CN109291070B - Triangular prism full-flexible torsion actuator - Google Patents
Triangular prism full-flexible torsion actuator Download PDFInfo
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- CN109291070B CN109291070B CN201810871739.8A CN201810871739A CN109291070B CN 109291070 B CN109291070 B CN 109291070B CN 201810871739 A CN201810871739 A CN 201810871739A CN 109291070 B CN109291070 B CN 109291070B
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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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Abstract
The invention discloses a triangular prism fully-flexible torsion actuator. The invention comprises an upper bottom surface, a side curved surface and a lower bottom surface, wherein the side curved surface is hermetically surrounded and connected between the upper bottom surface and the lower bottom surface, the side curved surface is mainly formed by surrounding three curved surfaces, the upper edge and the lower edge of each curved surface are respectively connected with the upper bottom surface and the lower bottom surface in grooves of three side edges, and adjacent curved surfaces are connected through edges; the silicone tube cartridge is connected in the hole that the bottom surface was equipped with, and the silicone tube is connected the back with the air supply, and to the air chamber evacuation, twist reverse executor limit rotation and reduce the height, and the air supply is aerifyd the back to the air chamber, twists reverse executor limit rotation and increase the height. The invention adopts vacuum drive, has higher reliability, can not break due to overlarge negative pressure during working, has longer service life than a positive pressure driven torsion actuator, can realize the combination of linear motion and torsion motion, has larger improvement on torsion angle and flexibility than the traditional torsion actuator, and has wide application prospect.
Description
Technical Field
The invention belongs to the field of flexible devices, and particularly relates to a triangular prism fully-flexible torsion actuator.
Background
Traditional rigid body robot causes the injury to the people because of maloperation in man-machine interaction operation, and is difficult to snatch some fragile objects, and soft body robot can adapt to people or other shapes of being operated the object because of self inherent compliance, has solved rigid body robot's drawback well. The flexible actuator is needed to provide the flexible motion for the flexible robot to complete the torsional motion, and in view of the above situation, a novel triangular prism fully-flexible torsional actuator needs to be researched to solve the problems.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a triangular prism fully-flexible torsion actuator which is used for a basic motion module of a soft robot.
The technical scheme adopted by the invention is as follows:
the invention comprises an upper bottom surface, a side curved surface and a lower bottom surface, wherein the size of the upper bottom surface is smaller than that of the lower bottom surface, and the side curved surface is connected between the peripheries of the upper bottom surface and the lower bottom surface in a sealing and surrounding manner, so that the whole torsion actuator forms a sealed air chamber; the side curved surfaces are mainly formed by surrounding three curved surfaces, the upper side and the lower side of each curved surface are respectively connected with the upper bottom surface and the lower bottom surface in grooves of the three side edges, adjacent curved surfaces are connected through edges, and the thickness of each edge is larger than that of each curved surface.
The middle of the upper bottom surface is provided with a hole, the silicone tube is connected to the hole in an inserted mode, the silicone tube is connected to an external air source, the silicone tube is connected with the air source and then vacuumizes the air chamber, the side curved surface of the torsion actuator is twisted forward and simultaneously drives the distance between the upper bottom surface and the lower bottom surface to be close, namely, the torsion actuator rotates while reducing the height, after the air source inflates the air chamber, the elastic potential energy stored when the side curved surface is twisted forward is released, the side curved surface is twisted reversely and simultaneously drives the distance between the upper bottom surface and the lower bottom surface to be far away, namely, the torsion actuator rotates while increasing the height.
The torsion actuator comprises a clockwise torsion actuator or a counterclockwise torsion actuator.
When the air chamber is vacuumized by the air source, all edges of the anticlockwise torsion actuator incline along the anticlockwise direction around the central axis of the torsion actuator, and all edges of the clockwise torsion actuator incline along the clockwise direction around the central axis of the torsion actuator.
The upper bottom surface, the lower bottom surface and the side curved surfaces are formed by casting the same silica gel material.
The upper bottom surface is parallel to the lower bottom surface, and when the torsion actuator does not rotate, the side edge of the upper bottom surface and the side edge of the lower bottom surface are not in the same plane, namely the side edge of the upper bottom surface and the side edge of the lower bottom surface are staggered by an angle.
The upper bottom surface and the lower bottom surface are both triangular, and each corner is provided with a hole for being connected with the adjacent triangular prism fully-flexible torsion actuator or motion module in a combined manner.
The invention has the beneficial effects that:
the invention can realize the combination of linear motion and torsional motion, has flexible motion, only has one air chamber, only uses one material for the air chamber, and has simple manufacture; the invention uses vacuum drive, the reliability is higher, will not break because of too big negative pressure while working, longer than the life-span of the torsion actuator of the positive pressure drive; compared with the traditional torsion actuator, the torsion actuator has the advantages of greatly improved torsion angle and flexibility and wide application prospect.
Drawings
FIG. 1 is a schematic three-dimensional structure of the present invention;
FIG. 2 is a schematic view of a side curved surface;
FIG. 3 is a schematic view of the structure of the upper and lower base surfaces;
in the figure: the structure comprises an upper bottom surface 1, a side curved surface 2, a lower bottom surface 3, a silicone tube 4, a seamed edge 5 and a curved surface 6.
Detailed Description
The invention is further described with reference to the following figures and embodiments.
As shown in fig. 1, the triangular prism-shaped torsion actuator comprises an upper bottom surface 1, a side curved surface 2 and a lower bottom surface 3, wherein the size of the upper bottom surface 1 is smaller than that of the lower bottom surface 3, and the side curved surface 2 is connected between the upper bottom surface 1 and the lower bottom surface 3 in a sealing and surrounding manner, so that the whole torsion actuator forms a sealed air chamber; a hole is arranged in the middle of the upper bottom surface 1, the silicone tube 4 is inserted and connected in the hole, and the silicone tube 4 is connected to an external air source.
