Artificial muscle device

Abstract

To provide an artificial muscle device that can be made lighter. [Solution] The artificial muscle device 1 according to this embodiment comprises a braided sleeve 10, an electromagnet 22 disposed inside the braided sleeve 10 and at one end in the expansion / contraction direction, an electromagnet 21 or magnet 23 disposed inside the braided sleeve 10 and at the other end in the expansion / contraction direction, and a guide 30 that suppresses the movement of the electromagnet 21, electromagnet 22 and magnet 23 in the contraction direction in the expansion / contraction direction. The electromagnet 22 and the electromagnet 21 or magnet 23 may face each other across space.

Description

Technical Field

[0001] This disclosure relates to an artificial muscle device.

Background Art

[0002] Patent Document 1 describes a method for contracting an artificial muscle using an electromagnet, characterized in that a plurality of connectors are connected in a chain to form a chain-like body, and the length of the chain-like body can be contracted while controlling the contraction force.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] The method for contracting the artificial muscle of Patent Document 1 requires excessive operating energy due to the excessive weight of the connectors. There is also a concern that the electromagnets may come into contact with each other when the artificial muscle contracts.

[0005] This disclosure has been made to solve such problems, and an object thereof is to provide an artificial muscle device that can be lightweight.

Means for Solving the Problems

[0006] An artificial muscle device according to one aspect of this disclosure includes a braided sleeve, an electromagnet disposed inside the braided sleeve and at one end in the expansion / contraction direction, the electromagnet or a magnet disposed inside the braided sleeve and at the other end in the expansion / contraction direction, and a guide for suppressing the movement of the electromagnet or the magnet in the contraction direction in the expansion / contraction direction.

[0007] In this artificial muscle device, the electromagnet located at one end and the electromagnet or magnet located at the other end may face each other across space.

[0008] In this artificial muscle device, the guide may include stitches of a cord that is braided to form the braided sleeve. [Effects of the Invention]

[0009] This disclosure makes it possible to provide an artificial muscle device that can be made lighter. [Brief explanation of the drawing]

[0010] [Figure 1] This is a diagram illustrating an artificial muscle device according to Embodiment 1. [Figure 2] This is a diagram illustrating an artificial muscle device according to Embodiment 1. [Figure 3] This is a diagram illustrating an artificial muscle device according to a modified example 1 of Embodiment 1. [Figure 4] This is a diagram illustrating an artificial muscle device according to a modified example 1 of Embodiment 1. [Figure 5] This is a diagram illustrating an artificial muscle device according to a modified example 2 of Embodiment 1. [Figure 6] This is a diagram illustrating an artificial muscle device according to a modified example 2 of Embodiment 1. [Modes for carrying out the invention]

[0011] The specific configuration of this embodiment will be described below with reference to the drawings. The following description illustrates preferred embodiments of the disclosure, and the scope of the disclosure is not limited to the following embodiments. Furthermore, not all of the configurations described in this embodiment are necessarily essential as means to solve the problem. For clarity of explanation, the following descriptions and drawings have been omitted and simplified as appropriate. In each drawing, the same elements are denoted by the same reference numerals, and redundant explanations have been omitted as necessary.

[0012] <Embodiment 1> This embodiment describes an artificial muscle device. This embodiment relates to an artificial muscle device and a method for operating an artificial muscle using a braided sleeve. In this embodiment, for example, an electromagnet is installed in the braided sleeve. The artificial muscle device of this embodiment contracts the braided tube with the electromagnet. The artificial muscle device using a braided sleeve described in Patent Document 2 contracts the braided sleeve using air pressure. Therefore, the artificial muscle device of Patent Document 2 requires the installation of a compressor to supply air pressure to the outside, making the device large and cumbersome. Moreover, there is a concern that the artificial muscle device of Patent Document 2 may not operate due to air leakage from the connection part.

[0013] Furthermore, it is conceivable to activate the artificial muscle by the contraction of a bag containing a grease composition within a braided sleeve. However, such a configuration raises concerns about the grease leaking out of the bag. Additionally, the added weight of the grease would increase the operating energy required. Therefore, in order to solve these problems, this embodiment provides a compact artificial muscle device including a braided sleeve and an electromagnet.

