CN106426142A - Artificial muscle, application and robot thereof - Google Patents
Artificial muscle, application and robot thereof Download PDFInfo
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- CN106426142A CN106426142A CN201611023567.6A CN201611023567A CN106426142A CN 106426142 A CN106426142 A CN 106426142A CN 201611023567 A CN201611023567 A CN 201611023567A CN 106426142 A CN106426142 A CN 106426142A
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- 210000003205 muscle Anatomy 0.000 title claims abstract 8
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 28
- 239000010959 steel Substances 0.000 claims abstract description 28
- 238000005516 engineering process Methods 0.000 claims description 18
- 238000004804 winding Methods 0.000 claims description 3
- 235000013372 meat Nutrition 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 28
- 239000000919 ceramic Substances 0.000 description 19
- 238000010586 diagram Methods 0.000 description 7
- 238000006073 displacement reaction Methods 0.000 description 6
- 239000011159 matrix material Substances 0.000 description 4
- 239000002184 metal Substances 0.000 description 4
- 229910052751 metal Inorganic materials 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000007717 exclusion Effects 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- 239000002245 particle Substances 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 230000003321 amplification Effects 0.000 description 1
- 230000000386 athletic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000004093 laser heating Methods 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
- Prostheses (AREA)
Abstract
The invention relates to an artificial muscle which comprises a rubber ball, a direction-limiting block and a steel wire, wherein a cavity is formed in the rubber ball; an air inlet channel is arranged in the cavity; a spiral hole cavity in a wall of the rubber ball serves as a spiral rail; the steel wire is wound in the spiral rail; an expanding direction for limiting the rubber ball of the direction-limiting block with ultrahigh rigidity serves as the radial direction of the spiral rail; after inner air pressure is increased, the rubber ball is expanded along the radial direction of the spiral rail, so that the spiral diameter of the spiral rail is increased, and then the steel wire is contracted along the axial direction of the spiral rail; in a use process, the two ends of the steel wire are connected with the two ends of a to-be-actuated mechanical joint; and a stretching pipe is additionally arranged on the exterior, the steel wire is connected with the two ends of the stretching pipe, the air pressure in the rubber ball can be increased through the air inlet channel, and the stretching pipe is contracted under the driving of the steel wire. The artificial muscle is reasonably contained in a driver. A machine adopting the artificial muscle is equipped with the artificial muscle. A robot adopts the artificial muscle. The artificial muscle is simple in structure and is economical and practical.
Description
Technical field
The invention belongs to dynamic field, especially design a kind of artificial-muscle.
Background technology
Artificial-muscle is a difficult problem for robot, the artificial-muscle of prior art stretch have that the fast strength of contracting is little, that strength is big is flexible
Slowly it is difficult to practical application, the present invention proposes a kind of a kind of practical artificial-muscle to the problems such as percentage ratio deficiency of, stretching, real
Existing fine motion superposition, smoothly can dock with prior art, can quickly popularize.
Content of the invention
Present invention aims to the deficiencies in the prior art propose a kind of artificial-muscle, present invention achieves stroke amplifies.
The present invention has following technology contents.
1st, a kind of artificial-muscle it is characterised in that：Mainly it is made up of driving body, thread like body, helical orbit；The greatly enhancing most of thread like body
Degree is more than the overall length of helical orbit；A thread like body part is limited to spiral type by helical orbit；Helical orbit limits thread like body
Motion makes the motion of the particle on the spiral part of thread like body predominantly slide along the helix of spiral part；Thread like body has soft
Property or elasticity；Driving body drives the screw diameter of helical orbit to stretch.
2nd, a kind of artificial-muscle as described in technology contents 1 it is characterised in that：Described driving body is fluid pressure actuated, electric
Actuating, thermal actuation, magnetic actuation, light actuating, Electromagnetically actuated, chemical actuating.
3rd, a kind of artificial-muscle as described in technology contents 1 it is characterised in that：Described helical orbit at least 2 circle in the axial direction.
4th, a kind of artificial-muscle as described in technology contents 1 it is characterised in that：Described helical orbit diametrically at least 2 circle.
5th, a kind of artificial-muscle as described in technology contents 1 it is characterised in that：Spiral overall length under driving body driving for the serpentine pipe
Change is more than the change of pitch overall length.
