CN206738285U - Pneumatic muscles and its control system - Google Patents
Pneumatic muscles and its control system Download PDFInfo
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- CN206738285U CN206738285U CN201720346304.2U CN201720346304U CN206738285U CN 206738285 U CN206738285 U CN 206738285U CN 201720346304 U CN201720346304 U CN 201720346304U CN 206738285 U CN206738285 U CN 206738285U
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- pneumatic muscles
- seal
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- aerating
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Abstract
A kind of pneumatic muscles and its control system, including：Pneumatic muscles body, there is the cavity of axial direction, for discharge charge compressed gas, axially to provide pulling force along pneumatic muscles body；First seal and second seal, the both ends of pneumatic muscles body axial direction are separately positioned on, to seal the cavity of pneumatic muscles body；First seal has the discharge charge stomata of the cavity of connection pneumatic muscles body；Aerating and exhaust device, it is positioned close to first seal end；The gas pressurized of pneumatic muscles body exterior is filled with the cavity of pneumatic muscles body by discharge charge stomata by aerating and exhaust device after the trigger signal of pressurization is received；Aerating and exhaust device is after the trigger signal of decompression is received, by discharge charge stomata by the intrinsic high pressure gas discharge of pneumatic muscles to pneumatic muscles body exterior.Realize by the air pressure of pneumatic muscles surrounding environment to provide gases at high pressure to pneumatic muscles, can then reduce extra high-pressure air source, improve the portability of pneumatic muscles application.
Description
Technical field
The present invention relates to field of drivers, and in particular to a kind of pneumatic muscles and its control system.
Background technology
Pneumatic muscles be it is a kind of can with the next-generation drive of mimic biology contraction of muscle, due to its flexibility it is high, it is in light weight, make
The advantages that with convenience, fast response time, cheap cost, it is widely used in the Qu Donglingyus such as various bionic mechanicals.Pneumatic flesh
Meat is mainly made up of inflatable elastic flexible pipe, the mesh grid of constraint elastic hose deformation and clip three parts.Outside is a floor height
The fiber knitted net of intensity, when being filled with compressed air, pneumatic muscles structure is in axial shrinkage and is being radially expanded, if by one
End is fixed, and other end connection load can produces driving force by axial shrinkage.
Pneumatic muscles possess excellent performance, have in fields such as rehabilitation, virtual reality and bio-robots good
Potential application foreground.Ripe pneumatic muscles mainly have such as FESTO companies to be produced with SHADOW companies pneumatic on the market
Muscle.Generally, the intracavity space of above-mentioned pneumatic muscles is comparatively larger, and the time of inflation/deflation is longer, and pneumatic muscles are working
During, air consumption is also bigger.In the prior art, Fig. 1 is refer to, is existing pneumatic muscles drive system schematic diagram, pneumatically
Muscle 100 needs the independent external air source device 200 such as air compressor to provide compressed gas for it, and needs by magnetic valve etc.
Gas control device realizes the charging-discharging function of pneumatic muscles so that system seems lengthy and jumbled, and, it is difficult to set suitable for portable execution
It is standby.
Therefore, how to provide portable source of the gas for pneumatic muscles turns into technical problem urgently to be resolved hurrily.
The content of the invention
The technical problem to be solved in the present invention is how for pneumatic muscles to provide portable source of the gas, so as to provide a kind of gas
Dynamic muscle and its control system.
Therefore, according in a first aspect, the embodiment of the invention discloses a kind of pneumatic muscles, including：
Pneumatic muscles body, there is the cavity of axial direction, for discharge charge compressed gas, axially to be carried along pneumatic muscles body
For pulling force；First seal and second seal, the both ends of pneumatic muscles body axial direction are separately positioned on, to seal pneumatic muscles
The cavity of body；First seal has the discharge charge stomata of the cavity of connection pneumatic muscles body；Aerating and exhaust device, it is arranged on
Close to first seal end；Aerating and exhaust device is after the trigger signal of pressurization is received, by discharge charge stomata by pneumatic muscles sheet
Gas pressurized outside body is filled with the cavity of pneumatic muscles body；Aerating and exhaust device leads to after the trigger signal of decompression is received
Overcharge/air vent is by the intrinsic high pressure gas discharge of pneumatic muscles to pneumatic muscles body exterior.
