CN108818594A - A kind of soft robot with Coupled Rigid-flexible mechanism - Google Patents
A kind of soft robot with Coupled Rigid-flexible mechanism Download PDFInfo
- Publication number
- CN108818594A CN108818594A CN201810915797.6A CN201810915797A CN108818594A CN 108818594 A CN108818594 A CN 108818594A CN 201810915797 A CN201810915797 A CN 201810915797A CN 108818594 A CN108818594 A CN 108818594A
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- China
- Prior art keywords
- air inlet
- chamber
- soft robot
- hose
- flexible mechanism
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Classifications
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
Abstract
The present invention provides a kind of soft robots with Coupled Rigid-flexible mechanism, belong to soft robot technical field.It solves the problems, such as that existing soft robot grasps hypodynamic problem.It includes multiple software joints, inlet duct and vacuum evacuation device that this, which has the soft robot of Coupled Rigid-flexible mechanism, it successively docks in multiple software joints, software joint includes elastic matrix and air inlet pipe, vacuum suction chamber and multiple air inlet driving chambers are offered on matrix, more air inlet pipe are connected to multiple air inlet driving chambers one-to-one correspondence, the intracavitary rigidity section equipped with tubulose of vacuum suction, are equipped with hose in the pore rigidly saved, the outside of matrix is equipped with sucker, and the air entry of sucker is connected to hose inner cavity.This has the software joint of the soft robot of Coupled Rigid-flexible mechanism except air inlet driving chamber, increases vacuum suction chamber, and is provided with rigidity section wherein, and " packaging type grasping flexible " and " rigid absorption type grasping " combines, and can guarantee stable grasp.
Description
Technical field
The invention belongs to robotic technology fields, are related to a kind of soft robot, in particular to a kind of to have Coupled Rigid-flexible
The soft robot of mechanism.
Background technique
In recent years, soft robot becomes the research direction of the emerging and great prospect of robot field.Software machine
Device people is the continuity of bio-robot research, and the mollusk in natural imitation circle has unlimited multiple degrees of freedom and continuous modification
Ability in military affairs, can be visited in a wide range of interior any change own form and size due to its outstanding flexibility and adaptability
The fields such as survey, medical treatment are with a wide range of applications.
Researcher and engineers and technicians by means of intellectual material (such as：Silicon rubber, marmem SMA, electricity are living
Property polymer EPA etc.) and novel actuation techniques are (such as：SMA, pneumatic, magnetorheological, EPA etc.), research and development are completely dispensed with or are used less
The novel robot structure of rigid mechanism, this kind of soft robot generally have sufficient flexibility, adaptability, super redundancy or nothing
Limit freedom degree, it might even be possible to which any own form and size of changing is to adapt to environment and target.
A kind of soft robot relatively common at present is driven using air, and compressed gas is passed through into soft robot
Body makes it change rigidity and curvature, still, since the matrix of soft robot is made using flexible material on the whole,
The Shortcomings in crawl function, grasping force is general, and some specific areas can not be competent at.
Summary of the invention
The purpose of the present invention is being directed to the above problem present in existing soft robot, and propose a kind of energy offer
The bionic soft robot of stronger grasping force.
Object of the invention can be realized by the following technical scheme：
A kind of soft robot with Coupled Rigid-flexible mechanism, which is characterized in that it includes multiple software joints, air inlet dress
It sets and vacuum evacuation device, multiple software joints is successively docked, and setting is used for closed end cap, the software joint at both ends
Including elastic matrix and air inlet pipe, the vacuum suction chamber through matrix both ends and multiple air inlets are offered on the elastic matrix
Driving chamber, the air inlet driving chamber include a centre-drive chamber and at least two side driving chambers, multiple side driving chamber rings
It is arranged around centre-drive chamber interval, more air inlet pipe are connected to multiple air inlet driving chambers one-to-one correspondence, the vacuum suction chamber
The interior rigidity section equipped with tubulose, the pore rigidly saved is interior to be equipped with hose, is equipped with sucker, sucker at the corresponding rigid section in the outside of matrix
Connecting pin sequentially pass through vacuum suction chamber side wall and rigidity section side wall after connect with hose, the air entry of sucker and hose inner cavity
It is connected to, the centre-drive chamber, side driving chamber, vacuum suction chamber, hose and rigidity in two neighboring software joint save uniform a pair
It should be mutually butted connection, inlet duct provides compressed gas for above-mentioned air inlet pipe, and vacuum evacuation device is connected to hose inner cavity.
