CN209812321U - Flexible driving unit and actuator - Google Patents
Flexible driving unit and actuator Download PDFInfo
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- CN209812321U CN209812321U CN201920657031.2U CN201920657031U CN209812321U CN 209812321 U CN209812321 U CN 209812321U CN 201920657031 U CN201920657031 U CN 201920657031U CN 209812321 U CN209812321 U CN 209812321U
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Abstract
The utility model provides a flexible drive unit and executor, flexible drive unit includes: the unit body is of a cavity structure, a liquid dielectric medium is arranged in the unit body, and the liquid dielectric medium can flow in the cavity structure when the unit body is extruded; the flexible electrode assembly comprises two flexible electrodes which are respectively and electrically connected with the positive electrode and the negative electrode of the power supply, the two flexible electrodes are respectively arranged on the upper surface and the lower surface of the unit body, and when the flexible electrode assembly is conducted with the power supply, the two flexible electrodes attract each other and extrude the unit body; the two flexible electrode assemblies are respectively arranged at the two ends of the unit body. With the arrangement, the flexible driving unit is simple in structure and small in weight, the attraction force generated between the flexible electrodes during power-on and the hydraulic restoring force generated between the internal liquid dielectrics during power-off cooperate to realize movement, and the electrostatic force driving has extremely high efficiency, so that the execution efficiency of the flexible driving unit is high.
Description
Technical Field
The utility model relates to a flexible executor field, more specifically say, relate to a flexible drive unit and an executor.
Background
The actuator is an essential important component of an automatic control system. It is used to receive the control signal from the controller and change the controlled medium to maintain the controlled variable at the required value or in certain range. Rigid actuators have been developed more mature, and flexible actuators have the advantages of flexibility, high degree of freedom, excellent environmental adaptability and the like compared with common actuators, and are a great trend in future development. In the prior art, the flexible actuator mainly has several driving modes, such as pneumatic driving, hydraulic driving, driving by using the physicochemical properties of new materials, and the like. The pneumatic drive and the hydraulic drive have the defects of large volume, heavy weight, inconvenient carrying and the like because corresponding air pumps and liquid pumps are needed, and the physical and chemical property drive utilizing new materials has the defects of unstable operation, low execution efficiency, unsatisfactory actual effect and the like. Therefore, how to improve the execution efficiency of the flexible actuator, and solving the problems of large volume, heavy weight and the like of the flexible actuator and the auxiliary device thereof in the prior art is a problem that needs to be solved urgently by the technical personnel in the field.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide a simple structure, small, the high drive arrangement of execution efficiency to solve the drive arrangement among the prior art problem bulky, that weight is big, execution efficiency is not high.
In order to solve the above problem, the utility model provides a flexible driving unit, include: the flexible and inelastic unit body is of a cavity structure, a liquid dielectric medium is arranged in the cavity structure, and the liquid dielectric medium can flow in the cavity structure when the unit body is extruded; the flexible electrode assembly is used for being connected with a power supply and comprises two flexible electrodes which are respectively and electrically connected with the positive electrode and the negative electrode of the power supply, the two flexible electrodes are respectively arranged on the upper surface and the lower surface of the unit body, and when the flexible electrode assembly is communicated with the power supply, the two flexible electrodes attract each other and extrude the unit body; the two flexible electrode assemblies are respectively arranged at two ends of the unit body.
Preferably, the unit body comprises two layers of films which are arranged up and down, the edges of the two layers of films are connected in a sealing mode, and a gap is formed between the two layers of films to form the cavity structure.
Preferably, each film dumbbell shape, including setting up two constitution pieces at both ends and being used for connecting two constitute the connection piece of piece, two constitute the piece and the connection piece is followed flexible drive unit length direction sets up, two it is circular or polygon to constitute the piece, the connection piece is the rectangle, flexible electrode set up in on constituting the piece, every it is provided with one to constitute the piece flexible electrode.
Preferably, the flexible electrode is a circular ring-shaped flexible electrode.
Preferably, the liquid dielectric is FR3 vegetable insulating oil.
Preferably, the flexible electrode is a LiCl-polyimide hydrogel electrode or a copper tape or an aluminum metal film.
