CN107511820B - A kind of bubble type bionic muscle - Google Patents
A kind of bubble type bionic muscle Download PDFInfo
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- CN107511820B CN107511820B CN201710937218.3A CN201710937218A CN107511820B CN 107511820 B CN107511820 B CN 107511820B CN 201710937218 A CN201710937218 A CN 201710937218A CN 107511820 B CN107511820 B CN 107511820B
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- Prior art keywords
- bubble type
- type bionic
- bionic muscle
- bubble
- muscle
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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
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Surgical Instruments (AREA)
Abstract
The invention discloses a kind of bubble type bionic muscles, it is related to bioengineering field, it include electrothermal piece and with the electrothermal piece sealed envelope and the longitudinal fiber pipe that is fixedly connected, the liquid for easily vaporizing and easily condensing in room temperature in high temperature is also enclosed between the electrothermal piece and longitudinal fiber pipe, the second state that the longitudinal fiber pipe has the first state that lengthwise dimension shortens when the liquid vaporizes to form gaseous material and expand and width direction size is elongated and the size in length and width direction is restored automatically after liquid condensation is shunk, the electrothermal piece is connected to power supply by conducting wire.The present invention has scalability good, and adaptability is good, the high advantage of flexibility.
Description
Technical field
The present invention relates to bioengineering fields, and in particular to a kind of bubble type bionic muscle.
Background technique
As what robot and artificial intelligence were developed deepens continuously, demand of the people to intelligent machine system function is more next
It is higher, and the movement mechanism of existing robot remains rigid connection, using the driving methods such as such as motor, hydraulic, movement is inadequate
Flexibly.
Summary of the invention
In order to overcome the shortcomings of background technique, the present invention provides that a kind of scalability is good, and adaptability is good, and flexibility is high
Bubble type bionic muscle.
The technical solution adopted in the present invention:
First aspect: the present invention improves a kind of bubble type bionic muscle unit comprising electrothermal piece and with the electric heating
Part sealed envelope and the longitudinal fiber pipe being fixedly connected, are also enclosed in the easy vapour of high temperature between the electrothermal piece and longitudinal fiber pipe
Change and in the liquid that room temperature easily condenses, the longitudinal fiber pipe, which has, to be vaporized to form gaseous material simultaneously in the liquid
The first state and condense contraction in the liquid that lengthwise dimension shortens when expansion and width direction size is elongated
The second state that the size in length and width direction is restored automatically, the electrothermal piece are connected to power supply by conducting wire afterwards.
The liquid uses water, and the gaseous material is vapor.
The electrothermal piece electrothermal alloy piece good using heating effect.
The longitudinal fiber pipe uses the rubber tube or plastic tube of high expansion and contraction, and the fiber of tube wall is using high-intensitive day
Right fiber or staple fibre.
Second aspect: the present invention provides a kind of bubble type bionic muscle group comprising several bubbles arranged side by side
Formula bionic muscle beam and biocompatible material for wrapping up several bubble type bionic muscle beams, each bubble
Formula bionic muscle beam all includes that several bubble types for being sequentially connected and communicating as described in relation to the first aspect and along its length are imitated
Myogenic meat unit, the radial direction that several equidistant arrangements are arranged on the axial direction of the bubble type bionic muscle beam excircle tighten
Ring.
The biocompatible material, which uses, has radially distensible fibre pipe.
Fiber distribution on the fibre pipe is in mesh arrangement or in longitudinal bar shaped distribution.
The radial direction tightens the junction that bubble type mode muscle unit described in every two is arranged in ring.
Electrical connection between the bubble type bionic muscle unit is using in parallel or in series.
Cooling-lubricant is filled between each bubble type bionic muscle beam in the biocompatible material.
The beneficial effects of the present invention are: each bubble type bio-mechanism unit is by the way that electrothermal piece conduction, electrothermal piece will be high
Temperature is transmitted to liquid water, and brings it about vaporization and form bubble, and longitudinal fiber pipe inner volume increases and expands, and promotes longitudinal direction
The deformation of length direction contracted width direction elongation occurs for fibre pipe；Each bubble type bionic muscle group is imitated by multiple bubble types
Raw muscle package is gathered together using biocompatible material；After powering off to electrothermal piece, vapor is condensed into water, longitudinal fiber
Volume contraction in pipe simultaneously drives longitudinal fiber pipe to reply original shape, thus realizes contraction and elongation, has scalability good, fit
Should be able to power it is good, the high advantage of flexibility.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for forming bubble type bionic muscle unit of the invention.
