CN112809656B - Flexible driving structure, flexible driver and driving system - Google Patents
Flexible driving structure, flexible driver and driving system Download PDFInfo
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- CN112809656B CN112809656B CN202110187500.0A CN202110187500A CN112809656B CN 112809656 B CN112809656 B CN 112809656B CN 202110187500 A CN202110187500 A CN 202110187500A CN 112809656 B CN112809656 B CN 112809656B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0006—Exoskeletons, i.e. resembling a human figure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/06—Arms flexible
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
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Abstract
The invention belongs to the technical field of flexible robots, and particularly relates to a flexible driving structure, a flexible driver and a driving system. The flexible driving structure can enable the flexible robot to realize large changes in volume, shape and rigidity, enables the flexible robot to have the capability of controllable rigidity modulation, enables the flexible robot to have adaptability and compliance to the environment due to low rigidity, ensures the safety of interaction, and can be used for forming a rigid operation platform due to high rigidity, so that the flexible driving structure can transmit force and bear load and improve the control precision.
Description
Technical Field
The invention relates to the technical field of flexible robots, in particular to a flexible driving structure, a flexible driver and a driving system.
Background
Flexible robots made of deformable or less rigid materials have good adaptability, consistency and safety in interaction with the environment compared to traditional rigid robots. Flexible body robots have been used in various fields such as mobile robots, biomimetic robots, rehabilitation training robots, minimally invasive surgery, etc. Because the flexible robot is made of flexible and compliant materials, the flexible robot can conform to the surrounding environment to deform, and is an ideal structure for interacting with an unstructured environment, however, the flexible robot still faces many challenges in application due to limitations of small output force, poor controllability, lack of sensing capability and the like.
The flexible robot has complexity and unpredictability in facing tasks, in order to expand the application range of the flexible robot, the flexible robot structure suitable for the tasks and the environment is conveniently and quickly constructed in practical application, the flexible robot module which is universal, has complete functions and is convenient to expand is designed to be important, the uniform and interchangeable flexible robot module can reduce the manufacturing and maintenance cost, and the operation reliability is improved.
Disclosure of Invention
The invention provides a flexible driving structure, a flexible driver and a driving system, which are used for solving the defect that the rigidity of a flexible robot in the prior art is difficult to control and adjust, realizing the large change of the flexible robot in volume, shape and rigidity, enabling the flexible robot to have the capability of controllable rigidity modulation, enabling the flexible robot to have adaptability and compliance to the environment due to low rigidity, ensuring the interaction safety, and enabling the flexible robot to form a stable rigid operation platform due to high rigidity, transmitting force and bearing load and improving the control precision.
The invention provides a flexible driving structure, which comprises a connecting piece and at least one driving assembly, wherein the driving assembly comprises an elastic restraining piece, a flexible driving piece and a pre-tightening piece, a cavity which extends along the axial direction of the flexible driving piece and is used for introducing fluid is arranged in the flexible driving piece, the elastic restraining piece is arranged on the outer wall of the flexible driving piece in a surrounding mode, the connecting piece is arranged at two ends of the elastic restraining piece in the axial direction, the elastic restraining piece is connected with the connecting piece through the pre-tightening piece, and the pre-tightening piece is arranged along the axial direction of the flexible driving piece in an extending mode.
According to the flexible driving structure provided by the invention, the cavity and the flexible driving piece are coaxially or eccentrically arranged in the flexible driving piece.
According to the flexible driving structure provided by the invention, the pre-tightening piece is a pre-tightening wire, the connecting piece is provided with a mounting hole, the elastic restraint piece is provided with a through hole, one end of the pre-tightening wire is connected with the mounting hole of one connecting piece, and the other end of the pre-tightening wire penetrates through the through hole in the elastic restraint piece and penetrates out of the mounting hole of the other connecting piece.
According to a flexible drive structure provided by the invention, the drive assembly further comprises a fluid conduit, the fluid conduit being in communication with the cavity.
According to the flexible driving structure provided by the invention, the elastic restraint piece is a spring, and the spring is coaxially sleeved on the outer wall of the flexible driving piece.