Preferably, the unit body is made of a BOPP flexible film.
The utility model also provides an executor, including a plurality of flexible drive unit that stack gradually setting and fixed connection, flexible drive unit is as above arbitrary the flexible drive unit.
Preferably, the length directions of any two adjacent flexible driving units are arranged in parallel, and the assembly pieces between the two adjacent flexible driving units are contacted and fixedly connected with each other.
Preferably, the length directions of any two adjacent flexible driving units are perpendicular to each other, the connecting pieces between the two adjacent flexible driving units are in mutual contact and are fixedly connected, and the component pieces between the two flexible driving units arranged at intervals are in mutual contact and are fixedly connected.
The utility model provides an among the technical scheme, a flexible drive unit, include: the flexible and inelastic unit body is of a cavity structure, a liquid dielectric medium is arranged in the cavity structure, and when the unit body is extruded, the liquid dielectric medium can flow in the cavity structure; the flexible electrode assembly is used for being connected with a power supply and comprises two flexible electrodes which are respectively and electrically connected with the positive electrode and the negative electrode of the power supply, the two flexible electrodes are respectively arranged on the upper surface and the lower surface of the unit body, and when the flexible electrode assembly is conducted with the power supply, the two flexible electrodes mutually attract and extrude the unit body; the two flexible electrode assemblies are respectively arranged at the two ends of the unit body. With the arrangement, the flexible driving unit is simple in structure and small in weight, the attraction force generated between the flexible electrodes during power-on and the hydraulic restoring force generated between the internal liquid dielectrics during power-off cooperate to realize movement, and the electrostatic force driving has extremely high efficiency, so that the execution efficiency of the flexible driving unit is high.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a flexible driving unit in an embodiment of the present invention;
FIG. 2 is a schematic view of the flexible driving unit when being pressed when being powered on in the embodiment of the present invention;
FIG. 3 is a schematic structural view of a thin film according to a first embodiment of the present invention;
FIG. 4 is a schematic structural view of a thin film according to a second embodiment of the present invention;
fig. 5 is a schematic structural diagram of a flexible electrode according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an actuator according to a first embodiment of the present invention;
FIG. 7 is an isometric view of FIG. 6;
fig. 8 is a schematic view of an action state of the actuator according to the first embodiment of the present invention;
fig. 9 is a schematic structural diagram of an actuator according to a second embodiment of the present invention;
fig. 10 is a schematic structural diagram of an actuator according to an embodiment of the present invention when the actuator is used in a robot;
fig. 11 is a schematic view illustrating a state in which the robot of fig. 10 grips an article.
In fig. 1-11:
flexible electrode-1, component sheet-2, connecting sheet-3 and actuator-4.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. It is to be understood that the embodiments described are only some embodiments of the invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
This concrete implementation provides a simple structure, small, the high drive arrangement of execution efficiency to solve the drive arrangement among the prior art bulky, heavy, the not high problem of execution efficiency.
Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. The embodiments described below do not limit the scope of the invention described in the claims. Further, the entire contents of the configurations shown in the following embodiments are not limited to those necessary as a solution of the invention described in the claims.
Referring to fig. 1 to 5, a flexible driving unit includes: the flexible and inelastic unit body is of a cavity structure, a liquid dielectric medium is arranged in the cavity structure, and when the unit body is extruded, the liquid dielectric medium can flow in the cavity structure; the flexible electrode assembly is used for being connected with a power supply and comprises two flexible electrodes 1 which are respectively and electrically connected with the anode and the cathode of the power supply, the two flexible electrodes 1 are respectively arranged on the upper surface and the lower surface of the unit body, and when the flexible electrode assembly is conducted with the power supply, the two flexible electrodes 1 mutually attract and extrude the unit body; the two flexible electrode assemblies are respectively arranged at the two ends of the unit body.
