Intelligent flexible driving device integrating distributed sensing and cooperating with actuating units, and application

Abstract

The invention provides an intelligent flexible driving device integrating distributed sensing and cooperating with actuating units, and application. The driving device sequentially comprises an outerlayer, a secondary outer layer, a middle layer, a secondary inner layer and an inner layer from outside to inside, wherein the outer layer uses a wear-resistant high-intensity hard flexible material;the secondary outer layer is adhered and connected to the outer layer, and is made of a flexible material with high ductility; a plurality of actuating units and multifunctional sensing units in arrayarrangement are embedded in the middle layer; the multifunctional sensing units are sequentially and alternatively arranged to form a sensing unit array; the plurality of actuating units form an actuating unit array; the actuation and sensing isotropy of the driving device is ensured; the secondary inner layer is tightly matched with the middle layer, and is made of a flexible material with highductility; the inner layer is made of an elastic material softer than the outer layer; and when the actuating units deform, the stress nonuniformity at two sides of the actuating units can cause deformation of the inner layer, so that a driven object is driven to move.

Description

technical field [0001] The invention relates to the field of intelligent robots, in particular to an intelligent flexible driving device and its application which integrate distributed sensing and cooperative actuation units. Background technique [0002] With the continuous development of robot technology, robot application scenarios are becoming more and more extensive. Rigid joints driven by traditional motors have been difficult to meet the flexible drive of robot joints and the power-assisted drive of human limbs in various scenarios such as narrow space, safe operation, and limb rehabilitation. Therefore, various fields have proposed lightweight and safe flexible drive devices. , integration, flexibility, intelligence and other higher requirements. At present, roboticists often connect flexible drives or flexible components in series in traditional rigid joints to realize joint flexible drives. There are many problems such as complex structure, excessive weight, poor ...

AI Technical Summary

Problems solved by technology

Rigid joints driven by traditional motors have been difficult to meet the flexible drive of robot joints and the power-assisted drive of human limbs in various scenarios such as narrow space, safe operation, and limb rehabilitation. Therefore, various fields have proposed lightweight and safe flexible drive devices. , integration, flexibility, intelligence and other higher requirements

At present, roboticists often connect flexible drives or flexible components in series in traditional rigid joints to realize joint flexible drives. There are many problems such as complex structure, excessive weight, poor flexibility, limited perception, sluggish response, and insufficient precision. Therefore, how to Based on high-performance materials such as high wear resistance, high elasticity, and high skin-friendly properties, it has become a hot spot in the field of robot research to develop lightweight, safe, integrated, flexible, and intelligent flexible drives.

[0003] Scholars at home and abroad have carried out a lot of exploratory research on flexible driving devices, and initially developed a variety of flexible driving devices. The hollow elastic cavity formed by the helical fiber winding is filled with a driving medium to control its radial expansion and axial contraction to realize the torsion and contraction movement of the driving load. Because the device uses gas or liquid as the driving medium, an additional gas source or Hydraulic source, resulting in heavy weight and sluggish response, making it difficult to achieve lightweight, safe and integrated

The patent document "A Hydraulically Driven Flexible Artificial Muscle (CN109760038A)" discloses a hydraulically driven flexible device, which hydraulically drives a piston closely fitted with a flexible cylinder and then uses a traction rope fixedly connected to the piston to drive the load to move, because the traction rope It can only provide tension and the device is not equipped with a sensing unit, resulting in limited perception and low control accuracy, making it difficult to achieve intelligence and flexibility

The patent document "Carbon nanotube fiber yarn thermally driven artificial muscle robot dexterous hand (CN209755204U)" discloses a flexible driving device, which uses a heater to heat the carbon nanotube fiber yarn coated on the robot finger to expand it to drive Finger movement, because it is difficult to accurately control the expansion of the carbon nanotube fiber yarn by using the heating method of the heater, and the heating is slow, resulting in low control precision and sluggish response in this driving mode

[0004] In summary, although the existing flexible driving device has initially realized the flexible driving of the driving object, there are still prominent problems such as complex structure, excessive weight, poor flexibility, limited perception, slow response, and insufficient precision.

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