CN107510574A - A kind of liquid metal ectoskeleton joint - Google Patents
A kind of liquid metal ectoskeleton joint Download PDFInfo
- Publication number
- CN107510574A CN107510574A CN201710854253.9A CN201710854253A CN107510574A CN 107510574 A CN107510574 A CN 107510574A CN 201710854253 A CN201710854253 A CN 201710854253A CN 107510574 A CN107510574 A CN 107510574A
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- Prior art keywords
- liquid metal
- phase change
- fluid
- temperature
- thermally conductive
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- 229910001338 liquidmetal Inorganic materials 0.000 title claims abstract description 65
- 239000012530 fluid Substances 0.000 claims abstract description 52
- 239000012782 phase change material Substances 0.000 claims abstract description 36
- 239000013529 heat transfer fluid Substances 0.000 claims abstract description 21
- 239000007788 liquid Substances 0.000 claims abstract description 8
- 239000007791 liquid phase Substances 0.000 claims abstract description 3
- 238000006243 chemical reaction Methods 0.000 claims abstract 2
- 239000000463 material Substances 0.000 claims description 11
- 239000002184 metal Substances 0.000 claims description 10
- 229910052751 metal Inorganic materials 0.000 claims description 10
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical group [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 6
- 229910045601 alloy Inorganic materials 0.000 claims description 6
- 239000000956 alloy Substances 0.000 claims description 6
- 229910052802 copper Inorganic materials 0.000 claims description 6
- 239000010949 copper Substances 0.000 claims description 6
- 208000002925 dental caries Diseases 0.000 claims description 5
- 238000010438 heat treatment Methods 0.000 claims description 5
- 239000004033 plastic Substances 0.000 claims description 5
- 229920003023 plastic Polymers 0.000 claims description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 4
- GYHNNYVSQQEPJS-UHFFFAOYSA-N Gallium Chemical compound [Ga] GYHNNYVSQQEPJS-UHFFFAOYSA-N 0.000 claims description 3
- 229910052733 gallium Inorganic materials 0.000 claims description 3
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 claims description 3
- 229910052737 gold Inorganic materials 0.000 claims description 3
- 239000010931 gold Substances 0.000 claims description 3
- 238000003780 insertion Methods 0.000 claims description 3
- 230000037431 insertion Effects 0.000 claims description 3
- BQCADISMDOOEFD-UHFFFAOYSA-N Silver Chemical compound [Ag] BQCADISMDOOEFD-UHFFFAOYSA-N 0.000 claims description 2
- HCHKCACWOHOZIP-UHFFFAOYSA-N Zinc Chemical compound [Zn] HCHKCACWOHOZIP-UHFFFAOYSA-N 0.000 claims description 2
- 239000007864 aqueous solution Substances 0.000 claims description 2
- 239000000835 fiber Substances 0.000 claims description 2
- 230000008595 infiltration Effects 0.000 claims description 2
- 238000001764 infiltration Methods 0.000 claims description 2
- 229910052742 iron Inorganic materials 0.000 claims description 2
- 239000011133 lead Substances 0.000 claims description 2
- 239000011368 organic material Substances 0.000 claims description 2
- 238000005057 refrigeration Methods 0.000 claims description 2
- 229910052709 silver Inorganic materials 0.000 claims description 2
- 239000004332 silver Substances 0.000 claims description 2
- 239000000126 substance Substances 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 229910052725 zinc Inorganic materials 0.000 claims description 2
- 239000011701 zinc Substances 0.000 claims description 2
- 239000013528 metallic particle Substances 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 2
- 239000011797 cavity material Substances 0.000 description 23
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 3
- 239000012071 phase Substances 0.000 description 2
- 206010037714 Quadriplegia Diseases 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 229910052752 metalloid Inorganic materials 0.000 description 1
- 150000002738 metalloids Chemical class 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000007790 solid phase Substances 0.000 description 1
- 238000007711 solidification Methods 0.000 description 1
- 230000008023 solidification Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000004781 supercooling Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/02—Characteristics of apparatus not provided for in the preceding codes heated or cooled
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Thermotherapy And Cooling Therapy Devices (AREA)
Abstract
A kind of liquid metal ectoskeleton joint of the present invention, including：Rotation joint structure；The liquid metal phase change material being arranged at rotation joint structure rotation node；It is arranged at the flexible integument for being used to seal it outside liquid metal phase change material；And the temperature control device of control liquid metal phase change material temperature；By controlling the temperature of liquid metal phase change material, conversion of the liquid metal phase change material between liquid and solid-state is realized, so as to realize switching of the ectoskeleton joint between movable and immovable state.In specific embodiment, it may include thermally conductive sheet, flexible integument, liquid metal phase change material, heat exchange cavity, fluid line, heat-transfer fluid, fluid pump, control circuit and fluid temperature controller etc..The present invention can realize ectoskeleton joint in the movable switching between immovable state by the solid-liquid phase change of temperature control liquid metal phase change material, have simple in construction, in light weight, the advantages of switch speed is fast and intensity is high.
