Soft body driving joint

Abstract

The invention discloses a soft body driving joint. The soft body driving joint comprises a plurality of circumferential soft body drivers, a bearing platform and a moving platform, the bearing platform and the moving platform are oppositely arranged in the axial direction at intervals, the circumferential soft body drivers are obliquely arranged between the bearing platform and the moving platform in the circumferential direction, the circumferential soft body drivers can stretch and contract under the action of fluid pressure, and the circumferential soft body drivers are used for applying axial acting force and circumferential acting force to the moving platform, so that the part, connected with the circumferential soft body driver, of the moving platform is driven to be at a preset position. The soft drivers are arranged in an inclined mode, axial acting force and circumferential acting force can be applied to the moving platform at the same time, and the whole joint can execute or output multi-degree-of-freedom motion and composite motion by selectively setting the configuration number, the arrangement mode, the deformation quantity and the like of the soft drivers; and a series of actions such as stretching, rotation, swinging and translation and the combination of motions are realized, so that the interactivity of the whole joint is enhanced, and different functional requirements can be met.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a software-driven joint. Background technique [0002] The mechanical joint is a basic and key component of the robot system device. Most of the complex actions performed by the robot rely on the mechanical joint to complete, such as the rotation, telescopic, swinging, pitching and other movements that the robot's mechanical arm can achieve. Actions are the concrete embodiment of the application of mechanical joints. [0003] At present, most common mechanical joints are composed of rigid structures, and their driving methods are usually motor-driven and hydraulic-driven; although mechanical joints with rigid structures have high load capacity and repeatability, they also have defects that cannot be ignored; specifically, Taking the mechanical joint driven by the motor as an example, when realizing the multi-degree-of-freedom motion of the robot or the mechanical joint itself, ei...

AI Technical Summary

Problems solved by technology

[0003] At present, most common mechanical joints are composed of rigid structures, and their driving methods are usually motor-driven and hydraulic-driven; although mechanical joints with rigid structures have high load capacity and repeatability, they also have defects that cannot be ignored; specifically, Taking the mechanical joint driven by the motor as an example, when realizing the multi-degree-of-freedom motion of the robot or the mechanical joint itself, either structurally combine multiple single-degree-of-freedom mechanical joints, or increase the motion freedom of a single mechanical joint, And the movement of each degree of freedom is individually controlled by different motors; when there are more degrees of freedom, its structure will become more and more complex, which will make the robot system device or mechanical joint appear heavy in quality and volume, loud in noise, and fault-tolerant. A series of problems such as low and poor interactivity

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