CN102441893A - Muscle bionic-driving device based on electromagnetic force - Google Patents
Muscle bionic-driving device based on electromagnetic force Download PDFInfo
- Publication number
- CN102441893A CN102441893A CN2010105008675A CN201010500867A CN102441893A CN 102441893 A CN102441893 A CN 102441893A CN 2010105008675 A CN2010105008675 A CN 2010105008675A CN 201010500867 A CN201010500867 A CN 201010500867A CN 102441893 A CN102441893 A CN 102441893A
- Authority
- CN
- China
- Prior art keywords
- phase coil
- module
- electromagnetic force
- band
- muscle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Abstract
The invention discloses a muscle bionic-driving device based on the electromagnetic force. Basic units are designed by the structure and the moving form of the skeletal muscle of mammals, and linear driving is realized by utilizing electromagnetic force through in-series connection of the basic units. The basic units consist of three modules such as a moving submodule, a fixed submodule and a band-type brake module. The moving submodule and the fixed submodule are the main body of the basic units; and the change of the relative position of the two modules realizes telescopic motion of the basic units. The muscle bionic-driving device based on the electromagnetic force has good driving characteristics that direct transmission, high-speed linear motion are achieved, the contact and the mechanical wear are completely avoided, high response speed can reach millisecond level, the movement is smooth in low speed, the movement smoothness is good, the noise is low and the energy is saved and the like.
Description
Technical field
The present invention relates to a kind of electromagnetic force drive unit, particularly based on the bionical drive unit of the muscle of electromagnetic force.Belong to mechanical engineering and automation and robot field, be used to imitate mammalian bone flesh myoarchitecture and forms of motion.
Background technology
Along with science and technology development, the application of electromagnetic force has promoted the development of technology such as mechanical engineering and automation, and especially in precision optical machinery and robot research field, the application of electromagnetic force also reaches its maturity.Based on the bionical drive unit of electromagnetism principle design muscle good theory and practice basis is arranged; The power-actuated imitative muscle drive unit of electromagnetism has very high response frequency, than the imitative muscle drive unit of alternate manner strain with carry out displacement bigger advantage all arranged.
Adopt the new device of linear motor driving to compare with traditional non-rectilinear motor-driven; Have advantages such as the low precision of simple in structure, contactless wearing and tearing, noise is high, the flexible speed of combination is fast, but the characteristics that linear electric motors itself had have determined the defective that self exists: like problems such as magnetic circuit break-make caused limit end effect and installation air gap are bigger.If imitation mammalian bone flesh myoarchitecture and forms of motion design a kind of linear drive apparatus, with the performance of improving existing linear electric motors greatly.
Mammalian bone flesh muscle has a lot of legacy drive inaccessible performance far away, as power/weight ratio is high, motion is simple, response speed is fast, energy can be laid in to realize powerful explosive force etc.Imitative muscle driver realizes that more representational direction has marmem, electromagnetism linear actuator, electrostrictive polymers, piezoelectric ceramics, the pneumatic and artificial-muscle that surges.A good imitative muscle driver is answered outstanding drive characteristic of tool and high fatigue life, and should have that one dimension is flexible, strain is big, intensity good, noiselessness, characteristic such as energy density is big and compliance is good.
Disclose a kind of linear drive apparatus based on electromagnetic force among the Chinese patent ZL 200420054469.5, this device utilizes the electromagnetic force between the coil to realize shrinking, and utilizes the restoring force of flexible member to reset, realization stretching motion that can be convenient and simple.But this device exists stronger multistage coil magnetic field to disturb, and because the fatigue damage of flexible member is difficult to realize long-time, high-frequency motion.
In the patent No. is in the patent of invention of ZL 03250678.3; A kind of power set based on the contraction of muscle principle have been described; Its composition is divided into two partly: by the tendon band that a plurality of magnetic poles rearrange belly of muscle in certain sequence and are connected with its two ends, realize that through the polarity that changes the variable magnetic pole group straight line moves repeatedly.Although this project organization is simple, still there are a lot of deficiencies in control easily, as not designing damping unit in the structure, has rigid collision, so cause the problems such as big, that noise is big of impacting; Simultaneously, mechanical position limitation be overall structure is carried out spacing, can't accomplish each magnetic pole spacing separately, so integral body has only flexible two states, the position adjustments poor-performing, thereby reduced its flexibility; Magnetic gap is bigger between the magnetic field, and bigger leakage field phenomenon is arranged.
