CN108608419A - Closed housing, software muscle, soft robot drive system and robot system - Google Patents
Closed housing, software muscle, soft robot drive system and robot system Download PDFInfo
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- CN108608419A CN108608419A CN201611128443.4A CN201611128443A CN108608419A CN 108608419 A CN108608419 A CN 108608419A CN 201611128443 A CN201611128443 A CN 201611128443A CN 108608419 A CN108608419 A CN 108608419A
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- Prior art keywords
- closed housing
- convex ridge
- axial
- soft robot
- robot drive
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- 230000007246 mechanism Effects 0.000 claims description 38
- 239000000463 material Substances 0.000 claims description 21
- 230000008878 coupling Effects 0.000 claims description 15
- 238000010168 coupling process Methods 0.000 claims description 15
- 238000005859 coupling reaction Methods 0.000 claims description 15
- 239000007788 liquid Substances 0.000 claims description 7
- 238000010146 3D printing Methods 0.000 claims description 5
- 238000009954 braiding Methods 0.000 claims description 4
- 239000010409 thin film Substances 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 21
- 239000012530 fluid Substances 0.000 description 13
- 230000008602 contraction Effects 0.000 description 7
- 239000000835 fiber Substances 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 4
- 238000002474 experimental method Methods 0.000 description 4
- 210000003205 muscle Anatomy 0.000 description 4
- 230000004323 axial length Effects 0.000 description 3
- 239000002775 capsule Substances 0.000 description 3
- 230000004913 activation Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 229920003023 plastic Polymers 0.000 description 2
- 239000004033 plastic Substances 0.000 description 2
- 229920002401 polyacrylamide Polymers 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 208000005168 Intussusception Diseases 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000000203 mixture 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
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- 238000007789 sealing Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
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
- B25J9/1075—Programme-controlled manipulators characterised by positioning means for manipulator elements with muscles or tendons
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rheumatology (AREA)
- Actuator (AREA)
Abstract
The present invention relates to closed housing, software muscle, soft robot drive system and robot system, wherein closed housing has origami structure and limits inner cavity, wherein the origami structure includes：Ontology, there are two axial end portions and the multiple first axis to cross to axial end to fold convex ridge for tool, and at least one of described two axial end portions axial end portion has towards the tapered dog-ear of axial end；At least a pair of end portions folds convex ridge, is integrally formed on the body, wherein each end folding convex ridge is tapered towards axial end；And middle part folds convex ridge, is integrally formed on the body and is connected between at least a pair of end portions folding convex ridge；Wherein, closed housing is constructed to be permeable to by inflating the inner cavity from the unfolded state that collapsed state is radial dilatation and axial shrinkage.The present invention is improved closed housing, with constitute have more high-tensile strength again than and the lower software muscle of driving pressure.
Description
Technical field
The present invention relates to soft robot technical fields, in particular to closed housing, software muscle, soft robot
Drive system and robot system.
Background technology
In recent years, software actuator due to its with preferable compliance, higher safety and stronger power day
Benefit causes researcher's note that the development that this facilitate it in routine use and industrial application.For example, software muscle due to
It is with unique passive flexible and adaptability, to not be absolute rigidity on any one operating point, in external force
Effect is lower can to generate deformation in a certain range, therefore under the fortuitous events such as collide, hit, software muscle is with biography
System robotic actuator incomparable adaptability and safety.Software muscle be particularly suitable for wearable robot device or
Work in the application scenarios such as the service robot under general environment.
US7779747B2 discloses such a software muscle comprising have first end, second end and this both ends it
Between the actuator of capsule component that extends and can be radially expanded, which is circumscribed with pressure fluid source.Capsule component further includes inner cavity.
In addition, being equipped with the container of approximately fixed volume in inner cavity.Wherein capsule component is configured to work as introduces certain body from the inside chamber of container
It being capable of radial dilatation and axial shrinkage when long-pending fluid.But this software muscle is due to shrinking relatively low and needing higher driving
Pressure could generate identical active force and there is still a need for be further improved.
