CN112720440A - Pneumatic locking variable-rigidity flexible arm skeleton structure and flexible arm robot - Google Patents
Pneumatic locking variable-rigidity flexible arm skeleton structure and flexible arm robot Download PDFInfo
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- CN112720440A CN112720440A CN202011551131.0A CN202011551131A CN112720440A CN 112720440 A CN112720440 A CN 112720440A CN 202011551131 A CN202011551131 A CN 202011551131A CN 112720440 A CN112720440 A CN 112720440A
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- soft arm
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
Abstract
The invention discloses a joint pneumatic locking type rigidity-variable soft arm framework structure and a soft arm robot, and aims to overcome the defect that the existing soft arm robot is low in rigidity in the motion process. The invention comprises a plurality of hinged units, two adjacent hinged units are respectively connected to a universal joint connector, a locking module is arranged between the hinged units and the universal joint, and the locking module comprises a locking ring sheet and an expansion air bag; the hinge unit comprises two parallel main bones and a cross bone connected between the two main bones. The joint pneumatic locking type rigidity-variable soft arm framework structure combines the locking module and the universal joint connector, has rigidity-variable capability, realizes the following movement in the soft arm, can be embedded in the soft robot, and can realize the joint movement along with the soft arm without influencing the movement of the soft arm.
Description
Technical Field
The invention relates to the field of robots, in particular to a pneumatic locking variable-rigidity flexible arm skeleton structure and a flexible arm robot.
Background
Since the first industrial robot came into the market for most of a century, the rigid body robot research system has been mature, and the application of the robot has been developed and popularized in an industrial aspect. With the improvement of the quality of human life, it is desired that the robot can be practically used not only in the industrial field but also in daily life. However, because the existing rigid body robot has poor interactivity and is mostly driven by a motor, large inertia is generated during movement, and rigid collision is inevitably generated when the rigid body robot is in contact with the external environment, so that certain danger is generated. It is desirable for a robot to be able to interact directly with a person or environment. The robot can be widely applied to the aspects of rehabilitation, assistance of the old, man-machine cooperation and the like. Therefore, in recent years, scientists have devised various soft-touch type machines or continuous-touch type robots to solve this problem. The soft tentacle robot is made of flexible materials, and can realize movements which cannot be realized by a plurality of rigid robots, such as curling, twisting, stretching, flexible contact and the like. The high flexibility and infinite freedom of the soft robot are the characteristics of sacrificing the rigidity of the soft robot. It is also because the soft robot is difficult to use in daily life due to insufficient rigidity of the soft robot itself. How to effectively and rapidly improve the rigidity of the soft robot is a hot topic. What is needed is a method for allowing a soft robot to change its own stiffness rapidly and efficiently, thereby improving its interactivity and expanding its application field.
The rigidity-variable framework designed by the invention can realize the quick and efficient change of the rigidity of the soft robot in the motion process.
The Chinese patent publication No. CCN107263525A, entitled variable stiffness rope driving joint for exoskeleton and walking robot, discloses a variable stiffness rope driving joint for exoskeleton and walking robot, which comprises a skeleton, a driving disc, a force transmission rope, a driving rope and a stiffness adjusting mechanism. Wherein, the framework comprises an upper framework and a lower framework; the two are connected through a rotating shaft to form a rotating pair; the driving disk is coaxially sleeved on the rotating shaft, and a rotating pair is formed between the driving disk and the rotating shaft; a force transmission rope and two driving ropes are wound on the driving disc; two ends of the force transmission rope are respectively connected with a rigidity adjusting mechanism, and the driving rigidity between the upper framework and the lower framework is adjusted by the rigidity adjusting mechanism; two driving ropes are reversely wound, one end of each driving rope is fixed on the driving disc, the other end of each driving rope is connected with the driving assembly, the driving assemblies drive the two driving ropes to drive the driving discs to rotate, and the driving ropes are converted into driving forces through the force transmission ropes to drive the upper framework and the lower framework to rotate mutually. The structure changes the joint strength through the rope body, which influences the degree of freedom of the soft mechanical arm under low rigidity and limits the application range of the soft mechanical arm.
Disclosure of Invention
The invention overcomes the defect of low rigidity of the existing flexible arm type robot in the moving process, and provides the joint pneumatic locking type rigidity-variable flexible arm framework, which can neglect the influence on the movement of external starting muscles when the rigidity is not changed, and does not influence the actual moving state of the flexible arm when the rigidity is changed.
