Artificial muscle device

Abstract

Provided is an artificial muscle device that can be reduced in weight. An artificial muscle device according to an embodiment is provided with: a braided sleeve; an electromagnet disposed inside the braided sleeve and at one end in the expansion and contraction direction; an electromagnet or a magnet disposed inside the braided sleeve and at the other end in the expansion / contraction direction; and a guide that suppresses movement of the electromagnet or the magnet in a contraction direction in the expansion / contraction direction. The electromagnet and the electromagnet or the magnet may face each other with a space therebetween.

Description

Technical Field

[0001] This invention relates to an artificial muscle device. Background Technology

[0002] Patent Document 1 describes a method for contracting artificial muscles using an electromagnet, characterized in that connecting members are linked in multiple segments in a chain-like manner to form a chain-like body, which is designed to allow for the control of contraction force while simultaneously contracting the length of the chain-like body.

[0003] Patent Document 1: Japanese Patent Application Publication No. 08-182698

[0004] Patent Document 2: Japanese Patent Application Publication No. 2021-76167 Summary of the Invention

[0005] In the artificial muscle contraction method of Patent Document 1, the weight of the connecting component is too large, requiring excessive driving energy. Furthermore, there is a risk that the electromagnets may come into contact with each other during artificial muscle contraction.

[0006] This invention was made to solve this problem, and its purpose is to provide a lightweight artificial muscle device.

[0007] An artificial muscle device according to one aspect of the present invention comprises: a braided sleeve; an electromagnet disposed inside the braided sleeve at one end in the extension direction; the electromagnet or magnet disposed inside the braided sleeve at the other end in the extension direction; and a guide member that inhibits the electromagnet or magnet from moving in the contraction direction in the extension direction.

[0008] In this artificial muscle device, the electromagnet disposed at one end and the electromagnet or magnet disposed at the other end are spatially opposed.

[0009] In this artificial muscle device, the guide may include a mesh of threads woven in a manner that constitutes the braided sleeve.

[0010] Invention Effects

[0011] This invention provides a lightweight artificial muscle device. Attached Figure Description

[0012] Figure 1 This is a structural diagram illustrating the artificial muscle device according to Embodiment 1.

[0013] Figure 2 This is a structural diagram illustrating the artificial muscle device according to Embodiment 1.

[0014] Figure 3This is a structural diagram illustrating the artificial muscle device involved in a variation of Embodiment 1.

[0015] Figure 4 This is a structural diagram illustrating the artificial muscle device involved in a variation of Embodiment 1.

[0016] Figure 5 This is a structural diagram illustrating the artificial muscle device involved in a variation 2 of Embodiment 1.

[0017] Figure 6 This is a structural diagram illustrating the artificial muscle device involved in a variation 2 of Embodiment 1. Detailed Implementation

[0018] Hereinafter, the specific structure of this embodiment will be described with reference to the accompanying drawings. The following description illustrates preferred embodiments of the present invention, but the scope of the present invention is not limited to these embodiments. Furthermore, not all structures described in this embodiment are necessary means to solve the problem. For clarity, appropriate omissions and simplifications have been made in the following description and drawings. In the drawings, the same elements are labeled with the same symbols, and repeated descriptions have been omitted as necessary.

[0019] <Implementation Method 1>

[0020] The artificial muscle device in this embodiment will be described. This embodiment relates to a method for driving an artificial muscle using a braided sleeve and an artificial muscle device in general. For example, an electromagnet is provided in the braided sleeve in this embodiment. Furthermore, the artificial muscle device in this embodiment uses the electromagnet to contract the braided sleeve. Patent Document 2's artificial muscle device using a braided sleeve uses air pressure to contract the braided sleeve. Therefore, the artificial muscle device of Patent Document 2 requires an external compressor for supplying air pressure, resulting in a bulky device. Moreover, the artificial muscle device of Patent Document 2 has the potential to fail to drive due to air leakage from the connection points.

[0021] Furthermore, while it's considered to actuate the artificial muscle by contracting a bag containing a grease composition within a braided sleeve, this method carries the risk of grease leakage from the bag. Additionally, the increased weight, equivalent to the weight of the grease, necessitates greater actuation energy. Therefore, in this embodiment, to address these issues, a small artificial muscle device comprising a braided sleeve and an electromagnet is provided.

