CN112518731B - Software driver and software device - Google Patents
Software driver and software device Download PDFInfo
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- CN112518731B CN112518731B CN202011377978.1A CN202011377978A CN112518731B CN 112518731 B CN112518731 B CN 112518731B CN 202011377978 A CN202011377978 A CN 202011377978A CN 112518731 B CN112518731 B CN 112518731B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 157
- 239000012530 fluid Substances 0.000 claims abstract description 41
- 238000012546 transfer Methods 0.000 claims abstract description 23
- 230000000149 penetrating effect Effects 0.000 claims abstract description 10
- 238000001125 extrusion Methods 0.000 claims description 61
- 238000005096 rolling process Methods 0.000 claims description 32
- 230000004044 response Effects 0.000 abstract description 3
- 230000008859 change Effects 0.000 description 5
- 238000003825 pressing Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- Engineering & Computer Science (AREA)
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- Mechanical Engineering (AREA)
- Reciprocating Pumps (AREA)
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Abstract
The invention relates to the technical field of drivers, and discloses a software driver and a software device, wherein the software driver comprises: the device comprises a hose, a transmission component and a driving device; the inner cavity of the hose is filled with fluid; one end of the hose is arranged in the transmission component in a penetrating way; the driving device is connected with the transmission component and can drive the transmission component to move so as to drive the hose to move relative to the transmission component; when the hose is retracted into the transfer member in a first direction, the transfer member squeezes the hose, forcing fluid in the hose out of the hose; when the hose extends out of the transmission part in the second direction, the extruded fluid flows back into the hose. In the soft driver, the output response of the driving pressure is quicker, the structure is simpler, and the soft driver can adapt to complex operating environments.
Description
Technical Field
The invention relates to the technical field of drivers, in particular to a software driver and a software device.
Background
With the development of software robotics, software drivers have become one of the main research contents of software robotics.
The traditional rigid driver has complex structure, limited flexibility and poor safety and adaptability, and is no longer suitable for a soft robot. In practical applications, besides requiring a simple structure, the soft robot is required to have extremely high safety of human-computer interaction and adaptability to the environment, and as a driver of the soft robot, such performance requirements also need to be satisfied.
In order to solve the problem, those skilled in the art have purposefully designed a soft body driver, and the energy form of the existing soft body driver is mainly pneumatic or hydraulic, basically needs continuous external energy supply and a complex control system, and the application of the soft body robot is greatly limited under the complex working environment. .
Disclosure of Invention
The invention provides a soft driver and a soft device, which are used for solving the defects of a driving device in the existing soft robot.
In order to achieve the above object, in a first aspect, the present invention provides a software driver, including: hose, transmission part, drive arrangement.
The inner cavity of the hose is filled with fluid;
one end of the hose is arranged in the transmission component in a penetrating way;
the driving device is connected with the transmission component and can drive the transmission component to move so as to drive the hose to move relative to the transmission component;
when the hose is retracted into the transfer member in a first direction, the transfer member squeezes the hose, forcing fluid in the hose out of the hose;
when the hose extends out of the transmission part in the second direction, the extruded fluid flows back into the hose.
Preferably, the transmission member includes: the extrusion wheel and the driven extrusion wheel;
the side surface of the extrusion wheel and the side surface of the driven extrusion wheel are arranged in a tangent mode;
one end of the hose penetrates through a gap between the squeezing wheel and the driven squeezing wheel to be squeezed by the squeezing wheel and the driven squeezing wheel;
the first gear on the driving device is meshed with the second gear on the extrusion wheel, and the driving device can drive the extrusion wheel to rotate so as to match with the driven extrusion wheel to roll the hose, so that the hose moves relative to the transmission component.
Preferably, the number of the extrusion wheels is at least one, the number of the driven extrusion wheels is at least one, and each extrusion wheel is at least tangentially arranged with one driven extrusion wheel.
Preferably, the number of the squeezing wheels is two, and the squeezing wheels comprise a first squeezing wheel and a second squeezing wheel; the number of the driven extrusion wheels is one;
the driven extrusion wheel is respectively tangent to the first extrusion wheel and the second extrusion wheel;
the driving device is provided with a first gear, the first extrusion wheel and the second extrusion wheel are both provided with a second gear, and the first gear is meshed with the second gear;
when the first gear of the driving device rotates, the first extrusion wheel and the second extrusion wheel can be driven to rotate simultaneously, so that the hose can be rolled along the direction in which the first extrusion wheel and the second extrusion wheel are matched and positioned.
