CN109732588B - Soft robot capable of spirally deforming - Google Patents
Soft robot capable of spirally deforming Download PDFInfo
- Publication number
- CN109732588B CN109732588B CN201910051147.6A CN201910051147A CN109732588B CN 109732588 B CN109732588 B CN 109732588B CN 201910051147 A CN201910051147 A CN 201910051147A CN 109732588 B CN109732588 B CN 109732588B
- Authority
- CN
- China
- Prior art keywords
- main body
- body sleeve
- control line
- deformation
- fixedly connected
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The invention relates to the technical field of robots, in particular to a soft robot, which can be spirally deformed and comprises a main body sleeve, an outer surface deformation mechanism, a stroke control line, a deformation control line and an air chamber, wherein the front end of the main body sleeve is closed, and the rear end of the main body sleeve is fixedly connected with the air chamber; the outer surface deformation mechanism is fixedly connected to the cylinder surface of the main body sleeve; the stroke control line is positioned in the main body sleeve, one end of the stroke control line is fixedly connected with the front end in the main body sleeve, and the other end of the stroke control line is fixedly connected in the air chamber; the deformation control line is located outside the main body sleeve, one end of the deformation control line is fixedly connected with the front end outside the main body sleeve, and the other end of the deformation control line penetrates out of the outer surface deformation mechanism. The invention adopts the linear and pneumatic dual-drive control to realize the long-distance motion and the spiral deformation, and has the advantages of good environmental adaptability, strong flexibility, simple structure and easy processing and manufacturing.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a soft robot, and particularly relates to a soft robot capable of being deformed spirally.
Background
In real life, a closed space exists, the size of an external channel of the closed space is small, and narrow gaps are mostly formed; while the interior space is of a larger dimension. It is desirable to work within the interior without damaging the external structure. Specific examples include geological exploration, rescue and relief work in natural disaster ruins, cleaning of special structures such as blind holes and the like, obstacle-crossing capture and the like.
For task requirements in extreme scenes, robots are usually used to replace manual tasks. At present, rigid robots are widely applied in multiple fields, but the problems of poor environmental adaptability, insufficient flexibility, complex structure and the like still exist, and particularly, the rigid robots are difficult to adapt to the variable-scale work.
Disclosure of Invention
The invention aims to provide a soft robot capable of spirally deforming, which adopts line and gas dual-drive control to realize long-distance motion and spiral deformation, and has the advantages of good environmental adaptability, strong flexibility, simple structure and easiness in processing and manufacturing.
The purpose of the invention is realized by the following technical scheme:
a soft robot capable of spirally deforming comprises a main body sleeve, an outer surface deformation mechanism, a stroke control line, a deformation control line and an air chamber, wherein the front end of the main body sleeve is closed, and the rear end of the main body sleeve is fixedly connected with the air chamber; the outer surface deformation mechanism is fixedly connected to the cylinder surface of the main body sleeve; the stroke control line is positioned in the main body sleeve, one end of the stroke control line is fixedly connected with the front end in the main body sleeve, and the other end of the stroke control line is fixedly connected in the air chamber; the deformation control line is located outside the main body sleeve, one end of the deformation control line is fixedly connected with the front end outside the main body sleeve, and the other end of the deformation control line penetrates out of the outer surface deformation mechanism.
The main body sleeve is cylindrical and made of flexible plastic.
The outer surface deformation mechanism is formed by arranging a plurality of short pipes; the short pipes are axially opposite, and are arranged at intervals and have a certain distance; each short pipe is fixedly connected to the cylinder surface of the main body sleeve; the middle end of the deformation control line passes through the inner side of each short pipe.
The short pipe is a hard short pipe.
The axes of the short pipes in the outer surface deformation mechanism are connected to form a spiral line which is coiled along the outer surface of the main body sleeve, and the spiral line extends from the rear end of the main body sleeve to the front end of the main body sleeve.
The air chamber comprises a sealing box, a shaft, a handle, an air inlet interface and an air outlet interface; the middle end of the shaft is connected to the sealing box in a rotating fit mode, the inner end of the shaft is located in the sealing box, and the stroke control line is fixed and wound on the shaft; the outer end of the shaft is fixedly connected with a handle; one end of the sealing box is provided with an air inlet interface which is hermetically connected with the air pump; the other end of the seal box is provided with an air outlet interface, the air outlet interface is hermetically connected with the rear end of the main body sleeve, and the air outlet interface and the main body sleeve are connected in a cementing or other forms, so that good sealing performance is guaranteed.
And a bearing part for connecting the shaft and the sealing box adopts mechanical sealing.
