CN109291070A - A kind of triangular prism Grazing condition torsion actuator - Google Patents
A kind of triangular prism Grazing condition torsion actuator Download PDFInfo
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- CN109291070A CN109291070A CN201810871739.8A CN201810871739A CN109291070A CN 109291070 A CN109291070 A CN 109291070A CN 201810871739 A CN201810871739 A CN 201810871739A CN 109291070 A CN109291070 A CN 109291070A
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- actuator
- curved surface
- upper bottom
- torsion
- triangular prism
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Actuator (AREA)
Abstract
The invention discloses a kind of triangular prism Grazing conditions to reverse actuator.The present invention includes upper bottom surface, side curved surface and bottom surface, curved surface sealing in side, which is surrounded, to be connected between upper bottom surface and bottom surface, side curved surface is mainly made of three curved surface encirclements, in the groove of upper three sides for being separately connected upper bottom surface and bottom surface below of curved surface, it is connected between adjacent curved surface by seamed edge；Silicone tube inserting is connected to the hole that upper bottom surface is equipped with and vacuumizes after silicone tube is connect with gas source to gas chamber, and torsion actuator reduces height in rotation, and after gas source is to chamber inflated, torsion actuator increases height in rotation.The present invention uses vacuum driving, reliability is higher, it will not be ruptured because negative pressure is too big when work, than the longer life expectancy of the torsion actuator of positive pressure driving, the combination of linear motion and twist motion may be implemented, there is larger improvement than traditional torsion actuator in terms of windup-degree, flexibility, has a extensive future.
Description
Technical field
The invention belongs to flexible apparatus fields, and in particular to a kind of triangular prism Grazing condition torsion actuator.
Background technique
Traditional Rigid Robot may damage people because of maloperation in human-computer interaction operation, and be difficult to
Grab some frangible objects, and soft robot is due to itself intrinsic flexibility, adapt to people or other by operation object
The shape of body, the drawbacks of having well solved Rigid Robot.Soft robot completes twist motion and needs a kind of flexibly direct writing
Device provides twist motion for it, for above situation, it is necessary to study a kind of novel triangular prism Grazing condition torsion actuator
It solves these problems.
Summary of the invention
In order to solve the problems, such as background technique, the present invention provides a kind of triangular prism Grazing conditions to reverse actuator,
Basic exercise module for soft robot.
The technical solution adopted in the present invention is as follows:
The present invention includes upper bottom surface, side curved surface and bottom surface, and upper bottom surface size is less than bottom surface size, and side curved surface is close
Package encloses be connected to around upper bottom surface and bottom surface between so that entirely torsion actuator formed sealed air chamber；The side is bent
Face is mainly made of three curved surface encirclements, the groove of upper three sides for being separately connected upper bottom surface and bottom surface below of curved surface
It is interior, it is connected between adjacent curved surface by seamed edge, seamed edge thickness is greater than curved surface thickness.
A hole is equipped among the upper bottom surface, silicone tube inserting is connected to hole, and silicone tube is connected to external air source, silica gel
After pipe is connect with gas source, gas chamber is vacuumized, reverse the side curved surface forward direction torsion of actuator while driving upper bottom surface and bottom
The distance between face becomes close, i.e., so that torsion actuator reduces height in rotation, after gas source is to chamber inflated, side curved surface is just
To the elastic potential energy release stored when torsion, side curved surface turn-back drives the distance between upper bottom surface and bottom surface to become simultaneously
Far, i.e., so that torsion actuator increases height in rotation.
The torsion actuator includes torsion actuator clockwise or reverses actuator counterclockwise.
When gas source vacuumizes gas chamber, all seamed edges of the torsion actuator counterclockwise are along around torsion actuator central axis
The counter clockwise direction of line tilts, and all seamed edges of the torsion actuator clockwise are along the up time around torsion actuator central axis
The inclination of needle direction.
The upper bottom surface, bottom surface and side curved surface are cast using silica gel material of the same race.
The upper bottom surface is parallel to bottom surface, when torsion actuator does not rotate, the side of upper bottom surface and the side of bottom surface
Not in the same plane, i.e., upper bottom surface while and bottom surface while offset angular.
The upper bottom surface and bottom surface are triangular shape and each angle is provided with a hole, for be adjacently positioned described in
Triangular prism Grazing condition reverses actuator or motion module combination connection.
The beneficial effects of the present invention are:
The combination of linear motion and twist motion may be implemented in the present invention, and movement is flexible, and an only gas chamber, and gas chamber is only
With a kind of material, production is simply；Present invention vacuum driving, reliability is higher, will not rupture because negative pressure is too big when work, than
The longer life expectancy of the torsion actuator of positive pressure driving；The present invention is in terms of windup-degree, flexibility than traditional torsion actuator
There is larger improvement, has a extensive future.
