CN108381548A - A kind of soft robot of hollow glass micropearl composition - Google Patents
A kind of soft robot of hollow glass micropearl composition Download PDFInfo
- Publication number
- CN108381548A CN108381548A CN201810414556.3A CN201810414556A CN108381548A CN 108381548 A CN108381548 A CN 108381548A CN 201810414556 A CN201810414556 A CN 201810414556A CN 108381548 A CN108381548 A CN 108381548A
- Authority
- CN
- China
- Prior art keywords
- hollow glass
- glass micropearl
- gas
- elastic matrix
- deformation
- Prior art date
- 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.)
- Pending
Links
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/06—Arms flexible
Abstract
The invention discloses a kind of soft robots of hollow glass micropearl composition, including plug, deformation set, folding elastic matrix, support frame, end-plate, elastic baffler and tightening spring, the end-plate is equipped with two groups of gas-tpe fittings, respectively the first gas-tpe fitting and the second gas-tpe fitting, pneumatic channel inside first gas-tpe fitting connection folding elastic matrix, filled cavity inside second gas-tpe fitting connection folding elastic matrix, filled cavity are internally provided with elastic baffler；The gas of different air pressures is filled in gas-tpe fitting to opening and closing elastic matrix, it can then realize that unit module is compression, stretches, the driving condition of bending, open and close elastic matrix and thereon deformation set deformation after, change rigidity under hollow glass micropearl filling, make it have fabulous adaptive capacity to environment, change rigidity by the hollow glass micropearl of filling, there can be larger flexibility and there is larger rigidity.
Description
Technical field
The present invention relates to a kind of fluid drive-type soft robot fields, more specifically, it relates to a kind of hollow glass
The soft robot of microballon composition.
Background technology
It is soft as emerging research field with bio-robot technology, the rapid development of material technology, manufacturing technology
Concern of the body robot by whole world researcher.Compared with traditional hard robot, soft robot is because of its matrix material
The compliance and compliance of material show stronger adaptive capacity to environment, and simple in structure, easily manufactured, human-computer interaction peace
Good perfection has broad application prospects in fields such as rescue, exploration, medical cares.
Current soft robot realizes that compression, stretching, bending are grasped based on rigid material, by air driving soft material
To make, this design bending ability is strong, and flexibility is good, but it lacks certain rigidity, and larger flexibility can either be had by being unable to reach,
It again can be with the performance of greater stiffness, to influence its adaptive capacity to environment.
Invention content
In view of the deficiencies of the prior art, the present invention intends to provide a kind of software of hollow glass micropearl composition
Robot, to solve the problems mentioned in the above background technology.
To achieve the above object, the present invention provides the following technical solutions：
A kind of soft robot of hollow glass micropearl composition, including plug, deformation set, folding elastic matrix, support frame, bullet
Property baffler, end-plate and tightening spring, the end-plate is equipped with two groups of gas-tpe fittings, respectively the first gas-tpe fitting and the
Two gas-tpe fittings, the connection of the first gas-tpe fitting open and close the pneumatic channel inside elastic matrix, the second gas-tpe fitting connection folding bullet
Property intrinsic silicon filled cavity, filled cavity is internally provided with elastic baffler, and elastic baffler is integral type with folding elastic matrix
Structure and filled cavity is divided into two, elastic baffler both sides are equipped with support frame, are filled out in the filled cavity on the outside of support frame
Filled with hollow glass micropearl, deformation set is set in outside folding elastic matrix, and deformation set outside is equipped with deformation slot, in deformation slot around
Equipped with tightening spring.
Further, the plug is embedded in one end of folding elastic matrix, and the other end for opening and closing elastic matrix is embedded in end
On sealing plate.
Further, the support frame forms several triangular teeths, and deformation chamber, phase are equipped between elastic baffler
It is set as slit between adjacent lance tooth.
Further, its main component of the hollow glass micropearl is borosilicate, and granularity is 10-250 μm, and wall thickness is 1-2 μ
m。
Further, the material of the support frame is plastics, PVC or high molecular material.
Further, the pneumatic channel is distributed in the folding elastic matrix on the outside of filled cavity, and pneumatic channel is several
And be not connected to mutually, it is annular in shape along folding elastic matrix cross-sectional distribution.
Further, it is set as built-in chamber between the deformation set and folding elastic matrix, built-in intracavitary is equipped with sponge filler.
Further, the deformation slot is spirally distributed with tightening spring, and the both ends of deformation set are separately fixed at plug
On end-plate.
