CN111331586B

CN111331586B - Fluid-controlled logic software driver

Info

Publication number: CN111331586B
Application number: CN201911367518.8A
Authority: CN
Inventors: 周俊杰; 包倩倩; 张建
Original assignee: Beijing Institute of Technology BIT
Current assignee: Beijing Institute of Technology BIT
Priority date: 2019-12-26
Filing date: 2019-12-26
Publication date: 2023-07-04
Anticipated expiration: 2039-12-26
Also published as: CN111331586A

Abstract

The invention discloses a logic software driver for fluid control, which comprises a torsion tube and two telescopic tubes symmetrically arranged on two sides of the torsion tube, wherein one ends of the torsion tube and the two telescopic tubes are provided with sealing plugs, and the other ends of the torsion tube and the two telescopic tubes are respectively connected with an air tube. The device has a simple structure, realizes the motions of stretching, bending, twisting and the like simultaneously by utilizing the logic control of the channel air pressure, and realizes the diversity of the functions of the software driver.

Description

Fluid-controlled logic software driver

Technical Field

The invention relates to the technical field of robot drivers, in particular to a logic software driver for fluid control.

Background

With the development of science and technology, robots are increasingly introduced into lives of people to replace manual labor force. Existing robots mainly include rigid robots and soft robots. Most of the conventional rigid robots are made of rigid materials that limit the elastic deformability, and it is difficult to exhibit high deformability and adaptability to various environments. The soft robot simulates mollusks in nature through the soft driver, avoids using rigid materials, adopts flexible materials such as silica gel, and the like, and enables the soft driver to have high flexibility, large deformation and strong complex environment adaptability by virtue of the natural flexibility and adaptability of the soft robot.

The soft driver has light structure and flexible and long movement. At present, a soft driver is generally made of flexible materials such as silica gel or rubber, an air cavity is arranged in the soft driver, and air pressure in the air cavity is changed by inflating or exhausting the air cavity, so that movement of the driver in all directions is realized. The motion of a single-section soft driver can be divided into three types of stretching, bending and torsion. However, most of the existing soft drivers can only realize single motion or two combined motions, and few drivers can realize torsion motion, so that the drivers have single motion form and simple functions, and the development of the soft drivers is greatly limited. Patent CN 106272458A proposes a soft driver which can only realize spiral torsion movement but not realize movement such as expansion, bending, etc.; patent CN 105500383A proposes a soft robot module with various movement forms, but the torsion movement is mainly generated by different pressures of air cavities, and the actual torsion effect is poor.

Disclosure of Invention

The invention aims to provide a logic software driver controlled by fluid, which well solves the problems, has a simple structure, and realizes the diversity of the functions of the software driver by utilizing the logic control of channel air pressure and simultaneously realizing the motions of stretching, bending, twisting and the like.

The technical scheme of the invention is that the logic software driver for fluid control comprises a torsion tube and two telescopic tubes symmetrically arranged on two sides of the torsion tube, wherein one ends of the torsion tube and the two telescopic tubes are provided with sealing plugs, and the other ends of the torsion tube and the two telescopic tubes are respectively connected with an air tube.

Further, the torsion tube comprises a torsion forming layer and a torsion constraint layer sleeved outside the torsion forming layer, and the torsion constraint layer is formed by winding single-spiral fiber wires.

Further, the telescopic pipe comprises a telescopic forming layer and a telescopic constraint layer sleeved outside the telescopic forming layer, and the telescopic constraint layer is formed by winding double-spiral fiber wires.

Furthermore, a soft driver matrix is sleeved outside the torsion tube and the two telescopic tubes.

Further, the soft driver base is coaxially disposed with the torsion tube.

Furthermore, the two sides of the soft driver matrix are symmetrically provided with rigidity adjusting cavities which are in the same direction with the torsion tube.

Furthermore, the rigidity adjusting cavity is filled with blocking particles, one end of the rigidity adjusting cavity is provided with a sealing plug, and the other end of the rigidity adjusting cavity is connected with an air pipe.

Further, the torsion tube, the two telescopic tubes and the rigidity adjusting cavity are respectively connected with the air tube through joint connectors and quick connectors, a joint sealing cover is sleeved outside the quick connectors, and a bottom end cover is further arranged outside the joint sealing cover.

Further, the blocking particles are coffee bean-shaped or round plastic pellets.

