CN204123396U - The stiffness variable module of bionic soft robot - Google Patents
The stiffness variable module of bionic soft robot Download PDFInfo
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- CN204123396U CN204123396U CN201420466855.9U CN201420466855U CN204123396U CN 204123396 U CN204123396 U CN 204123396U CN 201420466855 U CN201420466855 U CN 201420466855U CN 204123396 U CN204123396 U CN 204123396U
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Abstract
A kind of stiffness variable module of bionic soft robot, described stiffness variable module comprises elastic matrix, breather pipe, centre-driven chamber and side actuator chamber, the cross section of described elastic matrix is rounded, the middle part of described elastic matrix is provided with centre-driven chamber, the one first-class circular arc compartment of terrain of circle of the elastic matrix outside described centre-driven chamber is provided with at least three side actuator chambers, the two ends of described centre-driven chamber and side actuator chamber are all closed, and described centre-driven chamber, side actuator chamber are all communicated with breather pipe; At the inner and outer wall mounting center attaching means in described centre-driven chamber, at the inner and outer wall installation side attaching means of described side actuator chamber.The utility model effectively realizes rigidity independent variable and dynamically controlled in grip motion process.
Description
Technical field
The utility model relates to robot field, especially a kind of bionic soft robot.
Background technology
In recent years, to become of robot field emerging and have the research direction of prospect for soft robot.Traditional rigid machine people is with its high rigidity, high strength, high accuracy, the feature of high speed is used widely at industrial circle, but, to attempt rigid machine people from industrial production line application extension to other field (as household services when numerous scientific researches and technical staff pay great efforts, help the elderly and help the disabled, agricultural automation, medical rehabilitation etc.) time, but the rigid machine people of heavy dependence structured environment and mathematical models is found in above-mentioned non-structural complex environment with when being difficult to carry out interjob with the object complicated and changeable that Mathematical Modeling is described accurately, the high rigidity of rigid machine people, high strength, high accuracy feature becomes the shortcoming causing its this generic task not competent on the contrary.In this case, soft robot research is risen gradually, researcher and engineers and technicians are by means of intellectual material (as: silicon rubber, marmem SMA, electroactive polymer EPA etc.) and novel actuation techniques (as: SMA, pneumatic, magnetorheological, EPA etc.), research and development use no or little the novel robot structure of rigid mechanism completely, this kind of soft robot generally has sufficient compliance, adaptability, super redundancy or infinite degrees of freedom, even can change arbitrarily own form and size to conform and target.
But industrial robot design process in order to meet certain specific function, often need to expend huge time and efforts, when mission requirements is clearer and more definite, we can design the robot of our needs according to mission requirements, but for some unpredictable tasks, we just cannot complete the optimal design of a robot, if a robot module can be had in this case, it can change self structural allocation automatically according to the change of task and working environment, form the optimum configuration adapted with it, complete operation task, not only expand the range of application of robot, more because the homogeneity of module and interchangeability reduce manufacture and maintenance cost, improve the reliability of operation.
Summary of the invention
Cannot realize rigidity independent variable and dynamically controlled deficiency to overcome existing bionic soft robot in grip motion process, the utility model provides a kind of stiffness variable module effectively realizing rigidity independent variable and dynamically controlled bionic soft robot in grip motion process.
The utility model solves the technical scheme that its technical problem adopts:
A kind of stiffness variable module of bionic soft robot, described stiffness variable module comprises elastic matrix, breather pipe, centre-driven chamber and side actuator chamber, the cross section of described elastic matrix is rounded, the middle part of described elastic matrix is provided with centre-driven chamber, the one first-class circular arc compartment of terrain of circle of the elastic matrix outside described centre-driven chamber is provided with at least three side actuator chambers, the two ends of described centre-driven chamber and side actuator chamber are all closed, and described centre-driven chamber, side actuator chamber are all communicated with breather pipe; At the inner and outer wall mounting center attaching means in described centre-driven chamber, at the inner and outer wall installation side attaching means of described side actuator chamber.
Further, the front-end and back-end of described module are respectively equipped with connector, are connected between the module that front and back are connected by connector.
