CN108274455A - A kind of pneumatic software executive device - Google Patents
A kind of pneumatic software executive device Download PDFInfo
- Publication number
- CN108274455A CN108274455A CN201810311002.0A CN201810311002A CN108274455A CN 108274455 A CN108274455 A CN 108274455A CN 201810311002 A CN201810311002 A CN 201810311002A CN 108274455 A CN108274455 A CN 108274455A
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- CN
- China
- Prior art keywords
- external constraint
- constraint pipe
- pipe
- executive device
- pneumatic software
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- 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
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Actuator (AREA)
Abstract
The present invention provides a kind of pneumatic software executive devices, it can realize multidirectional bending and elongation function, with higher degree of freedom and good compliance, complicated deep chamber landform can be detected, it can also realize the reliable crawl to irregularly shaped object or larger object or compared with wisp, including external constraint pipe, it is axially arranged with connecting tube along the external constraint pipe in the external constraint pipe, in the external constraint pipe, it is equipped at least three inflated hoses being axially arranged along the external constraint pipe around the connecting tube, constraint circle is arranged at intervals on the periphery of the external constraint pipe, the both ends of the external constraint pipe are respectively equipped with end cap, one of them described end cap is equipped with the air-filled pore being connected to respectively with the inflated hose.
Description
Technical field
The present invention relates to universal machine field, specially a kind of pneumatic software executive device.
Background technology
Traditional rigid executive device needs the cooperation of multiple hinges to complete when realizing flexure operation, structure it is more complicated and
And degree of freedom is limited, there is very big problem to irregular and fragile article crawl, security risk is also when operating rigid apparatus
Very important.
There are also soft robots for the prior art, such as the invention of Publication No. CN107718021A, CN106965868A
The soft robot device disclosed in patent, however its structure is all complex, although it can be realized to a certain extent
Bending, however its flexibility ratio is poor, can not achieve multi-direction bending, it is existing soft when being detected in face of complicated deep chamber landform
It body machine and is influenced by its structure design, degree of freedom and compliance are poor, it is difficult to realize elongation function；It is existing simultaneously
Soft robot, control is inconvenient and form is single, when handling irregularly shaped object or larger or smaller object, it is difficult to realize pre-
The reliable crawl thought.
Invention content
It is poor for existing robot degree of freedom in the prior art and compliance, it is difficult to realize it is multidirectional bending,
It extends function and captures the bad problem of effect, the present invention provides a kind of pneumatic software executive device, can realize multi-party
To bending and elongation function, there is higher degree of freedom and good compliance, complicated deep chamber landform can be visited
It surveys, can also realize the reliable crawl to irregularly shaped object or larger object or compared with wisp.
Its technical solution is such：A kind of pneumatic software executive device, it is characterised in that：Including external constraint pipe,
Connecting tube is axially arranged with along the external constraint pipe in the external constraint pipe, in the external constraint pipe, around described
Connecting tube is equipped at least three inflated hoses being axially arranged along the external constraint pipe, on the periphery of the external constraint pipe
It is arranged at intervals with constraint circle, the both ends of the external constraint pipe are respectively equipped with end cap, one of them described end cap is equipped with difference
The air-filled pore being connected to the inflated hose.
Further, the external constraint pipe, connecting tube, inflated hose, end cap are made of silicon rubber respectively.
Further, it is connected by fluid silicone rubber between the end cap and the external constraint pipe and realizes sealing.
Further, the air-filled pore of the end cap and the junction of the inflated hose connected by fluid silicone rubber realize it is close
Envelope.
Further, the constraint circle is that the winding of PE lines is made.
Further, the connecting tube is arranged along the central shaft of the external constraint pipe.
Further, the connecting tube is solid tubes.
The pneumatic software executive device of the present invention, by being inflated to inflated hose, effect of the inflated hose in pressure
Under will produce expansion, and external constraint pipe and constraint circle are limited and are radially expanded, at the same time, its in external confinement tube
The synergy of his inflated hose and connecting tube limits the axial tension on inflated hose one side, to the bending of realization device
Action, by the way that multi-direction bending may be implemented to different hose inflations, degree of freedom is high, and executive device is integrally made of silicon rubber,
Compliance is good, when restarting to inflated hose, due to the super elastic characteristics of silastic material, will produce the expansion of all directions,
Under the limitation of external confinement tube and constraint circle, being radially expanded for device suffers restraints, and can only discharge suffered pressure in an axial direction
By force, to realize the action of elongation, complicated deep chamber landform can be detected, passes through the cooperation of two or more executive devices
It can be very good to realize the crawl to breakables and irregularly shaped object, the present invention is prepared using the silicon rubber of full soft material, right
Breakables can realize irregularly shaped object as the size for adjusting air pressure changes bending degree completely without destructiveness
Crawl, possesses higher safety, and multiple device cooperations can realize certain special larger or smaller objects reliable
Crawl.
