CN114770486A - Multi-degree-of-freedom variable-rigidity modularized flexible driver and bionic robot - Google Patents
Multi-degree-of-freedom variable-rigidity modularized flexible driver and bionic robot Download PDFInfo
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- CN114770486A CN114770486A CN202210435408.6A CN202210435408A CN114770486A CN 114770486 A CN114770486 A CN 114770486A CN 202210435408 A CN202210435408 A CN 202210435408A CN 114770486 A CN114770486 A CN 114770486A
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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
Abstract
The invention provides a multi-degree-of-freedom variable-rigidity modularized flexible driver and a bionic robot, which comprise a quick connection upper base, a telescopic unit, a variable rigidity unit and a quick connection lower base, wherein the variable rigidity unit is circumferentially distributed between the quick connection upper base and the quick connection lower base; the telescopic unit is vertically fixed at the circumferential centers of the quick connection upper base and the quick connection lower base; the invention realizes the multi-degree-of-freedom variable rigidity, high modular reconstruction and overall light weight of the soft driver, adopts easily available materials and a manufacturing process suitable for industrial production, and greatly reduces the cost. The invention realizes various motion modes such as peristaltic advance, flat ground winding advance, plane omnidirectional movement, mechanical arm space motion and the like in the pipeline by utilizing a bionic principle and combining the deformation and the tension of the driver module with the pressure variation performance and free combination among the modules, and has wide potential and application space.
Description
Technical Field
The invention relates to the technical field of soft robots, in particular to a multi-degree-of-freedom variable-rigidity modularized flexible driver and a bionic robot.
Background
The bionic robot usually simulates the appearance characteristics and the motion mode of organisms in nature, has the characteristics of high motion efficiency, strong maneuvering performance, strong environmental adaptability, good concealment and the like, and has wide application in the fields of environmental survey, scientific exploration, military reconnaissance and the like. The flexible robot has unique advantages in the unstructured environment due to good environmental adaptability, flexibility and safety, and opens up new possibility for the bionic field. The existing flexible robot is usually manufactured by adopting silica gel, has complex process, long manufacturing period and large device quality, and is greatly limited in practical application; in addition, a single flexible driver can only realize a single function, and cannot meet the complex and variable requirements in the bionic field.
The patent literature search in the prior art shows that Chinese invention patent publication No. CN106859770B discloses a multi-degree-of-freedom rigidity-variable pneumatic operation arm and a manufacturing method thereof, belongs to the field of multi-degree-of-freedom minimally invasive operation arms, has the characteristics of high flexible motion capability and rigidity variable, and has the advantages of small volume, light weight, less rigid damage to a human body and fewer air paths which are easy to control. The pneumatic driver unit comprises a cylindrical driver, bases are connected to two ends of the driver, the driver comprises an external rigidity adjusting layer, and a driving layer is arranged inside the rigidity adjusting layer. The driving layer comprises a circular cylindrical silicon rubber layer with a through hole, a plurality of cavities are formed in the silicon rubber layer, the inner surface of the silicon rubber layer is covered with a PDMS layer, and the outer surface of the silicon rubber layer is covered with double-spiral nylon fibers. The base is provided with an air hole corresponding to the cavity and a vacuum-pumping port corresponding to the rigidity adjusting layer. Therefore, the method disclosed by the document and the invention belongs to different inventive concepts.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a multi-degree-of-freedom variable-rigidity modular flexible driver and a bionic robot.
The invention provides a multi-degree-of-freedom variable-rigidity modularized flexible driver, which comprises a quick connection upper base, a telescopic unit, a variable rigidity unit and a quick connection lower base, wherein the variable rigidity unit is circumferentially distributed between the quick connection upper base and the quick connection lower base; the telescopic unit is vertically fixed at the circumferential centers of the quick connection upper base and the quick connection lower base;
when the telescopic unit is in a vacuum state, the telescopic unit is telescopic, tensile force is applied to the quick connection upper base and the quick connection lower base, the module is driven to be integrally compressed, the variable stiffness unit is driven to further bend, and elastic potential energy is stored;
vacuumizing one side of the variable stiffness unit to enable the variable stiffness unit to deform towards the other side and drive the module to bend integrally; after air exhaust is stopped, the telescopic unit and the variable stiffness unit are communicated with the atmosphere, the telescopic unit does not generate pulling force any more, and the variable stiffness unit releases energy instantly to enable the module to generate a jumping action, so that an action cycle is completed.
