CN107914269B - Software robot based on honeycomb pneumatic network - Google Patents
Software robot based on honeycomb pneumatic network Download PDFInfo
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- CN107914269B CN107914269B CN201610882169.3A CN201610882169A CN107914269B CN 107914269 B CN107914269 B CN 107914269B CN 201610882169 A CN201610882169 A CN 201610882169A CN 107914269 B CN107914269 B CN 107914269B
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
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Abstract
The invention discloses a soft robot based on a honeycomb pneumatic network, which comprises: a flexible honeycomb structure, an air bag, a catheter and a pneumatic controller; wherein: the flexible honeycomb structure is a spatial three-dimensional structure with deformability, the spatial three-dimensional structure is formed by equal-thickness wall surfaces and a cavity formed by the equal-thickness wall surfaces, the section of the smallest unit of the spatial three-dimensional structure is a regular hexagon or an approximate regular hexagon, and all the smallest units are staggered and closely arranged; the air bags are arranged in the cavities of the flexible honeycomb structure and used as driving units of the soft robot, the air bags in the cavities are connected with each other through connecting structures to form a pneumatic network, the pneumatic network is connected with a pneumatic controller through a conduit, and the pneumatic controller controls the inflation and deflation of the pneumatic network. The scheme has good stability and continuous deformation characteristic, and can realize larger load; and the software robot has more diverse working environments and more complex executable tasks.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a soft robot based on a honeycomb pneumatic network.
Background
Most of the existing traditional robots use a hard material (generally metal) as a support structure and are driven by a motor or hydraulic pressure. This type of robot is well suited to perform pre-specified tasks (e.g., high intensity and high repeatability assembly in a factory). However, such robots are used in complex environments such as: under the application occasions of unstructured environments such as pipeline maintenance, medical diagnosis and treatment, ruin search and rescue, military reconnaissance and the like, due to the fact that the operation environment is narrow and changeable and various unknown obstacles exist, the autonomous movement and obstacle crossing of the robot are relatively difficult to achieve, the robot may not reach an operation place, and work is severely limited. In addition, there are serious security issues with traditional robot-to-human interaction.
In order to improve the working capacity of the traditional robot in a complex environment, people try to design and manufacture a high-redundancy robot from the perspective of bionics so as to complete the working task in the complex environment. Organisms can be classified according to classification rules as: the kingdom of prokaryotes, protists, fungi, plants, animals. The animal kingdom is that most human studies are used to guide robot design and manufacture. Among them, vertebrates (such as human, dog, etc.) are the focus of the current research. In recent years, some teams have also searched for the design and manufacture of soft robots that simulate invertebrates (octopus, earthworms, etc.) and achieve an ultra-high degree of freedom, the soft robots are mainly composed of elastic base materials, move by means of spatial continuous deformation, theoretically have infinite degrees of freedom of movement, end effectors thereof can reach any position point in a three-dimensional working space, and since the interior does not contain a rigid structure, impact load and yield resistance can be reduced to the maximum extent and body damage can be reduced when passing through obstacles. The soft robots can adapt to narrow and variable working environments through shape changes of the soft robots, so that the soft robots become ideal choices in unstructured application occasions such as pipeline detection, human body medical treatment, ruin search and rescue and the like.
Further research shows that in addition to the animal world, the plant world also has fast and efficient flexible movement (such as plant stomata) widely. From the principle of bionics, the soft robot manufactured by simulating the plant cell structure has lower requirements on materials and better load, and is probably the development direction of the practical soft robot in the future.
The existing soft robots are of the following types: electroactive polymer drives, memory alloy drives, and pneumatic network drives. Wherein:
the characteristics of the electroactive polymer are close to that of real muscle, the length of the polymer is changed in the electrified state, and the original length is recovered after the voltage is removed, so that a driving force is provided, but the control theory of the electroactive polymer is immature and the processing is difficult.
The shape of the memory alloy changes along with the change of temperature, so that some parts of the robot can be made of the memory alloy, and the motion of the robot can be realized by controlling the temperature, but the control of the method is relatively difficult.
The pneumatic network is a novel driving method, but the load is small because the soft robot is limited by the principle. Furthermore, new materials for manufacturing soft robots are often subject to the development of materials science and technology. Meanwhile, the characteristics of the pneumatic actuator for the soft robot are completely different from those of the conventional actuating device (such as a motor and a hydraulic rod), so that the conventional actuator preparation method and actuating method are not suitable for the soft robot; in view of this, there is a need for an improved internal structure of a soft robot.