Preferably, the method further comprises the following steps: a scroll member;
the hose penetrates through one end of the transmission component and is hermetically arranged and fixed on the rolling component;
the first gear of the driving device is meshed with the third gear of the rolling component, and the driving device can drive the rolling component to roll the hose extruded by the transmission component on the rolling component.
Preferably, the driving means comprises a driving motor;
and a first gear connected with the driving motor is respectively connected with the transmission component and the rolling component and drives the transmission component and the rolling component to rotate.
Preferably, the driving means includes a first driving motor and a second driving motor;
the first gear of the first driving motor is connected with the transmission component and drives the transmission component to rotate;
and the first gear of the second driving motor is connected with the rolling component and drives the rolling component to rotate.
Preferably, the method further comprises the following steps: a housing;
the transmission component, the driving device and the rolling component are fixed in the shell through the support.
Preferably, the software driver further comprises: the device comprises a support, a transmission rod and a linear sliding block;
the strut is arranged in parallel with the transmission rod; the linear sliding block penetrates through the support column;
the transmission rod is connected with the driving device, and a first transmission part and a second transmission part are sequentially arranged on the transmission rod;
one end of the hose penetrating through the transmission component is connected with one end of the linear sliding block;
the first transmission part is connected with the other end of the linear sliding block;
the second transmission component is connected with the transmission component;
the driving device can drive the driving transmission rod to rotate so as to drive the first transmission part to drive the linear sliding block to do linear motion on the support, and when the linear sliding block does linear motion, the flexible pipe is driven to extend into the transmission part; when the transmission rod rotates, the second transmission part is driven to drive the transmission part to operate so as to drive the hose to extend into or out of the transmission part.
Preferably, the first transmission member includes: a screw nut, a screw;
the lead screw nut is connected with the linear sliding block;
when the transmission rod drives the screw rod to rotate, the screw rod drives the linear sliding block to do linear motion on the support through the screw rod nut.
Preferably, the second transmission member includes: a worm; a turbine is arranged on the transmission component;
when the transmission rod drives the worm to rotate, the worm is matched with the worm wheel to drive the transmission part to operate.
Preferably, the software driver further comprises: a pulley block;
and one end of the hose penetrating through the transmission component is wound on the pulley block and then is connected with one end of the linear sliding block.
In order to achieve the above object, according to a second aspect of the present invention, there is provided a software device, comprising: an external component and a soft body driver as described in any of the first aspects;
one end of the hose of the soft driver, which is close to the transmission component, is connected with the external component;
when the hose is retracted into the transmission part along a first direction, the transmission part presses the hose to press the fluid in the hose into the external connection part;
when the hose extends out of the transmission component along the second direction, the extruded fluid flows back into the hose;
the hose can enable the length of the hose extending out of the transmission component to be changed, and/or the external component is controlled to deform through receiving and releasing fluid.
Preferably, the extension part comprises an expansion part, and the inner cavity of the expansion part is communicated with the inner cavity of the hose;
when the hose is retracted into the transfer member in a first direction, fluid within the hose is forced into the expansion member;
when the hose extends out of the transfer member in a second direction, the fluid flows back from within the expansion member into the hose.
Preferably, one end of the expansion part, which is far away from the hose, is connected with an execution part, the execution part is movably arranged along a straight line, and when the driving device drives the hose to move relative to the transmission part, the hose drives the execution part to translate through the expansion part.
The software driver provided by the invention has the advantages that:
a driving device is adopted to drive the transmission component to move so as to drive the hose to move relative to the transmission component; when the hose is retracted into the transfer member in the first direction, the transfer member squeezes the hose to force fluid in the hose out of the hose; when the hose extends out of the transmission part along the second direction, the extruded fluid flows back into the hose, and the hose has good controllability and applicability by utilizing a relatively simple structure, the compressible fluid is filled in the inner cavity of the hose in advance, the output response of the driving pressure is more quick, continuous external energy supply and a complex control system are omitted, and the hose can adapt to a complex operation environment; the mode of squeezing the hose through the transmission component can improve the efficiency of squeezing out the hose by the fluid, and in addition, when the hose is driven to move relative to the transmission component, stronger pulling force is brought.
Drawings
FIG. 1 is a schematic diagram of a front side of a software driver according to an embodiment of the present invention;
FIG. 2 is a side view of a software driver according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of the front side of another software driver according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of the front side of a software driver according to another embodiment of the present invention;
FIG. 5 is a schematic diagram of a software device according to an embodiment of the present invention.