Description
Technical field
The invention belongs to ectoskeleton technical field, more particularly to a kind of liquid metal ectoskeleton joint.
Background technology
Ectoskeleton technology is widely used in fields such as military affairs, medical rehabilitations in recent years.With lightweight alloy
The application of material and the miniaturization of motor, the volume and weight of ectoskeleton also constantly reduce.Ectoskeleton is divided into active and quilt
Two kinds of dynamic formula, wherein active ectoskeleton is by motor or hydraulic booster so that user can have extraordinary strength, or
Person is to aid in quadriplegia, and person can recover autokinetic movement to a certain extent.Passive type ectoskeleton is mainly used for the limbs of patient
Fixed or reinforcing, it does not have driving element such as motor or hydraulic means, and being mainly characterized by can be in movable state and immovable shape
Switched between state,, then can be with when in immovable state without limitation on the motion of user during in movable state
Limbs are fixed, or by transferring the pressure to other positions, help user rest or can remove
Transport heavier object.
For passive type ectoskeleton, the joint for allowing hand over movable state is mostly important part, and traditional can
Switching joint uses Mechanical locking features more, using the design of mechanical structure, coordinates motor etc. to realize the switching of state.Mechanical lock
Determine that the design of structure is often complex, and its intensity also there can be larger difference according to the difference of design.
The content of the invention
The shortcomings that in order to overcome above-mentioned prior art, it is an object of the invention to provide a kind of liquid metal ectoskeleton pass
Section, using after the phase-change characteristic of room temperature liquid metal and its solidification the characteristics of shear stress increase, with reference to passive type ectoskeleton
Demand, realizing can be in the movable ectoskeleton joint switched between immovable state, and it has, and switch speed is fast, structure letter
It is single, in light weight, the advantages that intensity is high；It can be used in arm or leg joint in passive type ectoskeleton, can also coordinate active
Ectoskeleton is used, and light-weighted ectoskeleton design is realized in help.
To achieve these goals, the technical solution adopted by the present invention is：
A kind of liquid metal ectoskeleton joint, including：
Rotation joint structure；
The liquid metal phase change material being arranged at rotation joint structure rotation node；
It is arranged at the flexible integument for being used to seal it outside liquid metal phase change material；
And
Control the temperature control device of liquid metal phase change material temperature；
By controlling the temperature of liquid metal phase change material, realize that liquid metal phase change material turns between liquid and solid-state
Change, so as to realize switching of the ectoskeleton joint between movable and immovable state.
The rotation joint structure includes thermally conductive sheet, and thermally conductive sheet, which is that multilayer is overlapping, to be designed, in-between hole, after insertion axle
Rotation joint structure is formed, the temperature control device acts on thermally conductive sheet, and liquid metal phase is controlled by the heat transfer effect of thermally conductive sheet
Become the temperature of material.
The temperature control device includes heat exchange cavity, and heat exchange cavity is connected with thermally conductive sheet, is handed over by changing heat
The temperature changed in cavity, realize the control to thermally conductive sheet temperature.
The heat exchange cavity is connected with fluid line, there is heat-transfer fluid in fluid line, set on fluid line with
The fluid pump and fluid temperature controller of control circuit connection, by fluid pump Heat Transfer Control fluid in fluid line and heat exchange
Cavity internal circulation flow, the temperature of fluid temperature controller Heat Transfer Control fluid.
