A fully flexible continuous rotation actuator and method thereof
A fully flexible and actuator technology, applied in the direction of program control manipulators, manufacturing tools, manipulators, etc., to achieve the effect of improving flexibility and broad application prospects
Active Publication Date: 2020-07-17
ZHEJIANG UNIV
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Problems solved by technology
[0003] In order to solve the problem that the fully flexible torsional actuator can only achieve a limited angle of torsion, the present invention provides a fully flexible continuous rotary actuator and its method for soft robots
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[0030] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0031] Such as figure 1 , Image 6 As shown, the present invention includes a fully flexible torsional actuator 1 and a fully flexible one-way bearing 2 connected coaxially; the fully flexible torsional actuator 1 is a rotating unit, mainly composed of an upper bottom surface 16, a lower bottom surface 18, side curved surfaces 17 and The actuator is composed of silicone tube 15, the size of the upper bottom surface 16 is smaller than the size of the lower bottom surface 18, and the side curved surface 17 is sealed and connected between the upper bottom surface 16 and the lower bottom surface 18, so that the entire fully flexible torsional actuator 1 forms a sealed air chamber, and The fully flexible torsion actuator 1 forms a platform that is approximately small at the top and large at the bottom. There is a hole in the middle of the upper bottom surfa...
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The invention discloses a fully flexible continuously rotating actuator and a method thereof. A side curved surface of a fully flexible torsion actuator is connected between an upper bottom surface and a lower bottom surface in a sealed and surrounding mode. All parts except an inner ring connecting plate of a bearing inner ring of a fully flexible one-way bearing are installed in a cavity of a bearing outer ring. High-pressure gas is led to the fully flexible one-way bearing, and therefore the bearing inner ring and the bearing outer ring are mutually squeezed into a whole. Negative pressureis led to the fully flexible torsion actuator, and therefore the bearing inner ring and the bearing outer ring are driven to rotate at the same time. The atmospheric pressure is led to the fully flexible one-way bearing, and therefore the bearing inner ring and the bearing outer ring are separated. The atmospheric pressure is led to the fully flexible torsion actuator, therefore the bearing innerring is driven to rotate in the counterclockwise direction, and the bearing outer ring is kept stationary, so that continuous rotation of the bearing outer ring at full angle is realized. The fully flexible continuously rotating actuator and the method thereof solve the problem that the torsion angle of a traditional torsion actuator is limited, full-angle all-around continuous rotation of the fully flexible continuously rotating actuator is realized, the flexibility of a software robot is greatly improved, and the application prospect is broad.
Description
technical field [0001] The invention relates to a structural component of a soft robot, in particular to a fully flexible continuous rotation actuator and a method thereof. Background technique [0002] The existing fully flexible torsional actuators can only achieve a limited angle of torsion and cannot rotate continuously, which limits its application in some places, such as making a fully flexible wheel. For scenarios where the current technology cannot be applied, it is necessary to study a new type of fully flexible continuous rotation actuator to solve the problem. Contents of the invention [0003] In order to solve the problem that a fully flexible torsional actuator can only achieve a limited angle of torsion, the present invention provides a fully flexible continuous rotary actuator and its method for use in soft robots. [0004] The technical scheme adopted in the present invention is: [0005] 1. A fully flexible continuous rotary actuator [0006] The inven...
Claims
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IPC IPC(8): B25J9/00
CPCB25J9/00B25J9/0009
Inventor 邹俊焦中栋
Owner ZHEJIANG UNIV