CN116175539A - Pneumatic soft driver with variable rigidity - Google Patents
Pneumatic soft driver with variable rigidity Download PDFInfo
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- CN116175539A CN116175539A CN202310121578.1A CN202310121578A CN116175539A CN 116175539 A CN116175539 A CN 116175539A CN 202310121578 A CN202310121578 A CN 202310121578A CN 116175539 A CN116175539 A CN 116175539A
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
A pneumatic soft driver with variable rigidity belongs to the field of soft robots. The invention aims to solve the problem that the existing soft robot has 'soft and excessive and just insufficient', so that the existing soft robot cannot ensure enough output force and pose precision in the operation process or the target grabbing operation. The invention comprises a pneumatic bending mechanism, a rigidity adjusting mechanism and a base; one end of the pneumatic bending mechanism is arranged on the base, the pneumatic bending mechanism comprises a plurality of driving air cavities which are uniformly arranged in the circumferential direction, the fixed ends of the rigidity adjusting mechanisms are coaxially inserted into the pneumatic bending mechanism and are positioned at the central positions of the driving air cavities, the driving ends of the rigidity adjusting mechanisms are arranged on the base, and the rigidity of the pneumatic bending mechanism is integrally adjusted by adjusting the self rigidity of the rigidity adjusting mechanisms; the rigidity adjusting mechanism comprises a spring, a flexible adjusting component and a driving component, wherein the flexible adjusting component and the driving component are used for driving the spring to stretch and retract. The invention is mainly used for mechanical arms or mechanical claws.
Description
Technical Field
The invention belongs to the field of soft robots, and particularly relates to a pneumatic soft driver with variable rigidity.
Background
Although the traditional industrial robot has high control precision and quick response, the traditional industrial robot has the defects of high rigidity, poor flexibility, safety, environmental adaptability and the like, so that the traditional industrial robot is difficult to operate in some unstructured complex environments or man-machine co-fusion environments, such as medical operation, man-machine interaction, grasping and picking of fragile articles and agricultural products and the like.
The soft robot takes soft materials as a body, so that the soft robot has higher flexibility and interaction safety, and has wide application prospect in the fields of aerospace, biomedical, agricultural fruit and vegetable picking, high-end manufacturing and the like. For example, chinese patent CN110238836a discloses a pneumatic soft bending steering structure, specifically discloses an upper base, a lower base, a pneumatic extension joint, and the bending in multiple directions can be generated only by inflating a certain pneumatic extension joint, so that the application range is wide. However, the soft robot has the problems of excessive softness and insufficient rigidity, so that the soft robot cannot ensure enough output force and pose precision in the operation process or the target grabbing operation, and therefore, a soft driver with variable rigidity needs to be researched to adapt to different application scenes.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the existing soft robot has the problem of 'softness and redundancy as well as just insufficient', so that the existing soft robot cannot ensure enough output force and pose precision in the operation process or the target grabbing operation; further provided is a variable stiffness pneumatic soft driver.
The invention adopts the technical scheme for solving the technical problems that:
a pneumatic soft driver with variable rigidity comprises a pneumatic bending mechanism, a rigidity adjusting mechanism and a base; one end of the pneumatic bending mechanism is arranged on the base, the pneumatic bending mechanism comprises a plurality of driving air cavities which are uniformly arranged in the circumferential direction, the fixed ends of the rigidity adjusting mechanisms are coaxially inserted into the pneumatic bending mechanism and are positioned at the central positions of the driving air cavities, the driving ends of the rigidity adjusting mechanisms are arranged on the base, and the rigidity of the pneumatic bending mechanism is integrally adjusted by adjusting the self rigidity of the rigidity adjusting mechanisms; the rigidity adjusting mechanism comprises a spring, a flexible adjusting component and a driving component, wherein the flexible adjusting component and the driving component are used for driving the spring to stretch and retract.
Further, the pneumatic bending mechanism comprises an elastic framework, wherein a plurality of circumferentially and uniformly arranged air holes and a central through hole are formed in the elastic framework along the length direction of the elastic framework, and the central through hole is positioned at the central position of the plurality of air holes; the top ends and the bottom ends of the air holes are respectively sealed to form a driving air cavity; each driving air cavity is communicated with an air supply pipeline through a pneumatic connector; the spring is axially arranged in the central through hole.
Furthermore, a pneumatic hose is inserted in each air hole and clung to the inner wall, and a plurality of radial limit rings are coaxially arranged between the pneumatic hose and the inner wall of the air hole from top to bottom.
