CN106737570B - 液压与仿生肌肉共同驱动的微型机械臂及其驱动方法 - Google Patents
液压与仿生肌肉共同驱动的微型机械臂及其驱动方法 Download PDFInfo
- Publication number
- CN106737570B CN106737570B CN201610998687.1A CN201610998687A CN106737570B CN 106737570 B CN106737570 B CN 106737570B CN 201610998687 A CN201610998687 A CN 201610998687A CN 106737570 B CN106737570 B CN 106737570B
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- China
- Prior art keywords
- shell
- oil
- hydraulic
- arm
- proportioning valve
- Prior art date
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- 210000003205 muscle Anatomy 0.000 title claims abstract description 48
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 46
- 238000000034 method Methods 0.000 title claims abstract description 15
- 239000000446 fuel Substances 0.000 claims abstract description 11
- 239000003921 oil Substances 0.000 claims description 123
- 239000010720 hydraulic oil Substances 0.000 claims description 15
- 239000012530 fluid Substances 0.000 claims description 10
- 239000002828 fuel tank Substances 0.000 claims description 7
- 230000008602 contraction Effects 0.000 claims description 6
- 229920001746 electroactive polymer Polymers 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims 1
- 230000003467 diminishing effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000008961 swelling Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
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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
-
- 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
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (9)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610998687.1A CN106737570B (zh) | 2016-11-14 | 2016-11-14 | 液压与仿生肌肉共同驱动的微型机械臂及其驱动方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610998687.1A CN106737570B (zh) | 2016-11-14 | 2016-11-14 | 液压与仿生肌肉共同驱动的微型机械臂及其驱动方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN106737570A CN106737570A (zh) | 2017-05-31 |
CN106737570B true CN106737570B (zh) | 2019-01-22 |
Family
ID=58973499
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201610998687.1A Active CN106737570B (zh) | 2016-11-14 | 2016-11-14 | 液压与仿生肌肉共同驱动的微型机械臂及其驱动方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN106737570B (zh) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108170191B (zh) * | 2018-01-18 | 2023-05-02 | 北京化工大学 | 一种pvt精确控制人造肌肉 |
CN110118208B (zh) * | 2019-04-19 | 2020-10-30 | 武汉智仁传控技术有限公司 | 适用于机械臂的液压***和机械臂 |
CN110053070A (zh) * | 2019-05-06 | 2019-07-26 | 胡杰 | 一种仿肌肉伸缩驱动的机器人关节装置 |
CN110421551B (zh) * | 2019-08-08 | 2021-07-30 | 合肥哈工力训智能科技有限公司 | 一种具有肌张力表现的仿生前臂机构 |
CN112796071A (zh) * | 2019-11-14 | 2021-05-14 | 博西华电器(江苏)有限公司 | 洗衣装置及其控制方法 |
CN113771022B (zh) * | 2021-09-24 | 2023-12-12 | 天津大学 | 一种基于柔性异形管编织方式的自传感气动人工肌肉 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101622107B (zh) * | 2006-10-13 | 2012-09-19 | 机扑工程技术利得股份有限公司 | 蠕虫状机构 |
DE102009043405B3 (de) * | 2009-09-29 | 2011-04-07 | Kuka Roboter Gmbh | Industrieroboter mit einem Gewichtsausgleichssystem |
DE102009058653A1 (de) * | 2009-12-16 | 2011-06-22 | FESTO AG & Co. KG, 73734 | Ausgleichseinheit |
CN103625625B (zh) * | 2013-12-09 | 2016-05-11 | 中国人民解放军国防科学技术大学 | 基于液压人工肌肉的仿生尾鳍水下推进器 |
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 |
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2016
- 2016-11-14 CN CN201610998687.1A patent/CN106737570B/zh active Active
Also Published As
Publication number | Publication date |
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CN106737570A (zh) | 2017-05-31 |
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Effective date of registration: 20201110 Address after: 310012 room 2603, building 8, No. 2, xiyuanba Road, Sandun Town, Xihu District, Hangzhou City, Zhejiang Province Patentee after: HANGZHOU ZHUILIE TECHNOLOGY Co.,Ltd. Address before: Hangzhou City, Zhejiang province 310018 Xiasha Higher Education Park No. 2 street Patentee before: HANGZHOU DIANZI University |
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Effective date of registration: 20201211 Address after: 241100 8 / F, building 5, Wuhu TONGHANG Innovation Park, Wanbi Town, Wuhu City, Anhui Province Patentee after: Wuhu Digital Information Industrial Park Co.,Ltd. Address before: Room 2603, building 8, No.2, Xiyuan 8th Road, Sandun Town, Xihu District, Hangzhou City, Zhejiang Province Patentee before: HANGZHOU ZHUILIE TECHNOLOGY Co.,Ltd. |
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EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20170531 Assignee: Hangzhou ludai Technology Co.,Ltd. Assignor: Wuhu Digital Information Industrial Park Co.,Ltd. Contract record no.: X2021330000096 Denomination of invention: Micro manipulator driven by hydraulic pressure and bionic muscle and its driving method Granted publication date: 20190122 License type: Common License Record date: 20210819 |
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EE01 | Entry into force of recordation of patent licensing contract | ||
EC01 | Cancellation of recordation of patent licensing contract |
Assignee: Hangzhou ludai Technology Co.,Ltd. Assignor: Wuhu Digital Information Industrial Park Co.,Ltd. Contract record no.: X2021330000096 Date of cancellation: 20230104 |
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EC01 | Cancellation of recordation of patent licensing contract |