CN108297089A - A kind of software telecontrol equipment and soft robot - Google Patents
A kind of software telecontrol equipment and soft robot Download PDFInfo
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- CN108297089A CN108297089A CN201810284114.1A CN201810284114A CN108297089A CN 108297089 A CN108297089 A CN 108297089A CN 201810284114 A CN201810284114 A CN 201810284114A CN 108297089 A CN108297089 A CN 108297089A
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- air bag
- software
- pneumatic mechanism
- snorkel
- telecontrol equipment
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- 230000007246 mechanism Effects 0.000 claims abstract description 73
- 238000005452 bending Methods 0.000 claims abstract description 22
- 238000005273 aeration Methods 0.000 claims abstract description 14
- 230000008450 motivation Effects 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 8
- 239000000463 material Substances 0.000 description 6
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 239000002775 capsule Substances 0.000 description 2
- 208000002925 dental caries Diseases 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000499 gel Substances 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 229920002379 silicone rubber Polymers 0.000 description 1
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
- B25J9/10—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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of software telecontrol equipment and soft robots, are related to robotic technology field.The software telecontrol equipment includes pneumatic mechanism and software movement parts.Pneumatic mechanism is connected to the first air bag and the second air bag respectively, guide section is used to be bent to first direction when pneumatic mechanism is to the first airbag aeration and absorbs the gas in the second air bag, guide section is additionally operable to be bent to second direction when pneumatic mechanism is to the second airbag aeration and absorbs the gas in the first air bag, pneumatic mechanism is connected to movement cavity, motor segment is used for the bending when pneumatic mechanism absorbs the gas in movement cavity, and motor segment is additionally operable to stretch when pneumatic mechanism is inflated to movement cavity.Compared with prior art, the pneumatic mechanism that software telecontrol equipment provided by the invention is connected to as a result of the guide section for being provided with the first air bag and the second air bag and with movement cavity turns to flexible so dexterous can quickly be moved, movement is reliable, practical and convenient.
Description
Technical field
The present invention relates to robotic technology fields, in particular to a kind of software telecontrol equipment and soft robot.
Background technology
Soft robot is a kind of Flexiable robot, can only be driven with air.Scientist's current research it is soft
Body robot is made of to use papery and silicon rubber, can be bent, reverses and pick up the object of more than 100 times of own wt.Software
The design inspiration of robot is the internal structure for imitating the mankind or the shape framework etc. of insect, especially the latter.
Soft inflating robot model is advanced unlike mechanical robot, but does not include in their soft body
Any electronic device.The tool that flexible robot is considered best is inflated, this kind of robot can complete many tradition machineries
The function that robot cannot achieve.Traditional mainstream robot is to load connection electricity using metal and the manufacture of other hard materials
Sub- instrument and element, they can manufacture automobile, carry heavier object device, or even dismounting bomb.Inventor the study found that
Tradition machinery robot volume is big, movement is clumsy, it is difficult to the pipe or rubble that are bent across one and other be difficult to arrive at
Coarse rugged environmental surfaces, arrive at some special environment.
In view of this, designing and manufacturing a kind of flexible software telecontrol equipment of movement and soft robot especially in machine
It is particularly important in the production of device life.
Invention content
It is simple in structure the purpose of the present invention is to provide a kind of software telecontrol equipment, it dexterous can quickly be moved,
It turns to flexibly, movement is reliable, is adaptable to various complicated landforms, practical and convenient.
It is simple in structure another object of the present invention is to provide a kind of soft robot, it dexterous can quickly be moved
It is dynamic, it turns to flexibly, movement is reliable, is adaptable to various complicated landforms, practical and convenient, user experience is good.
The present invention is realized using technical solution below.
