CN113103219B - Pneumatic driver, robot and robot control method - Google Patents
Pneumatic driver, robot and robot control method Download PDFInfo
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- CN113103219B CN113103219B CN202110359594.5A CN202110359594A CN113103219B CN 113103219 B CN113103219 B CN 113103219B CN 202110359594 A CN202110359594 A CN 202110359594A CN 113103219 B CN113103219 B CN 113103219B
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The application discloses a pneumatic driver, a robot and a robot control method. Wherein the pneumatic driver includes: the elastic cavity is provided with a first telescopic direction and a second end opposite to the first telescopic direction; a constraint member implanted within the elastic lumen, the constraint member having first and second ends opposite in a first telescopic direction; the first end of the constraint member is coupled with the first end of the elastic cavity; the second end of the restraining member is mated with the second end of the resilient cavity; the restraining member limits bending of the resilient cavity away from the first telescoping direction. The constraint component is implanted into the elastic cavity, so that the buckling phenomenon of the elastic cavity when the elastic cavity is blocked in the inflation and extension process can be effectively prevented.
Description
Technical Field
The application relates to the technical field of pneumatic robots, in particular to a pneumatic driver, a robot and a robot control method.
Background
With the continuous progress of technologies in automation control, industrial manufacturing, robot morphology, and the like, robots play an increasingly important role in the human society. With the development of the robot technology, higher requirements are also put on the flexibility and the compliance of the robot structure, particularly the robot driving structure.
The Pneumatic Elastomer Actuator (PEA) is made of an elastic material (such as silicon rubber) similar to natural organisms, has the advantages of low cost, cleanness and convenience in installation of a Pneumatic transmission technology, has the advantages of good structure flexibility, adaptability, energy storage/release, high power/mass ratio and the like, and is a new research hotspot in the fields of pneumatics and robots.
A typical pneumatic elastomer driver application is the McKibben type pneumatic muscle proposed by American physicist, the inner liner of which is a rubber tube, the outer layer of which is a deformation-limiting fiber woven net sleeve, and the two ends of which are fixed and sealed by connecting pieces. When compressed gas is filled from one end, the inner container gradually expands in the radial direction to support the fiber woven net sleeve, and the radial expansion force is converted into the axial contraction force. The McKibben pneumatic muscle can only contract in one direction, the contraction rate is about 40 percent at most, and enough radial expansion working space needs to be reserved when the muscle is used.
During the operation of the pneumatic driver, one outstanding problem is: when the elastic material encounters resistance during the inflation elongation, buckling (i.e., sudden lateral deformation of the structural bars and resulting structural instability) is likely to occur, which results in failure to generate large blocking forces, thus limiting the energy and power density of the actuator.
Therefore, it is desirable to provide a pneumatic actuator that can effectively prevent buckling phenomenon and improve the energy density and power density of the actuator.
Disclosure of Invention
The embodiment of the application provides a pneumatic driver for solve the technical problem that the buckling phenomenon easily occurs to the pneumatic driver.
A pneumatic driver, comprising:
the elastic cavity is provided with a first telescopic direction and a second end opposite to the first telescopic direction;
a constraint member implanted within the elastic lumen, the constraint member having first and second ends opposite in a first telescopic direction;
the first end of the constraint member is matched with the first end of the elastic cavity;
the second end of the restraining member is mated with the second end of the resilient cavity;
the restraining member limits bending of the resilient cavity away from the first telescoping direction.
Further, in a preferred embodiment provided by the present application, an air inlet unit is disposed at a first end of the elastic cavity, and a sealing unit is disposed at a second end of the elastic cavity;
the air inlet unit comprises an air inlet pipe and an air inlet cover, the closed unit comprises a closed cover, and the air inlet cover and the closed cover are respectively connected to the first end and the second end of the elastic cavity in a sealing manner;
the air inlet cover is provided with an air inlet so that air can enter the elastic cavity from the air inlet;
the air inlet pipe is inserted into the air inlet and is in sealing connection with the air inlet.
Further, in a preferred embodiment provided by the present application, the elastic cavity is an elastic soft shell of a corrugated pipe;
the constraint component is a telescopic sleeve group which comprises at least two large sleeves and small sleeves which are nested with each other, and a first limiting structure and a second limiting structure which are connected with the large sleeves and the small sleeves;
one end of the large sleeve is connected with the sealing cover, the other end of the large sleeve is connected with the first limiting structure, and the inner diameter of the first limiting structure is larger than the outer diameter of the small sleeve;
one end of the small sleeve is connected with the air inlet cover, the other end of the small sleeve is connected with the second limiting structure, and the outer diameter of the second limiting structure is smaller than the inner diameter of the large sleeve;
the outer diameter of the second limiting structure is larger than the inner diameter of the first limiting structure.
Further, in a preferred embodiment provided by the present application, the telescopic sleeve further comprises a ball bushing, the ball bushing can be sleeved on the large sleeve and the small sleeve which are nested with each other, an outer diameter of the ball bushing is in contact with an inner diameter of the large sleeve, and an inner diameter of the ball bushing is in contact with an outer diameter of the small sleeve;
the outer diameter of the second limiting structure is smaller than the outer diameter of the ball bushing and larger than the inner diameter of the ball bushing.
A robot is also provided in the present application, comprising:
the first foot module and the second foot module are distributed along the advancing direction of the robot;
the first driving module and the second driving module are matched and connected with the first foot module and the second foot module and distributed on two sides of the advancing direction of the robot;
the first foot module and the second foot module are provided with foot drivers;
the foot driver changes the contact state of the foot driver and the ground through inflation and deflation so as to adjust the friction coefficients between different parts of the robot and the ground;
the first and second drive modules are equipped with a pneumatic drive according to any of claims 1-4.
