技术领域technical field
本发明涉及一种机械仿生动力装置。The invention relates to a mechanical bionic power device.
背景技术Background technique
迄今为止，生物具有的功能比任何人工制造的机械都优越的多，如人体肌肉作为人类运动的驱动部分，具有较高的柔韧性和灵活性。仿生学便是人们研究生物体结构与功能的工作原理，并根据这些工作原理制造出适用于生产、学习和生活的技术。So far, biological functions are much superior to any artificially manufactured machinery, such as human muscle, which is the driving part of human movement, has high flexibility and flexibility. Bionics is people's research on the working principles of the structure and function of organisms, and based on these working principles, technologies suitable for production, learning and life are produced.
公布号为CN103802126A，公布日为2014.05.21的中国专利申请公开了一种液压仿生肌肉，该液压仿生肌肉包括弹性胶囊和与弹性胶囊内部连通的高压油口，弹性胶囊的轴向两端固定连接有安装耳环，弹性胶囊具有内层、中间层及面层，中间层为拉伸纤维层，当通过高压油口向弹性胶囊内部加压时，弹性胶囊膨胀逐渐增大，在膨胀力的作用下，弹性胶囊内部的纤维层拉近轴向两端的铰接接头的相对距离，模拟肌肉的收缩状态；反之，当弹性胶囊内部泄压时，弹性胶囊轴向两端的铰接接头相对距离逐渐恢复，模拟肌肉的舒张状态。The Chinese patent application with the publication number CN103802126A and the publication date of 2014.05.21 discloses a hydraulic bionic muscle. The hydraulic bionic muscle includes an elastic capsule and a high-pressure oil port communicating with the interior of the elastic capsule. The axial ends of the elastic capsule are fixedly connected. There are earrings installed. The elastic capsule has an inner layer, a middle layer and a surface layer. The middle layer is a stretched fiber layer. When the pressure is applied to the inside of the elastic capsule through the high-pressure oil port, the expansion of the elastic capsule increases gradually. Under the action of the expansion force , the fiber layer inside the elastic capsule shortens the relative distance between the hinged joints at both ends of the axial direction, simulating the contraction state of the muscle; on the contrary, when the internal pressure of the elastic capsule is released, the relative distance between the hinged joints at the two axial ends of the elastic capsule gradually recovers, simulating the muscle the state of relaxation.
但是，上述液压仿生肌肉的纤维层需要限制弹性胶囊的轴向变形，致使弹性胶囊产生的轴向形变量较小且拉力较弱。另外，由于弹性胶囊本身又要发生径向扩张，因此纤维层在弹性胶囊周向上容易发生相对滑动，导致周向上各处的轴向作用力不均匀。However, the fiber layer of the above-mentioned hydraulic bionic muscle needs to limit the axial deformation of the elastic capsule, so that the axial deformation of the elastic capsule is small and the tensile force is weak. In addition, since the elastic capsule itself needs to expand in the radial direction, the fiber layer tends to slide relatively in the circumferential direction of the elastic capsule, resulting in uneven axial force everywhere in the circumferential direction.
发明内容Contents of the invention
本发明的目的在于提供一种机械仿生动力装置，以解决现有的机械仿生动力装置轴向形变量较小且拉力较弱的问题。The purpose of the present invention is to provide a mechanical bionic power device to solve the problems of the existing mechanical bionic power device with small axial deformation and weak pulling force.
为实现上述目的，本发明机械仿生动力装置的技术方案是：该机械仿生动力装置包括弹性胶囊和用于为弹性胶囊提供轴向拉力的纤维层，纤维层为具有正多边形网格的网状结构，所述网格的边数为四条以上，网格具有与弹性胶囊的轴线垂直的伸展对角线，网格还具有与伸展对角线垂直的收缩对角线或者与伸展对角线平行的两条对边，所述网格用于形成顶点的两条边相互固定。In order to achieve the above object, the technical solution of the mechanical bionic power device of the present invention is: the mechanical bionic power device includes an elastic capsule and a fiber layer for providing axial tension for the elastic capsule, and the fiber layer is a mesh structure with regular polygonal grids , the number of sides of the grid is more than four, the grid has an extended diagonal line perpendicular to the axis of the elastic capsule, and the grid also has a contracted diagonal line perpendicular to the extended diagonal line or parallel to the extended diagonal line Two opposite sides, the two sides of the mesh used to form a vertex are fixed to each other.
