CN104476565B - Power output device for achieving pneumatic muscle opposite pull mechanism - Google Patents
Power output device for achieving pneumatic muscle opposite pull mechanism Download PDFInfo
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- CN104476565B CN104476565B CN201410628457.7A CN201410628457A CN104476565B CN 104476565 B CN104476565 B CN 104476565B CN 201410628457 A CN201410628457 A CN 201410628457A CN 104476565 B CN104476565 B CN 104476565B
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Abstract
The invention discloses a power output device for achieving a pneumatic muscle opposite pull mechanism. The power output device for achieving the pneumatic muscle opposite pull mechanism comprises a support frame, wherein a first pneumatic muscle, a second pneumatic muscle, a first extension spring, a second extension spring and a disk component are installed on the support frame, the disk component is installed on the support frame through a horizontal rotation shaft, and the disk component comprises a first disk, a first push disk, a first rotation disk, a power output disk, a second rotation disk, a second push disk and a second disk, which are sequentially installed on the horizontal rotation shaft. The power output device for achieving the pneumatic muscle opposite pull mechanism uses the first pneumatic muscle and the second pneumatic muscle, applies a pneumatic muscle opposite pull concept into the power output device according to human muscle action characteristics from a bionic point of view, breaks the traditional thinking that the pneumatic muscles can not be directly used to achieve the opposite pull mechanism, and has the advantages of being simple in structure, high in safety factor, convenient to control, high in mechanical efficiency and good in flexibility, easily achieving miniaturization, causing no pollution, saving energy sources and the like.
Description
Technical field
The invention belongs to PTO field, more specifically, relate to and a kind ofly realize the PTO of pneumatic muscles to pull mechanism.
Background technology
PTO is the device exported to the equipment beyond power-driven system by the power of power source, as key link and the important component part of power transmission, to selection and the development of PTO, it is key indispensable when designing a whole set of mechanical system and other related system, be directly connected to the utilization ratio of the energy and the transmission efficiency of power, the complexity of system, technological design, components and parts distribution and the enforcement etc. that controls all are had a great impact.
With PTO closely bound up be just power source, i.e. power-driven system, generally common power source has engine, motor, hydraulic pump, air pump and utilize artificial or animal power etc., pneumatic muscles is a kind of novel tension type pneumatic apparatus, when passing into compressed air, very strong convergent force can be produced as muscle, pneumatic muscles is just gained the name therefrom, along with develop rapidly and the extensive use of pneumatics, novel pneumatic element is constantly developed out, pneumatic muscles is as a kind of Novel bionic element, with the design concept cleverly of its novelty, break pneumatic apparatus and must promote piston to this traditional idea that does work by compressed air, eliminate piston rod, piston, sealing ring, all multiple components such as cylinder barrel, manage primarily of in elastic caoutchouc, fiber knitted net overcoat and both ends connector composition, there is structure simple, High power output, friction is not produced in use procedure, submissive and safety coefficient high.Various field, especially robot field, obtain and pay close attention to more and more widely and apply.
Pneumatic artificial muscle present stage is mainly used in the middle of Robotics, especially the service robot field be closely related with bionics, although the characteristic of existing Pneumatic artificial muscle also has very large gap compared with animal muscle, but researcher entertains sizable interest to it, be devoted to develop the Pneumatic artificial muscle more similar to animal muscle, and achieving great progress, pneumatic muscles, as a kind of novel pneumatic element, will have more wide purposes and application prospect.
If pneumatic muscles is applied in PTO, in mechanism design, utilizing disk rotational to carry out outputting power is very common and a kind of mode of practicality, want driver plate rotate, the most easy mode just for utilize steel wire rope to drawing effect, but the Pneumatic artificial muscle that present stage is common, cannot really replace or simulated animal muscle, it can only realize the motion in autogenous shrinkage direction, and the direction of Power output is single, and during application, itself is not to pull mechanism.In order to address this problem, obtain more practical reliable mechanism.
