Bionic artificial muscle and bionic robot

Abstract

The application discloses a kind of bionic artificial muscle, including center axis and the kinematic pair being arranged around the center axis, the kinematic pair is arranged on the side of the center axis with uniformly distributed ball socket contact, the center axis is arranged on the side of the kinematic pair with at least one group of alternate action and can be moved along the length direction of the center axis and perpendicular to the center axis direction link, when the link moves along the direction perpendicular to the center axis, the end of the link close to the kinematic pair can be inserted into the ball socket contact.The application also discloses a kind of bionic robot comprising the above-mentioned bionic artificial muscle.The application can highly restore the structural characteristics of biological muscle, effectively reproduce the excellent comprehensive performance of biological muscle.

Description

Technical Field

[0001] This invention relates to the field of artificial muscle technology, specifically to a bionic artificial muscle and a bionic robot. Background Technology

[0002] Biomimetic artificial muscles are a novel type of intelligent flexible material that can exhibit stretching, expansion, bending, and torsion movements and perform work under external stimuli (such as electricity, magnetism, temperature, light, force, and humidity). They have significant application value in humanoid robots, biomedicine, and aerospace. The actuation of biological muscles originates from the contraction of myofibrils. Distributed power provided by protein molecular motors enables the overall relative sliding motion between myofilaments, a multi-spatial-temporal-scale dynamic process characterized by randomness and nonlinearity. A comprehensive understanding of the cross-scale structural-functional relationship, especially the establishment of quantitative physical models of the actuation mechanism and dynamic characteristics of individual myofibrils in biological muscles, remains a significant challenge.

[0003] The patent specification with publication number CN104196816B discloses an artificial muscle that uses gas as the working medium. A damping contraction unit with a cylinder-piston mechanism and an elastic unit form a series connection. The total length of the damping contraction unit and the elastic unit is controlled by the tension and working gas pressure, and is not subject to other constraints. The damping contraction unit is configured such that a rear end cover and a middle end cover are threadedly sealed to the cylinder, and a piston rod threadedly connected to the piston passes through the middle end cover. An air inlet mounting hole is provided on the middle end cover. An exhaust port is provided on the rear end cover. The elastic unit is configured such that a cavity exists inside the piston rod, and its other end is threadedly connected to the front end cover and passes through the middle end cover. A spring is installed in the piston rod, with one end fixedly connected to a round nut inside the piston rod and the other end connected to a guide rod. The guide rod passes through the front end cover and is connected to a first pull ring at the rod end located outside the piston rod. A second pull ring is installed on the rear end cover via a fixed bracket.

[0004] The patent specification with publication number CN111360803A discloses an electromagnetic artificial muscle, which uses a single bundle of muscle fibers as the constituent unit. The single bundle of muscle fibers includes several electromagnets, magnetic rubber, and magnetic fluid. The magnetic rubber has a hollow cylindrical structure. Several electromagnets are evenly spaced inside the magnetic rubber and are arranged coaxially with the magnetic rubber. The electromagnets and the inner wall of the magnetic rubber are fixedly connected. Each pair of adjacent electromagnets and the magnetic rubber between adjacent electromagnets form a cavity. Magnetic fluid is injected into all the cavities. Each electromagnet includes a coil and a magnetic core. The coil is wound around the magnetic core. The magnetic fluid is a gel-like liquid composed of magnetic solid particles, a base liquid, and a surfactant. Two adjacent electromagnets, the magnetic rubber between two electromagnets, and the magnetic fluid between two electromagnets constitute a sarcomere unit. When the coil on the magnetic core is energized, the electromagnets are polarized, and the magnetic fluid and magnetic rubber are also polarized. The magnetic poles at the ends of adjacent electromagnets are the same or opposite. Each sarcomere unit elongates or contracts, thereby causing the single bundle of muscle fibers to elongate or contract.

[0005] The aforementioned biomimetic artificial muscle designs can only mimic one or a few features of human muscles and meet certain performance requirements in terms of stress-strain, response speed, power density, energy efficiency, direct drive capability, and lifespan. Currently, biomimetic artificial muscles that simultaneously achieve similar comprehensive performance in terms of force density, power density, peak strain, bandwidth, low cost, cycle life, and efficiency to biological muscles have not yet been realized. Furthermore, there are no mature reports on distributed dynamics and multi-temporal-scale biomimetic muscle structures based on biological muscles. Summary of the Invention

[0006] One objective of this invention is to provide a biomimetic artificial muscle that can highly replicate the structural features of biological muscles and effectively reproduce the excellent comprehensive performance of biological muscles.

