WO2019065860A1

WO2019065860A1 - Artificial muscle

Info

Publication number: WO2019065860A1
Application number: PCT/JP2018/035996
Authority: WO
Inventors: 隼人寳満; 片山　隆; 田中　次郎; 和之日笠
Original assignee: 株式会社クラレ
Priority date: 2017-09-29
Filing date: 2018-09-27
Publication date: 2019-04-04
Also published as: JPWO2019065860A1

Abstract

The present invention pertains to an artificial muscle comprising an elastic-body tube and a sleeve containing high-strength fibers, wherein: the outside of the elastic-body tube is covered by the sleeve; the tube coverage rate is 70-100%; and sleeve filling rate is 1-40%.

Description

Artificial muscle

The present invention relates to an artificial muscle which is high in strength and is excellent in cutting resistance and driveability.

In recent years, McKibben type artificial muscle is known as an artificial muscle, in which air is injected into a hollow elastic body to be expanded and the elastic body is contracted in its longitudinal direction (for example, Patent Document 1) . In Patent Document 1, the braided tube is biased even if the contraction operation of the artificial muscle is repeated by using an artificial muscle comprising a hollow elastic tube and a braided tube in which a crossing portion of a filament including welding threads is welded. Without, the artificial muscle which can prevent the burst of the elastic tube is introduced.

JP, 2016-173117, A

However, since artificial muscle is used for an arm portion of a robot or a device for assisting an operation in which a person holds an article etc., the artificial muscle is used, for example, in the case of using a blade or the like or when there are protrusions in the device. However, the elastic tube and the braided tube are damaged, and there is a problem that the contraction operation can not be expressed. In addition, when a heavy load is lifted, plastic deformation occurs in the fibers constituting the braided tube when a high load is applied to the artificial muscle, and there is a problem that the contraction operation can not be realized.

The present invention solves the problems in the prior art and provides an artificial muscle which is high in strength, excellent in cut resistance and drivability, and excellent in durability when used repeatedly. It is.

As a result of intensive studies to solve the above-mentioned problems, the present inventors are able to obtain high-strength artificial muscle by appropriately arranging high-strength fibers outside the artificial muscle, and an external load is applied. The present invention has been completed by finding that an artificial muscle which is less likely to be damaged and which is excellent in cut resistance and driveability can be obtained.

That is, the artificial muscle of the present invention includes the following aspects.
[1] An artificial muscle comprising an elastic tube and a sleeve containing high strength fibers, wherein the outside of the elastic tube is covered with the sleeve, and the tube coverage is 70 to 100%, And an artificial muscle having a sleeve filling rate of 1 to 40%.
[2] The artificial muscle according to the above [1], wherein the high strength fiber is a liquid crystal polyester fiber.
[3] The artificial muscle according to the above [1] or [2], wherein the strength of the high strength fiber is 18 cN / dtex or more.
[4] The artificial muscle according to any one of the above [1] to [3], wherein the elongation of the high strength fiber is 7% or less.
[5] The artificial muscle according to any one of the above [1] to [4], wherein an average strength of fibers used for the sleeve is 13 cN / dtex or more.
[6] The artificial muscle according to any one of the above [1] to [5], wherein the dynamic friction coefficient of the elastic tube is 1.0 or less.
[7] The artificial muscle according to any one of the above [1] to [6], wherein the single fiber fineness of the fibers constituting the sleeve is 0.5 dtex or more and 500 dtex or less.

According to the present invention, it is possible not only to obtain a high strength artificial muscle, but also to be hard to be damaged even when an external load is applied, and excellent in cut wound resistance and driveability, and also in durability when used repeatedly. It is possible to obtain an excellent artificial muscle.

FIG. 1 is a schematic enlarged plan view for explaining the artificial muscle of the present invention. FIG. 2 is a schematic enlarged plan view of a side surface of a sleeve used in the present invention. FIG. 3 is a schematic enlarged plan view of a cross section of the artificial muscle of the present invention.

Hereinafter, a mode for carrying out the present invention will be described with an example shown in the drawings. FIG. 1 is a schematic enlarged plan view for explaining the artificial muscle of the present invention. As shown, the artificial muscle of the present invention, which expands and contracts by fluid pressure, is mainly composed of an elastic tube 10 and a sleeve 20 disposed on the outer surface of the elastic tube. A compressor or a valve is connected to the end of the artificial muscle via an air supply tube or the like.

