CN110900589B - Snakelike arm robot based on variable rigidity caused by blocking of inner core particles and outer core particles - Google Patents
Snakelike arm robot based on variable rigidity caused by blocking of inner core particles and outer core particles Download PDFInfo
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- CN110900589B CN110900589B CN201911226736.XA CN201911226736A CN110900589B CN 110900589 B CN110900589 B CN 110900589B CN 201911226736 A CN201911226736 A CN 201911226736A CN 110900589 B CN110900589 B CN 110900589B
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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
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
Abstract
The invention discloses a snakelike arm robot with variable rigidity based on blocking of inner and outer core particles, which comprises a pneumatic driving device, a pull rope driving device and a snakelike arm body, wherein the pneumatic driving device is connected with the pull rope driving device; the snake-shaped arm body comprises an inner core filled with particles and an outer core wrapped outside the inner core; the pneumatic driving device can respectively change the vacuum degrees of the inner cavity of the inner core and the inner cavity of the outer core; the radial outer side of the inner core is embedded with a silk thread, and the pull rope driving device realizes the steering of the snake-shaped arm in the corresponding direction by independently pulling one silk thread. The invention utilizes the particle blocking technology, controls the particle gaps of the inner core and the outer core respectively to control the rigidity, can realize the steering of the robot by controlling the silk thread and can realize the extension by the independent rigidity change of the inner core and the outer core. After the target is reached, the inner core and the outer core are simultaneously pumped to vacuum or negative pressure, and the robot can obtain larger rigidity. The robot has the advantages of high rigidity-changing response rate, few driving sources and wide rigidity change range, and can flexibly work under the conditions of complex and narrow environment.
Description
Technical Field
The invention relates to the field of robots, in particular to a variable-rigidity snake-shaped arm robot.
Background
Along with the continuous development of science and technology, the robot has all obtained extensive application in each field, and snakelike robot is because it has advantages such as stability is good, the flexibility ratio is high, environmental suitability is strong, and snakelike arm robot can use in the field that aircraft maintenance, nuclear environment surveyed and the space is narrow, has more obtained people's attention.
However, in a narrow environment, the serpentine arm with a large size is difficult to enter smoothly. However, if the size of the serpentine arm is too small, the rigidity of the robot will be insufficient, and it is difficult to ensure the working accuracy of the robot. The rigidity and the flexibility are in contradiction in the design and the manufacture of the snake-shaped robot.
One of the prior art adopts the method of increasing the flexibility of the robot by increasing the number of rigid joints, but the drive has to control a large number of motors, which causes the problems of difficult control, poor precision, large size and the like of the robot. Therefore, the flexibility is often improved by sacrificing the rigidity of the robot, so that the robot has lower rigidity in actual work and is difficult to have larger load capacity. The other method is to adopt a softer material to manufacture the snake-shaped arm robot, but the control precision and the load capacity of the robot are difficult due to the super-redundancy of the robot and the nonlinear deformation generated after the robot is stressed.
In view of the above, there is a need for a stiffness-variable serpentine arm robot that can achieve continuous deformation and bending when being flexible, and maintain a spatial attitude of the robot with a large stiffness through a stiffness variation mechanism after bending, thereby improving a working capability of the robot.
Disclosure of Invention
The invention aims to provide a snakelike arm robot with high flexibility and wide rigidity change range based on internal and external core particle blocking variable rigidity, so as to solve the defects in the technology.
