CN212421340U - Pneumatic rotary actuator and pneumatic flexible manipulator - Google Patents
Pneumatic rotary actuator and pneumatic flexible manipulator Download PDFInfo
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- CN212421340U CN212421340U CN202022013319.1U CN202022013319U CN212421340U CN 212421340 U CN212421340 U CN 212421340U CN 202022013319 U CN202022013319 U CN 202022013319U CN 212421340 U CN212421340 U CN 212421340U
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Abstract
The utility model provides a pneumatic rotary actuator and pneumatic flexible manipulator, this pneumatic rotary actuator includes at least one pneumatic rotatory module, it includes first, second stereoplasm structure piece, flexible film and trachea, it is first, the second stereoplasm structure piece is in the same place with the hinge mode through the adhesion with flexible film, flexible film forms a flexible airtight cavity in the inboard region, flexible airtight cavity is connected to tracheal one end, outside atmospheric pressure controlling means is connected to tracheal one end, when the atmospheric pressure in the flexible airtight cavity is controlled and takes place to reduce or when increasing the change, the inside and outside atmospheric pressure difference of flexible airtight cavity makes flexible film inwards cave in or to the outside drum expand, pull first, second stereoplasm structure piece takes place rotary motion in opposite directions or rotary motion dorsad. The pneumatic rotary actuator can realize the operations of grabbing, rotating, twisting and the like of objects with different geometric shapes, and has the advantages of simple structure, light weight, quick response, wide application range and low cost.
Description
Technical Field
The utility model relates to a small-size executor and flexible robot technical field especially relate to a pneumatic rotary actuator and pneumatic flexible manipulator.
Background
The actuator is a device which generates specific motion under the stimulation of an external environment, depends on the conversion of electricity, heat, air pressure or hydraulic pressure into mechanical motion, and is an important part for driving the robot to generate motion action. The materials of the rotary actuator applied at present mainly comprise carbon nanotube yarns, polymer fibers, shape memory alloys and the like. Rotary-type actuators made of these materials are required to be used in special external environments such as specific electrolytes, chemical vapors, high temperatures, etc., and at the same time, have been unable to be mass-produced for the time being, and thus are not suitable for daily environmental applications.
Pneumatic rotary-type actuators are still less designed today. The rotation angle of the air-operated rotary actuator based on the spiral air pipe is small relative to the entire length. The pneumatic actuator with a corrugated shape formed by a plurality of connected air chambers can generate large torque, but the actuator is driven by positive air pressure and is easy to burst due to excessive air pressure. The paper folding type pneumatic rotary actuator made of silicon rubber can realize rotation in a larger angle, but the output torque is lower due to the fact that the material is soft, linear motion can occur when the actuator realizes the rotation action, and a more complex compensation mode can be needed to realize pure rotation motion.
The manipulator is a mechanical execution structure for simulating the motion of human hand, has the function of grabbing and operating objects, and is mainly applied to the fields of industry, logistics, medical treatment, automation and the like. The traditional manipulator uses a motor for driving, and has the disadvantages of complex and heavy device, high manufacturing cost and easy electromagnetic interference. The motor drive generally needs accurate feedback adjustment, the whole system lacks robustness and compliance, and the man-machine coordination is poor.
The existing flexible manipulator generally has a single function, only has a grabbing function and cannot simultaneously realize operations such as rotation, movement and the like. For example, a pneumatic gripper based on a spherical paper folding structure can grip objects of various shapes, but cannot perform further operations. In addition, the existing air pressure driven operating hand mostly uses positive pressure control, lacks man-machine interaction safety and is easy to cause structural damage due to overlarge air pressure. For example, some multi-degree-of-freedom flexible manipulators require positive pressure inflation driving, and one side of an actuator can realize bending action due to expansion, but the bursting is easily caused at the same time.
The above background disclosure is only provided to aid in understanding the concepts and technical solutions of the present invention, and it does not necessarily belong to the prior art of the present patent application, and it should not be used to assess the novelty and inventive step of the present application without explicit evidence that the above content has been disclosed at the filing date of the present patent application.
