CN1623742A - Bionic moving mechanism driven by artificial muscle - Google Patents
Bionic moving mechanism driven by artificial muscle Download PDFInfo
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- CN1623742A CN1623742A CN 200410081531 CN200410081531A CN1623742A CN 1623742 A CN1623742 A CN 1623742A CN 200410081531 CN200410081531 CN 200410081531 CN 200410081531 A CN200410081531 A CN 200410081531A CN 1623742 A CN1623742 A CN 1623742A
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Abstract
An artificial muscle driven bionic moving mechanism is composed of pulse power wires, power supply, controller connected between said pulse power wine and power supply, skeleton consisting of one or more vertebrae with pores, artificial muscles made of memory alloy or electrosensitive polymer and connected between two pores on vertebrae, and deformation inductor.
Description
Technical field
The invention belongs to mechanical engineering and automation and Robotics field, relate to a kind of electromechanical integrated device, particularly a kind of novel bionic moving mechanism that uses artificial-muscle to drive.
Background technology
(electroactive polymers EAPs) makes artificial-muscle by memorial alloy (shape-memorial alloys) or electric photosensitive polymerization material.Artificial-muscle is a kind of new material that developed countries such as the current U.S., Japan are greatly developing.This research has obtained preliminary success, and several artificial-muscles of making based on memorial alloy or electric photosensitive polymerization material are in the laboratory development success of states such as u.s.a. and japan.But this new material does not also obtain enough attention in the potential value in various engineerings field.
Artificial-muscle itself does not have any effect as a kind of emerging high-tech material, and is the same like an isolated motor, do not have any effect.Its effect of competence exertion after it need mate together with corresponding Mechatronic device.Scientific and technological circle's several cases of design that artificial-muscle is combined with electromechanical assembly now.But because artificial-muscle is different from the characteristic of any other traditional material, traditional electric machine can not make full use of its advantage.And the electromechanical assembly that designs at the characteristic of artificial-muscle specially also is in the starting stage at world wide at present.In China, the design achievement of this respect almost also is in space state.
In the prior art, also having a kind of is the electrochemical characteristic that adopts gelinite, the Chinese invention patent that is called " improved artificial tubular muscle and application thereof " as name, its application number is 98106723, the tubular structure of being made by macromolecular material and fiber is disclosed, fiber is evenly distributed in the tube wall, and tubular muscle is at the driving lower edge of pump tubular axis axial stretching, and does not produce lateral magnification; It is flexible under the driving of pump, just can produce the effect of similar contraction of muscle or expansion.Be called in the Chinese patent application of " artificial-muscle " in another name, its application number is 02133908, discloses by list and has restrainted the artificial-muscle fiber for constituting the unit, and Products for Cooked Whole Muscle is made of many single bundle artificial-muscle fibers; And single bundle artificial-muscle fiber is made of double-spiral coil, elastic gum, magnetic flow liquid micelle; When the double-spiral coil two ends switched on, single bundle artificial-muscle fiber produced distortion, produces the effect of similar contraction of muscle.
Disclosed related content in the above-mentioned prior art all is formation, principle about artificial-muscle etc.; All do not have the detailed description of artificial-muscle utilization, particularly do not utilize this kind artificial-muscle to make the more detailed technical scheme of motion, do not utilize artificial-muscle under the effect of electric current, to produce flexible characteristic and drive this kind motion of mechanism.
Summary of the invention
The present invention is directed to the above-mentioned technical scheme deficiency of not utilizing artificial-muscle to make motion, provide a kind of novel bionic moving mechanism that drives by artificial-muscle, the particularly a kind of artificial-muscle that constitutes by memorial alloy or electric photosensitive polymerization material motion that drive, that can replace waiting by motor (motor) in the conventional art driving that adopts.
The object of the present invention is achieved like this: the novel bionic moving mechanism that artificial-muscle drives, comprise pulse power line, controller and power supply, one end of controller connects with an end of pulse power line, the other end of controller connects with power supply, its improvements are: also comprise skeleton, artificial-muscle and deformation inductor, described skeleton saves above vertebra by single-unit or two joints or two to be formed, and there is hole this vertebral surface and inside; The two ends of artificial-muscle are separately fixed on the adjacent pores of vertebra, and link with the other end of pulse power line respectively; The deformation inductor is fixed on the skeleton, electrically connects with controller;
Further be characterized as: controller is made up of fairing, single-chip microcomputer and integral control circuit, is electrically connected each other;
The material of vertebra is an elastomeric material, sticks with glue connection between the vertebra, or nested connection;
The material of vertebra is a rigid material, uses hinge-coupled between the vertebra.
