CN105150214A - Soft robot with movement and rigidity independently controlled - Google Patents
Soft robot with movement and rigidity independently controlled Download PDFInfo
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- CN105150214A CN105150214A CN201510504288.0A CN201510504288A CN105150214A CN 105150214 A CN105150214 A CN 105150214A CN 201510504288 A CN201510504288 A CN 201510504288A CN 105150214 A CN105150214 A CN 105150214A
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- steel wire
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Abstract
A soft robot with movement and rigidity independently controlled comprises a base body and a tail body. The rear portion of the base body is connected with the front portion of the tail body. In the base body, a first rigidity control cavity is formed in the middle of first colloidal silica. First steel wire drive cavities are formed in one circle of the colloidal silica around the outer side of the first rigidity control cavity in an equal-radian manner at intervals. The first rigidity control cavity is a closed cavity. The first rigidity control cavity is connected with a first ventilation guide pipe. The first ventilation guide pipe is connected with an external air source used for dynamically adjusting rigidity. First drive steel wires are arranged in the first steel wire drive cavities, the tail ends of the first drive steel wires are fixed to a fixing base plate, and the head ends of the first drive steel wires are fixed to a first coiling block for winding of the first drive steel wires. A rotating shaft of the first coiling block is connected with a motor shaft of a base body drive motor. The base body drive motor is installed on a motor installing disc. The tail end of the tail body is gradually reduced. The soft robot integrates softness and rigidity, and effectively carries out dynamic adjustment.
Description
Technical field
The present invention relates to soft robot field, especially a kind of bionic soft robot.
Technical background
Along with going from strength to strength of Robot industry, the very large rigidity that traditional robot has due to it, limit to the ability of itself and environmental interaction, such as at destructuring with in relative crowded space, the end effector of rigid machine people will run into a lot of difficulty, so traditional rigid machine people can not meet working environment complicated and changeable.But soft robot has very large flexibility, it is the more senior form of flexible robot, it can change self geomery under environment complicated and changeable, and compared with traditional rigid machine people, bionic soft robot has more New function and new features.
The motion of bionic soft robot is redundancy, and it has kinetic characteristic very flexibly, due to the mode of its distortion, makes bionic soft robot can reach the unlimited free degree in theory.Relative to traditional rigid machine people, the pressure loading that bionic soft robot exports to external world is lower, can not cause damage to the applying object in environment.
The European octopus project team that in February, 2009 is set up by 7 research institutions that Italy, Switzerland, Israel, Britain, 5, Greece are national formally starts, have studied octopus sensor and driving principle, and then set up bionical octopus soft robot model, propose the octopus tentacle structure based on EAP artificial-muscle, its structure is made up of 4 cylindrical axial EPA muscle and 4 sarcous horizontal muscle of arc EPA, when applying the voltage of 2000V, bionical octopus tentacle can form the motion of about 20% amount of contraction; This bionic soft robot can imitate the motion of octopus tentacle and simple grip motion, but its amount of contraction only has 20%, and the controllability of motion is bad, is not suitable for bending requiring high and in the environment of complicated movement, and its rigidity is also uncontrollable.
For the soft robot of variable rigidity, national inventing patent application number 201210546744.4 discloses the soft endoscope robot that Shanghai Communications University have studied variable rigidity, its bulk junction forms cylindrical, material is silica gel, drives structure drives rope yarn to control by some, when driving different rope yarns or rope yarn combination, robot can complete corresponding deformed movement, its variable rigidity claimed only controls against hauling certain one or more rope yarn, and soft robot variable rigidity supervenes in motion process, to be formed with the drives structure close coupling of motion, be difficult to independently control the rigidity of soft robot.