Summary of the invention
For above defect or the Improvement requirement of prior art, the invention provides and a kind ofly realize the PTO of pneumatic muscles to pull mechanism, according to the action of muscles feature of people, derive a kind of pneumatic muscles to pull mechanism, can be used for realizing drawing, not only make use of the characteristic of pneumatic muscles to the full extent, and overcome the confinement problems of pneumatic muscles self existence, pneumatic muscles is able to disc assembly work described in Direct driver, simple and ingenious structure, there is bio-imitability and compliance, action is flexibly coherent, safety coefficient is high, control simple and convenient, especially the arm being applied to robot is applicable to, the joint drive of finger etc.
For achieving the above object, according to one aspect of the present invention, provide and a kind ofly realize the PTO of pneumatic muscles to pull mechanism, comprise bracing frame, bracing frame is provided with the first pneumatic muscles, the second pneumatic muscles, the first extension spring, the second extension spring and disc assembly, wherein
Disc assembly is arranged on bracing frame by horizontal rotating shaft, horizontal rotating shaft is arranged on bracing frame by bearing, disc assembly comprises the first disk be arranged on successively on horizontal rotating shaft, first pushing disk, first rolling disc, Power output disk, second rolling disc, second pushing disk and the second disk, first disk and the second disk are arranged on horizontal rotating shaft respectively by bearing, first pushing disk is fixedly connected with the first disk, second pushing disk is fixedly connected with the second disk, first rolling disc and the second rolling disc are all fixedly connected on Power output disk, Power output disk is fixedly connected on horizontal rotating shaft,
Described first pneumatic muscles is connected with the first disk by the first stay cord, first disk is connected with the first extension spring by the first return rope, pull the first disc counter-clockwise to rotate by the first stay cord during the first pneumatic muscles inflation and pull the first extension spring to extend by the first return rope, first pushing disk is provided with the first promotion boss, first rolling disc is provided with the first rotating boss, first promotes boss can promote the first rotating boss rotation when rotating counterclockwise;
Described second pneumatic muscles is connected with the second disk by the second stay cord, second disk is connected with the second extension spring by the second return rope, pull the second disk to rotate clockwise by the second stay cord during the second pneumatic muscles inflation and pull the second extension spring to extend by the second return rope, second pushing disk is provided with the second promotion boss, second rolling disc is provided with the second rotating boss, second promotes boss can promote the second rotating boss rotation when rotating clockwise.
Preferably, described first pneumatic muscles is suspended on bracing frame, one end comparatively other end weight of the first pneumatic muscles, and the heavier one end of the first pneumatic muscles is positioned at the below of lighter one end.
Preferably, one end of described first pneumatic muscles is fixedly mounted on bracing frame, and its other end is connected with the first stay cord, is provided with the first directive wheel between described first pneumatic muscles and the first disk, is connected after the first directive wheel walked around by the first stay cord with the first disk.
Preferably, described second pneumatic muscles is suspended on bracing frame, one end comparatively other end weight of the second pneumatic muscles, and the heavier one end of the second pneumatic muscles is positioned at the below of lighter one end.
Preferably, one end of described second pneumatic muscles is fixedly mounted on bracing frame, and its other end is connected with the second stay cord, is provided with the second directive wheel between described second pneumatic muscles and the second disk, is connected after the second directive wheel walked around by the second stay cord with the second disk.
Preferably, described Power output disk being connected with the 3rd stay cord of power when rotating for outputting power output disk, support frame as described above being provided with the 3rd directive wheel for leading to the 3rd stay cord.
Preferably, time initial, first promotes boss and contacts with the first rotating boss, and second promotes to there is gap between boss and the second rotating boss.
Preferably, time initial, first promotes to there is gap between boss and the first rotating boss, the Contact of the second promotion boss and the second rotating boss.