Further, the cross section of the elastic framework is an equilateral triangle, and the number of the air holes is three and the air holes are respectively positioned at three vertex angles of the elastic framework.
Further, a plurality of annular grooves which are concentrically arranged are formed in the outer wall of the elastic framework along the length direction of the elastic framework.
Further, the flexible adjusting component comprises an end cover, a pulley block, a movable sliding block and a driving rope; the end cover is arranged at the upper port of the central through hole, the pulley block is hung on the lower surface of the end cover through a driving rope, and the movable sliding block is fixedly arranged at the bottom end of the spring and moves along the central axis direction of the central through hole; the movable slide block is connected with the driving assembly through the pulley block and the driving rope.
Further, the pulley block comprises a fixed pulley support, a fixed pulley and a movable pulley; the fixed pulley is arranged on the lower surface of the end cover through a fixed pulley support; the movable pulley is arranged at the output end of the driving assembly and can move along the axis direction of the output shaft of the driving assembly; one end of the driving rope is fixedly connected to the side end face of the fixed pulley, and the other end of the driving rope sequentially bypasses the movable pulley and the fixed pulley and is fixed on the movable slider.
Further, the driving assembly comprises a stepping motor, a screw shaft, a screw nut, a linear guide rail, a side plate and four bearing rollers; the stepping motor is arranged on the base, the screw shaft is coaxially arranged with the central through hole of the elastic framework, one end of the screw shaft is connected with the output end of the stepping motor, and the other end of the screw shaft extends towards the direction of the pneumatic bending mechanism; the screw nut is in threaded connection with the screw shaft, and the side plates and the movable pulleys are respectively arranged on two sides of the screw nut through fastening screws; the linear guide rail is arranged between the pneumatic bending mechanism and the base, the four bearing rollers are symmetrically arranged on the side plates and clamp the linear guide rail, and the bearing rollers are in sliding connection with the linear guide rail.
Further, the base comprises a bottom plate and three copper struts; three copper struts support between pneumatic bending mechanism and bottom plate.
Compared with the prior art, the invention has the beneficial effects that:
1. the spring and the flexible adjusting component for driving the spring to stretch are adopted as the stiffness adjusting mechanism, and the stiffness of the spring is changed by adjusting the deformation of the spring, so that the stiffness of the pneumatic soft driver is controlled; the flexible adjusting component can not influence the bending of the pneumatic soft driver on one hand, and on the other hand, the rigidity adjusting action of the spring is reversible, the whole structure is simple, and the rigidity changing function is realized.
2. The pneumatic hose and the radial limiting ring are arranged in the driving air cavity, and the radial limiting ring is used for radially limiting the pneumatic hose, so that gas in the driving air cavity is axially diffused, the accuracy of bending action is improved, and the capacity of the air cavity for bearing air pressure is enhanced.
3. The cross section of the elastic framework is set to be equilateral triangle, the degree of freedom of the bending direction of the pneumatic bending mechanism can be increased, the bending deformation of the pneumatic bending mechanism in the whole direction is realized by utilizing the pressure difference in each driving air cavity, and the whole structure of the driver is simple, stable and reliable under the function of ensuring that the pneumatic bending mechanism completes bending motion.
4. The annular groove is formed in the outer wall of the elastic framework to reduce bending rigidity of the outer wall of the elastic framework, and directional bending of the pneumatic bending mechanism is facilitated.
5. According to the variable stiffness quick adjusting device, a stroke multiplication mechanism is formed by the rope and the movable pulley block and the fixed pulley block, the mechanism is arranged at two ends of the spring, and the expansion and contraction amount of the spring is controlled through the stepping motor and the stroke multiplication mechanism, so that the variable stiffness quick adjusting device is realized.
6. According to the pneumatic bending mechanism, the air flow flowing into each driving air cavity is controlled through the precise control valve, so that the air pressure inside the air cavities is regulated, the bending direction and the deformation degree of the pneumatic bending mechanism are regulated under the synergistic effect of the stepping motor, the pneumatic bending mechanism is regulated to proper rigidity and stable postures, and the precise and stable deformation movement is finally realized.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this application.
FIG. 1 is an isometric view of the invention;
FIG. 2 is a second perspective view of the present invention;
FIG. 3 is a schematic view of the external structure of the pneumatic bending mechanism;
FIG. 4 is a top view of the pneumatic bending mechanism;
FIG. 5 is a vertical cross-sectional view of the elastic framework;
FIG. 6 is a cross-sectional view taken at A-A of FIG. 4;
FIG. 7 is a schematic diagram of a drive assembly;
FIG. 8 is a schematic structural view of the flexible adjustment assembly connected to the drive assembly;
fig. 9 is a schematic structural view of the flexible adjustment assembly connected to the spring.
