A kind of bionical power device of machineryTechnical field
The utility model relates to a kind of bionical power devices of machinery.
Background technique
So far, the function that biology has is all superior more than any made machinery, such as human muscle's conductThe drive part of human motion, flexibility with higher and flexibility.Bionics is that people study organism structure and functionThe working principle of energy, and produced according to these working principles and be suitable for producing, the technology of studying and living.
Publication No. is CN103802126A, and date of publication discloses a kind of hydraulic imitative for the Chinese patent application of 2014.05.21Myogenic meat, the hydraulic bionic muscle include elastic capsule and with the high pressure oil port that is connected to inside elastic capsule, the axis of elastic capsuleMounting Earrings are fixedly connected with to both ends, elastic capsule has internal layer, middle layer and surface layer, and middle layer is to stretch fibrous layer, whenWhen by high pressure oil port to elastic capsule internal pressurization, elastic capsule expansion is gradually increased, under the action of expansive force, elastic gumThe fibrous layer in intracapsular portion further axial ends articulated joint relative distance, simulate the contraction state of muscle；Conversely, when elasticityWhen capsule pressure release, the articulated joint relative distance of elastic capsule axial ends is gradually recovered, and simulates the diastole state of muscle.
But the fibrous layer of above-mentioned hydraulic bionic muscle needs to limit the axial deformation of elastic capsule, causes elastic capsuleThe axial deformation amount of generation is smaller and pulling force is weaker.In addition, since radial dilatation, fiber occur again for elastic capsule itselfLayer is easy to happen opposite sliding in elastic capsule circumferential direction, causes the axial force in circumferential direction everywhere uneven.
Utility model content
The purpose of this utility model is to provide a kind of bionical power devices of machinery, to solve the existing bionical power of machineryThe problem that device axial direction deformation quantity is smaller and pulling force is weaker.
To achieve the above object, the technical solution of the mechanical bionical power device of the utility model is: the bionical power of the machineryDevice includes elastic capsule and for providing the fibrous layer of axial tension for elastic capsule, and fibrous layer is with regular polygon gridReticular structure, the number of edges of the grid is four or more, and grid has the stretching, extension diagonal line vertical with the axis of elastic capsule,Grid also has and the vertical contraction diagonal line of stretching, extension diagonal line or two opposite side parallel with stretching, extension diagonal line, the gridTwo sides for being used to form vertex are fixed to each other.
The beneficial effect is that: during expansion, the radial dimension of elastic capsule changes elastic capsule, gridStretching, extension diagonal line is stretched to be stretched along elastic capsule circumferencial direction, and the contraction Diagonal Dimension of grid shortens or be parallel to stretching, extensionCornerwise two back gauges shorten, the relative distance for the elastic capsule axial ends that can further, and generate elastic capsule largerPulling force and biggish deformation quantity, and can guarantee that circumferential axial force everywhere is uniform, structure is simple, strong applicability.
The shape of the grid is diamond shape or regular hexagon.
The fibrous layer is wrapped in the outer surface of elastic capsule.
The fibrous layer is opposite with elastic capsule to slide setting.
The axial ends of the elastic capsule is equipped with opening, and articulated joint is equipped in the opening, is set on the outside of fibrous layerThere is the fastener for elastic capsule to be fixed in articulated joint to and made articulated joint and opening sealing cooperation.
Its advantages: fastener being fixed elastic capsule in articulated joint, while can be realized hingeThe sealing of connector and opening, structure type are simpler.
The fastener is band.
Wall thickness in the middle part of the elastic capsule is less than the wall thickness of elastic capsule axial ends.
The beneficial effect is that: for elastic capsule during inflation, the deformation quantity at middle part is greater than the deformation quantity at both ends,It furthers the relative distance of elastic capsule both ends articulated joint convenient for fibrous layer.
Outer diameter in the middle part of the elastic capsule is greater than the outer diameter at elastic capsule both ends.
The elastic capsule is rubber pneumatic bag.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the embodiment 1 of utility model bionic muscle power device；
Fig. 2 is the structural schematic diagram that bionic muscle power device shown in FIG. 1 simulates muscle diastole state；
Fig. 3 is the cross-sectional view of Fig. 2；
Fig. 4 is the partial structural diagram of fibrous layer in Fig. 2；
Fig. 5 is the structural schematic diagram that bionic muscle power device shown in FIG. 1 simulates delta state of muscle；
Fig. 6 is the cross-sectional view of Fig. 5；
Fig. 7 is the partial structural diagram of fibrous layer in Fig. 5.
