CN112936244B - Rigidity-adjustable spherical hinge, rigidity-adjustable elastic spine and soft robot - Google Patents
Rigidity-adjustable spherical hinge, rigidity-adjustable elastic spine and soft robot Download PDFInfo
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- CN112936244B CN112936244B CN202110104931.6A CN202110104931A CN112936244B CN 112936244 B CN112936244 B CN 112936244B CN 202110104931 A CN202110104931 A CN 202110104931A CN 112936244 B CN112936244 B CN 112936244B
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/109—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising mechanical programming means, e.g. cams
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
Abstract
The invention discloses a rigidity-adjustable ball hinge, which is used in an elastic spine of a soft robot and comprises a ball head and a ball seat, wherein the ball seat is provided with a ball socket matched with the ball head; when the gas pressure in the inflatable air bag is reduced, the friction force between the ball head and the ball socket is reduced so as to reduce the rigidity of the ball hinge. The rigidity-adjustable ball hinge disclosed by the invention can solve the contradiction between the flexibility and the force output capability of a soft robot. The invention also discloses a rigidity-adjustable elastic spine and a soft robot.
Description
Technical Field
The invention relates to the technical field of design and production of soft robots, in particular to a rigidity-adjustable ball hinge, a rigidity-adjustable elastic spine and a soft robot.
Background
With the development of new materials, new structures, new processing methods and other technologies, the soft robot is receiving more and more attention from domestic and foreign scholars due to its advantages in dexterity, flexibility, safe interaction and other aspects.
The soft robot is mainly composed of a spine and a soft material with the same elasticity and rheological property as the soft organism. Compared with the traditional robot, the soft robot has infinite freedom degree, can bear large deformation and has better compliance to the external environment. Due to the characteristics, the soft robot has unique adaptability to the environment with narrow working space and the unstructured environment, and has good application prospect in a plurality of fields such as human interaction, medical operation and the like.
Although the soft robot brings good dexterity and compliance, the soft robot has the problems of poor force output capability, poor load capacity, difficult modeling and control and the like.
In order to enhance the rigidity of the soft robot, the following methods are mainly adopted at present:
the first method comprises the following steps: the particles are blocked in a way that blocking particles are added in a flexible bag of the soft robot. Under the non-vacuum state, the blocking particles are in a loose state and can freely slide in the flexible bag; when the interior of the flexible bag is in a vacuum state, the blocking particles are in a compact state and mutually extruded, and cannot freely slide in the flexible bag, and the corresponding rigidity of the soft robot can be adjusted through the vacuum state and the non-vacuum state.
Although the variable stiffness control of the soft robot can be realized to a certain extent, the method has the problems of inconsistent models and poor controllability, and because modeling and analysis are difficult to perform on a large number of blocking particles in the flexible bag, and a large number of blocking particles can move mutually, the configuration is complex and various, and even if the soft robot applies negative pressure control to the same extent, the soft robot can show different stiffness or bend at different parts under different configurations; secondly, the rigidity adjusting range which can be realized by the method is small, and the practical application requirements are difficult to meet; thirdly, although the rigidity of the robot is increased by the method, the self weight of the robot is increased by the blocking particles added in the bags, so that the robot adopting the method is always bulky and has limited lifting of the weight ratio.
And the second method comprises the following steps: the wire pulling mechanism can realize self-locking between different parts of the robot by controlling wire pulling ropes at different positions outside or inside the robot, thereby controlling the overall rigidity of the robot.
However, in this way, the wire rope of the robot must maintain enough tension to generate enough friction, and there is a problem that the movement is coupled with the rigidity, that is, the rigidity adjustment and the movement ability are mutually influenced, so that the way can not realize the independent control of the rigidity.
And the third is that: the low-melting-point material is generally coated on the outer part of a micro-structure unit of the robot, and in a low-temperature state, the low-melting-point material is in a solid state and plays a role in supporting the structure of the robot, so that the robot has higher rigidity, but in a high-temperature state, the low-melting-point material can be melted or gasified, so that the rigidity of the robot is reduced.
