CN113400293B - Tensioning integral robot based on variable stiffness springs - Google Patents
Tensioning integral robot based on variable stiffness springs Download PDFInfo
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- CN113400293B CN113400293B CN202110757245.9A CN202110757245A CN113400293B CN 113400293 B CN113400293 B CN 113400293B CN 202110757245 A CN202110757245 A CN 202110757245A CN 113400293 B CN113400293 B CN 113400293B
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- spring
- rigidity
- mechanical arm
- driving mechanism
- rigidity adjusting
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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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
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Abstract
The invention discloses a tensioning whole robot based on a variable stiffness spring, which comprises a driving mechanism, a mechanical arm, a stiffness adjusting unit and an air source, wherein the driving mechanism is arranged on the mechanical arm; the driving mechanism is used for driving the mechanical arm to swing; a plurality of movable joint positions of the mechanical arm are provided with rigidity adjusting units; the rigidity adjusting unit comprises a rubber soft sleeve, a spring and a ventilation interface; the rubber soft sleeve is wrapped outside the spring, the ventilation interface is communicated with the inside of the rubber soft sleeve, the air source is connected and communicated with the ventilation interface, the air source is used for inflating the rubber soft sleeve to squeeze and adjust the rigidity of the spring, and the rigidity change of the rigidity adjusting unit is used for adjusting the movement amplitude change of the mechanical arm corresponding to the movable joint; the invention can realize the regulation and control of the spring stiffness by only adjusting the inflation change of the rubber soft sleeve without replacing the spring, thereby solving the problem that the spring needs to be replaced frequently in the prior art.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a tensioning integral robot based on a variable stiffness spring.
Background
As a new robot, the continuous robot has good environment co-fusion capability, so that the continuous robot has wide application prospect in the practical engineering fields of equipment overhaul in a narrow space, search and rescue after disaster and the like. Due to the complexity and uncertainty of the application environment, requirements for the hardness and softness of the continuous robot are set. However, most continuous robots do not yet have this capability.
In order to meet the requirements of the continuous robot on hardness and softness, the continuous robot can be realized by replacing springs with different stiffness. However, the spring coefficient of each spring is fixed, if the stress state of the structure needs to be changed, the spring is necessarily replaced, and the spring is not a simple matter for the robot to replace the spring frequently in work, so that the engineering period can be seriously influenced, and a technical scheme capable of solving the problem is urgently needed.
Disclosure of Invention
The invention aims to provide a tensioning whole robot based on a variable-stiffness spring, which aims to solve the problem that the spring needs to be replaced frequently in the prior art.
In order to solve the technical problems, the invention provides a tensioning integral robot based on a variable stiffness spring, which comprises a driving mechanism, a mechanical arm, a stiffness adjusting unit and an air source; the driving mechanism is used for driving the mechanical arm to swing; the rigidity adjusting units are arranged at a plurality of movable joint positions of the mechanical arm; the rigidity adjusting unit comprises a rubber soft sleeve, a spring and a ventilation interface; the soft rubber sleeve is wrapped outside the spring, the ventilation interface is communicated with the inside of the soft rubber sleeve, the air source is communicated with the ventilation interface, the air source is used for inflating the soft rubber sleeve to squeeze and adjust the rigidity of the spring, and the rigidity change of the rigidity adjusting unit is used for adjusting the movement amplitude change of the mechanical arm corresponding to the movement joint.
In one embodiment, the rigidity adjusting unit further comprises a hard outer sleeve, and the rubber soft sleeve and the spring are arranged in a space surrounded by the hard outer sleeve.
In one embodiment, the surface of the rubber soft sleeve, which presses the spring, is provided with a plurality of protruding particles, and the particles are distributed on all the surfaces of the rubber soft sleeve.
In one embodiment, the robotic arm includes a plurality of movable rings and a plurality of telescoping units; the movable ring is provided with a plurality of rigidity adjusting units, the rigidity adjusting units are arranged along the circumferential direction of the movable ring, and the rigidity adjusting units are linked with the driving mechanism; a plurality of telescopic units are connected between two adjacent movable rings, and are respectively linked with a plurality of rigidity adjusting units of the two adjacent movable rings; the driving mechanism is used for adjusting the expansion amount of the spring, the expansion of the spring is used for adjusting the expansion and the folding of the movable ring, and the expansion and the folding of the movable ring are used for controlling the expansion and the folding of the expansion unit.
In one embodiment, the movable ring comprises a transverse connecting rod and a connecting seat, wherein the connecting seat is connected to two ends of the transverse connecting rod, and the connecting seat is connected to two ends of the spring, so that the spring is annular; and the telescopic units are movably connected with the opposite rigidity adjusting units through the connecting seats between any two opposite rigidity adjusting units.