Summary of the invention
The technical problem that the present invention will solve is to provide a kind of muscle based on electromagnetic force bionical drive unit; The bionical drive unit of the muscle of this electromagnetic force; Can not only overcome that the instantaneous acceleration that exists in the prior art is low, fatigue life is low, power density is low, poor linearity, inefficient problem, and can solve the impact that the rigid collision that exists in the similar similar Design causes and noise is big, flexibility is low, the deficiency of leakage field.
In order to solve the problems of the technologies described above, the technical scheme that the present invention adopts is: at first, through to the Bionic Design of mammalian bone flesh sarcomere elementary cell, secondly then realize bionical muscle Design on driving device by being connected in series of elementary cell.Described elementary cell is made up of three modules, comprises mover module, stator module and band-type brake module.Mover module and stator module are the main bodys of elementary cell, and the variation of the relative position of two modules has realized the stretching motion of elementary cell.
Described mover module comprises axle, permanent magnet, fixture.Wherein, the centre position that axle and fixture adopt diamagnetic material, permanent magnet to be installed in spool is fixedly connected by the shaft shoulder and the fixture of axle.The mover module supports through left end cap and right end cap and slides.
Described stator module comprises left end cap, casing, A phase coil, A phase coil skeleton, B phase coil skeleton, B phase coil, right end cap.Wherein, the A phase coil is wrapped on the A phase coil skeleton, and the B phase coil is wrapped on the B phase coil skeleton, and the coiling of A phase coil and B phase coil passes through the aperture in the middle of the casing.A phase coil skeleton is fixed by the left side shaft shoulder of left end cap and casing, and left end cap and casing are used bolt through the screw of left end on the casing.B phase coil skeleton is fixed by the right shaft shoulder of right end cap and casing, and right end cap and casing are used bolt through the screw of right-hand member on the casing.
Described stator module is provided with A, B two phase coils, and when the A phase coil was switched on, permanent magnet drove axle under the effect of A phase electromagnetic field; Move to A phase direction; Realize the contraction state of elementary cell, when the B phase coil was switched on, permanent magnet drove axle under the effect of B phase electromagnetic field; Move to B phase direction, realize the extended configuration of elementary cell.The relative position of mover module and stator module is regulated by electromagnetic field, and electromagnetic field not only can play the effect of active adjustment, can also play the effect of damping, and when the position deviation target location of mover, electromagnetic field can be withdrawn into the target location to it.Electromagnetic damping has been avoided the rigid impact of mover and stator, has also solved the problem that elastic damping is easy to fatigue damage.
Described band-type brake module is the important component part of elementary cell, by band-type brake coil, spring, compositions such as locking member.When the elementary cell no power, locking member is under the effect of spring, and lock shaft tightly makes mover module and stator module keep static relatively.When elementary cell was switched on, the band-type brake module received the effect of electromagnetic force, and spring is compressed, and locking member is loosening, separated with axle, and mover module and stator module can be free movable under the effect of magnetic field force.The band-type brake module plays a part mechanical positioning; When elementary cell need not be moved; Can keep its position through the band-type brake module, and not need continual feeding electric current, avoid the waste of ability and owing to continued the too fast rising of elementary cell temperature that energising causes.
The mode of being connected in series that the present invention is based on the bionical drive unit of muscle of electromagnetic force is that the type of attachment according to the muscle sarcomere is provided with; The mode of being connected in series can be in the scope that elementary cell allows; Become the translational speed and the acceleration of the bionical drive unit of increase muscle of multiple, bigger lifting the drive characteristic of drive unit.
The version series connection of elementary cell, promptly formed imitative muscle drive unit according to mammalian bone flesh.The elementary cell length overall is 30mm, and compression ratio is 50%, and promptly contraction state and extended configuration differ 15mm.Described series model is that the mover of upper level elementary cell is linked on the stator of next stage elementary cell; Because elementary cells at different levels are separated; Its motion all separates with control, has avoided magnetic interference and the interference of the motion between the elementary cell at different levels between the elementary cells at different levels.The compositional model of this series connection can improve the drive characteristic of imitating the muscle drive unit, to a great extent like each side indexs such as displacement, acceleration, speed.
