CN106426143B - 一种人工肌肉及其应用、机器人 - Google Patents
一种人工肌肉及其应用、机器人 Download PDFInfo
- Publication number
- CN106426143B CN106426143B CN201611023594.3A CN201611023594A CN106426143B CN 106426143 B CN106426143 B CN 106426143B CN 201611023594 A CN201611023594 A CN 201611023594A CN 106426143 B CN106426143 B CN 106426143B
- Authority
- CN
- China
- Prior art keywords
- artificial
- muscle
- helical orbit
- threadlike body
- spiral
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 239000002245 particle Substances 0.000 claims description 4
- 239000000919 ceramic Substances 0.000 description 20
- 230000008859 change Effects 0.000 description 18
- 229910000831 Steel Inorganic materials 0.000 description 16
- 239000010959 steel Substances 0.000 description 16
- 238000005516 engineering process Methods 0.000 description 14
- 238000010586 diagram Methods 0.000 description 7
- 238000006073 displacement reaction Methods 0.000 description 6
- 230000004048 modification Effects 0.000 description 5
- 238000012986 modification Methods 0.000 description 5
- 239000011159 matrix material Substances 0.000 description 4
- 239000002184 metal Substances 0.000 description 4
- 229910052751 metal Inorganic materials 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000007717 exclusion Effects 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- 238000004804 winding Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000003321 amplification Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000003199 nucleic acid amplification method Methods 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 241000222712 Kinetoplastida Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000010687 lubricating oil Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 239000000376 reactant Substances 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000003313 weakening effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
- Prostheses (AREA)
Abstract
Description
Claims (2)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201611023594.3A CN106426143B (zh) | 2015-08-28 | 2015-08-28 | 一种人工肌肉及其应用、机器人 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510399691.1A CN104999475B (zh) | 2015-08-28 | 2015-08-28 | 一种人工肌肉及其应用 |
CN201611023594.3A CN106426143B (zh) | 2015-08-28 | 2015-08-28 | 一种人工肌肉及其应用、机器人 |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201510399691.1A Division CN104999475B (zh) | 2015-08-28 | 2015-08-28 | 一种人工肌肉及其应用 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106426143A CN106426143A (zh) | 2017-02-22 |
CN106426143B true CN106426143B (zh) | 2018-09-25 |
Family
ID=54372468
Family Applications (10)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201611023595.8A Active CN106625578B (zh) | 2015-08-28 | 2015-08-28 | 一种人工肌肉及其应用、机器人 |
CN201611023567.6A Active CN106426142B (zh) | 2015-08-28 | 2015-08-28 | 一种人工肌肉及其应用、机器人 |
CN201510399691.1A Active CN104999475B (zh) | 2015-08-28 | 2015-08-28 | 一种人工肌肉及其应用 |
