Wire-blocking structure and its application to achieve stiffness variation by frictional coupling between thin wires

A technology of changing stiffness and thin lines, applied in the field of online blocking structure, can solve the problems of increasing the stiffness of the software driver, and achieve the effect of stable driving effect and improved stiffness.

Active Publication Date: 2022-04-01
HEFEI WISDOM DRAGON MACHINERY DESIGN CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] In view of this, the present invention provides a wire blocking structure that uses frictional coupling between thin wires to achieve stiffness changes, aiming to solve the problem of stiffness improvement of soft actuators

Method used

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  • Wire-blocking structure and its application to achieve stiffness variation by frictional coupling between thin wires
  • Wire-blocking structure and its application to achieve stiffness variation by frictional coupling between thin wires
  • Wire-blocking structure and its application to achieve stiffness variation by frictional coupling between thin wires

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Embodiment 1

[0054] See attached figure 1 And attached figure 2 , the embodiment of the present invention discloses a wire blocking structure that utilizes frictional coupling between thin wires to realize stiffness changes, including a flexible sealing film sleeve 1 and a plurality of nylon filaments 2 coaxially filled inside the flexible sealing membrane sleeve 1 ; One end of the flexible sealing film sleeve 1 has a trachea 3 for pumping or inflating.

[0055] In order to further optimize the above technical solution, the flexible sealing film sleeve 1 is a cylindrical structure or a flat strip structure.

[0056] See attached Figure 5 , paste at least one line blocking structure on one side of the twist limiting layer 51 of the twist soft actuator 5 .

[0057] See attached Figure 9 Firstly, the torsion software driver 5 is inflated and pressurized, and the pressure is 20KPa. After the inflation is completed, the torsion software driver 5 is deformed and twisted. Then vacuumize t...

Embodiment 2

[0060] See attached image 3 , the embodiment of the present invention discloses a wire blocking structure that utilizes frictional coupling between thin wires to realize stiffness changes, including a flexible sealing film sleeve 1 and a plurality of nylon filaments 2 coaxially filled inside the flexible sealing membrane sleeve 1 ; One end of the flexible sealing film sleeve 1 has a trachea 3 for pumping or inflating;

[0061] In order to further optimize the above technical solution, the flexible sealing film sleeve 1 is a cylindrical structure or a flat strip structure.

[0062] See attached Figure 6 , paste at least one line blocking structure on one side of the bending limiting layer 61 of the bending soft driver 6 .

[0063] See attached Figure 8 First, inflate and pressurize the bending soft driver 6 with a pressure of 30KPa. After the inflation is completed, the bending soft driver 6 is deformed for bending. Then vacuumize the flexible sealing film sleeve 1, and ...

Embodiment 3

[0065] See attached Figure 10 to attach Figure 12 , this embodiment is improved on the basis of embodiment 2:

[0066] as attached Figure 10 As shown, the inflation pressure of 10KPa, 20KPa, and 30KPa is respectively applied to the bending soft driver 6, and the deformation is as follows: Figure 10 shown from left to right.

[0067] as attached Figure 11 As shown, after pasting two sections of wire blocking structure on the bending limiting layer 61 of the bending soft driver 6, and vacuumizing the wire blocking structure, the Figure 10 The bending software driver 6 in releases the pressure, and the shaping situation is as follows Figure 11 shown from left to right. Ensure that different line blocking structures have different lengths and / or vacuum levels.

[0068] as attached Figure 12 As shown, after pasting the three-section line blocking structure on the bending limiting layer 61 of the bending soft driver 6, and vacuumizing the line blocking structure, the...

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Abstract

The invention discloses a wire blocking structure and its application that utilizes frictional coupling between thin wires to realize rigidity changes. The frictional coupling between nylon filaments is used to realize rigidity changes, that is, the vacuum pressure acts on the nylon filaments, and by changing the nylon filaments The friction between the materials increases the rigidity of the structure. The thread blocking structure is composed of a flexible sealing film sleeve and numerous nylon thin wires with high toughness filled inside; under normal conditions, the friction between the thin lines is very small, and the thread blocking structure has a very high rigidity. Low, the nylon filaments are easily deformed under the action of external force; the vacuum is drawn into the flexible sealing film sleeve, the nylon filaments are tightly adsorbed together under the action of air pressure, and the nylon filaments show great friction. Resist the relative sliding between nylon filaments, and it is difficult for nylon filaments to deform under the action of external force. The thread blocking structure shows high rigidity, and can cooperate with torsional, bending and telescopic soft actuators to realize torsional, bending and telescopic movements.

Description

technical field [0001] The invention relates to the technical field of soft robots, and more specifically relates to a wire blocking structure and an application thereof which utilizes frictional coupling between thin wires to realize stiffness changes. Background technique [0002] At present, traditional soft actuators are divided into three categories: bending soft actuators, telescopic soft actuators, and torsional soft actuators. The bending actuators can achieve different types of bending by controlling the number of chambers. For example, a single-chamber bending actuator can realize one-way bending. Function, the three-cavity bending driver can realize the omnidirectional bending function; the telescopic driver can realize the telescopic function; the torsion driver can realize the torsion function. However, the existing software actuators generally adopt the form of pneumatic drive, which is affected by the manufacturing materials, has low rigidity and low stability...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/00
CPCB25J19/00
Inventor 胡俊峰温涛梁龙卓超群颜小金曾彬廖弘
Owner HEFEI WISDOM DRAGON MACHINERY DESIGN CO LTD
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