SUMMERY OF THE UTILITY MODEL
The main object of the present invention is to overcome at least one of the above technical defects, and to provide a pneumatic rotary actuator with simple structure, light weight and fast response time, and a pneumatic flexible manipulator with the pneumatic rotary actuator.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
a pneumatic rotary actuator comprises at least one pneumatic rotary module, wherein the pneumatic rotary module comprises a first hard structure block, a second hard structure block, a flexible film and an air pipe, the first rigid structure block and the second rigid structure block are connected together in a hinge mode through adhesion with the flexible film, the flexible membrane forms a flexible air-tight sealed cavity in the inner area between the first hard structure block and the second hard structure block, one end of the air pipe is connected with the flexible air-tight sealing cavity, one end of the air pipe is connected with an external air pressure control device, when the air pressure in the flexible air-tight sealing cavity is controlled to be reduced or increased, the air pressure difference between the inside and the outside of the flexible air-tight sealing cavity enables the flexible film to be sunken inwards or expanded outwards, and the first hard structure block and the second hard structure block are pulled to rotate oppositely or rotate backwards. The air pressure control device is a negative pressure system.
The utility model provides a pneumatic flexible manipulator, includes pneumatic rotation module, first bionical finger and the bionical finger of second, pneumatic rotation module includes two stereoplasm structure pieces, flexible film and trachea, two stereoplasm structure pieces through with the adhesion of flexible film links together with the hinge mode, the flexible film is in the inboard region between two stereoplasm structure pieces forms a flexible airtight cavity, tracheal one end is connected the flexible airtight cavity, outside atmospheric pressure controlling means is connected to tracheal one end, when atmospheric pressure in the flexible airtight cavity is controlled and takes place the change that reduces or increase, the inside and outside atmospheric pressure difference of flexible airtight cavity makes the flexible film is sunken or is bloated to the outside side to expand, pulls two stereoplasm structure pieces and takes place opposite direction rotary motion or rotary motion dorsad, first bionical finger and the bionical finger of second connect respectively two stereoplasm structure pieces, driven by the two hard structure blocks, the two hard structure blocks are close to or far away from each other so as to clamp or release an object.
The utility model discloses following beneficial effect has:
in the pneumatic rotary actuator provided by the utility model, two hard structure blocks of the pneumatic rotary module are connected together in a hinge mode by being adhered with the flexible film, the flexible membrane is connected with the two hard structure blocks and forms a flexible air-tight sealing cavity in the inner side area between the two hard structure blocks, an air pipe is arranged on the flexible air-tight sealing cavity, the air pressure in the flexible air-tight sealing cavity is controlled by connecting an external air pressure control device, when the air pressure in the flexible air-tight sealing cavity is controlled to be reduced or increased, the air pressure difference between the inside and the outside of the flexible air-tight sealing cavity enables the flexible film to be sunken inwards or bulge outwards, thereby dragging the two hard structure blocks to rotate oppositely or rotate backwards, so that the angle between the two hard structure blocks is changed, and the pneumatic execution effect is achieved. Based on this pneumatic rotary actuator, the utility model provides a pneumatic flexible manipulator realizes snatching, rotatory and twist reverse the operation etc. to the object of different geometric shapes. Can be with the utility model discloses a pneumatic rotary actuator carries out multiple combination as basic motion unit, obtains the motion effect of multiple difference, and the realization of multiple robot can conveniently be applied to in this kind of general modular design.
The utility model discloses a pneumatic rotary actuator and pneumatic flexible manipulator's simple structure, light weight, response time are fast, can overcome traditional motor drive robot's device complicacy, heavy, manufacturing cost and maintenance cost are very high, require shortcoming such as relatively higher, anti-jamming ability general to the environment. By using the air pressure control device, for example, a vacuum negative pressure driving method, air inside the actuator is extracted by a negative pressure system, and a difference in air pressure between the inside and the outside of the actuator is generated to provide a driving force for bending, twisting, and rotating the actuator. The negative pressure system has more advantages in safety, and is more convenient for man-machine interaction operation due to better safety. Compared with the prior art, the utility model discloses a rotation angle and output torque that pneumatic actuator can realize are big, and adaptability is good, can realize snatching, rotatory and twist reverse the object of various different geometric shapes. Meanwhile, one pneumatic actuator or the combination of a plurality of pneumatic actuators can realize the light-weight flexible manipulator adapting to different requirements, and the flexibility is better than that of the prior art. Various operation actions can be better realized through the modularized combination of the pneumatic rotary actuator. Additionally, the utility model discloses a pneumatic actuator is lower to the requirement ratio of environment, and the interference killing feature is good.
Because the utility model discloses a pneumatic rotary actuator's overall structure is simple, and preparation simple process is with low costs, can select different preparation materials according to the needs of different tasks.
