CN106239561A - Gas control gasbag-type software mechanical arm - Google Patents
Gas control gasbag-type software mechanical arm Download PDFInfo
- Publication number
- CN106239561A CN106239561A CN201610704442.3A CN201610704442A CN106239561A CN 106239561 A CN106239561 A CN 106239561A CN 201610704442 A CN201610704442 A CN 201610704442A CN 106239561 A CN106239561 A CN 106239561A
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- China
- Prior art keywords
- mechanical arm
- silica gel
- airbag components
- gas control
- trachea
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/06—Arms flexible
Abstract
The invention provides a kind of gas control gasbag-type software mechanical arm, including software silica gel shell, airbag components, trachea, base member, air pump；The end of software silica gel shell, the end of airbag components, the end of trachea are fastenedly connected base member；Airbag components, trachea are embedded in the inside of software silica gel shell；Airbag components is inflated by trachea or bleeds by air pump.The present invention all uses soft silica gel to make in addition to driving means, it is possible to according to environmental aspect, is filled many air bags by Single-chip Controlling air pump and bleeds, makes entirety be curved contraction, during especially for medical treatment aspect, can reduce and the situation of external compression stress.
Description
Technical field
The present invention relates to medical instruments field, in particular it relates to gas control gasbag-type software mechanical arm.The present invention particularly relates to
And a kind of capture small-sized object or arrive specify position the soft robot made with silica gel.
Background technology
Invertebrates is the primitive form of animal, and its species number accounts for the 95% of the total species number of animal.Software therein moves
Thing, i.e. invertebrates Mollusca, be monoid maximum in addition to arthropod, and about 100,000 kinds, be nature living organisms
For a great inspiration of Robot Design conception, its body is soft and ameristic form, has started robot greatly
Improve pliability, point to the road of infinite degrees of freedom.Soft robot is by choosing and for micro-for its parcel material
The Appropriate application of little rigid link reaches to construct purpose that is flexible but that be easily controlled.Relative to numerous minimum rigidity
The pseudo-soft robot that link is constituted, the Flexiable robot being carried out pneumatic control by gas will be more soft, adapts to
Various special Gestures, good completes stretching and shrinks, and carries out mutual, simultaneously for currently safely and efficiently with environment
The holding aspect of attitude is accomplished stable, firm and survivable.
Summary of the invention
For defect of the prior art, it is an object of the invention to provide a kind of gas control gasbag-type software mechanical arm, its
In morphology Control and end behavior control on can accurately control and operate, can narrow or snagged in the case of can avoid hinder
Hinder, arrive and specify position perform task or capture object, it is adaptable to medical apparatus and instruments or the disaster relief.
A kind of gas control gasbag-type software mechanical arm provided according to the present invention, including software silica gel shell, airbag components, gas
Pipe, base member, air pump；
The end of software silica gel shell, the end of airbag components, the end of trachea are fastenedly connected base member；
Airbag components, trachea are embedded in the inside of software silica gel shell；
Airbag components is inflated by trachea or bleeds by air pump.
Preferably, the quantity of airbag components is a plurality of, and every airbag components all can independent inflatable or bleed.
Preferably, the quantity of airbag components is three, and these three airbag components are that equilateral triangle is arranged.
Preferably, airbag components includes the multiple sacculus being sequentially connected with, and is connected by sacculus air flue between adjacent sacculus.
Preferably, sacculus being arranged with falope ring, falope ring makes the sacculus can only be along the axial stretching of falope ring.
Preferably, falope ring is set at the maximum outside diameter of sacculus.
Preferably, the profile of software silica gel shell forms corrugated tube shape.
Preferably, airbag components is fastenedly connected on the medial wall of software silica gel shell by silica gel solid locking member.
Compared with prior art, the invention have the benefit that
The present invention can all use soft silica gel to make in addition to driving means, it is possible to according to environmental aspect, passes through single-chip microcomputer
Many air bags are filled by control air pump bleeds, and makes entirety be curved contraction, during especially for medical treatment aspect, can reduce with outer
The situation of portion's extruding stress.
