CN111390900A - Simplify pneumatic rolling robot of driven software - Google Patents
Simplify pneumatic rolling robot of driven software Download PDFInfo
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- CN111390900A CN111390900A CN202010235145.5A CN202010235145A CN111390900A CN 111390900 A CN111390900 A CN 111390900A CN 202010235145 A CN202010235145 A CN 202010235145A CN 111390900 A CN111390900 A CN 111390900A
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
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Abstract
The invention discloses a soft pneumatic rolling robot with simplified driving and control, which mainly comprises: four soft body parts, cylindrical rigid supporting pieces and rubber tubes are uniformly distributed in the fan-shaped cavities. Printing a supporting structure and a mold for manufacturing a machine software part by using a 3D printer, injecting hyperelastic silica gel into the mold to respectively form a machine body side wall and two bases, and bonding the machine body side wall and the bases by using the silica gel as glue. The soft part of the robot is in interference fit with the rigid supporting piece, and the rubber tube is communicated with the chambers which are spaced by the robot. Optionally, two adjacent chambers are respectively inserted into the rubber tube and connected with the air pump and the vacuum valve, and the soft pneumatic rolling robot can complete continuous forward or backward movement based on the pulse matching of air input and output. The device can realize single-line multi-cavity transmission by connecting the chambers which are not influenced mutually during inflation, so that the driving and the control of the rolling robot are simplified.
Description
Technical Field
The invention relates to the technical field of mobile robots, in particular to a soft pneumatic rolling robot with simplified driving.
Background
The common motion modes of the mobile robot are as follows: walking, rolling, and crawler type, etc. Organisms living in a terrestrial environment mostly perform forward motion through paired joint legs, and thus the earliest emerging mobile robots were paired foot-type crawling robots excited by terrestrial crawling organisms. The rolling robot is mostly spherical or quasi-spherical, and the motion of the robot is completed by active or passive rolling by using the principles of Mobile instruments, Gyroscopic stability, Ballast mass-fixed axes and the like. Most of the existing mobile robots are made of rigid materials, and the mobile robots move and operate by the principle, which inevitably causes a series of problems: such as large mass, poor compliance, complex control system, etc.
Disclosure of Invention
The invention aims to provide a soft pneumatic rolling robot with simplified driving, which solves the problems in the prior art, and the device can realize single-line conveying and multi-cavity conveying during inflation by connecting chambers which are not influenced mutually, so that the driving and the control of the rolling robot are simplified.
In order to achieve the purpose, the invention provides the following scheme: the invention provides a simplified-driving soft pneumatic rolling robot which comprises a robot soft part, a rigid supporting piece and a rubber tube, wherein the robot soft part in a cylindrical structure is divided into four chambers which are uniformly distributed around an axis, and the rigid supporting piece is positioned in a middle through hole of the robot soft part; two cavities with symmetrical axes on the soft part of the robot are communicated through the rubber tube, and any two adjacent cavities are respectively connected with the air pump and the vacuum valve.
Preferably, the robot software part is made by pouring silica gel into a mould, and the robot software part comprises a body side wall and two bases which are integrally formed.
Preferably, the rigid support part is in interference fit with a through hole of the robot soft body part.
Preferably, the four chambers of the robot soft body part are a chamber I, a chamber II, a chamber III and a chamber IV respectively.
Preferably, the rubber tube comprises a first rubber tube, a second rubber tube, a third rubber tube and a fourth rubber tube, the first chamber and the third chamber are communicated through the three phases of the rubber tube, and the two chambers are communicated and then inflated and deflated through the second rubber tube; the second chamber is communicated with the fourth chamber through the first rubber tube, and the two chambers are communicated and then inflated and deflated through the fourth rubber tube.
Preferably, the second rubber tube and the fourth rubber tube are respectively connected with an air pump and a vacuum valve.