其有益效果是：弹性胶囊在膨胀的过程中，弹性胶囊的径向尺寸发生变化，网格的伸展对角线被拉伸沿弹性胶囊圆周方向伸展，网格的收缩对角线尺寸缩短或者平行于伸展对角线的两条边距离缩短，能够拉近弹性胶囊轴向两端的相对距离，使弹性胶囊产生较大的拉力和较大的形变量，并且能够保证周向各处的轴向力均匀，结构简单，适用性强。Its beneficial effect is: during the expansion process of the elastic capsule, the radial dimension of the elastic capsule changes, the stretched diagonal of the grid is stretched along the circumferential direction of the elastic capsule, and the contracted diagonal of the grid is shortened or parallel The distance between the two sides of the stretched diagonal line is shortened, which can shorten the relative distance between the two axial ends of the elastic capsule, so that the elastic capsule can generate greater tension and greater deformation, and can ensure the axial force everywhere in the circumferential direction. Uniform, simple structure, strong applicability.
所述网格的形状为菱形或者正六边形。The shape of the grid is rhombus or regular hexagon.
所述纤维层包裹在弹性胶囊的外表面。The fiber layer is wrapped on the outer surface of the elastic capsule.
所述纤维层与弹性胶囊相对滑动设置。The fiber layer and the elastic capsule are relatively slidingly arranged.
所述弹性胶囊的轴向两端设有开口，所述开口内设有铰接接头，纤维层的外侧设有用于将弹性胶囊压紧固定到铰接接头上并使铰接接头与开口密封配合的紧固件。The axial ends of the elastic capsule are provided with openings, the opening is provided with a hinged joint, and the outside of the fiber layer is provided with a fastening device for pressing and fixing the elastic capsule to the hinged joint and making the hinged joint seal with the opening. pieces.
其有益效果：紧固件能够将弹性胶囊的压紧固定到铰接接头上，同时能够实现铰接接头与开口的密封，结构形式更加简单。The beneficial effect is that the fastener can press and fix the elastic capsule to the hinged joint, and at the same time can realize the sealing of the hinged joint and the opening, and the structural form is simpler.
所述紧固件为扎带。The fastener is a cable tie.
所述弹性胶囊中部的壁厚小于弹性胶囊轴向两端的壁厚。The wall thickness of the middle part of the elastic capsule is smaller than the wall thickness of the two axial ends of the elastic capsule.
其有益效果是：弹性胶囊在充气膨胀的过程中，中部的形变量大于两端的形变量，便于纤维层拉近弹性胶囊两端铰接接头的相对距离。The beneficial effect is that during the process of inflation and expansion of the elastic capsule, the deformation of the middle part is greater than that of the two ends, which facilitates the fiber layer to shorten the relative distance between the hinged joints at the two ends of the elastic capsule.
所述弹性胶囊中部的外径大于弹性胶囊两端的外径。The outer diameter of the middle part of the elastic capsule is greater than the outer diameters of both ends of the elastic capsule.
所述弹性胶囊为橡胶气囊。The elastic capsule is a rubber air bag.
附图说明Description of drawings
图1为发明仿生肌肉动力装置的实施例1的结构示意图；Fig. 1 is the structural representation of embodiment 1 of the invention bionic muscle power device;
图2为图1所示的仿生肌肉动力装置模拟肌肉舒张状态的结构示意图；Fig. 2 is the structural representation of the simulated muscle relaxation state of the bionic muscle power device shown in Fig. 1;
图3为图2的剖视图；Fig. 3 is a sectional view of Fig. 2;
图4为图2中纤维层的局部结构示意图；Fig. 4 is the partial structure schematic diagram of fiber layer in Fig. 2;
图5为图1所示的仿生肌肉动力装置模拟肌肉收缩状态的结构示意图；Fig. 5 is a structural schematic diagram of the simulated muscle contraction state of the bionic muscle power device shown in Fig. 1;
图6为图5的剖视图；Fig. 6 is the sectional view of Fig. 5;
图7为图5中纤维层的局部结构示意图。FIG. 7 is a schematic diagram of a partial structure of the fiber layer in FIG. 5 .