In a kind of above-mentioned soft robot with Coupled Rigid-flexible mechanism, the rigidity section in each software joint is at least
There are two, multiple rigidity section sequentially docking arrange, and connect between two neighboring rigidity section there are gap and by elastic component.It is multiple
Between rigidity section bending, deflecting can be realized by elastic component.
In a kind of above-mentioned soft robot with Coupled Rigid-flexible mechanism, the elastic component is connecting spring, even
It connects the two of spring and is equipped with connector, the annular slot to match with connecting spring is offered on the outside of connector one end, connects bullet
One end of spring is fastened in the card slot for being correspondingly connected with head, and the other end of connector is connect with the end thread rigidly saved.
In a kind of above-mentioned soft robot with Coupled Rigid-flexible mechanism, the one side of the rigidity section connecting sucker
For plane, the inner wall of corresponding vacuum suction chamber is equipped with corresponding binding face, plane fitting corresponding with binding face.
In a kind of above-mentioned soft robot with Coupled Rigid-flexible mechanism, the hose in each software joint is at least
Two, multiple hoses sequentially dock arrangement, and the both ends of each hose are fixed with assembly head, the end face of assembly head be equipped with buckle and
Grab, buckle and grab annular are arranged alternately, and the grab can snap at the buckle of adjacent hose.
In a kind of above-mentioned soft robot with Coupled Rigid-flexible mechanism, the outer end face of the assembly head of the hose is also
Seal groove equipped with annular, seal groove is interior to be equipped with O-ring seal.
In a kind of above-mentioned soft robot with Coupled Rigid-flexible mechanism, the side wall of the hose is solid by fastener
Determine metal clad piece, the connecting pin of above-mentioned sucker is fixedly connected with the sheet metal.
In a kind of above-mentioned soft robot with Coupled Rigid-flexible mechanism, be also provided in described matrix it is several walk pipe
Channel, above-mentioned air inlet pipe, which is arranged in a one-to-one correspondence, to be walked in tube passage, respectively walks the side wall between tube passage and corresponding air inlet driving chamber
On be provided with venthole, the side of air inlet pipe is provided with venthole, and the venthole is driven by above-mentioned venthole with corresponding air inlet
Chamber connection.
In a kind of above-mentioned soft robot with Coupled Rigid-flexible mechanism, the software joint further includes interior constraint
Part and outer attaching means, the interior attaching means and outer attaching means in a ring, the lateral wall of the interior centrally disposed driving chamber of attaching means
It is interior, so that centre-drive chamber is located at the inside of the interior attaching means, outer attaching means is arranged in the lateral wall of side driving chamber, makes among the above
Heart driving chamber, side driving chamber, vacuum suction chamber and interior attaching means are respectively positioned on the inside of outer attaching means.
In a kind of above-mentioned soft robot with Coupled Rigid-flexible mechanism, the interior attaching means and outer attaching means are equal
For compressed spring.
In a kind of above-mentioned soft robot with Coupled Rigid-flexible mechanism, the interior attaching means and outer attaching means are equal
For endless metal circle, multiple quoits are alternatively arranged.
Compared with prior art, there is the soft robot of Coupled Rigid-flexible mechanism to be docked by multiple software joints for this,
Each software joint increases vacuum suction chamber except air inlet driving chamber, and is provided with rigidity section wherein, bending grasping
When, due to the effect rigidly saved, make joint can only be to vacuum suction chamber curving, and the flexibility of software matrix makes joint can
According to the difference of manipulating object shape, to realize that object shapes adaptively wrap up grasping, and by being connected with vacuum suction chamber
Sucker carries out absorption type grasping to manipulating object, and " packaging type grasping flexible " and " rigid absorption type grasping " combines, energy
Guarantee joint to the stable grasp of manipulating object.
Detailed description of the invention
Fig. 1 is the schematic perspective view in software joint.
Fig. 2 is the schematic perspective view after Fig. 1 excision 1/4.
Fig. 3 is the end view of Fig. 1.
Fig. 4 is the structural schematic diagram of rigidity section and the cooperation of hose.
Fig. 5 is the structural schematic diagram of connecting spring.
Fig. 6 is the structural schematic diagram of hose.
Fig. 7 is the structural schematic diagram after software joint removal matrix.