Invention content
Improved it is suitable for the application of in the closed housing of software muscle the present invention is intended to provide a kind of.
The present invention is also directed to a kind of software muscle using above-mentioned improved closed housing, can be pressed in relatively low driving
Higher shrinkage ratio is generated under power.
The present invention is also directed to a kind of soft robot drive system using above-mentioned improved software muscle.
The present invention is also directed to a kind of robot system using above-mentioned improved soft robot drive system.
According to an aspect of the invention, there is provided a kind of closed housing, with origami structure and limits inner cavity,
In, the origami structure includes：Ontology, tool is there are two axial end portion and crosses to multiple first axis folding of axial end
Convex ridge, at least one of described two axial end portions axial end portion have towards the tapered dog-ear of axial end；At least a pair of end
Portion folds convex ridge, is integrally formed on the body, wherein each end folding convex ridge is tapered towards axial end；In and
Portion folds convex ridge, is integrally formed on the body and is connected between at least a pair of end portions folding convex ridge；Wherein, it closes
Cavity constructions are closed at can be by inflating the inner cavity from the unfolded state that collapsed state is radial dilatation and axial shrinkage.
When being filled with pressure fluid in inflatable inner cavity, closed housing folds convex ridge, end by means of expansion is axial
It folds convex ridge and middle part folds convex ridge and realizes diametrical expansion or expansion, this expansion or expansion only need smaller driving
Pressure can be realized.It is closed at cavity and its whole contraction in the axial direction may be implemented by means of the angle change of dog-ear,
It avoids since a part of axial contraction force is offset in end face expansion and causes to reduce the maximum force that can be generated.It should
The simple structure of closed housing and easily operated, and there is higher safety.
Preferably, it includes the multiple second axial folding convex ridges separately that the middle part, which folds convex ridge,.This provides one
Kind middle part simple in structure folds convex ridge.
Preferably, it includes multiple bellows-folded convex ridges that the middle part, which folds convex ridge,.This provides another simple in structure
Middle part fold convex ridge.
Preferably, the origami structure is made of flexible non-telescoping thin-film material.In this way, avoiding material itself
The active force that tensile properties generate pressure fluid causes to offset, and the power for reducing software muscle compares again.
According to another aspect of the present invention, a kind of software muscle is provided, wherein including：Closed housing above-mentioned；It can
Shifting ground surrounds the closed housing will be radially expanded the limiting mechanism for being converted into axial shrinkage；It is connected to the limiting mechanism
End coupling；And across the end coupling and the pipeline that is connected with the inner cavity of the closed housing.
When and radial dilatation pressurized in closed housing, surround its limiting mechanism deforms therewith, generates axial receive
It contracts and is radially expanded, convert the radial dilatation of closed housing to axial shrinkage.Meanwhile limiting mechanism can operative constraint closed chamber
Body prevents its excessively expansion radially, improves the maximum internal pressure that closed housing can be born, and which thereby enhance and can generate
Maximum collapse stroke and maximum shrinkage force.It, should since passive deformation can occur under external force for internal closed housing
Software muscle all has a degree of passive flexible and adaptability under any one working condition, i.e., under external force
The length of software muscle can occur passively to change in a certain range.Therefore whether no matter driving, the software muscle is along diameter
There is passive flexibility always to direction, arbitrarily can radially be curved, without hindering the movement of axial direction and generating pulling force.
Preferably, the limiting mechanism includes netted braiding structure.The geometrical relationship characteristic of netted braiding structure contributes to
Convert the radial dilatation of closed housing to axial shrinkage.
Preferably, the end coupling includes：Ring, the axial direction passed through with flange and suitable for the pipeline are led to
Hole；Retaining ring is sleeved on the end for locking the limiting mechanism on the ring；And lid is kept, it is connected to described
The retaining ring is simultaneously maintained on the flange by ring.This provides a kind of ends simple in structure, being easily achieved to connect
Part.
Preferably, the retaining ring includes inner ring and outer rings, and concave-convex lock staggeredly is wherein provided between inner ring and outer rings
The end of locking structure, limiting mechanism is locked between the concave-convex locking mechanism.