A kind of software telecontrol equipment, including pneumatic mechanism and software movement parts, software movement parts include integrally formed lead
To section and motor segment, be arranged at intervals with the first air bag and the second air bag in guide section, pneumatic mechanism respectively with the first air bag and
Two air bags are connected to, and guide section is used for when pneumatic mechanism is to the first airbag aeration and absorbs the gas in the second air bag to first party
To bending, guide section is additionally operable to when pneumatic mechanism is to the second airbag aeration and absorbs the gas in the first air bag to second direction
It is bent, movement cavity is provided in motor segment, pneumatic mechanism is connected to movement cavity, and motor segment is used to absorb in pneumatic mechanism and transport
Bending when moving the gas in cavity, motor segment are additionally operable to stretch when pneumatic mechanism is inflated to movement cavity.
Further, pneumatic mechanism includes the first Pneumatic assembly and the second Pneumatic assembly, and the first Pneumatic assembly is respectively with the
One air bag and the connection of the second air bag, the second Pneumatic assembly are connected to movement cavity.
Further, the first Pneumatic assembly includes the first air pump, the first snorkel and the second snorkel, the first air pump
It is connect respectively with the first snorkel and the second snorkel, the first snorkel is connect with the first air bag, the second snorkel and the second gas
Capsule connects.
Further, the first Pneumatic assembly further includes switch, and the first air pump is provided with air entry and gas outlet, air-breathing
Mouth and gas outlet are connect with switch, and switch is connect with the first snorkel and the second snorkel respectively, and switch is used for will
Air entry is connected to the first snorkel, and gas outlet is connected to the second snorkel, and switch is additionally operable to air entry and second
Snorkel is connected to, and gas outlet is connected to the first snorkel.
Further, switch is two position four-way solenoid valves.
Further, motor segment includes multiple subelements, and multiple subelements are sequentially connected, and unit air is provided in subelement
Chamber, multiple unit cavity connections, and combine and form movement cavity.
Further, subelement includes the first halfbody and the second halfbody, the first halfbody and the second half body by integral forming, and group
Conjunction forms unit cavity, and the first halfbody is arranged close to ground, and the second halfbody is arranged far from ground.
Further, the hardness of the first halfbody is more than the hardness of the second halfbody.
Further, the one end of guide section far from motor segment is provided with the first non-slip mat, motor segment close to the side on ground
One end far from guide section is provided with the second non-slip mat close to the side on ground.
A kind of soft robot, including robot body and software telecontrol equipment, robot body are installed on software movement
On device, software telecontrol equipment includes pneumatic mechanism and software movement parts, software movement parts include integrally formed guide section and
Motor segment, is arranged at intervals with the first air bag and the second air bag in guide section, pneumatic mechanism respectively with the first air bag and the second air bag
Connection, guide section are used for curved to first direction when pneumatic mechanism is to the first airbag aeration and absorbs the gas in the second air bag
Song, guide section are additionally operable to curved to second direction when pneumatic mechanism is to the second airbag aeration and absorbs the gas in the first air bag
Song is provided with movement cavity in motor segment, and pneumatic mechanism be connected to movement cavity, and motor segment is used to absorb movement in pneumatic mechanism
Bending when gas in cavity, motor segment are additionally operable to stretch when pneumatic mechanism is inflated to movement cavity.
Software telecontrol equipment and soft robot provided by the invention have the advantages that：
Software telecontrol equipment provided by the invention, pneumatic mechanism are connected to the first air bag and the second air bag respectively, guide section
For being bent to first direction when pneumatic mechanism is to the first airbag aeration and absorbs the gas in the second air bag, guide section is also used
In pneumatic mechanism to the second airbag aeration and absorb the first air bag in gas when to second direction be bent, pneumatic mechanism with fortune
Dynamic cavity connection, motor segment are used for the bending when pneumatic mechanism absorbs the gas in movement cavity, and motor segment is additionally operable to pneumatic
Mechanism is stretched when being inflated to movement cavity.Compared with prior art, software telecontrol equipment provided by the invention is as a result of setting
Be equipped with the first air bag and the second air bag guide section and with the pneumatic mechanism that be connected to of movement cavity, so can dexterity quickly
It is moved, is turned to flexibly, movement is reliable, is adaptable to various complicated landforms, practical and convenient.
