fixed on the outer tube wall of the metal conduit 7 and the sliding column 6 to make the metal conduit 7 and the sliding column 6 cooperatively connected, and the elastic expansion housing 2
  • the stretched length cooperates with the reciprocating stroke of the spool 6 in the conduit 7;
  • the electromagnetic coil 3 wound around the outer peripheral wall of the metal conduit 7 is covered by the elastically expandable casing 2, and both ends of the electromagnetic coil 3 correspond to the positive and negative power supplies. Match the connection.
  • Each of the above-mentioned telescopic bases is connected in a row, that is, an adjacent telescopic base unit has a front end of the sliding column 6 and a rear end of the metal conduit 7 of the other telescopic base body to form a bionic telescopic chain; the bionic telescopic chain cooperates to form a bionic The telescopic tissue, wherein each of the telescopic base units in the bionic extension structure has electromagnetic coils 3 connected in parallel to each other to form two ends of the power input of the bionic telescopic structure, and the two ends of the power input are matched with the power source.
  • the telescopic base unit of one bionic telescopic chain is staggered with respect to the telescopic base unit of another bionic telescopic chain, and can be connected by a flexible artificial bionic soft material to make the structure More compact and not discrete from each other.
  • the bayonet 10 provided at the front end of the spool 6 of one of the telescopic base units is coupled to the latching hole 9 provided in the inner tube wall of the rear end of the metal conduit 7 of the other telescopic base unit.
  • the metal conduit 7 is composed of a titanium alloy.
  • the elastically expandable casing 2 is composed of an elastic wear-resistant rubber.
  • the front and rear open ends of the elastic telescopic housing 2 are respectively fixed to the front and rear retaining rings 8, 4 respectively disposed on the spool 6 and the duct 7; the front and rear retaining rings 8, 4 and the strut 6 are respectively in the duct 7
  • the reciprocating stroke is matched.
  • the core of the electromagnetic coil 3 is made of copper.
  • the elastic telescopic housing 2 of the present invention is entirely made of elastic plastic.
  • FIG. 1 is a contraction state after the current is not applied in the original state, and a plurality of bionic telescopic base unit connections are formed similarly. Biomimetic stretch tissue of muscle tissue.
  • the present invention combines the development status of bionic technology, mechanical, electromagnetic, electronic control, lubrication structure and other related fields, and utilizes modern high-tech micro-electromechanical and micro-machining technology to finally achieve a size below micron, as manufactured.
  • bionic telescopic base units if thousands of bionic telescopic base units are connected, mechanical motion strokes with a total length of more than 25% will be formed, and these mechanical bionic telescopic structures will be attached to humanoid robots or other classes.
  • the articulated metal skeleton or metal skeleton of the limb animal machinery can make the above-mentioned humanoid robot or other limb-like animal machinery more flexible.
  • FIG. 4 is a schematic diagram of the interconnection of a plurality of bionic telescopic base units, and the power supply must be connected in parallel.
  • Each bionic telescopic tissue can accurately control its applied force only by changing its length.
  • the connection between the two uses a flexible connection that is soft and can change direction.
  • the bionic telescopic tissue exhibits a constant ratio of properties: for various The size of the bionic telescopic tissue has the same mechanism.
  • bionic telescopic structure if the number of bionic telescopic base units can be greatly increased, will give the robot arm a very large telescopic force. Therefore, the present invention can be widely applied to various fields of production technology as an innovative micro-electromechanical organization for the difficulty in fabricating a machine driven by an electric motor.

