CN113580119A - Pneumatic continuum mechanism based on paper folding structure and continuum robot - Google Patents
Pneumatic continuum mechanism based on paper folding structure and continuum robot Download PDFInfo
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- CN113580119A CN113580119A CN202110943437.9A CN202110943437A CN113580119A CN 113580119 A CN113580119 A CN 113580119A CN 202110943437 A CN202110943437 A CN 202110943437A CN 113580119 A CN113580119 A CN 113580119A
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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
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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 pneumatic continuum mechanism based on a paper folding structure, which comprises a mounting assembly, a paper folding assembly and an air driving assembly, wherein the mounting assembly comprises a bottom plate and a control box; the paper folding assembly comprises a plurality of paper folding structures, the paper folding structures are supported between the bottom plate and the control box in parallel, each paper folding structure is foldable and can be connected with the bottom plate and the control box in a folding mode, the air driving assembly comprises a plurality of corrugated pipes, the corrugated pipes are supported between the bottom plate and the control box in parallel, and each corrugated pipe is provided with a joint for air supply and exhaust. The invention provides a pneumatic continuum mechanism based on a paper folding structure and a continuum robot, wherein a multi-freedom-degree multilayer prefabricated body module is controlled in a complex mode based on an air driving mode, the working space and the environment are released, and the problems that more driving units are needed and the light weight is difficult to realize are solved. The foldable structure is light and compact, and has elasticity and miniaturization, and the movement performance of the foldable structure is kept.
Description
Technical Field
The invention belongs to the technical field of intelligent robots, and particularly relates to a pneumatic continuum mechanism based on a paper folding structure and a continuum robot.
Background
The continuum robot is formed by connecting a plurality of similar continuum mechanisms in series, each continuum mechanism can be driven independently, and no obvious joint structure exists between the adjacent continuum mechanisms. Compared with the traditional rigid joint robot, the robot has many unique advantages, such as good flexibility, easy realization of super-redundant degree of freedom, easy obstacle avoidance and more potential of miniaturization.
The common continuum mechanism only has certain bending characteristics, is poor in contractibility, is not suitable for narrow environments in which the continuum mechanism needs to be contractible, and aiming at the problem, the scientific foldable arm mechanism can help a robot or a mechanism to enter a narrow space to overcome the problem of volume.
For example, chinese patent application publication No. CN112276920A discloses a continuum snake robot, which designs a flexible continuum robot driven by a spring driven by a motor, and the structure includes a flexible main body and a main controller, the flexible main body is composed of a plurality of flexible segments connected in series, the flexible segments include a cavity, a flexible shaft driving device, a top cover, a support frame, an angle sensor, a controller, etc., and can complete movements such as stretching and bending; the characteristics of flexible movement, simple structure and better load capacity of the continuum mechanism are realized. The design lacks a longitudinally bent driving unit, and the maximum bending angle cannot be effectively controlled only by driving a flexible shaft by a motor; meanwhile, because the spring is selected as the driver and the supporting structure, the bending resistance of the whole mechanism is poor, and under the condition of external force, the state of the continuum mechanism cannot be controlled by the mechanism per se, so that certain shrinkage can be caused, and the subsequent bending is influenced; and the continuum mechanism cannot realize bending with curvature changed in all directions, and cannot realize bending with curvature changed as much as possible by using less degrees of freedom.
Refer to patent application publication No. CN212281628U a narrow chamber says that robot and narrow chamber say medical treatment operating system for medical treatment, it drives the flexible continuum joint of cotton rope drive by the motor to have designed one kind, the structure includes the casing, the continuum, first actuating mechanism, the continuum includes the base, first crooked joint, the crooked joint of second, second actuating mechanism and third actuating mechanism, second actuating mechanism can drive the crooked joint of first crooked, third actuating mechanism can drive the crooked joint of second and stretch out and draw back for first crooked joint, thereby realized the various control of continuum form and had very big bending angle. In the design, the joint has a large gap and simple connection, and has a great bending angle, but because the gap is large and a support module is lacked, the strength is low, the load capacity is poor, and the telescopic characteristic is not realized; in addition, the entire mechanism is driven by a single wire rope to realize angular bending, the bending angle of each joint cannot be effectively controlled, and a large number of driving units are required.