[0007] A biomimetic artificial muscle includes a central axis and a kinematic pair arranged around the central axis. The kinematic pair has evenly distributed ball-and-socket contacts on the side facing the central axis. The central axis has at least one set of alternating links that can move along the length of the central axis and perpendicular to the central axis. When the links move perpendicular to the central axis, the end of the link near the kinematic pair can extend into the ball-and-socket contacts.

[0008] This solution uses alternating linkages to drive the motion of the kinematic pair. The linkages can move along the direction perpendicular to the central axis, with the range of movement matching the depth of the ball-and-socket contact point. They can also reciprocate along the length of the central axis, with the range of movement matching the distance between the ball-and-socket contact point.

[0009] The connecting rods sequentially contact and separate from the corresponding ball and socket contacts. The contacting connecting rod drives the kinematic pair to move, and the separating connecting rod moves to the next ball and socket contact before making contact, thus realizing the stepping function of the kinematic pair.

[0010] Preferably, a driver is provided on the central shaft for driving the connecting rod to move along the length direction of the central shaft at each of the connecting rod positions;

[0011] The connecting rod is a telescopic rod structure. A coil is provided on the end of the connecting rod near the kinematic pair. A circuit for energizing the coil is provided inside the central shaft. The ball-and-socket contact is magnetic.

[0012] In this scheme, the driver can adopt a linear drive mechanism, with one end of the connection fixed on the movable end of the linear drive mechanism; the coil size matches the ball-and-socket contact, and the direction of the magnetic field can be controlled by the direction of the current, thereby attracting or repelling the ball-and-socket contact.

[0013] Preferably, multiple sets of kinematic pairs are arranged along the length of the central axis, with adjacent sets of kinematic pairs located on a straight line connected end to end.

[0014] Preferably, the central axis is provided in multiple parallel configurations.

[0015] The above scheme achieves long-distance travel through series connection, high power output through parallel connection, and long-distance high power output through series and parallel connection.

[0016] Preferably, the ball-and-socket contact is provided with a ferromagnetic metal material.

[0017] Preferably, the central shaft and the kinematic pair are made of polyethylene fiber, and the connecting rod is made of resin.

[0018] Preferably, the central shaft, kinematic pair, and connecting rod are manufactured using 3D printing technology.

[0019] Another object of the present invention is to provide a biomimetic robot comprising the above-described biomimetic artificial muscles.

[0020] The beneficial effects of this invention are:

[0021] (1) Distributed power, compact structure, light weight, suitable for miniaturized application scenarios.

[0022] (2) It can be superimposed in three dimensions to accumulate the small displacements and forces of the distributed dynamics to achieve the summation effect, making it convenient to obtain high-frequency large displacement motion characteristics.

[0023] (3) The structural connection has a certain elastic margin and a high fault tolerance rate; it highly restores the structural characteristics of biological muscle and effectively reproduces the excellent performance of biological muscle. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of an action state of embodiment 1 of the bionic artificial muscle of the present invention;

[0025] Figure 2 This is a schematic diagram of another action state of the bionic artificial muscle embodiment 1 of the present invention;

[0026] Figure 3 This is a schematic diagram of another action state of the bionic artificial muscle embodiment 1 of the present invention;

[0027] Figure 4 This is a schematic diagram of the structure of Embodiment 2 of the biomimetic artificial muscle of the present invention;

[0028] Figure 5 This is a schematic diagram of the structure of embodiment 3 of the biomimetic artificial muscle of the present invention;

[0029] In the diagram: 1. Central shaft, 2. Driver, 3. Kinematic pair, 4. Ball-and-socket contact, 5. Linkage rod, 6. Coil. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] Example 1

[0032] like Figure 1-3 As shown, a biomimetic artificial muscle includes a fixed central axis 1 and a kinematic pair 3 arranged around the central axis 1; the central axis 1 serves as a fixed component to ensure the overall stability of the biomimetic structure and provides fixed points for other components, and has circuitry inside; the kinematic pair 3 has evenly distributed ball-and-socket contacts 4 on the side facing the central axis 1, and ferromagnetic metal material is arranged inside the ball-and-socket contacts 4 so that the ball-and-socket contacts 4 are magnetic.

[0033] The distance between two adjacent ball-and-socket contacts 4 on the kinematic pair 3 is one drive stroke. Two sets of actuators 2 are provided on the side of the central shaft 1 facing the kinematic pair 3. The actuators 2 can be gear and rack linear drive mechanisms or ball screw linear drive mechanisms. A connecting rod 5 is provided on the movable end of the actuator 2. The connecting rod 5 is specifically set perpendicular to the central shaft 1. The actuator 2 can drive the connecting rod 5 to reciprocate along the length direction of the central shaft 1 within one drive stroke.