As shown in fig. 2, when in use, the flexible electrode assembly arranged on the left side of the unit body can be conducted with a power supply, because the flexible electrodes 1 on the upper and lower surfaces of the flexible driving unit are charged with different polarities, the two flexible electrodes 1 are acted by electrostatic force, the generated mutual attraction force makes the flexible driving unit compress, the liquid dielectric medium in the unit body flows to the right side, the thickness of the left side of the unit body is reduced, and the thickness of the right side of the unit body is increased; after the power is cut off, the electrostatic force between the two flexible electrodes 1 disappears, and the self hydraulic restoring force of the liquid dielectric medium in the unit body can enable the flexible driving unit to do relaxation action so as to enable the flexible driving unit to restore to the initial non-electrified state; similarly, the flexible electrode assembly arranged on the right side of the unit body is conducted with the power supply, the liquid dielectric medium in the unit body flows to the left side of the unit body, the thickness of the right side of the unit body is reduced, the thickness of the left side of the unit body is increased, the electrostatic force between the two flexible electrodes disappears after power failure, and the hydraulic restoring force generated by the liquid dielectric medium in the unit body can enable the flexible driving unit to do relaxation action and restore the flexible driving unit to the initial non-electrified state. In actual use, the plurality of flexible driving units are combined and connected, and different flexible electrode assemblies are electrified, so that bending, contraction and other actions can be realized. It should be noted that the left and right in the above description refer to the flexible driving unit when it is placed in the posture of fig. 2, where the left refers to the left side in fig. 2 and the right refers to the right side in fig. 2.
Due to the arrangement, the flexible driving unit is driven by the electrostatic force and recovered by the electrostatic force or the hydraulic pressure, the response speed is high, the execution efficiency is high, and the problems that the driver driven by the physical and chemical properties of a new material in the prior art is unstable in operation and low in execution efficiency can be effectively solved; compared with the problems that the pneumatic drive and the hydraulic drive in the prior art need corresponding air pumps, hydraulic pumps, pipelines and the like, and have large volume, heavy weight and larger limitation on application occasions, the flexible drive unit comprises a unit body, a liquid dielectric medium arranged in the unit body and a flexible electrode 1, so that the number of accessories is less and the structure is simpler; and the flexible driving unit adopts electrostatic driving, so that the environment is not polluted, and the flexible driving unit is cleaner and more environment-friendly.
In some embodiments, the cell body comprises two films arranged up and down, the edges of the two films are connected in a sealing manner, and a gap is formed between the two films to form a cavity structure. When using the film to make the cell body, first two films are placed one on top of the other, and then the edges of the two films are heat sealed using a mold having a contour that corresponds to the contour of the films, leaving a small channel between the two films that is not sealed. And then, injecting liquid dielectric medium into the unit body through the reserved small channel, wherein the amount of injected liquid dielectric medium is enough to enable the liquid dielectric medium to flow in the cavity structure of the unit body, and finally, sealing the reserved small channel to finish the manufacturing process of the unit body. So set up, the manufacturing process of unit body is simple, the batch production of being convenient for to the material low price that its preparation adopted makes the manufacturing cost of unit body also lower.
Optionally, the liquid dielectric is a high voltage insulating oil. Optionally, the liquid dielectric is FR3 vegetable insulating oil. The FR3 vegetable insulating oil has good electrical performance, the flash point is higher than 300 ℃, the safety performance is extremely high, the biodegradation rate is up to 97 percent, no pollution is caused to the environment, and the requirement of the fireproof performance of electrical equipment is met; FR3 plant insulating oil's dielectric property is higher, can effectively prevent that flexible electrode subassembly from leading to the back with the power, producing electrostatic breakdown between two flexible electrode 1, causing the equipment damage. Optionally, the cell body is made of Biaxially Oriented Polypropylene (BOPP) flexible film. The material has high mechanical strength, good heat sealability and high electric breakdown strength, is suitable for being used as a material of a unit body of the flexible driving unit, can enable the high-pressure resistance and fatigue resistance of the flexible driving unit to be higher, and prolongs the service life of the flexible driving unit.