Reference is made to the paper "self-locking rotating arm can be folded flat", which proposes a multi-step folding driven reinforced continuum arm based on the principle of vertical folding of folded paper. Structurally, the foldable continuum manipulator is composed of 7 foldable modules in series, and each module generates a singular point through two vertical folding lines, so that the degree of freedom of each folding line is limited. Tests show that compared with a module without the locking mechanism, the folding module with the locking mechanism has the advantages that the bending resistance of the mechanism is improved by 5 times, and the compression resistance of the mechanism is improved by 200 times. In the design, the continuum mechanical arm can only realize structural contraction by means of the vertical folding principle of the folded paper, and high rigidity and load capacity of the continuum mechanical arm are realized by the locking mechanism, however, the design of replacing the good telescopic characteristic and the excellent load capacity of the mechanism at the cost of losing the flexibility completely loses the flexibility of the continuum.
In summary, in the conventional continuum robot, a plurality of drivers are connected in parallel for each continuum mechanism unit to realize continuous motion of the robot arm, and therefore, a large number of driving units are required, and it is difficult to realize light weight. Therefore, how to combine the light weight, bending performance, stretching performance and load capacity of the continuum mechanism is an urgent technical problem to be solved in the field.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a pneumatic continuum mechanism based on a paper folding structure and a continuum robot, so that the foldable structure is light and compact, has elasticity and miniaturization, and simultaneously keeps the motion performance.
The invention provides the following technical scheme: a pneumatic continuum mechanism based on a paper folding structure, comprising:
the mounting assembly comprises a bottom plate and a control box;
a paper folding assembly comprising a plurality of paper folding structures supported side-by-side between the base panel and the control box, each paper folding structure being foldable on its own and foldably connecting the base panel and the control box;
the pneumatic driving assembly comprises a plurality of corrugated pipes, the corrugated pipes are supported between the bottom plate and the control box in parallel, and each corrugated pipe is provided with a joint for air supply and exhaust.
Preferably, the crease of paper folding structure is six crease rhombus patterns on single summit, paper folding structure includes first big curb plate, first little curb plate, second little curb plate, the big curb plate of second, the little curb plate of third and the little curb plate of fourth that set gradually around central summit, first little curb plate with first big curb plate realizes articulated connection through connecting axle A, the little curb plate of second with first little curb plate realizes articulated connection through connecting axle B, the big curb plate of second with the little curb plate of second realizes articulated connection through connecting axle C, the little curb plate of third with the big curb plate of second realizes articulated connection through connecting axle D, the little curb plate of fourth with the little curb plate of third realizes articulated connection through connecting axle E, first big curb plate with the little curb plate of fourth realizes articulated connection through connecting axle F, connecting axle A, B, The axis of connecting axle C, connecting axle D, connecting axle E and connecting axle F intersect in central summit, first big curb plate with the bottom plate passes through connecting axle G and realizes articulated the connection, the big curb plate of second with the control box passes through connecting axle H and realizes articulated the connection, connecting axle G with connecting axle H locates respectively the both sides on central summit and be parallel to each other.
Preferably, the joint is arranged at one end, facing the bottom plate, of the corrugated pipe and is fixedly arranged on the bottom plate in a penetrating mode.
Preferably, one end of the corrugated pipe facing the control box is arranged in a closed mode, and the closed end of the corrugated pipe is connected with the control box in a bonding mode.
Preferably, the paper folding structure is a high-hardness light composite material.
Preferably, an inclination angle sensor is mounted on the control box.