6th, a kind of artificial-muscle as described in technology contents 1 it is characterised in that：Described helical orbit is uniform by a reducing
Double-layered cylinder is constituted；The distance of two layers of double-layered cylinder is more than two times that thread like body diameter is less than thread like body diameter；Double-layer circular
At least one section of junctional complex between two layers of cylinder has the passage that thread like body can slide wherein.
7th, a kind of artificial-muscle as described in technology contents 1 it is characterised in that：Described helical orbit is uniform by a reducing
Cylinder and at least one spacing ring are constituted；Spacing ring is located on the cylinder of cylinder one end, the diameter line vertical cylinder axle of spacing ring
Line；Thread like body is looped around on cylinder, and thread like body one end is fixedly connected with cylinder, and the thread like body other end passes through spacing ring；Wire
Body has at least one circle spiral between thread like body and cylinder fixed connection point and spacing ring.
8th, a kind of artificial-muscle as described in technology contents 1 it is characterised in that：Described helical orbit is uniform by a reducing
Cylinder and at least 2 spacing rings are constituted；Spacing ring is located on the cylinder at cylinder two ends, the diameter line vertical cylinder axle of spacing ring
Line；Thread like body is looped around on cylinder, and the two ends of thread like body pass from spacing ring respectively；Thread like body has between two spacing rings
At least one circle spiral.
9th, a kind of artificial-muscle as described in technology contents 1 it is characterised in that：Also there is outside it telescoping tube；The two of thread like body
End is connected to the two ends of telescoping tube.
10th, a kind of artificial-muscle as described in technology contents 6 it is characterised in that：Also there is dimension shape spring；Tie up shape spring and stretch
Pipe is connected.
11st, a kind of artificial-muscle it is characterised in that：Driving body reasonably comprises the artificial-muscle described in application technology content 1-7.
12nd, a kind of machine of use artificial-muscle it is characterised in that：Have described in any one in technology contents 1-7
Artificial-muscle.
Technology contents explanation and its advantage：
The cardinal principle of the present invention：The actuation length to change thread like body for the screw diameter of change thread like body, because spirals is straight
The change in footpath can lead to the change of spiral part girth, and the change of each circumference of same helix can be superimposed, and therefore may achieve
Make the technique effect that the superposition of trickle expanding-contracting action is amplified, this drastically becomes for overcoming Electromagnetically actuated magnetic force to increase with distance
Little, fluid pressure actuated（Air pressure, hydraulic pressure）Space more big-movement is slower, inverse piezoelectric effect activates（One kind of electric actuation）Stroke is little
Etc. the defect of prior art have a very big significance；
If spiral number of turns are N；If Zhou Changwei T1 before single turn helix radius change, radius are r1, a diameter of R1, spiral overall length are
L1；If Zhou Changwei T2 before single turn helix radius change, radius are r2, a diameter of R2, spiral overall length are L2；
Then there is formula：（1）、ΔL=L2-L1=ΔT*N=（T2-T1）*N=2πΔr*N；
From above formula, the displacement equations mode of spiral reducing is mainly relevant with the number of turns unrelated with quantity, so can be by adjusting
Number of full circle N is adjusting magnification ratio；
Assume to be used for the driving body of the present invention using the artificial-muscle of the present invention, and set artificial-muscle（Non- for driving body）'s
Number of turns M of helical orbit, set spiral overall length become turn to Δ L', radius change be Δ r'；
Then there is Δ L'=2 π Δ r'*M；
It is used at least one artificial-muscle as driving body, because spiral is round, therefore rough identification can be arranged on driving
The radius change size Δ r'=Δ of the spiral of artificial-muscle that can lead under the displacement L ideal effect of internal artificial-muscle
L/2（Artificial-muscle using a plurality of present invention may have Δ r'=Δ L as the driving body of the artificial-muscle of the present invention, in order to
Problem reduction does not do excessive description；）
Then have：ΔL'=2πΔL/2*M；
Above formula substitutes into formula（1）Then have：ΔL'=2πΔL/2*M=π*（2πΔr*N）*M=2π2*Δr*N*M；
, as driving body, regulation parameter N, M can for the artificial-muscle that the present invention is used as from the foregoing in the artificial-muscle of the present invention
To obtain very big displacement equations multiple；
The present invention's is can be with recursive structure in structure as from the foregoing（Recursive structure one word is the present inventor oneself definition,
Refer mainly to repeat nonlinear superposition design structure, recursive structure refers at many levels in the present invention（More than or equal to 3 layers）Weight
Multiple ' using the reducing of the flexible helical orbit to drive higher level artificial-muscle of the thread like body of low level artificial-muscle '
Design, constitute a displacement equations chain）, thus the raising displacement equations multiple of saltatory（Assume third layer helical orbit circle
Number is B circle, then have Δ L''=2 π 3* Δ r*N*M*B, regulation parameter N, M, B can obtain very big displacement equations multiple）；
Above computing illustrates that the amplification of the present invention is mainly related with the helical orbit number of turns, the iterative design number of plies,
Also the understanding of reader will not be impacted even if calculating and a small amount of falsehood occurring.