In order to solve the technical problems, the invention adopts the following technical scheme:
a pneumatic locking type rigidity-variable soft arm skeleton structure of a joint comprises a plurality of hinge units, wherein two adjacent hinge units are respectively connected to a universal joint connector, a locking module is arranged between the connection positions of the hinge units and the universal joints, and the locking module comprises a locking ring sheet and an expansion air bag; the hinge unit comprises two parallel main bones and a cross bone connected between the two main bones.
The invention relates to a variable-rigidity framework arranged in a soft mechanical arm. The hinge unit is arranged in the soft mechanical arm and connected through a universal joint connector. Adjacent hinging units are connected together through a universal joint connector, and the length of the single hinging unit is shorter, so that the influence on the movement of external starting muscles can be ignored when the rigidity is not changed. When the soft mechanical arm completes positioning and needs to have certain rigidity to transmit force, the locking modules work to realize locking between the hinge units and the universal joints, and the hinge units are kept at the current relative positions through the matching of the plurality of locking modules. As can be seen from the above, the hinge unit may receive moment and force from various directions, and in order to improve the overall strength, two main bones and a crossing bone therebetween are provided, and the structure has high strength in various directions.
Preferably, the two main bones are both connected with a crossed bone, the tail part of the crossed bone is fixedly connected with the other main bone, and a crossed included angle is formed between the two crossed bones. The hinge unit is identical to itself after being rotated 180 degrees around a parallel axis between the two main bones. The advantage of this structure lies in all directions all having better intensity performance. The robot has better strength performance for the possible postures of the soft mechanical arm with infinite freedom degrees.
Preferably, the two ends of the main bone are provided with hinged lantern rings, the hinged lantern rings of the two main bones in the same direction are coaxial, and the axes of the two hinged lantern rings at the two ends of the main bones are vertical. Through the structure, the rotating ranges of the two adjacent hinge units are also vertical, and the structure improves the degree of freedom of the whole device.
Preferably, the universal joint connector is a square cross-shaped shaft ring, the core part of each side wall of the universal joint connector is provided with connecting holes, opposite connecting holes are coaxial, and adjacent connecting holes are vertical. Two adjacent hinge units are connected by a universal joint connector. The side wall of the cross collar is provided with a circular groove corresponding to the locking module.
Preferably, the inflatable airbag comprises an inflatable end and a connecting end, the connecting end is inserted in the connecting hole, the inflation direction of the inflatable end is the radial direction, and the inflatable airbag is inserted in the locking ring piece. The free end is in interference fit with the connecting hole. The locking ring piece is in clearance fit with the hinged lantern ring and can rotate relatively. The hinge module and the locking module can rotate relatively under low rigidity, and the expansion end expands under high rigidity to butt the locking ring piece on the hinge sleeve ring to realize interference fit, so that the hinge unit and the universal joint connector are relatively fixed.
Preferably, the locking ring piece is fixedly connected to the universal joint connector through a fastener, and a movable piece is arranged on the locking ring piece corresponding to the expansion direction of the expansion end. The locking piece can be arranged in the non-expansion radial direction to have higher rigidity besides having lower rigidity in the radial direction, and a reed with lower rigidity is arranged in the expansion direction and is abutted against the inner wall of the held ring piece through the reed.
Preferably, the hinge unit is integrally formed. The hinge unit is integrally formed by a 3d printer.
Preferably, the included angle between the crossed bone and the two main bones is the same. The structure can further increase the strength of the hinge unit.
Preferably, the material of the inflatable balloon is silica gel.
A flexible arm robot with a joint pneumatic locking type variable-rigidity flexible arm skeleton structure embedded inside.
Compared with the prior art, the invention has the beneficial effects that:
(1) the joint pneumatic locking type rigidity-variable soft arm framework structure combines the locking module and the universal joint connector, has rigidity-variable capability, realizes the following movement in the soft arm, can be embedded in a soft robot, and can realize the joint movement along with the soft arm without influencing the movement of the soft arm;
(2) the number of the hinge units and the universal joint connectors can be adjusted according to the length of the soft arm, so that the original length of the soft arm type robot is consistent, and the adaptability is improved;
(3) the joint pneumatic locking type rigidity-variable soft arm framework structure can be embedded in a soft arm robot, and can realize quick and efficient rigidity change of the soft arm robot in the motion process.
