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Soft body driver

A technology of software drivers and driving devices, applied in manipulators, manufacturing tools, etc., can solve problems such as application limitations of soft robots, and achieve the effects of omitting external energy supply, quick output response, and simple structure

Inactive Publication Date: 2019-08-27
成都普崔克机电有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to solve this problem, those skilled in the art have specifically designed soft actuators. The energy forms of existing soft actuators are mainly pneumatic or hydraulic, which basically require continuous external energy supply and complex control systems. In complex working environments, the application of soft robots is greatly restricted

Method used

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Examples

Experimental program
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Embodiment 1

[0039] This embodiment provides a software driver, including a twist tube 1 , an adapter part 2 and a driving device 3 . Wherein, the inner cavity of the torsion tube 1 is filled with fluid, the torsion tube 1 is provided with a positioning part and a movable part, and the segment between the positioning part and the movable part on the torsion tube 1 is a torsion segment, and the adapter part 2 is connected At the positioning part, the driving device 3 is connected to the movable part, and the driving device 3 can drive the movable part to rotate relative to the positioning part. When reset relative to the positioning site, the extruded fluid flows back into the torsion section, and the torsion section can change its own length by twisting and / or control the deformation of the external parts by retracting and releasing the fluid.

[0040] In the software actuator of the present invention, the torsion tube 1 is twisted by the driving device 3, and the part of the torsion tube ...

Embodiment 2

[0043] This embodiment provides a soft driver, which, on the basis of Embodiment 1, also includes an expansion part 4, the inner cavity of the expansion part 4 communicates with the inner cavity of the twist tube 1, and the positioning part and the movable part are respectively located in the twist tube. At both ends of 1, when the movable part rotates relative to the positioning part, the fluid in the torsion section is squeezed into the expansion part 4, and when the movable part is reset relative to the positioning part, the fluid flows back from the expansion part 4 to the torsion section .

[0044] In this embodiment, the expansion component 4 can only be used as a fluid-accommodating component, and the length of the twisted segment itself changes during the control process. The expansion component 4 can also be used as an external component, when the twisted segment squeezes the fluid into the expansion component 4, the expansion part 4 expands and deforms to shorten, an...

Embodiment 3

[0046] Such as figure 1As shown, this embodiment provides a software driver, which further illustrates the operation mode of the expansion member 4 on the basis of the second embodiment. Wherein, the end of the expansion part 4 far away from the positioning part is connected with the first actuator part 5, and the first actuator part 5 is movable along a straight line. The first actuator 5 translates.

[0047] In this embodiment, among both the adapter part 2 and the drive device 3, only the drive device 3 is fixed, the first actuator part 5 is slidably arranged in a fixed groove, and the axis of the expansion part 4 coincides with the axis of the torsion tube 1. on a straight line.

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Abstract

The invention relates to the technical field of drivers, and discloses a soft body driver. The soft body driver comprises a torsion pipe, an adaptive component and a drive device, wherein an inner cavity of the torsion pipe is filled with fluid, a positioning portion and a moving portion are arranged on the torsion pipe, a segment between the positioning portion and the moving portion on the torsion pipe is a torsion segment, the adaptive component is connected with the positioning portion, the drive device is connected with the moving portion, the drive device can drive the moving portion torotate relatively to the positioning portion, and when the moving portion rotates relatively to the positioning portion, the fluid in the torsion segment is extruded out of the torsion segment, and furthermore when the moving portion returns relatively to the positioning portion, the extruded fluid flows back into the torsion segment, and the length of the torsion segment can be changed through torsion of the torsion segment, and / or the torsion segment can control an external component to deform by receiving and releasing the fluid. The soft body driver is promptly in output response of drivepressure, simple in structure, and capable of adapting to complex operation environments.

Description

technical field [0001] The invention relates to the technical field of drivers, in particular to a software driver. Background technique [0002] With the development of soft robot technology, soft actuator has become one of the main research contents of soft robot technology. [0003] Traditional rigid actuators are no longer suitable for soft robots due to their complex structure, limited flexibility, poor safety and adaptability. In practical applications, in addition to requiring a simple structure, soft robots are required to have extremely high safety in human-computer interaction and adaptability to the environment. As a driver for soft robots, they also need to meet such performance requirements. [0004] In order to solve this problem, those skilled in the art have specifically designed soft actuators. The energy forms of existing soft actuators are mainly pneumatic or hydraulic, which basically require continuous external energy supply and complex control systems....

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J11/00
CPCB25J11/00
Inventor 陈永华
Owner 成都普崔克机电有限公司
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