CN111761606B - Pneumatic soft tentacle robot based on novel pneumatic muscles - Google Patents
Pneumatic soft tentacle robot based on novel pneumatic muscles Download PDFInfo
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- CN111761606B CN111761606B CN202010651208.5A CN202010651208A CN111761606B CN 111761606 B CN111761606 B CN 111761606B CN 202010651208 A CN202010651208 A CN 202010651208A CN 111761606 B CN111761606 B CN 111761606B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
Abstract
The application discloses a pneumatic soft tentacle robot based on novel pneumatic muscles, which comprises a first driving part, a second driving part and a third driving part which are connected in sequence, wherein the driving modes of the first driving part, the second driving part and the third driving part are all fluid driving and can work independently; the first driving part comprises a first flexible assembly, the second driving part comprises a second flexible assembly, the third driving part comprises a third flexible assembly, the first flexible assembly, the second flexible assembly and the third flexible assembly are driven by a fluid to bend or extend to grab or move a target, the flexible assembly comprises corrugated net extension type pneumatic muscles, the extension amount of the corrugated net extension type pneumatic muscles is derived from axially stacked corrugations, the extension amount of the corrugated net extension type pneumatic muscles is independent of angles, and the design limitation of double-spiral woven nets and capsule particle type pneumatic muscles is broken through. Through fluid drive, the independent work between each group of pneumatic muscle of control every drive division for the robot can carry out space 3 dimension bending, extension motion.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a pneumatic soft tentacle robot based on novel pneumatic muscles.
Background
The conventional rigid mechanical arm has strong reliability in grasping an object, however, if an irregular target object is grasped, the grasping reliability of the conventional rigid mechanical arm is greatly reduced. And the rigid mechanical arm is inevitable to generate rigid collision force with the target object when grabbing the target object, which damages both the mechanical arm and the target object. Compared with a rigid mechanical arm, the flexible robot has obvious advantages in scenes of grabbing irregular objects, operating in narrow space and frequent man-machine interaction. When the target object is grabbed, rigid collision cannot occur due to the fully flexible structure of the soft robot. Compared with the traditional rigid robot, the soft tentacle robot has the characteristic of large bending deformation.
Disclosure of Invention
In view of the above defects or shortcomings in the prior art, it is desirable to provide a pneumatic soft tentacle robot based on novel pneumatic muscles, which has flexible bending capability and adaptability to complex structure environment, can flexibly grab irregular and fragile objects in a three-dimensional space, and can also be applied to tasks such as searching and rescuing in complex non-structure environment.
In a first aspect, the present invention provides a pneumatic soft-body tentacle robot based on novel pneumatic muscles, comprising: the driving modes of the first driving part, the second driving part and the third driving part are all fluid driving and can work independently;
the first driving part comprises a first flexible component, the second driving part comprises a second flexible component, the third driving part comprises a third flexible component, and the first flexible component, the second flexible component and the third flexible component can grab or move the target object through bending or stretching under the driving of the fluid;
the first flexible assembly, the second flexible assembly and the third flexible assembly are at least three corrugated net extension type pneumatic muscles, each corrugated net extension type pneumatic muscle comprises a telescopic pipe and a corrugated woven net, the corrugated woven net is wrapped on the outer wall of the telescopic pipe, and two adjacent pneumatic muscles are connected through a suture line;
the corrugated woven mesh comprises a corrugated structure formed by laminating carbon fibers along the axial direction of the telescopic pipe, and the corrugated structure is used for extending the corrugated woven mesh.
Preferably, the first driving part further comprises a first end cover and a second end cover, one end of the first flexible assembly is connected with the first end cover, the other end of the first flexible assembly is connected with the first surface of the second end cover, and an air hole is formed in the first flexible assembly;
the second driving part also comprises a third end cover, one end of the second flexible component is connected with the second surface of the second end cover, the other end of the second flexible component is connected with the first surface of the third end cover, and an air hole is formed in the second flexible component;
the third driving part comprises a base, one end of a third flexible assembly is connected to the second surface of the third end cover, the other end of the third flexible assembly is connected with the base, and an air hole is formed in the third flexible assembly;
through holes are respectively formed in the centers of the second end cover, the third end cover and the base, the base is connected with an air pipe of external pneumatic control equipment through the through holes, the air pipe sequentially penetrates through the through hole in the center of the third end cover and the through hole in the center of the second end cover, and the joint of the air pipe and the through holes is sealed through silica gel water;
the air holes in the first flexible assembly, the second flexible assembly and the third flexible assembly are respectively connected with the air pipes, so that the first flexible assembly, the second flexible assembly and the third flexible assembly are respectively or simultaneously bent or stretched for grabbing the target object.