Furthermore, the soft driver matrix is made of silica gel material.

The beneficial effects of the invention are as follows:

1. according to the invention, through the design of the torsion tube and the two telescopic tubes arranged on the two sides of the torsion tube, the movement functions of the soft driver such as expansion, bending, torsion and the like can be realized by utilizing the logic control of ventilation and deflation of different connected air tubes, and the structure is simple, and the driving is convenient and reliable;

2. through the design of the soft driver matrix sleeved outside the torsion tube and the two telescopic tubes and the rigidity adjusting cavities symmetrically arranged on the two sides of the soft driver matrix in the same direction with the torsion tube, the soft driver has good rigidity adjusting capability, and the rigidity of the soft driver is changed by introducing or exhausting gas into the rigidity adjusting cavities.

Drawings

FIG. 1 is an exploded view of a first embodiment of the present invention;

FIG. 2 is a front view, a side view and a cross-sectional view of a torsion tube in a first embodiment of the present invention;

FIG. 3 is a front, top, side and cross-sectional view of the structure of a telescoping tube in a first embodiment of the present invention;

FIG. 4 is a schematic perspective view of a second embodiment of the present invention;

FIG. 5 is an exploded view of a second embodiment of the present invention;

FIG. 6 is a front view of a second embodiment of the present invention;

FIG. 7 is a cross-sectional view taken at C-C, D-D of FIG. 6;

FIG. 8 is a cross-sectional view taken at E-E of FIG. 6;

FIG. 9 is a schematic diagram showing the variation of the rigidity-adjusting chamber according to the second embodiment of the invention;

in the figure: 1. twisting the tube; 11. twisting the forming layer; 12. a torsion constraint layer; 2. a telescopic tube; 21. a telescopic shaping layer; 22. a telescoping constraining layer; 3. sealing the plugs; 4. an air pipe; 5. a software driver base; 6. a stiffness adjustment chamber; 7. blocking the particles; 8. a quick connector; 9. a joint sealing cover; 10. a bottom end cap; 13. a joint connection; 14. and a hole plug is arranged.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.

In the description of the present invention, it should be noted that, the terms "upper," "lower," "inner," and the like indicate an azimuth or a positional relationship based on the azimuth or the positional relationship shown in the drawings, or the azimuth or the positional relationship conventionally put in use of the inventive product, only for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present invention.

Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.

In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.

Embodiment one: as shown in fig. 1-3, the invention provides a logic software driver for fluid control, which comprises a torsion tube 1 and two telescopic tubes 2 symmetrically arranged on two sides of the torsion tube 1, wherein one ends of the torsion tube 1 and the two telescopic tubes 2 are provided with sealing plugs 3, and the other ends of the torsion tube 1 and the two telescopic tubes 2 are respectively connected with an air pipe 4. The torsion tube 1 and the two extension tubes 2 can be connected to the trachea by means of a perforated plug 14.

Namely, the invention designs two pipe bodies of the torsion pipe 1 and the telescopic pipe 2, which are used for realizing the torsion, the expansion and the bending functions of the soft driver.

The torsion tube 1 comprises a torsion forming layer 11 and a torsion constraint layer 12 sleeved outside the torsion forming layer 11, wherein the torsion constraint layer 12 is formed by winding single-spiral fiber wires. The torsion forming layer 11 is formed by casting silica gel, and the torsion constraint layer 12 is sleeved outside the torsion forming layer 11. When the torsion tube 1 is inflated independently, the torsion tube 1 does not generate elongation movement and only generates torsion movement due to the flexibility of the torsion molding layer 11 of the silica gel material and the winding mode of the single-spiral fiber wire, and the whole driver is driven to twist, so that the torsion angle and the torsion direction of the torsion tube 1 can be changed by changing the inclination angle and the winding direction of the single-spiral fiber wire outside the torsion molding layer 11 of the torsion tube 1, and the torsion angle and the torsion direction of the whole driver are changed.

The telescopic pipe 2 comprises a telescopic forming layer 21 and a telescopic constraint layer 22 sleeved outside the telescopic forming layer 21, wherein the telescopic constraint layer 22 is formed by winding double-spiral fiber wires. The telescopic shaping layer 21 is formed by pouring silica gel, and the telescopic constraint layer 22 is sleeved outside the telescopic shaping. When the torsion tube 1 is inflated alone, the extension tube 2 will only undergo an elongation movement, no torsion movement, and the whole driver will be driven to elongate and deform.