The thermally conductive sheet and heat exchange cavity material therefor are the metal with some strength and Thermal conductivity, closed
Gold or plastics；The heat-transfer fluid is the flowing material with certain specific heat capacity, and heat-transfer fluid is driven by fluid pump, can passed through
Fluid line circulates between fluid temperature controller and heat exchange cavity, and changes the temperature of thermally conductive sheet by conducting heat
Degree.
The thermally conductive sheet and heat exchange cavity material therefor are copper, iron, gold, silver, zinc, lead, or have mixed metal
The plastics of particle or fiber；The heat-transfer fluid is water, oily substance or the aqueous solution；The material of the flexible integument is elasticity
High-molecular organic material；The liquid metal phase change material is gallium metal or gallium-base alloy of the fusing point in the range of room temperature, can
Infiltrate, can be chosen according to without the requirement under application scenario to metal machinery intensity and fusing point with thermally conductive sheet.
The fluid temperature controller is with heating and refrigerating function, and the temperature range of Heat Transfer Control fluid is at -50 DEG C to 100
Between DEG C；The control circuit controls the switch of fluid pump and the refrigeration of fluid temperature controller or heating as needed, realizes
To the temperature adjustment of liquid metal phase change material, and then change movable/non-movable state in ectoskeleton joint.
The heat exchange cavity has two, and the multi-layered thermally conductive sheet being connected between two heat exchange cavitys is mutually handed over
Folded, thermally conductive sheet one end is inserted in a heat exchange cavity, can be in contact with heat-transfer fluid, other end infiltration liquid metal phase
Become material and be hinged with the thermally conductive sheet on another heat exchange cavity.
The flexible integument seals to liquid metal phase change material, avoids it from being spilt in liquid；Flexibility parcel
Layer is connected between two heat exchange cavitys, and thermally conductive sheet and liquid metal phase change material are wrapped in into inside.
The heat exchange cavity is connected with thermally conductive sheet and forms joint body, and is applied to be used to connect in ectoskeleton
And fixing arm or leg, heat exchange cavity have internal cavity structures, can flow into heat-transfer fluid, and change thermally conductive sheet
Temperature.
Compared with prior art, the present invention realizes a kind of joint designs available for passive type ectoskeleton, can be can
It is dynamic to be switched fast between state and immovable state, while there is the characteristics of simple in construction, intensity is high and in light weight, it is expected to
Applied in the fields such as military affairs, medical treatment, Robot Design.
Brief description of the drawings
Fig. 1 is liquid metal ectoskeleton articulation structure schematic diagram (stereogram) of the present invention.
Fig. 2 is the side sectional view at liquid metal ectoskeleton articulation structure of the present invention.
Fig. 3 is schematic diagram of the ectoskeleton joint of the present invention under movable state, and now liquid metal phase change material is liquid,
Fluid temperature controller is heated condition, and heat-transfer fluid temperature is higher than liquid metal fusing point.
Fig. 4 is schematic diagram of the ectoskeleton joint of the present invention under immovable state, and now liquid metal phase change material is solid
State, fluid temperature controller are refrigerating state, and heat-transfer fluid temperature is less than liquid metal fusing point.
Fig. 5 is schematic diagram of the liquid metal ectoskeleton joint on human elbow of the present invention.
Embodiment
Describe embodiments of the present invention in detail with reference to the accompanying drawings and examples.
Liquid metal is the general designation of big a metalloid and alloy of the fusing point in the range of room temperature, generally with gallium metal (fusing point
29.5 degrees Celsius) based on, including gallium-base alloy etc..In the range of room temperature, by adjusting the temperature of metal, liquid metal can be allowed
Switched between solid phase and liquid phase, this feature can be used to realize the design in new ectoskeleton joint.
Based on this, the invention provides a kind of movable ectoskeleton joint realized using liquid metal, Fig. 1 is its signal
Figure, while be also one embodiment.Ectoskeleton joint includes thermally conductive sheet 1, flexible integument 2, liquid metal phase change material 3, heat
Amount exchanges cavity 4, fluid line 5, heat-transfer fluid 6, fluid pump 7, control circuit 8 and fluid temperature controller 9 etc..
