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Bionic bamboo joint type soft actuator

An actuator and bionic bamboo technology, which is applied to passive exercise equipment, manipulators, program-controlled manipulators, etc., can solve the problems of the cavity of the soft actuator being easily collapsed, the overall stiffness is low, and the load capacity is low. Achieve the effect of improving compressive performance and tensile performance, good flexibility, and improving load capacity

Pending Publication Date: 2021-11-05
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide a soft actuator, which is used to solve the problems of low load capacity, large radial expansion and low overall rigidity of the soft actuator in the prior art, The technical problem that the radial expansion is too large when driven by positive pressure and the cavity of the soft actuator is easy to form a suction and collapse state when driven by negative pressure

Method used

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  • Bionic bamboo joint type soft actuator
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  • Bionic bamboo joint type soft actuator

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0048] figure 1 and figure 2 The semi-sectional view of the bionic bamboo-type soft actuator and the radial sectional view of the radially symmetrical section of the peak passing module 1 are shown respectively.

[0049] see figure 1 and figure 2 , the bionic bamboo-style soft actuator includes an actuator body and an interface 6 . The actuator body includes several peak modules 1, several wave trough modules 2 and a drive cavity 7; one end of the actuator body is provided with the interface 6, and the other end is sealed, and the drive cavity 7 is arranged along the The axial distribution of the actuator body, the interface 6 communicates with the drive cavity 7, and external equipment can inject fluid into the drive cavity 7 through the interface 6 (can be but not limited to gas, water, hydraulic oil, etc.) to drive the bionic bamboo-style soft actuator to bend, and the interface 6 can be, for example, tubular structures such as cylindrical tubes, oval tubes, and squar...

Embodiment 2

[0070] image 3 and Figure 4a The semi-sectional view of the bionic bamboo-type soft actuator and the radial sectional view of the radially symmetrical section of the peak passing module 1 are shown respectively. Compared with Embodiment 1, the difference is that the inner circumferential ribs 3 of the inner slub rib module in this embodiment are arranged along the inner circumferential contour of the wave crest module 1, and other structures are basically the same, so the description will not be repeated.

[0071] see image 3 and Figure 4a , in this embodiment, the number of inner circumferential ribs 3 in the inner bamboo rib module is the same as the number of wave crest modules 1 of the bionic bamboo-type soft actuator, that is, the inner circumference There is a one-to-one correspondence relationship between the ribs 3 and the wave crest modules 1 , and each of the wave crest modules 1 is provided with an inner circumferential rib 3 on the circumferential inner contou...

Embodiment 3

[0078] Figure 5 and Figure 6 The semi-sectional view of the bionic bamboo-type soft actuator and the radial sectional view of the radially symmetrical section of the peak passing module 1 are shown respectively. Compared with Embodiment 1, the difference is that the inner circumferential ribs 3 of the inner slub rib module in this embodiment cover part of the circumferential inner contour of the valley module 2, and other structures are basically the same, so the description will not be repeated.

[0079] see Figure 5 and Figure 6 , the inner circumferential ribs 3 are in contact with the top surface and the bottom surface of the drive cavity 7 at the wave valley module 2 respectively, and the inner circumferential ribs 3 are in contact with the drive cavity at the wave valley module 2 The left and right sides of the body 7 do not touch. Of course, in some embodiments, the inner circumferential rib 3 is in contact with the left and right side surfaces of the driving ca...

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Abstract

The invention discloses a bionic bamboo joint type soft actuator. The bionic bamboo joint type soft actuator comprises an actuator main body and inner bamboo joint rib modules, the actuator main body comprises a plurality of wave crest modules, a plurality of wave trough modules and driving cavities, the plurality of wave crest modules and the plurality of wave trough modules are alternately arranged in the axial direction of the actuator main body, and the driving cavities are distributed in the axial direction of the actuator main body. The inner bamboo joint rib modules are arranged in the driving cavities, and each inner bamboo joint rib module comprises a plurality of first inner circumferential ribs; and each of the first inner circumferential ribs is arranged along a circumferential inner contour of one of the wave crest modules. According to the bionic bamboo joint type soft actuator, the inner bamboo joint rib modules are arranged on the circumferential inner contours of the wave crest modules of the soft actuator, so that the compression resistance and the tensile property of the soft actuator can be obviously improved, the bearing performance of the soft actuator is improved, and radial expansion of the soft actuator is limited.

Description

technical field [0001] The invention relates to the technical field of soft robots, in particular to a bionic bamboo-type soft actuator for soft robots. Background technique [0002] The soft actuator is a kind of flexible actuator developed according to bionics. It has the advantages of high flexibility, light weight, rapid response, strong compression and tensile resistance, high safety, and long service life. It is widely used in the research of robotic soft grippers, medical assisted rehabilitation gloves and some bionic products. The performance of soft actuators directly determines the overall performance of soft robots. [0003] The current soft actuator has the following structural features: the main body of the soft actuator is generally made of elastic material or plastic material, and a cavity is left inside the soft actuator. People generally use the fluid input into the cavity as the driving source of the soft actuator, which can realize the elongation, contra...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/00A61H1/02
CPCB25J9/00B25J9/0009B25J9/0015B25J9/0006A61H1/0288A61H2201/1238A61H2205/067
Inventor 王勇吕仲明杨宇晨袁妍刘正士
Owner HEFEI UNIV OF TECH
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