Description

一种仿生伸缩基体单元 说明书
技术领域
本发明涉及应用于微机电技术领域，特别是一种仿生伸缩基体单元。
背景技术
现有诸多动力机械主要依靠电动机、发动机或液压马达来驱动，特别在许多工厂中的工业机器人都依靠电机来驱动，这使得机器人的机械臂的关节活动方式受到限制。此外，现有机器人相关的研究只是设法在如何改变类人机器人或其它类四肢动物机械的行走平衡，控制等相关领域，其仿生程度比较低，类人机器人或其它类四肢动物机械等行走等活动方式僵硬，也使其灵活性受到限制。
发明内容
本发明的目的在于提供一种仿生伸缩基体单元，它能够起到模仿动物肌肉组织伸缩而运动的功能，充分应用于类人机器人或类其它四肢动物机械技术中，使类人机器人或类其它四肢动物机械的活动更加灵活和自如。
本发明的目的是这样实现的：一种仿生伸缩基体单元，滑柱、金属导管、弹性伸缩壳体和电磁线圈构成伸缩基体单元，在弹性伸缩壳体内，由永磁体构成的滑柱经金属导管前端伸入金属导管中并与金属导管的内管壁滑动配合，导管的后端和滑柱的前端分别向前、后方穿出弹性伸缩壳体的前、后开口，且弹性伸缩壳体前、后开口端分别固接在金属导管的外管壁和滑柱上使金属导管和滑柱配合连接，弹性伸缩壳体的拉伸长度与滑柱在导管内往复行程相配合；缠绕在金属导管外周壁上的电磁线圈被弹性伸缩壳体罩住，电磁线圈的两端与电源正、负级对应配合连接。
本发明原理为：在每个仿生伸缩基体单元中，由永磁体构成的滑柱被缠在导管外管壁上的电磁线圈产生的磁力在导管内来回滑动，其仿生伸缩基体单元的结构类似于肌肉细胞的伸缩功能，模仿每个肌肉细胞伸缩的原理，使每个仿生伸缩基体单元集群同时协作而往复伸缩组成仿生伸缩组织，可应用在类人机器人或其它类四肢动物机械技术领域当中。本发明能够起到模仿动物肌肉组织伸缩而运动的功能，充分应用于类人机器人或类其它四肢动物机械技术中，使类人机器人或类其它四肢动物机械的活动更加灵活和自如。
附图说明
图1是本发明每个仿生伸缩基体单元处于伸展状态的剖视结构示意图；
图2是本发明每个仿生伸缩基体单元处于收缩状态的剖视结构示意图；
图3是本发明两个仿生伸缩基体单元连接的剖视结构示意图；
图4是本发明由伸缩基体单元连接构成的仿生伸缩链和仿生伸缩链组成的仿生伸缩组织的结构示意图。
具体实施方式
一种仿生伸缩基体单元，如图1至图4所示，滑柱6、金属导管7、弹性伸缩壳体2和电磁线圈3构成伸缩基体单元，在弹性伸缩壳体2内，由永磁体构成的滑柱6经金属导管7前端伸入金属导管7中并与金属导管7的内管壁滑动配合，导管7的后端和滑柱6的前端分别向前、后方穿出弹性伸缩壳体2的前、后开口，且弹性伸缩壳体2前、后开口端分别固接在金属导管7的外管壁和滑柱6上使金属导管7和滑柱6配合连接，弹性伸缩壳体2的拉伸长度与滑柱6在导管7内往复行程相配合；缠绕在金属导管7外周壁上的电磁线圈3被弹性伸缩壳体2罩住，电磁线圈3的两端与电源正、负级对应配合连接。
每个上述伸缩基体首、尾连接成排，即相邻伸缩基体单元其滑柱6前端与另一个伸缩基体的金属导管7后端相互配合连接构成仿生伸缩链；由仿生伸缩链相配合形成仿生伸缩组织，其中，仿生伸作组织中的每个伸缩基体单元其电磁线圈3之间相互并联构成该仿生伸缩组织的电源输入两端，此电源输入两端与电源相配合。当然，在相邻两仿生伸缩链当中，一仿生伸缩链的伸缩基体单元相对于另一仿生伸缩链的伸缩基体单元交错排列，并可通过柔韧性好的人造仿生软体材料相连接，使之结构更紧凑，相互不离散。
一个伸缩基体单元的滑柱6前端设置的卡销10与另一个伸缩基体单元的金属导管7后端内管壁设置的卡孔9相互配合固接。
金属导管7由钛合金构成。弹性伸缩壳体2由弹性耐磨橡胶构成。弹性伸缩壳体2前、后开口端分别固接滑柱6和导管7上各自设置的前、后挡环8、4上；前、后挡环8、4分别与滑柱6在导管7内的往复行程相配合。电磁线圈3的线芯由铜构成。
如图1至图4所示，本发明弹性伸缩壳体2整体采用弹性塑胶制造，图1是没有电流原始状态下图是通电后的收缩状态，如多个仿生伸缩基体单元连接就会形成类似肌肉组织的仿生伸缩组织。
综上所述，本发明结合仿生技术、机械、电磁、电子控制、润滑结构等相关方面领域的发展现状，利用现代高新微机电和微加工技术，最终能做成微米级以下的尺寸，如同制造集成大规模集成电路一样，如有成千上万的仿生伸缩基体单元连接起来，就会形成总长度超过25%的机械运动行程，将这些机械式仿生伸缩组织附着在如类人机器人或其它类四肢动物机械的铰接的金属骨骼或金属骨架上，就可以使上述类人机器人或其它类四肢动物机械更加灵活自如。
当多股仿生伸缩组织附着在铰接的机械臂上时，仿生伸缩基体单元电磁线圈两端同电源连接，电流的大小会产生磁场，磁场将吸引中间的动块移动，使弹性伸缩壳体2产生变形，形成位移行程。如图2即是收缩后的状态，仿生伸缩基体单元完成一个动作后释放电流，仿生伸缩基体单元将复原，如有其他外力不能复原，就需另一股如肌肉组织起拉伸或收缩作用的仿生伸缩组织拉伸，因为机械臂则在其中承担杠杆的作用。如图1和图2为伸展和收缩的状态。
本发明通过电流的控制实现各种运动，即便是有个别伸缩基体单元出现故障，也不会影响整体动作和运动。通过电信号对电流的控制类似对神经刺激的响应，如图4是众多仿生伸缩基体单元相互连接的示意图，供电电源须采用并联连接。每股仿生伸缩组织只须改变其长度就能够准确地控制其施加的力量，相互之间的连接采用柔性连接即柔软并且可以改变方向；同时，仿生伸缩组织表现出比例恒定的属性：对于各种尺寸大小的仿生伸缩组织，其机理都一样，相同的仿生伸缩组织，如果其仿生伸缩基体单元的数量能大幅增加，将赋予机械臂非常大的伸缩力量。因此，对于难以制作以电动马达驱动的机械，本发明可作为一种革新的微机电组织大范围应用于各种生产技术领域。
原申请号 200910113501.X
申请日 06.12月.2010 （06.12.2010）
申请人 赵德政 ZHAO Dezheng
地址 830000
新疆乌鲁木齐天津南路188号银苑大厦2单元502室
NO:188 Tianjinnan Road Yinyuan dasha 2-502 Xinjiang wulumuqi Xinshiqu 830000 China