Further, in a preferred embodiment provided herein, the foot driver includes a wall portion having a first thickness and an air cavity having a second thickness, the first thickness being greater than the second thickness;
the wall portion forms a first bottom portion having a first area;
the bottom of the air cavity is provided with a protrusion for adhering a film, and the friction coefficient of the film is smaller than that of the first bottom;
a film is pasted at the bottom of the air cavity to form a second bottom with a second area, and the first area is larger than the second area;
the foot drive is provided with an air inlet, and the contact of the first bottom part and the second bottom part with the ground can be changed by inflating and deflating so as to actively control the friction coefficient between the robot and the ground.
Further, in a preferred embodiment provided herein, the robot further comprises a control module for controlling the pneumatic driver and the foot driver to inflate and deflate according to a driving strategy, so as to realize the robot movement;
the control module comprises a micro pump, a multi-head interface, a switch circuit group and a plurality of electromagnetic valve groups;
the electromagnetic valve group comprises an inflation valve and a deflation valve; the air outlet of the micro pump is connected with a multi-head interface; the inlet of the inflation valve is communicated with the micro pump through a multi-head interface, and the outlet of the inflation valve is connected with the first end of the three-way joint;
the second end of the three-way joint is connected with the air inlet of the foot driver or the pneumatic driver;
the third end of the three-way joint is connected with the inlet of the deflation valve;
the outlet of the air relief valve is communicated with the atmosphere;
the foot driver and the pneumatic driver are controlled to inflate and deflate by the switching on and off of the micro pump and the conduction and the closing of the electromagnetic valve group under the control of the switching circuit group.
Further, in a preferred embodiment provided herein, the robot further includes an assembly module;
the assembly module comprises an electromechanical backpack for mounting the control module, a first mounting module for mounting the first foot module and matching the first driving module and the second driving module, a second mounting module for mounting the second foot module and matching the first driving module and the second driving module, and a connecting module for connecting the first foot module, the second foot module and the electromechanical backpack;
the electromechanical backpack comprises a mounting plate, a circuit board, a backpack support and a backpack soft shell, wherein the backpack support and the circuit board are mounted on the mounting plate, and the switch circuit group is welded on the circuit board;
the connecting module comprises a first connecting block, a transfer block, a second connecting block and a connecting telescopic sleeve;
the connecting module is connected with the first foot module through the first connecting block;
the connecting module is connected with the second foot module through the second connecting block;
the connecting module is connected with the mounting plate of the electromechanical backpack through the switching block;
the connecting module realizes synchronous telescopic motion with the pneumatic driver by connecting the telescopic sleeve.
The application also provides a robot control method, which comprises the following steps:
in the initial state, the first foot module, the second foot module, the first driving module and the second driving module are all in an air leakage state;
the first foot module is inflated, the second foot module is deflated, and the second foot module is anchored with the ground;
the first driving module and the second driving module are inflated simultaneously;
the first foot module is deflated, the second foot module is inflated, and the first foot module is anchored with the ground;
simultaneously deflating the first driving module and the second driving module;
the first foot module, the second foot module, the first driving module and the second driving module simultaneously deflate;
wherein the content of the first and second substances,
the first foot module is a first foot module of the robot of any one of claims 5;
the second foot module is a second foot module of the robot of any one of claims 5;
the first drive module is a first drive module of the robot of any one of claim 5;
the second drive module is a second drive module of the robot according to any of claim 5.
The application also provides a robot control method, which comprises the following steps:
in an initial state, the first foot module, the second foot module, the first driving module and the second driving module are all in a gas leakage state;
the first foot module is inflated, the second foot module is deflated, and the second foot module is anchored with the ground;
inflating the first driving module; pushing the first foot module to rotate;
the first foot module is deflated, the second foot module is inflated, and the first foot module is anchored with the ground;
the first driving module releases air and pulls the second foot module to rotate;
the first foot module, the second foot module, the first driving module and the second driving module simultaneously deflate;
wherein the content of the first and second substances,
the first foot module is a first foot module of the robot of any one of claims 5;
the second foot module is a second foot module of the robot of any of claim 5;
the first drive module is a first drive module of the robot of any one of claim 5;
the second drive module is a second drive module of the robot of any of claim 5.
The embodiment provided by the application has at least the following beneficial effects:
the constraint component is implanted into the elastic cavity, so that the buckling phenomenon of the elastic cavity when the elastic cavity is blocked in the inflation and extension process can be effectively prevented.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic cross-sectional structural view of a pneumatic driver according to an embodiment of the present disclosure.
Fig. 2 is a schematic diagram of a disassembled structure of a pneumatic driver according to an embodiment of the present application.
Fig. 3 is a schematic structural diagram of a robot provided in an embodiment of the present application.
Fig. 4 is a schematic structural diagram of a foot driver of a robot according to an embodiment of the present application.
Fig. 5 is a schematic structural diagram of a connection module of a robot according to an embodiment of the present application.
Fig. 6 is a flowchart illustrating a robot control method according to an embodiment of the present application.
Fig. 7 is an electrical schematic diagram of a control module of a robot according to an embodiment of the present disclosure.
Fig. 8 is a schematic structural diagram of another robot provided in the embodiment of the present application.
Wherein, the correspondence between the reference numbers and the part names in fig. 1 to 7 is: 1 inlet cover, 2 inlet pipe, 3 elastic cavity, 301 elastic cavity first end, 302 elastic cavity second end, 4 first limit structure, 5 large sleeve, 6 small sleeve, 7 ball bush, 8 second limit structure, 9 sealing cover, 10 constraint component, 1001 constraint component first end, 1002 constraint component second end, 11 first foot module, 12 first drive module, 13 second foot module, 14 second drive module, 15 control module, 16 micro pump, 17 switch circuit group, 1701 boost module, 1702MOS FET, 18 electromagnetic valve group, 1801 inflation valve, 1802 inflation valve, 1803 inflation valve inlet, inflation valve outlet, 1805 inflation valve inlet, 1806 deflation valve outlet, 19 multi-head interface, 20 three-way joint, 2001 three-way joint first end, 2002 three-way joint second end, 2003 three-way joint third end, 21 assembly module, 22 electromechanical backpack, 2201 mounting plate, 2202 circuit board, 2203 backpack support, 2204 backpack soft shell, 23 first mounting module, 2301 first upper mounting module, 2302 first lower mounting module, 2303 first mounting module soft shell, 2304 first mounting module bolt, 2305 first mounting module nut, 24 second mounting module, 2401 second upper mounting module, 2402 second lower mounting module, 2403 second mounting module soft shell, 2304 second mounting module bolt, 2305 second mounting module nut, 25 connecting module, 26 first connecting block, 2601 first connecting block cap, 27 transition block, 28 second connecting block, 2801 second connecting block cap, 29 connecting telescopic sleeve, 2904 telescopic sleeve limit ring, 2905 connecting telescopic sleeve large sleeve, 2906 connecting telescopic sleeve small sleeve, 2907 connecting telescopic sleeve ball bushing, 2908 connecting telescopic sleeve limit cap, 30 connecting module ball bushing, 31 foot driver, 3101 foot driver wall, 3102 foot driver air cavity, 3103 first bottom, 3104 protrusion, 3105 membrane, 3106 second bottom, 3107 foot driver air inlet, 32 connection module stop collar.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, 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 application.
