CN211250043U - Twist and contract artificial muscle - Google Patents
Twist and contract artificial muscle Download PDFInfo
- Publication number
- CN211250043U CN211250043U CN201922303550.1U CN201922303550U CN211250043U CN 211250043 U CN211250043 U CN 211250043U CN 201922303550 U CN201922303550 U CN 201922303550U CN 211250043 U CN211250043 U CN 211250043U
- Authority
- CN
- China
- Prior art keywords
- elastic body
- artificial muscle
- fiber winding
- torsionally
- contraction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Prostheses (AREA)
- Actuator (AREA)
Abstract
The utility model relates to a soft body driver, in particular to a torsional contraction artificial muscle. Comprises an outer packaging layer, a fiber winding and an elastic body; the elastic body is of a hollow structure, and radial expansion and axial contraction are realized by filling a driving medium into the hollow cavity; the fiber winding is arranged on the outer surface of the elastic body, is of a spiral structure, and drives the elastic body to twist through spiral torsion; the outer packaging layer is sleeved on the outer side of the elastic body and used for limiting the elastic body to axially extend out and can axially contract and radially expand along with the elastic body. The utility model discloses simple structure, the preparation is with low costs, not only is applicable to hydraulic drive, is applicable to air pressure drive moreover, can provide torsional motion and shrink motion, can apply to in the different fields, like aspects such as pipeline robot, rehabilitation device.
Description
Technical Field
The utility model relates to a soft body driver, in particular to a torsional contraction artificial muscle.
Background
In recent years, the application field of artificial muscles is more and more extensive, including medical instruments, rescue devices, auxiliary devices and the like, because of the advantages of the artificial muscles: simple structure, compare with pneumatic cylinder, cylinder and ball: high weight ratio, high softness, light weight, few mechanical parts, low cost and the like.
Reference is made to mollusks in nature, where some of the worms have a fibrous structure that encourages the body of the worm to perform torsional elongation and contraction movements. According to the existing fiber-reinforced artificial muscle deformation forms, the following are provided: contraction, elongation, bending, torsional elongation, and the like. However, torsional movement is a common movement form in nature, a movement form of torsional contraction does not exist in the existing artificial muscle design, the movements of torsional elongation and torsional contraction can be mutually compensated, and when the torsional elongation and torsional contraction are bound together, the movement similar to worm crawling can be realized. Therefore, there is a need for a torsionally contracting artificial muscle that has greater contraction force than the pushing force generated by elongation and is more practical.
SUMMERY OF THE UTILITY MODEL
In view of the above, an object of the present invention is to provide a torsional contraction artificial muscle, which can provide torsional movement and contraction movement, and can be applied to different fields.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a torsionally contracting artificial muscle comprising: the outer packaging layer, the fiber winding and the elastic body;
the elastic body is of a hollow structure, and radial expansion and axial contraction are realized by filling a driving medium into the hollow cavity;
the fiber winding is arranged on the outer surface of the elastic body and is of a spiral structure; when the elastic body is filled with a driving medium, the fiber winding guides the elastic body to twist;
the outer packaging layer is sleeved on the outer sides of the fiber winding and the elastic body and used for limiting the elastic body to axially extend out and guiding the elastic body to axially contract and radially expand.
The fiber winding and the elastic body are fixedly connected into an integrated structure.
The fiber winding is formed by spirally winding a plurality of fiber ropes on the elastic body, and is connected with the elastic body through bonding.
The plurality of fiber ropes are wound in parallel at equal intervals.
The outer packaging layer is a braided sleeve.
One end of the elastic body is provided with a plug, the other end of the elastic body is provided with a joint, and the joint is used for being connected with an external driving medium.
The joint and the plug are respectively inserted at two ends of the elastic body and fixedly connected with the elastic body through a hoop.
The elastomer is a latex tube.
The utility model has the advantages and beneficial effects that:
the utility model discloses application prospect is extensive: the utility model discloses a twist reverse shrink artificial muscle is a neotype software driver, can provide twisting motion and shrink motion, can apply to in the different fields, like aspects such as pipeline robot, rehabilitation device.
The utility model has the advantages of simple structure, the preparation is with low costs, and most parts all adopt commercial material.
The utility model discloses a twist reverse contraction artificial muscle's preparation simple process, inside elastomer adopt medical latex tube, and outside weaving sleeve pipe is also commercial, only needs accurate winding fiber winding can realize twisting reverse contraction artificial muscle's preparation.
