CN106426143B - A kind of artificial-muscle and its application, robot - Google Patents

A kind of artificial-muscle and its application, robot Download PDF

Info

Publication number
CN106426143B
CN106426143B CN201611023594.3A CN201611023594A CN106426143B CN 106426143 B CN106426143 B CN 106426143B CN 201611023594 A CN201611023594 A CN 201611023594A CN 106426143 B CN106426143 B CN 106426143B
Authority
CN
China
Prior art keywords
artificial
muscle
helical orbit
threadlike body
spiral
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.)
Active
Application number
CN201611023594.3A
Other languages
Chinese (zh)
Other versions
CN106426143A (en
Inventor
刘伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Anhui bright noodle Co.,Ltd.
Original Assignee
Wenzhou City Dongtou North Ao Sheng Machinery Design Studio
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Wenzhou City Dongtou North Ao Sheng Machinery Design Studio filed Critical Wenzhou City Dongtou North Ao Sheng Machinery Design Studio
Priority to CN201611023594.3A priority Critical patent/CN106426143B/en
Publication of CN106426143A publication Critical patent/CN106426143A/en
Application granted granted Critical
Publication of CN106426143B publication Critical patent/CN106426143B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • B25J9/10—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
    • 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

Abstract

A kind of artificial-muscle is mainly made of driving body, threadlike body, helical orbit；The maximum length of threadlike body is more than the overall length of helical orbit；Threadlike body has flexible or elasticity；Driving body drives the screw diameter of helical orbit flexible;The helical orbit is made of the uniform cylinder of a reducing and at least two spacing ring；Spacing ring is located on the cylinder at cylinder both ends, the diameter line vertical cylinder axis of spacing ring；Threadlike body is looped around on cylinder, and the both ends of threadlike body are pierced by from spacing ring respectively；Threadlike body has at least one circle spiral between two spacing rings.A kind of artificial-muscle, driving body include reasonably to use artificial-muscle above-mentioned.A kind of machine using artificial-muscle has the artificial-muscle.Robot uses the artificial-muscle.The structure of the present invention is simple, economical and practical.

