CN110695981B - Double-acting hydraulic artificial muscle linear reciprocating actuator - Google Patents
Double-acting hydraulic artificial muscle linear reciprocating actuator Download PDFInfo
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- CN110695981B CN110695981B CN201910965332.6A CN201910965332A CN110695981B CN 110695981 B CN110695981 B CN 110695981B CN 201910965332 A CN201910965332 A CN 201910965332A CN 110695981 B CN110695981 B CN 110695981B
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/144—Linear actuators
Abstract
The invention provides a double-acting hydraulic artificial muscle linear reciprocating actuator, which comprises a hydraulic artificial muscle, a pressure-isolating sealing linkage device and a guide fluid director; the hydraulic artificial muscle comprises a closed end connector, a rubber pipe and a water-through end connector; a cylindrical blind hole is axially formed in the center of the inverted cone tooth surface part of the closed end joint; the center of the water-through end joint is sequentially provided with a water-through hole A and a water-through hole B from outside to inside along the axial direction; the pressure-isolating sealing linkage device comprises a cylindrical linkage device, a pressure-isolating sealing main body and a sealing ring; the cylinder linkage device extends into the through hole of the pressure-isolating sealing main body; two ends of the pressure-isolating sealing linkage are respectively connected with a hydraulic artificial muscle; the guide fluid director is provided with a flow guide groove, a flow guide hole A, a flow guide hole B, a flow guide hole C and a flow guide hole D which are mutually communicated; two ends of the cylindrical linkage device respectively extend into the flow guide holes D of the guide flow guider in a clearance fit manner. The invention solves various problems caused by the complex structure of the hydraulic system of the traditional hydraulic actuator.
Description
Technical Field
The invention relates to the technical field of artificial muscles and reciprocating actuators, in particular to a double-acting hydraulic artificial muscle linear reciprocating actuator.
Background
At present, the fluid-driven artificial muscle is a novel driver, and can be divided into pneumatic artificial muscle and hydraulic artificial muscle. Pneumatic hydraulic artificial muscles have been applied in the fields of robots, automatic production lines and the like, and have the advantages of simple structure, smooth action, large output force/weight ratio and the like. The hydraulic artificial muscle not only has the advantages of simple structure and being beneficial to realizing miniaturization and light weight, but also has larger output force, faster response speed and lower working noise compared with the pneumatic artificial muscle. The output force of the fluid-driven artificial muscle is increased along with the increase of the working pressure, the output force can be improved by improving the working pressure of the artificial muscle, and the high-pressure hydraulic artificial muscle is favorable for being matched with the working pressure of hydraulic transmission elements such as a pump, a control valve and the like.
The existing hydraulic actuator depends on mechanical external force when the hydraulic cylinder extends out, the existing hydraulic actuator is generally realized through a complex actuator loop, the hydraulic system is complex in structure, the pipeline arrangement is complex, bubbles appear after the system works for a period of time, the bubbles are dissolved in hydraulic oil, the system is easy to generate noise, crawl and heat up, and the like, and the system is polluted by oil liquid.
Disclosure of Invention
According to the technical problems that the hydraulic system of the existing hydraulic actuator is complex in structure, noise is easily generated, creeping, system temperature rise, system oil pollution and the like are solved, and the double-acting hydraulic artificial muscle linear reciprocating actuator is provided. The invention mainly utilizes the improved water pressure artificial muscle as a driver, thereby playing the role of a linear reciprocating actuator.