In one embodiment, the telescopic unit comprises two vertical connecting rods, the two vertical connecting rods are arranged in a staggered mode, and two ends of the two vertical connecting rods are respectively connected with the connecting seats on different sides of the rigidity adjusting unit in a rotating mode.
In one embodiment, the connection seat is provided with a perforation, and the perforation is oriented in the same direction as the circumference of the movable ring; the driving mechanism is provided with a plurality of pull ropes, the pull ropes respectively penetrate through the perforations of the connecting seats, the connecting seats which are oppositely arranged share one pull rope, the driving mechanism is used for regulating and controlling the tightness change of the pull ropes, and the tightness change of the pull ropes is used for driving the mechanical arm to swing.
The beneficial effects of the invention are as follows:
because the rubber soft sleeve is wrapped outside the spring, the ventilation interface is communicated with the inside of the rubber soft sleeve, the air source is connected and communicated with the ventilation interface, the air source is used for inflating the rubber soft sleeve to squeeze and adjust the rigidity of the spring, and the rigidity change of the rigidity adjusting unit is used for adjusting the movement amplitude change of the mechanical arm corresponding to the movable joint.
Drawings
In order to more clearly illustrate the technical solutions of the present invention, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of the structure provided by the present invention;
FIG. 2 is a schematic view of the structure of portion A in FIG. 1;
FIG. 3 is a schematic view of the stiffness adjustment unit of FIG. 1;
FIG. 4 is a schematic cross-sectional view of FIG. 3;
FIG. 5 is a schematic view of a partial structure of the movable ring of FIG. 1;
fig. 6 is a schematic view of the vertical connecting rod of fig. 1.
The reference numerals are as follows:
10. a driving mechanism; 11. a pull rope;
20. a mechanical arm; 21. a movable ring; 211. a transverse connecting rod; 212. a connecting seat; 213. perforating; 22. a telescoping unit; 221. a vertical connecting rod;
30. a rigidity adjusting unit; 31. a rubber soft sleeve; 32. a spring; 33. a ventilation interface; 34. a hard coat;
40. and (5) an air source.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The invention provides a tensioning whole robot based on a variable stiffness spring, which is realized as shown in fig. 1, 3 and 4, and comprises a driving mechanism 10, a mechanical arm 20, a stiffness adjusting unit 30 and an air source 40; the driving mechanism 10 is used for driving the mechanical arm 20 to swing; the rigidity adjusting units 30 are arranged at a plurality of movable joint positions of the mechanical arm 20; the rigidity adjusting unit 30 comprises a rubber soft sleeve 31, a spring 32 and a ventilation interface 33; the rubber soft sleeve 31 is wrapped outside the spring 32, the ventilation interface 33 is communicated with the inside of the rubber soft sleeve 31, the air source 40 is connected and communicated with the ventilation interface 33, the air source 40 is used for inflating the rubber soft sleeve 31 to squeeze and adjust the rigidity of the spring 32, and the rigidity change of the rigidity adjusting unit 30 is used for adjusting the movement amplitude change of the mechanical arm 20 corresponding to the movable joint.
When the device is applied, the change of the air input amount of the air source 40 can be used for adjusting the expansion degree of the rubber soft sleeve 31, the larger the expansion degree of the rubber soft sleeve 31 is, the larger the compression degree of the spring 32 is, so that the rigidity of the spring 32 is enhanced, namely the movement amplitude of the mechanical arm 20 corresponding to the movable joint is reduced, and similarly, the smaller the expansion degree of the rubber soft sleeve 31 is, the smaller the compression degree of the spring 32 is, so that the rigidity of the spring 32 is reduced, namely the movement amplitude of the mechanical arm 20 corresponding to the movable joint is improved.
Specifically, the rigidity of the part of the rigidity adjusting unit 30 can be controlled to be larger and the rigidity of the part of the rigidity adjusting unit 30 can be controlled to be smaller through the regulation and control of the air quantity input by the air source 40 so as to control the rigidity of each movable joint position of the mechanical arm 20 to be in different states, thereby meeting the requirements of both rigidity and softness of the mechanical arm 20; and because the rigidity of each movable joint position of the mechanical arm 20 can be regulated and controlled by itself at this moment, more choices are provided for the movable regulation and control mode of the mechanical arm 20, thereby meeting the use requirements of more application scenes.
As shown in fig. 3 and 4, the rigidity adjusting unit 30 further includes a hard cover 34, and the rubber soft cover 31 and the spring 32 are provided in a space surrounded by the hard cover 34.
After the hard jacket 34 is arranged, the installation positions of the rubber soft sleeve 31 and the spring 32 are fixed, so that if the rubber soft sleeve 31 is in an inflated state, the movable space of the rubber soft sleeve 31 can be limited, the extrusion force of the rubber soft sleeve 31 to the spring 32 is enhanced, and the requirement of applying stronger pressure to the spring 32 is met.
