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Length-variable flexible pipe and device using same

A length-changing, flexible tube technology, applied in the direction of fluid pressure actuators, etc., can solve problems such as difficulty in compensation through control, difficulty in force control, etc.

Pending Publication Date: 2020-07-07
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] (5) The force characteristics are extremely nonlinear, and it is difficult to compensate through control
Because the material properties of the artificial muscle are highly nonlinear and uncertain, this leads to a strong nonlinear and uncertain relationship between the tension of the artificial muscle and other variables (such as contraction length, inflation pressure, etc.). Difficult to control force

Method used

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  • Length-variable flexible pipe and device using same
  • Length-variable flexible pipe and device using same
  • Length-variable flexible pipe and device using same

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0033] Please also refer to figure 1 as well as figure 2 As shown, the preferred embodiment of the length-changing flexible pipe of the present invention includes a flexible pipe 1 and a left end positioning part 2 and a right end positioning part 3 fixed at both ends of the flexible pipe 1 .

[0034] The flexible pipe 1 and the left-end locating piece 2 and the right-end locating piece 3 at both ends form a hollow cavity 5 , and a telescoping mechanism 4 is arranged in the cavity 5 . The telescopic mechanism 4 can change the length of the flexible pipe 1 in the length direction. A part or all of the telescopic mechanism 4 is made of rigid material, which can restrain the bending deformation of the flexible tube 1 in directions other than the longitudinal direction.

[0035] A through hole 6 is provided on the left end positioning part 2 or the right end positioning part 3 . The through hole 6 in this embodiment is provided on the left end positioning member 2 . The thro...

Embodiment 2

[0038] Please also refer to figure 1 as well as figure 2 As shown, as the second embodiment of the length-changing flexible pipe of the present invention, the telescopic mechanism 4 includes a left-end fixing piece and a right-end fixing piece, the left-end fixing piece is connected with the left-end locating piece 2, and the right-end fixing piece is connected with the right-end locating piece 3 , the left-end fixing part and the right-end fixing part can move relatively in the length direction of the flexible pipe 1 , and constrain each other in directions other than the length direction of the flexible pipe 1 .

[0039] In this embodiment, the left-end fixing member and the right-end fixing member are respectively a sliding rod 7 and a sleeve 8, the sliding rod 7 and the sleeve 8 are connected by a sliding fit, and one end of the sliding rod 7 is connected to the left-end positioning member 2, The other end is sleeved in the inner cavity of the sleeve 8 , and one end of ...

Embodiment 3

[0042] The fixing pieces at both ends of the telescoping mechanism 4 are connected with the positioning pieces at both ends of the flexible pipe 1 by hinges. Please refer to image 3 As shown, the difference between this embodiment and Embodiment 2 is that a hinge 9 is provided at the connection between the left end locating member 2 and the left end fixing member (i.e. the slide bar 7), so that the left end locating member 2 has a certain degree of freedom of rotation, which facilitates The connection between the left end locator 2 and other components is fixed. Similarly, the connection between the right end positioning part 3 and the right end positioning part (that is, the sleeve 8 ) can also be set as a hinge connection. Other structures and functions are the same as those in Embodiment 2 and will not be repeated here.

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Abstract

The invention relates to a length-variable flexible pipe. The length-variable flexible pipe comprises a flexible pipe body, a left-end positioning piece and a right-end positioning piece, wherein theleft-end positioning piece and the right-end positioning piece are fixed to the two ends of the flexible pipe body, a hollow cavity is formed by the flexible pipe body and the positioning pieces at the two ends, a telescopic mechanism is arranged in the cavity and can change the length in the length direction of the flexible pipe body, the bending deformation of the flexible pipe body in directions other than the length direction can be inhibited, a through hole is formed in the left-end positioning piece or the right-end positioning piece and communicates with the cavity, and pressure fluid is introduced into the cavity through the through hole to enable the flexible pipe body to expand so as to shorten the flexible pipe body in the length direction. The invention further discloses a device using the flexible pipe. According to the length-variable flexible pipe, the driving force and rigidity of the flexible pipe are improved, effective thrust can be generated, the force of the flexible pipe is easy and accurate to control, and the safety of the flexible pipe is improved.

Description

technical field [0001] The invention belongs to the technical field of telescopic control, in particular to a flexible pipe with variable length and a device using the flexible pipe. Background technique [0002] Robots are getting deeper and deeper into people's lives. In recent years, a large number of robots that interact directly with humans have emerged, such as rehabilitation robots and collaborative robots. Robots that live with people must avoid causing harm to the human body to the greatest extent. Therefore, flexible driving mechanisms are widely used in the design of such robots. [0003] A flexible tube of variable length is used in the flexible drive mechanism. Artificial muscle is a typical flexible driving mechanism. as attached Image 6 As shown, the flexible pipe 1' and the end caps 2' at both ends form a closed cavity 3'. Inflate high-pressure gas into the airtight chamber 3' through the through hole 4' to make the flexible tube 1' expand and shorten, t...

Claims

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Application Information

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IPC IPC(8): F15B15/10
CPCF15B15/103
Inventor 黎鑫
Owner ZHEJIANG UNIV
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