Preferably, after the first rubber tube, the second rubber tube, the third rubber tube and the fourth rubber tube are inserted into the robot soft body part, the rubber tubes are bonded with the robot soft body part by using silica gel glue.
Compared with the prior art, the invention has the following technical effects:
(1) the simplified-driving soft pneumatic rolling robot can realize single-wire transmission and multi-cavity transmission, and greatly simplifies the driving and control of the robot;
(2) the compressibility of the gas and the elasticity of the soft driver make the soft driver more flexible and have stronger environmental adaptability;
(3) simple structure and easy manufacture.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic view of the overall structure of the present invention;
FIGS. 2a and 2b are connection diagrams of the inner structure and the rubber tube of the robot;
FIGS. 3a and 3b are schematic structural views of the rigid support member of the present invention;
FIG. 4 is a pulse sequence diagram of gas inputs and outputs;
wherein, 1 robot software part; 2, a first rubber pipe; 3, a second rubber pipe; 4, a third rubber pipe; 5, a fourth rubber pipe; 6 a rigid support; 7, a first chamber; 8, a second chamber; 9, a third chamber; chamber four 10.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a soft pneumatic rolling robot with simplified driving, which solves the problems in the prior art, and the device can realize single-line conveying and multi-cavity conveying during inflation by connecting chambers which are not influenced mutually, so that the driving and the control of the rolling robot are simplified.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in FIGS. 1-4, the present invention provides a simplified driving soft pneumatic rolling robot, which comprises three parts, namely a robot soft part, a rigid support part and a rubber tube.
As shown in fig. 1, the robot soft part 1 is made by pouring silica gel into a mold, and has good flexibility and flexibility. The rigid support piece 6 for 3D printing is in interference fit with a through hole of the robot soft body part 1, and after the rubber tube I2, the rubber tube II 3, the rubber tube III 4 and the rubber tube IV 5 are inserted into the soft body robot in a mode shown in figure 1, the rubber tube I is firmly bonded with the robot through silica gel glue.
Fig. 2 is a schematic diagram showing the connection between the internal structure of the robot and the rubber tube, and it can be seen that: a single chamber of the robot is fan-shaped, and four chambers are uniformly distributed around the axis. The first chamber 7 is communicated with the third chamber 9 through a third rubber tube 4, and air inflation and air deflation of the first chamber are completed through a second rubber tube 3; the second chamber 8 and the fourth chamber 10 are communicated by the first rubber tube 2, and air inflation and air deflation of the first chamber are completed through the fourth rubber tube 5.
Fig. 3 is a schematic structural diagram of the rigid support member 6 of the robot, which is a cylindrical structure and is used for supporting the robot and limiting the expansion of the robot in the axial direction when the robot is inflated.
FIG. 4 is a sequence chart of inflation/deflation pulses. In the figure, the solid line indicates the on state, and the broken line indicates the off state. Inlet a corresponds to rubber tube two 3, and Inletb corresponds to rubber tube four 5. Based on the gas pulse sequence of fig. 4, the pneumatic soft-rolling robot can achieve continuous rolling.
The soft pneumatic rolling robot designed by the invention has the characteristics of good flexibility, simple driving and control and the like. The robot is made of super-elastic silica gel, a designed mold and a rigid support piece 6 are printed by a 3D printer, and the robot soft body part 1 is manufactured in a pouring mode. The robot is completed by fitting the soft body part with the rigid support member 6 in an interference fit and connecting the rubber tube in a specific manner. After the production is finished, the soft pneumatic rolling robot is connected with the air pump, and the robot can finish continuous motion through the pulse matching of air input and output.
The soft pneumatic rolling robot is manufactured by printing a supporting structure and a mold for manufacturing a machine soft part by using a 3D printer, and injecting hyperelastic silica gel into the mold to respectively form a side wall and two bases of a body of the robot, wherein the side wall and the bases of the body of the robot are bonded by using the silica gel as glue. The robot soft body part 1 is in interference fit with the rigid support part 6, and the rubber tube is communicated with the chambers which are spaced by the robot. Optionally, two adjacent cavities are respectively inserted into rubber tubes, each rubber tube is connected with an air pump and a vacuum valve, and the soft pneumatic rolling robot can complete continuous forward or backward movement based on the pulse matching of air input and output.