In general, the above technical scheme conceived by the present invention compared with prior art, following beneficial effect can be obtained: present invention employs the first pneumatic muscles and the second pneumatic muscles, from bionic angle, according to the action of muscles feature of people, pneumatic muscles is applied in PTO to the theory of drawing, breach pneumatic muscles and cannot be directly used in the Traditional Thinking realized pull mechanism, there is structure simple, safety coefficient is high, be easy to realize miniaturization, pollution-free, economize energy, it is convenient to control, the feature such as the high and compliance of mechanical efficiency is good, be particularly useful for robotics, gather around and have broad application prospects.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is the structural representation after the present invention removes bracing frame;
Fig. 3 is the explosive view of disc assembly in the present invention;
Fig. 4 be in the present invention the first pushing disk and the first rolling disc initial time relative position schematic diagram;
Fig. 5 is the first pushing disk and the first rolling disc relative position schematic diagram after having worked the first stage of the present invention;
Fig. 6 be in the present invention the second pushing disk and the second rolling disc initial time relative position schematic diagram.
Detailed description of the invention
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.In addition, if below in described each embodiment of the present invention involved technical characteristic do not form conflict each other and just can mutually combine.
As shown in FIG. 1 to 3, a kind ofly realize the PTO of pneumatic muscles to pull mechanism, comprise bracing frame 1, bracing frame 1 is provided with the first pneumatic muscles 2, second pneumatic muscles 3, first extension spring 4, second extension spring 5 and disc assembly 6, described first pneumatic muscles 2 and the second pneumatic muscles 3 are all vertically arranged, and the first pneumatic muscles 2 and the second pneumatic muscles 3 are all suspended on bracing frame 1.One end comparatively other end weight of described first pneumatic muscles 2, the heavier one end of the first pneumatic muscles 2 is positioned at the below of lighter one end.The upper end of described first pneumatic muscles 2 is fixedly mounted on bracing frame 1, and its lower end is connected with the first stay cord 21, is provided with after the first directive wheel 22 walked around by the first directive wheel 22, first stay cord 21 and is connected with the first disk 7 between described first stay cord 21 and the first disk 7.
Similarly, one end comparatively other end weight of described second pneumatic muscles 3, the heavier one end of the second pneumatic muscles 3 is positioned at the below of lighter one end.The upper end of described second pneumatic muscles 3 is fixedly mounted on bracing frame 1, and its lower end is connected with the second stay cord 31, is provided with after the second directive wheel 32 walked around by the second directive wheel 32, second stay cord 31 and is connected with the second disk 9 between described second stay cord 31 and the second disk 9.
Because pneumatic muscles is under normal location status, the quality of one end is large compared with the quality of the other end, therefore under the prerequisite not affecting the first pneumatic muscles 2 and the normal work of the second pneumatic muscles 3, heavier one end is placed on down, then center of gravity also moves to below it, when fixing at its upper end, give an one downward pulling force on the whole, the first pneumatic muscles 2 of vertically arrangement and the second pneumatic muscles 3 entirety is made to be in by exceptionally straight state, this normal working morphology for maintenance first pneumatic muscles 2 and the second pneumatic muscles 3 and normal operating conditions have very important significance.
Disc assembly 6 is arranged on bracing frame 1 by horizontal rotating shaft 11, and horizontal rotating shaft 11 is arranged on bracing frame 1 by bearing, and horizontal rotating shaft 11 can rotate.Disc assembly 6 comprises the first disk 7, first pushing disk 71, first rolling disc 81, Power output disk 8, second rolling disc 82, second pushing disk 91 and the second disk 9 that are arranged on successively on horizontal rotating shaft 11, first disk 7 and the second disk 9 are arranged on horizontal rotating shaft 11 respectively by bearing, first pushing disk 71 is fixedly connected with the first disk 7, second pushing disk 91 is fixedly connected with the second disk 9, first rolling disc 81 and the second rolling disc 82 are all fixedly connected on Power output disk 8, and Power output disk 8 is fixedly connected on horizontal rotating shaft 11.
Described Power output disk 8 being connected with the 3rd stay cord 81 of power when rotating for outputting power output disk 8, support frame as described above 1 being provided with the 3rd directive wheel 82 for leading to the 3rd stay cord 81.