Preferably, the corrugated woven mesh is longer along the axial direction of the telescopic tube than the telescopic tube is along the axial direction thereof.
Preferably, the first flexible assembly comprises three pneumatic muscles which are arranged in an equilateral triangle manner, the first surfaces of the first end cover and the second end cover are respectively provided with three first connecting joints, the first connecting joints on the first surfaces of the first end cover and the second end cover are respectively arranged in an equilateral triangle manner and are used for being connected with the three corresponding pneumatic muscles, each first connecting joint is provided with a first air hole, and each first connecting joint can be independently communicated with an air pipe to fill air into each telescopic pipe.
Preferably, the second flexible assembly comprises six pneumatic muscles which are arranged in a regular hexagon, the second face of the second end cover and the first face of the third end cover are respectively provided with six second connectors, the second connectors on the second face of the second end cover and the first face of the third end cover are respectively arranged in a regular hexagon and are used for being connected with the corresponding six pneumatic muscles, each second connector is provided with a second air hole, and the second connectors can be respectively communicated with the air pipe to fill air into each telescopic pipe.
Preferably, the third flexible assembly comprises six pneumatic muscles which are arranged in an equilateral triangle shape, the second surface of the third end cover and the base are respectively provided with six third connectors, the second surface of the third end cover and the six third connectors on the base are respectively arranged in a regular hexagon shape and are used for being connected with the corresponding six pneumatic muscles, and each third connector is provided with a third air hole which can be respectively and independently communicated with an air pipe to fill air into each telescopic pipe.
Preferably, the method further comprises the following steps: an inflation device for inflating the pneumatic muscles;
further comprising: a gesture capture system comprising a first detector and a second detector;
three groups of first detectors are respectively arranged at the corresponding tail ends of the first driving part, the second driving part and the third driving part and are used for detecting the bending lengths of the corresponding first driving part, the second driving part and the third driving part;
and the corresponding tail ends of the first driving part, the second driving part and the third driving part are respectively provided with a second detector which is used for detecting the bending angles of the corresponding first driving part, the second driving part and the third driving part.
Preferably, the first detector is a pull-wire encoder;
the second detector is an axis sensor.
According to the pneumatic soft tentacle robot based on the novel pneumatic muscles, the three driving parts are designed, the pneumatic muscles are used as the telescopic main bodies, and the pneumatic muscles can be used as the driving parts and can also be independently used as the three soft tentacles; the fluid drive is adopted as the drive mode, and each group of pneumatic muscles of each drive part is controlled to work independently, so that the soft robot can perform space three-dimensional flexible motion. The three driving parts can be respectively and independently controlled in a fluid driving mode, the first driving part can be used for grabbing and wrapping small target objects, the second driving part and the first driving part can work simultaneously under the fluid driving mode to realize the grabbing of large target objects, and the third driving part, the first driving part and the second driving part are bent simultaneously under the fluid driving mode to realize the carrying of the target objects. Compared with the traditional robot, the robot system has the advantages of more flexible bending capability and adaptability to complex environments, not only can realize bending motion, but also can realize grabbing, does not damage the surface of a grabbed object, can measure the motion state of the robot in space, realizes man-machine interaction and improves the working efficiency.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
fig. 1 is a schematic structural diagram of a driving part of a pneumatic soft-body tentacle robot based on novel pneumatic muscles according to an embodiment of the invention;
FIG. 2 is an exploded view of the drive section of a novel pneumatic muscle based pneumatic soft-body tentacle robot according to one embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a driving part of a pneumatic soft-body tentacle robot based on novel pneumatic muscles according to an embodiment of the invention;
FIG. 4 is a schematic structural diagram of a first driving part in the pneumatic soft-body tentacle robot based on the novel pneumatic muscles according to one embodiment of the invention;
FIG. 5 is a schematic structural diagram of a second driving part in the pneumatic soft-body tentacle robot based on the novel pneumatic muscle according to one embodiment of the invention;
FIG. 6 is a schematic structural diagram of a third driving part in the pneumatic soft-body tentacle robot based on the novel pneumatic muscles according to one embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a first end cap in a pneumatic soft-body tentacle robot based on new pneumatic muscles according to an embodiment of the invention;
FIG. 8 is a schematic structural diagram of a receiving tray of a second end cover in the pneumatic soft-body tentacle robot based on new pneumatic muscles according to one embodiment of the invention;
FIG. 9 is a schematic structural diagram of a flange of a third end cover in the pneumatic soft-body tentacle robot based on new pneumatic muscles according to one embodiment of the invention;
FIG. 10 is a schematic structural diagram of a base of a novel pneumatic muscle-based pneumatic soft-body tentacle robot according to an embodiment of the present invention;
fig. 11 is a structural block diagram of the pneumatic soft-body tentacle robot based on the novel pneumatic muscle of the invention.