The technical means adopted by the invention are as follows:
a double-acting hydraulic artificial muscle linear reciprocating actuator comprises a hydraulic artificial muscle, a pressure-isolating sealing linkage device and a guide fluid director;
the hydraulic artificial muscle comprises a closed end connector, a rubber pipe and a water end connector, wherein the closed end connector and the water end connector are respectively positioned at two ends of the rubber pipe;
a cylindrical blind hole is axially formed in the center of the inverted cone tooth surface part of the closed end joint and communicated with the rubber tube;
the center of the water end connector is sequentially provided with a water through hole A and a water through hole B from outside to inside along the axial direction, the water through hole A is communicated with the water through hole B, and the diameter of the water through hole A is larger than that of the water through hole B;
the pressure-isolating sealing linkage device comprises a cylindrical linkage device, a pressure-isolating sealing main body and a sealing ring;
a through hole is axially formed in the center of the pressure isolating sealing main body, and a sealing ring groove is formed in the inner wall of the pressure isolating sealing main body; the sealing ring is placed in the sealing ring groove;
the cylindrical linkage extends into the through hole of the pressure-isolating sealing main body in a clearance fit manner, and the outer surface of the cylindrical linkage is tightly attached to the inner surface of the sealing ring;
two ends of the pressure-isolating sealing linkage are detachably connected with one water pressure artificial muscle through threads respectively, and the water end joint of the water pressure artificial muscle is connected with the pressure-isolating sealing linkage;
two ends of the pressure-isolating sealing main body are respectively provided with a water injection hole, and the water injection holes are communicated with the water through holes A;
the inside of each water pressure artificial muscle is provided with one guide fluid director;
the outer surface of the guide fluid director is provided with a flow guide groove;
the center of the guide fluid director is provided with a flow guiding hole A, a flow guiding hole C and a flow guiding hole D which are communicated with each other in sequence from one end of the guide fluid director provided with the flow guiding groove to the other end along the axial direction, and the diameter of the flow guiding hole C is smaller than that of the flow guiding hole D; the flow guide hole A is communicated with the cylindrical blind hole;
a guide hole B is radially arranged in the guide fluid director, is arranged between the guide hole A and the guide hole C and is communicated with the guide hole A and the guide hole C; the distance between the center of the guide hole B and the end face of one end of the guide fluid director far away from the guide groove is greater than the depth of the cylindrical blind hole;
one end of the guide fluid director, which is far away from the flow guide groove, extends into the cylindrical blind hole through clearance fit; one end of the guide fluid director, which is provided with the guide groove, extends into the limber hole B through clearance fit; the diversion trench is respectively communicated with the rubber pipe and the water through hole B;
and two ends of the cylindrical linkage device respectively extend into the flow guide holes D of the guide flow director in a clearance fit manner.
Furthermore, the inner side of the outer end part of the closed end joint is provided with a threaded blind hole, and the outer surface of the closed end joint is provided with an external thread.
Furthermore, inner threads for connecting the hydraulic artificial muscles are arranged on the inner sides of the two ends of the pressure-isolating sealing main body; the hydraulic artificial muscle is detachably connected with the pressure-isolating sealing main body through threads arranged on the outer surface of the outer end part of the water end connector.
Further, the guiding and flow guiding device is made of stainless materials; the cylinder linkage device and the pressure-isolating sealing main body are made of stainless materials.
Further, the pressure-isolating sealing linkage device and the two water pressure artificial muscles are located on the same axis.
Compared with the prior art, the invention has the following advantages:
1. the double-acting hydraulic artificial muscle linear reciprocating actuator provided by the invention adopts the hydraulic artificial muscle as the driver, and the axial output force of the hydraulic artificial muscle is reduced along with the reduction of the length of the hydraulic artificial muscle and the reduction of the working pressure, so that the double-acting hydraulic artificial muscle linear reciprocating actuator can protect the load.
2. The double-acting hydraulic artificial muscle linear reciprocating actuator provided by the invention adopts the hydraulic artificial muscle as a driver, and is beneficial to lightweight design; the hydraulic system is simple, and corresponding work can be completed only by controlling the pressure of water in each muscle.
3. The double-acting hydraulic artificial muscle linear reciprocating actuator provided by the invention adopts water as a driving medium, and is environment-friendly and pollution-free; the selected materials are all rust-proof and corrosion-proof materials, and can be applied to water environment operation.
In conclusion, the technical scheme of the invention utilizes the improved hydraulic artificial muscle as the driver, thereby playing the role of the linear reciprocating actuator. Therefore, the technical scheme of the invention solves the problems that the hydraulic system of the existing hydraulic actuator is complex in structure, and is easy to generate noise, crawl, raise the temperature of the system, pollute oil liquid in the system and the like.
For the above reasons, the present invention can be widely applied to the fields of reciprocating actuators and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic view of the internal structure of the double-acting hydraulic artificial muscle linear reciprocating actuator of the present invention.
Fig. 2 is an enlarged view of a portion a in fig. 1.
FIG. 3 is a schematic view of the external structure of the double-acting hydraulic artificial muscle linear reciprocating actuator of the present invention.