As shown in Fig. 2 thermally conductive sheet 1 includes the copper metal piece of 5 array arrangements, and it is connected to two heat exchange skies
On chamber 4.Heat exchange cavity 4 is connected with fluid line 5, and heat-transfer fluid 6 in the internal flow of fluid line 5, in the work of fluid pump 7
Separately flowed under and flow out heat exchange cavity 4.Fluid line 5 is also connected with fluid temperature controller 9 simultaneously.The He of fluid pump 7
Fluid temperature controller 9 is connected with control circuit 8 and carries out temperature control and flow of fluid control according to the instruction of control circuit 8
System.
When needing ectoskeleton joint to be in movable state, fluid temperature controller 9 is in heated condition, by heat-transfer fluid
6 temperature is heated to more than the fusing point of liquid metal phase change material 3, and the heat-transfer fluid 6 after heating is pumped to heat by fluid pump 7
Exchange in cavity 4, while copper thermally conductive sheet 1 is heated, using heat transfer effect so that liquid metal phase change material 3 is changed into liquid
State, then can freely it be rotated between thermally conductive sheet 1, joint is active, as shown in figure 3, between two heat exchange cavitys 4
Can freely it rotate.
When needing ectoskeleton joint to be in the lock state, fluid temperature controller 9 is in refrigerating state so that heat-transfer fluid
6 temperature is located at below the fusing point of liquid metal phase change material 3, and the heat-transfer fluid 6 of supercooling is pumped to heat exchange by fluid pump 7
In cavity 4 so that copper thermally conductive sheet 1 cools, and then causes liquid metal phase change material 3 to be changed into solid-state, the quilt between each other of thermally conductive sheet 1
Fixation can not be rotated, and joint is in the lock state, as shown in figure 4, now joint can bear certain ambient pressure without sending out
It is raw to rotate.
Fig. 2 is the structural representation of liquid metal ectoskeleton intra articular of the present invention, is worked as specific to the present embodiment
In, heat exchange cavity 4 is plastic casing composition, and thermally conductive sheet 1 is copper metal piece, and one end is goed deep into heat exchange cavity, separately
One end forms articulated structure.Flexible integument 2 is elastic silica gel material, and thermally conductive sheet 1 and liquid metal phase change material 3 are wrapped up
Between two heat exchange cavitys 4, liquid metal phase change material 3 mutually infiltrates with thermally conductive sheet 1.When heat-transfer fluid 6 is along arrow
When shown direction is flowed into heat exchange cavity 4, one end of thermally conductive sheet 1 can be heated or freezed, utilize heat transfer effect
So that the other end also heats up or cooled, and then change the mushy stage of liquid metal phase change material 3, realize joint movably with can not
Switching between dynamic.
Fig. 5 is schematic diagram of the liquid metal ectoskeleton joint on human elbow proposed by the present invention, two heats
Cavity 4 is exchanged to be separately fixed on upper arm and underarm, fluid line 5 is attached on upper arm, when needing freely movable, ectoskeleton
Joint is in open mode, and when needing to strengthen external force, ectoskeleton joint is in the lock state.
It should be noted last that the embodiment in the ectoskeleton joint that one of the above is realized based on liquid metal, only to
Illustrate technical scheme and unrestricted.Although the present invention is described in detail with reference to embodiment, this area it is general
It is logical it will be appreciated by the skilled person that being modified to technical scheme or equivalent substitution, without departure from the technology of the present invention
The spirit and scope of scheme, it all should cover among scope of the presently claimed invention.
Claims (10)
- A kind of 1. liquid metal ectoskeleton joint, it is characterised in that including：Rotation joint structure；The liquid metal phase change material (3) being arranged at rotation joint structure rotation node；It is arranged at the flexible integument (2) that liquid metal phase change material (3) is used to seal it outside；AndControl the temperature control device of liquid metal phase change material (3) temperature；By controlling the temperature of liquid metal phase change material (3), realize liquid metal phase change material (3) between liquid and solid-state Conversion, so as to realize switching of the ectoskeleton joint between movable and immovable state.
