A multi-degree-of-freedom modular driver based on tensegrity structure and assembly

Abstract

The application discloses a kind of multi-degree-of-freedom modular driver and assembly based on tension integral structure, including dynamic platform, static platform, first support rod, second support rod, sliding rod, knuckle, 4 outer springs, 4 rigid cables, first inner spring and second inner spring, first support rod and second support rod are fixed on the top of static platform symmetrically;Sliding rod top and dynamic platform bottom center are hinged;Knuckle is set on sliding rod, and knuckle two ends are respectively hinged with first support rod and second support rod;4 outer springs are all fixed between dynamic platform and static platform;4 rigid cables top are all fixed with dynamic platform, and 4 rigid cables bottom are respectively penetrated static platform and motor connection;First inner spring is fixed between first support rod and sliding rod, and second inner spring is fixed between second support rod and sliding rod, and first inner spring and second inner spring are symmetrically distributed.The application can realize vertical translation, rotation and three displacement modes of inclination.

Description

Technical Field

[0001] This invention relates to the field of actuator technology, and more specifically to a multi-degree-of-freedom modular actuator and assembly based on a tensioned integral structure. Background Technology

[0002] Actuators are key components of robots, serving as the power mechanisms that enable robots to perform actions. Traditional robot actuators, known as rigid actuators, are typically motors or electric motors. These actuators drive a joint and achieve precise position control, offering excellent controllability and high accuracy, making them widely used in industrial automation. However, in the field of human-robot interaction, their lack of safety, poor flexibility, and poor adaptability hinders their ability to complete many complex and challenging tasks. Flexible actuators, compared to traditional rigid actuators, offer advantages such as strong adaptability, good impact resistance, and continuity. They are particularly advantageous for grasping soft and fragile objects and show promising development prospects in fields such as biomedicine, industrial production, and deep-sea exploration.

[0003] However, the inherent low stiffness of the materials used to manufacture flexible actuators limits their ability to perform tasks that require relatively high load capacity. In other words, existing flexible actuators lack rigid support similar to a skeleton, which severely restricts their development and application.

[0004] Therefore, providing a multi-degree-of-freedom modular actuator and assembly based on a tensioned integral structure is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the present invention provides a multi-degree-of-freedom modular actuator and assembly based on a tensioned integral structure, which combines the advantages of rigid and flexible structures, and has the advantages of high flexibility, good compliance and high driving efficiency. It has good development prospects in fields such as biomedicine, industrial production and deep-sea exploration.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A multi-degree-of-freedom modular actuator based on a tensioned monolithic structure includes:

[0008] A moving platform and a static platform, wherein the moving platform and the static platform are distributed vertically;

[0009] A first support rod and a second support rod, both of which are L-shaped, are symmetrically fixed to the top of the static platform.

[0010] A sliding rod, the sliding rod being T-shaped, the top of the sliding rod being hinged to the center of the bottom of the moving platform, and the sliding rod being located between the first support rod and the second support rod;

[0011] A steering knuckle, which is sleeved on the sliding rod, and whose two ends are respectively hinged to the first support rod and the second support rod;

[0012] Four external springs are fixed between the moving platform and the stationary platform, and the four external springs are evenly arranged circumferentially.

[0013] Four rigid cables are provided, the top ends of which are fixedly connected to the moving platform, and the bottom ends of which pass through the stationary platform and are connected to the motor. The four rigid cables are evenly arranged circumferentially.

[0014] A first inner spring and a second inner spring, wherein the first inner spring is fixed between the first support rod and the crossbar of the sliding rod, and the second inner spring is fixed between the second support rod and the crossbar of the sliding rod, and the first inner spring and the second inner spring are symmetrically distributed.

[0015] By adopting the above technical solutions, the beneficial effects of the present invention are as follows:

[0016] It can achieve three displacement modes: vertical translation, rotation, and tilting, and can also achieve autonomous reset and adaptive bending and stretching, thus achieving the advantages of high flexibility, good compliance, and high driving efficiency.

[0017] Furthermore, both the moving platform and the stationary platform are circular platforms.

[0018] Furthermore, each of the outer springs and its adjacent rigid cable are distributed at 30° intervals along the circumference.

[0019] Furthermore, the four outer springs are a first outer spring, a second outer spring, a third outer spring, and a fourth outer spring, wherein the first outer spring and the second outer spring are distributed circumferentially at a 120° interval, the third outer spring and the fourth outer spring are distributed circumferentially at a 120° interval, the first outer spring and the fourth outer spring are distributed circumferentially at a 60° interval, and the second outer spring and the third outer spring are distributed circumferentially at a 120° interval.

[0020] Furthermore, the four rigid cables are a first rigid cable, a second rigid cable, a third rigid cable, and a fourth rigid cable, wherein the first rigid cable and the second rigid cable are distributed at a circumferential interval of 60°, the third rigid cable and the fourth rigid cable are distributed at a circumferential interval of 60°, the first rigid cable and the fourth rigid cable are distributed at a circumferential interval of 120°, and the second rigid cable and the third rigid cable are distributed at a circumferential interval of 120°.