In order to achieve the above purpose, the invention provides the following technical scheme:
a snakelike arm robot based on variable rigidity caused by blocking of inner and outer core particles comprises a pneumatic driving device, a pull rope driving device and a snakelike arm body;
the snake-shaped arm body comprises an inner core and an outer core wrapped outside the inner core;
the inner cavity of the inner core and the inner cavity of the outer core are both filled with particles;
the pneumatic driving device can respectively change the vacuum degrees of the inner cavity of the inner core and the outer core;
three silk threads are fixed on the radial outer side of the inner core and are connected with the pull rope driving device;
the pull rope component of the pull rope driving device realizes the steering of the snake-shaped arm in the corresponding direction by pulling the silk thread;
the displacement driving component of the pull rope driving device respectively drives the inner core and the outer core to move so as to realize the extension of the snake-shaped arm;
the fixed end of the silk thread is connected with the inner core, and the free end of the silk thread is connected with the pull rope driving device;
the fixed end is positioned at the head part of the inner core; the pull rope driving device is close to the tail part of the inner core;
the rope pulling component comprises winding wheel discs corresponding to the number of the silk threads and a motor for driving the corresponding winding wheel discs to rotate;
the silk thread is correspondingly connected with the winding wheel disc; the motor drives the winding wheel disc to rotate to complete the winding and unwinding of the corresponding silk thread.
Further, the inner core is provided with a first inner cavity surrounded by an inner soft film, and a first vacuumizing channel is arranged on the inner soft film;
the pneumatic driving device is communicated with the first vacuumizing channel and can suck out air in the first inner cavity, so that the first inner cavity forms vacuum or negative pressure.
Further, the outer core is provided with a second inner cavity surrounded by an outer soft film, and a second vacuumizing channel is arranged on the outer soft film;
the pneumatic driving device is communicated with the second vacuumizing channel and can suck out air in the second inner cavity, so that the second inner cavity forms vacuum or negative pressure.
Furthermore, three silk threads are uniformly distributed on the inner core in the circumferential direction.
Further, the pneumatic driving device comprises an air pump respectively communicated with the inner core and the outer core.
Furthermore, the displacement driving part comprises a rack, and a first lead screw and a second lead screw which are parallel to each other and respectively penetrate through the rack, and the displacement driving part is connected with the tail part of the snake-shaped arm;
the first screw rod is sleeved with a first nut sliding block which is matched with the first screw rod, and the second screw rod is sleeved with a second nut sliding block which is matched with the second screw rod;
the first motor drives the first lead screw to drive the first nut sliding block to do linear reciprocating motion, and the second motor drives the second lead screw to drive the second nut sliding block to do linear reciprocating motion;
the one end that the extending direction was kept away from to outer core passes the frame with second nut sliding block fixed connection, the inner core continues to wear to establish behind the second nut sliding block with first nut sliding block fixed connection.
Further, the pull rope member is mounted on the first nut sliding block.
Further, a first slide block restraining rod and a second slide block restraining rod which are parallel to the first lead screw are respectively fixed on the machine frame, and the first nut slide block is connected with the first slide block restraining rod in a sliding manner; and the second nut sliding block is in sliding connection with the second sliding block constraint rod.
In the technical scheme, the snake-shaped arm robot based on the variable rigidity of the blocking of the inner core and the outer core particles provided by the invention utilizes the particle blocking technology, an inner core and an outer core are designed on a snake-shaped arm body, each layer of core body, namely the inner core and the outer core, comprises a soft film and a certain number of particles, the inner core and the outer core are pumped to vacuum or negative pressure by an air pump, and the gaps among the particles and between the particles and the soft film are changed to achieve the purpose of variable rigidity. Because the inner cavities of the two core bodies are independent, the extension movement of the soft film can be controlled by respectively controlling the rigidity change of the inner core and the outer core. The silk threads for steering are arranged on the inner core and are respectively and independently controlled by the three motors, so that the inner core can realize steering control when being extended. Thus, the serpentine arm can realize the effect of controllable steering extension. When the snake-shaped arm reaches the expected position, the inner core and the outer core are pumped to be vacuum or negative pressure, and the robot has larger operation rigidity.
The robot response rate is superior to the stiffness change rate of a variable stiffness material or low-temperature liquid metal, and has the advantage of high variable stiffness response rate; the invention does not relate to rigid or flexible joints, reduces the number of driving sources, reduces the weight of the robot and reduces the volume of the robot, and the driving sources are few; the invention also has the advantages of wide rigidity change range and the like. The robot has stronger flexibility, benefits from the ability of turning to and becoming rigidity, and the robot can be in the nimble operation of environment complicacy, narrow condition.