The utility model discloses a pneumatic rotary actuator can combine with artificial muscle, robot skin, wraps up the recovered robot of medical treatment that different software made, for example pneumatic human artificial limb, upper limbs motion recovered robot etc. carry out the motion and the deformation operation that needs. The utility model discloses a pneumatic rotary actuator has wide prospect in the medical services trade.
Drawings
Fig. 1 is a schematic structural view of a pneumatic rotary actuator according to a first embodiment of the present invention.
Fig. 2 is a schematic diagram illustrating an actuation principle of a pneumatic rotary actuator according to a first embodiment of the present invention.
Fig. 3 is a schematic structural diagram of an air pressure control device according to a first embodiment of the present invention.
Fig. 4 is a schematic structural view of a pneumatic rotary actuator according to a second embodiment of the present invention.
Fig. 5 is a schematic structural view of a pneumatic rotary actuator according to a third embodiment of the present invention.
Fig. 6 is a schematic structural view of a pneumatic rotary actuator according to a fourth embodiment of the present invention.
Fig. 7 is a schematic structural view of a pneumatic rotary actuator according to a fifth embodiment of the present invention.
Fig. 8 is a schematic structural view of a pneumatic rotary actuator according to a sixth embodiment of the present invention.
Fig. 9 is a schematic structural view of a pneumatic rotary actuator according to a seventh embodiment of the present invention.
Fig. 10 is a schematic structural view of a pneumatic flexible manipulator according to an eighth embodiment of the present invention.
Fig. 11 is a schematic structural view of a pneumatic flexible manipulator according to a ninth embodiment of the present invention.
Fig. 12 is a schematic structural view of a pneumatic flexible manipulator according to a tenth embodiment of the present invention.
Detailed Description
The embodiments of the present invention will be described in detail below. It should be emphasized that the following description is merely exemplary in nature and is not intended to limit the scope of the invention or its application.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. In addition, the connection may be for either a fixed or coupled or communicating function.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the embodiments of the present invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
First embodiment
Referring to fig. 1 to 3, a pneumatic rotary actuator includes at least one pneumatic rotary module, the pneumatic rotary module includes first and second rigid structural blocks 101, a flexible film 102 and an air tube 103, the first and second rigid structural blocks 101 are connected together in a hinge manner by being adhered to the flexible film 102, the flexible film 102 forms a flexible airtight cavity in an inner region between the first and second rigid structural blocks 101, one end of the air tube 103 is connected to the flexible airtight cavity, one end of the air tube 103 is connected to an external air pressure control device, when the air pressure in the flexible airtight cavity is controlled to be reduced or increased, the air pressure difference inside and outside the flexible airtight cavity makes the flexible film 102 sag or bulge inwards or outwards, and the first and second rigid structural blocks 101 are pulled to perform a relative rotary motion or a backward rotary motion, the angle between the first and second hard structural blocks 101 is changed, and the relative rotation angle between the two is determined by the air pressure difference, so that the execution effect of the actuator is achieved by using a pneumatic rotation mode.
The manufacturing method of the pneumatic rotary actuator is simple, and the structure is universal, so that the pneumatic rotary actuator can be manufactured by using various materials and methods. The hard structure block 101 can be processed and molded by adopting modes such as 3D printing, laser cutting, injection molding and manual folding, the selection types of materials are various, only certain rigidity is required to be achieved, the stable structure is kept without deformation under the action of air pressure, the folding direction of the film can be supported, and certain load is borne to finally form rotary motion. In one embodiment, the hard structure block 101 is made by using 3D printing technology to ensure consistency and facilitate parameter modification and adjustment, and after drawing a desired pattern in three-dimensional drawing software (e.g., software such as SOLIDWORKS, AutoCAD, Inventor, etc.), it is guided to a slicing software process (e.g., 3D Slicer, Ultimaker Cura, etc.) and then guided to a 3D printer for processing. The 3D printing material can be PLA wire or other materials which are easy to print. The flexible film 102 is made of a material having good flexibility and preferably not being stretch-deformable, and preferred materials include TPU, PE, PVA, and the like. In this example thermoplastic TPU was chosen as the film. After the rigid structure block 101 and the flexible film 102 are manufactured, they are fixed together, typically by glue. In order to achieve better air tightness, other fixing methods can be selected according to the specific characteristics of the materials, for example, in this embodiment, since TPU and PLA are both thermoplastic materials, heat is applied to selected positions by a heat gun to fuse the film and the rigid structure into a tight integral structure. A hose 103 is inserted into one end of the pneumatic rotary actuator and secured with soft glue or other means to create an actuation effect upon connection to a vacuum source.