Accompanying drawing explanation
By the detailed description non-limiting example made with reference to the following drawings of reading, the further feature of the present invention,
Purpose and advantage will become more apparent upon:
Fig. 1 is the overall structure skeleton diagram of apparatus of the present invention.
Fig. 2 is the enlarged drawing of 2 parts in Fig. 1.
Fig. 3 is the longitudinal section view of Fig. 1.
Fig. 4 is the flexible schematic diagram with driving mechanical brachiocylloosis of air bag.
In figure:
1-software silica gel shell；2-airbag components；3-trachea；4-base member；5-silica gel solid locking member；6-falope ring；7-
Sacculus；8-sacculus air flue.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following example will assist in the technology of this area
Personnel are further appreciated by the present invention, but limit the present invention the most in any form.It should be pointed out that, the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, it is also possible to make some changes and improvements.These broadly fall into the present invention
Protection domain.
The gas control gasbag-type software mechanical arm that the present invention provides, it can be bled by filling of its inner balloon parts 2
Change the shape of main body, it is thus possible to the obstacle easily avoided in environment specifies position to carry out associative operation to arrive.Mechanical arm
Airbag components 2 is fixed on the medial wall of mechanical arm software silica gel shell 1 by silica gel solid locking member 5, and every airbag components 2 is by 10 balls
Capsule 7 is connected to form, and all has a thicker falope ring 6 to bind round, so that airbag components 2 can only be in length side outside each sacculus 7
Upwards stretch, it is ensured that the repeatable contractility that mechanical arm is good；Adjacent sacculus 7 catch cropping ventilation treatment, as
Sacculus air flue 8, it is provided that the flexible of mechanical arm.It is arranged side by side to software silica gel enclosure is triangular in shape by air pump
Airbag components 2 is inflated or bleeds, and directly changes airbag components 2 deformation in the longitudinal direction, even if airbag components 2 is carried out
Longitudinal extension, and then indirectly change the curved shape of software mechanical arm, to adapt to environment.By to three balloon portion arranged side by side
Part 2 is made different inflations of taking out and is processed, and whole software mechanical arm can be made to reach required bending direction and degree of crook.
Further, the corrugated tube that software silica gel shell is made up of soft silica gel, making whole mechanical arm is soft material,
And certain shape can be kept during bending without rebounding, and enough flexible sky can be provided to air bag
Between, meet overall motility.Described cell parts has two joints, each joint to have three air bag placements arranged side by side triangular in shape, often
One end of root air bag is fixed on housing interior side-wall, and the other end connects trachea, and inflation of bleeding can make air bag shorten or elongation.Institute
The balloon portion stated, between sacculus, connecting place has made ventilation treatment, and between sacculus, contact area is less, and air bag can be made vertical overall
Flexible is ensure that on the premise of flexible.Described balloon portion side all has the falope ring of suitable rugosity to carry out horizontal chi
Fixing of degree, it is ensured that the entirety of air bag can only longitudinal extension.Described air pump device is fixed in mechanical arm outside platform, connects
Trachea, to air bag, can control the inflation/deflation of air bag at any time.The silica gel block connection of described air bag and shell ensure that this
Repeatability that mechanical arm is flexible and controllability.
More specifically, the present embodiment offer is a kind of can be with the gas control gasbag-type software mechanical arm of obstacle changes shape.As
Shown in Fig. 1, including: software silica gel shell 1, it is equivalent to the main part of software mechanical arm；Airbag components 2, it is whole machine
The core component of mechanical arm deformation, fixes on the sidewall in the enclosure of its two ends with silica gel；Trachea parts 3, it provides gas for air bag
Passage；Base member 4, supports and fixes whole mechanical arm.
Airbag components 2, is to be formed by the perfusion of autogamy silica gel, is inflated by trachea 3 and air pump (not shown) or is bled,
In airbag components 2, all there is a falope ring 6 each sacculus 7 side, is used for limiting the telescopic direction of sacculus 7, i.e. only at balloon portion
Stretch on the direction vertical with falope ring of part 2, the elongation of airbag components 2 entirety can be realized by this control mode
And shortening.Airbag components 2 and software silica gel shell 1 are by the head of airbag components 2 and afterbody are passed through bulk silica gel with soft
Body silica gel shell 1 medial wall adhesion is attached and fixes.Three arranged side by side airbag components 2 in software silica gel shell 1 in etc.
