WO2022267501A1 - 一种聚合物纤维人工肌肉连续自动加捻收卷装置及方法 - Google Patents

一种聚合物纤维人工肌肉连续自动加捻收卷装置及方法 Download PDF

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Publication number
WO2022267501A1
WO2022267501A1 PCT/CN2022/077554 CN2022077554W WO2022267501A1 WO 2022267501 A1 WO2022267501 A1 WO 2022267501A1 CN 2022077554 W CN2022077554 W CN 2022077554W WO 2022267501 A1 WO2022267501 A1 WO 2022267501A1
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Prior art keywords
winding
stepping motor
twisting
wire feeding
seat
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PCT/CN2022/077554
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English (en)
French (fr)
Inventor
胡兴好
王英明
鲍先富
丁建宁
程广贵
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江苏大学
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Priority to US17/790,766 priority Critical patent/US20240167199A1/en
Priority to GB2208589.8A priority patent/GB2610470A/en
Publication of WO2022267501A1 publication Critical patent/WO2022267501A1/zh

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    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H7/00—Spinning or twisting arrangements
    • D01H7/02—Spinning or twisting arrangements for imparting permanent twist
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H1/00—Spinning or twisting machines in which the product is wound-up continuously
    • D01H1/14—Details
    • D01H1/18—Supports for supply packages
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H1/00—Spinning or twisting machines in which the product is wound-up continuously
    • D01H1/14—Details
    • D01H1/20—Driving or stopping arrangements
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H1/00—Spinning or twisting machines in which the product is wound-up continuously
    • D01H1/14—Details
    • D01H1/20—Driving or stopping arrangements
    • D01H1/24—Driving or stopping arrangements for twisting or spinning arrangements, e.g. spindles
    • D01H1/241—Driving or stopping arrangements for twisting or spinning arrangements, e.g. spindles driven by belt
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H1/00—Spinning or twisting machines in which the product is wound-up continuously
    • D01H1/14—Details
    • D01H1/36—Package-shaping arrangements, e.g. building motions, e.g. control for the traversing stroke of ring rails; Stopping ring rails in a predetermined position
    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H13/00—Other common constructional features, details or accessories
    • D01H13/10—Tension devices
    • D01H13/104—Regulating tension by devices acting on running yarn and not associated with supply or take-up devices

Definitions

  • the invention relates to the field of polymer fiber artificial muscles, in particular to a continuous automatic twisting and winding device and method for polymer fiber artificial muscles.
  • the polymer fiber artificial muscle was first proposed by Haines et al. in the article "Artificial Muscles from Fishing Line and Sewing Thread” [J]. (Science, 2014, 343(6173): 868-872). Compared with other helical fiber artificial muscles, polymer fiber artificial muscles have the advantages of large stress and strain, high energy density, strong stability, and low price. At present, many researchers are working on the research of its practical application.
  • Polymer fiber artificial muscles can be made by twisting polymer fibers. As mentioned in the Chinese invention patent with the application number CN202010932284.3, one end of the fiber is fixed on the motor shaft, and the other end is hung with a heavy object. Twisting is carried out until the fiber completely forms a helical structure, and thus the helical fiber artificial muscle is successfully prepared.
  • the Chinese patent invention with application number CN201810635660.5 proposes a quantitative preparation and testing device and method for polyamide fiber artificial muscle.
  • the device uses a stepping motor to achieve quantitative and controllable twisting of polyamide fibers; uses electric heating tubes to uniformly and quantitatively heat polyamide fiber artificial muscles, and uses thermal imagers for real-time monitoring and feedback; uses force sensors to detect polyamide fiber artificial muscles in real time. To realize the quantitative preparation of polyamide fiber artificial muscle and related tests of the force and temperature response characteristics of the muscle under load.
  • the fiber artificial muscle preparation method mentioned in the above-mentioned patent can only twist fibers of limited length, and cannot realize continuous twisting of fibers. Therefore, it is of great significance to invent a device that can continuously and automatically twist and wind polymer fibers for the application of polymer fiber artificial muscles.
  • the present invention aims to solve the limitation that the above-mentioned traditional fiber artificial muscle preparation method is inefficient and can only prepare artificial muscles of limited length.
  • the present invention provides a continuous automatic twisting and winding device for polymer fiber artificial muscles.
  • the device includes a wire feeding mechanism, a polymer fiber, a twisting mechanism, a winding mechanism, a translation mechanism and a bottom plate.
  • the central axis of the rolling bearing I in the wire feeding mechanism is horizontally aligned with the central axis of the spline shaft in the winding mechanism;
  • the polymer fibers are generally nylon fiber filaments, polyester fiber filaments, etc.;
  • the twisting mechanism, winding mechanism are all installed on the bottom plate;
  • the twisting mechanism connecting seat in the twisting mechanism is fixed on the front support seat in the winding mechanism;
  • the bearing with seat in the translation mechanism interferes with the spline shaft in the winding mechanism Mate connection.
  • the guide rod in the translation mechanism is installed on the rear support seat in the winding mechanism, and is fixed with a nut.
  • the above-mentioned wire feeding mechanism includes a torque motor, a torque motor mounting support, a wire collecting barrel I, a bottom plate of the wire feeding mechanism, a wire feeding pulley I, a wire feeding pulley II, a rolling bearing I and a wire feeding platform.
  • the torque motor is fixed on the bottom plate of the wire feeding mechanism through the torque motor mounting support; the wire hub I is installed on the output shaft of the torque motor.
