CN101633403B – Undulation Propelling Mechanism Driven By Shape Memory Alloy Wires – Google Patents

360 degree swivel chiksan joint for coolant system.. El triángulo es un ejercicio de estiramiento un poco más complejo pero muy útil para aliviar el dolor de espalda. A continuación, te hablaremos de algunas posturas que pueden contribuir a aliviar el dolor de espalda. En el momento en que hagas el movimiento, la cadera se inclinará hacia un lado, y esto ayudará a calmar el dolor. Los momentos en los que el dolor se acentúa pueden llegar a ser desesperantes.

The specific embodiment two: as shown in Figure 9, each first swing module 1 of this embodiment comprises that also first retracing spring, 10, the first retracing springs 10 are arranged between each first swinging block 9 and each first support 4.So design, the first shape-memory alloy wire 7-1 heating of switch on, first swinging block 9 is drawn to the full swing position after, when first memory alloy wire cooled off, first retracing spring, 10 drives, first swinging block 9 made it be returned to initial position.Adopt first retracing spring 10 that restoring force is provided, make first swinging block 9 and the first fin spoke 8 in swing process, can when 7 coolings of first shape-memory alloy wire, initiatively be returned to initial position.Make undulation propelling mechanism when stop motion, all fin spokes can both remain on level attitude, are convenient to the control of mechanism.Other composition and annexation are identical with the specific embodiment one.

Tipos De Dolor Crónico

The specific embodiment four: as shown in Figure 8, each first swing module 1 of this embodiment also comprises the second retracing spring 10-1, is provided with the second retracing spring 10-1 between each second swinging block 9-1 and each support 4.So design makes undulation propelling mechanism when stop motion, and all fin spokes can both remain on level attitude, are convenient to the control of mechanism.Other composition and annexation are identical with the specific embodiment two. The specific embodiment six: shown in figure 16, each of this embodiment second swing module 11 comprises that also the 3rd retracing spring 20, the three retracing springs 20 are arranged between each the 3rd swinging block 19 and each second support 14.Other composition and annexation are identical with the specific embodiment five. The specific embodiment seven: shown in Figure 10~13; The said propulsive mechanism of this embodiment also comprises N-1 piece the 4th flexible covering 12-1; The said second swing module 11 also comprises the 4th rotating shaft 15-1, the 4th anchor shaft 16-2, two the 4th shape-memory alloy wire 17-2, the 4th fin spoke 18-1 and the 4th swinging block 19-1; The front portion of each second support 14 is equipped with the 4th rotating shaft 1 5-1; The 4th swinging block 19-1 is solidly set on the 4th rotating shaft 15-1, and the rear end of the 4th fin spoke 18-1 and the 4th swinging block 19-1 are affixed, and the 4th anchor shaft 16-2 is installed in the rear portion of second support 14; Be wound with two the 4th shape-memory alloy wire 17-2 that laterally arrange up and down on each the 4th anchor shaft 16-2; The end of every the 4th shape-memory alloy wire 17-2 is fixed on the 4th swinging block 19-1, and the other end of every the 4th shape-memory alloy wire 17-2 is fixed on second support 14, and adjacent two the 4th fin spoke 18-1 are provided with the 4th flexible covering 12-1.Other composition and annexation are identical with the specific embodiment six or seven.

Dolores Musculares En Los Brazos

Fig. 1 is the front view of the undulation propelling mechanism of shape-memory alloy wire driving; Fig. The present invention has following beneficial effect: the present invention utilizes the intellectual material shape-memory alloy wire as actuator, and the MPF in the imitation fish swimming pattern advances pattern, for bionic underwater robot provide a kind of flexibly, noise-free undulation propelling mechanism; Propulsive mechanism of the present invention is simple in structure, volume is little, and flexible movements are not subject to the influences of hydrophyte such as seabed pasture and water; Propulsive mechanism of the present invention can be combined into the fluctuation fin of any fluctuation fin divergence amount and length through modular design; Using the bionic underwater robot of this undulation propelling mechanism can advance in rock ditch seam, the more marine site of pasture and water; Carry out tasks such as observing, hide, be beneficial to and apply.

The objective of the invention is for solve adopting MPF to advance the undulatory propeller of mode motion to have complex structure, action noise is big and exercise performance is relatively poor problem, and then the undulation propelling mechanism that provides a kind of shape-memory alloy wire to drive. The material of the said first fin spoke 8 is plastics, metal, rubber or the thin bar of other better rigidity, and flexible covering can be connected on the fin spoke through direct stickup, mode such as penetrate.This undulation propelling mechanism can be positioned in the closure casing, only with fin spoke 8 and flexible covering 2 as for outside the housing.Can also as in liquid, working,, adopt heat-shrink tube or other wrapped with insulation in its outside, and carry out anticreep processing with whole propulsive mechanism as in the working medium in the joint for preventing memory alloy wire 7 electric leakages.

