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Logical flexible body driving device with fluid control function

A software driver and logic technology, applied in the direction of program-controlled manipulators, manufacturing tools, manipulators, etc., can solve the problems of poor torsion effect, simple function, inability to realize stretching and bending, etc., achieve good stiffness adjustment ability, convenient and reliable driving, The effect of changing the stiffness

Active Publication Date: 2020-06-26
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, most of the current software actuators can only achieve a single movement or a combination of two types of movement. In addition, there are few actuators that can realize torsional movement, which leads to a single form of movement and simple functions, which greatly limits the development of software actuators.
Patent CN106272458 A proposes a soft driver, which can only realize spiral torsional motion, but cannot realize stretching, bending and other motions; patent CN 105500383 A proposes a soft robot module with various motion forms, but its torsional motion is mainly Depending on the pressure of each air cavity, the actual torsion effect is not good

Method used

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  • Logical flexible body driving device with fluid control function
  • Logical flexible body driving device with fluid control function
  • Logical flexible body driving device with fluid control function

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0034] Embodiment one: if Figure 1-3 As shown, the present invention provides a logic software driver for fluid control, including a torsion tube 1, two telescopic tubes 2 symmetrically arranged on both sides of the torsion tube 1, and one end of the torsion tube 1 and the two telescopic tubes 2 is provided with A sealing plug 3, the other ends of the torsion tube 1 and the two telescopic tubes 2 are connected with air pipes 4 respectively. The torsion tube 1 and the two telescopic tubes 2 can be connected with the trachea through a plug 14 with holes.

[0035] That is, the present invention has designed two kinds of pipe bodies, twist pipe 1 and telescopic pipe 2, in order to realize the twisting, telescopic and bending functions of the software driver.

[0036] The torsion tube 1 includes a torsion forming layer 11 and a torsion constraining layer 12 sheathed outside the torsion forming layer 11, and the torsion constraining layer 12 is formed by winding a single helical f...

Embodiment 2

[0041] Embodiment two, such as Figure 4-9As shown, on the basis of the first embodiment, the twist tube 1 and the two telescopic tubes 2 are also covered with a soft driver base 5. The soft driver base 5 is made of silicone material. The torsion tube 1 and the two telescopic tubes 2 can drive the soft driver base 5 to twist, bend and stretch. The soft driver base 5 is arranged coaxially with the torsion tube 1.

[0042] The two sides of the soft driver base 5 are symmetrically provided with stiffness adjustment chambers 6 in the same direction as the torsion tube 1 . The stiffness adjustment cavity 6 is filled with blocking particles 7, one end of the stiffness adjustment cavity 6 is provided with a sealing plug 3, and the other end of the stiffness adjustment cavity 6 is connected with a trachea 4. The blocking particles 7 are coffee bean-shaped or round plastic pellets.

[0043] Stiffness adjustment chamber 6 is also casted by silica gel molding, is filled with fine blo...

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Abstract

The invention discloses a logical flexible body driving device with a fluid control function. The logical flexible body driving device with the fluid control function comprises a torsion pipe and twostretching pipes which are symmetrically arranged on the two sides of the torsion pipe. Sealing end caps are arranged at the same ends of the torsion pipe and the two stretching pipes, and air pipes are connected with the other same ends of the torsion pipe and the two stretching pipes. The logical flexible body driving device with the fluid control function is simple in structure. The logical control over the air pressure of a channel is utilized, the stretching movement, the bending movement, the torsion movement and other movement are simultaneously achieved, and therefore the diversity ofthe functions of the flexible body driving device is achieved.

Description

technical field [0001] The invention relates to the technical field of robot drivers, in particular to a logic software driver for fluid control. Background technique [0002] With the development of science and technology, more and more robots have entered people's lives, replacing artificial labor. Existing robots mainly include rigid robots and soft robots. Most traditional rigid robots are made of rigid materials with limited elastic deformation ability, so it is difficult to show high deformability and adaptability to different environments. Soft robots imitate molluscs in nature through soft drives, try to avoid using rigid materials, and use flexible materials such as silica gel. With their natural flexibility and adaptability, soft drives have high flexibility, large deformation and strong complex environments. adaptability. [0003] The soft drive is known for its light structure and flexible movement. At present, software actuators are generally made of flexibl...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/10B25J9/14
CPCB25J9/10B25J9/14
Inventor 周俊杰包倩倩张建
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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