Limit Triangle-Profile, every airbag components 2 is controlled by different air pumps respectively, so can stretching by airbag components 2
Drive the flexible of whole mechanical arm and bending.Additionally the design of the catch cropping of sacculus 7 ventilation, gets through work between adjacent sacculus 7
For sacculus air flue 8, so can ensure that airbag components 2 air pressure inside communicates controlled, again can be in the situation of mechanical arm bending
Under can follow and slightly bend, in order to avoid inside extrudes mutually conflict.
When running into the situation needing to avoid obstacle, by trachea 3 to two the front end gas relative with expectation direct of travel
Capsule parts 2 are inflated, and two airbag components being inflated extend because of sacculus 7 longitudinal dilatation, but inflated same layer
Another airbag components then do not changed current elongation, then the software silica gel shell 1 of mechanical arm because of not inflating
To inflated air bag one side bending, show as changing current direct of travel incision expectation direct of travel, it is achieved avoid obstacle
Thing.If barrier size is big compared with mechanical arm, then then need in mechanical arm front end with barrier change of shape cut-through
After thing, three piece air bags post-brachial to machinery realize similar operation.
Trachea 3 is scheduled on software silica gel shell 1 and base member 4 by silica gel solid also with airbag components 2.
In order to the most do not affect position and the form of obstructing objects, the gas control gasbag-type software machine that the present invention provides
The body that mechanical arm has because of its unique shell mechanism software silica gel shell and control mode gas control can deformation behavior, body deformation can
Control property, body deformation promptness and kinematic dexterity, it is possible to effectively and with obstacle changes shape thus effectively realize in time
Reduce the impact of position on obstacle own while hiding obstacle as far as possible or produce compressional deformation.
Below, in conjunction with above-mentioned robot arm device, its attainable function is illustrated.
A kind of function that the present embodiment provides is to arrive to specify position.If specify position mechanical arm head just before
End, can be by carrying out the inflation of same degree to front and back end two-layer airbag components 2 by trachea 3, and sacculus 7 longitudinal dilatation makes soft
Body silica gel shell 1 extends thus the head of mechanical arm can arrive appointment position.If appointment position is in the side of mechanical arm, then
Needing by being inflated the 2 of mechanical arm front end airbag components 2 by trachea parts 3, another root air bag keeps certain journey
Degree is bled, so that two inflated airbag longitudinal dilatations, it is possible to the direction towards another root air bag bends, thus arrives
Reach appointment position.Air bag is flexible with driving mechanical brachiocylloosis as shown in Figure 4.
The another kind of function that the present embodiment provides is to realize more extension merit by the parts of increase mechanical arm leading head
Energy.The function provided according to embodiment arrives specifies position.Some parts can be added as required at mechanical arm leading head
Afterwards to specifying position to realize specific operation.As add in mechanical arm front end photographic head can arrive appointment position examine this position
Real-time condition；Plus thermometal can be added, appointed part is carried out burn off operation etc..
Above the specific embodiment of the present invention is described.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make a variety of changes within the scope of the claims or revise, this not shadow
Ring the flesh and blood of the present invention.In the case of not conflicting, the feature in embodiments herein and embodiment can any phase
Combination mutually.
Claims (8)
1. a gas control gasbag-type software mechanical arm, it is characterised in that include software silica gel shell, airbag components, trachea, base
Parts, air pump；
The end of software silica gel shell, the end of airbag components, the end of trachea are fastenedly connected base member；
Airbag components, trachea are embedded in the inside of software silica gel shell；
Airbag components is inflated by trachea or bleeds by air pump.
Gas control gasbag-type software mechanical arm the most according to claim 1, it is characterised in that the quantity of airbag components is many
Bar, every airbag components all can independent inflatable or bleed.