In some embodiments, the telescopic unit comprises an artificial muscle catheter, an artificial muscle paper folding type framework, an artificial muscle flexible outer skin and an artificial muscle quick connector, wherein the artificial muscle flexible outer skin is coated on the artificial muscle paper folding type framework, two ends of the artificial muscle paper folding type framework are connected with the artificial muscle quick connector, the artificial muscle flexible outer skin is inserted into a deep groove of the artificial muscle quick connector, one end of the artificial muscle catheter is inserted into the artificial muscle flexible outer skin, and the other end of the artificial muscle catheter is connected with an air pump;
when the telescopic unit is in a natural state, the artificial muscle paper folding type framework is unfolded, and the flexible outer skin of the artificial muscle is spread to drive the whole length of the telescopic unit to extend;
when the telescopic unit is in a vacuum state, the flexible outer skin of the artificial muscle is inwards contracted under the action of the atmospheric pressure, the paper folding type framework of the artificial muscle is pushed to be compressed, the flexible outer skin of the artificial muscle is limited by the paper folding type framework of the artificial muscle, and the flexible outer skin of the artificial muscle is folded to the folded concave position to drive the whole length of the telescopic unit to be shortened.
In some embodiments, the variable stiffness unit includes a variable stiffness elastic element conduit, a variable stiffness elastic element outer skin, and a variable stiffness elastic element inner friction plate, the variable stiffness elastic element inner friction plate are arranged in a stacked manner, the variable stiffness elastic element outer skin is wrapped outside the variable stiffness elastic element inner friction plate, and the variable stiffness elastic element conduit is connected to one end of the variable stiffness elastic element outer skin.
In some embodiments, the quick connection upper base is respectively provided with a first convex clamping groove, a longitudinal quick connection clamping groove, a first elastic element clamping groove, a first transverse quick connection clamping groove and a first air pipe guide hole;
the first air pipe guide holes are distributed in the circle center of the quick connection upper base, the first convex clamping grooves are circumferentially and symmetrically distributed on the outer sides of the first air pipe guide holes, the longitudinal quick connection clamping grooves and the first elastic element clamping grooves are circumferentially and symmetrically distributed on the outer sides of the first convex clamping grooves, the longitudinal quick connection clamping grooves and the first elastic element clamping grooves are distributed at intervals, and the first transverse quick connection clamping grooves are distributed on the outer sides of the longitudinal quick connection clamping grooves.
In some embodiments, the quick connection lower base is respectively provided with a second convex clamping groove, a longitudinal quick connection buckle, a second elastic element clamping groove, a second transverse quick connection clamping groove and a second air pipe guide hole;
the second gas pipe guide hole is distributed in the circle center of the fast connecting lower base, the second convex clamping grooves are circumferentially and symmetrically distributed in the outer sides of the second gas pipe guide holes, the longitudinal fast connecting buckles and the second elastic element clamping grooves are circumferentially and symmetrically distributed in the outer sides of the second convex clamping grooves, the longitudinal fast connecting buckles and the second elastic element clamping grooves are distributed at intervals, and the second transverse fast connecting clamping grooves are distributed in the outer sides of the longitudinal fast connecting buckles.
In some embodiments, the artificial muscle quick connector is connected to the quick connection upper base and the quick connection lower base through the first convex clamping groove and the second convex clamping groove respectively;
in some embodiments, wedge-shaped protrusions are arranged at two ends of the variable stiffness unit, and the wedge-shaped protrusions are connected with the first elastic element clamping groove and the second elastic element clamping groove in a matched mode;
the wedge-shaped protrusions are respectively inserted into the first elastic element clamping groove and the second elastic element clamping groove, and connection of the variable-stiffness unit and the quick connection upper base and connection lower base is achieved.
In some embodiments, the longitudinal quick-connection clamping grooves correspond to the longitudinal quick-connection buckles one by one;
when the modules are longitudinally connected, two adjacent modules are connected in a matched manner through the longitudinal quick-connection clamping groove and the longitudinal quick-connection buckle.
In some embodiments, the first horizontal quick-connect slot and the second horizontal quick-connect slot correspond one to one;
when the modules are connected transversely, the two adjacent modules are connected with the quick connector in a matched mode through the first transverse quick connecting clamping groove and the second transverse quick connecting clamping groove.
