CN107498538B - Novel self-deformation modular soft robot with high adaptability - Google Patents
Novel self-deformation modular soft robot with high adaptability Download PDFInfo
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- CN107498538B CN107498538B CN201710742703.5A CN201710742703A CN107498538B CN 107498538 B CN107498538 B CN 107498538B CN 201710742703 A CN201710742703 A CN 201710742703A CN 107498538 B CN107498538 B CN 107498538B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
A high-adaptability novel self-deformation modular soft robot relates to a robot, and aims to solve the problems that an existing rigid modular robot is difficult to deform due to high rigidity and poor in adaptability, and the existing soft robot is complex in cavity and single in function, or needs to be manually disconnected and reconfigured due to the fact that the existing rigid modular robot is large in rigidity, the existing rigid modular robot comprises an elastic deformation body and two connecting pieces, the two connecting pieces are respectively arranged at two opposite ends of the elastic deformation body, and each connecting piece comprises a shell cover, a shell, a spherical magnet, an elastic fixing body, an elastic connecting piece and an air pipe connecting piece; the spherical magnet is arranged in the inner cavity of the shell, the shell cover, the shell and the elastic fixing body are embedded into the inner cavity of the elastic connecting piece, the elastic fixing body is fixedly connected with the elastic connecting piece, the elastic fixing body and the elastic connecting piece are provided with vent pipes communicated with the inner cavity of the shell, and the elastic deformation body is fixedly connected with the elastic connecting piece. The invention is used for manufacturing the soft robot.
Description
Technical Field
The invention relates to a robot, in particular to a novel self-deformation modular soft robot with high adaptability.
Background
The robot is widely applied to the fields of military affairs, industry, scientific exploration, disaster relief and the like. Conventional robots are generally constructed from rigid modules connected by kinematic pairs, each kinematic pair providing one or more translational or rotational degrees of freedom. The robot has the advantage of accurate movement, but the rigidity of the structure makes the environment adaptability worse, the movement in a narrow space is limited, and the robot cannot pass through a channel with the dimension smaller than that of the robot or the shape complicated, and the defects restrict the application of the rigid robot in certain fields, such as military reconnaissance, wherein the reconnaissance robot is expected to drill through small-sized and complicated-shaped channels such as wall seams, door seams and the like due to the hidden consideration; in mine disaster and earthquake disaster rescue, the robot is required to be capable of going deep into the ruins for detection; when the robot is scientifically detected, the robot is often required to enter a space with a narrow opening and the like. In recent years, researchers have proposed a soft robot with mollusks as a prototype, which is a new type of bionic continuous robot, wherein the soft robot simulates mollusks in nature, is mostly made of soft materials capable of bearing large strain, and has infinite multi-degree of freedom, continuous deformation capability and low resistance to pressure. However, some existing software robots are complex in cavity, but are single in function, characteristics of modular software are not sufficient, most of the modular software is reconfigurable, modules need to be disconnected manually, and operation is complex.
Disclosure of Invention
The invention aims to solve the problems that the existing rigid modular robot has high rigidity, causes difficult self deformation and poor adaptability, and the existing soft robot has complex cavities but single function or needs manual disconnection of modules to realize reconfigurability, thereby providing a novel self-deformation modular soft robot with high adaptability.
The invention relates to a novel high-adaptability self-deformation modular soft robot, which comprises an elastic deformation body and two connecting pieces, wherein the two connecting pieces are respectively arranged at two opposite ends of the elastic deformation body; one end of the shell is closed through a shell cover, a spherical magnet is arranged in the inner cavity of the shell, an elastic fixing body which is connected with the shell into a whole is arranged at the other end of the shell, the shell cover, the shell and the elastic fixing body are embedded into the inner cavity of the elastic connecting piece, the elastic fixing body is fixedly connected with the elastic connecting piece, vent pipes communicated with the inner cavity of the shell are arranged on the elastic fixing body and the elastic connecting piece, and vent holes communicated with the inner cavity of the elastic connecting piece are arranged;
the elastic deformation body is fixedly connected with the elastic connecting piece, three driving inner cavities extending towards the elastic connecting piece are arranged in the elastic deformation body, the three driving inner cavities are uniformly distributed along the same circumference, and the three driving inner cavities are respectively provided with an external air pipe.