Alternatively, aerating and exhaust device includes：Blower, first seal end is positioned close to, for by pneumatic muscles sheet
Gas pressurized outside body is filled with the cavity of pneumatic muscles body, or by the intrinsic high pressure gas discharge of pneumatic muscles to gas
Dynamic muscle body exterior.
Alternatively, aerating and exhaust device also includes：Air deflector, it is arranged in the cavity of pneumatic muscles body, it is close close to first
Sealing end, extend to second seal, for the cavity by the gas flow guiding that blower pressurization is filled with to pneumatic muscles body.
Alternatively, length of the air deflector along pneumatic muscles body axial direction is less than the cavity of pneumatic muscles body along pneumatic muscles
The length of body axial direction.
Alternatively, blower is fan blade；Air deflector is screw rod；Screw rod and fan blade can coaxial rotation fixations
Close to first seal end, fan blade is relative to screw rod close to first seal.
Alternatively, screw rod and fan blade synchronous axial system.
Alternatively, spiral groove depth of the screw rod close to first seal position is more than screw rod away from first seal position
Spiral groove depth.
Alternatively, aerating and exhaust device also includes：Sleeve, air deflector is covered for covering, sleeve has and pneumatic muscles body
The through hole of cavity connection.
Alternatively, aerating and exhaust device also includes：Switch valve, it is arranged on first seal end；Switch valve be used for when opening to
Blower provides the gas of pneumatic muscles body exterior, or switch valve is used for the intrinsic high pressure gas of pneumatic muscles when opening
Body is emitted into pneumatic muscles body exterior.
Technical solution of the present invention, have the following advantages that：
Pneumatic muscles provided in an embodiment of the present invention and its control system, first seal end is being provided with inflation/deflation
Device, aerating and exhaust device is after the trigger signal of pressurization is received, by discharge charge stomata by the gas of pneumatic muscles body exterior
Pressurization is filled with the cavity of pneumatic muscles body, and first seal and second close is provided at both ends with due to pneumatic muscles body axial direction
Sealing, therefore, after by aerating and exhaust device, the gas of outside is filled with the cavity of pneumatic muscles body, it can cause pneumatic
Air pressure in muscle cavity rises, it is achieved thereby that to the effect of pneumatic muscles pressurization, it is external relative to needing in the prior art
The mode of high-voltage power supply, the scheme of the embodiment of the present invention are realized by the air pressure of pneumatic muscles surrounding environment to be carried to pneumatic muscles
For gases at high pressure, extra high-pressure air source can be then reduced, improves the portability of pneumatic muscles application.
As optional technical scheme, gas flow guiding is carried out by screw rod, can be caused into pneumatic muscles cavity
Heat is produced in gas replenishment process, so as to so that the gas expansion being filled with, it is possible to increase to the pumping efficiency of pneumatic muscles cavity.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is a kind of pneumatic muscles drive system schematic diagram of the prior art；
Fig. 2 is a kind of pneumatic muscles cross-sectional view disclosed in the present embodiment；
Fig. 3 is a kind of pneumatic muscles dimensional structure diagram in the present embodiment；
Fig. 4 is a kind of aerating and exhaust device configuration schematic diagram in the present embodiment；
Fig. 5 is a kind of a kind of example structure schematic diagram of aerating and exhaust device in the present embodiment；
Fig. 6 is a kind of aerating and exhaust device another kind example structure schematic diagram in the present embodiment.
Embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing, it is clear that described implementation
Example is part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify description, rather than instruction or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that instruction or hint relative importance.
In the description of the invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, can be with
It is the connection of two element internals, can is wireless connection or wired connection.For one of ordinary skill in the art
For, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
As long as in addition, technical characteristic involved in invention described below different embodiments non-structure each other
It is be combined with each other into conflict can.