Description of symbols: 1. articulated joints；2. band；3. fibrous layer；4. elastic capsule；5. inflating port.
Specific embodiment
The embodiments of the present invention is described further with reference to the accompanying drawing.
The embodiment 1 of the mechanical bionical power device of the utility model, as shown in Figures 1 to 7, the bionical power device of the machineryIncluding elastic capsule 4 and with the inflating port 5 that is connected to inside elastic capsule 4, fibrous layer 3, fiber are wrapped up in the outer surface of elastic capsule 4The axial ends of layer 3 is fixedly connected with two articulated joints 1 respectively, and fibrous layer 3 and 4 adhesion of elastic capsule can be slided mutually,The shape of 3 grid of fibrous layer is diamond shape.
In the present embodiment, elastic capsule 4 is greater than using the preferable rubber pneumatic bag of elasticity, the outer diameter at 4 middle part of elastic capsuleThe wall thickness of the outer diameter of 4 axial ends of elastic capsule, 4 middle part of elastic capsule is less than the wall thickness of 4 axial ends of elastic capsule.The elasticityCapsule 4 during inflation, in the middle part of deformation quantity be greater than its axial ends deformation quantity, further convenient for fibrous layer 3The relative distance of the articulated joint 1 of elastic capsule axial ends.
The axial ends of elastic capsule 4 is equipped with opening, and opening is fixedly connected with articulated joint 1, and the setting of inflating port 5 is being cut with scissorsOn connector 1, articulated joint 1 is protruded into inside elastic capsule 4 by opening, and the outside of fibrous layer 3 is equipped with for by elastic capsule 4Be fixed in articulated joint 1 and make articulated joint 1 and opening sealing cooperation fastener, fastener be arranged in fiberThe band 2 in 3 outside of layer, band 2 tighten it is fixed after, the contact surface of elastic capsule 4 and articulated joint 1, which is formed, to be sealed.
When the bionical power device assembling of above-mentioned machinery, in 4 outer cover upper fibrage 3 of elastic capsule, articulated joint 1 is packed intoIn the opening of elastic capsule 4, the axial ends of fibrous layer 3 and elastic capsule 4 is tightened into fixation with band 2, after being completedThe bionical power device of machinery can be used as the movement mechanism of bio-robot.
When the bionical power device work of above-mentioned machinery, when by being inflated with inflating port 5 into elastic capsule 4, elastic gum4 air pressure inside of capsule increases, and since 3 use of fibrous layer is not easily stretchable, the material being easily bent constrains the axial direction of elastic capsule 4It extends, in 4 expansion process of elastic capsule, radial dimension is gradually increased, at this point, elastic capsule 4 can force its surface coated fibreThe outer diameter of dimension layer 3 equally becomes larger, and the grid of fibrous layer 3 is diamond shape, and the grid of prismatic is curved under the action of 4 expansive force of elastic capsuleSong, i.e., the diagonal line of Y-direction is stretched in figure, corresponding X to diagonal line shorten.Since the both ends of fibrous layer 3 are pricked by band 2It fastens on elastic capsule 4, and articulated joint 1 is located at X to both ends and is fixedly connected with the axial ends of elastic capsule, thereforeThe relative distance of two articulated joints 1 can gradually be furthered, and simulate the contraction state of muscle, the gas in elastic capsule 4 is by fillingWhen port 5 is released, the relative distance between two articulated joints 1 can be gradually recovered, and simulate muscle diastole state.
For the elastic capsule 4 of the above-mentioned bionical power device of machinery during expansion, fibrous layer 3 also increases elastic capsuleThe pulling force of 4 pairs of articulated joints 1, additionally it is possible to protect the safety of elastic capsule 4 in the deflated condition.
The embodiment 2 of the mechanical bionical power device of the utility model, difference from example 1 is that, fibrous layerThe shape of grid is regular hexagon.
In other embodiments, the grid of fibrous layer can be more sides regular polygon, as long as meet grid have withThe vertical stretching, extension diagonal line of elastic capsule axis also has the contraction diagonal line or with stretching, extension diagonal vertical with stretching, extension diagonal lineTwo parallel opposite side of line, two sides that the grid is used to form vertex are fixed to each other.
In other embodiments, articulated joint and opening can be sealed by sealant cooperates.
In other embodiments, elastic capsule can also pass through the hydraulic contraction and diastole state for realizing simulation muscle.