  • the wire feeding pulley I and wire feeding pulley II are installed on the wire feeding platform, and the torque on the fiber can be prevented from being transmitted to the wire collecting drum I through the two wire feeding pulleys; the rolling bearing I is installed in the hole at the front end of the wire feeding platform In the process, the fiber passing through the rolling bearing can effectively reduce the wear of the fiber filament; the wire feeding platform is fixed on the bottom plate of the wire feeding mechanism.
  • the tension on the fiber filaments during the working process can be controlled by adjusting the output torque of the torque motor.
  • the above-mentioned twisting mechanism includes a synchronous pulley I, a synchronous belt I, a winding rod, a synchronous pulley II, a synchronous pulley support, a rolling bearing II, a connecting seat of a twisting mechanism, a stepping motor mounting support I and a stepping Motor I.
  • the synchronous pulley I is installed on the output shaft of the stepping motor I, and is limited by a set screw to prevent relative sliding; the stepping motor I is installed on the stepping motor mounting support I; the winding One end of the rod is tapped with an external thread to thread the timing pulley II; the timing pulley II is installed at one end of the support of the timing pulley and a set screw is used to prevent relative rotation; the inner side of the support of the timing pulley is installed with a rolling bearing II and It is an interference fit; the inner hole of the rolling bearing II and the shaft of the connecting seat of the twisting mechanism perform an interference fit; the connecting seat of the twisting mechanism is installed on the front support seat of the winding mechanism; the synchronous belt is installed on On the two synchronous pulleys mentioned above. In this way, the stepper motor I rotates the winding rod through the belt transmission mode, and the winding rod rotates with the polymer fiber to perform twisting operation.
  • the above-mentioned winding mechanism includes a front support base, a rolling bearing III, a rear support base, a hub II, a spline shaft, a spline bushing, a rolling bearing IV, a timing belt pulley III, a gear ring, a timing belt II, a synchronous Pulley IV, stepping motor mounting support II, stepping motor II.
  • the hub II is installed on one end of the spline shaft; the spline sleeve is in interference fit with the inner hole of the rolling bearing IV; the rolling bearing IV is installed in the front support seat, and is connected with the front
  • the inner hole of the support seat is an interference fit; the spline shaft is installed in the spline sleeve, and can slide relative to the axial direction; the inner hole of the rear support seat is also installed with a rolling bearing, and a flower is installed in the rolling bearing
  • the key shaft sleeve, the above-mentioned spline shaft passes through the spline shaft sleeve and is a clearance fit, and the spline shaft can slide axially relative to the spline shaft sleeve;
  • the position ring is located between the front and rear support seats; the inner hole of the synchronous pulley III is also equipped with a spline sleeve and is installed on the spline shaft, and is located
  • the above-mentioned translation mechanism includes a guide rod, a bearing with a seat, a translation connection seat, a screw nut, a trapezoidal screw, a coupling, a stepping motor mounting support III, and a stepping motor III.
  • One end of the guide rod is installed in the translation connecting seat, and the other end is screwed into a nut to limit the position;
  • the bearing with seat is installed on the left end of the translation connecting seat;
  • the screw nut is installed on the right end of the translation connecting seat;
  • the trapezoidal screw is screwed into the screw nut;
  • the stepping motor III is mounted on the stepping motor mounting support III;
  • the coupling connects the output shaft of the stepping motor III and the trapezoidal screw.
  • the stepper motor III drives the translation connecting seat to slide on the guide rod.
  • the polymer fiber can be continuously drawn from the hub I and twisted;
  • the tension on the polymer fiber can be accurately controlled, that is, the twisting load
  • the translation mechanism can make the hub II reciprocate in the axial direction, so that the artificial muscles can be evenly collected on the hub II.
  • the overall device has a simple and ingenious structure, and is easy to operate, and can quickly and continuously complete the preparation of polymer fiber artificial muscles.
  • Fig. 1 is the schematic diagram of the general assembly of the polymer fiber artificial muscle continuous automatic twisting and winding device of the present invention
  • Fig. 2 is a schematic diagram of the wire feeding mechanism of the present invention
  • Fig. 3 is a schematic diagram of the twisting mechanism of the present invention.
  • Fig. 4 is a schematic diagram of the winding mechanism of the present invention.
  • Fig. 5 is a schematic diagram of the translation mechanism of the present invention.
  • Fig. 1 is a schematic diagram of the general assembly of the polymer fiber artificial muscle continuous automatic twisting and winding device of the present invention.
  • the device includes a wire feeding mechanism 100 , a polymer fiber 200 , a twisting mechanism 300 , a winding mechanism 400 , a translation mechanism 500 and a bottom plate 600 .
  • the central axis of the rolling bearing I 107 in the wire feeding mechanism 100 is horizontally aligned with the central axis of the spline shaft 405 in the winding mechanism 400.
  • the polymer fibers 200 are generally nylon fiber filaments, polyester fiber filaments, etc.; the twisting mechanism 300, the winding mechanism 400 and the translation mechanism 500 are all installed on the base plate 600; the twisting connection seat 307 in the twisting mechanism 300 It is fixed on the front support seat 401 in the winding mechanism 400; the bearing with seat 502 in the translation mechanism 500 is connected with the spline shaft 405 in the winding mechanism 400 by interference fit.
  • the guide rod 501 in the translation mechanism 500 is installed on the rear support seat 403 in the winding mechanism 400, and is fixed with a nut.