The material of artificial-muscle is memorial alloy or electric photosensitive polymerization material, the bar shaped cube that is shaped as any geometric properties of artificial-muscle.
The present invention has abandoned motor (motor) type of drive of using in the conventional art, and then changes the artificial-muscle driving that employing is made of memorial alloy or electric photosensitive polymerization material into.Its advantage is that artificial-muscle can be converted into mechanical energy with electric energy with the efficient higher than motor, has eliminated the frictional dissipation and the noise that are brought by Motor Drive, and is pollution-free; Also have advantages such as very outstanding efficient height, volume are little; Can extensively apply to public recreation, search and rescue under water, engineering mine locating, various aspects such as investigation and underwater attack under water.
Description of drawings
Below in conjunction with accompanying drawing the present invention is described in further detail.
Fig. 1 is this motion structure diagram.
Fig. 2 is the inner connection diagram of this motion.
Fig. 3 is first kind of example structure sketch of skeleton (part 1).
Fig. 4 is second kind of example structure sketch of skeleton (part 1).
Fig. 5 is artificial-muscle (part a 2) structure diagram.
Fig. 6 is artificial-muscle (part 2) and pulse power line (part 3) annexation sketch.
Fig. 7 is skeleton (part 1) and artificial-muscle (part a 2) structure diagram in a state of nature.
Fig. 8 is that skeleton (part 1) and artificial-muscle (part 2) are in the deformation state structure diagram.
Fig. 9 is controller (part a 5) internal structure schematic diagram.
Figure 10 is that this motion is in deformation state structure diagram (elastic skeleton).
Figure 11 is that this motion is in deformation state structure diagram (T font rigid backbone).
Figure 12 is artificial-muscle (part 2) and skeleton (part 1) annexation sketch (T font rigid backbone).
Figure 13 is artificial-muscle (part 2) and skeleton (part 1) annexation sketch (elastic skeleton).
Figure 14 is skeleton (part 1) and many artificial-muscles (part 2) connection diagram.
Figure 15 is the structure diagram of this motion and shell (13) (fish shape shell).
Figure 16 is a kind of structure diagram of this motion and shell (13) (jellyfish shape shell).
Figure 17 is the another kind of structure diagram of this motion and shell (13) (jellyfish shape shell).
The specific embodiment
1-skeleton in the accompanying drawing, 2-artificial-muscle, 3-pulse power line, 4-deformation inductor, 5-controller, 6-power supply, 7-vertebra, 8-hole, 9-hinge, 10-fairing, 11-single-chip microcomputer, 12-integral control circuit, 13-shell.
Shown in Fig. 1,2,3,4, bionic moving mechanism of the present invention by skeleton 1, artificial-muscle 2, pulse power line 3, deformation inductor 4, controller 5 and power supply 6 totally six parts form.Accompanying drawing 1,2 is depicted as eight artificial-muscles 2, is numbered S1 to S8 respectively; Vertebra 7 shown in the drawings is four joints, and eight artificial-muscles 2 are separately fixed at four joint vertebras, 7 both sides of skeleton 1.Every artificial-muscle 2 two ends link with a pulse power line 3 respectively.Pulse power line 3 connects controller 5, and by controller 5 joining powers 6.Skeleton 1 saves above more piece vertebra 7 by single-unit or two joints or two to be formed, and there is hole 8 vertebra 7 surfaces and inside; The two ends of artificial-muscle 2 are separately fixed on the adjacent pores 8 of vertebra 7, and link with the other end of pulse power line 4 respectively; Deformation inductor 3 is fixed on the skeleton 1, electrically connects with controller 5.
The composition and the function of this bionic moving mechanism each several part are as described below:
(1). skeleton 1
The design of elastic-like vertebra, according to Optimization design principle, rigidity vertebra 7 of the present invention comprises the bar shaped cube of random geometry.Be convenient signal herein, the rigidity vertebra 7 in each accompanying drawing and be reduced to I-shaped and two kinds of typical profiles of T font are represented by the skeleton that it constituted.Connect with hinge 9 between the rigidity vertebra 7.
There is hole 8 vertebra 7 surfaces and inside, therefrom pass through for artificial-muscle 2 and pulse power line 3.Accompanying drawing is depicted as two kinds of typical hole 8 Position Design examples.This mechanism design contains hole 8 shapes and the Position Design of other various types of vertebras 7.