Further, layout that a circle of the elastic matrix outside described centre-driven chamber misplaces with described side actuator chamber walks tube passage, walks tube passage described in described breather pipe is positioned at.
Further again, described center attaching means comprises center restricted spring and center confinement ring, the inwall mounting center restricted spring in described centre-driven chamber, the outer wall mounting center confinement ring in described centre-driven chamber, described side attaching means comprises side restricted spring and side confinement ring, the inwall installation side restricted spring of described side actuator chamber, the outer wall installation side confinement ring of described side actuator chamber.
Or: described center attaching means, side attaching means are restricted spring.
Again or: described center attaching means, side attaching means are confinement ring.
The front end of described elastic matrix is provided with tenon, and rear end is provided with the notch coordinated with described tenon.
Described elastic matrix is cylindrical, and described stiffness variable module is base pitch.
Described elastic matrix is truncated cone-shaped, and described stiffness variable module is periproct.
Technical conceive of the present utility model is: reconfigurable modular robot can along with the wish of people be to carry out the conversion of various shape, and the stiffness variable module of the bionic soft robot that the utility model proposes can synthesize the configuration of various the best according to the requirement groups of task.The stiffness variable module of bionic soft robot itself is a kind ofly collect control, driving, communication, transmission integrated unit, so the combination of modules is not simple mechanical combination, also comprises kinematics and dynamics combination, and the combination of control system.
The structure that the utility model is being conceived to current soft robot just can complete certain single task, in the face of complicated and changeable and unpredictable task often can not reach best effect, propose the stiffness variable module of bionic soft robot, it is a kind of new exploration of soft robot research, be expected to solve current bionic soft robot goal task more single, design cost be too high, complex structure and not there is the problem of composability.
The beneficial effects of the utility model are mainly manifested in: make soft robot have good flexibility and bendability, effectively can capture the target object of different structure profile, and the real-time control of soft robot can be enable and change self rigidity, keep stable grasping movement.
Accompanying drawing explanation
Fig. 1 is the structure chart of the stiffness variable module of bionic soft robot of the present utility model.
Fig. 2 is the side view of Fig. 1.
Fig. 3 is the periproct structure chart that stiffness variable of the present utility model is formed.
Fig. 4 is the side view of Fig. 3.
Fig. 5 is the straight configuration of bionic soft robot of the present utility model.
Fig. 6 is the case of bending of bionic soft robot of the present utility model.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is further described.
With reference to Fig. 1 ~ Fig. 6, a kind of stiffness variable module of bionic soft robot, comprise elastic matrix, breather pipe, centre-driven chamber and side actuator chamber, the cross section of described elastic matrix is rounded, the middle part of described elastic matrix is provided with centre-driven chamber, the one first-class circular arc compartment of terrain of circle of the elastic matrix outside described centre-driven chamber is provided with at least three side actuator chambers, and the two ends of described centre-driven chamber and side actuator chamber are all closed, and described centre-driven chamber, side actuator chamber are all communicated with breather pipe; At the inner and outer wall mounting center attaching means in described centre-driven chamber, at the inner and outer wall installation side attaching means of described side actuator chamber.
Further, the front-end and back-end of described module are respectively equipped with connector, are connected between the module that front and back are connected by connector.
Further, layout that a circle of the elastic matrix outside described centre-driven chamber misplaces with described side actuator chamber walks tube passage, walks tube passage described in described breather pipe is positioned at.
Further again, described center attaching means comprises center restricted spring and center confinement ring, the inwall mounting center restricted spring in described centre-driven chamber, the outer wall mounting center confinement ring in described centre-driven chamber, described side attaching means comprises side restricted spring and side confinement ring, the inwall installation side restricted spring of described side actuator chamber, the outer wall installation side confinement ring of described side actuator chamber.
Or: described center attaching means, side attaching means are restricted spring.
Again or: described center attaching means, side attaching means are confinement ring.
The front end of described elastic matrix is provided with tenon, and rear end is provided with the notch coordinated with described tenon.
Described elastic matrix is cylindrical, and described stiffness variable module is base pitch 1.
Described elastic matrix is truncated cone-shaped, and described stiffness variable module is periproct 2.
