CN108621132A - A kind of soft robot of polyaramid - Google Patents
A kind of soft robot of polyaramid Download PDFInfo
- Publication number
- CN108621132A CN108621132A CN201810401283.9A CN201810401283A CN108621132A CN 108621132 A CN108621132 A CN 108621132A CN 201810401283 A CN201810401283 A CN 201810401283A CN 108621132 A CN108621132 A CN 108621132A
- Authority
- CN
- China
- Prior art keywords
- elastic matrix
- resilient sleeve
- polyaramid
- sleeve
- chamber
- Prior art date
- 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.)
- Pending
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/12—Gripping heads and other end effectors having finger members with flexible finger members
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of soft robots of polyaramid, including software finger, fabric sleeve, resilient sleeve, flexible supporting frames, spring stack and elastic matrix, the elastic matrix is arranged in resilient sleeve, deformation chamber is set as between elastic matrix and resilient sleeve, deformation intracavitary is equipped with flexible supporting frames, it is equipped with spring supporting chamber in the middle part of elastic matrix, several filling channels is equidistantly equipped in same circumferential direction on the outside of spring supporting chamber；Elastic matrix is arranged in resilient sleeve, and flexible supporting frames are installed therebetween, spring stack is installed inside elastic matrix and filling channel is set, inflation in filling channel is so that elastic matrix side is expanded to another lateral bend, to be compressed, be stretched, bending operation, when elastic matrix is bent, spring stack both had certain flexibility good, it may have several software fingers are arranged in certain rigidity outside resilient sleeve, enhance its grasping force, it is good to add polyaramid layer wearability.
Description
Technical field
The present invention relates to flexible robot's technical fields, more specifically, it relates to a kind of software of polyaramid
Robot.
Background technology
Although by years development, robot exhibits one's skill to the full in every field, and existing robot is by metal etc. mostly
The Rigid Robot of composition.Though Rigid Robot has very high kinematic accuracy, once, aspect still has deficiency：Multiple
Miscellaneous landform deficient in stability, flexibility and environmental suitability；Handling capacity in narrow space is limited；Export volume ratio not
It is high；It is also more complex in control.And if use for reference bionic some structures in theory, with soft body structure, and ensure control accuracy,
It then can be to avoid the above deficiency of Rigid Robot.
Currently, soft robot is also in the exploratory stage, but its application prospect is extensive.Such as：In calamities such as various seismic sea waves
The exploration and search and rescue of complicated landform are carried out in difficulty；Arbitrarily change shape in medical operating to facilitate the operation of doctor；In anti-terrorism
And the control etc. of information acquisition and key component is carried out in war to narrow complicated landform.
But current software machine its based on flexible material, by air driving soft material realize compression, stretch, bending
Operation, this design bending ability is strong, and flexibility is good, but it lacks certain rigidity, be unable to reach can either have it is larger soft
Property, and can be with the performance of greater stiffness, to influence its adaptive capacity to environment, the smooth setting of outer wall also influences its crawl
Dynamics.
Invention content
In view of the deficiencies of the prior art, the present invention intends to provide a kind of software machine of polyaramid
People, to solve the problems mentioned in the above background technology.
To achieve the above object, the present invention provides the following technical solutions：
A kind of soft robot of polyaramid, including software finger, fabric sleeve, resilient sleeve, flexible supporting frames, spring stack
And elastic matrix, the elastic matrix setting are set as deformation chamber, deformation intracavitary in resilient sleeve, between elastic matrix and resilient sleeve
Equipped with flexible supporting frames, it is equipped with spring supporting chamber in the middle part of elastic matrix, is equidistantly equipped in same circumferential direction on the outside of spring supporting chamber
Several filling channels, spring supporting intracavitary are equipped with spring stack, and resilient sleeve outer wall is equipped with several software fingers, outside resilient sleeve
Polyaramid layer is set.