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 be the present invention K-K to postrotational schematic cross-sectional view；
Fig. 3 be the present invention I-I to distortion after schematic cross-sectional view.
Specific implementation mode
Fig. 1, Fig. 2, Fig. 3, a kind of pneumatic software executive device of the invention, including external constraint pipe 1 are seen, in external constraint
Externally the central shaft of confinement tube 1 is equipped with connecting tube 2 in pipe 1, and four are equipped in external confinement tube 1, around connecting tube 2 along outer
The inflated hose 3 of portion's confinement tube 1 being axially arranged, constraint circle 4 is arranged at intervals on the periphery of external constraint pipe 1, and constraint circle 4 is
The winding of PE lines is made, and the both ends of external constraint pipe 1 are respectively equipped with end cap 5, one of end cap 5 be equipped with respectively with inflated hose
The air-filled pore of connection（It is not provided in figure）, external constraint pipe 1, connecting tube 2, inflated hose 3, end cap 5 be made of silicon rubber respectively,
Connecting tube 2 is solid tubes, is connected by fluid silicone rubber between end cap 5 and external constraint pipe 1 and realizes sealing, the air-filled pore of end cap
Realization sealing is connected by fluid silicone rubber with the junction of inflated hose 3.
The realization of the multi-direction bending of the pneumatic software executive device of above-described embodiment is specifically described below：When external
When one of 1 inside of portion's confinement tube inflated hose 3 is inflated, inflated hose 3 will produce expansion under the action of pressure,
And external constraint pipe 1 and constraint circle 4 limit being radially expanded for inflated hose 3 to a certain extent, at the same time, it is external about
The synergy of other inflated hoses 3 and connecting tube 2 in beam tube 1, limits the axial tension on inflated hose one side, to real
45 ° of direction flexure operations of existing device, while 90 ° of direction bendings may be implemented to two inflated hose inflations and move, therefore this reality
The bending that 8 directions may be implemented in the pneumatic software executive device in example is applied, in the case where there are more bending direction demands, is increased
Add the number of inflated hose that can more increase the direction of bending.
While being inflated to inflated hose, due to the super elastic characteristics of silastic material, the swollen of all directions will produce
Swollen, under the limitation of external confinement tube 1 and constraint circle 4, being radially expanded for device suffers restraints, and can only discharge in an axial direction suffered
Pressure, to realize the action of elongation.
The pneumatic software executive device of the present invention can realize multidirectional bending and elongation function, have higher
Degree of freedom and good compliance pass through two or more executive devices so as to be detected to complicated deep chamber landform
Cooperation can be very good to realize the crawl to breakables and irregularly shaped object, and possess higher safety.To frangible
When the crawl of article and irregularly shaped object, the present invention is prepared using the silicon rubber of full soft material, to breakables completely without broken
Bad property, and with adjust air pressure size change bending degree can to irregularly shaped object realize capture, can with it is irregular
Object is bonded well, captures that reliable surname is good, and multiple devices cooperations can be real to certain special larger or smaller objects
Now capture.
The processing of the present invention is also very convenient, the method mainly poured into a mould by mold, to drafting structure first by it
Corresponding mold design comes out, and mold is prepared by 3D printing, then selects suitable silicon according to the requirement to working environment
Rubber stoste, pours into mold, and room temperature or be heating and curing can be completed, convenient for production quick, at low cost.
More than, it is merely preferred embodiments of the present invention, but scope of protection of the present invention is not limited thereto, it is any
It is familiar with the people of the technology within the technical scope disclosed by the invention, the change or replacement that can be readily occurred in should all be covered at this
Within the protection domain of invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (7)
1. a kind of pneumatic software executive device, it is characterised in that：Including external constraint pipe, along described in the external constraint pipe
The central shaft of external constraint pipe is equipped with connecting tube, and at least three edges are equipped in the external constraint pipe, around the connecting tube
The inflated hose of the external constraint pipe being axially arranged is arranged at intervals with constraint circle, institute on the periphery of the external constraint pipe
The both ends for stating external constraint pipe are respectively equipped with end cap, one of them described end cap is equipped with and is respectively connected to the inflated hose
Air-filled pore.
2. a kind of pneumatic software executive device according to claim 1, it is characterised in that：The external constraint pipe, connection
Pipe, inflated hose are made of silicon rubber respectively.
3. a kind of pneumatic software executive device according to claim 2, it is characterised in that：The end cap and the outside are about
It is connected by fluid silicone rubber between beam tube and realizes sealing.
4. a kind of pneumatic software executive device according to claim 2, it is characterised in that：The air-filled pore of the end cap and institute
The junction for stating inflated hose connects realization sealing by fluid silicone rubber.
5. a kind of pneumatic software executive device according to claim 1, it is characterised in that：The constraint circle is that PE lines are wound
It is made.
6. a kind of pneumatic software executive device according to claim 1, it is characterised in that：The connecting tube is along the outside
The central shaft of confinement tube is arranged.