Referring to fig. 3 and 4, in some embodiments, each of the films is dumbbell-shaped, and includes two component pieces 2 disposed at both ends and a connecting piece 3 for connecting the two component pieces 2, the two component pieces 2 and the connecting piece 3 are disposed along a length direction of the flexible driving unit, the two component pieces 2 are circular or polygonal, and the connecting piece 3 is rectangular. For example, the constituent pieces 2 may be regular hexagons, squares, or the like. The dumbbell shape means that the length dimension between the two end points of the constituent pieces 2 farthest from each other in the direction perpendicular to the length direction of the flexible driving unit is greater than the length dimension of the connecting piece 3. The flexible driving unit is made of two dumbbell-shaped films, and has four component pieces 2, and the four component pieces 2 are respectively provided with one flexible electrode 1. As shown in fig. 1 to 4, the film is disposed in a dumbbell shape, so that two chambers are formed on the left and right sides of the flexible driving unit made of the dumbbell-shaped film, and the two chambers are communicated with each other through a communication chamber therebetween. So set up, the unit body can make the most liquid dielectric medium of a cavity can flow to another cavity when circular telegram pressurized, and it is less to stay in the communicating chamber at middle part. For example, when the flexible electrode assembly on the left side of the flexible drive unit is energized, most of the liquid dielectric in the left chamber can flow to the right chamber, and less liquid dielectric stays in the communicating chamber. When the unit body uses the communicating cavity as the center, the left side and the right side are folded and bent, the resistance generated by the unit body is smaller due to the fact that the liquid dielectric medium in the communicating cavity is less, the unit body is easily folded and bent, and the flexibility of the flexible driving unit is improved. It should be noted that the left and right in the above description refer to the flexible driving unit when it is placed in the posture of fig. 2, where the left refers to the left side in fig. 2 and the right refers to the right side in fig. 2.
Optionally, the flexible electrode 1 is a LiCl-polyimide hydrogel electrode or a copper tape or an aluminum metal film. The LiCl-polyimide hydrogel electrode and the copper adhesive tape can be adhered to the surface of the film, and the aluminum metal film can be deposited on the surface of the BOPP film through a vacuum deposition process. The flexible electrodes 1 have good conductivity and mechanical properties, and can ensure stable working state of the flexible driving unit. Optionally, the flexible electrode 1 is a circular ring-shaped flexible electrode 1. Paste ring shape flexible electrode 1 behind the surface of unit body, when connecting fixedly between the flexible drive unit, can contact each other and fixed connection through the round hole in the middle of ring shape flexible electrode 1 between the adjacent flexible drive unit, so set up, the connection between the flexible drive unit of being more convenient for is fixed.
The utility model also provides an executor 4, including a plurality of flexible drive unit that stack gradually setting and fixed connection, this flexible drive unit is as above flexible drive unit. The actuator 4 is composed of a plurality of flexible driving units, and different combined states can execute different actions.
As shown in fig. 6, in some embodiments, the length directions of any two adjacent flexible driving units are arranged in parallel with each other, and the constituent plates 2 between the two adjacent flexible driving units are in contact with each other and fixedly connected. In order to prevent the adjacent flexible electrodes from generating electrostatic breakdown due to the potential difference when being electrified, as shown in fig. 6, the adjacent flexible electrodes may be simultaneously connected with the positive electrode or the negative electrode of the power supply to ensure that the potentials of the adjacent flexible electrodes are the same. In the present embodiment, the actuator 4 is capable of two movements.
In the first motion, the flexible electrode assemblies on the left side of the flexible driving units are simultaneously conducted with the power supply, the flexible electrode assemblies on the right side are not conducted with the power supply, so that the electrified left sides of the flexible driving units are squeezed, the liquid dielectric medium in the units flows to the right side, the thickness of the left side of each flexible driving unit is smaller than that of the right side, and therefore the actuator 4 bends to the left side. Similarly, the flexible electrode assemblies on the right sides of the flexible driving units of the actuator 4 are simultaneously conducted with the power supply, when the flexible electrode assemblies on the left sides are not conducted with the power supply, the right sides of the flexible driving units are extruded, the liquid dielectric medium in the units flows to the left side, the thickness of the right sides of the flexible driving units is smaller than that of the left sides of the flexible driving units, and the actuator 4 bends to the right. The left bending motion and the right bending motion of the actuator 4 can also be combined. Referring to fig. 6, for example, when the flexible electrode assembly on the left side of the upper half flexible driving unit and the flexible electrode assembly on the right side of the lower half flexible driving unit in the actuator 4 are connected to the power supply, the upper half of the actuator bends to the left and the lower half bends to the right. The above-described upper, lower, left, and right refer to the actuator 4 when it is placed in the posture of fig. 6, in which the upper refers to the upper part in fig. 6, the lower refers to the lower part in fig. 6, the left refers to the left side in fig. 6, and the right refers to the right side in fig. 6.