The simplified-driving soft pneumatic rolling robot has the advantages that the chambers which are not influenced by each other are connected, single-line-transmission multi-cavity inflation can be realized, compared with the traditional pneumatic soft robot with one-to-one input and output, the simplified-driving soft pneumatic rolling robot has the advantages that the driving of the soft robot is simplified to a greater extent, the control is easier, the flexibility is improved due to the compressibility of gas and the elasticity of the soft driver, and the adaptability to task environments is stronger.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (7)
1. A simplify pneumatic roll robot of driven software which characterized in that: the robot soft body part in a cylindrical structure is divided into four chambers which are uniformly distributed around the axis, and the rigid supporting piece is positioned in a middle through hole of the robot soft body part; two cavities with symmetrical axes on the soft part of the robot are communicated through the rubber tube, and any two adjacent cavities are respectively connected with the air pump and the vacuum valve.
2. The simplified driven soft pneumatic rolling robot of claim 1, further comprising: the robot software part is made by pouring silica gel into the mold, and comprises a body side wall and two bases which are integrally formed.
3. The simplified driven soft pneumatic rolling robot of claim 1, further comprising: the rigid supporting piece is in interference fit with the through hole of the robot soft body part.
4. The simplified driven soft pneumatic rolling robot of claim 1, further comprising: the four chambers of the robot soft body part are respectively a chamber I, a chamber II, a chamber III and a chamber IV.
5. The simplified driven soft pneumatic rolling robot of claim 4, wherein: the rubber tube comprises a first rubber tube, a second rubber tube, a third rubber tube and a fourth rubber tube, the first chamber and the third chamber are communicated through the three phases of the rubber tube, and the two chambers are communicated and then inflated and deflated through the second rubber tube; the second chamber is communicated with the fourth chamber through the first rubber tube, and the two chambers are communicated and then inflated and deflated through the fourth rubber tube.
6. The simplified driven soft pneumatic rolling robot of claim 5, wherein: the second rubber tube and the fourth rubber tube are respectively connected with an air pump and a vacuum valve.
7. The simplified driven soft pneumatic rolling robot of claim 5, wherein: and after the rubber tube I, the rubber tube II, the rubber tube III and the rubber tube IV are inserted into the robot soft body part, bonding each rubber tube with the robot soft body part by using silica gel glue.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010235145.5A CN111390900B (en) | 2020-03-30 | 2020-03-30 | Simplify pneumatic rolling robot of driven software |
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| CN202010235145.5A CN111390900B (en) | 2020-03-30 | 2020-03-30 | Simplify pneumatic rolling robot of driven software |
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| CN111390900B CN111390900B (en) | 2021-08-31 |
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| CN112895260A (en) * | 2020-12-11 | 2021-06-04 | 北京信息科技大学 | Be used for minimal access surgery operation single section software manipulator preparation mould |
| CN113400288A (en) * | 2021-06-18 | 2021-09-17 | 大连理工大学 | Pneumatically-driven snake-shaped-imitating soft robot |
| CN113635694A (en) * | 2021-07-23 | 2021-11-12 | 广州大学 | Drawing device for controlling writing radius track |
| CN113878569A (en) * | 2021-10-27 | 2022-01-04 | 上海大学 | Energy spontaneous generation and autonomous regulation and control system for soft robot |
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| CN113635694A (en) * | 2021-07-23 | 2021-11-12 | 广州大学 | Drawing device for controlling writing radius track |
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| CN113878569B (en) * | 2021-10-27 | 2022-11-29 | 上海大学 | Energy spontaneous generation and autonomous regulation and control system for soft robot |
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| CN111390900B (en) | 2021-08-31 |
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