Referring to fig. 2, the pneumatic rotary actuator has an actuation principle that when the air pressure inside the flexible film 102 formed into the flexible airtight cavity is changed through the air pipe 103, the film 102 will be recessed inwards due to the difference Δ P between the air pressure inside and outside, and the hard structures 101 on both sides are pulled to move towards each other, and finally folded to form an angle change.
The air pressure control device adopts a negative pressure system. The vacuum negative pressure driving mode can be used, gas in the actuator is extracted through a negative pressure system, and the difference between the internal pressure and the external pressure of the actuator is generated, so that the driving force for bending, twisting and rotating the actuator is provided. The negative pressure system has more advantages in safety, and is more convenient for man-machine interaction operation due to better safety.
Referring to fig. 3, in the present embodiment, as the control system of the pneumatic rotary actuator, the pneumatic control device includes a vacuum air source, a pneumatic regulator or a solenoid valve, and a control unit. The vacuum source is a device that can provide a certain gas negative pressure environment, and in this embodiment can be a vacuum pump. The air pressure regulator takes a vacuum air source as input, outputs corresponding air pressure to the pneumatic rotary actuator according to a control signal provided by the control unit, and generates different actuating effects by outputting different air pressures. The electromagnetic valve has an opening state and a closing state, and the control unit changes the air pressure of the pneumatic rotary actuator by controlling the opening and closing state of the electromagnetic valve so as to generate an actuating effect on the pneumatic rotary actuator. The control unit may be a microcontroller which applies control signals to the air pressure regulator or solenoid valve according to preset instructions.
Second embodiment
Referring to fig. 4, the main difference from the first embodiment is that the second embodiment includes a first pneumatic rotary module 401 and a second pneumatic rotary module 402, one hard structural block of each of the first pneumatic rotary module 401 and the second pneumatic rotary module 402 is fixed together, the flexible films of each of the first pneumatic rotary module 401 and the second pneumatic rotary module 402 are arranged in opposite directions, and the other hard structural block of each of the first pneumatic rotary module 401 and the second pneumatic rotary module 402 is dragged by the flexible film to rotate toward each other or rotate away from each other when the air pressure in the flexible airtight cavity changes.
Referring to fig. 4, the present embodiment combines two pneumatic rotating modules rotating in opposite directions to realize bidirectional movement. In the present embodiment, only one side of the actuators in the pneumatic rotary module assembly may be in the negative pressure actuated state, as shown in the left part of fig. 4, when the first pneumatic rotary module 401 on the left side is in the negative pressure actuated state and the second pneumatic rotary module 402 on the right side is in the reset state, the pneumatic rotary module assembly deflects to the left side; similarly, when the first pneumatic rotary module 401 on the left is in a reset state and the second pneumatic rotary module 402 on the right is in a negative pressure actuated state, the pneumatic rotary module assembly is deflected to the right. The pneumatic rotating module combination can realize the actuating effect in both clockwise and anticlockwise directions.
Third embodiment
Referring to fig. 5, the main difference from the first embodiment is that the third embodiment at least includes a first set 51 and a second set 52 of pneumatic rotating modules, the first set 51 includes at least one pneumatic rotating module, the second set 52 includes at least one pneumatic rotating module, the first set 51 and the second set 52 are disposed in parallel in the rotational axis direction and coupled to each other, so that the rotation of at least one of the hard structural blocks of the first set 51 can drive at least one of the hard structural blocks of the second set 52 to rotate, thereby the rotation angle of at least one of the hard structural blocks of the second set 52 is the rotation angle of at least one of the hard structural blocks of the second set 52 and the rotation angle of at least one of the hard structural blocks of the first set 51 is driven by the first set 51 A superposition of rotation angles, wherein the rotation angle generated by at least one of the hard structural blocks of the second set of pneumatic rotation modules 52 itself is the rotation angle generated by the flexible membrane of the second set of pneumatic rotation modules 52 being pulled under the change of the air pressure difference.
Fourth embodiment
Referring to fig. 6, the main difference from the third embodiment is that the first set of pneumatic rotating modules in the fourth embodiment includes two pneumatic rotating modules 501, 503, and the second set of pneumatic rotating modules includes two pneumatic rotating modules 502, 504. The flexible films of the two pneumatic rotating modules 501 and 503 are arranged in opposite directions, one hard structural block of each of the two pneumatic rotating modules 501 and 503 is connected together, and the other hard structural block of each of the two pneumatic rotating modules 501 and 503 is connected together. Likewise, the flexible films of the two pneumatic rotary modules 502, 504 are arranged in opposite directions, one rigid structural block of each of the two pneumatic rotary modules 502, 504 is connected together, and the other rigid structural block of each of the two pneumatic rotary modules 502, 504 is connected together.