In the figure:
1-a hose; 2-a transmission member; 21-an extrusion wheel; 211-a second gear; 22-a driven squeeze wheel; 3-a drive device; 31-a first gear; 4-a scrolling member; 41-a third gear; 5-a shell; 51-a scaffold; 6-an expansion member; 7-an execution component; 8-a pillar; 9-linear slide block; 10-a screw nut; 11-a screw rod; 12-a worm; 13-a turbine; 14. a pulley block; 15-transmission rod.
Detailed Description
In the detailed description of the present invention, unless otherwise specifically stated, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, a fixed connection, a removable connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection via an intermediary, a connection between two elements, or an interaction between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar components or components having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present invention and should not be construed as limiting the present invention.
Example one
Referring to fig. 1-4, the present embodiment provides a soft driver, which comprises a hose 1, a transmission member 2, and a driving device 3. Wherein, the inner cavity of the hose 1 is filled with fluid; one end of the hose 1 is arranged in the transmission component 2 in a penetrating way; the driving device 3 is connected with the transmission component 2, and the driving device 3 can drive the transmission component 2 to move so as to drive the hose 1 to move relative to the transmission component 2; when the hose 1 is retracted into the transfer member 2 along the first direction, the transfer member 2 extrudes the hose 1 to extrude the fluid in the hose 1 out of the hose 1; when the hose 1 extends out of the transfer member 2 in the second direction, the squeezed fluid flows back into the hose 1.
Wherein, the first direction is the direction that the hose 1 retracts into the transmission component 2; the second direction may be opposite to the first direction, being the direction in which the hose 1 extends out of the transfer member 2.
In the present embodiment, the transmission member 2 has two functions: firstly, the hose 1 is driven to retract into or extend out of the transmission component 2 so as to change the length of the part of the hose 1 extending out of the transmission component 2; secondly, the hose 1 retracted into the transfer member 2 is squeezed to force the pre-filled fluid in the hose 1 out of the hose 1.
In this embodiment, different driving sources can be obtained by setting different combination modes by utilizing the transmission of the hose 1 and the squeezing of the fluid in the hose 1 by the transmission member 2. This embodiment will be described in detail by way of example.
In one embodiment, the hose 1 can be moved relative to the conveying member 2 by the conveying member 2 to change the length of the portion of the hose 1 extending out of the conveying member 2 as a driving source.
In another embodiment, the fluid control external member may be accommodated in the hose 1 to be deformed as a driving source.
In another embodiment, the length of the part of the hose 1 extending out of the transmission member 2 can be changed, and the hose 1 can receive and store fluid to control the deformation of external parts, and the two parts can be used together as a driving source.
In still another embodiment, it is of course possible to arrange the hose 1 in a sealed state, and when the transmitting member 2 presses the hose 1, the portion of the hose 1 extending beyond the transmitting member 2 is expanded to change the length of the hose 1 itself as a driving source.
In the soft driver, a driving device 3 is adopted to drive a transmission part 2 to move so as to drive a hose 1 to move relative to the transmission part 2; when the hose 1 is retracted into the transfer member 2 along the first direction, the transfer member 2 extrudes the hose 1 to extrude the fluid in the hose 1 out of the hose 1; when the hose 1 extends out of the transmission part 2 along the second direction, the extruded fluid flows back into the hose 1, and the hose 1 has good controllability and applicability by utilizing a relatively simple structure, the compressible fluid is filled in the inner cavity of the hose 1 in advance, the output response of the driving pressure is more quick, continuous external energy supply and a complex control system are omitted, and the hose 1 can adapt to a complex operating environment; by squeezing the hose 1 with the transfer member 2, the efficiency of squeezing out the hose 1 with the fluid can be improved, and in addition, a stronger pulling force, i.e., a driving force, is exerted when the hose 1 is driven to move relative to the transfer member 2.
On the basis of the above technical solution, the transmission member 2 includes: a pressing wheel 21 and a driven pressing wheel 22. Wherein, the side surface of the extrusion wheel 21 is tangent to the side surface of the driven extrusion wheel 22; one end of the hose 1 passes through a gap between the extrusion wheel 21 and the driven extrusion wheel 22, and is extruded by the extrusion wheel 21 and the driven extrusion wheel 22. The first gear 31 on the driving device 3 is meshed with the second gear 211 on the extrusion wheel 21, and the driving device 3 can drive the extrusion wheel 21 to rotate so as to match with the driven extrusion wheel 22 to roll the hose 1, so that the hose 1 moves relative to the transmission component 2.