However, in the method, extra electrothermal materials and circuits are needed to realize the control of the material temperature, and the response speed of the temperature control is usually slow, so that the response speed of the robot stiffness-variable control is low; secondly, the service life of the robot is very limited as the low melting point material inevitably evaporates or volatilizes.
And fourthly: the mode is that a hose filled with magnetorheological/electrorheological fluid penetrates through a robot body, and solid-liquid conversion of the magnetorheological/electrorheological material is realized through the change of an electric field or a magnetic field, so that the rigidity control of the robot is realized.
However, magnetorheological or electrorheological materials have problems in that they are expensive, require an additional device for controlling an electric or magnetic field, and the like.
Therefore, the existing variable stiffness soft robots have the problems of complex structure, coupling of stiffness control and motion control, narrow adjustable range of stiffness, low response speed and the like, and are difficult to meet the requirements of practical application.
Therefore, how to solve the contradiction between the flexibility and the force output capability of the soft robot becomes a technical problem to be solved in the field of the current soft robot.
Disclosure of Invention
In view of the above, the present invention discloses a rigidity-adjustable ball hinge for use in an elastic spine of a soft robot, so as to solve the contradiction between flexibility and force output capability of the soft robot.
The invention also discloses a rigidity-adjustable elastic spine manufactured by adopting the rigidity-adjustable ball hinge.
The invention also discloses a soft robot manufactured by adopting the rigidity-adjustable elastic spine.
In order to achieve the above purpose, the stiffness-adjustable ball hinge disclosed in the invention is used in a flexible spine of a soft robot, and comprises a ball head and a ball seat, wherein the ball seat is provided with a ball socket matched with the ball head, at least one of the ball head and the ball seat is provided with an inflatable air bag, and when the gas pressure in the inflatable air bag is increased, the friction force between the ball head and the ball socket is increased so as to improve the stiffness of the ball hinge; when the gas pressure in the inflatable air bag is reduced, the friction force between the ball head and the ball socket is reduced so as to reduce the rigidity of the ball hinge.
Preferably, in the stiffness-adjustable ball hinge, the ball seat includes a rigid housing and a flexibly deformable member embedded in the rigid housing, the flexibly deformable member forms the ball seat, and the flexibly deformable member is an inflatable balloon having a porous structure made of a flexible material.
Preferably, in the stiffness-adjustable ball hinge, a plurality of support springs are arranged at intervals in the flexible deformation member.
Preferably, in the stiffness-adjustable ball hinge, the inflatable airbag is wrapped around the ball head, or the ball head itself is the inflatable airbag.
The rigidity-adjustable elastic spine disclosed by the invention comprises at least two rigidity-adjustable ball hinges, the adjacent two adjustable ball hinges are connected through a connecting rod, the first end of the connecting rod is connected with the ball head of one adjustable ball hinge, and the second end of the connecting rod is connected with the ball seat of the other adjustable ball hinge.
Preferably, the rigidity-adjustable elastic spine further comprises a wire pulling rope for driving any one of the adjustable ball hinges to act, and the wire pulling rope is wound on the outer side of the rigidity-adjustable elastic spine through a wire bundling wheel arranged on the ball seat and connected with the ball head or the connecting rod.
Preferably, in the stiffness-adjustable elastic spine, the inflatable air bags in any one of the stiffness-adjustable ball hinges can be independently pressure-adjusted.
The soft robot disclosed by the invention comprises the rigidity-adjustable elastic spine, and a soft material layer is coated outside the rigidity-adjustable elastic spine.
Preferably, in the soft robot, the soft material layer is a rubber layer or a silica gel layer.
According to the technical scheme, the rigidity-adjustable ball hinge disclosed by the invention comprises the ball head and the ball seat, wherein the ball seat is internally provided with the ball socket matched with the ball head, at least one of the ball head and the ball seat is provided with the inflatable air bag, and when the gas pressure in the inflatable air bag is increased, the friction force between the ball head and the ball socket is increased, so that the rigidity of the ball hinge can be improved; when the gas pressure within the inflatable bladder decreases, the friction between the ball head and the socket decreases, thereby decreasing the stiffness of the ball hinge.
