CN107756385B - Variation rigidity software driver, software arm and software platform based on blocking mechanism - Google Patents
Variation rigidity software driver, software arm and software platform based on blocking mechanism Download PDFInfo
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- CN107756385B CN107756385B CN201710768485.2A CN201710768485A CN107756385B CN 107756385 B CN107756385 B CN 107756385B CN 201710768485 A CN201710768485 A CN 201710768485A CN 107756385 B CN107756385 B CN 107756385B
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- variation rigidity
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- 230000000903 blocking effect Effects 0.000 title claims abstract description 41
- 239000002245 particle Substances 0.000 claims abstract description 20
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 19
- 238000007789 sealing Methods 0.000 claims abstract description 13
- 239000012798 spherical particle Substances 0.000 claims abstract description 12
- 239000010432 diamond Substances 0.000 claims description 8
- 229910003460 diamond Inorganic materials 0.000 claims description 8
- 238000005452 bending Methods 0.000 claims description 5
- 230000006835 compression Effects 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 4
- 241000486406 Trachea Species 0.000 claims description 3
- 210000003437 trachea Anatomy 0.000 claims description 3
- 239000011324 bead Substances 0.000 claims 1
- 230000003044 adaptive effect Effects 0.000 abstract description 7
- 238000010586 diagram Methods 0.000 description 10
- 239000000463 material Substances 0.000 description 5
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical group O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 239000000741 silica gel Substances 0.000 description 2
- 229910002027 silica gel Inorganic materials 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 229920002521 macromolecule Polymers 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Prostheses (AREA)
- Materials For Medical Uses (AREA)
Abstract
The invention discloses a kind of variation rigidity software driver, software arm and software platform based on blocking mechanism, including vacuum pump and unit module, unit module include interior flexible back bone, tracheae, outer flexible layer, blockage mechanism, deformation plug and blocking plug；The deformation hole that interior flexible back bone has central through hole and is evenly distributed；Blockage mechanism is fixed in central through hole, and blockage mechanism includes support frame, elastic connection rope, big ball particle, small spherical particles, tightening spring and sealing film；Elastic connection rope is successively passed through from the symmetrical centre of each support frame, all has accommodating chamber between two neighboring support frame；Big ball particle and small spherical particles are filled in accommodating chamber；It is each provided with a tracheae in blockage mechanism and each deformation hole, the other end of every tracheae is connected with vacuum pump.There is the present invention fabulous adaptive capacity to environment can have larger flexibility by variation rigidity principle and have larger rigidity.
Description
Technical field
The present invention relates to robot research field, especially a kind of variation rigidity software driver based on blocking mechanism.
Background technique
In robot research field, robot has no longer been only required to more heavy load ability, bigger rigidity is higher
Precision, more require robot that there is preferable flexible and adaptive capacity to environment, such as the handling capacity of slit robot for space.This
Kind is that the current robot based on rigid body cannot achieve to the adaptability of environment.
In response to this problem, the present invention has studied a kind of variation rigidity software driver based on blocking mechanism, the driving part
While with fabulous flexibility, when needing greater stiffness, and biggish rigidity can be provided, namely pass through variation rigidity machine
Reason, can either have biggish flexibility, and can have greater stiffness, to have fabulous adaptive capacity to environment.
Summary of the invention
In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is to provide one kind to be based on blocking mechanism
Variation rigidity software driver, should based on blocking mechanism variation rigidity software driver have fabulous adaptive capacity to environment, lead to
Variation rigidity principle is crossed, there can be larger flexibility and there is larger rigidity.
In order to solve the above technical problems, the technical solution adopted by the present invention is that:
A kind of variation rigidity software driver based on blocking mechanism, including vacuum pump and unit module, unit module include
Interior flexible back bone, tracheae, outer flexible layer, blockage mechanism, deformation plug and blocking plug.
Interior flexible back bone has central through hole, is distributed along the circumference on the interior flexible back bone of central through hole periphery several
A deformation hole.
Outer flexible layer is coated on the periphery of interior flexible back bone.
The both ends in each deformation hole respectively seal one deformation plug of filling.
Blockage mechanism is fixed in central through hole, and blockage mechanism includes support frame, elastic connection rope, big ball particle,
Small spherical particles, tightening spring and sealing film.
A blocking plug is respectively filled in the central through hole at blockage mechanism both ends.
Support frame is symmetrical structure, and the quantity of support frame is several, and elastic connection rope is successively from each support
The symmetrical centre of skeleton passes through, and each support frame is fixedly connected with elastic connection rope；The both ends of elastic connection rope
It is fixedly connected respectively with two blocking plugs.
