CN107717998A - A kind of pneumatic software rolling robot - Google Patents
A kind of pneumatic software rolling robot Download PDFInfo
- Publication number
- CN107717998A CN107717998A CN201710728238.XA CN201710728238A CN107717998A CN 107717998 A CN107717998 A CN 107717998A CN 201710728238 A CN201710728238 A CN 201710728238A CN 107717998 A CN107717998 A CN 107717998A
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- Prior art keywords
- air bag
- supporting plate
- actuator
- pneumatic
- rolling robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Actuator (AREA)
- Manipulator (AREA)
Abstract
The invention provides a kind of pneumatic software rolling robot, motion matrix, actuator, pneumatic system and signal system；The motion matrix is cylinder；The cavity inside at least installs 2 actuators；The cross section of the actuator is vertical with the motion matrix center line；The actuator includes supporting plate, protection air bag, driving air bag and fixing band；Some gripper shoe groups are provided with protection air bag between adjacent two lugs, the protection air bag is symmetrically distributed in the inner side and outer side of supporting plate into the actuator profile that cross section is regular polygon；Some driving air bags are arranged between the two neighboring protection air bag on the inside of supporting plate, and the protection gasbag outer surface on the outside of the supporting plate is provided with position sensor；The pneumatic system includes vacuum generator, air pump and some electric T-shaped valves.The present invention can utilize the characteristic of soft material, solve the problems, such as that common soft robot can not quickly turn around by using driving air bag combination collocation inflation/deflation.
Description
Technical field
The present invention relates to software rolling robot field, more particularly to a kind of pneumatic software rolling robot.
Background technology
With human lives, the continuous development of science and technology, robot is widely used to the every field of society, especially
It is that robot provides great convenience for the mankind in the extreme and dangerous engineering-environment that the mankind should not set foot in, traditional machine
The research of device people has had extensive accumulation and application based on rigid structure, in numerous areas such as industry, medical treatment and military affairs,
But its is complicated, flexibility ratio is limited, security and adaptability are poor, in some special applications, such as complicated frangible object
Grasping, man-machine interaction and narrow space operation etc. have greatly challenge.
Nature biotechnology supple body, excellent flexibility and powerful environmental suitability provide for machine man-based development
New approaches, soft robot are the continuities of bio-robot research, the mollusk in natural imitation circle, have it is unlimited it is more from
By degree and continuous modification ability, it can arbitrarily change own form and size interior on a large scale.Due to its outstanding flexibility and fit
Ying Xing, it is with a wide range of applications in fields such as military affairs, detection, medical treatment.
China Patent Publication No. is that the A of CN 102922528 are disclosed " a kind of soft robot ", and the mechanism is by matrix, micro-
Divide magnetic rigid element or differential magnetic polymer composite, control power supply and control circuit composition.The soft robot
Compliant motion produces magnetic by differential magnetic rigid element or differential magnetic polymer composite after being initially powered up, so as to
Mutual exclusion at the same level promotes software matrix to open, and is disappeared after a loss of power by magnetic so as to which matrix is opened to realize, and passes through regulation
Control circuit carrys out control machine people and moves speed and turning.The robot realizes the effect of turning by adjusting control circuit
It is unsatisfactory, and setback can not be directly realized by, this greatly reduces the practicality of the robot, the gas used herein
Driving make it that the movement effects of soft robot are more prominent, and effect of preferably turning can be realized by the collocation campaign of actuator
Fruit, and the order filled, deflated by adjusting air bag, it may be such that it can realize setback in the case where not turning around, this pole
The earth reduces the use limitation of the soft robot.
The content of the invention
For Shortcomings in the prior art, the invention provides a kind of pneumatic software rolling robot, it is rationally utilized
Soft material is easy to the characteristic of large deformation, and by rationally using driving the air bag combination collocation inflation/deflation to solve common software machine
The problem of device people can not quickly turn around.