The elastic tube 10 is made of an elastic body formed in a hollow cylindrical shape. This is configured to expand by air supply from a compressor or the like. The elastic tube 10 is not particularly limited as long as it is a soft rubber that can expand by air supply from an air compressor, and examples thereof include rubber having a hardness of 60 or less. For example, if it is a rubber having a hardness of 60 or less, it is easy to ensure sufficient artificial muscle contraction, and a rubber having a hardness of 55 or less is more preferable. Also, if the elastic tube is too soft, the tube is likely to bite into the mesh of fibers constituting the sleeve, so the hardness of the elastic tube (soft rubber) can be improved from the viewpoint of improving the drivability and durability of the artificial muscle. Is preferably a hardness A10 or more. As a material, rubber having a crosslinking point such as silicone is more preferable from the viewpoint of durability.

In the present invention, the dynamic friction coefficient of the elastic tube 10 is preferably 1.0 or less, more preferably 0.8 or less, and still more preferably 0.6 or less. When the dynamic friction coefficient of the elastic tube is equal to or less than the above upper limit, the fibers constituting the sleeve 20 are less likely to be caught on the outer surface of the elastic tube, and biting of the fibers into the elastic tube can be reduced. In particular, in the present invention, the sleeve 20 is configured using high-strength fibers, but in this case, the bite of the fibers when the elastic tube is expanded becomes larger as compared with, for example, polyester fibers. Not only reduces the drivability of the artificial muscle but also the elastic tube tends to rupture when used repeatedly, but controlling the dynamic friction coefficient of the elastic tube suppresses the biting of fibers into the tube. The durability of artificial muscles that are used repeatedly can be improved. The lower limit of the dynamic friction coefficient of the elastic tube 10 is not particularly limited, and is usually 0.1 or more, and may be 0.2 or more, for example.
The dynamic friction coefficient can be measured according to the method defined in ASTM D-1894.

In the present invention, the sleeve means a tubular braid disposed on the outer surface of the elastic tube, and for example, in FIG. 1, the sleeve 20 allows the fiber 21 to move around the outer wall of the elastic tube 10 so as to be freely movable. The bag is knitted together. There is no particular limitation on the method of weaving and knitting the fibers 21 together. For example, using a general stringing machine, a plurality of (for example, three or more) fibers 21 may be used in accordance with the tube diameter of the tube 10. It may be combined in an oblique direction alternately.

It is important that the fibers 21 used for the sleeve 20 of the artificial muscle of the present invention include high-strength fibers from the viewpoint of imparting durability and cut resistance to the artificial muscle. In addition to high strength fibers, fibers 21 may be polybutylene terephthalate fibers, polyethylene terephthalate fibers, polyamide fibers, polyethylene fibers, polypropylene fibers, polystyrene fibers, polyvinyl chloride fibers, polyvinyl alcohol fibers, in addition to high strength fibers, as long as the effects of the present invention are not impaired. Thermoplastic fibers such as polycarbonate fiber, polylactic acid fiber, polyurethane fiber and acrylic fiber may be contained alone or in combination of two or more. When high strength fibers and other fibers other than the above are contained as the fibers constituting the sleeve, for example, high strength and high strength fibers are distributed uniformly from the viewpoint of securing high cut resistance. Preferably, the sleeve is constructed, for example, by alternately interlacing fibers with other fibers.

In the contraction operation, in the contraction operation, the elastic muscle tube 10 is expanded in the radial direction by the air supplied from the compressor or the like, and the movement is limited by the sleeve 20, so that the artificial muscle is shortened in the axial direction. To contract. Further, in the relaxation operation, the valve is released to exhaust, or the elastic tube 10 which is forcibly expanded by inhaling is returned to the original state, and the axial length returns to the original. At this time, in the artificial muscle of the present invention, the intersection portion 22 of the sleeve 20 performs a pantograph operation around the intersection portion 22. Therefore, the sleeve 20 is expanded in the radial direction and axially shortened, and the artificial muscle contracts. Take action.

Hereinafter, the configuration of the artificial muscle sleeve 20 of the present invention will be described in more detail. FIG. 2 is a schematic enlarged plan view of a sleeve 20 for explaining an example of the artificial muscle braided tube of the present invention. In the figure, the part which attached | subjected the code | symbol same as FIG. 1 represents the same thing, and abbreviate | omits detailed explanation. In the example shown in FIG. 2, the fibers 21 of the sleeve 20 are alternately braided and bag-woven.

Next, high-strength fibers that need to be contained in the fibers 21 used for the sleeve 20 of the present invention will be described. In the present invention, the high strength fiber means a fiber having a tensile strength of 18 cN / dtex or more, and the high strength fiber used in the artificial muscle of the present invention can be any of inorganic fiber and organic fiber as long as it exhibits the above strength. Inorganic fibers include carbon fibers, and organic fibers include liquid crystal polyester fibers, aramid fibers (for example, para-aramid fibers), polyparaphenylene benzobisoxazole (PBO) fibers, and super fibers. High molecular weight polyethylene fibers and the like can be mentioned. These fibers may be used alone or in combination of two or more. Further, among these, the liquid crystal polyester fiber can be more preferably used because plastic deformation hardly occurs, the water absorption is low, and the cut resistance is high.