Soft robot provided by the invention, including software telecontrol equipment, it is simple in structure, it dexterous can quickly be moved
It is dynamic, it turns to flexibly, movement is reliable, is adaptable to various complicated landforms, practical and convenient, user experience is good.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the structural schematic diagram for the software telecontrol equipment that first embodiment of the invention provides；
Fig. 2 be in Fig. 1 guide section to structural schematic diagram when first direction bending；
Fig. 3 be in Fig. 1 guide section to structural schematic diagram when second direction bending；
Structural schematic diagram when Fig. 4 is guide section not bending in Fig. 1；
Fig. 5 is the structural schematic diagram of motor segment in Fig. 1；
Fig. 6 is the structural schematic diagram of pneumatic mechanism in the software telecontrol equipment that first embodiment of the invention provides；
Fig. 7 is the structural schematic diagram of Fig. 5 neutron cells；
Fig. 8 is the structural schematic diagram for the soft robot that second embodiment of the invention provides.
Icon：10- soft robots；100- software telecontrol equipments；110- pneumatic mechanisms；120- software movement parts；130-
Guide section；The first air bags of 131-；The second air bags of 133-；140- motor segments；141- moves cavity；143- subelements；1431- units
Cavity；The first halfbodies of 1432-；The second halfbodies of 1434-；The first Pneumatic assemblies of 150-；The first air pumps of 151-；153- first supplies gas
Pipe；The second snorkels of 155-；157- switch；The second Pneumatic assemblies of 160-；The second air pumps of 161-；163- third snorkels；
200- robot bodies.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this field is common
The every other embodiment that technical staff is obtained without creative efforts belongs to the model that the present invention protects
It encloses.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present invention, it should be noted that the instructions such as term "inner", "outside", "upper", "lower", "horizontal"
Orientation or positional relationship be based on the orientation or positional relationship shown in the drawings or the invention product using when usually put
Orientation or positional relationship is merely for convenience of description of the present invention and simplification of the description, do not indicate or imply the indicated device or
Element must have a particular orientation, with specific azimuth configuration and operation, therefore be not considered as limiting the invention.This
Outside, term " first ", " second ", " third " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" connected ", " installation ", " connection " shall be understood in a broad sense, for example, it may be fixedly connected, may be a detachable connection or one
Connect to body；It can be mechanical connection, can also be electrical connection；It can be directly connected, it can also be indirect by intermediary
It is connected, can is the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
Below in conjunction with the accompanying drawings, it elaborates to some embodiments of the present invention.In the absence of conflict, following
Feature in embodiment can be combined with each other.
First embodiment
Fig. 1 is please referred to, an embodiment of the present invention provides a kind of software telecontrol equipments 100, for being carried out in various landform
Movement.Its is simple in structure, dexterous can quickly be moved, and turns to flexible, and movement is reliable, be adaptable to it is various intricately
Shape, it is practical and convenient.The software telecontrol equipment 100 includes pneumatic mechanism 110 and software movement parts 120.Pneumatic mechanism 110 and software
Movement parts 120 connect, and are moved with controlling software movement parts 120.
Software movement parts 120 include integrally formed guide section 130 and motor segment 140.Pneumatic mechanism 110 respectively with guiding
Section 130 and motor segment 140 connect, and the direction that pneumatic mechanism 110 is used to control guide section 130 changes, and pneumatic mechanism 110 is also
It travels forward for controlled motion section 140.In the present embodiment, by taking software movement parts 120 travel forward on the ground as an example, it is oriented to
Section 130 can to the left or bending to the right, and in the process, motor segment 140 is wriggled forward so that entire software movement parts 120
It to the left or bends to right, realizes divertical motion；Guide section 130 can not bending, at this time motor segment 140 wriggle forward, realize
Linear motion.
