CN108582033B - Rigidity-variable soft robot system - Google Patents
Rigidity-variable soft robot system Download PDFInfo
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- CN108582033B CN108582033B CN201711363921.4A CN201711363921A CN108582033B CN 108582033 B CN108582033 B CN 108582033B CN 201711363921 A CN201711363921 A CN 201711363921A CN 108582033 B CN108582033 B CN 108582033B
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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
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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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Abstract
The invention discloses a variable-rigidity soft robot system which comprises a soft robot, a vacuum pumping device and a particle conveying device, wherein the soft robot is provided with a cavity surrounded by an elastic deformation cavity wall, and a pumping channel and a conveying channel are arranged on the elastic deformation cavity wall; the vacuum air extractor is connected with the vacuum extraction channel and is used for extracting air in the cavity to realize vacuum or negative pressure in the cavity; the particle conveying device is connected with the conveying channel and used for conveying the deformation-causing medium of the soft robot into the accommodating cavity. The soft robot system of the invention reserves the characteristics of easy realization of complex motion and strong environment adaptability of the soft robot, and simultaneously can enhance the rigidity of the robot in a static state, greatly enhance the bearing capacity of the robot, enhance the practicability of the soft robot and expand the application range of the soft robot.
Description
Technical Field
The invention belongs to the software robot technology, and particularly relates to a variable-rigidity software robot system.
Background
In order to obtain higher precision and rigidity, the traditional robot is generally made of a material with a higher elastic modulus and is formed by connecting a plurality of kinematic pairs. The soft robot is a robot made of a material with a small elastic modulus, such as rubber, resin, etc. Compared with a rigid robot, the soft robot has infinite multi-degree of freedom and more diversified motion forms, meanwhile, the shape can be modified according to the environment due to small elastic modulus, the adaptability is strong, and particularly in the occasion of contacting with a human, the soft robot has intrinsic safety and has wide application prospect.
The soft robot can be divided into a fluid-driven, a shape memory alloy-driven, a dielectric elastomer-driven and a field-driven soft robot according to different action mechanisms, wherein the soft robot driven by compressed air or high-pressure liquid has the advantages of simple structure, convenient control and most extensive application.
The fluid-driven soft robot is generally made of one or more elastomer materials, a fluid chamber is arranged inside the fluid-driven soft robot, and when compressed air or high-pressure liquid flows into the chamber, the soft robot can realize various motion forms such as extension, bending and spiral motion due to asymmetric distribution of rigidity caused by asymmetric arrangement of the chamber in the soft robot or different material properties. When the high-pressure fluid medium is removed, the soft robot can restore to a natural state due to elasticity. The structure of the soft robot is reasonably designed, and proper materials are selected, so that the soft robot can actively realize various deformation states.
However, due to the low rigidity of the soft robot material, the existing soft robot has weak bearing capacity and low practicability.
Disclosure of Invention
The technical problem solved by the invention is as follows: aiming at the defect of low bearing capacity of the existing soft robot caused by insufficient rigidity of materials, the variable-rigidity soft robot system which has active deformation capacity and can change the rigidity is provided. The robot has less rigidity when warping, remains the advantage that software robot environmental adaptability is strong, simultaneously, when the robot needs static to bear, the robot possesses great rigidity again.
The invention is realized by adopting the following technical scheme:
a rigidity-variable soft robot system comprises a soft robot 1, a vacuum pumping device 2 and a particle conveying device 3, wherein,
the soft robot 1 is provided with a cavity 102 enclosed by an elastic deformation cavity wall 101, and the elastic deformation cavity wall 101 is provided with a vacuumizing channel 104 and a conveying channel 105;
the vacuum air extractor 2 is connected with the vacuum extraction channel 104 and is used for extracting air inside the cavity 102 to realize vacuum or negative pressure inside the cavity 102;
the particle delivery device 3 is connected with a delivery channel 105 and is used for delivering a deformation-causing medium of the soft robot into the cavity 102.
Further, the deformation causing medium is solid particles with a stable structural form, and a particle screen 103 for preventing the deformation causing medium from passing through is arranged in the vacuum pumping channel 104.
Preferably, the solid particles are microspheroidal particles having a diameter of between 0.1mm and 1.5 mm.
