CN113580120A - Modularization software driver based on paper folding principle - Google Patents
Modularization software driver based on paper folding principle Download PDFInfo
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- CN113580120A CN113580120A CN202110764708.4A CN202110764708A CN113580120A CN 113580120 A CN113580120 A CN 113580120A CN 202110764708 A CN202110764708 A CN 202110764708A CN 113580120 A CN113580120 A CN 113580120A
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- 229920001296 polysiloxane Polymers 0.000 claims abstract description 15
- 230000008602 contraction Effects 0.000 claims description 16
- 238000005452 bending Methods 0.000 claims description 14
- 241000238367 Mya arenaria Species 0.000 claims description 9
- 150000001875 compounds Chemical class 0.000 claims description 8
- 238000005520 cutting process Methods 0.000 claims description 6
- 239000003292 glue Substances 0.000 claims description 4
- 230000007704 transition Effects 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 239000000758 substrate Substances 0.000 description 4
- 239000002131 composite material Substances 0.000 description 2
- 238000003698 laser cutting Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000003672 processing method Methods 0.000 description 2
- 238000012163 sequencing technique Methods 0.000 description 2
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
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- 239000003822 epoxy resin Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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- 229920000647 polyepoxide Polymers 0.000 description 1
- 230000004044 response Effects 0.000 description 1
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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
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- Folding Of Thin Sheet-Like Materials, Special Discharging Devices, And Others (AREA)
Abstract
The invention relates to a modularized software driver based on a paper folding principle, which comprises a main body, a lower bottom surface and a modularized connecting structure, wherein the main body is a cubic shell-drawing structure and is composed of five same square surfaces, a paper-based limiting layer is arranged in the main body, and the paper-based limiting layer is provided with a folding line formed by small holes; a counter bore and a circular side hole connected with the counter bore are arranged in the middle of the lower bottom surface, and the silicone tube is matched with the circular side hole; the lower bottom surface is directly glued with the square main body, the modular connecting structure consists of a convex structure and a concave structure, and the two structures are respectively glued with the main body and the lower bottom surface; after the silicone tube is connected with an air source, the soft driver realizes different movements according to the crease of the paper-based limiting layer and restores after being connected with the atmosphere. The invention can realize various movement forms through different crease designs, has simple manufacture, can not be damaged due to too large air pressure because of adopting negative pressure drive, and has excellent output performance.
Description
Technical Field
The invention relates to a modularized software driver based on a paper folding principle, and belongs to the field of robots.
Background
The soft robot is a hotspot of the research in the robot field in recent years, has the advantages of high flexibility, small mass, good safety and the like, and has great potential in the fields of complex unstructured environment detection, fragile product gripping, medical worker combination and the like. Unlike a traditional rigid robot, a soft robot has no rigid component basically, and the output characteristic of the soft robot is mainly determined by a soft driver. The pneumatic soft driver generally has a sealed cavity made of a flexible material, and can realize preset movements such as bending, rotation, extension and the like after a certain air pressure is given to the pneumatic soft driver. Because the movement form of the single driver is fixed and the driver is difficult to replace after being damaged, the driver modularization method is broken through, the modularization software robot is constructed, the movement flexibility of the software robot is expanded, and the replacement difficulty of the easily damaged driver is reduced, so that the method has important significance. The invention adopts the limiting layer based on the paper folding principle, realizes the movements of bending, rotating, shrinking and the like on the basis of ensuring that all modules have the same appearance, and provides important reference for the modularized soft robot.
Disclosure of Invention
The invention overcomes the defects of the prior art, provides a modular soft driver based on the paper folding principle, mainly comprises three types of soft drivers for bending, rotating and contracting output and a modular connection method thereof, and has the characteristics of simple structure, convenient manufacture, simple disassembly and the like. In addition, as a driver based on the paper folding principle, the crease of the limiting layer can be further optimized, so that the function of the driver is richer.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides a modularization software driver based on paper folding principle, includes main part, lower bottom surface and modularization connection structure, the main part is glued and is connected at the upper surface of bottom surface down to form a inclosed cavity, modularization connection structure glues the downside of connecting at the upside of main part and bottom surface respectively.