7. a kind of pneumatic software executive device according to claim 1, it is characterised in that：The connecting tube is solid tubes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810311002.0A CN108274455A (en) | 2018-04-09 | 2018-04-09 | A kind of pneumatic software executive device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810311002.0A CN108274455A (en) | 2018-04-09 | 2018-04-09 | A kind of pneumatic software executive device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108274455A true CN108274455A (en) | 2018-07-13 |
Family
ID=62811444
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810311002.0A Pending CN108274455A (en) | 2018-04-09 | 2018-04-09 | A kind of pneumatic software executive device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108274455A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109730774A (en) * | 2018-12-28 | 2019-05-10 | 北京信息科技大学 | The soft robot system being auxiliarily fixed for art cardiac tissue |
| CN109732587A (en) * | 2019-01-18 | 2019-05-10 | 哈尔滨工业大学 | A kind of pneumatic transport robot |
| CN109730773A (en) * | 2018-12-28 | 2019-05-10 | 北京信息科技大学 | Soft robot atmospheric control |
| CN110238836A (en) * | 2019-06-21 | 2019-09-17 | 河海大学常州校区 | A kind of pneumatic software bending steering structure |
| CN111055299A (en) * | 2019-12-24 | 2020-04-24 | 江西理工大学 | Variable-rigidity omnidirectional movement soft driver based on line interference technology |
| CN111152248A (en) * | 2020-03-04 | 2020-05-15 | 鹏城实验室 | Soft body winding robot |
| CN111390900A (en) * | 2020-03-30 | 2020-07-10 | 上海大学 | Simplify pneumatic rolling robot of driven software |
| CN112548987A (en) * | 2020-12-15 | 2021-03-26 | 幻境虚拟现实(广州)智能科技研究院有限公司 | Flexible direction adjusting device |
| CN114848150A (en) * | 2022-05-05 | 2022-08-05 | 南开大学 | Modularized pneumatic soft puncture surgical robot |
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| JPH0349578A (en) * | 1989-07-14 | 1991-03-04 | Toshiba Corp | Actuator |
| KR19990065579A (en) * | 1998-01-15 | 1999-08-05 | 박호군 | Multilayer induction motor module using human muscle characteristics |
| CN103786164A (en) * | 2014-01-22 | 2014-05-14 | 北华大学 | Pneumatic multidirectional bending flexible joint |
| CN103786167A (en) * | 2014-01-22 | 2014-05-14 | 北华大学 | Pneumatic plane bending flexible joint |
| CN106181994A (en) * | 2016-09-22 | 2016-12-07 | 哈尔滨工业大学 | Deep-sea based on hydraulic-driven artificial-muscle flexible grabbing device |
| CN208289883U (en) * | 2018-04-09 | 2018-12-28 | 江南大学 | A kind of pneumatic software executive device |
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| JPH0349578A (en) * | 1989-07-14 | 1991-03-04 | Toshiba Corp | Actuator |
| KR19990065579A (en) * | 1998-01-15 | 1999-08-05 | 박호군 | Multilayer induction motor module using human muscle characteristics |
| CN103786164A (en) * | 2014-01-22 | 2014-05-14 | 北华大学 | Pneumatic multidirectional bending flexible joint |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109730774A (en) * | 2018-12-28 | 2019-05-10 | 北京信息科技大学 | The soft robot system being auxiliarily fixed for art cardiac tissue |
| CN109730773A (en) * | 2018-12-28 | 2019-05-10 | 北京信息科技大学 | Soft robot atmospheric control |
| CN109732587A (en) * | 2019-01-18 | 2019-05-10 | 哈尔滨工业大学 | A kind of pneumatic transport robot |
| CN110238836A (en) * | 2019-06-21 | 2019-09-17 | 河海大学常州校区 | A kind of pneumatic software bending steering structure |
| CN111055299A (en) * | 2019-12-24 | 2020-04-24 | 江西理工大学 | Variable-rigidity omnidirectional movement soft driver based on line interference technology |
| CN111055299B (en) * | 2019-12-24 | 2021-04-27 | 江西理工大学 | Variable-rigidity omnidirectional movement soft driver based on line interference technology |
| CN111152248A (en) * | 2020-03-04 | 2020-05-15 | 鹏城实验室 | Soft body winding robot |
| CN111152248B (en) * | 2020-03-04 | 2021-07-13 | 鹏城实验室 | Soft body winding robot |
| CN111390900A (en) * | 2020-03-30 | 2020-07-10 | 上海大学 | Simplify pneumatic rolling robot of driven software |
| CN111390900B (en) * | 2020-03-30 | 2021-08-31 | 上海大学 | Simplify pneumatic rolling robot of driven software |
| CN112548987A (en) * | 2020-12-15 | 2021-03-26 | 幻境虚拟现实(广州)智能科技研究院有限公司 | Flexible direction adjusting device |
| CN114848150A (en) * | 2022-05-05 | 2022-08-05 | 南开大学 | Modularized pneumatic soft puncture surgical robot |
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