Compared with the prior art, the invention has the beneficial effects that: the high-adaptability novel self-deformation modular software robot is characterized in that the robot is designed into a plurality of modules, each module has an independent and complete function, and the modules can be organically combined according to the working requirement, so that the functions of the software robot are improved. The elastic fixing body, the elastic connecting piece and the elastic deformation body have elasticity, can bear great extrusion force, are easy to deform automatically, have strong adaptability and safer industrial operation, and the modules adopt uniform configurations, so that multi-module connection can be realized; the module adopts pneumatics, can realize configuration change independently, directly control pneumatics, realize automatic disconnection and thus change the configuration, finish the movement ability after deforming at the same time; robots with different configurations can form richer configurations through butt joint, have good flexibility and various bionic motion modes, and can complete complex tasks; compared with other software robots, some robots have complex cavities and single function, so that the characteristic of the modularized software is highlighted.
The elastic deformation body is provided with three driving air cavities with central lines of 120 degrees, and can form omnidirectional torsional motion. Compared with the super-redundancy robot made of hard materials, the robot has small resistance to pressure, and can be compatible with obstacles in a flexible deformation mode, so that the contact force can be greatly reduced, and the soft robot can carry soft or fragile objects.
The invention drives the robot in different forms and realizes movement through pneumatic driving and active deformation, and the active deformation and the passive deformation are combined, so that the robot can extrude through a gap with a size smaller than the normal size of the robot and enter a space which can not be entered by the traditional robot.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic cross-sectional view of an elastomer of the present invention;
FIG. 3 is a schematic view of a connector structure;
FIG. 4 is a schematic cross-sectional view of FIG. 3;
FIG. 5 is a schematic view showing a coupling structure of a housing cover, a housing, a spherical magnet and an elastic fixing body;
fig. 6 is a schematic sectional structure view of fig. 5.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
With reference to fig. 1-6, a novel self-deformation modular soft robot with high adaptability comprises an elastic deformation body 6 and two connecting pieces, wherein the two connecting pieces are respectively arranged at two opposite ends of the elastic deformation body 6, and each connecting piece comprises a shell cover 1, a shell 2, a spherical magnet 3, an elastic fixing body 5, an elastic connecting piece 7 and an air pipe 8; one end of the shell 2 is sealed by the shell cover 1, the inner cavity of the shell 2 is provided with the spherical magnet 3, the other end of the shell 2 is provided with the elastic fixing body 5 which is connected with the shell 2 into a whole, the shell cover 1, the shell 2 and the elastic fixing body 5 are embedded into the inner cavity of the elastic connecting piece 7, the elastic fixing body 5 is fixedly connected with the elastic connecting piece 7, the elastic fixing body 5 and the elastic connecting piece 7 are provided with vent pipes 8 communicated with the inner cavity of the shell 2, and the shell 2 is provided with vent holes 4 communicated with the inner cavity of the elastic;
the elastic deformation body 6 is fixedly connected with the elastic connecting piece 7, three driving inner cavities 9 extending towards the elastic connecting piece 7 are arranged in the elastic deformation body 6, the three driving inner cavities 9 are uniformly distributed along the same circumference, and the three driving inner cavities 9 are respectively provided with an external air pipe 10. The shell cover 1 is fixed on the surface of the adhesive shell 2, the spherical magnet 3 is placed in the shell 2 without being fixed, the centering connection between the two modules is realized by means of the magnetic advantage of the spherical magnet 3 through rotation in the shell 2, and the spherical magnet 3 can be replaced by a magnet. When gas is injected through the vent pipe 8, the surface of the elastic connecting piece 7 expands, but the whole bottom surface of the elastic connecting piece 7 is fixedly connected with the elastic fixing body 5, so that the movement is not generated.
The elastic fixing body 5 is made of silicon rubber or super-elastic silicon rubber composite material. The elastic connecting member 7 is made of silicone rubber or a super-elastic silicone rubber composite material. The elastic deformation body 6 is made of silicone rubber or a super-elastic silicone rubber composite material. So set up, the material is soft, convenient to use. The three driving inner cavities 9 are uniformly distributed at 120 degrees along the same circumference.