In the figure, 1, a first driving part, 11, a first end cover, 12, a second end cover; 2. a second drive section, 21, a third end cap; 3. a third driving part 31. a base;
100. the pneumatic muscle, 4. the extension tube, 5. the mesh grid, 6. the suture, 7. the first connector, 8. the first air hole, 9. the second connector, 10. the second air hole, 32. the third connector, 33. the third air hole; 200. a first detector, 300, a second detector.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
In view of the above problems, an embodiment of the present application provides a pneumatic soft-body tentacle robot based on new pneumatic muscles, the driving part of which is shown in fig. 1 and 2, and the robot comprises: the driving device comprises a first driving part 1, a second driving part 2 and a third driving part 3 which are sequentially connected, wherein the first driving part 1, the second driving part 2 and the third driving part 3 are driven by fluid and can work independently, the first driving part 1 comprises a first flexible assembly, the second driving part 2 comprises a second flexible assembly, the third driving part 3 comprises a third flexible assembly, and the first flexible assembly, the second flexible assembly and the third flexible assembly are all used for grabbing a target object by bending or stretching under the driving of the fluid; wherein the first, second and third flexible assemblies comprise corrugated mesh elongated pneumatic muscles.
The pneumatic soft-body tentacle robot based on the novel pneumatic muscle of the embodiment can be various robots, such as: search and rescue robots, robots for transporting objects, and the like. The first driving part, the second driving part and the third driving part are independent of each other and can work independently. That is to say: the operations among the first driving part, the second driving part and the third driving part do not affect each other. Because the three driving parts are independent, the length of each driving part can be adjusted according to actual needs, and the soft tentacle mechanical structure of the embodiment can realize bending motion in any direction in a three-dimensional space. The first driving part, the second driving part and the third driving part comprise flexible components, the flexible components are used for grabbing the target object through bending or stretching under the driving of the fluid, due to the existence of the flexible components, the soft tentacles of the embodiment can not only realize bending motion like the traditional rigid body robot, but also realize flexible motion, and compared with rigid tentacles, the grabbing behavior of the soft tentacles does not generate rigid collision. Therefore, the object to be grabbed cannot be damaged, and the object with a complex and fragile surface can be effectively grabbed. The soft tentacle mechanical structure has the characteristic of large bending deformation, so the soft tentacle mechanical structure has wide application in other scenes. For example, search and rescue operations are performed in a complex environment.
The fluid driving method in this embodiment means that the first driving portion, the second driving portion, and the third driving portion are driven by using newtonian fluid, for example: air and other various non-toxic and harmless gases, water and other most pure liquids, light oil and low molecular compound solutions. Fluid actuation utilizes the principle that a flexible assembly can deform under applied pressure from fluid (gas or liquid) actuation, allowing for different lengths of elongation or different angles of bending motion. Thereby realizing the grabbing or moving of the target object.
The corrugated net extension type pneumatic muscle has large extension amount, breaks through the design limitation of the traditional double-spiral woven net pneumatic muscle and the capsule particle type pneumatic muscle, and is favorable for improving the bending brake performance and the flexibility of motion grabbing of the robot.