The invention has the beneficial effects that: the soft robot capable of realizing spiral deformation adopts line and gas dual-drive control to realize long-distance motion and spiral deformation, and has the advantages of good environmental adaptability, strong flexibility, simple structure and easiness in processing and manufacturing. The soft robot body material has flexibility, can adapt to a small-scale channel through shrinkage deformation, and can form a large-scale functional structure through curling deformation, thereby providing a good solution for overcoming the defects of the traditional rigid robot.
The invention has the advantages that:
1. the flexible main sleeve is suitable for small-scale channels;
2. a large working space is provided, and the stroke length of the working space is determined by the length of the main sleeve;
3. it can accomplish spiral deformation and retrieve through line drive to adapt to possible operation requirement, the operation is comparatively convenient.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the inner body sleeve of the present invention in an inwardly rolled condition;
FIG. 3 is a schematic view of the present invention in a state of being helically deformed;
FIG. 4 is a schematic view of the internal stroke control line and deformation control line arrangement of the present invention;
FIG. 5 is a schematic view of an internal outer surface deformation mechanism of the present invention;
FIG. 6 is a schematic view of the internal structure of the internal plenum of the present invention.
In the figure: a main body sleeve 1; an outer surface deforming mechanism 2; 2-1 of short pipe; a stroke control line 3; a deformation control line 4; an air chamber 5; shaft 5-1; a handle 5-2; 5-3 of an air inlet interface; and 5-4 of an air outlet interface.
Detailed Description
The invention is described in further detail below with reference to figures 1-6.
The first embodiment is as follows:
as shown in fig. 1-6, a soft robot capable of spiral deformation comprises a main sleeve 1, an outer surface deformation mechanism 2, a stroke control line 3, a deformation control line 4 and an air chamber 5, wherein the front end of the main sleeve 1 is closed, and the rear end of the main sleeve 1 is fixedly connected with the air chamber 5; the outer surface deformation mechanism 2 is fixedly connected to the cylinder surface of the main body sleeve 1; the stroke control line 3 is positioned in the main body sleeve 1, one end of the stroke control line 3 is fixedly connected with the front end in the main body sleeve 1, and the other end of the stroke control line 3 is fixedly connected in the air chamber 5; the deformation control line 4 is located outside the main body sleeve 1, one end of the deformation control line 4 is fixedly connected with the front end outside the main body sleeve 1, and the other end of the deformation control line 4 penetrates out of the outer surface deformation mechanism 2. According to the soft robot capable of realizing spiral deformation, the main body sleeve 1 is curled inwards in a storage state, when the soft robot is used, the air pump is used for inflating the air chamber 5, after the air in the air chamber 5 is inflated into the main body sleeve 1, the curled part of the main body sleeve 1 is gradually turned outwards, the length of the main body sleeve 1 is gradually increased, and at the moment, the stroke of the main body sleeve 1 can be controlled in real time by retracting and releasing the stroke control line 3; the deformation control line 4 is used for cooperating with the outer surface deformation mechanism 2 to control the deformation of the main body sleeve 1.
The second embodiment is as follows:
as shown in fig. 1-6, the body sleeve 1 has a cylindrical shape, and the body sleeve 1 is made of flexible plastic. The main body sleeve 1 is made of flexible plastics, is good in flexibility and can adapt to small-scale channels.
The third concrete implementation mode:
as shown in fig. 1-6, the outer surface deformation mechanism 2 is formed by arranging a plurality of short pipes 2-1; the short pipes 2-1 are axially opposite, and the short pipes 2-1 are arranged at intervals; each short pipe 2-1 is fixedly connected to the cylinder surface of the main body sleeve 1; the middle end of the deformation control line 4 passes through the inner side of each short pipe 2-1.
The short pipe 2-1 is a hard short pipe.
The axes of a plurality of short pipes 2-1 in the outer surface deformation mechanism 2 are connected to form a spiral line which is coiled along the outer surface of the main body sleeve 1, and the spiral line extends from the rear end of the main body sleeve 1 to the front end of the main body sleeve 1.
The deformation control line 4 is positioned outside the main body sleeve 1, sequentially passes through each short pipe 2-1 of the outer surface deformation mechanism 2, and is connected with the main body sleeve 1 at the front end; the pulling of the deformation control line 4 in the inflated state of the main body sleeve 1 will force the respective short pipes 2-1 to approach, thereby causing the main body sleeve 1 to be spirally deformed.