Reference numerals illustrate: 1-a pneumatic bending mechanism; 1-1-driving an air cavity; 1-2-elastic frameworks; 1-2-1-pores; 1-2-2-central through hole; 1-2-3-annular grooves; 1-3-upper cover; 1-4-supporting seats; 1-5-pneumatic joints; 1-6-pneumatic hose; 1-7 radial limit rings; 2-a stiffness adjustment mechanism; 2-1-springs; 2-2-flexible adjustment assemblies; 2-2-1-end caps; 2-2-2-fixed pulley support; 2-2-3-fixed pulleys; 2-2-4-movable pulleys; 2-2-5-moving slide blocks; 2-2-6-drive rope; 2-3-drive assembly; 2-3-1-stepper motor; 2-3-2-screw shaft; 2-3-3-lead screw nut; 2-3-4-linear guide rails; 2-3-5-side plates; 2-3-6-bearing rollers; 3-a base; 3-1-bottom plate; 3-2-copper pillar.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions in the embodiments will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present invention, and the following embodiments are used to illustrate the present invention, but are not intended to limit the scope of the present invention.
Referring to fig. 1 to 9, the embodiment of the present application provides a variable stiffness pneumatic soft driver comprising a pneumatic bending mechanism 1, a stiffness adjustment mechanism 2 and a base 3; one end of the pneumatic bending mechanism 1 is arranged on the base 3, the pneumatic bending mechanism 1 comprises a plurality of driving air cavities 1-1 which are uniformly arranged in the circumferential direction, the fixed end of the rigidity adjusting mechanism 2 is coaxially inserted into the pneumatic bending mechanism 1 and is positioned at the central positions of the plurality of driving air cavities 1-1, the driving end of the rigidity adjusting mechanism 2 is arranged on the base 3, and the rigidity of the pneumatic bending mechanism 1 is integrally adjusted by adjusting the self rigidity of the rigidity adjusting mechanism 2; the rigidity adjusting mechanism 2 comprises a spring 2-1, a flexible adjusting component 2-2 and a driving component 2-3, wherein the flexible adjusting component 2-2 is used for driving the spring 2-1 to stretch, the spring 2-1 is added to the center of the pneumatic bending mechanism 1, the rigidity of the spring 2-1 is changed by adjusting the deformation of the spring 2-1, and then the rigidity of the pneumatic bending mechanism 1 is controlled, so that the rigidity adjusting action is reversible, the structure is simple, and the rigidity changing function is realized.
Referring to fig. 5, the pneumatic bending mechanism 1 includes an elastic framework 1-2, wherein the elastic framework 1-2 is provided with a plurality of circumferentially uniformly arranged air holes 1-2-1 and a central through hole 1-2-2 along the length direction of the elastic framework 1-2, and the central through hole 1-2-2 is positioned at the central position of the plurality of air holes 1-2-1; the top ends and the bottom ends of the air holes 1-2-1 are respectively sealed to form a driving air cavity 1-1; namely, the upper port of each air hole 1-2-1 is sealed through an upper sealing cover 1-3 which is arranged, the lower ports of a plurality of air holes 1-2-1 are sealed through a support 1-4 which is arranged together, and a plurality of sealed cavities are integrally formed in an elastic framework 1-2; each driving air cavity 1-1 is communicated with an air supply pipeline through a pneumatic connector 1-5; the spring 2-1 is axially arranged in the central through hole 1-2-2.
Further, referring to fig. 6, a pneumatic hose 1-6 is inserted in each air hole 1-2-1 and is closely attached to the inner wall, and a plurality of radial limit rings 1-7 are coaxially arranged between the pneumatic hose 1-6 and the inner wall of the air hole 1-2-1 from top to bottom; the radial limit ring 1-7 is used for radial limit of the pneumatic hose 1-6, so that the gas in the driving gas cavity 1-1 is diffused axially, the accuracy of bending action is improved, and the capacity of the gas cavity for bearing the gas pressure is enhanced.