(2). artificial-muscle 2
Shown in Fig. 5,6,7,8,12,13, in this bionic moving mechanism, by a large amount of fibrous memorial alloys or the polymerization of electric photosensitive polymerization material, artificial-muscle 2 is formed the artificial-muscle bundle of the strip of any geometric shape.Only be convenient signal herein, in the accompanying drawings, all artificial-muscles 2 all come reduced representation so that regular rectangular shape is rectangular.
The two ends of every artificial-muscle 2 are separately fixed in two place's adjacent pores 8 of vertebra 7.Two stiff ends of every artificial-muscle 2 connect with two terminations of the pulse power line 3 that passes through in the skeleton 1 respectively.Design of the present invention is contained welding, gluing, nested connection, some contact and various connecting modes such as is connected, is slidingly connected.The outside of every artificial-muscle 2 all is an exoperidium, and inside is polymerized by a large amount of fibers.
(3). pulse power line 3
As shown in Figure 1, pulse power line 3 is the electric leads that apply pulse voltage and electric current for artificial-muscle, can be the conducting wire that any conductor or semiconductor constitute.One end of pulse power line connects controller 5, and links by controller 5 and external power supply 6 (as all kinds of batteries); The other end links to each other with a stiff end of artificial-muscle 2.Two stiff ends of every artificial-muscle 2 have a pulse power line 3 and controller 5 to link respectively.Controller 5 can be controlled an artificial-muscle bundle fully by two pulse power lines 3.Pulse power line 3 is not further described at this as the part of prior art.
(4). deformation inductor 4
(5). controller 5
(6). power supply 6
As further improvement, the skeleton 1 among the present invention can be elastomeric material, also can be various rigid materials.The motion mode of elastic skeleton and energy transforming principle also can be realized by using rigid backbone.Accompanying drawing 10 is an example with the skeleton 1 of elastomeric material and the skeleton 1 of T font vertebra respectively with accompanying drawing 11, and how the signal rigid backbone produces distortion under the deformation effect of artificial-muscle.Accompanying drawing 11 is the inner example that connects design of rigid backbone.As previously mentioned, the rigid backbone among the present invention reaches by the motion that it constituted and contains other various similar shape, position and connecting modes designs that obtain according to Optimization design principle.
With reference to the compound mode of the complexity of the bones of human body and various animals and muscle, skeleton 1 and artificial-muscle 2 composite design modes that this mechanism design contained are diversified.Accompanying drawing 14 has provided a kind of typical bone that designing institute contains and the combining form of muscle, and promptly a joint vertebra 7 is connected with many artificial-muscles 2 and concerns schematic diagram.Connection compound mode in this mechanism design can extend to other polygonal cross-section vertebras and many modes that artificial kindred makes up, and also contains the modes of cylinder (circular cone) body and any many artificial-muscles combination simultaneously.
Simultaneously, the application of this bionic moving mechanism design can be done following expansion:
As previously mentioned, when this motion can be aloft, the face of land, underground, the water surface or wait in the medium under water and produce thrust, and drive entire mechanism and in medium, produce relative motion.For realizing this purpose, aforesaid motion design must combine with some other application design.This patent is contained the various relevant design examples and the application thereof of the following stated.
Accompanying drawing 15,16,17 is summarized as follows as the concrete utilization of motion structure of the present invention:
A kind of embodiment; as shown in Figure 15; this bionic moving mechanism is placed in the shell 13, avoiding direct contact the on motion and extraneous (aerial, the face of land, underground, the water surface, under water or in other various media), thereby plays the purpose of each mechano-electronic parts in the protection motion.According to bionics and Optimization design principle, shell 13 of the present invention is contained the housing (be convenient signal, the shell shown in the accompanying drawing 15,16,17 all is reduced to the closed curve table in plane and shows) of the random geometry in various all or part of motion can being wrapped in.The material of shell 13 can be arranged in pairs or groups and be used the various engineering materials that can play above-mentioned parcel and protection purpose.
When the artificial-muscle in the mechanism 2 drove skeleton 1 and produces the distortion that accompanying drawing 8,10,11 illustrated under the control of controller 5, whole bionic moving mechanism will produce corresponding various curve-like profile variation together with its shell 13.According to hydrodynamics and zoological result of study, fish, snake class and earthworm class animal rely on the curvilinear motion of its physical shapes to produce thrust just, thereby are implemented in the water, the face of land and underground motion.So this motion can imitate animal under the manipulation of controller appearance curve changes, thereby be implemented in the purpose that produces motion in the various environment.