CN201611023605.8A Active CN106426144B (zh) | 2015-08-28 | 2015-08-28 | 一种人工肌肉及其应用、机器人 |
CN201611023568.0A Active CN106695772B (zh) | 2015-08-28 | 2015-08-28 | 一种人工肌肉及其应用、机器人 |
CN201611023473.9A Active CN106426138B (zh) | 2015-08-28 | 2015-08-28 | 一种人工肌肉及其应用、机器人 |
CN201611023594.3A Active CN106426143B (zh) | 2015-08-28 | 2015-08-28 | 一种人工肌肉及其应用、机器人 |
CN201611023475.8A Active CN106426140B (zh) | 2015-08-28 | 2015-08-28 | 一种人工肌肉及使用人工肌肉的机器 |
CN201611023474.3A Active CN106426139B (zh) | 2015-08-28 | 2015-08-28 | 一种人工肌肉及其应用、机器人 |
CN201611023566.1A Active CN106426141B (zh) | 2015-08-28 | 2015-08-28 | 一种人工肌肉及其应用、机器人 |
Family Applications Before (6)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201611023595.8A Active CN106625578B (zh) | 2015-08-28 | 2015-08-28 | 一种人工肌肉及其应用、机器人 |
CN201611023567.6A Active CN106426142B (zh) | 2015-08-28 | 2015-08-28 | 一种人工肌肉及其应用、机器人 |
CN201510399691.1A Active CN104999475B (zh) | 2015-08-28 | 2015-08-28 | 一种人工肌肉及其应用 |
CN201611023605.8A Active CN106426144B (zh) | 2015-08-28 | 2015-08-28 | 一种人工肌肉及其应用、机器人 |
CN201611023568.0A Active CN106695772B (zh) | 2015-08-28 | 2015-08-28 | 一种人工肌肉及其应用、机器人 |
CN201611023473.9A Active CN106426138B (zh) | 2015-08-28 | 2015-08-28 | 一种人工肌肉及其应用、机器人 |
Family Applications After (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201611023475.8A Active CN106426140B (zh) | 2015-08-28 | 2015-08-28 | 一种人工肌肉及使用人工肌肉的机器 |
CN201611023474.3A Active CN106426139B (zh) | 2015-08-28 | 2015-08-28 | 一种人工肌肉及其应用、机器人 |
CN201611023566.1A Active CN106426141B (zh) | 2015-08-28 | 2015-08-28 | 一种人工肌肉及其应用、机器人 |
Country Status (1)
Country | Link |
---|---|
CN (10) | CN106625578B (zh) |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106625578B (zh) * | 2015-08-28 | 2019-04-05 | 深兰科技(上海)有限公司 | 一种人工肌肉及其应用、机器人 |
CN105598962B (zh) * | 2015-12-22 | 2017-07-25 | 陈玉金 | 一种电磁驱动的仿真肌肉 |
CN105598959B (zh) * | 2016-02-19 | 2019-01-11 | 上海交通大学 | 基于电活性聚合物的仿生变形环节机器人 |
CN106920450B (zh) * | 2017-03-21 | 2020-05-19 | 淮阴师范学院 | 用于实现人机交互的肌肉组织再现接口装置 |
CN106816074B (zh) * | 2017-03-21 | 2020-05-19 | 淮阴师范学院 | 一种肌肉组织再现接口装置 |
CN107511820B (zh) * | 2017-09-30 | 2019-07-09 | 金勇� | 一种气泡式仿生肌肉 |
CN108127658B (zh) * | 2017-12-21 | 2020-01-24 | 哈尔滨工业大学 | 一种电磁力驱动的人工肌肉 |
CN108054950A (zh) * | 2017-12-21 | 2018-05-18 | 哈尔滨工业大学 | 一种逆压电效应驱动的人工肌肉 |
CN108098827B (zh) * | 2017-12-26 | 2021-07-30 | 常州大学 | 一种三自由度机器人专用颈部关节结构 |
CN108501040B (zh) * | 2018-06-06 | 2023-06-20 | 枣庄学院 | 一种磁驱动柔性机械臂 |
CN209408491U (zh) * | 2018-09-13 | 2019-09-20 | 清华大学 | 一种变直径蛇形机器人模块及蛇形机器人 |
CN110103462B (zh) * | 2019-05-31 | 2021-02-26 | 华中科技大学 | 具有弹射与抓取功能的软体抓手及其3d打印制备方法 |
CN110281541B (zh) * | 2019-07-29 | 2023-09-08 | 北京理工大学 | 一种负压线性收缩气动人工肌肉及其制造方法 |
CN111152209B (zh) * | 2020-01-09 | 2022-07-19 | 吉林大学 | 线驱动仿生软体机械手 |
CN112720428A (zh) * | 2021-01-19 | 2021-04-30 | 杨慧 | 一种基于高端设备制造业的新一代工业机器人 |
CN112932367B (zh) * | 2021-03-05 | 2022-06-17 | 深圳拓邦股份有限公司 | 一种清洁设备的定点清扫方法与清洁设备 |
CN113146604B (zh) * | 2021-05-06 | 2022-08-26 | 吉林大学 | 一种紧凑型具有变刚度被动柔性的人工肌肉模块 |