Aspect the control of the bionical drive unit of muscle of electromagnetic force of the present invention, can adopt multiple control modes, the Different control mode can realize different motor patterns.Control mode mainly can be divided into two controls of bionical sarcomere motor pattern---two positions and flexibility about the mover of drive unit only rests on, the continuous position control that smoothness is higher.Wherein, Being embodied as of two controls: the relative motion of mover module and stator module has formed the stretching motion of elementary cell; When the magnetic field of magnetic field that A phase coil energising produces and permanent magnet was consistent, permanent magnet received the magneticaction of hot-wire coil, moves to the position with A phase coil flush.Otherwise when the magnetic field that the energising of B phase coil produces was consistent with the permanent magnet magnetic field direction, permanent magnet moved to the position concordant with the B phase coil.Permanent magnet drives the axle motion, has realized the linear telescopic motion of elementary cell, i.e. two motor pattern.Continuous position control then realizes in the following manner: through the real time position of extraneous sensor feedback and the data of power even load, calculate next control output constantly according to the target location, switch on for then two end-coils simultaneously.Through the sense of current and the size of current of regulating each coil, then can in travel range, control the position of mover module exactly, thereby realize continuous position control.
The present invention is based on the bionical drive unit of muscle of electromagnetic force, the structure and the forms of motion of its imitation mammalian bone flesh utilize electromagnetic force to realize linear drives.The present invention has high acceleration, mechanical wear is little, volume is little, light weight, noise are low, save good drive characteristic such as energy.Wherein response speed can reach Millisecond, and maximal efficiency can reach more than 90%, and maximum strain is also more than 40%, and power density can reach 200w/Kg.
Description of drawings
Below in conjunction with accompanying drawing the bionical drive unit of the muscle that the present invention is based on electromagnetic force is done further detailed explanation.
Fig. 1 is the elementary cell series connection design sketch of drive unit of the present invention.
Fig. 2 is the elementary cell of the drive unit of the present invention radially sketch map of connecting.
Fig. 3 is the elementary cell cutaway view of drive unit of the present invention.
Fig. 4 is the band-type brake module cutaway view of the elementary cell of drive unit of the present invention.
Fig. 5 is the joint case effect figure of drive unit of the present invention.
1. axle 2. fasteners 3. locking members 4. springs 5. left end caps 6. band-type brake coil racks
7. band-type brake coil 8. casing 9.A phase coil 10.A phase coil skeleton 11.B phase coil skeletons
12.B phase coil 13. permanent magnets 14. fixtures 15. right end caps 16. set bolts
17. push rod 18. swing arms 19. splicing ears 20. drive units 21. fixed bars
The specific embodiment
Present embodiment is the bionical drive unit of a kind of muscle based on electromagnetic force.
Like Fig. 1, shown in Figure 2; The bionical drive unit of muscle that the present invention is based on electromagnetic force is to be composed in series by elementary cell; Elementary cell is linked successively; 1 counter sink through its end face that is II level elementary cell uses bolt to be connected on the right end cap 15 of I level elementary cell, and the axle 1 of III level elementary cell is connected on the right end cap 15 of II level elementary cell in an identical manner; The mode of being connected in series of this bionical drive unit is that the type of attachment according to the muscle sarcomere is provided with; The mode of being connected in series can be in the scope that elementary cell allows; Become the translational speed and the acceleration of the bionical drive unit of increase muscle of multiple, promote the drive characteristic of drive unit.
Fig. 3 has showed the elementary cell of the bionical drive unit of muscle that the present invention is based on electromagnetic force.Elementary cell mainly is made up of three modules, comprises mover module, stator module and band-type brake module.
Described mover module comprises axle 1, permanent magnet 13, fixture 14.Wherein, axle 1 adopts diamagnetic materials with fixture 14, and permanent magnet 13 is installed in the centre position of axle 1, is fixedly connected by the shaft shoulder and the fixture 14 of axle 1.The mover module supports with right end cap 15 through left end cap 5 and slides.
Described stator module comprises left end cap 5, casing 8, A phase coil 9, A phase coil skeleton 10, B phase coil skeleton 11, B phase coil 12, right end cap 15.Wherein, A phase coil 9 is wrapped on the A phase coil skeleton 10, and B phase coil 12 is wrapped on the B phase coil skeleton 11, and the coiling of A phase coil and B phase coil passes through the aperture in the middle of the casing 8.A phase coil skeleton 10 is fixed by the left side shaft shoulder of left end cap 5 and casing 8, and left end cap 5 is used bolt with casing through the screw of left end on the casing 8.B phase coil skeleton 11 is fixed by the right shaft shoulder of right end cap 15 and casing 8, and right end cap 15 is used bolt with casing through the screw of right-hand member on the casing 8.
