CN108527326A - A kind of silica gel soft robot - Google Patents
A kind of silica gel soft robot Download PDFInfo
- Publication number
- CN108527326A CN108527326A CN201810349903.9A CN201810349903A CN108527326A CN 108527326 A CN108527326 A CN 108527326A CN 201810349903 A CN201810349903 A CN 201810349903A CN 108527326 A CN108527326 A CN 108527326A
- Authority
- CN
- China
- Prior art keywords
- silica gel
- air bag
- feeler
- snorkel
- soft robot
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0012—Constructional details, e.g. manipulator supports, bases making use of synthetic construction materials, e.g. plastics, composites
-
- 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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of silica gel soft robots of robotic technology field,Including body,The inner cavity of the body is equipped with air bag,The upper and lower ends of the body are arranged with four groups of feelers,The inner cavity of the feeler is connected with snorkel,And one end of snorkel is connected with air bag,Weak signal testing sorter controller is installed on the air bag,The junction of the snorkel and air bag is also equipped with Electromagnetic Control valve,And Electromagnetic Control valve is electrically connected with weak signal testing sorter controller,The present invention is fabricated to robot body structure using flexible materials such as silica gel,Convenient for the molding and modeling of robot,Processing cost is low,It is driven using air pressure,So that the feeler of robot is in the cycle movement that a song one is stretched,It can be widely used in investigating,Detection,The fields such as rescue and medical treatment,And it can adapt to the external environment of various complexity.
Description
Technical field
The invention discloses a kind of silica gel soft robots, specially robotic technology field.
Background technology
Robot has been widely used in the numerous areas such as military affairs, industry, scientific exploration.Traditional robot is generally by rigid
Property module connected and composed by kinematic pair, each kinematic pair provides (or multiple) translational degree of freedom or rotational freedom.Institute
There is the movement combination of kinematic pair to form the working space of end effector of robot, this robot has movement accurate excellent
Point, but the rigidity of its structure keeps the adaptability of its environment poor, in narrow space its movement be restricted, ruler can not be passed through
Degree is less than robot scale or complex-shaped channel, these disadvantages constrain utilization of the rigid machine people in specific area.
Occur a kind of robot of software currently on the market, be fabricated from a flexible material, can arbitrarily change its own shape interior on a large scale
Shape and size, the hydrostatic bone and muscular hydrostat structure of structure mimic biology, using marmem, still
This soft robot modeling is difficult, and manufacturing cost is high, and the method for operation is complicated.For this purpose, we have proposed a kind of silica gel software machines
Device people is come into operation, to solve the above problems.
Invention content
The purpose of the present invention is to provide a kind of silica gel soft robots, to solve mentioned above in the background art ask
Topic.
To achieve the above object, the present invention provides the following technical solutions：A kind of silica gel soft robot, including body, institute
The inner cavity for stating body is equipped with air bag, and the upper and lower ends of the body are arranged with four groups of feelers, and the inner cavity of the feeler is connected with
Snorkel, and one end of snorkel is connected with air bag, and weak signal testing sorter controller is installed on the air bag, it is described
The junction of snorkel and air bag is also equipped with Electromagnetic Control valve, and Electromagnetic Control valve and weak signal testing sorter controller electricity
Property connection.
Preferably, section of wriggling uniformly is equipped on the feeler at equal intervals, and the inner cavity for section of wriggling is connected with snorkel.
Preferably, the body and feeler are integrally formed by silica gel flexible material.
Preferably, front friction plate and rear friction plate are further respectively had at left and right sides of the bottom of the feeler.
Preferably, the right end of the rear friction plate is additionally provided with the inclined-plane with ground in 60 ° of angles.
Preferably, the bottom of the air bag is also associated with the appendix of external gas source, and appendix is equipped with shut-off valve.