Further, in this embodiment, it is preferable that the surface of the rubber soft cover 31 pressing the spring 32 is provided with a plurality of protruding particles (not shown) distributed throughout the surface of the rubber soft cover 31, thereby further enhancing the pressing action of the rubber soft cover 31 against the spring 32.
As shown in fig. 1, 2, 5 and 6, the robot arm 20 includes a plurality of movable rings 21 and a plurality of telescopic units 22; the movable ring 21 is provided with a plurality of rigidity adjusting units 30, the rigidity adjusting units 30 are arranged along the circumferential direction of the movable ring 21, and the rigidity adjusting units 30 are all linked with the driving mechanism 10; a plurality of telescopic units 22 are connected between two adjacent movable rings 21, and the telescopic units 22 are respectively linked with a plurality of rigidity adjusting units 30 of the two adjacent movable rings 21; the driving mechanism 10 is used for adjusting the expansion and contraction amount of the spring 32, the expansion and contraction of the spring 32 is used for adjusting the expansion and contraction of the movable ring 21, and the expansion and contraction of the movable ring 21 is used for controlling the expansion and contraction of the expansion and contraction unit 22.
For example, when the driving mechanism 10 controls the spring 32 to be in the extended state, the stiffness adjusting unit 30 will drive the movable ring 21 to be in the extended state, and the form change of the movable ring 21 will also drive the telescopic unit 22 to be shortened, thereby achieving the shortening control of the robot arm 20.
Similarly, when the driving mechanism 10 controls the spring 32 to be in a contracted state, the stiffness adjusting unit 30 can drive the movable ring 21 to be in a contracted state, and the form change of the movable ring 21 can drive the telescopic unit 22 to be extended, so that the extension control of the mechanical arm 20 is realized.
At this time, only the expansion and contraction amount of each part of the mechanical arm 20 is controlled, so that the swing regulation and control of the mechanical arm can be realized, for example, the left side of the mechanical arm 20 is controlled to be in an extended state, the right side of the mechanical arm 20 is controlled to be in a shortened state, and the right swing driving of the mechanical arm 20 can be realized.
As shown in fig. 1, 2 and 5, the movable ring 21 includes a transverse connecting rod 211 and a connecting seat 212, both ends of the transverse connecting rod 211 are connected with the connecting seat 212, both ends of the spring 32 are connected with the connecting seat 212, so as to form a ring shape; between any two opposite rigidity adjusting units 30, the telescopic unit 22 is movably connected with the opposite rigidity adjusting units 30 through the connecting base 212.
After the arrangement, if the spring 32 is in an extended state, the spring 32 can push the connecting seats 212 at two sides to move outwards, and each transverse connecting rod 211 also moves outwards, so that the expansion of the movable ring 21 is realized; if the spring 32 is in a contracted state, the spring 32 will pull the connecting seats 212 at both sides to move inwards, and each transverse connecting rod 211 will also move inwards accordingly, so that the movable ring 21 is folded.
As shown in fig. 1 and 2, the telescopic unit 22 includes two vertical connection rods 221, the two vertical connection rods 221 are disposed in a staggered manner, and two ends of the two vertical connection rods 221 are respectively connected with the connection seats 212 on different sides of the rigidity adjusting unit 30 in a rotating manner.
With the directions shown in fig. 1, 2 and 6 as references, the two vertical connecting rods 221 are staggered and are in a cross shape, the upper end of the first vertical connecting rod 221 is rotationally connected with the connecting seat 212 at the upper left, the lower end of the first vertical connecting rod 221 is rotationally connected with the connecting seat 212 at the lower right, the upper end of the second vertical connecting rod 221 is rotationally connected with the connecting seat 212 at the upper right, and the lower end of the second vertical connecting rod 221 is rotationally connected with the connecting seat 212 at the lower left.
So when the movable ring 21 is in the expanded state, the upper ends of the two vertical connection rods 221 will be separated from each other, and the lower ends of the two vertical connection rods 221 will be separated from each other, thereby realizing the shortening of the telescopic unit 22; similarly, when the movable ring 21 is in the folded state, the upper ends of the two vertical connection rods 221 are close to each other, and the lower ends of the two vertical connection rods 221 are also close to each other, thereby realizing the extension of the telescopic unit 22.
As shown in fig. 2 and 5, the connecting seat 212 is provided with a through hole 213, and the direction of the through hole 213 is the same as the circumferential direction of the movable ring 21; the driving mechanism 10 is provided with a plurality of pull ropes 11, the pull ropes 11 respectively penetrate through the through holes 213 of the plurality of connecting seats 212, the connecting seats 212 which are oppositely arranged share one pull rope 11, the driving mechanism 10 is used for regulating and controlling the tightness change of the plurality of pull ropes 11, and the tightness change of the plurality of pull ropes 11 is used for driving the mechanical arm 20 to swing.