The positive pressure between the ball head and the ball socket can be adjusted by adjusting the pressure of the inflatable air bag, so that the friction force between the ball head and the ball socket is changed, and the rigidity of the whole ball hinge shows adjustable characteristics; the ball hinge is made into an elastic spine and applied to the soft robot, so that the rigidity change of the soft robot can be realized, the rigidity of the soft robot is improved when the soft robot needs to output force or torque, and the rigidity of the soft robot is reduced when the soft robot needs to conform to the surrounding environment.
The rigidity-adjustable elastic spine and the soft robot disclosed by the invention have the corresponding technical advantages of the rigidity-adjustable ball hinge due to the adoption of the rigidity-adjustable ball hinge, and the details are not repeated herein.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a stiffness-adjustable ball hinge disclosed in an embodiment of the present invention;
fig. 2 is a schematic structural view of a stiffness-adjustable elastic spine in a soft robot according to an embodiment of the present invention.
Wherein, 1 is the bulb, 2 is the ball seat, 3 is the connecting rod, 4 is the bunch wheel, 5 is the line guy rope, 6 is the software material layer, 21 is the rigid shell, 22 is flexible deformation spare.
Detailed Description
The invention provides a rigidity-adjustable ball hinge which is used in an elastic spine of a soft robot so as to solve the contradiction between flexibility and force output capability of the soft robot.
The other core of the invention is to provide an elastic spine with adjustable rigidity, which is manufactured by adopting the ball hinge with adjustable rigidity.
The invention further provides a soft robot manufactured by adopting the rigidity-adjustable elastic spine.
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention are described below clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 and 2, the rigidity-adjustable ball hinge disclosed in the present invention is used in the elastic spine of a soft robot, and includes a ball head 1 and a ball seat 2, the ball seat 2 is provided with a ball socket adapted to the ball head 1, the ball head 1 is freely rotatably embedded in the ball socket, as shown in fig. 1, at least one of the ball head 1 and the ball seat 2 is provided with an inflatable airbag (i.e. an airbag capable of inflating and exhausting), the gas pressure in the inflatable airbag can be adjusted by an air pump to change, when the gas pressure in the inflatable airbag increases, the friction force between the ball head 1 and the ball socket increases, so that the ball head 1 and the ball socket do not easily move relative to each other, and the rigidity of the ball hinge (i.e. the rigidity-adjustable ball hinge) is increased; when the gas pressure in the inflatable air bag is reduced, the friction force between the ball head 1 and the ball socket is reduced, so that the relative motion between the ball head 1 and the ball socket is easy to generate, and the rigidity of the ball hinge is reduced.
After the rigidity-adjustable ball hinge is manufactured into a rigidity-adjustable elastic spine and applied to the soft robot, the integral rigidity of the soft robot can be improved by increasing the gas pressure in the inflatable air bag, so that the robot is suitable for carrying, pushing objects to move, toggling a switch and other force output type operations; the rigidity of the whole soft robot can be reduced by reducing the gas pressure in the inflatable air bag, so that the robot is suitable for the operation of passing through a narrow space or crossing an obstacle and the like, and the adaptability of the soft robot to the environment is improved. Therefore, the rigidity-adjustable ball hinge disclosed in the above embodiment can solve the contradiction between the flexibility and the force output capability of the soft robot.
In one embodiment, the ball seat 2 comprises a rigid housing 21 and a flexible deformation member 22 embedded in the rigid housing 21, the flexible deformation member 22 forms the above-mentioned ball socket, as shown in fig. 1, and the flexible deformation member 22 is an inflatable air bag with a porous structure made of a flexible material (such as rubber or silicone rubber, etc.), that is, the ball socket in the stiffness adjustable ball hinge is a flexible ball socket capable of being changed by air pressure adjustment, and the ball head 1 is a rigid ball head.
Although the flexible ball socket disclosed in this embodiment is formed by an inflatable bladder, this does not mean that the flexible ball socket is limited to being formed by an inflatable bladder, and a flexible ball socket formed by a combination of a plurality of bladders is also within the scope of the present invention.
