Improved cable anchoring device and motor assembly for artificial muscle actuators

Abstract

This invention relates to the field of artificial muscle actuator technology, providing an improved rope fixing device and motor assembly for artificial muscle actuators, aiming to improve the stability of rope fixing and the working efficiency of the motor assembly. The rope fixing device employs a groove design with a specific angle, allowing the rope to be fixed after achieving a self-locking effect, and further enhanced by epoxy resin, avoiding the shortcomings of traditional screw-based tightening methods. The motor assembly's cable outlet uses a pin passing through a bearing to form a roller, significantly reducing friction and improving system stability and durability. This invention effectively solves the problems of insecure rope fixing and high roller friction in existing technologies, offering advantages such as stable rope, low friction, and high efficiency. These improvements simplify the installation process, reduce installation difficulty, improve the stability and reliability of fixing, while reducing maintenance costs and extending the device's service life, demonstrating broad application prospects.

Description

Technical Field

[0001] This invention belongs to the field of artificial muscle actuator technology, and particularly relates to an improved rope fixing device and motor assembly for artificial muscle actuators. Background Technology

[0002] Artificial muscle actuators are biomimetic actuators that mimic biological muscles. Existing artificial muscle actuators are typically driven by motors. One end of the actuator requires a cable to mimic the connection and movement of muscles and bones. The cable is usually secured with a screw or knotted at the end, with a roller at the exit point to guide the cable. This design has the following problems in practical use: the cable is not securely fixed; the screw-secured method and the knotted end are prone to loosening under high loads or frequent movement, leading to the cable falling off or changing its position; the roller design at the exit point has high friction, causing uneven cable movement and increasing the motor load and energy consumption; simultaneously, under high loads, the roller is prone to deformation, affecting the actuator's lifespan. Therefore, an improved cable securing device and motor assembly for artificial muscle actuators are proposed. Summary of the Invention

[0003] The purpose of this invention is to provide an improved cable fixation device and motor assembly for artificial muscle actuators, in order to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution:

[0005] An improved cable anchoring device for artificial muscle actuators includes:

[0006] A winding device is provided, on which a bearing limiting base is installed; a circular magnet groove is provided on the top of the winding device, a radial magnet is built into the circular magnet groove, and a bearing is provided on the outside of the circular magnet groove, the inner diameter of the bearing is the same as the inner diameter of the circular magnet groove, and the outer diameter of the bearing is the same as the diameter of the bearing limiting base.

[0007] The winding device has a first threaded fixing hole, a second threaded fixing hole, a third wire groove fixing point, a second wire groove fixing point, a rope fixing groove, a first wire groove fixing point, a third wire groove self-locking point, a second wire groove self-locking point, a first wire groove self-locking point, a rope self-locking groove, a rope inlet, and a rope outlet on its side wall. A rope fixing groove is provided between the first wire groove fixing point and the second wire groove fixing point, and a rope self-locking groove is provided between the first wire groove self-locking point and the rope inlet. The end of the rope is placed at the third wire groove fixing point, and the other end of the rope passes through the second wire groove fixing point, the first wire groove fixing point, the third wire groove self-locking point, the second wire groove self-locking point, the first wire groove self-locking point, and the rope inlet in sequence, and exits from the rope outlet.

[0008] Furthermore, the groove between the first self-locking point and the second self-locking point is called groove one, and the groove between the second self-locking point and the third self-locking point is called groove two. The angle between groove one and the rope self-locking groove, as well as the angle between groove one and groove two, are both 15 to 30°.

[0009] Furthermore, both the self-locking groove and the fixing groove of the rope are filled with epoxy resin.

[0010] An improved motor assembly for artificial muscle actuators includes:

[0011] A cable outlet device is installed on top of the brushless hollow cup motor;

[0012] A brushless hollow cup motor is provided with a motor output shaft, and an improved rope fixing device for artificial muscle actuators as described above is sleeved on the outside of the motor output shaft.