Detailed description of the invention
Fig. 1 is three dimensional structure diagram of the invention；
Fig. 2 is the structural schematic diagram of side curved surface；
Fig. 3 is the structural schematic diagram of upper bottom surface and bottom surface；
In figure: upper bottom surface 1, side curved surface 2, bottom surface 3, silicone tube 4, seamed edge 5, curved surface 6.
Specific embodiment
The invention will be further described with embodiment with reference to the accompanying drawing.
As shown in Figure 1, triangular prism torsion actuator includes upper bottom surface 1, side curved surface 2 and bottom surface 3,1 size of upper bottom surface
Less than 3 size of bottom surface, the sealing of side curved surface 2 is surrounded be connected to around upper bottom surface 1 and bottom surface 3 between so that entire torsion
Actuator forms sealed air chamber；A hole is equipped among upper bottom surface 1, the inserting of silicone tube 4 is connected to hole, and silicone tube 4 is connected to outer
Portion's gas source.
As shown in Fig. 2, side curved surface 2 is mainly made of three encirclements of curved surface 6, the upper of curved surface is separately connected upper bottom surface below
1 and bottom surface 3 three sides groove in, be connected between adjacent curved surface by seamed edge 5, it is thick that 5 thickness of seamed edge is greater than curved surface 6
Degree.
As shown in figs. 1 and 3, upper bottom surface 1 is parallel to bottom surface 3, when torsion actuator does not rotate, the side of upper bottom surface 1 with
The side of bottom surface 3 not in the same plane, i.e., upper bottom surface while and bottom surface while offset angular；Upper bottom surface 1 and bottom surface 3
Be triangular shape and each angle is provided with a hole, for the triangular prism Grazing condition torsion actuator or movement mould that are adjacently positioned
Block combination connection.
Triangular prism torsion actuator includes reversing actuator clockwise or reversing actuator counterclockwise, and torsion executes counterclockwise
All seamed edges 5 of device reverse all ribs of actuator along the counter clockwise direction inclination around torsion actuator central axis clockwise
Side 5 is along the clockwise direction inclination around torsion actuator central axis.
Specific embodiments of the present invention are as follows:
After silicone tube 4 is connect with gas source, gas chamber is vacuumized, reverses the side curved surface 2 of actuator clockwise towards clockwise
Direction torsion, the side curved surface 2 for reversing actuator counterclockwise counterclockwise reverses, while driving upper bottom surface 1 and bottom surface 3
The distance between become close, i.e., so that triangular prism reverses actuator and reduces in rotation highly, gas source becomes atmosphere to chamber inflated
After pressure, the side curved surface 2 for reversing actuator clockwise is counterclockwise reversed, and reverses the side curved surface 2 of actuator counterclockwise
It reverses toward the clockwise direction, while the distance between upper bottom surface 1 and bottom surface 3 being driven to become remote, i.e., so that triangular prism torsion executes
Device increases height in rotation, and triangular prism torsion actuator reverts to original normality shape.
Claims (6)
1. a kind of triangular prism Grazing condition reverses actuator, which is characterized in that including upper bottom surface (1), side curved surface (2) and bottom surface
(3), upper bottom surface (1) size is less than bottom surface (3) size, and side curved surface (2) sealing, which is surrounded, is connected to upper bottom surface (1) and bottom surface
(3) between, so that entirely torsion actuator forms sealed air chamber；The side curved surface (2) is mainly by three curved surface (6) encirclement groups
At logical between adjacent curved surface in the groove of upper three sides for being separately connected upper bottom surface (1) and bottom surface (3) below of curved surface
It crosses seamed edge (5) to be connected, seamed edge (5) thickness is greater than curved surface (6) thickness；
A hole is equipped among the upper bottom surface (1), silicone tube (4) inserting is connected to hole, and silicone tube (4) is connected to external gas
Source, after silicone tube (4) is connect with gas source, after gas source vacuumizes gas chamber, the positive torsion of side curved surface (2) for reversing actuator is same
When drive the distance between upper bottom surface (1) and bottom surface (3) to become close, i.e., so that torsion actuator reduces highly in rotation, gas
After source is to chamber inflated, curved surface (2) turn-back in side drives the distance between upper bottom surface (1) and bottom surface (3) to become remote simultaneously,
I.e. so that torsion actuator increases height in rotation.
2. a kind of triangular prism Grazing condition according to claim 1 reverses actuator, which is characterized in that the torsion actuator
Comprising reversing actuator clockwise or reversing actuator counterclockwise.
3. a kind of triangular prism Grazing condition according to claim 2 reverses actuator, which is characterized in that gas source takes out gas chamber true
When empty, all seamed edges (5) of actuator are reversed counterclockwise along the counter clockwise direction inclination around torsion actuator central axis, up time
Needle reverses all seamed edges (5) of actuator along the clockwise direction inclination around torsion actuator central axis.