Drawings
In order to more clearly illustrate the embodiments of the present application or technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present invention, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1 is a schematic structural diagram of a serpentine arm robot provided by the present invention;
FIG. 2 is a schematic structural diagram of a serpentine arm body provided in the present invention;
FIG. 3 is a schematic cross-sectional view of a serpentine arm body according to the present invention;
FIG. 4 is a schematic structural view of a process of changing stiffness of the inner core provided by the present invention, wherein FIG. 4a is a schematic view of an initial state of the inner core, and FIG. 4b is a schematic view of the inner core after air-extraction;
FIG. 5 is a schematic structural view of the core and filament provided by the present invention;
fig. 6 is a schematic diagram of the extending process of the serpentine arm robot provided by the present invention, wherein fig. 6a is a schematic diagram of an initial state, fig. 6b is a schematic diagram of the inner core extending after the outer core is pumped, fig. 6c is a schematic diagram of the outer core extending after the inner core is pumped, fig. 6d is a schematic diagram of the outer core extending after the outer core is pumped again, and fig. 6e is a schematic diagram of the state of the robot at the target position;
FIG. 7 is a schematic cross-sectional view of a pull cord drive arrangement provided in accordance with the present invention;
fig. 8 is a schematic structural view of a rope drive device according to the present invention.
Description of reference numerals:
1. a pneumatic drive; 2. a pull cord drive device; 3. a serpentine arm body; 4. an inner core; 41. an inner soft film; 42. a first lumen; 43. a first evacuation channel; 5. an outer core; 51. an outer soft film; 52. a second lumen; 53. a third evacuation channel; 6. a silk thread;
22. a motor; 23. a frame; 24. a first lead screw; 25. a second lead screw; 26. a first motor; 27. a second motor; 28. a first nut slider; 29. a second nut slider; 202. a first slider restraining bar; 203. and the second slide block restrains the rod.
Detailed Description
In order to make the technical solutions of the present invention better understood, those skilled in the art will now describe the present invention in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 8, the snake-shaped arm robot based on variable rigidity caused by blocking of inner and outer core particles provided by the embodiment of the invention comprises a pneumatic driving device 1, a pull rope driving device 2 and a snake-shaped arm body 3;
the snake-shaped arm body 3 comprises an inner core 4 and an outer core 5 wrapped outside the inner core 4;
the inner cavity of the inner core 4 and the inner cavity of the outer core 5 are both filled with particles;
the pneumatic driving device 1 can respectively change the vacuum degrees of the inner cavity of the inner core 4 and the outer core 5;
three silk threads 6 are fixed on the radial outer side of the inner core 4, and the silk threads 6 are connected with the pull rope driving device 2;
the pull rope component of the pull rope driving device 2 realizes the steering of the snake-shaped arm in the corresponding direction by pulling the silk thread 6;
the displacement driving component of the pull rope driving device 2 realizes the extension of the snake-shaped arm by respectively driving the inner core 4 and the outer core 5 to move.
Referring to fig. 1-6, specifically, the inner core 4 and the outer core 5 are coaxially arranged cylindrical and hollow cylinders which are sleeved with each other.
The wire 6 may control the core 4 using known methods as follows: the silk thread 6 is fixed to one axial end face of the inner core 4, through holes which are evenly distributed along the circumference and located on the radial outer side are formed in the corresponding positions of the other end face, the silk thread 6 penetrates through the through holes, and the snake-shaped arm can be bent in any direction by pulling the silk thread 6. Two exemplary wires 6 are distributed across the diameter of the core 4, preferably with perforations on the same end face at both ends of the circumferential diameter. One is folded, and the other is released, so that the snake-shaped arm can be driven to bend and rotate. But it will be appreciated by the person skilled in the art that the number of wires 6 may also be 3, 4, etc., but the principle of action bending is similar. The radial outer side is the axis which facilitates the wire 6 to be far away from the inner core 4, and the serpentine arm is more flexible to bend. Here preferably three.