Vocabulary explanation.
' driving body ' refer to drive helical orbit screw diameter change entity, driving body can be element, device or
Functional module, driving body may be with other devices or element common elements or structure, and this is common situations in machinery；Driving body
For example：Fill a large amount of piezoelectric ceramics on a columnar shape basal surface, manipulate piezoelectric ceramics radially stretching in matrix；Hollow fill
Elastic ball of gas etc..
' thread like body ' refers to thread, such as iron hoop chain, steel cable, spring etc., using should be in conjunction with ' public during thread like body of different nature
', ' prior art ', ' rudimentary knowledge ' adopt different designs, must not run counter to ' design one of knowing general knowledge can normal Recycle mechanism
Artificial-muscle ' technical purpose be deliberately set to run, such as：Activated using adopting during flexible linear body
The mode of Shi Zeng great helical orbit screw diameter, and the length of the slack of flexible linear body can not be more than contraction length when activating
Degree, and such as：, avoid using elastic force very it should be noted that thread like body elastic force and stretching, extension span relation using during elastic thread like body as far as possible
Little stretching, extension span but very big elasticity thread like body, and such as：It should be noted that the strength of driving body reducing should overcome the interior of thread like body enough
Stress, so as not to occur leading to because thread like body intensity is too big thread like body spiral part cannot reducing situation, etc..
' helical orbit ' refers to thread like body to be limited to the constant spiral entity of number of turns during reducing or is limited by entity
Space path；Helical orbit can be element, device, have spiral-shaped cavity or groove, the element of composition helical orbit,
Device may be with other devices or element common elements or structure, and this is common situations in mechanical field；Helical orbit is such as：Spiral shell
The threaded hole in spiral-shaped, cylinder body that groove is arranged in by coil, the helicla flute of periphery, the slotted element of multiple tool
Etc., helical orbit can be multiple spiral, and helical orbit can be bending on the whole, because avoiding making as far as possible during Application Design
With flexible too strong material manufacture helical orbit；It should be noted that person trained in a certain field may attempt to design what some were wondered
Evading the application, but as long as track of its design contains helical orbit, and thread like body coordinates its track to define spiral shell to track
Rotation then should regard its track as helical orbit described herein；Because the change of pitch can affect the spiral shell of spiral overall length therefore the present invention
The spiral overall length change producing because of pitch change should be avoided during rotation orbit Design to weaken the spiral shell that screw diameter change produces as far as possible
The situation of rotation overall length change；In the case of ignoring thread like body completely, possibility is gone in judgement to vision to the helical orbit of the present invention up
It is not spiral type（The such as situation described in technology contents 6-8 is could visually to draw spiral shell after the winding of cooperation thread like body
Rotation shape）, during the helical orbit design of the present invention, it is considered as spiral coil slip upwards in helical axis of helical orbit or thread like body
Problem, and be defined preventing by appropriate design and lead to because of the slip of spiral coil the product designed non-retractable
Situation.
' motion that helical orbit limits thread like body makes the motion of the particle on the spiral part of thread like body be mainly along spiral
Partial helix slides ' transport with radial direction because the athletic meeting of the particle on the spiral part of thread like body has micro turn
Dynamic, so using ' main ' one word to meet human language custom, ' main ' one word should not be considered as by the reader of the application
Fuzzy sets.