Soft robot china national practical new-type patent application number 201220258024.3 for variable rigidity discloses a kind of magnetorheological fluid continuum robot manipulator, it is the principle based on imitating trunk motion, body is long tube type structure, skin is in series by 4 pitch circle cylindrical springs, respectively by 4 cotton rope drive, cotton rope is incorporated on motor-driven pulley, thus drive robot motion, connected by spinal disc between spring, the flexible pipe being connected with magnetic flow liquid is connected in the middle of each spinal disc, flexible pipe is around with coil, by changing the intensity in the Current Control magnetic flow liquid magnetic field of coil, thus change between the solid-liquid realizing magnetic flow liquid, play the effect regulating Robot Stiffness, but because this structural outside layers is spring, rigidity own is just larger, do not reach the requirement of the flexibility of the peculiar material of some soft robots, and magnetic flow liquid inherently has the viscosity of any in cold situation, robot flexibility is reduced again many, magnetic flow liquid is better at liquid-solid conversion performance, but it is difficult to ensure that soft robot keeps again flexible very well when having good rigidity.
Soft robot national inventing patent application number 201410406336.8 for variable rigidity discloses the active stiffness variable long-armed type bionic soft robot of Zhejiang Polytechnical University's research, soft robot body is made up of base pitch and periproct, the matrix of base pitch is made up of silica gel material, 3 side actuator chambers and 1 centre-driven chamber are set, each actuator chamber closed at both ends, gases at high pressure are inputted with driven machine people elongation or bending by breather pipe, radial deformation is there is after preventing from inflating, at the embedding restricted spring of each actuator chamber inside and outside wall, integral rigidity can be increased simultaneously.This structure is modular construction, and two ends arrange syndeton, can multi-section serial, and the breather pipe of each joint can by walking the unified one end going to base pitch of tube passage; Structure and the base pitch of periproct are similar, but periproct is diminishing; This structure can realize rigidity Independent adjustable in motion process, but this structure drived control and stiffness reliability are all controlled by air pressure, when grabbing object, motion control and stiffness reliability have coupling, and the motion be difficult to for soft robot controls.
Summary of the invention
In order to overcome the deficiency cannot taken into account flexible and rigidity, dynamic regulation cannot be realized of existing soft robot, the invention provides and a kind ofly take into account flexible and rigidity, the motion effectively carrying out dynamic adjustments and the controlled soft robot of rigidity independence.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of motion and the independent controlled soft robot of rigidity, comprise matrix and urosome, the rear portion of described matrix is connected with the front portion of described urosome, described matrix comprises the first colloidal silica, first stiffness reliability chamber and the first steel wire actuator chamber, described first colloidal silica is cylindrical, the first described stiffness reliability chamber is provided with in the middle of described first colloidal silica, enclose first-class radian compartment of terrain at the colloidal silica one of the outer periphery in described first stiffness reliability chamber and be provided with described first steel wire actuator chamber, described first stiffness reliability chamber is enclosed cavity, the first described stiffness reliability chamber is connected with the first airway, described first breather pipe is connected with the external gas source for dynamic adjustments rigidity, the first driving steel wire is provided with inside described first steel wire actuator chamber, described first drives the tail end of steel wire to be fixed on fixed underpan, described first drives the head end of steel wire to be fixed on for being wound around the first reel that described first drives steel wire, the rotating shaft of described first reel connects with the motor shaft of matrix drive motors, described matrix drive motors is arranged on motor installation disc, described fixed underpan is arranged on the rear portion of described first colloidal silica, and described motor installation disc is arranged on the front portion of described first colloidal silica,
Described urosome comprises the second colloidal silica, the second stiffness reliability chamber and the second steel wire actuator chamber, the tail end of described second colloidal silica reduces gradually, the front portion of described second colloidal silica is arranged on described fixed underpan, described second stiffness reliability chamber is provided with in the middle of described second colloidal silica, described two stiffness reliability chambeies are enclosed cavity, the second described stiffness reliability chamber is connected with the second airway, and described second breather pipe is connected with described external gas source, enclose first-class radian compartment of terrain at the colloidal silica one of the outer periphery in described second stiffness reliability chamber and be provided with described second steel wire actuator chamber, the second described stiffness reliability chamber is communicated with described first stiffness reliability chamber, the second driving steel wire is provided with inside described second steel wire actuator chamber, described second drives the front end of steel wire to be fixed in described second steel wire actuator chamber, described second drives the rear end of steel wire through described fixed underpan and is fixed on for being wound around the second reel that described second drives steel wire, the rotating shaft of described second reel is connected with the output shaft of afterbody drive motors, described afterbody drive motors is arranged on motor installation disc.
