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    • 1. 发明申请
    • VALVES AND ARTIFICIAL MUSCLES
    • 阀门和人造肌肉
    • WO2011070558A2
    • 2011-06-16
    • PCT/IB2011/050365
    • 2011-01-27
    • MAJOE, Dennis
    • MAJOE, Dennis
    • F15B13/044
    • F16K31/0651F15B13/0405F15B15/103F16K31/0693
    • A valve (30) has a tubular valve member (40) movable, for example by a solenoid (38) and spring (46), so that a first end (42) of the valve member moves between a closed position in which it engages a valve seat (64) and is blocked and an open position in which it is spaced from the valve seat so that fluid can flow between ports (34,36). The operating force required to open the valve can be substantially reduced compared to a similar valve with a solid valve member. An artificial muscle comprising a variable volume flexible chamber (44), a system (which may include the valve)for varying the volume of and/or pressure in the chamber to inflate and deflate the chamber, and a tendon (18) for transmitting force and/or movement between the chamber and a load. In its deflated state, the chamber is wrapped at least partly around an elongate former (12). In its deflated state, the chamber can therefore have a substantial diameter but the volume of working fluid in the chamber can be very small or, in the limit, zero. The former might be a solid body contained within the chamber. Alternatively, the former is preferably outside the interior of the chamber. When the chamber is deflated, the tendon tension tends to pull the chamber neatly around the former.
    • 阀(30)具有例如通过螺线管(38)和弹簧(46)可移动的管状阀构件(40),使得阀构件的第一端(42)移动 在其与阀座(64)接合并且被阻塞的关闭位置和与阀座隔开以使得流体可以在端口(34,36)之间流动的打开位置之间移动。 与具有固体阀构件的类似阀相比,打开阀所需的操作力可以显着降低。 一种人造肌肉,其包括可变体积的柔性腔室(44),用于改变腔室中的体积和/或压力以使腔室膨胀和收缩的系统(其可以包括阀门),以及用于传递力的肌腱(18) 和/或腔室与负载之间的运动。 在其放气状态下,腔室至少部分地围绕细长成形器(12)缠绕。 在其放气状态下,腔室因此可以具有相当大的直径,但腔室中的工作流体的体积可以非常小,或者在极限情况下为零。 前者可能是一个包含在房间内的坚实的身体。 或者,前者优选在腔室内部之外。 当腔室放气时,肌腱张力倾向于将腔室整齐地拉向前者。
    • 2. 发明申请
    • VALVES AND ARTIFICIAL MUSCLES
    • 阀门和人造音乐
    • WO2011070558A3
    • 2011-12-15
    • PCT/IB2011050365
    • 2011-01-27
    • MAJOE DENNIS
    • MAJOE DENNIS
    • F15B13/044F15B13/04F16K31/06
    • F16K31/0651F15B13/0405F15B15/103F16K31/0693
    • A valve (30) has a tubular valve member (40) movable, for example by a solenoid (38) and spring (46), so that a first end (42) of the valve member moves between a closed position in which it engages a valve seat (64) and is blocked and an open position in which it is spaced from the valve seat so that fluid can flow between ports (34,36). The operating force required to open the valve can be substantially reduced compared to a similar valve with a solid valve member. An artificial muscle comprising a variable volume flexible chamber (44), a system (which may include the valve)for varying the volume of and/or pressure in the chamber to inflate and deflate the chamber, and a tendon (18) for transmitting force and/or movement between the chamber and a load. In its deflated state, the chamber is wrapped at least partly around an elongate former (12). In its deflated state, the chamber can therefore have a substantial diameter but the volume of working fluid in the chamber can be very small or, in the limit, zero. The former might be a solid body contained within the chamber. Alternatively, the former is preferably outside the interior of the chamber. When the chamber is deflated, the tendon tension tends to pull the chamber neatly around the former.
    • 阀(30)具有可例如通过螺线管(38)和弹簧(46)可移动的管状阀构件(40),使得阀构件的第一端(42)在其接合的关闭位置之间移动 阀座(64)并被阻塞,并且与阀座间隔开的打开位置,使得流体可以在端口(34,36)之间流动。 与具有固体阀构件的类似阀相比,打开阀所需的操作力可以大大降低。 包括可变容积柔性室(44)的人造肌肉,用于改变腔室中的体积和/或压力以使腔室膨胀和放气的系统(可包括阀门)和用于传递力的腱(18) 和/或腔室和负载之间的运动。 在其放气状态下,室至少部分地围绕细长的成形器(12)包裹。 因此,在其放气状态下,腔室可以具有相当大的直径,但是腔室中的工作流体的体积可以非常小或在极限为零。 前者可能是包含在房间内的固体。 或者,前者优选在室的内部之外。 当腔室收缩时,肌腱张力倾向于将腔室整齐地拉到前者周围。
    • 4. 发明申请
    • ARTIFICIAL MUSCLES
    • 人造音乐
    • WO2009077785A2
    • 2009-06-25
    • PCT/GB2008/051190
    • 2008-12-15
    • MAJOE, Dennis
    • MAJOE, Dennis
    • F15B15/103B25J9/1075B25J9/1095F15B15/10F15B21/06
    • An artificial muscle (10) comprises a chamber (12) having a flexible wall of plastics material, a device for heating and/or cooling a low-boiling-point fluid contained in, or in communication with, the chamber so that at least some of the fluid changes state between liquid and gaseous so that the force in the chamber on the flexible wall changes and/or the flexible wall moves to change the volume of the chamber, and a tendon (14) which at least partly encircles the chamber over an extent that varies with variations in the chamber volume for transmitting force between the flexible wall and a load. The use of a low-boiling-point fluid operating at around its boiling point enables plastics materials to be used without thermal damage, and the use of plastics materials enables low production costs. The use of a flexible wall to convey an effort to a load avoids the need for sliding parts and can provide advantages such as reduced friction and ease of sealing. The use of a low-boiling-point fluid operating at around its boiling point also enables large changes in pressure to be achieved with relatively small changes in temperature, so that the muscle can operate over a relatively small temperature range. The use of a low-boiling-point fluid operating at around its boiling point also reduces the risk of personal injury. The tendon arrangement provides less of a restriction on the operating range of the muscle than a McKibben- type arrangement.