Further, referring to fig. 4, the cross section of the elastic framework 1-2 is an equilateral triangle, the number of the air holes 1-2-1 is three, and the air holes are respectively positioned at three vertex angles of the elastic framework 1-2, namely, the included angle between two adjacent driving air cavities 1-1 is 120 degrees. The pressure difference in each driving air cavity 1-1 is utilized to realize the bending deformation of the pneumatic bending mechanism 1 in all directions, and the whole structure of the driver is simple, stable and reliable under the function of ensuring that the pneumatic bending mechanism 1 completes bending movement.
Further, referring to fig. 1, 2, 3 and 5, a plurality of concentric annular grooves 1-2-3 are formed on the outer wall of the elastic framework 1-2 along the length direction of the outer wall, and bending rigidity of the outer wall of the elastic framework 1-2 is reduced through the arranged annular grooves 1-2-3, so that directional bending of the pneumatic bending mechanism 1 is facilitated.
Referring to fig. 6 and 8, the flexible adjusting assembly 2-2 comprises an end cover 2-2-1, a pulley block, a movable sliding block 2-2-5 and a driving rope 2-2-6; the end cover 2-2-1 is arranged at the upper port of the central through hole 1-2-2, the pulley block is hoisted on the lower surface of the end cover 2-2-1 through the driving rope 2-2-6, and the movable sliding block 2-2-5 is fixedly arranged at the bottom end of the spring 2-1 and moves along the central axis direction of the central through hole 1-2-2; the movable slide block 2-2-5 is connected with the driving assembly 2-3 through a pulley block and the driving rope 2-2-6.
Further, referring to fig. 6 and 8, the pulley block comprises a fixed pulley support 2-2-2, a fixed pulley 2-2-3 and a movable pulley 2-2-4; the fixed pulley 2-2-2 is arranged on the lower surface of the end cover 2-2-1 through a fixed pulley support 2-2-1; the movable pulley 2-2-4 is arranged at the output end of the driving component 2-3 and can move along the axis direction of the output shaft of the driving component 2-3; one end of the driving rope 2-2-6 is fixedly connected to the side end face of the fixed pulley 2-2-3, and the other end of the driving rope 2-2-6 sequentially bypasses the movable pulley 2-2-4 and the fixed pulley 2-2-3 and is fixed on the movable slide block 2-2-5.
The connecting end of the driving rope 2-2-6 and the movable sliding block 2-2-5 is the compressed driving end of the driving spring 2-1, when the driving assembly 2-3 drives the movable sliding block 2-2-4 to move downwards, the length between the driving end of the driving rope 2-2-6 and the fixed sliding block 2-2-3 is reduced, the movable sliding block 2-2-5 moves upwards and compresses the spring 2-1, and the rigidity of the spring 2-1 is increased; when the driving assembly 2-3 is reversely driven, the movable pulley 2-2-4 moves upwards, the length between the driving end of the driving rope 2-2-6 and the fixed pulley 2-2-3 is prolonged, the movable pulley 2-2-5 moves downwards under the elasticity of the spring 2-1, the spring 2-1 recovers the original length, and at the moment, the rigidity of the spring 2-1 is minimum and is also the minimum rigidity of the pneumatic bending mechanism 1. The rigidity of the rigidity adjusting mechanism 2 is adjusted to be suitable for different application scenes.
The axial moving distance of the movable pulley 2-2-4 is half of the axial moving distance of the movable pulley 2-2-5, a stroke multiplication mechanism is formed by the rope and the movable pulley block and the fixed pulley block, the stroke multiplication mechanism is arranged at two ends of the spring, and the expansion and contraction amount of the spring is controlled by the stepping motor and the stroke multiplication mechanism, so that the variable rigidity is quickly adjusted.
Referring to fig. 7, the driving assembly 2-3 includes a stepping motor 2-3-1, a screw shaft 2-3-2, a screw nut 2-3-3, a linear guide rail 2-3-4, a side plate 2-3-5, and four bearing rollers 2-3-6; the stepping motor 2-3-1 is arranged on the base 3, the screw shaft 2-3-2 and the central through hole 1-2-2 of the elastic framework 1-2 are coaxially arranged, one end of the screw shaft 2-3-2 is connected to the output end of the stepping motor 2-3-1, and the other end of the screw shaft 2-3-2 extends towards the direction of the pneumatic bending mechanism 1; the screw nut 2-3-3 is arranged on the screw shaft 2-3-2, and the side plates 2-3-5 and the movable pulleys 2-2-4 are respectively arranged on two sides of the screw nut 2-3-3 through fastening screws; the linear guide rail 2-3-4 is arranged between the pneumatic bending mechanism 1 and the base 3, the four bearing rollers 2-3-6 are symmetrically arranged on the side plates 2-3-5, the linear guide rail 2-3-4 is clamped, and the bearing rollers 2-3-6 are in sliding connection with the linear guide rail 2-3-4.