Further, the whole structure annular in shape of the flexible supporting frames and be set in outside elastic matrix, flexible supporting frames by
Interlaced elastic rod composition, flexible supporting frames are external supporting point with resilient sleeve inner wall junction, and elastic rod interlocks thereon
The place of offseting is set as cross support point, and flexible supporting frames are inscribed supporting point with elastic matrix inner wall junction.
Further, it is connected on the inside of the elastic matrix top and the closedtop of resilient sleeve, junction is set as top fixed point, is
Bonding is connected.
Further, the elastic matrix bottom end is fixed on by fixed plate on bottom cover, and bottom cover is connected with resilient sleeve bottom, is
Bonding.
Further, it is equipped with spring supporting chamber in the middle part of the elastic matrix, it is equidistant in same circumferential direction on the outside of spring supporting chamber
Equipped with several filling channels.
Further, it is connected for integral type between the software finger and resilient sleeve, junction is set as connector, and adjacent is soft
Deformation slot is set as between body finger.
Further, fabric sleeve is set outside the software finger, and fabric sleeve is integrated with the sewing of polyaramid layer, knits
Object set is nylon material.
In conclusion the present invention has the advantages that compared with prior art：
Elastic matrix is arranged in resilient sleeve a kind of soft robot of polyaramid, and therebetween
Flexible supporting frames are installed, spring stack is installed inside elastic matrix and filling channel is set, inflation in filling channel is so that elasticity
Matrix side is expanded to another lateral bend, and to be compressed, be stretched, bending operation, when elastic matrix is bent, spring stack was both
It is good with certain flexibility, it may have several software fingers are arranged outside resilient sleeve, enhance its grasp force for certain rigidity
Degree, it is good to add polyaramid layer wearability.
More clearly to illustrate the structure feature and effect of the present invention, come below in conjunction with the accompanying drawings to this hair with specific embodiment
It is bright to be described in detail.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the structural schematic diagram that software finger is connected with resilient sleeve in the present invention.
Fig. 3 is the schematic cross-section of elastic matrix in the present invention.
Reference numeral：1- softwares finger, 2- deformation slot, 3- fabric sleeves, 4- polyaramids layer, 5- resilient sleeves, 6- shapes
Become chamber, 7- flexible supporting frames, the external supporting points of 8-, 9- cross supports point, 10- be inscribed supporting point, 11- bottom covers, 12- air inflation nozzles,
13- fixed plates, 14- spring stacks, 15- spring supportings chamber, 16- elastic matrixes, 17- filling channels, 18- cecums, the tops 19- are fixed
Point, 20- closedtops, 21- connectors.
Specific implementation mode
The following further describes the technical solution of the present invention in the following with reference to the drawings and specific embodiments.
Referring to Fig. 1-Fig. 3, a kind of soft robot of polyaramid, including software finger 1, fabric sleeve 3, resilient sleeve
5, flexible supporting frames 7, spring stack 14 and elastic matrix 16, the elastic matrix 16 be arranged in resilient sleeve 5, elastic matrix 16 with
It is set as deformation chamber 6 between resilient sleeve 5, flexible supporting frames 7 are equipped in deformation chamber 6, the whole structure annular in shape of flexible supporting frames 7 simultaneously covers
It is located at outside elastic matrix 16, flexible supporting frames 7 are made of interlaced elastic rod, flexible supporting frames 7 and 5 inner wall of resilient sleeve
Junction is external supporting point 8, and elastic rod is staggeredly set as cross support point 9, flexible supporting frames 7 and elastic matrix in the place of offseting thereon
16 inner wall junctions are inscribed supporting point 10；16 top of the elastic matrix is connected with 20 inside of closedtop of resilient sleeve 5, junction
It is set as top fixed point 19, preferably bonding is connected；16 bottom end of the elastic matrix is fixed on by fixed plate 13 on bottom cover 11,
Bottom cover 11 is connected with 5 bottom of resilient sleeve, is preferably bonded.