The invention also provides a flexible driver, which comprises a flexible sleeve and the flexible driving structure, wherein at least three driving assemblies are embedded into the flexible sleeve along the axial direction of the flexible sleeve, the driving assemblies are uniformly distributed along the circumferential direction of the flexible sleeve, and the driving assemblies are connected with the end part of the flexible sleeve through the connecting piece.
According to the flexible driver provided by the invention, the flexible sleeve is provided with a channel for passing the instrument along the axial direction of the flexible sleeve.
The invention also provides a driving system, which comprises an upper computer, a preload piece control device and a fluid driving device which are connected with the upper computer, and the flexible driving structure or the flexible driver, wherein the preload piece control device is connected with the preload piece, and the fluid driving device is communicated with the cavity through a fluid pipeline.
According to the driving system provided by the invention, in the case that the preload member is a preload wire, the preload member control device comprises a linear driving member and a coil, and the preload wire is wound on the coil and connected with the linear driving member.
According to the driving system provided by the invention, the fluid driving device comprises a controller, a sensor and a conveying member, wherein the sensor and the conveying member are connected with the controller, the conveying member is connected with the fluid pipeline, and the sensor is arranged on the fluid pipeline.
According to the flexible driving structure provided by the invention, the flexible driving part of the driving assembly is a flexible tubular structure, a cavity into which fluid enters is arranged in the flexible driving structure and serves as a fluid driving cavity, the outer wall of the flexible driving part is surrounded and restrained by the elastic restraining part, the connecting part is fixed at the end part of the flexible driving part, and the pre-tightening part is connected with the elastic restraining part, fixed and penetrates through the connecting part. The invention realizes the precise extension control, bending control and rigidity control of the flexible driving structure by utilizing the structure of combining the elastic restraining part, the pre-tightening part, the connecting part and the flexible driving part. The elastic constraining piece is driven to keep the original length, stretch or compress by controlling the loosening or tightening degree of the pre-tightening piece, the compression degree of the elastic constraining piece is controlled, when the spring of the elastic constraining piece keeps the original length or the stretching state, the flexible driving piece is in a flexible state and can freely stretch or bend, when the spring of the elastic constraining piece is in the compression state, the flexible driving piece can form countermeasures with the stretching, expansion and bending of the flexible driving piece, the rigidity of the flexible driving piece is increased, and the flexible driving piece is in a rigid state, so that the continuous control of the rigidity of the flexible driving piece is realized. And meanwhile, the extension or bending of the flexible driving parts can be realized by controlling the fluid pressure in the cavities of the flexible driving parts.
The elastic restraint part is coated on the outer wall of the flexible driving part and is connected with the connecting parts at two ends, so that a cavity of the flexible driving part is surrounded, the degree of extension or bending of the cavity along the axial direction of the flexible driving part can be limited, the radial expansion of the cavity is restrained, the energy conversion efficiency is improved, the elastic restraint part can confront the extension, expansion and bending of the cavity in a contraction state, and the rigidity of the flexible driving part is controlled. Therefore, the elastic restraint piece improves the compactness of the flexible driving piece, and the flexible driving structure is more suitable for application in application scenes with narrow space.
The flexible driving structure can enable the flexible robot to realize large changes in volume, shape and rigidity, enables the flexible robot to have the capability of controllable rigidity modulation, enables the flexible robot to have adaptability and compliance to the environment due to low rigidity, ensures interaction safety, and can be used for forming a stable rigid operation platform due to high rigidity, transmitting force and bearing load, and improving control precision.