The liquid crystalline polyester fiber used in the artificial muscle of the present invention can be obtained by melt spinning liquid crystalline polyester. The liquid crystalline polyester is, for example, composed of repeating structural units derived from an aromatic diol, an aromatic dicarboxylic acid, an aromatic hydroxycarboxylic acid, etc., and an aromatic diol, an aromatic dicarboxylic acid, an aromatic as long as the effects of the present invention are not impaired. The structural unit derived from hydroxycarboxylic acid is not particularly limited as to its chemical constitution. Moreover, in the range which does not inhibit the effect of this invention, liquid crystalline polyester may contain the structural unit derived from aromatic diamine, aromatic hydroxyamine, or aromatic aminocarboxylic acid. For example, examples shown in Table 1 can be given as preferable structural units.

Y is each independently a hydrogen atom, a halogen atom (for example, a fluorine atom, a chlorine atom, a bromine atom, an iodine atom, or the like, an alkyl group (for example, a methyl group, An alkyl group having 1 to 4 carbon atoms such as ethyl, isopropyl, t-butyl, etc., an alkoxy group (eg, methoxy, ethoxy, isopropoxy, n-butoxy etc.), an aryl group (eg, Phenyl group, naphthyl group etc., aralkyl group [benzyl group (phenylmethyl group), phenethyl group (phenylethyl group) etc.], aryloxy group (eg, phenoxy group etc.), aralkyloxy group (eg, benzyloxy group etc.) And the like.

More preferable structural units include the structural units described in Examples (1) to (18) shown in Table 2, Table 3 and Table 4 below. In addition, when the structural unit in a formula is a structural unit which can show several structures, you may use it as a structural unit which comprises a polymer combining 2 or more types of such structural units.

In the constitutional units of Tables 2, 3 and 4, n is an integer of 1 or 2, and each constitutional unit n = 1, n = 2 may be present alone or in combination, and Y1 and Y2 are And each independently a hydrogen atom, a halogen atom (eg, a fluorine atom, a chlorine atom, a bromine atom, an iodine atom, etc., an alkyl group (eg, a methyl group, an ethyl group, an isopropyl group, a t-butyl group, etc.) To 4), an alkoxy group (eg, methoxy, ethoxy, isopropoxy, n-butoxy etc.), an aryl group (eg, phenyl, naphthyl etc.), an aralkyl group [benzyl group (phenyl Methyl group), phenethyl group (phenylethyl group etc.), aryloxy group (eg phenoxy group etc.), aralkyloxy group (eg benzyloxy) May be a group). Of these, preferred Y, a hydrogen atom, a chlorine atom, a bromine atom, or include methyl group.

Further, examples of Z include a substituent represented by the following formula.

The preferred liquid crystal polyester may preferably be a combination having a naphthalene skeleton as a constituent unit. Particularly preferably, it contains both a constituent unit (A) derived from hydroxybenzoic acid and a constituent unit (B) derived from hydroxynaphthoic acid. For example, as the structural unit (A), the following formula (A) can be mentioned, and as the structural unit (B), the following formula (B) can be mentioned, and from the viewpoint of improving melt formability, The ratio of the unit (B) may be preferably in the range of 9/1 to 1/1, more preferably 7/1 to 1/1, and still more preferably 5/1 to 1/1.

In addition, the total of the structural unit of (A) and the structural unit of (B) may be, for example, 65 mol% or more, more preferably 70 mol% or more, and still more preferably 80 mol based on all the structural units. It may be% or more. In the polymer, in particular, a liquid crystalline polyester having 4 to 45 mol% of the constituent unit of (B) is preferable.

The melting point of the liquid crystalline polyester suitably used in the present invention is preferably in the range of 250 to 360.degree. C., more preferably 260 to 320.degree. In addition, melting | fusing point here is a main absorption peak temperature observed and measured with a differential scanning calorimeter (for example, DSC; Mettler "TA3000") based on a JIS K7121 test method. Specifically, after taking 10 to 20 mg of a sample in the above DSC apparatus and sealing it in an aluminum pan, flow 100 cc / min of nitrogen as a carrier gas and measure the endothermic peak when the temperature is raised at 20 ° C./min. . Depending on the type of polymer, if a clear peak does not appear in the 1st run in DSC measurement, raise the temperature to 50 ° C higher than expected flow temperature at a heating rate of 50 ° C / min, and at that temperature for 3 minutes After complete melting, it may be cooled to 50 ° C. at a temperature drop rate of −80 ° C./min, and then the endothermic peak may be measured at a temperature rise rate of 20 ° C./min.