Specifically, the squeezing action of the squeezing wheel 21 and the driven squeezing wheel 22 on the hose 1 gives pressure to the hose 1, and when the squeezing wheel 21 rotates, friction can be given to the hose 1 to drive the hose 1 to move along a tangent line of a contact position between the squeezing wheel 21 and the driven squeezing wheel 22.
On the basis of the technical scheme, the number of the extrusion wheels 21 is at least one, the number of the driven extrusion wheels 22 is at least one, and each extrusion wheel 21 is at least tangentially arranged with one driven extrusion wheel 22. By the matching use of different numbers of the extrusion wheels 21 and the driven extrusion wheels 22, on one hand, the rolling direction of the hose 1 can be changed; on the other hand, the pulling force of the hose 1 by the transfer member 2 can be increased.
In a particular embodiment, with reference to fig. 1-2, the number of squeezing wheels 21 is two, including a first squeezing wheel 21 and a second squeezing wheel 21; the number of the driven pressing wheels 22 is one. The driven extrusion wheel 22 is respectively tangent with the first extrusion wheel 21 and the second extrusion wheel 21; the driving device 3 is provided with a first gear 31, the first pressing wheel 21 and the second pressing wheel 21 are each provided with a second gear 211, and the first gear 31 is meshed with the second gear 211. When the first gear 31 of the driving device 3 rotates, the first squeezing wheel 21 and the second squeezing wheel 21 can be driven to rotate at the same time, so that the hose 1 can be rolled along the direction in which the first squeezing wheel 21 and the second squeezing wheel 21 are matched and positioned.
Example two
In this embodiment, further detailed on the basis of the first embodiment, referring to fig. 1-2, the software driver further includes: a rolling member 4. The scrolling member 4 may be a reel wheel. Wherein, the hose 1 is sealed and arranged by penetrating one end of the transmission component 2 and is fixed on the rolling component 4; the first gear 31 of the driving device 3 is engaged with the third gear 41 of the rolling member 4, and the driving device 3 can drive the rolling member 4 to roll the hose 1 pressed by the transmission member 2 on the rolling member 4.
In this embodiment, by the arrangement of the rolling component 4, on one hand, the hose 1 extruded by the transmission component 2 can be rolled on the rolling component 4 to neatly store the hose 1, which has the effects of saving space and reducing the volume of the software driver; on the other hand, when the rolling component 4 rotates, the hose 1 can also be pulled, and the efficiency of retracting the hose 1 into the transmission component 2 is improved.
In the above technical solution, the driving device 3 is provided with the driving motors, but the number of the driving motors is not limited in this embodiment. In this embodiment, the description will be made by way of example.
In one embodiment, the driving device 3 comprises a driving motor; the first gear 31 connected with the driving motor is respectively connected with the transmission component 2 and the rolling component 4, and the driving motor is arranged to simultaneously drive the transmission component 2 and the rolling component 4 to rotate, so that on one hand, the space and the production cost can be saved; on the other hand, the control logic of the drive motor can also be simplified.
Further, the diameter of the rolling component 4 becomes larger as more and more hoses 1 are wound, and if the same driving motor is used for the squeezing wheel 21 and the rolling component 4, the ratio of the rotating speed of the squeezing wheel 21 to the rotating speed of the rolling component 4 is easy to change, so that the speed of the squeezing wheel 21 rolling into the hoses 1 is not matched with the speed of software wound on the rolling component 4, the hoses 1 are easy to be accumulated between the transmission component 2 and the rolling component 4, or the hoses 1 are excessively pulled, and the damage or the service life of the hoses 1 is reduced.
To this end, in a further embodiment, it may be provided that the drive means 3 comprise a first drive motor and a second drive motor; the first gear 31 of the first driving motor is connected with the transmission component 2 and drives the transmission component 2 to rotate; the first gear 31 of the second driving motor is connected to the scroll member 4 to drive the scroll member 4 to rotate. Specifically, the rotation speeds of the first drive motor and the second drive motor may be controlled separately.
On the basis of the above technical solution, the software driver further comprises: a housing 5; a holder 51 is provided in the housing 5, and the transmission member 2, the driving device 3 and the scroll member 4 are fixed in the housing 5 by the holder 51.