The logic control of the soft driver in the first embodiment is shown in the following table, and when the torsion tube 1 is inflated, the driver is twisted; when the gas in the torsion tube 1 is unloaded, the actuator straightens. When one telescopic tube 2 is inflated, the telescopic tube 2 stretches, so that the driver bends towards the other telescopic tube 2; when the gas in the inflated bellows 2 is unloaded, the actuator straightens. When two telescopic tubes 2 are inflated simultaneously, the driver is extended; when the gas in both bellows 2 is withdrawn simultaneously, the actuator contracts.

TABLE 1 logic control diagram of logic software driver according to the first embodiment of the invention

In a second embodiment, as shown in fig. 4-9, on the basis of the first embodiment, the torsion tube 1 and the two telescopic tubes 2 are further sleeved with a soft driver base 5. The soft driver matrix 5 is made of silica gel material. The torsion tube 1 and the two telescopic tubes 2 can drive the soft driver matrix 5 to twist, bend and stretch. The soft driver base 5 is arranged coaxially with the torsion tube 1.

The two sides of the soft driver matrix 5 are symmetrically provided with rigidity adjusting cavities 6 which are in the same direction with the torsion tube 1. The rigidity adjusting cavity 6 is filled with blocking particles 7, one end of the rigidity adjusting cavity 6 is provided with a sealing plug 3, and the other end of the rigidity adjusting cavity 6 is connected with an air pipe 4. The blocking particles 7 are coffee bean-shaped or round plastic pellets.

The rigidity adjusting cavity 6 is also formed by casting silica gel, tiny blocking particles 7 are filled in the rigidity adjusting cavity 6, and the tiny blocking particles 7 can be coffee beans or round plastic pellets and the like. When the gas in the rigidity adjusting cavity 6 is pumped out, the rigidity adjusting cavity 6 is compressed under the action of the external atmospheric pressure, and internal particles are forced to be extruded together, so that the whole structure of the soft driver matrix 5 is hardened, and the rigidity of the soft driver is improved; when the rigidity adjusting cavity 6 is inflated, gaps among particles become larger, so that the rigidity of the whole structure of the soft driver matrix 5 becomes soft, and the rigidity of the soft driver is reduced.

The torsion tube 1, the two telescopic tubes 2 and the rigidity adjusting cavity 6 are respectively connected with the air tube 4 through a joint connecting piece 13 and a quick connector 8, a joint sealing cover 9 is sleeved outside the quick connector 8, and a bottom end cover 10 is further arranged outside the joint sealing cover 9.

Namely, the telescopic tube 2 and the rigidity adjusting cavity 6 are arranged in a staggered manner, the torsion tube 1 is positioned at the center of the soft driver matrix 5, the front ends of the telescopic tube 2, the torsion tube 1 and the rigidity adjusting cavity 6 are provided with front end sealing plugs 3 made of high-hardness elastic silica gel, and the rear ends of the telescopic tube 2, the torsion tube 1 and the rigidity adjusting cavity 6 are also inserted with hole plugs 14 made of high-hardness elastic silica gel. The rear end of the plug is provided with a hole plug 14, the plug connector 13 is respectively inserted into the hole plugs 14, the outside of the plug connector 13 is coated with adhesive, the middle of the plug connector is provided with a circular through hole, the plug connector 13 is connected with a quick connector 8, the quick connector 8 is wrapped by a bottom end cover 10, and the bottom end cover 10 is made of high-hardness silica gel.

Logic control of the software driver in embodiment two is shown in table 2 below, the driver torques when the torsion tube 1 is inflated; when the gas in the torsion tube 1 is unloaded, the actuator straightens. When one telescopic tube 2 is inflated, the telescopic tube 2 stretches, so that the driver bends towards the other telescopic tube 2; when the gas in the inflated bellows 2 is unloaded, the actuator straightens. When two telescopic tubes 2 are inflated simultaneously, the driver is extended; when the gas in both bellows 2 is withdrawn simultaneously, the actuator contracts. When the gas in the rigidity adjusting cavity 6 is pumped out, the rigidity of the soft driver is improved; when the rigidity adjusting chamber 6 is inflated, the rigidity of the soft actuator is lowered. Therefore, the logic software driver integrates functions of stretching, bending, torsion, rigidity change and the like, and can realize various required actions by utilizing logic control of channel air pressure without changing the structure, thereby completing various functions of the driver. The logic software driver can be used as a driver main body independently to complete corresponding actions, or can be used as a super-redundancy software driver by connecting multiple sections in series.