  • FIG. 2 is a schematic diagram of the wire feeding mechanism 100 . As shown in Figure 2, it includes a torque motor 101, a torque motor mounting support 102, a wire collecting barrel I 103, a wire feeding mechanism bottom plate 104, a wire feeding pulley I 105, a wire feeding pulley II 106, a rolling bearing I 107 and a wire feeding platform 108 .
  • the torque motor 101 is fixed on the bottom plate 104 of the wire feeding mechanism through the torque motor mounting support 102; the wire collection tube I 103 is installed on the output shaft of the torque motor 101; the wire feeding pulley I 105, the wire feeding pulley II 106 Installed on the wire feeding platform 108, the torque on the fiber can be prevented from being transmitted to the hub I 103 through two wire feeding pulleys; the rolling bearing I 107 is installed in the hole at the front end of the wire feeding platform 108, and the fiber passes through the rolling bearing I 107 It can effectively reduce the wear and tear of fiber filaments; the wire feeding platform 108 is fixed on the bottom plate I 104 of the wire feeding mechanism. By adjusting the output torque of the torque motor I 101, the tension on the fiber filaments during the working process can be controlled. Both the hub I 103 and the wire feeding platform 108 are 3D printed parts.
  • FIG. 3 is a schematic diagram of a twisting mechanism 300 . As shown in Figure 3, it includes synchronous pulley I 301, synchronous belt I 302, winding rod 303, synchronous pulley II 304, synchronous pulley support 305, rolling bearing II 306, twisting mechanism connecting seat 307, stepping motor installation Support I 308 and stepper motor I 309.
  • the synchronous pulley I 301 is installed on the output shaft of the stepping motor I 309, and is limited by a set screw to prevent relative sliding; the stepping motor I 309 is installed on the stepping motor mounting support I 308; One end of the winding rod 303 is tapped with an external thread and threadedly connected with the above-mentioned synchronous pulley II 304; the synchronous pulley II 304 is installed on one end of the synchronous pulley support 305 and prevents relative rotation with a set screw; the synchronous belt Rolling bearing II 306 is installed inside the wheel support 305 and is an interference fit; the inner hole of the rolling bearing II 306 is interference fit with the shaft of the connecting seat 307 of the twisting mechanism; the synchronous belt 302 is installed on the two synchronous belts on wheels.
  • Stepping motor I 309 makes winding rod 303 rotate by the mode of belt transmission like this, and winding rod 303 rotates with polymer fiber and twists it.
  • the winding rod 303, the synchronous pulley support 305 and the twisting mechanism connecting seat 307 are metal processing parts, and others are purchased parts.
  • Stepping motor I 309 adopts 57 high-speed closed-loop stepping motors to ensure accurate speed without losing steps.
  • FIG. 4 is a schematic diagram of a winding mechanism 400 .
  • the winding mechanism includes a front support seat 401, a rolling bearing III 402, a rear support seat 403, a hub II 404, a spline shaft 405, a spline shaft sleeve 406, a rolling bearing IV 407, and a synchronous pulley III 408 , gear ring 409, synchronous belt II 410, synchronous pulley IV 411, stepping motor mounting support II 412, stepping motor II 413.
  • the hub II 404 is installed on one end of the spline shaft 405; the spline sleeve 406 is in interference fit with the inner hole of the rolling bearing IV 407; the rolling bearing IV 407 is installed on the front support seat 401, and is an interference fit with the inner hole of the front support seat 401; the spline shaft 405 is installed in the spline sleeve 406, and can slide relative to the axial direction; the inner hole of the rear support seat 403 Rolling bearings are also installed, and a spline sleeve is installed in the rolling bearing.
  • the above-mentioned spline shaft 405 passes through the spline sleeve and is a clearance fit, and the spline shaft 405 can slide axially relative to the spline sleeve (here The rolling bearing and the spline shaft sleeve are not shown in the figure); the spline shaft 405 is covered with two gear rings 409 and is located between the front and rear support seats 401, 403 (only one gear is shown in the figure ring); the inner hole of the synchronous pulley III 408 is also equipped with a spline shaft sleeve and installed on the spline shaft 405 (not shown in the spline shaft sleeve here), located between the two gear rings 409 ;
  • the synchronous pulley IV 411 is installed on the output shaft of the stepping motor II 413, and is limited by a set screw to prevent relative sliding; the stepping motor II 413 is installed on the stepping motor mounting support II 412 above;
  • the stepper motor II 413 drives the spline shaft 405 to rotate through a belt transmission mode, thereby making the hub II 404 rotate to complete the winding work.
  • the front and rear support seats 401, 403, the spline shaft 405 and the spline shaft sleeve 406 are metal processing parts; the hub II 404 and the gear ring 409 are 3D printing parts, and the rest are purchased parts.
  • FIG. 5 is a schematic diagram of a translation mechanism 500 . As shown in Figure 5, it includes a guide rod 501, a bearing with a seat 502, a translation connecting seat 503, a screw nut 504, a trapezoidal screw 505, a coupling 506, a stepping motor mounting support III 507, and a stepping motor III 508 .
  • the guide rod 501 is installed in the translation connecting seat 503, and one end of the guide rod 501 is screwed into a nut for limiting; the bearing with seat 502 is installed on the left end of the translation connecting seat 503; the screw nut 504 is installed in Translate the right end of the connecting seat 503; the trapezoidal screw 505 is screwed into the screw nut 504; the stepper motor III 508 is installed on the stepper motor mounting support III 507; the coupling 506 is connected The output shaft of the stepper motor III 508 and the trapezoidal screw mandrel 505. The stepper motor III 508 drives the translation connecting seat 503 to slide on the guide rod 501.