Further, the tightening spring inner is set as microballon filling channel, and hollow glass is filled in microballon filling channel
Microballon is equipped with barrier flaps in ring-type on tightening spring inner wall, cache slot is set as between adjacent interior barrier flaps.
In conclusion the present invention has the advantages that compared with prior art：
The soft robot of a kind of hollow glass micropearl composition, to being filled with difference in the gas-tpe fitting of folding elastic matrix
The gas of air pressure can then realize that unit module is compression, stretches, the driving condition of bending, open and close elastic matrix and shape thereon
After becoming set deformation, changes rigidity under hollow glass micropearl filling, make it have fabulous adaptive capacity to environment, pass through filling
Hollow glass micropearl changes rigidity, can have larger flexibility and have larger rigidity.
More clearly to illustrate the structure feature and effect of the present invention, come below in conjunction with the accompanying drawings to this hair with specific embodiment
It is bright to be described in detail.
Description of the drawings
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the structural schematic diagram of elastic baffler in the present invention.
Fig. 3 is that the deformation of the present invention covers the structural schematic diagram that spring is tightened in winding.
Fig. 4 is the structural schematic diagram that spring is tightened in the present invention.
Reference numeral：1- plugs, 2- deformation set, 3- deformation slot, chamber, 5- sponges filler, the elastic base of 6- foldings built in 4-
Body, 7- pneumatic channels, the first gas-tpe fittings of 8-, 9- filled cavities, 10- hollow glass micropearls, 11- slits, 12- support frames, 13-
Deformation chamber, 14- elasticity baffler, 15- end-plates, the second gas-tpe fittings of 16-, 17- tightenings spring, 18- cache slots, 19- microballons
Barrier flaps in filling channel, 20-.
Specific implementation mode
The following further describes the technical solution of the present invention in the following with reference to the drawings and specific embodiments.
Referring to Fig. 1-Fig. 4, a kind of soft robot of hollow glass micropearl composition, including plug 1, deformation set 2, folding bullet
Property matrix 6, support frame 12, elastic baffler 14 and tightening spring 17, the plug 1 is embedded in the one of folding elastic matrix 6
The other end at end, folding elastic matrix 6 is embedded on end-plate 15, and end-plate 15 is equipped with two groups of gas-tpe fittings, respectively the
One gas-tpe fitting 8 and the second gas-tpe fitting 16, the connection of the first gas-tpe fitting 8 open and close the pneumatic channel 7 inside elastic matrix 6, the
Filled cavity 9 inside two gas-tpe fittings 16 connection folding elastic matrix 6, filled cavity 9 are internally provided with elastic baffler 14, elasticity resistance
Partition board 14 is an integral structure with folding elastic matrix 6 and filled cavity 9 is divided into two, and is equipped in 14 both sides of elastic baffler
Support frame 12, support frame 12 form several triangular teeths, and deformation chamber 13 is equipped between elastic baffler 14, adjacent
It is set as slit 11 between lance tooth, hollow glass micropearl 10, hollow glass are filled in the filled cavity 9 in 12 outside of support frame
Its main component of glass microballon 10 is borosilicate, and granularity is 10-250 μm, and wall thickness is 1-2 μm, high, light with compression strength,
The good advantage of low heat conduction, dispersibility, mobility, stability, when gas is passed through 14 side filled cavity 9 of elastic baffler, folding
6 side of elastic matrix is expanded to another lateral bend, the flowing reply folding elastic matrix 6 in filled cavity 9 of hollow glass micropearl 10
Deformation.
Preferably, in the present embodiment, the material of support frame 12 is preferably plastics, PVC, the light materials such as macromolecule.
The pneumatic channel 7 is distributed in the folding elastic matrix 6 in the outside of filled cavity 9, pneumatic channel 7 be several and mutually
It is not connected to, annular in shape along folding 6 cross-sectional distribution of elastic matrix, the ventilation expansion of pneumatic channel 7 in 6 side of folding elastic matrix
When, its bending direction can be further adjusted, to folding 6 another lateral bend of elastic matrix convenient for completely around being located on promptly object.
The deformation set 2 is set in outside folding elastic matrix 6, is set as built-in between deformation set 2 and folding elastic matrix 6
Chamber 4, built-in chamber 4 is interior to be equipped with sponge filler 5, and 2 outside of deformation set is equipped with deformation slot 3, tightening spring is arranged in deformation slot 3
17, deformation slot 3 is spirally distributed with tightening spring 17, and the both ends of deformation set 2 are separately fixed at plug 1 and end-plate 15
On.