In a preferred embodiment, as shown in fig. 2, the first driving part 1 further includes a first end cap 11 and a second end cap 12, one end of the first flexible component is connected to the first end cap 11, the other end of the first flexible component is connected to the first surface of the second end cap 12, and the first flexible component is provided with an air hole inside;
the second driving part 2 further comprises a third end cover 21, one end of a second flexible component is connected with the second surface of the second end cover 12, the other end of the second flexible component is connected with the first surface of the third end cover 21, and an air hole is formed in the second flexible component;
the third driving part 3 comprises a base 31, one end of a third flexible component is connected to the second surface of the third end cover 21, the other end of the third flexible component is connected to the base 31, and an air hole is formed in the third flexible component;
through holes are respectively formed in the centers of the second end cover 12, the third end cover 21 and the base 31, the base 31 is connected with an air pipe of the pneumatic control equipment through the through holes, the air pipe sequentially penetrates through the through hole in the center of the third end cover 21 and the through hole in the center of the second end cover 12, and the joint of the air pipe and the through hole is sealed through silica gel water;
the air holes in the first flexible assembly, the second flexible assembly and the third flexible assembly are respectively connected with the air pipes, so that the first flexible assembly, the second flexible assembly and the third flexible assembly are respectively or simultaneously bent or stretched for grabbing the target object.
It should be noted that:
the flexible components in the first driving part, the second driving part and the third driving part can be bent or stretched differently under the driving of gas, and different bending forms can be realized. For example, say: the first movement inflates the flexible component of the first driving part, and the tail end of the first driving part is bent. The significance of researching the first motion mode is that the first driving part can be bent independently, can realize the envelope curve of large bending deformation, and can be used for grabbing and wrapping small target objects; the second motion simultaneously inflates the flexible assembly of the first driving part and the second driving part, and the first driving part and the second driving part simultaneously generate bending motion. The significance of researching the second motion mode is that the first driving part and the second driving part of the soft tentacle robot can jointly realize large-bending envelope motion and can be used for grabbing large target objects; and a third motion, wherein air pressure is filled into the flexible assemblies of the first driving part, the second driving part and the third driving part at the same time: the first, second and third driving portions are bent at the same time. The significance of studying the third motion mode is that the end driver can lift the first two sections of drivers, and can be used for the object carrying aspect.
In a preferred embodiment, the first flexible assembly, the second flexible assembly and the third flexible assembly are at least three pneumatic muscles 100, as shown in fig. 3, each pneumatic muscle comprises a telescopic tube 4 and a corrugated woven mesh 5, respectively, the corrugated woven mesh 5 is wrapped on the outer wall of the telescopic tube 4, and two adjacent pneumatic muscles are connected by a suture 6. The suture line 6 connects two adjacent pneumatic muscles together in a sewing way, so that when one muscle is inflated to stretch or bend, the connected pneumatic muscle is driven to deform together.
Wherein, preferably, the length of the corrugated woven mesh 5 along the axial direction of the extension tube 4 is larger than that of the extension tube 4 along the axial direction thereof, and the elongation of the corrugated woven mesh 5 which is fully extended by pressurization can be 3 times of the original length of the corrugated woven mesh. Also can be wrapped up by woven mesh 5 after being used for guaranteeing telescopic tube along its axial extension, the biggest extension length of 5 biggest extensions of ripple woven mesh determines pneumatic muscle's biggest extension length, and ripple woven mesh 5 is favorable to radially bounding flexible pipe 4, only takes place radial expansion and axial shortening after avoiding flexible pipe 4 to aerify.
Preferably, the telescopic tube 4 is made of flexible material, such as silicone tube. The telescopic pipe 4 is hollow and communicated with the air pipe to drive the flexible assembly to bend or extend.
Preferably, the corrugated woven mesh 5 includes a corrugated structure formed by carbon fibers stacked in the axial direction of the telescopic tube 4, and the corrugated structure is used for stretching the corrugated woven mesh.