Can imitate profile variation and the motion mode of fish by the motion of forming by joint (or two a joint or more pieces) vertebra 7 as shown in Figure 15, be implemented in the motion in the water.
Second kind of embodiment for the example by this bionic moving mechanism (elastic skeleton that the more piece vertebra is formed) imitation jellyfish profile and motion mode, is implemented in the motion in the water as accompanying drawing 16,17.
The operation principle of this bionic moving mechanism:
At any one constantly, the pulse current of different strong and weak degree can take place by many pulse power lines 3 in controller 5 simultaneously to many artificial-muscles 2, impel many artificial-muscles 2 on the skeleton 1 to produce the stretching of distinct program and shrink deformation, affect whole skeleton 1 to produce complicated profile variation with this at synchronization.Example is as shown in Figure 10 in the mechanism, skeleton 1 is an elastic skeleton, and four artificial-muscles being represented by S1, S3, S6, S8 are in extended state, and other four artificial-muscles of being represented by S2, S4, S5, S7 then are in contraction state, therefore whole skeleton produces distortion, and integral body is anti-S shape.
In any a period of time, controller 5 can send the pulse current of different frequency, different power, different sequential continuously to many artificial-muscles 2, the voltage and current at every artificial-muscle 2 two ends is constantly changed, thereby make the shape of whole skeleton under the affecting of many artificial-muscle bundles, constantly produce corresponding the variation.In this process, the electric energy of external power supply input has been converted into the mechanical energy of material deformation and mechanism kinematic.
Mechanics and kinematical theory are verified, when the designed skeleton of this motion is placed in the air, the face of land, underground, the water surface or when waiting in the medium under water, the regularity of frame configuration under controller control changes and can produce thrust on a plurality of directions, thereby can drive entire mechanism and in medium, produce relative motion, promptly can be converted into kinetic energy and potential energy to mechanical energy.
The purpose of inventing novel bionic moving mechanism is to utilize the outstanding advantage and the potential value of high-tech material " artificial-muscle ", and making it to be converted into can the actual new device that utilizes in the various engineerings field.
A kind of brand-new electromechanical assembly that the novel bionic moving mechanism that the present invention showed designs at the characteristic of artificial-muscle specially just.For making full use of the deformation characteristics that artificial-muscle is able to stoop or to stand, the principle of exercise bionics of the present invention is simulated the collocation mode of vertebrate vertebrae and muscle, design multiple rigidity and flexible back bone and and artificial-muscle between flexible and changeable bind mode.By the design philosophy that patent specification is contained, the motion mode that this novel bionic moving mechanism can be realized fully is flexible, complicated as real vertebrate, machine becomes.And this to be those traditional is difficult to realize with electric motor driven electromechanical assembly.This just novel bionic moving mechanism the generation campaign, provide the power aspect the most outstanding characteristic and huge advantage.
In addition, with respect to traditional with electric motor driven telecontrol equipment, be included in the various robot arms that are widely used in the automated production field (such as automobile assembling streamline, pharmaceutical manufacturing line etc.) and the bio-robot in the present popular research field, the novel bionic moving mechanism that drives with artificial-muscle also has advantages such as very outstanding efficient height, volume are little, noise is little, pollution-free.
Because the These characteristics of patent of the present invention, this designing technique can directly substitute with motor-driven electromechanical assembly, is applied to various automated productions field.In addition, the art of this patent also can be applied to medical treatment, amusement, engineering survey and military field.Such as, with this novel bionic moving mechanism or to make artificial limb and implant into body, help disabled patient to recover the human body motor function; Novel bionic moving mechanism can also be simulated vertebrate motion mode, the water surface and produce under water various flexibly, complicated, motion that machine becomes, thereby can be made into bionical machine fish or machine acaleph etc., apply to public recreation, search and rescue under water, engineering mine locating, various aspects such as investigation and underwater attack under water.
Claims (8)
1, the novel bionic moving mechanism of artificial-muscle driving, comprise pulse power line (3), controller (5) and power supply (6), one end of controller (5) connects with an end of pulse power line (3), the other end of controller (5) connects with power supply (6), it is characterized in that: also comprise skeleton (1), artificial-muscle (2) and deformation inductor (4), skeleton (1) is made up of single-unit, two joints or the above vertebra (7) of two joints, and there is hole (8) vertebra (7) surface and inside; The two ends of artificial-muscle (2) are separately fixed on the adjacent pores (8) of vertebra (7), and link with the other end of pulse power line (3) respectively; Deformation inductor (4) is fixed on the skeleton (1), electrically connects with controller (5).