As shown in fig. 6, a large angle of motion can be achieved by combining a plurality of pneumatic actuators rotating in the same direction in an overlapping manner. In this embodiment, the 4 clockwise rotating pneumatic rotary modules 501, 502, 503, 504 may communicate with each other through air pipes, and when a vacuum is applied to one or more air pipes of the pneumatic rotary modules 501, 502, 503, 504, the pneumatic rotary modules 501, 502, 503, 504 are simultaneously actuated to rotate to achieve a large angular movement.
Fifth embodiment
Referring to fig. 7, in a fifth embodiment, the pneumatic rotary actuator includes three rigid structure blocks and two flexible films, wherein the arrangement of the flexible films between the first and second rigid structure blocks and the first and second rigid structure blocks is similar to that of the first embodiment, the third rigid structure block 301, the second flexible film 302 and the second rigid structure block cooperate to form a tooth-shaped structure capable of performing a gripping operation in series, that is, the connection point of the first rigid structure block and the second rigid structure block, the connection point of the second rigid structure block and the third rigid structure block 301 are located on the same side, and the first flexible film and the second flexible film 302 are located on the same side, wherein the second flexible film 302 is connected with the third rigid structure block 301 and the second rigid structure block and forms a second flexible air-tight sealing cavity. It will be appreciated that the second flexible gas-tight chamber may also be connected to an external gas pressure control device via a gas line (not shown). Preferably, the first flexible air-tight sealing cavity and the second flexible air-tight sealing cavity can be communicated through a through hole on the hard structure block or through an air pipe, so that the same air pressure control device can be used for controlling air pressure.
Sixth embodiment
Referring to fig. 8, the main difference from the fifth embodiment is that the pneumatic rotary actuator further includes a fourth hard structure block 303 and a third flexible film 304, the fourth hard structure block 303, the third flexible film 304 and the third hard structure block 301 cooperate to form a tooth-shaped structure capable of performing a grabbing operation in a serial manner, that is, joints between all the hard structure blocks are located on the same side, and all the flexible films are located on the same side, wherein the third flexible film 304 is connected with the fourth hard structure block 303 and the third hard structure block 301 and forms a third flexible air-tight sealing cavity. It will be appreciated that the third flexible gas-tight chamber may also be connected to an external gas pressure control device via a gas line (not shown). Preferably, the first flexible air-tight sealing cavity and the second flexible air-tight sealing cavity can be communicated through a through hole on the hard structure block or through an air pipe, so that the same air pressure control device can be used for controlling air pressure.
Seventh embodiment
Referring to fig. 9, unlike the first embodiment, the pneumatic rotary actuator of the seventh embodiment further includes a fifth hard structure block 305 and a fourth flexible film 306, the fifth hard structure block 305 and the fourth flexible film 306 are matched with the second hard structure block and are connected in series with the at least one pneumatic rotary module to form a Z-shaped structure capable of achieving linear motion, that is, the connection point of the first hard structure block and the second hard structure block and the connection point of the second hard structure block and the fifth hard structure block 305 are located on opposite sides, and the first flexible film and the fourth flexible film 306 are located on opposite sides, wherein the fourth flexible film 306 is connected with the fifth hard structure block 305 and the second hard structure block and forms a fourth flexible air-tight sealing cavity. It will be appreciated that the fourth flexible gas-tight chamber may also be connected to an external gas pressure control device via a gas line (not shown). Preferably, the first flexible air-tight sealing cavity and the second flexible air-tight sealing cavity can be communicated through a through hole on the hard structure block or through an air pipe, so that the same air pressure control device can be used for controlling air pressure. When the pneumatic rotary actuator of the present embodiment is actuated, the angular rotations of the pneumatic rotary actuator modules cancel each other out to achieve only linear motion.