' a thread like body part is limited to spiral type by helical orbit ' contains thread like body in helical orbit interior volume, thread like body
Slidably cladding in rail solid exterior etc. can make thread like body be subject to the annexation that helical orbit constrains.
' driving body drives the screw diameter of helical orbit to stretch ' i.e. driving body drives the change of screw diameter.
' telescoping tube ' refers to the pipe that length can passively change.
' dimension shape spring ' refers to the spring for safeguarding telescoping tube profile, and its elastic force can not be too big.
' greatest length of thread like body ' refers to greatest length when thread like body can normally use, because some thread like bodies are long
Short variable, therefore have this restriction.
' spiral overall length ' i.e. spiral part expands into the length of straight line after straight line, namely the summation of each circumference of helical orbit.
' spiral ', the mankind do not have perfection accurately to define on spiral, and people even call spiral shell the camber line of a plurality of radial arrangement
Rotation, in order to ensure the clear of definition, the spiral of the present invention is defined in：At least there is the set of points of continuity of a complete not selfing convolution
Or the path of line-segment sets, wherein ' complete ' refer to convolution be more than or equal to 360 degree, such as spring, Archimedes spiral, electric magnet
Solenoid etc., helical axis can be straight line（When serpentine pipe is straight）, curve（During serpentine pipe bending）, spiral curve（Serpentine pipe is again
It is helix during secondary spiral）, the spiral in the present invention includes helix（Axial multi-turn）Path, vortex filament（Radial multi-ring）Road
Footpath, taper helical path, variable-pitch propeller path, the road in reducing helical path, multilamellar helical path and other helical wire form
Footpath and combinations thereof, the spiral of the present invention there may be corner angle.
Beneficial effects of the present invention：Structure is simple, economical and practical.
Brief description Fig. 1 is one embodiment schematic diagram of the present invention.
Fig. 2 is one embodiment schematic diagram of the present invention.
Fig. 3 is one embodiment schematic diagram of the present invention.
Fig. 4 is one embodiment schematic diagram of the present invention.
Fig. 5 is one embodiment schematic diagram of the present invention.
Fig. 6 is one embodiment schematic diagram of the present invention；Fig. 7 is the schematic diagram of an embodiment of the present invention.
Specific embodiment
Below in conjunction with embodiment, embodiments of the present invention are illustrated.
Embodiment 1 as shown in figure 1, a kind of artificial-muscle, by layered electrode A1, piezoelectric ceramics A11, conducting circular cylinder A10, bullet
Spring A3, multiple snak link A2 are constituted；Snak link A2 helical arrangement constitutes helical orbit；Spring A3 is wound around the helical orbit that A2 is constituted
Interior；Piezoelectric ceramics A11 covers on conducting circular cylinder A10 surface；Layered electrode A1 covers piezoelectric ceramics A11 surface；Conducting circular cylinder A10
It is connected with wire A50；Layered electrode A1 is connected with wire A5；Layered electrode A1 has extension ability；Press to after A5, A50 energising
Electroceramics expands, and is helical orbit screw diameter（X）Increase, make spring A3 in the axial direction of helical orbit（Y）Shrink.
Embodiment 2 as shown in Fig. 2 a kind of artificial-muscle, from ball B1, limits and constitutes to block B4, steel wire B3；Ball B1
Inside has cavity B10, cavity B10 to have inlet channel B100；There is spiral vestibule as helical orbit B2 in the wall of ball B1；Steel
In silk B3 winding screw track B2；Limit that have very strong rigidity to limit the expansion direction of ball B1 to block B4 be helical orbit B2
Radial direction；After the air pressure being increased in B10 by B100；Ball B1 is in helical orbit B2 radially（X）Expand on direction, lead to
The screw diameter of helical orbit B2 increases；And then lead to steel wire B3 in the axial direction of helical orbit（Y）Shrink；Can be by during use
The two ends of steel wire B3 are connected to the mechanical joint two ends needing to activate.