Drawings
FIG. 1 is a general block diagram of a variable stiffness skeleton according to the present invention;
FIG. 2 is a schematic view of the hinge unit of the present invention;
FIG. 3 is a schematic view of the gimbal connector of the present invention;
FIG. 4 is a schematic view of the locking ring tab of the present invention;
FIG. 5 is an exploded view of the gimbal connector and locking module of the present invention;
in the figure:
the universal joint comprises a hinge unit 1, a universal joint connector 2, an expansion air bag 3, a locking ring piece 4, a main bone 5, a cross bone 6, a hinge lantern ring 7, a connecting hole 8, an expansion end 9, a connecting end 10 and a movable piece 11.
Detailed Description
The present disclosure is further described with reference to the following drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present disclosure, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only relational terms determined for convenience in describing structural relationships of the parts or elements of the present disclosure, and do not refer to any parts or elements of the present disclosure, and are not to be construed as limiting the present disclosure.
In the present disclosure, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present disclosure can be determined on a case-by-case basis by persons skilled in the relevant art or technicians, and are not to be construed as limitations of the present disclosure.
Example (b):
the utility model provides a joint pneumatic locking type becomes rigidity soft body arm skeleton texture, as shown in fig. 1, 5, includes a plurality of articulated unit 1, and two adjacent articulated unit 1 are connected respectively on a universal joint connector 2, and universal joint connector 2 is the cross axle collar that is the square, and the core of each lateral wall of universal joint connector 2 is equipped with connecting hole 8, and relative connecting hole 8 is coaxial, and adjacent connecting hole 8 is perpendicular. Two adjacent hinge units 1 are connected by a universal joint connector 2. The side wall of the cross collar is provided with a circular groove corresponding to the locking module. And a locking module is arranged between the joint of the hinge unit 1 and the universal joint.
As shown in fig. 3 and 4, the locking module comprises a locking ring sheet 4 and an inflatable air bag 3. The expansion air bag 3 comprises an expansion end 9 and a connecting end 10, the connecting end 10 is inserted in the connecting hole 8, the expansion direction of the expansion end 9 is the radial direction, and the expansion air bag 3 is inserted in the locking ring piece 4. The free end is in interference fit with the connecting hole 8. The locking ring piece 4 is in clearance fit with the hinge sleeve ring 7 and can rotate relatively. The hinge module and the locking module can rotate relatively under low rigidity, the expansion end 9 expands under high rigidity, the locking ring piece 4 is abutted to the hinge sleeve ring 7, interference fit is achieved, and therefore the hinge unit 1 and the universal joint connector 2 are fixed relatively. The locking ring piece 4 is fixedly connected to the universal joint connector 2 through a fastener, and a movable piece 11 is arranged in the expansion direction of the locking ring piece 4 corresponding to the expansion end 9. The locking piece can be arranged in the non-expansion radial direction to have higher rigidity besides having lower rigidity in the radial direction, and a reed with lower rigidity is arranged in the expansion direction and is abutted against the inner wall of the held ring piece through the reed. The material of the expansion air bag 3 is silica gel. The expansion air bag is connected with the air connecting pipe, and the air connecting pipe supplies air to the expansion air bag.
As shown in fig. 2, the hinge unit 1 includes two parallel main bones 5 and a cross bone 6 connected between the two main bones 5. The two main bones 5 are both connected with crossed bones 6, the tail parts of the crossed bones 6 are fixedly connected to the other main bone 5, and a crossed included angle is formed between the two crossed bones 6. The articulation unit 1 is identical to itself after being turned 180 degrees around a parallel axis between the two main bones 5. The advantage of this structure lies in all directions all having better intensity performance. The robot has better strength performance for the possible postures of the soft mechanical arm with infinite freedom degrees. The two ends of the main rib 5 are provided with hinged lantern rings 7, the hinged lantern rings 7 of the two main ribs 5 in the same direction are coaxial, and the axes of the two hinged lantern rings 7 at the two ends of the main rib 5 are vertical. By the structure, the rotation ranges of the two adjacent hinge units 1 are vertical, and the structure improves the degree of freedom of the whole device. The hinge unit 1 is integrally formed. The hinge unit 1 is integrally formed by a 3d printer. The intersection bone 6 and the two main bones 5 form the same included angle. This structure can further increase the strength of the hinge unit 1.