The main body comprises a soft shell and a paper-based limiting layer, wherein the paper-based limiting layer is glued inside the soft shell; the main body is in a cubic shell-drawing shape and is composed of five square faces.
The paper-based limiting layer in the main body is divided into five configurations, and different movements are realized through different creases; wherein the first configuration corresponds to a compound counterclockwise rotation and contraction motion, the second configuration corresponds to a compound clockwise rotation and contraction motion, the third configuration corresponds to a single contraction motion, and the fourth configuration and the fifth configuration correspond to a right-side bending motion and a left-side bending motion, respectively; the crease on the paper-based limiting layer consists of a half-cutting crease line and a full-breaking dividing line, and the folding half-cutting crease line is preliminarily matched with the soft shell. The processing method of the paper-based limiting layer comprises but is not limited to laser cutting, blade carving and the like.
The lower bottom surface comprises a soft base, a square paper sheet and a silicone tube, a counter bore is formed in the middle of the soft base, a round hole is formed in the side surface of the soft base, the round hole is communicated with the counter bore, the square paper sheet is directly glued with the soft base, a square hole corresponding to the counter bore is formed in the middle of the square paper sheet, the silicone tube is glued with the soft base through the round hole, the silicone tube is connected with an air source, and therefore air exchange in the driver is achieved, and movement of the driver is achieved.
The modular connection structure comprises a concave structure and a convex structure, wherein a first chute is arranged on the concave structure, a second chute is arranged on the convex groove, the concave structure and the convex structure are in transition fit, and the first chute and the second chute are in contact, so that stable and reliable connection between modules is realized.
The modularized soft driver based on the paper folding principle can be arranged with different paper base limiting layers, different drivers are connected through a concave structure and a convex structure in the modularized connecting structure, the operating space can be greatly improved, and specific functions can be realized through certain driver sequencing.
Compared with the prior art, the invention has the following prominent substantive characteristics and remarkable advantages:
1. the modularized driver based on the paper folding principle can realize various motion modes such as bending, contraction, torsion and contraction composite motion and the like on the basis of the same manufacturing die, manufacturing process and geometric shape.
2. The invention has the characteristics of simple structure, small mass, large output and the like, can avoid the damage of the driver caused by overlarge air pressure by adopting negative pressure driving, and provides a good foundation for modular design.
3. The invention provides a modularized connecting method of a software driver, which is simple and convenient in modularized connection, can rearrange and replace software modules according to tasks, and can further enrich the motion forms by optimizing a paper folding structure.
Drawings
Fig. 1 is a general structure diagram of a modular soft driver based on the paper folding principle.
Fig. 2 is a schematic view of the main structure.
Figure 3 is a schematic of five configurations of a paper-based restriction layer in a body.
Fig. 4 is a schematic view of the bottom structure.
FIG. 5 is a schematic diagram of the software driver module application and its connection structure.
Fig. 6 is a schematic diagram of a variation of the rotary-contraction compound motion driver.
Fig. 7 is a schematic diagram of a variation of the retraction actuator.
Fig. 8 is a schematic diagram of a variation of the bending actuator.
Detailed Description
The following describes the specific structure, operation principle and operation process of the embodiment of the present invention in further detail with reference to the accompanying drawings.
As shown in fig. 1, a modular soft driver based on the paper folding principle comprises a main body 1, a lower bottom surface 2 and a modular connecting structure 3, wherein the main body 1 is glued on the upper surface of the lower bottom surface 2 to form a closed chamber, and the modular connecting structure 3 is glued on the upper side of the main body 1 and the lower side of the lower bottom surface 2 respectively.
