CN102579157A - Novel bionic skeletal muscle based on shape memory alloy driving - Google Patents
Novel bionic skeletal muscle based on shape memory alloy driving Download PDFInfo
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- CN102579157A CN102579157A CN2012100411052A CN201210041105A CN102579157A CN 102579157 A CN102579157 A CN 102579157A CN 2012100411052 A CN2012100411052 A CN 2012100411052A CN 201210041105 A CN201210041105 A CN 201210041105A CN 102579157 A CN102579157 A CN 102579157A
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Abstract
The invention discloses a novel bionic skeletal muscle driven by a shape memory alloy (SMA) wire. The novel bionic skeletal muscle comprises a plurality of SMA wires, a first heating circuit board, a second heating circuit board, at least one heat dissipation insulating board, a flexible insulating wire, and an energy storage spring. The heat dissipation insulating board is arranged between the first and second heating circuit boards. The two ends of the plurality of SMA wires are fixed to the first and second heating circuit boards, respectively, and the plurality of SMA wires are surrounded the heat dissipation insulating board to form a spindle-shaped bionic skeletal muscle. The flexible insulating wire longitudinally penetrates through the bionic skeletal muscle and is fixed to the first and second heating circuit boards. External load acts on one end of the energy storage spring, and the other end of the energy storage spring is connected with the flexible insulating wire. The invention connects the multiple SMA wires to constitute spindle-shaped bionic skeletal muscle, and realizes adaptable and changeable large load.
Description
Technical field
The present invention relates to a kind of bionical skeletal muscle, relate in particular to a kind of bionical skeletal muscle that drives based on marmem.
Background technology
Marmem (SMA) is a kind of novel driving element as a kind of intellectual material.At present, SMA is widely used in fields such as aviation, medical treatment, and plurality of applications is industrialization all.It is backward relatively that but SMA develops aspect the driving of bionical muscle.SMA and human muscle, especially skeletal muscle have a lot of similarly characteristics, such as high power density, big power output, flexibility, unidirectional contraction, from functions such as perception.In addition, SMA drives simple, and current flow heats can realize, thereby the realization of having ready conditions " mechanism-sensing-driving " is in the design of the integrated bionical skeletal muscle of one.
Present stage is utilizing SMA more relatively as the research that artificial-muscle drives bionical artificial limb both at home and abroad; Mechanical hand (the Kyu-Jin Cho that does such as Massachusetts Institute Technology; Harry Asada.Multi-Axis SMA Actuator Array for Driving Anthropomorphic Robot Hand.Proceedings of the 2005 IEEE International Conference on Robotics and Automation Barcelona; Spain; April 2005), utilize SMA to realize the driving of multiple degrees of freedom bionic hand.Yet this design has only realized the action of hand, the inreal characteristic that goes up the big power output of SMA of utilizing.Human muscle, especially skeletal muscle not only can be realized the motion in joint, more can adapt to different load variations.In the human body normal gait, need the human body self weight of 1.2 times of carryings such as the human body triceps surae.SMA is as having high power density, and the driving element of big power output characteristic has the ability to realize the design of the bionical skeletal muscle under the heavy load.Yet the bionical skeletal muscle that can adapt to variable heavy load power that up to the present, does not also really drive based on SMA.
Summary of the invention
Because the above-mentioned defective of prior art; Technical problem to be solved by this invention provides a kind of bionical skeletal muscle; Drive by shape-memory alloy wire,, realized adapting to variable heavy load power through a plurality of shape-memory alloy wires being connected and composed the bionical skeletal muscle of spindle.
For realizing above-mentioned purpose; The invention provides a kind of bionical skeletal muscle; Drive by shape-memory alloy wire, it is characterized in that, comprise a plurality of shape-memory alloy wires, the first heater circuit plate, the second heater circuit plate, at least one radiating insulating plate, flexible insulation silk and energy-stored spring; Said radiating insulating plate is between said first heater circuit plate and the said second heater circuit plate; The two ends of said a plurality of shape-memory alloy wires are individually fixed in said first heater circuit plate and the said second heater circuit plate, and around said radiating insulating plate, form said bionical skeletal muscle, and said bionical skeletal muscle is spindle; Said flexible insulation silk vertically passes said bionical skeletal muscle and is fixed in the said first heater circuit plate and the said second heater circuit plate; Extraneous carrying acts on an end of said energy-stored spring, and the other end of said energy-stored spring links to each other with said flexible insulation silk.