The invention also provides a bionic robot which comprises the multi-degree-of-freedom variable-rigidity modularized flexible driver.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention designs a multi-degree-of-freedom variable-rigidity modularized flexible driver based on the principles of negative pressure driving and pneumatic variable rigidity, combines a bionic robot with the appearance and the movement mode close to the actual biology based on the principle of bionics, can realize efficient propulsion and movement, and has good environmental adaptability and flexibility;
(2) the driver adopts a modular design, so that the manufacturing cost is low, the assembly and maintenance are convenient, and the cluster arrangement is convenient; the driver is made of thin plates or thin films, so that the overall weight is reduced, and the driver has higher energy-to-mass ratio compared with the conventional driver;
(3) the driver adopts a variable stiffness design based on negative pressure driving, so that the stiffness is freely controllable, and one expansion degree of freedom and two bending degrees of freedom of the driver are realized on the basis, so that more complex motion can be realized after the driver is combined in a modularized manner;
(4) all parts of the driver can be made of transparent materials, and scientific exploration activities can be carried out on the premise of not influencing normal activities of organisms or the driver is used for work tasks with high concealment requirements.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic view of a modular drive in its natural state;
FIG. 2 is a schematic view of the telescopic unit in a natural state;
FIG. 3 is a schematic view of a modular drive in a compressed state;
FIG. 4 is a schematic view of the telescoping unit in a compressed state;
FIG. 5 is a schematic view of a modular actuator in a flexed condition;
FIG. 6 is a schematic view of a quick connect upper base;
FIG. 7 is a schematic view of a quick connect lower base;
FIG. 8 is a schematic view of the connection of the artificial muscle quick connector to the quick connection base;
FIG. 9 is a schematic diagram of a variable stiffness resilient element and an exploded view;
FIG. 10 is a graph of deformation of a modular actuator as a function of actuation air pressure;
FIG. 11 is a graph of pull force of a modular actuator as a function of drive air pressure;
FIG. 12 is a graph of the deformation of a modular drive as a function of drive frequency;
FIG. 13 is a graph of the pull force of a modular actuator as a function of drive frequency;
fig. 14 is example 3: the worm-imitating robot is formed by combining modular drivers in series;
fig. 15 is example 4: the modular drivers are connected in parallel to form a planar omnidirectional mobile robot;
FIG. 16 is a schematic view of an inter-module lateral quick connector;
fig. 17 is example 5: the modular drivers are connected in series to form the space multi-degree-of-freedom mechanical arm;
the figure is marked with:
1 quick-connecting upper base, 101 first artificial muscle quick connector clamping groove, 102 first longitudinal quick connecting clamping groove, 103 first variable stiffness elastic element clamping groove, 104 first transverse quick connecting clamping groove, 105 first air duct guide hole, 2 variable stiffness unit, 201 variable stiffness elastic element guide pipe, 202 variable stiffness elastic element outer skin, 203 variable stiffness elastic element inner layer friction plate, 3 telescopic unit, 301 artificial muscle guide pipe, 302 artificial muscle paper folding type framework, 303 artificial muscle flexible outer skin, 304 artificial muscle quick connector, 4 quick-connecting lower base, 401 second artificial muscle quick connector clamping groove, 402 second longitudinal quick connecting buckle, 403 second variable stiffness elastic element clamping groove, 404 second transverse quick connecting clamping groove, 405 second air duct guide hole, 5 module transverse quick connector, 6 driver module, 7 driver module, 8 driver module, 9 driver module, 10 control system, 11 driver module, 9 driver module, 3 driver module, and 5 driver module, 12 driver module, 13 driver module, 14 driver module, 15 driver module, 16 driver module.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will aid those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any manner. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example 1
The invention provides a multi-degree-of-freedom variable-rigidity modularized flexible driver, which comprises a quick connection upper base 1, a telescopic unit 3, a variable rigidity unit 2 and a quick connection lower base 4, wherein the variable rigidity unit 2 is circumferentially distributed on the quick connection upper base 1 and the quick connection lower base 4; the telescopic unit vertical 3 is vertically fixed at the circumference center of the quick connection upper base 1 and the quick connection lower base 4 and is connected by a clamping groove and a clamping buckle.