As shown in fig. 2, the main body 1 comprises a soft shell 4 and a paper-based restriction layer 5, wherein the paper-based restriction layer 5 is glued inside the soft shell 4; the main body 1 is in a cubic shell-drawing shape and is composed of five square faces. The glue used for gluing includes, but is not limited to, uncured silicone, epoxy resin, and the like.
As shown in fig. 3, the paper-based restriction layer 5 in the body 1 is divided into five configurations, with different movements being achieved by different creases; wherein the first configuration 6 corresponds to a compound counterclockwise rotation and contraction motion, the second configuration 7 corresponds to a compound clockwise rotation and contraction motion, the third configuration 8 corresponds to a single contraction motion, and the fourth configuration 9 and the fifth configuration 10 correspond to a right-side bending motion and a left-side bending motion, respectively; the crease on the paper-based limiting layer 5 consists of a half-cutting crease line 6-1 and a full-breaking dividing line 6-2, and is primarily matched with the soft shell 4 by folding the half-cutting crease line 6-1. The processing method of the paper-based limiting layer 5 comprises but is not limited to laser cutting, blade carving and the like.
As shown in fig. 4, the lower bottom surface 2 includes a soft substrate 11, a square paper sheet 15 and a silicone tube 13, the middle of the soft substrate 11 is provided with a counter bore 14, the side surface is provided with a round hole 12, the round hole 12 is communicated with the counter bore 14, the square paper sheet 15 is directly glued with the soft substrate 11, the middle of the square paper sheet 15 is provided with a square hole corresponding to the counter bore 14, the silicone tube 13 is glued with the soft substrate 11 through the round hole 12, and the silicone tube 13 is connected with an air source to realize air exchange in the driver, thereby realizing driver movement.
As shown in fig. 5, the modular connecting structure 3 includes a concave structure 16 and a convex structure 17, the concave structure 16 has a first inclined groove 16-1, the convex groove 17 has a second inclined groove 17-1, and the concave structure 16 and the convex structure 17 are in transition fit, wherein the first inclined groove 16-1 and the second inclined groove 17-1 are in contact, so as to achieve stable and reliable connection between modules. The soft driver can be arranged with different paper-based limiting layers which are connected by a concave structure 16 and a convex structure 17 in the modular connecting structure 3, thereby greatly improving the operation space and realizing specific functions by certain driver sequencing.
As shown in fig. 6, the half-cut crease line 6-1 of the paper-based restriction layer 5 has only a side line and an oblique diagonal line, i.e. the first configuration 6, and the oblique diagonal line is more easily deformed inward after the negative pressure air source is connected, so that the side folding of the driver cube is guided to generate the torsional contraction composite motion. The second configuration 7 operates in a similar mechanism to the first configuration 6, but with the opposite direction of rotation.
As shown in fig. 7, the paper-based restriction layer 5 includes two symmetrical m-shaped six-fold-mark side surfaces and two symmetrical in-line single-fold-mark side surfaces, namely a third configuration 8, and after a negative pressure air source is connected, the in-line fold is inwards concave to drive the m-shaped fold to generate contraction movement.
As shown in fig. 8, the paper-based restriction layer 5 has two symmetrical m-shaped six-fold-mark sides, one in-line single-fold-mark side and one non-fold-mark side, i.e. a fourth configuration 9, and after a negative pressure air source is connected, the in-line fold is inwards concave to drive the m-shaped fold to be folded, and the non-fold-mark side is deformed, so that bending motion is generated. The fifth configuration 10 operates in a similar manner to the fourth configuration 9, but with the opposite direction of bending.