Embodiment 3 as shown in figure 3, a kind of artificial-muscle, by conductive drum C1, spring C3, multiple piezoelectric ceramics C2, C20,
Multiple arcs conductive plate C4, C40, multiple annulus C6 are constituted；Annulus C6 is helically arranged to make up helical orbit；By wire C51 with
C50 short circuit, is energized between wire C50, C5, and piezoelectric ceramics C20 elongation makes the screw diameter of spring reduce, and then makes spring
Stretching；Matrix is conductive drum C1, and actuation body is conductive drum C1, piezoelectric ceramics C2, arc conductive plate C4, C40；In machinery
Between each part function module of field, common elements, structure are common situations.
Embodiment 4, change on the basis of embodiment 3 and piezoelectric ceramics is revised as Pneumatic extension body.
Embodiment 5, change on the basis of embodiment 3 and piezoelectric ceramics is revised as Pneumatic extension body, spring is revised as
Steel cable.
Embodiment 6, change on the basis of embodiment 3 and be changed to can passively extend the entity of shortening by matrix, thread like body
All it is arranged in matrix.
Embodiment 7, on the basis of embodiment 2 modification will increase helical orbit quantity in ball B1 wall, and make spiral
Track is coaxial parallel（The parallel concept of helix is with reference to oriented parallel concept）, in each helical orbit, penetrate one or more steel
Rope, increases load-carrying ability and redundant ability.
Embodiment 8, one vortex-like pipe with toughness of design, install extrusome, by thread like body between the tube wall of vortex-like pipe
It is through in vortex-like pipe.
Embodiment 9, such as Fig. 4 increase a telescoping tube D1 in the outside of embodiment 2, and steel wire is connected to telescoping tube
Two ends, improve the air pressure within ball B1 by inlet channel B100, and telescoping tube D1 just shrinks under the drive of steel wire, relatively
Embodiment 2 has dust-proof benefit.
Embodiment 10, such as Fig. 5 embodiment 9 flexible inside pipe wall on axially mounted between telescoping tube D1 and helical orbit
The spring D2 of one elastic force very little, the two ends of spring D2 are connected with the two ends of telescoping tube D1.
Embodiment 11, such as Fig. 6 increase contraction unit on the basis of embodiment 10.
On the basis of embodiment 12, embodiment 9, modification makes limit be fixedly linked to one end of block B4 and telescoping tube D1.
Embodiment 13, embodiment 2 is changed to hydraulic control.
Embodiment 14, embodiment 2 is changed to Chemical Control control, produces gas using multiple reactants and improve in cavity
Pressure makes ball B1 expand, and increases a drain passage.
Embodiment 15, embodiment 3 piezoelectric ceramics is changed to mutual exclusion coil, increases guide post between mutual exclusion coil, make mutual exclusion
Between coil, magnetic force is not result in rotary motion, only carries out the motion of distance change after energising.
Embodiment 16, embodiment 3 piezoelectric ceramics is changed to the metal clips of black, makes it using LASER HEATING metal clips
Stretch because of heating power.
Embodiment 17, embodiment 3 piezoelectric ceramics is changed to the metal clips of black, the fluid being passed through different temperatures makes
Metal clips produces change in size.
Embodiment 18 as shown in fig. 7, a kind of artificial-muscle, by layered electrode E1, piezoelectric ceramic tube E11, layered electrode
E10, steel wire E3,2 ring E2 are constituted；2 snak link E2 are located at the two ends of piezoelectric ceramic tube E11；Steel wire E3 is wound around piezoelectric ceramic tube
E11, steel wire E3 two ends are from passing from two rings respectively；Layered electrode E1 covers piezoelectric ceramic tube E11 outer surface；Layered electrode
E10 covers piezoelectric ceramic tube E11 inner surface；Layered electrode E10 is connected with wire E50；Layered electrode E1 is connected with wire E5；Layer
Shape electrode E1 has extension ability；Expand to piezoelectric ceramic tube E11 after wire E5, wire E50 energising, make the spiral of steel wire E3 straight
Footpath increases, and makes to shrink in the axial direction of the spiral in steel wire E3 for the steel wire E3.
Embodiment 19, improvement on the basis of embodiment 10, add a certain amount of lubricating oil, for reducing in telescoping tube
The frictional resistance of steel wire.