The relative movement between the ball head 1 and the ball seat 2 of the stiffness-adjustable ball hinge can be classified into two typical types:
(1) elastic movement: when the external force/external moment applied to the ball head 1 is smaller than the static friction force between the ball head 1 and the ball socket, relative sliding does not occur between the inner surface of the ball socket and the outer surface of the ball head 1. The movement of the ball head 1 relative to the ball joint is mainly caused by the elastic deformation of the ball socket. The relative motion is reversible, and when the external force/external moment is removed, the ball head 1 can be restored to the balance point position. Thus, in this type of motion, the ball hinge can be modeled as a model of a torsion spring whose stiffness can be adjusted by adjusting the inflation strength in the flexible ball socket.
(2) Relative movement: when the external force/external moment applied to the ball head 1 is greater than the static friction force between the ball head 1 and the ball socket, relative sliding occurs between the inner surface of the flexible ball socket and the outer surface of the ball head 1. This movement pattern corresponds to adjusting the balance point position of the torsion spring in the elastic movement type.
The spring of FIG. 1 is a schematic structure, and is represented in the sense that the flexible deformation member 22 formed by the inflatable air bag has spring-like characteristics, rather than a spring provided in the flexible deformation member 22; of course, as a possible alternative, in some cases, one skilled in the art may also arrange a support spring in the flexibly-deformable member 22 as needed to provide a basic support force for the flexibly-deformable member 22 through the support spring.
Besides, those skilled in the art can also arrange the inflatable air bag on the ball head 1, for example, the inflatable air bag is wrapped on the periphery of the ball head 1, the ball head 1 is completely wrapped by the inflatable air bag, the diameter of the whole ball head 1 can be changed by changing the air pressure of the inflatable air bag, and thus the friction force between the ball head 1 and the ball socket can be changed; or the whole ball head 1 is an inflatable air bag, and the change of the air pressure of the inflatable air bag can directly cause the diameter of the whole ball head 1 to change, thereby changing the friction force between the ball head 1 and the ball socket.
The embodiment of the invention also discloses a rigidity-adjustable elastic spine, which comprises at least two rigidity-adjustable ball hinges disclosed in any one of the above items, wherein two adjacent adjustable ball hinges are connected through a connecting rod 3, two ends of the connecting rod 3 are respectively called as a first end and a second end, the first end of the connecting rod 3 is connected with the ball head 1 of one of the adjustable ball hinges, and the second end of the connecting rod 3 is connected with the ball seat 2 of the other adjustable ball hinge.
The rigidity-adjustable elastic spine shown in fig. 2 includes three rigidity-adjustable ball hinges, and in addition, the rigidity-adjustable elastic spine further includes a line pulling rope 5 (i.e. a rope) for driving any one of the adjustable ball hinges to act, the line pulling rope 5 is wound outside the rigidity-adjustable elastic spine through a bunching wheel 4 arranged on the ball seat 2, the line pulling rope 5 is connected with the ball head 1 or the connecting rod 3, and the line pulling rope 5 is connected with a driving motor to drive any one of the adjustable ball hinges to act. Of course, the ball hinge is driven by the wire rope 5 in only one of many driving manners, and the ball hinge may be driven by other driving manners (such as a micro cylinder or an electric push rod).
It will be appreciated by those skilled in the art that the inflatable bladder of any stiffness adjustable ball hinge in the stiffness adjustable elastic spine can be individually pressure adjusted, which allows for individual continuous stiffness adjustment at any position throughout the stiffness adjustable elastic spine.
Furthermore, the embodiment of the invention also discloses a soft robot, the spine of the soft robot is the rigidity-adjustable elastic spine, and the rigidity-adjustable elastic spine is coated with a soft material layer 6.
It is understood that the spine motion of the soft robot made of the stiffness-adjustable elastic spine can be divided into two typical motion modes:
(1) elastic movement mode: each ball hinge of the soft robot is under high air pressure/high rigidity, each ball hinge elastically moves under the action of the online guy rope 5, and the position of a balance point of each ball hinge is not changed. In this mode, the soft robot has a larger force output capability, and is suitable for the operation stage of the robot.