Disclosure of Invention
The invention aims to provide a honeycomb pneumatic network-based soft robot which has good stability and continuous deformation characteristics and can realize larger load; and the software robot has more diverse working environments and more complex executable tasks.
The purpose of the invention is realized by the following technical scheme:
a cellular pneumatic network based soft body robot, comprising: a flexible honeycomb structure, an air bag, a catheter and a pneumatic controller; wherein:
the flexible honeycomb structure is a spatial three-dimensional structure with deformability, the spatial three-dimensional structure is formed by equal-thickness wall surfaces and a cavity formed by the equal-thickness wall surfaces, the section of the smallest unit of the spatial three-dimensional structure is a regular hexagon or an approximate regular hexagon, and all the smallest units are staggered and closely arranged; the air bags are arranged in the cavities of the flexible honeycomb structure and used as driving units of the soft robot, the air bags in the cavities are connected with each other through connecting structures to form a pneumatic network, the pneumatic network is connected with a pneumatic controller through a conduit, and the pneumatic controller controls the inflation and deflation of the pneumatic network.
An upper air bag and a lower air bag are arranged in the cavity of the flexible honeycomb structure.
The air bags in the cavities are connected with each other through a connecting structure to form a pneumatic network, and the pneumatic network comprises:
the airbag after two upper and lower folding is placed to the unilateral of every cavity, becomes a drive unit, connects two airbags in same cavity and control the deformation of cavity through first connection structure, connects the gasbag in two adjacent cavities through second connection structure to form pneumatic network.
The pneumatic network is connected with the pneumatic controller through a conduit and comprises: a group of air bags in each cavity in the pneumatic network are connected with a pneumatic controller through a conduit.
The air bag is made of a polyethylene high polymer film.
The catheter is a silica gel flexible catheter.
The pneumatic controller comprises an upper computer, a lower computer and an electromagnetic valve which are connected in sequence.
According to the technical scheme provided by the invention, the design of the honeycomb structure enables the conventional material to be used for building the soft robot, and the soft robot has good load-bearing performance and stability; in addition, by adopting a pneumatic network driving scheme, the cell membrane-cell wall structure of a single plant cell is simulated by using a single air bag-honeycomb structure, so that the deformation of a single honeycomb can be realized, and the ultrahigh-freedom-degree movement of the whole structure can be realized by controlling the deformation of a single honeycomb or a group of honeycombs, thereby solving the driving problem of the ultrahigh-freedom degree of the soft robot and fully embodying the continuous deformation capability of the soft robot in a three-dimensional space; in short, the soft robot can realize deformation in a three-dimensional space and can realize a large load. Different from the design of the existing software robot, the software robot has more various working environments, more complex executable tasks, simple processing mode, stable performance and lower cost.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a schematic diagram illustrating an overall structure of a cellular pneumatic network-based soft robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a flexible honeycomb structure according to an embodiment of the present invention;
FIG. 3 is a schematic view of a folded pneumatic network according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a single bladder coupled into a pneumatic network according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of the forced bending of a honeycomb structure in three dimensions according to an embodiment of the present invention; wherein 5-a is a schematic representation of a three-dimensional spatial honeycomb structure, 5-b is a schematic representation of elongation of the honeycomb structure along the z-axis, 5-c is a schematic representation of forced bending of the honeycomb structure in the x-y plane, and 5-d is a schematic representation of forced bending of the honeycomb structure in the x-z plane;
in the above figures, 1-catheter, 2-balloon, 3-honeycomb structure, 4-honeycomb structure walls, 5-honeycomb structure enclosed cavity, 6-single balloon, 7-first connection structure, 8-second connection structure.
Detailed Description
The technical solutions in the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the present invention provides a software robot based on a cellular pneumatic network, as shown in fig. 1, which mainly includes: a flexible honeycomb structure 3, a balloon 2, a catheter 1 and a pneumatic controller (not shown in fig. 1); wherein:
as shown in fig. 2, the flexible honeycomb structure 3 is a spatial three-dimensional structure with deformability, the spatial three-dimensional structure is formed by equal-thickness walls 4 and a cavity 5 enclosed by the equal-thickness walls, the cross section of the minimum unit of the spatial three-dimensional structure is a regular hexagon or an approximate regular hexagon, and the minimum units are staggered and closely arranged. The air bags 2 are arranged in the cavities 5 of the flexible honeycomb structure 3 and used as driving units of the soft robot, the air bags in the cavities are connected with each other through connecting structures to form a pneumatic network, the pneumatic network is connected with a pneumatic controller through a conduit 1, and the pneumatic controller controls the inflation and deflation of the pneumatic network.