Compared with prior art, the beneficial effects of the invention are as follows：The present invention is fabricated to machine using flexible materials such as silica gel
Human body's structure is convenient for the molding and modeling of robot, and processing cost is low, is driven using air pressure so that the feeler of robot
In the cycle movement that a song one is stretched, the fields such as investigation, detection, rescue and medical treatment can be widely used in, and can adapt to
The external environment of various complexity.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is feeler structural schematic diagram of the present invention；
Fig. 3 is feeler stationary cross-sectional figure of the present invention；
Fig. 4 is feeler inflation sectional view of the present invention.
In figure：1 body, 2 air bags, 3 feelers, 4 snorkels, 5 weak signal testing sorter controllers, 6 Electromagnetic Control valves, 7 are wriggled
Friction plate behind section, 8 front friction plates, 9.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
- 4 are please referred to Fig.1, the present invention provides a kind of technical solution：A kind of silica gel soft robot, including body 1, it is described
The inner cavity of body 1 is equipped with air bag 2, and the upper and lower ends of the body 1 are arranged with four groups of feelers 3, the inner cavity connection of the feeler 3
There is snorkel 4, and one end of snorkel 4 is connected with air bag 2, weak signal testing sorter controller is installed on the air bag 2
5, the junction of the snorkel 4 and air bag 2 is also equipped with Electromagnetic Control valve 6, and Electromagnetic Control valve 6 and weak signal testing point
Grade controller 5 is electrically connected.
Wherein, section 7 of wriggling uniformly is equipped on the feeler 3 at equal intervals, and the inner cavity for section 7 of wriggling is connected with snorkel 4
Logical, the body 1 and feeler 3 are integrally formed by silica gel flexible material, are further respectively had at left and right sides of the bottom of the feeler 3
The right end of front friction plate 8 and rear friction plate 9, the rear friction plate 9 is additionally provided with the inclined-plane with ground in 60 ° of angles, the air bag 2
Bottom is also associated with the appendix of external gas source, and appendix is equipped with shut-off valve.
Operation principle：In the present invention, the walking for the cycle movement realization body 1 that feeler 3 is stretched by a song one, one
Period can be divided into inflation and be inflated into air bag 2 using air pump in aeration phase with two stages of deflating, and be saved in 7 using wriggling
Filling channel, which expands, makes the whole stress of feeler 3 generate flexural deformation, and the front friction plate that the angle that 3 bottom of feeler is arranged is different
8 and rear friction plate 9, front friction plate 8 be greater than the frictional force of friction plate 9 thereafter because of the frictional force that the base bending of feeler 3 is subject to,
So that it is posteriorly rolled；In releasing phase, deflation course, the inclined-plane on 9 right side of rear friction plate is touched with ground, preceding
The bottom of friction plate 8 and surface separation, at this point, the frictional force of rear friction plate 9 is relatively high, so that four groups of feelers 3 are being put
It is upheld forward in flat process, the periodical inflation and deflation of air pump, the cycle movement for making body 1 realize that a song one is stretched；Profit
It controls the Electromagnetic Control valve 6 on snorkel 4 respectively with weak signal testing sorter controller 5, realizes the extension of different feelers 3, in turn
It realizes that the steering of body 1, the present invention can be widely used in the fields such as investigation, detection, rescue and medical treatment, and can adapt to each
The complicated external environment of kind.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of silica gel soft robot, including body (1), it is characterised in that：The inner cavity of the body (1) is equipped with air bag (2),
The upper and lower ends of the body (1) are arranged with four groups of feelers (3), and the inner cavity of the feeler (3) is connected with snorkel (4), and
One end of snorkel (4) is connected with air bag (2), and weak signal testing sorter controller (5), institute are installed on the air bag (2)
The junction for stating snorkel (4) and air bag (2) is also equipped with Electromagnetic Control valve (6), and Electromagnetic Control valve (6) with it is miniature
PLC sorter controllers (5) are electrically connected.
2. a kind of silica gel soft robot according to claim 1, it is characterised in that：Between uniformly being waited on the feeler (3)
Away from be equipped with wriggle section (7), and wriggle section (7) inner cavity be connected with snorkel (4).
3. a kind of silica gel soft robot according to claim 1, it is characterised in that：The body (1) and feeler (3) are equal
It is integrally formed by silica gel flexible material.