In practical applications, referring to fig. 10 and 11, a plurality of actuators 4 may be combined to form a robot arm, which includes two actuators 4 arranged in parallel and a base for fixing the two actuators 4. The manipulator can perform different operations by having the actuators 4 perform different actions in cooperation with each other. As shown in fig. 11, when the two actuators 4 of the robot are caused to perform the bending operation in opposition to each other, the robot can perform the grasping operation and can grasp the article. Compared with the common manipulator, the manipulator has the advantage of flexible grabbing, can not generate mechanical damage to the surface of an object when the object is grabbed, and can not permanently damage the object due to overlarge grabbing force; and when the manipulator snatchs the object, the surface of laminating object that can be fine for the flexible manipulator can be fine adapts to the object of various shapes, makes the snatching of flexible manipulator to the object more firm.
When the second motion is performed, referring to fig. 8, the left flexible electrode assembly of one flexible driving unit is conducted with the power supply, and the right flexible electrode assembly of the adjacent flexible driving unit is conducted with the power supply, and so on, each adjacent flexible driving unit in the actuator 4 adopts the way of conducting electricity on different sides, so that each flexible driving unit forms the staggered contraction, each flexible driving unit in the actuator 4 is close to each other, the actuator 4 performs the contraction motion as a whole, and when each flexible electrode assembly is disconnected from the power supply, the squeezed liquid dielectric medium flows back, and the actuator 4 returns to the initial state. In practical use, the heavy object can be pulled up by utilizing the contraction motion of the actuator 4, and the heavy object is driven by static electricity, so that the heavy object has higher response speed and high execution efficiency.
As shown in fig. 9, in some embodiments, the length directions of any two adjacent flexible driving units are perpendicular to each other, the connecting pieces 3 between the two adjacent flexible driving units are in contact with each other and are fixedly connected, and the constituent pieces 2 between the two flexible driving units arranged at intervals are in contact with each other and are fixedly connected.
In this embodiment, the length directions of any two adjacent flexible driving units are perpendicular to each other, and therefore, they can be bent in two perpendicular directions. That is, the actuator 4 in the present embodiment can perform bending motion in both a two-dimensional space and a three-dimensional space.
Referring to fig. 9, for convenience of description, in fig. 9, a length direction of the first flexible driving unit from the top is defined as a first direction, and a length direction of the second flexible driving unit is defined as a second direction. When the flexible electrode assembly on the lower right corner of each flexible driving unit in the first direction in the actuator 4 is connected to the power supply, the liquid dielectric medium on the lower right corner of each flexible driving unit in the first direction flows to the upper left corner, so that the thickness of the upper left corner is greater than that of the lower right corner, and the actuator 4 bends toward the lower right corner; meanwhile, the flexible electrode assembly on one side of the lower left corner of each flexible driving unit in the second direction is also conducted with the power supply, so that the liquid dielectric medium in one side of the lower left corner of each flexible driving unit in the second direction flows to one side of the upper right corner, the thickness of the lower left corner is smaller than that of the upper right corner, and the actuator 4 bends towards the lower left corner. When both actions occur simultaneously, the actuator 4 as a whole exhibits a helical bending state like a spiral line. In actual application, the specific direction of the flexible electrode assembly in the actuator 4 to be energized to have different bending states may be determined according to specific application, and is not limited herein. This allows actuator 4 to have a high degree of variability and flexibility in three dimensions, so that the actuator can be better adapted to the surrounding environment.