Accommodating chamber is all had between two neighboring support frame；Big ball particle is centered on elastic connection rope, circumferentially
It is evenly arranged in accommodating chamber, and is connected by tightening spring between big ball particle；Small spherical particles are filled in the residue of accommodating chamber
In space.
Sealing film is coated on the periphery of support frame and small spherical particles.
Be each provided with a tracheae in blockage mechanism and each deformation hole, the other end of every tracheae with vacuum pump phase
Connection.
Each unit module further includes wrapping layer, and wrapping layer is coated on the periphery of outer flexible layer.
By the control to gas pressure in several deformation holes, it is able to achieve stretching, compression or the bending to unit module.
Blockage mechanism in a free state, has flexibility；After blockage mechanism interior suction vacuum, then blockage mechanism will be by flexibility
It is changed into rigid state.
The shape of support frame is diamond shape, ellipse or hyperbola.
The periphery of sealing film and the inner wall of central through hole are mutually adhesively fixed.
The present invention also provides a kind of variation rigidity software arm based on blocking mechanism, should variation rigidity based on blocking mechanism it is soft
Body arm has fabulous adaptive capacity to environment, by variation rigidity principle, can have larger flexibility and have larger rigid
Property.
A kind of variation rigidity software arm based on blocking mechanism, including several unit modules；Several unit module phases
It mutually connects, connection is formed by shared blocking plug and deformation plug between two neighboring unit module；All tracheaes with
Vacuum pump is connected.
The present invention also provides a kind of variation rigidity software platform based on blocking mechanism, should variation rigidity based on blocking mechanism it is soft
Body platform has fabulous adaptive capacity to environment, by variation rigidity principle, can have larger flexibility and have larger rigid
Property.
A kind of variation rigidity software platform based on blocking mechanism, including variation rigidity software arm, lower margin, rigid connection joint
And flat surface；The bottom of flat surface is provided with several rigid connection joints, fixes a rigid connection joint at the top of lower margin,
A variation rigidity software arm is respectively provided between two neighboring rigid connection joint.
Flat surface is triangle, and a rigid connection joint, the quantity of lower margin is respectively arranged in each corner bottom of flat surface
It also is three.
The invention has the advantages that:
1, when the normal atmospheric pressure that is positive intracavitary in blockage mechanism, namely without inhale vacuum when, blockage mechanism then has flexibility.
2, it is filled with the gas of different air pressures in the deformation hole of internal flexible back bone, then is able to achieve unit module as compression, drawing
It stretches, curved driving condition.
3, after entire unit module deformation, vacuum is inhaled to blockage mechanism, blockage mechanism translates into rigid element at this time.By
In the inside supporting role of blockage mechanism, entire unit module also becomes rigid element.Namely it realizes from flexibility to rigidity
Transformation, variation rigidity.To which there is the present invention fabulous adaptive capacity to environment can have larger soft by variation rigidity principle
Property, and can have larger rigidity.
Detailed description of the invention
Fig. 1 shows a kind of vertical section structure schematic diagram of the variation rigidity software driver based on blocking mechanism of the present invention.
Fig. 2 shows a kind of cross section structure schematic diagram of the variation rigidity software driver based on blocking mechanism of the present invention.
Fig. 3 shows the vertical section structure schematic diagram of blockage mechanism.
Fig. 4 shows blockage mechanism schematic diagram when in a compressed state.
Fig. 5 shows schematic diagram when blockage mechanism is in tensional state.
Fig. 6 shows schematic diagram when blockage mechanism is in bending state.
Fig. 7 shows the structural schematic diagram of second of embodiment of blockage mechanism.
Fig. 8 shows the structural schematic diagram of the third embodiment of blockage mechanism.
Fig. 9 shows the structural schematic diagram of variation rigidity software arm.
Figure 10 shows variation rigidity software arm one of which exemplary application map.
Figure 11 shows variation rigidity software arm another kind exemplary application map.
Figure 12 shows the structural schematic diagram of variation rigidity software platform.
Wherein have:
100. unit module；
Flexible back bone in 110.；111. central through hole；112. blocking plug；113. deformation hole；114. deformation plug；
120. tracheae；130. outer flexible layer；140. wrapping layer；
150. blockage mechanism；
151. support frame；152. elastic connection ropes；153. big ball particles；154. tightening springs；155. small spherical particles；
156. sealing film；
200. vacuum pump；
300. variation rigidity software arms；
410. lower margin；420. rigid connection joints；430. flat surface；
500. sphere；600. complex environment；610. slit.
Specific embodiment
Xia Mianjiehefutuhejuti compare Jia Shishifangshiduibenfamingzuojinyibuxiangxishuoming.
