CN114274138B - Hydraulic control soft robot for bionic vertebra - Google Patents
Hydraulic control soft robot for bionic vertebra Download PDFInfo
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- CN114274138B CN114274138B CN202210027051.8A CN202210027051A CN114274138B CN 114274138 B CN114274138 B CN 114274138B CN 202210027051 A CN202210027051 A CN 202210027051A CN 114274138 B CN114274138 B CN 114274138B
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- flexible shell
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- mandrel
- channels
- shell
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 10
- 238000005452 bending Methods 0.000 claims abstract description 11
- 230000003247 decreasing effect Effects 0.000 claims abstract description 4
- 230000006835 compression Effects 0.000 claims abstract description 3
- 238000007906 compression Methods 0.000 claims abstract description 3
- 239000007788 liquid Substances 0.000 claims description 7
- 238000007789 sealing Methods 0.000 claims description 5
- 210000001503 joint Anatomy 0.000 claims description 3
- 230000009021 linear effect Effects 0.000 abstract 1
- 239000004744 fabric Substances 0.000 description 6
- 239000004033 plastic Substances 0.000 description 6
- 229920003023 plastic Polymers 0.000 description 6
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 5
- 239000000835 fiber Substances 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 239000000741 silica gel Substances 0.000 description 4
- 229910002027 silica gel Inorganic materials 0.000 description 4
- 241000251539 Vertebrata <Metazoa> Species 0.000 description 3
- 239000012530 fluid Substances 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- YLQBMQCUIZJEEH-UHFFFAOYSA-N Furan Chemical compound C=1C=COC=1 YLQBMQCUIZJEEH-UHFFFAOYSA-N 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 229920002635 polyurethane Polymers 0.000 description 2
- 239000004814 polyurethane Substances 0.000 description 2
- 239000004593 Epoxy Substances 0.000 description 1
- 241000282414 Homo sapiens Species 0.000 description 1
- 229910000639 Spring steel Inorganic materials 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005538 encapsulation Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 238000009776 industrial production Methods 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 229920001568 phenolic resin Polymers 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 229920006305 unsaturated polyester Polymers 0.000 description 1
Abstract
The application discloses a hydraulic control soft robot, in particular to a bionic vertebra hydraulic control soft robot, which comprises a flexible shell, a mandrel, an end cover and a base, wherein the flexible shell comprises a first body, a second body and a third body, the axes of the first body, the second body and the third body extend, and the second body is divided into a plurality of first units with radius of which the linear property is increased and then is decreased; the first body penetrates through the second body; the third body equally divides the space between the first body and the second body into a plurality of channels with sector sections and communicated with the two ends of the flexible shell in the circumferential direction of the flexible shell; wherein when the hydraulic pressure in any one of the channels of the flexible shell increases, a portion of the second body of the flexible shell corresponding to the channel expands, the portion of the second body extending in the axial direction of the flexible shell and bending against the channel by compression. The flexible robot solves the technical problems that the flexible robot can bend in different directions in space and has an axial non-telescopic function, and has the advantages of high rapidness, high accuracy, high stability and the like.
Description
Technical Field
The application relates to a hydraulic control soft robot, in particular to a hydraulic control soft robot of a bionic vertebra.
Background
The soft robot is a novel soft robot, can adapt to various unstructured environments and is safer in interaction with human beings. Soft robots have advantages over rigid robots in terms of flexibility, safety, etc. Along with the rapid development of soft robots, the method has been widely applied to the aspects of industrial production, medical service, military detection and the like.
The bionic study shows that the back of the vertebrate is soft and elastic, the back muscle is stretched to control the rapid bending and elongation of the back, the flexible spine is used as an effective support, and the movement speed, flexibility and stability of the vertebrate are improved. However, a soft robot for simulating vertebrates does not exist at present.
Disclosure of Invention
The application aims to solve the defects of the prior art and provide a hydraulic control soft robot of a bionic vertebra, which is axially non-telescopic but can realize bending in different directions in space.