In the figure: 1. hydraulic artificial muscle; 11. a closed end fitting; 111. a threaded blind hole; 112. an external thread; 113. a cylindrical blind hole; 12. a water inlet end joint; 121. a water through hole A; 122. a water through hole B; 13. A rubber tube; 14. high-strength fiber woven mesh; 151. the inverted cone tooth surface is provided with a pressure ring A; 152. the inverted conical tooth surface buckles the ring B; 161. a middle buckling ring A; 162. a middle buckling ring B; 171. the end is buckled with a ring A; 172. Pressing a ring B by end fastening; 2. a pressure-isolating sealing linkage device; 21. a cylinder linkage; 22. a pressure-isolating seal body; 221. a water injection hole; 23. a seal ring; 3. a guiding fluid director; 31. a diversion hole A; 32. a diversion hole B; 33. a diversion hole C; 33. a diversion hole D; 35. a diversion trench.
Detailed Description
It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an", and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus that are known by one of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be discussed further in subsequent figures.
In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "above … … surface," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and unless otherwise stated, the terms have no special meaning, and therefore, the scope of the present invention should not be construed as being limited.
Example 1
As shown in figures 1-3, the invention provides a double-acting hydraulic artificial muscle linear reciprocating actuator, which comprises a hydraulic artificial muscle 1, a pressure-isolating sealing linkage device 2 and a guide fluid director 3;
the hydraulic artificial muscle 1 comprises a closed end joint 11, a rubber pipe 13 and a water end joint 12, wherein the closed end joint 11 and the water end joint 12 are respectively positioned at two ends of the rubber pipe 13; in this embodiment, the hydraulic artificial muscle further includes a high-strength fiber woven mesh 14, an inverted-cone tooth-surface air compression ring a151, a conical-tooth-surface buckling ring B152, a buckling ring a161, a middle buckling ring B162, an end buckling ring a171, and an end buckling ring B172, wherein the high-strength fiber woven mesh 14 restrains the deformation of the rubber tube 13 in the process of filling the hydraulic artificial muscle 1 with high-pressure water, so that the hydraulic artificial muscle 1 is regularly deformed;
a cylindrical blind hole 113 is axially formed in the center of the part of the conical tooth surface of the closed end joint 11, and the cylindrical blind hole 113 is communicated with the rubber tube 13;
the water end joint 12 is provided with a water through hole A121 and a water through hole B122 in sequence from outside to inside along the axial direction, the water through hole A121 is communicated with the water through hole B122, and the diameter of the water through hole A121 is larger than that of the water through hole B122;
the pressure-isolating sealing linkage device 2 comprises a cylindrical linkage device 21, a pressure-isolating sealing main body 22 and a sealing ring 23;
a through hole is axially formed in the center of the pressure isolating sealing main body 22, and a sealing ring groove is formed in the inner wall of the pressure isolating sealing main body; the sealing ring 23 is placed in the sealing ring groove;
the cylindrical linkage 21 extends into the through hole of the pressure-isolating sealing main body 22 through clearance fit, and the outer surface of the cylindrical linkage 21 is tightly attached to the inner surface of the sealing ring 23;
two ends of the pressure-isolating sealing linkage device 2 are respectively detachably connected with one hydraulic artificial muscle 1 through threads, and the water end connector 12 of the hydraulic artificial muscle 1 is connected with the pressure-isolating sealing linkage device 2;
two ends of the pressure-isolating sealing main body 22 are respectively provided with a water injection hole 221, and the water injection hole 221 is communicated with the water through hole A121;
the inside of each water pressure artificial muscle 1 is provided with one guide fluid director 3; the guide fluid director 3 extends into the water-passing end connector 12 of the water pressure artificial muscle 1 through clearance fit and is arranged inside the water pressure artificial muscle 1;
the outer surface of the guide fluid director 3 is provided with a flow guide groove 35;
the center of the guide fluid director 3 is provided with a flow guide hole A31, a flow guide hole C33 and a flow guide hole D34 which are communicated with each other in sequence from one end of the guide fluid director 3, which is provided with the flow guide groove 35, to the other end along the axial direction, and the diameter of the flow guide hole C33 is smaller than that of the flow guide hole D34; the diversion hole A31 is communicated with the cylindrical blind hole 113;
a diversion hole B34 is radially arranged inside the guiding fluid director 3, and the diversion hole B34 is arranged between the diversion hole A31 and the diversion hole C33 and communicated with the diversion hole A31 and the diversion hole C33; the distance between the center of the guide hole B32 and the end surface of one end of the guide fluid director 3 far away from the guide groove 35 is greater than the depth of the cylindrical blind hole 113;
one end of the guide fluid director 3, which is far away from the guide groove 35, extends into the cylindrical blind hole 113 through clearance fit; one end of the guiding fluid director 3, which is provided with the diversion trench 35, extends into the water through hole B122 through clearance fit; the diversion trench 35 is respectively communicated with the rubber pipe 13 and the water through hole B122;
in this embodiment, the diversion trench 35 is communicated with the rubber tube 13 and the water through hole B122, the water through hole a121 is communicated with the water injection hole 221, and the water through hole a121 is communicated with the water through hole B122, so as to ensure that the water filling pressure of the hydraulic artificial muscle is directly controlled under all working conditions;
two ends of the cylindrical linkage 21 respectively extend into the flow guide holes D34 of the guide flow guider 3 in a clearance fit manner;
inside the hydraulic artificial muscle 1, the diversion hole a31, the diversion hole B32, the diversion hole C33 and the diversion hole D34 are sequentially communicated, and are used for guiding the flowing medium in the cylindrical blind hole 113 to the rubber pipe 13 through the diversion holes; the guide hole C44 is mainly used for weight reduction design of the guide deflector; the flow guide hole D34 mainly completes clearance fit with the cylinder linkage 21.
