Hydraulic amphibious soft body bionic execution mechanism

Abstract

The invention relates to the technical field of robot driving, and provides a hydraulic amphibious soft body bionic execution mechanism. The hydraulic amphibious soft body bionic execution mechanism comprises a fin-shaped limb structure and a main driving structure; the fin-shaped limb structure comprises a fin-shaped limb bottom plate and a fin-shaped limb body arranged on the fin-shaped limb bottom plate; the fin-shaped limb main body is in sealing connection with the fin-shaped limb bottom plate; the top surface of the fin-shaped limb body is an arc-shaped surface, the rear end of the fin-shaped limb body is provided with a fin-shaped limb through-liquid hole, the fin-shaped limb body is provided with a plurality of fin-shaped limb capsule cavities which are equidistantly and internallycommunicated, and the interior of the fin-shaped limb capsule cavity is in communication with the fin-shaped limb through-liquid hole; and the main driving structure is arranged in the middle area ofthe rear end of the fin-shaped limb body. The two sides of the main driving structure are correspondingly provided with a positive rotation driving structure and a negative rotation driving structure. According to the he hydraulic amphibious soft body bionic execution mechanism, different pose transformation and motion forms can be realized in the amphibious environment, the structural design isreasonable, the development cost is low, the driving efficiency is high, and the motion form is rich.

Description

technical field [0001] The invention relates to the technical field of robot driving, in particular to a hydraulic amphibious soft bionic actuator. Background technique [0002] The driving method of traditional rigid robots is to realize the movement of multiple degrees of freedom through a large number of rigidly connected joints, which has the disadvantages of low safety of human-computer interaction, low adaptability to non-structural environments, and high maintenance costs, and has gradually failed to meet the development needs of society. . Therefore, soft robots that can exhibit unprecedented flexibility, safety and agility have become a new direction for the development of robotics. The body of soft robots is mainly made of soft materials or extensible materials, which can Continuous deformation can obtain a large amount of energy in large-scale bending or high-curvature twisting, and has significant advantages such as strong environmental adaptability, high drivin...

AI Technical Summary

Problems solved by technology

[0004] The invention mainly solves the technical problems of traditional rigid robot actuators such as complex structure, poor environmental adaptability, poor safety of human-computer interaction, low driving efficiency, single motion form, clumsy pose transformation, high production and maintenance costs, and proposes a hydraulic amphibious The amphibious soft bionic actuator has the remarkable characteristics of low development cost, simple structure, and high safety of human-computer interaction, and bionics the structure and motion mechanism of sea lion flippers and worms to improve the maneuverability of the actuator and enrich the movement form the goal of

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