The bionic soft robot of the present embodiment is by least two pieces of stiffness variable module generation, comprise base pitch 1 and periproct 2, the rear end of described base pitch 1 is connected with the front end of described periproct 2, described base pitch 1 comprises the first elastic matrix 11, first breather pipe 12, first centre-driven chamber 14 and the first side actuator chamber 13, described first elastic matrix 11 is cylindrical, the middle part of described first elastic matrix 11 is provided with the first centre-driven chamber 14, the one first-class circular arc compartment of terrain of circle of the elastic matrix outside described first centre-driven chamber 14 is provided with at least three the first side actuator chambers 13, the two ends of described first centre-driven chamber 14 and the first side actuator chamber 13 are all closed, described first centre-driven chamber 14, first side actuator chamber 13 is all communicated with the first breather pipe 12, at the inner and outer wall in described first centre-driven chamber 14, first center attaching means is installed, at the inner and outer wall of described first side actuator chamber 13, first side attaching means is installed,
Described periproct 2 comprises the second elastic matrix 21, second breather pipe 22, second centre-driven chamber 24 and the second side actuator chamber 23, described second elastic matrix 21 is in truncated cone-shaped, the middle part of described second elastic matrix 21 is provided with the second centre-driven chamber 24, the one first-class circular arc compartment of terrain of circle of the elastic matrix outside described second centre-driven chamber 24 is provided with at least three the second side actuator chambers 23, the two ends of described second centre-driven chamber 24 and the second side actuator chamber 23 are all closed, and described second centre-driven chamber 24, second side actuator chamber 23 is all communicated with the second breather pipe 22; At the inner and outer wall in described second centre-driven chamber 24, second center attaching means is installed, at the inner and outer wall of described second side actuator chamber 23, second side attaching means is installed;
Described second breather pipe 22 is communicated with described first breather pipe 12.
Further, described base pitch 1 has at least two, cascade between the base pitch of front and back.According to bionical needs, different designs can be carried out.
Further again, in described base pitch 1, layout first that a circle of the elastic matrix outside described first centre-driven chamber misplaces with described first side actuator chamber 13 walks tube passage 17, and described first breather pipe 12 is positioned at described first and walks tube passage 17; In described periproct 2, layout second that a circle of the elastic matrix outside described second centre-driven chamber misplaces with described second side actuator chamber 23 walks tube passage 27, and described second breather pipe 22 is positioned at described second and walks tube passage 27.
Further, in described base pitch 1, described first center attaching means comprises the first center restricted spring 15 and the first center confinement ring 16, the inwall in described first centre-driven chamber 13 installs the first center restricted spring 15, the outer wall in described first centre-driven chamber 13 installs the first center confinement ring 16, described first side attaching means comprises the first side restricted spring and the first side confinement ring, the inwall of described first side actuator chamber installs the first side restricted spring, and the outer wall of described first side actuator chamber installs the first side confinement ring; In described periproct 2, described second center attaching means comprises the second center restricted spring 25 and the second center confinement ring 26, the inwall in described second centre-driven chamber 23 installs the second center restricted spring 25, the outer wall in described second centre-driven chamber 23 installs the second center confinement ring 26, described second side attaching means comprises the second side restricted spring and the second side confinement ring, the inwall of described second side actuator chamber installs the second side restricted spring, and the outer wall of described second side actuator chamber installs the second side confinement ring.
Or: described first center attaching means, the first side attaching means, the second center attaching means, the second side attaching means are restricted spring.Again or: described first center attaching means, the first side attaching means, the second center attaching means, the second side attaching means are confinement ring.
The rear end of described first elastic matrix 11 is provided with notch, and the front end of described second elastic matrix 21 is provided with the tenon coordinated with described notch.This connected mode belongs to a kind of preferred connected mode, certainly, also can adopt other connected mode; In addition, for cascade base pitch between connection, tongue and groove also can be adopted to connect, certainly, also can adopt other connected modes.