Further, a threaded blind hole 111 is arranged on the inner side of the outer end part of the closed end joint 11, and an external thread 112 is arranged on the outer surface; the threaded blind hole 111 and the external thread 112 are used for connecting a driving member, and the driving member can be driven by the linear reciprocating motion of the invention.
Further, inner threads for connecting the hydraulic artificial muscle 1 are arranged on the inner sides of the two ends of the pressure insulation sealing main body 22; the hydraulic artificial muscle 1 is detachably connected with the pressure-isolating sealing main body 22 through threads arranged on the outer surface of the outer end part of the water-passing end joint 12; the design can be beneficial to the installation and the disassembly of the invention.
Further, the guiding and flow guiding device 3 is made of stainless materials; the cylinder linkage 21 and the pressure-isolating sealing main body 22 are made of stainless materials.
Further, the pressure-isolating sealing linkage device 2 and the two hydraulic artificial muscles 1 are positioned on the same axis.
When the invention works, water medium respectively passes through the two water injection holes of the pressure-isolating sealing linkage device, flows through the water through hole A, the water through hole B and the diversion trench, and respectively enters the rubber pipes of the two hydraulic artificial muscles.
Firstly, controlling the water filling pressure of two hydraulic artificial muscles to keep the same, enabling the first hydraulic artificial muscle and the second hydraulic artificial muscle to expand and contract, respectively driving a guide flow director inside each hydraulic artificial muscle to move in the same state, and enabling two end surfaces of a middle cylindrical linkage to respectively prop against the step surfaces of a flow guide hole D and a flow guide hole C on two sides, wherein at the moment, a closed end connector of the first hydraulic artificial muscle, a closed end connector of the second hydraulic artificial muscle, a guide flow director inside each hydraulic artificial muscle and the cylindrical linkage are connected into a whole;
then, changing the water filling pressure of the first hydraulic artificial muscle and the second hydraulic artificial muscle:
the water filling pressure of the first water pressure artificial muscle is increased to continue to expand and contract, and the water filling pressure of the second water pressure artificial muscle is reduced to realize diastole and extension, namely the first linear motion state;
the water filling pressure of the first water pressure artificial muscle is reduced to realize diastole and extension, and the water filling pressure of the second water pressure artificial muscle is increased to realize expansion and contraction, namely the second linear motion state;
the linear reciprocating motion can be realized by continuously changing the flushing pressure of the two water pressure artificial muscles; the threaded blind hole and the external thread of the closed end joint on the hydraulic artificial muscle are used for connecting a driving member, and the driving of the driving member can be realized through the linear reciprocating motion of the invention.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (5)
1. A double-acting hydraulic artificial muscle linear reciprocating actuator is characterized by comprising a hydraulic artificial muscle, a pressure-isolating sealing linkage device and a guide fluid director;
the hydraulic artificial muscle comprises a closed end connector, a rubber pipe and a water passing end connector, wherein the closed end connector and the water passing end connector are respectively positioned at two ends of the rubber pipe;
a cylindrical blind hole is axially formed in the center of the inverted cone tooth surface part of the closed end joint and communicated with the rubber tube;
the center of the water end connector is sequentially provided with a water through hole A and a water through hole B from outside to inside along the axial direction, the water through hole A is communicated with the water through hole B, and the diameter of the water through hole A is larger than that of the water through hole B;
the pressure-isolating sealing linkage device comprises a cylindrical linkage device, a pressure-isolating sealing main body and a sealing ring;
a through hole is axially formed in the center of the pressure isolating sealing main body, and a sealing ring groove is formed in the inner wall of the pressure isolating sealing main body; the sealing ring is placed in the sealing ring groove;