Further, described matrix has at least two, connects between the matrix of front and back.The matrix at this place can be modularization, is connected between module adjacent between two by fixed base plate, and the structure of colloidal silica, stiffness reliability chamber and steel wire actuator chamber is identical with matrix.
Preferably, the inside and outside wall in described first stiffness reliability chamber and the second stiffness reliability chamber is provided with restricted spring.
Further, the colloidal silica one of the outer periphery in described first stiffness reliability chamber encloses the tight-wire walking passage being provided with and driving steel wire to pass for described second.Matrix is had to the situation of at least two, the matrix being positioned at rear portion is provided with and is positioned at anterior matrix and the tight-wire walking passage of urosome.
Technical conceive of the present invention is: the present invention uses air pressure independently to control the rigidity of soft robot, and motor-rope makes robot have good exercise performance, and software silica gel ensures the flexibility of soft robot.
Beneficial effect of the present invention is mainly manifested in: take into account flexibility and rigidity, effectively carry out dynamic adjustments.
Accompanying drawing explanation
Fig. 1 is basal body structure figure of the present invention.
Fig. 2 is the side view of Fig. 1.
Fig. 3 is urosome structure chart of the present invention.
Fig. 4 is the side view of Fig. 3.
Fig. 5 is integrally-built straight configuration of the present invention.
Fig. 6 is integrally-built case of bending of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
With reference to Fig. 1 ~ Fig. 6, a kind of motion and the independent controlled soft robot of rigidity, comprise matrix 1 and urosome 2, the rear portion of described matrix 1 is connected with the front portion of described urosome 2, described matrix 1 comprises the first colloidal silica 6, first stiffness reliability chamber 10 and the first steel wire actuator chamber 12, described first colloidal silica 6 is cylindrical, the first described stiffness reliability chamber 10 is provided with in the middle of described first colloidal silica, enclose first-class radian compartment of terrain at the colloidal silica one of the outer periphery in described first stiffness reliability chamber 10 and be provided with described first steel wire actuator chamber 12, described first stiffness reliability chamber 10 is enclosed cavity, the first described stiffness reliability chamber 10 is connected with the first airway 4, described first breather pipe 4 is connected with the external gas source for dynamic adjustments rigidity, the first driving steel wire 8 is provided with inside described first steel wire actuator chamber 12, described first drives the tail end of steel wire 8 to be fixed on fixed underpan 9, described first drives the head end of steel wire 8 to be fixed on for being wound around the first reel that described first drives steel wire, the rotating shaft of described first reel connects with the motor shaft of matrix drive motors 5, described matrix drive motors 5 is arranged on motor installation disc 3, described fixed underpan 9 is arranged on the rear portion of described first colloidal silica 6, and described motor installation disc 3 is arranged on the front portion of described first colloidal silica 6,
Described urosome 2 comprises the second colloidal silica 16, second stiffness reliability chamber 18 and the second steel wire actuator chamber 17, the tail end of described second colloidal silica 16 reduces gradually, the front portion of described second colloidal silica 16 is arranged on described fixed underpan 9, described second stiffness reliability chamber 18 is provided with in the middle of described second colloidal silica 16, described two stiffness reliability chambeies 18 are enclosed cavity, the second described stiffness reliability chamber 18 is connected with the second airway 13, and described second breather pipe 13 is connected with described external gas source, enclose first-class radian compartment of terrain at the colloidal silica one of the outer periphery in described second stiffness reliability chamber 18 and be provided with described second steel wire actuator chamber 17, the second driving steel wire 14 is provided with inside described second steel wire actuator chamber 17, described second drives the front end of steel wire 14 to be fixed in described second steel wire actuator chamber 17, described second drives the rear end of steel wire 14 through described fixed underpan 9 and is fixed on for being wound around the second reel that described second drives steel wire, the rotating shaft of described second reel is connected with the output shaft of afterbody drive motors, described afterbody drive motors is arranged on motor installation disc 3.