The displacement driving component can drive the inner core 4 or the outer core 5 to do linear motion in a mode of a hydraulic cylinder, an electric push rod, a lead screw nut and the like.
The pneumatic driving device 1 can control the rigidity of the snake-shaped arm by respectively changing the vacuum degrees of the inner cavity of the inner core 4 and the outer core 5; the displacement driving means can control the displacement variation of the inner core 4 and the outer core 5, respectively. Specifically, after the inner cavity of the inner core 4 and the inner cavity of the outer core 5 are filled with negative pressure or vacuum, gaps among particles are reduced, the rigidity of the inner cavity of the inner core 4 and the rigidity of the outer core 5 are increased, and each layer of core body reaches a rigidity state. And the greater the vacuum, the greater the stiffness of the corresponding wick. When the contact between the particles in the inner cavity of the inner core 4 and the inner cavity of the outer core 5 and between the particles and the walls of the two inner cavities of the inner core 4 and the outer core 5 is recovered to the normal state, gaps are reserved between the particles, and each layer of core body is in a soft state. Due to the flowability of the granules, it is achieved that the inner core 4 and the outer core 5 are deformable. While one of the inner core 4 and the outer core 5 is kept in a rigid state, the other core is changed from a soft state to a rigid state and extends along the surface of the core kept in the rigid state under the driving of the displacement driving part. When both cores are in a rigid state, the serpentine arm has a state of maximum stiffness. The inner core 4 and the outer core 5 are switched between a soft state and a rigid state, so that the snake-shaped arm is switched between the flexible state and the rigid state.
Compared with the prior art, the invention has the advantage of simplifying the control procedure because no separate particle filling device is needed to fill the inner cavity of the inner core 4 and the inner cavity of the outer core 5 with particles which always exist in the two corresponding independent inner cavities.
The inner core 4 is provided with a first inner cavity 42 surrounded by an inner soft film 41, and a first vacuumizing channel 43 is arranged on the inner soft film 41;
the pneumatic driving device 1 is communicated with the first vacuum-pumping channel 43 and can pump out the air in the first inner cavity 42, so that the first inner cavity 42 forms vacuum or negative pressure.
The outer core 5 is provided with a second inner cavity 52 surrounded by an outer soft film 51, and a second vacuumizing channel 53 is arranged on the outer soft film 51;
the pneumatic driving device 1 is communicated with the second vacuum-pumping channel 53 and can pump out the air in the second inner cavity 52, so that the second inner cavity 52 forms vacuum or negative pressure.
Specifically, the inner soft body film 41 and the outer soft body film 51 may be preferably made of an elastic rubber film or a silicone rubber having a relatively low elastic modulus. The second evacuation channel 53 and the first evacuation channel 43 are provided with particle screens that prevent particles from passing through and being evacuated by the pneumatic drive device 1. Preferably, the second vacuum channel 53 and the first vacuum channel 43 are both arranged at the tail of the robot, and the extending direction of the robot is not fixed, so that the second vacuum channel is conveniently connected with the pneumatic driving device 1 which is preferentially arranged at the tail of the robot, and the control is facilitated.
The fixed end of the silk thread 6 is connected with the inner core 4, and the free end of the silk thread 6 is connected with the pull rope driving device 2;
the fixed end is positioned at the head of the inner core 4; the pull rope driving device 2 is close to the tail part of the inner core 4.
In particular, the thread 6 is fixedly connected to the robot head by means of gluing or the like, preferably on the side of the core 4. Compared with the prior art, the robot is controlled by controlling the length change of the silk thread 6 from the front of the extending direction, namely the head of the robot, so as to rotate the robot, and the stay rope driving device is positioned at one end far away from the extending direction of the robot, namely the tail of the robot. The free ends of the filaments 6 can penetrate out from between the interlayer of the inner core 4 and the outer core 5, so that the overall appearance is improved, and the control is easier.