Described first pneumatic muscles 2 is connected with the first disk 7 by the first stay cord 21, first disk 7 is connected with the first extension spring 4 by the first return rope 41, pull the first disk 7 to rotate counterclockwise by the first stay cord 21 when first pneumatic muscles 2 is inflated and pull the first extension spring 4 to extend by the first return rope 41, first pushing disk 71 is provided with the first promotion boss 711, first rolling disc 81 is provided with the first rotating boss 811, first to promote boss 711 and can promote the first rotating boss 811 when rotating counterclockwise and rotate.
Described second pneumatic muscles 3 is connected with the second disk 9 by the second stay cord 31, second disk 9 is connected with the second extension spring 5 by the second return rope 51, pull the second disk 9 to rotate clockwise by the second stay cord 31 when second pneumatic muscles 3 is inflated and pull the second extension spring 5 to extend by the second return rope 51, second pushing disk 91 is provided with the second promotion boss 911, second rolling disc 82 is provided with the second rotating boss 821, second to promote boss 911 and can promote the second rotating boss 821 when rotating clockwise and rotate.
Preferred as one, time initial, first promotes boss 711 and contacts with the first rotating boss 811, second promotes to there is gap between boss 911 and the second rotating boss 821, make the first pushing disk 71 when driving the second rolling disc 82 to rotate by the first rolling disc 81 like this, the second disk 9 can not have interference to this motion.
Preferred as another kind, time initial, first promotes to there is gap between boss 711 and the first rotating boss 811, the Contact of the second promotion boss 911 and the second rotating boss 821, make the second pushing disk 91 when driving the second rolling disc 82 to rotate by the second rolling disc 82 like this, the first disk 7 can not have interference to this motion.
Adopting above two kinds of selections, is to not allow the first promotion boss 711 and the first rotating boss 811 or second promote not interfered when boss 911 and the second rotating boss 821 rotate.
The original state of device is, the original state of Fig. 4 ~ Figure 6 shows that disc assembly shown in Fig. 1 ~ Fig. 3.First pneumatic muscles 2 and the second pneumatic muscles 3 drive the first disk 7 and the second disk 9 to rotate respectively, achieve pneumatic muscles to pull mechanism.
Described disc assembly 6 mainly comprises the first disk 7, Power output disk 8, horizontal rotating shaft 11, first pushing disk 71, first rolling disc 81, second rolling disc 82, second pushing disk 91, second disk 9, the 3rd directive wheel 82, multiple bearing, multiple steel wire rope fixture block for stationary rope.Wherein, the two ends of horizontal rotating shaft 11 are placed on bracing frame 1 respectively by bearing, can rotate on bracing frame 1; First disk 7 and the second disk 9 are arranged on horizontal rotating shaft 11 respectively by bearing, can relative level rotating shaft 11 rotate, and again because the first pushing disk 71 and the first disk 7 connect firmly, therefore the first pushing disk 71 can rotate with the first disk 7 relative level rotating shaft 11; Second pushing disk 91 and the second disk 9 connect firmly, and therefore the second pushing disk 91 can rotate around horizontal rotating shaft 11 with the second disk 9.Horizontal rotating shaft 11 and Power output disk 8 connect firmly, therefore horizontal rotating shaft 11 and Power output disk 8 can under the drive of the first disk 7 or the second disk 9 synchronous axial system.
In addition, bracing frame 1 is also provided with the first extension spring 4 and the second extension spring 5.When the first pneumatic muscles 2 inflates contraction, first extension spring 4 is stressed to be stretched, be in tensioning state, storage elasticity potential energy simultaneously, when the first pneumatic muscles 2 exits elongation, the first extension spring 4 shortens recovery nature, discharge elastic potential energy simultaneously and hold the first return rope 41, first disk 7 also pulls the first stay cord 21 and the first pneumatic muscles 2, first stay cord 21 and the first pneumatic muscles 2 can be in exceptionally straight state, for the normal use of PTO provides guarantee always.
In like manner, when the second pneumatic muscles 2 is inflated and exits, the work of the second extension spring 5 is also similar to the first extension spring.
