Flexible driver with hard shell strengthening function

Abstract

The invention relates to a flexible driver with a hard shell strengthening function. The flexible driver comprises a flexible air bag and a hard shell, wherein the hard shell is wrapped around the flexible air bag in an outer mode, the structure of the flexible air bag provides a cylindrical bag body with two end faces, and the internal structure of the cylindrical bag body is a cylindrical cavity, the shape of the hard shell is a cylindrical shell which is not provided with end faces on the two sides of the hard shell, and comprises an unextensible section shell, a bendable section shell andan extensible section shell; and the unextensible section shell at the end part of the hard shell is fixedly connected with the end part of the flexible air bag, the bendable section shell is providedwith A-shaped cutting seams which are arranged along the central axis direction of the bendable section shell, the extensible section shell is provided with B1-shaped cutting seams and B2-shaped cutting seams which are alternately arranged along the central axis direction of the extensible section shell, and the characteristics of the three kinds of cutting seams are all notches formed in a certain specific depth along a certain radial direction of the hard shell. The flexible driver can achieve bending deformation in a bendable section shell area, and can achieve extension deformation in anextensible section shell area. The method can be applied to the technical field of flexible robots.

Description

technical field [0001] The invention relates to a soft driver, in particular to a soft driver with a reinforced hard shell, which belongs to the technical field of soft robots. Background technique [0002] In recent years, the development of human-handed profiling robots has made great progress, gradually changing from traditional rigid structures to soft structures, which are mostly used in capture, hand rehabilitation training and other fields. For the traditional rigid structure robot, it has the advantages of high motion precision and strong bearing capacity, but at the same time it also faces problems such as complex structure, high cost, poor adaptability, weak flexibility, etc. The disadvantage of causing secondary damage. For robots with soft structures, they have the advantages of light structure, good motion flexibility, and low cost. However, existing soft robots have disadvantages such as less degrees of freedom and lower structural rigidity. For example: [...

AI Technical Summary

Problems solved by technology

The combination of soft material and hard shell, on the one hand, ensures the flexibility and adaptability of the soft drive, and on the other hand, enhances the operating force of the soft drive without causing secondary damage to the target; the special structural design can Solve the problems of single deformation form and poor adhesion of existing software drivers

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