The fourth concrete implementation mode:
as shown in fig. 1-6, the air chamber 5 comprises a sealed box, a shaft 5-1, a handle 5-2, an air inlet port 5-3 and an air outlet port 5-4; the middle end of the shaft 5-1 is connected to the sealing box in a rotating fit mode, the inner end of the shaft 5-1 is located in the sealing box, and the stroke control line 3 is fixed and wound on the shaft 5-1; the outer end of the shaft 5-1 is fixedly connected with a handle 5-2; one end of the sealing box is provided with an air inlet port 5-3, and the air inlet port 5-3 is hermetically connected with an air pump; the other end of the sealing box is provided with an air outlet interface 5-4, and the air outlet interface 5-4 is connected with the rear end of the main body sleeve 1 in a sealing mode. When the air chamber 5 is used, the air inlet port 5-3 is connected with the air pump in a sealing mode, the air pump can inflate the inside of the sealing box through the air inlet port 5-3, the sealing box inflates the inside of the main body sleeve 1 through the air outlet port 5-4, the inward-rolling part of the main body sleeve 1 is enabled to be gradually turned outwards, the length of the main body sleeve 1 is gradually increased, at the moment, the shaft 5-1 is rotated through the operating handle 5-2, winding or loosening of the stroke control line 3 is achieved through the shaft 5-1, and then real-time control over the stroke of the main body sleeve 1 is achieved.
And a bearing part where the shaft 5-1 is connected with the sealing box adopts mechanical sealing. The mechanical seal is a dynamic seal in the prior art, and prevents air leakage when the handle 5-2 rotates the shaft 5-1 to wind the stroke control wire 3.
The working principle of the invention is as follows: according to the soft robot capable of realizing spiral deformation, the main body sleeve 1 is curled inwards in a storage state, when the soft robot is used, the air pump is used for inflating the air chamber 5, after the air in the air chamber 5 is inflated into the main body sleeve 1, the curled part of the main body sleeve 1 is gradually turned outwards, the length of the main body sleeve 1 is gradually increased, and at the moment, the stroke of the main body sleeve 1 can be controlled in real time by retracting and releasing the stroke control line 3; the deformation control line 4 is used for cooperating with the outer surface deformation mechanism 2 to control the deformation of the main sleeve 1; the main sleeve 1 is made of flexible plastics, has good flexibility and can adapt to small-scale channels; the deformation control line 4 is positioned outside the main body sleeve 1, sequentially passes through each short pipe 2-1 of the outer surface deformation mechanism 2, and is connected with the main body sleeve 1 at the front end; the twitching deformation control line 4 forces each short pipe 2-1 to approach under the inflation state of the main body sleeve 1, so that the main body sleeve 1 generates spiral deformation; when the air chamber 5 is used, the air inlet port 5-3 is connected with the air pump in a sealing mode, the air pump can inflate the inside of the sealing box through the air inlet port 5-3, the sealing box inflates the inside of the main body sleeve 1 through the air outlet port 5-4, the inward-rolling part of the main body sleeve 1 is enabled to be gradually turned outwards, the length of the main body sleeve 1 is gradually increased, at the moment, the shaft 5-1 is rotated through the operating handle 5-2, winding or loosening of the stroke control line 3 is achieved through the shaft 5-1, and then real-time control over the stroke of the main body sleeve 1 is achieved.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.
Claims (5)
1. The utility model provides a but spiral deformation's software robot, includes main part sleeve (1), surface deformation mechanism (2), stroke control line (3), deformation control line (4) and air chamber (5), its characterized in that: the front end of the main body sleeve (1) is closed, and the rear end of the main body sleeve (1) is fixedly connected with the air chamber (5); the outer surface deformation mechanism (2) is fixedly connected to the cylinder surface of the main body sleeve (1); the stroke control line (3) is positioned in the main body sleeve (1), one end of the stroke control line (3) is fixedly connected with the front end in the main body sleeve (1), and the other end of the stroke control line (3) is fixedly connected in the air chamber (5); the deformation control line (4) is positioned outside the main body sleeve (1), one end of the deformation control line (4) is fixedly connected with the front end outside the main body sleeve (1), and the other end of the deformation control line (4) penetrates through the outer surface deformation mechanism (2);
the main body sleeve (1) is cylindrical, and the main body sleeve (1) is made of flexible plastics;
the outer surface deformation mechanism (2) is formed by arranging a plurality of short pipes (2-1); the short pipes (2-1) are axially opposite, and the short pipes (2-1) are arranged at intervals; each short pipe (2-1) is fixedly connected to the surface of the main sleeve (1); the middle end of the deformation control line (4) passes through the inner side of each short pipe (2-1).
2. The soft, helically deformable robot of claim 1, wherein: the short pipe (2-1) is a hard short pipe.
3. The soft, helically deformable robot of claim 1, wherein: the axes of a plurality of short pipes (2-1) in the outer surface deformation mechanism (2) are connected to form a spiral line which spirals along the outer surface of the main body sleeve (1), and the spiral line extends from the rear end of the main body sleeve (1) to the front end of the main body sleeve (1).