Further, described matrix 1 has at least two, connects between front and back matrix 1.The matrix 1 at this place can be modularization, is connected between module adjacent between two by fixed base plate, and in each matrix, the structure of colloidal silica, stiffness reliability chamber and steel wire actuator chamber is all identical.
Preferably, the inside and outside wall in described first stiffness reliability chamber 12 and the second stiffness reliability chamber 18 is provided with restricted spring, is respectively the first restricted spring 7 and the second restricted spring 14.
Further, the colloidal silica one of the outer periphery in described first stiffness reliability chamber 10 encloses the tight-wire walking passage 11 being provided with and driving steel wire to pass for described second.Matrix is had to the situation of at least two, the matrix being positioned at rear portion is provided with and is positioned at anterior matrix and the tight-wire walking passage of urosome.
In the present embodiment, in described matrix, the gas that the first breather pipe passes into different pressures makes the rigidity of robot be dynamically adjustable; Different described drive motors pulls different described driving steel wire driven machine people's different directions and flexural deformation in various degree, and namely matrix drive motors 5 rotates described first reel, and the first driving steel wire 8 is elongated or shortened; Afterbody drive motors rotates described second reel, and the second driving steel wire 14 is elongated or shortened; In order to prevent the first stiffness reliability chamber of soft robot from after being filled with gases at high pressure, radial deformation occurring, in the inside and outside wall in the first stiffness reliability chamber, be provided with restricted spring, and described restricted spring can increase the rigidity of robot entirety.The structure of this robot is modular construction, can multi-section serial, and the described driving steel wire of each joint is gone on the drive motors axle of matrix by described steel wire actuator chamber is unified.
The mentality of designing of described urosome and the consistent of matrix, difference is that its tail end reduces gradually.After matrix and urosome are connected in series, can realize imitating the functions such as the elongation of octopus peduncle, bending, grasping, simultaneously by regulating the compression pressure in stiffness reliability chamber, can the body rigidity of real time control machine device people.
Claims (4)
1. a motion and the independent controlled soft robot of rigidity, comprise matrix and urosome, the rear portion of described matrix is connected with the front portion of described matrix, it is characterized in that: described matrix comprises the first colloidal silica, first stiffness reliability chamber and the first steel wire actuator chamber, described first colloidal silica is cylindrical, the first described stiffness reliability chamber is provided with in the middle of described first colloidal silica, enclose first-class radian compartment of terrain at the colloidal silica one of the outer periphery in described first stiffness reliability chamber and be provided with described first steel wire actuator chamber, described first stiffness reliability chamber is enclosed cavity, the first described stiffness reliability chamber is connected with the first airway, described first breather pipe is connected with the external gas source for dynamic adjustments rigidity, the first driving steel wire is provided with inside described first steel wire actuator chamber, described first drives the tail end of steel wire to be fixed on fixed underpan, described first drives the head end of steel wire to be fixed on for being wound around the first reel that described first drives steel wire, the rotating shaft of described first reel connects with the motor shaft of matrix drive motors, described matrix drive motors is arranged on motor installation disc, described fixed underpan is arranged on the rear portion of described first colloidal silica, and described motor installation disc is arranged on the front portion of described first colloidal silica,
Described urosome comprises the second colloidal silica, the second stiffness reliability chamber and the second steel wire actuator chamber, the tail end of described second colloidal silica reduces gradually, the front portion of described second colloidal silica is arranged on described fixed underpan, described second stiffness reliability chamber is provided with in the middle of described second colloidal silica, described two stiffness reliability chambeies are enclosed cavity, the second described stiffness reliability chamber is connected with the second airway, and described second breather pipe is connected with described external gas source; Enclose first-class radian compartment of terrain at the colloidal silica one of the outer periphery in described second stiffness reliability chamber and be provided with described second steel wire actuator chamber, the second driving steel wire is provided with inside described second steel wire actuator chamber, described second drives the front end of steel wire to be fixed in described second steel wire actuator chamber, described second drives the rear end of steel wire through described fixed underpan and is fixed on for being wound around the second reel that described second drives steel wire, the rotating shaft of described second reel is connected with the output shaft of afterbody drive motors, and described afterbody drive motors is arranged on motor installation disc.