In order to achieve the above object, the present application provides a hydraulic control soft robot for bionic vertebra, comprising:
a flexible shell comprising:
a first body and a second body extending in an axial direction of the flexible case and having a circular cross section; the radius of the first body is kept unchanged in the extending direction, the second body is divided into a plurality of first units, and the radius of each first unit is linearly increased and then linearly decreased; the first body penetrates through the second body at least, and the first body and the second body are concentric;
the third body extends along the axial direction of the flexible shell, is positioned between the first body and the second body, and equally divides the space between the first body and the second body into a plurality of channels with sector sections and communicated with two end parts of the flexible shell in the circumferential direction of the flexible shell;
a mandrel extending through at least the first body of the flexible shell, the mandrel and the first body being concentric; the mandrel is fixed with the first body;
an end cap located at one side end of the flexible shell and fixed with the corresponding ends of the flexible shell and the mandrel, and sealing the openings of all the channels on the one side end;
and the base is positioned at the end part of the other side of the flexible shell, is fixed with the corresponding end parts of the flexible shell and the mandrel, is provided with a plurality of liquid inlets and outlets, and is in sealing butt joint with the openings of all the channels on the end part of the side one by one.
Wherein when the hydraulic pressure in any one of the channels of the flexible shell increases, a portion of the second body of the flexible shell corresponding to the channel expands, the portion of the second body extending in the axial direction of the flexible shell and bending against the channel by compression.
Compared with the prior art, the application realizes the functions of bending in different directions in space and axial non-telescoping through bionic vertebra, has advantages in the aspects of flexibility, safety and the like, adopts hydraulic pressure for control, has simple and easy realization, low energy consumption, can generate larger bending with smaller pressure, can be regulated and controlled in an infinite way, and has rapidness, accuracy and stability.
Drawings
FIG. 1 is a schematic diagram of a hydraulic control soft robot;
FIG. 2 is a schematic elevational view of the flexible shell (with the mandrel included) with the sleeve removed;
FIG. 3 is a cross-sectional view at A-A in FIG. 2;
FIG. 4 is a schematic structural view of a flexible shell;
fig. 5 is a schematic axial side structure of the flexible shell with the jacket removed.
In the figure: the flexible shell 1, the shaft sleeve 1-1, the casing 1-2, the rib plate 1-3, the channel 1-4, the mandrel 2, the end cover 3, the base 4 and the liquid inlet and outlet 4-1.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which are derived by a person skilled in the art based on the embodiments of the application, fall within the scope of protection of the application.
As shown in fig. 1, as an implementation manner provided by the present application, a hydraulic control soft robot for bionic vertebra in this embodiment includes:
the flexible casing 1, as shown in fig. 2-5, comprises:
a first body and a second body extending in the axial direction of the flexible casing 1 and having a circular cross section; the radius of the first body is kept unchanged in the extending direction, the second body is divided into a plurality of first units, and the radius of each first unit is linearly increased and then linearly decreased. In this embodiment, the first body is a sleeve 1-1 made of silica gel, the second body is a continuously foldable sleeve 1-2, and a combination material of silica gel and fiber fabric is adopted, that is, the fiber fabric is wound on the outer surface of the silica gel sleeve, the fiber fabric wound on the outer surface of the silica gel sleeve can effectively restrict the sleeve 1-2 from expanding radially outwards when hydraulic oil is filled, the sleeve 1-1 penetrates through the sleeve 1-2, and the sleeve 1-2 are always concentric under the condition of no external hydraulic force.