Description

A kind of artificial-muscle and its application, robot
Technical field
The invention belongs to dynamic field more particularly to a kind of artificial-muscles.
Background technology
Artificial-muscle is the problem of robot, and the artificial-muscle of the prior art has that flexible fast strength is small, strength is big The problems such as flexible slow, flexible percentage deficiency, it is difficult to which practical application, the present invention propose a kind of a kind of artificial muscle of practicality Meat realizes fine motion superposition, can smoothly dock, can quickly popularize with the prior art.
Invention content
The purpose of the present invention is to solve the shortcomings of the prior art proposing that a kind of artificial-muscle, the present invention realize stroke and put Greatly.
The present invention has following technology contents.
1, a kind of artificial-muscle, it is characterised in that：Mainly it is made of driving body, threadlike body, helical orbit；Threadlike body is most Long length is more than the overall length of helical orbit；A threadlike body part is limited to spiral shape by helical orbit；Helical orbit limitation is linear The movement of body makes the movement of the particle on the spiral part of threadlike body predominantly be slided along the helix of spiral part；Threadlike body has It is flexible or elastic；Driving body drives the screw diameter of helical orbit flexible.
2, a kind of artificial-muscle as described in technology contents 1, it is characterised in that：The driving body causes for Fluid pressure Dynamic, electric actuation, thermal actuation, magnetic actuation, photic dynamic, Electromagnetically actuated, chemical actuating.
3, a kind of artificial-muscle as described in technology contents 1, it is characterised in that：The helical orbit is in the axial direction at least 2 circles.
4, a kind of artificial-muscle as described in technology contents 1, it is characterised in that：The helical orbit is radially at least 2 circles.
5, a kind of artificial-muscle as described in technology contents 1, it is characterised in that：Spiral of the helix tube under driving body driving Overall length variation is more than screw pitch overall length and changes.
6, a kind of artificial-muscle as described in technology contents 1, it is characterised in that：The helical orbit is equal by a reducing Even double-layered cylinder is constituted；The distance of two layers of double-layered cylinder is more than two times that threadlike body diameter is less than threadlike body diameter；It is double At least one section channel that can be slided wherein with threadlike body of the attachment between two layers of layer cylinder.
7, a kind of artificial-muscle as described in technology contents 1, it is characterised in that：The helical orbit is equal by a reducing Even 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 of spacing ring Axis；Threadlike body is looped around on cylinder, and threadlike body one end is fixedly connected with cylinder, and the threadlike body other end passes through spacing ring；Line Shape body has at least one circle spiral between threadlike body and cylinder fixed connection point and spacing ring.
8, a kind of artificial-muscle as described in technology contents 1, it is characterised in that：The helical orbit is equal by a reducing Even cylinder and at least two spacing ring are constituted；Spacing ring is located on the cylinder at cylinder both ends, the diameter line vertical cylinder of spacing ring Axis；Threadlike body is looped around on cylinder, and the both ends of threadlike body are pierced by from spacing ring respectively；Threadlike body has between two spacing rings There is at least one circle spiral.
9, a kind of artificial-muscle as described in technology contents 1, it is characterised in that：Also there is telescoping tube outside it；Threadlike body Both ends be connected to the both ends of telescoping tube.
10, a kind of artificial-muscle as described in technology contents 1, it is characterised in that：Also there is dimension shape spring；Tie up shape spring with Telescoping tube is connected.
11, a kind of machine using artificial-muscle, it is characterised in that：Described in any one in technology contents 1-10 Artificial-muscle.
Technology contents illustrate and advantage：
The cardinal principle of the present invention：Change the screw diameter of threadlike body to change the actuation length of threadlike body, due to spiral The change of object diameter can cause the change of spiral part perimeter, the change of each circumference of same helix that can be superimposed, therefore can Reaching makes the technique effect of subtle expanding-contracting action superposition amplification, this is for overcoming Electromagnetically actuated magnetic force to increase drastically with distance Become smaller, fluid pressure actuated (air pressure, hydraulic pressure) space more big-movement is slower, inverse piezoelectric effect actuating (one kind of electric actuation) stroke The defect of small etc. the prior art has a very big significance；
If spiral number of turns are N；If Zhou Changwei T1, radius r1, a diameter of R1, spiral overall length before single turn helix radius change For L1；If Zhou Changwei T2, radius r2, a diameter of R2, spiral overall length are L2 before single turn helix radius change；
Then there is formula：(1), Δ L=L2-L1=Δs T*N=(T2-T1) * N=2 π Δs r*N；
From the above equation, we can see that the displacement equations mode of spiral reducing is mainly related with the number of turns unrelated with quantity, so can lead to Toning number of full circle N adjusts magnification ratio；
Assuming that the driving body using the artificial-muscle of the present invention for the present invention, and it is (non-to be used for driving body to set artificial-muscle ) helical orbit number of turns M, set spiral overall length change as Δ L', radius change be Δ r'；
Then there is Δ L'=2 π Δs r'*M；
Using at least one artificial-muscle as driving body, due to spiral be round, therefore can rough identification be mounted on The radius change size Δ r' of the spiral of artificial-muscle caused by meeting under the displacement L ideal effects of artificial-muscle in driving body =Δ L/2 (there may be Δ r'=Δ L as the driving body of the artificial-muscle of the present invention using the artificial-muscle of a plurality of present invention, In order to which problem reduction does not do excessive description；)
Then have most：Δ L'=2 π Δs L/2*M；
Above formula, which substitutes into formula (1), then to be had：Δ L'=2 π Δ L/2*M=π * (2 π Δ r*N) * M=2 π 2* Δs r*N*M；
Use artificial-muscle of the invention as driving body in the artificial-muscle of the present invention as from the foregoing, adjustment parameter N, M can obtain very big displacement equations multiple；
