阅读说明：本技术 一种面向仿生人的人造肌肉双向驱动机构 (Bionic person-oriented artificial muscle bidirectional driving mechanism ) 是由 杜广龙 于 2019-08-31 设计创作，主要内容包括：本发明提供一种面向仿生人的人造肌肉双向驱动机构,所述驱动机构分直线型和U型两种；驱动机构包括外部电机、气体仓、活塞、齿轮、齿条、活动金属条和橡胶条。工作时使用外部电机控制气体仓两边的气压,利用气体仓与外界环境的气压差,使得与驱动机构连接的气动肌肉运动；气动肌肉带动连接的部件,使得连接的部件得以运动；当气体仓内气压减少时,气动肌肉产生拉力；当气体仓内气压与外界相近时,为松弛状态；当气压增大时,气动肌肉可以产生推力。本发明直接控制外部电机使得仿生肌肉具有高速响应速度,可以精确控制驱动力。两种不同类型的驱动机构适用于仿生人的不同位置。本发明能够按照所需动力配备外部电机,灵活性高。(The invention provides a bionic person-oriented artificial muscle bidirectional driving mechanism which is linear and U-shaped; the driving mechanism comprises an external motor, a gas bin, a piston, a gear, a rack, a movable metal strip and a rubber strip. When the pneumatic muscle training device works, the external motor is used for controlling the air pressure at two sides of the air bin, and the air pressure difference between the air bin and the external environment is utilized to enable pneumatic muscles connected with the driving mechanism to move; the pneumatic muscle drives the connected components to move; when the air pressure in the air bin is reduced, the pneumatic muscle generates tension; when the air pressure in the gas cabin is close to the outside, the gas cabin is in a relaxed state; pneumatic muscles can produce thrust as air pressure increases. The invention directly controls the external motor to ensure that the bionic muscle has high-speed response speed and can accurately control the driving force. Two different types of drive mechanisms are suitable for different positions of a bionic person. The invention can be provided with an external motor according to the required power and has high flexibility.)

1. The bionic human-oriented artificial muscle bidirectional driving mechanism is characterized in that the driving mechanism comprises a linear type and a U-shaped; the driving mechanism comprises an external motor, a gas bin, a piston, a gear, a rack, a movable metal strip and a rubber strip;

For the linear type driving mechanism, a piston is arranged in a gas cabin, a rack is arranged outside the gas cabin, the piston is connected with a movable metal strip, the movable metal strip is connected with the rack, and the periphery of the movable metal strip is sealed by a rubber strip to ensure that the gas cabin is not air-tight; the external motor is provided with a gear which is meshed with the rack, and the external motor is driven by the gear and the rack;

For the U-shaped driving mechanism, the piston is arranged in the gas bin, the gear is arranged outside the gas bin, the piston is connected with the movable metal strip, the movable metal strip is connected with the gear, the periphery of the movable metal strip is sealed by the rubber strip to ensure that the gas bin is not air-tight, and the external motor directly drives the gear.

2. The bionic human-oriented artificial muscle bidirectional driving mechanism as claimed in claim 1, wherein the cross section of the movable metal strip is in a cross structure, two sides of the movable metal strip play a role in air tightness, and the upper end and the lower end of the movable metal strip play a role in connection; the rubber strips are positioned on two sides of the upper end and the lower end of the movable metal strip; the wall of the gas cabin is provided with a groove with the cross section matched with the shape of the cross section of the movable metal strip, and the groove is used for accommodating the movable metal strip.

3. the bionic-person-oriented artificial muscle bidirectional driving mechanism as claimed in claim 1, wherein an external motor is used to drive pistons to move to control air pressure at two sides of the air bin during operation, the air bin is directly connected with pneumatic muscles through a rubber hose, and the pneumatic muscles connected with the air bin move by utilizing the air pressure difference between the air bin and the external environment; the pneumatic muscle drives the connected artificial skeleton to move the connected artificial skeleton; when the air pressure in the air bin is reduced, the pneumatic muscle generates tension; when the air pressure in the gas cabin is close to the outside, the gas cabin is in a relaxed state; pneumatic muscles can produce thrust as air pressure increases.