  • the guide rod 501 and the translation connecting seat 503 are metal processing parts, and the others are purchased parts.
  • the polymer fiber 200 is drawn out from the hub I 103, so that the fiber goes around two wire feed pulleys, namely the wire feed pulley I 105; the wire feed pulley II 106, and then passes through the rolling bearing I 107 and the winding rod 303 in sequence Finally tie on hub II 404.
  • the torque motor 101 is powered on and adjusted to an appropriate torque T.
  • Stepping motor I 309, stepping motor II 413, and stepping motor III 508 start to rotate simultaneously, and stepping motor I 309 drives synchronous pulley II 304 in the twisting mechanism 300 to rotate, and winding rod 303 follows synchronous pulley II 304 Rotate and the speed is ⁇ 1 .
  • the winding rod 303 drives the polymer fiber 200 to rotate and begins to twist it; the stepper motor II 413 drives the spline shaft 405 in the winding mechanism 400 to start to rotate at ⁇ 2 , and the wire collection tube II 404 follows the spline shaft 405 Turn together.
  • the hub II 404 starts to wind up the artificial muscle; the stepping motor III 508 rotates reciprocally at ⁇ 3 , and drives the translation connecting seat 503 on the guide rod 501 through the trapezoidal screw 505 and the screw nut 504 Reciprocating motion, the bearing with seat 502 drives the spline shaft 405 and the wire hub II 404 to reciprocate and translate so that the twisted polymer fiber 200 is evenly wound on the wire hub II 404, and the following relationship should be satisfied at this time:
  • d is the diameter of the polymer fiber 200
  • S is the lead of the trapezoidal screw 505 .
  • twisting load F satisfies the following relationship:
  • r 1 is the radius of the hub I 103
  • T is the output torque of the torque motor.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Textile Engineering (AREA)
  • Structural Engineering (AREA)
  • Ropes Or Cables (AREA)
  • Yarns And Mechanical Finishing Of Yarns Or Ropes (AREA)

Abstract