Preferably, the end coupling is made of the plastic material suitable for 3D printing.
According to a further aspect of the invention, a kind of soft robot drive system is provided, wherein including：Pneumatic supply；
Software muscle above-mentioned, wherein the inner cavity is suitable for being inflated by gas；And the control valve of control gas flow and flow.
According to a further aspect of the invention, a kind of soft robot drive system is provided, wherein including：Hydraulic power source；
Software muscle above-mentioned, wherein the inner cavity is suitable for being inflated by liquid；And the control valve of control controlling flow direction and flow.
According to a further aspect of the invention, a kind of robot system is provided, wherein including multiple above-mentioned including gas
The soft robot drive system of potential source or multiple soft robot drive systems above-mentioned including hydraulic power source, wherein at least portion
Soft robot drive system is divided to be controlled by shared control valve.The soft robot drive system of control valve is shared as a result,
Movement will be generated simultaneously.
According to a further aspect of the invention, a kind of robot system is provided, wherein including multiple aforementioned including air pressure
The soft robot drive system in source or multiple soft robot drive systems above-mentioned including hydraulic power source, wherein each software
Drive system of robot is controlled by separate control valves.
It is obvious after reading the application that a part for other features and advantages of the present invention will be those skilled in the art
, another part will be described in conjunction with the accompanying in specific implementation mode below.The software controlled as a result, by separate control valves
Drive system of robot moves mutually independent generation.
Description of the drawings
Hereinafter, carry out the embodiment that the present invention will be described in detail in conjunction with attached drawing, wherein：
Fig. 1 is the schematic diagram of closed housing according to an embodiment of the invention；
Fig. 2 is the partial schematic diagram of the ontology of closed housing according to an embodiment of the invention；
Fig. 3 is that the end of closed housing according to an embodiment of the invention folds the partial schematic diagram of convex ridge；
Fig. 4 is that the middle part of closed housing according to an embodiment of the invention folds the partial schematic diagram of convex ridge；
Fig. 5 is the schematic diagram of closed housing according to an embodiment of the invention in a folded configuration, is provided with three article
One axial folding convex ridge；
Fig. 6 is the schematic diagram according to the closed housing of Fig. 5 in the deployed state；
Fig. 7 is the schematic diagram of closed housing according to an embodiment of the invention in a folded configuration, is provided with four article
One axial folding convex ridge；
Fig. 8 is the schematic diagram according to the closed housing of Fig. 7 in the deployed state；
Fig. 9 is the schematic diagram of closed housing according to an embodiment of the invention in a folded configuration, is provided with five article
One axial folding convex ridge；
Figure 10 is the schematic diagram according to the closed housing of Fig. 9 in the deployed state；
Figure 11 is the schematic diagram of software muscle according to an embodiment of the invention, and wherein closed housing is in unfolded state；
Figure 12 is according to the schematic diagram of the software muscle of Figure 11, and wherein closing structure is in folded state；
Figure 13 is end coupling according to an embodiment of the invention and the matched schematic diagram of netted establishment structure；
Figure 14 is the partial sectional view according to Figure 13；
Figure 15 and Figure 16 is the description to experiment and notional result.
In the present invention, same or analogous reference numeral indicates same or analogous feature.
Reference sign：
1. software muscle；10. closed housing structure；100. ontology；101. axial end portion；102. axial end portion；103. the
One axial folding convex ridge；105. dog-ear；200. ends fold convex ridge；300. middle parts fold convex ridge；301. second axial foldings are convex
Ridge；303. bellows-folded convex ridges；400. inner cavity；500. limiting mechanism；600. end coupling；601. ring；602. flange；
603. axially extending bore；604. retaining ring；605. keep lid；606. inner ring；607. outer shroud；700. pipeline.