Please refer to fig. 1, which is a schematic structural diagram of a pneumatic driver according to an embodiment of the present disclosure. The pneumatic driver includes:
an elastic cavity 3 and a constraint member 10 implanted in the elastic cavity 3, the elastic cavity 3 having a first end 301 and a second end 302 opposite in a first telescopic direction;
binding member 10 has first 1001 and second 1002 ends opposite in a first telescopic direction;
the first end 1001 of the constraint member 10 is coupled to the first end 301 of the elastic cavity 3;
the second end 1002 of the constraint member 10 is coupled with the second end 302 of the elastic cavity 3;
when inflated, the elastic chamber 3 will extend in the axial direction by Δ L under the action of the air pressure, and the constraint member 10 will passively elongate Δ L with the elastic chamber 3. This design of a rigid-soft coupling between the resilient chamber 3 and the implanted restraining member 10 is intended to prevent buckling of the resilient chamber 3 when an excessive load is applied axially, thereby enabling the pneumatic driver to generate a greater axial force while remaining axially compliant.
In specific applications, the elastic cavity 3 may have different structural configurations, and the elastic cavity 3 may be made of an elastic material with better stretchability, such as rubber, or may be a thin shell or a thin film structure that is easily bent and folded. The resilient chamber 3 may have different shape characteristics including, but not limited to, a corrugated structure, a folded/pleated structure, etc. It is understood that the specific implementation of the elastic chamber 3 should not be understood as a substantial limitation to the scope of protection of the present application. A simple variant of the elastic chamber 3 still falls within the scope of protection of the present application.
It is particularly noted that although the embodiments of the present application apply to pneumatic drives, i.e. driven by compressed air, the drive can also be directly performed by hydraulic or other drive means.
Further, in a preferred embodiment provided herein, referring to fig. 1, the first end 301 of the elastic cavity is provided with an air inlet unit, and the second end 302 of the elastic cavity is provided with a sealing unit;
the air inlet unit comprises an air inlet pipe 2 and an air inlet cover 1, the closing unit comprises a closing cover 9, and the air inlet cover 1 and the closing cover 9 are respectively connected to a first end 301 and a second end 302 of the elastic cavity 3 in a sealing mode;
the gas inlet cover 1 is provided with a gas inlet so that gas can enter the elastic cavity 3 from the gas inlet;
the air inlet pipe 2 is inserted into the air inlet and is connected with the air inlet in a sealing mode.
In a specific application, the air inlet unit and the sealing unit may have different structural forms, such as a form shown in fig. 1 in which the air inlet cover 1 coupled to one end of the elastic cavity 3 is provided with an air inlet to insert the air inlet pipe 2, or other suitable portions of the elastic cavity 3 are provided with air inlets to insert the air inlet pipe, the air inlet cover 1 and the air inlet pipe 2 may be bonded to one end of the elastic cavity 3, or may be coupled to the elastic cavity 3 by fitting, integral 3D printing, or other methods, the sealing unit may be a sealing cover 9 coupled to the elastic cavity, and similarly, the sealing cover 9 may be coupled to the elastic cavity 3 by bonding, fitting, integral 3D printing, or other methods, and the sealing unit may not be coupled to other mechanisms, and the sealing effect is achieved by utilizing the closeness of the elastic cavity 3 itself. The specific implementation of the air inlet unit and the sealing unit should not be construed as a substantial limitation to the scope of protection of the present application.
Further, in a preferred embodiment provided herein, with reference to fig. 1 and 2, the elastic cavity 3 is a bellows elastic soft shell;
the constraint component 10 is a telescopic sleeve group which comprises at least two large sleeves 5 and small sleeves 6 which are nested with each other, and a first limiting structure 4 and a second limiting structure 8 which are connected with the large sleeves and the small sleeves;
one end of the large sleeve 5 is connected with the sealing cover 9, the other end of the large sleeve is connected with the first limiting structure 4, and the inner diameter of the first limiting structure 4 is larger than the outer diameter of the small sleeve 6;
one end of the small sleeve 6 is connected with the air inlet cover 1, the other end of the small sleeve is connected with the second limiting structure 8, and the outer diameter of the second limiting structure 8 is smaller than the inner diameter of the large sleeve 5;
the outer diameter of the second limiting structure 8 is larger than the inner diameter of the first limiting mechanism 4.
In a specific application, the corrugations of the corrugated pipe structure are distributed along the circumferential direction and undulate along the axial direction, so that the corrugated pipe has good expansion and contraction performance in the axial direction and good torsion resistance performance while having high radial rigidity to limit radial deformation of the driver. The flexible bellows shell has a circumferential groove axisymmetric structure. Referring to fig. 1, the smaller wall thickness b and R/R ratio can increase the elongation of the flexible bladder. The design of the axial grooves allows the flexible bladder to stretch and compress with little radial expansion and a greater wall thickness e reduces the radial expansion.