In the embodiment of the invention, an upper air bag and a lower air bag are arranged in the cavity of the flexible honeycomb structure, and the air bags can be made of polyethylene high polymer films. As shown in fig. 3-4, two folded air bags are placed at one side of each cavity to form a driving unit, the two air bags in the same cavity are connected through a first connecting structure 7 and the deformation of the cavity is controlled, and the air bags in two adjacent cavities are connected through a second connecting structure 8, so that a pneumatic network is formed.
In the embodiment of the invention, a group of air bags in each cavity in the pneumatic network are connected with the pneumatic controller through the guide pipe. The catheter can be a silica gel flexible catheter, and a straight-through head is implanted at the joint of the catheter and the air bag, so that the air tightness of the joint is ensured.
In the embodiment of the invention, the pneumatic controller comprises an upper computer, a lower computer and an electromagnetic valve which are sequentially connected, and the pneumatic controller can be realized in a conventional mode.
For ease of understanding, the following description is made in conjunction with a specific example.
In this example:
the honeycomb structure is formed by 3D printing and machining; the specific process is as follows: the honeycomb structure is first modeled using solidworks (or other machine related software), and the wall thickness and cavity size are controlled to the appropriate values during the modeling process. Then exporting to a stl format, importing to a 3D printer, and finally printing by using a flexible 3D printing material Polyflex.
The air bags are processed and formed by polyethylene high-molecular films, the edges and the joints are heated and sealed by a plastic packaging machine, and the outlet ends of the networks formed by the air bags are connected with a guide pipe for controlling the pneumatic networks.
The catheter uses a silica gel catheter.
The pneumatic controller uses a solution in which an air pump and an electromagnetic valve are added.
The upper computer used by the software robot is a computing component (usually a notebook or an industrial personal computer, which meets the requirements of cpu intel i3 and above, and the internal memory is about 4G).
The lower computer that software robot used is arduinouno singlechip.
Fig. 5 is a schematic diagram illustrating the forced bending of the honeycomb structure in three-dimensional space according to the embodiment of the present invention; wherein 5-a is a schematic representation of a three-dimensional spatial honeycomb structure, 5-b is a schematic representation of elongation of the honeycomb structure along the z-axis, 5-c is a schematic representation of forced bending of the honeycomb structure in the x-y plane, and 5-d is a schematic representation of forced bending of the honeycomb structure in the x-z plane.
In the above scheme of the embodiment of the invention, the design of the honeycomb structure enables the conventional material to be used for the construction of the soft robot, and the soft robot has good load-carrying performance and stability; in addition, by adopting a pneumatic network driving scheme, the cell membrane-cell wall structure of a single plant cell is simulated by using a single air bag-honeycomb structure, so that the deformation of a single honeycomb can be realized, and the ultrahigh-freedom-degree movement of the whole structure can be realized by controlling the deformation of a single honeycomb or a group of honeycombs, thereby solving the driving problem of the ultrahigh-freedom degree of the soft robot and fully embodying the continuous deformation capability of the soft robot in a three-dimensional space; in short, the soft robot can realize deformation in a three-dimensional space and can realize a large load. Different from the design of the existing software robot, the software robot has more various working environments, more complex executable tasks, simple processing mode, stable performance and lower cost.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. A soft robot based on a honeycomb pneumatic network, comprising: a flexible honeycomb structure, an air bag, a catheter and a pneumatic controller; wherein:
the flexible honeycomb structure is a spatial three-dimensional structure with deformability, the spatial three-dimensional structure is formed by equal-thickness wall surfaces and a cavity formed by the equal-thickness wall surfaces, the section of the smallest unit of the spatial three-dimensional structure is a regular hexagon or an approximate regular hexagon, and all the smallest units are staggered and closely arranged; the air bags are arranged in the cavities of the flexible honeycomb structure and used as driving units of the soft robot, the air bags in the cavities are connected with each other through connecting structures to form a pneumatic network, the pneumatic network is connected with a pneumatic controller through a conduit, and the pneumatic controller controls the inflation and deflation of the pneumatic network.
2. A cellular pneumatic network based soft robot as claimed in claim 1, further characterized in that the flexible cellular structure has two air cells disposed in the cavity.