Preferably, three silk threads 6 are uniformly distributed on the inner core 4 in the circumferential direction.
The threads may be secured to the sides of the inner soft membrane 41. More wires 6 will increase the control costs and only two wires will limit the possibility of turning in only two directions, here preferably three.
The pneumatic driving device 1 comprises an air pump which is respectively communicated with the inner core 4 and the outer core 5.
The rope pulling driving device 2 comprises winding wheel discs corresponding to the number of the silk threads 6 and a motor 22 for driving the corresponding winding wheel discs to rotate;
the silk thread 6 is correspondingly connected with the winding wheel disc; the motor 22 finishes winding and unwinding the corresponding silk thread 6 by driving the winding wheel disc.
Specifically, one wire 6 corresponds to one winding wheel disc and one motor 22, so that the corresponding wire 6 can be controlled to be wound and unwound by independently controlling the motor 22.
The displacement driving part comprises a rack 23, and a first lead screw 24 and a second lead screw 25 which are parallel to each other and respectively penetrate through the rack 23, and the displacement driving part is connected with the tail part of the snake-shaped arm;
a first nut sliding block 28 matched with the first lead screw 24 is sleeved on the first lead screw, and a second nut sliding block 29 matched with the second lead screw 25 is sleeved on the second lead screw;
the first motor 26 drives the first lead screw 24 to drive the first nut slide block 28 to do linear reciprocating motion, and the second motor 27 drives the second lead screw 25 to drive the second nut slide block 29 to do linear reciprocating motion;
the one end that the extending direction was kept away from to outer core 5 passes frame 23 and second nut sliding block 29 fixed connection, and inner core 4 continues to wear to establish behind second nut sliding block 29 and first nut sliding block 28 fixed connection.
The first embodiment is as follows: thereby displacement drive unit establishes the party of keeping away from snakelike arm main part extending direction, thereby first motor 26 drive first nut sliding block 28 drives inner core 4 straight line repetitive motion, thereby second motor 27 drive first nut sliding block 28 drives outer core 5 straight line repetitive motion. Preferably, during the task of the robot, the first motor 26 and the second motor 27 are respectively controlled to enable the first nut sliding block 28 to push the inner core 4 to move forwards and the second nut sliding block 29 to push the outer core 5 to move forwards, and the two motors are matched with each other to enable the inner core 4 and the outer core 5 to move relatively to complete the extension. During the resetting process, the first motor 26 and the second motor 27 respectively control the first nut slide block 28 and the second nut slide block 29 to pull back the inner core 4 and the outer core 5 towards the end away from the extending direction.
The frame 23 is a plate having a U-shaped cross section, and a pair of opposite vertical plates rotatably support a first lead screw 24 and a second lead screw 25 at corresponding positions via a connecting member such as a bearing. As shown in fig. 7 and 8, the first lead screw 24 is schematically connected to a first nut slide 28 having an inner nut fitted to the first lead screw 24 at an upper portion, and the second lead screw 25 is connected to a second nut slide 29 having an inner nut fitted to the first lead screw 24 at a lower portion. Second nut slide 20 is forward and first nut slide 28 is rearward. The projections of the rack 23, the first nut sliding block 28 and the second nut sliding block 29 in the length direction of the first lead screw 24 are provided with overlapped areas, through holes are formed, the end part of the snake-shaped arm body can penetrate through the through holes in a straight line mode, the snake-shaped arm body is protected to extend along the straight line as far as possible, and the matching degree of the inner core 4 and the outer core 5 caused by multiple bending and stretching is prevented from being reduced.
The axial end of the outer core 5 is fixedly connected with the front side surface of the second nut sliding block 29, and the end of the inner core 4 is fixedly connected with the front side surface of the first nut sliding block 28 after passing through the through hole of the second nut sliding block 29. A certain distance is left between the second nut sliding block 29 and the first nut sliding block 28, so that firstly, a certain length of adjustment is convenient to be left between the inner core 4 and the outer core 5, and a certain trimming margin is provided when the lengths of the inner core 4 and the outer core 5 are changed due to wear and the like at a later stage. In addition, the relative displacement variable quantity when the inner core 4 and the outer core 5 extend in sequence is ensured in the process of executing tasks by the robot.