The principle of the locking of the invention is as follows:
the expansion air bag 3 fixedly connected to the universal joint connector 2 expands, the expansion end 9 of the expansion air bag expands along the radial direction and abuts against the locking ring piece 4 fixedly connected to the universal joint connector 2, and the locking ring piece 4 and the peripheral hinged lantern ring 7 generate friction locking, so that the rigidity of the skeleton joint is changed. Through the connection mode of a hinge unit 1 and a universal joint connector 2, the number of joint units and universal joint connection modules can be increased continuously according to the length of the soft arm, so that the length of the framework is increased, and the expected length of the soft arm type robot is achieved.
The invention relates to a variable-rigidity framework arranged in a soft mechanical arm. The hinge unit 1 is arranged in the soft mechanical arm and is connected through a universal joint connector 2. Adjacent articulation units 1 are connected together by a universal joint connector 2 and the length of a single articulation unit 1 is set to be short, by which means it is achieved that the effect on the movement of the external activation muscles is negligible without changing the stiffness. When the soft mechanical arm finishes positioning and needs to have certain rigidity to transmit force, the locking modules work to realize locking between the hinge unit 1 and the universal joint, and the hinge unit 1 maintains the current relative position through the matching of the plurality of locking modules. As can be seen from the above, the hinge unit 1 may receive moment and force from all directions, and in order to improve the overall strength, two main bones 5 and a crossing bone 6 therebetween are provided, and the structure has high strength in all directions.
The above-described embodiments are merely preferred embodiments of the present invention, which is not intended to be limiting in any way, and other variations and modifications are possible without departing from the scope of the invention as set forth in the appended claims.
Claims (9)
1. A pneumatic locking type rigidity-variable soft arm skeleton structure of a joint is characterized by comprising a plurality of hinge units, wherein two adjacent hinge units are respectively connected to a universal joint connector, a locking module is arranged between the connection positions of the hinge units and the universal joint, and the locking module comprises a locking ring piece and an expansion air bag; the hinge unit comprises two parallel main bones and a cross bone connected between the two main bones.
2. The pneumatic locking type rigidity-variable soft arm framework structure of claim 1, wherein the two main bones are connected with a cross bone, the tail part of the cross bone is fixedly connected with the other main bone, and a cross included angle is formed between the two cross bones.
3. The pneumatic locking type variable-rigidity soft arm framework structure of claim 2, wherein the two ends of the main framework are respectively provided with a hinge sleeve ring, the hinge sleeve rings of the two main frameworks in the same direction are coaxial, and the axes of the two hinge sleeve rings at the two ends of the main framework are vertical.
4. The structure of claim 1, wherein the universal joint connector is a square cross-shaped collar, the core of each side wall of the universal joint connector is provided with connecting holes, the opposite connecting holes are coaxial, and the adjacent connecting holes are vertical.
5. The pneumatic locking type rigidity-variable soft arm framework structure of claim 1, wherein the expansion air bag comprises an expansion end and a connecting end, the connecting end is inserted in the connecting hole, the expansion direction of the expansion end is the radial direction, and the expansion air bag is inserted in the locking ring piece.
6. The pneumatic locking type rigidity-variable soft arm framework structure of claim 5, wherein the locking ring plate is fixedly connected to the universal joint connector through a fastener, and a movable plate is arranged on the locking ring plate corresponding to the expansion direction of the expansion end.
7. The pneumatic locking type variable stiffness soft arm framework structure of claim 2, wherein the hinge unit is integrally formed.
8. The pneumatic locking type variable-stiffness soft arm framework structure of claim 1, wherein the material of the inflatable air bag is silica gel.
9. A flexible arm robot embedded with a joint pneumatic locking type variable-rigidity flexible arm skeleton structure as claimed in any one of claims 1 to 8.
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| CN202011551131.0A CN112720440A (en) | 2020-12-24 | 2020-12-24 | Pneumatic locking variable-rigidity flexible arm skeleton structure and flexible arm robot |
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| CN202011551131.0A CN112720440A (en) | 2020-12-24 | 2020-12-24 | Pneumatic locking variable-rigidity flexible arm skeleton structure and flexible arm robot |
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Cited By (2)
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| CN113561167A (en) * | 2021-08-20 | 2021-10-29 | 浙江工业大学 | Flexible continuous joint driven by pneumatic muscles |
| CN113997270A (en) * | 2021-11-09 | 2022-02-01 | 天津大学 | Two-degree-of-freedom upper limb posture keeping exoskeleton based on positive pressure blocking and intermittent meshing mechanism |
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| CN113997270A (en) * | 2021-11-09 | 2022-02-01 | 天津大学 | Two-degree-of-freedom upper limb posture keeping exoskeleton based on positive pressure blocking and intermittent meshing mechanism |
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