Altogether need through three phases to pull mechanism to completing whole pneumatic muscles from the original state of PTO, the following detailed description of the motion process of this three phases.
PTO shown in Fig. 1 is in original state, now preferably first promotes to there is gap between boss 711 and the first rotating boss 811, the design of the Contact of the second promotion boss 911 and the second rotating boss 821.During original state, the first pneumatic muscles 2 and the second pneumatic muscles 3 are all in the original state of unaerated.
When the work of first stage starts, first pneumatic muscles 2 is inflated and is shunk, produce pulling force, pull the first stay cord 21, thus drive the first disk 7 original state as shown in Figure 4 to rotate counterclockwise, and then drive the first pushing disk 71 connected firmly mutually with the first disk 7 to rotate counterclockwise, during this process is carried out, first promotes to there is gap between boss 711 and the first rotating boss 811, first promotes boss 711 can not drive the first rotating boss 811 to move, first promote boss 711 and the first rotating boss 811 the whole story relative position as shown in Figure 4 and Figure 5.After first stage has worked, the first pneumatic means volume reaches maximum, and first promotes boss 711 contacts with the first rotating boss 811.During the first stage, only have the first disk 7 and the first pushing disk 71 to rotate, Power output disk 8 does not rotate.
When the work of second stage starts, first promotes the relative position of boss 711 and the first rotating boss 811 as shown in Figure 5, second promotes the relative position of boss 911 and the second rotating boss 821 as shown in Figure 6, and namely the second promotion boss 911 and the second rotating boss 821 are also in initial position.Now the second pneumatic muscles 3 is inflated and is shunk, produce pulling force, pull the second stay cord 31, thus drive the second disk 9 to be rotated clockwise by the original state shown in Fig. 1 and Fig. 6, and then drive the second pushing disk 91 connected firmly mutually with the second disk 9 to rotate clockwise, second promotion boss 911 promotes the second rotating boss 821 and the second rolling disc 82 rotates clockwise, and again because the second rolling disc 82 connects firmly with Power output disk 8, therefore Power output disk 8 also rotates clockwise thereupon.
In addition, while second pneumatic muscles 3 is inflated, first pneumatic muscles 2 is exitted and is extended, first stay cord 21 is relaxed, now under the effect of the first extension spring 4, first disk 7 rotates clockwise together with the first pushing disk 71 to connect firmly with it, to make the first promotion boss 711 dodge the first rotating boss 811, does not cause interference to the rotation of Power output disk 8 and the first rolling disc 81.Now whole disc assembly 6 synchronously rotates clockwise, and so just successfully achieves pneumatic muscles to pull mechanism.From bionic angle, according to the contraction feature of human muscle, described first pneumatic muscles 2 is equivalent to the Opposing muscle (passive flesh) in human muscle, and described second pneumatic muscles 3 is equivalent to the former dynamic flesh (agonistic muscle) in human muscle.
After the end-of-job of second stage, the second pneumatic muscles 3 is in maximum volume, and the first pneumatic muscles 2 completes venting in the raw.
After this work of phase III is started, first pneumatic muscles 2 keeps nature not work, and the second pneumatic muscles 3 is exitted and extended, and the second stay cord 31 is relaxed, now under the effect of the second extension spring 5, the second disk 9 rotates counterclockwise together with the second pushing disk 91 to connect firmly with it.
Through the action of above-mentioned three phases, achieve pneumatic muscles to pull mechanism, make Power output disk 8 have rotated certain angle, the Power output successfully the first pneumatic muscles 2 and the second pneumatic muscles 3 provided is to external system simultaneously.
This device can continuous operation, and its course of work is not merely only limited to above-mentioned several stages.When carrying out follow-up work, the first pneumatic muscles 2 and the second pneumatic muscles 3 are according to aforesaid three phases inflation and exit, to realize the continuous operation of Power output disk 8.
After the aforesaid phase III completes, if device works once more, then in like manner the first pneumatic muscles 2 shrinks, and the first disk 7 drives the first pushing disk 71 to rotate counterclockwise, promote the first rolling disc 81 to rotate, thus Power output disk 8 is rotated counterclockwise to initial position.