4. the bionic human-oriented artificial muscle bidirectional driving mechanism as claimed in claim 1, wherein when the external motor drives, the driving piston moves in the gas chamber, the gas chamber is compressed and expanded, thereby providing pulling force and pushing force at the same time to enhance the ability of the artificial muscle;

when thrust is generated, the initial air pressure in the air bin is assumed to be P₀volume is V₀Inflating in the time delta t, the volume change of the inflated air pressure cabin body is delta V, and the pressure intensity P after inflating_cComprises the following steps:

suppose the inner radius of the gas bin is r₀thrust force F applied to the piston_cComprises the following steps:

F_c＝P_c·S；

WhereinSubstituting into the formula can obtain:

When the pulling force is generated, the initial air pressure in the air bin is assumed to be P₀volume is V₀The air is exhausted inwards within the time delta t, the volume of the air pressure cabin after the air exhaust is completed is changed into delta V, and the pressure intensity P after the air exhaust is completed_dComprises the following steps:

Suppose the inner radius of the gas bin is r₀Force F applied to the piston when tension is generated_dcomprises the following steps:

F_d＝P_d·S；

Whereinsubstituting into the formula can obtain:

the initial pressure, i.e. the internal pressure in the relaxed state, the internal pressure in the equilibrium state after inflation or evacuation is equal to the ambient atmospheric pressure, i.e. P₀＝P_c＝P_d＝P_ain which P is_aIs at ambient atmospheric pressure.

5. The bionic human-oriented artificial muscle bidirectional driving mechanism as claimed in claim 1, wherein the driving mechanism precisely controls the driving force; in the equilibrium state, the distance the piston is displaced depends only on the change in volume, i.e. the displacement distance d is equal to:

The power provided is accurately controlled according to the distance of movement.

6. The bionic human-oriented artificial muscle bidirectional driving mechanism as claimed in claim 4, wherein under the realistic condition of considering the nonlinear change caused by the friction force and the deformation of the device, the nonlinear relation formula between the distance and the force is as follows:

Wherein r represents the influence caused by nonlinear change, and r is irregular non-white noise.

7. The bionic human-oriented artificial muscle bidirectional driving mechanism as claimed in claim 1, wherein the gas bin of the linear driving mechanism is a straight cylindrical pipe, the gas bin is directly connected with the pneumatic muscle through a rubber hose, and an external motor drives the piston through a gear and a rack; under the conditions of relaxation and no force application, the piston of the gas bin is positioned in the center of the straight pipe and driven by an external motor, and the piston moves along a straight line; the linear driving mechanism is suitable for being placed in the long joint of the bionic person.

8. the bionic human-oriented artificial muscle bidirectional driving mechanism as claimed in claim 1, wherein the gas bin of the U-shaped driving mechanism is a U-shaped tube, the gas bin in the driving mechanism is directly connected with pneumatic muscles through a rubber hose, and an external motor is directly connected with a piston through a gear; under the conditions of relaxation and no force application, the piston of the gas bin is positioned in the center of the U-shaped pipe and is directly driven by an external motor, and the piston moves along the circumference; the U-shaped driving mechanism is suitable for being placed in the trunk or the pelvis position of the bionic person.

9. The bionic human-oriented artificial muscle bidirectional driving mechanism as claimed in claim 1, wherein the gas used by the suitable gas cabin includes but is not limited to air and nitrogen.

Technical Field

The invention belongs to the field of robots, and particularly relates to an artificial muscle bidirectional driving mechanism for a bionic person.

Background

the hydraulic principle has been used to develop a myriad of devices requiring either pushing or pulling force. These are typically based on rigid hydraulic cylinders and pistons. In recent years, push and pull devices have been developed that aim to mimic the way muscle tissue behaves and the texture. Therefore, there is now a class of devices commonly referred to as "muscles".

Artificial muscles such as the "McKibben muscle" of washington university are based on pneumatic principles. Closely related to pneumatic muscles are those based on hydraulic pressure. A significant similarity is that motion is due to expansion of the device components caused by fluid pressure (air or liquid). In fact, many of the artificial muscles in these studies may be suitable for pneumatic or hydraulic applications. At the same time, these devices are also subject to some disadvantages, either jointly or individually. Also pneumatic muscles, such as Payuter (US patent No. US4784042), represent devices that require connection to external support devices, such as air compressors, hydraulic pumps and fluid reservoirs. These external support devices are often bulky devices that are not suitable for providing a driving force for a bionic person. Furthermore, these devices can only apply force in one direction and, as such, can only apply tension.