In a specific application, the first limiting structure 4 may be a limiting ring, the second limiting structure 8 may be a limiting cap, see fig. 2, and as seen from the split view, the limiting ring is bonded to one end of the large sleeve 5, the limiting cap is bonded to one end of the small carbon fiber tube 6, and the limiting ring, the large sleeve 5, the small sleeve 6 and the limiting cap form the telescopic sleeve 10. The inner diameter of the limiting ring is larger than the outer diameter of the small sleeve 6, the outer diameter of the limiting cap is smaller than the inner diameter of the large sleeve 5, and the small sleeve 6 does not slide in the large sleeve 5; the external diameter of the limit cap is larger than the internal diameter of the limit ring, when the telescopic sleeve 10 extends to the maximum length, the external diameter of the limit cap is propped between the internal diameter and the external diameter of the limit ring, and the large sleeve 5 and the small sleeve 6 are prevented from slipping. It is understood that the specific implementation forms of the first limit stop structure 4 and the second limit stop structure 8 should not be construed as a substantial limitation to the scope of the present application. Simple modifications to the first and second limiting structures 4, 8 still fall within the scope of protection of the present application.
The large sleeve 5 and the small sleeve 6 are preferably sleeves made of carbon fiber materials, and the sleeves made of carbon fiber materials are selected, so that the pneumatic driver has the advantages of being lighter, smaller in friction coefficient between the sleeves and the like, and the energy density and the power density of the pneumatic driver can be further improved. The structure of the telescopic sleeve group is not limited to two sections, and the telescopic sleeve group can comprise three or even more sections, so that better ductility is realized. The telescopic sleeve group can also be made of 3D printing materials, various metal materials, plastics and the like.
Further, in a preferred embodiment provided by the present application, the telescopic sleeve set further comprises a ball bushing 7, the ball bushing 7 can be sleeved on the large sleeve 5 and the small sleeve 6 which are nested with each other, the outer diameter of the ball bushing 7 is in contact with the inner diameter of the large sleeve 5, and the inner diameter of the ball bushing 7 is in contact with the outer diameter of the small sleeve 6;
the outer diameter of the second limiting structure 8 is smaller than the outer diameter of the ball bushing 7 and larger than the inner diameter of the ball bushing 7.
The large sleeve 5 and the small sleeve 6 are connected by the ball bush 7, and the friction force when the large sleeve 5 and the small sleeve 6 slide with each other can be reduced. It is particularly noted that, instead of the ball bushes, self-lubricating materials, lubricating liquids or other friction-reducing structures may be used to reduce the friction when the large sleeve 5 and the small sleeve 6 slide on each other.
Further, the present application also provides a robot, referring to fig. 3, the robot including:
a first foot module 11 and a second foot module 13 distributed along the robot advancement direction;
the first driving module 12 and the second driving module 14 are matched with the first foot module 11 and the second foot module 13 and distributed at two sides of the advancing direction of the robot;
the first foot module 11 and the second foot module 13 are provided with foot drivers 31;
the foot driver 31 changes the contact state of the foot driver 31 and the ground through inflation and deflation so as to adjust the friction coefficient between different parts of the robot and the ground;
the first and second drive modules 12, 14 are equipped with a pneumatic driver as described in any of the previous embodiments.
In a particular application, referring to fig. 3, the present application also provides a crawling robot as a particular application of the pneumatic drive of the present application. The robot is mainly composed of four parts, namely a first foot module 11, a second foot module 13, a first driving module 12 and a second driving module 14, wherein for convenience of description and understanding, the first foot module 11 is called a front foot module, the second foot module 13 is called a rear foot module, the first driving module 12 is called a left driving module, and the second driving module 14 is called a rear driving module. The forefoot module and the hindfoot module are respectively provided with two foot drivers 31, and the foot drivers 31 change the contact state with the ground through inflation and deflation so as to adjust the friction coefficients between different parts of the robot and the ground; the left and right driving modules are pneumatic drivers. When the friction coefficients of the front foot module and the rear foot module are different from the friction coefficient of the ground, the static friction force of the front foot module and the static friction force of the rear foot module are different from the static friction force of the ground, and when the left driving module and the right driving module extend through inflation, the center of the whole robot moves to the end far away from the static friction force; when the left driving module and the right driving module are contracted through deflation, the whole center of the robot moves towards the end with larger static friction force. Therefore, the motion of the robot can be realized through the state adjustment of the front foot module, the rear foot module, the left driving module and the right driving module.
In another embodiment provided herein, referring to fig. 4, the foot driver 31 includes a wall portion 3101 having a first thickness and an air cavity 3102 having a second thickness, the first thickness being greater than the second thickness;
the wall portion 3101 forms a first bottom portion 3103 having a first area;
the bottom of the air cavity 3102 is provided with a protrusion 3104 for adhering a film 3105, the friction coefficient of the film 3105 is smaller than that of the first bottom 3103;
a film 3105 is attached to the bottom of the air cavity to form a second bottom 3106 having a second area, the first area being greater than the second area;
the foot actuator is provided with an air inlet 3107, and the contact of the first bottom portion 3103 and the second bottom portion 3106 with the ground can be changed by inflation and deflation, so as to actively control the coefficient of friction between the robot and the ground.
In a particular application, the wall portion 3101 of the foot driver 31 may be cylindrical, elliptical cylindrical, or rectangular parallelepiped in shape, and may be made of a hard rubber material, a plastic material, or other material. The air cavity 3102 is combined with the wall portion, and has a thickness smaller than that of the wall portion 3101, and the bottom protrusion of the air cavity 3102 may be in a boss structure, a truncated cone structure, or a semicircular structure, and the shape thereof does not substantially limit the scope of the present application. The membrane 3105 affixed to the bottom of the air cavity may also be a smooth block or other static friction reducing mechanism made of PI film, nylon, plastic, glass, etc. It is to be understood that the specific implementation of the shape, material, and the like of the foot drive should not be construed as a substantial limitation on the scope of the present application.
In another embodiment provided herein, referring to fig. 3, the robot further comprises a control module 15 for controlling the pneumatic and foot drives 31 to inflate and deflate according to a drive strategy to effect the robot movement.
