CN107498538A - A kind of high-adaptability it is new from deformation module soft robot - Google Patents
A kind of high-adaptability it is new from deformation module soft robot Download PDFInfo
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- CN107498538A CN107498538A CN201710742703.5A CN201710742703A CN107498538A CN 107498538 A CN107498538 A CN 107498538A CN 201710742703 A CN201710742703 A CN 201710742703A CN 107498538 A CN107498538 A CN 107498538A
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
A kind of high-adaptability it is new from deformation module soft robot, it is related to a kind of robot, it is big to solve existing rigid matrix Robot Stiffness, cause self-deformation difficult, bad adaptability, and or existing soft robot cavity is complicated, but function is single, need to cause module to disconnect the problem of realizing restructural manually, it includes elastic deformable body and two connectors, two connectors are arranged in the opposite end of elastic deformable body, each connector includes case lid, housing, spherical magnet, flexible fastening body, Flexible Connector and tracheae external piece；Housing cavity is disposed with spherical magnet, case lid, housing and flexible fastening body embedment Flexible Connector inner chamber, flexible fastening body and Flexible Connector are affixed, and the breather pipe of housing cavity is communicated with elastomer fixed body and Flexible Connector, and elastic deformable body is affixed with Flexible Connector.The present invention is used to make soft robot.
Description
Technical field
The present invention relates to a kind of robot, and in particular to a kind of high-adaptability it is new from deformation module software machine
People.
Background technology
Robot is widely used to the numerous areas such as military affairs, industry, scientific exploration, the disaster relief.Traditional robot typically by
Rigid matrix is connected and composed by kinematic pair, and each kinematic pair provides one or more translational degree of freedom or rotational freedom.Institute
The movement combination for having kinematic pair forms the working space of end effector of robot, and this robot has motion accurate excellent
Point, but the rigidity of structure makes its environmental suitability poor, and the motion in narrow space is restricted, and can not be less than by yardstick
Robot yardstick or complex-shaped passage, these shortcomings constrain application of the rigid machine people in some fields, as military affairs are detectd
Wish small, the complex-shaped passage of the drill-through wall seam of reconnaissance robot energy, crack between a door and its frame equidimension for disguised consideration when looking into；Mine disaster,
Require that the deep enough ruins of robot energy are detected in Earthquake disaster bailout；It is narrow to often require that robot enters opening during scientific exploration
Space etc..In recent years, researcher is using mollusk as prototype, it is proposed that soft robot, it is a kind of new bionical company
Xu Ti robots, the mollusk in soft robot natural imitation circle, the flexible material that can largely bear to strain greatly are made,
With unlimited multiple degrees of freedom, continuous modification ability and the low resistivity to pressure.But existing soft robot, have plenty of cavity
Complexity, but function is single, the characteristic of modularization software shows deficiency, and it is all restructural that the modularization software also having is most of,
Need manually so that module disconnects, it is cumbersome.
The content of the invention
The present invention is big to solve existing rigid matrix Robot Stiffness, causes self-deformation difficult, bad adaptability, with
And either existing soft robot cavity is complicated, but function is single, or need to cause module disconnects realization can manually
The problem of reconstruct, and then a kind of the new from deformation module soft robot of high-adaptability is provided.
A kind of the new of high-adaptability of the present invention includes elastic deformable body and two from deformation module soft robot
Connector, two connectors are arranged in the opposite end of elastic deformable body, and each connector includes case lid, shell
Body, spherical magnet, flexible fastening body, Flexible Connector and tracheae external piece；Shell one end is closed by case lid, housing cavity
Spherical magnet is disposed with, the other end of housing is disposed with the flexible fastening body connected as one with housing, case lid, housing and bullet
Property fixed body embedment Flexible Connector inner chamber, flexible fastening body and Flexible Connector are affixed, elastomer fixed body and elastic connection
The breather pipe of housing cavity is communicated with part, the air-vent of Flexible Connector inner chamber is communicated with housing；
Elastic deformable body is affixed with Flexible Connector, and three drivings extended to Flexible Connector are provided with elastic deformation body
Inner chamber, three driving inner chambers are set along same circumference uniform distribution, and an external tracheae is respectively provided with three driving inner chambers.