Dolor De Oidos

Shape-memory alloy wire 7-1 has one way shape-memory effect.Said shape-memory alloy wire does not limit material, as long as martensitic phase height Ms and Mf are higher than ambient temperature, and martensite reverse transformation temperature As and a little higher than ambient temperature of Af.The first shape-memory alloy wire 7-1 in this embodiment adopts the energising type of heating to drive.The pendulum angle that can control the fin spoke current”on”time easily through the control memory alloy wire. The present invention utilizes the memory effect of shape-memory alloy wire 7-1, and the contraction through memory alloy wire spurs first swinging block 9 and rotates around first rotating shaft 5, thereby drives fin spoke 8 swings that are connected on first swinging block 9.Shape-memory alloy wire in the first swing module 1 all is installed in the plane, and this mounting plane can have a certain degree with the end face of first support 4.This embodiment is simple in structure, flexible movements, reliable.

The said first fin spoke 8 of this embodiment is worked with differential mode; The first shape-memory alloy wire 7-1 is distributed in the two ends of first swinging block 9; One side, first shape-memory alloy wire 7-1 energising is shunk pulling first swinging block 9 and is rotated 8 swings of the drive first fin spoke, elongates the first shape-memory alloy wire 7-1 of opposition side simultaneously, during first shape-memory alloy wire 7-1 cooling; The first shape-memory alloy wire 7-1 energising of opposition side is shunk; Spur first swinging block 9 and rotate, drive the first fin spoke 8 to the opposition side swing, the first shape-memory alloy wire 7-1 of opposition side cooling then to opposition side.The crank motion of this differential type drives the periodic oscillations of fin spoke.

Existing employing MPF advances the undulatory propeller of mode motion mostly to adopt motor-driven, and propeller control is simple, and horsepower output is big, but motor has noise during motion, and complicated in mechanical structure.The undulatory propeller that adopts pneumatic mode to advance, controllability is good, but complex structure needs source of the gas.Employing current drives poly-mer (Electroactive Polymer, the undulatory propeller that EAP) drives is simple in structure, and quality is little, but the power output of EAP is less.The employing marmem (Shape Memory Alloy, SMA) undulatory propeller of thin plate driving carries out indirect heating through the resistor wire that is wrapped on the thin plate to SMA, and degradation of energy is big in the driving process, needs insulation between resistor wire and SMA thin plate. 1, and Fig. 4 is the vertical structure block diagram of swing module of the present invention; Fig. 6 is that shape-memory alloy wire is arranged and the connection scheme drawing in the vertical swing module, and Fig.

9 is the swing module vertical structure block diagram that single fin spoke has retracing spring; Figure 10 is a swing module horizontal type structure block diagram of the present invention, and Figure 11 is the undulation propelling mechanism block diagram that comprises two swing module horizontal type structures, and Figure 12 is that shape-memory alloy wire connects scheme drawing in the horizontal swing module; Figure 13 is that shape-memory alloy wire is arranged scheme drawing in the horizontal swing module; Figure 14 is single fin spoke horizontal type structure swing module diagram, and Figure 15 is the horizontal type structure swing module diagram that has retracing spring, and Figure 16 is the horizontal type structure swing module diagram that single fin spoke has retracing spring.

Dolor De Espalda

Along with the development and utilization of marine resources, the under-water robot technology has received the extensive concern of researcher.Traditional under-water robot mostly adopts pressure shell structure and screw propeller to advance, and robot motion’s underaction is big to environmental perturbation, and motion is influenced by hydrophyte such as pasture and water should under water.The deep research that promotes bionic underwater robot of the development of manufacturing technology and bionics Study, hydrobiological propulsion mode motions such as bionic underwater robot imitation fish, motion is flexibly, and is little to environmental perturbation, not influenced by hydrophyte.

7 is single fin spoke vertical structure swing module diagram, and Fig. 1, and Fig. 3 is the birds-eye view of Fig. The specific embodiment eight: shown in Fig. Presion colon dolor lumbar . The specific embodiment one: shown in Fig. The specific embodiment three: shown in Fig. 2 is the left view of Fig. 5 is the undulation propelling mechanism block diagram that comprises two swing module vertical structures; Fig. 8 is the vertical structure swing module diagram that has retracing spring; Fig. The present invention relates to a kind of undulation propelling mechanism. Mientras tanto, extiende el brazo izquierdo por encima del cuerpo -apuntando hacia el techo- para lograr la posición en forma de triángulo.

  • Dolor en el párpado
  • Deformidad del miembro
  • Hinchazón, sensibilidad, o decoloración de las piernas
  • Aumento de peso en el embarazo
  • Press con mancuernas
  • Proporcionan un bronceado lento y duradero
  • Problemas hepáticos

La vuelta a casa con una prótesis de cadera - Fisiohogar Una de las posturas más recomendadas para tal fin es la posición gato-vaca. A través de este ejercicio tan simple, estirarás la zona lumbar y alcanzarás una sensación de alivio. El perro boca abajo es una de las posiciones más comunes de yoga. Esto ayuda a reducir el estrés y a relajar el cuerpo. En algunas ocasiones, un tratamiento más específico se vuelve necesario para acabar con este problema tan limitante y común hoy en día. Colócate de pie con los brazos a los lados y llévalos hacia arriba mientras inhalas. Tus brazos deben quedar extendidos.

. Hernia de hiato dolor espalda