As shown in Figures 1 to 6, a kind of variation rigidity software driver based on blocking mechanism, including vacuum pump 200 and unit
Module 100.
Unit module 100 includes interior flexible back bone 110, tracheae 120, outer flexible layer 130, wrapping layer 140, blockage mechanism
150, deformation plug 114 and blocking plug 112.
Interior flexible back bone has central through hole 111, is distributed along the circumference on the interior flexible back bone of central through hole periphery
Several deformation holes 113, the quantity in deformation hole is preferably 3 in the present invention.
Outer flexible layer is coated on the periphery of interior flexible back bone, and preferably outer flexible layer is fixedly connected with interior flexible back bone, into one
Step preferably bonds, and the material of outer flexible layer is preferably silica gel etc..
Wrapping layer is coated on the periphery of outer flexible layer.
Above-mentioned wrapping layer is preferably membranaceous or reticular structure, is fixedly connected with outer flexible layer.
Above-mentioned interior flexible back bone also uses silica gel, rubber or other high molecular materials, by different ratio, makes interior flexible bone
The hardness or rigidity of frame are greater than outer flexible layer.
The both ends in each deformation hole respectively seal one deformation plug of filling.
Blockage mechanism is fixed in central through hole, as shown in figure 3, blockage mechanism 150 connects including support frame 151, elasticity
Splicing rope 152, big ball particle 153, small spherical particles 155, tightening spring 154 and sealing film 156.
A blocking plug is respectively filled in the central through hole at blockage mechanism both ends.
Support frame is symmetrical structure, and the quantity of support frame is several, and support frame is preferably shaped to such as Fig. 3 institute
The diamond shape shown, but may be ellipse as shown in Figure 7 or hyperbola as shown in Figure 8 etc., also in guarantor of the invention
Protect range etc.
The material of support frame is preferably plastics, PVC, the light materials such as macromolecule.
Elastic connection rope is successively passed through from the symmetrical centre of each support frame, while each support frame with elasticity
Connection rope is fixedly connected；The both ends of elastic connection rope are fixedly connected with two blocking plugs respectively.
Accommodating chamber is all had between two neighboring support frame；Big ball particle is centered on elastic connection rope, circumferentially
It is evenly arranged in accommodating chamber, and is connected by tightening spring between big ball particle；Small spherical particles are filled in the residue of accommodating chamber
In space.
Sealing film is coated on the periphery of support frame and small spherical particles, the periphery of sealing film preferably with central through hole
Inner wall is mutually adhesively fixed.Sealing film is preferably made of high-intensitive resiliency materials, by big ball particle and diamond shape reinforced seal at
Integral structure.
A tracheae 120 is each provided in blockage mechanism and each deformation hole, tracheae middle part is respectively from corresponding plug
Middle sealing is pierced by, and the other end of every tracheae is connected with vacuum pump.
By the control to gas pressure in several deformation holes, being able to achieve to unit module is to stretch, compress or be bent
Equal driving conditions.
As shown in figure 4, blockage mechanism, at free state (namely not inhaling vacuum), big ball particle passes through the work of tightening spring
With, compress support frame, when support frame is diamond shape, big ball particle being pressed on diamond shape skeleton gently, and with diamond shape skeleton
It is tangent, make big ball particle be unlikely to be scattered at random in entire accommodating chamber, makes the movement of big ball particle that there is certainty.Elasticity is even
Splicing rope is fixedly connected with the center of each diamond shape skeleton, has certain elasticity.As shown in figure 5, when unit module is stretched
When, the distance between support frame becomes larger, and elastic connection rope generates stretcher strain.Big ball particle be embedded in always support frame it
Between, transmit ambient pressure.The rigidity of unit module is very low at this time, that is, has flexibility.
Certainly, pass through the control to gas pressure in several deformation holes, moreover it is possible to realize bending as shown in FIG. 6.
After unit module has reached the stretching, compression or bending state of setting, by being vacuumized in blockage mechanism, i.e.,
Unit module can be made to realize the transformation from flexibility to rigidity, i.e. variation rigidity.Specifically: when inhaling vacuum to the inner cavity of blockage mechanism,
Due to external pressure, so that big ball particle, small spherical particles, support frame only press together, by frictional force, occlusion
Rigidly power makes the great increase of the rigidity of blockage mechanism, i.e.,.
As shown in figure 9, a kind of variation rigidity software arm based on blocking mechanism, including several unit modules 100；It is several
A unit module is serially connected, and passes through shared blocking plug 112 and deformation plug 114 formation between two neighboring unit module
Connection；All tracheaes are connected with vacuum pump.