Compared with the prior art, the invention has the advantages that：High-adaptability of the present invention it is new from deformation module software
Robot is into multiple modules by Robot Design, and each module has the function of independent completion, again can basis between module
Requirements of one's work organically combine, so as to improve the function of soft robot.Flexible fastening body, Flexible Connector and elastic deformation
Body is flexible, can bear great extruding force, and easily from deforming, adaptable, industrial operation is safer, and module uses
Homogeneous configuration, multimode connection can be achieved；Module uses pneumatically, can independently realize change of configuration, and directly control is pneumatic, realizes certainly
It is dynamic to disconnect so as to change configuration, while complete the locomitivity after deformation；Various configuration robot can pass through docking, shape
Into more abundant configuration, flexibility is good, and bionic movement is various informative, can complete complex task；Compared to other soft robots,
Have plenty of cavity complexity, but the characteristics of function is single, and this has just highlighted modularization software of the present invention.
Elastic deformable body has the driving air cavity that three center lines are in 120 degree, can form omnidirectional twist motion.With
Hard material form hyper-redundant robot compare, have the impedance of very little to pressure, can by way of submissive deformation with
Barrier is compatible, and contact force can so be greatly lowered, so that soft robot can carry soft or frangible article.
By pneumatic actuation, active deformation makes robot in different forms and realizes motion, active deformation the present invention
It is combined with Passive deformation, robot can be squeezed through than itself small gap of normality size, cannot be introduced into traditional robot
Space.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the elastomer sectional schematic diagram of the present invention；
Fig. 3 is connecting-piece structure schematic diagram；
Fig. 4 is Fig. 3 section structure diagram；
Fig. 5 is casing cover, shell, spherical magnet and flexible fastening attachment structure schematic diagram；
Fig. 6 is Fig. 5 section structure diagram.
Embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by embodiment.
Illustrate with reference to Fig. 1-Fig. 6, a kind of the new of high-adaptability includes elastic deformation from deformation module soft robot
Body 6 and two connectors, two connectors are arranged in the opposite end of elastic deformable body 6, and each connector includes
Case lid 1, housing 2, spherical magnet 3, flexible fastening body 5, Flexible Connector 7 and tracheae external piece 8；The one end of housing 2 passes through shell
Body lid 1 is closed, and the cavity arrangements of housing 2 have spherical magnet 3, and the other end of housing 2 is disposed with the elasticity connected as one with housing 2
Fixed body 5, case lid 1, housing 2 and flexible fastening body 5 are embedded to the inner chamber of Flexible Connector 7, flexible fastening body 5 and Flexible Connector
7 is affixed, and the breather pipe 8 of the inner chamber of housing 2 is communicated with elastomer fixed body 5 and Flexible Connector 7, is communicated with housing 2
The air-vent 4 of the inner chamber of Flexible Connector 7；
Elastic deformable body 6 and Flexible Connector 7 are affixed, and three extended to Flexible Connector 7 are provided with elastic deformable body 6
Inner chamber 9 is driven, three driving inner chambers 9 are set along same circumference uniform distribution, and an external tracheae is respectively provided with three driving inner chambers 9
10.Case lid 1 is fixed by the gluing surface of housing 2, and spherical magnet 3 is put into housing 2, is not required to fix, by spherical magnet 3
Magnetic advantages, by being rotated in housing 2, the centering connection of two intermodules is realized, spherical magnet 3 can be substituted with magnet.
When gas is squeezed into by breather pipe 8, the superficial expansion of Flexible Connector 7, but 7 overall bottom surface of Flexible Connector and flexible fastening body
5 is affixed, so as to not produce movement.
Flexible fastening body 5 is made up of silicon rubber or super-elasticity silicon rubber composite material.Flexible Connector 7 is by silicon rubber or super
Elastic silicone rubber composite is made.Elastic deformable body 6 is made up of silicon rubber or super-elasticity silicon rubber composite material.So set
Put, material softness, be easy to use.Three driving inner chambers 9 are uniformly arranged along same circumference in 120 degree.
Illustrate referring to Fig. 2, Fig. 3, Fig. 5 and Fig. 6, shell 2 is cylinder, and Flexible Connector 7 is cuboid.Elastic connection
Part 7 has an overall cavity, as shown in Figure 3 and Figure 4, a cuboid, has six faces, only above, preceding in inflation
Face, below, five left surface, right flank surface expansions, flexible fastening body 5 is connected made of bottom surface and silica gel, not may expand, so
When needing to disconnect with other modules, Flexible Connector 7 is inflated, expanded, then inflates bending using elastomer 6, so as in fact
The module for having showed orientation is disconnected with being connected.
Illustrate referring to Fig. 1 and 2, elastic deformable body 6 is cylinder, the both ends of elastic deformable body 6 respectively with Flexible Connector 7
It is affixed.It is arranged such, it is easy to use.