Example two: the first embodiment provides a component capable of controlling the extension and retraction of the robot, and the first embodiment is different from the second embodiment in that: preferably, the wire 6 is fixedly connected with the head of the core 4, and the wire 6 penetrates out from the interlayer between the inner core 4 and the outer core 5 and is connected with the winding wheel disc. The wire-wound wheel and motor 22 are fixedly mounted on first nut and slide block 28 by means of a screw or other like connection or by means of a third bracket-like connection known in the mechanical arts. The present embodiment provides an embodiment in which the rope member and the displacement drive member are integrated on the rope drive device 2. The rotating shaft of the winding wheel disc is fixedly connected with the output end of the motor 22 through a connecting piece such as a screw. Preferably, the wire wheel disc, motor 22 is located on the rear side of first nut slider 28 for easy viewing from core 4.
The pull rope driving device 2 mounts the motor 22 and the reel that realize the robot steering function on the first nut slider 28 that realizes the robot extension or return. Has the advantages of volume saving, small occupied area and simplified structure. The rope pulling components such as the motor 22 for controlling the movement of the silk thread 6 can perform the same displacement operation with the inner core, and can independently receive and release the corresponding silk thread 6 at the same time. The steering is easily and synchronously performed in the extending process.
The pull rope driving device 2 is also fixedly provided with a first slide block restraining rod 202 and a second slide block restraining rod 203 which are parallel to the first lead screw 24 and the second lead screw 25;
the first nut sliding block 28 is connected with the first sliding block constraint rod 202 in a sliding manner; the second nut slide block 29 is slidably connected to the second slide block restriction lever 203.
Specifically, the first nut sliding block 28 is slidably connected to the frame 23 through the cooperation of the first lead screw 24, the first nut sliding block 28 is provided with a through hole matched with the first slider constraining rod 202 for the first slider constraining rod 202 to pass through, and the sliding connection of the frame 23 and the first nut sliding block 28 in the form of a guide rail structure is realized. The first nut sliding block 28 is additionally provided with two positions of supports of the first lead screw 24 and the first sliding block restraining rod 202, so that the stability of the moving process of the first nut sliding block 28 is ensured more conveniently. Similarly, the second nut sliding block 29 is provided with a through hole matched with the second sliding block constraint rod 203, so that the sliding connection between the rack 23 and the second nut sliding block 29 in the form of a guide rail structure is realized, and the moving stability of the second nut sliding block 29 is also ensured.
Referring to fig. 6, the robot has two core bodies of an inner core and an outer core, and when the inner core is vacuumized or the negative pressure reaches a rigid state, the outer core can extend forwards along the outer surface of the inner core; when the outer core is vacuumed or the negative pressure reaches a rigid state, the inner core may extend forward along the inner surface of the outer core. The robot is in a soft state in the initial state as shown in fig. 6-a.
The extension process is as follows:
first, as shown in fig. 6d, the outer core is vacuumized or negatively pressurized to make the outer core in a rigid state; the first motor pushes the inner core to move forwards, and the inner core is in a soft state and extends forwards along the inner surface of the outer core;
then, as shown in fig. 6e, the inner core is vacuumized or negatively pressurized to make the inner core reach a rigid state, and the outer core returns to a soft state and extends forwards along the outer surface of the inner core under the pushing of the second motor;
and the continuous extending process of the robot is completed by repeatedly circulating the two processes.