EXAMPLE III
In this embodiment, a further refinement is provided on the basis of the first embodiment, as shown in fig. 3, the software driver further includes: a strut 8, a transmission rod 15 and a linear slide block 9; wherein, the support post 8 is arranged in parallel with the transmission rod 15; the linear slide block 9 is arranged through the pillar 8; the transmission rod 15 is connected with the driving device 3, and a first transmission part and a second transmission part are sequentially arranged on the transmission rod 15; one end of the hose 1 penetrating through the transmission part 2 is connected with one end of the linear sliding block 9; the first transmission part is connected with the other end of the linear sliding block 9; the second transmission component is connected with the transmission component 2; the driving device 3 can drive the driving transmission rod 15 to rotate so as to drive the first transmission part to drive the linear sliding block 9 to do linear motion on the pillar 8, and when the linear sliding block 9 does linear motion, the hose 1 is driven to extend into the transmission part 2, so that the pulling force can be increased; when the transmission rod 15 rotates, the second transmission part is driven to drive the transmission part 2 to operate, so as to drive the hose 1 to extend into or out of the transmission part 2.
In one embodiment, the first transmission member comprises: screw rod 11, nut 10 and screw rod 11; the screw rod 11 and the nut 10 are connected with the linear slide block 9; when the transmission rod 15 drives the screw rod 11 to rotate, the screw rod 11 drives the linear slide block 9 to make linear motion on the pillar 8 through the screw rod 11 and the nut 10.
In one embodiment, the second transmission member comprises: a worm 12; the transmission part 2 is provided with a turbine 13; when the transmission rod 15 drives the worm 12 to rotate, the worm 12 is matched with the worm wheel 13 to drive the transmission part 2 to operate.
On the basis of the above technical solution, as shown in fig. 4, the software driver further includes: a pulley block 14; one end of the hose 1 penetrating through the transmission component 2 is wound on the pulley block 14 and then connected with one end of the linear sliding block 9, so that the hose 1 can be collected in the pulley block 14, and the space is saved.
Example four
This embodiment provides a soft body device comprising an add-on component and a soft body driver as in any of the embodiments one. Specifically, one end of a hose 1 of the soft driver, which is close to a transmission component 2, is connected with an external component; when the hose 1 is retracted into the transmission part 2 along the first direction, the transmission part 2 presses the hose 1 to press the fluid in the hose 1 into the external connection part; when the hose 1 extends out of the transfer member 2 in the second direction, the squeezed fluid flows back into the hose 1; the hose 1 can change the length of the hose extending out of the transmission component 2 and/or control the deformation of the external component by retracting and releasing fluid.
EXAMPLE five
As shown in fig. 5, the present embodiment provides a soft body device, which is based on the second embodiment, the external connecting part includes an expansion part 6, and the inner cavity of the expansion part 6 is communicated with the inner cavity of the hose 1; when the hose 1 is retracted into the transfer member 2 in the first direction, the fluid in the hose 1 is squeezed into the expansion member 6; when the hose 1 extends out of the transfer member 2 in the second direction, fluid flows back from the interior of the expansion member 6 into the hose 1.
In this embodiment, the expansion member 6 may be only used as a member for accommodating fluid, and the length of the portion of the hose 1 extending out of the transmission member 2 changes during the control process, so as to drive the expansion member 6 to move; alternatively, the expansion member 6 may be an external member, and when the hose 1 pushes the fluid into the expansion member 6, the expansion member 6 expands and deforms to shorten, and when the hose 1 withdraws the fluid from the expansion member 6, the expansion member 6 expands and restores to elongate.
Example four
As shown in fig. 5, the present embodiment provides a soft body device, which further illustrates the operation manner of the expansion member 6 based on the third embodiment. Wherein, the one end that the inflation part 6 kept away from hose 1 is connected with executive component 7, and executive component 7 is along a straight line activity setting, and when drive arrangement 3 driven hose 1 moved for transmission part 2, hose 1 passed through inflation part 6 and drove executive component 7 translation.