Gas control gasbag-type software mechanical arm the most according to claim 2, it is characterised in that the quantity of airbag components is three
Bar, these three airbag components are that equilateral triangle is arranged.
Gas control gasbag-type software mechanical arm the most according to claim 1, it is characterised in that airbag components includes being sequentially connected with
Multiple sacculus, connected by sacculus air flue between adjacent sacculus.
Gas control gasbag-type software mechanical arm the most according to claim 1, it is characterised in that be arranged with falope ring on sacculus,
Falope ring makes the sacculus can only be along the axial stretching of falope ring.
Gas control gasbag-type software mechanical arm the most according to claim 5, it is characterised in that falope ring is set in sacculus
Big outer radius.
Gas control gasbag-type software mechanical arm the most according to claim 1, it is characterised in that the profile shape of software silica gel shell
Corrugated tubulose.
Gas control gasbag-type software mechanical arm the most according to claim 1, it is characterised in that airbag components is fixed by silica gel
Part is fastenedly connected on the medial wall of software silica gel shell.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610704442.3A CN106239561A (en) | 2016-08-22 | 2016-08-22 | Gas control gasbag-type software mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610704442.3A CN106239561A (en) | 2016-08-22 | 2016-08-22 | Gas control gasbag-type software mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106239561A true CN106239561A (en) | 2016-12-21 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610704442.3A Pending CN106239561A (en) | 2016-08-22 | 2016-08-22 | Gas control gasbag-type software mechanical arm |
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| CN107139199A (en) * | 2017-05-17 | 2017-09-08 | 浙江工业大学 | A kind of small flexible aspirated-air type gripper equipment |
| CN107280718A (en) * | 2017-07-27 | 2017-10-24 | 天津大学 | A kind of folding exhibition variation rigidity apparatus arm and its application process performed the operation for natural cavity |
| CN107334248A (en) * | 2017-09-05 | 2017-11-10 | 新昌县泽宇智能科技有限公司 | Nursing hair washing robot |
| CN107717998A (en) * | 2017-08-23 | 2018-02-23 | 江苏大学 | A kind of pneumatic software rolling robot |
| CN108050418A (en) * | 2018-02-07 | 2018-05-18 | 庞润芳 | Intelligent inflatable desk lamp |
| CN108044613A (en) * | 2017-11-29 | 2018-05-18 | 上海交通大学 | Flexible pneumatic unit is connected mechanical arm with multiple-unit |
| CN108263504A (en) * | 2018-03-21 | 2018-07-10 | 刘海成 | A kind of Pneumatic bionic software climbing robot |
| CN108297132A (en) * | 2018-02-28 | 2018-07-20 | 绵阳旭飞科技有限公司 | A kind of hard and soft switching holder for capableing of free plasticity |
| CN108326833A (en) * | 2018-04-13 | 2018-07-27 | 福州大学 | Super redundancy flexible mechanical arm and its application method |
| CN108422418A (en) * | 2018-05-18 | 2018-08-21 | 燕山大学 | A kind of variation rigidity gasbag-type omnidirectional is bent flexible robot |
| CN108621148A (en) * | 2018-05-07 | 2018-10-09 | 中国人民解放军国防科技大学 | Modularized pneumatic control type flexible mechanical arm |
| CN108773011A (en) * | 2018-06-15 | 2018-11-09 | 无锡市精捷机器人科技有限公司 | A kind of electric bicycle saddle seat automatic production line |
| CN108818523A (en) * | 2018-06-25 | 2018-11-16 | 江苏大学 | A kind of multi-arm soft robot |