Further, the vacuum pumping device 2 comprises an air pipe 201, a reversing valve 203 and a vacuum pump 204, wherein one end of the air pipe 201 is communicated with the vacuum pumping channel 104, and the other end of the air pipe 201 is connected with the vacuum pump 204 through the reversing valve 203.
Preferably, the reversing valve 203 is a three-position four-way electromagnetic reversing valve with a U-shaped middle position function.
Further, lubricating liquid is mixed in the deformation causing medium, and a lubricating liquid collector 202 is further arranged on the air pipe 201.
Further, the particle conveying device 3 comprises a particle pipeline 301, a piston sleeve 302, a plunger assembly 303 and a particle pushing power unit 304;
one end of the particle pipeline 301 is communicated with the conveying channel 105, the other end of the particle pipeline is communicated with an outlet of the piston sleeve 302, an inner cavity of the piston sleeve 302 is filled with a deformation-causing medium, the plunger assembly 303 is hermetically and slidably assembled in the piston sleeve 302 and is connected with the particle pushing power unit 304, and the plunger assembly 303 pushes the deformation-causing medium in the piston sleeve 302 to enter the accommodating cavity 102 through the particle pipeline 301 under the driving of the particle pushing power unit 304.
Further, the particle pushing power unit 304 is a linear motion motor screw assembly, a linear motor, an electric cylinder or a hydraulic cylinder.
In the variable stiffness soft body robot system of the present invention, the soft body robot 1 further comprises a backing 106 disposed in close contact with the elastically deformable cavity wall 101.
Preferably, the elastic deformation chamber wall 101 is made of silicon rubber, and the backing 106 is made of PP.
In the invention, firstly, in a free state, the cavity of the soft robot and the pipeline of the particle conveying device are filled with microsphere particles, meanwhile, a reversing valve in the vacuum pumping device enables the cavity of the soft robot to be communicated with the atmosphere, when a volume pump assembly of the particle conveying device adds the microsphere particles with certain volume into the cavity of the soft robot, the microsphere particles uniformly apply approximately equal pressure to the cavity of the soft robot and the wall of an elastic deformation cavity, the effect same as that of a fluid medium is achieved, the soft robot starts to deform, the deformation form is related to the section and the material distribution of the soft robot, and the size of the deformation is controlled by the volume of the microsphere particles pumped to the soft robot.
In the deformation process of the soft robot, the robot has low rigidity, can generate passive deformation when being hindered by the environment, and has certain environment adaptability; when the robot needs to bear the load in a static state, the reversing valve of the vacuum air extractor isolates the accommodating cavity of the soft robot from the atmosphere, meanwhile, the vacuum pump starts to work, the external atmospheric pressure applies pressure to the microspheroidal particles through the elastic deformation cavity wall of the soft robot, so that the friction force among the microspheroidal particles is increased, the soft robot has stronger capacity of resisting external force, and the bearing capacity is obviously enhanced; when the soft robot is required to return to the initial state, the vacuum pump stops working, the reversing valve enables the accommodating cavity of the soft robot to be connected with the atmosphere, meanwhile, the volume pump assembly of the particle conveying device works reversely, the microspherical particles in the accommodating cavity of the soft robot flow back into the particle conveying device from the accommodating cavity under the action of the elastic restoring force of the elastic deformation cavity wall of the soft robot, and the soft robot returns to the initial state.
The soft robot system of the invention reserves the characteristics of easy realization of complex motion and strong environment adaptability of the soft robot, and simultaneously can enhance the rigidity of the robot in a static state, greatly enhance the bearing capacity of the robot, enhance the practicability of the soft robot and expand the application range of the soft robot.
The invention is further described in the following with reference to the drawings and the detailed description
Drawings
Fig. 1 is a schematic diagram of the general structure of a variable stiffness soft robot system in an embodiment.
Fig. 2 is a schematic structural diagram of a soft robot in an embodiment.
FIG. 3 is a schematic structural diagram of a vacuum pumping apparatus in an embodiment.
Fig. 4 is a schematic structural diagram of a particle transport apparatus in an embodiment.
Reference numbers in the figures:
1-soft robot, 101-elastic deformation chamber wall, 102-cavity, 103-particle filter screen, 104-vacuum pumping channel, 105-conveying channel, 106-backing;
2-vacuum pumping device, 201-air pipe, 202-lubricating liquid collector, 203-reversing valve, 204-vacuum pump;
3-particle delivery device, 301-particle conduit, 302-piston sleeve, 303-plunger assembly, 304-particle propelling power unit.