The hydraulic unit of Horvath (U.S. Pat. No. 4,4958705) does not require an external reservoir. The pneumatic device of Rodriguez (U.S. patent No. US5800561) eliminates the need for a compressor by using a canister to compress air. The amount used depends on the size of the tank and the pressure limitations. However, neither device provides inherent cushioning to any soft tissue that they may contact. Thus, there is a need for a self-sufficient artificial muscle that can apply sufficient force to drive a suitable device or prosthetic device. That is, artificial muscles connected to external support devices such as air compressors and fluid reservoirs are not required. This is desirable if the artificial muscle can be directed to apply force in more than one direction; that is, the force applied by the artificial muscle may be a pushing force or a pulling force, as desired.

disclosure of Invention

The invention aims to overcome the defects in the prior art and provides a bionic human-oriented artificial muscle bidirectional driving mechanism.

The purpose of the invention is realized by at least one of the following technical solutions.

A bionic-person-oriented artificial muscle bidirectional driving mechanism comprises a linear type driving mechanism and a U-shaped driving mechanism; the driving mechanism comprises an external motor, a gas bin, a piston, a gear, a rack, a movable metal strip and a rubber strip;

for the linear type driving mechanism, a piston is arranged in a gas cabin, a rack is arranged outside the gas cabin, the piston is connected with a movable metal strip, the movable metal strip is connected with the rack, and the periphery of the movable metal strip is sealed by a rubber strip to ensure that the gas cabin is not air-tight; the external motor is provided with a gear which is meshed with the rack, and the external motor 1 is driven by the gear and the rack;

for the U-shaped driving mechanism, the piston is arranged in the gas bin, the gear is arranged outside the gas bin, the piston is connected with the movable metal strip, the movable metal strip is connected with the gear, the periphery of the movable metal strip is sealed by the rubber strip to ensure that the gas bin is not air-tight, and the external motor directly drives the gear.

Furthermore, the cross section of the movable metal strip is of a cross structure, the two sides of the cross structure play a role in air tightness, the upper end and the lower end of the cross structure play a role in connection, and the rubber strips are positioned on the two sides of the upper end and the lower end of the movable metal strip; the wall of the gas cabin is provided with a groove with the cross section matched with the shape of the cross section of the movable metal strip, and the groove is used for accommodating the movable metal strip.

Furthermore, when the pneumatic muscle training device works, an external motor is used for driving the piston to move to control the air pressure on two sides of the air bin, the air bin is directly connected with pneumatic muscles through a rubber hose, and the pneumatic muscles connected with the air bin move by utilizing the air pressure difference between the air bin and the external environment; the pneumatic muscle drives the connected artificial skeleton to move the connected artificial skeleton; when the air pressure in the air bin is reduced, the pneumatic muscle generates tension; when the air pressure in the gas cabin is close to the outside, the gas cabin is in a relaxed state; pneumatic muscles can produce thrust as air pressure increases.

Further, gases suitable for use in the gas silo include, but are not limited to, air, nitrogen.

further, when the external motor drives, the piston is driven to move in the gas bin, and the gas bin is compressed and expanded, so that the pulling force and the pushing force are provided at the same time, and the capability of artificial muscles is enhanced;

When thrust is generated, the initial air pressure in the air bin is assumed to beP₀Volume is V₀Inflating in the time delta t, the volume change of the inflated air pressure cabin body is delta V, and the pressure intensity P after inflating_cComprises the following steps:

Suppose the inner radius of the gas bin is r₀Thrust force F applied to the piston_cComprises the following steps:

F_c＝P_c·S；

Whereinsubstituting into the formula can obtain:

When the pulling force is generated, the initial air pressure in the air bin is assumed to be P₀Volume is V₀The air is exhausted inwards within the time delta t, the volume of the air pressure cabin after the air exhaust is completed is changed into delta V, and the pressure intensity P after the air exhaust is completed_dComprises the following steps:

Suppose the inner radius of the gas bin is r₀force F applied to the piston when tension is generated_dComprises the following steps:

F_d＝P_d·S:

WhereinSubstituting into the formula can obtain:

The initial pressure, i.e. the internal pressure in the relaxed state, the internal pressure in the equilibrium state after inflation or evacuation is equal to the ambient atmospheric pressure, i.e. P₀＝P_c＝P_d＝P_ain which P is_ais at ambient atmospheric pressure.