In addition, thermoplastic polymers such as polyethylene terephthalate, modified polyethylene terephthalate, polyolefin, polycarbonate, polyamide, polyphenylene sulfide, polyether ether ketone, and fluorine resin are added to the above liquid crystal polyester in the range not to impair the effects of the present invention. It is also good. In addition, inorganic substances such as titanium oxide, kaolin, silica and barium oxide, carbon black, colorants such as dyes and pigments, various additives such as antioxidants, ultraviolet light absorbers and light stabilizers may be included.

The strength of the high strength fiber used in the artificial muscle of the present invention is preferably 18 cN / dtex or more. When the strength is 18 cN / dtex or more, sufficient artificial muscle contractility can be secured and cut resistance can be improved. More preferably, it is 20 cN / dtex or more, and particularly preferably 22 cN / dtex or more. The upper limit is not particularly limited, but is usually 100 cN / dtex or less. In addition, strength is calculated by the measuring method as described in the Example mentioned later.

The elongation of the high strength fiber used in the artificial muscle of the present invention is preferably 7% or less. It is excellent in suppression of the plastic deformation at the time of applying high load with respect to an artificial muscle as it is 7% or less. More preferably, it is at most 6%, particularly preferably at most 5%. The lower limit is not particularly limited, but is usually 0% or more. In addition, elongation is calculated by the measuring method as described in the Example mentioned later.

The single fiber fineness of the fibers used in the artificial muscle of the present invention is preferably 0.5 dtex or more and 500 dtex or less. When the single fiber fineness is 0.5 dtex or more, it becomes difficult to produce a fiber breakage in the fiber production process. In addition, when the single fiber fineness is 500 dtex or less, a sleeve having an appropriate thickness can be easily obtained, and high cut resistance can be secured. In particular, when a high strength fiber is used to form a sleeve, compared to the case of using, for example, a polyester fiber, the fiber is difficult to stretch and bend when the elastic tube expands, and therefore biting into the tube is difficult. Not only does this increase the size and lower the drivability of the artificial muscle, but it tends to cause the elastic tube to rupture easily when used repeatedly. By setting the single fiber fineness of the fibers constituting the sleeve below the upper limit value of the above range, the bite of the fibers into the tube is suppressed while securing high cut resistance, and the durability of the artificial muscle used repeatedly is improved. It will be easier to improve. In the present invention, the single fiber fineness is more preferably 0.5 dtex or more, further preferably 1 dtex or more, particularly preferably 1.5 dtex or more, and more preferably 200 dtex or less, still more preferably 15 dtex or less, particularly preferably 10 dtex or less.

In the present invention, the fibers constituting the sleeve may be monofilaments or multifilaments, but in the case of multifilaments, the fibers are more likely to be bent as compared to monofilaments having the same total fineness. The effect of suppressing the bite of fibers into the body tube is enhanced, and the durability of the artificial muscle can be further improved.

The total fineness of the above-mentioned fiber is preferably 10 dtex or more and 50000 dtex or less. If the total fineness is 10 dtex or more, it becomes difficult to produce fiber breakage in the sleeve production process and the like. When the total fineness is 50000 dtex or less, a sleeve having a suitable thickness is obtained, and a decrease in the covering area of the tube can be suppressed, and high cut resistance can be obtained. The total fineness is more preferably 15 dtex or more, further preferably 25 dtex or more, and more preferably 30,000 dtex or less, more preferably 10,000 dtex or less.

The sleeve used in the artificial muscle of the present invention may contain fibers other than high strength fibers, and when the sleeve contains high strength fibers and other fibers other than high strength fibers, the average strength of the fibers used in the sleeve Is preferably 13 cN / dtex or more. The above-mentioned average strength is calculated by the sum of the strength of each fiber used and the ratio of the number of sleeves of that fiber in the total number of sleeves (the number of bobbins set in a stringing machine). If the average strength of the fibers used for the sleeve is 13 cN / dtex or more, sufficient artificial muscle contractility can be secured and cut resistance can be improved. The average strength of the fibers is more preferably 14 cN / dtex or more, and particularly preferably 15 cN / dtex or more. The upper limit is not particularly limited, but is 100 cN / dtex or less. In addition, strength is calculated by the measuring method as described in the Example mentioned later.

It is important that the artificial muscle of the present invention has a tube coverage of 70 to 100%. The tube coverage can be arbitrarily changed by adjusting the total fineness of fibers used for the sleeve, the single fiber fineness, the fiber diameter, the number of strokes of the sleeve, and the formation angle. If the tube coverage is less than 70%, the tube inside the artificial muscle is easily cut with a knife or the like, and the contraction of the tube can not be performed due to damage to the tube. The tube coverage is preferably 75% or more, more preferably 80% or more, further preferably 90% or more, and for example, preferably 80 to 100%, more preferably 90 to 100%. The tube coverage can be calculated by the method described in the examples described later.