Aspect the control of the bionical drive unit of muscle of electromagnetic force of the present invention, can adopt multiple control modes, the Different control mode can realize different motor patterns.The stretching motion of the elementary cell of the bionical drive unit of muscle of electromagnetic force of the present invention is that the relative motion by mover module and stator module forms; When the magnetic direction of magnetic field that A phase coil 9 energising produces and permanent magnet is consistent; Permanent magnet 13 receives the magneticaction of hot-wire coil, moves to the position with A phase coil 9 flush.Otherwise when the magnetic field that B phase coil 12 energising produces and the magnetic direction of permanent magnet were consistent, permanent magnet 13 moved to the position concordant with B phase coil 12.Permanent magnet 13 drives axle 1 motion, has realized the linear telescopic motion of elementary cell.Continuous position control then realizes in the following manner: through the real time position of extraneous sensor feedback and the data of power even load, calculate next control output constantly according to the target location, switch on for then two end-coils simultaneously.Through the sense of current and the size of current of regulating each coil, then can in travel range, control the position of mover module exactly, thereby realize continuous position control.
Like Fig. 4, the band-type brake module of elementary cell that the present invention is based on the bionical drive unit of muscle of electromagnetic force is the important component part of elementary cell.Described band-type brake module includes fastener 2, locking member 3, spring 4, band-type brake coil rack 6, band-type brake coil 7, set bolt 16, push rod 17.When needs mover module and stator module keep relative position constant, but under both strong situation about existing, need utilize the band-type brake module.When the band-type brake coil 7 of band-type brake module was not switched on, to left movement, in by fastener 2 extruding, the internal diameter of locking member 3 dwindled locking member 3 under the pressure of spring, and it is snapped together with axle 1, plays fixing effect.When 7 energisings of band-type brake coil, its magnetic field gravitation that receives A phase coil 9 moves right.A phase coil skeleton 10 drives locking member 3 through push rod 17 and moves right, and throws off fastener 2, and the internal diameter of locking member 3 increases, and loosening with the gripping orientation of axle 1, axle 1 can freely-movable.
Referring to Fig. 5, in the present embodiment, the machine joint is that swing arm and fixed bar pass through hinge-coupled, and the bionical drive unit 20 of muscle is connected on two splicing ears 19, and splicing ear 19 passes through hinge-coupled on swing arm 18 and fixed bar 21.The bionical drive unit contraction bands of muscle movable joint motion, L1=44mm wherein, L2=36mm; L3=33mm, L4=27mm, the rotational angle that the joint needs is 70 °; And the elementary cell length overall is 30mm, and compression ratio is 50%, and promptly contraction state and diastole state differ 15mm; Can solve thus needs 3 elementary cells of series connection, and slewing area is 56.25 °～128.04 °, and rotational angle is 71.39 °.
Claims (5)
1. the bionical drive unit of the muscle based on electromagnetic force is characterized in that comprising at least two elementary cells that are in series successively and connect; Described elementary cell is made up of mover module, stator module and band-type brake module, and the variation of the relative position of mover module and stator module realizes the stretching motion of elementary cell, elementary cell flexible for utilizing electromagnetic force to realize straight-line driving.
2. the bionical drive unit of a kind of muscle based on electromagnetic force according to claim 1 is characterized in that: described mover module comprises axle (1), permanent magnet (13), fixture (14); Axle (1) and fixture (14) adopt diamagnetic material, and permanent magnet (13) is installed in the centre position of axle (1), are fixedly connected by the shaft shoulder and the fixture (14) of axle (1), and the mover module is through left end cap (5) and right end cap (15) support slip; Described stator module comprises left end cap (5), casing (8), right end cap (15) and A phase coil (9), A phase coil skeleton (10), B phase coil skeleton (11), B phase coil (12); The stator module is provided with A, B two phase coils; A phase coil (9) is wrapped on the A phase coil skeleton (10), and B phase coil (12) is wrapped on the B phase coil skeleton (11), and the coiling of A phase coil and B phase coil passes through the aperture in the middle of the casing (8); A phase coil skeleton (10) is fixed by the left side shaft shoulder of left end cap (5) and casing (8); Left end cap (5) is used bolt with the screw that casing is gone up left end through casing (8), and B phase coil skeleton (11) is fixed by the right shaft shoulder of right end cap (15) and casing (8), and right end cap (15) is used bolt with the screw that casing is gone up right-hand member through casing (8); When A phase coil (9) is switched on; Permanent magnet (13) drives axle (1) under the effect of A phase electromagnetic field, moves to A phase direction, realizes the contraction state of elementary cell; When B phase coil (12) was switched on, permanent magnet (13) drove axle (1) under the effect of B phase electromagnetic field, moves to B phase direction, realizes the extended configuration of elementary cell; Through the sense of current and the size of current of regulating winding, in travel range, control the position of mover module exactly, realize its continuous position control.
