Three-degree-of-freedom pneumatic flexible driver with variable rigidity and preparation method thereof

A flexible drive and drive technology, which is applied in the direction of manufacturing tools, program-controlled manipulators, and modification with liquid cooling, can solve the problems of poor load-carrying capacity of the drive and low response rate of stiffness adjustment.

Active Publication Date: 2020-10-23
ZHEJIANG UNIV OF TECH
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Problems solved by technology

[0008] In order to overcome the technical problems in the prior art that the pneumatic flexible driver cannot fit the bionic design to realize the variable adjustment of the stiffness, the bearing capacity of the driver itself is poor, and the response rate of the stiffness adjustment process is low, the present invention provides a variable stif

Method used

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  • Three-degree-of-freedom pneumatic flexible driver with variable rigidity and preparation method thereof
  • Three-degree-of-freedom pneumatic flexible driver with variable rigidity and preparation method thereof
  • Three-degree-of-freedom pneumatic flexible driver with variable rigidity and preparation method thereof

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Embodiment

[0033] Such as Figure 1 to Figure 3 As shown, a variable stiffness three-degree-of-freedom pneumatic flexible driver includes a driver body. One end of the driver body is provided with a mounting groove 1 arranged along its length direction, and a variable stiffness module 2 is embedded in the mounting groove. The variable stiffness module includes The liquid metal 3, the protective shell 4 and the heating element 5, the liquid metal is packaged inside the protective shell, several air cavities 6 are opened inside the driver body, the air cavities are arranged along the length direction of the driver body, and the gas pipe 7 inserted on the driver body One end of the air pipe communicates with the air cavity, and the other end of the air pipe extends to the outside of the driver body; the axis of the installation groove is arranged obliquely to the axis of the driver body, and the center of the opening end of the installation groove is on the axis of the driver body. The inst...

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Abstract

The invention relates to a three-degree-of-freedom pneumatic flexible driver with variable rigidity and a preparation method thereof and aims to solve the technical problems that an pneumatic flexibledriver in the prior art cannot fit bionics design and achieve variable adjustment of rigidity, the bearing capacity of the driver itself is relatively poor and the response rate in the rigidity adjusting process is relatively low. The three-degree-of-freedom pneumatic flexible driver with variable rigidity comprises a driver body. A mounting groove arranged in a length direction of the driver body is formed in one end of the driver body, a variable rigidity module is embedded into the mounting groove and comprises a liquid metal, a protecting housing and a heating part, the liquid metal is encapsulated in the protecting housing, a plurality of air cavities are formed in the driver body, the air cavities are arranged in the length direction of the driver body, and the end, inserted onto the driver body, of an air pipe communicates to the air cavities while the other end of the air pipe extends to the outside of the driver body.

Description

technical field [0001] The invention relates to the technical field of flexible robots or bionic robots, in particular to a variable stiffness three-degree-of-freedom pneumatic flexible driver and a preparation method thereof. Background technique [0002] With the continuous progress and development of human production and life, robot technology and automatic control technology, robots have been widely used in all aspects of human society, especially in extreme and dangerous engineering environments where humans are not suitable to set foot. Robots provide human Great convenience. From the perspective of the type of robot drive, the early mechanical arm was driven by hydraulic pressure. The hydraulic drive is characterized by relatively simple control and a high power-to-weight ratio, but there are problems such as oil leakage, high cost, and poor safety. Pressure oil supply system; the emergence of motors provides a new driving method for robots and gradually replaces hyd...

Claims

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Application Information

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IPC IPC(8): B25J9/10B25J9/20B25J15/00H05K7/20
CPCB25J9/10B25J15/00B25J9/20H05K7/2029
Inventor 孟海良马小龙鲍官军
Owner ZHEJIANG UNIV OF TECH
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