Further, said radiating insulating plate is for circle and have the dentation outer rim, and said shape-memory alloy wire passes the between cog groove of said dentation outer rim.
Further, said each shape-memory alloy wire has identical length and diameter.
Further, through the circuit on circuit on the said first heater circuit plate and the said second heater circuit plate, said a plurality of shape-memory alloy wires form the shape-memory alloy wire group that many groups are connected in parallel with each other.
Further, through the circuit on circuit on the said first heater circuit plate and the said second heater circuit plate, each the said shape-memory alloy wire in each said shape-memory alloy wire group is connected in series.
Further, has the same number of said shape-memory alloy wire in each said shape-memory alloy wire group.
Further, the surface of said flexible insulation silk is insulating.
Further, said shape-memory alloy wire shrinks when energising is heated.
Further, said flexible insulation silk is in relaxed state when the elongation of said shape-memory alloy wire generation can recover elongation less than the maximum of said shape-memory alloy wire.
In preferred embodiments of the present invention; Adopted 24 to have identical length and diameter shape-memory alloy wire; These shape-memory alloy wires are fixed between the first heater circuit plate and the second heater circuit plate; Have two blocks of radiating insulating plates that diameter is bigger between two blocks of heater circuit plates, formed fusiform bionical skeletal muscle thus.Through the circuit on the first heater circuit plate and the second heater circuit plate, these shape-memory alloy wires have formed 6 groups of shape-memory alloy wire groups that are connected in parallel to each other.Wherein, every group of shape-memory alloy wire group all has 4 shape-memory alloy wires.Through the circuit on the first heater circuit plate and the second heater circuit plate, each 4 shape-memory alloy wire organizing in the shape-memory alloy wire group is connected in series.In preferred embodiments of the present invention; Also comprise the flexible insulation silk; This flexible insulation silk vertically passes fusiform bionical skeletal muscle and is fixed in the first heater circuit plate and the second heater circuit plate, in order to before shape-memory alloy wire reaches largest deformation, to bear extraneous carrying.In preferred embodiments of the present invention, also comprise energy-stored spring, in order to the energy memory function of simulation human skeletal muscle tendon.Extraneous carrying acts on an end of this energy-stored spring, and the other end of this energy-stored spring links to each other with the flexible insulation silk.Extraneous carrying acts on through energy-stored spring on the shape-memory alloy wire of bionical skeletal muscle, under non-power status, these shape-memory alloy wires is extended passively; And under the "on" position, shape-memory alloy wire is heated and undergoes phase transition, thereby takes place initiatively to shrink, and produces corresponding tension force.
Therefore visible; Bionical skeletal muscle of the present invention is through using the bigger radiating insulating plate of diameter; A plurality of shape-memory alloy wires are arranged the bionical skeletal muscle of formation spindle, the stressed of bionical skeletal muscle concentrated, and guaranteed the big heat-dissipating space of shape-memory alloy wire.Bionical skeletal muscle of the present invention is through using the flexible insulation silk; Realized before marmem generation plastic deformation, bearing external loading power; Thereby reduce the carrying of shape-memory alloy wire greatly, therefore can protect the shape-memory alloy wire of bionical skeletal muscle of the present invention.Bionical skeletal muscle of the present invention is through using energy-stored spring, and the energy memory function of simulation human skeletal muscle tendon is initiatively shunk time institute's work thereby under the excessive situation of extraneous carrying, can reduce shape-memory alloy wire.Therefore, bionical skeletal muscle of the present invention is a kind of bionical skeletal muscle that can adapt to variable heavy load power.
Below will combine accompanying drawing that the technique effect of design of the present invention, concrete structure and generation is described further, to understand the object of the invention, characteristic and effect fully.
Description of drawings
Fig. 1 is the front view of bionical skeletal muscle of the present invention.
Fig. 2 is the vertical view (end face that has shown the first heater circuit plate) of bionical skeletal muscle of the present invention.