Under the first pneumatic muscles 2 and the idle situation of the second pneumatic muscles 3, can artificial rotational power output disk 8, this locomitivity that can be the executing agency under system off working state is assessed, fault diagnosis provides possibility, wherein executing agency here, refers to the mechanism of the reception power of external mechanical arm and so on.
Those skilled in the art will readily understand; the foregoing is only preferred embodiment of the present invention; not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. one kind realizes the PTO of pneumatic muscles to pull mechanism, comprise bracing frame (1), bracing frame (1) is provided with the first pneumatic muscles (2), the second pneumatic muscles (3), the first extension spring (4), the second extension spring (5) and disc assembly (6), it is characterized in that: wherein
Disc assembly (6) is arranged on bracing frame (1) by horizontal rotating shaft (11), horizontal rotating shaft (11) is arranged on bracing frame (1) by bearing, disc assembly (6) comprises the first disk (7) be arranged on successively on horizontal rotating shaft (11), first pushing disk (71), first rolling disc (81), Power output disk (8), second rolling disc (82), second pushing disk (91) and the second disk (9), first disk (7) and the second disk (9) are arranged on horizontal rotating shaft (11) respectively by bearing, first pushing disk (71) is fixedly connected with the first disk (7), second pushing disk (91) is fixedly connected with the second disk (9), first rolling disc (81) and the second rolling disc (82) are all fixedly connected on Power output disk (8), Power output disk (8) is fixedly connected on horizontal rotating shaft (11),
Described first pneumatic muscles (2) is connected with the first disk (7) by the first stay cord (21), first disk (7) is connected with the first extension spring (4) by the first return rope (41), pull the first disk (7) to rotate counterclockwise by the first stay cord (21) and pull the first extension spring (4) to extend by the first return rope (41) during the first pneumatic muscles (2) inflation, first pushing disk (71) is provided with the first promotion boss (711), first rolling disc (81) is provided with the first rotating boss (811), first promotes boss (711) can promote the first rotating boss (811) rotation when rotating counterclockwise,
Described second pneumatic muscles (3) is connected with the second disk (9) by the second stay cord (31), second disk (9) is connected with the second extension spring (5) by the second return rope (51), pull the second disk (9) to rotate clockwise by the second stay cord (31) and pull the second extension spring (5) to extend by the second return rope (51) during the second pneumatic muscles (3) inflation, second pushing disk (91) is provided with the second promotion boss (911), second rolling disc (82) is provided with the second rotating boss (821), second promotes boss (911) can promote the second rotating boss (821) rotation when rotating clockwise.
2. according to claim 1ly a kind ofly realize the PTO of pneumatic muscles to pull mechanism, it is characterized in that: described first pneumatic muscles (2) is suspended on bracing frame (1), one end comparatively other end weight of the first pneumatic muscles (2), the heavier one end of the first pneumatic muscles (2) is positioned at the below of lighter one end.
3. according to claim 1ly a kind ofly realize the PTO of pneumatic muscles to pull mechanism, it is characterized in that: one end of described first pneumatic muscles (2) is fixedly mounted on bracing frame (1), its other end is connected with the first stay cord (21), be provided with the first directive wheel (22) between described first pneumatic muscles (2) and the first disk (7), the first stay cord (21) is walked around the first directive wheel (22) and is connected with the first disk (7) afterwards.
4. according to claim 1ly a kind ofly realize the PTO of pneumatic muscles to pull mechanism, it is characterized in that: described second pneumatic muscles (3) is suspended on bracing frame (1), one end comparatively other end weight of the second pneumatic muscles (3), the heavier one end of the second pneumatic muscles (3) is positioned at the below of lighter one end.
5. according to claim 1ly a kind ofly realize the PTO of pneumatic muscles to pull mechanism, it is characterized in that: one end of described second pneumatic muscles (3) is fixedly mounted on bracing frame (1), its other end is connected with the second stay cord (31), be provided with the second directive wheel (32) between described second pneumatic muscles (3) and the second disk (9), the second stay cord (31) is walked around the second directive wheel (32) and is connected with the second disk (9) afterwards.