[0013] Furthermore, the output device is provided with a first pin hole, a second pin hole, a first bearing mounting hole, and a second bearing mounting hole. The first bearing mounting hole and the second bearing mounting hole are respectively housed in the first bearing mounting hole and the second bearing mounting hole. The inner diameter of the first bearing is the same as the inner diameter of the first pin hole, and the inner diameter of the second bearing is the same as the inner diameter of the second pin hole. A pin is inserted into both the first pin hole and the second pin hole. The two pins pass through the first bearing and the second bearing respectively to form two rollers. A drive motor is provided at the input end of one of the pins.

[0014] Furthermore, both the first and second bearings are ball bearings, and the first and second bearings have the same dimensions, with an inner diameter of 2 mm and an outer diameter of 5 mm; the roller is made of wear-resistant material; and the pin has a diameter of 2 mm.

[0015] Furthermore, the output device is provided with a first fixing hole, a second fixing hole, a third fixing hole, and a second fixing hole; the top of the brushless hollow cup motor is provided with a first motor threaded hole, a second motor threaded hole, a third motor threaded hole, and a fourth motor threaded hole, and the bottom of the brushless hollow cup motor is provided with a fifth motor threaded hole and a sixth motor threaded hole; the first fixing hole, the second fixing hole, the third fixing hole, and the second fixing hole are respectively aligned with the first motor threaded hole, the second motor threaded hole, the third motor threaded hole, and the fourth motor threaded hole, and screws are driven into the second fixing hole and the fourth fixing hole.

[0016] Furthermore, it also includes a motor side assembly and a tension sensor mounting base; the two motor side assemblies are respectively aligned with the first mounting hole and the third mounting hole and screws are driven in; the tension sensor mounting base is provided with a fifth mounting hole, a sixth mounting hole and a tension sensor mounting threaded hole, and the fifth mounting hole and the sixth mounting hole on the tension sensor mounting base are respectively aligned with the fifth motor threaded hole and the sixth motor threaded hole and screws are driven in.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] In this invention, the fixing device enhances the fixing effect through grooves at specific angles and epoxy resin, making the rope more stable and reducing the risk of loosening. The outlet of the motor assembly uses a pin passing through a bearing to form a roller, significantly reducing friction and improving the system's efficiency and lifespan. The improved design enhances the actuator's operational stability and durability, making it suitable for various applications of artificial muscle actuators. The improved solution of this invention makes artificial muscle actuators more reliable and efficient in practical applications, with broad application prospects. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0020] Figure 2 This is a rear view of the winding device in this invention.

[0021] Figure 3 This is a front view of the winding device in this invention.

[0022] Figure 4 This is a right view of the winding device in this invention.

[0023] Figure 5 This is a three-dimensional structural diagram of the winding device in this invention.

[0024] Figure 6 This is a three-dimensional structural diagram of the wire output device in this invention.

[0025] Figure 7 This is a three-dimensional structural diagram of the bottom of the present invention.

[0026] Figure 8 This is a schematic diagram of the top three-dimensional structure of the brushless hollow cup motor in this invention.

[0027] Figure 9 This is a schematic diagram of the bottom three-dimensional structure of the brushless hollow cup motor in this invention.

[0028] In the diagram: 1-Radial magnet; 2-First bearing; 3-Second bearing; 4-Wire exit device; 5-Winding device; 6-Brushless hollow cup motor; 7-Motor side assembly; 8-Tension sensor mounting base; 9-Rope inlet; 10-Rope outlet; 11-First threaded fixing hole; 12-Second threaded fixing hole; 13-Rope self-locking groove; 14-First groove self-locking point; 15-Second groove self-locking point; 16-Third groove self-locking point; 17-First groove fixing point; 18-Second groove fixing point; 19-Third groove fixing point; 20-Rope fixing groove; 21-Circular Magnetic slot; 22-First fixing hole; 23-Second fixing hole; 24-Third fixing hole; 25-Fourth fixing hole; 26-First pin hole; 27-Second pin hole; 28-First bearing mounting hole; 29-Second bearing mounting hole; 30-Fifth fixing hole; 31-Sixth fixing hole; 32-Tension sensor fixing threaded hole; 33-First motor threaded hole; 34-Second motor threaded hole; 35-Third motor threaded hole; 36-Fourth motor threaded hole; 37-Fifth motor threaded hole; 38-Sixth motor threaded hole; 39-Motor output shaft; 40-Bearing limit base. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0030] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0031] like Figure 1-5 As shown, an improved rope fixation device for an artificial muscle actuator provided in one embodiment of the present invention includes:

[0032] The winding device 5 is equipped with a bearing limiting base 40; a circular magnet groove 21 is opened on the top of the winding device 5, a radial magnet 1 is built into the circular magnet groove 21, and a bearing is provided on the outside of the circular magnet groove 21. The inner diameter of the bearing is the same as the inner diameter of the circular magnet groove 21, and the outer diameter of the bearing is the same as the diameter of the bearing limiting base 40.