本发明涉及聚合物纤维人工肌肉，特指一种聚合物纤维人工肌肉连续自动加捻收卷装置及方法。该装置包括送丝机构、聚合物纤维、加捻机构、收卷机构、平移机构以及底板。所述送丝机构中滚动轴承Ⅰ的中心轴与收卷机构中花键轴的中心轴水平对齐；所述聚合物纤维一般为尼龙纤维丝、涤纶纤维丝等；所述加捻机构、收卷机构和平移机构全部安装在底板上；加捻机构中的加捻机构衔接座固定在收卷机构中的前支撑座上；平移机构中的带座轴承与收卷机构中的花键轴进行过盈配合连接。平移机构中的导杆安装在收卷机构中的后支撑座上，并用螺母进行固定。该装置提高了人工肌肉的制备效率，实现了聚合物纤维人工肌肉的自动化生产。

Description

一种聚合物纤维人工肌肉连续自动加捻收卷装置及方法 技术领域
本发明涉及聚合物纤维人工肌肉领域，具体涉及一种聚合物纤维人工肌肉连续自动加捻收卷装置及方法。
背景技术
聚合物纤维人工肌肉最早由Haines等人在《Artificial Muscles from Fishing Line and Sewing Thread》[J].(Science,2014,343(6173):868-872)文章中提出。相比于其他螺旋型纤维人工肌肉，聚合物纤维人工肌肉具有应力应变大、能量密度高、稳定性强、价格便宜等优点，目前许多科研工作者正致力于其实际应用的研究。
聚合物纤维人工肌肉可由聚合物纤维加捻制得，如申请号为CN202010932284.3的中国发明专利中所提到的，将纤维一端固定于电机轴上，另一端悬挂重物，用电机对其进行加捻直至纤维完全形成螺旋结构，这样螺旋型纤维人工肌肉就制备成功。
申请号为CN201810635660.5的中国专利发明提出了一种聚酰胺纤维人工肌肉的定量制备测试装置与方法。该装置采用步进电机实现聚酰胺纤维的定量可控扭转；利用电加热管均匀，定量地加热聚酰胺纤维人工肌肉，并利用热成像仪实时监测、反馈；采用力传感器实时检测聚酰胺纤维人工肌肉所受载荷力，实现聚酰胺纤维人工肌肉的定量制备与力、温度响应特性的相关测试。
然而上述专利所提及的纤维人工肌肉制备方法只能对有限长度的纤维进行加捻，并不能实现纤维的连续加捻。所以发明一种可对聚合物纤维进行连续自动加捻收卷的装置对聚合物纤维人工肌肉的应用具有十分重要的意义。
发明内容
本发明旨在解决上述传统纤维人工肌肉制备方法效率低且只能制备有限长度人工肌肉的限制，本发明提供了一种可对聚合物纤维进行连续自动加捻收卷，并且可以精确控制纤维人工肌肉加捻负载的装置。该装置大大提高了人工肌肉的制备效率，实现了聚合物纤维人工肌肉的自动化生产，对聚合物纤维人工肌肉的应用具有重大意义。
为实现上述目的，本发明提供了一种聚合物纤维人工肌肉连续自动加捻收卷装置。该装置包括送丝机构、聚合物纤维、加捻机构、收卷机构、平移机构以及底板。所述送丝机构中滚动轴承Ⅰ的中心轴与收卷机构中花键轴的中心轴水平对齐；所述聚合物纤维一般 为尼龙纤维丝、涤纶纤维丝等；所述加捻机构、收卷机构和平移机构全部安装在底板上；加捻机构中的加捻机构衔接座固定在收卷机构中的前支撑座上；平移机构中的带座轴承与收卷机构中的花键轴进行过盈配合连接。平移机构中的导杆安装在收卷机构中的后支撑座上，并用螺母进行固定。
进一步地，上述送丝机构包括力矩电机、力矩电机安装支座、集线筒Ⅰ、送丝机构底板、送丝滑轮Ⅰ、送丝滑轮Ⅱ、滚动轴承Ⅰ以及送丝平台。所述力矩电机通过力矩电机安装支座固定于送丝机构底板上；所述集线筒Ⅰ安装于力矩电机输出轴上。所述送丝滑轮Ⅰ、送丝滑轮Ⅱ安装于送丝平台上，通过两个送丝滑轮可防止纤维上的扭矩传到集线筒Ⅰ上；所述滚动轴承Ⅰ安装于送丝平台前端的孔中，纤维通过滚动轴承可有效减少纤维丝的磨损；所述送丝平台固定在送丝机构底板上。通过调节力矩电机输出力矩大小可以控制工作过程中纤维丝上的张力大小。
进一步地，上述加捻机构包括同步带轮Ⅰ、同步带Ⅰ、绕线杆、同步带轮Ⅱ、同步带轮支撑、滚动轴承Ⅱ、加捻机构衔接座、步进电机安装支座Ⅰ和步进电机Ⅰ。所述同步带轮Ⅰ安装在步进电机Ⅰ输出轴上，并通过紧定螺钉进行限位防止发生相对滑动；所述步进电机Ⅰ安装在步进电机安装支座Ⅰ上；所述绕线杆一端攻有外螺纹与上述同步带轮Ⅱ进行螺纹连接；所述同步带轮Ⅱ安装在同步带轮支撑一端并用紧定螺钉防止发生相对转动；所述同步带轮支撑内侧安装有滚动轴承Ⅱ并且为过盈配合；所述滚动轴承Ⅱ内孔与加捻机构衔接座的轴进行过盈配合；所述加捻机构衔接座安装在所述收卷机构的前支撑座上；所述同步带安装在所述的两个同步带轮上。这样步进电机Ⅰ通过带传动的方式使绕线杆转动，绕线杆带着聚合物纤维转动对其进行加捻操作。
进一步地，上述收卷机构包括前支撑座、滚动轴承Ⅲ、后支撑座、集线筒Ⅱ、花键轴、花键轴套、滚动轴承Ⅳ、同步带轮Ⅲ、挡位环、同步带Ⅱ、同步带轮Ⅳ、步进电机安装支座Ⅱ、步进电机Ⅱ。所述集线筒Ⅱ安装在所述花键轴的一端；所述花键轴套与所述滚动轴承Ⅳ内孔进行过盈配合；所述滚动轴承Ⅳ安装在所述前支撑座内，并且与前支撑座内孔为过盈配合；所述花键轴安装在所述花键轴套之中，并且可以进行轴向相对滑动；所述后支撑座内孔同样安装有滚动轴承，滚动轴承内安装有花键轴套，上述花键轴穿过所述花键轴套并且为间隙配合，且花键轴可相对花键轴套进行轴向滑动；所述花键轴上套有两个所述的挡位环并位于前后支撑座之间；所述同步带轮Ⅲ内孔同样安装有花键轴套并且安装在花键轴上，位于两个挡位环之间；所述同步带轮Ⅳ安装在步进电机Ⅱ的输出轴上，并通过紧 定螺钉进行限位防止发生相对滑动；所述步进电机Ⅱ安装在步进电机安装支座Ⅱ上；所述同步带Ⅱ安装在同步带轮Ⅲ、Ⅳ上。步进电机Ⅱ通过带传动的方式带动花键轴转动进而使集线筒Ⅱ转动完成收卷工作。