| CN108943010A (en) * | 2018-06-29 | 2018-12-07 | 中国人民解放军国防科技大学 | Pneumatic control type rigid-flexible coupling modular soft mechanical arm |
| CN109249382A (en) * | 2018-09-27 | 2019-01-22 | 上海交通大学 | Large span variation rigidity driving unit |
| CN109732587A (en) * | 2019-01-18 | 2019-05-10 | 哈尔滨工业大学 | A kind of pneumatic transport robot |
| CN109769662A (en) * | 2019-03-06 | 2019-05-21 | 北京农学院 | A kind of irrigation multiple degrees of freedom flexible pipe structure |
| CN109805614A (en) * | 2019-03-26 | 2019-05-28 | 桂林医学院附属医院 | A kind of assisting in feeding support device |
| CN110142783A (en) * | 2019-06-18 | 2019-08-20 | 北京大学口腔医学院 | For coelenteron, pipeline or the hollow type air bag creepage robot for climbing wall |
| CN110270987A (en) * | 2019-06-26 | 2019-09-24 | 清华大学深圳研究生院 | Gas drive moves software climbing robot and its manufacture and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107139199A (en) * | 2017-05-17 | 2017-09-08 | 浙江工业大学 | A kind of small flexible aspirated-air type gripper equipment |
| CN107280718A (en) * | 2017-07-27 | 2017-10-24 | 天津大学 | A kind of folding exhibition variation rigidity apparatus arm and its application process performed the operation for natural cavity |
| CN107717998A (en) * | 2017-08-23 | 2018-02-23 | 江苏大学 | A kind of pneumatic software rolling robot |
| CN107334248A (en) * | 2017-09-05 | 2017-11-10 | 新昌县泽宇智能科技有限公司 | Nursing hair washing robot |
| CN107334248B (en) * | 2017-09-05 | 2023-08-15 | 杭州迅秀丽智能科技有限公司 | Nursing hair washing robot |
| CN108044613A (en) * | 2017-11-29 | 2018-05-18 | 上海交通大学 | Flexible pneumatic unit is connected mechanical arm with multiple-unit |
| CN108050418A (en) * | 2018-02-07 | 2018-05-18 | 庞润芳 | Intelligent inflatable desk lamp |
| CN108050418B (en) * | 2018-02-07 | 2020-06-16 | 宁波远志立方能源科技有限公司 | Intelligent inflatable table lamp |
| CN108297132A (en) * | 2018-02-28 | 2018-07-20 | 绵阳旭飞科技有限公司 | A kind of hard and soft switching holder for capableing of free plasticity |
| CN108263504A (en) * | 2018-03-21 | 2018-07-10 | 刘海成 | A kind of Pneumatic bionic software climbing robot |
| CN108326833A (en) * | 2018-04-13 | 2018-07-27 | 福州大学 | Super redundancy flexible mechanical arm and its application method |
| CN108326833B (en) * | 2018-04-13 | 2023-04-18 | 福州大学 | Super-redundant flexible mechanical arm and use method thereof |
| CN110435782A (en) * | 2018-05-03 | 2019-11-12 | 西南科技大学 | A kind of wriggling software bio-robot of list elastomeric bladder control |
| CN108621148A (en) * | 2018-05-07 | 2018-10-09 | 中国人民解放军国防科技大学 | Modularized pneumatic control type flexible mechanical arm |
| CN108422418A (en) * | 2018-05-18 | 2018-08-21 | 燕山大学 | A kind of variation rigidity gasbag-type omnidirectional is bent flexible robot |
| CN108422418B (en) * | 2018-05-18 | 2021-09-14 | 燕山大学 | Variable-rigidity air bag type omnidirectional bending flexible robot |
| CN108773011A (en) * | 2018-06-15 | 2018-11-09 | 无锡市精捷机器人科技有限公司 | A kind of electric bicycle saddle seat automatic production line |
| CN108818523A (en) * | 2018-06-25 | 2018-11-16 | 江苏大学 | A kind of multi-arm soft robot |
| CN108818523B (en) * | 2018-06-25 | 2021-09-10 | 江苏大学 | Multi-arm soft robot |
| CN108943010B (en) * | 2018-06-29 | 2020-12-25 | 中国人民解放军国防科技大学 | Pneumatic control type rigid-flexible coupling modular soft mechanical arm |
| CN108943010A (en) * | 2018-06-29 | 2018-12-07 | 中国人民解放军国防科技大学 | Pneumatic control type rigid-flexible coupling modular soft mechanical arm |
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