CN104858889A - Hydraulically or pneumatically controlled joint mechanism capable of performing bending, twisting and stretching motions and used for numerical-control soft-bodied robot - Google Patents
Hydraulically or pneumatically controlled joint mechanism capable of performing bending, twisting and stretching motions and used for numerical-control soft-bodied robot Download PDFInfo
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- CN104858889A CN104858889A CN201410339201.4A CN201410339201A CN104858889A CN 104858889 A CN104858889 A CN 104858889A CN 201410339201 A CN201410339201 A CN 201410339201A CN 104858889 A CN104858889 A CN 104858889A
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Abstract
The invention relates to a hydraulically or pneumatically controlled mechanical mechanism capable of performing bending, twisting and stretching motions. With the adoption of the hydraulically or pneumatically controlled mechanical mechanism, three-dimensional bending, twisting, stretching and shrinking of joints of a single robot can be realized, a robot simulating a snake body or tentacles of an octopus can be manufactured through series-parallel connection of the mechanical mechanisms, bending, twisting, snaking and other motions can be accurately controlled, that is, most of motions of snakes or the tentacles of the octopus can be simulated, and the motions are the only feasible demand on certain occasions. The technical scheme is as follows: elements capable of stretching and shrinking under pneumatic or hydraulic action are adopted, when multiple spring elements are distributed in a certain manner, two ends of each spring element are fixed to two mounting plates respectively, and when the multiple spring elements apply different air pressure or hydraulic pressure respectively, the two mounting plates are bent relatively.
Description
Technical field: doing of the present invention relates to that a kind of hydraulic pressure (pneumatic) controls is bending, distortion, stretching motion mechanical mechanism, can be used as numerical control soft robot articulation mechanism, mechanism is used alone, or multi-section serial, many groups doublet combinationally uses, and can realize the action of various complexity.
Background technology: modern all kinds robot, be widely used in numerous fields, robot, so that class anthropoid joint arm simulating behaviors of human bodies is very perfect flexibly, also can make the action that some mankind cannot make, as arm rotates.Industrial robot is mostly structurally multi-joint, full motor drives, the robot of multi-CPU Two-stage control, i.e. articulated robot.The basic machine mechanism of modern machines people is divided into two large classes substantially, one class is operation main body mechanism, the arm of its similar people and wrist, for gyration mechanism, adopt cradle head bearing, transmission mechanism generally adopts harmonic drive mechanism and planetary gears, and arm rigidity is high, guidance quality good, lightweight, stable movement, positioning precision are high.Another kind of is mobile model body construction, is straight-line motion mechanism, adopts linear joint guide rail (common rail plate, hydraulic pressure dynamic pressure moving guide rail, hydraulic pressure static pressure moving guide rail, air-float guide rail, rolling guide) to realize locomotive function.In the drive system of robot of high accuracy, high speed, (joint drive motor) extensively adopts AC servomotor, DC servo-motor, direct drive motor, all adopts position-force control.
Along with the progress of Robotics, bionics techniques, control technology and manufacturing technology, stricter requirement is proposed to the flexibility of robot work and adaptability.Frame for movement known is at present difficult to the frame for movement that can bend arbitrarily accomplishing to have the tentacle being similar to snake health or octopus, can perform bending, the distortion accurately controlled, the action such as to crawl, namely imitate snake class or most of action of the tentacle of octopus.And this action is the demand of unique feasible in some occasion.Under most occasion, this robot can replace articulated robot well, and action can be simpler and smooth; The action of articulated robot will seem funny comparatively speaking.
Summary of the invention: arbitrarily bending in order to realize, bending, the distortion that can accurately control, the action such as to crawl, namely imitate snake class or most of action of the tentacle of octopus, the invention provides a kind of frame for movement, the three-dimensional bending of individual machine person joint, distortion, elongation, contraction can be realized.This frame for movement is utilized to carry out connection in series-parallel, can produce and imitate snake health or the robot of the tentacle of octopus, bending, the distortion that realization can accurately control, the action such as to crawl, namely imitate snake class or most of action of (tentacle of octopus), and this action is the demand scheme of unique feasible in some occasion.Under more occasion, this robot can replace articulated robot well, and action can be simpler and smooth.