The utility model discloses a twist reverse contraction artificial muscle torsion angle under hydraulic drive is big, can reach 180, and the contraction displacement can reach 50mm (the shrinkage factor 25%).
The utility model discloses a twist reverse contraction artificial muscle not only is applicable to hydraulic drive, is applicable to pneumatic drive moreover, can select corresponding drive type according to different work condition.
Drawings
Fig. 1 is a schematic structural view of the torsional contraction artificial muscle of the present invention;
FIG. 2 is a schematic view of the installation of the middle joint of the present invention;
FIG. 3 is a schematic view of the installation of the plug of the present invention;
FIG. 4 is a schematic diagram of the winding of fiber windings on the elastomer of the present invention;
FIG. 5 is a schematic structural view of a braided sleeve according to the present invention;
FIG. 6 is a schematic structural view of the braided sleeve of the present invention before deformation;
FIG. 7 is a schematic structural view of the braided sleeve after deformation;
fig. 8 is a schematic diagram of the deformation of the artificial muscle with twisting contraction according to the present invention.
Wherein: the device comprises a connector 1, a hoop 2, a braided sleeve 3, a plug 4, a fiber winding 5, an elastic body 6, a supporting rod 7, a pre-deformation state A and a post-deformation state B.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1, the torsional contraction artificial muscle provided by the present invention comprises an outer packaging layer, a fiber winding 5 and an elastic body 6; the elastic body 6 is a hollow structure, and radial expansion and axial contraction are realized by filling a driving medium into the hollow cavity; the fiber winding 5 is arranged on the outer surface of the elastic body 6, the fiber winding 5 is of a spiral structure, and the elastic body 6 is driven to twist through spiral torsion; the outer packaging layer is sleeved on the outer side of the elastic body 6 and used for limiting the elastic body 6 to axially extend out and can axially contract and radially expand along with the elastic body 6.
One end of the elastic body 6 is provided with a plug 4, the other end of the elastic body is provided with a joint 1, so that the inside of the elastic body 6 is a closed cavity, and the joint 1 is used for being connected with an external driving medium. In the embodiment of the utility model, elastomer 6 is latex tube.
As shown in fig. 2 to 3, the connector 1 and the plug 4 are respectively inserted into two ends of the elastic body 6 and fixedly connected to the elastic body 6 by the clip 2.
As shown in fig. 4, the fiber winding 5 is formed by spirally winding a plurality of fiber ropes on the elastic body 6, and the fiber winding 5 and the elastic body 6 are fixedly connected to form an integral structure. Further, a plurality of fiber ropes are parallel to each other and are spaced at equal intervals.
In the embodiment of the present invention, the fiber winding 5 is spirally wound on the elastic body 6 by 8-12 fiber ropes, and is fixedly connected with the elastic body 6 by bonding. The fiber rope is a commercially available product, and Kevlar (Kevlar) fiber developed by DuPont (DuPont) of America is adopted.
The embodiment of the utility model provides an in, outer encapsulated layer is for weaving sleeve pipe 3, and the great motion of limiting artificial muscle's axial direction of the material rigidity of weaving sleeve pipe 3, but radial direction does not receive the restriction. The braided fibers of the braided sleeve 3 are crossed in the radial direction with a certain crossing angle. As shown in fig. 6, in the non-operating state, the crossing angle between the braided fibers of the braided sleeve 3 is 60 degrees; as shown in fig. 7, when the braided sleeve 3 radially expands and axially contracts with the elastic body 6, the crossing angle between the braided fibers becomes 45 degrees.
In the embodiment of the utility model, weave sleeve pipe 3 and adopt Kevlar rope or nylon rope to weave and form.
The utility model discloses twist reverse the deformation principle of contraction artificial muscle: the artificial muscle is a combined transformation principle of Mckiben artificial muscle and torsional elongation artificial muscle due to torsional contraction. Therefore, the principle of deformation of a torsionally contracted artificial muscle can be understood as follows: under the action of internal pressure, the fiber winding 5 can guide the elastic body 6 to perform torsional motion and have a tendency of expansion due to the binding relationship between the 8-12 fiber windings 5 wound in parallel and the elastic body 6 of the inner layer (the fiber windings and the elastic body do not have relative displacement). However, the material of the outer casing layer limits the elongation movement of the artificial muscle in the axial direction due to the large rigidity, the fixed length and the like, so that a fixed length string like a non-elastic string cannot be elongated, but is free to move in the opposite direction. Meanwhile, as shown in fig. 5, since the braided sleeve 3 is a braided structure that is braided by braiding fibers to cross in the radial direction and has a certain crossing angle, the radial direction is not restricted, and the braided sleeve 3 can guide the shrinkage deformation of the elastic body. Therefore, when the elastic body 6 is in contact with the outer braided sleeve 3, it exhibits a phenomenon of radial expansion and axial contraction, which is similar to the deformation of the Mckibben muscle, thereby achieving a torsional contraction phenomenon of the artificial muscle.