In addition to the technical problems addressed by the present invention, the technical features constituting the technical solutions and the advantages brought by the technical features of the technical solutions described above, other technical features of the present invention and the advantages brought by the technical features of the present invention will be further described with reference to the accompanying drawings or will be understood by the practice of the present invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a flexible drive structure provided by the present invention;
FIG. 2 is one of the schematic cross-sectional views of a flexible drive member of the flexible drive configuration provided by the present invention;
FIG. 3 is a second schematic cross-sectional view of a flexible driving member of the flexible driving structure provided by the present invention;
FIG. 4 is a schematic view of a flexure mechanism of a flexible drive mechanism provided by the present invention;
FIG. 5 is a schematic structural diagram of a tandem type multi-joint flexible driving structure provided by the present invention;
FIG. 6 is a schematic structural diagram of a parallel platform flexible driving structure provided by the present invention;
FIG. 7 is a schematic structural diagram of a flexible actuator provided by the present invention;
FIG. 8 is a schematic view of the structure of the connecting member of the flexible driver provided by the present invention;
FIG. 9 is a schematic view of a flexible drive structure provided by the present invention applied to a mechanical gripper;
FIG. 10 is a schematic view of the application of the flexible drive configuration provided by the present invention to a rehabilitation exoskeleton;
fig. 11 is a schematic structural diagram of a driving system provided by the present invention.
Reference numerals:
100: a connecting member; 110: mounting holes;
200: a drive assembly; 210: an elastic restraint; 220: a flexible drive member; 230: pre-tightening piece; 240: a fluid conduit; 211: a cavity;
300: a flexible sleeve; 310: a channel;
400: an upper computer;
500: a preload member control device; 510: a linear drive; 520: a coil;
600: a fluid driving device; 610: a controller; 620: a sensor; 630: and a conveying member.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.
In embodiments of the invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
As shown in fig. 1, 2 and 4, the flexible driving structure according to the embodiment of the present invention includes a connecting element 100 and at least one driving assembly 200, where the driving assembly 200 includes an elastic constraining element 210, a flexible driving element 220 and a pre-tightening element 230, the flexible driving element 220 is provided inside with a cavity 211 extending along an axial direction thereof for passing a fluid, the elastic constraining element 210 is enclosed on an outer wall of the flexible driving element 220, the connecting element 100 is provided at both ends of the elastic constraining element 210 in the axial direction, the elastic constraining element 210 is connected to the connecting element 100 through the pre-tightening element 230, and the pre-tightening element 230 is provided along the axial direction of the flexible driving element 220.
In the flexible driving structure of the embodiment of the invention, the flexible driving member 220 of the driving assembly 200 is a flexible tubular structure, the interior of the flexible driving member is provided with a cavity 211 for fluid to enter as a fluid driving cavity, the outer wall of the flexible driving member 220 is surrounded and restrained by the elastic restraining member 210, the connecting member 100 is fixed at the end part of the flexible driving member 220, and the pretensioning member 230 is connected with the elastic restraining member 210, fixed and penetrates through the connecting member 100. The invention realizes the precise extension control, bending control and rigidity control of the flexible driving structure by utilizing the structure of combining the elastic restraint member 210, the preload member 230, the connecting member 100 and the flexible driving member 220. The degree of compression of the elastic restraint 210 can be controlled by controlling the loosening or tightening degree of the preload element 230 to drive the elastic restraint 210 to maintain the original length, tension or compression, when the spring of the elastic restraint 210 is maintained in the original length or tension state, the flexible driving element 220 is in a flexible state and can freely extend or bend, when the elastic restraint 210 is in the compression state, the flexible driving element 220 can resist the extension, expansion and bending of the flexible driving element 220 to increase the rigidity of the flexible driving element 220, and the flexible driving element 220 is in a rigid state, thereby realizing the continuous control of the rigidity of the flexible driving element 220. While extension or bending of the flexible drivers 220 may be achieved by controlling the fluid pressure within the cavities 211 of each flexible driver 220.
The elastic constraining member 210 is coated on the outer wall of the flexible driving member 220 and connected to the connecting members 100 at both ends, so as to surround the cavity 211 of the flexible driving member 220, which can not only limit the degree of extension or bending of the cavity 211 along the axial direction of the flexible driving member 220 and constrain the radial expansion of the cavity 211 to improve the energy conversion efficiency, but also can form countermeasures with the extension, expansion and bending of the cavity 211 in the contraction state to control the rigidity of the flexible driving member 220. Therefore, the elastic constraining member 210 improves the compactness of the flexible driving member 220, and makes the flexible driving structure more suitable for application in application scenes with narrow space.