Preferably, the bottom plate with the box bottom of control box is regular hexagon, paper folding subassembly includes threely paper folding structure, three paper folding structure connect respectively in regular hexagon's three edges that the interval set up, pneumatic drive subassembly includes three the bellows, three bellows are located be connected to between the three paper folding structure the bottom plate with between the box bottom of control box.
Preferably, the paper folding machine further comprises an electromagnetic self-locking assembly, the electromagnetic self-locking assembly comprises a plurality of electromagnetic self-locking modules, each electromagnetic self-locking module comprises an electromagnet part and a suction plate part, the electromagnet part is fixed on the control box, and the suction plate part is fixed on the paper folding structure.
The invention also provides another technical scheme: the utility model provides a continuum robot, includes a plurality of pneumatic continuum mechanisms and pneumatic multiple control system based on paper folding structure that establish ties and set up, adjacent two among the pneumatic continuum mechanism, one of them bottom plate and another person's control box relatively fixed, pneumatic multiple control system include respectively with the air supply pipe of bellows one-to-one, the one end of air supply pipe stretches into in the control box and rather than corresponding the bellows intercommunication, the other end of air supply pipe stretches out outside the control box and with the air supply intercommunication.
Preferably, the joint of the corrugated pipe penetrates through the bottom plate and enters the control box of the adjacent continuum mechanism and is communicated with the corresponding air supply pipe.
Due to the application of the technical scheme, compared with the prior art, the invention has the following advantages:
1) the pneumatic continuum mechanism based on the paper folding structure and the continuum robot disclosed by the invention are based on an air driving mode, a multi-freedom-degree multilayer prefabricated body module is controlled in a complex mode, the working space and the environment are released, and the problems that more driving units are needed and the light weight is difficult to realize are solved;
2) the pneumatic continuum mechanism and the continuum robot based on the paper folding structure, disclosed by the invention, introduce the paper folding technology, realize the telescopic characteristic of the overall mechanism, greatly compress the volume of the continuum mechanism and solve the problem that the existing continuum mechanism does not have the telescopic characteristic;
3) according to the pneumatic continuum mechanism based on the paper folding structure and the continuum robot, the flexibility of the continuum mechanism is realized through the difference of the bending angles of the paper folding assemblies in different states, the excellent load capacity of the continuum mechanism is realized through the limitation of the electromagnetic self-locking module on the paper folding mechanism, and the problem that the load capacity and the flexibility cannot be combined in the conventional continuum paper folding mechanism is solved.
4) According to the pneumatic continuum mechanism based on the paper folding structure and the continuum robot, the mechanism is simplified and has flexibility through the paper folding technology, and the angle of a single module is accurately controlled through the pneumatic driver, so that the bending angle of the overall mechanism is controlled, and the problems that the existing continuum mechanism is complex in structure and cannot effectively control the maximum bending angle are solved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic connection diagram of a continuous body mechanism based on a paper folding mechanism in the invention;
FIG. 2 is a schematic view of a paper folding assembly of the present invention;
FIG. 3 is a schematic view of a control box according to the present invention;
FIG. 4 is a schematic view of the air drive assembly of the present invention;
fig. 5 is a schematic view of the electromagnetic self-locking assembly of the present invention.
Wherein, 11, the bottom plate; 12. a control box; 13. an inclination angle sensor; 2. a paper folding structure; 201. a first large side plate; 202. a first small side plate; 203. a second small side plate; 204. a second large side plate; 205. a third small side plate; 206. a fourth small side plate; 207. connecting the shaft A; 208. a connecting shaft B; 209. a connecting shaft C; 210. a connecting shaft D; 211. a connecting shaft E; 212. connecting a shaft F; 213. a connecting shaft G; 214. a connecting shaft H; 3. a telescopic pipe; 31. a joint; 4. an electromagnetic self-locking module; 41. an electromagnet member; 42. a suction plate member.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise. In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only relational terms determined for convenience in describing structural relationships of the parts or elements of the present disclosure, and do not refer to any parts or elements of the present disclosure, and are not to be construed as limiting the present disclosure. In the present disclosure, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present disclosure can be determined on a case-by-case basis by persons skilled in the relevant art or technicians, and are not to be construed as limitations of the present disclosure.