The present invention is to realize above-mentioned technical purpose by following technological means.
A kind of pneumatic software rolling robot, motion matrix, actuator, pneumatic system and signal system；The motion base
Body is cylinder, and the center line of the motion matrix is provided with cavity, the interior filled rubber material in addition to cavity of motion matrix；
The cavity inside at least installs 2 actuators；The cross section of the actuator is vertical with the motion matrix center line；It is described
Actuator includes supporting plate, protection air bag, driving air bag and fixing band；Some gripper shoe groups into cross section be regular polygon
Actuator profile, at the end points of the supporting plate and midpoint is provided with lug, and on the outside of regular polygon profile；Adjacent
Protection air bag is provided between two lugs, the protection air bag is symmetrically distributed in the inner side and outer side of supporting plate；Some institutes
State driving air bag to be arranged between the two neighboring protection air bag on the inside of supporting plate, fluted on the lug, the driving gas
Capsule is bundled on groove by fixing band；Protection gasbag outer surface on the outside of the supporting plate is provided with position sensor, for surveying
Amount protection air bag straight-line displacement and angular displacement；The pneumatic system includes vacuum generator, air pump and some electric T-shaped valves, drives
Take offence and capsule and protect air bag to be connected respectively by the outlet of pipeline and electric T-shaped valve, two of some electric T-shaped valves enter
Mouth is connected by pipeline with vacuum generator and air pump respectively；The signal system and vacuum generator, air pump, some electronic three
Port valve connects with position sensor；The pneumatic system and signal system are respectively mounted in cavity.
Further, packing material is silicon rubber in addition to cavity in the motion matrix.
Further, the maximum height in the cross section of the actuator is at least support plate thickness 10 times.
Further, the gripper shoe groups into regular polygon be even-numbered polygons,
Further, even-numbered polygons are square or regular hexagon.
Further, the motion outer surface of matrix bulk lines and pit.
Further, the supporting plate is epoxy resin composite material, and the modulus of elasticity of the supporting plate is 3 × 103MPa~
4.5×103MPa。
Further, the lug material is boron carbide, and the face rigidity of the lug is not less than 8MPa.
The beneficial effects of the present invention are：
1. pneumatic software rolling robot of the present invention, can be according to the shape and group for being actually needed adjustment actuator
Number, so as to change the size of soft robot, meets the application of more scenes.
2. pneumatic software rolling robot of the present invention, before rationally being realized using the combination collocation of actuator
The counter motion entered, turn and quickly turned around.
3. pneumatic software rolling robot of the present invention, outside is mainly transported in cylinder using rolling mode
It is dynamic, improve sport efficiency.
Brief description of the drawings
Fig. 1 is pneumatic software rolling robot appearance schematic diagram of the present invention.
Fig. 2 is actuator structure figure of the present invention.
Fig. 3 is actuator installation site figure of the present invention.
Fig. 4 is driving air bag scheme of installation of the present invention.
Fig. 5 is protection air bag scheme of installation of the present invention.
Fig. 6 is pneumatic system of the present invention and signal system schematic diagram.
Fig. 7 is motion matrix the first deformed initial state schematic diagram of the present invention.
Fig. 8 deforms end-state schematic diagram for motion matrix first of the present invention.
Fig. 9 moves matrix end-state schematic diagram under gravity to be of the present invention.
Figure 10 is motion matrix the second deformed initial state schematic diagram of the present invention.
Figure 11 deforms end-state schematic diagram for motion matrix second of the present invention.
In figure：
1- moves matrix；2- actuators；3- lugs；4- protects air bag；5- drives air bag；6- supporting plates；7- fixing bands；8-
Air pump；9- signal systems；10- vacuum generators；11- position sensors；12- electric T-shaped valves.
Embodiment
Below in conjunction with the accompanying drawings and specific embodiment the present invention is further illustrated, but protection scope of the present invention is simultaneously
Not limited to this.