And the third body extends along the axial direction of the flexible shell 1, is positioned between the first body and the second body, and equally divides the space between the first body and the second body into a plurality of channels 1-4 with sector sections and communicated with two ends of the flexible shell 1 in the circumferential direction of the flexible shell 1. In this embodiment, the third body is four rib plates 1-3 extending along the axial direction of the flexible shell 1 in a zigzag manner, when hydraulic oil is filled in a certain channel 1-4, expansion of two adjacent channels 1-4 on two sides of the liquid filling channel 1-4 can be reduced, and in addition, the rib plates 1-3 extending in a zigzag manner also play a role of pulling along the radial direction of the flexible shell 1, and as the role of external fiber fabrics, the radial expansion of the shell 1-2 outwards can be reduced. In the radial direction of the flexible shell 1, each rib plate 1-3 extends from the inner surface of the shell 1-2 to the outer surface of the shaft sleeve 1-1 directly, and the four rib plates 1-3 divide the space between the shell 1-2 and the shaft sleeve 1-1 into four channels 1-4 with fan-shaped sections and communicated with two end parts of the flexible shell 1.
In this embodiment, the flexible shell 1 is of an integral structure, and the silica gel part of the material can be integrally formed, so that the fabric on the shell 1-2 can be wound up later.
The mandrel 2, as shown in fig. 3, penetrates the first body of the flexible shell 1, and both remain concentric at all times. In this embodiment, the mandrel 2 is made of spring steel, which can be bent but is not axially stretchable, and is fixed to the sleeve 1-1 as the first body. The fixing means may be various, such as glue fixing, secondary encapsulation process fixing, etc.
An end cap 3, which is located at one side end of the flexible shell 1 and is fixed with the corresponding ends of the flexible shell 1 and the mandrel 2, and seals the openings of all the channels 1-4 on that side end. And the base 4 is positioned at the end part of the other side of the flexible shell 1, is fixed with the corresponding end parts of the flexible shell 1 and the mandrel 2, and is provided with a plurality of liquid inlets and outlets 4-1 which are in sealing butt joint with the openings of all the channels 1-4 on the end part of the side one by one. In this embodiment, the materials of the end cover 3 and the base 4 may be hard plastics, such as phenolic plastics, polyurethane plastics, epoxy plastics, unsaturated polyester plastics, furan plastics, etc., wherein polyurethane plastics are most preferred, and the end cover 3 and the base 4 may be integrally injection molded. The material structures of the end cover 3 and the base 4 can not deform, so that the soft robot is ensured to be not telescopic along the central axis direction, and the bending of the soft robot in different directions in space is realized, but the central axis direction is not telescopic.
The specific working principle is as follows: the base 4 is provided with a fluid inlet and a fluid outlet, when a certain fan-shaped channel 1-4 is filled with hydraulic oil, the side of the flexible shell 1 where the channel 1-4 is positioned is forced to expand along with the pressure increase in the channel 1-4, however, due to radial constraint caused by fiber fabrics wound on the appearance, the side of the flexible shell 1 where the channel 1-4 is positioned can only extend along a longitudinal axis in one direction and actively bend towards the fan-shaped channel 1-4 with small opposite pressure, and the bending angle is related to the pressure of the fluid entering the channel 1-4 of the flexible shell 1. If the bending degree is increased, liquid can be pumped out of the fan-shaped cavity which is symmetrical in the center of the liquid filling fan-shaped channel 1-4 at the same time, so that the bending speed can be increased, and the working efficiency is improved.
The present application is not limited to the above-mentioned preferred embodiments, and any person who can obtain other various products under the teaching of the present application can make any changes in shape or structure, and all the technical solutions that are the same or similar to the present application fall within the scope of the present application.