CN113146605B (zh) * | 2021-05-06 | 2022-08-26 | 吉林大学 | 一种紧凑型具有机械柔性的人工肌肉模块 |
Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4733603A (en) * | 1983-11-21 | 1988-03-29 | Mirko Kukolj | Axially contractable actuator |
US4819547A (en) * | 1988-03-28 | 1989-04-11 | Mirko Kukolj | Axially contractable actuator |
US4841845A (en) * | 1986-09-22 | 1989-06-27 | Theophile Beullens | Hydraulic or pneumatic drive device |
CN1171924A (zh) * | 1997-05-08 | 1998-02-04 | 黄上立 | 一种人工管状肌肉及其应用 |
CN1413562A (zh) * | 2002-10-14 | 2003-04-30 | 重庆工学院 | 人工肌肉 |
CN1613618A (zh) * | 2004-11-04 | 2005-05-11 | 江南大学 | 螺旋弹簧骨架流体驱动式弯曲关节 |
CN1666720A (zh) * | 2005-04-04 | 2005-09-14 | 江南大学 | 螺旋弹簧式人工肌肉的柔性关节 |
CN101219075A (zh) * | 2007-11-27 | 2008-07-16 | 中国计量学院 | 基于形状记忆合金变形网的多自由度智能气动肌肉 |
CN101306535A (zh) * | 2008-07-09 | 2008-11-19 | 北京理工大学 | 一种气动人工肌肉 |
CN103786168A (zh) * | 2014-01-22 | 2014-05-14 | 北华大学 | 气动旋伸型三螺旋柔性关节 |
Family Cites Families (33)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3941328B2 (ja) * | 2000-04-06 | 2007-07-04 | セイコーエプソン株式会社 | 身体装着型筋力補助装置 |
US6684754B2 (en) * | 2001-07-10 | 2004-02-03 | Alan Elbert Comer | Pneumatic muscle analogs for exoskeletal robotic limbs and associated control mechanisms |
US6713944B2 (en) * | 2002-01-02 | 2004-03-30 | Omron Corporation | Actuator and method of manufacturing a strain element |
JP2003218417A (ja) * | 2002-01-25 | 2003-07-31 | Nippon Hoso Kyokai <Nhk> | 圧電・電歪素子及びそれを用いた装置 |
JP2005081487A (ja) * | 2003-09-08 | 2005-03-31 | Honda Motor Co Ltd | 高分子アクチュエータ |
CN100368161C (zh) * | 2005-02-23 | 2008-02-13 | 江南大学 | 组合肌肉式多方向弯曲的柔性关节 |
CN1799788B (zh) * | 2006-01-05 | 2010-09-29 | 江南大学 | 流体驱动人工肌肉的并联机器人 |
CN100519100C (zh) * | 2006-01-10 | 2009-07-29 | 江南大学 | 直线膨胀人工肌肉驱动的弯曲关节 |
CN1845443B (zh) * | 2006-03-16 | 2010-05-12 | 中国科学技术大学 | 一种任意行程高精度直线驱动器 |
CN200979890Y (zh) * | 2006-12-06 | 2007-11-21 | 曹新东 | 一种螺旋型压电陶瓷换能器 |
JP5186158B2 (ja) * | 2007-08-30 | 2013-04-17 | 東海ゴム工業株式会社 | アクチュエータ |
JP5080207B2 (ja) * | 2007-11-05 | 2012-11-21 | 真 内海 | アクチュエータ装置およびこれを用いるロボット装置 |
JP5079458B2 (ja) * | 2007-11-07 | 2012-11-21 | アクティブリンク株式会社 | 動作支援装置 |
CN101750706B (zh) * | 2008-11-28 | 2012-10-10 | 鸿富锦精密工业(深圳)有限公司 | 晶圆级镜头模组及其阵列 |
CN201493846U (zh) * | 2009-03-24 | 2010-06-02 | 北京理工大学 | 气动混联机构的三自由度运动模拟器 |
CN201380495Y (zh) * | 2009-04-04 | 2010-01-13 | 北华大学 | 伸长型人工肌肉 |
JP4777488B2 (ja) * | 2009-09-24 | 2011-09-21 | パナソニック株式会社 | 平板積層型導電性高分子アクチュエータ |
CN101863030B (zh) * | 2010-04-14 | 2012-05-16 | 南京理工大学 | 充气伸长型气动柔性驱动器 |
CN101870111A (zh) * | 2010-04-28 | 2010-10-27 | 青岛恩威机器人科技有限公司 | 机器人的关节驱动装置 |
CN101850551B (zh) * | 2010-05-29 | 2011-07-20 | 北华大学 | 双体人工肌肉 |
JP5772221B2 (ja) * | 2011-05-27 | 2015-09-02 | 株式会社村田製作所 | 電歪アクチュエータおよびその使用方法 |
CN202241293U (zh) * | 2011-10-26 | 2012-05-30 | 宁波力匠机械制造有限公司 | 人工管状肌肉 |
CN102579158B (zh) * | 2012-03-28 | 2014-12-10 | 李子怡 | 仿生肌肉纤维及其制成的仿生肌体 |
JP5943734B2 (ja) * | 2012-06-25 | 2016-07-05 | キヤノン株式会社 | ロボット及びロボット制御方法 |