Specific implementation mode
Description, the exemplary scheme for disclosed robot system that the present invention will be described in detail.Although providing attached drawing
It is in order to which some embodiments of the present invention are presented, but attached drawing need not be drawn by the size of specific embodiment, and certain spies
Sign can be amplified, remove or office is cutd open to be better shown and explain the disclosure.Partial component in attached drawing can be
Position adjustment is not carried out according to actual demand under the premise of influence technique effect.The phrase " in the accompanying drawings " occurred in the description
Or similar term need not refer to all attached drawings or example.
Hereinafter be used for describe attached drawing certain directional terminologies, such as "inner", "outside", " top ", " lower section " and
Other directional terminologies, it will accordingly be understood that for its normal meaning and criticize often see attached drawing when those of involved direction.It removes
Otherwise indicated, directional terminology described in this specification is substantially according to conventional direction understood by one of ordinary skill in the art.
Term " first ", " first ", " second " used in the present invention, " second " and its similar terms, at this
Any sequence, quantity or importance are not offered as in invention, but for distinguishing a component with other components.
Referring to figs. 1 to Fig. 4, the schematic diagram of closed housing 10 according to an embodiment of the invention has been shown in particular comprising
Origami structure and the inflatable inner cavity 400 limited by origami structure (with reference to figure 11 and Figure 12).As shown, origami structure
Ontology 100 (waterbomb pattern) including lengthwise, the end being integrally formed on ontology 100 fold convex ridge (tree
Leaves pattern) 200 and middle part fold convex ridge (miura-ori pattern) 300.Inner cavity 400 is suitable for stuffing pressure stream
Body such as liquid or gas.Ontology 100 has two opposite axial end portions 101 and 102 along its axis direction, wherein each axis
It is equipped with four first axis to cross to axial end to end and folds convex ridge 103, by the end face quartering and constructs towards axial direction
The tapered dog-ear 105 in end.During filling/releasing pressure fluid into inner cavity 400, the angle of the dog-ear 105 can be with
Radial dilatation or the contraction of closed housing 10 and change, so as to cause the contraction or elongation of closed housing 10 in the axial direction.
In a unshowned embodiment, one in two axial end portions 101 and 102 is formed with dog-ear 105, equally can also close
Axial shrinkage is realized when closing 10 radial dilatation of cavity.
End folds convex ridge 200 and middle part folds convex ridge 300 and is integrally formed in respectively on ontology 100.Fig. 1 shows one kind
The end of embodiment folds convex ridge 200.As shown, a pair of slightly smaller end, which folds convex ridge 200, is oppositely disposed in ontology 100
Both ends are disposed with the slightly larger end of another pair and fold convex ridge 200 on the outside.Wherein each end folds convex ridge 200 towards axis
Terminad is tapered.Fig. 3 shows that more ends fold convex ridge 200, their intussusceptions on ontology 100 form.Middle part folds
Convex ridge 300 is formed between end folding convex ridge 200.In embodiment shown in Fig. 1, middle part folds convex ridge 300 by being mutually parallel
And the multiple second axial convex ridges 301 that fold being spaced apart are constituted.In embodiment shown in Fig. 4, it includes more that middle part, which folds convex ridge 300,
The bellows-folded convex ridge 303 of a z fonts.
The inner cavity 400 of this closed housing 10 is in communication with the outside by pipeline.Within for example filling gas-pressurized/liquid makes
When the internal pressure of chamber 400 is higher than external pressure, due to the presence of multiple folding convex ridges 103,200,300 and dog-ear 105, close
It closes cavity 10 to radially expand/expand, while being shunk along axis direction.As a result, closed housing 10 is made material (such as
Thin-film material) in maximum magnitude allowed, closed housing 10 is with internal pressure size and from original collapsed state
For radial dilatation and the unfolded state of axial shrinkage.The axial shrinkage of closed housing 10 and the ratio of radial dilatation can be by changing
Become each design for folding convex ridge to be controlled.Same original length and diameter and the material thickness that closed housing 10 is made is identical
In the case of, the quantity that first axis folds convex ridge 103 is more, and the ratio being radially expanded is bigger.Under normal circumstances, first axle
It is 3-8 items to convex ridge 103 is folded, i.e., each end face carries out decile by 3-8 same structures.