The following is a preferred embodiment of the present invention, but is not intended to limit the scope of the present invention.
Example one
Referring to fig. 1-5, as illustrated therein, a pneumatic continuum structure based on a paper folding structure includes:
the mounting assembly comprises a bottom plate 11 and a control box 12;
the paper folding assembly comprises a plurality of paper folding structures 2, the plurality of paper folding structures 2 are supported between a bottom plate 11 and a control box 12 in parallel, and each paper folding structure 2 can be folded and can be connected with the bottom plate and the control box 12 in a folding mode;
the pneumatic driving assembly comprises a plurality of corrugated pipes 3, the corrugated pipes 3 are supported between a bottom plate 11 and a control box 12 in parallel, and each corrugated pipe 3 is provided with a joint 31 for air supply and air exhaust.
In the above, the connector is a self-locking quick connector. Porous sites are placed on the side wall of the control box, so that the air supply pipe and the sensor wire harness are in through holes, and a large-allowance operation space is placed above the porous sites, so that the multi-sensor is fixed conveniently.
In a preferred embodiment of the present invention, the crease of the paper folding structure 2 is a single-vertex six-crease diamond pattern, the paper folding structure includes a first large side plate 201, a first small side plate 202, a second small side plate 203, a second large side plate 204, a third small side plate 205, and a fourth small side plate 206, which are sequentially disposed around a central vertex, the first small side plate 202 and the first large side plate 201 are hinged by a connecting shaft a207, the second small side plate 203 and the first small side plate 202 are hinged by a connecting shaft B208, the second large side plate 204 and the second small side plate 203 are hinged by a connecting shaft C209, the third small side plate 205 and the second large side plate 204 are hinged by a connecting shaft D210, the fourth small side plate 206 and the third small side plate 205 are hinged by a connecting shaft E211, the first large side plate 201 and the fourth small side plate 206 are hinged by a connecting shaft F212, the connecting shafts a207, B208, B206, and C206 are hinged, The axes of the connecting shaft C209, the connecting shaft D210, the connecting shaft E211 and the connecting shaft F212 intersect at a central vertex, the first large side plate 201 is hinged to the bottom plate 11 through the connecting shaft G22, the second large side plate 204 is hinged to the control box 12 through the connecting shaft H214, and the connecting shaft G213 and the connecting shaft H214 are respectively disposed at two sides of the central vertex and are parallel to each other.
In the above, the connecting shaft a and the connecting shaft D are located on the same first axis, the axes of the connecting shaft B and the connecting shaft E are located on the same second axis, the connecting shaft C and the connecting shaft F are located on the same third axis, the connecting shaft G and the connecting shaft H are symmetrical with respect to the second axis, and the first axis and the third axis are symmetrical with respect to the second axis; the same side face adopts an up-down symmetrical arrangement structure, 2 small side plates and 1 big side plate on the upper part are always in a symmetrical state with 2 small side plates and 1 big side plate on the lower part, and all connecting shaft straight lines on the same side face are always intersected at the same point.
In a preferred embodiment of the present embodiment, a joint 31 is disposed at one end of the corrugated tube 3 facing the bottom plate 11, and the joint 31 is fixed to the bottom plate 11 in a penetrating manner.
In the preferred embodiment of the present embodiment, the end of the bellows 3 facing the control box 12 is closed, and the closed end of the bellows 3 is bonded to the control box 12.
In a preferred embodiment of this embodiment, the origami structure 2 is a high-stiffness lightweight composite material.
In a preferred embodiment of the present embodiment, the tilt angle sensor 13 is attached to the control box 12.