CN202862215U (zh) * | 2012-11-06 | 2013-04-10 | 林志娟 | 一种柔性气动执行器 |
CN103598930A (zh) * | 2013-11-30 | 2014-02-26 | 陆华峰 | 一种使用磁流体产生液压的人工肌肉 |
CN203660923U (zh) * | 2014-01-10 | 2014-06-18 | 长安大学 | 一种仿人直线驱动器 |
CN103786166B (zh) * | 2014-01-22 | 2017-01-04 | 北华大学 | 气动旋伸型双螺旋柔性关节 |
CN103786169B (zh) * | 2014-01-22 | 2016-09-14 | 北华大学 | 气动旋伸型四螺旋柔性关节 |
CN103802126A (zh) * | 2014-03-07 | 2014-05-21 | 上海当世流体动力控制设备有限公司 | 液压仿生肌肉 |
CN104600190A (zh) * | 2014-12-25 | 2015-05-06 | 镇江丰成民用联网设备科技有限公司 | 一种新型压电复合材料 |
CN106625578B (zh) * | 2015-08-28 | 2019-04-05 | 深兰科技(上海)有限公司 | 一种人工肌肉及其应用、机器人 |
CN105572173B (zh) * | 2015-12-29 | 2018-07-03 | 西安交通大学 | 通过螺旋位移放大结构测量逆挠曲电系数的装置及方法 |
-
2015
- 2015-08-28 CN CN201611023595.8A patent/CN106625578B/zh active Active
- 2015-08-28 CN CN201611023567.6A patent/CN106426142B/zh active Active
- 2015-08-28 CN CN201510399691.1A patent/CN104999475B/zh active Active
- 2015-08-28 CN CN201611023605.8A patent/CN106426144B/zh active Active
- 2015-08-28 CN CN201611023568.0A patent/CN106695772B/zh active Active
- 2015-08-28 CN CN201611023473.9A patent/CN106426138B/zh active Active
- 2015-08-28 CN CN201611023594.3A patent/CN106426143B/zh active Active
- 2015-08-28 CN CN201611023475.8A patent/CN106426140B/zh active Active
- 2015-08-28 CN CN201611023474.3A patent/CN106426139B/zh active Active
- 2015-08-28 CN CN201611023566.1A patent/CN106426141B/zh active Active
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4733603A (en) * | 1983-11-21 | 1988-03-29 | Mirko Kukolj | Axially contractable actuator |
US4841845A (en) * | 1986-09-22 | 1989-06-27 | Theophile Beullens | Hydraulic or pneumatic drive device |
US4819547A (en) * | 1988-03-28 | 1989-04-11 | Mirko Kukolj | Axially contractable actuator |
CN1171924A (zh) * | 1997-05-08 | 1998-02-04 | 黄上立 | 一种人工管状肌肉及其应用 |
CN1413562A (zh) * | 2002-10-14 | 2003-04-30 | 重庆工学院 | 人工肌肉 |
CN1613618A (zh) * | 2004-11-04 | 2005-05-11 | 江南大学 | 螺旋弹簧骨架流体驱动式弯曲关节 |
CN1666720A (zh) * | 2005-04-04 | 2005-09-14 | 江南大学 | 螺旋弹簧式人工肌肉的柔性关节 |
CN101219075A (zh) * | 2007-11-27 | 2008-07-16 | 中国计量学院 | 基于形状记忆合金变形网的多自由度智能气动肌肉 |
CN101306535A (zh) * | 2008-07-09 | 2008-11-19 | 北京理工大学 | 一种气动人工肌肉 |
CN103786168A (zh) * | 2014-01-22 | 2014-05-14 | 北华大学 | 气动旋伸型三螺旋柔性关节 |
Also Published As
Publication number | Publication date |
---|---|
CN106426140B (zh) | 2019-01-08 |
CN106426142A (zh) | 2017-02-22 |
CN106625578A (zh) | 2017-05-10 |
CN106426138B (zh) | 2019-01-18 |
CN106695772B (zh) | 2019-03-05 |
CN104999475B (zh) | 2017-11-14 |
CN106426138A (zh) | 2017-02-22 |
CN106426141A (zh) | 2017-02-22 |
CN106426139B (zh) | 2019-02-22 |
CN106695772A (zh) | 2017-05-24 |
CN106625578B (zh) | 2019-04-05 |
CN106426141B (zh) | 2019-01-18 |
CN106426140A (zh) | 2017-02-22 |
CN106426142B (zh) | 2019-03-01 |
CN106426144B (zh) | 2019-01-18 |
CN106426143A (zh) | 2017-02-22 |
CN104999475A (zh) | 2015-10-28 |
CN106426139A (zh) | 2017-02-22 |