It is the feasible program of the present invention above；Because the artificial-muscle of the present invention is extrusome, extrusome can change spiral track
The principle of the road radius of spin has embodied in the above embodiment of content of the invention, therefore does not repeat；The present invention comprises many kinds side
Case, but its principle is all to change helical orbit screw diameter to change the actuation length of spiral circumference and then change thread like body, this
Skilled person can carry out enforcement to the present invention and set in conjunction with ' common knowledge ', ' prior art ' after understanding this central principle
Meter, therefore do not repeat one by one.
Claims (4)
1. a kind of artificial-muscle, from ball, limits and constitutes to block, steel wire；There is cavity, cavity has inlet channel inside ball；
There is spiral vestibule as helical orbit in the wall of ball；In steel wire winding helical orbit；Limit, to block, there is very strong rigidity limit
The expansion direction of ball processed is helical orbit radial direction；After the air pressure in increase；Ball is in helical orbit radially
Expand on direction, lead to the screw diameter of helical orbit to increase；And then lead to steel wire to shrink in the axial direction of helical orbit；Use
When can by the two ends of steel wire be connected to need activate mechanical joint two ends;One telescoping tube of outside increase, steel wire is connected
At the two ends of telescoping tube, the air pressure within ball is improved by inlet channel, telescoping tube just shrinks under the drive of steel wire.
2. a kind of artificial-muscle it is characterised in that：Driving body reasonably comprises the artificial-muscle described in application technology content 1.
3. a kind of machine of use artificial-muscle it is characterised in that：There is the artificial muscle described in any one in technology contents 1
Meat.
4. robot is it is characterised in that use the artificial-muscle described in technology contents 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611023567.6A CN106426142B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application, robot |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611023567.6A CN106426142B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application, robot |
| CN201510399691.1A CN104999475B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510399691.1A Division CN104999475B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application |
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| Publication Number | Publication Date |
|---|---|
| CN106426142A true CN106426142A (en) | 2017-02-22 |
| CN106426142B CN106426142B (en) | 2019-03-01 |
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| CN201611023567.6A Expired - Fee Related CN106426142B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application, robot |
| CN201611023568.0A Expired - Fee Related CN106695772B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application, robot |
| CN201611023594.3A Active CN106426143B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application, robot |
| CN201510399691.1A Active CN104999475B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application |
| CN201611023605.8A Active CN106426144B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application, robot |
| CN201611023475.8A Active CN106426140B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and the machine using artificial-muscle |
| CN201611023474.3A Expired - Fee Related CN106426139B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application, robot |
| CN201611023595.8A Active CN106625578B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application, robot |
| CN201611023473.9A Active CN106426138B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application, robot |
| CN201611023566.1A Expired - Fee Related CN106426141B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application, robot |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611023568.0A Expired - Fee Related CN106695772B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application, robot |
| CN201611023594.3A Active CN106426143B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application, robot |
| CN201510399691.1A Active CN104999475B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application |
| CN201611023605.8A Active CN106426144B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application, robot |
| CN201611023475.8A Active CN106426140B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and the machine using artificial-muscle |
| CN201611023474.3A Expired - Fee Related CN106426139B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application, robot |
| CN201611023595.8A Active CN106625578B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application, robot |
| CN201611023473.9A Active CN106426138B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application, robot |
| CN201611023566.1A Expired - Fee Related CN106426141B (en) | 2015-08-28 | 2015-08-28 | A kind of artificial-muscle and its application, robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106426144A (en) | 2017-02-22 |
| CN106426143A (en) | 2017-02-22 |
| CN106695772A (en) | 2017-05-24 |
| CN106426139A (en) | 2017-02-22 |
| CN106426138B (en) | 2019-01-18 |
| CN106625578B (en) | 2019-04-05 |
| CN106695772B (en) | 2019-03-05 |
| CN106426138A (en) | 2017-02-22 |
| CN106426139B (en) | 2019-02-22 |
| CN106426141B (en) | 2019-01-18 |
| CN104999475B (en) | 2017-11-14 |
| CN106426141A (en) | 2017-02-22 |
| CN104999475A (en) | 2015-10-28 |
| CN106426144B (en) | 2019-01-18 |
| CN106426140B (en) | 2019-01-08 |
| CN106625578A (en) | 2017-05-10 |
| CN106426142B (en) | 2019-03-01 |
| CN106426143B (en) | 2018-09-25 |
| CN106426140A (en) | 2017-02-22 |
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