As from the foregoing it is of the invention be in structure can (one word of recursive structure be the present inventor oneself definition with recursive structure , it refers mainly to repeat nonlinear superposition design structure, recursive structure refers to multi-level (being more than or equal to 3 layers) in the present invention Repeat ' using the threadlike body of low level artificial-muscle it is flexible come drive higher level artificial-muscle helical orbit change Diameter ' design, constitute a displacement equations chain), to great-jump-forward raising displacement equations multiple (assuming that third layer helical orbit The number of turns is enclosed for B, then has the π 3* of Δ L "=2 Δ r*N*M*B, adjustment parameter N, M, B that can obtain very big displacement equations multiple)；
Above operation be in order to illustrate the present invention amplification factor is main and the helical orbit number of turns, iterative design number of plies phase It closes, the understanding of reader will not be impacted even if calculating of a small amount of falsehood occur.
Vocabulary explanation.
' driving body ' refers to the entity for driving the variation of helical orbit screw diameter, and driving body can be element, device, also may be used To be function module, driving body may be with other devices or element common elements or structure, this is common situations in machinery；It drives Kinetoplast is for example：A large amount of piezoelectric ceramics are filled on a columnar shape basal surface, manipulate piezoelectric ceramics radially stretching in matrix；It is hollow Inflatable elastic ball etc..
' threadlike body ' refers to thread, such as iron hoop chain, steel cable, spring etc., should be tied using when threadlike body of different nature Close ' common knowledge ', ' prior art ', ' rudimentary knowledge ' use different designs, not violate that ' design one can be normal benign Operation artificial-muscle ' technical purpose be deliberately set to cannot to run, such as：It should be adopted using when flexible linear body With actuating when increase helical orbit screw diameter mode, and the length of the slack of flexible linear body cannot be more than actuating when Contracted length, for another example：When using elastic threadlike body, it should be noted that threadlike body elastic force and stretching, extension span relationship avoid using as possible Elastic force very little stretches span but very big elastic threadlike body, for another example：It should be noted that the strength of driving body reducing should overcome threadiness enough The internal stress of body, so as not to occur because threadlike body intensity is too big and cause threadlike body spiral part can not reducing the case where, etc..
' helical orbit ' refers to the constant spiral entity of the number of turns or by entity institute when threadlike body can be limited to reducing The space path of limitation；Helical orbit can be element, device, cavity or slot with spiral shape, constitute helical orbit Element, device may be with other devices or element common elements or structure, this is common situations in machinery field；Helical orbit ratio Such as：In the spiral-shaped, cylinder that slot is arranged in by helix tube, the helicla flute of periphery, the slotted element of multiple tools Threaded hole etc., helical orbit can be multiple spirals, and helical orbit can be bending on the whole, using when design because as possible It avoids using flexible too strong material manufacture helical orbit；It is worth noting that person trained in a certain field may attempt to design Strange track evades the application, but as long as track of its design contains helical orbit, and threadlike body coordinates its track shape Its track should be then regarded at spiral as helical orbit described herein；Since the variation of screw pitch can influence spiral overall length therefore this hair Bright helical orbit avoid the spiral overall length variation weakening screw diameter generated by screw pitch variation from changing production as possible when designing The case where raw spiral overall length changes；In the case where ignoring threadlike body completely, vision judges the helical orbit of the present invention up Go may not be spiral shape (such as the situation described in technology contents 6-8 be cooperation threadlike body winding after could visually Obtain spiral shape), helical orbit of the invention is considered as helical orbit when designing or the spiral coil of threadlike body is upward in helical axis Sliding problem, and be defined to prevent and cause the product designed cannot because of the sliding of spiral coil by rationally designing Flexible situation.
' movement of helical orbit limitation threadlike body makes the movement of the particle on the spiral part of threadlike body predominantly along spiral Partial helix sliding ' it is transported with radial since the movement of the particle on the spiral part of threadlike body can have micro turn Dynamic, so ' main ' word is used to meet human language custom, ' main ' word should not be considered as by the reader of the application Fuzzy sets.
' a threadlike body part is limited to spiral shape by helical orbit ' contains threadlike body in helical orbit space interior, line Shape body is slidably coated on the connection relation that track solid exterior etc. can be such that threadlike body is constrained by helical orbit.
' driving body drives the screw diameter of helical orbit flexible ' the i.e. variation of driving body driving screw diameter.
' telescoping tube ' refers to the pipe that length can passively change.
' dimension shape spring ' refers to the spring for safeguarding telescoping tube shape, and elastic force cannot be too big.
' maximum length of threadlike body ' refer to threadlike body can normal use when maximum length because some threadlike bodies are long It is short variable, therefore have this restriction.
' spiral overall length ' i.e. spiral part expands into the total of the length of straight line after straight line namely each circumference of helical orbit With.
' spiral ', the mankind accurately define spiral without perfection, and people even claim the camber line of a plurality of radial arrangement For spiral, in order to ensure the clear of definition, spiral of the invention is defined in：At least there are one be not completely selfed the continuous of convolution to tool The path of point set or line-segment sets, wherein ' complete ', which refers to convolution, is greater than or equal to 360 degree, such as spring, Archimedes spiral, electricity The solenoid etc. of magnet, helical axis can be straight line (when helix tube is straight), curve (when helix tube is bent), helical curve (spiral Pipe again spiral when be helix), the present invention in spiral include helix (axial multi-turn) path, vortex filament (radial multi-ring) Path, taper helical path, variable-pitch propeller path, reducing helical path, multilayer helical path and other helical wire forms Path and combination thereof may exist corner angle in spiral of the invention.
Beneficial effects of the present invention：It is simple in structure, it is economical and practical.
Description of the drawings
Fig. 1 is an embodiment schematic diagram of the invention.