As shown in fig. 8, a is a pre-deformation state and B is a post-deformation state; the torsional contraction artificial muscle is driven by hydraulic pressure or air pressure, and the contraction length is delta L under the action of internal pressure.
The specific preparation process of the torsional contraction artificial muscle of the utility model is as follows:
the support rod 7 is placed inside the elastic body 6 while being engaged with the retainer, as shown in fig. 4. Marking positioning points on the surface of the elastic body 6, wherein various methods are used for marking the positioning points, and in order to accelerate the process of preparing artificial muscles, standard spiral marking is realized by a spraying method after the assembly body is obtained; after obtaining the standard spiral mark, a plurality of Kevlar fibers are wound in parallel along the positioning identification spiral on the elastic body 6, and each Kevlar fiber is equidistant in the circumferential direction. After the Kevlar fibres are wound, the support rods 7 are removed and the Kevlar fibres are bonded to the elastomer 6 using a flexible glue, in a binding relationship. According to the principle of deformation of the torsionally elongated artificial muscle, in this case, without the peripheral braided sleeve 3, the artificial muscle exhibits a phenomenon of torsional elongation when subjected to a pressure, possibly accompanied by a phenomenon of local blistering. Therefore, by further adding the outer woven tube 3 to enclose the artificial muscle after obtaining the artificial muscle that is twisted and elongated, not only the twisting characteristic can be realized, but also the movement direction of the artificial muscle can be changed from the stretching movement to the contracting movement. And finally, the two ends of the elastic body 6 are sealed by the joint 1 and the plug 4, and the braided sleeve 3 is bound with the elastic body 6 through the hoop 2 to realize packaging.
The utility model discloses a twist reverse contraction artificial muscle not only is applicable to hydraulic drive, is applicable to pneumatic drive moreover, can select corresponding drive type according to different work condition. The torsion angle under the hydraulic driving is large and can reach 180 degrees, and the contraction displacement can reach 50mm (the contraction rate is 25 percent).
The utility model discloses a twist reverse shrink artificial muscle is a neotype software driver, can provide twisting motion and shrink motion, can apply to in the different fields, like aspects such as pipeline robot, rehabilitation device. When being applied to the pipeline robot, the twisting contraction artificial muscle and the twisting extension artificial muscle have synergistic effect, the motions of the twisting contraction artificial muscle and the twisting extension artificial muscle can be mutually compensated, and when the twisting contraction artificial muscle and the twisting extension artificial muscle are bound together, the motion similar to worm crawling can be realized. Moreover, the motion of torsional contraction provides torsional motion relative to the motion of torsional elongation, while the contraction force generated by contraction is greater than the thrust force generated by elongation, and is more practical.
The utility model discloses a twist reverse contraction artificial muscle's preparation simple process, inside elastomer adopt medical latex tube, and outside weaving sleeve pipe is also commercial, only needs accurate winding fiber winding can realize twisting reverse contraction artificial muscle's preparation.
The above description is only for the embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, extension, etc. made within the spirit and principle of the present invention are all included in the protection scope of the present invention.
Claims (8)
1. A torsionally contracting artificial muscle, comprising: an outer packaging layer, a fiber winding (5) and an elastic body (6);
the elastic body (6) is of a hollow structure, and radial expansion and axial contraction are realized by filling a driving medium into the hollow cavity;
the fiber winding (5) is arranged on the outer surface of the elastic body (6), and the fiber winding (5) is of a spiral structure; when the elastic body (6) is filled with a driving medium, the fiber winding (5) guides the elastic body (6) to twist;
the outer packaging layer is sleeved on the outer sides of the fiber winding (5) and the elastic body (6) and used for limiting the elastic body (6) to axially extend out and guiding the elastic body (6) to axially contract and radially expand.
2. The torsionally contracted artificial muscle according to claim 1, wherein the fiber winding (5) is fixedly connected with the elastic body (6) in an integral structure.
3. The torsionally contracting artificial muscle according to claim 1 or 2, wherein the fiber winding (5) is formed by a plurality of fiber cords spirally wound on the elastic body (6) and connected with the elastic body (6) by means of adhesion.