Fig. 5 to Figure 10 shows the schematic diagram that several closed housings 10 are looked over from end, wherein Fig. 5, Fig. 7 and Fig. 9 points
It is not the schematic diagram of three kinds of closed housings 10 in a folded configuration, and Fig. 6, Fig. 8 and Figure 10 are these three closed housings 10 respectively
Schematic diagram in the deployed state, in these attached drawings, solid line indicates the top broken line of folding convex ridge under natural conditions, dotted line table
Show the bottom fold of folding convex ridge under natural conditions.With reference to figure 5 and Fig. 6, closed housing 10 is formed in end by end face three
Three first axis of decile fold convex ridge 103 (i.e. N=3).The closed housing 10 of Fig. 5 forms class as shown in FIG. 6 after being unfolded
It is similar to the shape of rescinded angle equilateral triangle.With reference to figure 7 and Fig. 8, closed housing 10 is formed in end by the four of the end face quartering
First axis folds convex ridge 103 (i.e. N=4).What formation was as shown in Figure 8 after the closed housing 10 of Fig. 7 is unfolded is similar to rescinded angle
Square shape.With reference to figure 9 and Figure 10, closed housing 10 is formed in end rolls over five first axis of five decile of end face
Folded convex ridge 103 (i.e. N=5).The closed housing 10 of Fig. 9 forms the shape similar to rescinded angle regular pentagon as shown in Figure 10 after being unfolded
Shape.
Preferably, closed housing 10 is made of flexible non-telescoping thin-film material, to avoid due to material pulls
And the shrinkage ratio caused by the active force that offset pressure fluid generates declines.Here " flexible non-telescoping material " is this field
Technical staff those of knows that material, the application are not related to the improvement in terms of material.For the ease of stuffing pressure fluid, close
Conjunction cavity 10 can be closed in one end and the other end has open-cellular form in order to grafting pipeline.
Preferably, closed housing 10 can be completed by means of 3D printing, to make it have preferable repeatability and
Higher precision.
Above-mentioned closed housing 10 can largely improve the property of software muscle when in applied to software muscle
Can, because it can effectively reduce the energy loss in expansion process.Origami structure in closed housing 10 by means of arranging again
Cloth and curved edge and generate movement, avoid cavity made of elastic material during expansion caused by internal material stretch.In addition,
Origami structure is but also maximum working pressure (MWP) is unrelated with cavity wall thickness.
Below by the software muscle of corresponding above-mentioned closed housing 10 (or fiber reinforcement paper folding robotic actuator,
Fiber-reinforced Origamic Robotic Actuator, are abbreviated as FORA) it is described in detail.
Software muscle 1 according to an embodiment of the invention has been shown in particular with reference to figure 11 and Figure 12, Figure 11 and is in exhibition
Schematic diagram when open state (or state of activation), the software muscle has been shown in particular in Figure 12, and to be in folded state (or natural
State) when schematic diagram.As shown, software muscle 1 include closed housing 10, surround the closed housing 10 for constrain and
The limiting mechanism 500 of motion guide and installation to 500 both ends of limiting mechanism end coupling 600.Wherein closed housing 10
Can be it is above-mentioned it is any can after charged pressure fluid axial shrinkage and the closed housing that is radially expanded.In the reality shown
It applies in example, using closed housing 10 shown in FIG. 1.
Limiting mechanism 500 is arranged on except closed housing 10.Under natural conditions, the axial length of limiting mechanism 500 is big
In the axial length of closed housing 10, end coupling 600 is only connected with limiting mechanism 500 without being contacted with closed housing 10.
When closed housing 10 is pressurized and is radially expanded to state of activation, limiting mechanism 500 deforms therewith, by closed housing 10
Be radially expanded and be converted into axial shrinkage.Meanwhile limiting mechanism 500 can effectively prevent closed housing 10 as external constraint mechanism
Excessively expansion radially can generate most to improve the maximum internal pressure that closed housing 10 can be born, and thus improve
Big retraction and maximum shrinkage force.