- 2. liquid metal ectoskeleton joint according to claim 1, it is characterised in that the rotation joint structure includes heat conduction Piece (1), thermally conductive sheet (1), which is that multilayer is overlapping, to be designed, in-between hole, and rotation joint structure, the temperature control are formed after insertion axle Equipment acts on thermally conductive sheet (1), and the temperature of liquid metal phase change material (3) is controlled by the heat transfer effect of thermally conductive sheet (1).
- 3. liquid metal ectoskeleton joint according to claim 2, it is characterised in that the temperature control device includes heat exchange Cavity (4), heat exchange cavity (4) are connected with thermally conductive sheet (1), by changing the temperature in heat exchange cavity (4), realization pair The control of thermally conductive sheet (1) temperature.
- 4. liquid metal ectoskeleton joint according to claim 3, it is characterised in that heat exchange cavity (4) connection There is fluid line (5), have heat-transfer fluid (6) in fluid line (5), set what is be connected with control circuit (8) on fluid line (5) Fluid pump (7) and fluid temperature controller (9), handed over by fluid pump (7) Heat Transfer Control fluid (6) in fluid line (5) and heat Change cavity (4) internal circulation flow, the temperature of fluid temperature controller (9) Heat Transfer Control fluid (6).
- 5. liquid metal ectoskeleton joint according to claim 4, it is characterised in that the thermally conductive sheet (1) and heat exchange Cavity (4) material therefor is the metal with some strength and Thermal conductivity, alloy or plastics；The heat-transfer fluid (6) For the flowing material with certain specific heat capacity.
- 6. liquid metal ectoskeleton joint according to claim 4, it is characterised in that the thermally conductive sheet (1) and heat exchange Cavity (4) material therefor is copper, iron, gold, silver, zinc, lead, or has mixed the plastics of metallic particles or fiber；The heat transfer Fluid (6) is water, oily substance or the aqueous solution；The material of the flexible integument (2) is elastic high-molecular organic material；It is described Liquid metal phase change material (3) is gallium metal or gallium-base alloy of the fusing point in the range of room temperature, can be infiltrated with thermally conductive sheet (1).
- 7. liquid metal ectoskeleton joint according to claim 4, it is characterised in that the fluid temperature controller (9) carries Heating and refrigerating function, the temperature range of Heat Transfer Control fluid (6) is between -50 DEG C to 100 DEG C；Control circuit (8) root According to refrigeration or the heating of the switch and fluid temperature controller (9) for needing to control fluid pump (7), realize to liquid metal phase change material Expect the temperature adjustment of (3), and then change movable/non-movable state in ectoskeleton joint.
- 8. according to the liquid metal ectoskeleton joint of claim 3 or 4, it is characterised in that the heat exchange cavity (4) has Two, the multi-layered thermally conductive sheet (1) being connected between two heat exchange cavitys (4) is mutually overlapping, thermally conductive sheet (1) one end insertion one In individual heat exchange cavity (4), can be in contact with heat-transfer fluid, other end infiltration liquid phase change materials (3) and with it is another Thermally conductive sheet (1) on one heat exchange cavity (4) is be hinged.
- 9. according to the liquid metal ectoskeleton joint of claim 3 or 4, it is characterised in that the flexible integument (2) is to liquid State phase change materials (3) are sealed, and avoid it from being spilt in liquid；Flexible integument (2) is connected to two heat exchanges Between cavity (4), thermally conductive sheet (1) and liquid metal phase change material (3) are wrapped in inside.