Fig. 2 is the structural schematic diagram for forming bubble type bionic muscle beam of the invention.
Fig. 3 is the structural schematic diagram formed when bubble type bionic muscle beam energized length direction of the invention is shunk.
Fig. 4 is structural schematic diagram of the biocompatible material using the fibre pipe of mesh arrangement.
Fig. 5 is structural schematic diagram of the biocompatible material using the fibre pipe of longitudinal bar shaped distribution.
Fig. 6 is the cross-sectional view formed when bubble type bionic muscle group of the invention is not powered on elongation.
Fig. 7 is the cross-sectional view for forming bubble type bionic muscle group of the invention and being powered when shrinking.
Specific embodiment
Embodiments of the present invention is further illustrated with reference to the accompanying drawing:
As shown, a kind of bubble type bionic muscle unit comprising electrothermal piece 1 and with the electrothermal piece 1 seal wrap
The longitudinal fiber pipe 2 wrapped up in and be fixedly connected, be also enclosed between the electrothermal piece 1 and longitudinal fiber pipe 2 easily vaporize in high temperature and
In the liquid 3 that room temperature easily condenses, the longitudinal fiber pipe 2, which has, forms gaseous material 7 simultaneously in the liquid 3 vaporization
The first state and condense contraction in the liquid that lengthwise dimension shortens when expansion and width direction size is elongated
The second state that the size in length and width direction is restored automatically afterwards, the electrothermal piece 1 are connected to power supply by conducting wire, the liquid
State substance uses water, and the gaseous material 7 is vapor, and the electrothermal piece 1 electrothermal alloy piece good using heating effect is described
Longitudinal fiber pipe 2 using high expansion and contraction rubber tube or plastic tube, the fiber of tube wall using high-intensitive natural fiber or
Staple fibre, each bubble type bio-mechanism unit is by the way that electrothermal piece conduction, high temperature is transmitted to liquid water by electrothermal piece, and is made
It occurs vaporization and forms bubble, and longitudinal fiber pipe inner volume increases and expands, and promotes longitudinal fiber pipe that length direction occurs
The deformation of contraction and width direction elongation, is gradually intended to spherical shape, the contraction so total length of fibre pipe can shorten；
Wherein, the liquid that the present embodiment can also select other heating easily to vaporize, such as alcohol, but the characteristic of water
It is best suitable for requirement of the invention, while cost is minimum, the present embodiment under equal conditions, preferentially selects pure water, and electric heating closes
Gold plaque can quickly transmit heat, and heat transfer efficiency is good.
A kind of bubble type bionic muscle group comprising several bubble type bionic muscle beams 5 arranged side by side and use
In the biocompatible material 4 for wrapping up several bubble type bionic muscle beams 5, each bubble type bionic muscle beam 5
The bubble type bionic muscle unit for being sequentially connected and communicating along its length including several, the bubble type bionic muscle beam
The radial direction that several equidistant arrangements are arranged on the axial direction of 5 excircles tightens ring 6.The radial direction tightens ring 6 and is arranged every two
The junction of a bubble type mode muscle unit, after the liquid vaporization inside longitudinal fiber pipe, volume becomes larger, and has radial bundle
The position of tight ring will not be become larger by the radial constraint for tightening ring, although two radial directions tighten the change of the longitudinal fiber pipe volume between ring
Greatly, but length dimension but shortens.
Wherein, due to all being communicated between each muscle unit, even if the electrothermal piece in a muscle unit is sent out
Raw failure will not make the operational failure of entire muscle package.
In addition, bubble type is bionical as shown in Fig. 2, the both ends of bubble type bionic muscle beam are also connected with mechanical joint skeleton 9
The flexible mechanical joint skeleton that can all drive both ends occurs for muscle package in opposite directions or mutually from movement.