Further, the driving mechanism accurately controls the driving force; in the equilibrium state, the distance the piston is displaced depends only on the change in volume, i.e. the displacement distance d is equal to:

The power provided is accurately controlled according to the distance of movement.

Further, under the realistic conditions of considering the friction force and the nonlinear change caused by the deformation of the device, the nonlinear relation between the distance and the force is expressed as follows:

Wherein r represents the influence caused by nonlinear change, and is irregular non-white noise and is approximated by a neural network.

furthermore, a gas bin of the linear type driving mechanism is a straight cylindrical pipe, the gas bin is directly connected with pneumatic muscles through a rubber hose, and an external motor drives a piston through a gear and a rack; under the conditions of relaxation and no force application, the piston of the gas bin is positioned in the center of the straight pipe and driven by an external motor, and the piston moves along a straight line; the linear driving mechanism is suitable for being placed in the long joint of the bionic person.

Furthermore, a gas bin of the U-shaped driving mechanism is a U-shaped pipe, the gas bin in the driving mechanism is directly connected with pneumatic muscles through a rubber hose, and an external motor is directly connected with a piston through a gear; under the conditions of relaxation and no force application, the piston of the gas bin is positioned in the center of the U-shaped pipe and is directly driven by an external motor, and the piston moves along the circumference; the U-shaped driving mechanism is suitable for being placed in the trunk or the pelvis position of the bionic person.

Compared with the prior art, the invention has the following advantages and effects:

1. The invention directly controls the external motor to enable the bionic muscle to have high-speed response speed.

2. The present invention directly controls the external motor so that the power can be precisely controlled.

3. Two different types of drive mechanisms are suitable for different positions of a bionic person.

4. the invention can be provided with an external motor according to the required power, and has high flexibility.

Drawings

fig. 1 is a schematic structural view of a linear drive mechanism in an embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a U-shaped driving mechanism in the embodiment of the invention.

FIG. 3 is a schematic view of the linear drive mechanism of the embodiment of the present invention.

Fig. 4 is a schematic diagram of the operation of the U-shaped driving mechanism in the embodiment of the invention.

Fig. 5 is a schematic cross-sectional view of a U-shaped drive mechanism in an embodiment of the invention.

FIG. 6 is a cross-sectional view of a linear drive mechanism in an embodiment of the present invention.

FIG. 7 is a cross-sectional view of a U-shaped drive mechanism in an embodiment of the present invention.

Detailed Description

The following embodiments are described in further detail with reference to the following examples, but the embodiments of the present invention are not limited thereto, and those skilled in the art can realize or understand the present invention by referring to the prior art unless specifically described below.

A bionic-person-oriented artificial muscle bidirectional driving mechanism comprises a linear type driving mechanism and a U-shaped driving mechanism; the driving mechanism comprises an external motor 1, a gas bin 2, a piston 3, a gear 4, a rack 5, a movable metal strip 7 and a rubber strip 8;

As shown in fig. 1 and 6, for the linear driving mechanism, the piston 3 is inside the gas cabin 2, the rack 5 is outside the gas cabin 2, the piston 3 is connected with the movable metal strip 7, the movable metal strip 7 is connected with the rack 5, and the periphery of the movable metal strip 7 is sealed by the rubber strip 8 to ensure that the gas cabin 2 is airtight; the external motor 1 is provided with a gear 4, the gear 4 is meshed with a rack 5, and the external motor 1 is driven by the gear 4 and the rack 5;

As shown in fig. 2 and 5, for the U-shaped driving mechanism, the piston 3 is inside the gas cabin 2, the gear 4 is outside the gas cabin 2, the piston 3 is connected with the movable metal strip 7, the movable metal strip 7 is connected with the gear 4, the periphery of the movable metal strip 7 is sealed by the rubber strip 8 to ensure that the gas cabin 2 is airtight, and the external motor 1 directly drives the gear 4.