For example, after the driving mechanism 10 controls the pull rope 11 to be tensioned, each movable ring 21 can be tensioned, so that the mechanical arm 20 is shortened, and after the pull rope 11 is loosened, the mechanical arm 20 can be conveniently stretched; therefore, the mechanical arm 20 can be driven to swing only by controlling the tightness degree of each pull rope 11.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.
Claims (7)
1. A tensioning integral robot based on a variable stiffness spring is characterized in that,
comprises a driving mechanism, a mechanical arm, a rigidity adjusting unit and an air source;
the driving mechanism is used for driving the mechanical arm to swing;
the rigidity adjusting units are arranged at a plurality of movable joint positions of the mechanical arm;
the rigidity adjusting unit comprises a rubber soft sleeve, a spring and a ventilation interface;
the soft rubber sleeve is wrapped outside the spring, the ventilation interface is communicated with the inside of the soft rubber sleeve, the air source is communicated with the ventilation interface, the air source is used for inflating the soft rubber sleeve to squeeze and adjust the rigidity of the spring, and the rigidity change of the rigidity adjusting unit is used for adjusting the movement amplitude change of the mechanical arm corresponding to the movement joint.
2. The tension monolith robot of claim 1, wherein the stiffness adjustment unit further comprises a hard jacket, the rubber soft jacket and the spring both being disposed within a space enclosed by the hard jacket.
3. The tensegrity robot of claim 1, wherein the surface of the rubber sleeve against which the spring is pressed is provided with a plurality of raised particles, the plurality of particles being distributed throughout the surface of the rubber sleeve.
4. The robot as recited in claim 1, wherein,
the mechanical arm comprises a plurality of movable rings and a plurality of telescopic units;
the movable ring is provided with a plurality of rigidity adjusting units, the rigidity adjusting units are arranged along the circumferential direction of the movable ring, and the rigidity adjusting units are linked with the driving mechanism; a plurality of telescopic units are connected between two adjacent movable rings, and are respectively linked with a plurality of rigidity adjusting units of the two adjacent movable rings;
the driving mechanism is used for adjusting the expansion amount of the spring, the expansion of the spring is used for adjusting the expansion and the folding of the movable ring, and the expansion and the folding of the movable ring are used for controlling the expansion and the folding of the expansion unit.
5. The robot as recited in claim 4, wherein,
the movable ring comprises a transverse connecting rod and a connecting seat, wherein the connecting seat is connected to two ends of the transverse connecting rod, and the connecting seat is connected to two ends of the spring so as to form an annular shape;
and the telescopic units are movably connected with the opposite rigidity adjusting units through the connecting seats between any two opposite rigidity adjusting units.
6. The tensegrity robot of claim 5, wherein the telescoping unit includes two vertical connection rods, the two vertical connection rods are staggered, and two ends of the two vertical connection rods are respectively connected with the connection seats on different sides of the rigidity adjusting unit in a rotating manner.
7. The robot as recited in claim 5, wherein,
the connecting seat is provided with a perforation, and the orientation of the perforation is the same as the central axial direction of the movable ring;
the driving mechanism is provided with a plurality of pull ropes, the pull ropes respectively penetrate through the perforations of the connecting seats, the connecting seats which are oppositely arranged share one pull rope, the driving mechanism is used for regulating and controlling the tightness change of the pull ropes, and the tightness change of the pull ropes is used for driving the mechanical arm to swing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110757245.9A CN113400293B (en) | 2021-07-05 | 2021-07-05 | Tensioning integral robot based on variable stiffness springs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110757245.9A CN113400293B (en) | 2021-07-05 | 2021-07-05 | Tensioning integral robot based on variable stiffness springs |
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| Publication Number | Publication Date |
|---|---|
| CN113400293A CN113400293A (en) | 2021-09-17 |
| CN113400293B true CN113400293B (en) | 2023-04-25 |
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| CN202110757245.9A Active CN113400293B (en) | 2021-07-05 | 2021-07-05 | Tensioning integral robot based on variable stiffness springs |
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| CN114684287B (en) * | 2022-04-07 | 2023-07-25 | 天津大学 | Few-driving multi-mode stretching mobile robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP2243994B1 (en) * | 2008-02-13 | 2015-10-14 | Konica Minolta Holdings, Inc. | Movable tensegrity structure |
| CN109648550A (en) * | 2019-02-27 | 2019-04-19 | 福州大学 | A kind of the software mechanical arm module and its control method of stiffness variable |
| CN110936363B (en) * | 2019-11-28 | 2023-02-17 | 中山大学 | Rope-driven flexible mechanical arm and robot |
| CN111300385B (en) * | 2020-04-01 | 2021-08-06 | 大连理工大学 | Multi-degree-of-freedom continuous robot with function of flexibly grabbing target |
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