With reference to figure 11 and Figure 12, limiting mechanism 500 is preferably netted braiding structure, the fibre extended spirally by means of two
Dimension band intersects composition.The band extended from any node can be swung around the node.Such as Figure 11, it illustrates closed chambers
The schematic diagram of software muscle 1 when body 10 is in unfolded state.With being radially expanded for closed housing 10, limiting mechanism 500 is whole
It shrinks and radially expands in the axial direction.Referring next to Figure 12, software flesh when being in folded state it illustrates closed housing 10
The schematic diagram of meat 1.As the pressure fluid filled in inner cavity 400 is discharged, the also axial direction therewith radial contraction of limiting mechanism 500
Elongation.By the geometrical relationship characteristic of netted woven fibre structure, effectively the pressurization of closed housing 10 is radially expanded and is converted into
The shortening of axial length.
End coupling 600 can be selected the rigid materials such as metal or plastics and be made, it is preferred to use be suitable for the material of 3D printing.
Here " material for being suitable for 3D printing " refers to material those of known to those skilled in the art, is not related to the improvement to material.
End coupling 600 is applied to limiting mechanism 500 from both ends, limiting mechanism 500 is effectively fixed and outer for further connection
The other systems in portion provide installation foundation.With reference to figure 13 and Figure 14, end according to an embodiment of the invention has been shown in particular
Connector 600, include ring 601 with flange 602 and axially extending bore 603, the retaining ring 604 being sleeved on ring 601 and
It is sleeved on 601 top of ring and retaining ring 604 is pressed on to the holding lid 605 on flange 602.The axially extending bore 603 of ring 601 is suitable
In across the pipeline 700 for 10 supply pressure fluid of closed housing.It keeps lid 605 to be for example threaded on ring 601, can use
In the external other systems of further connection.The netted establishment structure of limiting mechanism 500 be locked ring 604 locking.
Retaining ring 604 includes detachable inner ring 606 and outer shroud 607.As shown, inner ring 606 is sleeved on ring 601,
Outer shroud 607 is for example threaded in inner ring 606.
It is preferred that forming concave-convex locking mechanism staggeredly between inner ring 606 and outer shroud 607 to prevent the end of limiting mechanism 500
Deviate from portion.In the embodiment show in figure 14, inner ring 606 and outer shroud 607 are formed with adjacent recess portion and protrusion respectively in axial.
Under engagement state, the protrusion of inner ring 606 is inserted in the recess portion of access external circulation 607, and the raised grafting positioned at end of outer shroud 607 enters
In gap between inner ring 606 and ring 601.Multiple protrusions between inner ring 606 and outer shroud 607 and recess portion form as a result,
Concave-convex locking mechanism in axial direction staggeredly.The end fiber of netted establishment structure, which is locked in the bumps locking mechanism, to be difficult to take off
Go out, to effectively be fixed.Concave-convex locking mechanism increases maximum weighted by expanding contact area, improves end coupling
600 maximum load.Although concave-convex locking mechanism has been shown in particular in Figure 14 in an illustrative manner, those skilled in the art will
, it will be appreciated that the specific form of concave-convex locking mechanism is without being limited thereto, the particular number and shape of protrusion and recess portion can be according to reality
It needs and sets, as long as protrusion is mutually staggered and protruded into upon engagement in corresponding recess portion in the axial direction, to a certain extent
It can play the role of locking the end fiber of limiting mechanism 500.
Above-mentioned software muscle is by pressure fluid such as air pressure or hydraulic-driven.Shorten in an axial direction when being driven, and
Axial tension can be generated.Simultaneously as passive deformation, the software can occur under external force for internal closed housing 10
Muscle all has a degree of passive flexible and adaptability under any one working condition, i.e. software under external force
Passive change can occur in a certain range for the length of muscle.In the embodiment shown in the present invention, software muscle
Maximum collapse stroke can reach 50%.Whether no matter driving, which has passive soft always along radial direction
Property, it arbitrarily can radially be curved, without hindering the movement of axial direction and generating pulling force.