- 10. according to the liquid metal ectoskeleton joint of claim 3 or 4, it is characterised in that the heat exchange cavity (4) It is connected with thermally conductive sheet (1) and forms joint body, and is applied in ectoskeleton for connecting simultaneously fixing arm or leg, heat Exchanging cavity (4) has internal cavity structures, can flow into heat-transfer fluid (6), and change the temperature of thermally conductive sheet (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710854253.9A CN107510574A (en) | 2017-09-20 | 2017-09-20 | A kind of liquid metal ectoskeleton joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710854253.9A CN107510574A (en) | 2017-09-20 | 2017-09-20 | A kind of liquid metal ectoskeleton joint |
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| Publication Number | Publication Date |
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| CN107510574A true CN107510574A (en) | 2017-12-26 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710854253.9A Pending CN107510574A (en) | 2017-09-20 | 2017-09-20 | A kind of liquid metal ectoskeleton joint |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108274447A (en) * | 2018-01-25 | 2018-07-13 | 陕西理工大学 | A kind of self-retaining formula mechanical arm in environment of extremely trembling with fear |
| CN108542743A (en) * | 2018-05-04 | 2018-09-18 | 北京梦之墨科技有限公司 | A kind of massage apparatus |
| CN108818590A (en) * | 2018-07-23 | 2018-11-16 | 中国地质大学（武汉） | Liquid metal humanoid robot Dextrous Hand |
| CN110179542A (en) * | 2019-06-14 | 2019-08-30 | 北京罗森博特科技有限公司 | A kind of passive arm and the mechanical equipment with the passive arm |
| CN113119149A (en) * | 2021-04-07 | 2021-07-16 | 清华大学 | Magnetic liquid-state gripper based on low-melting-point metal solid-liquid phase change and application thereof |
| CN113386166A (en) * | 2021-06-18 | 2021-09-14 | 大连理工大学 | Decoupling variable-rigidity joint suitable for super-redundant mechanical arm |
| CN114505883A (en) * | 2022-03-23 | 2022-05-17 | 北京信息科技大学 | Guyed robot-oriented liquid metal auxiliary universal joint and design method |
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| CN103331754A (en) * | 2013-06-26 | 2013-10-02 | 清华大学 | Metal phase-change based flexible mechanical joint device |
| CN103959029A (en) * | 2011-09-24 | 2014-07-30 | 哈佛大学校长及研究员协会 | Artificial skin and elastic strain sensor |
| CN105287166A (en) * | 2015-12-02 | 2016-02-03 | 厦门大学 | Wearable elbow joint rehabilitation training robot |
| CN106393073A (en) * | 2016-11-18 | 2017-02-15 | 武汉大学 | Portable type flexible-elbow-joint exoskeleton robot |
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| CN103959029A (en) * | 2011-09-24 | 2014-07-30 | 哈佛大学校长及研究员协会 | Artificial skin and elastic strain sensor |
| CN103331754A (en) * | 2013-06-26 | 2013-10-02 | 清华大学 | Metal phase-change based flexible mechanical joint device |
| CN105287166A (en) * | 2015-12-02 | 2016-02-03 | 厦门大学 | Wearable elbow joint rehabilitation training robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108274447A (en) * | 2018-01-25 | 2018-07-13 | 陕西理工大学 | A kind of self-retaining formula mechanical arm in environment of extremely trembling with fear |
| CN108274447B (en) * | 2018-01-25 | 2022-02-22 | 烟台汽车工程职业学院 | Self-fixing mechanical arm used in extremely cold environment |
| CN108542743A (en) * | 2018-05-04 | 2018-09-18 | 北京梦之墨科技有限公司 | A kind of massage apparatus |
| CN108542743B (en) * | 2018-05-04 | 2024-05-03 | 北京梦之墨科技有限公司 | Massage equipment |
| CN108818590A (en) * | 2018-07-23 | 2018-11-16 | 中国地质大学（武汉） | Liquid metal humanoid robot Dextrous Hand |
| CN108818590B (en) * | 2018-07-23 | 2022-12-30 | 中国地质大学（武汉） | Dexterous hand of liquid metal robot |
| CN110179542A (en) * | 2019-06-14 | 2019-08-30 | 北京罗森博特科技有限公司 | A kind of passive arm and the mechanical equipment with the passive arm |
| CN113119149A (en) * | 2021-04-07 | 2021-07-16 | 清华大学 | Magnetic liquid-state gripper based on low-melting-point metal solid-liquid phase change and application thereof |
| CN113386166A (en) * | 2021-06-18 | 2021-09-14 | 大连理工大学 | Decoupling variable-rigidity joint suitable for super-redundant mechanical arm |
| CN114505883A (en) * | 2022-03-23 | 2022-05-17 | 北京信息科技大学 | Guyed robot-oriented liquid metal auxiliary universal joint and design method |
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