In the above, the inclination angle sensor is fixed on the lower bottom plate of the control box through the fixing bolt, detects the inclination angle of the paper folding assembly in real time and transmits the angle information to the PC. The inclination angle sensor can feed back the bending angle of each paper folding component in real time, and then accurate angle control of each paper folding component and the whole mechanism can be achieved.
In the preferred embodiment of this embodiment, the bottom plate 11 and the bottom of the control box 12 are regular hexagons, the paper folding assembly includes three paper folding structures 2, the three paper folding structures 2 are respectively connected to three edges of the regular hexagons at intervals, the pneumatic driving assembly includes three corrugated pipes 3, and the three corrugated pipes 3 are arranged between the three paper folding structures 2 and connected between the bottom plate 11 and the bottom of the control box 12.
In the preferred embodiment of the present embodiment, the paper folding device further includes an electromagnetic self-locking assembly, the electromagnetic self-locking assembly includes a plurality of electromagnetic self-locking modules 4, each electromagnetic self-locking module 4 includes an electromagnet part 41 and a suction plate part 42, the electromagnet part 41 is fixed on the control box 12, and the suction plate part 42 is fixed on the paper folding structure 2.
In the above, the electromagnet component is fixed on the lower bottom plate of the control box through a bolt, and the suction plate component is fixed on the second large side plate through a bolt. Under the power-on condition, the electromagnet part and the suction plate part are attracted under the action of magnetic force, the state and the angle of the second large side plate and the bottom end of the control box are fixed, and the side face of the paper folding assembly is fixed due to the symmetry of the side face structure of the paper folding assembly, so that the paper folding assembly is fixed, and the high load capacity of the continuum mechanism is realized.
The following introduces a continuum robot, which includes a plurality of pneumatic continuum mechanisms based on a paper folding structure and a pneumatic multi-path control system (not shown in the figure) arranged in series, in two adjacent pneumatic continuum mechanisms, a bottom plate 11 of one of the mechanisms is fixed relatively to a control box 12 of the other mechanism, the pneumatic multi-path control system includes air supply pipes corresponding to the bellows 21 one by one, one end of each air supply pipe extends into the control box 12 and is connected with a joint 31 of the corresponding bellows 3, and the other end of each air supply pipe extends out of the control box 12 and is communicated with an air source.
In the above, the bottom plate is fixed on the upper bottom plate of the next paper folding assembly control box through the via hole fixing bolt. The pneumatic multi-path control system controls the shrinkage rate and the elongation rate of the corrugated hoses through the air supply pipe, and the shrinkage rate and the elongation rate of the corrugated hoses control the bending angle of the air driving assembly, so that the bending angle control of the paper folding structure is realized.
In the preferred embodiment of the present embodiment, the joint 31 of the bellows 3 passes through the bottom plate 11 into the control box 12 of the adjacent continuum mechanism and communicates with the air supply pipe corresponding thereto.
Under the condition of complex position in complex environment, the bending angle of each paper folding component can be controlled by the pneumatic multi-path control system, the bending mode of the whole multi-curvature of the continuum mechanism is realized by controlling the bending angles of different paper folding components, different states of each paper folding component can be realized by combining the pneumatic multi-path control system and the electromagnetic self-locking module, such as bending, stretching, fixing and the like, and the function realization of the continuum mechanism under the complex mode is satisfied by the states of each module.
The invention aims to design a novel continuum robot, which relies on a paper folding technology to form a reconfigurable, actively-controlled, high-degree-of-freedom and compact form factor system, and utilizes a multi-layer prefabricated module consisting of a pneumatic driver and multiple sensors to create a reconfigurable, almost flexible and strong-load-supporting multi-degree-of-freedom continuum assembly.