In figure, 1, matrix；2, air inlet pipe；3, centre-drive chamber；4, tube passage is walked；5, side driving chamber；6, venthole；7, just
Property section；8, connecting spring；9, connector；10, card slot；11, hose；12, assembly head；13, it buckles；14, grab；15, seal groove；
16, O-ring seal；17, fastener；18, sheet metal；19, sucker；20, connecting pin；21, air entry；22, plane；23, it is bonded
Face；24, interior attaching means；25, outer attaching means；26, vacuum suction chamber.
Specific embodiment
Following is a specific embodiment of the present invention in conjunction with the accompanying drawings, technical scheme of the present invention will be further described,
However, the present invention is not limited to these examples.
It includes multiple software joints, inlet duct and vacuum evacuation device that this, which has soft robot of Coupled Rigid-flexible mechanism,
Multiple software joints are successively docked, and setting is used for closed end cap at both ends.
As shown in Figure 1, Figure 2 and Figure 3, software joint includes columned elastic matrix 1 and air inlet pipe 2, and matrix 1 uses silicon
Rubber is made, and matrix 1 is provided in the axial direction with three air inlet driving chambers for running through 1 both ends of matrix, and one of air inlet driving chamber is
Centre-drive chamber 3, other two is side driving chamber 5, and two side driving chambers 5 or so set up separately in 3 two sides of centre-drive chamber.Matrix 1
On be also provided with three along axial direction and walk tube passage 4 and a vacuum suction chamber 26,26 cloth of vacuum suction chamber through 1 both ends of matrix
It is located between two side driving chambers 5 and centre-drive chamber 3, the section of two side driving chambers 5 is arc-shaped；Three are walked tube passage 4
It is corresponded with above-mentioned center driving chamber 3 and two side driving chambers 5, by corresponding to the venthole opened up on side wall between them
6 connections, each walk to be correspondingly provided with an air inlet pipe 2 in tube passage 4, the side of air inlet pipe 2 is opened with corresponding 6 corresponding position of venthole
There is venthole, the air inlet pipe 2 is connected to by venthole and venthole 6 with corresponding air inlet driving chamber.
As shown in figure 4, vacuum suction chamber 26 in equipped with 2-section pipe shape rigidity section 7, rigidity section 7 outer contour shape with should
The cross sectional shape of vacuum suction chamber 26 matches, and rigidity section 7 is made of hard material, and multiple rigidity sections 7 are sequentially end to end,
It is connected between two neighboring rigidity section 7 there are gap and by elastic component.In the present embodiment, elastic component is connecting spring 8, is such as schemed
Shown in 5, the two of connecting spring 8 are equipped with connector 9, offer the annular to match with connecting spring 8 on the outside of 9 one end of connector
Card slot 10, one end of connecting spring 8 are fastened in the card slot 10 for being correspondingly connected with first 9, and the other end and rigidity of connector 9 save 7
End thread connection.
It is equipped with hose 11 in the pore of rigidity section 7, in the present embodiment, the rigid corresponding hose 11 in section 7 of every section, hose
Gap between 11 and rigidity section 7 is provides space for 11 Bending Deformation of hose.As shown in fig. 6, the both ends of each hose 11 are solid
Surely it is equipped with assembly head 12, the outer end face of assembly head 12 is all provided with there are two buckle 13 and two grabs 14, buckles 13 and 14 ring of grab
Shape is arranged alternately, and two hoses 11 rotate after docking from beginning to end, and grab 14 is enable to snap onto the buckle of adjacent 11 assembly head 12 of hose
Docking is completed at 13.The outer end face of assembly head 12 is additionally provided with the seal groove 15 of annular, is equipped with O-ring seal 16 in seal groove 15.
For the side wall of hose 11 by the fixed metal clad piece 18 of fastener 17, the connecting pin 20 of a sucker 19 sequentially passes through side driving chamber
It is fixedly connected after 5 side walls and rigidity 7 side walls of section with the sheet metal 18, in the air entry 21 on the connecting pin 20 and hose 11
Chamber connection, connecting pin 20 may each be and be fixedly connected with sheet metal 18 and rigidity section 7, such as be threadedly coupled (such as Fig. 2).
The one side of rigidity 7 connecting suckers 19 of section is plane 22, and the inner wall of corresponding vacuum suction chamber 26 is equipped with corresponding
Binding face 23, the fitting corresponding with binding face 23 of plane 22.