As shown in Fig. 1, Fig. 2 and Fig. 3, a kind of pneumatic software rolling robot, motion matrix 1, actuator 2, pneumatic system
With signal system 9；The motion matrix 1 is cylinder, and the center line of the motion matrix 1 is provided with cavity, the motion base
The interior filled rubber material in addition to cavity of body 1；Packing material is silicon rubber in addition to cavity in the motion matrix 1.In the cavity
Portion is at least installed by 2 actuators 2；The cross section of the actuator 2 and the motion central axis of matrix 1；The actuator 2
Including supporting plate 6, protection air bag 4, driving air bag 5 and fixing band 7；It is regular polygon that some supporting plates 6, which form cross section,
The profile of actuator 2, the regular polygon that the supporting plate 6 forms is even-numbered polygons, preferably square or regular hexagon.
Each actuator 2 can move alone, and be independent of each other, rationally controlled by signal system 9, i.e., can realize soft robot
Advance, retrogressing and turning motion.The supporting plate 6 is preferably epoxy resin composite material, and its modulus of elasticity is 3 × 103MPa~
4.5×103MPa。
As shown in Figure 4 and Figure 5, at the end points of the supporting plate 6 and midpoint is provided with lug 3, and it is located at regular polygon wheel
Wide outside；Protection air bag 4 is provided between two adjacent lugs 3, the protection air bag 4 is symmetrically distributed in supporting plate 6
Inner side and outer side；Protection air bag 4 can play protection internal control system etc., decompression antidetonation.Some driving air bags 5 are arranged
Fluted on the lug 3 between the two neighboring protection air bag 4 of the inner side of supporting plate 6, the driving air bag 5 passes through fixation
Band 7 is bundled on groove；The outer surface of protection air bag 4 in the outside of supporting plate 6 is provided with position sensor 11；Position sensor 11
Linear displacement transducer and angular displacement sensor can be divided into, for measuring the protection straight-line displacement of air bag 4 and angular displacement.The lug
3 materials are boron carbide, and the face rigidity of the lug 3 is not less than 8MPa.When supporting plate 6 is epoxy resin composite material, support
Plate 6 is Nian Jie with the connected mode of lug 3.
As shown in fig. 6, the pneumatic system includes vacuum generator 10, air pump 8 and some electric T-shaped valves 12, driving gas
Capsule 5 and protection air bag 4 are connected by pipeline with the outlet of electric T-shaped valve 12 respectively, two of some electric T-shaped valves 12
Import is connected by pipeline with vacuum generator 10 and air pump 8 respectively；The signal system 9 and vacuum generator 10, air pump 8,
Some electric T-shaped valves 12 and position sensor 11 connect；The pneumatic system and signal system 9 are respectively mounted in cavity.Work as software
Robot straight ahead retreats constantly, and the binding site sensor 11 of signal system 9 controls all actuators 2 to be synchronized with the movement,
When soft robot is turned, the binding site sensor 11 of the signal system 9 control motion portion actuator 2 of matrix 1 moves, and another half
Portion actuator 2 is motionless or does motion in opposite direction.In order to be effectively increased the grabs ground ability of soft robot, the motion base
The outer surface bulk lines of body 1 and pit.
