CN110104086A - Adaptive software climbing robot - Google Patents
Adaptive software climbing robot Download PDFInfo
- Publication number
- CN110104086A CN110104086A CN201910508332.3A CN201910508332A CN110104086A CN 110104086 A CN110104086 A CN 110104086A CN 201910508332 A CN201910508332 A CN 201910508332A CN 110104086 A CN110104086 A CN 110104086A
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- CN
- China
- Prior art keywords
- piston rod
- cavity
- tracheae
- cylinder
- climbing
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/021—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members the ground engaging means being sequentially inflatable bags for peristaltic movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The present invention relates to soft robots, specifically a kind of adaptive software climbing robot, including tracheae, climbing actuator, cylinder and piston rod, the both ends of cylinder are respectively equipped with piston rod, the piston rod at every end is driven by the cylinder independence or synchronization telescope, and the tracheae being connected to pneumatic supply is connected on piston rod；It is connected on piston rod with its flexible climbing actuator, the side that climbing actuator is clasped is equipped with multiple cavities, and each cavity is connected to tracheae, conveys gas to each cavity by tracheae, makes cavity inflation, realizes adaptively clasping to object.The configuration of the present invention is simple, overall structure is merrily and lightheartedly compact, and control is exquisite, and application places are extensive, compared with conventional rigid robot, has many advantages, such as freedom degree is high, continuous modification ability is strong and good environmental adaptability.
Description
Technical field
The present invention relates to soft robot, specifically a kind of adaptive software climbing robot.
Background technique
With the development of robot technology, every field will become the wide world of robot application.Currently, rigidity climbing
Robot application is more extensive, obtains in the dangerous field such as fire-fighting, nuclear industry, petrochemical industry, building trade, high altitude operation
It is widely applied；The purpose is to replace the mankind, great working efficiency and safety guarantee are brought to the mankind, thus by people's
Pay much attention to.Compared with conventional rigid climbing robot, software climbing robot shows unprecedented adaptability, sensitive
Property and agility, soft robot constantly expand the application field of robot, the research and application of soft robot are machines
One of the main trend of device human hair exhibition.
Summary of the invention
In order to meet the use demand of soft robot, the purpose of the present invention is to provide a kind of adaptive software climbing machines
Device people.The adaptive software climbing robot has very high adaptivity, compared with conventional rigid climbing robot, Neng Goushi
Answer more complex environment.
The purpose of the present invention is achieved through the following technical solutions:
The present invention includes tracheae, climbing actuator, cylinder and piston rod, and wherein the both ends of cylinder are respectively equipped with piston company
The piston rod of bar, every end drives independence or synchronization telescope by the cylinder, is connected on the piston rod and is connected to pneumatic supply
Tracheae；It is connected on the piston rod with its flexible climbing actuator, the side which clasps is equipped with more
A cavity, each cavity are connected to tracheae, are conveyed gas to each cavity by the tracheae, are made cavity inflation, real
Now adaptively clasping to object；
Wherein: offer air cavity in the climbing actuator, the air cavity by the air flue that opens up on piston rod with it is described
Tracheae is connected, and each cavity is connected to air cavity respectively；
The width of the climbing actuator increases from one end close to piston rod to the other end far from piston rod；
It is in dentation after each cavity inflation, the width of each cavity is from one end close to piston rod to far from piston
The other end of connecting rod increases；
It is divided into independent two spaces in the cylinder, each space is equipped with reset spring, the piston at the every end of cylinder
One end of connecting rod is telescopically inserted in the reset spring set in a space and with the space content and is connected, and the other end is located at
It is connect outside the cylinder, with the tracheae；Each space is equipped with air inlet/outlet；
The axial cross section of the piston rod is " T " shape, and one end of the "T"-shaped horizontal edge is placed in the space, another
End offers air flue；One end of the tracheae is connected to pneumatic supply, and the other end is connected to the air flue, and passes through the air flue and company
The climbing actuator connection being connected on piston rod；
Independent two spaces, the both ends difference of the reset spring in each space are divided by support base in the cylinder
It is connected with the support base and piston rod；
The side end face of the cavity is in isosceles trapezoid, the upper bottom length of each isosceles trapezoid from one end close to piston rod to
The other end far from piston rod is incremented by with arithmetic progression.