Fig. 2 is an embodiment schematic diagram of the invention.
Fig. 3 is an embodiment schematic diagram of the invention.
Fig. 4 is an embodiment schematic diagram of the invention.
Fig. 5 is an embodiment schematic diagram of the invention.
Fig. 6 is an embodiment schematic diagram of the invention.
Fig. 7 is the schematic diagram of the embodiment of the present invention.
Specific implementation mode
Below in conjunction with embodiment, embodiments of the present invention will be described.
Embodiment 1, as shown in Figure 1, a kind of artificial-muscle, by layered electrode A1, piezoelectric ceramics A11, conducting circular cylinder A10, spring A3, multiple snak link A2 are constituted；Snak link A2 helical arrangements constitute helical orbit；Spring A3 winding springs buckle A2 structures At helical orbit in；Piezoelectric ceramics A11 is covered in the surfaces conducting circular cylinder A10；Layered electrode A1 covers piezoelectric ceramics A11 tables Face；Conducting circular cylinder A10 is connect with conducting wire A50；Layered electrode A1 is connect with conducting wire A5；Layered electrode A1 has extension ability；It gives Piezoelectric ceramics expands after conducting wire A5, conducting wire A50 are powered, and is that helical orbit screw diameter (X) increases, makes spring A3 in helical orbit Axial direction on (Y) shrink.
Embodiment 2, as shown in Fig. 2, a kind of artificial-muscle, from ball B1, limit to block B4, steel wire B3 and constitute；Rubber There are cavity B10, cavity B10 to have inlet channel B100 inside ball B1；There is spiral vestibule as helical orbit in the wall of ball B1 B2；In steel wire B3 winding screw tracks B2；It is spiral to limit to expansion directions of the block B4 with very strong rigid restriction ball B1 Track B2 radial directions；After increasing the air pressure in B10 by B100；Ball B1 is swollen on the radial directions (X) helical orbit B2 It is swollen, cause the screw diameter of helical orbit B2 to increase；And then steel wire B3 (Y) in the axial direction of helical orbit is caused to shrink；It uses When the both ends of steel wire B3 can be connected to and need the mechanical joint both ends that 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 compositions；Annulus C6 is helically arranged to make up helical orbit；By conducting wire C51 and C50 short circuits, are powered between conducting wire C50, C5, and piezoelectric ceramics C20 elongations make the screw diameter of spring reduce, and then make Spring is stretching；Matrix is conductive drum C1, and actuation body is conductive drum C1, piezoelectric ceramics C2, arc conductive plate C4, C40； Common elements, structure are common situations between each part function module of machinery field.
Embodiment 4, piezoelectric ceramics is revised as Pneumatic extension body by modification on the basis of embodiment 3.Embodiment 5, piezoelectric ceramics is revised as Pneumatic extension body by modification on the basis of embodiment 3, and spring is revised as steel cable.
Embodiment 6, matrix is changed to passively extend the entity of shortening by modification on the basis of embodiment 3, line Shape body is all in matrix.
Embodiment 7, modification will increase helical orbit quantity in ball B1 walls on the basis of embodiment 2, and make Helical orbit is coaxial parallel (the parallel concept of helix is with reference to oriented parallel concept), and one or more is penetrated in each helical orbit Root steel cable increases load-carrying ability and redundant ability.
One embodiment 8, design vortex-like pipe with toughness, install extrusome, by line between the tube wall of vortex-like pipe Shape body is through in vortex-like pipe.
Embodiment 9, such as Fig. 4 increase a telescoping tube D1 in the external of embodiment 2, and steel wire is connected to telescoping tube The air pressure inside ball B1 is improved in both ends by inlet channel B100, and telescoping tube D1 is just shunk under the drive of steel wire, relatively Embodiment 2 has dust-proof benefit.
Embodiment 10, such as Fig. 5 are axial between telescoping tube D1 and helical orbit on the flexible inside pipe wall of embodiment 9 The spring D2 of one elastic force very little is installed, the both ends of spring D2 are connected with the both ends of telescoping tube D1.Embodiment 11, such as Fig. 6 exist Increase on the basis of embodiment 10 and shrinks unit.
Modification makes limit be fixedly linked to block B4 and one end of telescoping tube D1 on the basis of embodiment 12, embodiment 9.
Embodiment 2 is changed to hydraulic control by embodiment 13.
Embodiment 2 is changed to Chemical Control control by embodiment 14, generates gas using a variety of reactants to improve chamber Pressure makes ball B1 expand in vivo, and increases a drain passage.
3 piezoelectric ceramics of embodiment is changed to mutual exclusion coil by embodiment 15, is increased guide rod between mutual exclusion coil, is made Magnetic force will not lead to rotary motion between mutual exclusion coil, and the movement of distance change is only carried out after energization.
Embodiment 16, the metal clips that 3 piezoelectric ceramics of embodiment is changed to black heat metal clips using laser It is set to stretch because of heating power.
Embodiment 17, the metal clips that 3 piezoelectric ceramics of embodiment is changed to black, being passed through the fluid of different temperatures makes Metal clips generates 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 ring E2 are located at the both ends of piezoelectric ceramic tube E11；Steel wire E3 winds piezoelectric ceramic tube E11, the both ends steel wire E3 from two rings from being pierced by respectively；The outer surfaces layered electrode E1 covering piezoelectric ceramic tube E11；Layered electrode E10 covers piezoelectric ceramic tube E11 inner surfaces；Layered electrode E10 is connect with conducting wire E5；Layered electrode E1 is connect with conducting wire E50；Layer Shape electrode E1 has extension ability；Piezoelectric ceramic tube E11 expansions, keep the spiral of steel wire E3 straight after being powered to conducting wire E5, conducting wire E50 Diameter increases, and steel wire E3 is made to be shunk in the axial direction of the spiral of steel wire E3.
Embodiment 19 improves on the basis of embodiment 10, and a certain amount of lubricating oil is added in telescoping tube, is used for Reduce the frictional resistance of steel wire.
It is the feasible program of the present invention above；Since the artificial-muscle of the present invention is extrusome, extrusome can change spiral shell The principle of rotation track spiral radius has embodied in the above embodiment of invention content, therefore does not repeat；The present invention includes very much Kind scheme, but its principle is all to change helical orbit screw diameter to grow to change spiral circumference and then change the actuating of threadlike body Degree, it will be appreciated that can be carried out to the present invention in conjunction with ' common knowledge ', ' prior art ' after this central principle Implement design, therefore no being repeated one by one.