[0014] Figures 1 and 2 are diagrams illustrating an example of an artificial muscle device 1 according to Embodiment 1. As shown in Figures 1 and 2, the artificial muscle device 1 of this embodiment includes a braided sleeve 10, an electromagnet 21, and an electromagnet 22. Figure 1 illustrates the configuration of the artificial muscle device 1 in an unenergized state where electromagnets 21 and 22 are not energized. Note that Figure 1 may also show a state in which current is flowing so that the magnetic poles of electromagnets 21 and 22 are oriented in opposite directions in the X-axis direction. Figure 1 shows, for example, a state in which the muscle is relaxed. Figure 2 illustrates the configuration of the artificial muscle device 1 in an energized state where electromagnets 21 and 22 are energized. Note that Figure 2 may also show a state in which current is flowing so that the magnetic poles of electromagnets 21 and 22 are oriented in the X-axis direction. Figure 2 shows, for example, a state in which the muscle is contracted.

[0015] The braided sleeve 10 may include, for example, a structure in which cords oriented in a predetermined direction are braided. The braided sleeve 10 may be one in which a pantograph-like link mechanism formed by the intersection of the oriented cords is repeatedly arranged. The braided sleeve 10 may be, for example, the same as that used in a McKibben-type artificial muscle. The braided sleeve 10 may use, for example, NFL-30 manufactured by Denka Electron. The braided sleeve 10 may expand and contract. The direction in which the braided sleeve 10 expands and contracts is called the expansion / contraction direction. The braided sleeve 10 may be cylindrical and extend in the expansion / contraction direction. In this case, the size of the braided sleeve 10 in the expansion / contraction direction may be called the length, and the outer diameter of the cylinder of the braided sleeve 10 may be called the diameter.

[0016] Here, for the convenience of explaining the artificial muscle device 1, an XYZ orthogonal coordinate axis system is introduced. The expansion / contraction direction is taken as the X-axis direction. Two mutually orthogonal directions perpendicular to the X-axis direction are taken as the Y-axis direction and the Z-axis direction.

[0017] The electromagnets 21 and 22 are arranged inside the braided sleeve 10. The electromagnet 21 is arranged at one end in the expansion / contraction direction. The electromagnet 22 is arranged at the other end in the expansion / contraction direction. For example, the electromagnets 21 and 22 are arranged side by side in the X-axis direction inside the braided sleeve 10. The electromagnet 21 is arranged at the end on the -X direction side of the braided sleeve 10. The electromagnet 22 is arranged at the end on the +X direction side of the braided sleeve 10.

[0018] The electromagnet 21 and the electromagnet 22 may face each other through a space. Here, facing each other through a space means that a space is arranged between the electromagnet 21 and the electromagnet 22, and it means that there is no object other than the space between the electromagnet 21 and the electromagnet 22. That is, only a space is arranged between the electromagnet 21 and the electromagnet 22. The space includes gases such as air, inert gas, and depressurized gas. For example, when the guide 30 described later is not provided, the electromagnet 21 and the electromagnet 22 may come into contact with each other.

[0019] By adopting such a configuration, the internal structure of the braided sleeve 10 can be reduced, thus achieving weight reduction of the artificial muscle device 1. For example, the device outside the artificial muscle device 1 can be only a power source, eliminating the need for a compressor for supplying air, etc., and enabling miniaturization. Also, the inside of the braided sleeve 10 can be made to be only a space other than the electromagnets 21 and 22, achieving weight reduction. Note that it is not excluded that the electromagnets 21 and 22 do not face each other through a space. For example, it is not excluded that a bag filled with a fluid such as grease is arranged between the electromagnets 21 and 22.

[0020] By switching ON and OFF the energization of the electromagnets 21 and 22, it can be changed to a non-energized state or an energized state. Thereby, the electromagnets 21 and 22 in the braided sleeve are close to or away from each other. Therefore, the length and diameter of the braided sleeve 10 change. In FIG. 2, when in the energized state, the electromagnets 21 and 22 in the braided sleeve 10 are close to each other, but it is not limited to this. By making it in the energized state, the electromagnets 21 and 22 in the braided sleeve 10 may be made to move away from each other.

[0021] By changing the direction of the current flowing through the electromagnets 21 and 22, the directions of the N poles and S poles of the electromagnets 21 and 22 change. Therefore, by changing the direction of the current flowing through the electromagnets 21 and 22, the electromagnets 21 and 22 in the braided sleeve 10 may be made to be close to or away from each other. For example, the state where current is flowing so that the polarities of the electromagnets 21 and 22 are opposite to each other may indicate a state where the muscle is relaxed. The state where current is flowing so that the polarities of the electromagnets 21 and 22 are aligned may indicate a state where the muscle is contracted. When the polarities of the electromagnets 21 and 22 are aligned, the braided sleeve 10 contracts in the stretching direction (length direction). When the polarities become opposite, the braided sleeve 10 extends in the stretching direction (length direction). Thereby, the braided sleeve 10 acts as an artificial muscle.