This kind of robot almost can be used for all known art, huge serpentine robotic, because buoyancy offsets power gravity, more can start new era of mankind's Activities of Ocean.
Technical scheme: the technical solution adopted in the present invention is: the components and parts that can extend and shrink under adopting pneumatic or hydraulic action can be bellows (metal or nonmetallic), also can be air spring or hydraulic spring grease cup.When multiple spring element arranges in a certain way, spring element two ends are separately fixed on two installing plates, and when multiple spring element applies different air pressure or hydraulic pressure respectively, namely two installing plates occur local inclination.
The technical scheme that the present patent application book provides is only for metal bellows, and below in conjunction with drawings and Examples, the present invention is further described:
Accompanying drawing illustrates:
Fig. 1 has the couple structure of two bellowss
Fig. 2 couple structure applies different air pressure or hydraulic pressure respectively, and local inclination, elongation appear in two installing plates.
Fig. 3 has the trimeric structure of three bellowss
Fig. 4 trimeric structure applies different air pressure or hydraulic pressure respectively, and three-dimensional bending, elongation appear in two installing plates.
Fig. 5 has the multiple hull construction of four bellowss
Fig. 6 multiple hull construction applies different air pressure or hydraulic pressure respectively, and three-dimensional bending, distortion, elongation appear in two installing plates.
The snake-shaped robot example that Fig. 7 is made up of 6 trimeric structure and two degrees of freedom manipulator
The different action shape of Fig. 8, Fig. 9, Figure 10 snake-shaped robot
The multiple snake-shaped robot of Figure 11 concentrates arrangement, completes complex work
Figure 12 spring-loaded joint and connecting rod form arm joint robot
Figure 13 combines arm joint robot
In Fig. 1 Fig. 2,1 upper mounting plate, 2. bellows b, 3. cell separators, 4 bellows a, 5 lower installation boards,
In Fig. 1-Fig. 6, a, b, c, d are respectively bellows a, bellows b, bellows c, bellows d,
Detailed description of the invention: in FIG, bellows b (2), bellows a (4) are two identical bellowss, be welded between upper mounting plate (1) and lower installation board (5), be fixed with between upper mounting plate (1) and lower installation board (5) and organize cell separators (3) more, what cell separators (3) cell separators had vertebral foramen to be formed lays control pipeline passway, and (3) are fixed on the crest of bellows.
Be respectively bellows a in fig. 2, b applies different air pressure or hydraulic pressure respectively, and local inclination, elongation appear in upper mounting plate (1) and lower installation board (5).
In figure 3, bellows a, bellows b, bellows c is three identical bellowss, be welded between upper mounting plate (1) and lower installation board (5), be fixed with between upper mounting plate (1) and lower installation board (5) and organize cell separators (3) more, cell separators (3) is fixed on the crest of bellows.
Be respectively bellows a in the diagram, b, c apply different air pressure or hydraulic pressure respectively, and three-dimensional bending, elongation appear in upper mounting plate (1) and lower installation board (5).
In Figure 5, bellows a, bellows b, bellows c, bellows, d is four identical bellowss, is welded between upper mounting plate (1) and lower installation board (5), be fixed with between upper mounting plate (1) and lower installation board (5) and organize cell separators (3) more, cell separators (3) is fixed on the crest of bellows.
Be respectively bellows a in figure 6, b, c, d apply different air pressure or hydraulic pressure respectively, and three-dimensional bending, distortion, elongation appear in upper mounting plate (1) and lower installation board (5).
Fig. 7 is connected into main body by 6 groups of trimeric structure, and top installs the snake-shaped robot conceptual scheme of two degrees of freedom manipulator composition additional, controls pneumatic or hydraulic pressure, robot body can be made to extend.
Claims (8)
1. what a hydraulic pressure (pneumatic) controlled does mechanical mechanism that is bending, stretching motion, can be used as numerical control soft robot articulation mechanism, the three-dimensional bending of individual machine person joint, distortion, elongation, contraction can be realized, this frame for movement is utilized to carry out connection in series-parallel, can produce and imitate snake health or the robot of the tentacle of octopus, bending, the distortion realizing accurately controlling, the action such as to crawl.