Electrical connection between the bubble type bionic muscle unit uses in parallel or in series, when the bubble type Bionic muscle
When electrical connection between meat unit uses in parallel, if a bubble type bionic muscle element failure, will not influence entire gas
The flexible work of bubble bionic muscle beam；
When electric connection mode is using connecting, have occupied space few, the simple advantage of structure.
Cooling-lubricant 8 is filled between each bubble type bionic muscle beam 5 in the biocompatible material 4, is reduced each
Friction between a muscle package, prolongs the service life.
Using having radially distensible fibre pipe, the fiber on the fibre pipe is distributed is in the biocompatible material 4
Mesh arrangement is distributed in longitudinal bar shaped, and when the bending of each bubble type bionic muscle group, biocompatible material is also followed
Deformation occurs；In addition, fibre pipe is not limited to select in mesh arrangement or in longitudinal bar shaped distribution, can also select other by
The pipe of the scalable deformation of external force；
Wherein, the radial direction tightens the inner wall that the biocompatible material integrally formed can also be arranged in ring.
The working principle of the embodiment of the present invention: after electrothermal alloy piece is powered, high temperature makes neighbouring liquid water that vapour occur rapidly
Change, generates the bubble of a large amount of vapor, as the quantity of bubble increases, the pressure in longitudinal fiber pipe is increased rapidly, and inside is opened
Begin to expand, there is the radial position for tightening ring not become larger by the radial constraint for tightening ring, the radial position for not tightening ring starts
To radial dilatation, the shape of longitudinal fiber pipe is gradually intended to spherical shape, and bubble type bionic muscle beam is linked to be string in multiple spherical shapes
Shape, two radial directions tighten the longitudinal fiber pipe volume between ring and although become larger, but length dimension but shortens, and realizes contraction
Function.
When exposed to external forces, a bubble type bionic muscle beam or bubble type bionic muscle group can be transferred through longitudinal fibre
The flexibility of dimension pipe bends deformation, and the size of curvature is directly proportional to the flexibility of longitudinal fiber pipe.
After power-off, vapor is condensed, and the pressure in longitudinal fiber pipe gradually becomes smaller, and radial contraction, longitudinal fiber occurs
Pipe is gradually recovered original shape, and length also restores original size, realizes the function of elongation.
Multiple bubble type bionic muscle beams are wrapped in biocompatible material, and biocompatible material follows each bubble type
Bionic muscle Shu Yiqi is flexible and expansion, built-in lubricating fluid can be reduced effectively between each bubble type bionic muscle beam
Friction, prolongs the service life.
The present invention can be applicable to biological field and machinery field, and being assembled into will be bionical based on the microcosmic muscular movement of biology
The bionic mechanical hand that muscle is combined with joint makes it possible that human body or robot crawl and operation object, the present invention are gone back
The driving source that can connect integrated simulation signal more becomes while being able to satisfy crawl object using bionic mechanical hand of the invention
To in mildness, imitation biochemistry, by the flexible movement to realize finger of Electric control bionic muscle, to copy skeletal muscle movement
Mode operate, power and torque that outside generates cause the bending of meat fiber, the electric current letter in bionic mechanical hand whole system
Number and digital signal mutually convert, to greatest extent realize finger it is integrated, modularization and flexibility.
Embodiment is not construed as the limitation to invention, but any based on spiritual improvements introduced of the invention, all Ying Ben
Within the protection scope of invention.
Claims (10)
1. a kind of bubble type bionic muscle unit, it is characterised in that: it includes electrothermal piece (1) and close with the electrothermal piece (1)
The longitudinal fiber pipe (2) that package is wrapped up in and is fixedly connected also is enclosed between the electrothermal piece (1) and longitudinal fiber pipe (2) in height
Temperature easily vaporizes and in the liquid (3) that room temperature easily condenses, and the longitudinal fiber pipe (2) has in the liquid (3) vapour
Change lengthwise dimension shortens when forming gaseous material (7) and expanding and width direction size is elongated first state and in institute
The second state that the size in length and width direction after gaseous material (7) condensation is shunk is restored automatically is stated, the electrothermal piece (1) is logical
Conducting wire is crossed to connect to power supply.