Eighth embodiment
Referring to fig. 10, in an eighth embodiment, a pneumatic flexible manipulator comprises a pneumatic rotation module 601, a first bionic finger 602 and a second bionic finger 602. Similar to the embodiment, the pneumatic rotating module 601 includes two hard structure blocks, a flexible film and an air pipe, the two hard structure blocks are connected together in a hinge manner by being adhered to the flexible film, the flexible film forms a flexible air-tight sealing cavity in the inner side area between the two hard structure blocks, one end of the air pipe is connected to the flexible air-tight sealing cavity, one end of the air pipe is connected to an external air pressure control device, when the air pressure in the flexible air-tight sealing cavity is controlled to be reduced or increased, the air pressure difference inside and outside the flexible air-tight sealing cavity makes the flexible film inwards concave or outwards bulge and expand, the two hard structure blocks are pulled to be rotated in opposite directions or rotated in opposite directions, so that the angle between the two hard structure blocks is changed, the first and second bionic fingers 602 are respectively connected to the two hard structure blocks, driven by the two hard structure blocks, the two hard structure blocks move close to or away from each other to clamp or release the object 603. When the pneumatic rotating module 601 is actuated, the angle between the first and second bionic fingers 602 decreases and approaches each other, simulating the structure of human fingers to clamp the object 603. Because of the flexibility of the pneumatic structure, the actuation effect is independent of the specific shape of the object 603, and can grip a variety of different geometric objects.
Ninth embodiment
Referring to fig. 11, in a ninth embodiment, a pneumatic flexible operating hand comprises a first operating hand portion 71 and a second operating hand portion 72, the first operating hand portion 71 comprises a first bionic finger structure 711 and a first bionic wrist structure 712, the first bionic wrist structure 712 is a pneumatic rotary actuator as described in the fourth embodiment, the first bionic finger structure 711 is a pneumatic rotary actuator as described in the fifth embodiment, the first bionic wrist structure 712 is coupled to the first bionic finger structure 711 to control the first bionic finger structure 711 to generate rotary motion in a first direction, the second operating hand portion 72 comprises a second bionic finger structure 721 and a second bionic wrist structure 722, the second bionic finger structure 721 is a pneumatic rotary actuator as described in the sixth embodiment, the second bionic wrist structure 722 is a pneumatic rotary actuator similar to the second embodiment, the second biomimetic wrist structure 722 is coupled to the second biomimetic finger structure 721 to control the second biomimetic finger structure 721 to generate a rotational motion in a second direction.
In this embodiment, the two hand portions 71, 72 simulate the left and right hands respectively to perform the operation associated with one centrifuge tube 73. The first operating hand part 71 on the left side can grasp the bottle cap of the centrifuge tube 73 when the first bionic finger structure 711 is actuated, and can rotate at a large angle when the first bionic wrist structure 712 is actuated, so that the first operating hand part 71 on the left side can unscrew the bottle cap in combination. The second manipulator portion 72 on the right side may grasp centrifuge tube 73 when second biomimetic finger structure 721 is actuated, and tilt the centrifuge tube angle may be achieved when second biomimetic wrist structure 722 is actuated, which in combination achieve pouring of the liquid in the centrifuge tube.
Tenth embodiment
Referring to fig. 12, in the tenth embodiment, a pneumatic flexible manipulator includes a linear module 801, a tilting module 802, and a gripping module 803, and the left side of fig. 12 is viewed from a main viewing angle and the right side is viewed from a rear viewing angle. The linear module 801 is a pneumatic rotary actuator as described in the seventh embodiment, the tilting module 802 is a pneumatic rotary actuator as described in the first embodiment, the gripping module 803 is a pneumatic flexible manipulator as described in the eighth embodiment or a pneumatic rotary actuator as described in the fifth embodiment, the linear module 801 is coupled to the tilting module 802 to control the tilting module 802 to generate a linear motion, and the tilting module 802 is coupled to the gripping module 803 to control the gripping module 803 to generate a tilting angle.
In this embodiment, a pneumatic flexible operator may control a plastic dropper 804. Each module of the pneumatic flexible manipulator is formed by combining pneumatic rotary actuators. A linear module 801 combines two opposing pneumatic rotary actuator modules that when actuated counteract the angular rotation of the two to effect only linear motion, the linear module 801 being used to control the vertical motion of the drop tube. The tilt module 802 is comprised of a pneumatic rotary actuator module for controlling the tilt angle of the drop tube. The gripping module 803 may be replaced by a pneumatic flexible manipulator as described in the eighth embodiment, or a pneumatic rotary actuator as described in the fifth embodiment, and is used to grip the dropper, and perform both gripping and squeezing operations by applying different gripping forces.
As described in the foregoing embodiments, the pneumatic rotary actuator of the present invention can be actuated by negative pressure driving, and can be combined in a modular manner to achieve bidirectional movement, large-angle movement, and linear movement. Various flexible manipulators driven by air pressure can be realized through various modularized combinations based on the pneumatic rotary actuator.