[0021] Furthermore, the first outer spring and the second outer spring are distributed along the same first vertical plane, and the first inner spring and the second inner spring are distributed along the same second vertical plane, with the first vertical plane being parallel to the second vertical plane.

[0022] Furthermore, the first rigid cable and the second rigid cable are distributed along the same third vertical plane, and the first inner spring and the second inner spring are distributed along the same second vertical plane, wherein the third vertical plane is parallel to the second vertical plane.

[0023] An assembly comprising a plurality of the aforementioned drivers, the plurality of drivers being connected sequentially from top to bottom.

[0024] By adopting the above technical solutions, the beneficial effects of the present invention are as follows:

[0025] Multiple modular drivers can be combined to meet different driving requirements. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0027] Figure 1 A schematic diagram of the initial state of a multi-degree-of-freedom modular actuator based on a tensioned integral structure is provided for this invention.

[0028] Figure 2 A front view of a multi-degree-of-freedom modular actuator based on a tensioned integral structure provided by the present invention;

[0029] Figure 3 A side view of a multi-degree-of-freedom modular actuator based on a tensioned integral structure provided by the present invention;

[0030] Figure 4 A schematic diagram of the rotational state of a multi-degree-of-freedom modular actuator based on a tensioned integral structure is provided by the present invention.

[0031] Figure 5 This is a schematic diagram of the structure of an assembly provided by the present invention. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] like Figure 1-5 As shown, this embodiment of the invention discloses a multi-degree-of-freedom modular actuator based on a tensioned integral structure, including a moving platform 1, a stationary platform 2, a first support rod 3, a second support rod 4, a sliding rod 5, a steering knuckle 6, four outer springs 7, four rigid cables 8, a first inner spring 9, and a second inner spring 10. The moving platform 1 and the stationary platform 2 are distributed vertically, and both the moving platform 1 and the stationary platform 2 are rigid platforms. The first support rod 3 and the second support rod 4 are both L-shaped and symmetrically fixed to the top of the stationary platform 2. The first support rod 3 and the second support rod 4 are both rigid rods. The sliding rod 5... The sliding rod 5 is T-shaped, with its top hinged to the center of the bottom of the moving platform 1. The sliding rod 5 is located between the first support rod 3 and the second support rod 4, and is a rigid rod. A steering knuckle 6 is fitted onto the sliding rod 5, with both ends hinged to the first support rod 3 and the second support rod 4, respectively. Four outer springs 7 are fixed between the moving platform 2 and the stationary platform 3, and are evenly arranged circumferentially. The top ends of four rigid cables 8 are fixedly connected to the moving platform 1, and the bottom ends of the four rigid cables 8 pass through the stationary platform 2 and connect to the motor. The four rigid cables 8 are evenly arranged circumferentially. The motor is used to change the length of the rigid cables 8; this is existing technology and will not be elaborated further. A first inner spring 9 is fixed between the first support rod 3 and the crossbar of the sliding rod 5, and a second inner spring 10 is fixed between the second support rod 4 and the sliding rod 5. Between the crossbars, the first inner spring 9 and the second inner spring 10 are symmetrically distributed. It is worth noting that the elastic modulus of the outer spring 7 is lower than that of the first inner spring 9, and the elastic modulus of the outer spring 7 is lower than that of the second inner spring 10. This invention can achieve three displacement modes: vertical translation, rotation, and tilting, and can also achieve autonomous reset and adaptive bending and stretching, thus achieving advantages such as high flexibility, good compliance, and high driving efficiency.

[0034] Specifically, both the moving platform 1 and the static platform 2 are circular platforms.

[0035] Specifically, each outer spring 7 and its adjacent rigid cable 8 are distributed at 30° intervals along the circumference.

[0036] Specifically, the four outer springs 7 are designated as the first outer spring 71, the second outer spring 72, the third outer spring 73, and the fourth outer spring 74. The first outer spring 71 and the second outer spring 72 are distributed 120° apart circumferentially, the third outer spring 73 and the fourth outer spring 74 are distributed 120° apart circumferentially, the first outer spring 71 and the fourth outer spring 74 are distributed 60° apart circumferentially, and the second outer spring 72 and the third outer spring 73 are distributed 120° apart circumferentially.

[0037] Specifically, the four rigid cables 8 are the first rigid cable 81, the second rigid cable 82, the third rigid cable 83, and the fourth rigid cable 84. The first rigid cable 81 and the second rigid cable 82 are distributed at a circumferential interval of 60°, the third rigid cable 83 and the fourth rigid cable 84 are distributed at a circumferential interval of 60°, the first rigid cable 81 and the fourth rigid cable 84 are distributed at a circumferential interval of 120°, and the second rigid cable 82 and the third rigid cable 83 are distributed at a circumferential interval of 120°.