3. the bionical drive unit of a kind of muscle according to claim 1 based on electromagnetic force; It is characterized in that: the relative position of mover module and stator module is to regulate by electromagnetic field; Electromagnetic field had both played the active adjustment effect; Also play damping action, when the mover module departed from objectives the position, electromagnetic field was about to it and is withdrawn into the target location; Electromagnetic damping is avoided the rigid impact of mover module and stator module, has also avoided elastic damping to be easy to fatigue damage.
4. the bionical drive unit of a kind of muscle based on electromagnetic force according to claim 1 is characterized in that: described band-type brake module comprises fastener (2), locking member (3), spring (4), band-type brake coil rack (6), band-type brake coil (7), set bolt (16), push rod (17); When the band-type brake coil (7) of band-type brake module when not switching on; To left movement, in by fastener (2) extruding, the internal diameter of locking member (3) dwindles locking member (3) under the pressure of spring (4); Itself and the locking of axle (1) chucking make mover module and stator module keep relative position constant; When band-type brake coil (7) is switched on; Its magnetic field gravitation that receives the A phase coil moves right, and A phase coil skeleton drives locking member (3) through push rod (16) and moves right, and throws off fastener (2); The internal diameter of locking member (3) increases; Loosening with axle (1), make mover module and stator module free movable under the effect of magnetic field force, the band-type brake module plays a part mechanical positioning.
5. the bionical drive unit of a kind of muscle according to claim 1 based on electromagnetic force, it is characterized in that: said elementary cell length is not more than 30mm, and compression ratio is 50%, and promptly contraction state and extended configuration differ 15mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105008675A CN102441893A (en) | 2010-09-30 | 2010-09-30 | Muscle bionic-driving device based on electromagnetic force |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010105008675A CN102441893A (en) | 2010-09-30 | 2010-09-30 | Muscle bionic-driving device based on electromagnetic force |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102441893A true CN102441893A (en) | 2012-05-09 |
Family
ID=46005079
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010105008675A Pending CN102441893A (en) | 2010-09-30 | 2010-09-30 | Muscle bionic-driving device based on electromagnetic force |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102441893A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104196816A (en) * | 2014-08-26 | 2014-12-10 | 合肥工业大学 | Artificial muscle |
| CN107160432A (en) * | 2017-07-26 | 2017-09-15 | 李路路 | The mechanical axis bar joint bending free degree of Electromagnetical drive realizes structure |
| CN107717975A (en) * | 2016-08-12 | 2018-02-23 | 徐文 | The bionical muscle fibre of electromagnetism and the bionical muscle group of electromagnetism |
| CN108356808A (en) * | 2017-01-26 | 2018-08-03 | 汪俊霞 | The bionic mechanical muscle of quick acting |
| CN108927787A (en) * | 2017-05-27 | 2018-12-04 | 魏相东 | Artificial-muscle and emulation arm |
| CN110524533A (en) * | 2019-09-05 | 2019-12-03 | 华北电力大学 | A kind of device and method of series-parallel relay substitution biological muscles function |
| CN117644530A (en) * | 2024-01-30 | 2024-03-05 | 无锡东仪制造科技有限公司 | Bionic movable set and manipulator |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03107360A (en) * | 1989-09-20 | 1991-05-07 | Atsugi Unisia Corp | Drive unit |
| CN1121273A (en) * | 1995-01-05 | 1996-04-24 | 陈展光 | Reciprocating motor |
| JPH09158906A (en) * | 1995-12-05 | 1997-06-17 | Nhk Spring Co Ltd | Shaft slide lock device |
| CN2501241Y (en) * | 2001-07-30 | 2002-07-17 | 刘明霞 | Linear motor |
| CN1595774A (en) * | 2004-07-10 | 2005-03-16 | 华中科技大学 | Short journey high responding linear motor |
| CN201913644U (en) * | 2010-09-30 | 2011-08-03 | 西北工业大学 | Muscle bionic driving device based on electromagnetic force |
-
2010