Claims (2)

1. a kind of artificial-muscle, it is characterised in that：Mainly it is made of driving body, threadlike body, helical orbit；
The maximum length of threadlike body is more than the overall length of helical orbit；
A threadlike body part is limited to spiral shape by helical orbit；
The movement of helical orbit limitation threadlike body makes the movement of the particle on the spiral part of threadlike body predominantly along spiral part Helix sliding；
Threadlike body has flexible or elasticity；
Driving body drives the screw diameter of helical orbit flexible；
The helical orbit is made of the uniform cylinder of a reducing and at least two spacing ring；
Spacing ring is located on the cylinder at cylinder both ends, the diameter line vertical cylinder axis of spacing ring；
Threadlike body is looped around on cylinder, and the both ends of threadlike body are pierced by from spacing ring respectively；
Threadlike body has at least one circle spiral between two spacing rings.
2. a kind of machine using artificial-muscle, it is characterised in that：With artificial-muscle described in claim 1.
CN201611023594.3A 2015-08-28 2015-08-28 A kind of artificial-muscle and its application, robot Active CN106426143B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611023594.3A CN106426143B (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
CN201611023594.3A CN106426143B (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

Publications (2)

Publication Number Publication Date
CN106426143A CN106426143A (en) 2017-02-22
CN106426143B true CN106426143B (en) 2018-09-25

Family

ID=54372468

Family Applications (10)

Application Number Title Priority Date Filing Date
CN201611023605.8A Active CN106426144B (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
CN201611023475.8A Active CN106426140B (en) 2015-08-28 2015-08-28 A kind of artificial-muscle and the machine using artificial-muscle
CN201611023595.8A Active CN106625578B (en) 2015-08-28 2015-08-28 A kind of artificial-muscle and its application, robot
CN201611023474.3A Active CN106426139B (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
CN201611023568.0A Active CN106695772B (en) 2015-08-28 2015-08-28 A kind of artificial-muscle and its application, robot
CN201611023566.1A Active CN106426141B (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
CN201611023567.6A Active CN106426142B (en) 2015-08-28 2015-08-28 A kind of artificial-muscle and its application, robot

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CN201611023605.8A Active CN106426144B (en) 2015-08-28 2015-08-28 A kind of artificial-muscle and its application, robot

Family Applications After (8)