In addition, it is important that the artificial muscle of the present invention has a sleeve filling rate of 1 to 40%. The filling rate of the sleeve can be arbitrarily changed by adjusting the total fineness of fibers used for the sleeve, the single fiber fineness, the fiber diameter, the number of strokes of the sleeve, and the formation angle. If it exceeds 40%, the sleeves are too clogged, so the sleeve angle can not be changed and the contraction action can not be expressed as an artificial muscle. If it is less than 1%, the tube inside the artificial muscle is easily cut with a knife or the like, and the contraction of the tube does not occur because the tube is damaged. The sleeve filling factor is preferably 5% or more, more preferably 10% or more, and preferably 35% or less, more preferably 30% or less, for example, preferably 5 to 35%, more preferably 10 It is ~ 30%. The sleeve filling rate can be calculated by the method described in the examples described later.
When the tube coverage and the sleeve filling ratio are both in the above range, the characteristics of the high-strength fiber can be sufficiently exhibited, and it is possible to obtain an artificial muscle having high cut resistance and excellent drivability. .

Hereinafter, the present invention will be described in detail by way of examples, but the present invention is not limited at all by these examples. In addition, the measured value in an Example is measured by the following method.

(Strength, elongation, fineness)
The strength (cN / dtex) and the elongation (%) of the fibers used were 20 cm in sample length, an initial load of 0.25 cN / dtex, and a tensile speed of 10 cm /, in accordance with JIS L1013. The strength and elongation at break were measured under conditions of minutes, and an average value of n = 20 was adopted. The fineness [dtex] was determined by mass method.

(Average strength of fiber)
The average strength of the fibers was calculated by the sum of the strength of each fiber used and the ratio of the number of sleeves of each target fiber in the total number of sleeves (the number of bobbins set in the assembly machine).

(Sleeve strength)
The sleeve strength [N] is measured in accordance with the JIS L1013 test method, using a sleeve that has been conditioned in advance with a test length of 20 cm, an initial load of 0.25 cN / dtex and a tensile speed of 10 cm / min. The average value was adopted.

(Dynamic friction coefficient of elastic tube)
The dynamic friction coefficient of the elastic tube was measured with the number of tubes wound around the load being 20 according to the method defined in ASTM D-1894.

(Hardness of elastic tube)
The hardness (hardness A) of the elastic tube was measured according to JIS K6253.

(Tube coverage)
The tube coverage [%] is determined from the artificial muscle diameter on the side of the artificial muscle from the artificial muscle diameter with respect to the central axis in the longitudinal direction of the artificial muscle, and the sleeve area by color image analysis with a microscope (Keyence VHX-5000) Were identified, and the coverage was determined by the following equation from the area (S1) of the rectangle described above.
Tube coverage [%] = sleeve area [mm ² ] / S1 [mm ² ] × 100
In addition, the area (S1) of the rectangle for calculating a tube coverage was calculated by the method demonstrated below using FIG.
FIG. 2 is a schematic enlarged plan view of a side surface of a sleeve used in the present invention. As illustrated, the rectangular area (S1) for calculating the tube coverage was calculated by the vertical and horizontal lengths shown below. The longitudinal length 23 is a length obtained by extending the length of an artificial muscle diameter [mm] × 0.4 in the width direction of the sleeve from the central axis in the longitudinal direction of the artificial muscle (ie, the artificial muscle diameter Calculated as [mm] × 0.8). The lateral length 24 was calculated as a length of an artificial muscle diameter [mm] × 2 in an arbitrary range filled with the sleeve in the longitudinal direction of the sleeve. The area of the rectangle (S1) was determined by the product of the vertical length 23 and the horizontal length 24 described above.

(Sleeve filling rate)
The sleeve filling rate [%] is the cross-sectional area (S2) between the outermost layer of the artificial muscle sleeve and the innermost layer (tube outermost layer) by the microscope (Keyence VHX-5000) for the cross section of the artificial muscle The cross-sectional area was specified by color image analysis, and the filling rate was determined by the following equation.
Sleeve filling rate [%] = sleeve cross sectional area [mm ² ] / S 2 [mm ² ] × 100
The cross-sectional area (S2) formed between the outermost layer and the innermost layer of the artificial muscle sleeve was calculated by the method described below with reference to FIG.
FIG. 3 is a schematic enlarged plan view of a cross section of the artificial muscle of the present invention. As shown, the outermost layer of the artificial muscle sleeve is obtained by image analysis using a microscope to find the farthest point between the center point 30 of the tube and each fiber (fiber bundle in the case of multifilament) constituting the sleeve, An outer peripheral circle 31 having a radius equal to the average value of the farthest points of 30 and all fibers is determined. The area obtained by subtracting the area of the tube and the tube cavity specified by the color image analysis from the area of the outer circumferential circle 31 was calculated as a cross-sectional area (S2) formed between the outermost layer and the innermost layer of the artificial muscle sleeve.