The actuator 2 for positive tetragonal body of embodiment 1, the actuator 2 are 2 in the quantity of motion matrix 1, and symmetrically
Arrangement.Air pump 8 and electric T-shaped valve 12 is controlled to drive air bag 5 to fill dash area by signal system 9 as shown in Figure 7
Gas, while control vacuum generator 10 and electric T-shaped valve 12 to drive air bag 5 to enter in the upper right corner and the lower left corner by signal system 9
Row is deflated, and promotes actuator 2 and move matrix 1 to occur such as the deformation in Fig. 8, to be positioned by position sensor 11, when up to
During to status requirement, positional information is fed back to signal system 9 by position sensor 11, and signal system 9 controls air pump 8 to stop filling
Gas, signal system 9 control vacuum generator 10 to stop deflating, under gravity, can produced such as the rolling in Fig. 9；
When moving the rolling of matrix 1 to position in such as Figure 10, positional information is fed back to signal system by position sensor 11
System 9, control air pump 8 and electric T-shaped valve 12 to drive air bag 5 to be inflated dash area by signal system 9, pass through simultaneously
Signal system 9 controls vacuum generator 10 and electric T-shaped valve to deflate the upper left corner and lower right corner driving air bag 5, promotes to cause
Deformation in such as Figure 11 occurs for dynamic device 2 and motion matrix 1, is positioned by position sensor 11, when reaching status requirement,
Positional information is fed back to signal system 9 by position sensor 11, and signal system 9 controls air pump 8 to stop inflation, and signal system 9 is controlled
Vacuum generator 10 processed stops deflating, and completes the motion of a cycle.
The embodiment is preferred embodiment of the invention, but the present invention is not limited to above-mentioned embodiment, not
Away from the present invention substantive content in the case of, those skilled in the art can make it is any it is conspicuously improved, replace
Or modification belongs to protection scope of the present invention.
Claims (8)
1. a kind of pneumatic software rolling robot, it is characterised in that motion matrix (1), actuator (2), pneumatic system and signal
System (9)；The motion matrix (1) is cylinder, and the center line of the motion matrix (1) is provided with cavity, the motion base
The interior filled rubber material in addition to cavity of body (1)；
The cavity inside at least installs 2 actuators (2)；Moved with described in matrix (1) cross section of the actuator (2)
Heart line is vertical；The actuator (2) includes supporting plate (6), protection air bag (4), driving air bag (5) and fixing band (7)；Some institutes
Actuator (2) profile that supporting plate (6) composition cross section is regular polygon is stated, at the end points of the supporting plate (6) and midpoint
Provided with lug (3), and on the outside of regular polygon profile；Protection air bag (4) is provided between two adjacent lugs (3),
The protection air bag (4) is symmetrically distributed in the inner side and outer side of supporting plate (6)；Some driving air bags (5) are arranged in support
Fluted on the lug (3) between two neighboring protection air bag (4) on the inside of plate (6), the driving air bag (5) passes through solid
Fixed band (7) is bundled on groove；Protection air bag (4) outer surface on the outside of the supporting plate (6) is provided with position sensor (11), uses
In measurement protection air bag (4) straight-line displacement and angular displacement；
The pneumatic system includes vacuum generator (10), air pump (8) and some electric T-shaped valves (12), driving air bag (5) and
Protection air bag (4) is connected by pipeline with the outlet of electric T-shaped valve (12) respectively, and the two of some electric T-shaped valves (12)
Individual import is connected by pipeline with vacuum generator (10) and air pump (8) respectively；
The signal system (9) and vacuum generator (10), air pump (8), some electric T-shaped valves (12) and position sensor
(11) connect；The pneumatic system and signal system (9) are respectively mounted in cavity.
2. pneumatic software rolling robot according to claim 1, it is characterised in that except sky in the motion matrix (1)
The outer packing material of chamber is silicon rubber.
3. pneumatic software rolling robot according to claim 1, it is characterised in that the cross section of the actuator (2)
In maximum height be at least 10 times of the supporting plate (6) thickness.
4. pneumatic software rolling robot according to claim 1, it is characterised in that supporting plate (6) composition is just
Polygon is even-numbered polygons.
5. pneumatic software rolling robot according to claim 4, it is characterised in that the even-numbered polygons are positive four side
Shape or regular hexagon.
6. pneumatic software rolling robot according to claim 1, it is characterised in that described motion matrix (1) outer surface
Block lines and pit.