附图标记说明：1.铰接接头；2.扎带；3.纤维层；4.弹性胶囊；5.充气口。Explanation of reference signs: 1. hinged joint; 2. cable tie; 3. fiber layer; 4. elastic capsule; 5. inflation port.
具体实施方式Detailed ways
下面结合附图对本发明的实施方式作进一步说明。Embodiments of the present invention will be further described below in conjunction with the accompanying drawings.
本发明机械仿生动力装置的实施例1，如图1至图7所示，该机械仿生动力装置包括弹性胶囊4和与弹性胶囊4内部连通的充气口5，弹性胶囊4的外表面包裹纤维层3，纤维层3的轴向两端分别与两铰接接头1固定连接，纤维层3与弹性胶囊4不粘连，能够相互滑动，纤维层3网格的形状为菱形。Embodiment 1 of the mechanical bionic power device of the present invention, as shown in Figures 1 to 7, the mechanical bionic power device includes an elastic capsule 4 and an air filling port 5 communicating with the elastic capsule 4, and the outer surface of the elastic capsule 4 is wrapped with a fiber layer 3. The axial ends of the fiber layer 3 are fixedly connected to the two hinged joints 1 respectively, the fiber layer 3 and the elastic capsule 4 are not adhered, and can slide with each other, and the shape of the mesh of the fiber layer 3 is rhombus.
在本实施例中，弹性胶囊4采用弹性较好的橡胶气囊，弹性胶囊4中部的外径大于弹性胶囊4轴向两端的外径，弹性胶囊4中部的壁厚小于弹性胶囊4轴向两端的壁厚。该弹性胶囊4在充气膨胀的过程中，其中部的形变量大于其轴向两端的形变量，便于纤维层3拉近弹性胶囊轴向两端的铰接接头1的相对距离。In the present embodiment, the elastic capsule 4 adopts a rubber airbag with good elasticity, the outer diameter of the middle part of the elastic capsule 4 is greater than the outer diameters of the axial ends of the elastic capsule 4, and the wall thickness of the middle part of the elastic capsule 4 is smaller than that of the two axial ends of the elastic capsule 4. wall thickness. During the process of inflation and expansion of the elastic capsule 4 , the deformation of the middle part is greater than the deformation of the two axial ends, so that the fiber layer 3 can shorten the relative distance between the hinged joints 1 at the two axial ends of the elastic capsule.
弹性胶囊4的轴向两端设有开口，开口处固定连接有铰接接头1，充气口5设置在铰接接头1上，铰接接头1通过开口伸入弹性胶囊4内部，纤维层3的外侧设有用于将弹性胶囊4的压紧固定到铰接接头1上并使铰接接头1与开口密封配合的紧固件，紧固件为设置在纤维层3外侧的扎带2，扎带2扎紧固定后，弹性胶囊4与铰接接头1的接触面形成密封。The axial ends of the elastic capsule 4 are provided with openings, and the openings are fixedly connected with hinged joints 1, and the inflation port 5 is arranged on the hinged joints 1, and the hinged joints 1 extend into the inside of the elastic capsule 4 through the openings, and the outside of the fiber layer 3 is provided with a The fastener used to press and fix the elastic capsule 4 to the hinged joint 1 and make the hinged joint 1 seal fit with the opening, the fastener is a cable tie 2 arranged on the outside of the fiber layer 3, after the cable tie 2 is fastened and fixed , the contact surface of the elastic capsule 4 and the hinged joint 1 forms a seal.
上述机械仿生动力装置组装时，在弹性胶囊4外部套上纤维层3，将铰接接头1装入弹性胶囊4的开口内，用扎带2将纤维层3和弹性胶囊4的轴向两端均扎紧固定，组装完成后的机械仿生动力装置可以作为仿生机器人的运动机构。When the above-mentioned mechanical bionic power device is assembled, the fiber layer 3 is put on the outside of the elastic capsule 4, the hinged joint 1 is put into the opening of the elastic capsule 4, and the axial ends of the fiber layer 3 and the elastic capsule 4 are evenly connected by cable ties 2. Fastened and fixed, the assembled mechanical bionic power device can be used as a motion mechanism of a bionic robot.