Incorporated by reference to reference Fig. 2, Fig. 3 and Fig. 4, it is arranged at intervals with the first air bag 131 and the second air bag 133 in guide section 130,
Pneumatic mechanism 110 is connected to the first air bag 131 and the second air bag 133 respectively.Guide section 130 is used in pneumatic mechanism 110 to the
One air bag 131 is inflated and is bent to first direction when absorbing the gas in the second air bag 133, and guide section 130 is additionally operable to pneumatic
Mechanism 110 is inflated to the second air bag 133 and is bent to second direction when absorbing the gas in the first air bag 131.In the present embodiment,
First direction is direction to the left, and second direction is direction to the right, according to pneumatic mechanism 110 to 131 aeration quantity of the first air bag
Size and pneumatic mechanism 110 absorb the size of gas flow in the second air bag 133 control first direction and horizontal direction it
Between angle, according to size from pneumatic mechanism 110 to 133 aeration quantity of the second air bag and pneumatic mechanism 110 absorb the first air bag
The size of gas flow controls the angle between second direction and horizontal direction in 131, to reaching the accurate control of turn direction
System.
It is worth noting that, when pneumatic mechanism 110 is filled with the gas of equivalent into the first air bag 131 and the second air bag 133
When, the first air bag 131 is identical with the degree of inflation of the second air bag 133, guide section 130 will not bending, entire software movement at this time
Part 120 moves in a straight line.
Fig. 5 is please referred to, movement cavity 141 is provided in motor segment 140, pneumatic mechanism 110 is connected to movement cavity 141.
Motor segment 140 is used for the bending when pneumatic mechanism 110 absorbs the gas in movement cavity 141, and motor segment 140 is additionally operable to pneumatic
Mechanism 110 is stretched when being inflated to movement cavity 141.In the present embodiment, the gas in movement cavity 141 is absorbed in pneumatic mechanism 110
When body, using the one end of guide section 130 far from motor segment 140 as fulcrum, motor segment 140 is to the side bending far from ground, at this time
The one end of motor segment 140 far from guide section 130 travels forward, until entire software movement parts 120 form arch；In pneumatic mechanism
110 to movement cavity 141 in inflate when, using the one end of motor segment 140 far from guide section 130 as fulcrum, motor segment 140 stretches change
Shape, the one end of guide section 130 far from motor segment 140 travels forward at this time, until entire software movement parts 120 are attached at ground
On.
It is worth noting that, that the side on ground is provided with first is anti-skidding for the one end of guide section 130 far from motor segment 140
(not shown) is padded, to prevent the guide section 130 when pneumatic mechanism 110 absorbs the gas in movement cavity 141 from skidding.Motor segment
140 one end far from guide section 130 are provided with the second non-slip mat (not shown) close to the side on ground, to prevent in pneumatic mechanism
110 skiddings of motor segment 140 when inflation into movement cavity 141.In the present embodiment, the first non-slip mat and the second non-slip mat are by rubber
Glue material is made, it is not limited to this, is not especially limited the making material of the first non-slip mat and the second non-slip mat.
Fig. 6 is please referred to, pneumatic mechanism 110 includes the first Pneumatic assembly 150 and the second Pneumatic assembly 160.First pneumatic group
Part 150 is connected to the first air bag 131 and the second air bag 133 respectively, to control the inflation of the first air bag 131 or deflate, additionally it is possible to
It controls the inflation of the second air bag 133 or deflates.Second Pneumatic assembly 160 with movement cavity 141 be connected to, with to move cavity 141
Gas in interior inflation or absorption movement cavity 141.
First Pneumatic assembly 150 includes the first air pump 151, the first snorkel 153, the second snorkel 155 and switch
157.First air pump 151 is connect with the first snorkel 153 and the second snorkel 155 respectively, to be inflated to the first snorkel 153
Or air-breathing, moreover it is possible to the inflation of the second snorkel 155 or air-breathing.First snorkel 153 is connect with the first air bag 131, and second
Snorkel 155 is connect with the second air bag 133.In the present embodiment, the first air pump 151 is provided with air entry (not shown) and outlet
Mouthful (not shown), air entry and gas outlet are connect with switch 157, switch 157 respectively with the first snorkel 153 and second
Snorkel 155 connects.Switch 157 is for air entry to be connected to the first snorkel 153, and by gas outlet and the second snorkel
155 connections, switch 157 is additionally operable to air entry being connected to the second snorkel 155, and by gas outlet and the first snorkel 153
Connection.