2. articulation mechanism according to claim 1, is characterized in that: the components and parts that can extend and shrink under adopting pneumatic or hydraulic action, can be bellows (metal or nonmetallic), also can be air spring or hydraulic spring grease cup.When multiple spring element arranges in a certain way, spring element two ends are separately fixed on two installing plates, and when multiple spring element applies different air pressure or hydraulic pressure respectively, namely local inclination, distortion, torsion appear in two installing plates.
3. articulation mechanism according to claim 1, is characterized in that each articulation mechanism has binary or the multiple hull construction of two or more pneumatic or hydroelastic system bodies.
4. articulation mechanism according to claim 1, utilizes this frame for movement to carry out connection in series-parallel, can produce and imitate snake body or the robot of the tentacle of octopus.In drive system of robot, (joint drive) no longer adopts AC and DC servomotor, direct drive motor, but the air pressure adopting CPU/PLC accurately to control or hydraulic position closed-loop control.Its control valve wire routing is in the passage formed by vertebral foramen.
5. articulation mechanism according to claim 1, for improving gas kinematic accuracy, corresponding slip-knot must adopt cell separators.
6. articulation mechanism according to claim 1, the robot of making.Control pneumatic or hydraulic pressure, robot body can be made to extend.
7. articulation mechanism according to claim 1, when with connecting rod assembly, can form articulated robot.
8. articulation mechanism according to claim 2, adopt its components and parts extending and shrink of pneumatic or hydraulic control, pneumatic or hydraulic control can be numerical control, may not be numerical control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410339201.4A CN104858889A (en) | 2014-07-12 | 2014-07-12 | Hydraulically or pneumatically controlled joint mechanism capable of performing bending, twisting and stretching motions and used for numerical-control soft-bodied robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410339201.4A CN104858889A (en) | 2014-07-12 | 2014-07-12 | Hydraulically or pneumatically controlled joint mechanism capable of performing bending, twisting and stretching motions and used for numerical-control soft-bodied robot |
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| CN104858889A true CN104858889A (en) | 2015-08-26 |
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| CN201410339201.4A Pending CN104858889A (en) | 2014-07-12 | 2014-07-12 | Hydraulically or pneumatically controlled joint mechanism capable of performing bending, twisting and stretching motions and used for numerical-control soft-bodied robot |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105171737A (en) * | 2015-09-25 | 2015-12-23 | 天津大学 | Three-freedom-degree smooth driver with hybrid power source |
| CN105619450A (en) * | 2016-03-17 | 2016-06-01 | 上海交通大学 | Flexible mechanical arm and control method thereof |
| CN106584507A (en) * | 2016-05-19 | 2017-04-26 | 北京卫星环境工程研究所 | Fully compliant pneumatic mechanical arm structure |
| CN107031807A (en) * | 2017-05-10 | 2017-08-11 | 南京理工大学 | A kind of imitative jellyfish underwater robot based on software driver |
| CN107234636A (en) * | 2017-07-06 | 2017-10-10 | 葛广徽 | A kind of fluid pressure drive device |
| CN107443420A (en) * | 2017-09-05 | 2017-12-08 | 吕政昂 | A kind of robot arm |
| CN108297089A (en) * | 2018-04-02 | 2018-07-20 | 佛山伊贝尔科技有限公司 | A kind of software telecontrol equipment and soft robot |