The control module 15 comprises a micro pump 16, a multi-head interface 19, a switch circuit group 17 and a plurality of electromagnetic valve groups 18.
The electromagnetic valve group 18 comprises an inflation valve 1801 and a deflation valve 1802; the air outlet of the micro pump 16 is connected with a multi-head interface 19; the inlet 1803 of the inflation valve is communicated with the micro pump 16 through a multi-head interface 19, and the outlet 1804 of the inflation valve is connected with the first end 2001 of the three-way connector 20.
The second end 2002 of the three-way joint 20 is connected with the foot driver air inlet 3107 or the pneumatic driver air inlet 2, and the third end 2003 of the three-way joint is connected with the deflation valve inlet 1805; the vent valve outlet 1806 is in communication with the atmosphere.
The micro pump 16 and the electromagnetic valve set 18 control the foot driver 31 and the pneumatic driver to inflate and deflate through the on-off of the micro pump 16 and the conduction and the closing of the electromagnetic valve set 18 under the control of the switching circuit set 17.
In specific application, the micro pump 16 may be an inflator pump or a hydraulic pump, and is set according to different driving modes, the multi-head interface 19 may be a five-way joint, one end of the five-way joint is connected to an outlet of the micro pump 16, and the remaining four ends of the multi-head joint are respectively connected to the foot drivers 31 and inlets of the pneumatic drivers corresponding to the first foot module 11, the second foot module 13, the first driving module 12 and the second driving module 14. The solenoid valve groups 18 are four groups in total, and are respectively used for controlling the first foot module 11, the second foot module 13, the first driving module 12 and the second driving module 14. Each set of electromagnetic valves comprises an inflation valve 1801 and a deflation valve 1802, the inflation valve 1801 comprises an inflation valve inlet 1803 and an inflation valve outlet 1804, and the deflation valve 1802 comprises a deflation valve inlet 1805 and a deflation valve outlet 1806. The inlet 1803 of the inflation valve is connected with the five-way joint, and the outlet 1804 of the inflation valve is connected with the first end 2001 of the three-way joint 20; the second end 2002 of the three-way joint 20 is connected with the inlet 1805 of the deflation valve, and the third end 2003 of the three-way joint is connected with the air inlet 3107 of the foot driver or the air inlet 2 of the pneumatic driver; the vent valve outlet 1806 is in communication with the atmosphere.
When the foot actuator 31 or pneumatic actuator is to be inflated, the micro-pump 16 is turned on and the gas enters the inlet 1803 of the inflation valve 1801 through the five-way connector. At this time, the inflation valve 1801 is turned on, the deflation valve 1802 is closed, and the gas flows out from the inflation valve outlet 1804, enters the first end 2001 of the three-way joint, and enters the foot driver inlet 3107 or the pneumatic driver inlet 2 through the third end 2003 of the three-way joint to inflate the same. At this point, because the bleed valve 1802 is closed, gas does not enter the bleed valve 1802 through the three-way fitting second end 2002.
When the foot driver 31 or the pneumatic driver needs to be deflated, the micro pump 16 is shut down, the inflation valve 1801 is closed, the deflation valve 1802 is conducted, the gas flows out from the foot driver air inlet 3107 or the pneumatic driver air inlet 2, enters the third end 2003 of the three-way joint, and enters the deflation valve inlet 1805 through the second end 2002 of the three-way joint, and the gas is exhausted to the atmosphere through the deflation valve from the deflation valve outlet 1806 due to the conduction of the deflation valve. At this time, since the inflation valve 1801 is closed, the gas does not enter the deflation valve 1801 through the first end 2001 of the three-way joint and flows back into the inflator.
Through the above control strategy, the micro-pump 16 and the electromagnetic valve set 18 control the foot driver 31 and the pneumatic driver to inflate and deflate through the on-off of the micro-pump 16 and the conduction and the closing of the electromagnetic valve set 18 under the control of the switching circuit set 17.
In a more specific application, referring to fig. 3 and 7, the micro-pump 16, the solenoid valve set 18 and the switching circuit set 17 may also be provided with a boost module 1701 for providing a stable power supply. The switching circuit group 17 may be implemented by a MOS field effect transistor 1702. It is understood that the switch circuit 17 may also be implemented by a transistor or other switch device, and the specific implementation manner of the switch circuit 17 should not be construed as a substantial limitation to the protection scope of the present application.
Further, in another embodiment provided herein, referring to fig. 3 and 5, the robot further includes an assembly module 21; the assembly module 21 includes an electromechanical backpack 22 for mounting the control module 15, a first mounting module 23 for mounting the first foot module 11 and mating with the first and second drive modules 12, 14, a second mounting module 24 for mounting the second foot module 13 and mating with the first and second drive modules 12, 14, and a connection module 25 for connecting the first and second foot modules 11, 13 and the electromechanical backpack 22.
The electromechanical backpack 22 includes a mounting plate 2201, a circuit board 2202, a backpack support 2203, and a backpack soft shell 2204.
The backpack support 2203 and the circuit board 2202 are mounted on the mounting plate 2201, and the switching circuit group 17 is soldered on the circuit board 2202;
the first installation module 23 comprises a first upper installation module 2301, a first lower installation module 2302 and a first installation module soft shell 2303;
the second mounting module 24 comprises a second upper mounting module 2401, a second lower mounting module 2402 and a second mounting module soft shell 2403;
the connecting module 25 comprises a first connecting block 26, a switching block 27, a second connecting block 28 and a connecting telescopic sleeve 29;
the connecting module 25 is connected with the first foot module 11 through the first connecting block 26;
the connecting module 25 is connected with the second foot module 13 through the second connecting block 28;
the connection module 25 is connected to the mounting plate 2201 of the electromechanical backpack 22 through the switching block 27;
the connecting module 25 realizes synchronous telescopic movement with the pneumatic driver by connecting a telescopic sleeve 29.
