The present invention discloses a soft robot driver. The soft robot driver comprises a valve body, a main channel, an upper partition plate, a balance cavity, a side channel, a diaphragm, a control cavity, a lower partition plate and an auxiliary channel. The main channel and the auxiliary channel are connected together through the bypass channel, the main channel and the balance cavity are separated through an upper partition plate, the balance cavity and the control cavity are separated through a diaphragm, and the auxiliary channel and the control cavity are separated through the lower partition plate. The diaphragm is a bistable flexible diaphragm, has two stable positions and is concave in a normal state, the lower convex column on the diaphragm is used for extruding the lower partition plate to normally close the auxiliary channel, and the main channel is normally open; the diaphragm rapidly protrudes upwards when being excited by external force, the upper partition plate is extruded by the upper protruding column on the diaphragm to close the main channel, and the auxiliary channel is communicated. By means of the bistable characteristic of the diaphragm, the driver can achieve the automatic inflation and deflation functions, and the periodic air pressure pulse effect is generated. The soft robot driver is made of a flexible material and has the advantages of being goodin flexibility, high in sensitivity and the like.
本发明公开了一种软体机器人驱动器,包括阀体、主通道、上隔板、平衡腔、旁通道、隔膜、控制腔、下隔板和副通道。主通道与副通道通过旁通道连接在一起,主通道与平衡腔通过上隔板分开,平衡腔与控制腔通过隔膜分开,副通道与控制腔通过下隔板分开;隔膜为双稳态柔性膜,具有两个稳定位置,常态时下凹,利用隔膜上的下凸柱挤压下隔板使副通道常闭,主通道常通;隔膜受外力激发时迅速上凸,利用隔膜上的上凸柱挤压上隔板使主通道封闭,副通道导通。利用隔膜的双稳态特性,可以使驱动器实现自动充气和放气功能,即产生周期性气压脉冲效果。本发明提出的软体机器人驱动器由柔性材料制成,具有柔顺性好、灵敏度高等优点。
Soft robot driver
一种软体机器人驱动器
2020-06-05
Patent
Electronic Resource
Chinese
IPC: | B62D MOTOR VEHICLES , Motorfahrzeuge / B33Y ADDITIVE MANUFACTURING, i.e. MANUFACTURING OF THREE-DIMENSIONAL [3D] OBJECTS BY ADDITIVE DEPOSITION, ADDITIVE AGGLOMERATION OR ADDITIVE LAYERING, e.g. BY 3D PRINTING, STEREOLITHOGRAPHY OR SELECTIVE LASER SINTERING , Additive (generative) Fertigung, d. h. die Herstellung von dreidimensionalen [3D] Bauteilen durch additive Abscheidung, additive Agglomeration oder additive Schichtung, z. B. durch 3D- Drucken, Stereolithografie oder selektives Lasersintern |
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