    • 人造肌肉(10)包括具有柔性塑料材料壁的腔室(12),用于加热和/或冷却容纳在腔室中或与腔室连通的低沸点流体的装置,使得至少一些 流体在液体和气体之间变化的状态,使得柔性壁上的腔室中的力改变和/或柔性壁移动以改变腔室的体积,以及至少部分地围绕腔室的腱(14) 随着腔室容积的变化而变化的程度随着柔性壁和负载之间的传递力而变化。 使用在沸点附近操作的低沸点流体使得塑料材料能够在没有热损伤的情况下使用,并且使用塑料材料可以降低生产成本。 使用柔性壁将负载转移到负载上避免了对滑动部件的需要,并且可以提供诸如减少摩擦和易于密封的优点。 使用在其沸点附近操作的低沸点流体也能够在相对较小的温度变化下实现压力的大的变化,使得肌肉可以在相对较小的温度范围内操作。 使用在沸点附近操作的低沸点流体也会降低人身伤害的风险。 肌腱布置对肌肉的操作范围的限制比McKibben型排列少。
    • 6. 发明申请
    • ELECTROMAGNETIC MACHINE
    • WO2019166833A1
    • 2019-09-06
    • PCT/GB2019/050591
    • 2019-03-01
    • MAJOE, Dennis
    • MAJOE, Dennis
    • H02K3/47H02K21/12H02K41/03
    • A motor (1) has a pair of journal supports (2), between which is journalled a rotor (3) on a shaft (4). The rotor has a disc (5) fast with the shaft and at right angles to it, whereby it rotates without wobble. At the circumference of the disc, a plurality of short, circular cylindrical permanent magnets (6) are provided at the same radial distance (7) from the shaft to their polar axes, tangential to the disc at their mid-point, with their polar axes in the central plane of the disc and the midpoints of the axes on a circular path (9) of radius (7), and equally spaced around the disc with an angular pitch (10) equal to double their polar length (11). A stator (12) is carried by the supports on rods (14). It comprises two formers (15,16). Each has an inner annular flange (17), flanking the disc within the radius of the radius of the magnets with clearance. Around the magnets, the formers are have semi-toric formations (18), which together provide a toric void in which the magnets rotate. The formers have fingers (20) extending in the plane of flanges (17) and spaced with winding gaps (21). The angular pitch of the gaps (21), and of the fingers, is one half of the pitch (10) of the magnets. Lips (22) for a winding (23) are provided. These are at the angular pitch of the magnets. The winding is under the lip (22) on one side, over and around the formations (18) via the next gap (21), under the lip on the other side, the lips being interdigitated from side to side and back around the formations, via the next gap again.
    • 7. 发明申请
    • ARTIFICIAL MUSCLES
    • 人造肌肉
    • WO2009077785A3
    • 2009-11-19
    • PCT/GB2008051190
    • 2008-12-15
    • MAJOE DENNIS
    • MAJOE DENNIS
    • F15B15/10F15B21/06
    • F15B15/103B25J9/1075B25J9/1095F15B15/10F15B21/06
    • An artificial muscle (10) comprises a chamber (12) having a flexible wall of plastics material, a device for heating and/or cooling a low-boiling-point fluid contained in, or in communication with, the chamber so that at least some of the fluid changes state between liquid and gaseous so that the force in the chamber on the flexible wall changes and/or the flexible wall moves to change the volume of the chamber, and a tendon (14) which at least partly encircles the chamber over an extent that varies with variations in the chamber volume for transmitting force between the flexible wall and a load. The use of a low-boiling-point fluid operating at around its boiling point enables plastics materials to be used without thermal damage, and the use of plastics materials enables low production costs. The use of a flexible wall to convey an effort to a load avoids the need for sliding parts and can provide advantages such as reduced friction and ease of sealing. The use of a low-boiling-point fluid operating at around its boiling point also enables large changes in pressure to be achieved with relatively small changes in temperature, so that the muscle can operate over a relatively small temperature range. The use of a low-boiling-point fluid operating at around its boiling point also reduces the risk of personal injury. The tendon arrangement provides less of a restriction on the operating range of the muscle than a McKibben- type arrangement.
    • 人造肌肉(10)包括具有柔性塑料材料壁的腔室(12),用于加热和/或冷却容纳在腔室中或与腔室连通的低沸点流体的装置,使得至少一些 的流体在液体和气体之间改变状态,使得柔性壁上的腔室中的力改变和/或柔性壁移动以改变腔室的体积,以及肌腱(14),其至少部分地围绕腔室 该程度随着用于在柔性壁和负载之间传递力的腔室容积的变化而变化。 使用在其沸点附近操作的低沸点流体可使塑料材料在没有热损伤的情况下使用,并且使用塑料材料可降低生产成本。 使用柔性壁将力量传递给负载避免了对滑动部件的需求,并且可以提供诸如减小的摩擦和易于密封的优点。 使用在其沸点附近操作的低沸点流体也能够在相对较小的温度变化下实现大的压力变化,从而肌肉可以在相对小的温度范围内运行。 使用在其沸点附近运行的低沸点流体也可降低人身伤害的风险。 与McKibben型安排相比,肌腱安排对肌肉的工作范围提供了更少的限制。