The software muscle of the present invention has high pulling force weight ratio, and can be by very low pressure-driven.It is demonstrate,proved through experiment
Bright, under the driving pressure of 1 standard atmospheric pressure (1Bar), this kind of muscle of 30 millimeters of the passive diameter of 20 grams of dead weight can produce
The axial tension of 280 newton of raw maximum, pulling force weight ratio reach surprising 1440.Meanwhile larger stroke may be implemented in the muscle,
The shrinkage ratio close to 0.5 may be implemented in the case of abundant driving.With existing pneumatic maximum stroke of the software muscle less than 0.3
Compare, improves 60% or more.In terms of driving with stress, software muscle of the invention is under equivalent material, size and weight, institute
The pulling force higher that driving pressure is lower, generates, performance is needed to significantly improve.
Figure 15 and Figure 16 describe experiment and notional result.Wherein, Figure 15 shows that free space (free space) is tested,
To this application involves FORA (I is denoted as in figure), purchase from the PAMs of Shadow Robot company (hereinafter referred to as
Shadow is denoted as II in figure) and pneumatic actuator (Pneumatic Actuator) from Festo company
The experimental result of (hereinafter referred to as Festo is denoted as III in figure) is compared.In addition, Figure 15 also shows the simulation of FORA
As a result (modeled results).From Figure 15 it can be clearly seen that Shadow and Festo there are threshold pressures.Due to inner cavity
Nonlinear elasticity, when pressure is respectively lower than 50kPa and 100kPa, Shadow and Festo not will produce travel displacement.And
FORA does not have threshold pressure, shrinks and quickly increases.Specifically, above-mentioned experiment is shown in 100kPa (14.4psi) driving pressures
Maximum collapse ratio under power is 45%.This result is also proved by static simulation.Compared with traditional PAMs, the stroke of FORA
Improve nearly 50%.
Figure 16 shows isotonic test (Isotonic test), it is shown that FORA (I is denoted as in figure) and Shadow (figures
In be denoted as II) experimental result and FORA analog result.As shown, pulling force is reduced with the increase of contraction, directly
Reach maximum collapse.When applying 100kPa pressure, compared with Shadow, FORA is shown than Shadow more in identical contraction
High pulling force.
Above-mentioned software muscle is particularly suited for being applied in soft robot drive system.
According to one embodiment, soft robot drive system is by hydraulic power source to the inflatable inner cavity of closed housing 10
Liquid is filled in 400.The flow and flow direction of liquid can be controlled by means of control valve, such as solenoid valve.
According to another embodiment, soft robot drive system is by pneumatic supply to the inflatable inner cavity of closed housing 10
Gas is filled in 400.The flow and flow direction of gas can be controlled by means of control valve, such as solenoid valve.
It means that the limit that the form in the soft robot drive system fluid pressure source of the present invention is not stringent
It is fixed, due to the presence of closed housing 10, can liquid filling body or gas as needed, without worrying the problems such as sealing.This is not
Those are same as since air-proof condition limitation can only use the existing system of single kind fluid pressure source.
It is multiple, for example, 20 above-mentioned soft robot drive systems be combined can be used for set up robot system.Or
Person can also be that 20 soft robot drive systems below are combined, and particular number will be determines according to actual conditions.These
Soft robot drive system can be the system all using hydraulic power source, can also be the system all using pneumatic supply, or
Person can be part using pneumatic supply and another part use hydraulic power source system.
These soft robot drive systems can be controlled all by shared control valve, software machines all in this way
People's drive system will generate action simultaneously.Alternatively, the soft robot drive system of a portion can be by shared control
Valve processed is controlled, and another part soft robot drive system respectively has independent control valve, shares control valve this as a result,
A little soft robot drive systems will generate action simultaneously, and the soft robot drive system with separate control valves will
Independent generation action.It is of course also possible to which being all soft robot drive systems respectively has independent control valve, such institute
Some soft robot drive systems will mutually independent generation action.
It should be appreciated that although this specification describes according to various embodiments, not each embodiment only includes one
A independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should will say
As a whole, the technical solutions in the various embodiments may also be suitably combined for bright book, and forming those skilled in the art can be with
The other embodiment of understanding.