The specific embodiment
As shown in Figure 1, bionical skeletal muscle of the present invention comprises 24 shape-memory alloy wires 3, the first heater circuit plate 2, the second heater circuit plate 6, two radiating insulating plates 4 and 5, flexible insulation silk 1 and energy-stored springs 7.Radiating insulating plate 4,5 is between the first heater circuit plate 2 and the second heater circuit plate 6; The two ends of shape-memory alloy wire 3 are individually fixed in the first heater circuit plate 2 and the second heater circuit plate 6; And around radiating insulating plate 4,5, formation is fusiform bionical skeletal muscle.Flexible insulation silk 1 vertically passes bionical skeletal muscle of the present invention, wherein passes the centre bore of two radiating insulating plates 4 and 5 successively.Flexible insulation silk 1 is fixed in the first heater circuit plate 2 and the second heater circuit plate 6, can use hold-down screw to fix, and hold-down screw 11 as shown in Figure 2 is fixed together the flexible insulation silk 1 and the first heater circuit plate 2.And it is the flexible insulation silk 1 and the second heater circuit plate 6 is fixing through identical mode.In order to guarantee the stability in the large of bionical skeletal muscle of the present invention, also used the hold-down screw 10 of the central hole that is installed in radiating insulating plate 4 in the present embodiment, flexible insulation silk 1 is fixed on the radiating insulating plate 4; And similarly, used hold-down screw 12 that flexible insulation silk 1 is fixed on the radiating insulating plate 5.Extraneous carrying acts on energy-stored spring 7 one ends, and the other end of energy-stored spring 7 links to each other with flexible insulation silk 1.
Shown in the vertical view of the bionical skeletal muscle of the present invention of Fig. 2, radiating insulating plate 4 has equally distributed between cog groove 13 for circular and have the dentation outer rim on the dentation outer rim.Shape-memory alloy wire 3 passes the between cog groove 13 of dentation outer rim, distributes equably to center on radiating insulating plate 4.Radiating insulating plate 5 and radiating insulating plate 4 structures are identical, and for circular and have the dentation outer rim, shape-memory alloy wire 3 passes the between cog groove of the dentation outer rim of radiating insulating plate 5, distribute equably with around radiating insulating plate 5.
The first heater circuit plate 2 is circular, and diameter has a circle circular hole 14 less than the diameter of radiating insulating plate 4,5 on it.Circular hole 14 is a through hole, and the diameter less diameter of shape-memory alloy wire 3 (but be slightly larger than) is evenly distributed, and the number of circular hole 14 is identical with the number of the between cog groove 13 of the dentation outer rim of radiating insulating plate 4,5.The second heater circuit plate 6 is identical with the first heater circuit plate, 2 structures.In the present embodiment; Shape-memory alloy wire 3 passes circular hole 14 and the first heater circuit plate 2 is realized fixing on the frame for movement; And realize fixing on the frame for movement with the second heater circuit plate 6, and insert the circuit on the first heater circuit plate 2 and the second heater circuit plate 6 thus respectively in an identical manner.
All have circuit on the first heater circuit plate 2 and the second heater circuit plate 6, through the circuit on the first heater circuit plate 2 and the second heater circuit plate 6, shape-memory alloy wire 3 has formed 6 groups of shape-memory alloy wire groups that are connected in parallel to each other.Wherein, every group of shape-memory alloy wire group all has 4 shape-memory alloy wires.Through the circuit on the first heater circuit plate 2 and the second heater circuit plate 6, each 4 shape-memory alloy wire organizing in the shape-memory alloy wire group is connected in series.Through lead 9 with place the circuit guide plate 8 on the first heater circuit plate 2, these shape-memory alloy wires 3 through series connection and parallel connection are powered up.
Energy-stored spring 7 is mimic to be the energy memory function of human skeletal muscle's tendon, when extraneous carrying is excessive, the carrying work is changed into elastic potential energy, when carrying diminishes, discharges elastic potential energy.
Extraneous carrying acts on an end of energy-stored spring 7, and acts on the shape-memory alloy wire 3 of bionical skeletal muscle of the present invention through energy-stored spring 7.Under non-power status, shape-memory alloy wire 3 extends passively, and get into self remove twin martensitic state (being the untwinned martensite attitude).At this moment, bionical skeletal muscle of the present invention is in the state that integral body is stretched.It may be noted that bionical skeletal muscle of the present invention is not unlimited the elongation along with the increase of carrying.When the elongation of shape-memory alloy wire 3 generations can recover elongation less than its maximum, flexible insulation silk 1 was in relaxed state; But when carrying is excessive; The elongation that the shape-memory alloy wire 3 of bionical skeletal muscle of the present invention takes place arrives its maximum and can recover elongation (being the maximum flexibility deformation quantity of its elongation state), and the flexible insulation silk 1 in the bionical skeletal muscle is stretched stressed.The coefficient of elasticity of the flexible insulation silk 1 of bionical skeletal muscle of the present invention should be enough big, so that flexible insulation silk 1 works the main effect of bearing carrying, acts on the pulling force on the shape-memory alloy wire 3 thereby reduce.Therefore, flexible insulation silk 1 can play the effect of protection shape-memory alloy wire 3.Preferably, can be set at the maximum that is slightly less than shape-memory alloy wire 3 to the elongation that the shape-memory alloy wire 3 that makes flexible insulation silk 1 get into the stressed state that is stretched takes place and to recover elongation, to protect shape-memory alloy wire 3 better.