The background section of the present invention may contain background information related to the problems or the environment of the present invention and is not necessarily descriptive of the prior art. Accordingly, the inclusion in the background section is not an admission of prior art by the applicant.
The foregoing is a more detailed description of the present invention, taken in conjunction with the specific/preferred embodiments thereof, and it is not intended that the invention be limited to the specific embodiments shown and described. For those skilled in the art to which the invention pertains, a plurality of alternatives or modifications can be made to the described embodiments without departing from the concept of the invention, and these alternatives or modifications should be considered as belonging to the protection scope of the invention. In the description herein, references to the description of the term "one embodiment," "some embodiments," "preferred embodiments," "an example," "a specific example," or "some examples" or the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction. Although the embodiments of the present invention and their advantages have been described in detail, it should be understood that various changes, substitutions and alterations can be made herein without departing from the scope of the claims.
Claims (10)
1. The pneumatic rotary actuator is characterized by comprising at least one pneumatic rotary module, wherein the pneumatic rotary module comprises a first hard structure block, a second hard structure block, a flexible film and an air pipe, the first hard structure block and the second hard structure block are connected together in a hinge mode through adhesion with the flexible film, the flexible film forms a flexible air-tight sealing cavity in an inner side area between the first hard structure block and the second hard structure block, one end of the air pipe is connected with the flexible air-tight sealing cavity, one end of the air pipe is connected with an external air pressure control device, when the air pressure in the flexible air-tight sealing cavity is controlled to be reduced or increased, the air pressure difference inside and outside the flexible air-tight sealing cavity enables the flexible film to be sunken inwards or bulged outwards, and the first hard structure block and the second hard structure block are pulled to rotate oppositely or rotate backwards and backwards Moving; the air pressure control device is a negative pressure system.
2. The pneumatic rotary actuator of claim 1, wherein the at least one pneumatic rotary module comprises a first pneumatic rotary module and a second pneumatic rotary module, one rigid structural block of each of the first pneumatic rotary module and the second pneumatic rotary module being secured together, the flexible membranes of each of the first pneumatic rotary module and the second pneumatic rotary module being in a reverse orientation, the other rigid structural block of each of the first pneumatic rotary module and the second pneumatic rotary module being drawn by the flexible membrane of each of the first pneumatic rotary module and the second pneumatic rotary module to rotate toward each other or away from each other as the air pressure within the flexible sealed cavity changes.
3. The pneumatic rotary actuator of claim 1, wherein the at least one pneumatic rotary module comprises a first set of pneumatic rotary modules and a second set of pneumatic rotary modules, the first set of pneumatic rotary modules comprises at least one pneumatic rotary module, the second set of pneumatic rotary modules comprises at least one pneumatic rotary module, the first set of pneumatic rotary modules and the second set of pneumatic rotary modules are arranged in parallel in a rotational axis direction and are coupled to each other such that rotation of at least one of the hard blocks of the first set of pneumatic rotary modules can rotate at least one of the hard blocks of the second set of pneumatic rotary modules, and thereby rotation angle of at least one of the hard blocks of the second set of pneumatic rotary modules is a rotation angle generated by at least one of the hard blocks of the second set of pneumatic rotary modules and a rotation angle generated by the first set of pneumatic rotary modules A superposition of rotation angles, wherein the rotation angle generated by at least one of the hard structural blocks of the second set of pneumatic rotation modules is the rotation angle generated by the flexible film of the second set of pneumatic rotation modules being pulled under the change of the air pressure difference.
4. The pneumatic rotary actuator of claim 3, wherein the first set of pneumatic rotary modules and the second set of pneumatic rotary modules each comprise two pneumatic rotary modules, the flexible membranes of the two pneumatic rotary modules are oppositely disposed, one rigid structural block of each of the two pneumatic rotary modules is connected together, and the other rigid structural block of each of the two pneumatic rotary modules is connected together.
5. The pneumatic rotary actuator of claim 1, further comprising a third rigid structural block and a second flexible membrane, wherein the third rigid structural block and the second flexible membrane cooperate with the second rigid structural block to form a tooth structure in series with the at least one pneumatic rotary module for performing a clamping operation, i.e., a joint of the first rigid structural block and the second rigid structural block and a joint of the second rigid structural block and the third rigid structural block are located on a same side, and the flexible membrane and the second flexible membrane between the first rigid structural block and the second rigid structural block are located on a same side, wherein the second flexible membrane is connected to the third rigid structural block and the second rigid structural block to form a second flexible gas-tight cavity.
