Gas-liquid reversible transformation type soft manipulator
A manipulator and reverse transformation technology, applied in the field of robots, can solve the problems of complex winding/piping, weak load capacity, small deformation, etc., and achieve the effect of easy deformation, strong load capacity and large output force
Inactive Publication Date: 2021-07-09
COLLEGE OF SCI & TECH NINGBO UNIV
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[0003] In order to overcome the disadvantages of existing soft manipulators driven by new materials such as ropes, air pressure, hydraulic pressure, memory alloy wires and dielectric elastomers, such as complicated winding / pipe layout, high noise, weak load capacity or small deformation, the present invention provides a A gas-hydraulic reversible variable soft manipulator, which has the advantages of large output force, easy deformation, strong load capacity and good flexibility. It can realize the integrated design of its structure, drive and perception and passive drive, and can improve the output characteristics of the soft manipulator. and integration, a wide range of applications
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[0035] The present invention will be further described below in conjunction with the accompanying drawings.
[0036] Such as figure 1 As shown, the device includes a flange 7 and a soft finger 10 installed on the flange 7, the upper end of the flange 7 is used for external connection, one end of the soft finger 10 is connected to the lower end of the flange 7 and distributed in an array below the flange 7, and the other end It is in a free state; in specific implementation, a plurality of soft fingers 10 are arranged and distributed on the lower end surface of the flange 7 at intervals along the circumferential direction.
[0037] Such as figure 2 As shown, each soft body finger 10 includes a first soft body joint 11, a second soft body joint 12, a third soft body joint 13, a flexible bone 14, a cooling inlet 8 and a cooling outlet 9,
[0038] The flexible bone 14 has a plate-like structure, the upper end of the flexible bone 14 is fixedly connected to the flange 7, and the...
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The invention discloses a gas-liquid reversible transformation type soft manipulator. The gas-liquid reversible transformation type soft manipulator comprises a flange and a soft finger installed on the flange. The soft finger comprises a plurality of soft joints, a flexible skeleton, a cooling inlet and a cooling outlet. The flexible skeleton is connected to the flange, the soft joints are sequentially arranged on the surfaces of the two sides of the flexible skeleton, and the flexible skeleton is embedded in the middles of the soft joints. Each soft joint comprises two gas-liquid deformation assemblies. Each gas-liquid deformation assembly comprises a cavity container, a flexible strain sensor, a heating layer, a cooling layer and a soft wall, wherein the heating layer, the cooling layer and the cavity container are sequentially arranged on the outer side surface of the flexible skeleton outwards, and the cavity container comprises a closed cavity, a flexible temperature sensor and a flexible pressure sensor. According to the gas-liquid reversible transformation type soft manipulator, the flexible manipulator structure, driving and sensing integrated design and passive driving are achieved, the gas-liquid reversible transformation type soft manipulator has the advantages of being large in output force, easy to deform, high in loading capacity, good in flexibility and the like, the output characteristic and the integration degree of the soft manipulator can be improved, and application is wide.
Description
technical field [0001] The invention relates to a soft manipulator in the field of robots, in particular to a gas-liquid reversible transformation soft manipulator. Background technique [0002] With the development of economy and society, robot technology is developing towards the continuum and soft robot with unlimited degrees of freedom, which can be continuously deformed, and has the characteristics of flexibility and good safety of human-computer interaction. However, the existing soft robots have disadvantages such as relying on power sources such as motors, air sources or hydraulic stations, complex winding / pipe layout, high noise, weak load capacity, small deformation, high driving voltage, or large system volume and mass. Meet the application requirements of human-machine-material integration and mobile operation. Contents of the invention [0003] In order to overcome the disadvantages of existing soft manipulators driven by new materials such as ropes, air pres...
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IPC IPC(8): B25J15/00
CPCB25J15/0023
Inventor 张国龙邓益民张杰赵秀蒋雄宇涂俊杰
Owner COLLEGE OF SCI & TECH NINGBO UNIV