Through lead 9, circuit guide plate 8, the first heater circuit plate 2 and the second heater circuit plate 6, the shape-memory alloy wire 3 through series connection and parallel connection is powered up.Under "on" position, shape-memory alloy wire 3 is heated, and owing to temperature raises martensitic phase transformation takes place, thereby produces initiatively contractive action.When enough big electric current being provided for shape-memory alloy wire 3, shape-memory alloy wire 3 can all get into austenitic state when temperature is elevated to uniform temperature, and bionical skeletal muscle of the present invention is in the shortest state at this moment.In shape-memory alloy wire 3 contraction processes, flexible insulation silk 1 is in relaxed state, thereby can not influence the mechanical characteristic of shape-memory alloy wire 3.
More than describe preferred embodiment of the present invention in detail.Should be appreciated that those of ordinary skill in the art need not creative work and just can design according to the present invention make many modifications and variation.Therefore, the technical staff in all present technique field all should be in the determined protection domain by claims under this invention's idea on the basis of existing technology through the available technical scheme of logical analysis, reasoning, or a limited experiment.
Claims (9)
1. a bionical skeletal muscle is driven by shape-memory alloy wire, it is characterized in that, comprises a plurality of shape-memory alloy wires, the first heater circuit plate, the second heater circuit plate, at least one radiating insulating plate, flexible insulation silk and energy-stored spring; Said radiating insulating plate is between said first heater circuit plate and the said second heater circuit plate; The two ends of said a plurality of shape-memory alloy wires are individually fixed in said first heater circuit plate and the said second heater circuit plate, and around said radiating insulating plate, form said bionical skeletal muscle, and said bionical skeletal muscle is spindle; Said flexible insulation silk vertically passes said bionical skeletal muscle and is fixed in the said first heater circuit plate and the said second heater circuit plate; Extraneous carrying acts on an end of said energy-stored spring, and the other end of said energy-stored spring links to each other with said flexible insulation silk.
2. bionical skeletal muscle as claimed in claim 1, wherein said radiating insulating plate is for circle and have the dentation outer rim, and said shape-memory alloy wire passes the between cog groove of said dentation outer rim.
3. according to claim 1 or claim 2 bionical skeletal muscle, wherein said each shape-memory alloy wire has identical length and diameter.
4. bionical skeletal muscle as claimed in claim 3, wherein through circuit on the said first heater circuit plate and the circuit on the said second heater circuit plate, said a plurality of shape-memory alloy wires form the shape-memory alloy wire group that many groups are connected in parallel with each other.
5. bionical skeletal muscle as claimed in claim 4, wherein through circuit on the said first heater circuit plate and the circuit on the said second heater circuit plate, each the said shape-memory alloy wire in each said shape-memory alloy wire group is connected in series.
6. bionical skeletal muscle as claimed in claim 5 wherein has the same number of said shape-memory alloy wire in each said shape-memory alloy wire group.
7. bionical skeletal muscle as claimed in claim 7, the surface of wherein said flexible insulation silk is insulating.
8. according to claim 1 or claim 2 bionical skeletal muscle, wherein said shape-memory alloy wire shrinks when energising is heated.
9. according to claim 1 or claim 2 bionical skeletal muscle, the elongation that wherein said flexible insulation silk takes place at said shape-memory alloy wire is in relaxed state in the time of can recovering elongation less than the maximum of said shape-memory alloy wire.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102813563A (en) * | 2012-08-27 | 2012-12-12 | 上海交通大学 | Active and passive type intelligent simulated muscle |
| CN103536366A (en) * | 2013-10-22 | 2014-01-29 | 同济大学 | Automatic anchor jaw support device for flexible minimally invasive surgery mechanical arm |
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| US3882551A (en) * | 1974-01-09 | 1975-05-13 | Battelle Memorial Institute | Artificial muscle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102813563A (en) * | 2012-08-27 | 2012-12-12 | 上海交通大学 | Active and passive type intelligent simulated muscle |
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| CN103536366A (en) * | 2013-10-22 | 2014-01-29 | 同济大学 | Automatic anchor jaw support device for flexible minimally invasive surgery mechanical arm |
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| CN102579157B (en) | 2015-04-15 |
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