Detailed Description
Examples
Referring to fig. 1, a variable stiffness soft robot system in the figure is a preferred scheme of the present invention, and specifically includes a soft robot 1 capable of implementing deformation, a vacuum pumping device 2 for implementing vacuum pumping of an internal cavity of the soft robot, and a particle delivery device 3 for delivering a deformation-causing medium to the internal cavity of the soft robot.
As shown in fig. 2, the flexible robot can achieve bending action, and mainly comprises an elastic deformation chamber wall 101, a cavity 102, and a backing 106, wherein the elastic deformation chamber wall 101 is made of silicon rubber with a low elastic modulus, and the backing 106 is disposed in close contact with the outer wall of the elastic deformation chamber wall 101 along the axial direction, and is made of PP with a high elastic modulus to reduce the axial extension of the flexible robot and provide a main restoring force for the flexible robot.
The cavity 102 is surrounded by an elastic deformation cavity wall 101, in order to realize the deformation of the soft robot, deformation-causing media need to be conveyed into the cavity 102 inside the soft robot, an outlet channel is arranged on the elastic deformation cavity wall 101, one of the outlet channels has a larger pipe diameter and is connected with the particle conveying device 3 for conveying a channel 105, and the outlet channel can be used for allowing the microspherical particles of the deformation-causing media to come in and go out, the other outlet channel has a smaller pipe diameter and is connected with the vacuum pumping device 2 for vacuumizing the channel 104, when the deformation-causing media in the cavity of the soft robot increase, the elastic deformation cavity wall 101 starts to deform completely, and the deformation amount is controlled by the increment of the volume of the cavity inside the soft robot.
In order to realize the rigidity-variable adjustment of the soft robot, after the soft robot deforms under the action of a deformation-causing medium, the interior of the accommodating cavity of the soft robot is vacuumized through the vacuumizing channel 104, so that the soft robot has certain rigidity.
The medium causing deformation in this embodiment is solid particles with a stable structural form, and specifically, microsphere particles with a diameter of 0.1mm to 1.5mm may be selected, and in order to prevent the microsphere particles from entering the vacuum pumping device from the vacuum pumping channel 104 during vacuum pumping, a particle filter 103 for preventing the medium causing deformation from passing through is disposed in the vacuum pumping channel 104.
Specifically, as shown in fig. 3, the vacuum pumping device of the present embodiment includes an air pipe 201, a lubricating fluid collector 202, a reversing valve 203, and a vacuum pump 204. The gas pipe 201 forms a gas flow channel during vacuum pumping, one end of the gas pipe is communicated with the vacuum pumping channel 104, the other end of the gas pipe is connected with a vacuum pump 204 through a reversing valve 203, and the vacuum pump 204 is a power source for vacuum pumping.
When lubricant is needed due to poor fluidity of the microsphere particles of the deformation-causing medium, in order to prevent the damage of the vacuum pump caused by pumping the lubricating liquid in the microsphere particles into the vacuum pump during vacuum pumping, a lubricating liquid collector 202 is further arranged on the gas pipe 201.
The variable stiffness control of the soft robot of the embodiment includes three states: 1. flexible to rigid; 2. maintaining rigidity; 3. rigid to flexible. In order to realize the switching operation of the soft robot between the three states of variable stiffness, the reversing valve 203 of the embodiment adopts a three-position four-way electromagnetic reversing valve with a U-shaped neutral position function to realize the variable stiffness of the soft robot.
As shown in fig. 4, the particle transporting apparatus 3 includes a particle duct 301, a piston sleeve 302, a plunger assembly 303, and a particle pushing power device 304, wherein one end of the particle duct 301 is connected to the transporting channel 105, and the other end is connected to the outlet of the piston sleeve 302, the particle duct 301 mainly functions to store certain particles and provide a channel for the particles to flow, and the piston sleeve 302 and the plunger assembly 303 form a positive displacement pump structure. The inner cavity of the piston sleeve 302 is filled with microspherical particles serving as deformation-causing media, the plunger assembly 303 is assembled in the piston sleeve 302 in a sliding mode, the plunger assembly 303 comprises a plunger and a plunger rod, the plunger and the inner wall of the piston sleeve 302 are assembled in a sealing and sliding mode through a rubber ring, the plunger rod is fixedly connected with the plunger in a coaxial mode, the plunger assembly 303 is connected with the particle pushing power unit 304 through the plunger rod, the plunger assembly 303 plays a role in conveying particles to a soft robot accommodating cavity under the effect of the particle pushing power unit 304, and in practical application, the particle pushing unit can be a linear motor and a lead screw combination or a linear motor or an electric cylinder or a hydraulic cylinder, and a particle conveying device is connected with the plunger and the. The plunger assembly 303 is driven by the particle pushing power unit 304 to push the deformation-causing medium in the piston sleeve 302 into the cavity 102 through the particle pipeline 301.