When need to control software movement parts 120 turn to first direction when, switch 157 is by gas outlet and the first snorkel
153 connections, inflate into the first air bag 131, air entry are connected to the second snorkel 155, absorb the gas in the second air bag 133
Body, the degree of inflation of the first air bag 131 are more than the degree of inflation of the second air bag 133, and guide section 130 is bent to first direction.When
When control software movement parts 120 being needed to turn to second direction, gas outlet is connected to by switch 157 with the second snorkel 155, to
Inflation in second air bag 133, air entry is connected to the first snorkel 153, absorbs the gas in the first air bag 131, the second gas
The degree of inflation of capsule 133 is more than the degree of inflation of the first air bag 131, and guide section 130 is bent to second direction.It is soft when needing to control
When body movement parts 120 are moved along a straight line, if the gas in the first air bag 131 is more than the gas in the second air bag 133, cut
Gas outlet is connected to by parallel operation 157 with the second snorkel 155, is inflated into the second air bag 133, by air entry and the first snorkel
153 connections, absorb the gas in the first air bag 131, until the first air bag 131 is identical with the degree of inflation of the second air bag 133；Such as
Gas in the second air bag of fruit 133 is more than the gas in the first air bag 131, then switch 157 is by gas outlet and the first snorkel
153 connections, inflate into the first air bag 131, air entry are connected to the second snorkel 155, absorb the gas in the second air bag 133
Body, until the first air bag 131 is identical with the degree of inflation of the second air bag 133.
In the present embodiment, switch 157 is two position four-way solenoid valves, utilizes Electromagnetic Control air entry and the first snorkel
153 connections and gas outlet are connected to the second snorkel 155, or control air entry is connected to and goes out with the second snorkel 155
Gas port is connected to the first snorkel 153.
Second Pneumatic assembly 160 includes the second air pump 161 and third snorkel 163.Second air pump 161 passes through third
Snorkel 163 is connected to movement cavity 141, makes 140 bending of motor segment, Huo Zhexiang to absorb the gas in movement cavity 141
Inflation in movement cavity 141 is so that motor segment 140 stretches.
Fig. 7 is please referred to, motor segment 140 includes multiple subelements 143.Multiple subelements 143 are sequentially connected, to form movement
Section 140, and the action that bending can occur or stretch.Unit cavity 1431, multiple unit cavitys are provided in subelement 143
1431 connections, and combine and form movement cavity 141.
Subelement 143 includes the first halfbody 1432 and the second halfbody 1434.First halfbody 1432 and the second halfbody 1,434 1
It is body formed, and combination forms unit cavity 1431, when the second Pneumatic assembly 160 is inflated into unit cavity 1431, the first half
Body 1432 and the second halfbody 1434 stretch deformation；Gas in 160 absorptive unit cavity 1431 of the second Pneumatic assembly
When, the first halfbody 1432 and the second halfbody 1434 occur bending and deformation.First halfbody 1432 is arranged close to ground, the second halfbody
1434 are arranged far from ground.When the gas in 160 absorptive unit cavity 1431 of the second Pneumatic assembly, the first halfbody 1432 and
Two halfbodies 1434 to the side bending close to ground, form arch.
It is worth noting that, the hardness of the first halfbody 1432 is more than the hardness of the second halfbody 1434.When the second Pneumatic assembly
When gas in 160 absorptive unit cavitys 1431, the effect of the first halfbody 1432 and the second halfbody 1434 in external atmospheric pressure
Equal flexural deformation down, the pressure that the first halfbody 1432 and the second halfbody 1434 are born at this time is identical, but due to the first halfbody 1432
Hardness be more than the hardness of the second halfbody 1434, the bending degree of the first halfbody 1432 is less than the bending journey of the second halfbody 1434
Degree, causes entire motor segment 140 to be bent downwardly, and form arch；When the second Pneumatic assembly 160 is inflated into unit cavity 1431
When, the first halfbody 1432 and the second halfbody 1434 stretch deform back to original position under the influence of air pressure, lead to entire motor segment
140 stretch, and are attached at ground.