It should be noted that the elongation of the corrugated woven mesh 5 of the carbon fiber is derived from the axially stacked corrugated structure, and the structure of the corrugated woven mesh 5 makes the elongation of the pneumatic muscle independent of the woven angle of the carbon fiber, thereby breaking through the design limitation of the pneumatic muscle and the capsule particle type pneumatic muscle of the traditional double-spiral woven mesh. The corrugated woven mesh disclosed by the embodiment can provide the ultimate elongation of more than 300%, and the bending actuation performance and the movement grabbing flexibility of the soft robot are greatly improved. If the lamination length of the carbon fiber corrugated woven mesh is further increased, the pneumatic muscle can be further elongated far beyond the maximum elongation provided by other design methods. Through tests, when high-pressure gas is injected into the inner cavity of the telescopic pipe based on the corrugated woven mesh structure, the inner cavity generates deformation trends of radial expansion and axial extension, and the corrugated woven mesh limits the radial expansion of the inner cavity and only allows axial extension movement. When the pneumatic muscle reaches the ultimate elongation, the pneumatic muscle is continuously filled with high-pressure gas, and the rigidity of the pneumatic muscle is continuously increased. The extension of the telescopic tube 4 can reach 1600%.
As a preferred embodiment, as shown in fig. 4 and 7, the first flexible assembly includes three pneumatic muscles 100, the three pneumatic muscles 100 are arranged in an equilateral triangle, the first surfaces of the first end cap 11 and the second end cap 12 are respectively provided with three first connectors 7, the first connectors 7 on the first surfaces of the first end cap 11 and the second end cap 12 are respectively arranged in an equilateral triangle for connecting with the corresponding three pneumatic muscles, and each first connector 7 is provided with a first air hole 8 which can be respectively and independently communicated with an air pipe to fill air into each extension pipe 4.
The first connectors 7 of the first end cover 11 and the second end cover 12 are arranged in an equilateral triangle, the side length of the equilateral triangle is preferably 18mm, and every two opposite first connectors are connected with a telescopic tube of pneumatic muscle in a sealing mode. The air pipe for inflation can be inserted into the air hole, then the air pipe is sealed by using silica gel glue, and compressed air is inflated into pneumatic muscles through the air pipe. Each pneumatic muscle is connected with an independent air pipe, and the two muscles of each group are controlled to be inflated and deflated synchronously, so that each pneumatic muscle is controlled by an independent control air passage, and the first driving part can have three independently controllable air passages.
As a preferred embodiment, as shown in fig. 5 and 8, the second flexible assembly includes six pneumatic muscles 100, the six pneumatic muscles 100 are arranged in a regular hexagon, the second surface of the second end cap 12 and the first surface of the third end cap 21 are respectively provided with six second connectors 9, the second connectors 9 on the second surface of the second end cap 12 and the first surface of the third end cap 21 are respectively arranged in a regular hexagon for connecting with the corresponding six pneumatic muscles 100, and each second connector 9 is provided with a second air hole 10, which can be respectively and independently communicated with an air pipe to fill air into each extension pipe 4.
The second connectors 9 on the second face of the second end cover 12 and the first face of the third end cover 21 are arranged in a regular hexagon, the side length of the regular hexagon is preferably 18mm, and every two opposite second connectors are connected with a telescopic pipe of pneumatic muscle in a sealing mode. The air pipe for inflation can be inserted into the air hole, then the air pipe is sealed by using silica gel glue, and compressed air is inflated into pneumatic muscles through the air pipe. Every pneumatic muscle is connected an independent trachea, and two muscles of control every group are aerifyd and are deflated in step, and two adjacent pneumatic muscles are a set of for every pneumatic muscle of group is controlled by solitary control air flue, so the second drive division has three but independent control air flue.
As a preferred embodiment, as shown in fig. 6 and fig. 9 to 10, the third flexible assembly includes six pneumatic muscles 100, the six pneumatic muscles 100 are arranged in an equilateral triangle, the second surface of the third end cover 21 and the base 31 are respectively provided with six third connectors 32, the second surface of the third end cover 21 and the six third connectors 32 on the base 31 are respectively arranged in a regular hexagon and are used for being connected with the corresponding six pneumatic muscles 100, and each third connector 32 is provided with a third air hole 33 which can be respectively and independently communicated with an air pipe to fill air into each extension tube 4.