It should be noted that the different functional devices or components in the above embodiments may be combined, for example, a flexible driving unit, which includes: the flexible and inelastic unit body is of a cavity structure, a liquid dielectric medium is arranged in the cavity structure, and when the unit body is extruded, the liquid dielectric medium can flow in the cavity structure; the flexible electrode assembly is used for being connected with a power supply and comprises two flexible electrodes 1 which are respectively and electrically connected with the anode and the cathode of the power supply, the two flexible electrodes 1 are respectively arranged on the upper surface and the lower surface of the unit body, and when the flexible electrode assembly is conducted with the power supply, the two flexible electrodes 1 mutually attract and extrude the unit body; the two flexible electrode assemblies are respectively arranged at the two ends of the unit body. The unit body comprises two films which are arranged up and down, the edges of the two films are connected in a sealing mode, and a gap is formed between the two films to form a cavity structure. Each film is the dumbbell type, including setting up two constitution pieces 2 at both ends and being used for connecting two connection pieces 3 that constitute piece 2, two constitution pieces 2 and connection piece 3 set up along flexible drive unit length direction, and two constitution pieces 2 are circular or polygon, and connection piece 3 is the rectangle, and flexible electrode 1 sets up on constitution piece 2, and every constitution piece 2 is provided with a flexible electrode 1. The flexible electrode 1 is a circular ring-shaped flexible electrode 1. The liquid dielectric medium is FR3 vegetable insulating oil. The flexible electrode 1 is a LiCl-polyimide hydrogel electrode or a copper tape or an aluminum metal film. The unit body is made of a BOPP flexible film.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A flexible drive unit, comprising:
the flexible and inelastic unit body is of a cavity structure, a liquid dielectric medium is arranged in the cavity structure, and the liquid dielectric medium can flow in the cavity structure when the unit body is extruded;
the flexible electrode assembly is used for being connected with a power supply and comprises two flexible electrodes (1) which are respectively and electrically connected with the positive electrode and the negative electrode of the power supply, the two flexible electrodes (1) are respectively arranged on the upper surface and the lower surface of the unit body, and when the flexible electrode assembly is communicated with the power supply, the two flexible electrodes (1) attract each other and extrude the unit body;
the two flexible electrode assemblies are respectively arranged at two ends of the unit body.
2. The flexible driving unit according to claim 1, wherein the unit body comprises two films disposed one above the other, edges of the two films are connected in a sealing manner, and a gap is formed between the two films to form the cavity structure.
3. The flexible drive unit according to claim 2, wherein each of the films is dumbbell-shaped, and includes two component pieces (2) disposed at both ends and a connection piece (3) for connecting the two component pieces (2), the two component pieces (2) and the connection piece (3) are disposed along a length direction of the flexible drive unit, the two component pieces (2) are circular or polygonal, the connection piece (3) is rectangular, the flexible electrodes (1) are disposed on the component pieces (2), and one flexible electrode (1) is disposed on each component piece (2).
4. The flexible drive unit according to claim 3, characterized in that the flexible electrode (1) is a circular ring-shaped flexible electrode (1).
5. The flexible drive unit of claim 1, wherein the liquid dielectric medium is FR3 vegetable insulating oil.
6. The flexible drive unit according to claim 1, characterized in that the flexible electrode (1) is a LiCl-polyimide hydrogel electrode or a copper tape or an aluminum metal film.
7. The flexible drive unit of claim 1, wherein the unit body is made of BOPP flexible film.
8. An actuator, comprising a plurality of flexible driving units which are sequentially stacked and fixedly connected, wherein the flexible driving unit is the flexible driving unit according to any one of claims 3 or 4.
9. The actuator according to claim 8, wherein the length directions of any two adjacent flexible drive units are arranged parallel to each other, and the component sheets (2) between the two adjacent flexible drive units are in contact with each other and fixedly connected.
10. The actuator according to claim 8, characterized in that the length directions of any two adjacent flexible driving units are perpendicular to each other, the connecting pieces (3) between two adjacent flexible driving units are in contact with each other and fixedly connected, and the component pieces (2) between two flexible driving units arranged at intervals are in contact with each other and fixedly connected.
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| CN201920657031.2U CN209812321U (en) | 2019-05-05 | 2019-05-05 | Flexible driving unit and actuator |
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| CN201920657031.2U CN209812321U (en) | 2019-05-05 | 2019-05-05 | Flexible driving unit and actuator |
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