[0022] Figure 1 and Figure 2 This is a structural diagram illustrating the artificial muscle device 1 according to Embodiment 1. Figure 1 and Figure 2As shown, the artificial muscle device 1 of this embodiment includes a braided sleeve 10, an electromagnet 21, and an electromagnet 22. Figure 1 The diagram illustrates the structure of the artificial muscle device 1 in its non-energized state, without electromagnets 21 and 22 being energized. Additionally, Figure 1 It can also be described as a state in which current flows through electromagnets 21 and 22 in opposite directions along the X-axis. Figure 1 For example, it can describe a state of muscle relaxation. Figure 2 The diagram illustrates the structure of the artificial muscle device 1 in its energized state, with electromagnets 21 and 22 energized. Additionally, Figure 2 It can also be used to describe the state in which current flows through the electromagnets 21 and 22 in such a way that the directions of their magnetic poles are aligned in the X-axis direction. Figure 2 For example, it can represent the state of muscle contraction.

[0023] The braided sleeve 10 may, for example, comprise a structure woven from threads oriented in a predetermined direction. The braided sleeve 10 may be composed of a repeating arrangement of scissor-link mechanisms formed by the crossing of oriented threads. The braided sleeve 10 may, for example, be the same as that used for McKibben-type artificial muscles. The braided sleeve 10 may, for example, be NFL-30 manufactured by DENKA ELECTRON CO.,LTD. The braided sleeve 10 is telescopic. The direction in which the braided sleeve 10 is telescopic is called the telescopic direction. The braided sleeve 10 may be a cylindrical shape extending along the telescopic direction. In this case, the magnitude of the telescopic direction of the braided sleeve 10 is sometimes referred to as its length, and the outer diameter of the cylinder of the braided sleeve 10 is referred to as its diameter.

[0024] For ease of explanation of the artificial muscle device 1, an XYZ orthogonal coordinate system is introduced here. The direction of extension and contraction is set as the X-axis. The two directions orthogonal to the X-axis and mutually orthogonal to each other are set as the Y-axis and Z-axis.

[0025] Electromagnets 21 and 22 are disposed inside the braided sleeve 10. Electromagnet 21 is disposed at one end in the telescopic direction. Electromagnet 22 is disposed at the other end in the telescopic direction. For example, electromagnets 21 and 22 are arranged side by side along the X-axis inside the braided sleeve 10. Electromagnet 21 is disposed at the end of the braided sleeve 10 on the -X direction side. Electromagnet 22 is disposed at the end of the braided sleeve 10 on the +X direction side.

[0026] Electromagnets 21 and 22 can be positioned opposite each other with a space between them. Here, "positioned opposite each other with a space between them" means that there is no object other than the space between them. That is, only space exists between electromagnets 21 and 22. This space includes gases such as air, inert gases, and depressurized gases. For example, without the guide member 30 described later, electromagnets 21 and 22 can be in contact.

[0027] By adopting this structure, the internal structure of the braided sleeve 10 can be reduced, thus enabling the artificial muscle device 1 to be lightweight. For example, the external device of the artificial muscle device 1 only requires a power source and does not need a compressor or the like for supplying air, allowing for miniaturization. Furthermore, the interior of the braided sleeve 10 can be designed to contain only space besides the electromagnets 21 and 22, thereby achieving weight reduction. Additionally, it is possible for the electromagnets 21 and 22 to be placed opposite each other without any space between them. For example, it is possible to place a bag filled with a fluid such as lubricant between the electromagnets 21 and 22.

[0028] By switching the energization of electromagnets 21 and 22 on and off, the system can be switched to a non-energized or energized state. Consequently, electromagnets 21 and 22 within the braided sleeve 10 move closer to or further apart from each other. Therefore, the length and diameter of the braided sleeve 10 change. Figure 2 In this configuration, by setting the device to an energized state, the electromagnets 21 and 22 inside the braided sleeve 10 can be brought closer to each other, but this is not a limitation. Alternatively, by setting the device to an energized state, the electromagnets 21 and 22 inside the braided sleeve 10 can be moved away from each other.

[0029] By changing the direction of the current flowing through electromagnets 21 and 22, the directions of their N and S poles change. Therefore, by changing the direction of the current flowing through electromagnets 21 and 22, the electromagnets 21 and 22 within the braided sleeve 10 can be brought closer to or further apart. For example, a state where the directions of the magnetic poles of electromagnets 21 and 22 are opposite can represent a state of muscle relaxation. A state where the directions of the magnetic poles of electromagnets 21 and 22 are aligned can represent a state of muscle contraction. When the directions of the magnetic poles of electromagnets 21 and 22 are aligned, the braided sleeve 10 contracts in the stretching direction (length direction). When the directions of the magnetic poles are opposite, the braided sleeve 10 extends in the stretching direction (length direction). Thus, the braided sleeve 10 functions as an artificial muscle.