The first surface of the third end cover 21 and the third connectors 32 of the base 31 are arranged in a regular hexagon, the side length of the regular hexagon is preferably 18mm, and every two opposite second connectors are connected with the telescopic tube of a pneumatic muscle in a sealing manner. The air pipe for inflation can be inserted into the air hole, then the air pipe is sealed by using silica gel glue, and compressed air is inflated into pneumatic muscles through the air pipe. Every pneumatic muscle is connected an independent trachea, and two muscles of control every group are aerifyd and are deflated in step, and two adjacent pneumatic muscles are a set of for every pneumatic muscle of group is controlled by solitary control air flue, so the second drive division has three but independent control air flue.
The pneumatic soft tentacle robot based on novel pneumatic muscle of this embodiment is three mutual independence of first drive division, second drive division and third drive division, connects through the end cover, consequently, can adjust the length of each drive division according to actual demand. According to the soft tentacle mechanical structure, each driving part is provided with the control air channel which can be independently controlled, so that the tentacle robot can realize bending motion in any direction in a three-dimensional space.
The adaptability under the non-structural environment or the flexible interaction with human needs to be realized, the state control of the soft tentacle robot needs to be carried out, but the existing soft tentacle robot moves in space during the movement process and has a complex bending form, and the traditional contact sensor and the vision sensor cannot realize the real-time measurement of the deformation of the soft tentacle. If the motion state of the pneumatic soft-body tentacle robot in the space is required, the bending output and the end bending angle of the soft-body tentacle robot are determined.
As an implementation manner, the pneumatic soft-body tentacle robot based on the novel pneumatic muscle further comprises: the inflation equipment is used for inflating the pneumatic muscle;
and an attitude measurement system including a first detector 200 and a second detector 300;
the tail ends corresponding to the first driving part, the second driving part and the third driving part are respectively provided with three groups of stay wire type encoders which are used for detecting the bending lengths of the corresponding first driving part, the second driving part and the third driving part, and the encoding wire of each group of stay wire type encoders correspondingly penetrates between two adjacent groups of pneumatic muscles in the first driving part, the second driving part and the third driving part and is fixed at the corresponding tail ends;
the ends corresponding to the first driving part, the second driving part and the third driving part are respectively provided with a shaft sensor for detecting the bending angles of the corresponding first driving part, the second driving part and the third driving part.
It should be noted that:
in this embodiment, the type of the pull-wire sensor is not limited, and various types of pull-wire sensors can be used. As a preferred embodiment, the pull wire sensor in this embodiment outputs signals: 0V-5V, 60mm measuring range, signal output type digital quantity output type-P (pulse), 0.02% of linearity FS and 4N of pull wire tension. The installation mode is as follows: the stay wire type encoders are installed on the end covers of the corresponding driving parts, 9 stay wire type encoders are uniformly distributed according to the circumference, each 3 stay wire type encoders form a group, the encoding wires respectively penetrate through the middles of suture lines of all flexible joints of the soft tentacle type robot, and the encoding wires are fixed on the corresponding ends. When air pressure is filled into one inflatable air passage of one flexible assembly of the robot, the bending joint of the flexible assembly is bent, and the coding line of the stay wire type coder moves in an extending mode along with the flexible assembly. The length of the wire of the stay wire encoder can be used to indicate the bending length of the flexible joint. When the compressed gas in the inflatable pipe fitting is released, the flexible joint restores to the original state, and the stay wire type encoder can automatically retract the stretched coding wire under the action of the built-in spring of the stay wire type encoder, so that repeated tests can be carried out by using the stay wire type encoder.
In the embodiment, a model MPU6050-9 axis sensor is used for measuring the bending angle of the tail end of each flexible joint of the robot. The selected MPU6050-9 axis sensor has the output voltage of 3V-6V, the attitude measurement angle stability of 0.01 degrees, the data output frequency of 100Hz and a data interface serial port (TTL level). An MPU6050-9 axis sensor is arranged at the tail end of each driving part, when a certain flexible assembly is inflated and bent, the tail end angle changes, the MPU6050-9 axis sensor changes along with the flexible assembly, and the tail end bending angle of the flexible assembly is replaced by the angle change of the MPU60509 axis sensor.