The step motor 2-3-1 drives the screw shaft 2-3-2 to rotate, and the screw nut 2-3-3 moves along the central axis direction of the screw shaft 2-3-2 under the action of the screw shaft 2-3-2 and the linear guide rail 2-3-4, so that the movable pulley 2-2-4 is driven to move.
Referring to fig. 7, the base 3 includes a bottom plate 3-1 and three copper posts 3-2; three copper struts 3-2 are supported between the support 1-4 and the base plate 3-1.
The working process of the invention is further described below to further demonstrate the working principle and advantages of the invention:
the step motor 2-3-1 drives the screw shaft 2-3-2 to rotate, and the screw nut 2-3-3 moves along the central axis direction of the screw shaft 2-3-2 under the action of the screw shaft 2-3-2 and the linear guide rail 2-3-4, so that the movable pulley 2-2-4 is driven to move; when the movable pulley 2-2-4 moves downwards, the length between the driving end of the driving rope 2-2-6 and the fixed pulley 2-2-3 is reduced, the movable pulley 2-2-5 moves upwards and compresses the spring 2-1 under the driving of the driving rope 2-2-6, and the rigidity of the spring 2-1 is increased; when the driving assembly 2-3 is reversely driven, the movable pulley 2-2-4 moves upwards, the length between the driving end of the driving rope 2-2-6 and the fixed pulley 2-2-3 is prolonged, the movable pulley 2-2-5 moves downwards under the elasticity of the spring 2-1, the spring 2-1 recovers the original length, and at the moment, the rigidity of the spring 2-1 is minimum and is also the minimum rigidity of the pneumatic bending mechanism 1.
According to the air pressure regulating device, the air flow flowing into each driving air cavity 1-1 is controlled through the precise control valve, so that the air pressure inside the air cavities is regulated, and under the synergistic effect of the stepping motor 2-3-1, the bending direction and the deformation degree of the pneumatic bending mechanism 1 are regulated, so that the pneumatic bending mechanism 1 is regulated to a proper rigidity and stable posture, and the precise and stable deformation movement is finally realized.
The flexible mechanical arm with variable rigidity can be used as a flexible finger with variable rigidity of a mechanical claw.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the different dependent claims and the features described herein may be combined in ways other than as described in the original claims. It is also to be understood that features described in connection with separate embodiments may be used in other described embodiments.
Claims (9)
1. A variable stiffness pneumatic software driver, characterized by: the device comprises a pneumatic bending mechanism (1), a rigidity adjusting mechanism (2) and a base (3); one end of the pneumatic bending mechanism (1) is arranged on the base (3), the pneumatic bending mechanism (1) comprises a plurality of driving air cavities (1-1) which are uniformly arranged in the circumferential direction, the fixed ends of the rigidity adjusting mechanisms (2) are coaxially inserted into the pneumatic bending mechanism (1) and are positioned at the central positions of the driving air cavities (1-1), the driving ends of the rigidity adjusting mechanisms (2) are arranged on the base (3), and the rigidity of the pneumatic bending mechanism (1) is integrally adjusted by adjusting the self rigidity of the rigidity adjusting mechanisms (2); the rigidity adjusting mechanism (2) comprises a spring (2-1), a flexible adjusting component (2-2) and a driving component (2-3), wherein the flexible adjusting component is used for driving the spring (2-1) to stretch and retract.
2. A variable stiffness pneumatic software driver according to claim 1, wherein: the pneumatic bending mechanism (1) comprises an elastic framework (1-2), wherein the elastic framework (1-2) is provided with a plurality of circumferentially uniformly arranged air holes (1-2-1) and a central through hole (1-2-2) along the length direction of the elastic framework, and the central through hole (1-2-2) is positioned at the central position of the plurality of air holes (1-2-1); the top ends and the bottom ends of the air holes (1-2-1) are respectively sealed to form a driving air cavity (1-1); each driving air cavity (1-1) is communicated with an air supply pipeline through a pneumatic connector (1-5); the spring (2-1) is axially arranged in the central through hole (1-2-2).
3. A variable stiffness pneumatic software driver according to claim 2, wherein: a pneumatic hose (1-6) is inserted in each air hole (1-2-1) and clung to the inner wall, and a plurality of radial limit rings (1-7) are coaxially arranged between the pneumatic hose (1-6) and the inner wall of each air hole (1-2-1) from top to bottom.