Compared with the prior art, each continuous body mechanism unit of the existing continuous body robot adopts a plurality of drivers which are connected in parallel to realize the continuous motion of a mechanical arm, and the required driving units are more, so that the light weight is difficult to realize. Moreover, the existing continuum mechanism does not have the characteristics of flexibility, bending property, bending resistance, strong load capacity and the like. In order to meet the requirements of a plurality of tasks on large working space, light weight, flexibility, scalability, variable rigidity, certain load capacity and the like, the project adopts a continuous in-vitro limb robot design method based on the paper folding principle, and the deformation and rigidity of the paper folding unit are driven by a pneumatic soft driver to realize the continuous movement and the flexible movement of the in-vitro limb robot and realize the perception of position and force. Because the soft driver is made of light materials, and the paper folding mechanism is made of light and high-hardness composite materials, the light weight is easy to realize, and the bending angle of each unit and the maximum bending angle of the mechanism can be effectively controlled. The invention has the characteristics of simple and stable structure, flexible action, strong stretching property, bending resistance, load capacity and the like.
The invention is based on a pneumatic driving mode, complexly controls a multi-layer prefabricated body module with multiple degrees of freedom, realizes the bending characteristic of a flexible material by using a rigid material, ensures that a continuum mechanism has good bending property, takes the rigid material as a shell, ensures that the continuum mechanism has excellent self-flexibility, takes the rigid material as a framework, and is added with an electromagnetic self-locking mechanism, so that the continuum mechanism has good load capacity. The pneumatic multi-path control system realizes a multi-path pneumatic closed-loop control system controlled by a PC end through a proportional valve, an integrated vacuum generator (including a vacuum breaking valve) and a gas pressure sensor; through the feedback of the inclination angle sensor, the sensing of the force and the position of the mechanism can be realized, the air pressure is corrected, and the function of the continuum mechanism is realized more accurately.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention, including any reference to the above-mentioned embodiments. Various modifications to the embodiments of the invention will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A pneumatic continuum mechanism based on paper folding structure, characterized by comprising:
the mounting assembly comprises a bottom plate and a control box;
a paper folding assembly comprising a plurality of paper folding structures supported side-by-side between the base panel and the control box, each paper folding structure being foldable on its own and foldably connecting the base panel and the control box;
the pneumatic driving assembly comprises a plurality of corrugated pipes, the corrugated pipes are supported between the bottom plate and the control box in parallel, and each corrugated pipe is provided with a joint for air supply and exhaust.
2. The pneumatic continuum mechanism based on the paper folding structure according to claim 1, wherein the folds of the paper folding structure are in a single-vertex six-fold-mark diamond pattern, the paper folding structure comprises a first large side plate, a first small side plate, a second large side plate, a third small side plate and a fourth small side plate which are sequentially arranged around a central vertex, the first small side plate and the first large side plate are hinged through a connecting shaft A, the second small side plate and the first small side plate are hinged through a connecting shaft B, the second large side plate and the second small side plate are hinged through a connecting shaft C, the third small side plate and the second large side plate are hinged through a connecting shaft D, the fourth small side plate and the third small side plate are hinged through a connecting shaft E, the first large side plate and the fourth small side plate are hinged through a connecting shaft F, the connecting axle A, connecting axle B, connecting axle C connecting axle D connecting axle E and connecting axle F the axis intersect in central summit, first big curb plate with the bottom plate passes through connecting axle G and realizes articulated the connection, the big curb plate of second with the control box passes through connecting axle H and realizes articulated the connection, connecting axle G with connecting axle H locates respectively the both sides on central summit and be parallel to each other.
3. The pneumatic continuum mechanism based on a paper folding structure of claim 1, wherein the end of the corrugated pipe facing the bottom plate is provided with the joint, and the joint is fixed on the bottom plate in a penetrating way.
4. The pneumatic continuum mechanism based on a paper folding structure of claim 1, wherein the bellows is arranged closed towards one end of the control box, and the closed end of the bellows is bonded to the control box.
5. The origami-based pneumatic continuum mechanism of claim 1, wherein the origami structure is a high stiffness lightweight composite.