(Artificial muscle contraction evaluation)
A 20 cm long artificial muscle was prepared, and the hole at one end of the tube was plugged with a resin, and the tube at the other end was connected to a regulator and an air compressor with an on-off valve. After adjusting the air pressure with a regulator, the result of repeating 20% expansion and contraction 10 times using an on-off valve was evaluated based on the following criteria.
A: Stretches 10 times or more.
B: It does not expand and contract in less than 10 times.

(Artificial muscle strength)
The artificial muscle strength was determined from the artificial muscle strength and the artificial muscle cross section according to the following equation. The artificial muscle strength is the same as the JIS L1013 test method, and the artificial muscle strength is adjusted in advance to a test length of 20 cm, an initial load of 0.25 [cN / dtex] and a tensile speed of 10 cm / min. Were measured, and an average value of n = 20 was adopted. Moreover, the artificial muscle cross-sectional area measured the diameter of the artificial muscle with a caliper, and calculated the area as a perfect circle.
Artificial muscle strength (N / mm ² ) = artificial muscle strength (N) / artificial muscle cross section (mm ² )

(Shrink evaluation after cut wound test)
After both ends of a 20 cm long artificial muscle were fixed and pressed vertically with a commercially available razor (manufactured by Feather Co.) with a load of 0.5 [N], the same evaluation as the artificial muscle contraction evaluation described above was performed .
A; stretches 10 times or more.
B: It does not expand and contract in less than 10 times.

(Tube durability evaluation)
A 20 cm long artificial muscle was prepared, and the hole at one end of the tube was plugged with a resin, and the tube at the other end was connected to a regulator and an air compressor with an on-off valve. After adjusting the air pressure with the regulator, the result of repeating 20% expansion and contraction 5,000 times using the on-off valve was evaluated based on the following criteria.
A: There is no rupture of the tube.
B: Tube ruptured at 1,000 to 5,000 times.
C: Tube ruptured in less than 1,000 times.

Example 1
Set 24 bobbins of Bectran HT220 dtex / 40f (made by Kuraray Co., Ltd.), a liquid crystal polyester fiber, as a high-strength fiber in a KOKU-BUN Limited manufacturing machine and make the sleeve angle 19 °. Made. A silicone tube (manufactured by Takechi Co., Ltd.) having an outer diameter of 1.3 mm, an inner diameter of 0.9 mm, a hardness of 40, and a dynamic friction coefficient of 0.44 was inserted into the inside of the produced sleeve to produce an artificial muscle.

(Example 2)
As a high strength fiber, set 24 bobbins of Bectran HT280 dtex / 50f (made by Kuraray Co., Ltd.), a liquid crystal polyester fiber, on a KOKUBUNN Limited stringing machine and make the sleeve angle 19 degrees. Made. A silicone tube (manufactured by Takechi Co., Ltd.) having an outer diameter of 1.3 mm, an inner diameter of 0.9 mm, a hardness of 40, and a dynamic friction coefficient of 0.44 was inserted into the inside of the produced sleeve to produce an artificial muscle.

(Example 3)
Set 24 bobbins of Bectran HT110 dtex / 20f (made by Kuraray Co., Ltd.), a liquid crystal polyester fiber, as a high-strength fiber in a KOKU-BUN Limited manufacturing machine and make the sleeve angle 19 degrees. Made. A silicone tube (manufactured by Takechi Co., Ltd.) having an outer diameter of 1.3 mm, an inner diameter of 0.9 mm, a hardness of 40, and a dynamic friction coefficient of 0.44 was inserted into the inside of the produced sleeve to produce an artificial muscle.

(Example 4)
As a high-strength fiber, set 16 bobbins of Bectran HT220 dtex / 40f (made by Kuraray Co., Ltd.), a liquid crystal polyester fiber, on a KOKUBUNN Limited stringing machine and make the sleeve angle 19 degrees. Made. A silicone tube (manufactured by Takechi Co., Ltd.) having an outer diameter of 1.3 mm, an inner diameter of 0.9 mm, a hardness of 40, and a dynamic friction coefficient of 0.44 was inserted into the inside of the produced sleeve to produce an artificial muscle.

(Example 5)
A bobbin of 32 monofilaments of Bectran HT22 dtex / 1f (made by Kuraray Co., Ltd.), which is a liquid crystal polyester fiber, is set as a high strength fiber in a Kokbun Limited stringing machine, and the sleeve angle is 19 degrees. Was produced. A silicone tube (manufactured by Takechi Co., Ltd.) having an outer diameter of 0.6 mm, an inner diameter of 0.5 mm, a hardness of 40, and a dynamic friction coefficient of 0.44 was inserted inside the produced sleeve to produce an artificial muscle.