As shown in fig. 2, the side curved surface 2 is mainly formed by three curved surfaces 6, the upper and lower sides of the curved surfaces are respectively connected with the upper bottom surface 1 and the lower bottom surface 3 in the grooves of the three sides, the adjacent curved surfaces are connected with each other through edges 5, and the thickness of the edges 5 is larger than that of the curved surfaces 6.
As shown in fig. 1 and 3, the upper bottom surface 1 is parallel to the lower bottom surface 3, and when the torsion actuator is not rotated, the side edge of the upper bottom surface 1 and the side edge of the lower bottom surface 3 are not in the same plane, i.e. the side edge of the upper bottom surface and the side edge of the lower bottom surface are staggered by an angle; the upper bottom surface 1 and the lower bottom surface 3 are both triangular, and each corner is provided with a hole for being connected with the adjacent triangular prism fully-flexible torsion actuator or motion module in a combined manner.
The triangular prism twist actuator comprises a clockwise twist actuator or a counterclockwise twist actuator, all edges 5 of the counterclockwise twist actuator are inclined in the counterclockwise direction around the central axis of the twist actuator, and all edges 5 of the clockwise twist actuator are inclined in the clockwise direction around the central axis of the twist actuator.
The specific embodiment of the invention is as follows:
after silicone tube 4 is connected with the air supply, to the air chamber evacuation, the side curved surface 2 that twists reverse the executor clockwise twists reverse towards clockwise, the side curved surface 2 that twists reverse the executor anticlockwise twists reverse towards anticlockwise, it becomes nearly to drive the distance between bottom surface 1 and the lower bottom surface 3 simultaneously, even make triangular prism twist reverse executor limit rotation limit reduce the height, the air supply is aerifyd to the air chamber and is become atmospheric pressure after, the side curved surface 2 that twists reverse the executor clockwise twists reverse towards anticlockwise, the side curved surface 2 that twists reverse the executor anticlockwise twists reverse towards clockwise, it becomes far away to drive the distance between bottom surface 1 and the lower bottom surface 3 simultaneously, even make triangular prism twist reverse executor limit rotation increase the height, triangular prism twists reverse the executor and resume to original normality shape.
Claims (5)
1. The triangular prism fully-flexible torsion actuator is characterized by comprising an upper bottom surface (1), a side edge curved surface (2) and a lower bottom surface (3), wherein the size of the upper bottom surface (1) is smaller than that of the lower bottom surface (3), and the side edge curved surface (2) is connected between the upper bottom surface (1) and the lower bottom surface (3) in a sealing surrounding manner, so that the whole torsion actuator forms a sealed air chamber; the side curved surface (2) is mainly formed by surrounding three curved surfaces (6), the upper side and the lower side of each curved surface are respectively connected with the upper bottom surface (1) and the lower bottom surface (3) in grooves of the three sides, adjacent curved surfaces are connected through edges (5), and the thickness of each edge (5) is larger than that of each curved surface (6);
the middle of the upper bottom surface (1) is provided with a hole, the silicone tube (4) is inserted and connected to the hole, the silicone tube (4) is connected to an external air source, after the silicone tube (4) is connected with the air source, the air source vacuumizes the air chamber, the side curved surface (2) of the torsion actuator twists forward and drives the distance between the upper bottom surface (1) and the lower bottom surface (3) to be close, namely the torsion actuator rotates while reducing the height, after the air source inflates the air chamber to become atmospheric pressure, the side curved surface (2) twists reversely and drives the distance between the upper bottom surface (1) and the lower bottom surface (3) to be far, namely the torsion actuator rotates while increasing the height;
when the air chamber is vacuumized by the air source, all the edges (5) of the anticlockwise torsion actuator incline along the anticlockwise direction around the central axis of the torsion actuator, and all the edges (5) of the clockwise torsion actuator incline along the clockwise direction around the central axis of the torsion actuator.
2. The triangular prism fully flexible torque actuator of claim 1, wherein the torque actuator comprises a clockwise torque actuator or a counterclockwise torque actuator.
3. The triangular prism fully-flexible torsion actuator according to claim 1, wherein the upper bottom surface (1), the lower bottom surface (3) and the side curved surface (2) are cast from the same silica gel material.
4. The triangular prism fully flexible torsion actuator according to claim 1, wherein the upper base surface (1) is parallel to the lower base surface (3), and when the torsion actuator is not rotated, the side edges of the upper base surface (1) and the side edges of the lower base surface (3) are not in the same plane, i.e. the side edges of the upper base surface and the side edges of the lower base surface are staggered in angle.
5. The triangular prism fully flexible torsion actuator according to claim 1, wherein the upper base surface (1) and the lower base surface (3) are triangular and each corner is provided with a hole for connecting with the triangular prism fully flexible torsion actuator or the motion module which are adjacently arranged.
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 |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810871739.8A CN109291070B (en) | 2018-08-02 | 2018-08-02 | Triangular prism full-flexible torsion actuator |
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| Publication Number | Publication Date |
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| CN109291070A CN109291070A (en) | 2019-02-01 |
| CN109291070B true CN109291070B (en) | 2022-01-04 |
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Families Citing this family (5)
| 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 |
| 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 |
| CN115625691B (en) * | 2022-09-08 | 2023-05-02 | 浙江大学 | Two-degree-of-freedom electric driving software 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 |
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| CN109291070A (en) | 2019-02-01 |
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