When any single driving inner chamber 9 is passed through air pressure, elastic deformable body 6 is in bend in one direction state.Two or three drivings
Inner chamber 9 is passed through air pressure, and each driving inner chamber 9 air pressure it is of different sizes when, elastic deformable body 6 is in twisting states.When two or three
It is individual driving inner chamber cooperating when, module on any cross section due to two or three driving inner chambers air pressure difference in size,
Torsional moment is produced, so as to drive module to deviate bend in one direction direction, by controlling the draught head between each chamber, can be driven
Module reaches space optional position, realizes omnirange flexion torsion.Three driving inner chambers 9 are passed through air pressure, and in each driving
When the air pressure size of chamber is identical, elastomer is in elongation state.
Breather pipe 8 is circumscribed with air pump, and the driving air pressure of the air pump is 0-50KPa；The external external driving air pump of tracheae 10, drive
The driving air pressure of pump of taking offence is 0-50KPa.It is arranged such, meets to be actually needed.
Operation principle：A variety of configuration robots such as snakelike, four-footed, six foots, closed loop may make up by intermodule various combination.
Module not only can independently complete robot modeling change by reliable pneumatic actuation, form a variety of configuration robots, simultaneously
Pneumatic actuation robot completes Different Exercise Mode.Module uses homogeneous configuration, and multiple robots can also be formed more by docking
Add abundant configuration, so as to complete complex task.
The present invention is disclosed as above with preferable case study on implementation, but is not limited to the present invention, any to be familiar with this specialty
Technical staff, without departing from the scope of the present invention, when the structure and technology contents that can utilize the disclosure above are done
Go out a little change or be modified to the equivalence enforcement case of equivalent variations, but it is every without departing from technical solution of the present invention
Hold, any simple modification, equivalent change and modification that the technical spirit according to the present invention is done to above case study on implementation, still belong to
Technical solution of the present invention scope.
Claims (10)
1. a kind of high-adaptability is new from deformation module soft robot, it is characterised in that：It includes elastic deformable body (6)
And two connectors, two connectors are arranged in the opposite end of elastic deformable body (6), each connector includes shell
Body lid (1), housing (2), spherical magnet (3), flexible fastening body (5), Flexible Connector (7) and tracheae external piece (8)；Housing
(2) one end is closed by case lid (1), and housing (2) cavity arrangements have a spherical magnet (3), the other end of housing (2) be disposed with
The flexible fastening body (5) that housing (2) connects as one, case lid (1), housing (2) and flexible fastening body (5) embedment elastic connection
Part (7) inner chamber, flexible fastening body (5) and Flexible Connector (7) are affixed, are set on elastomer fixed body (5) and Flexible Connector (7)
There is the breather pipe (8) of connection housing (2) inner chamber, the air-vent (4) of Flexible Connector (7) inner chamber is communicated with housing (2)；
Elastic deformable body (6) and Flexible Connector (7) are affixed, are provided with what is extended to Flexible Connector (7) in elastic deformable body (6)
Three drivings inner chamber (9), three drivings inner chamber (9) are set along same circumference uniform distribution, and one is respectively provided with three drivings inner chamber (9)
External tracheae (10).
2. a kind of high-adaptability is new from deformation module soft robot according to claim 1, it is characterised in that：Bullet
Property fixed body (5) is made up of silicon rubber or super-elasticity silicon rubber composite material.
3. a kind of high-adaptability is new from deformation module soft robot according to claim 2, it is characterised in that：Bullet
Property connector (7) is made up of silicon rubber or super-elasticity silicon rubber composite material.
4. a kind of high-adaptability is new from deformation module soft robot according to claim 3, it is characterised in that：Bullet
Property deformable body (6) is made up of silicon rubber or super-elasticity silicon rubber composite material.
5. a kind of high-adaptability is new from deformation module soft robot according to claim 4, it is characterised in that：Outside
Shell (2) is cylinder, and Flexible Connector (7) is cuboid.
6. a kind of high-adaptability is new from deformation module soft robot according to claim 5, it is characterised in that：Bullet
Property deformable body (6) be cylinder, the both ends of elastic deformable body (6) are affixed with Flexible Connector (7) respectively.
7. a kind of high-adaptability is new from deformation module soft robot according to claim 6, it is characterised in that：Appoint
When single driving inner chamber (9) of anticipating is passed through air pressure, elastic deformable body (6) is in bend in one direction state.
8. a kind of high-adaptability is new from deformation module soft robot according to claim 7, it is characterised in that：Two
Individual or three drivings inner chamber (9) are passed through air pressure, and respectively drive inner chamber (9) air pressure it is of different sizes when, elastic deformable body (6) is in turning round
Turn state.