2. motion as claimed in claim 1 and the independent controlled soft robot of rigidity, is characterized in that: described matrix has at least two, connect between the matrix of front and back.
3. motion as claimed in claim 1 or 2 and the independent controlled soft robot of rigidity, is characterized in that: the inside and outside wall in described first stiffness reliability chamber and the second stiffness reliability chamber is provided with restricted spring.
4. motion as claimed in claim 1 or 2 and the independent controlled soft robot of rigidity, is characterized in that: the colloidal silica one of the outer periphery in described first stiffness reliability chamber encloses the tight-wire walking passage being provided with and driving steel wire to pass for described second.
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| CN201510504288.0A CN105150214A (en) | 2015-08-17 | 2015-08-17 | Soft robot with movement and rigidity independently controlled |
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| CN201510504288.0A CN105150214A (en) | 2015-08-17 | 2015-08-17 | Soft robot with movement and rigidity independently controlled |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105500380A (en) * | 2016-02-02 | 2016-04-20 | 浙江工业大学 | Serial/parallel combined parapodium soft-bodied robot |
| CN106426268A (en) * | 2016-09-28 | 2017-02-22 | 中国科学院合肥物质科学研究院 | Octopus-tentacle-simulated curved and torsional flexible joint |
| CN106493723A (en) * | 2016-12-08 | 2017-03-15 | 燕山大学 | Based on the air articulated type flexible mechanical arm that rope drives |
| 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 |
| CN106891330A (en) * | 2017-04-12 | 2017-06-27 | 天津理工大学 | The unit module of scalable soft robot |
| CN108214473A (en) * | 2018-01-28 | 2018-06-29 | 北京工业大学 | A kind of adjustable multiple degrees of freedom Grazing condition machinery arm configuration of rigidity |
| CN108356850A (en) * | 2018-03-01 | 2018-08-03 | 哈尔滨工业大学 | A kind of adjustable inflatable software mechanical arm of hardness |
| CN108621132A (en) * | 2018-04-28 | 2018-10-09 | 佛山伊贝尔科技有限公司 | A kind of soft robot of polyaramid |
| CN108638046A (en) * | 2018-05-18 | 2018-10-12 | 燕山大学 | A kind of software variation rigidity robot changing principle based on isometric(al) |
| CN110203360A (en) * | 2019-06-21 | 2019-09-06 | 青岛海洋科学与技术国家实验室发展中心 | Silk driving flexible variable swing device and submarine navigation device |
| CN111331586A (en) * | 2019-12-26 | 2020-06-26 | 北京理工大学 | Fluid-controlled logic software driver |
| CN111687867A (en) * | 2020-06-11 | 2020-09-22 | 哈尔滨工业大学 | Soft mechanical arm with active rigidity changing function |
| CN113334427A (en) * | 2021-04-09 | 2021-09-03 | 北京理工大学 | Flexible robot and preparation method thereof |
| WO2021191605A1 (en) * | 2020-03-24 | 2021-09-30 | University Of Leeds Ip Ltd | Magnetic shape-forming surgical continuum manipulator |