(2) Relative movement mode: each ball hinge of the soft robot is under low air pressure/low rigidity, and the ball hinges move relatively under the action of the online rope pulling 5, so that the position of a balance point of each ball hinge is changed. Under the motion mode, the soft robot has larger adaptability to the external environment, and is suitable for the stages of robot exploration, obstacle crossing or narrow space passing.
The type of the soft material layer 6 is not limited, and the soft material layer can be a rubber layer or a silica gel layer, and can even be made of gel meeting the requirements.
Therefore, the spherical hinge, the elastic spine and the soft robot disclosed by the invention can adjust the rigidity of the robot through the change of the air pressure of the inflatable air bag, so that the adaptability of the soft robot to different working environments and different working contents is enhanced.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. A rigidity-adjustable ball hinge used in a flexible spine of a soft robot and comprising a ball head (1) and a ball seat (2), wherein the ball seat (2) is provided with a ball socket matched with the ball head (1), and is characterized in that at least one of the ball head (1) and the ball seat (2) is provided with an inflatable air bag, and when the air pressure in the inflatable air bag is increased, the rigidity of the ball hinge is correspondingly increased, and the friction force between the ball head (1) and the ball socket is also increased; when the gas pressure in the inflatable air bag is reduced, the rigidity of the ball hinge is correspondingly reduced, and the friction force between the ball head (1) and the ball socket is also reduced;
the ball seat (2) comprises a rigid shell (21) and a flexible deformation piece (22) embedded in the rigid shell (21), the flexible deformation piece (22) forms the ball socket, and the flexible deformation piece (22) is an inflatable air bag made of flexible materials and having a porous structure;
a plurality of supporting springs which are arranged at intervals are also arranged in the flexible deformation piece (22).
2. Stiffness adjustable ball hinge according to claim 1, characterized in that the ball head (1) is peripherally coated with the inflatable balloon or the ball head (1) itself is the inflatable balloon.
3. An adjustable stiffness elastic spine, comprising at least two adjustable stiffness ball hinges according to any one of claims 1-2, adjacent two adjustable stiffness ball hinges being connected by a connecting rod (3), the connecting rod (3) being connected at a first end to the ball head (1) of one of the adjustable stiffness ball hinges and at a second end to the ball socket (2) of the other adjustable stiffness ball hinge.
4. The stiffness-adjustable elastic spine according to claim 3, further comprising a wire pulling rope (5) for driving any one of the stiffness-adjustable ball hinges to act, wherein the wire pulling rope (5) is wound on the outer side of the stiffness-adjustable elastic spine through a wire bundling wheel (4) arranged on the ball seat (2) and is connected with the ball head (1) or the connecting rod (3).
5. The adjustable stiffness resilient spine of claim 3 wherein the inflatable bladders in any one of the adjustable stiffness ball hinges are individually pressure adjustable.
6. A soft robot, characterized in that it comprises a stiffness-adjustable elastic spine according to any one of claims 4 to 5, and the stiffness-adjustable elastic spine is coated with a soft material layer (6).
7. The soft robot according to claim 6, characterized in that the soft material layer (6) is a rubber layer or a silicone layer.
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| CN202110104931.6A CN112936244B (en) | 2021-01-26 | 2021-01-26 | Rigidity-adjustable spherical hinge, rigidity-adjustable elastic spine and soft robot |
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| CN202110104931.6A CN112936244B (en) | 2021-01-26 | 2021-01-26 | Rigidity-adjustable spherical hinge, rigidity-adjustable elastic spine and soft robot |
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| CN112936244B true CN112936244B (en) | 2022-03-29 |
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| CN114029929B (en) * | 2021-11-08 | 2023-02-24 | 杭州电子科技大学 | Variable-rigidity upper limb stabilization auxiliary device and using method thereof |
| CN115978397B (en) * | 2023-03-20 | 2023-06-02 | 浙江地科土地勘测规划设计有限公司 | Static anti-shake surveys equipment for soil survey and drawing |
| CN117204801B (en) * | 2023-11-07 | 2024-01-23 | 苏州市美新迪斯医疗科技有限公司 | Application method of throat detection device |
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| CN1829866A (en) * | 2003-07-28 | 2006-09-06 | Trw汽车股份有限公司 | Balljoint and component with a balljoint |
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