(Example 6)
As high-strength fibers, set each of 12 bottles, 24 bobbins in total in Kokbun Limited's stringing machine, making the liquid crystalline polyester fiber Bectran HT 220 dtex / 40 f (made by Kuraray Co., Ltd.) and Bectran HT 220 dtex / 1 f mutually different. The sleeve was manufactured in such a manner that the set angle was 19 degrees. A silicone tube (manufactured by Takechi Co., Ltd.) having an outer diameter of 1.3 mm, an inner diameter of 0.9 mm, a hardness of 40, and a dynamic friction coefficient of 0.44 was inserted into the inside of the produced sleeve to produce an artificial muscle.

(Example 7)
As high-strength fibers, Bectran HT220 dtex / 40f (made by Kuraray Co., Ltd.), which is a liquid crystal polyester fiber, and polybutylene terephthalate (PBT) fiber 220 dtex / 1f are mutually made different, 12 bobbins each, 24 bobbins in total The sleeve was set to a braiding machine, and the sleeve was made to have a set angle of 19 degrees. A silicone tube (manufactured by Takechi Co., Ltd.) having an outer diameter of 1.3 mm, an inner diameter of 0.9 mm, a hardness of 40, and a dynamic friction coefficient of 0.44 was inserted into the inside of the produced sleeve to produce an artificial muscle.

(Comparative example 1)
Set 24 bobbins of Bectran HT440 dtex / 80f (made by Kuraray Co., Ltd.), a liquid crystal polyester fiber, as a high-strength fiber in a KOKUBUNN Limited stringing machine and make the sleeve angle 19 °. Made. A silicone tube (manufactured by Takechi Co., Ltd.) having an outer diameter of 1.3 mm, an inner diameter of 0.9 mm, a hardness of 40, and a dynamic friction coefficient of 0.44 was inserted into the inside of the produced sleeve to produce an artificial muscle.

(Comparative example 2)
Set 8 bobbins of Bectran HT220 dtex / 40f (made by Kuraray Co., Ltd.), a liquid crystal polyester fiber, as a high-strength fiber in a KOKU-BUN Limited manufacturing machine and make the sleeve angle 19 degrees. Made. A silicone tube (manufactured by Takechi Co., Ltd.) having an outer diameter of 1.3 mm, an inner diameter of 0.9 mm, a hardness of 40, and a dynamic friction coefficient of 0.44 was inserted into the inside of the produced sleeve to produce an artificial muscle.

(Comparative example 3)
As a high-strength fiber, set 32 bobbins of Bectran HT220 dtex / 40f (made by Kuraray Co., Ltd.), which is a liquid crystal polyester fiber, to a KOKU-BUN Limited making machine and make the sleeve angle 19 degrees. Made. A silicone tube (manufactured by Takechi Co., Ltd.) having an outer diameter of 1.3 mm, an inner diameter of 0.9 mm, a hardness of 40, and a dynamic friction coefficient of 0.44 was inserted into the inside of the produced sleeve to produce an artificial muscle.

(Comparative example 4)
Twenty-four bobbins of polybutylene terephthalate (PBT) fiber 220 dtex / 40 f were set in a KOKKUN Limited stringing machine, and a sleeve was manufactured so as to have a set angle of 19 degrees. A silicone tube (manufactured by Takechi Co., Ltd.) having an outer diameter of 1.3 mm, an inner diameter of 0.9 mm, a hardness of 40, and a dynamic friction coefficient of 0.44 was inserted into the inside of the produced sleeve to produce an artificial muscle.

(Comparative example 5)
Thirty-two bobbins of polybutylene terephthalate (PBT) fiber 220 dtex / 40 f were set in a KOKKUN Limited stringing machine, and a sleeve was manufactured so that the formation angle was 19 degrees. A silicone tube (manufactured by Takechi Co., Ltd.) having an outer diameter of 1.3 mm, an inner diameter of 0.9 mm, a hardness of 40, and a dynamic friction coefficient of 0.44 was inserted into the inside of the produced sleeve to produce an artificial muscle.

(Example 8)
As a high strength fiber, 24 bobbins of para-aramid fiber 220 dtex / 40 f were set in a KOKKUN Limited stringing machine, and a sleeve was manufactured so as to have a set angle of 19 degrees. A silicone tube (manufactured by Takechi Co., Ltd.) having an outer diameter of 1.3 mm, an inner diameter of 0.9 mm, a hardness of 40, and a dynamic friction coefficient of 0.44 was inserted into the inside of the produced sleeve to produce an artificial muscle.