Claims (1)
1. A hydraulically controlled soft robot for bionic vertebra, comprising:
a flexible shell comprising:
a first body and a second body extending in an axial direction of the flexible case and having a circular cross section; the radius of the first body is kept unchanged in the extending direction, the second body is divided into a plurality of first units, and the radius of each first unit is linearly increased and then linearly decreased; the first body penetrates through the second body at least, and the first body and the second body are concentric;
the third body extends along the axial direction of the flexible shell, is positioned between the first body and the second body, and equally divides the space between the first body and the second body into a plurality of channels with sector sections and communicated with two end parts of the flexible shell in the circumferential direction of the flexible shell;
a mandrel extending through at least the first body of the flexible shell, the mandrel and the first body being concentric; the mandrel is fixed with the first body;
an end cap located at one side end of the flexible shell and fixed with the corresponding ends of the flexible shell and the mandrel, and sealing the openings of all the channels on the one side end;
the base is positioned at the end part of the other side of the flexible shell, is fixed with the corresponding end parts of the flexible shell and the mandrel, is provided with a plurality of liquid inlets and outlets, and is in sealing butt joint with the openings of all the channels on the end part of the side one by one;
wherein when the hydraulic pressure in any one of the channels of the flexible shell increases, a portion of the second body of the flexible shell corresponding to the channel expands, the portion of the second body extending in the axial direction of the flexible shell and bending against the channel by compression.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210027051.8A CN114274138B (en) | 2022-01-11 | 2022-01-11 | Hydraulic control soft robot for bionic vertebra |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210027051.8A CN114274138B (en) | 2022-01-11 | 2022-01-11 | Hydraulic control soft robot for bionic vertebra |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114274138A CN114274138A (en) | 2022-04-05 |
| CN114274138B true CN114274138B (en) | 2023-11-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210027051.8A Active CN114274138B (en) | 2022-01-11 | 2022-01-11 | Hydraulic control soft robot for bionic vertebra |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011106529A (en) * | 2009-11-14 | 2011-06-02 | Sunport Sekkei Kk | Hydraulically driven actuator, hydraulically driven actuator unit incorporating the same, and hydraulically driven robot assembled with them |
| CN103786164A (en) * | 2014-01-22 | 2014-05-14 | 北华大学 | Pneumatic multidirectional bending flexible joint |
| CN103786165A (en) * | 2014-01-22 | 2014-05-14 | 北华大学 | Pneumatic space bending flexible joint |
| CN106927000A (en) * | 2017-03-06 | 2017-07-07 | 浙江大学 | Transformation compound bending module, S types advance around module and soft robot |
| CN108268133A (en) * | 2016-12-30 | 2018-07-10 | 意美森公司 | Softness haptic perception actuator |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7154362B2 (en) * | 2003-11-12 | 2006-12-26 | Honeywell International, Inc. | Robotic member |
| EP2804721A1 (en) * | 2012-01-19 | 2014-11-26 | President and Fellows of Harvard College | Flexible robotic actuators |
| WO2017172902A1 (en) * | 2016-03-29 | 2017-10-05 | Other Lab, Llc | Fluidic robotic actuator system and method |
| US9908243B2 (en) * | 2016-04-07 | 2018-03-06 | Ziv-Av Engineering Ltd. | Mechanical adjustable device |
| CN109262646B (en) * | 2018-09-29 | 2020-10-20 | 江南大学 | Chain plate type flexible finger |
-
2022
- 2022-01-11 CN CN202210027051.8A patent/CN114274138B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011106529A (en) * | 2009-11-14 | 2011-06-02 | Sunport Sekkei Kk | Hydraulically driven actuator, hydraulically driven actuator unit incorporating the same, and hydraulically driven robot assembled with them |
| CN103786164A (en) * | 2014-01-22 | 2014-05-14 | 北华大学 | Pneumatic multidirectional bending flexible joint |
| CN103786165A (en) * | 2014-01-22 | 2014-05-14 | 北华大学 | Pneumatic space bending flexible joint |
| CN108268133A (en) * | 2016-12-30 | 2018-07-10 | 意美森公司 | Softness haptic perception actuator |
| CN106927000A (en) * | 2017-03-06 | 2017-07-07 | 浙江大学 | Transformation compound bending module, S types advance around module and soft robot |
Non-Patent Citations (2)
| Title |
|---|
| 四足机器人柔性脊柱的设计及分析;雷成林，谭跃刚，黄林考等;数字制造科学;全文 * |
| 多腔体式仿生气动软体驱动器的设计与制作;隋立明，席作岩，刘亭羽;工程设计学报;全文 * |
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| CN114274138A (en) | 2022-04-05 |
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