the cylindrical linkage extends into the through hole of the pressure-isolating sealing main body in a clearance fit manner, and the outer surface of the cylindrical linkage is tightly attached to the inner surface of the sealing ring;
the two ends of the pressure-isolating sealing linkage device are respectively detachably connected with one hydraulic artificial muscle through threads, and the water end connector of the hydraulic artificial muscle is connected with the pressure-isolating sealing linkage device;
two ends of the pressure-isolating sealing main body are respectively provided with a water injection hole, and the water injection holes are communicated with the water through holes A;
the guide fluid director is arranged in each water pressure artificial muscle;
the outer surface of the guide fluid director is provided with a flow guide groove;
the center of the guide fluid director is provided with a flow guiding hole A, a flow guiding hole C and a flow guiding hole D which are communicated with each other in sequence from one end of the guide fluid director provided with the flow guiding groove to the other end along the axial direction, and the diameter of the flow guiding hole C is smaller than that of the flow guiding hole D; the flow guide hole A is communicated with the cylindrical blind hole;
a guide hole B is radially arranged in the guide fluid director, is arranged between the guide hole A and the guide hole C and is communicated with the guide hole A and the guide hole C; the distance between the center of the guide hole B and the end face of one end of the guide fluid director far away from the guide groove is greater than the depth of the cylindrical blind hole;
one end of the guide fluid director, which is far away from the flow guide groove, extends into the cylindrical blind hole through clearance fit; one end of the guide fluid director, which is provided with the guide groove, extends into the limber hole B through clearance fit; the diversion trench is respectively communicated with the rubber pipe and the water through hole B;
and two ends of the cylindrical linkage device respectively extend into the flow guide holes D of the guide flow director in a clearance fit manner.
2. A double-acting hydraulic artificial muscle linear reciprocating actuator as claimed in claim 1, wherein the inner side of the outer end of the closed end joint is provided with a blind threaded hole, and the outer surface is provided with an external thread.
3. A double-acting hydraulic artificial muscle linear reciprocating actuator as claimed in claim 1, wherein the inner sides of the two ends of the pressure-isolating sealing body are provided with internal threads for connecting the hydraulic artificial muscle; the hydraulic artificial muscle is detachably connected with the pressure-isolating sealing main body through threads arranged on the outer surface of the outer end part of the water end connector.
4. A double acting hydraulic artificial muscle linear reciprocating actuator as claimed in claim 1, wherein the pilot deflector is made of a stainless material; the cylinder linkage device and the pressure-isolating sealing main body are made of stainless materials.
5. A double acting hydraulic artificial muscle linear reciprocating actuator as claimed in claim 1, wherein the isolation seal linkage is co-axial with both of the hydraulic artificial muscles.
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| CN201910965332.6A CN110695981B (en) | 2019-10-11 | 2019-10-11 | Double-acting hydraulic artificial muscle linear reciprocating actuator |
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| CN201910965332.6A CN110695981B (en) | 2019-10-11 | 2019-10-11 | Double-acting hydraulic artificial muscle linear reciprocating actuator |
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| CN111272589A (en) * | 2020-02-24 | 2020-06-12 | 大连海事大学 | Hydraulic artificial muscle underwater performance test system |
| CN111665141B (en) * | 2020-06-03 | 2022-11-29 | 大连海事大学 | Hydraulic artificial muscle radial mechanical property test system |
| CN111775177B (en) * | 2020-06-30 | 2022-07-08 | 大连海事大学 | Integrated valve-controlled modular double-acting hydraulic artificial muscle joint |
| CN111975813B (en) * | 2020-08-11 | 2021-06-25 | 大连海事大学 | Deep sea simulated environment water pressure artificial muscle performance degradation test system |
| CN112775941B (en) * | 2020-12-30 | 2022-03-08 | 大连海事大学 | Pneumatic-driven variable-rigidity flexible actuator |
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