In the present embodiment, the first halfbody 1432 is made of hard gel material, and the second halfbody 1434 is by soft silica gel material
It is made, it is not limited to this, is not especially limited the making material of the first halfbody 1432 and the second halfbody 1434.
Software telecontrol equipment 100 provided in an embodiment of the present invention, pneumatic mechanism 110 respectively with the first air bag 131 and second
Air bag 133 is connected to, and guide section 130 in pneumatic mechanism 110 to the first air bag 131 for inflating and absorbing in the second air bag 133
It is bent to first direction when gas, guide section 130 is additionally operable to inflate to the second air bag 133 in pneumatic mechanism 110 and absorbs first
Be bent to second direction when gas in air bag 131, pneumatic mechanism 110 is connected to movement cavity 141, motor segment 140 for
Bending when pneumatic mechanism 110 absorbs the gas in movement cavity 141, motor segment 140 are additionally operable to empty to movement in pneumatic mechanism 110
Chamber 141 stretches when inflating.Compared with prior art, software telecontrol equipment 100 provided by the invention is as a result of being provided with
The guide section 130 of one air bag 131 and the second air bag 133 and the pneumatic mechanism 110 being connected to movement cavity 141, so can
Dexterity is quickly moved, and is turned to flexibly, movement is reliable, is adaptable to various complicated landforms, practical and convenient.
Second embodiment
Fig. 8 is please referred to, an embodiment of the present invention provides a kind of soft robots 10, including robot body 200 and software
Telecontrol equipment 100.Wherein, the basic structure and principle of software telecontrol equipment 100 and the technique effect and first embodiment of generation
Identical, to briefly describe, the present embodiment part does not refer to place, can refer to corresponding contents in first embodiment.
In the present embodiment, robot body 200 is installed on software telecontrol equipment 100, in software telecontrol equipment 100
Relative to ground motion under drive, to realize specific function.
The advantageous effect of soft robot 10 provided in an embodiment of the present invention is identical with the first embodiment, no longer superfluous herein
It states.
It these are only the preferred embodiment of the present invention, be not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.Any modification made by all within the spirits and principles of the present invention,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of software telecontrol equipment, which is characterized in that including pneumatic mechanism and software movement parts, the software movement parts include
Integrally formed guide section and motor segment are arranged at intervals with the first air bag and the second air bag, the pneumatic motor in the guide section
Structure is connected to first air bag and second air bag respectively, and the guide section is used in the pneumatic mechanism to described first
Airbag aeration is simultaneously bent when absorbing the gas in second air bag to first direction, and the guide section is additionally operable to described pneumatic
Mechanism is bent to second airbag aeration and to second direction when absorbing the gas in first air bag, in the motor segment
It is provided with movement cavity, the pneumatic mechanism is connected to the movement cavity, and the motor segment is used to inhale in the pneumatic mechanism
Bending when receiving the gas in the movement cavity, the motor segment are additionally operable to inflate to the movement cavity in the pneumatic mechanism
Shi Shenzhi.
2. software telecontrol equipment according to claim 1, which is characterized in that the pneumatic mechanism includes the first Pneumatic assembly
With the second Pneumatic assembly, first Pneumatic assembly is connected to first air bag and second air bag respectively, and described second
Pneumatic assembly is connected to the movement cavity.
3. software telecontrol equipment according to claim 2, which is characterized in that first Pneumatic assembly includes the first air
Pump, the first snorkel and the second snorkel, first air pump respectively with first snorkel and second snorkel
Connection, first snorkel are connect with first air bag, and second snorkel is connect with second air bag.
4. software telecontrol equipment according to claim 3, which is characterized in that first Pneumatic assembly further includes switching
Device, first air pump are provided with air entry and gas outlet, and the air entry and the gas outlet connect with the switch
It connects, the switch is connect with first snorkel and second snorkel respectively, and the switch is used for the suction
Gas port is connected to first snorkel, and the gas outlet is connected to second snorkel, and the switch is additionally operable to
The air entry is connected to second snorkel, and the gas outlet is connected to first snorkel.