7. pneumatic software rolling robot according to claim 1, it is characterised in that the supporting plate (6) is asphalt mixtures modified by epoxy resin
Resin composite material, the modulus of elasticity of the supporting plate (6) is 3 × 103MPa~4.5 × 103MPa。
8. pneumatic software rolling robot according to claim 1, it is characterised in that lug (3) material is carbonization
Boron, the face rigidity of the lug (3) are not less than 8MPa.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710728238.XA CN107717998B (en) | 2017-08-23 | 2017-08-23 | Pneumatic soft rolling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710728238.XA CN107717998B (en) | 2017-08-23 | 2017-08-23 | Pneumatic soft rolling robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107717998A true CN107717998A (en) | 2018-02-23 |
| CN107717998B CN107717998B (en) | 2020-01-24 |
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ID=61205186
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710728238.XA Active CN107717998B (en) | 2017-08-23 | 2017-08-23 | Pneumatic soft rolling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107717998B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109222764A (en) * | 2018-10-16 | 2019-01-18 | 宁波大学 | Bionic soft clean robot |
| CN109813574A (en) * | 2019-02-13 | 2019-05-28 | 佛山市金净创环保技术有限公司 | A kind of deepwater field water sampling soft robot |
| CN114619435A (en) * | 2022-02-10 | 2022-06-14 | 清华大学 | Soft robot and control method for driving soft robot to move and cross obstacle |
| CN115303377A (en) * | 2022-09-20 | 2022-11-08 | 哈尔滨理工大学 | Diameter-variable soft rolling robot and control method thereof |
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| US5469756A (en) * | 1991-10-10 | 1995-11-28 | Siemens Aktiengesellschaft | Flexible robot arm |
| CN104959992A (en) * | 2015-06-30 | 2015-10-07 | 北京航空航天大学 | Pneumatic soft body grasping device |
| CN105856264A (en) * | 2015-01-22 | 2016-08-17 | 南京理工大学 | Software-driven radial opening and closing type pneumatic clamping device |
| CN106002989A (en) * | 2016-07-05 | 2016-10-12 | 董润华 | S-shaped soft-bodied robot |
| CN106239561A (en) * | 2016-08-22 | 2016-12-21 | 上海交通大学 | Gas control gasbag-type software mechanical arm |
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2017
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Patent Citations (5)
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|---|---|---|---|---|
| US5469756A (en) * | 1991-10-10 | 1995-11-28 | Siemens Aktiengesellschaft | Flexible robot arm |
| CN105856264A (en) * | 2015-01-22 | 2016-08-17 | 南京理工大学 | Software-driven radial opening and closing type pneumatic clamping device |
| CN104959992A (en) * | 2015-06-30 | 2015-10-07 | 北京航空航天大学 | Pneumatic soft body grasping device |
| CN106002989A (en) * | 2016-07-05 | 2016-10-12 | 董润华 | S-shaped soft-bodied robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109222764A (en) * | 2018-10-16 | 2019-01-18 | 宁波大学 | Bionic soft clean robot |
| CN109222764B (en) * | 2018-10-16 | 2021-05-25 | 宁波大学 | Bionic soft cleaning robot |
| CN109813574A (en) * | 2019-02-13 | 2019-05-28 | 佛山市金净创环保技术有限公司 | A kind of deepwater field water sampling soft robot |
| CN114619435A (en) * | 2022-02-10 | 2022-06-14 | 清华大学 | Soft robot and control method for driving soft robot to move and cross obstacle |
| CN114619435B (en) * | 2022-02-10 | 2022-09-06 | 清华大学 | Soft robot and control method for driving soft robot to move and cross obstacle |
| CN115303377A (en) * | 2022-09-20 | 2022-11-08 | 哈尔滨理工大学 | Diameter-variable soft rolling robot and control method thereof |
| CN115303377B (en) * | 2022-09-20 | 2023-11-03 | 哈尔滨理工大学 | Variable-diameter soft rolling robot and control method thereof |
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| Publication number | Publication date |
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| CN107717998B (en) | 2020-01-24 |
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