The plunger of the plunger assembly 303 and the piston sleeve 302 are assembled in a sealing and sliding mode through rubber rings, the particle pipeline 301, the accommodating cavity 102 of the soft robot and the vacuum air pumping device 2 are isolated from the atmosphere, and the vacuum air pumping device is prevented from working failure due to leakage of the particle conveying device in the vacuumizing process.
The working process of the variable stiffness soft robot of the embodiment is described in detail as follows:
1. firstly, filling microsphere particles in the soft robot cavity 102 and the particle pipeline 301 in a free state (if the particle mobility is poor, a lubricant needs to be added into the particles), connecting and sealing the air pipe 201 and the particle pipeline 301, preventing the interface of the particle pipeline 301 and the cavity 102 of the soft robot from being directly connected with the atmosphere, and in an initial state, the three-position four-way electromagnetic directional valve in the vacuum air extraction device 2 is in a middle position, and the vacuum pump 204 is connected with the atmosphere;
2. the soft robot bends and deforms. Starting the particle conveying device 3, wherein a plunger assembly 303 of the particle conveying device 3 moves in a piston sleeve 302, the plunger pushes microsphere particles in the piston sleeve and the particle pipeline to flow to a cavity 102 in the soft robot, the volume of the cavity 102 is increased, the soft robot generates bending deformation, and when the soft robot deforms to a preset deformation degree, the particle conveying device 3 stops particle conveying;
3. and (4) a rigidity enhancing process. The three-position four-way electromagnetic directional valve of the vacuum air extractor 2 is arranged at the right position, the vacuum pump 204 works to extract air in the inner cavity of the soft robot, so that vacuum or negative pressure in the soft robot is realized, the contact between the microspherical particles in the inner cavity of the soft robot and the contact between the microspherical particles and the inner wall of the elastic deformation cavity wall of the soft robot are tighter, the rigidity enhancement of the soft robot is achieved, and the rigidity degree is determined by the vacuum degree, the diameter of the microspherical particle particles, the friction force between the microspherical particle particles and the inner wall of the soft robot;
4. a rigid holding state. The three-position four-way electromagnetic reversing valve of the vacuum pumping device 2 is arranged at the middle position, the vacuum pump 204 is closed, and the microsphere particles in the soft robot form a stable rigid state;
5. and (4) softening process. The three-position four-way electromagnetic reversing valve of the vacuum air extractor 2 is arranged at the left position, the cavity 102 of the soft robot is connected with the atmosphere, the contact among the microspherical particles in the cavity of the soft robot and the contact among the microspherical particles and the inner wall of the elastic deformation cavity wall of the soft robot are restored to be normal, the rigidity of the soft robot is reduced, the soft robot is restored to be in a first bending state, and the soft robot realizes the softening process;
6. and the flexible robot is bent and recovered. The plunger assembly 303 of the particle delivery device 3 moves in the piston sleeve 302 in the opposite direction, and the microspherical particles in the soft robot cavity are pushed out of the soft robot cavity under the elastic action of the elastic deformation cavity wall 101 of the soft robot and the backing 106 and flow back to the particle pipeline and the piston sleeve 302 of the particle delivery device until the soft robot returns to the free state.
The above is a complete deformation process of the variable stiffness soft robot.
The foregoing embodiments illustrate the principles and features of the present invention and their advantages, and it will be understood by those skilled in the art that the present invention is not limited by the embodiments described above, which are merely illustrative of the specific principles of operation of the present invention, and that various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined by the appended claims and their equivalents.