6. The pneumatic continuum mechanism based on a paper folding structure of claim 1, wherein a tilt angle sensor is mounted on the control box.
7. The pneumatic continuum mechanism based on the paper folding structure according to claim 1, wherein the bottom plate and the bottom of the control box are regular hexagons, the paper folding assembly comprises three paper folding structures, the three paper folding structures are respectively connected to three sides of the regular hexagons, the pneumatic driving assembly comprises three corrugated pipes, and the three corrugated pipes are arranged between the three paper folding structures and connected between the bottom plate and the bottom of the control box.
8. The pneumatic continuum mechanism based on a paper folding structure of claim 1, further comprising an electromagnetic self-locking assembly, wherein the electromagnetic self-locking assembly comprises a plurality of electromagnetic self-locking modules, each electromagnetic self-locking module comprises an electromagnet part and a suction plate part, the electromagnet part is fixed on the control box, and the suction plate part is fixed on the paper folding structure.
9. A continuum robot, comprising a plurality of pneumatic continuum mechanisms based on a paper folding structure and a pneumatic multi-path control system in series arrangement, wherein the pneumatic continuum mechanisms based on a paper folding structure are arranged in two adjacent pneumatic continuum mechanisms, a bottom plate of one of the pneumatic continuum mechanisms is fixed relative to a control box of the other pneumatic continuum mechanism, the pneumatic multi-path control system comprises air supply pipes respectively corresponding to the corrugated pipes one by one, one end of each air supply pipe extends into the control box and is communicated with the corresponding corrugated pipe, and the other end of each air supply pipe extends out of the control box and is communicated with an air source.
10. The continuum robot of claim 9, wherein a joint of the bellows passes through the floor into a control box of an adjacent continuum entity and communicates with the air supply pipe corresponding thereto.
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| CN202110943437.9A CN113580119B (en) | 2021-08-17 | 2021-08-17 | Pneumatic continuum mechanism based on paper folding structure and continuum robot |
| PCT/CN2022/112773 WO2023020489A1 (en) | 2021-08-17 | 2022-08-16 | Pneumatic continuum mechanism based on paper folding structure and continuum robot |
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| CN202110943437.9A CN113580119B (en) | 2021-08-17 | 2021-08-17 | Pneumatic continuum mechanism based on paper folding structure and continuum robot |
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| CN114043469A (en) * | 2021-12-13 | 2022-02-15 | 杭州电子科技大学 | Free telescopic bending mechanical arm, wall crawling robot and crawling method thereof |
| CN114367966A (en) * | 2022-01-12 | 2022-04-19 | 苏州大学 | Mechanical arm based on dielectric elastomer minimum energy structure |
| CN114393574A (en) * | 2022-02-17 | 2022-04-26 | 天津大学 | Foldable and bendable serial-parallel hybrid flexible mechanical arm |
| CN114654445A (en) * | 2022-03-02 | 2022-06-24 | 上海工程技术大学 | Line-driven flexible robot |
| WO2023020489A1 (en) * | 2021-08-17 | 2023-02-23 | 苏州大学 | Pneumatic continuum mechanism based on paper folding structure and continuum robot |
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| WO2023020489A1 (en) * | 2021-08-17 | 2023-02-23 | 苏州大学 | Pneumatic continuum mechanism based on paper folding structure and continuum robot |
| CN114043469A (en) * | 2021-12-13 | 2022-02-15 | 杭州电子科技大学 | Free telescopic bending mechanical arm, wall crawling robot and crawling method thereof |
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| WO2023134185A1 (en) * | 2022-01-12 | 2023-07-20 | 苏州大学 | Mechanical arm based on minimum energy structure of dielectric elastomer |
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Also Published As
| Publication number | Publication date |
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| CN113580119B (en) | 2023-01-06 |
| WO2023020489A1 (en) | 2023-02-23 |
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