6. The pneumatic rotary actuator of claim 5, further comprising a fourth rigid structural block and a third flexible membrane, wherein the fourth rigid structural block, the third flexible membrane and the third rigid structural block cooperate to form a tooth-shaped structure for gripping operation in series with the at least one pneumatic rotary module, i.e., all connections between the rigid structural blocks are on the same side and all flexible membranes are on the same side, and wherein the third flexible membrane is connected to the fourth rigid structural block and the third rigid structural block to form a third flexible airtight chamber.
7. The pneumatic rotary actuator of claim 1, further comprising a fifth rigid structural block and a fourth flexible membrane, wherein the fifth rigid structural block and the fourth flexible membrane cooperate with the second rigid structural block to form a linear motion Z-shaped structure in series with the at least one pneumatic rotary module, wherein the junction of the first rigid structural block and the second rigid structural block and the junction of the second rigid structural block and the fifth rigid structural block are on opposite sides, and wherein the flexible membrane between the first rigid structural block and the second rigid structural block and the fourth flexible membrane are on opposite sides, wherein the fourth flexible membrane is connected to the fifth rigid structural block and the second rigid structural block and forms a fourth flexible gas-tight chamber.
8. A pneumatic flexible manipulator is characterized by comprising a pneumatic rotating module, a first bionic finger and a second bionic finger, wherein the pneumatic rotating module comprises two hard structure blocks, a flexible film and an air pipe, the two hard structure blocks are connected together in a hinge mode through adhesion with the flexible film, the flexible film forms a flexible air-tight sealing cavity in the inner side area between the two hard structure blocks, one end of the air pipe is connected with the flexible air-tight sealing cavity, one end of the air pipe is connected with an external air pressure control device, when the air pressure in the flexible air-tight sealing cavity is controlled to be reduced or increased, the air pressure difference inside and outside the flexible air-tight sealing cavity enables the flexible film to be sunken inwards or bulged outwards, and the two hard structure blocks are pulled to generate opposite rotation motion or opposite rotation motion, the first bionic finger and the second bionic finger are respectively connected with the two hard structure blocks, and are driven by the two hard structure blocks to mutually approach or keep away from each other so as to clamp or release an object.
9. A pneumatically flexible manipulator comprising a first manipulator portion and a second manipulator portion, the first manipulator portion comprising a first biomimetic finger structure and a first biomimetic wrist structure, the first biomimetic finger structure being the pneumatic rotary actuator of claim 5, the first biomimetic wrist structure being the pneumatic rotary actuator of claim 4, the first biomimetic wrist structure being coupled to the first biomimetic finger structure to control the first biomimetic finger structure to produce a rotary motion in a first direction, the second manipulator portion comprising a second biomimetic finger structure and a second biomimetic wrist structure, the second biomimetic finger structure being the pneumatic rotary actuator of claim 6, the second biomimetic wrist structure being the pneumatic rotary actuator of claim 2, the second biomimetic wrist structure being coupled to the second biomimetic finger structure to control the second biomimetic finger knot The mechanism produces a rotational movement in a second direction.
10. A pneumatic flexible manipulator, comprising a linear module, a tilting module and a clamping module, wherein the linear module is the pneumatic rotary actuator of claim 7, the tilting module is the pneumatic rotary actuator of claim 1, the clamping module is the pneumatic flexible manipulator of claim 8 or the pneumatic rotary actuator of claim 5, the linear module is coupled to the tilting module to control the tilting module to generate a linear motion, and the tilting module is coupled to the clamping module to control the clamping module to generate a tilting angle.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112045702A (en) * | 2020-09-15 | 2020-12-08 | 清华大学深圳国际研究生院 | Pneumatic rotary actuator and pneumatic flexible manipulator |
| CN116476117A (en) * | 2023-04-03 | 2023-07-25 | 江南大学 | Soft gripper and manufacturing method thereof |
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2020
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112045702A (en) * | 2020-09-15 | 2020-12-08 | 清华大学深圳国际研究生院 | Pneumatic rotary actuator and pneumatic flexible manipulator |
| CN112045702B (en) * | 2020-09-15 | 2024-07-09 | 清华大学深圳国际研究生院 | Pneumatic rotary actuator and pneumatic flexible manipulator |
| CN116476117A (en) * | 2023-04-03 | 2023-07-25 | 江南大学 | Soft gripper and manufacturing method thereof |
| CN116476117B (en) * | 2023-04-03 | 2023-09-29 | 江南大学 | Soft gripper and manufacturing method thereof |
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