Application Number Title Priority Date Filing Date
CN201611023475.8A Active CN106426140B (en) 2015-08-28 2015-08-28 A kind of artificial-muscle and the machine using artificial-muscle
CN201611023595.8A Active CN106625578B (en) 2015-08-28 2015-08-28 A kind of artificial-muscle and its application, robot
CN201611023474.3A Active CN106426139B (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
CN201611023568.0A Active CN106695772B (en) 2015-08-28 2015-08-28 A kind of artificial-muscle and its application, robot
CN201611023566.1A Active CN106426141B (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
CN201611023567.6A Active CN106426142B (en) 2015-08-28 2015-08-28 A kind of artificial-muscle and its application, robot

Country Status (1)

Country Link
CN (10) CN106426144B (en)

Families Citing this family (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106426144B (en) * 2015-08-28 2019-01-18 朱正直 A kind of artificial-muscle and its application, robot
CN105598962B (en) * 2015-12-22 2017-07-25 陈玉金 A kind of emulation muscle of electromagnetic drive
CN105598959B (en) * 2016-02-19 2019-01-11 上海交通大学 Bionical deformation link robot based on electroactive polymer
CN106920450B (en) * 2017-03-21 2020-05-19 淮阴师范学院 Muscle tissue reproduction interface device for realizing man-machine interaction
CN106816074B (en) * 2017-03-21 2020-05-19 淮阴师范学院 Muscle tissue reappears interface arrangement
CN107511820B (en) * 2017-09-30 2019-07-09 金勇� A kind of bubble type bionic muscle
CN108054950A (en) * 2017-12-21 2018-05-18 哈尔滨工业大学 A kind of artificial-muscle of inverse piezoelectric effect driving
CN108127658B (en) * 2017-12-21 2020-01-24 哈尔滨工业大学 Artificial muscle driven by electromagnetic force
CN108098827B (en) * 2017-12-26 2021-07-30 常州大学 Special neck joint structure of three-degree-of-freedom robot
CN108501040B (en) * 2018-06-06 2023-06-20 枣庄学院 Magnetically-driven flexible mechanical arm
CN209408491U (en) * 2018-09-13 2019-09-20 清华大学 A kind of variable diameters snake-shaped robot module and snake-shaped robot
CN110103462B (en) * 2019-05-31 2021-02-26 华中科技大学 Soft gripper with ejection and gripping functions and 3D printing preparation method thereof
CN110281541B (en) * 2019-07-29 2023-09-08 北京理工大学 Negative pressure linear contraction pneumatic artificial muscle and manufacturing method thereof
CN111152209B (en) * 2020-01-09 2022-07-19 吉林大学 Line-driven bionic soft manipulator
CN112932367B (en) * 2021-03-05 2022-06-17 深圳拓邦股份有限公司 Fixed-point sweeping method of cleaning equipment and cleaning equipment
CN113146605B (en) * 2021-05-06 2022-08-26 吉林大学 Compact artificial muscle module with mechanical flexibility
CN113146604B (en) * 2021-05-06 2022-08-26 吉林大学 Compact artificial muscle module with variable rigidity and passive flexibility

Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4733603A (en) * 1983-11-21 1988-03-29 Mirko Kukolj Axially contractable actuator
US4819547A (en) * 1988-03-28 1989-04-11 Mirko Kukolj Axially contractable actuator
US4841845A (en) * 1986-09-22 1989-06-27 Theophile Beullens Hydraulic or pneumatic drive device
CN1171924A (en) * 1997-05-08 1998-02-04 黄上立 Artificial tubular muscle and its application
CN1413562A (en) * 2002-10-14 2003-04-30 重庆工学院 Artificial muscle
CN1613618A (en) * 2004-11-04 2005-05-11 江南大学 Fluid driving bending joint of spiral spring frame
CN1666720A (en) * 2005-04-04 2005-09-14 江南大学 Flexible joint of helical spring type artificial muscle
CN101219075A (en) * 2007-11-27 2008-07-16 中国计量学院 Multi-freedom intelligent pneumatic power muscle based on shape memory alloy deformation net
CN101306535A (en) * 2008-07-09 2008-11-19 北京理工大学 Pneumatic artificial muscles
CN103786168A (en) * 2014-01-22 2014-05-14 北华大学 Pneumatic rotation stretching type three-spiral flexible joint