4. a kind of silica gel soft robot according to claim 1, it is characterised in that：The bottom or so of the feeler (3)
Both sides further respectively have front friction plate (8) and rear friction plate (9).
5. a kind of silica gel soft robot according to claim 4, it is characterised in that：The right end of friction plate (9) after described
It is additionally provided with the inclined-plane in 60 ° of angles with ground.
6. a kind of silica gel soft robot according to claim 1, it is characterised in that：The bottom of the air bag (2) also connects
It is connected to the appendix of external gas source, and appendix is equipped with shut-off valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810349903.9A CN108527326A (en) | 2018-04-18 | 2018-04-18 | A kind of silica gel soft robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810349903.9A CN108527326A (en) | 2018-04-18 | 2018-04-18 | A kind of silica gel soft robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108527326A true CN108527326A (en) | 2018-09-14 |
Family
ID=63477895
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810349903.9A Pending CN108527326A (en) | 2018-04-18 | 2018-04-18 | A kind of silica gel soft robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN108527326A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129518A (en) * | 2018-10-22 | 2019-01-04 | 燕山大学 | A kind of air pressure driving rigid frame carrying rescue robot |
| CN109733493A (en) * | 2019-02-19 | 2019-05-10 | 上海交通大学 | A kind of software, which is creeped, adsorbs robot |
| CN110053020A (en) * | 2019-03-27 | 2019-07-26 | 江苏大学 | A kind of Magnetic driving wriggling soft robot based on magnetic programming temperature-sensitive hydrogel |
| CN110104083A (en) * | 2019-06-05 | 2019-08-09 | 苏州柔性智能科技有限公司 | A kind of software climbing robot of multi-locomotion mode |
| CN110450140A (en) * | 2019-08-30 | 2019-11-15 | 哈工大机器人湖州国际创新研究院 | Soft robot and its manufacturing method |
| CN112936223A (en) * | 2021-01-25 | 2021-06-11 | 上海大学 | Novel pneumatic flexible actuator |
| CN114658835A (en) * | 2022-03-04 | 2022-06-24 | 一汽解放汽车有限公司 | Locking plate, steel cable fixing device and speed change manipulator |
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| CN106218748A (en) * | 2016-08-22 | 2016-12-14 | 上海交通大学 | The soft robot driven based on shape memory alloy |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109129518A (en) * | 2018-10-22 | 2019-01-04 | 燕山大学 | A kind of air pressure driving rigid frame carrying rescue robot |
| CN109129518B (en) * | 2018-10-22 | 2020-08-25 | 燕山大学 | Rescue robot is born to pneumatic drive rigid frame |
| CN109733493A (en) * | 2019-02-19 | 2019-05-10 | 上海交通大学 | A kind of software, which is creeped, adsorbs robot |
| CN109733493B (en) * | 2019-02-19 | 2021-09-10 | 上海交通大学 | Software crawling adsorption robot |
| CN110053020A (en) * | 2019-03-27 | 2019-07-26 | 江苏大学 | A kind of Magnetic driving wriggling soft robot based on magnetic programming temperature-sensitive hydrogel |
| CN110104083A (en) * | 2019-06-05 | 2019-08-09 | 苏州柔性智能科技有限公司 | A kind of software climbing robot of multi-locomotion mode |
| CN110450140A (en) * | 2019-08-30 | 2019-11-15 | 哈工大机器人湖州国际创新研究院 | Soft robot and its manufacturing method |
| CN110450140B (en) * | 2019-08-30 | 2023-02-24 | 湖州瑞亚机器人科技有限公司 | Soft robot and method for manufacturing the same |
| CN112936223A (en) * | 2021-01-25 | 2021-06-11 | 上海大学 | Novel pneumatic flexible actuator |
| CN112936223B (en) * | 2021-01-25 | 2022-11-29 | 上海大学 | Pneumatic flexible actuator |
| CN114658835A (en) * | 2022-03-04 | 2022-06-24 | 一汽解放汽车有限公司 | Locking plate, steel cable fixing device and speed change manipulator |
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Application publication date: 20180914 |
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