(Example 9)
A bobbin of 24 monofilaments of Bectran HT220 dtex / 1f (made by Kuraray Co., Ltd.), which is a liquid crystal polyester fiber, is set as a high strength fiber in a Kokbun Limited stringing machine, and the sleeve angle is 19 degrees. Was produced. A silicone tube (manufactured by Takechi Co., Ltd.) having an outer diameter of 1.3 mm, an inner diameter of 0.9 mm, a hardness of 40, and a dynamic friction coefficient of 0.44 was inserted into the inside of the produced sleeve to produce an artificial muscle.

(Example 10)
Set 24 bobbins of Bectran HT220 dtex / 40f (made by Kuraray Co., Ltd.), a liquid crystal polyester fiber, as a high-strength fiber in a KOKU-BUN Limited manufacturing machine and make the sleeve angle 19 °. Made. A styrenic elastomer tube having an outer diameter of 1.3 mm, an inner diameter of 0.9 mm, a hardness of 40 and a dynamic friction coefficient of 2.46 was inserted into the inside of the produced sleeve to produce an artificial muscle.

(Example 11)
Set 24 bobbins of Bectran HT220 dtex / 40f (made by Kuraray Co., Ltd.), a liquid crystal polyester fiber, as a high-strength fiber in a KOKU-BUN Limited manufacturing machine and make the sleeve angle 19 °. Made. A styrenic elastomer tube having an outer diameter of 1.3 mm, an inner diameter of 0.9 mm, a hardness of 58 and a dynamic friction coefficient of 2.00 was inserted into the inside of the produced sleeve to produce an artificial muscle.

(Example 12)
Set 24 bobbins of Bectran HT220 dtex / 40f (made by Kuraray Co., Ltd.), a liquid crystal polyester fiber, as a high-strength fiber in a KOKU-BUN Limited manufacturing machine and make the sleeve angle 19 °. Made. A silicone tube (manufactured by Takechi Co., Ltd.) having an outer diameter of 1.3 mm, an inner diameter of 0.9 mm, a hardness of 40, and a dynamic friction coefficient of 2.13 was inserted into the inside of the produced sleeve to produce an artificial muscle.

As shown in Tables 5 and 6, in Examples 1 to 12 according to the present invention, an artificial muscle having high strength and excellent resistance to cutting and driving was obtained. In particular, in Examples 1 to 5 and 7, it was confirmed that while having high resistance to cut wounds, the driveability of the artificial muscle is also excellent, and the durability when repeatedly used is also excellent. On the other hand, in Comparative Examples 1 and 3, since the sleeve filling rate exceeded 40%, it was a result that the contraction action of the artificial muscle can not be expressed. In Comparative Example 2, the number of high-strength fibers in the sleeve was small, and the tube coverage was less than 70%, resulting in inferior cut resistance. In Comparative Example 4, since the fibers constituting the sleeve were PBT, the obtained artificial muscle was inferior in artificial muscle strength and cut wound resistance. In Comparative Example 5, since the sleeve filling rate exceeded 40%, it was a result that the contraction action of the artificial muscle can not be expressed.

The artificial muscle obtained by the present invention is high in strength and has excellent resistance to cutting and having excellent cutting resistance, and therefore, applications such as power assist equipment, rehabilitation equipment, artificial hand, soft robot hand, construction machine remote control manipulator, etc. Suitable for

DESCRIPTION OF SYMBOLS 10 elastic body tube 20 sleeve 21 fiber 22 crossing part 23 rectangular vertical length 24 for calculating tube coverage ratio rectangular horizontal length 25 for calculating tube coverage ratio for calculating tube coverage Rectangular area (S1)
30 Center point of tube 31 Outermost circle of sleeve and outer circumferential circle defined 32 Cross-sectional area formed between outermost layer and innermost layer of artificial muscle sleeve (S2)

Claims

An artificial muscle comprising an elastic body tube and a sleeve containing high strength fibers, the outer side of the elastic body tube being covered with the sleeve, the tube coverage being 70 to 100%, and the sleeve being filled An artificial muscle having a rate of 1 to 40%.
The artificial muscle according to claim 1, wherein the high strength fiber is a liquid crystal polyester fiber.
The artificial muscle according to claim 1 or 2, wherein the strength of the high strength fiber is 18 cN / dtex or more.
The artificial muscle according to any one of claims 1 to 3, wherein the elongation of the high strength fiber is 7% or less.
The artificial muscle according to any one of claims 1 to 4, wherein an average strength of fibers used for the sleeve is 13 cN / dtex or more.
The artificial muscle according to any one of claims 1 to 5, wherein a dynamic friction coefficient of the elastic tube is 1.0 or less.
The artificial muscle according to any one of claims 1 to 6, wherein a single fiber fineness of a fiber constituting the sleeve is 0.5 dtex or more and 500 dtex or less.