Advantages of the present invention and good effect are as follows:
1. robot architecture provided by the invention is simple, overall structure is merrily and lightheartedly compact, adaptive strong, and movement flexibly, can be
Climbed on different shape object, can opereating specification it is wide, application field is extensive.
2. the present invention controls flexible advance respectively by a pneumatic supply and multiple air valves and bending is clasped, and then makes soft
Body climbing robot can carry out clasping climbing on different objects.
3. the present invention breaks the limitation of conventional rigid climbing robot, using novel soft material, make it using model
It encloses broader, complies with the development of soft robot.
Detailed description of the invention
Fig. 1 is schematic perspective view of the invention；
Fig. 2A is structural front view of the invention；
Fig. 2 B is A-A cross-sectional view in Fig. 2A；
Fig. 3 A is the schematic perspective view of inventive piston connecting rod and tracheae；
Fig. 3 B is the structural front view of inventive piston connecting rod and tracheae；
Fig. 3 C is B-B cross-sectional view in Fig. 3 B；
Fig. 4 A is the schematic perspective view of present invention climbing actuator；
Fig. 4 B is the structural front view of present invention climbing actuator；
Fig. 4 C is C-C cross-sectional view in Fig. 4 B；
Fig. 5 is schematic perspective view after climbing actuator of the invention of dismantling；
Wherein: 1 is tracheae, and 2 be climbing actuator, and 3 be cylinder, and 4 be air inlet/outlet, and 5 be piston rod, and 6 be reset bullet
Spring, 7 be support base, and 8 be air cavity, and 9 be air flue, 10 cavitys.
Specific embodiment
The invention will be further described with reference to the accompanying drawing.
Shown in A and Fig. 2 B as shown in Figure 1, Figure 2, the present invention includes tracheae 1, climbs actuator 2, cylinder 3 and piston rod 5,
The both ends of middle cylinder 3 are respectively equipped with piston rod 5, and the piston rod 5 at every end drives independence or synchronization telescope by cylinder 3, the work
The tracheae 1 being connected to pneumatic supply is connected on plug connecting rod 5；It is connected on piston rod 5 with its flexible climbing actuator 2, it should
The side clasped of climbing actuator 2 is equipped with multiple cavities 10, and each cavity 10 is connected to tracheae 1, by the tracheae 1 to each chamber
Body 10 conveys gas, makes 10 inflation of cavity, realizes adaptively clasping to object.
It is divided into independent two spaces in cylinder 3, each space is equipped with reset spring 6, and the piston at the every end of cylinder 3 connects
One end of bar 5 is telescopically inserted in a space and is connected with the reset spring 6 that the space content is set, and the other end is located at
It is connect outside cylinder 3, with tracheae 1.Each space is equipped with the air inlet/outlet 4 connecting with pneumatic supply, what is be connected to pneumatic supply
Pipeline is equipped with air valve, is inflated into space or with realizing by being evacuated in space.The air inlet/outlet 4 into cylinder 3 when air inlet,
Piston rod 5 is pushed to stretch out；When being evacuated by air inlet/outlet 4, the space air pressure in cylinder 3 is reduced, and piston rod 5 is resetting bullet
Lower retract of the elastic force effect of spring 6 resets.Support base 7 is equipped in the cylinder 3 of the present embodiment, it will be inside cylinder 3 by the support base 7
It is divided into independent two spaces, the both ends of the reset spring 6 in each space are connected with support base 7 and piston rod 5 respectively.This
The axial cross section of the piston rod 5 of embodiment is " T " shape, and one end of the "T"-shaped horizontal edge is placed in space, and the other end is radially
Offer air flue 9；The two sides of each piston rod 5 are symmetrically connected with climbing actuator 2, and the climbing actuator 2 of two sides is distinguished
It is connected with the both ends of air flue 9；The material that the present embodiment climbs actuator 2 is silica gel.One end of tracheae 1 is connected to pneumatic supply,
The other end is connected to air flue 9, and is connected to by the air flue 9 with the climbing actuator 2 of two sides；On the pipeline being connected to pneumatic supply
Equipped with air valve, is inflated with realizing into climbing actuator 2 or be evacuated by climbing actuator 2.
Air cavity 8 is offered along its length in climbing actuator 2, which passes through the air flue 9 opened up on piston rod 5
It is connected with tracheae 1, each cavity 10 is connected to air cavity 8 respectively.The width of actuator 2 is climbed by close to one end of piston rod 5
Increasing to the other end far from piston rod 5, i.e. the floor projection of the present embodiment climbing actuator 2 is in "eight" shape, thus plus
Power is clasped greatly, keep climbing process more compact and is stablized.Each cavity 10 is in dentation after inflating, and the width of each cavity 10 is by close to living
The one end for filling in connecting rod 5 increases to the other end far from piston rod 5.The side end face of the cavity 10 of the present embodiment is in isosceles trapezoid,
The upper bottom length of each isosceles trapezoid is passed from one end close to piston rod 5 to the other end far from piston rod 5 with arithmetic progression
Increase.
The operation principle of the present invention is that:
The present invention controls software climbing robot by control 3 air pressure inside size of cylinder and 6 deformation of reset spring
It stretches, climbing actuator 2 is by the air inlet of tracheae 1 or the bending of pumping control cavity 10 is clasped and chucking power is realized to including bar
Shape and other shaped objects are clasped.Specifically:
By separate space inflation of the air inlet/outlet 4 into cylinder 3, after air pressure is greater than the elastic force of reset spring 6, piston connects
Bar 5 is protruding, and reset spring 6 is in the state that is stretched.Separate space is evacuated by air inlet/outlet 4, the air pressure in space
Less than reset spring 6 elastic force when, piston rod 5 retracts under the action of reset spring 6.Utilize upper and lower two piston rods 5
It independently stretches, realizes the climbing motion of climbing robot.
Gas passes through tracheae 1, through the air flue 9 in piston rod 5, delivers gas in climbing actuator 2, to make to tie
Structure is more compact.When gas carries out, 10 degrees of expansion of cavity close to piston rod 5 is different, realizes climbing actuator 2 completely
It clasps.By the volume of air inlet and pumping in control climbing actuator 2, the degrees of expansion of cavity 10 is controlled, makes to climb actuator 2
It realizes the bending of different curvature, and then realizes and adaptively clasped to rod-shaped and other shaped objects.
Adaptive software climbing robot structure provided by the invention is simple, and overall structure is merrily and lightheartedly compact, adaptive strong, fortune
It is dynamic flexibly to be climbed on different shape object, can opereating specification it is wide, application field is extensive.By a pneumatic supply and
Multiple air valves control flexible advance respectively and bending is clasped, and then software climbing robot is enable to be embraced on different objects
Hold climbing.The limitation for breaking conventional rigid climbing robot widens its application range more using novel soft material
Extensively, the development of soft robot is complied with.
Claims (8)
1. a kind of adaptive software climbing robot, it is characterised in that: including tracheae (1), climbing actuator (2), cylinder (3) and
Piston rod (5), wherein the both ends of cylinder (3) are respectively equipped with piston rod (5), and the piston rod (5) at every end is by the cylinder
(3) independence or synchronization telescope are driven, is connected with the tracheae (1) being connected to pneumatic supply on the piston rod (5)；The piston rod
(5) it being connected on its flexible climbing actuator (2), the side which clasps is equipped with multiple cavities (10),
Each cavity (10) is connected to tracheae (1), conveys gas to each cavity (10) by the tracheae (1), makes cavity (10)
Inflation realizes adaptively clasping to object.
2. adaptive software climbing robot according to claim 1, it is characterised in that: in the climbing actuator (2)
Air cavity (8) are offered, which is connected by the air flue (9) opened up on piston rod (5) with the tracheae (1), each institute
Cavity (10) is stated to be connected to air cavity (8) respectively.
3. adaptive software climbing robot according to claim 1, it is characterised in that: climbing actuator (2)
Width increases from one end close to piston rod (5) to the other end far from piston rod (5).