Family Cites Families (33)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3941328B2 (en) * 2000-04-06 2007-07-04 セイコーエプソン株式会社 Body-worn muscle strength assist device
US6684754B2 (en) * 2001-07-10 2004-02-03 Alan Elbert Comer Pneumatic muscle analogs for exoskeletal robotic limbs and associated control mechanisms
US6713944B2 (en) * 2002-01-02 2004-03-30 Omron Corporation Actuator and method of manufacturing a strain element
JP2003218417A (en) * 2002-01-25 2003-07-31 Nippon Hoso Kyokai <Nhk> Piezoelectric/electrostrictive element and device using the same
JP2005081487A (en) * 2003-09-08 2005-03-31 Honda Motor Co Ltd High polymer actuator
CN100368161C (en) * 2005-02-23 2008-02-13 江南大学 Combined muscular multi-directional bending flexible joint
CN1799788B (en) * 2006-01-05 2010-09-29 江南大学 Parallel robot with fluid-driven artificial muscle
CN100519100C (en) * 2006-01-10 2009-07-29 江南大学 Bending joint driven by linear expansion artificial muscle
CN1845443B (en) * 2006-03-16 2010-05-12 中国科学技术大学 High-precision linear driver with arbitrary distance of run
CN200979890Y (en) * 2006-12-06 2007-11-21 曹新东 A helix piezoceramics transducer
JP5186158B2 (en) * 2007-08-30 2013-04-17 東海ゴム工業株式会社 Actuator
JP5080207B2 (en) * 2007-11-05 2012-11-21 真 内海 Actuator device and robot device using the same
JP5079458B2 (en) * 2007-11-07 2012-11-21 アクティブリンク株式会社 Operation support device
CN101750706B (en) * 2008-11-28 2012-10-10 鸿富锦精密工业（深圳）有限公司 Wafer-level lens module and array thereof
CN201493846U (en) * 2009-03-24 2010-06-02 北京理工大学 Stimulator with three rotational degrees of freedom of pneumatic hybrid mechanism
CN201380495Y (en) * 2009-04-04 2010-01-13 北华大学 Extension artificial muscle
JP4777488B2 (en) * 2009-09-24 2011-09-21 パナソニック株式会社 Flat plate type conductive polymer actuator
CN101863030B (en) * 2010-04-14 2012-05-16 南京理工大学 Inflated elongation type pneumatic flexible actuator
CN101870111A (en) * 2010-04-28 2010-10-27 青岛恩威机器人科技有限公司 Joint driving device of robot
CN101850551B (en) * 2010-05-29 2011-07-20 北华大学 Disomic artificial muscle
JP5772221B2 (en) * 2011-05-27 2015-09-02 株式会社村田製作所 Electrostrictive actuator and method of using the same
CN202241293U (en) * 2011-10-26 2012-05-30 宁波力匠机械制造有限公司 Artificial tubular muscle
CN102579158B (en) * 2012-03-28 2014-12-10 李子怡 Bionic muscle fiber and bionic muscle made of same
JP5943734B2 (en) * 2012-06-25 2016-07-05 キヤノン株式会社 Robot and robot control method
CN202862215U (en) * 2012-11-06 2013-04-10 林志娟 Flexible pneumatic actuator
CN103598930A (en) * 2013-11-30 2014-02-26 陆华峰 Artificial muscle for generating hydraulic pressure with magnetofluid
CN203660923U (en) * 2014-01-10 2014-06-18 长安大学 Humanoid linear actuator
CN103786169B (en) * 2014-01-22 2016-09-14 北华大学 Type four helical flexible joint is stretched in pneumatic rotation
CN103786166B (en) * 2014-01-22 2017-01-04 北华大学 Type Double helix flexible joint is stretched in pneumatic rotation
CN103802126A (en) * 2014-03-07 2014-05-21 上海当世流体动力控制设备有限公司 Hydraulic bionic muscle
CN104600190A (en) * 2014-12-25 2015-05-06 镇江丰成民用联网设备科技有限公司 Novel piezoelectric composite structure
CN106426144B (en) * 2015-08-28 2019-01-18 朱正直 A kind of artificial-muscle and its application, robot
CN105572173B (en) * 2015-12-29 2018-07-03 西安交通大学 The device and method of inverse flexoelectric coefficient is measured by screw displacement enlarged structure

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4733603A (en) * 1983-11-21 1988-03-29 Mirko Kukolj Axially contractable actuator
US4841845A (en) * 1986-09-22 1989-06-27 Theophile Beullens Hydraulic or pneumatic drive device
US4819547A (en) * 1988-03-28 1989-04-11 Mirko Kukolj Axially contractable actuator
CN1171924A (en) * 1997-05-08 1998-02-04 黄上立 Artificial tubular muscle and its application
CN1413562A (en) * 2002-10-14 2003-04-30 重庆工学院 Artificial muscle
CN1613618A (en) * 2004-11-04 2005-05-11 江南大学 Fluid driving bending joint of spiral spring frame
CN1666720A (en) * 2005-04-04 2005-09-14 江南大学 Flexible joint of helical spring type artificial muscle
CN101219075A (en) * 2007-11-27 2008-07-16 中国计量学院 Multi-freedom intelligent pneumatic power muscle based on shape memory alloy deformation net
CN101306535A (en) * 2008-07-09 2008-11-19 北京理工大学 Pneumatic artificial muscles
CN103786168A (en) * 2014-01-22 2014-05-14 北华大学 Pneumatic rotation stretching type three-spiral flexible joint