2, the novel bionic moving mechanism of artificial-muscle driving according to claim 1, it is characterized in that: described controller (5) is made up of fairing (10), single-chip microcomputer (11) and integral control circuit (12), is electrically connected each other.
3, the novel bionic moving mechanism of artificial-muscle driving according to claim 1 and 2, it is characterized in that: the material of described vertebra (7) is an elastomeric material, vertebra sticks with glue connection between (7), or nested connection
4, the novel bionic moving mechanism of artificial-muscle driving according to claim 1 and 2, it is characterized in that: the material of described vertebra (7) is a rigid material, connects with hinge (9) between the vertebra (7).
5, the novel bionic moving mechanism of artificial-muscle driving according to claim 3, it is characterized in that: the material of described artificial-muscle (2) is memorial alloy or electric photosensitive polymerization material, the bar shaped cube that is shaped as any geometric properties of artificial-muscle (2).
6, the novel bionic moving mechanism of artificial-muscle driving according to claim 4, it is characterized in that: the material of described artificial-muscle (2) is memorial alloy or electric photosensitive polymerization material, the bar shaped cube that is shaped as any geometric properties of artificial-muscle (2).
7, the novel bionic moving mechanism that drives of artificial-muscle according to claim 5 is characterized in that: also comprise shell (13), can place in the shell (13) described motion is all or part of.
8, the novel bionic moving mechanism that drives of artificial-muscle according to claim 6 is characterized in that: also comprise shell (13), can place in the shell (13) described motion is all or part of.
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| CNB2004100815314A CN100358683C (en) | 2004-12-15 | 2004-12-15 | Bionic moving mechanism driven by artificial muscle |
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| CNB2004100815314A CN100358683C (en) | 2004-12-15 | 2004-12-15 | Bionic moving mechanism driven by artificial muscle |
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| CN100374352C (en) * | 2006-07-28 | 2008-03-12 | 哈尔滨工业大学 | Shape memory alloy wire driven pectoral wave pushing bionic underwater robot |
| CN100391788C (en) * | 2006-07-28 | 2008-06-04 | 哈尔滨工业大学 | Shape memory alloy string driven pectoral wave pushing bionic underwater robot |
| CN101219075B (en) * | 2007-11-27 | 2010-06-02 | 中国计量学院 | Multi-freedom intelligent pneumatic power muscle based on shape memory alloy deformation net |
| CN101421081B (en) * | 2006-02-24 | 2011-06-29 | 菲尔罗伯蒂克斯顺从式机器人技术有限公司 | Robot arm and method for controlling the robot arm |
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| CN105453198A (en) * | 2013-08-08 | 2016-03-30 | 克拉鲁斯科技私人有限公司 | Bionic muscle |
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| CN106816074A (en) * | 2017-03-21 | 2017-06-09 | 淮阴师范学院 | A kind of musculature reproduces interface arrangement |
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| CN107433579A (en) * | 2017-06-27 | 2017-12-05 | 西北工业大学 | A kind of bionical tail apparatus of more piece of SMA drivings |
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| CN108393868A (en) * | 2018-02-27 | 2018-08-14 | 嘉兴学院 | A kind of bionical fish system based on series-parallel connection pneumatic muscles |
| CN108527353A (en) * | 2018-06-12 | 2018-09-14 | 北京化工大学 | A kind of drawing Pneumatic artificial muscle |
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| US4792173A (en) * | 1987-10-30 | 1988-12-20 | Duke University | Fluid actuated limb |
| US5080000A (en) * | 1990-05-11 | 1992-01-14 | Bubic Frank R | Flexible robotic links and manipulator trunks made thereform |
| CN1194818A (en) * | 1998-03-04 | 1998-10-07 | 黄上立 | Improved artificial tubular muscle and use thereof |
| CN2476316Y (en) * | 2001-04-12 | 2002-02-13 | 梁建宏 | Remote controlled multi-joint bionic machine fish |
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| CN100374352C (en) * | 2006-07-28 | 2008-03-12 | 哈尔滨工业大学 | Shape memory alloy wire driven pectoral wave pushing bionic underwater robot |
| CN100391788C (en) * | 2006-07-28 | 2008-06-04 | 哈尔滨工业大学 | Shape memory alloy string driven pectoral wave pushing bionic underwater robot |
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