The specific implementation process of the invention is as follows:
the silicone tube 13 is connected with an external vacuum air source, air in the cavity is pumped out, when the paper-based limiting layer 5 is in a first configuration 6 or a second configuration 7, the oblique crease lines on the side surfaces of the driver are easy to deform, and the four side surfaces are synchronously folded, so that the twisting and shrinking compound motion is generated; when the paper-based limiting layer 5 is in the third configuration 8, the linear crease lines on two sides of the driver are easy to deform, the corresponding sides are inwards sunken along the crease lines, and the Mi-shaped crease lines on the other two sides are inwards sunken simultaneously, so that the contraction motion is generated; when the paper-based limiting layer is in the fourth configuration 9 or the fifth configuration 10, one side surface is provided with a straight crease, the opposite surface of the side surface is not provided with the crease, the other two surfaces are provided with the Chinese character mi-shaped creases, the straight crease is easier to deform than the crease-free surface, and therefore the driver bends towards the side surface with the straight crease; because the shapes of various drivers are completely the same, different combinations can be carried out through the modular connecting structure 3, for example, the contraction stroke is expanded by adopting a mode of connecting two contraction drivers in series, and the operation space is improved by adopting a mode of contracting and bending the driver structure; after the drive, connect silicone tube 13 with outside atmosphere, because software shell 4, the driver can resume initial condition, also can connect silicone tube 13 with the positive pressure gas supply, quicken and resume response time.
Claims (5)
1. The utility model provides a modularization software driver based on paper folding principle, includes main part (1), lower bottom surface (2) and modularization connection structure (3), its characterized in that: the main body (1) is glued on the upper surface of the lower bottom surface (2) so as to form a closed chamber, and the modular connecting structures (3) are respectively glued on the upper side of the main body (1) and the lower side of the lower bottom surface (2).
2. Modular flexible drive based on the paper folding principle according to claim 1, characterized in that: the main body (1) comprises a soft shell (4) and a paper-based limiting layer (5), wherein the paper-based limiting layer (5) is glued inside the soft shell (4); the main body (1) is in a cubic shell-drawing shape and is composed of five square faces.
3. The modular soft drive based on the paper folding principle of claim 1 or 2, wherein: the paper-based limiting layer (5) in the main body (1) is divided into five configurations, and different movements are realized through different creases; wherein the first configuration (6) corresponds to a compound movement of anticlockwise rotation and contraction, the second configuration (7) corresponds to a compound movement of clockwise rotation and contraction, the third configuration (8) corresponds to a single contraction movement, and the fourth configuration (9) and the fifth configuration (10) correspond to a right-side bending movement and a left-side bending movement, respectively; the crease on the paper-based limiting layer (5) consists of a half-cutting crease line (6-1) and a full-breaking dividing line (6-2), and is preliminarily matched with the soft shell (4) by folding the half-cutting crease line (6-1).
4. Modular flexible drive based on the paper folding principle according to claim 1, characterized in that: lower bottom surface (2) are including software basement (11), square paper piece (15) and silicone tube (13), software basement (11) in the middle of have counter bore (14), the side has round hole (12), round hole (12) communicate with each other with counter bore (14), square paper piece (15) directly glue with software basement (11) and link, square paper piece (15) middle part is opened has the square hole that corresponds with counter bore (14), silicone tube (13) glue with software basement (11) through round hole (12) and link, and silicone tube (13) are connected with the air supply to realize the driver motion.
5. Modular flexible drive based on the paper folding principle according to claim 1, characterized in that: the modularized connecting structure (3) comprises a concave structure (16) and a convex structure (17), wherein a first inclined groove (16-1) is formed in the concave structure (16), a second inclined groove (17-1) is formed in the convex groove (17), the concave structure (16) and the convex structure (17) are in transition fit, and the first inclined groove (16-1) is in contact with the second inclined groove (17-1), so that connection between modules is achieved.
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| CN202110764708.4A CN113580120A (en) | 2021-07-07 | 2021-07-07 | Modularization software driver based on paper folding principle |
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| CN202110764708.4A CN113580120A (en) | 2021-07-07 | 2021-07-07 | Modularization software driver based on paper folding principle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116833979A (en) * | 2023-07-13 | 2023-10-03 | 西湖大学 | Driver, mechanical arm and robot based on paper folding configuration |
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