- 2010-09-30 CN CN2010105008675A patent/CN102441893A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03107360A (en) * | 1989-09-20 | 1991-05-07 | Atsugi Unisia Corp | Drive unit |
| CN1121273A (en) * | 1995-01-05 | 1996-04-24 | 陈展光 | Reciprocating motor |
| JPH09158906A (en) * | 1995-12-05 | 1997-06-17 | Nhk Spring Co Ltd | Shaft slide lock device |
| CN2501241Y (en) * | 2001-07-30 | 2002-07-17 | 刘明霞 | Linear motor |
| CN1595774A (en) * | 2004-07-10 | 2005-03-16 | 华中科技大学 | Short journey high responding linear motor |
| CN201913644U (en) * | 2010-09-30 | 2011-08-03 | 西北工业大学 | Muscle bionic driving device based on electromagnetic force |
Non-Patent Citations (1)
| Title |
|---|
| 尤向荣等: "仿肌肉驱动器设计与仿真", 《微特电机》, no. 07, 31 July 2010 (2010-07-31), pages 5 - 6 * |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104196816A (en) * | 2014-08-26 | 2014-12-10 | 合肥工业大学 | Artificial muscle |
| CN107717975A (en) * | 2016-08-12 | 2018-02-23 | 徐文 | The bionical muscle fibre of electromagnetism and the bionical muscle group of electromagnetism |
| CN108356808A (en) * | 2017-01-26 | 2018-08-03 | 汪俊霞 | The bionic mechanical muscle of quick acting |
| CN108927787A (en) * | 2017-05-27 | 2018-12-04 | 魏相东 | Artificial-muscle and emulation arm |
| CN107160432A (en) * | 2017-07-26 | 2017-09-15 | 李路路 | The mechanical axis bar joint bending free degree of Electromagnetical drive realizes structure |
| CN110524533A (en) * | 2019-09-05 | 2019-12-03 | 华北电力大学 | A kind of device and method of series-parallel relay substitution biological muscles function |
| CN117644530A (en) * | 2024-01-30 | 2024-03-05 | 无锡东仪制造科技有限公司 | Bionic movable set and manipulator |
| CN117644530B (en) * | 2024-01-30 | 2024-04-02 | 无锡东仪制造科技有限公司 | Bionic movable set and manipulator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102441893A (en) | Muscle bionic-driving device based on electromagnetic force | |
| CN201913644U (en) | Muscle bionic driving device based on electromagnetic force | |
| CN101282070A (en) | Three-freedom Halback array permanent magnetism sphericity synchronous motor | |
| CN105881528A (en) | Electromagnetically-driven continuous robot | |
| CN102355103A (en) | Electromagnetic-piezoelectric-mixed-driving-based three-degree-of-freedom spherical motor | |
| CN101267171B (en) | Electromagnetic voltage adjusting multi freedom degree spherical ultrasonic electromotor | |
| CN2933744Y (en) | Connecting rod creeping conduit robot | |
| CN102158038A (en) | High-drive force permanent-magnet drive device and control method thereof | |
| CN201051476Y (en) | Quick push machine for breaker | |
| CN107907992B (en) | The fast steering mirror actuation mechanism and actuation method of direct stress electromagnetic drive | |
| CN102069996A (en) | Electromagnetic driving type linear reciprocating driving device | |
| CN110485035B (en) | Magnetic suspension weft insertion device with variable magnetic resistance | |
| CN201869079U (en) | Electromagnetic-permanent magnet clamping mechanism for linear motor | |
| CN211265352U (en) | Mechanical logic control bidirectional actuating mechanism based on shape memory alloy | |
| CN1353495A (en) | Articulated driving equipment | |
| Liu et al. | Optimal pole arrangement design of a linear switched-reluctance machine for magnetic levitation and propulsion system | |
| CN105450083A (en) | Multi-feet peristaltic drive type sleeve folding and unfolding mechanism | |
| CN106341029A (en) | Voice coil motor | |
| CN113809900A (en) | Electromagnet and permanent magnet mixed attraction and repulsion power machine | |
| CN203747690U (en) | Super-magnetostrictive driver achieving large-displacement outputs | |
| CN107116544B (en) | Motor integrating connection and movement functions and modular robot applying motor | |
| CN110125925A (en) | Multifunction electromagnetic power/Electromagnetic muscle system | |
| CN102142789B (en) | Displacement amplification ultrasonic linear motor and working method thereof | |
| CN110828232B (en) | Mechanical logic control two-way actuating mechanism based on shape memory alloy | |
| CN2572666Y (en) | Ellipse driving microexecutor for combined supermegnetovibrator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20120509 |