9. a kind of high-adaptability is new from deformation module soft robot according to claim 6, it is characterised in that：Three
Individual driving inner chamber (9) is passed through air pressure, and each driving inner chamber air pressure size it is identical when, elastic deformable body (6) is in elongation state.
10. a kind of high-adaptability is new from deformation module soft robot according to claim 9, it is characterised in that：
Breather pipe (8) is circumscribed with air pump, and the driving air pressure of the air pump is 0-50KPa；The external external driving air pump of tracheae (10), driving gas
The driving air pressure of pump is 0-50KPa.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710742703.5A CN107498538B (en) | 2017-08-25 | 2017-08-25 | Novel self-deformation modular soft robot with high adaptability |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710742703.5A CN107498538B (en) | 2017-08-25 | 2017-08-25 | Novel self-deformation modular soft robot with high adaptability |
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| CN107498538A true CN107498538A (en) | 2017-12-22 |
| CN107498538B CN107498538B (en) | 2021-02-02 |
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| CN201710742703.5A Active CN107498538B (en) | 2017-08-25 | 2017-08-25 | Novel self-deformation modular soft robot with high adaptability |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108608420A (en) * | 2018-03-20 | 2018-10-02 | 南京理工大学 | There is one kind ring to indulge myo-architectonic pneumatic soft robot |
| CN108891496A (en) * | 2018-06-19 | 2018-11-27 | 哈尔滨工程大学 | A kind of pneumatically imitative earthworm soft robot |
| CN109262591A (en) * | 2018-10-19 | 2019-01-25 | 哈尔滨工业大学 | A kind of software module robot with via Self-reconfiguration function |
| CN109552581A (en) * | 2019-01-28 | 2019-04-02 | 大连交通大学 | The more ascidians of aquatic bionic combine soft robot |
| CN110142783A (en) * | 2019-06-18 | 2019-08-20 | 北京大学口腔医学院 | For coelenteron, pipeline or the hollow type air bag creepage robot for climbing wall |
| CN110712198A (en) * | 2019-09-16 | 2020-01-21 | 杭州电子科技大学 | Pre-charging type soft mechanical arm and driving method thereof |
| WO2020253668A1 (en) * | 2019-06-20 | 2020-12-24 | 广东工业大学 | Pneumatic-suction-type inchworm-like soft climbing robot |
| CN113601494A (en) * | 2021-08-27 | 2021-11-05 | 哈尔滨理工大学 | Composite hardness soft robot module unit |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108608420A (en) * | 2018-03-20 | 2018-10-02 | 南京理工大学 | There is one kind ring to indulge myo-architectonic pneumatic soft robot |
| CN108608420B (en) * | 2018-03-20 | 2021-06-11 | 南京理工大学 | Pneumatic soft robot with longitudinal muscle structure |
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| CN108891496A (en) * | 2018-06-19 | 2018-11-27 | 哈尔滨工程大学 | A kind of pneumatically imitative earthworm soft robot |
| CN109262591A (en) * | 2018-10-19 | 2019-01-25 | 哈尔滨工业大学 | A kind of software module robot with via Self-reconfiguration function |
| CN109552581A (en) * | 2019-01-28 | 2019-04-02 | 大连交通大学 | The more ascidians of aquatic bionic combine soft robot |
| CN109552581B (en) * | 2019-01-28 | 2023-12-19 | 大连交通大学 | Underwater bionic multi-sea squirt combined soft robot |
| CN110142783A (en) * | 2019-06-18 | 2019-08-20 | 北京大学口腔医学院 | For coelenteron, pipeline or the hollow type air bag creepage robot for climbing wall |
| WO2020253668A1 (en) * | 2019-06-20 | 2020-12-24 | 广东工业大学 | Pneumatic-suction-type inchworm-like soft climbing robot |
| CN110712198B (en) * | 2019-09-16 | 2020-11-24 | 杭州电子科技大学 | Pre-charging type soft mechanical arm and driving method thereof |
| CN110712198A (en) * | 2019-09-16 | 2020-01-21 | 杭州电子科技大学 | Pre-charging type soft mechanical arm and driving method thereof |
| CN113601494A (en) * | 2021-08-27 | 2021-11-05 | 哈尔滨理工大学 | Composite hardness soft robot module unit |
| CN113601494B (en) * | 2021-08-27 | 2023-09-19 | 哈尔滨理工大学 | Composite hardness soft robot module unit |
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