The flexible driving structure can enable the flexible robot to realize large changes in volume, shape and rigidity, enables the flexible robot to have the capability of controllable rigidity modulation, enables the flexible robot to have adaptability and compliance to the environment due to low rigidity, ensures interaction safety, and can be used for forming a stable rigid operation platform due to high rigidity, transmitting force and bearing load, and improving control precision.
In this embodiment, the fluid entering the cavity 211 may be a gas or a liquid, and is selected according to the actual application requirement. The connecting members 100 are made of rigid materials and can be adhered to two ends of the flexible driving members 220, the connecting members 100 can be used for connecting a plurality of flexible driving members 220 in series or in parallel, the elastic restraining members 210 are fixed between adjacent connecting members 100 through the pre-tightening members 230, and the segmented rigidity control of the flexible driving members 220 can be realized by driving the pre-tightening members 230 in a segmented manner or driving the pre-tightening members 230 respectively. The flexible driving structure of the invention has the effect of being convenient for serial assembly and parallel assembly through the connecting piece 100, and can be assembled and connected to form a serial multi-section structure or a parallel platform structure. In this embodiment, the flexible driving member 220 is a flexible tubular structure made of a silicone composite material. In other embodiments, the flexible driving element 220 may be made of other suitable flexible materials, which can ensure good elongation, bending and expansion capabilities.
As shown in fig. 5, in an embodiment, the flexible driving members 220 may be assembled and connected by the connecting member 100 and a pretension line to form a serial multi-section flexible driving structure, and the pretension member 230 controls the stiffness change of each section of the flexible driving member 220, so that the front end of the serial multi-section flexible driving structure can realize a wider range of motion space, more flexible driving, and the combination of variable stiffness of different sections can form the functions of searching and searching in tortuous narrow environments such as complex cavities and pipes, and flexible obstacle avoidance, and provide stable output force. And flexible driving pieces 220 with different sizes can be selected to form a reducing circular truncated cone type serial multi-section flexible driving structure, so that the operation capability of the serial multi-section flexible driving structure in a tortuous and narrow environment is enhanced.
As shown in fig. 10, the serial multi-section flexible driving structure can be used as a main structure of a rehabilitation exoskeleton, the flexible surface of the flexible driving member 220 in the serial multi-section flexible driving structure can realize the safety and the compliance when the rehabilitation exoskeleton interacts with a human body, and during the rehabilitation training process, the rigidity of the rehabilitation exoskeleton formed by the serial multi-section flexible driving structure can be increased by controlling the continuous change of the rigidity of the flexible driving member 220, so that the output force of the rehabilitation exoskeleton is improved, the rehabilitation training for patients is realized, the rehabilitation training content of the patients is enriched by the continuous rigidity change, and the rehabilitation training effect is improved.
The serial multi-section flexible driving structure can also be applied to single-port laparoscopic surgery, and can actively avoid obstacles in a path by completing more complex bending motion with more degrees of freedom, so that high safety when the serial multi-section flexible driving structure interacts with an external operating environment and an operating object is ensured, and the surgical operation with large front-end output force and high stability is realized by controlling the continuous change of the rigidity of the flexible driving structure.
As shown in fig. 6, in another embodiment, the flexible driving members 220 can be assembled and connected by the connecting member 100 and the pre-tightening member 230 to form a parallel platform flexible driving structure, the pre-tightening member 230 controls the stiffness variation of each flexible driving member 220, each flexible driving member 220 in the parallel platform flexible driving structure is circumferentially and uniformly distributed along the center line of the connecting member 100, each flexible driving member 220 extends simultaneously under the action of the fluid driving device 600, and each flexible driving member 220 bends simultaneously under the action of the fluid driving device 600 and bends corresponding to the parallel platform flexible driving structure. The parallel platform flexible driving structure can realize multiple poses by controlling the combination of different bending and extension of the flexible driving piece 220 and different rigidity combinations, realize the pose fixation of the parallel platform flexible driving structure by controlling the rigidity increase of the flexible driving piece 220, improve the load or output force of the parallel platform flexible driving structure, and enhance the capacity of the parallel platform flexible driving structure for bearing loads or adapting to different environments.