Referring to fig. 2, 3, 5 and 6, the housing 2 is cylindrical and the elastic connection member 7 has a rectangular parallelepiped shape. The elastic connecting piece 7 is provided with an integral cavity, as shown in fig. 3 and 4, a cuboid is provided with six surfaces, only five surfaces of the upper surface, the front surface, the rear surface, the left side surface and the right side surface expand when being inflated, the bottom surface is fixedly connected with the elastic fixing body 5 made of silica gel and can not expand, so that when the elastic connecting piece 7 needs to be disconnected with other modules, the elastic connecting piece 7 is inflated and expanded, and then the elastic deformation body 6 is utilized to inflate and bend, thereby realizing the disconnection and connection of the directional modules.
Referring to fig. 1 and 2, the elastic deformation body 6 is cylindrical, and two ends of the elastic deformation body 6 are respectively fixedly connected with the elastic connecting pieces 7. So set up, it is convenient to use.
When air pressure is introduced into any single driving inner cavity 9, the elastic deformation body 6 is in a one-way bending state. The two or three driving inner cavities 9 are filled with air pressure, and when the air pressure of each driving inner cavity 9 is different, the elastic deformation body 6 is in a torsional state. When two or three driving inner cavities work in a matched mode, the module generates torsion moment on any cross section due to the difference of air pressure of the two or three driving inner cavities, so that the module is driven to deviate from a unidirectional bending direction, the module can be driven to reach any position of a motion space by controlling the air pressure difference between the cavities, and omnidirectional bending and torsion are achieved. The three driving inner cavities 9 are filled with air pressure, and the elastic bodies are in an extension state when the air pressure of each driving inner cavity is the same.
The air pipe 8 is externally connected with an air pump, and the driving air pressure of the air pump is 0-50 KPa; the external air pipe 10 is externally connected with a driving air pump, and the driving air pressure of the driving air pump is 0-50 KPa. So set up, satisfy actual need.
The working principle is as follows: the robot with various configurations such as snake shape, four feet, six feet, closed loop and the like can be formed by different combinations among the modules. The module can independently complete the configuration change of the robot through reliable pneumatic driving to form various configuration robots, and simultaneously, the pneumatic driving robot can complete different motion modes. The module adopts the homogeneous configuration, and a plurality of robots can also form richer configuration through the butt joint to accomplish complicated task.
The present invention is not limited to the above embodiments, and any person skilled in the art can make many modifications and equivalent variations by using the above-described structures and technical contents without departing from the scope of the present invention.
Claims (10)
1. The utility model provides a novel from warping modularization software robot of high adaptability which characterized in that: the magnetic suspension device comprises an elastic deformation body (6) and two connecting pieces, wherein the two connecting pieces are respectively arranged at two opposite ends of the elastic deformation body (6), and each connecting piece comprises a shell cover (1), a shell (2), a spherical magnet (3), an elastic fixing body (5), an elastic connecting piece (7) and an air pipe connecting piece (8); one end of the shell (2) is sealed through the shell cover (1), a spherical magnet (3) is arranged in the inner cavity of the shell (2), an elastic fixing body (5) which is connected with the shell (2) into a whole is arranged at the other end of the shell (2), the shell cover (1), the shell (2) and the elastic fixing body (5) are embedded in the inner cavity of the elastic connecting piece (7), the elastic fixing body (5) is fixedly connected with the elastic connecting piece (7), a vent pipe (8) communicated with the inner cavity of the shell (2) is arranged on the elastic fixing body (5) and the elastic connecting piece (7), and a vent hole (4) communicated with the inner cavity of the elastic connecting piece (7) is arranged on the; the elastic deformation body (6) is fixedly connected with the elastic connecting piece (7), three driving inner cavities (9) extending towards the elastic connecting piece (7) are arranged in the elastic deformation body (6), the three driving inner cavities (9) are uniformly distributed along the same circumference, and an external air pipe (10) is arranged on each of the three driving inner cavities (9);
three drive inner chambers (9) are arranged along the same circumference in a 120-degree uniform distribution mode, when adjacent robots are in butt joint, the spherical magnet (3) is used for rotating in the shell (2) to achieve centering connection, when the adjacent robots are disconnected, the elastic connecting piece (7) is inflated and expanded, and then the elastic body (6) is inflated and bent to achieve disconnection.