[0033] The winding device 5 has a first threaded fixing hole 11, a second threaded fixing hole 12, a third groove fixing point 19, a second groove fixing point 18, a rope fixing groove 20, a first groove fixing point 17, a third groove self-locking point 16, a second groove self-locking point 15, a first groove self-locking point 14, a rope self-locking groove 13, a rope inlet 9, and a rope outlet 10 on its side wall. A rope fixing groove 20 is provided between the first groove fixing point 17 and the second groove fixing point 18, and a rope self-locking groove 13 is provided between the first groove self-locking point 14 and the rope inlet 9. The end of the rope is placed at the third groove fixing point 19, and the other end of the rope passes through the second groove fixing point 18, the first groove fixing point 17, the third groove self-locking point 16, the second groove self-locking point 15, the first groove self-locking point 14, and the rope inlet 9 in sequence, and exits from the rope outlet 10.

[0034] The groove between the first self-locking point 14 and the second self-locking point 15 is called groove one, and the groove between the second self-locking point 15 and the third self-locking point 16 is called groove two. The angle between groove one and the rope self-locking groove 13, as well as the angle between groove one and groove two, are both 15 to 30° to ensure that the rope can automatically lock when subjected to tension.

[0035] Both the self-locking groove 13 and the fixing groove 20 of the rope are filled with epoxy resin, which fixes the rope after achieving the self-locking effect, and further enhances the fixing effect through the epoxy resin.

[0036] In this embodiment of the invention, the end of the rope is placed at the third groove fixing point 19 and then proceeds to the second groove fixing point 18. It is further routed through the rope fixing groove 20 to the first groove fixing point 17 to complete the rope fixing end installation. The rope is then routed from the first groove fixing point 17 to the third groove self-locking point 16, then from the third groove self-locking point 16 to the second groove self-locking point 15, and finally to the first groove self-locking point 14. The rope is then pulled through the rope self-locking groove 13 to the rope inlet 9 and then pulled out from the rope outlet 10. After pulling out, the rope is pulled taut to ensure a secure installation. Epoxy resin is added to the rope self-locking groove 13 and the rope fixing groove 20, and the mixture is then placed in an oven for curing.

[0037] like Figure 1 , Figure 3 , Figure 5 and Figure 9 As shown, an improved motor assembly for an artificial muscle actuator according to an embodiment of the present invention includes:

[0038] Cable output device 4 is installed on top of brushless hollow cup motor 6;

[0039] A brushless hollow cup motor 6 is provided with a motor output shaft 39, and an improved rope fixing device for artificial muscle actuators as described above is sleeved on the outside of the motor output shaft 39.

[0040] In this embodiment of the invention, the winding device 5 with the fixed rope is sleeved on the outside of the motor output shaft 39, and set bolts are driven into the first threaded fixing hole 11 and the second threaded fixing hole 12 for fixing. A radial magnet 1 is placed in the circular magnet groove 21, and a bearing with the same inner diameter as the circular magnet groove 21 and the same outer diameter as the bearing limiting base 40 is pressed into the outside of the circular magnet groove 21.

[0041] like Figure 1 and Figure 6 As shown, in a preferred embodiment of the present invention, the cable outlet device 4 is provided with a first pin hole 26, a second pin hole 27, a first bearing mounting hole 28, and a second bearing mounting hole 29. A first bearing 2 and a second bearing 3 are respectively installed in the first bearing mounting hole 28 and the second bearing mounting hole 29. The inner diameter of the first bearing 2 is the same as the inner diameter of the first pin hole 26, and the inner diameter of the second bearing 3 is the same as the inner diameter of the second pin hole 27. Pins are inserted into both the first pin hole 26 and the second pin hole 27. The two pins pass through the first bearing 2 and the second bearing 3 respectively, forming two rollers. A drive motor is provided at the input end of one of the pins, thereby outputting power to drive the rope to move.

[0042] Both the first bearing 2 and the second bearing 3 are ball bearings, used to reduce the friction between the pin and the roller, improving the stability and durability of the system. The roller is made of wear-resistant material to extend its service life. The first bearing 2 and the second bearing 3 have the same dimensions, with an inner diameter of 2mm and an outer diameter of 5mm. The diameter of the pin is 2mm to ensure assembly accuracy and smooth operation.

[0043] In this embodiment of the invention, a first bearing 2 with the same inner diameter as the first pin hole 26 is placed in the first bearing mounting hole 28, and a second bearing 3 with the same inner diameter as the second pin hole 27 is placed in the second bearing mounting hole 29. A pin is inserted from the first pin hole 26 and the second pin hole 27 respectively and passes through the first bearing 2 and the second bearing 3 respectively.

[0044] like Figure 1 , Figure 6 , Figure 8 and Figure 9As shown, in a preferred embodiment of the present invention, the lead-out device 4 is provided with a first fixing hole 22, a second fixing hole 23, a third fixing hole 24, and a second fixing hole 25; the top of the brushless hollow cup motor 6 is provided with a first motor threaded hole 33, a second motor threaded hole 34, a third motor threaded hole 35, and a fourth motor threaded hole 36, and the bottom of the brushless hollow cup motor 6 is provided with a fifth motor threaded hole 37 and a sixth motor threaded hole 38; the first fixing hole 22, the second fixing hole 23, the third fixing hole 24, and the second fixing hole 25 are respectively aligned with the first motor threaded hole 33, the second motor threaded hole 34, the third motor threaded hole 35, and the fourth motor threaded hole 36, and screws are driven into the second fixing hole 23 and the fourth fixing hole 25.

[0045] In this embodiment of the invention, the lead-out device 4 is aligned with the top of the winding device 5 and pressed against the brushless hollow cup motor 6. The rope is pulled out from between the pins in the first pin hole 26 and the second pin hole 27. The first fixing hole 22, the second fixing hole 23, the third fixing hole 24 and the second fixing hole 25 are aligned with the first motor threaded hole 33, the second motor threaded hole 34, the third motor threaded hole 35 and the fourth motor threaded hole 36, respectively. Screws are driven into the second fixing hole 23 and the fourth fixing hole 25 and installed securely.

[0046] like Figure 1 , Figure 6 , Figure 7 and Figure 9 As shown, in a preferred embodiment of the present invention, it further includes a motor side assembly 7 and a tension sensor mounting base 8; the two motor side assemblies 7 are respectively aligned with the first mounting hole 22 and the third mounting hole 24 and screws are driven in; the tension sensor mounting base 8 is provided with a fifth mounting hole 30, a sixth mounting hole 31 and a tension sensor mounting threaded hole 32, and the fifth mounting hole 30 and the sixth mounting hole 31 on the tension sensor mounting base 8 are respectively aligned with the fifth motor threaded hole 37 and the sixth motor threaded hole 38 and screws are driven in.

[0047] In this embodiment of the invention, the tops of the two motor side components 7 are respectively provided with mounting holes of the same diameter as the first fixing hole 22 and the third fixing hole 24, which facilitates the installation of the two motor side components 7; the bottoms of the two motor side components 7 are respectively provided with mounting holes of the same diameter as the fifth fixing hole 30 and the sixth fixing hole 31, which facilitates the installation of the tension sensor fixing base 8.

[0048] Align the motor side components 7 on both sides with the first fixing hole 22 and the third fixing hole 24 and drive in the screws to install them firmly. Align the fifth fixing hole 30 and the sixth fixing hole 31 on the tension sensor fixing base 8 with the fifth motor threaded hole 37 and the sixth motor threaded hole 38 and drive in the screws to fix them firmly.

[0049] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness of the implementation of the present invention or the practicality of the patent.