The foregoing is merely the schematical specific implementation modes of the present invention, are not limited to the scope of the present invention.It is any
Those skilled in the art, do not depart from the design of the present invention and under the premise of principle made by equivalent variations, modification and combination,
The scope of protection of the invention should all be belonged to.
Claims (13)
1. a kind of closed housing (10) with origami structure and limits inner cavity (400), wherein the origami structure includes：
Ontology (100), tool there are two axial end portion (101,102) and cross to axial end multiple first axis folding it is convex
Ridge (103), at least one of described two axial end portions (101,102) axial end portion have towards the tapered dog-ear of axial end
(105)；
At least a pair of end portions folds convex ridge (200), is integrally formed on the ontology (100), wherein the folding of each end is convex
Ridge (200) is tapered towards axial end；And
Middle part folds convex ridge (300), is integrally formed on the ontology (100) and is connected at least a pair of end portions folding
Between convex ridge (200)；
Wherein, closed housing (10) be constructed to be permeable to by inflate the inner cavity (400) from collapsed state be radial dilatation and
The unfolded state of axial shrinkage.
2. closed housing (10) according to claim 1, wherein it includes separately that the middle part, which folds convex ridge (300),
Multiple second axial folding convex ridges (301).
3. closed housing (10) according to claim 1, wherein it includes multiple ripples that the middle part, which folds convex ridge (300),
Fold convex ridge (303).
4. closed housing (10) according to any one of claim 1 to 3, wherein the origami structure can not by flexibility
Flexible thin-film material is made.
5. a kind of software muscle (1), wherein including：
Closed housing (10) any one of Claims 1-4；
Deformable ground surrounds the closed housing (10) will be radially expanded the limiting mechanism (500) for being converted into axial shrinkage；
It is connected to the end coupling (600) of the limiting mechanism (500)；And
The pipeline (700) being connected across the end coupling (600) and with the inner cavity (400) of the closed housing (10).
6. software muscle (1) according to claim 5, wherein the limiting mechanism (500) includes netted braiding structure.
7. software muscle (1) according to claim 5, wherein the end coupling (600) includes：
Ring (601), the axially extending bore (603) passed through with flange (602) and suitable for the pipeline (700)；
Retaining ring (604) is sleeved on the end for locking the limiting mechanism (500) on the ring (601)；And
Lid (605) is kept, the ring (601) is connected to and the retaining ring (604) is maintained at the flange (602)
On.
8. software muscle (1) according to claim 7, wherein the retaining ring (604) includes inner ring (606) and outer shroud
(607), concave-convex locking mechanism staggeredly, the end of limiting mechanism (500) are wherein provided between inner ring (606) and outer shroud (607)
Portion is locked between the concave-convex locking mechanism.
9. software muscle (1) according to claim 5, wherein the end coupling (600) is by the modeling suitable for 3D printing
Material material is made.
10. a kind of soft robot drive system, wherein including：
Pneumatic supply；
Software muscle (1) described in any one of claim 5 to 9, wherein the inner cavity (400) are suitable for being inflated by gas；With
And
Control the control valve of gas flow and flow.
11. a kind of soft robot drive system, wherein including：
Hydraulic power source；
Software muscle (1) described in any one of claim 5 to 9, wherein the inner cavity (400) are suitable for being inflated by liquid；With
And
Control the control valve of controlling flow direction and flow.
12. a kind of robot system, wherein including multiple soft robot drive systems according to any one of claims 10 or multiple power
Profit requires the 11 soft robot drive systems, and wherein at least soft robot drive system in part is by shared control valve institute
Control.
13. a kind of robot system, wherein including multiple soft robot drive systems according to any one of claims 10 or multiple power
Profit requires the 11 soft robot drive systems, wherein each soft robot drive system is controlled by separate control valves.
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| CN201611128443.4A CN108608419B (en) | 2016-12-09 | 2016-12-09 | Closed cavity, soft muscle, soft robot driving system and robot system |
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