As shown in fig. 1-5, the extension unit 3 includes an artificial muscle duct 301, an artificial muscle paper-folding type skeleton 302, an artificial muscle flexible outer skin 303 and an artificial muscle quick connector 304, wherein the artificial muscle paper-folding type skeleton 302 is of a zigzag structure and is wrapped by the artificial muscle flexible outer skin 303, and the artificial muscle duct 301 is inserted into the artificial muscle flexible outer skin 303 and sealed by a heat sealing process. The artificial muscle flexible outer skin 303 is inserted into a deep groove of the artificial muscle quick connector 304 and fixed by gluing. When the telescopic unit 3 is in a natural state, the artificial muscle paper folding type framework 302 is unfolded, the flexible outer skin 303 of the artificial muscle is spread, and the whole telescopic unit 3 is in an extension state; when the interior of the negative pressure pump is vacuumized, the flexible outer skin 303 of the artificial muscle contracts inwards under the action of the atmospheric pressure and pushes the paper folding type framework 302 of the artificial muscle to compress, and on the other hand, the flexible outer skin 303 of the artificial muscle is limited by the paper folding type framework 302 of the artificial muscle and shrinks towards the concave position of a folding line, so that the whole length of the telescopic unit 3 is shortened.
As shown in fig. 6-7, the quick connection upper base 1, the quick connection lower base 4 and the artificial muscle quick connector 304, the variable stiffness elastic element 2 and the individual modules are connected in a snap groove manner. The upper quick-connecting base 1 is provided with a first convex-shaped slot 101, a longitudinal quick-connecting slot 102, a first elastic element slot 103, a first transverse quick-connecting slot 104 and a first air duct guiding hole 105. The quick-connecting lower base 4 is respectively provided with a second convex-shaped clamping groove 401, a longitudinal quick-connecting buckle 402, a second elastic element clamping groove 403, a second transverse quick-connecting clamping groove 104 and a second air pipe guide hole 405.
The first air duct guiding holes 105 are distributed at the center of the quick connection upper base 1, the first convex clamping grooves 101 are circumferentially and symmetrically distributed at the outer side of the first air duct guiding holes 105, the longitudinal quick connection clamping grooves 102 and the first elastic element clamping grooves 103 are circumferentially and symmetrically distributed at the outer side of the first convex clamping grooves 101, the longitudinal quick connection clamping grooves 102 and the first elastic element clamping grooves 103 are distributed at intervals, and the first transverse quick connection clamping grooves 104 are distributed at the outer side of the longitudinal quick connection clamping grooves 102. The second air pipe guide hole 405 is distributed at the center of the fast connecting lower base 4, the second convex-shaped clamping grooves 401 are circumferentially and symmetrically distributed at the outer side of the second air pipe guide hole 405, the longitudinal fast connecting buckles 402 and the second elastic element clamping grooves 403 are circumferentially and symmetrically distributed at the outer side of the second convex-shaped clamping grooves 401, the longitudinal fast connecting buckles 402 and the second elastic element clamping grooves 403 are distributed at intervals, and the second transverse fast connecting clamping grooves 104 are distributed at the outer side of the longitudinal fast connecting buckles 402.
As shown in fig. 8, the artificial muscle quick connector 304 is connected to the quick connection upper base 1 and the quick connection lower base 4 through the first convex-shaped slot 101 and the second convex-shaped slot 401, respectively. The wedge-shaped protrusions are inserted into the first elastic element clamping groove 103 and the second elastic element clamping groove 403 respectively, so that the variable stiffness unit 2 is connected with the quick connection upper base 1 and the quick connection lower base 4. The longitudinal quick connection clamping grooves 102 correspond to the longitudinal quick connection buckles 402 one by one; when the modules are connected longitudinally, two adjacent modules are connected by the longitudinal quick connect card slot 102 and the longitudinal quick connect buckle 402. The first transverse quick connection slot 104 and the second transverse quick connection slot 104 are in one-to-one correspondence; when the modules are connected transversely, two adjacent modules are connected with the quick connector 5 in a matching way through the first transverse quick connecting clamping groove 104 and the second transverse quick connecting clamping groove 104.
The buckle of the artificial muscle quick connector 304 is inserted into the big hole end of the first convex-shaped clamping groove 101 of the quick connecting upper base 1, and then is rotated to the small hole end, so that the neck of the buckle is completely clamped into the small hole, and the quick connecting upper base 1 and the artificial muscle quick connector 304 are connected. The quick connect lower base 4 and the artificial muscle quick connector 304 are connected in the same manner.