In the pneumatic soft tentacle robot system based on the novel pneumatic muscles, when the air pressure is filled into one of the first driving part, the second driving part and the third driving part, the air passage can be elongated, and the air pressure is not filled into the other two air passages, so that the elongation motion cannot be caused. Due to the limiting effect of the suture lines, the elongation movement of the inflatable air passage is influenced, so that the flexible component generates bending movement; when different air pressures are filled into each pneumatic muscle in the flexible assembly, the extension lengths in the three air passages are different, and the flexible assembly twists and extends in a three-dimensional space; when the same air pressure is charged into each pneumatic muscle at the same time, the three pneumatic muscles have the same elongation, and the flexible assembly integrally generates axial elongation motion under the limiting action of the corrugated woven mesh. The three movements are increased along with the increase of the inflation pressure, the bending angle, the torsion length and the elongation. When the air pressure for controlling the pneumatic muscle is released, the robot recovers the initial state due to the elastic action of the silica gel pipe fitting. The deformation quantity of the soft tentacle robot is measured by the pull line sensor, the tail end bending angle of the soft tentacle robot is measured by the MPU60509 axis sensor, and the posture of the soft tentacle robot in a three-dimensional space can be obtained by combining the arc hypothesis and a geometric formula.
In summary, the pneumatic soft-body tentacle robot based on the novel pneumatic muscles provided by the application adopts the pneumatic muscles as the telescopic main body by designing the three driving parts, and the pneumatic muscles not only can be used as the driving parts, but also can be independently used as the three soft-body grippers; the fluid drive is adopted as the drive mode, and each group of pneumatic muscles of each drive part is controlled to work independently, so that the soft robot can perform spatial 3-dimensional bending and stretching motion. The three soft hand grips can be controlled independently through a fluid driving mode respectively, the first soft hand grip can be used for gripping and wrapping a small-sized target object, the second soft hand grip and the first soft hand grip can work simultaneously under the fluid driving mode to grip a large-sized target object, and the third soft hand grip, the first soft hand grip and the second soft hand grip are bent simultaneously under the fluid driving mode to carry the target object. Compared with the traditional robot, the robot system has the advantages of more flexible bending capability and adaptability to complex environments, not only can realize bending motion, but also can realize grabbing, the surface of a grabbed object cannot be damaged, and the motion state of the robot in the space can be measured, so that man-machine interaction is realized, and the working efficiency is improved.
The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.
Claims (7)
1. The utility model provides a pneumatic software tentacle robot based on novel pneumatic muscle which characterized in that includes: the driving mode of the first driving part, the second driving part and the third driving part is fluid driving, and the first driving part, the second driving part and the third driving part can work independently; the first driving part can be independently bent and can be used for grabbing and wrapping a small target object; the first driving part and the second driving part can be bent simultaneously and can be used for grabbing a large target object; the first driving part, the second driving part and the third driving part can also be bent at the same time, and can be used for conveying a target object;
the first driving part comprises a first flexible component, the second driving part comprises a second flexible component, the third driving part comprises a third flexible component, and the first flexible component, the second flexible component and the third flexible component can be driven by fluid to grab or move a target object through bending or stretching;
the first flexible assembly, the second flexible assembly and the third flexible assembly respectively comprise at least three corrugated net elongated pneumatic muscles, each corrugated net elongated pneumatic muscle respectively comprises a telescopic pipe and a corrugated woven net, the corrugated woven net is wrapped on the outer wall of the telescopic pipe, and two adjacent pneumatic muscles are connected through a suture line;
the corrugated woven mesh comprises a corrugated structure formed by carbon fibers in an axial stacking mode along the extension pipe, and the corrugated structure is used for extending the corrugated woven mesh;
the first driving part further comprises a first end cover and a second end cover, one end of the first flexible assembly is connected with the first end cover, the other end of the first flexible assembly is connected with the first surface of the second end cover, and a first air hole is formed in the first flexible assembly;
the second driving part further comprises a third end cover, one end of the second flexible assembly is connected with the second surface of the second end cover, the other end of the second flexible assembly is connected with the first surface of the third end cover, and a second air hole is formed in the second flexible assembly;
the third driving part comprises a base, one end of the third flexible assembly is connected to the second surface of the third end cover, the other end of the third flexible assembly is connected with the base, and a third air hole is formed in the third flexible assembly;
through holes are respectively formed in the centers of the second end cover, the third end cover and the base, the base is connected with an air pipe of external pneumatic control equipment through the through holes, the air pipe sequentially penetrates through the through hole in the center of the third end cover and the through hole in the center of the second end cover, and the joint of the air pipe and the through hole is sealed through silica gel water;
the air holes in the first flexible assembly, the second flexible assembly and the third flexible assembly are respectively connected with the air pipe, so that the first flexible assembly, the second flexible assembly and the third flexible assembly are respectively or simultaneously bent or stretched for grabbing a target object.