In the present embodiment, the structure of base pitch 1 is: the first elastic matrix 11 is made up of silica gel material, flexible fine with bending property, it is bionic soft robot outermost layer, other structures that described base pitch 1 comprises all are bundled together, the structure of the first described elastic matrix 11 is modular construction, and two ends arrange syndeton, can multi-section serial, the first described breather pipe 12 is parts of the driving gas transmission of initiatively stiffness variable long-armed type bionic soft robot, in the first described elastic matrix 11, contain the first breather pipe 12 described in a lot of root, the first described breather pipe 12 is distributed in the first described centre-driven chamber 13, the first described side actuator chamber 14, the first described centre-driven chamber 13 plays a part the body rigidity controlling soft robot in real time, the two ends in the first described centre-driven chamber 13 are closed, the first described breather pipe 12 is connected in described centre-driven chamber, can control the body rigidity of soft robot by the Compressed Gas of input different pressures in the first described breather pipe 12, the first described side actuator chamber 14 plays a part actions such as controlling the bending of soft robot, grasp, the two ends of same the first described side actuator chamber 14 are also closed, the first breather pipe 12 described in many is connected in described side actuator chamber, input Compressed Gas in the first breather pipe 12 in the first described side actuator chamber 14 described in different directions, the actions such as bending and grasp of soft robot different directions can be realized, the first described center restricted spring 15 or the first center confinement ring 16 are embedded on the inside and outside wall in the first described centre-driven chamber 13, the first described side restricted spring or the first side confinement ring are embedded in on the first described side actuator chamber 14 inside and outside wall, the first described center restricted spring 15 is the same with the effect of the first center confinement ring 16, the compressed gas cognition of the described interior input different pressures of the first breather pipe 12 causes the first described centre-driven chamber 13 and the first described side actuator chamber 14 to inflate the change of rear generation radial direction greatly, the first described center restricted spring 15 or the effect of the first center confinement ring 16 are large for preventing the first elastic matrix 11 inflated described in rear generation from radial change occurring, described first walks tube passage 17 unified for the first described breather pipe 12 one end going to described base pitch 1, and being convenient to rear the first described breather pipe 12 of series connection between multiple described base pitch 1 can be interconnected.
The structure of described periproct 2 and the structure of described base pitch 1 unanimous on the whole, comprise the second elastic matrix 21, second breather pipe 22, second centre-driven chamber 23, second side actuator chamber 24, second center restricted spring 25 equally or the second center confinement ring 26, second walks tube passage 27, difference is that described periproct 2 end is diminishing (that is: whole periproct is truncated cone-shaped).Described periproct 2 and described base pitch 1 link together and form the overall structure of initiatively stiffness variable long-armed type bionic soft robot.
The operation principle of the present embodiment: base pitch and the periproct of active stiffness variable long-armed type bionic soft robot interconnect, to the Compressed Gas of centre-driven chamber input different pressures, the body rigidity of soft robot can be regulated in real time, make robot complete the action such as to grasp in there is suitable rigidity, to the Compressed Gas of the side actuator chamber input different pressures of different directions, soft robot can be made to realize in various degree, bending of different directions, cooperatively interacted by the centre-driven chamber of base pitch and periproct and side actuator chamber, soft robot can be imitated action that octopus peduncle completes various complexity.
Content described in this description embodiment is only enumerating the way of realization that utility model is conceived; protection domain of the present utility model should not be regarded as being only limitted to the concrete form that embodiment is stated, protection domain of the present utility model also comprises those skilled in the art and conceives the equivalent technologies means that can expect according to the utility model.
Claims (9)
1. the stiffness variable module of a bionic soft robot, it is characterized in that: described stiffness variable module comprises elastic matrix, breather pipe, centre-driven chamber and side actuator chamber, the cross section of described elastic matrix is rounded, the middle part of described elastic matrix is provided with centre-driven chamber, the one first-class circular arc compartment of terrain of circle of the elastic matrix outside described centre-driven chamber is provided with at least three side actuator chambers, the two ends of described centre-driven chamber and side actuator chamber are all closed, and described centre-driven chamber, side actuator chamber are all communicated with breather pipe; At the inner and outer wall mounting center attaching means in described centre-driven chamber, at the inner and outer wall installation side attaching means of described side actuator chamber.
