The invention provides a hydraulic variable-rigidity soft bionic execution device, and relates to the technical field of bionic robots. The first direction changing assembly and the second direction changing assembly are connected with the fixing assembly and filled with liquid, and the power equipment is connected with the first direction changing assembly through a first liquid pipe and connected with the second direction changing assembly through a second liquid pipe at the same time. Liquid in the first direction changing assembly flows into the second direction changing assembly to enable the second direction changing assembly to bend and change the direction, or liquid in the second direction changing assembly flows into the first direction changing assembly to enable the first direction changing assembly to bend and change the direction; when the first direction changing assembly bends and changes the direction or the second direction changing assembly bends and changes the direction, the soft body driving effect of the driving assembly is achieved, the first diameter changing assembly is connected to the outer portion of the second diameter changing assembly in a sleeving mode, and the first diameter changing assembly and the second diameter changing assembly can adjust the rigidity of the first diameter changing assembly and the second diameter changing assembly. Therefore, the movement frequency when the posture changes is matched by adjusting the rigidity of the device.
本发明提供一种液动可变刚度软体仿生执行装置,涉及仿生机器人技术领域。第一变向组件和第二变向组件分别与固定组件相连接,第一变向组件和第二变向组件内分别充有液体,动力设备通过第一液管与第一变向组件相连并同时通过第二液管与第二变向组件相连,将第一变向组件内的液体流入第二变向组件内使第二变向组件弯曲变向,或者将第二变向组件内的液体流入第一变向组件内使第一变向组件弯曲变向,使第一变向组件弯曲变向或第二变向组件弯曲变向时实现了驱动组件的软体驱动作用,第一变径组件套接在第二变径组件的外部,使第一变径组件和第二变径组件能够调整自身刚度。从而,通过调整自身刚度来匹配自身姿态变化时的运动频率。
Hydraulic variable-rigidity soft bionic execution device
一种液动可变刚度软体仿生执行装置
2023-12-05
Patent
Electronic Resource
Chinese
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