2. The novel pneumatic muscle-based pneumatic soft-touch robot of claim 1, wherein the corrugated mesh grid is longer along the telescoping tube axial direction than the telescoping tube axial direction.
3. The pneumatic soft tentacle robot based on novel pneumatic muscles according to claim 1, wherein the first flexible assembly comprises three pneumatic muscles, the three pneumatic muscles are arranged in an equilateral triangle, the first surfaces of the first end cover and the second end cover are respectively provided with three first connecting joints, the first connecting joints on the first surfaces of the first end cover and the second end cover are respectively arranged in an equilateral triangle and are used for being connected with the corresponding three pneumatic muscles, each first connecting joint is provided with a first air hole, and the first air holes can be respectively and independently communicated with the air pipe to charge air into each telescopic pipe.
4. The pneumatic soft tentacle robot based on novel pneumatic muscles according to claim 1, wherein the second flexible assembly comprises six pneumatic muscles, the six pneumatic muscles are arranged in a regular hexagon, the second surface of the second end cover and the first surface of the third end cover are respectively provided with six second connectors, the second connectors on the second surface of the second end cover and the first surface of the third end cover are respectively arranged in a regular hexagon and are used for being connected with the corresponding six pneumatic muscles, each second connector is provided with a second air hole, and the second air holes can be respectively communicated with the air pipe to charge air into each telescopic pipe.
5. The pneumatic soft tentacle robot based on novel pneumatic muscles as claimed in claim 1, wherein the third flexible assembly comprises six pneumatic muscles, six pneumatic muscles are arranged in an equilateral triangle, the second surface of the third end cover and the base are respectively provided with six third connectors, the second surface of the third end cover and the six third connectors on the base are respectively arranged in a regular hexagon and are used for being connected with the corresponding six pneumatic muscles, each third connector is provided with a third air hole, and the third air holes can be respectively and independently communicated with the air pipe to charge air into each telescopic pipe.
6. The novel pneumatic muscle-based pneumatic soft-touch robot of claim 1, further comprising: an inflation device for inflating the pneumatic muscles;
and an attitude measurement system comprising a first detector and a second detector;
three groups of first detectors are respectively arranged at the corresponding tail ends of the first driving part, the second driving part and the third driving part and are used for detecting the bending lengths of the corresponding first driving part, the second driving part and the third driving part;
the second detectors are respectively arranged at the corresponding tail ends of the first driving part, the second driving part and the third driving part and are used for detecting the bending angles of the corresponding first driving part, the second driving part and the third driving part.
7. The novel pneumatic muscle-based pneumatic soft-touch robot of claim 6,
the first detector is a pull-wire type encoder;
the second detector is an axis sensor.
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| CN113084789B (en) * | 2021-04-02 | 2023-03-14 | 浙江工业大学 | Rigid-flexible coupling pneumatic muscle |
| CN113108160A (en) * | 2021-04-02 | 2021-07-13 | 浙江工业大学 | Flexible continuous pipeline exploration robot |
| CN113084829A (en) * | 2021-04-02 | 2021-07-09 | 浙江工业大学 | Bionic software disinfection mechanical arm based on framework capable of being precisely controlled |
| CN113183181B (en) * | 2021-04-23 | 2022-10-14 | 浙江工业大学 | Rigid-flexible coupling mechanical arm and robot |
| CN113319886A (en) * | 2021-07-16 | 2021-08-31 | 北京软体机器人科技有限公司 | Flexible clamp |
| CN114454142A (en) * | 2022-02-11 | 2022-05-10 | 中国科学院沈阳自动化研究所 | Endoskeleton type pneumatic soft continuous robot |
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