As shown in fig. 9, the parallel platform flexible driving structure can be used as a main structure of a mechanical gripper, the flexible surface and multi-degree-of-freedom bending control of the flexible driving member 220 in the parallel platform flexible driving structure can be completely attached to the surface of a gripped object, so as to adapt to the shapes of the surfaces of different gripped objects and grip objects with different materials and rigidities.
As shown in fig. 2 and 3, according to one embodiment of the present invention, the cavity 211 is disposed coaxially or eccentrically with respect to the flexible driver 220 inside the flexible driver 220. In this embodiment, the strong elongation or bending state of the cavity 211 as the fluid driving is determined by the position of the cavity 211 in the flexible driving member 220, when the cavity 211 is located at the center of the flexible driving member 220, i.e. is coaxially arranged with the flexible driving member 220, the fluid enters the cavity 211 under the driving of the fluid driving device 600, and the driving cavity 211 is elongated in the axial direction; when the cavity 211 is located at an eccentric position of the flexible driving member 220, the fluid enters the cavity 211 to drive the cavity 211 to bend in the axial direction under the driving of the fluid driving device 600. In this embodiment, the cross-sectional shape of the cavity 211 is a circle, and in other embodiments, the cross-sectional shape of the cavity 211 may be selected according to actual needs, and is not limited to a circle, and may also be a semicircle, a polygon, and the like.
According to one embodiment of the present invention, the fastening member 230 is a fastening wire, the connecting member 100 has a mounting hole 110, the elastic constraining member 210 has a through hole, one end of the fastening wire is connected to the mounting hole 110 of one of the connecting members 100, and the other end of the fastening wire passes through the through hole of the elastic constraining member 210 and passes through the mounting hole 110 of the other connecting member 100. In this embodiment, the preload member 230 is in the form of a preload thread, which may be a non-extensible fishing thread, a braided thread, or the like, and two or more preload threads are simultaneously connected to one elastic restraining member 210. The pre-tightening line passes through the through hole on the elastic constraining member 210 and is connected with the connecting members 100 at the two ends of the elastic constraining member 210, so that the pre-tightening force is distributed along the circumferential direction of the elastic constraining member 210, and better variable stiffness control is ensured. One end of the pretension line is fixed on the mounting hole 110 of one connecting piece 100, and the other end passes through the through hole of the elastic restraint piece 210 and then passes through the mounting hole 110 of the other connecting piece 100, so that the looseness or tightness of the pretension line of the adjusting piece drives the elastic restraint piece 210 to keep the original length or compress, and the compression degree of the elastic restraint piece 210 is controlled. The flexible driving members 220 can be connected in series or in parallel by pre-tightening wires through the mounting holes 110 of the connecting member 100. The material of the pre-tightening wire can be selected according to actual needs, is not limited to common nylon fibers, and can also be high-strength wires such as steel wires and braided wires.
According to one embodiment of the present invention, the driving assembly 200 further includes a fluid conduit 240, the fluid conduit 240 being in communication with the cavity 211. In this embodiment, the cavity 211 of the flexible driving member 220 is connected to an external fluid driving device 600 through a fluid conduit 240, and the flexible driving member 220 is driven by the fluid driving device 600 to elongate or bend along the axial direction. The inlet of the cavity 211 is located at the end surface of the flexible driving member 220, the end surface is connected to the connecting member 100 through which the preload member 230 passes, and the connecting member 100 is also provided with a through hole for passing the fluid conduit 240, so that the fluid conduit 240 can be connected to the external fluid driving device 600.