Fig. 2 and Fig. 3 are refer to, wherein, Fig. 2 is a kind of pneumatic muscles cross-sectional view, Fig. 3 disclosed in the present embodiment
For a kind of pneumatic muscles dimensional structure diagram in the present embodiment.A kind of pneumatic muscles include disclosed in the present embodiment：Pneumatic flesh
Meat body 1, first seal 21, second seal 22 and aerating and exhaust device 3, wherein：
Pneumatic muscles body 1 has the cavity of axial direction, for discharge charge compressed gas, axially to be carried along pneumatic muscles body 1
For pulling force.In a particular embodiment, when injecting compressed gas (such as compressed air) in the cavity of pneumatic muscles body 1, gas
Dynamic muscle body 1 can axially contract, so as to form pulling force to the external world；As the compressed gas row in the cavity of pneumatic muscles body 1
When going out, pneumatic muscles body 1 can playback vertically, so as to which the pulling force formed to the external world can be progressively smaller until to be zero.Need
Bright, in other embodiments, the outer surface of pneumatic muscles body 1 can also set metal alloy wires, as shown in Figure 3.
Fig. 2 and Fig. 3 are refer to, first seal 21 and second seal 22 are separately positioned on pneumatic muscles body 1 axially
Both ends, to seal the cavity of pneumatic muscles body 1.In a particular embodiment, first seal 21 has connection pneumatic muscles
The discharge charge stomata 210 of the cavity of body 1, source of the gas can be connected to by the discharge charge stomata 210, to realize to pneumatic muscles sheet
Body 1 carries out charge/discharge gas process.It should be noted that in this example, can be by pneumatic muscles body by discharge charge stomata 210
1 cavity connects with external environment condition, so that the cavity for obtaining pneumatic muscles body 1 can be with the ring residing for the pneumatic muscles body 1
Border carries out gaseous exchange.In the present embodiment, alleged environment can be air ambient or other rings with gas
Border, such as inert gas, mixed gas etc..
Fig. 2 is refer to, aerating and exhaust device 3 is positioned close to the end of first seal 21.Aerating and exhaust device 3 is receiving pressurization
Trigger signal after, the gas pressurized outside pneumatic muscles body 1 is filled with by pneumatic muscles body 1 by discharge charge stomata 210
Cavity；Aerating and exhaust device 3 is after the trigger signal of decompression is received, by discharge charge stomata 210 by pneumatic muscles body 1
Outside high pressure gas discharge to pneumatic muscles body 1.In the present embodiment, connection pneumatic muscles sheet is provided with first seal 21
The discharge charge stomata 210 of the cavity of body 1, specifically, the discharge charge stomata 210 can also be communicated to the outside of pneumatic muscles body 1,
Such as atmospheric pressure can be connected.Aerating and exhaust device 3, can be by pneumatic muscles body 1 after the trigger signal of pressurization is received
Outside gas is fed through the cavity of pneumatic muscles body 1.Because the cavity of pneumatic muscles body 1 is by first seal 21 and
Two seals 22 seal, therefore, during aerating and exhaust device 3 is blown into the cavity of pneumatic muscles body 1, pneumatic muscles
Pressure in the cavity of body 1 can be increasing, it is achieved thereby that the operation pressurizeed to pneumatic muscles body 1.In charge and discharge
Device of air 3 is after the trigger signal of decompression is received, because the air pressure in the cavity of pneumatic muscles body 1 is big, therefore, Ke Yitong
Cross aerating and exhaust device 3 and the gases at high pressure in the cavity of pneumatic muscles body 1 are discharged into pneumatic muscles via discharge charge stomata 210
The outside of body 1, it is achieved thereby that the operation depressurized to pneumatic muscles body 1.