[0022] The braided sleeve 10 may have an upper and lower limit to the length it can stretch. That is, the braided sleeve 10 has an upper limit to the length it can stretch in the stretching direction. Also, the braided sleeve 10 has a lower limit to the length it can contract in the stretching direction. Therefore, the length of the braided sleeve 10 changes between the upper and lower limits in the stretching direction. For example, the stitches of the cord braided to constitute the braided sleeve 10 may limit the length to which the braided sleeve 10 can stretch. For example, it is preferable that the electromagnets 21 and 22 are installed so that they do not come into contact with each other when the braided sleeve 10 is at its most contracted state. In this way, the braided sleeve 10 may have a contraction limit. This suppresses collisions between the electromagnets 21 and 22 and suppresses deterioration of the function of the artificial muscle device 1. By arranging the electromagnets 21 and 22 so that they are separated when the braided sleeve 10 is at its lower limit of contraction, collisions between the electromagnets 21 and 22 can be suppressed. Thus, the structure of the braided sleeve 10 functions as a guide to suppress the movement of the electromagnets 21 and 22 in the contraction direction in the expansion and contraction direction. Specifically, the mesh of the braided sleeve 10 functions as a guide to suppress the movement of the electromagnets 21 and 22 in the contraction direction in the expansion and contraction direction.

[0023] Figures 3 and 4 are configuration diagrams illustrating an artificial muscle device 1a according to Modification 1 of Embodiment 1. As shown in Figures 3 and 4, the artificial muscle device 1a of this modification may include a guide 30 that suppresses the movement of electromagnets 21 and 22, instead of, or in addition to, the guide made of a structure such as the mesh of the braided sleeve 10 in the artificial muscle device 1 of Embodiment 1 described above. The guide 30 may suppress the movement of electromagnets 21 and 22 in the contraction direction in the expansion and contraction direction. Furthermore, the guide 30 may suppress the movement of electromagnets 21 and 22 in the extension direction in the expansion and contraction direction. In addition, the guide 30 may suppress the movement of electromagnets 21 and 22 in the radial direction.

[0024] The guide 30 may include, for example, elastic members such as rubber and springs. The guide 30 may also be a member that physically suppresses the movement of the electromagnets 21 and 22 in the expansion and contraction direction, such as a frame and stopper, or a member that suppresses the movement of the electromagnets 21 and 22 in the radial direction. Even with such a configuration, collisions between the electromagnets 21 and 22 can be suppressed, and deterioration of the function of the artificial muscle device 1 can be suppressed.

[0025] Figures 5 and 6 are configuration diagrams illustrating an artificial muscle device 1b according to a modified example 2 of Embodiment 1. Figure 5 illustrates the configuration of the artificial muscle device 1b in an unenergized state where the electromagnet 22 is not energized. Note that Figure 5 may also show a state in which current is flowing so that the magnetic poles of the electromagnet 22 and the magnet 23 are oriented in opposite directions in the X direction. Figure 5 shows, for example, a state in which the muscle is relaxed. Figure 6 illustrates the configuration of the artificial muscle device 1b in an energized state where the electromagnet 22 is energized. Note that Figure 6 may also show a state in which current is flowing so that the magnetic poles of the electromagnet 22 and the magnet 23 are oriented in the X direction. Figure 6 shows, for example, a state in which the muscle is contracted.

[0026] As shown in Figures 5 and 6, in this modified artificial muscle device 1b, one of the electromagnets is replaced with a magnet 23. Even with this configuration, the artificial muscle device 1b can be made lighter, and contact between the electromagnet 22 and the magnet 23 can be suppressed.

[0027] This disclosure is not limited to the embodiments described above, and can be modified as appropriate without departing from the spirit of the invention. For example, combinations of the configurations of Embodiment 1 and each of its modified forms also fall within the scope of the technical concept of the embodiments. [Explanation of Symbols]

[0028] 1, 1a, 1b Artificial muscle device 10 Braided Sleeves 21 Electromagnet 22 Electromagnet 23 Magnets 30 Guides

Claims

1. Braided sleeves and An electromagnet is positioned inside the braided sleeve and at one end in the direction of expansion and contraction, The electromagnet or magnet is positioned inside the braided sleeve and at the other end in the direction of expansion and contraction, A guide that suppresses the movement of the electromagnet or magnet in the contraction direction in the aforementioned expansion and contraction direction, An artificial muscle device equipped with [unclear / unclear].

2. The electromagnet located at one end and the electromagnet or magnet located at the other end are opposite each other across space. The artificial muscle device according to claim 1.

3. The guide includes stitches of a cord braided to form the braided sleeve, The artificial muscle device according to claim 1.

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