进一步地，上述平移机构包括导杆、带座轴承、平移衔接座、丝杆螺母、梯形丝杆、联轴器、步进电机安装支座Ⅲ、步进电机Ⅲ。所述导杆一端安装在所述平移衔接座中，另外一端旋入螺母用来限位；所述带座轴承安装在平移衔接座的左端；所述丝杆螺母安装在平移衔接座的右端；所述梯形丝杆旋入丝杆螺母之中；所述步进电机Ⅲ安装在所述步进电机安装支座Ⅲ上；所述联轴器连接步进电机Ⅲ的输出轴与梯形丝杆。步进电机Ⅲ驱动平移衔接座在导杆上进行滑动。
本发明有以下有益效果：
1.聚合物纤维可被从集线筒Ⅰ上源源不断地拉出并对其进行加捻；
2.通过调节力矩电机输出力矩大小可准确控制聚合物纤维上的张力也就是加捻负载；
3.集线筒Ⅱ在轴向上的转动使其可以对加捻完成的人工肌肉进行收卷；
4.平移机构可以使集线筒Ⅱ在轴向方向上往复移动，使人工肌肉均匀地收集在集线筒Ⅱ上。
5.整体装置结构简单、巧妙，操作便捷，可快速连续地完成聚合物纤维人工肌肉的制备。
附图说明
图1为本发明所述的聚合物纤维人工肌肉连续自动加捻收卷装置总装示意图；
图2为本发明所述送丝机构示意图；
图3为本发明所述加捻机构示意图；
图4为本发明所述收卷机构示意图；
图5为本发明所述平移机构示意图。
图中：100-送丝机构；200-聚合物纤维；300-加捻机构；400-收卷机构；500-平移机构；600-底板；101-力矩电机；102-力矩电机安装支座；103-集线筒Ⅰ；104-送丝机构底板；105-送丝滑轮Ⅰ；106-送丝滑轮Ⅱ；107-滚动轴承Ⅰ；108-送丝平台；301-同步带轮Ⅰ；302-同步带Ⅰ；303-绕线杆；304-同步带轮Ⅱ；305-同步带轮支撑；306-滚动轴承Ⅱ；307-加捻机构衔接座；308-步进电机安装支座Ⅰ；309-步进电机Ⅰ；401-前支撑座；402-滚动轴承Ⅲ；403-后支撑座；404-集线筒Ⅱ；405-花键轴；406-花键轴套；407-滚动轴承 Ⅳ；408-同步带轮Ⅲ；409-挡位环；410-同步带Ⅱ；411-同步带轮Ⅳ；412-步进电机安装支座Ⅱ；413-步进电机Ⅱ；501-导杆；502-带座轴承；503-平移衔接座；504-丝杆螺母；505-梯形丝杆；506-联轴器；507-步进电机安装支座Ⅲ；508-步进电机Ⅲ；
具体实施方式
为充分了解本发明的目的、特征及功能，借由下述具体的实施方式，对本发明做详细说明。
图1是本发明所述的聚合物纤维人工肌肉连续自动加捻收卷装置总装示意图。如图1所示，该装置包括送丝机构100聚合物纤维200、加捻机构300、收卷机构400、平移机构500以及底板600。所述送丝机构100中滚动轴承Ⅰ 107的中心轴与收卷机构400中花键轴405的中心轴水平对齐。所述聚合物纤维200一般为尼龙纤维丝、涤纶纤维丝等；所述加捻机构300、收卷机构400和平移机构500全部安装在底板600上；加捻机构300中的加捻连接座307固定在收卷机构400中的前支撑座401上；平移机构500中的带座轴承502与收卷机构400中的花键轴405进行过盈配合连接。平移机构500中的导杆501安装在收卷机构400中的后支撑座403上，并用螺母进行固定。
图2是送丝机构100示意图。如图2所示，包括力矩电机101、力矩电机安装支座102、集线筒Ⅰ 103、送丝机构底板104、送丝滑轮Ⅰ 105、送丝滑轮Ⅱ 106、滚动轴承Ⅰ 107以及送丝平台108。所述力矩电机101通过力矩电机安装支座102固定于送丝机构底板104上；所述集线筒Ⅰ 103安装于力矩电机101输出轴上；所述送丝滑轮Ⅰ 105、送丝滑轮Ⅱ 106安装于送丝平台108上，通过两个送丝滑轮可防止纤维上的扭矩传到集线筒Ⅰ 103上；所述滚动轴承Ⅰ 107安装于送丝平台108前端的孔中，纤维通过滚动轴承Ⅰ 107可有效减少纤维丝的磨损；所述送丝平台108固定在送丝机构底板Ⅰ 104上。通过调节力矩电机Ⅰ 101输出力矩大小可以控制工作过程中纤维丝上的张力大小。所述集线筒Ⅰ 103及送丝平台108均为3D打印件。