5. software telecontrol equipment according to claim 4, which is characterized in that the switch is two position four-way solenoid valves.
6. software telecontrol equipment according to claim 1, which is characterized in that the motor segment includes multiple subelements, more
A subelement is sequentially connected, and unit cavity, multiple unit cavity connections is provided in the subelement, and combination forms institute
State movement cavity.
7. software telecontrol equipment according to claim 6, which is characterized in that the subelement includes the first halfbody and second
Halfbody, first halfbody and the second half body by integral forming, and combination forms the unit cavity, first halfbody leans on
Setting near the ground, second halfbody are arranged far from ground.
8. software telecontrol equipment according to claim 7, which is characterized in that the hardness of first halfbody is more than described the
The hardness of two halfbodies.
9. software telecontrol equipment according to claim 1, which is characterized in that the guide section far from the motor segment one
End is provided with the first non-slip mat, side of the one end of the motor segment far from the guide section close to ground close to the side on ground
It is provided with the second non-slip mat.
10. a kind of soft robot, which is characterized in that including robot body and software telecontrol equipment, the robot body
It is installed on the software telecontrol equipment, the software telecontrol equipment includes pneumatic mechanism and software movement parts, the software fortune
Moving part includes integrally formed guide section and motor segment, and the first air bag and the second air bag, institute are arranged at intervals in the guide section
Pneumatic mechanism is stated to be connected to first air bag and second air bag respectively, the guide section be used for the pneumatic mechanism to
First airbag aeration is simultaneously bent when absorbing the gas in second air bag to first direction, and the guide section is additionally operable to
The pneumatic mechanism is bent to second airbag aeration and to second direction when absorbing the gas in first air bag, described
Movement cavity is provided in motor segment, the pneumatic mechanism is connected to the movement cavity, and the motor segment is used in the gas
Bending when motivation structure absorbs the gas in the movement cavity, the motor segment are additionally operable in the pneumatic mechanism to the movement
Cavity stretches when inflating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN108903821A (en) * | 2018-08-01 | 2018-11-30 | 无锡盛雅生物科技有限公司佛山分公司 | It is capable of the soft robot of removing dust and clearing ash |
| CN108968795A (en) * | 2018-08-01 | 2018-12-11 | 佛山市高明曦逻科技有限公司 | Rotary dust catcher with high-freedom degree |
| CN109176571A (en) * | 2018-10-18 | 2019-01-11 | 上海交通大学 | Finger wrist integral type software gripper |
| CN109795570A (en) * | 2019-01-18 | 2019-05-24 | 哈尔滨工业大学 | A kind of soft robot folded based on adhesive tape and its mode of turning |
| CN110435783A (en) * | 2019-07-16 | 2019-11-12 | 广东工业大学 | A kind of imitative leech software climbing robot |
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| CN114750144A (en) * | 2022-03-28 | 2022-07-15 | 黑龙江省科学院智能制造研究所 | Soft robot turning control device and method and soft robot |
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| CN108968795A (en) * | 2018-08-01 | 2018-12-11 | 佛山市高明曦逻科技有限公司 | Rotary dust catcher with high-freedom degree |
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| CN112415631B (en) * | 2020-11-10 | 2022-07-01 | 北京理工大学 | Inflation power self-growing device for earthquake relief |
| CN114750144A (en) * | 2022-03-28 | 2022-07-15 | 黑龙江省科学院智能制造研究所 | Soft robot turning control device and method and soft robot |
| CN114750144B (en) * | 2022-03-28 | 2023-08-01 | 黑龙江省科学院智能制造研究所 | Soft robot turning control device and method and soft robot |
| CN115973497A (en) * | 2023-03-17 | 2023-04-18 | 寿光市飞龙食品有限公司 | Automatic quail egg packaging and boxing device |
| CN116442207A (en) * | 2023-05-29 | 2023-07-18 | 清华大学 | Software driving unit and modularized software mechanical arm with same |
| CN116442207B (en) * | 2023-05-29 | 2023-10-03 | 清华大学 | Software driving unit and modularized software mechanical arm with same |
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