[0038] Specifically, the first outer spring 71 and the second outer spring 72 are distributed along the same first vertical plane, and the first inner spring 9 and the second inner spring 10 are distributed along the same second vertical plane, with the first vertical plane and the second vertical plane being parallel.

[0039] Specifically, the first rigid cable 81 and the second rigid cable 82 are distributed along the same third vertical plane, the first inner spring 9 and the second inner spring 10 are distributed along the same second vertical plane, and the third vertical plane is parallel to the second vertical plane.

[0040] An assembly comprising a plurality of the aforementioned drivers, the drivers being connected sequentially from top to bottom.

[0041] The present invention provides multiple modular drivers that can be combined to adapt to different driving requirements.

[0042] Working principle of the invention:

[0043] This invention can achieve three displacement modes: vertical translation, rotation, and tilt.

[0044] Vertical translation is achieved by simultaneously shortening the length of the four rigid cables 8, thus enabling the moving platform 1 to descend without rotating.

[0045] Rotation is achieved by controlling the shortening of two rigid cables 8 (first rigid cable 81 and second rigid cable 82 or third rigid cable 83 and fourth rigid cable 84), thus changing the height and rotating the drive unit under the drive of the steering knuckle 6.

[0046] Tilting is achieved by controlling the shortening of two rigid cables 8 (first rigid cable 81 and fourth rigid cable 84 or second rigid cable 82 and third rigid cable 83) to change the height and thus tilt the actuator.

[0047] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0048] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A multi-degree-of-freedom modular actuator based on a tensioned integral structure, characterized in that, include: A moving platform and a static platform, wherein the moving platform and the static platform are distributed vertically; A first support rod and a second support rod, both of which are L-shaped, are symmetrically fixed to the top of the static platform. A sliding rod, the sliding rod being T-shaped, the top of the sliding rod being hinged to the center of the bottom of the moving platform, and the sliding rod being located between the first support rod and the second support rod; A steering knuckle, which is sleeved on the sliding rod, and whose two ends are respectively hinged to the first support rod and the second support rod; Four external springs are fixed between the moving platform and the stationary platform, and the four external springs are evenly arranged circumferentially. Four rigid cables are provided, the top ends of which are fixedly connected to the moving platform, and the bottom ends of which pass through the stationary platform and are connected to the motor. The four rigid cables are evenly arranged circumferentially. A first inner spring and a second inner spring, wherein the first inner spring is fixed between the first support rod and the crossbar of the sliding rod, and the second inner spring is fixed between the second support rod and the crossbar of the sliding rod, and the first inner spring and the second inner spring are symmetrically distributed.

2. The multi-degree-of-freedom modular actuator based on a tensioned integral structure according to claim 1, characterized in that, Both the moving platform and the stationary platform are circular platforms.

3. The multi-degree-of-freedom modular actuator based on a tensioned integral structure according to claim 2, characterized in that, Each of the outer springs and its adjacent rigid cable are distributed at 30° intervals along the circumference.

4. The multi-degree-of-freedom modular actuator based on a tensioned integral structure according to claim 3, characterized in that, The four outer springs are a first outer spring, a second outer spring, a third outer spring, and a fourth outer spring. The first outer spring and the second outer spring are distributed circumferentially at a 120° interval, the third outer spring and the fourth outer spring are distributed circumferentially at a 120° interval, the first outer spring and the fourth outer spring are distributed circumferentially at a 60° interval, and the second outer spring and the third outer spring are distributed circumferentially at a 120° interval.

5. A multi-degree-of-freedom modular actuator based on a tensioned integral structure according to claim 3, characterized in that, The four rigid cables are a first rigid cable, a second rigid cable, a third rigid cable, and a fourth rigid cable. The first rigid cable and the second rigid cable are distributed at a circumferential interval of 60°, the third rigid cable and the fourth rigid cable are distributed at a circumferential interval of 60°, the first rigid cable and the fourth rigid cable are distributed at a circumferential interval of 120°, and the second rigid cable and the third rigid cable are distributed at a circumferential interval of 120°.

6. A multi-degree-of-freedom modular actuator based on a tensioned integral structure according to claim 4, characterized in that, The first outer spring and the second outer spring are distributed along the same first vertical plane, and the first inner spring and the second inner spring are distributed along the same second vertical plane, with the first vertical plane being parallel to the second vertical plane.

7. A multi-degree-of-freedom modular actuator based on a tensioned integral structure according to claim 5, characterized in that, The first rigid cable and the second rigid cable are distributed along the same third vertical plane, and the first inner spring and the second inner spring are distributed along the same second vertical plane. The third vertical plane is parallel to the second vertical plane.

8. An assembly, characterized in that, It includes a plurality of drivers as described in any one of claims 1-7, wherein the plurality of drivers are connected sequentially from top to bottom.

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