上述机械仿生动力装置工作时，通过带有充气口5向弹性胶囊4内充气时，弹性胶囊4内部气压升高，由于纤维层3采用不易拉伸，容易弯曲的材料，制约了弹性胶囊4的轴向伸长，弹性胶囊4膨胀过程中，径向尺寸逐渐增大，此时，弹性胶囊4会迫使其表面包覆的纤维层3的外径同样变大，纤维层3的网格为菱形，棱形的网格在弹性胶囊4膨胀力的作用下弯曲，即图中Y方向的对角线被拉伸，相应的X向的对角线缩短。由于纤维层3的两端被扎带2扎紧固定在弹性胶囊4上，而铰接接头1位于X向两端并与弹性胶囊的轴向两端固定连接，因此两个铰接接头1的相对距离会逐渐被拉近，模拟肌肉的收缩状态，弹性胶囊4内的气体由充气口5放出时，两个铰接接头1之间的相对距离会逐渐恢复，模拟肌肉舒张状态。When the above-mentioned mechanical bionic power device is working, when the elastic capsule 4 is inflated through the air charging port 5, the internal air pressure of the elastic capsule 4 rises. Since the fiber layer 3 is made of a material that is not easy to stretch and is easy to bend, the elastic capsule 4 is restricted. Axial elongation, during the expansion process of the elastic capsule 4, the radial dimension gradually increases. At this time, the elastic capsule 4 will force the outer diameter of the fiber layer 3 coated on its surface to also increase, and the mesh of the fiber layer 3 is rhombus , the prismatic grid is bent under the action of the expansion force of the elastic capsule 4 , that is, the diagonal line in the Y direction in the figure is stretched, and the corresponding diagonal line in the X direction is shortened. Since the two ends of the fiber layer 3 are fastened and fixed on the elastic capsule 4 by cable ties 2, and the hinged joints 1 are located at both ends of the X direction and are fixedly connected with the axial ends of the elastic capsule, the relative distance between the two hinged joints 1 will be drawn closer gradually, simulating the state of muscle contraction, and when the gas in the elastic capsule 4 is released from the inflation port 5, the relative distance between the two hinged joints 1 will gradually recover, simulating the state of muscle relaxation.
上述机械仿生动力装置的弹性胶囊4在膨胀的过程中，纤维层3也增加了弹性胶囊4对铰接接头1的拉力，还能够保护弹性胶囊4在充气状态下的安全性。During the expansion process of the elastic capsule 4 of the above-mentioned mechanical bionic power device, the fiber layer 3 also increases the pulling force of the elastic capsule 4 on the hinged joint 1, and can also protect the safety of the elastic capsule 4 in an inflated state.
本发明机械仿生动力装置的实施例2，与实施例1的不同之处在于，纤维层的网格的形状为正六边形。Embodiment 2 of the mechanical biomimetic power device of the present invention differs from Embodiment 1 in that the shape of the mesh of the fiber layer is a regular hexagon.
在其他实施例中，纤维层的网格可以为更多边的正多边形，只要满足网格具有与弹性胶囊轴线垂直的伸展对角线，还具有与伸展对角线垂直的收缩对角线或者与伸展对角线平行的两条对边，所述网格用于形成顶点的两条边相互固定。In other embodiments, the grid of the fiber layer can be a regular polygon with more sides, as long as the grid has an expansion diagonal perpendicular to the axis of the elastic capsule, and a contraction diagonal perpendicular to the expansion diagonal or Two opposite sides parallel to the stretching diagonal, the two sides of the mesh used to form the vertices are fixed to each other.
在其他实施例中，铰接接头与开口可以通过密封胶密封配合。In other embodiments, the hinged joint and the opening may be sealingly fitted by a sealant.
在其他实施例中，弹性胶囊也可以通过液压实现模拟肌肉的收缩和舒张状态。In other embodiments, the elastic capsule can also simulate the contraction and relaxation states of muscles through hydraulic pressure.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810595538.XACN108608421A (en) | 2018-06-11 | 2018-06-11 | The bionical power plant of machinery |
| Application Number | Priority Date | Filing Date | Title |
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| CN201810595538.XACN108608421A (en) | 2018-06-11 | 2018-06-11 | The bionical power plant of machinery |
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| CN108608421Atrue CN108608421A (en) | 2018-10-02 |
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| CN201810595538.XAPendingCN108608421A (en) | 2018-06-11 | 2018-06-11 | The bionical power plant of machinery |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication | Application publication date:20181002 |