Flexible driving device for bending movement
A driving device and bending motion technology, applied in the field of manipulators, can solve the problems of poor control accuracy, complexity, and complex structure, and achieve the effects of remarkable economy, convenient control and simple structure.
Inactive Publication Date: 2019-09-20
HARBIN INST OF TECH
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Problems solved by technology
However, this braided flexible actuator can only achieve push-pull motion, not bending motion
In addition, flexible drive devices based on shape memory alloys, conductive polymers, electro / magnetostrictors, etc. often use complex control systems and actuators when realizing bending motions, so there are complex structures, complex control methods and / or The problem of poor control accuracy
Method used
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[0037] The flexible driving device according to the preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings. Those skilled in the art should understand that these exemplary embodiments do not imply any limitation to the present invention. In addition, the embodiments of the present invention and the features in the embodiments can be combined with each other if there is no conflict.
[0038] In the drawings, for the sake of brevity, other components are omitted, but this does not mean that the flexible driving device of the present invention cannot include other components. In addition, it should be understood that the drawings are only used to illustrate the present invention, and the dimensions, proportions and numbers of the components are not intended to limit the present invention. In different drawings, the same or similar parts are indicated by the same reference numerals.
[0039] refer to Figure 1...
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The invention provides a flexible driving device for bending movement. The flexible driving device comprises a flexible pipe, a woven net cover, a first end portion connecting assembly and a second end portion connecting assembly, wherein the flexible pipe comprises a first end and a second end, the woven net cover is arranged on the outer side of the flexible pipe, and comprises a first end and a second end, the first end portion connecting assembly is fixedly connected with the first end of the flexible pipe and the first end of the woven net cover, the first end portion connecting assembly is provided with a through hole communicating with the interior of the flexible pipe, the second end portion connecting assembly is fixedly connected with the second end of the flexible pipe and the second end of the woven net cover, the second end portion connecting assembly seals and closes the second end of the flexible pipe, the driving device further comprises at least one flexible restraining piece, the flexible restraining piece comprises a first end and a second end, the first end portion connecting assembly is fixedly connected with the first end of the flexible restraining piece, and the second end portion connecting assembly is fixedly connected with the second end of the flexible restraining piece. The flexible driving device is simple in structure, and convenient and accurate to control.
Description
technical field [0001] The invention relates to the field of manipulators, in particular to a flexible driving device for bending motion. Background technique [0002] As we all know, in the motion operation of the manipulator, the bending motion is a basic motion form in the manipulator movement. Traditional rigid manipulators generally use a rigid drive mechanism to achieve bending motion, for example, a multi-link structure, which requires complex mechanical structures and sensor control systems to complete work tasks, adapt to the work environment, and avoid accidental injuries when interacting with personnel . In contrast, due to its simple structure, high flexibility, and good compliance, the flexible drive mechanism has shown great prospects and potential in the field of manipulators, especially in applications that interact frequently with people. A focus for research units and commercial organisations. [0003] The existing flexible drive mechanism has a wide ran...
Claims
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IPC IPC(8): B25J9/14B25J13/08
CPCB25J9/142B25J13/08
Inventor 冷劲松刘彦菊管清华孙健
Owner HARBIN INST OF TECH