6. according to claim 1ly a kind ofly realize the PTO of pneumatic muscles to pull mechanism, it is characterized in that: the 3rd stay cord (81) described Power output disk (8) being connected with power when rotating for outputting power output disk (8), support frame as described above (1) being provided with the 3rd directive wheel (82) for leading to the 3rd stay cord (81).
7. according to claim 1ly a kind ofly realize the PTO of pneumatic muscles to pull mechanism, it is characterized in that: time initial, first promotes boss (711) and contact with the first rotating boss (811), there is gap between the second promotion boss (911) and the second rotating boss (821).
8. according to claim 1ly a kind ofly realize the PTO of pneumatic muscles to pull mechanism, it is characterized in that: time initial, first promotes to there is gap between boss (711) and the first rotating boss (811), the Contact of the second promotion boss (911) and the second rotating boss (821).
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| CN104772759B (en) * | 2015-04-29 | 2016-06-29 | 浙江大学 | The flexible actuator of bionic muscle |
| CN108652909B (en) * | 2018-02-09 | 2019-08-30 | 湖北工业大学 | A kind of joint of robot device of pneumatic muscles driving |
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| WO2004096083A2 (en) * | 2003-04-24 | 2004-11-11 | Arizona Board Of Regents Acting On Behalf Of Arizona State University | Spring-over-muscle actuator |
| CN1909017A (en) * | 2006-08-18 | 2007-02-07 | 浙江大学 | Air-actuated muscle motion analog control platform device and posture control method |
| CN101537621A (en) * | 2009-04-16 | 2009-09-23 | 北京理工大学 | Three freedom degree motion simulator of pneumatic hybrid mechanism |
| CN204209704U (en) * | 2014-11-10 | 2015-03-18 | 华中科技大学 | A kind ofly realize the PTO of pneumatic muscles to pull mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20040123732A1 (en) * | 2002-12-17 | 2004-07-01 | Lindsay Scott C. | Pneumatic actuator |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2004096083A2 (en) * | 2003-04-24 | 2004-11-11 | Arizona Board Of Regents Acting On Behalf Of Arizona State University | Spring-over-muscle actuator |
| CN1909017A (en) * | 2006-08-18 | 2007-02-07 | 浙江大学 | Air-actuated muscle motion analog control platform device and posture control method |
| CN101537621A (en) * | 2009-04-16 | 2009-09-23 | 北京理工大学 | Three freedom degree motion simulator of pneumatic hybrid mechanism |
| CN204209704U (en) * | 2014-11-10 | 2015-03-18 | 华中科技大学 | A kind ofly realize the PTO of pneumatic muscles to pull mechanism |
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Effective date of registration: 20160629 Address after: 430074 Hubei, East Lake hi tech Zone, high tech Avenue, No. 999, overseas talent building, block A, building, floor, 5 Patentee after: WUHAN INTELLIGENT EQUIPMENT INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE CO., LTD. Patentee after: Xiong Caihua Patentee after: Sun Ronglei Patentee after: Zhao Huan Patentee after: Chen Wenbin Patentee after: Tao Xiaozhong Address before: 430074 Hubei Province, Wuhan city Hongshan District Luoyu Road No. 1037 Patentee before: Huazhong University of Science and Technology |
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Effective date of registration: 20170223 Address after: 430074 Wuhan Province, East Lake New Technology Development Zone, high tech Avenue, No., the future of science and Technology City, A4 south, building 4, room 5, floor 514, room 999 Patentee after: Hubei Intel pump intelligent machine Co. Address before: 430074 Hubei, East Lake hi tech Zone, high tech Avenue, No. 999, overseas talent building, block A, building, floor, 5 Patentee before: WUHAN INTELLIGENT EQUIPMENT INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE CO., LTD. Patentee before: Xiong Caihua Patentee before: Sun Ronglei Patentee before: Zhao Huan Patentee before: Chen Wenbin Patentee before: Tao Xiaozhong |