4. a kind of triangular prism Grazing condition according to claim 1 reverses actuator, which is characterized in that the upper bottom surface (1),
Bottom surface (3) and side curved surface (2) are cast using silica gel material of the same race.
5. a kind of triangular prism Grazing condition according to claim 1 reverses actuator, which is characterized in that the upper bottom surface (1)
It is parallel to bottom surface (3), when torsion actuator does not rotate, the side of upper bottom surface (1) and the side of bottom surface (3) be not same flat
In face, i.e., upper bottom surface while and bottom surface while offset angular.
6. a kind of triangular prism Grazing condition according to claim 1 reverses actuator, which is characterized in that the upper bottom surface (1)
With bottom surface (3) be triangular shape and each angle is provided with a hole, for turning round with the triangular prism Grazing condition being adjacently positioned
Turn actuator or motion module combination connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810871739.8A CN109291070B (en) | 2018-08-02 | 2018-08-02 | Triangular prism full-flexible torsion actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810871739.8A CN109291070B (en) | 2018-08-02 | 2018-08-02 | Triangular prism full-flexible torsion actuator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109291070A true CN109291070A (en) | 2019-02-01 |
| CN109291070B CN109291070B (en) | 2022-01-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810871739.8A Active CN109291070B (en) | 2018-08-02 | 2018-08-02 | Triangular prism full-flexible torsion actuator |
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| Country | Link |
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| CN (1) | CN109291070B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112061261A (en) * | 2020-08-24 | 2020-12-11 | 上海大学 | Software crawling robot based on paper folding structure |
| CN112518727A (en) * | 2020-12-16 | 2021-03-19 | 合肥工业大学 | Integral spiral protruding twisting soft robot module |
| CN112894785A (en) * | 2021-01-26 | 2021-06-04 | 上海交通大学 | Pneumatic soft body torsion driver based on cavity structure design |
| CN113580120A (en) * | 2021-07-07 | 2021-11-02 | 上海大学 | Modularization software driver based on paper folding principle |
| CN113858169A (en) * | 2021-08-19 | 2021-12-31 | 浙江大学 | Multifunctional flexible actuator |
| CN115625691A (en) * | 2022-09-08 | 2023-01-20 | 浙江大学 | Two-degree-of-freedom electric drive soft driver |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87107075A (en) * | 1987-10-20 | 1988-04-13 | 哈尔滨工业大学 | Air-driven flexible cylinder and bending, torsion knuckle |
| DE102011104026A1 (en) * | 2010-06-09 | 2011-12-15 | Technische Universität Ilmenau | Resilient fluid drive for generating exact bidirectional screw movement of coupling surface between drive and operating element for e.g. robotics, has cavity element arranged in initial state without mechanical prestressing |
| CN106272458A (en) * | 2016-08-31 | 2017-01-04 | 哈尔滨工业大学 | A kind of spiral torsion soft robot module |
| CN106499689A (en) * | 2015-09-04 | 2017-03-15 | 松下知识产权经营株式会社 | The driving method of actuator, actuator devices and actuator |
-
2018
- 2018-08-02 CN CN201810871739.8A patent/CN109291070B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN87107075A (en) * | 1987-10-20 | 1988-04-13 | 哈尔滨工业大学 | Air-driven flexible cylinder and bending, torsion knuckle |
| DE102011104026A1 (en) * | 2010-06-09 | 2011-12-15 | Technische Universität Ilmenau | Resilient fluid drive for generating exact bidirectional screw movement of coupling surface between drive and operating element for e.g. robotics, has cavity element arranged in initial state without mechanical prestressing |
| CN106499689A (en) * | 2015-09-04 | 2017-03-15 | 松下知识产权经营株式会社 | The driving method of actuator, actuator devices and actuator |
| CN106272458A (en) * | 2016-08-31 | 2017-01-04 | 哈尔滨工业大学 | A kind of spiral torsion soft robot module |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112061261A (en) * | 2020-08-24 | 2020-12-11 | 上海大学 | Software crawling robot based on paper folding structure |
| CN112518727A (en) * | 2020-12-16 | 2021-03-19 | 合肥工业大学 | Integral spiral protruding twisting soft robot module |
| CN112894785A (en) * | 2021-01-26 | 2021-06-04 | 上海交通大学 | Pneumatic soft body torsion driver based on cavity structure design |
| CN112894785B (en) * | 2021-01-26 | 2022-04-08 | 上海交通大学 | Pneumatic soft body torsion driver based on cavity structure design |
| CN113580120A (en) * | 2021-07-07 | 2021-11-02 | 上海大学 | Modularization software driver based on paper folding principle |
| CN113858169A (en) * | 2021-08-19 | 2021-12-31 | 浙江大学 | Multifunctional flexible actuator |
| CN115625691A (en) * | 2022-09-08 | 2023-01-20 | 浙江大学 | Two-degree-of-freedom electric drive soft driver |
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| Publication number | Publication date |
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| CN109291070B (en) | 2022-01-04 |
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