| CN114043460A (en) * | 2021-11-29 | 2022-02-15 | 安徽大学绿色产业创新研究院 | Antagonistic variable-rigidity driver based on variable-radius principle |
| CN114228956A (en) * | 2021-12-09 | 2022-03-25 | 浙江大学 | Underwater flexible arm and AUV underwater flexible recovery mechanism |
-
2015
- 2015-08-17 CN CN201510504288.0A patent/CN105150214A/en active Pending
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105500380A (en) * | 2016-02-02 | 2016-04-20 | 浙江工业大学 | Serial/parallel combined parapodium soft-bodied robot |
| 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 |
| CN106426268B (en) * | 2016-09-28 | 2018-12-07 | 中国科学院合肥物质科学研究院 | A kind of flexible joint of imitative octopus tentacle bending and torsion |
| CN106426268A (en) * | 2016-09-28 | 2017-02-22 | 中国科学院合肥物质科学研究院 | Octopus-tentacle-simulated curved and torsional flexible joint |
| CN106493723A (en) * | 2016-12-08 | 2017-03-15 | 燕山大学 | Based on the air articulated type flexible mechanical arm that rope drives |
| CN106493723B (en) * | 2016-12-08 | 2018-09-04 | 燕山大学 | Air articulated type flexible mechanical arm based on rope driving |
| CN106891330A (en) * | 2017-04-12 | 2017-06-27 | 天津理工大学 | The unit module of scalable soft robot |
| CN106891330B (en) * | 2017-04-12 | 2019-06-25 | 天津理工大学 | The unit module of scalable soft robot |
| CN108214473A (en) * | 2018-01-28 | 2018-06-29 | 北京工业大学 | A kind of adjustable multiple degrees of freedom Grazing condition machinery arm configuration of rigidity |
| CN108356850A (en) * | 2018-03-01 | 2018-08-03 | 哈尔滨工业大学 | A kind of adjustable inflatable software mechanical arm of hardness |
| CN108621132A (en) * | 2018-04-28 | 2018-10-09 | 佛山伊贝尔科技有限公司 | A kind of soft robot of polyaramid |
| CN108638046A (en) * | 2018-05-18 | 2018-10-12 | 燕山大学 | A kind of software variation rigidity robot changing principle based on isometric(al) |
| CN110203360A (en) * | 2019-06-21 | 2019-09-06 | 青岛海洋科学与技术国家实验室发展中心 | Silk driving flexible variable swing device and submarine navigation device |
| CN111331586A (en) * | 2019-12-26 | 2020-06-26 | 北京理工大学 | Fluid-controlled logic software driver |
| CN111331586B (en) * | 2019-12-26 | 2023-07-04 | 北京理工大学 | Fluid-controlled logic software driver |
| WO2021191605A1 (en) * | 2020-03-24 | 2021-09-30 | University Of Leeds Ip Ltd | Magnetic shape-forming surgical continuum manipulator |
| CN111687867A (en) * | 2020-06-11 | 2020-09-22 | 哈尔滨工业大学 | Soft mechanical arm with active rigidity changing function |
| CN113334427A (en) * | 2021-04-09 | 2021-09-03 | 北京理工大学 | Flexible robot and preparation method thereof |
| CN114043460A (en) * | 2021-11-29 | 2022-02-15 | 安徽大学绿色产业创新研究院 | Antagonistic variable-rigidity driver based on variable-radius principle |
| CN114228956A (en) * | 2021-12-09 | 2022-03-25 | 浙江大学 | Underwater flexible arm and AUV underwater flexible recovery mechanism |
| CN114228956B (en) * | 2021-12-09 | 2022-05-27 | 浙江大学 | Underwater flexible arm and AUV underwater flexible recovery mechanism |
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