The tightening spring 17 is preferably made of high intensity resiliency materials, and deformation set 2 and folding elastic matrix 6 are carried out
Limit constraint, avoids gross distortion after its bulging；Microballon filling channel 19 is set as inside the tightening spring 17, microballon filling is logical
It is filled with hollow glass micropearl 10 in road 19, barrier flaps 20 in ring-type, adjacent interior barrier flaps are equipped on tightening 17 inner wall of spring
Cache slot 18 is set as between 20, in microballon filling channel 19 when flowing, interior barrier flaps 20 are stopped hollow glass micropearl 10,
So that intercommunication is flowed between hollow glass micropearl 10 carries out adjacent cache slot 18.
Be filled with the gas of different air pressures in gas-tpe fitting to opening and closing elastic matrix 6, then can realize unit module be compression,
Stretch, bending driving condition, open and close elastic matrix 6 and thereon deformation set 2 deformation after, hollow glass micropearl 10 filling under
Change rigidity, make it have fabulous adaptive capacity to environment, rigidity is changed by the hollow glass micropearl 10 of filling, can be had
Larger flexibility, and can have larger rigidity.
The technical principle that the present invention is described above in association with specific embodiment, is only the preferred embodiment of the present invention.This
The protection domain of invention is not limited merely to above-described embodiment, and all technical solutions belonged under thinking of the present invention belong to the present invention
Protection domain.Those skilled in the art would not require any inventive effort the other specific realities that can associate the present invention
Mode is applied, these modes are fallen within protection scope of the present invention.
Claims (9)
1. a kind of soft robot of hollow glass micropearl composition, including plug (1), deformation set (2), folding elastic matrix (6),
Support frame (12), elastic baffler (14), end-plate (15) and tightening spring (17), which is characterized in that the end-plate
(15) two groups of gas-tpe fittings, respectively the first gas-tpe fitting (8) and the second gas-tpe fitting (16), the first gas-tpe fitting are equipped with
(8) the internal pneumatic channel (7) of connection folding elastic matrix (6), the second gas-tpe fitting (16) connection open and close in elastic matrix (6)
The filled cavity (9) in portion, filled cavity (9) are internally provided with elastic baffler (14), elastic baffler (14) and folding elastic matrix (6)
It is an integral structure and filled cavity (9) is divided into two, elastic baffler (14) both sides are equipped with support frame (12), support rib
Hollow glass micropearl (10) is filled in filled cavity (9) on the outside of frame (12), deformation set (2) is set in folding elastic matrix (6)
Outside, deformation set (2) outside are equipped with deformation slot (3), tightening spring (17) are arranged in deformation slot (3).
2. a kind of soft robot of hollow glass micropearl composition according to claim 1, which is characterized in that the plug
(1) it is embedded in one end of folding elastic matrix (6), the other end of folding elastic matrix (6) is embedded on end-plate (15).
3. a kind of soft robot of hollow glass micropearl composition according to claim 1, which is characterized in that the support
Skeleton (12) forms several triangular teeths, and deformation chamber (13), adjacent triangle tooth are equipped between elastic baffler (14)
Between be set as slit (11).
4. a kind of soft robot of hollow glass micropearl composition according to claim 1, which is characterized in that described hollow
Glass microballoon (10) its main component is borosilicate, and granularity is 10-250 μm, and wall thickness is 1-2 μm.
5. a kind of soft robot of hollow glass micropearl composition according to claim 3, which is characterized in that the support
The material of skeleton (12) is plastics, PVC or high molecular material.
6. a kind of soft robot of hollow glass micropearl composition according to claim 1, which is characterized in that described pneumatic
Channel (7) is distributed in the folding elastic matrix (6) on the outside of filled cavity (9) Nei, and pneumatic channel (7) is several and is not connected to mutually,
Folding elastic matrix (6) cross-sectional distribution in edge annular in shape.
7. a kind of soft robot of hollow glass micropearl composition according to claim 6, which is characterized in that the deformation
It is set as built-in chamber (4) between set (2) and folding elastic matrix (6), sponge filler (5) is equipped in built-in chamber (4).
8. a kind of soft robot of hollow glass micropearl composition according to claim 1, which is characterized in that the deformation
Slot (3) is spirally distributed with tightening spring (17), and the both ends of deformation set (2) are separately fixed at plug (1) and end-plate
(15) on.