As shown in fig. 7, this software joint further includes interior attaching means 24 and outer attaching means 25, the interior attaching means 24 and it is outer about
Bundle 25 in a ring, in the lateral wall of the centrally disposed driving chamber 3 of interior attaching means 24, makes centre-drive chamber 3 be located at this interior about
The inside of bundle 24, outer attaching means 25 are arranged in the lateral wall of side driving chamber 5 and vacuum suction chamber 26, make above-mentioned centre-drive
3, two side driving chambers 5 of chamber, vacuum suction chamber 26 walk tube passage 4 and interior attaching means 24 is respectively positioned on the inside of outer attaching means 25.This
In embodiment, interior attaching means 24 and outer attaching means 25 are compressed spring.In addition to this, interior attaching means 24 and outer attaching means 25 are gone back
It can be multiple quoits to be alternatively arranged.
In use, can successively dock in multiple software joints, and closed in both ends setting end cap, forms software machine
People, centre-drive chamber 3 between adjacent two software joint walk tube passage 4, side driving chamber 5, vacuum suction chamber 26, hose 11, just
Property section 7 is equal is sequentially docked and connected, the correspondence that air inlet pipe 2 successively penetrates after being connected to walks tube passage 4.Inlet duct with
Air inlet pipe 2 is connected to, and for providing compressed gas, vacuum evacuation device is connected to 11 inner cavity of hose.
The compressed gas of different pressures is passed through into centre-drive chamber 3 and two side driving chambers 5 by air inlet pipe 2, it can be with
The rigidity and different degrees of, different directions bendings in each software joint and soft robot entirety are adjusted in real time.When grabbing
When the object held is hard material, object to be grabbed can bear biggish grasping force, and not needing the work of sucker 19 can grasp
Stablize, grabs object similar to human finger.When the object to be grasped is soft material, if joint grasping force is small, then cannot
Ensure to grasp stability, grasping force can then damage greatly grasping object, at this time vacuumize hose 11 using vacuum evacuation device, benefit
Object is firmly grasped with the bending grasp force of the suction fit robot of sucker 19, is sucked.
It should be understood that in claims of the present invention, specification, all " including ... " should be understood as open
Meaning, that is, its meaning is equal to " at least containing ... ", but should not be understood as enclosed meaning, i.e., its meaning is not answered
This is interpreted as " only including ... ".
Specific embodiment described herein is only an example for the spirit of the invention.The neck of technology belonging to the present invention
The technical staff in domain can make various modifications or additions to the described embodiments or replace by a similar method
In generation, however, it does not deviate from the spirit of the invention or beyond the scope of the appended claims.
Claims (10)
1. a kind of soft robot with Coupled Rigid-flexible mechanism, which is characterized in that it includes multiple software joints, inlet duct
And vacuum evacuation device, multiple software joints are successively docked, and are used for closed end cap, the software joint packet in both ends setting
Elastic matrix (1) and air inlet pipe (2) are included, the vacuum suction chamber through matrix (1) both ends is offered on the elastic matrix (1)
(26) and multiple air inlet driving chambers, the air inlet driving chamber include a centre-drive chamber (3) and at least two side driving chambers
(5), multiple side driving chambers (5) drive around the setting of centre-drive chamber (3) interval, more air inlet pipe (2) and multiple air inlets
Chamber, which corresponds, to be connected to, the rigidity section (7) in the vacuum suction chamber (26) equipped with tubulose, is set in the rigid pore for saving (7)
Have hose (11), is equipped with sucker (19) at the corresponding rigidity section (7) in the outside of matrix (1), the connecting pin (20) of sucker (19) is successively
Connect after vacuum suction chamber (26) side wall and rigidity section (7) side wall with hose (11), the air entry (21) of sucker (19) and
Hose (11) inner cavity is connected to, centre-drive chamber (3), side driving chamber (5), vacuum suction chamber in two neighboring software joint
(26), hose (11) is corresponded to be mutually butted and is connected to rigidity section (7), and inlet duct is that above-mentioned air inlet pipe (2) provide pressure
Contracting gas, vacuum evacuation device are connected to hose (11) inner cavity.
2. a kind of soft robot with Coupled Rigid-flexible mechanism according to claim 1, which is characterized in that each software
In joint rigidity section (7) at least there are two, it is multiple rigidity section (7) sequentially docking arrangement, it is two neighboring rigidity section (7) between stays
There is gap and is connected by elastic component.
3. a kind of soft robot with Coupled Rigid-flexible mechanism according to claim 2, which is characterized in that the bullet
Property part be connecting spring (8), the two of connecting spring (8) are equipped with connector (9), offered on the outside of connector (9) one end with even
The annular slot (10) that spring (8) matches is connect, one end of connecting spring (8) is fastened on the card slot (10) for being correspondingly connected with head (9)
Interior, the other end of connector (9) is connect with the end thread of rigidity section (7).