[0030] The length of the braided sleeve 10 that can extend or retract can have an upper and a lower limit. That is, the braided sleeve 10 has an upper limit in the length it extends in the extension direction. And, the braided sleeve 10 has a lower limit in the length it retracts in the extension direction. Therefore, the length of the braided sleeve 10 changes within the range from the upper limit to the lower limit in the extension direction. For example, the mesh size of the threads woven in the manner constituting the braided sleeve 10 can limit the length of the braided sleeve 10 that can extend or retract. For example, electromagnets 21 and 22 are preferably arranged so that they do not contact each other when the braided sleeve 10 is at its most retracted. In this way, the braided sleeve 10 can have a retraction limit. As a result, collisions between electromagnets 21 and 22 can be suppressed, and functional degradation of the artificial muscle device 1 can be suppressed. By configuring the electromagnets 21 and 22 to separate in a state representing the lower limit value of the retraction of the braided sleeve 10, collisions between electromagnets 21 and 22 can be suppressed. Therefore, the structure of the braided sleeve 10 functions as a guide to suppress the movement of electromagnets 21 and 22 in the retraction direction. Specifically, the mesh of the braided sleeve 10 functions as a guide to prevent the electromagnets 21 and 22 from moving in the contraction direction in the extension direction.

[0031] Figure 3 and Figure 4 This is a structural diagram illustrating the artificial muscle device 1a according to a variation of Embodiment 1. Figure 3 and Figure 4 As shown, the artificial muscle device 1a of this modified example may include a guide member 30 for inhibiting the movement of electromagnets 21 and 22, instead of the guide member with a mesh or similar structure based on the braided sleeve 10 in the artificial muscle device 1 of the aforementioned embodiment 1. Alternatively, in addition to a guide member with a mesh or similar structure, it may also include a guide member 30 for inhibiting the movement of electromagnets 21 and 22. The guide member 30 can inhibit the movement of electromagnets 21 and 22 in the contraction direction of the extension and contraction direction. Furthermore, the guide member 30 can inhibit the movement of electromagnets 21 and 22 in the extension and contraction direction. Moreover, the guide member 30 can inhibit the radial movement of electromagnets 21 and 22.

[0032] The guide member 30 may include elastic components such as rubber and springs. Furthermore, the guide member 30 may be a frame or a stop that physically inhibits the movement of electromagnets 21 and 22 in the telescopic direction, or it may be a component that inhibits the radial movement of electromagnets 21 and 22. With this structure, collisions between electromagnets 21 and 22 can also be suppressed, thus preventing functional degradation of the artificial muscle device 1.

[0033] Figure 5 and Figure 6 This is a structural diagram illustrating the artificial muscle device 1b involved in a variation 2 of Embodiment 1. Figure 5The diagram illustrates the structure of the artificial muscle device 1b in its non-energized state, where the electromagnet 22 is not energized. Additionally, Figure 5 It can also be used to describe a state in which current flows through the electromagnet 22 and the magnet 23 in opposite directions in the X direction. Figure 5 For example, it can describe a state of muscle relaxation. Figure 6 The diagram illustrates the structure of the artificial muscle device 1b in its energized state when the electromagnet 22 is energized. Additionally, Figure 6 It can also be described as the state in which current flows through the electromagnet 22 and the magnet 23 in such a way that the magnetic poles are aligned in the X direction. Figure 6 For example, it can represent the state of muscle contraction.

[0034] like Figure 5 and Figure 6 As shown, in this modified example, the artificial muscle device 1b is configured such that one of the electromagnets becomes magnet 23. This structure also allows for a lighter artificial muscle device 1b and reduces the likelihood of contact between the electromagnet 22 and magnet 23.

[0035] Furthermore, the present invention is not limited to the above-described embodiments, and appropriate modifications can be made without departing from the spirit of the invention. For example, a structure formed by combining the structures of Embodiment 1 and its various modifications also falls within the scope of the technical concept of the embodiments.

[0036] Symbol Explanation

[0037] 1, 1a, 1b - Artificial muscle device; 10 - Braided sleeve; 21 - Electromagnet; 22 - Electromagnet; 23 - Magnet; 30 - Guide component.

Claims

1. An artificial muscle device, characterized in that, have: Braided tubing; An electromagnet, which is disposed inside the braided sleeve at one end in the direction of extension and retraction; The electromagnet or magnet is disposed inside the braided sleeve at the other end in the direction of extension; and A guide member that inhibits the electromagnet or the magnet from moving in the contraction direction of the extension / retraction direction.

2. The artificial muscle device according to claim 1, characterized in that, The electromagnet disposed at one end is spatially opposed to the electromagnet or magnet disposed at the other end.

3. The artificial muscle device according to claim 1, characterized in that, The guide includes a mesh of threads woven in a manner that constitutes the braided sleeve.

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