16 middle part of the elastic matrix is equipped with spring supporting chamber 15, is equidistantly set in the 15 same circumferential direction in outside of spring supporting chamber
If there is several filling channels 17,17 top of filling channel is cecum 18,17 bottom of filling channel and the air inflation nozzle 12 on bottom cover 11
Connection；Spring stack 14 is installed in spring supporting chamber 15, plays the role of supporting elastic matrix 16, it is curved in elastic matrix 16
Qu Shi, spring stack 14 both had certain flexibility good, it may have certain rigidity.
5 outer wall of the resilient sleeve is equipped with several software fingers 1, connects for integral type between software finger 1 and resilient sleeve 5
It connects, junction is set as connector 21, and deformation slot 2 is set as between adjacent software finger 1；Poly- fragrant acyl is set outside resilient sleeve 5
Fabric sleeve 3 is arranged in amine tissue layer 4 outside dry software finger 1, and fabric sleeve 3 is integrated with the sewing of polyaramid layer 4, excellent
Choosing, fabric sleeve 3 is nylon material.
Several software fingers 1 are set outside resilient sleeve 5, enhance its grasping force.
The technical principle that the present invention is described above in association with specific embodiment, is only the preferred embodiment of the present invention.This
The protection domain of invention is not limited merely to above-described embodiment, and all technical solutions belonged under thinking of the present invention belong to the present invention
Protection domain.Those skilled in the art would not require any inventive effort the other specific realities that can associate the present invention
Mode is applied, these modes are fallen within protection scope of the present invention.
Claims (7)
1. a kind of soft robot of polyaramid, including software finger (1), fabric sleeve (3), resilient sleeve (5), elasticity branch
Support (7), spring stack (14) and elastic matrix (16), which is characterized in that the elastic matrix (16) is arranged in resilient sleeve (5)
It is interior, it is set as deformation chamber (6) between elastic matrix (16) and resilient sleeve (5), flexible supporting frames (7), elasticity are equipped in deformation chamber (6)
It is equipped with spring supporting chamber (15) in the middle part of matrix (16), several inflations are equidistantly equipped in the same circumferential direction in spring supporting chamber (15) outside
Channel (17), spring supporting chamber (15) is interior to be equipped with spring stack (14), and resilient sleeve (5) outer wall is equipped with several software fingers (1),
Setting polyaramid layer (4) outside resilient sleeve (5).
2. a kind of soft robot of polyaramid according to claim 1, which is characterized in that the resilient support
The whole structure annular in shape of frame (7) is simultaneously set in elastic matrix (16) outside, and flexible supporting frames (7) are by interlaced elastic rod group
At flexible supporting frames (7) are external supporting point (8) with resilient sleeve (5) inner wall junction, and elastic rod is staggeredly set as at the place of offseting thereon
Cross support point (9), flexible supporting frames (7) are inscribed supporting point (10) with elastic matrix (16) inner wall junction.
3. a kind of soft robot of polyaramid according to claim 1, which is characterized in that the elastic matrix
(16) it is connected on the inside of top and the closedtop (20) of resilient sleeve (5), junction is set as top fixed point (19), is connected to be bonded.
4. a kind of soft robot of polyaramid according to claim 3, which is characterized in that the elastic matrix
(16) bottom end is fixed on by fixed plate (13) on bottom cover (11), and bottom cover (11) is connected with resilient sleeve (5) bottom, for bonding.
5. a kind of soft robot of polyaramid according to claim 1, which is characterized in that the elastic matrix
(16) middle part is equipped with spring supporting chamber (15), and several filling channels are equidistantly equipped in the same circumferential direction in spring supporting chamber (15) outside
(17)。
6. a kind of soft robot of polyaramid according to claim 1, which is characterized in that the software finger
(1) it is connect for integral type between resilient sleeve (5), junction is set as connector (21), is set as between adjacent software finger (1)
Deformation slot (2).