9. a kind of soft robot of hollow glass micropearl composition according to claim 8, which is characterized in that the tightening
It is set as microballon filling channel (19) inside spring (17), hollow glass micropearl (10) is filled in microballon filling channel (19),
It tightens spring (17) inner wall and is equipped with barrier flaps (20) in ring-type, cache slot (18) is set as between adjacent interior barrier flaps (20).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810414556.3A CN108381548A (en) | 2018-05-03 | 2018-05-03 | A kind of soft robot of hollow glass micropearl composition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810414556.3A CN108381548A (en) | 2018-05-03 | 2018-05-03 | A kind of soft robot of hollow glass micropearl composition |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108381548A true CN108381548A (en) | 2018-08-10 |
Family
ID=63064804
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810414556.3A Pending CN108381548A (en) | 2018-05-03 | 2018-05-03 | A kind of soft robot of hollow glass micropearl composition |
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| CN (1) | CN108381548A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109227530A (en) * | 2018-10-23 | 2019-01-18 | 燕山大学 | A kind of variation rigidity robot |
| CN109732476A (en) * | 2019-03-01 | 2019-05-10 | 重庆大学 | Variation rigidity constant force floating polishing bistrique |
| CN109794926A (en) * | 2019-01-24 | 2019-05-24 | 浙江工业大学 | A kind of flexible structure of stiffness variable |
| CN110722563A (en) * | 2019-10-29 | 2020-01-24 | 南京南邮信息产业技术研究院有限公司 | Modeling method of variable-rigidity soft robot |
| CN110900652A (en) * | 2019-11-27 | 2020-03-24 | 天津大学 | Continuum variable-rigidity mechanical arm based on sponge |
| CN111015721A (en) * | 2019-12-26 | 2020-04-17 | 哈尔滨工业大学 | Variable-rigidity software module and clamp holder of glass-like sponge framework 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 |
| CN114012781A (en) * | 2021-08-27 | 2022-02-08 | 北华大学 | Continuous spiral nested constraint pneumatic variable-stiffness flexible arm |
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| CN2790700Y (en) * | 2005-04-07 | 2006-06-28 | 浙江工业大学 | Pneumatic flexible driver |
| US20090314119A1 (en) * | 2006-10-13 | 2009-12-24 | Robotics Technology Leaders Gmbh | Worm-like mechanism |
| CN105729465A (en) * | 2016-04-15 | 2016-07-06 | 东南大学 | Pneumatic soft linear telescopic device |
| CN107756385A (en) * | 2017-08-31 | 2018-03-06 | 南京邮电大学 | Variation rigidity software driver, software arm and software platform based on blocking mechanism |
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2018
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2790700Y (en) * | 2005-04-07 | 2006-06-28 | 浙江工业大学 | Pneumatic flexible driver |
| US20090314119A1 (en) * | 2006-10-13 | 2009-12-24 | Robotics Technology Leaders Gmbh | Worm-like mechanism |
| CN105729465A (en) * | 2016-04-15 | 2016-07-06 | 东南大学 | Pneumatic soft linear telescopic device |
| CN107756385A (en) * | 2017-08-31 | 2018-03-06 | 南京邮电大学 | Variation rigidity software driver, software arm and software platform based on blocking mechanism |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109227530A (en) * | 2018-10-23 | 2019-01-18 | 燕山大学 | A kind of variation rigidity robot |
| CN109794926A (en) * | 2019-01-24 | 2019-05-24 | 浙江工业大学 | A kind of flexible structure of stiffness variable |
| CN109794926B (en) * | 2019-01-24 | 2024-01-09 | 浙江工业大学 | Flexible structure with variable rigidity |
| CN109732476A (en) * | 2019-03-01 | 2019-05-10 | 重庆大学 | Variation rigidity constant force floating polishing bistrique |
| CN110722563A (en) * | 2019-10-29 | 2020-01-24 | 南京南邮信息产业技术研究院有限公司 | Modeling method of variable-rigidity soft robot |
| WO2021082520A1 (en) * | 2019-10-29 | 2021-05-06 | 南京南邮信息产业技术研究院有限公司 | Model building method for variable-stiffness soft robot |
| CN110900652A (en) * | 2019-11-27 | 2020-03-24 | 天津大学 | Continuum variable-rigidity mechanical arm based on sponge |
| 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 |
| CN111015721A (en) * | 2019-12-26 | 2020-04-17 | 哈尔滨工业大学 | Variable-rigidity software module and clamp holder of glass-like sponge framework structure |
| CN114012781A (en) * | 2021-08-27 | 2022-02-08 | 北华大学 | Continuous spiral nested constraint pneumatic variable-stiffness flexible arm |
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| PB01 | Publication | ||
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Application publication date: 20180810 |