4. a kind of soft robot with Coupled Rigid-flexible mechanism according to claim 1 or 2 or 3, which is characterized in that institute
The one side for stating rigid section (7) connecting sucker (19) is plane (22), and the inner wall of corresponding vacuum suction chamber (26), which is equipped with, to be corresponded to
Binding face (23), plane (22) it is corresponding with binding face (23) fitting.
5. a kind of soft robot with Coupled Rigid-flexible mechanism according to claim 2, which is characterized in that each software
Hose (11) in joint at least there are two, multiple hoses (11) sequentially dock arrangement, and the fixation of the both ends of each hose (11) is set
Have assembly head (12), the end face of assembly head (12) is equipped with buckle (13) and grab (14), buckles (13) and grab (14) annular is handed over
For setting, the grab (14) can be snapped at the buckle (13) of adjacent hose (11).
6. a kind of soft robot with Coupled Rigid-flexible mechanism according to claim 5, which is characterized in that the hose
(11) outer end face of assembly head (12) is additionally provided with the seal groove (15) of annular, is equipped with O-ring seal (16) in seal groove (15).
7. a kind of soft robot with Coupled Rigid-flexible mechanism according to claim 1 or 2 or 3, which is characterized in that institute
It is fixed metal clad piece (18) by fastener (17) to state the side wall of hose (11), the connecting pin (20) of above-mentioned sucker (19) with should
Sheet metal (18) is fixedly connected.
8. a kind of soft robot with Coupled Rigid-flexible mechanism according to claim 1 or 2 or 3, which is characterized in that institute
State be also provided on matrix (1) it is several walk tube passage (4), above-mentioned air inlet pipe (2), which is arranged in a one-to-one correspondence, to be walked in tube passage (4),
It respectively walks and is provided on the side wall between tube passage (4) and corresponding air inlet driving chamber venthole (6), the side of air inlet pipe (2) is provided with
Venthole, the venthole are connected to by above-mentioned venthole (6) with corresponding air inlet driving chamber.
9. a kind of soft robot with Coupled Rigid-flexible mechanism according to claim 1 or 2 or 3, which is characterized in that institute
The software joint stated further includes interior attaching means (24) and outer attaching means (25), and the interior attaching means (24) and outer attaching means (25) are equal
In a ring, in the lateral wall of the centrally disposed driving chamber of interior attaching means (24) (3), centre-drive chamber (3) is made to be located at the interior constraint
The inside of part (24), outer attaching means (25) are arranged in the lateral wall of side driving chamber (5), drive above-mentioned center driving chamber (3), side
Dynamic chamber (5), vacuum suction chamber (26) and interior attaching means (24) are respectively positioned on the inside of outer attaching means (25).
10. a kind of soft robot with Coupled Rigid-flexible mechanism according to claim 9, which is characterized in that described
Interior attaching means (24) and outer attaching means (25) are compressed spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810915797.6A CN108818594A (en) | 2018-08-13 | 2018-08-13 | A kind of soft robot with Coupled Rigid-flexible mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810915797.6A CN108818594A (en) | 2018-08-13 | 2018-08-13 | A kind of soft robot with Coupled Rigid-flexible mechanism |
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| CN108818594A true CN108818594A (en) | 2018-11-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810915797.6A Pending CN108818594A (en) | 2018-08-13 | 2018-08-13 | A kind of soft robot with Coupled Rigid-flexible mechanism |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109730776A (en) * | 2018-12-28 | 2019-05-10 | 北京信息科技大学 | The monitoring system of soft robot system |
| CN112022618A (en) * | 2020-09-03 | 2020-12-04 | 河北工业大学 | Rigid-flexible coupling wearable walking-aid exoskeleton system |
| USD922126S1 (en) | 2019-06-06 | 2021-06-15 | Sharkninja Operating Llc | User interface for a food preparation device |
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| US20170095925A1 (en) * | 2015-10-01 | 2017-04-06 | Disney Enterprises, Inc. | Soft body robot for physical interaction with humans |
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| US20100332030A1 (en) * | 2009-06-24 | 2010-12-30 | Intuitive Surgical, Inc. | Arm with a combined shape and force sensor |
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| CN112022618B (en) * | 2020-09-03 | 2024-04-19 | 河北工业大学 | Rigid-flexible coupling wearable walking assisting exoskeleton system |
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