7. a kind of soft robot of polyaramid according to claim 6, which is characterized in that the software finger
(1) external setting fabric sleeve (3), fabric sleeve (3) are integrated with polyaramid layer (4) sewing, and fabric sleeve (3) is nylon material
Matter.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810401283.9A CN108621132A (en) | 2018-04-28 | 2018-04-28 | A kind of soft robot of polyaramid |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810401283.9A CN108621132A (en) | 2018-04-28 | 2018-04-28 | A kind of soft robot of polyaramid |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108621132A true CN108621132A (en) | 2018-10-09 |
Family
ID=63694907
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810401283.9A Pending CN108621132A (en) | 2018-04-28 | 2018-04-28 | A kind of soft robot of polyaramid |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108621132A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112976031A (en) * | 2021-03-23 | 2021-06-18 | 青岛双瑞海洋环境工程股份有限公司 | Pneumatic flexible driver and net-catching type pneumatic grabbing device |
Citations (7)
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| CN105150214A (en) * | 2015-08-17 | 2015-12-16 | 浙江工业大学 | Soft robot with movement and rigidity independently controlled |
| CN105500383A (en) * | 2016-02-23 | 2016-04-20 | 哈尔滨工业大学 | Soft robot module with multiple motion forms |
| CN105500380A (en) * | 2016-02-02 | 2016-04-20 | 浙江工业大学 | Serial/parallel combined parapodium soft-bodied robot |
| CN106003131A (en) * | 2016-07-01 | 2016-10-12 | 北京软体机器人科技有限公司 | Double-passage soft finger and soft robot |
| CN106859770A (en) * | 2017-02-27 | 2017-06-20 | 西安交通大学 | A kind of pneumatic operation technique arm of multiple degrees of freedom variable rigidity and preparation method |
| WO2017205653A1 (en) * | 2016-05-25 | 2017-11-30 | Soft Robotics, Inc. | Soft robotic actuators for positioning, packaging, and assembling |
| CN107756385A (en) * | 2017-08-31 | 2018-03-06 | 南京邮电大学 | Variation rigidity software driver, software arm and software platform based on blocking mechanism |
-
2018
- 2018-04-28 CN CN201810401283.9A patent/CN108621132A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105150214A (en) * | 2015-08-17 | 2015-12-16 | 浙江工业大学 | Soft robot with movement and rigidity independently controlled |
| CN105500380A (en) * | 2016-02-02 | 2016-04-20 | 浙江工业大学 | Serial/parallel combined parapodium soft-bodied robot |
| CN105500383A (en) * | 2016-02-23 | 2016-04-20 | 哈尔滨工业大学 | Soft robot module with multiple motion forms |
| WO2017205653A1 (en) * | 2016-05-25 | 2017-11-30 | Soft Robotics, Inc. | Soft robotic actuators for positioning, packaging, and assembling |
| CN106003131A (en) * | 2016-07-01 | 2016-10-12 | 北京软体机器人科技有限公司 | Double-passage soft finger and soft robot |
| CN106859770A (en) * | 2017-02-27 | 2017-06-20 | 西安交通大学 | A kind of pneumatic operation technique arm of multiple degrees of freedom variable rigidity and preparation method |
| CN107756385A (en) * | 2017-08-31 | 2018-03-06 | 南京邮电大学 | Variation rigidity software driver, software arm and software platform based on blocking mechanism |
Non-Patent Citations (2)
| Title |
|---|
| TOMMASO RANZANI .ET AL.: "《A Soft Modular Manipulator for Minimally Invasive Surgery: Design and Characterization of a Single Module》", 《IEEE TRANSACTIONS ON ROBOTICS》 * |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112976031A (en) * | 2021-03-23 | 2021-06-18 | 青岛双瑞海洋环境工程股份有限公司 | Pneumatic flexible driver and net-catching type pneumatic grabbing device |
| CN112976031B (en) * | 2021-03-23 | 2022-09-30 | 青岛双瑞海洋环境工程股份有限公司 | Pneumatic flexible driver and net-catching type pneumatic grabbing device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181009 |