图3是加捻机构300示意图。如图3所示，包括同步带轮Ⅰ 301、同步带Ⅰ 302、绕线杆303、同步带轮Ⅱ 304、同步带轮支撑305、滚动轴承Ⅱ 306、加捻机构衔接座307、步进电机安装支座Ⅰ 308和步进电机Ⅰ 309。所述同步带轮Ⅰ 301安装在步进电机Ⅰ 309输出轴上，并通过紧定螺钉进行限位防止发生相对滑动；所述步进电机Ⅰ 309安装在步进电机安装支座Ⅰ 308上；所述绕线杆303一端攻有外螺纹与上述同步带轮Ⅱ 304进行螺纹连接；所述同步带轮Ⅱ 304安装在同步带轮支撑305一端并用紧定螺钉防止发生相对转动；所述 同步带轮支撑305内侧安装有滚动轴承Ⅱ 306并且为过盈配合；所述滚动轴承Ⅱ 306内孔与加捻机构衔接座307的轴进行过盈配合；所述同步带302安装在所述的两个同步带轮上。这样步进电机Ⅰ 309通过带传动的方式使绕线杆303转动，绕线杆303带着聚合物纤维转动对其进行加捻操作。其中绕线杆303、同步带轮支撑305以及加捻机构衔接座307为金属加工件，其他均为外购零件。步进电机Ⅰ 309采用57高速闭环步进电机可确保转速准确不丢步。
图4是收卷机构400示意图。如图4所示，收卷机构包括前支撑座401、滚动轴承Ⅲ 402、后支撑座403、集线筒Ⅱ 404、花键轴405、花键轴套406、滚动轴承Ⅳ 407、同步带轮III 408、挡位环409、同步带Ⅱ 410、同步带轮Ⅳ 411、步进电机安装支座Ⅱ 412、步进电机Ⅱ 413。所述集线筒Ⅱ 404安装在所述花键轴405的一端；所述花键轴套406与所述滚动轴承Ⅳ 407内孔进行过盈配合；所述滚动轴承Ⅳ 407安装在所述前支撑座401内，并且与前支撑座401内孔为过盈配合；所述花键轴405安装在所述花键轴套406之中，并且可以进行轴向相对滑动；所述后支撑座403内孔同样安装有滚动轴承，滚动轴承内安装有花键轴套，上述花键轴405穿过所述花键轴套并且为间隙配合，且花键轴405可相对花键轴套进行轴向滑动(此处的滚动轴承与花键轴套图中未示出)；所述花键轴405上套有两个所述的挡位环409并位于前后支撑座401、403之间(图中只示出一个挡位环)；所述同步带轮Ⅲ 408内孔同样安装有花键轴套并且安装在花键轴405上(此处的花键轴套图中未示出)，位于两个挡位环409之间；所述同步带轮Ⅳ 411安装在步进电机Ⅱ 413的输出轴上，并通过紧定螺钉进行限位防止发生相对滑动；所述步进电机Ⅱ 413安装在步进电机安装支座Ⅱ 412上；所述同步带Ⅱ 410安装在同步带轮Ⅲ 408、同步带轮Ⅳ 411上。步进电机Ⅱ 413通过带传动的方式带动花键轴405转动进而使集线筒Ⅱ 404转动完成收卷工作。其中前后支撑座401、403、花键轴405及花键轴套406为金属加工件；集线筒Ⅱ 404和挡位环409为3D打印件，其余为采购件。
图5是平移机构500示意图。如图5所示，包括导杆501、带座轴承502、平移衔接座503、丝杆螺母504、梯形丝杆505、联轴器506、步进电机安装支座Ⅲ 507、步进电机Ⅲ 508。所述导杆501安装在所述平移衔接座503中，导杆501一端旋入螺母用来限位；所述带座轴承502安装在平移衔接座503的左端；所述丝杆螺母504安装在平移衔接座503的右端；所述梯形丝杆505旋入丝杆螺母504之中；所述步进电机Ⅲ 508安装在所述步进电机安装支座Ⅲ 507上；所述联轴器506连接步进电机Ⅲ 508的输出轴与梯形丝杆505。 步进电机Ⅲ 508驱动平移衔接座503在导杆501上进行滑动。其中导杆501、平移衔接座503为金属加工件，其他均为采购件。
下面对本发明所述的一种用于聚合物纤维人工肌肉连续自动加捻收卷装置工作过程进行说明：
首先从集线筒Ⅰ 103上引出聚合物纤维200，使纤维绕过两个送丝滑轮，即送丝滑轮Ⅰ 105；送丝滑轮Ⅱ 106，之后依次穿过滚动轴承Ⅰ 107、绕线杆303，最后系在集线筒Ⅱ 404上。力矩电机101上电并调节到合适的扭矩T。步进电机Ⅰ 309、步进电机Ⅱ 413、步进电机Ⅲ 508同时开始转动，步进电机Ⅰ 309驱动加捻机构300中的同步带轮Ⅱ 304转动，绕线杆303随同步带轮Ⅱ 304转动且转速为ω 1。绕线杆303带动聚合物纤维200转动并开始对其进行加捻；步进电机Ⅱ 413驱动收卷机构400中的花键轴405以ω 2开始转动，集线筒Ⅱ 404随花键轴405一起转动。若ω 1≠ω 2，集线筒Ⅱ 404开始收卷人工肌肉；步进电机Ⅲ 508以ω 3往复转动，通过梯形丝杆505、丝杆螺母504配合驱动平移衔接座503在导杆501上往复运动，带座轴承502带动花键轴405及集线筒Ⅱ 404往复平移使加捻好的聚合物纤维200均匀地绕在集线筒Ⅱ 404上，且此时应满足以下关系：
Figure PCTCN2022077554-appb-000001
其中，d为聚合物纤维200直径，S为梯形丝杆505的导程。
人工肌肉制备过程中一个重要的参数——加捻负载F满足以下关系：
Figure PCTCN2022077554-appb-000002
其中，r 1为集线筒Ⅰ 103的半径，T为力矩电机输出力矩。

Claims (6)