[0034] A miniature coil 6 is provided on the end of the connecting rod 5 near the kinematic pair 3. The magnitude and polarity of the magnetic force are controlled by the magnitude and direction of the current. In this embodiment, the connecting rod 5 is a telescopic rod structure. By controlling the polarity of the coil 6, it can attract or repel the ball-and-socket contact 4. When attracting, the connecting rod 5 is driven to extend; when repelling, the connecting rod 5 is driven to retract. The range of movement of the connecting rod 5 along the direction perpendicular to the central axis 1 matches the depth of the ball-and-socket contact 4.

[0035] In this embodiment, it is necessary to ensure that the polarities of the coils 6 on adjacent connecting rods 5 are opposite in order to achieve the alternating extension and retraction of the connecting rods 5, and to ensure that there is always a coil 6 in contact with the ball socket contact 4, thereby maintaining the position of the kinematic pair 3.

[0036] In this embodiment, the central shaft 1 and the kinematic pair 3 are made of polyethylene fiber, and the connecting rod 5 is made of resin.

[0037] In this embodiment, the central shaft 1, the kinematic pair 3, and the connecting rod 5 are manufactured using 3D printing technology.

[0038] The motion process and principle of this embodiment are as follows:

[0039] The magnetic direction of the miniature coil 6 is controlled by the direction of the current, so that the polarity of the miniature coil 6 at positions 1 and 3 is the same as the polarity of the ball-and-socket contact 4, and the repulsion drives the corresponding connecting rod 5 to disengage from the ball-and-socket contact 4; the polarity of the miniature coil 6 at positions 2 and 4 is opposite to the polarity of the ball-and-socket contact 4, and the attraction drives the corresponding connecting rod 5 to engage with the ball-and-socket contact 4, such as... Figure 1 As shown.

[0040] Subsequently, the actuators 2 at positions 2 and 4 drive the corresponding connecting rod 5 to move to the right, and the connecting rod 5 drives the kinematic pair 3 to move to the right. The moving distance is the distance between the adjacent ball-and-socket contact points 4, such as... Figure 2 As shown.

[0041] After being moved into position, the magnetic direction of the miniature coil 6 is controlled by the current direction, causing the connecting rod 5 of positions 2 and 4 to leave the corresponding ball-and-socket contact 4 under the action of magnetic repulsion, and then move to the left and below the adjacent ball-and-socket contact 4 under the action of the driver 2; causing the miniature coil 6 of positions 1 and 3 to enter the corresponding ball-and-socket contact 4 above under the action of magnetic attraction, as shown. Figure 3 As shown; under the action of the driver 2, the kinematic pair 3 is moved through the corresponding connecting rod 5.

[0042] The above process can be performed sequentially to achieve directional movement of the kinematic pair, and the above steps can be performed in reverse to achieve reverse movement of the kinematic pair.

[0043] Example 2

[0044] like Figure 4As shown, the difference between this embodiment and embodiment 1 is that: two sets of kinematic pairs 3 are arranged around the central axis 1 of the bionic artificial muscle. The two sets of kinematic pairs 3 are arranged along the length direction of the central axis 1. Each set of kinematic pairs 3 includes a pair of kinematic pairs 3. The ball-and-socket contacts 4 on the kinematic pairs 3 are all facing the central axis 1. Adjacent sets of kinematic pairs 3 located on a straight line are connected end to end to realize the series connection of the structure and finally realize the superposition of the kinematic pair movement distance.

[0045] The working process of this embodiment is similar to that of embodiment 1. The magnetic direction of the micro coil 6 is controlled by the direction of the current, so that the polarity of the micro coil 6 at positions 1 and 3 of the two sets of kinematic pairs 3 is the same as the polarity of the ball-and-socket contact 4, and the repulsive drive drives the corresponding connecting rod 5 to disengage from the ball-and-socket contact 4; the polarity of the micro coil 6 at positions 2 and 4 is opposite to the polarity of the ball-and-socket contact 4, and the attractive drive drives the corresponding connecting rod 5 to engage with the ball-and-socket contact 4.

[0046] Subsequently, the actuators 2 at positions 2 and 4 drive the corresponding link 5 to move to the right, and the link 5 drives the kinematic pair 3 to move to the right, with the moving distance being the distance between the adjacent ball-and-socket contact points 4.