As shown in fig. 9, the variable stiffness unit 2 is formed by packaging multiple layers of PET sheets and flexible films, and one end of the variable stiffness unit is connected to a variable stiffness elastic element conduit 201. The variable stiffness unit 2 comprises a variable stiffness elastic element guide pipe 201, a variable stiffness elastic element outer skin 202 and a variable stiffness elastic element inner friction plate 203, the variable stiffness elastic element inner friction plates 203 are arranged in a stacked mode, the variable stiffness elastic element outer skin 202 wraps the variable stiffness elastic element inner friction plate 203, and the variable stiffness elastic element guide pipe 201 is connected to one end of the variable stiffness elastic element outer skin 202. The two ends of the rigidity changing unit 2 are in a protruding wedge shape, and the middle of the rigidity changing unit 2 is a main body part with the largest width and is connected by a neck part with a slightly smaller width. As shown in fig. 1, by using the inherent elastic deformation characteristic of the variable stiffness unit 2, the wedge-shaped protrusions at the two ends of the variable stiffness unit 2 are inserted into the first elastic element slot 103 and the second elastic element slot 403 of the upper quick connection base 1 and the lower quick connection base 4, so that the neck of the variable stiffness unit 2 is completely inserted into the first elastic element slot 103 and the second elastic element slot 403, the two ends are inserted into the elongated slots of the upper and lower quick connection bases, the main body is limited between the two quick connection bases, the wedge-shaped protrusions are outside the quick connection bases, and the variable stiffness unit 2 is bent outward under the limiting action of the upper quick connection base 1 and the lower quick connection base 4. As shown in fig. 3, when the distance between the quick-coupling upper base 1 and the quick-coupling lower base 4 is reduced, the stiffness varying unit 2 is further compressed, and elastic potential energy is accumulated. As shown in fig. 5, when the variable stiffness unit 2 is evacuated to increase the interaction force between the inner multi-layer friction plates 203, the stiffness of the entire variable stiffness unit 2 increases, and the degree of bending under the same conditions decreases.
As shown in fig. 1 to 5, the driver module has a telescopic degree of freedom in the z-axis and a bending degree of freedom in the x-axis and the y-axis. As shown in fig. 1, the driver module is in a natural state, the telescopic unit 3 is relaxed, and the variable stiffness unit 2 is pre-bent outward. The negative pressure pump and the stiffness varying unit 2 are connected by a conduit 201, and the negative pressure pump and the telescopic unit 3 are connected by a conduit 301. As shown in fig. 3, when the negative pressure pump draws a vacuum in the expansion unit 3, the expansion unit 3 contracts, and a pulling force is applied to the quick connection upper base 1 and the quick connection lower base 4 through the quick connector 304, so that the driver module is compressed as a whole, and the compression variable stiffness unit 2 is further bent to store elastic potential energy. As shown in fig. 5, when the negative pressure pump draws vacuum on the two variable stiffness units 2 on the left side, the stiffness of the two variable stiffness units 2 increases, the degree of deformation decreases, and the variable stiffness unit 2 in the natural state on the right side maintains large deformation, so that the entire driver module bends to the right. When the negative pressure pump stops pumping, the telescopic unit 3 and the variable stiffness unit 2 are communicated with the atmosphere, the telescopic unit 3 does not generate pulling force any more, and the variable stiffness unit 2 recovers smaller stiffness and releases energy instantly, so that the driver module generates a jumping action. At this point, the driver module returns to the state of FIG. 1, completing one cycle of action.
As shown in fig. 10 to 13, the telescopic unit 3 of the driver module is driven by negative pressure, and the magnitude and the driving frequency of the driving air pressure are changed, thereby affecting the telescopic displacement and the force of the driver module. And testing the driver modules with different variable stiffness unit 2 lengths by adopting a laser position finder and a dynamometer, and testing the displacement and force of the modules under different negative pressures. As shown in FIGS. 10 and 11, a negative pressure of 0 to-80 kPa is applied to the telescopic unit 3, and for the variable stiffness unit 2 having lengths of 135mm, 150mm, and 165mm, displacements of 0 to 37.5mm, 0 to 41mm, and 0 to 44mm are generated in the entire driver module, and forces of 0 to 14.5N, 0 to 15N, and 0 to 15.9N are generated, respectively. The mass of the entire driver module is about 25g, and the calculated load ratio of the driver can reach 60. As shown in fig. 12 and 13, negative pressure of-40 kPa is applied to the driver module of the 135mm long variable stiffness unit 2, driving frequencies of 1Hz, 5Hz, and 10Hz are applied, the amplitudes of displacement can reach 13mm, 8mm, and 11mm, respectively, and the amplitudes of force can reach 8N, 5N, and 5N, respectively. Therefore, the low-frequency drive is more suitable for worm-imitating robots and space multi-degree-of-freedom mechanical arms, and the high-frequency drive is more suitable for plane omnidirectional mobile robots.