Claims (10)
1. A rigidity-variable soft robot system comprises a soft robot (1) and a vacuum pumping device (2), and is characterized by also comprising a particle conveying device (3), wherein,
the flexible robot (1) is provided with a cavity (102) enclosed by an elastic deformation cavity wall (101), and a vacuumizing channel (104) and a conveying channel (105) are arranged on the elastic deformation cavity wall (101);
the vacuum air extraction device (2) is connected with the vacuum extraction channel (104) and is used for extracting air in the cavity (102) to realize vacuum or negative pressure in the cavity (102);
the particle conveying device (3) is connected with the conveying channel (105) and used for conveying the deformation-causing medium of the soft robot into the cavity (102).
2. The variable-rigidity soft robot system as claimed in claim 1, wherein the deformation medium is solid particles with stable structural configuration, and a particle screen (103) for preventing the deformation medium from passing through is arranged in the vacuum-pumping channel (104).
3. The variable stiffness soft robotic system of claim 2, wherein the solid particles are microspheroidal particles having a diameter between 0.1mm and 1.5 mm.
4. The variable-rigidity soft robot system according to claim 2, wherein the vacuum pumping device (2) comprises an air pipe (201), a reversing valve (203) and a vacuum pump (204), one end of the air pipe (201) is communicated with the vacuum pumping channel (104), and the other end of the air pipe (201) is connected with the vacuum pump (204) through the reversing valve (203).
5. The variable stiffness soft robot system of claim 4, wherein the directional valve (203) is a U-shaped mid-position three-position four-way electromagnetic directional valve.
6. The variable-stiffness soft robot system as claimed in claim 4, wherein a lubricant is mixed in the deformation-causing medium, and a lubricant collector (202) is further arranged on the air pipe (201).
7. The variable stiffness soft robotic system of claim 2, the particle transport device (3) comprising a particle conduit (301), a piston sleeve (302), a plunger assembly (303), and a particle pushing power unit (304);
one end of the particle pipeline (301) is communicated with the conveying channel (105), the other end of the particle pipeline is communicated with an outlet of the piston sleeve (302), an inner cavity of the piston sleeve (302) is filled with a deformation-causing medium, the plunger assembly (303) is hermetically and slidably assembled in the piston sleeve (302) and is connected with the particle pushing power unit (304), and the plunger assembly (303) pushes the deformation-causing medium in the piston sleeve (302) to enter the accommodating cavity (102) through the particle pipeline (301) under the driving of the particle pushing power unit (304).
8. The variable stiffness soft robotic system of claim 7, wherein the particle propelling power unit (304) is a linear motion motor screw assembly or a linear motor or an electric cylinder or a hydraulic cylinder.
9. A variable stiffness soft body robot system according to any of claims 1-8, the soft body robot (1) further comprising a backing (106) arranged in close proximity to the elastically deformable cavity walls (101).
10. The system of claim 9, wherein the elastically deformable chamber walls (101) are made of silicone rubber and the backing (106) is made of PP.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711363921.4A CN108582033B (en) | 2017-12-18 | 2017-12-18 | Rigidity-variable soft robot system |
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| CN201711363921.4A CN108582033B (en) | 2017-12-18 | 2017-12-18 | Rigidity-variable soft robot system |
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| CN108582033B true CN108582033B (en) | 2020-03-31 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109227530B (en) * | 2018-10-23 | 2020-09-11 | 燕山大学 | Rigidity-variable robot |
| CN110394794A (en) * | 2019-06-27 | 2019-11-01 | 西安工业大学 | A kind of software driving device |
| CN110394796A (en) * | 2019-08-26 | 2019-11-01 | 中南大学 | A kind of aerated particle combination drive variation rigidity soft robot and its operation method |
| CN110900652A (en) * | 2019-11-27 | 2020-03-24 | 天津大学 | Continuum variable-rigidity mechanical arm based on sponge |
| CN112754660A (en) * | 2020-12-11 | 2021-05-07 | 北京信息科技大学 | Pneumatic device of general type software operation auxiliary robot |
| CN113500615A (en) * | 2021-07-15 | 2021-10-15 | 清华大学 | Robot fingertip device and robot finger with same |
| CN114227708B (en) * | 2021-12-16 | 2024-04-12 | 燕山大学 | Modularized bionic device based on variable rigidity and control method thereof |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945930A (en) * | 2016-05-20 | 2016-09-21 | 哈尔滨工业大学 | Liner-driven type software robot with changeable rigidity |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945930A (en) * | 2016-05-20 | 2016-09-21 | 哈尔滨工业大学 | Liner-driven type software robot with changeable rigidity |
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