  1. 一种聚合物纤维人工肌肉连续自动加捻收卷装置，其特征在于，该装置包括送丝机构、聚合物纤维、加捻机构、收卷机构、平移机构以及底板；所述送丝机构中滚动轴承Ⅰ的中心轴与收卷机构中花键轴的中心轴水平对齐；所述聚合物纤维一般为尼龙纤维丝、涤纶纤维丝等；所述加捻机构、收卷机构和平移机构全部安装在底板上；加捻机构中的加捻机构衔接座固定在收卷机构中的前支撑座上；平移机构中的带座轴承与收卷机构中的花键轴进行过盈配合连接；平移机构中的导杆安装在收卷机构中的后支撑座上，并用螺母进行固定。
  2. 如权利要求1所述的一种聚合物纤维人工肌肉连续自动加捻收卷装置，其特征在于，送丝机构包括力矩电机、力矩电机安装支座、集线筒Ⅰ、送丝机构底板、送丝滑轮Ⅰ、送丝滑轮Ⅱ、滚动轴承Ⅰ以及送丝平台；所述力矩电机通过力矩电机安装支座固定于送丝机构底板上；所述集线筒Ⅰ安装于力矩电机输出轴上；所述送丝滑轮Ⅰ、送丝滑轮Ⅱ安装于送丝平台上，通过两个送丝滑轮可防止纤维上的扭矩传到集线筒Ⅰ上；所述滚动轴承Ⅰ安装于送丝平台前端的孔中，纤维通过滚动轴承可有效减少纤维丝的磨损；所述送丝平台固定在送丝机构底板上，通过调节力矩电机输出力矩大小可以控制工作过程中纤维丝上的张力大小。
  3. 如权利要求1所述的一种聚合物纤维人工肌肉连续自动加捻收卷装置，其特征在于，加捻机构包括同步带轮Ⅰ、同步带Ⅰ、绕线杆、同步带轮Ⅱ、同步带轮支撑、滚动轴承Ⅱ、加捻机构衔接座、步进电机安装支座Ⅰ和步进电机Ⅰ；所述同步带轮Ⅰ安装在步进电机Ⅰ输出轴上，并通过紧定螺钉进行限位防止发生相对滑动；所述步进电机Ⅰ安装在步进电机安装支座Ⅰ上；所述绕线杆一端攻有外螺纹与上述同步带轮Ⅱ进行螺纹连接；所述同步带轮Ⅱ安装在同步带轮支撑一端并用紧定螺钉防止发生相对转动；所述同步带轮支撑内侧安装有滚动轴承Ⅱ并且为过盈配合；所述滚动轴承Ⅱ内孔与加捻机构衔接座的轴进行过盈配合；所述加捻机构衔接座安装在所述收卷机构的前支撑座上；所述同步带安装在所述的两个同步带轮上；这样步进电机Ⅰ通过带传动的方式使绕线杆转动，绕线杆带着聚合物纤维转动对其进行加捻操作。
  4. 如权利要求1所述的一种聚合物纤维人工肌肉连续自动加捻收卷装置，其特征在于，收卷机构包括前支撑座、滚动轴承Ⅲ、后支撑座、集线筒Ⅱ、花键轴、花键轴套、滚动轴承Ⅳ、同步带轮Ⅲ、挡位环、同步带Ⅱ、同步带轮Ⅳ、步进电机安装支座Ⅱ、步进电机Ⅱ；所述集线筒Ⅱ安装在所述花键轴的一端；所述花键 轴套与所述滚动轴承Ⅳ内孔进行过盈配合；所述滚动轴承Ⅳ安装在所述前支撑座内，并且与前支撑座内孔为过盈配合；所述花键轴安装在所述花键轴套之中，并且可以进行轴向相对滑动；所述后支撑座内孔同样安装有滚动轴承，滚动轴承内安装有花键轴套，上述花键轴穿过所述花键轴套并且为间隙配合，且花键轴可相对花键轴套进行轴向滑动；所述花键轴上套有两个所述的挡位环并位于前后支撑座之间；所述同步带轮Ⅲ内孔同样安装有花键轴套并且安装在花键轴上，位于两个挡位环之间；所述同步带轮Ⅳ安装在步进电机Ⅱ的输出轴上，并通过紧定螺钉进行限位防止发生相对滑动；所述步进电机Ⅱ安装在步进电机安装支座Ⅱ上；所述同步带Ⅱ安装在同步带轮Ⅲ、Ⅳ上；步进电机Ⅱ通过带传动的方式带动花键轴转动进而使集线筒Ⅱ转动完成收卷工作。
  5. 如权利要求1所述的一种聚合物纤维人工肌肉连续自动加捻收卷装置，其特征在于，平移机构包括导杆、带座轴承、平移衔接座、丝杆螺母、梯形丝杆、联轴器、步进电机安装支座Ⅲ、步进电机Ⅲ；所述导杆一端安装在所述平移衔接座中，另外一端旋入螺母用来限位；所述带座轴承安装在平移衔接座的左端；所述丝杆螺母安装在平移衔接座的右端；所述梯形丝杆旋入丝杆螺母之中；所述步进电机Ⅲ安装在所述步进电机安装支座Ⅲ上；所述联轴器连接步进电机Ⅲ的输出轴与梯形丝杆；步进电机Ⅲ驱动平移衔接座在导杆上进行滑动。
  6. 采用如权利要求1所述装置实施聚合物纤维人工肌肉连续自动加捻收卷的方法，其特征在于，具体步骤如下：
    首先从集线筒Ⅰ上引出聚合物纤维，使纤维绕过两个送丝滑轮，即送丝滑轮Ⅰ；送丝滑轮Ⅱ，之后依次穿过滚动轴承Ⅰ、绕线杆，最后系在集线筒Ⅱ上；力矩电机上电并调节到合适的扭矩T；步进电机Ⅰ、步进电机Ⅱ、步进电机Ⅲ同时开始转动，步进电机Ⅰ驱动加捻机构中的同步带轮Ⅱ转动，绕线杆随同步带轮Ⅱ转动且转速为ω 1；绕线杆带动聚合物纤维转动并开始对其进行加捻；步进电机Ⅱ驱动收卷机构中的花键轴以ω 2开始转动，集线筒Ⅱ随花键轴一起转动；若ω 1≠ω 2，集线筒Ⅱ开始收卷人工肌肉；步进电机Ⅲ以ω 3往复转动，通过梯形丝杆、丝杆螺母配合驱动平移衔接座在导杆上往复运动，带座轴承带动花键轴及集线筒Ⅱ往复平移使加捻好的聚合物纤维均匀地绕在集线筒Ⅱ上，且此时应满足以下关系：
    Figure PCTCN2022077554-appb-100001
    其中，d为聚合物纤维直径，S为梯形丝杆的导程；
    人工肌肉制备过程中一个重要的参数——加捻负载F满足以下关系：
    Figure PCTCN2022077554-appb-100002
    其中，r 1为集线筒Ⅰ的半径，T为力矩电机输出力矩。
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