The steering process is as follows:
the first step is as follows: as shown in fig. 6b, the outer core is pumped to vacuum or negative pressure, so that the outer core is in a rigid state; the inner core is in a soft state;
the second step is that: the inner core is then extended and moved forward by the first motor. Simultaneously, the inner core is bent upwards by a motor which drives the pull rope driving device and is used for turning the silk thread;
the third step: as shown in fig. 6c, the inner core is then pumped to vacuum or negative pressure, so that the inner core reaches a rigid state, and the outer core returns to a soft state and extends forwards along the outer surface of the inner core under the driving of the second motor;
this is done schematically to accomplish a steering process.
When the robot reaches the target position, the inner core and the outer core are pumped to vacuum or negative pressure, so that the core bodies all reach a rigid state, and the mechanical arm reaches the maximum rigidity state.
The invention provides a snakelike arm robot based on variable rigidity caused by blocking of inner and outer core particles. Because the inner cavities of the two core bodies are independent, the soft film can be extended by respectively controlling the rigidity change of the inner core and the outer core. The silk threads for steering are arranged on the inner core and are respectively and independently controlled by the three motors, so that the inner core can realize steering control when being extended. Thus, the serpentine arm can realize the effect of controllable steering extension. When the snake-shaped arm reaches the expected position, the inner core and the outer core are pumped to be vacuum or negative pressure, and the robot has larger operation rigidity.
The robot response rate is superior to the stiffness change rate of a variable stiffness material or low-temperature liquid metal, and has the advantage of high variable stiffness response rate; the invention does not relate to rigid or flexible joints, reduces the number of driving sources, reduces the weight of the robot and reduces the volume of the robot, and the driving sources are few; the invention also has the advantages of wide rigidity change range and the like. The robot has stronger flexibility, benefits from the ability of turning to and becoming rigidity, and the robot can be in the nimble operation of environment complicacy, narrow condition.
While certain exemplary embodiments of the present invention have been described above by way of illustration only, it will be apparent to those of ordinary skill in the art that the described embodiments may be modified in various different ways without departing from the spirit and scope of the invention. Accordingly, the drawings and description are illustrative in nature and should not be construed as limiting the scope of the invention.
Claims (8)
1. A snakelike arm robot based on variable rigidity caused by blocking of inner and outer core particles is characterized by comprising a pneumatic driving device (1), a pull rope driving device (2) and a snakelike arm body (3);
the snake-shaped arm body (3) comprises an inner core (4) and an outer core (5) wrapped outside the inner core (4);
the inner cavity of the inner core (4) and the inner cavity of the outer core (5) are filled with particles;
the pneumatic driving device (1) can respectively change the vacuum degrees of the inner cavity of the inner core (4) and the outer core (5);
three silk threads (6) are fixed on the radial outer side of the inner core (4), and the silk threads (6) are connected with the pull rope driving device (2);
the rope pulling component of the rope pulling driving device (2) realizes the steering of the snake-shaped arm in the corresponding direction by pulling the silk thread (6);
the displacement driving component of the pull rope driving device (2) respectively drives the inner core (4) and the outer core (5) to move so as to realize the extension of the snake-shaped arm;
the fixed end of the silk thread (6) is connected with the inner core (4), and the free end of the silk thread (6) is connected with the pull rope driving device (2);
the fixed end is positioned at the head part of the inner core (4); the pull rope driving device (2) is close to the tail part of the inner core (4);
the rope pulling component comprises winding wheel discs corresponding to the number of the silk threads (6) and a motor (22) for driving the corresponding winding wheel discs to rotate;
the silk thread (6) is correspondingly connected with the winding wheel disc; and the motor (22) drives the winding wheel disc to rotate to complete the winding and unwinding of the corresponding silk thread (6).
2. The S-arm robot based on variable rigidity due to blocking of inner and outer core particles as claimed in claim 1, wherein the inner core (4) is provided with a first inner cavity (42) surrounded by an inner soft film (41), and a first vacuumizing channel (43) is arranged on the inner soft film (41);
the pneumatic driving device (1) is communicated with the first vacuumizing channel (43) and can suck air out of the first inner cavity (42) to enable the first inner cavity (42) to form vacuum or negative pressure.