| CN108673471A (en) * | 2018-05-28 | 2018-10-19 | 哈尔滨工业大学 | Wearable flexibility auxiliary operation arm |
| CN109070337A (en) * | 2015-12-24 | 2018-12-21 | 赛峰电子与防务公司 | Back portion for ectoskeleton structure |
| CN109454665A (en) * | 2018-09-30 | 2019-03-12 | 浙江大学 | A kind of hydraulic software manipulator of two-way linear driving |
| CN109500835A (en) * | 2018-11-15 | 2019-03-22 | 黑龙江磐桓科技有限公司 | A kind of pneumatic 3D printing manipulator of TPU |
| WO2020248557A1 (en) * | 2019-06-11 | 2020-12-17 | 哈尔滨工业大学 | Soft bionic legged robot |
| CN112757283A (en) * | 2020-12-11 | 2021-05-07 | 北京信息科技大学 | Pneumatic drive control method for double-module soft manipulator |
| CN112828931A (en) * | 2021-01-06 | 2021-05-25 | 张家港市万荣金属制品有限公司 | Flexible bionic motion joint |
| CN113116197A (en) * | 2021-05-26 | 2021-07-16 | 河北工业大学 | Shower system |
| CN113650690A (en) * | 2021-07-28 | 2021-11-16 | 之江实验室 | Fruit fly larva-imitated soft robot and control system thereof |
| CN114603578A (en) * | 2022-04-13 | 2022-06-10 | 江西理工大学 | Soft continuum robot for searching and rescuing in ruins |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105171737A (en) * | 2015-09-25 | 2015-12-23 | 天津大学 | Three-freedom-degree smooth driver with hybrid power source |
| CN109070337B (en) * | 2015-12-24 | 2020-04-24 | 赛峰电子与防务公司 | Back portion for exoskeleton structure |
| CN109070337A (en) * | 2015-12-24 | 2018-12-21 | 赛峰电子与防务公司 | Back portion for ectoskeleton structure |
| CN105619450A (en) * | 2016-03-17 | 2016-06-01 | 上海交通大学 | Flexible mechanical arm and control method thereof |
| CN106584507A (en) * | 2016-05-19 | 2017-04-26 | 北京卫星环境工程研究所 | Fully compliant pneumatic mechanical arm structure |
| CN107031807A (en) * | 2017-05-10 | 2017-08-11 | 南京理工大学 | A kind of imitative jellyfish underwater robot based on software driver |
| CN107234636A (en) * | 2017-07-06 | 2017-10-10 | 葛广徽 | A kind of fluid pressure drive device |
| CN107443420A (en) * | 2017-09-05 | 2017-12-08 | 吕政昂 | A kind of robot arm |
| CN107443420B (en) * | 2017-09-05 | 2020-11-27 | 吕政昂 | Robot arm |
| CN108297089A (en) * | 2018-04-02 | 2018-07-20 | 佛山伊贝尔科技有限公司 | A kind of software telecontrol equipment and soft robot |
| CN108297089B (en) * | 2018-04-02 | 2024-04-19 | 广东智能体科技有限公司 | Soft motion device and soft robot |
| CN108673471A (en) * | 2018-05-28 | 2018-10-19 | 哈尔滨工业大学 | Wearable flexibility auxiliary operation arm |
| CN108673471B (en) * | 2018-05-28 | 2021-07-06 | 哈尔滨工业大学 | Wearable flexible auxiliary operation arm |
| CN109454665A (en) * | 2018-09-30 | 2019-03-12 | 浙江大学 | A kind of hydraulic software manipulator of two-way linear driving |
| CN109500835A (en) * | 2018-11-15 | 2019-03-22 | 黑龙江磐桓科技有限公司 | A kind of pneumatic 3D printing manipulator of TPU |
| WO2020248557A1 (en) * | 2019-06-11 | 2020-12-17 | 哈尔滨工业大学 | Soft bionic legged robot |
| CN112757283A (en) * | 2020-12-11 | 2021-05-07 | 北京信息科技大学 | Pneumatic drive control method for double-module soft manipulator |
| CN112757283B (en) * | 2020-12-11 | 2023-03-21 | 北京信息科技大学 | Pneumatic drive control method for double-module soft manipulator |
| CN112828931A (en) * | 2021-01-06 | 2021-05-25 | 张家港市万荣金属制品有限公司 | Flexible bionic motion joint |
| CN113116197A (en) * | 2021-05-26 | 2021-07-16 | 河北工业大学 | Shower system |
| CN113650690A (en) * | 2021-07-28 | 2021-11-16 | 之江实验室 | Fruit fly larva-imitated soft robot and control system thereof |
| CN114603578A (en) * | 2022-04-13 | 2022-06-10 | 江西理工大学 | Soft continuum robot for searching and rescuing in ruins |
| CN114603578B (en) * | 2022-04-13 | 2023-08-04 | 江西理工大学 | Ruins search and rescue-oriented vitamin soft continuum robot |
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