2. the stiffness variable module of bionic soft robot as claimed in claim 1, is characterized in that: the front-end and back-end of described module are respectively equipped with connector, is connected between the module that front and back are connected by connector.
3. the stiffness variable module of bionic soft robot as claimed in claim 1 or 2, it is characterized in that: layout that a circle of the elastic matrix outside described centre-driven chamber misplaces with described side actuator chamber walks tube passage, walks tube passage described in described breather pipe is positioned at.
4. the stiffness variable module of bionic soft robot as claimed in claim 1 or 2, it is characterized in that: described center attaching means comprises center restricted spring and center confinement ring, the inwall mounting center restricted spring in described centre-driven chamber, the outer wall mounting center confinement ring in described centre-driven chamber, described side attaching means comprises side restricted spring and side confinement ring, the inwall installation side restricted spring of described side actuator chamber, the outer wall installation side confinement ring of described side actuator chamber.
5. the stiffness variable module of bionic soft robot as claimed in claim 1 or 2, is characterized in that: described center attaching means, side attaching means are restricted spring.
6. the stiffness variable module of bionic soft robot as claimed in claim 1 or 2, is characterized in that: described center attaching means, side attaching means are confinement ring.
7. the stiffness variable module of bionic soft robot as claimed in claim 1 or 2, it is characterized in that: the front end of described elastic matrix is provided with tenon, rear end is provided with the notch coordinated with described tenon.
8. the stiffness variable module of bionic soft robot as claimed in claim 1 or 2, it is characterized in that: described elastic matrix is cylindrical, described stiffness variable module is base pitch.
9. the stiffness variable module of bionic soft robot as claimed in claim 1 or 2, it is characterized in that: described elastic matrix is truncated cone-shaped, described stiffness variable module is periproct.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420466855.9U CN204123396U (en) | 2014-08-18 | 2014-08-18 | The stiffness variable module of bionic soft robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201420466855.9U CN204123396U (en) | 2014-08-18 | 2014-08-18 | The stiffness variable module of bionic soft robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104227721A (en) * | 2014-08-18 | 2014-12-24 | 浙江工业大学 | Variable rigidity module of bionic soft-bodied robot |
| CN107243923A (en) * | 2017-05-24 | 2017-10-13 | 东北大学 | A kind of binodal McKibben muscle variation rigidity soft robot arm |
| CN109263843A (en) * | 2018-09-03 | 2019-01-25 | 哈尔滨工业大学 | A kind of Biomimetic Fish based on chemical reaction driving |
| WO2021243514A1 (en) * | 2020-06-01 | 2021-12-09 | 大连理工大学 | Drive module for soft robot having magnetically induced variable rigidity and manufacturing method therefor |
-
2014
- 2014-08-18 CN CN201420466855.9U patent/CN204123396U/en not_active Withdrawn - After Issue
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104227721A (en) * | 2014-08-18 | 2014-12-24 | 浙江工业大学 | Variable rigidity module of bionic soft-bodied robot |
| CN104227721B (en) * | 2014-08-18 | 2015-12-30 | 浙江工业大学 | The stiffness variable module of bionic soft robot |
| CN107243923A (en) * | 2017-05-24 | 2017-10-13 | 东北大学 | A kind of binodal McKibben muscle variation rigidity soft robot arm |
| CN109263843A (en) * | 2018-09-03 | 2019-01-25 | 哈尔滨工业大学 | A kind of Biomimetic Fish based on chemical reaction driving |
| CN109263843B (en) * | 2018-09-03 | 2019-09-24 | 哈尔滨工业大学 | A kind of Biomimetic Fish based on chemical reaction driving |
| WO2021243514A1 (en) * | 2020-06-01 | 2021-12-09 | 大连理工大学 | Drive module for soft robot having magnetically induced variable rigidity and manufacturing method therefor |
| US11345054B2 (en) | 2020-06-01 | 2022-05-31 | Dalian University Of Technology | Magnetic-induced stiffness changed soft robot drive module and production method thereof |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20150128 Effective date of abandoning: 20151230 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20150128 Effective date of abandoning: 20151230 |
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| C25 | Abandonment of patent right or utility model to avoid double patenting |