Claims (9)
1. A soft body driver, comprising:
the device comprises a hose, a transmission component and a driving device;
the inner cavity of the hose is filled with fluid;
one end of the hose penetrates through the transmission part;
the driving device is connected with the transmission component and can drive the transmission component to move so as to drive the hose to move relative to the transmission component;
the transmission member includes: the extrusion wheel and the driven extrusion wheel;
the side surface of the extrusion wheel and the side surface of the driven extrusion wheel are arranged in a tangent mode;
one end of the hose penetrates through a gap between the extrusion wheel and the driven extrusion wheel, and is extruded by the extrusion wheel and the driven extrusion wheel;
a first gear on the driving device is meshed with a second gear on the extrusion wheel, and the driving device can drive the extrusion wheel to rotate so as to cooperate with the driven extrusion wheel to drive the hose to move relative to the transmission component;
when the hose is retracted into the transfer member in a first direction, the transfer member squeezes the hose, forcing fluid in the hose out of the hose;
when the hose extends out of the transmission component along the second direction, the extruded fluid flows back into the hose;
the hose penetrates through one end of the transmission component and is hermetically arranged and fixed on the rolling component.
2. The soft drive of claim 1, wherein the number of squeeze wheels is two, including a first squeeze wheel and a second squeeze wheel; the number of the driven extrusion wheels is one;
the driven extrusion wheel is respectively tangent to the first extrusion wheel and the second extrusion wheel;
the driving device is provided with a first gear, the first extrusion wheel and the second extrusion wheel are both provided with a second gear, and the first gear is meshed with the second gear;
when the first gear of the driving device rotates, the first extrusion wheel and the second extrusion wheel can be driven to rotate simultaneously, so that the hose is driven along the direction in which the first extrusion wheel and the second extrusion wheel are matched and positioned.
3. The soft drive of any of claims 1-2, wherein the first gear of the driving device is engaged with the third gear of the rolling member, and the driving device is capable of driving the rolling member to roll the hose pressed by the transmission member on the rolling member.
4. The soft drive of claim 3, wherein the drive means comprises a first drive motor and a second drive motor;
the first gear of the first driving motor is connected with the transmission component and drives the transmission component to rotate;
and a first gear of the second driving motor is connected with the rolling component and drives the rolling component to rotate.
5. The soft body driver of any one of claims 1-2, further comprising: the device comprises a support, a transmission rod and a linear sliding block;
the strut is arranged in parallel with the transmission rod; the linear sliding block penetrates through the support column;
the transmission rod is connected with the driving device, and a first transmission part and a second transmission part are sequentially arranged on the transmission rod;
one end of the hose penetrating through the transmission component is connected with one end of the linear sliding block;
the first transmission component is connected with the other end of the linear sliding block;
the second transmission component is connected with the transmission component;
the driving device can drive the transmission rod to rotate so as to drive the first transmission part to drive the linear sliding block to do linear motion on the support, and when the linear sliding block does linear motion, the flexible pipe is driven to extend into the transmission part; when the transmission rod rotates, the second transmission part is driven to drive the transmission part to operate so as to drive the hose to extend into or out of the transmission part.
6. The soft drive of claim 5, wherein the first transmission member comprises: a screw nut, a screw;
the lead screw nut is connected with the linear sliding block;
when the transmission rod drives the screw rod to rotate, the screw rod drives the linear sliding block to do linear motion on the support through the screw rod nut.
7. The soft drive of claim 6, wherein the second transmission member comprises: a worm; a turbine is arranged on the transmission component;
when the transmission rod drives the worm to rotate, the worm is matched with the worm wheel to drive the transmission part to operate.
8. The soft body driver as claimed in any one of claims 6 to 7, further comprising: a pulley block;
and one end of the hose penetrating through the transmission component is wound on the pulley block and then is connected with one end of the linear sliding block.
9. A soft body device comprising an external component and a soft body driver according to any one of claims 1 to 8;
one end of the hose of the soft driver, which is close to the transmission component, is connected with the external component;
when the hose is retracted into the transmission part along a first direction, the transmission part presses the hose to press the fluid in the hose into the external connection part;
when the hose extends out of the transmission component along the second direction, the extruded fluid flows back into the hose;
the hose is movable relative to the transmission member so as to serve as a driving source;
the hose can move relative to the transmission component, so that the fluid is collected and released to control the deformation of the external component as a driving source;
the hose can move relative to the transmission component, and meanwhile, the fluid is collected and released to control the deformation of the external component, and the hose and the external component act together to serve as a driving source.
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| CN202011377978.1A CN112518731B (en) | 2020-11-30 | 2020-11-30 | Software driver and software device |
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|---|---|---|---|
| CN202011377978.1A CN112518731B (en) | 2020-11-30 | 2020-11-30 | Software driver and software device |
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| CN112518731A CN112518731A (en) | 2021-03-19 |
| CN112518731B true CN112518731B (en) | 2022-11-25 |
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