In a specific application, in the first foot module 11, two groups of first upper installation modules 2301 and first lower installation modules 2302 are symmetrically arranged on the first installation modules 23 along the two sides of the advancing direction of the robot; respectively installing a foot driver; the first lower installation module 2302 of the first installation module 23 is used for installing the foot driver 31, the first upper installation module 2301 and the first lower installation module 2302 are connected through a bolt 2304 and a nut 2305, and are hinged with the driving module 12 and the air inlet cover 1 of the driver of the driving module 14 through a pin 2306, the first installation module soft shell 2303 is clamped on the two sets of the first upper installation module 2301 and the first lower installation module 2302 which are symmetrically arranged, and the protection effect is achieved while the two sets of the first upper installation module 2301 and the first lower installation module 2302 are connected.
Correspondingly, two groups of second upper installation modules 2401 and second lower installation modules 2402 are symmetrically arranged on the second foot modules 13 and the second installation modules 24 along the advancing direction of the robot; respectively installing a foot driver; the second lower mounting module 2402 of the second mounting module 24 is used for mounting the foot driver 31, the second upper mounting module 2401 and the second lower mounting module 2402 are connected through a bolt 2404 and a nut 2405, and are hinged to the driving module 12 and a sealing cover 9 of a driver of the driving module 14 through a pin 2406, and the second mounting module soft shell 2403 is clamped on two groups of the second upper mounting module 2401 and the second lower mounting module 2402 which are symmetrically arranged, so that the two groups of the second upper mounting module 2401 and the second lower mounting module 2402 are connected and play a role in protection.
The first connection block 26 of the connection module 25 is connected to the first upper mount module 2301 and fixed by a cap 2601. Correspondingly, the first connection block 28 of the connection module 25 is connected to the second upper mount module 2401 and fixed by the cap 2801.
The switching block 27 of the connection module 25 is provided with a plurality of connection holes corresponding to the mounting plate 2201 of the electromechanical backpack 22, and the connection holes can be directly riveted or bolted to achieve interconnection.
The connecting telescoping sleeve 29 includes a connecting telescoping sleeve stop ring 2904, a connecting telescoping sleeve large sleeve 2905, a connecting telescoping sleeve small sleeve 2906, a connecting telescoping sleeve ball bushing 2907, and a connecting telescoping sleeve stop cap 2908. The working principle of the connecting telescopic sleeve is consistent with that of the pneumatic driver telescopic sleeve, and the description is omitted. The size of the connecting telescopic sleeve 29 can be larger than that of a pneumatic driver telescopic sleeve, and the connecting telescopic sleeve keeps synchronous with the movement of the pneumatic driver telescopic sleeve, and plays a role in restricting the movement of the pneumatic driver and the robot to a certain extent, so that the buckling phenomenon is further prevented.
The connection module 25 further comprises a ball bushing 30 and a limit ring 32, the ball bushing 30 can be sleeved on the adapter block 27 and the large sleeve 2905 connected with the telescopic sleeve, the outer diameter of the ball bushing 30 is in contact with the inner diameter of the adapter block 27, and the inner diameter of the ball bushing 30 is in contact with the outer diameter of the large sleeve 2905 connected with the telescopic sleeve, so that the large sleeve 2905 connected with the telescopic sleeve can freely slide between the adapter block 27; the retainer ring 32 is used to limit the sliding of the ball bush 30. It should be understood that the specific implementation of the assembly module 21 should not be construed as a substantial limitation to the scope of the present application.
Further, the present application also provides a robot control method, including the steps of:
s0: in the initial state, the first foot module, the second foot module, the first driving module and the second driving module are all in an air leakage state;
s1: the first foot module is inflated, the second foot module is deflated, and the second foot module is anchored with the ground;
s2: the first driving module and the second driving module are inflated simultaneously;
s3: the first foot module is deflated, the second foot module is inflated, and the first foot module is anchored with the ground;
s4: simultaneously deflating the first driving module and the second driving module;
s5: the first foot module, the second foot module, the first driving module and the second driving module simultaneously deflate;
wherein the content of the first and second substances,
the first foot module is a first foot module of the robot of any of the previous embodiments;
the second foot module is a second foot module of the robot of any of the preceding embodiments;
the first driving module is a first driving module of the robot in any one of the previous embodiments;
the second driving module is a second driving module of the robot in any one of the previous embodiments.
Specifically, referring to fig. 6, the first foot module 11, the second foot module 13, the first driving module 12, the second driving module 14 and the connecting module 25 of the robot may be equivalent to one plane eight-link mechanism.
By fixing L2, the degree of freedom of this planar mechanism can be determined to be 3. Since there are two degrees of freedom in the robot, less than the degree of freedom of the mechanism, the mechanical system is an under-actuated system. Although the motion of the under-actuated mechanism is not completely determined, the motion of the robot can be predicted according to the law of least resistance. By actively controlling the friction of the foot, the first foot module 11 or the second foot module 12 can be anchored to the ground, i.e. the link L1 or L2 is selectively regarded as a fixed frame, so that the robot can realize linear and steering motions.
According to the control method of the robot provided by the application, the robot is controlled. The two foot drivers 31 of the first foot module 11 are combined into one set and defined as the forefoot F1, the two foot drivers 31 of the second foot module 12 are combined into one set and defined as the rearfoot F2, the second drive module 14 is defined as the right driver A1, and the second drive module 12 is defined as the left driver A2. The crawling process (taking a single periodic motion as an example) is as follows:
step0: in the initial state, F1, F2, A1 and A2 are all in a gas leakage state;
step1: f1 is inflated, F2 is deflated, and F2 is anchored with the ground;
step2: a1 and A2 are simultaneously inflated, the body of the robot extends, and F1 is far away from F2;
step3: f1 is deflated, F2 is inflated, and F1 is anchored with the ground;
step4: a1 and A2 simultaneously deflate, the robot body shortens, and F2 is close to F1;
step5: f1, F2, A1 and A2 are deflated, and the robot returns to the initial state Step0.
It is understood that the above crawling process is a straight-line forward process, and obviously, the straight-line backward process has the same principle, which is not described herein again.