Example 2
The invention also provides a bionic robot which comprises the multi-degree-of-freedom variable-rigidity modularized flexible driver in the embodiment, as shown in figures 14-17.
More specifically, the bionic robot comprises a worm-imitating robot, a snake-imitating robot, a planar omnidirectional mobile robot and a spatial multi-degree-of-freedom mechanical arm. The worm-imitating robot and the snake-imitating robot are formed by connecting a control system and three driver modules in series, and the control system and the driver modules are connected by clamping grooves on a quick connection base in a buckling mode. The planar omnidirectional mobile robot is formed by connecting three driver modules in parallel, and the three driver modules are fixedly connected by a clamping groove on a quick connection base and an inter-module transverse quick connector 5. The space multi-degree-of-freedom mechanical arm is formed by connecting three driver modules in series, the number of the driver modules can be increased as required, the driver modules are connected through clamping grooves on the quick connection base in a buckling mode, one end of the mechanical arm is fixed on the control platform, and the other end of the mechanical arm is connected with the end effector.
Example 3
The embodiment 3 is completed on the basis of the embodiment 1 or the embodiment 2, and specifically:
as shown in fig. 14, this example is a worm-imitating robot composed of a control system 10, a driver module 11, a driver module 12, and a driver module 13. The control system 10 includes a micro air pump, a battery, a switch, a voltage stabilizing module, a relay, and an electromagnetic valve. The artificial muscle conduit 301 and the variable stiffness spring element conduit 201 in the driver module 11, the driver module 12, and the driver module 13 are all gathered to the control system 10 through the air guiding hole 105 of the quick-connect upper base 1 and the air guiding hole 405 of the quick-connect lower base 4, and connected to the solenoid valves. The packaging shell of the control system 10 is connected with the driver module 11 by means of a snap-fit card slot, and the driver module 11, the driver module 12 and the driver module 13 are connected end to end by the inter-module longitudinal fast connecting card slot 102 of the fast connecting upper base 1 and the inter-module longitudinal fast connecting snap 402 of the fast connecting lower base 4.
This example can be applied to motion in narrow ducts, as shown in fig. 14. The control system 10 drives the telescopic unit 3 of the module 11 to contract, the module 12 compresses and enables the variable stiffness unit 2 to bend outwards, and the variable stiffness unit 2 is in contact with the inner wall of the pipeline to generate acting force, so that the module II is fixed at the position. The control system 10 drives the module 13 and the driver module 13 to contract in sequence, at this time, the head of the robot is fixed, and the tail moves forward for a certain distance. Then, the driver modules 11 and 12 are restored to the natural state, and at this time, the tail of the robot is fixed and the head moves forward by a certain distance. Finally, the module 13 is restored to the natural state, and the robot completes a movement cycle and realizes the integral forward movement.
If the worm-imitating robot is to complete the turning action in the curved pipeline, the driving module 11, the driver module 12 and the driver module 13 are required to control the rigidity of the variable rigidity unit 2 while performing the movement. If the robot needs to turn to the right, the variable stiffness unit 2 on the left needs to be evacuated to increase its stiffness, causing the individual driver modules to bend to the right when compressed. Each driver performs this operation, enabling a right turn of the entire robot.
This example can also be applied to a meandering progression over a flat ground, as shown in fig. 14. The driver modules 11, 12 and 13 control the rigidity of the variable rigidity unit 2 to change in a staggered manner while compressing and restoring, so that the adjacent driver modules 11, 12 and 13 bend in a staggered manner to the left and right, and the whole robot can move in a meandering manner.