In a particular embodiment, Fig. 2, Fig. 4 and Fig. 5 are refer to, the aerating and exhaust device 3 includes：Blower 31, blower 31
The end of first seal 21 is positioned close to, for the gas pressurized outside pneumatic muscles body 1 to be filled with into pneumatic muscles body 1
Cavity, or by outside the high pressure gas discharge in pneumatic muscles body 1 to pneumatic muscles body 1.Specifically, the blower 31
Can be such as fan blade, when (such as clockwise) rotates fan blade in the first direction, outside pneumatic muscles body 1
Gas be filled with the cavity of pneumatic muscles body 1 so that the gas in the cavity of pneumatic muscles body 1 is more and more, so as to right
Pneumatic muscles body 1 is pressurizeed；When (such as counterclockwise) rotates fan blade in a second direction, by pneumatic muscles body 1
Cavity in high pressure gas discharge to the outside of pneumatic muscles body 1 so that the gas in the cavity of pneumatic muscles body 1 is got over
Come it is fewer, so as to being depressurized to pneumatic muscles body 1.It should be noted that in other alternate embodiments, when fill/
When air vent 210 connects with the external environment condition of pneumatic muscles body 1, fan blade can not also rotate, and pass through what is be depressured naturally
Mode causes the gases at high pressure in the cavity of pneumatic muscles body 1 to be emitted into outside via discharge charge stomata 210.
For further condensed gas, in an alternate embodiment of the invention, Fig. 4 and Fig. 5 are refer to, aerating and exhaust device 3 also includes：
Air deflector 32, air deflector 32 are arranged in the cavity of pneumatic muscles body 1, close to the end of first seal 21, to second seal
22 extensions, for the cavity by the gas flow guiding that the pressurization of blower 31 is filled with to pneumatic muscles body 1.In a particular embodiment,
Length of the air deflector 32 along the axial direction of pneumatic muscles body 1 is less than the cavity of pneumatic muscles body 1 along the axial direction of pneumatic muscles body 1
Length, as a result, gas of the gas being filled with after via the water conservancy diversion of air deflector 32 can condense upon the sky of pneumatic muscles body 1
Chamber end (close to the end of second seal 22), and the gas for reducing cohesion has larger fluctuation (such as vortex).
In an alternate embodiment of the invention, air deflector 32 is screw rod, and screw rod is during rotation, the gas that will can be filled with
Body is fed through the cavity end of pneumatic muscles body 1 by screw channel.In order to preferably add to the cavity of pneumatic muscles body 1
Pressure, in a preferred embodiment, it is close away from first that spiral groove depth of the screw rod close to the position of first seal 21 is more than screw rod
The spiral groove depth of the position of sealing 21.As a result, as screw rod rotates, close to the air pressure of second seal 22 access compared with
Big raising.
In a particular embodiment, screw rod and fan blade, which coaxial can rotate, is fixed on close to the end of first seal 21, wind
Fan leaf is relative to screw rod close to first seal 21.Specifically, screw rod and fan blade can by rotating shaft 33
It is rotatably secured to drive by motor close to the end of first seal 21, rotating shaft 33.In a particular embodiment, screw rod and
Fan blade can be fixed in rotating shaft 33, so that screw rod and fan blade can follow the synchronous axial system of rotating shaft 33.
In a particular embodiment, screw rod and fan blade can be driven by alternating current generator, specifically, alternating current generator
The end of first seal 21 can be arranged on.In general, the increase of the cavity inside pressure with pneumatic muscles body 1, spiral
Bar rotation is big by resistive, and to increase the output torque of alternating current generator, deceleration can also be set between alternating current generator and screw rod
Device.
Fig. 3 and Fig. 6 are refer to, in an alternate embodiment of the invention, aerating and exhaust device 3 also includes：Switch valve 34, switch valve 34 are set
Put at the end of first seal 21, the gas outside pneumatic muscles body 1 is provided to blower when switch valve 34 is used to open, or
By outside the high pressure gas discharge in pneumatic muscles body 1 to pneumatic muscles body 1 when switch valve 34 is used to open.Specific real
Apply in example, switch valve 34 can be such as magnetic valve or other valve bodies that can connect/isolate extraneous gas.