Further, the present application also provides a robot control method, including the steps of:
s0: in the initial state, the first foot module, the second foot module, the first driving module and the second driving module are all in an air leakage state;
s1: the first foot module is inflated, the second foot module is deflated, and the second foot module is anchored with the ground;
s2: inflating the first driving module; pushing the first foot module to rotate;
s3: the first foot module is deflated, the second foot module is inflated, and the first foot module is anchored with the ground;
s4: the first driving module releases air and pulls the second foot module to rotate;
s5: the first foot module, the second foot module, the first driving module and the second driving module simultaneously deflate.
As previously described, referring to fig. 6, the two foot drivers 31 of the first foot module 11 are combined into one set and defined as the forefoot F1, the two foot drivers 31 of the second foot module 12 are combined into one set and defined as the rearfoot F2, the second drive module 14 is defined as the right driver A1, and the second drive module 12 is defined as the left driver A2. The crawling process (taking a single periodic motion as an example) is as follows:
step0: in the initial state, F1, F2, A1 and A2 are all in a gas leakage state;
step1: f1 is inflated, F2 is deflated, and F2 is anchored with the ground;
step2: a2, inflating to push the F1 to rotate rightwards, and extending and rightwards rotating the body of the robot;
step3: f1 is deflated, F2 is inflated, and F1 is anchored with the ground;
step4: a2 is deflated, F2 is pulled to rotate rightwards, and the body of the robot is shortened and rotates rightwards;
step5: f1, F2, A1 and A2 are deflated, and the robot returns to the initial state Step0.
It can be understood that the above crawling process is a straight right-turning process, and obviously, the straight left-turning process is the same as the straight right-turning process in principle, which is not described herein again.
Further, the present application also provides a robot control method, including the steps of:
step0: in the initial state, F1, F2, A1 and A2 are all in a gas leakage state;
step1: f1 and F2 are simultaneously inflated;
step2: a1 and A2 are simultaneously inflated, the body of the robot is stretched, and F1 and F2 respectively move forwards and backwards;
step3: a1 and A2 simultaneously deflate, the robot body shortens, and F1 and F2 respectively approach to the center;
step4: f1 and F2 deflate simultaneously, and the robot returns to the initial state Step0.
It will be appreciated that the control process described above is a pose adjustment process, i.e. the robot itself adjusts from an arbitrary shape to an initial shape.
Further, the present application also provides a robot, see fig. 8, which is composed of a plurality of robots connected in series as described in any one of the previous embodiments.
It can be understood that the bionic crawling similar to the multi-body-segment animal can be realized by connecting a plurality of robot modules in series. The serial connection mode can be that a plurality of robots are connected in series, a plurality of groups of foot modules and a plurality of groups of driving modules are connected in series, or a plurality of groups of foot modules and a single group of driving modules are connected in series. The multiple robots are connected in series, so that a larger load can be realized, higher energy density and power density are achieved, and more various motion forms can be realized by adjusting corresponding pneumatic drivers and foot drivers.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or apparatus comprising the element.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.
Claims (10)
1. A pneumatic drive, comprising:
the elastic cavity is provided with a first telescopic direction and a second end opposite to the first telescopic direction;
a constraint member implanted within the elastic lumen, the constraint member having first and second ends opposite in a first telescopic direction;
the first end of the constraint member is coupled with the first end of the elastic cavity;
the second end of the restraining member is mated with the second end of the resilient cavity;
the restraining member limits bending of the resilient chamber away from a first telescoping direction;
the elastic cavity is a bellows elastic soft shell;
the constraint component is a telescopic sleeve group which comprises at least two large sleeves and small sleeves which are nested with each other, and a first limiting structure and a second limiting structure which are connected with the large sleeves and the small sleeves;
the driver is used for a robot, the robot is an under-actuated plane eight-connecting-rod rigid-soft coupling structure, and the robot comprises:
a first foot module and a second foot module distributed along the advancing direction of the robot;
the first driving module and the second driving module are matched and connected with the first foot module and the second foot module and distributed on two sides of the advancing direction of the robot;
the first foot module and the second foot module are provided with foot drivers;
the foot driver changes the contact state of the foot driver and the ground through inflation and deflation so as to adjust the friction coefficients between different parts of the robot and the ground;
the first driving module and the second driving module are provided with the pneumatic drivers;
the robot also comprises a control module, a control module and a control module, wherein the control module is used for controlling the pneumatic driver and the foot driver to inflate and deflate according to a driving strategy so as to realize the movement of the robot;
the robot further comprises an assembly module;
the assembly module comprises an electromechanical backpack for mounting the control module, a first mounting module for mounting the first foot module and matching the first driving module and the second driving module, a second mounting module for mounting the second foot module and matching the first driving module and the second driving module, and a connecting module for connecting the first foot module, the second foot module and the electromechanical backpack;
the connecting module comprises a first connecting block, a switching block, a second connecting block and a connecting telescopic sleeve;
the connecting module is connected with the first foot module through the first connecting block;
the connecting module is connected with the second foot module through the second connecting block;
the connecting module is connected with the mounting plate of the electromechanical backpack through the switching block;
the connecting module is connected with a telescopic sleeve to realize synchronous telescopic motion with the pneumatic driver;
the first foot module, the second foot module, the first driving module, the second driving module and the connecting module form a plane eight-link mechanism.
2. The pneumatic drive of claim 1, wherein:
the first end of the elastic cavity is provided with an air inlet unit, and the second end of the elastic cavity is provided with a sealing unit;
the air inlet unit comprises an air inlet pipe and an air inlet cover, the sealing unit comprises a sealing cover, and the air inlet cover and the sealing cover are respectively connected to the first end and the second end of the elastic cavity in a sealing manner;
the air inlet cover is provided with an air inlet so that air can enter the elastic cavity from the air inlet;
the air inlet pipe is inserted into the air inlet and is in sealing connection with the air inlet.