4. The soft, helically deformable robot of claim 1, wherein: the air chamber (5) comprises a sealing box, a shaft (5-1), a handle (5-2), an air inlet interface (5-3) and an air outlet interface (5-4); the middle end of the shaft (5-1) is connected to the sealing box in a rotating fit mode, the inner end of the shaft (5-1) is located in the sealing box, and the stroke control line (3) is fixed and wound on the shaft (5-1); the outer end of the shaft (5-1) is fixedly connected with a handle (5-2); one end of the sealing box is provided with an air inlet interface (5-3), and the air inlet interface (5-3) is connected with the air pump in a sealing way; the other end of the sealing box is provided with an air outlet interface (5-4), and the air outlet interface (5-4) is connected with the rear end of the main body sleeve (1) in a sealing manner.
5. The soft, helically deformable robot of claim 4, wherein: and a bearing part where the shaft (5-1) is connected with the sealing box adopts mechanical sealing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910051147.6A CN109732588B (en) | 2019-01-18 | 2019-01-18 | Soft robot capable of spirally deforming |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910051147.6A CN109732588B (en) | 2019-01-18 | 2019-01-18 | Soft robot capable of spirally deforming |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109732588A CN109732588A (en) | 2019-05-10 |
| CN109732588B true CN109732588B (en) | 2020-10-09 |
Family
ID=66365361
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910051147.6A Active CN109732588B (en) | 2019-01-18 | 2019-01-18 | Soft robot capable of spirally deforming |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109732588B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110270986B (en) * | 2019-06-20 | 2021-02-09 | 清华大学深圳研究生院 | Pneumatic soft actuator and manufacturing method thereof |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101850551B (en) * | 2010-05-29 | 2011-07-20 | 北华大学 | Disomic artificial muscle |
| CN103742755B (en) * | 2013-12-17 | 2015-12-02 | 西南石油大学 | A kind of soft caterpillar belt type pipeline robot |
| CN103786169B (en) * | 2014-01-22 | 2016-09-14 | 北华大学 | Type four helical flexible joint is stretched in pneumatic rotation |
| US20150343649A1 (en) * | 2014-05-28 | 2015-12-03 | Richard Galinson | Tentacle mechanism |
| CN104691782B (en) * | 2015-03-28 | 2016-07-27 | 哈尔滨工业大学 | Multitube combined helical formula inflation catching hand |
| CN108638091A (en) * | 2018-08-01 | 2018-10-12 | 无锡盛雅生物科技有限公司佛山分公司 | Roller type soft robot |
-
2019
- 2019-01-18 CN CN201910051147.6A patent/CN109732588B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN109732588A (en) | 2019-05-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109732581B (en) | Software robot based on both sides are acted as go-between | |
| CN109702729A (en) | A kind of camera carrying telecontrol equipment and method for presetting pulling force based on elastic string | |
| CN105583821B (en) | Fluid drives multidimensional adaptive robot arm device | |
| CN111055299B (en) | Variable-rigidity omnidirectional movement soft driver based on line interference technology | |
| CN109732582B (en) | Soft robot camera carrying device and method based on outer side stay wire | |
| CN109732588B (en) | Soft robot capable of spirally deforming | |
| CN113942004B (en) | Snake-like soft robot based on tension structure | |
| CN103253368A (en) | Pneumatic bionic muscle | |
| CN211664466U (en) | Hose reel device | |
| CN110509267B (en) | Soft manipulator based on swallowing effect | |
| CN205799474U (en) | Piston drives magnetic current flexible machine hand apparatus | |
| CN109732646B (en) | Camera carrying movement device and method based on rope winding of torsion spring device | |
| CN109732580B (en) | Soft robot camera carrying device and method based on rear pull wire | |
| CN207848859U (en) | A kind of camera regulating device of automatic lifting | |
| CN116214569A (en) | Flexible clamping jaw and use method | |
| CN112643645B (en) | Three-section soft micro robot moving in irregular hose and moving method thereof | |
| CN209578683U (en) | A kind of device carrying out the docking of aerial pipe mouth horizontal location using pull rope mechanism | |
| CN213065136U (en) | Pipe diameter self-adaptation structure of pipeline robot | |
| CN113954061B (en) | Double-acting linear flexible pneumatic driver and preparation and use methods thereof | |
| CN112976031B (en) | Pneumatic flexible driver and net-catching type pneumatic grabbing device | |
| CN218415659U (en) | Inflatable cable pipe plugging device | |
| CN217606176U (en) | Telescopic endoscope | |
| CN105083535A (en) | Integrated fluid artificial muscle driver | |
| CN218963511U (en) | Pipeline inner wall cleaning equipment | |
| CN110065060A (en) | A kind of Three Degree Of Freedom software robot and its driving method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |