CN110450138A - It is a kind of that soft robot storage device is grown based on roll shaft-roller motion mode certainly - Google Patents
It is a kind of that soft robot storage device is grown based on roll shaft-roller motion mode certainly Download PDFInfo
- Publication number
- CN110450138A CN110450138A CN201910780095.6A CN201910780095A CN110450138A CN 110450138 A CN110450138 A CN 110450138A CN 201910780095 A CN201910780095 A CN 201910780095A CN 110450138 A CN110450138 A CN 110450138A
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- China
- Prior art keywords
- main body
- soft robot
- roll shaft
- pedestal
- storage device
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- 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
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to soft robot storage devices, in particular be it is a kind of based on roll shaft-roller motion mode from growth soft robot storage device, including pedestal, main body fixed cylinder, fixed roll shaft, campaign-styled roller, soft robot main body and control line, main body fixed cylinder is provided on pedestal, it is fixedly connected on the outside of soft robot main body in main body fixed cylinder, the inside of soft robot main body is deep into pedestal by main body fixed cylinder, multiple fixed roll shafts are fixedly connected in pedestal, campaign-styled roller is rotatably connected on multiple fixed roll shafts, it can be by the way that winding arrangement successively will be formed around multiple campaign-styled rollers on the inside of soft robot main body, it is accommodated in pedestal, so that soft robot main body and control line do not have tangle up, control line and soft robot main body can produce relative motion, Soft robot main body can use control line steering.
Description
Technical field
The present invention relates to soft robot storage devices, are in particular a kind of based on roll shaft-roller motion mode
From growth soft robot storage device.
Background technique
It is the epoch of information science technology high speed development now, and as machine learning, artificial intelligence technology are constantly created
New breakthrough, the extensive use of robot are a big inexorable trends of this era development, and rigid machine people is still at present
The main force of development, but need to advanced optimize design, breakthrough bottleneck on the basis of now；And from robot basis
The innovative design of upper progress again is also research hotspot, such as soft robot is to break through traditional Robot Design theory,
It is the application creation one seat in changeable complex environment using outstanding features such as its flexibilities；Intricate and unknown
Traditional robot especially operates not in the space environment because there are many restrictions for structure size and Dynamical Cause in narrow environment
It easily carries out, being easier to break down cannot use；And soft robot then has inherent advantage, with very big freedom and fault-tolerant
Property, can flexible transformation pose depending on the site environment, make it.But it at present can be flexibly real from growth soft robot
The now steering, movement in various orientation and the basis of other function are bracing wire control modes, and the bracing wire for passing through the left and right sides, which controls, to move
Dynamic direction；But since this control mode makes from none effectively solution of the storage mode of growth formula soft robot
Certainly scheme；For the control program of bracing wire, be currently without good solution because now the certain methods in stage be by
The main body sack of interior fold is wrapped on a spool of base interior, since the control line of bracing wire is, institute synchronous with main body
With control line also just by a roll set on spool, this results in control line can not be with main body sack relative motion, not stretchy control
There is contradiction so cannot turn in the movement of main body top limitation side sack in line processed.
Summary of the invention
It is filled based on roll shaft-roller motion mode from growth soft robot storage the object of the present invention is to provide a kind of
It sets, pedestal can be accommodated in by the way that winding arrangement successively will be formed around multiple campaign-styled rollers on the inside of soft robot main body
In, so that soft robot main body and control line do not have tangle up, control line and soft robot main body be can produce relatively
Movement, soft robot main body can use control line steering.
The purpose of the present invention is achieved through the following technical solutions:
It is a kind of to be fixed based on roll shaft-roller motion mode from growth soft robot storage device, including pedestal, main body
Cylinder, fixed roll shaft, campaign-styled roller, soft robot main body and control line are provided with main body fixed cylinder, software machine on pedestal
It is fixedly connected on the outside of device human agent in main body fixed cylinder, the inside of soft robot main body is deep by main body fixed cylinder
It is fixedly connected with multiple fixed roll shafts in pedestal, in pedestal, is rotatably connected to campaign-styled roller on multiple fixed roll shafts,
The inside of soft robot main body is successively wrapped on multiple campaign-styled rollers, and control line is provided with two, two control lines point
It is not arranged in the two sides in the outside of soft robot main body, the inside of two control lines is accommodated in the interior of soft robot main body
Between side, two control lines successively follow main body to be wrapped on multiple campaign-styled rollers, and the front end of control line is fixed on software machine
The initial segment of device human agent is turned up with soft robot main body in straight trip stage control line and is moved synchronously, control when needing to turn to
The control line of corresponding side is fixed soft robot main body and realizes turning.
As advanced optimizing for the technical program, the present invention is a kind of soft from growing based on roll shaft-roller motion mode
Body robot storage device is provided with air inlet in the soft robot main body, is provided on air inlet according to feedback information
The inflator pump of air inflow is controlled, inflator pump and air inlet, which are realized, to be tightly connected.
As advanced optimizing for the technical program, the present invention is a kind of soft from growing based on roll shaft-roller motion mode
Body robot storage device, it is described also to be wrapped based on roll shaft-roller motion mode from growth soft robot storage device
Upper plate is included, upper plate is fixedly connected on the upper end of pedestal.
As advanced optimizing for the technical program, the present invention is a kind of soft from growing based on roll shaft-roller motion mode
Body robot storage device, described based on roll shaft-roller motion mode, growth soft robot storage device further includes electricity certainly
Machine, there are two motor settings, and two motors are fixedly connected in pedestal, and the inner end of two control lines is fastened connection respectively
On the output shaft of two motors.
As advanced optimizing for the technical program, the present invention is a kind of soft from growing based on roll shaft-roller motion mode
Body robot storage device, the soft robot main body are made of PE material cylindrical material.
A kind of beneficial effect for growing soft robot storage device certainly based on roll shaft-roller motion mode of the present invention
Are as follows:
The present invention it is a kind of based on roll shaft-roller motion mode from growth soft robot storage device, can pass through by
Winding arrangement successively is formed around multiple campaign-styled rollers on the inside of soft robot main body, is accommodated in pedestal, so that software machine
Device human agent and control line do not have tangle up, and control line and soft robot main body can produce relative motion, software machine
Human agent can use control line steering.
Detailed description of the invention
The present invention will be further described in detail with specific implementation method with reference to the accompanying drawing.
In the description of the present invention, it should be noted that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "top", "bottom", "inner", "outside" and " endways " is based on attached
Orientation or positional relationship shown in figure, is merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion is signified
Device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to the present invention
Limitation.
In the description of the present invention, it should be noted that unless otherwise expressly provided and limit, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or being integrally connected can
To be to be directly connected to, can also be indirectly connected with by intermediary, can be the connection of two components interiors.For this field
Those of ordinary skill for, the concrete meaning of above-mentioned term in the present invention can be understood with concrete condition.
In addition, in the description of the present invention, unless otherwise indicated, " multiple ", " multiple groups ", " more " be meant that two or
It is more than two.
Fig. 1 be it is of the invention based on roll shaft-roller motion mode from growth soft robot storage device overall structure
Schematic diagram；
Fig. 2 be it is of the invention based on roll shaft-roller motion mode from growth soft robot storage device growth structure
Schematic diagram；
Fig. 3 be it is of the invention based on roll shaft-roller motion mode from growth soft robot storage device partial structurtes
Schematic diagram one；
Fig. 4 be it is of the invention based on roll shaft-roller motion mode from growth soft robot storage device partial structurtes
Schematic diagram two；
Fig. 5 be it is of the invention based on roll shaft-roller motion mode from growth soft robot storage device partial structurtes
Schematic diagram three.
In figure: pedestal 1；Main body fixed cylinder 2；Upper plate 3；Fixed roll shaft 4；Campaign-styled roller 5；Soft robot main body 6；
Control line 7；Air inlet 8；Motor 9.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
Specific embodiment 1:
Illustrate present embodiment below with reference to Fig. 1-5, it is a kind of that software machine is grown based on roll shaft-roller motion mode certainly
People's storage device, including pedestal 1, main body fixed cylinder 2, fixed roll shaft 4, campaign-styled roller 5, soft robot main body 6 and control
Line 7 processed, it is characterised in that: main body fixed cylinder 2 is provided on pedestal 1, the outside of soft robot main body 6 is fixedly connected on main body
In fixed cylinder 2, the inside of soft robot main body 6 is deep into pedestal 1 by main body fixed cylinder 2, is fixedly connected in pedestal 1
Multiple fixed roll shafts 4, are rotatably connected to campaign-styled roller 5 on multiple fixed roll shafts 4, soft robot main body 6 it is interior
Side is successively wrapped on multiple campaign-styled rollers 5, and control line 7 is provided with two, and two control lines 7 are arranged in software machine
The two sides in the outside of human agent 6, the inside of two control lines 7 are accommodated between the inside of soft robot main body 6, two controls
Line 7 processed successively follows main body to be wrapped on multiple campaign-styled rollers 5, and the front end of control line 7 is fixed on soft robot main body 6
The initial segment is turned up with soft robot main body 6 in straight trip stage control line 7 and is moved synchronously, and motor 9 controls accordingly when needing to turn to
The 7 fixed soft body robot body 6 of control line of side realizes turning；Fixed roll shaft 4 is used to support campaign-styled roller 5, makes to move
Formula roller 5 can circumferentially rotate on fixed roll shaft 4, wherein 1 corresponding position of one end and pedestal below fixed roll shaft 4
Hole realize interference fit, and be fixed using glass cement, fixed roller is realized in fixed 4 upper end of roll shaft and upper plate contact
The both ends of axis 4 are fixed, and prevent from during soft robot main body 6 turns up growth its stress excessive generation amount of deflection is excessive to show
As influencing campaign-styled roller 5 and moving；Campaign-styled roller 5 and fixed roll shaft 4 are co-axially mounted, the lower end of campaign-styled roller 5 and soft
Surface contact in the pedestal 1 that body robot body 6 stores, by the contact between soft robot main body 6 in software machine
Device human agent 6, which inflates, to be circumferentially rotated when turning up growing movement forward along fixed roll shaft 4, realizes conveying soft robot main body 6
The function of advance.
Specific embodiment 2:
Illustrate that present embodiment, present embodiment are described further embodiment one below with reference to Fig. 1-5, it is described soft
It is provided with air inlet 8 on body robot body 6, the inflator pump for controlling air inflow according to feedback information is provided on air inlet 8, is filled
Air pump and air inlet 8, which are realized, to be tightly connected.
Specific embodiment 3:
Illustrate that present embodiment, present embodiment are described further embodiment two below with reference to Fig. 1-5, the institute
Stating oneself the growth soft robot storage device based on roll shaft-roller motion mode further includes upper plate 3, and upper plate 3 is fixedly connected on
The upper end of pedestal 1；1 contour structures of pedestal are cuboid, need to arrange certain distribution shape according to design on its baseplate inner surface
The blind hole of state, for assembling fixed roll shaft 4, while utmostly utilizing base interior space convenient for soft robot main body
Reduce the frictional force that soft robot main body 6 is turned up in motion process, pedestal 1 in the soleplate between position punish three blind holes of cloth,
Fixed roll shaft 4, the rear square plate of pedestal 1 can be installed according to the hole for needing to select suitable position of installation soft robot main body 6
There are three various sizes of through-holes for upper arrangement, for the stretching of control line 7 and as 8 installation site of air inlet.
Specific embodiment 4:
Illustrate that present embodiment, present embodiment are described further embodiment three below with reference to Fig. 1-5, the base
In roll shaft-roller motion mode, growth soft robot storage device further includes motor 9 certainly, and there are two the settings of motor 9, and two
Motor 9 is fixedly connected in pedestal 1, and the inner end of two control lines 7 is fastened respectively is connected to the output shaft of two motors 9
On.
Specific embodiment 5:
Illustrate that present embodiment, present embodiment make any one of embodiment one to four further below with reference to Fig. 1-5
Illustrate, the soft robot main body 6 is made of PE material cylindrical material.
It is of the invention it is a kind of based on roll shaft-roller motion mode from growth soft robot storage device, work is former
Reason are as follows:
Two control lines 7 are arranged in the two sides in the outside of soft robot main body 6, and the inside of two control lines 7 is equal
It is accommodated between the inside of soft robot main body 6, two control lines 7 are successively wrapped on multiple campaign-styled rollers 5, control line
7 front end is fixed on the initial segment of soft robot main body 6, turns up together in straight trip stage control line 7 with soft robot main body 6
Step movement, the 7 fixed soft body robot body 6 of control line that motor 9 controls corresponding side when needing to turn to realize turning；Two motors
9 are fixedly connected in pedestal 1, and the inner end of two control lines 7 is fastened respectively on the output shaft for being connected to two motors 9；
Fixed roll shaft 4 is used to support campaign-styled roller 5, rotates campaign-styled roller 5 circumferentially on fixed roll shaft 4,
In below fixed roll shaft 4 hole of 1 corresponding position of one end and pedestal realize interference fit, and be fixed using glass cement,
Fixed 4 upper end of roll shaft and upper plate contact, realize that the both ends of fixed roll shaft 4 are fixed, prevent from turning up in soft robot main body 6
Its stress is excessive during growth generates the excessive phenomenon of amount of deflection, influences campaign-styled roller 5 and moves；Campaign-styled roller 5 and solid
Fixed pattern roll shaft 4 is co-axially mounted, the surface contact in the pedestal 1 of the lower end of campaign-styled roller 5 and the storage of soft robot main body 6,
By the contact between soft robot main body 6 when growing movement is turned up forward in the inflation of soft robot main body 6 along fixation
Formula roll shaft 4 circumferentially rotates, and realizes the function that conveying soft robot main body 6 is advanced.
Certainly, above description is not limitation of the present invention, and the present invention is also not limited to the example above, the art
The variations, modifications, additions or substitutions that those of ordinary skill is made within the essential scope of the present invention also belong to guarantor of the invention
Protect range.
Claims (5)
1. a kind of solid from growth soft robot storage device, including pedestal (1), main body based on roll shaft-roller motion mode
Safety barrel (2), fixed roll shaft (4), campaign-styled roller (5), soft robot main body (6) and control line (7), it is characterised in that:
It is provided on pedestal (1) main body fixed cylinder (2), main body fixed cylinder (2) is fixedly connected on the outside of soft robot main body (6)
On, the inside of soft robot main body (6) is deep into pedestal (1) by main body fixed cylinder (2), is fixedly connected in pedestal (1)
There are multiple fixed roll shafts (4), is rotatably connected to campaign-styled roller (5), soft robot master on multiple fixed roll shafts (4)
The inside of body (6) is successively wrapped on multiple campaign-styled rollers (5), and control line (7) is provided with two, two control lines (7) point
It is not arranged in the two sides in the outside of soft robot main body (6), the inside of two control lines (7) is accommodated in soft robot master
Between the inside of body (6), two control lines (7) successively follow main body to be wrapped on multiple campaign-styled rollers (5), control line (7)
Front end be fixed on the initial segments of soft robot main body (6), in straight trip stage control line (7) with soft robot main body (6)
It turns up and moves synchronously, the control line (7) that corresponding side is controlled when needing to turn to is fixed soft robot main body (6) and realizes turning.
2. it is according to claim 1 it is a kind of based on roll shaft-roller motion mode from growth soft robot storage device,
It is characterized by: being provided with air inlet (8) on the soft robot main body (6), air inlet is provided on (8) according to feedback letter
The inflator pump of breath control air inflow, inflator pump and air inlet (8) are realized and are tightly connected.
3. it is according to claim 1 it is a kind of based on roll shaft-roller motion mode from growth soft robot storage device,
It is characterized by: described, based on roll shaft-roller motion mode, growth soft robot storage device further includes upper plate certainly
(3), upper plate (3) is fixedly connected on the upper end of pedestal (1).
4. it is according to claim 1 it is a kind of based on roll shaft-roller motion mode from growth soft robot storage device,
It is characterized by: described, based on roll shaft-roller motion mode, growth soft robot storage device further includes motor (9) certainly,
There are two motor (9) settings, and two motors (9) are fixedly connected in pedestal (1), and the inner end of two control lines (7) twines respectively
On the output shaft for being fixedly connected on two motors (9).
5. it is according to any one of claims 1 to 4 it is a kind of based on roll shaft-roller motion mode from growth soft robot
Storage device, it is characterised in that: the soft robot main body (6) is made of PE material cylindrical material.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910780095.6A CN110450138A (en) | 2019-08-22 | 2019-08-22 | It is a kind of that soft robot storage device is grown based on roll shaft-roller motion mode certainly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910780095.6A CN110450138A (en) | 2019-08-22 | 2019-08-22 | It is a kind of that soft robot storage device is grown based on roll shaft-roller motion mode certainly |
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| Publication Number | Publication Date |
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| CN110450138A true CN110450138A (en) | 2019-11-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910780095.6A Pending CN110450138A (en) | 2019-08-22 | 2019-08-22 | It is a kind of that soft robot storage device is grown based on roll shaft-roller motion mode certainly |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110919632A (en) * | 2019-12-03 | 2020-03-27 | 哈尔滨工业大学 | Software robot system with space steering function |
| CN113252065A (en) * | 2021-04-30 | 2021-08-13 | 哈尔滨工业大学 | Speed and distance measuring device for self-growing robot |
| CN113459127A (en) * | 2021-07-31 | 2021-10-01 | 西南科技大学 | Self-growing soft and hard integrated robot and application thereof |
| KR20210156968A (en) * | 2020-06-19 | 2021-12-28 | 한국과학기술원 | Soft Growing Robot Having Folding Type Growing Unit |
| US20220187153A1 (en) * | 2020-12-11 | 2022-06-16 | The Board Of Trustees Of The Leland Stanford Junior University | Distributed Sensor Networks Deployed Using Soft Growing Robots |
| US20230173666A1 (en) * | 2021-12-03 | 2023-06-08 | Korea Advanced Institute Of Science And Technology | Hyper elastic soft growing robot |
| KR102669414B1 (en) * | 2021-10-21 | 2024-05-28 | 한국과학기술원 | Soft growing robot |
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| KR102669414B1 (en) * | 2021-10-21 | 2024-05-28 | 한국과학기술원 | Soft growing robot |
| US20230173666A1 (en) * | 2021-12-03 | 2023-06-08 | Korea Advanced Institute Of Science And Technology | Hyper elastic soft growing robot |
| US11731268B2 (en) * | 2021-12-03 | 2023-08-22 | Korea Advanced Institute Of Science And Technology | Hyper elastic soft growing robot |
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Application publication date: 20191115 |