Example 4
The embodiment 4 is completed on the basis of the embodiment 1 or the embodiment 2, and specifically:
as shown in fig. 15 to 16, the present example is a planar omnidirectional mobile robot including three driver modules 14, 15, and 16 connected in parallel. The inter-module transverse quick connector 5 is connected with the inter-module transverse quick connecting clamping groove 104 of the upper base 1 of the two adjacent modules through a buckle, and the inter-module transverse quick connecting clamping groove 404 of the lower base 4 of the quick connecting, so that transverse connection of the three modules is realized.
As shown in fig. 15, the telescoping modules 3 of the three driver modules 14, 15, 16 are connected to the control system by vias 105, 405. The control system controls the single or multiple modules to vibrate at high frequency, so that omnidirectional movement is realized. For example, the driver module 14 is controlled to compress and recover at high frequency, so that the driver module 14 acts on the ground to drive the entire robot to move towards the driver module 14; the driver module 15 and the driver module 16 are controlled to be compressed and restored at high frequency at the same time, so that the driver module 15 and the driver module 16 are acted with the ground to drive the whole robot to move in the direction opposite to the driver module 14. The plane omnidirectional movement of the robot can be realized through the combination of different modules.
Example 5
The embodiment 4 is completed on the basis of the embodiment 1 or the embodiment 2, and specifically:
as shown in fig. 17, the present example is a spatial multi-degree-of-freedom robot arm in which four driver modules 6, 7, 8, and 9 are connected in series. The driver module 6, the driver module 7, the driver module 8 and the driver module 9 are connected end to end through the inter-module longitudinal quick connection clamping groove 102 of the quick connection upper base 1 and the inter-module longitudinal quick connection clamping buckle 402 of the quick connection lower base 4. The mechanical arm can be added with or subtracted from the driver module as required.
As shown in fig. 17, the driver modules 6, 7, 8, 9 can achieve shortening and lengthening of the entire robot arm length by compression and restoration. The driver modules 6, 7, 8, 9 can achieve bending of the entire arm by varying the stiffness of the variable stiffness unit 2, thereby enlarging the accessibility of the end of the arm.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore, are not to be construed as limiting the present application.
The foregoing description has described specific embodiments of the present invention. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. The multi-degree-of-freedom variable-rigidity modularized flexible driver is characterized by comprising a quick connection upper base (1), a telescopic unit (3), a variable rigidity unit (2) and a quick connection lower base (4), wherein the variable rigidity unit (2) is circumferentially distributed on the quick connection upper base (1) and the quick connection lower base (4); the telescopic unit vertical shaft (3) is directly fixed at the circumferential centers of the quick connection upper base (1) and the quick connection lower base (4);
when the telescopic unit (3) is in a vacuum state, the telescopic unit (3) is telescopic, tension is applied to the quick connection upper base (1) and the quick connection lower base (4), the module is driven to be integrally compressed, the variable stiffness unit (2) is driven to further bend, and elastic potential energy is stored;
vacuumizing one side of the variable stiffness unit (2) to enable the variable stiffness unit (2) to deform towards the other side and drive the module to bend integrally; after air exhaust is stopped, the telescopic unit (3) and the variable stiffness unit (2) are communicated with the atmosphere, the telescopic unit (3) does not generate pulling force any more, and the variable stiffness unit (2) releases energy instantly to enable the module to generate a jumping action, so that an action cycle is completed.
2. The multi-degree-of-freedom variable-stiffness modular flexible driver according to claim 1, wherein the telescopic unit (3) comprises an artificial muscle conduit (301), an artificial muscle paper folding type framework (302), an artificial muscle flexible outer skin (303) and an artificial muscle quick connector (304), the artificial muscle flexible outer skin (303) is covered on the artificial muscle paper folding type framework (302), two ends of the artificial muscle paper folding type framework (302) are connected with the artificial muscle quick connector (304), the artificial muscle flexible outer skin (303) is inserted into a deep groove of the artificial muscle quick connector (304), one end of the artificial muscle conduit (301) is inserted into the artificial muscle flexible outer skin (303), and the other end of the artificial muscle conduit (301) is connected with an air pump;
when the telescopic unit (3) is in a natural state, the artificial muscle paper folding type framework (302) is unfolded, the flexible outer skin (303) of the artificial muscle is spread, and the whole length of the telescopic unit (3) is driven to extend;
when the telescopic unit (3) is in a vacuum state, the flexible outer skin (303) of the artificial muscle contracts inwards under the action of atmospheric pressure and pushes the paper folding type framework (302) of the artificial muscle to compress, the flexible outer skin (303) of the artificial muscle is limited by the paper folding type framework (302) of the artificial muscle and shrinks towards a folded concave position, and the whole length of the telescopic unit (3) is driven to be shortened.