3. A honeycomb pneumatic network-based soft robot as claimed in claim 1 or 2, further characterized in that the air bags in each cavity are connected to each other by a connecting structure to form a pneumatic network comprising:
the airbag after two upper and lower folding is placed to the unilateral of every cavity, becomes a drive unit, connects two airbags in same cavity and control the deformation of cavity through first connection structure, connects the gasbag in two adjacent cavities through second connection structure to form pneumatic network.
4. A cellular pneumatic network based soft robot as claimed in claim 1, further characterized in that the pneumatic network connected to the pneumatic controller by a conduit comprises: a group of air bags in each cavity in the pneumatic network are connected with a pneumatic controller through a conduit.
5. A honeycomb pneumatic network-based soft robot as claimed in claim 1 further characterized in that the air bladder is made of polyethylene polymer film.
6. A honeycomb pneumatic network-based soft body robot as claimed in claim 1 further characterized in that the conduit is a silicone flexible conduit.
7. A cellular pneumatic network based soft robot as claimed in claim 1, further characterized in that the pneumatic controller comprises an upper computer, a lower computer and a solenoid valve connected in sequence.
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| CN108790178B (en) * | 2018-06-20 | 2020-05-29 | 成都理工大学 | Programmable control-based design method for soft actuator |
| 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 |
| CN110394795A (en) * | 2019-08-12 | 2019-11-01 | 浙江大学 | The pneumatic software mechanical arm of high storage rate autofolding based on paper folding theory |
| CN112476413B (en) * | 2020-11-20 | 2022-06-21 | 华南理工大学 | Vacuum-driven actuator based on scissor mechanism |
| CN112936253A (en) * | 2021-02-02 | 2021-06-11 | 深圳大学 | Flexible mechanical arm driven by air bag |
| CN113650007B (en) * | 2021-07-22 | 2023-03-24 | 南方科技大学 | Artificial muscle |
| CN113925743B (en) * | 2021-10-22 | 2022-09-23 | 上海交通大学 | Elbow wearable exoskeleton based on composite Bellow array |
| CN113829370B (en) * | 2021-10-25 | 2023-03-10 | 南京应用数学中心 | Soft arm feeding robot system |
| CN114012745B (en) * | 2021-10-26 | 2023-03-14 | 杭州电子科技大学 | Soft detection robot with paper folding structure and driving method thereof |
| CN114161393B (en) * | 2021-12-22 | 2023-10-20 | 浙江大学 | Soft crawling robot based on positive and negative poisson ratio structure deformation driving |
| CN114179064B (en) * | 2021-12-22 | 2023-11-17 | 浙江大学 | Soft rotary robot based on rotary modal deformation driving |
| CN114407004A (en) * | 2022-02-18 | 2022-04-29 | 广州大学 | Pneumatic flexible actuator |
| CN114670230B (en) * | 2022-04-29 | 2023-06-20 | 内蒙古工业大学 | Modularized honeycomb-imitating soft mechanical gripper based on electromagnetic driving |
| CN115892403A (en) * | 2022-12-10 | 2023-04-04 | 山西大学 | Pneumatic soft robot structure of wavy motion that can assemble |
| CN115847418B (en) * | 2022-12-23 | 2024-05-28 | 山西大学 | Bionic pneumatic soft mechanical arm based on hexagonal net structure and control method thereof |
| CN117905992B (en) * | 2024-01-24 | 2024-08-27 | 大连理工大学 | Modularized lattice soft robot capable of moving bidirectionally and design method thereof |
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| SU1104016A1 (en) * | 1983-05-13 | 1984-07-23 | Институт Технической Кибернетики Ан Бсср | Mehanical arm module |
| WO2012148472A2 (en) * | 2010-11-19 | 2012-11-01 | President And Fellows Of Harvard College | Soft robotic actuators |
| CN202910862U (en) * | 2012-11-02 | 2013-05-01 | 北京化工大学 | Software robot |
| US10639801B2 (en) * | 2013-08-20 | 2020-05-05 | President And Fellows Of Harvard College | Low strain pneumatic networks for soft robots |
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| CN105856264B (en) * | 2015-01-22 | 2018-01-05 | 南京理工大学 | Software drives radial direction open-close type pneumatic gripping device |
| CN204893948U (en) * | 2015-07-17 | 2015-12-23 | 苑雪山 | Flexible pneumatic muscle and flexible robot |
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