TABLE 2 logic control diagram of logic software driver in accordance with a second embodiment of the invention

According to the invention, through the design of the torsion tube 1 and the two telescopic tubes 2 arranged on the two sides of the torsion tube 1, the movement functions of the soft driver such as expansion, bending, torsion and the like can be realized by utilizing the logic control of ventilation and deflation of different air tubes 4 connected with the torsion tube, the structure is simple, the driving is convenient and reliable, and the problem of single function of the driver is solved; through the design of the soft driver base body 5 sleeved outside the torsion tube 1 and the two telescopic tubes 2 and the rigidity adjusting cavities 6 symmetrically arranged on two sides of the soft driver base body 5 and arranged in the same direction with the torsion tube 1, the soft driver has good rigidity adjusting capability, and the rigidity of the soft driver is changed by introducing or exhausting gas into the rigidity adjusting cavities 6. The structure of the torsion tube 1 and the telescopic tube 2 can realize different movements of the tube body by utilizing the different winding directions, angles and modes of the spiral fiber wires, thereby realizing different movements of the driver.

Of course, the present invention is capable of other various embodiments and its several details are capable of modification and variation in light of the present invention by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A fluid-controlled logic software driver, characterized by: the device comprises a torsion tube (1) and two telescopic tubes (2) symmetrically arranged on two sides of the torsion tube (1), wherein sealing plugs (3) are arranged at one ends of the torsion tube (1) and the two telescopic tubes (2), and air pipes (4) are respectively connected with the other ends of the torsion tube (1) and the two telescopic tubes (2); a soft driver matrix (5) is sleeved outside the torsion tube (1) and the two telescopic tubes (2); the soft driver matrix (5) and the torsion tube (1) are coaxially arranged; the two sides of the soft driver matrix (5) are symmetrically provided with rigidity adjusting cavities (6) which are in the same direction with the torsion tube (1); the torsion tube (1), the two telescopic tubes (2) and the rigidity adjusting cavity (6) are respectively connected with the air tube (4) through a joint connecting piece (13) and a quick connector (8), a joint sealing cover (9) is sleeved outside the quick connector (8), and a bottom end cover (10) is arranged outside the joint sealing cover (9); blocking particles (7) are filled in the rigidity adjusting cavity (6), a sealing plug (3) is arranged at one end of the rigidity adjusting cavity (6), and an air pipe (4) is connected to the other end of the rigidity adjusting cavity (6); the logic control method of the software driver comprises the following steps: when the torsion tube (1) is inflated, the driver is twisted; when the gas in the torsion tube (1) is unloaded, the driver straightens; when one telescopic tube (2) is inflated, the telescopic tube (2) stretches to enable the driver to bend towards the other telescopic tube (2); when the gas in the inflated telescopic pipe (2) is unloaded, the driver is straightened; when the two telescopic pipes (2) are inflated at the same time, the driver stretches; when the gas in the two telescopic pipes (2) is simultaneously extracted, the driver contracts; when the gas in the rigidity adjusting cavity (6) is pumped out, the rigidity of the soft driver is improved; when the rigidity adjusting chamber (6) is inflated, the rigidity of the soft driver is reduced.

2. The fluid controlled logic software driver of claim 1, wherein: the torsion tube (1) comprises a torsion forming layer (11) and a torsion constraint layer (12) sleeved outside the torsion forming layer (11), wherein the torsion constraint layer (12) is formed by winding single-spiral fiber wires.

3. The fluid controlled logic software driver of claim 1, wherein: the telescopic pipe (2) comprises a telescopic forming layer (21) and a telescopic constraint layer (22) sleeved outside the telescopic forming layer (21), and the telescopic constraint layer (22) is formed by winding double-spiral fiber wires.

4. The fluid controlled logic software driver of claim 1, wherein: the blocking particles (7) are coffee bean-shaped or round plastic pellets.

5. The fluid controlled logic software driver of claim 1, wherein: the soft driver matrix (5) is made of silica gel material.