2. The high-adaptability novel self-deformation modular soft robot as claimed in claim 1, wherein: the elastic fixing body (5) is made of silicon rubber or super-elastic silicon rubber composite material.
3. The high-adaptability novel self-deformation modular soft robot as claimed in claim 2, wherein: the elastic connecting piece (7) is made of silicon rubber or super-elastic silicon rubber composite material.
4. The high-adaptability novel self-deformation modular soft robot as claimed in claim 3, wherein: the elastic deformation body (6) is made of silicon rubber or super-elastic silicon rubber composite material.
5. The high-adaptability novel self-deformation modular soft robot as claimed in claim 4, wherein: the shell (2) is cylindrical, and the elastic connecting piece (7) is cuboid.
6. The high-adaptability novel self-deformation modular soft robot as claimed in claim 5, wherein: the elastic deformation body (6) is cylindrical, and two ends of the elastic deformation body (6) are fixedly connected with the elastic connecting piece (7) respectively.
7. The high-adaptability novel self-deformation modular soft robot as claimed in claim 6, wherein: when air pressure is introduced into any single driving inner cavity (9), the elastic deformation body (6) is in a one-way bending state.
8. The high-adaptability novel self-deformation modular soft robot as claimed in claim 7, wherein: the two or three driving inner cavities (9) are filled with air pressure, and when the air pressure of each driving inner cavity (9) is different, the elastic deformation body (6) is in a torsional state.
9. The high-adaptability novel self-deformation modular soft robot as claimed in claim 6, wherein: the three driving inner cavities (9) are filled with air pressure, and the elastic deformation body (6) is in an extension state when the air pressure of each driving inner cavity is the same.
10. The high-adaptability novel self-deformation modular soft robot as claimed in claim 9, wherein: the air pipe (8) is externally connected with an air pump, and the driving air pressure of the air pump is 0-50 KPa; the external air pipe (10) is externally connected with a driving air pump, and the driving air pressure of the driving air pump is 0-50 KPa.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108608420B (en) * | 2018-03-20 | 2021-06-11 | 南京理工大学 | Pneumatic soft robot with longitudinal muscle structure |
| CN108891496B (en) * | 2018-06-19 | 2021-03-30 | 哈尔滨工程大学 | Pneumatic earthworm-imitating soft robot |
| CN109262591B (en) * | 2018-10-19 | 2021-07-27 | 哈尔滨工业大学 | Software module robot with self-reconfiguration function |
| CN109552581B (en) * | 2019-01-28 | 2023-12-19 | 大连交通大学 | Underwater bionic multi-sea squirt combined soft robot |
| 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 |
| CN110216712A (en) * | 2019-06-20 | 2019-09-10 | 广东工业大学 | A kind of imitative looper software climbing robot of pneumatic suction formula |
| CN110712198B (en) * | 2019-09-16 | 2020-11-24 | 杭州电子科技大学 | Pre-charging type soft mechanical arm and driving method thereof |
| CN113601494B (en) * | 2021-08-27 | 2023-09-19 | 哈尔滨理工大学 | Composite hardness soft robot module unit |
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| FR2962839B1 (en) * | 2010-07-13 | 2015-06-05 | Thales Sa | HEXAPODE ACTUATOR DEVICE. |
| CN202910862U (en) * | 2012-11-02 | 2013-05-01 | 北京化工大学 | Software robot |
| CN105538338A (en) * | 2016-02-05 | 2016-05-04 | 东南大学 | Bionic spine mechanism applied to quadruped robot and robot |
| CN106965868B (en) * | 2017-01-23 | 2018-11-02 | 南京邮电大学 | A kind of pneumatic software climbing level robot |
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| CN104440918A (en) * | 2014-08-18 | 2015-03-25 | 浙江工业大学 | Active stiffness-variable long-arm type bionic soft robot |
| CN104552330A (en) * | 2014-12-26 | 2015-04-29 | 清华大学 | Robot joint torque limiting device |
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