Claims (1)

  1. 权利要求
    1、 一种仿生伸缩基体单元，其特征是：滑柱(6)、金属导管(7)、弹性伸缩壳体(2)和电磁线圈(3)构成伸缩基体单元，在弹性伸缩壳体(2)内，由永磁体构成的滑柱(6)经金属导管(7)前端伸入金属导管(7)中并与金属导管(7)的内管壁滑动配合，导管(7)的后端和滑柱(6)的前端分别向前、后方穿出弹性伸缩壳体(2)的前、后开口，且弹性伸缩壳体(2)前、后开口端分别固接在金属导管(7)的外管壁和滑柱(6)上，弹性伸缩壳体(2)的拉伸长度与滑柱(6)在导管(7)内往复行程相配合；缠绕在金属导管(7)外周壁上的电磁线圈(3)被弹性伸缩壳体(2)罩住，电磁线圈(3)的两端与电源正、负级对应配合连接。
    2、 根据权利要求1所述的仿生伸缩基体单元，其特征是：其特征是：相邻伸缩基体单元其滑柱(6)前端与另一个伸缩基体的金属导管(7)后端相互配合固接构成仿生伸缩链；由仿生伸缩链相配合形成仿生伸缩组织，其中，仿生伸作组织中的每个伸缩基体单元其电磁线圈(3)之间相互并联构成该仿生伸缩组织的电源输入两端，此电源输入两端与电源相配合。
    3、 根据权利要求2所述的仿生伸缩基体单元，其特征是：一个伸缩基体单元的滑柱(6)前端设置的卡销(10)与另一个伸缩基体单元的金属导管(7)后端内管壁设置的卡孔(9)相互配合固接。
    4、 根据权利要求2所述的仿生伸缩基体单元，其特征是：在相邻两仿生伸缩链当中，一仿生伸缩链的伸缩基体单元相对于另一仿生伸缩链的伸缩基体单元交错排列。
    5、 根据权利要求1或2所述的仿生伸缩基体单元，其特征是：金属导管(7)由钛合金构成。
    6、 根据权利要求1或2所述的仿生伸缩基体单元，其特征是：弹性伸缩壳体(2)由弹性耐磨橡胶构成。
    7、 根据权利要求1或2所述的仿生伸缩基体单元，其特征是：弹性伸缩壳体(2)前、后开口端分别固接滑柱(6)和导管(7)上各自设置的前、后挡环(8)、(4)上；前、后挡环(8)、(4)分别与滑柱(6)在导管(7)内的往复行程相配合。
    8、 根据权利要求1或2所述的仿生伸缩基体单元，其特征是：电磁线圈(3)的线芯由铜构成。
PCT/CN2010/079486 2009-10-27 2010-12-07 一种仿生伸缩基体单元 WO2011050758A1 (zh)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP10826121.5A EP2495213A4 (en) 2009-10-27 2010-12-07 BIONIC TELESCOPIC MATRIX UNIT
EA201270603A EA201270603A1 (ru) 2009-10-27 2010-12-07 Бионическая телескопическая матричная единица
US13/496,343 US8395466B2 (en) 2009-10-27 2010-12-07 Bionic telescopic matrix unit
JP2012531230A JP5433082B2 (ja) 2009-10-27 2010-12-07 バイオニック伸縮基体ユニット

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CN200910113501XA CN101717064B (zh) 2009-10-27 2009-10-27 一种仿生伸缩基体单元
CN200910113501.X 2009-10-27

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WO2011050758A1 true WO2011050758A1 (zh) 2011-05-05

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US (1) US8395466B2 (zh)
EP (1) EP2495213A4 (zh)
JP (1) JP5433082B2 (zh)
CN (1) CN101717064B (zh)
EA (1) EA201270603A1 (zh)
WO (1) WO2011050758A1 (zh)

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CN101717064B (zh) 2009-10-27 2012-04-25 赵德政 一种仿生伸缩基体单元
CN202622816U (zh) * 2011-11-06 2012-12-26 赵德政 仿生伸缩组织
WO2015017898A1 (en) * 2013-08-08 2015-02-12 Clarus Technologies Pty Ltd Bionic muscle
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