According to an embodiment of the present invention, the elastic constraining member 210 is a spring coaxially sleeved on the outer wall of the flexible driving member 220. In this embodiment, the elastic constraining member 210 is a spring with a small elastic coefficient, and the number of turns, the diameter, and the wire diameter of the spring are determined according to the adjustable stiffness and the diameter of the flexible driving member 220. The spring is coaxially sleeved on the outer wall of the flexible driving member 220, limits the radial expansion of the cavity 211, and is used for controlling the rigidity change of the flexible driving member 220. The spring is connected to a pretension line that is driven by a pretension control device 500 to keep the spring in its original length, tension or compression. Continuous variable stiffness control of the flexible drive member 220 is achieved by driving the preload wires through the preload member control 500, thereby controlling the degree of compression of the springs. When the spring is kept as it is, the flexible driving member 220 can be freely extended or contracted, and is in a flexible state; when the spring is compressed, the spring opposes the elongation, expansion and bending of the cavity 211 and the flexible drive 220 is in a rigid state.
In this embodiment, the preload wire passes through a through hole on each coil of the spring to realize the preload along the circumferential direction of the spring, thereby ensuring better variable stiffness control.
As shown in fig. 7, an embodiment of the present invention further provides a flexible driver, which includes a flexible sleeve 300 and a flexible driving structure as in the above embodiment, at least three driving assemblies 200 are embedded inside the tube of the flexible sleeve 300 along the axial direction of the flexible sleeve 300, the driving assemblies 200 are uniformly distributed along the circumferential direction of the tube of the flexible sleeve 300, and the driving assemblies 200 are connected with the end of the flexible sleeve 300 through a connecting piece 100.
The flexible driver provided by the embodiment of the invention is a multi-degree-of-freedom flexible driver, and can be applied to a plurality of application scenes as a component of a mechanical hand grip, a rehabilitation exoskeleton and the like. The flexible driver consists of three or more than three driving assemblies 200, the driving assemblies 200 are uniformly distributed along the circumferential direction of the hollow flexible sleeve 300 and are embedded into the flexible sleeve 300, the flexible driving member 220 and the flexible sleeve 300 are fixed through the connecting member 100, and the flexible driver can be bent and extended along the space in an omnidirectional manner by respectively driving the flexible driving member 220 and stretching the corresponding pre-tightening member 230, and meanwhile, the flexible driver has a certain rigidity adjusting function and is endowed with the variable rigidity characteristic.
In this embodiment, the connecting member 100 is provided with a mounting hole 110 for the fastening member 230 to pass through after connecting with the elastic constraining member 210. The connecting member 100 and the preload member 230 can be easily assembled and connected to form a flexible actuator with multiple degrees of freedom. The flexible driver can be further assembled and connected to form a serial multi-section structure or a parallel platform structure. The flexible drives in the tandem multi-segment structure or the parallel platform structure can have different sizes, and a variable-rigidity flexible structure with a larger movement range is formed.
As shown in FIG. 8, according to one embodiment of the present invention, a flexible sheath 300 is provided with a channel 310 along its axial direction for passage of instruments. In this embodiment, the flexible driver may be used as a basic driver of a flexible robot, and may also be used as a main structure of an endoscope, and the channels 310 through which surgical instruments distributed in the center and around pass may be used to deploy surgical tools such as minimally invasive forceps and endoscopic probes, to form a single-port laparoscopic surgical system with diagnosis and treatment, and may be applied to single-port laparoscopic surgery.
As shown in FIG. 11, an embodiment of the present invention further provides a driving system, which comprises an upper computer 400, and a preload member control device 500 and a fluid driving device 600 connected to the upper computer 400, wherein the preload member control device 500 is connected to the preload member 230, and the fluid driving device 600 is communicated with the cavity 211 through a fluid conduit 240, and the flexible driving structure according to the above embodiment or the flexible driver according to the above embodiment.
The tightening or loosening of the preload member 230 is controlled by the preload member control device 500 in the drive system of the embodiment of the present invention. The fluid driving device 600 supplies fluid to the cavity 211 of the flexible driving member 220 and realizes precise control of the fluid pressure, thereby driving the flexible driving member 220 to extend, contract, bend and precisely control the front end posture. The upper computer 400 performs feedback control on the preload member control device 500 and the fluid drive device 600.