4. adaptive software climbing robot according to claim 1, it is characterised in that: after each cavity (10) inflation
In dentation, the width of each cavity (10) increases from one end close to piston rod (5) to the other end far from piston rod (5)
Add.
5. adaptive software climbing robot according to claim 1, it is characterised in that: be divided into the cylinder (3) solely
Vertical two spaces, each space are equipped with reset spring (6), and one end of the piston rod (5) at cylinder (3) every end is scalable
Ground is inserted in a space and is connected with the reset spring (6) that the space content is set, and the other end is located at the cylinder (3) outside
Portion is connect with the tracheae (1)；Each space is equipped with air inlet/outlet (4).
6. adaptive software climbing robot according to claim 5, it is characterised in that: the axis of the piston rod (5)
" T " shape to section, one end of the "T"-shaped horizontal edge is placed in the space, and the other end offers air flue (9)；The tracheae
(1) one end is connected to pneumatic supply, and the other end is connected to the air flue (9), and by the air flue (9) and is connected to piston rod
(5) climbing actuator (2) connection on.
7. adaptive software climbing robot according to claim 5, it is characterised in that: pass through branch in the cylinder (3)
Support seat (7) be divided into independent two spaces, the both ends of the reset spring (6) in each space respectively with the support base (7) and
Piston rod (5) is connected.
8. adaptive software climbing robot according to claim 1, it is characterised in that: the side end face of the cavity (10)
In isosceles trapezoid, the upper bottom length of each isosceles trapezoid is from one end close to piston rod (5) to another far from piston rod (5)
End is incremented by with arithmetic progression.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910508332.3A CN110104086A (en) | 2019-06-13 | 2019-06-13 | Adaptive software climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910508332.3A CN110104086A (en) | 2019-06-13 | 2019-06-13 | Adaptive software climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110104086A true CN110104086A (en) | 2019-08-09 |
Family
ID=67494784
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910508332.3A Pending CN110104086A (en) | 2019-06-13 | 2019-06-13 | Adaptive software climbing robot |
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| Country | Link |
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| CN (1) | CN110104086A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09254837A (en) * | 1996-03-26 | 1997-09-30 | Hitachi Ltd | In-piping working device |
| CN106003131A (en) * | 2016-07-01 | 2016-10-12 | 北京软体机器人科技有限公司 | Double-passage soft finger and soft robot |
| CN207058581U (en) * | 2017-06-16 | 2018-03-02 | 广东工业大学 | A kind of pneumatic soft robot of imitative looper climbing |
| CN207157327U (en) * | 2017-08-31 | 2018-03-30 | 南京邮电大学 | Soft robot |
| WO2018232386A1 (en) * | 2017-06-16 | 2018-12-20 | Temple University-Of The Commonwealth System Of Higher Education | Climbing soft robotics |
| CN109176501A (en) * | 2018-09-12 | 2019-01-11 | 江苏科技大学 | Imitative looper soft robot |
| CN109693725A (en) * | 2019-03-04 | 2019-04-30 | 西南科技大学 | A kind of software climbing level robot |
-
2019
- 2019-06-13 CN CN201910508332.3A patent/CN110104086A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09254837A (en) * | 1996-03-26 | 1997-09-30 | Hitachi Ltd | In-piping working device |
| CN106003131A (en) * | 2016-07-01 | 2016-10-12 | 北京软体机器人科技有限公司 | Double-passage soft finger and soft robot |
| CN207058581U (en) * | 2017-06-16 | 2018-03-02 | 广东工业大学 | A kind of pneumatic soft robot of imitative looper climbing |
| WO2018232386A1 (en) * | 2017-06-16 | 2018-12-20 | Temple University-Of The Commonwealth System Of Higher Education | Climbing soft robotics |
| CN207157327U (en) * | 2017-08-31 | 2018-03-30 | 南京邮电大学 | Soft robot |
| CN109176501A (en) * | 2018-09-12 | 2019-01-11 | 江苏科技大学 | Imitative looper soft robot |
| CN109693725A (en) * | 2019-03-04 | 2019-04-30 | 西南科技大学 | A kind of software climbing level robot |
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Application publication date: 20190809 |
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| WD01 | Invention patent application deemed withdrawn after publication |