In an alternate embodiment of the invention, Fig. 4 and Fig. 6 are refer to, aerating and exhaust device 3 also includes：Sleeve 35, cover water conservancy diversion for covering
Device 32, sleeve 35 have the through hole connected with the cavity of pneumatic muscles body 1.In a particular embodiment, the through hole of sleeve 35 can
To be arranged on the side of sleeve 35, the end of sleeve 35 is preferably provided at, is vortexed with reducing caused by the air-flow of side through hole,
On the other hand, also can be rapidly by the gas flow guiding that the pressurization of blower 31 is filled with to the cavity end of pneumatic muscles body 1.This
In embodiment, the quantity of through hole is not intended to limit.
The present embodiment also discloses a kind of pneumatic muscles control system, including：Pneumatic muscles disclosed in above-described embodiment and
Controller, wherein, controller is used to provide the trigger signal of pressurization or the trigger signal of decompression.In a particular embodiment, control
Device processed is additionally operable to opening and shutting off for controlling switch valve 34.In a particular embodiment, it is close can be positioned close to first for controller
One end of sealing 21.
In an alternate embodiment of the invention, the pneumatic muscles control system also includes：Pressure sensor, pressure sensor are arranged on
In the cavity of pneumatic muscles body 1, it is connected with controller signals, it is concurrent for gathering the pressure in the cavity of pneumatic muscles body 1
Give controller.In a particular embodiment, Fig. 5 is refer to, pressure sensor 4 can be arranged on the end of air deflector 32.Certainly,
Pressure sensor 4 can also be arranged on the end of sleeve 35, or side.
It should be noted that in a particular embodiment, pressure sensor 4 can carry out letter in the form of wireless with controller
Number connection, can also by wire and controller progress signal be connected.Letter is carried out by wire and controller in pressure sensor 4
Number connection when, metallic channel can be opened up on pneumatic muscles body, pressure sensor and controller are laid by the metallic channel
Carry out the wire of signal connection；Metallic channel can also be opened up on sleeve 35, by the metallic channel come lay pressure sensor with
Controller carries out the wire of signal connection.
The pneumatic muscles and its control system that the present embodiment provides, first seal end is being provided with inflation/deflation dress
Put, aerating and exhaust device adds the gas of pneumatic muscles body exterior after the trigger signal of pressurization is received, by discharge charge stomata
Pressure is filled with the cavity of pneumatic muscles body, and first seal and the second sealing are provided at both ends with due to pneumatic muscles body axial direction
Part, therefore, after the gas of outside is filled with the cavity of pneumatic muscles body by aerating and exhaust device, pneumatic flesh can make it that
Air pressure in meat cavity rises, it is achieved thereby that to the effect of pneumatic muscles pressurization, relative to needing external height in the prior art
The mode of potential source, the scheme of the embodiment of the present invention are realized by the air pressure of pneumatic muscles surrounding environment to provide pneumatic muscles
Gases at high pressure, extra high-pressure air source can be then reduced, improve the portability of pneumatic muscles application.
In an alternate embodiment of the invention, gas flow guiding is carried out by screw rod, can to fill into pneumatic muscles cavity
Heat is produced during gas, so as to so that the gas expansion being filled with, it is possible to increase to the pumping efficiency of pneumatic muscles cavity.
Obviously, above-described embodiment is only intended to clearly illustrate example, and is not the restriction to embodiment.It is right
For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of change or
Change.There is no necessity and possibility to exhaust all the enbodiments.And the obvious change thus extended out or
Among changing still in the protection domain of the invention.
Claims (10)
- A kind of 1. pneumatic muscles, it is characterised in that including：Pneumatic muscles body (1), there is the cavity of axial direction, for discharge charge compressed gas, with along the pneumatic muscles body (1) Pulling force is axially provided；First seal (21) and second seal (22), the both ends of pneumatic muscles body (1) axial direction are separately positioned on, with Seal the cavity of the pneumatic muscles body (1)；The first seal (21), which has, connects the pneumatic muscles body (1) The discharge charge stomata (210) of cavity；Aerating and exhaust device (3), it is positioned close to the first seal (21) end；The aerating and exhaust device (3) is after the trigger signal of pressurization is received, by the discharge charge stomata (210) by the gas The outside gas pressurized of dynamic muscle body (1) is filled with the cavity of the pneumatic muscles body (1)；The aerating and exhaust device (3) exists After the trigger signal for receiving decompression, by the discharge charge stomata (210) by the high pressure gas in the pneumatic muscles body (1) It is outside that body is emitted into the pneumatic muscles body (1).
- 2. pneumatic muscles as claimed in claim 1, it is characterised in that the aerating and exhaust device (3) includes：Blower (31), the first seal (21) end is positioned close to, for that the pneumatic muscles body (1) is outside Gas pressurized is filled with the cavity of the pneumatic muscles body (1), or the gases at high pressure in the pneumatic muscles body (1) are arranged Put outside to the pneumatic muscles body (1).
- 3. pneumatic muscles as claimed in claim 2, it is characterised in that the aerating and exhaust device (3) also includes：Air deflector (32), it is arranged in the cavity of the pneumatic muscles body (1), is held close to the first seal (21), to The second seal (22) extension, for by the gas flow guiding that blower pressurization is filled with to the pneumatic muscles body (1) cavity.
- 4. pneumatic muscles as claimed in claim 3, it is characterised in that the air deflector is along pneumatic muscles body (1) axle To length be less than the pneumatic muscles body (1) cavity along the pneumatic muscles body (1) axial direction length.
- 5. pneumatic muscles as claimed in claim 3, it is characterised in thatThe blower is fan blade；The air deflector is screw rod；The screw rod and the fan blade coaxial can rotate to be fixed on holds close to the first seal (21), the fan Blade is relative to the screw rod close to the first seal (21).
- 6. pneumatic muscles as claimed in claim 5, it is characterised in that the screw rod is close to the first seal (21) position The spiral groove depth put is more than spiral groove depth of the screw rod away from the first seal (21) position.
- 7. the pneumatic muscles as described in claim 3-6 any one, it is characterised in that the aerating and exhaust device (3) also includes： Sleeve (35), the air deflector (32) is covered for covering, the sleeve (35) has to be connected with the cavity of the pneumatic muscles body (1) Logical through hole.
- 8. the pneumatic muscles as described in claim 2-6 any one, it is characterised in that the aerating and exhaust device (3) also includes：Switch valve (34), it is arranged on the first seal (21) end；The switch valve is used to carry to the blower when opening For the outside gas of the pneumatic muscles body (1), or by the pneumatic muscles body (1) when the switch valve is used to open Interior high pressure gas discharge is outside to the pneumatic muscles body (1).
- A kind of 9. pneumatic muscles control system, it is characterised in that including：Pneumatic muscles as described in claim 1-8 any one；Controller, for providing the trigger signal of the pressurization or the trigger signal of the decompression.
- 10. pneumatic muscles control system as claimed in claim 9, it is characterised in that also include：Pressure sensor, it is arranged in the cavity of the pneumatic muscles body (1), is connected with the controller signals, for adopting Collect the pressure in pneumatic muscles body (1) cavity and be sent to the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720346304.2U CN206738285U (en) | 2017-03-24 | 2017-03-24 | Pneumatic muscles and its control system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720346304.2U CN206738285U (en) | 2017-03-24 | 2017-03-24 | Pneumatic muscles and its control system |
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| CN206738285U true CN206738285U (en) | 2017-12-12 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106837913A (en) * | 2017-03-24 | 2017-06-13 | 中国计量大学 | Pneumatic muscles and its control system |
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2017
- 2017-03-24 CN CN201720346304.2U patent/CN206738285U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106837913A (en) * | 2017-03-24 | 2017-06-13 | 中国计量大学 | Pneumatic muscles and its control system |
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