4. The torsionally contracting artificial muscle according to claim 3, wherein the plurality of fiber ropes are wound in parallel at equal intervals.
5. The torsionally contracting artificial muscle according to claim 1, wherein the outer encapsulating layer is a braided sleeve (3).
6. The torsionally contracted artificial muscle according to claim 1, wherein the elastic body (6) is provided at one end with a plug (4) and at the other end with a joint (1), the joint (1) being adapted to be connected to an external driving medium.
7. The torsionally contracted artificial muscle according to claim 6, wherein the joint (1) and the plug (4) are respectively inserted into both ends of the elastic body (6) and are fixedly connected to the elastic body (6) by a clamp (2).
8. The torsionally contracting artificial muscle according to claim 1, wherein the elastomer (6) is a latex tube.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922303550.1U CN211250043U (en) | 2019-12-20 | 2019-12-20 | Twist and contract artificial muscle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922303550.1U CN211250043U (en) | 2019-12-20 | 2019-12-20 | Twist and contract artificial muscle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211250043U true CN211250043U (en) | 2020-08-14 |
Family
ID=71986947
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922303550.1U Active CN211250043U (en) | 2019-12-20 | 2019-12-20 | Twist and contract artificial muscle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211250043U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110877331A (en) * | 2019-12-20 | 2020-03-13 | 中国科学院沈阳自动化研究所 | Twist reverse artificial muscle that contracts |
| WO2023070805A1 (en) * | 2021-10-26 | 2023-05-04 | 江苏大学 | Bidirectional linear fast-response spiral winding type pneumatic artificial muscle based on braided tube |
-
2019
- 2019-12-20 CN CN201922303550.1U patent/CN211250043U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110877331A (en) * | 2019-12-20 | 2020-03-13 | 中国科学院沈阳自动化研究所 | Twist reverse artificial muscle that contracts |
| CN110877331B (en) * | 2019-12-20 | 2023-12-26 | 中国科学院沈阳自动化研究所 | Torsion contraction artificial muscle |
| WO2023070805A1 (en) * | 2021-10-26 | 2023-05-04 | 江苏大学 | Bidirectional linear fast-response spiral winding type pneumatic artificial muscle based on braided tube |
| GB2614512A (en) * | 2021-10-26 | 2023-07-05 | Univ Jiangsu | Bidirectional linear fast-response spiral winding type pneumatic artificial muscle based on braided tube |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110877331B (en) | Torsion contraction artificial muscle | |
| CN107088884B (en) | Wearable hooped pneumatic inflatable bending flexible driver | |
| CN211250043U (en) | Twist and contract artificial muscle | |
| Kurumaya et al. | Design of thin McKibben muscle and multifilament structure | |
| Suzumori et al. | Long bending rubber mechanism combined contracting and extending tluidic actuators | |
| Daerden et al. | The concept and design of pleated pneumatic artificial muscles | |
| US6868773B2 (en) | Fluidic actuator | |
| JP5246717B2 (en) | Fluid injection type actuator | |
| US9771956B2 (en) | Actuator, actuator apparatus, and method of driving actuator | |
| CN106956254A (en) | Multiple degrees of freedom combination drive artificial-muscle | |
| CN105380773A (en) | Exercise assisting device based on elongate pneumatic muscles | |
| CN107965634B (en) | Flexible pipeline crawling robot based on artificial muscles | |
| CN113954061B (en) | Double-acting linear flexible pneumatic driver and preparation and use methods thereof | |
| JP2017024117A (en) | Spirally deformable soft device and robot system using the same | |
| CN1171924A (en) | Artificial tubular muscle and its application | |
| Tanaka et al. | Back-stretchable mckibben muscles: Expanding the range of antagonistic muscle driven joints | |
| JP2010127429A (en) | Fluid actuator | |
| CN107618028A (en) | A kind of two-way artificial-muscle | |
| Najmuddin et al. | A study on contraction of pneumatic artificial muscle (PAM) for load-lifting | |
| CN110015351A (en) | A kind of imitative snake software climbing level robot and its application | |
| CN106181994A (en) | Deep-sea based on hydraulic-driven artificial-muscle flexible grabbing device | |
| CN106113023A (en) | A kind of dual openings braiding net type connecting hose artificial-muscle | |
| CN109693725B (en) | Soft rod-climbing robot | |
| US4988128A (en) | Coupling for a shaft having a reinforcement framework | |
| CN211423702U (en) | Modular pipeline robot based on hydraulic artificial muscles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |