Flexible driver with hard shell strengthening function

A software driver and shell technology, applied in the direction of manufacturing tools, manipulators, etc., can solve the problems of single deformation form and poor adhesion of the software driver, and achieve the effect of easy personalized design, high safety, and ensuring flexibility and adaptability.

Pending Publication Date: 2019-11-26
SHANGHAI UNIV
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The combination of soft material and hard shell, on the one hand, ensures the flexibility and adaptability of the soft drive, and on the other hand, enhances the operating force of the soft drive without causing secondary damage to the target; the special structural design can Solve the problems of single deformation form and poor adhesion of existing software drivers

Method used

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  • Flexible driver with hard shell strengthening function
  • Flexible driver with hard shell strengthening function
  • Flexible driver with hard shell strengthening function

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Embodiment Construction

[0028] In order to express the technical solution, purpose and advantages of the present invention more clearly, the present invention will be described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0029] Such as figure 1 As shown, a soft actuator with a hard shell reinforcement provided by the present invention includes a soft airbag 1 and a hard shell 2 , and the hard shell 2 wraps the outside of the soft airbag 1 .

[0030] Such as figure 2 As shown, the soft airbag 1 is made of silicone material, and its structure is a cylindrical capsule body with two end faces, its internal structure is a cylindrical cavity 11, and its end 12 is a cylinder. One end 12 of the soft airbag 1 is provided with a through hole 13, and the through hole 13 communicates with the cylindrical cavity 11 and the ...

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Abstract

The invention relates to a flexible driver with a hard shell strengthening function. The flexible driver comprises a flexible air bag and a hard shell, wherein the hard shell is wrapped around the flexible air bag in an outer mode, the structure of the flexible air bag provides a cylindrical bag body with two end faces, and the internal structure of the cylindrical bag body is a cylindrical cavity, the shape of the hard shell is a cylindrical shell which is not provided with end faces on the two sides of the hard shell, and comprises an unextensible section shell, a bendable section shell andan extensible section shell; and the unextensible section shell at the end part of the hard shell is fixedly connected with the end part of the flexible air bag, the bendable section shell is providedwith A-shaped cutting seams which are arranged along the central axis direction of the bendable section shell, the extensible section shell is provided with B1-shaped cutting seams and B2-shaped cutting seams which are alternately arranged along the central axis direction of the extensible section shell, and the characteristics of the three kinds of cutting seams are all notches formed in a certain specific depth along a certain radial direction of the hard shell. The flexible driver can achieve bending deformation in a bendable section shell area, and can achieve extension deformation in anextensible section shell area. The method can be applied to the technical field of flexible robots.

Description

technical field [0001] The invention relates to a soft driver, in particular to a soft driver with a reinforced hard shell, which belongs to the technical field of soft robots. Background technique [0002] In recent years, the development of human-handed profiling robots has made great progress, gradually changing from traditional rigid structures to soft structures, which are mostly used in capture, hand rehabilitation training and other fields. For the traditional rigid structure robot, it has the advantages of high motion precision and strong bearing capacity, but at the same time it also faces problems such as complex structure, high cost, poor adaptability, weak flexibility, etc. The disadvantage of causing secondary damage. For robots with soft structures, they have the advantages of light structure, good motion flexibility, and low cost. However, existing soft robots have disadvantages such as less degrees of freedom and lower structural rigidity. For example: [...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J19/00
CPCB25J19/00
Inventor 李育文汤勇史航李志伟
Owner SHANGHAI UNIV
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