Above-mentioned variation rigidity software arm 300, great flexibility, concrete application are as shown in Figure 10 and Figure 11.In Figure 10, become
Rigidity software arm is able to achieve the crawl to sphere 500.In Figure 11, variation rigidity software arm can lead to similar to a software snake
Cross the slit 610 in complex environment 600.
As shown in figure 12, a kind of variation rigidity software platform based on blocking mechanism, including variation rigidity software arm 300,
Foot 410, rigid connection joint 420 and flat surface 430.
The bottom of flat surface is provided with several rigid connection joints, fixes a rigid connection joint at the top of lower margin,
A variation rigidity software arm is respectively provided between two neighboring rigid connection joint.
Above-mentioned flat surface is preferably triangle, and a rigid connection joint, ground is respectively arranged in each corner bottom of flat surface
The quantity of foot is preferably also three.
The preferred embodiment of the present invention has been described above in detail, still, during present invention is not limited to the embodiments described above
Detail a variety of equivalents can be carried out to technical solution of the present invention within the scope of the technical concept of the present invention, this
A little equivalents all belong to the scope of protection of the present invention.
Claims (7)
1. a kind of variation rigidity software driver based on blocking mechanism, it is characterised in that: including vacuum pump and unit module, unit
Module includes interior flexible back bone, tracheae, outer flexible layer, blockage mechanism, deformation plug and blocking plug；
Interior flexible back bone has central through hole, is distributed along the circumference with several shapes on the interior flexible back bone of central through hole periphery
Variable orifice；
Outer flexible layer is coated on the periphery of interior flexible back bone；
The both ends in each deformation hole respectively seal one deformation plug of filling；
Blockage mechanism is fixed in central through hole, and blockage mechanism includes support frame, elastic connection rope, big ball particle, bead
Particle, tightening spring and sealing film；
A blocking plug is respectively filled in the central through hole at blockage mechanism both ends；
Support frame is symmetrical structure, and the quantity of support frame is several, and elastic connection rope is successively from each support frame
Symmetrical centre pass through, and each support frame is fixedly connected with elastic connection rope；Distinguish at the both ends of elastic connection rope
It is fixedly connected with two blocking plugs；
Accommodating chamber is all had between two neighboring support frame；Big ball particle is evenly distributed centered on elastic connection rope
It is connected by tightening spring in accommodating chamber, and between big ball particle；Small spherical particles are filled in the remaining space of accommodating chamber
It is interior；
Sealing film is coated on the periphery of support frame and small spherical particles；
It is each provided with a tracheae in blockage mechanism and each deformation hole, the other end of every tracheae is connected with vacuum pump
It connects；
Each unit module further includes wrapping layer, and wrapping layer is coated on the periphery of outer flexible layer；
By the control to gas pressure in several deformation holes, it is able to achieve stretching, compression or the bending to unit module.
2. the variation rigidity software driver according to claim 1 based on blocking mechanism, it is characterised in that: blockage mechanism exists
Under free state, there is flexibility；After blockage mechanism interior suction vacuum, then blockage mechanism will be changed into rigid state by flexibility.
3. the variation rigidity software driver according to claim 1 based on blocking mechanism, it is characterised in that: support frame
Shape is diamond shape, ellipse or hyperbola.
4. the variation rigidity software driver according to claim 1 based on blocking mechanism, it is characterised in that: sealing film
Periphery and the inner wall of central through hole are mutually adhesively fixed.
5. a kind of variation rigidity software arm based on blocking mechanism, it is characterised in that: including several as claim 1-4 is any
The unit module in the variation rigidity software driver based on blocking mechanism described in；Several unit modules are serially connected, phase
Connection is formed by shared blocking plug and deformation plug between adjacent two unit modules；All tracheaes are connected with vacuum pump
It connects.
6. a kind of variation rigidity software platform based on blocking mechanism, it is characterised in that: including variation rigidity as claimed in claim 5
Software arm, lower margin, rigid connection joint and flat surface；The bottom of flat surface is provided with several rigid connection joints, lower margin
Top fix a rigid connection joint, be respectively provided with a variation rigidity software arm between two neighboring rigid connection joint.
7. the variation rigidity software platform according to claim 6 based on blocking mechanism, it is characterised in that: flat surface is triangle
A rigid connection joint is respectively arranged in shape, each corner bottom of flat surface, and the quantity of lower margin is also three.
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| CN106965868A (en) * | 2017-01-23 | 2017-07-21 | 南京邮电大学 | A kind of pneumatic software climbing level robot |
| CN207155799U (en) * | 2017-08-31 | 2018-03-30 | 南京邮电大学 | Software driver, software arm and software platform |
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| CN107756385A (en) | 2018-03-06 |
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