According to one embodiment of the present invention, in the case where the preload member 230 is a preload wire, the preload member control means 500 includes a linear actuator 510 and a coil 520, and the preload wire is wound around the coil 520 and connected to the linear actuator 510. The preload member control apparatus 500 includes a plurality of control units, each control unit being connected to a respective preload wire, each control unit including a linear drive member 510 and a coil 520. The preload member 230 is wound around the coil 520 and coupled to the linear driving member 510, and the coil 520 wound with the preload member 230 is driven in forward or reverse rotation by controlling the forward or reverse movement of the linear driving member 510, thereby driving the variable stiffness preload wire to be tightened or loosened.
According to one embodiment of the present invention, the fluid driving device 600 includes a controller 610, and a sensor 620 and a conveying member 630 connected to the controller 610, wherein the conveying member 630 is connected to the fluid conduit 240, and the sensor 620 is disposed on the fluid conduit 240. In this embodiment, the fluid driving device 600 includes a multi-channel fluid control unit, the sensor 620 is connected to the cavity 211 of the flexible driving member 220 through the fluid pipeline 240, feeds back real-time fluid pressure information, and realizes precise closed-loop feedback control of the fluid pressure through a feedback algorithm, the conveying member 630 conveys fluid to the cavity 211 through the fluid pipeline 240, and the controller 610 controls start-stop, forward-reverse rotation, and rotation speed of the conveying member 630, so as to drive the flexible driving structure to extend, contract, bend, and precisely control the front end attitude.
In this embodiment, the conveying member 630 may be a fluid conveying pump, a syringe, or the like.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A flexible drive structure, characterized by: including connecting piece and at least one drive assembly, drive assembly includes the about piece of elasticity, flexible drive spare and pretension piece, the inside of flexible drive spare is equipped with along its axial extension be used for letting in fluidic cavity, the about piece of elasticity encloses to be located flexible drive spare's outer wall, the connecting piece set up in the about piece axial ascending both ends of elasticity, the about piece of elasticity passes through the pretension piece with the connecting piece is connected, just the pretension piece is followed the axial extension of flexible drive spare sets up.
2. The flexible drive structure of claim 1, wherein: the cavity and the flexible driving piece are coaxially or eccentrically arranged in the flexible driving piece.
3. The flexible drive structure of claim 1, wherein: the pre-tightening piece is a pre-tightening wire, the connecting piece is provided with a mounting hole, a through hole is formed in the elastic restraint piece, one end of the pre-tightening wire is connected with the mounting hole of the connecting piece, and the other end of the pre-tightening wire penetrates through the through hole in the elastic restraint piece and penetrates out of the mounting hole of the connecting piece.
4. The flexible drive structure of claim 1, wherein: the drive assembly further includes a fluid conduit in communication with the cavity.
5. The flexible drive structure of any one of claims 1 to 4, wherein: the elastic restraint piece is a spring, and the spring is coaxially sleeved on the outer wall of the flexible driving piece.
6. A flexible drive, characterized by: the flexible driving structure comprises a flexible sleeve and a flexible driving structure according to any one of claims 1 to 5, wherein at least three driving assemblies are embedded in the flexible sleeve along the axial direction of the flexible sleeve, the driving assemblies are uniformly distributed along the circumferential direction of the flexible sleeve, and the driving assemblies are connected with the end part of the flexible sleeve through a connecting piece.
7. The flexible drive of claim 6, wherein: the flexible sleeve is provided with a channel for the passage of instruments along the axial direction of the flexible sleeve.
8. A drive system, characterized by: the flexible driving structure comprises an upper computer, and a preload piece control device and a fluid driving device which are connected with the upper computer, and the flexible driving structure according to any one of claims 1 to 5 or the flexible driver according to claim 6 or 7, wherein the preload piece control device is connected with the preload piece, and the fluid driving device is communicated with the cavity through a fluid pipeline.
9. The drive system of claim 8, wherein: in the case where the preload member is a preload wire, the preload member control device includes a linear driving member and a coil, and the preload wire is wound around the coil and connected to the linear driving member.
10. The drive system of claim 8, wherein: the fluid driving device comprises a controller, a sensor and a conveying member, wherein the sensor and the conveying member are connected with the controller, the conveying member is connected with the fluid pipeline, and the sensor is arranged on the fluid pipeline.
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