[0047] After being moved into position, the magnetic direction of the miniature coil 6 is controlled by the current direction, causing the connecting rod 5 of positions 2 and 4 to leave the corresponding ball-and-socket contact 4 under the action of magnetic repulsion, and then move to the left and below the adjacent ball-and-socket contact 4 under the action of the driver 2; causing the miniature coil 6 of positions 1 and 3 to enter the corresponding ball-and-socket contact 4 above under the action of magnetic attraction, as shown. Figure 3 As shown; under the action of the driver 2, the kinematic pair 3 is moved through the corresponding connecting rod 5.

[0048] This embodiment can also set more than two sets of kinematic pairs 3, and the two sets of kinematic pairs 3 can include multiple pairs.

[0049] Example 3

[0050] like Figure 5 As shown, this embodiment adds a central axis 1 to the embodiment 2. The two central axes 1 are set in parallel to realize the parallel connection of the structure, and finally realize the superposition of the motion distance and the superposition of the power.

[0051] The working process of this embodiment is similar to that of embodiment 2. The magnetic direction of the micro coil 6 is controlled by the direction of the current, so that the polarity of the micro coil 6 at position 1 and position 3 of each set of kinematic pairs 3 is the same as the polarity of the ball-and-socket contact 4, and the repulsion drives the corresponding connecting rod 5 to disengage from the ball-and-socket contact 4; the polarity of the micro coil 6 at position 2 and position 4 is opposite to the polarity of the ball-and-socket contact 4, and the attraction drives the corresponding connecting rod 5 to engage with the ball-and-socket contact 4.

[0052] Subsequently, the actuators 2 at positions 2 and 4 drive the corresponding link 5 to move to the right, and the link 5 drives the kinematic pair 3 to move to the right, with the moving distance being the distance between the adjacent ball-and-socket contact points 4.

[0053] After being moved into position, the magnetic direction of the miniature coil 6 is controlled by the current direction, causing the connecting rod 5 of positions 2 and 4 to leave the corresponding ball-and-socket contact 4 under the action of magnetic repulsion, and then move to the left and below the adjacent ball-and-socket contact 4 under the action of the driver 2; causing the miniature coil 6 of positions 1 and 3 to enter the corresponding ball-and-socket contact 4 above under the action of magnetic attraction, as shown. Figure 3 As shown; under the action of the driver 2, the kinematic pair 3 is moved through the corresponding connecting rod 5.

[0054] The biomimetic artificial muscle of this invention can achieve high-frequency movement of the kinematic pair through cumulative stepping effect, and can obtain long-distance stroke through series connection, high power output through parallel connection, and long-distance high power output through series and parallel connection. It highly restores the structural characteristics of biological muscles and effectively reproduces the excellent performance of biological muscles.

[0055] A biomimetic robot, comprising the aforementioned biomimetic artificial muscles, has had its structure described in detail and will not be repeated here.

[0056] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A biomimetic artificial muscle, characterized in that, The device includes a central shaft and a kinematic pair arranged around the central shaft. The kinematic pair has evenly distributed ball-and-socket contacts on its side facing the central shaft. The central shaft has at least one set of alternating links that can move along the length of the central shaft and perpendicular to it on its side facing the kinematic pair. When the links move perpendicular to the central shaft, the end of the link near the kinematic pair can extend into the ball-and-socket contacts. A driver is provided on the central shaft corresponding to each link position to drive the link to move along the length of the central shaft. The links are telescopic structures, and a coil is provided at the end of the link near the kinematic pair. A circuit energizes the coil is provided inside the central shaft, and the ball-and-socket contacts are magnetic.

2. The bionic artificial muscle according to claim 1, characterized in that, Multiple sets of kinematic pairs are arranged along the length of the central axis, and adjacent sets of kinematic pairs located on a straight line are connected end to end.

3. The bionic artificial muscle according to claim 1 or 2, characterized in that, The central axis is provided in multiple parallel configurations.

4. The bionic artificial muscle according to claim 1, characterized in that, The ball-and-socket contact is filled with ferromagnetic metal material.

5. The bionic artificial muscle according to claim 1, characterized in that, The central shaft and kinematic pair are made of polyethylene fiber, and the connecting rod is made of resin.

6. The bionic artificial muscle according to claim 1, characterized in that, The central axis, kinematic pairs, and connecting rods are manufactured using 3D printing technology.

7. A biomimetic robot, characterized in that, It includes the bionic artificial muscle as described in any one of claims 1-6.

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