3. The pneumatic drive of claim 2, wherein:
one end of the large sleeve is connected with the sealing cover, the other end of the large sleeve is connected with the first limiting structure, and the inner diameter of the first limiting structure is larger than the outer diameter of the small sleeve;
one end of the small sleeve is connected with the air inlet cover, the other end of the small sleeve is connected with the second limiting structure, and the outer diameter of the second limiting structure is smaller than the inner diameter of the large sleeve;
the outer diameter of the second limiting structure is larger than the inner diameter of the first limiting structure.
4. The pneumatic drive of claim 3, wherein: the telescopic sleeve also comprises a ball bushing which can be sleeved on the large sleeve and the small sleeve which are mutually nested, the outer diameter of the ball bushing is contacted with the inner diameter of the large sleeve, and the inner diameter of the ball bushing is contacted with the outer diameter of the small sleeve;
the outer diameter of the second limiting structure is smaller than the outer diameter of the ball bushing and larger than the inner diameter of the ball bushing.
5. A robot, characterized in that the robot is an under-actuated plane eight-link rigid-flexible coupling structure, comprising:
a first foot module and a second foot module distributed along the advancing direction of the robot;
the first driving module and the second driving module are matched and connected with the first foot module and the second foot module and distributed on two sides of the advancing direction of the robot;
the first foot module and the second foot module are provided with foot drivers;
the foot driver changes the contact state of the foot driver and the ground through inflation and deflation so as to adjust the friction coefficients between different parts of the robot and the ground;
the first and second drive modules are provided with a pneumatic driver as claimed in any one of claims 1 to 4;
the robot also comprises a control module, a control module and a control module, wherein the control module is used for controlling the pneumatic driver and the foot driver to inflate and deflate according to a driving strategy so as to realize the movement of the robot;
the robot further comprises an assembly module;
the assembly module comprises an electromechanical backpack for mounting the control module, a first mounting module for mounting the first foot module and matching the first driving module and the second driving module, a second mounting module for mounting the second foot module and matching the first driving module and the second driving module, and a connecting module for connecting the first foot module, the second foot module and the electromechanical backpack;
the connecting module comprises a first connecting block, a transfer block, a second connecting block and a connecting telescopic sleeve;
the connecting module is connected with the first foot module through the first connecting block;
the connecting module is connected with the second foot module through the second connecting block;
the connecting module is connected with the mounting plate of the electromechanical backpack through the switching block;
the connecting module is connected with a telescopic sleeve to realize synchronous telescopic motion with the pneumatic driver;
the first foot module, the second foot module, the first driving module, the second driving module and the connecting module form an under-actuated plane eight-connecting-rod rigid-soft coupling mechanism.
6. The robot of claim 5, wherein:
the foot driver comprises a wall portion having a first thickness and an air cavity having a second thickness, the first thickness being greater than the second thickness;
the wall portion forms a first bottom portion having a first area;
the bottom of the air cavity is provided with a protrusion for adhering a film, and the friction coefficient of the film is smaller than that of the first bottom;
a film is pasted at the bottom of the air cavity to form a second bottom with a second area, and the first area is larger than the second area;
the foot driver is provided with an air inlet, and the contact state of the first bottom part and the second bottom part with the ground can be changed through inflation and deflation so as to actively control the contact state between the robot and the ground.
7. Robot according to claim 5,
the control module comprises a micro pump, a multi-head interface, a switch circuit group and a plurality of electromagnetic valve groups;
the electromagnetic valve group comprises an inflation valve and an deflation valve; the air outlet of the micro pump is connected with a multi-head interface; the inlet of the inflation valve is communicated with the micro pump through a multi-head interface, and the outlet of the inflation valve is connected with the first end of the three-way joint;
the second end of the three-way joint is connected with the air inlet of the foot driver or the pneumatic driver;
the third end of the three-way joint is connected with the inlet of the deflation valve;
the outlet of the air relief valve is communicated with the atmosphere;
the micro pump and the electromagnetic valve set are controlled by the switch circuit set to control the foot driver and the pneumatic driver to inflate and deflate through the on-off of the micro pump and the conduction and the closing of the electromagnetic valve set.
8. The robot of claim 7,
electromechanical knapsack includes mounting panel, circuit board, knapsack support and knapsack sabot, the knapsack support with the circuit board is installed on the mounting panel, the welding of switch circuit group is in on the circuit board.
9. A robot control method is characterized by comprising the following steps:
in an initial state, the first foot module, the second foot module, the first driving module and the second driving module are all in a gas leakage state;
the first foot module is inflated, the second foot module is deflated, and the second foot module is anchored with the ground;
the first driving module and the second driving module are inflated simultaneously;
the first foot module is deflated, the second foot module is inflated, and the first foot module is anchored with the ground;
simultaneously deflating the first driving module and the second driving module;
the first foot module, the second foot module, the first driving module and the second driving module simultaneously deflate;
wherein the content of the first and second substances,
the first foot module is a first foot module of the robot of any one of claims 5;
the second foot module is a second foot module of the robot of any one of claims 5;
the first drive module is a first drive module of the robot of any one of claim 5;
the second drive module is a second drive module of the robot according to any of claim 5.
10. The robot control method according to claim 9, further comprising the steps of:
in an initial state, the first foot module, the second foot module, the first driving module and the second driving module are all in a gas leakage state;
the first foot module is inflated, the second foot module is deflated, and the second foot module is anchored with the ground;
inflating the first driving module; pushing the first foot module to rotate;
the first foot module is deflated, the second foot module is inflated, and the first foot module is anchored with the ground;
the first driving module releases air and pulls the second foot module to rotate;
the first foot module, the second foot module, the first driving module and the second driving module simultaneously deflate.
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| US8640602B2 (en) * | 2007-05-11 | 2014-02-04 | Chuo University | Fluid pouring type actuator |
| JP2014131558A (en) * | 2013-01-07 | 2014-07-17 | Haruo Araki | Double corrugated pipe artificial muscle |
| TWI547274B (en) * | 2013-08-10 | 2016-09-01 | 錩玄科技有限公司 | Portable human body brace system |
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