4. A variable stiffness pneumatic software driver according to claim 2, wherein: the cross section of the elastic framework (1-2) is in an equilateral triangle, the number of the air holes (1-2-1) is three, and the air holes are respectively positioned at three vertex angles of the elastic framework (1-2).
5. A variable stiffness pneumatic software driver according to claim 2, wherein: the outer wall of the elastic framework (1-2) is provided with a plurality of concentrically arranged annular grooves (1-2-3) along the length direction.
6. A variable stiffness pneumatic software driver according to claim 1, wherein: the flexible adjusting component (2-2) comprises an end cover (2-2-1), a pulley block, a movable sliding block (2-2-5) and a driving rope (2-2-6); the end cover (2-2-1) is arranged at the upper port of the central through hole (1-2-2), the pulley block is hoisted on the lower surface of the end cover (2-2-1) through the driving rope (2-2-6), and the movable sliding block (2-2-5) is fixedly arranged at the bottom end of the spring (2-1) and moves along the central axis direction of the central through hole (1-2-2); the movable slide block (2-2-5) is connected with the driving assembly (2-3) through the pulley block and the driving rope (2-2-6).
7. A variable stiffness pneumatic software driver according to claim 6, wherein: the pulley block comprises a fixed pulley support (2-2-2), a fixed pulley (2-2-3) and a movable pulley (2-2-4); the fixed pulley (2-2-2) is arranged on the lower surface of the end cover (2-2-1) through a fixed pulley support (2-2-1); the movable pulley (2-2-4) is arranged at the output end of the driving component (2-3) and can move along the axis direction of the output shaft of the driving component (2-3); one end of the driving rope (2-2-6) is fixedly connected to the side end face of the fixed pulley (2-2-3), and the other end of the driving rope (2-2-6) sequentially bypasses the movable pulley (2-2-4) and the fixed pulley (2-2-3) and is fixed on the movable pulley (2-2-5).
8. A variable stiffness pneumatic software driver according to claim 7, wherein: the driving assembly (2-3) comprises a stepping motor (2-3-1), a screw shaft (2-3-2), a screw nut (2-3-3), a linear guide rail (2-3-4), a side plate (2-3-5) and four bearing rollers (2-3-6); the stepping motor (2-3-1) is arranged on the base (3), the screw shaft (2-3-2) and the central through hole (1-2-2) of the elastic framework (1-2) are coaxially arranged, one end of the screw shaft (2-3-2) is connected to the output end of the stepping motor (2-3-1), and the other end of the screw shaft (2-3-2) extends towards the direction of the pneumatic bending mechanism (1); the screw nut (2-3-3) is in threaded connection with the screw shaft (2-3-2), and the side plates (2-3-5) and the movable pulleys (2-2-4) are respectively arranged on two sides of the screw nut (2-3-3) through fastening screws; the linear guide rail (2-3-4) is arranged between the pneumatic bending mechanism (1) and the base (3), the four bearing rollers (2-3-6) are symmetrically arranged on the side plates (2-3-5) and clamp the linear guide rail (2-3-4), and the bearing rollers (2-3-6) are in sliding connection with the linear guide rail (2-3-4).
9. A variable stiffness pneumatic software driver according to claim 1, wherein: the base (3) comprises a bottom plate (3-1) and three copper struts (3-2); three copper struts (3-2) are supported between the pneumatic bending mechanism (1) and the bottom plate (3-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310121578.1A CN116175539A (en) | 2023-02-15 | 2023-02-15 | Pneumatic soft driver with variable rigidity |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310121578.1A CN116175539A (en) | 2023-02-15 | 2023-02-15 | Pneumatic soft driver with variable rigidity |
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| Publication Number | Publication Date |
|---|---|
| CN116175539A true CN116175539A (en) | 2023-05-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310121578.1A Pending CN116175539A (en) | 2023-02-15 | 2023-02-15 | Pneumatic soft driver with variable rigidity |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117944774A (en) * | 2024-03-26 | 2024-04-30 | 吉林大学 | Mechanical tail device for assisting jumping robot to maintain motion stability |
-
2023
- 2023-02-15 CN CN202310121578.1A patent/CN116175539A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117944774A (en) * | 2024-03-26 | 2024-04-30 | 吉林大学 | Mechanical tail device for assisting jumping robot to maintain motion stability |
| CN117944774B (en) * | 2024-03-26 | 2024-05-28 | 吉林大学 | Mechanical tail device for assisting jumping robot to maintain motion stability |
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