CN106426144A (zh) | 2017-02-22 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN106426143B (zh) | 一种人工肌肉及其应用、机器人 | |
US9771956B2 (en) | Actuator, actuator apparatus, and method of driving actuator | |
Yang et al. | High performance twisted and coiled soft actuator with spandex fiber for artificial muscles | |
Daerden | Conception and realization of pleated pneumatic artificial muscles and their use as compliant actuation elements | |
JPH0324304A (ja) | 弾性伸長体を用いたアクチュエータ | |
US5165323A (en) | Pneumatic actuators for manipulators | |
CN103786166B (zh) | 气动旋伸型双螺旋柔性关节 | |
DE102011104026A1 (de) | Nachgiebiger Fluidantrieb zur Erzeugung einer nahezu exakten bidirektionalen Schraubenbewegung und dazugehöriges Verfahren | |
WO2023070805A1 (zh) | 基于编织管的双向线性快响应螺旋卷绕式气动人工肌肉 | |
JP2010127429A (ja) | 流体アクチュエータ | |
CN105735507B (zh) | 一种拉压型磁性形状记忆合金多模式智能阻尼器 | |
KR101334389B1 (ko) | 자기유변 탄성중합체를 이용한 베어링 장치 | |
CN103786168B (zh) | 气动旋伸型三螺旋柔性关节 | |
Gong et al. | Development and performance analysis of the flexible pneumatic artificial muscle | |
Zang et al. | Study on modeling of Mckibben pneumatic artificial muscle | |
CN205712545U (zh) | 一种拉压型磁性形状记忆合金多模式智能阻尼器 | |
CN107250637A (zh) | 具有可操作的轮的阀操作器组件 | |
Peel et al. | The effect of scale on fluid-filled flexible composite actuators | |
JP2018115754A (ja) | アクチュエータ、アクチュエータ装置、およびアクチュエータの駆動方法 | |
CN201866148U (zh) | 双环双向螺旋弹簧 | |
Xiaomin et al. | Mechanical characteristics analysis on PAM with elongation and torsion | |
RU2008134619A (ru) | Баллон высокого давления | |
EP0677662A1 (de) | Muskelartiges Kraftelement | |
Teodor et al. | ACTUATORS USED FOR ARTIFICIAL MUSCLES | |
Saga et al. | Control performance of pneumatic artificial muscle |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20180817 Address after: 325700 Wenzhou, Dongtou, Zhejiang Province North Road, 1 Street, No. 1, electronic and Electrical Technology Park, A1 fifth, 515 rooms. Applicant after: WENZHOU DONGTOU BEIAO SHENGLI MACHINERY DESIGN STUDIO Address before: 362200 Room 502, main building, Yin Li building, Quanzhong Road, Qingyang, Jinjiang, Quanzhou, Fujian Applicant before: Liu Wei |
|
TA01 | Transfer of patent application right | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20201211 Address after: 234000 yuan Lou, Dulou Town, Xiao County, Suzhou City, Anhui Province Patentee after: Anhui bright noodle Co.,Ltd. Address before: 325700 Wenzhou, Dongtou, Zhejiang Province North Road, 1 Street, No. 1, electronic and Electrical Technology Park, A1 fifth, 515 rooms. Patentee before: WENZHOU DONGTOU BEIAO SHENGLI MACHINERY DESIGN STUDIO |
|
TR01 | Transfer of patent right | ||
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: A type of artificial muscle and its application, robot Granted publication date: 20180925 Pledgee: Huishang Bank Co.,Ltd. Xiaoxian Branch Pledgor: Anhui bright noodle Co.,Ltd. Registration number: Y2024980014854 |
|
PE01 | Entry into force of the registration of the contract for pledge of patent right |