3. The multi-degree-of-freedom variable-stiffness modular flexible driver according to claim 2, wherein the variable-stiffness unit (2) comprises a variable-stiffness elastic element guide pipe (201), a variable-stiffness elastic element outer skin (202) and a variable-stiffness elastic element inner friction plate (203), the variable-stiffness elastic element inner friction plate (203) is arranged in a stacked mode, the variable-stiffness elastic element outer skin (202) wraps the variable-stiffness elastic element inner friction plate (203), and the variable-stiffness elastic element guide pipe (201) is connected to one end of the variable-stiffness elastic element outer skin (202).
4. The multi-degree-of-freedom variable-stiffness modular flexible driver as claimed in claim 3, wherein the quick-connection upper base (1) is respectively provided with a first convex clamping groove (101), a longitudinal quick-connection clamping groove (102), a first elastic element clamping groove (103), a first transverse quick-connection clamping groove (104) and a first air pipe guide hole (105);
the first air pipe guide holes (105) are distributed in the circle center of the quick connection upper base (1), the first convex clamping grooves (101) are circumferentially and symmetrically distributed on the outer side of the first air pipe guide holes (105), the longitudinal quick connection clamping grooves (102) and the first elastic element clamping grooves (103) are circumferentially and symmetrically distributed on the outer side of the first convex clamping grooves (101), the longitudinal quick connection clamping grooves (102) and the first elastic element clamping grooves (103) are distributed at intervals, and the first transverse quick connection clamping grooves (104) are distributed on the outer side of the longitudinal quick connection clamping grooves (102).
5. The multi-degree-of-freedom variable-rigidity modular flexible driver according to claim 4, wherein the quick-connection lower base (4) is respectively provided with a second convex clamping groove (401), a longitudinal quick-connection buckle (402), a second elastic element clamping groove (403), a second transverse quick-connection clamping groove (104) and a second air pipe guide hole (405);
the second air pipe guide holes (405) are distributed in the circle center of the quick connection lower base (4), the second convex clamping grooves (401) are circumferentially and symmetrically distributed on the outer side of the second air pipe guide holes (405), the longitudinal quick connection buckles (402) and the second elastic element clamping grooves (403) are circumferentially and symmetrically distributed on the outer side of the second convex clamping grooves (401), the longitudinal quick connection buckles (402) and the second elastic element clamping grooves (403) are distributed at intervals, and the second transverse quick connection clamping grooves (104) are distributed on the outer side of the longitudinal quick connection buckles (402).
6. The multi-degree-of-freedom variable-stiffness modular flexible driver as claimed in claim 5, wherein the artificial muscle quick connector (304) is connected to the quick connection upper base (1) and the quick connection lower base (4) through the first convex clamping groove (101) and the second convex clamping groove (401), respectively.
7. The multi-degree-of-freedom variable-rigidity modular flexible driver as claimed in claim 5, wherein wedge-shaped protrusions are arranged at two ends of the variable-rigidity unit (2), and the wedge-shaped protrusions are in matched connection with the first elastic element clamping groove (103) and the second elastic element clamping groove (403);
and inserting the wedge-shaped protrusions into the first elastic element clamping groove (103) and the second elastic element clamping groove (403) respectively to realize the connection of the variable stiffness unit (2) with the quick connection upper base (1) and the quick connection lower base (4).
8. The multi-degree-of-freedom variable-stiffness modular flexible driver as recited in claim 5, wherein the longitudinal quick-connect slots (102) and the longitudinal quick-connect buckles (402) are in one-to-one correspondence;
when the modules are longitudinally connected, the two adjacent modules are matched and connected through the longitudinal quick connection clamping groove (102) and the longitudinal quick connection buckle (402).
9. The multi-degree-of-freedom variable-stiffness modular flexible driver as recited in claim 5, wherein the first transverse quick-connect slots (104) and the second transverse quick-connect slots (104) are in one-to-one correspondence;
when the modules are connected transversely, the two adjacent modules are connected with the quick connector (5) in a matched mode through the first transverse quick connecting clamping groove (104) and the second transverse quick connecting clamping groove (104).
10. A biomimetic robot comprising the multiple degree of freedom variable stiffness modular flexible actuator of any of claims 1-9.
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