Also Published As

Publication number Publication date
CN106426140B (en) 2019-01-08
CN106426144B (en) 2019-01-18
CN106426142A (en) 2017-02-22
CN104999475A (en) 2015-10-28
CN106426140A (en) 2017-02-22
CN106426141B (en) 2019-01-18
CN106625578B (en) 2019-04-05
CN106426144A (en) 2017-02-22
CN106625578A (en) 2017-05-10
CN106426138B (en) 2019-01-18
CN106426139A (en) 2017-02-22
CN106426142B (en) 2019-03-01
CN106426143A (en) 2017-02-22
CN106695772A (en) 2017-05-24
CN106695772B (en) 2019-03-05
CN106426139B (en) 2019-02-22
CN106426141A (en) 2017-02-22
CN104999475B (en) 2017-11-14
CN106426138A (en) 2017-02-22

Similar Documents

Publication Publication Date Title
CN106426143B (en) A kind of artificial-muscle and its application, robot
US9771956B2 (en) Actuator, actuator apparatus, and method of driving actuator
Daerden Conception and realization of pleated pneumatic artificial muscles and their use as compliant actuation elements
Daerden et al. Pneumatic artificial muscles: actuators for robotics and automation
JPH0324304A (en) Actuator using elastic elongating body
DE102011104026B4 (en) Flexible fluid drive for producing a nearly exact bidirectional screw movement and associated method
CN103786166B (en) Type Double helix flexible joint is stretched in pneumatic rotation
Li et al. Untethered multimode fluidic actuation: A new approach to soft and compliant robotics
WO2023070805A1 (en) Bidirectional linear fast-response spiral winding type pneumatic artificial muscle based on braided tube
JP2010127429A (en) Fluid actuator
CN105735507B (en) A kind of tension and compression type magnetic shape memory alloy Multimode Intelligent damper
CN203779517U (en) Pneumatic rotary-stretching type flexible joint
CN103786168B (en) Type three helical flexible joint is stretched in pneumatic rotation
Gong et al. Development and performance analysis of the flexible pneumatic artificial muscle
Zang et al. Study on modeling of Mckibben pneumatic artificial muscle
CN205712545U (en) A kind of tension and compression type magnetic shape memory alloy Multimode Intelligent antivibrator
BR102020019950A2 (en) composite shaft with an end fitting, and, method of mounting an end fitting to a composite shaft.
Bryant et al. Toward variable recruitment fluidic artificial muscles
Xiaomin et al. Mechanical characteristics analysis on PAM with elongation and torsion
RU2008134619A (en) HIGH PRESSURE CYLINDER
Al-Mayahi et al. Soft Actuator Based on a Novel Variable Stiffness Compound Extensor Bending-Pneumatic Artificial Muscle (CEB-PAM): Design and Mathematical Model
EP0677662A1 (en) Muscle-like actuating device
CN107605890A (en) Expansion link
Teodor et al. ACTUATORS USED FOR ARTIFICIAL MUSCLES
CN1118304A (en) Elastic metal fibre

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
TA01 Transfer of patent application right
TA01 Transfer of patent application right

Effective date of registration: 20180817

Address after: 325700 Wenzhou, Dongtou, Zhejiang Province North Road, 1 Street, No. 1, electronic and Electrical Technology Park, A1 fifth, 515 rooms.

Applicant after: Wenzhou city Dongtou North Ao Sheng Machinery Design Studio

Address before: 362200 Room 502, main building, Yin Li building, Quanzhong Road, Qingyang, Jinjiang, Quanzhou, Fujian

Applicant before: Liu Wei

GR01 Patent grant
GR01 Patent grant
TR01 Transfer of patent right
TR01 Transfer of patent right

Effective date of registration: 20201211

Address after: 234000 yuan Lou, Dulou Town, Xiao County, Suzhou City, Anhui Province

Patentee after: Anhui bright noodle Co.,Ltd.

Address before: 325700 Wenzhou, Dongtou, Zhejiang Province North Road, 1 Street, No. 1, electronic and Electrical Technology Park, A1 fifth, 515 rooms.

Patentee before: WENZHOU DONGTOU BEIAO SHENGLI MACHINERY DESIGN STUDIO