2. bubble type bionic muscle unit according to claim 1, it is characterised in that: the liquid (3) uses water,
The gaseous material (7) is vapor.
3. bubble type bionic muscle unit according to claim 1, it is characterised in that: the electrothermal piece (1) is using fever
The good electrothermal alloy piece of effect.
4. bubble type bionic muscle unit according to claim 1, it is characterised in that: the longitudinal fiber pipe (2) uses
The rubber tube or plastic tube of high expansion and contraction, the fiber of tube wall is using high-intensitive natural fiber or staple fibre.
5. a kind of bubble type bionic muscle group, it is characterised in that: it includes several bubble type bionic muscles arranged side by side
Beam (5) and biocompatible material (4) for wrapping up several bubble type bionic muscle beams (5), each bubble
Formula bionic muscle beam (5) is all by several if the described in any item bubble type bionic muscle units of claim 2 to 4 are along length side
It is formed, is arranged on the axial direction of bubble type bionic muscle beam (5) excircle several to being sequentially connected and communicating
The radial direction of equidistant arrangement tightens ring (6).
6. bubble type bionic muscle according to claim 5 group, it is characterised in that: the biocompatible material (4) is adopted
With with radially distensible fibre pipe.
7. bubble type bionic muscle according to claim 6 group, it is characterised in that: the fiber distribution on the fibre pipe
In mesh arrangement or in longitudinal bar shaped distribution.
8. bubble type bionic muscle according to claim 5 group, it is characterised in that: the radial direction tightens ring (6) setting
Among the bubble type mode muscle unit described in every two.
9. bubble type bionic muscle according to claim 5 group, it is characterised in that: the bubble type bionic muscle unit
Between electrical connection using in parallel or in series.
10. bubble type bionic muscle according to claim 6 group, it is characterised in that: in the biocompatible material (4)
Each bubble type bionic muscle beam (5) between fill cooling-lubricant (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710937218.3A CN107511820B (en) | 2017-09-30 | 2017-09-30 | A kind of bubble type bionic muscle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710937218.3A CN107511820B (en) | 2017-09-30 | 2017-09-30 | A kind of bubble type bionic muscle |
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| CN107511820A CN107511820A (en) | 2017-12-26 |
| CN107511820B true CN107511820B (en) | 2019-07-09 |
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| CN201710937218.3A Active CN107511820B (en) | 2017-09-30 | 2017-09-30 | A kind of bubble type bionic muscle |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108502533B (en) * | 2018-04-03 | 2021-12-21 | 南京晨光集团有限责任公司 | Netted flexible manipulator |
| CN109278965B (en) * | 2018-11-15 | 2024-01-30 | 池州市灿果口腔护理用品有限公司 | Bionic intestinal canal type underwater propeller |
| CN109807875A (en) * | 2019-03-27 | 2019-05-28 | 浙江大学 | A kind of artificial-muscle and preparation method thereof based on the reversible decomposition of gas solution |
| CN112922919A (en) * | 2021-01-15 | 2021-06-08 | 苏州仁甬得物联科技有限公司 | Flexible profiling system of bar object |
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| US6109852A (en) * | 1996-01-18 | 2000-08-29 | University Of New Mexico | Soft actuators and artificial muscles |
| WO2008026534A1 (en) * | 2006-08-30 | 2008-03-06 | Eamex Corporation | Polymer actuator element and method of producing the same |
| CN101781461A (en) * | 2009-01-16 | 2010-07-21 | 清华大学 | Electrostriction composite material and preparation method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6109852A (en) * | 1996-01-18 | 2000-08-29 | University Of New Mexico | Soft actuators and artificial muscles |
| WO2008026534A1 (en) * | 2006-08-30 | 2008-03-06 | Eamex Corporation | Polymer actuator element and method of producing the same |
| CN101781461A (en) * | 2009-01-16 | 2010-07-21 | 清华大学 | Electrostriction composite material and preparation method thereof |
| CN104196816A (en) * | 2014-08-26 | 2014-12-10 | 合肥工业大学 | Artificial muscle |
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| CN107511820A (en) | 2017-12-26 |
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