Claims

1. An improved rope fixation device for artificial muscle actuators, characterized in that, include: A winding device is provided, on which a bearing limiting base is installed; a circular magnet groove is provided on the top of the winding device, a radial magnet is built into the circular magnet groove, and a bearing is provided on the outside of the circular magnet groove, the inner diameter of the bearing is the same as the inner diameter of the circular magnet groove, and the outer diameter of the bearing is the same as the diameter of the bearing limiting base. The winding device has a first threaded fixing hole, a second threaded fixing hole, a third wire groove fixing point, a second wire groove fixing point, a rope fixing groove, a first wire groove fixing point, a third wire groove self-locking point, a second wire groove self-locking point, a first wire groove self-locking point, a rope self-locking groove, a rope inlet, and a rope outlet on its side wall. A rope fixing groove is provided between the first wire groove fixing point and the second wire groove fixing point, and a rope self-locking groove is provided between the first wire groove self-locking point and the rope inlet. The end of the rope is placed at the third wire groove fixing point, and the other end of the rope passes through the second wire groove fixing point, the first wire groove fixing point, the third wire groove self-locking point, the second wire groove self-locking point, the first wire groove self-locking point, and the rope inlet in sequence, and exits from the rope outlet.

2. The improved rope fixation device for an artificial muscle actuator according to claim 1, characterized in that, The groove between the first self-locking point and the second self-locking point is called groove one, and the groove between the second self-locking point and the third self-locking point is called groove two. The angle between groove one and the rope self-locking groove, as well as the angle between groove one and groove two, are both 15 to 30°.

3. The improved rope fixation device for an artificial muscle actuator according to claim 1, characterized in that, Both the self-locking groove and the fixing groove of the rope are filled with epoxy resin.

4. An improved motor assembly for an artificial muscle actuator, characterized in that, include: A cable outlet device is installed on top of the brushless hollow cup motor; A brushless hollow cup motor is provided with a motor output shaft, and an improved rope fixing device for artificial muscle actuators as described in any one of claims 1 to 3 is sleeved on the outside of the motor output shaft.

5. The improved motor assembly for an artificial muscle actuator according to claim 4, characterized in that, The output device has a first pin hole, a second pin hole, a first bearing mounting hole, and a second bearing mounting hole. The first bearing mounting hole and the second bearing mounting hole are respectively housed in the first bearing mounting hole and the second bearing mounting hole. The inner diameter of the first bearing is the same as the inner diameter of the first pin hole, and the inner diameter of the second bearing is the same as the inner diameter of the second pin hole. A pin is inserted into both the first pin hole and the second pin hole. The two pins pass through the first bearing and the second bearing respectively to form two rollers. A drive motor is provided at the input end of one of the pins.

6. The improved motor assembly for an artificial muscle actuator according to claim 5, characterized in that, Both the first and second bearings are ball bearings, and the first and second bearings have the same dimensions, with an inner diameter of 2 mm and an outer diameter of 5 mm; the roller is made of wear-resistant material; and the pin has a diameter of 2 mm.

7. The improved motor assembly for an artificial muscle actuator according to claim 4, characterized in that, The output device has a first fixing hole, a second fixing hole, a third fixing hole, and a fourth fixing hole; the top of the brushless hollow cup motor has a first motor threaded hole, a second motor threaded hole, a third motor threaded hole, and a fourth motor threaded hole, and the bottom of the brushless hollow cup motor has a fifth motor threaded hole and a sixth motor threaded hole; the first fixing hole, the second fixing hole, the third fixing hole, and the fourth fixing hole are respectively aligned with the first motor threaded hole, the second motor threaded hole, the third motor threaded hole, and the fourth motor threaded hole, and screws are driven into the second fixing hole and the fourth fixing hole.

8. The improved motor assembly for an artificial muscle actuator according to claim 7, characterized in that, It also includes a motor side assembly and a tension sensor mounting base; the two motor side assemblies are respectively aligned with the first mounting hole and the third mounting hole and screws are driven in; the tension sensor mounting base is provided with a fifth mounting hole, a sixth mounting hole and a tension sensor mounting threaded hole, and the fifth mounting hole and the sixth mounting hole on the tension sensor mounting base are respectively aligned with the fifth motor threaded hole and the sixth motor threaded hole and screws are driven in.

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