Further, as shown in fig. 5, 6 and 7, the cross section of the movable metal strip 7 is a cross structure, two sides of the cross structure play a role in air tightness and the upper and lower sides of the cross structure play a role in connection, and the rubber strips 8 are positioned on the upper, lower and two sides of the movable metal strip 7; the wall of the gas silo 2 has a groove with a cross-section matching the cross-sectional shape of the moving metal strip 7 for receiving the moving metal strip 7.

Further, as shown in fig. 3 and 4, when the driving mechanism works, the external motor 1 is used for driving the piston 3 to move to control the air pressure at two sides of the air bin 2, the air bin 2 is directly connected with the pneumatic muscle 6 through the rubber hose, and the pneumatic muscle 6 connected with the air bin 2 moves by utilizing the air pressure difference between the air bin 2 and the external environment; the pneumatic muscle 6 drives the connected artificial skeleton to move the connected artificial skeleton; when the air pressure in the air bin 2 is reduced, the pneumatic muscle 6 generates tension; when the air pressure in the gas bin 2 is close to the outside, the gas bin is in a relaxed state; when the air pressure increases, the pneumatic muscle 6 can generate a thrust.

further, suitable gases for use with gas cartridge 2 include, but are not limited to, air, nitrogen.

further, when the external motor 1 is driven, the piston 3 is driven to move in the gas bin 2, and the gas bin 2 is compressed and expanded, so that the pulling force and the pushing force are provided at the same time, and the capability of the artificial muscle 6 is enhanced;

When thrust is generated, it is assumed that the initial pressure in the gas cabin 2 is P₀Volume is V₀The air is inflated within the time delta t, the volume change of the air pressure cabin 2 after the air inflation is changed into delta V, and the pressure intensity P after the air inflation is realized_cComprises the following steps:

Suppose the inner radius of the gas bin 2 is r₀The piston 3 is subjected to a force F when thrust is generated_cComprises the following steps:

F_c＝P_c·S；

WhereinSubstituting into the formula can obtain:

When the pulling force is generated, the initial pressure in the gas cabin 2 is assumed to be P₀Volume is V₀The air is exhausted inwards within the time delta t, the volume change of the air pressure cabin 2 after the air exhaust is completed is delta V, and the pressure intensity P after the air exhaust is completed_dcomprises the following steps:

suppose the inner radius of the gas bin 2 is r₀The piston 3 is stressed by a force F when generating a pulling force_dComprises the following steps:

F_d＝P_d·S:

whereinsubstituting into the formula can obtain:

The initial pressure, i.e. the internal pressure in the relaxed state, the internal pressure in the equilibrium state after inflation or evacuation is equal to the ambient atmospheric pressure, i.e. P₀＝P_c＝P_d＝P_aIn which P is_aIs at ambient atmospheric pressure.

further, the driving mechanism accurately controls the driving force; in the state of equilibrium, the distance by which the piston 3 is displaced depends only on the change in volume, i.e. the displacement distance d is equal to:

The power provided is accurately controlled according to the distance of movement.

Further, under the realistic conditions of considering the friction force and the nonlinear change caused by the deformation of the device, the nonlinear relation between the distance and the force is expressed as follows:

wherein r represents the influence caused by nonlinear change, and is irregular non-white noise and is approximated by a neural network.

Further, as shown in fig. 3, the gas cabin 2 of the linear driving mechanism is a straight cylindrical pipe, the gas cabin 2 is directly connected with the pneumatic muscle 6 through a rubber hose, and the external motor 1 drives the piston 3 through the gear 4 and the rack 5; under the conditions of relaxation and no force application, the piston 3 of the gas bin 2 is positioned in the center of a straight pipe and driven by an external motor 1, and the piston 3 moves along a straight line; the linear driving mechanism is suitable for being placed in the long joint of the bionic person.

Further, the gas bin 2 of the U-shaped driving mechanism is a U-shaped pipe, the gas bin 2 in the driving mechanism is directly connected with a pneumatic muscle 6 through a rubber hose, and an external motor 1 is directly connected with a piston 3 through a gear 4; under the conditions of relaxation and no force application, a piston 3 of the gas bin 2 is positioned in the center of the U-shaped pipe and is directly driven by an external motor 1, and the piston 3 moves along the circumference; the U-shaped driving mechanism is suitable for being placed in the trunk or the pelvis position of the bionic person.

the above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.