3. The S-arm robot based on inner and outer core particle blocking variable rigidity is characterized in that the outer core (5) is provided with a second inner cavity (52) enclosed by an outer soft film (51), and a second vacuumizing channel (53) is arranged on the outer soft film (51);
the pneumatic driving device (1) is communicated with the second vacuumizing channel (53) and can suck out air in the second inner cavity (52) to enable the second inner cavity (52) to form vacuum or negative pressure.
4. The S-arm robot based on variable rigidity due to blockage of inner and outer core particles as claimed in claim 1, wherein three silk threads (6) are uniformly distributed on the inner core (4) in the circumferential direction.
5. The S-arm robot based on variable rigidity of inner and outer core particle blockage as per claim 1, characterized in that the pneumatic driving device (1) comprises an air pump respectively communicated with the inner core (4) and the outer core (5).
6. The snakelike arm robot based on inner and outer core particle blocking variable stiffness of claim 1, characterized in that the displacement driving part comprises a frame (23), and a first lead screw (24) and a second lead screw (25) which are parallel to each other and respectively penetrate through the frame (23), and the displacement driving part is connected with the tail part of the snakelike arm;
a first nut sliding block (28) matched with the first lead screw (24) is sleeved on the first lead screw, and a second nut sliding block (29) matched with the second lead screw (25) is sleeved on the second lead screw;
a first motor (26) drives the first lead screw (24) to drive the first nut sliding block (28) to do linear reciprocating motion, and a second motor (27) drives the second lead screw (25) to drive the second nut sliding block (29) to do linear reciprocating motion;
one end, far away from the extending direction, of the outer core (5) penetrates through the rack (23) and is fixedly connected with the second nut sliding block (29), and the inner core (4) continuously penetrates through the second nut sliding block (29) and is fixedly connected with the first nut sliding block (28).
7. The inner and outer core particle occlusion based variable stiffness serpentine arm robot of claim 6, wherein the pull member is mounted on the first nut slide (28).
8. The snakelike arm robot based on inner and outer core particle blocking variable stiffness as claimed in claim 6, characterized in that a first slider constraining rod (202) and a second slider constraining rod (203) parallel to the first lead screw (24) are respectively fixed to the frame (23), and the first nut slider (28) is slidably connected with the first slider constraining rod (202); the second nut sliding block (29) is connected with the second sliding block limiting rod (203) in a sliding mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911226736.XA CN110900589B (en) | 2019-12-04 | 2019-12-04 | Snakelike arm robot based on variable rigidity caused by blocking of inner core particles and outer core particles |
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| CN113290563A (en) * | 2021-05-31 | 2021-08-24 | 哈尔滨工业大学 | Space target capturing method of variable-rigidity rope-driven snakelike mechanical arm |
| CN113319889B (en) * | 2021-06-15 | 2024-02-23 | 西北工业大学 | Filler particles for reinforcing soft body rigidity and serialized application |
| CN114029929B (en) * | 2021-11-08 | 2023-02-24 | 杭州电子科技大学 | Variable-rigidity upper limb stabilization auxiliary device and using method thereof |
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| CN105945930B (en) * | 2016-05-20 | 2017-11-03 | 哈尔滨工业大学 | Line drive-type variable rigidity soft robot |
| CN108481318B (en) * | 2018-03-07 | 2021-07-06 | 河南工业大学 | Variable-rigidity driving rod based on granular body blocking theory and working system thereof |
| CN108453703B (en) * | 2018-03-07 | 2021-05-04 | 河南工业大学 | Hybrid drive type rigidity-controllable continuum robot based on granular occlusion |
| CN108527348B (en) * | 2018-04-04 | 2020-10-16 | 北京航空航天大学 | Multi-joint mechanical arm |
| CN109249385B (en) * | 2018-10-09 | 2022-01-14 | 江西理工大学 | Variable-rigidity pneumatic soft driver based on particle blockage |
| CN109048881B (en) * | 2018-10-26 | 2021-09-28 | 上海交通大学 | Driving device of super-redundancy snake-shaped robot |
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