CN205766141U - A kind of variation rigidity of based on air pressure locking principle continuous mechanism - Google Patents
A kind of variation rigidity of based on air pressure locking principle continuous mechanism Download PDFInfo
- Publication number
- CN205766141U CN205766141U CN201620512494.6U CN201620512494U CN205766141U CN 205766141 U CN205766141 U CN 205766141U CN 201620512494 U CN201620512494 U CN 201620512494U CN 205766141 U CN205766141 U CN 205766141U
- Authority
- CN
- China
- Prior art keywords
- joint
- frictional disk
- continuous mechanism
- continuous
- silica gel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Landscapes
- Orthopedics, Nursing, And Contraception (AREA)
Abstract
The utility model discloses a kind of variation rigidity of based on air pressure locking principle continuous mechanism, including continuous mechanism, for changing the state converter of the hard and soft state of continuous mechanism and for controlling the Pose Control system of continuous means flex degree, continuous mechanism is in series by friction slip by pedestal and joint, the one end in joint is provided with the connection dish with square opening and prism, the other end is provided with the first frictional disk with circular shaft bore, and friction slip includes the second frictional disk matched with the first frictional disk；State converter includes silica gel air bag, airway and the port of cylinder；Pose Control system is by steel wire and drives motor to form, and one end of steel wire connects each joint, and the other end connects driving motor.This utility model mechanism uses over-pressure control, and gasbag lock is waited indefinitely technology, and continuous mechanism can be made to reach the highest rigidity at locking state, and fast response time, hard and soft State Transferring is rapid, has hard and soft variable, locating stiffness advantages of higher.
Description
Technical field
This utility model relates to continuous mechanism design field, specifically, relates to a kind of change based on air pressure locking principle firm
Degree continuous mechanism.
Background technology
Continuous mechanism is the bio-mechanism that a class is novel, imitates the biologic-organs such as Serpentis class, trunk, has higher motion flexible
Property, complex environment has the strongest adaptation ability, especially at non-structure environment and the space-constrained environment of multi-obstacle avoidance
In can change own form neatly.But due to seriality mechanism high flexibility, cause again it to show location just
Spend the shortcoming poor, control accuracy is low.In the application in the fields such as medical treatment, generally require continuous mechanism and should show good soft
Pliable, there is certain rigidity the most under certain condition.Such as continuous mechanism being used for endoscope robot, it is worked
Journey is divided into two stages, and the first stage needs robot to comply with body cavities structure at flexible state, and operation tool is sent into target
Position；Second stage is when operation tool is at people's in-vivo procedures, and this just requires that the rigidity that robot is enough is come for end operation
Instrument provides mechanical support.Therefore the research to continuous mechanism variation rigidity has great significance.
In recent years, people utilized the mode utility models such as Jamming, low-melting alloy phase transformation, Wire pulling, vacuum cavitations
Multiple variation rigidity continuous mechanism, but majority to show change rigidity big not, the defects such as response speed is the fastest.
Utility model content
The purpose of this utility model is to overcome deficiency of the prior art, it is provided that a kind of variation rigidity based on air pressure locking principle
Continuous mechanism, this mechanism uses over-pressure control, and gasbag lock is waited indefinitely technology, and continuous mechanism can be made to reach very at locking state
High rigidity, response speed is quickly simultaneously, and hard and soft State Transferring is rapid, efficiently solves the problems referred to above, has hard and soft variable,
Fast response time, locating stiffness advantages of higher.
The purpose of this utility model is achieved through the following technical solutions:
A kind of variation rigidity of based on air pressure locking principle continuous mechanism, including continuous mechanism, for changing described continuous machine
The state converter of the hard and soft state of structure and for controlling the Pose Control system of described continuous means flex degree, described continuously
Type mechanism is in series by friction slip by pedestal and joint, is provided with hollow structure, the one end in described joint in the middle part of described joint
Being provided with the connection dish with square opening and prism, the other end is provided with the first frictional disk with circular shaft bore, the axis of described square opening and prism
It is orthogonal layout with the axis of described circular shaft bore；Described friction slip includes the second friction matched with described first frictional disk
Dish, symmetrical on described second frictional disk is provided with the rectangular cam protruding with hook type, pedestal and joint, joint and joint it
Between each junction be provided with two friction slips, be connected with described hook type projecting elastic by elastic string between two friction slips,
It is additionally provided with on described second frictional disk for through described circular shaft bore the square shaft that matches with described square opening and prism；
Described state converter includes silica gel air bag, airway and the port of cylinder, and the middle part of described silica gel air bag is provided with circle
Shape air flue, one end closing of described circular air flue, the other end is connected with described airway by described port, described silica gel air bag
Penetrating in described hollow structure by described pedestal, described port is connected with each other by connector with pedestal；
Described Pose Control system is by steel wire and drives motor to form, and one end of described steel wire connects each joint, and the other end is even
Connect described driving motor.
It is equipped with, on described first frictional disk and the second frictional disk, the tooth being mutually twisted.
The outer wall in described joint is provided with the edge of a wing with at least four wire hole, and described wire hole is for steel wire described in cross-under.
The outer surface of described silica gel air bag is equally spaced is wound with nylon wire.
Fluid sealant is used to seal between described port and airway.
Compared with prior art, the technical solution of the utility model is had the benefit that
1., in continuous mechanism, the axis of two ends, each joint axis hole is orthogonal layout, and each two joint can form a unit,
Each unit can realize the bending of both direction.The axis hole of upper and lower adjacent segment is connected by the square shaft of friction slip, it is ensured that
With coordinating of hypozygal square opening and prism, limit the rotation of itself and hypozygal.Friction slip coordinates with upper joint circular shaft bore simultaneously,
When silica gel air bag deflation, friction slip unlocks with upper and lower joint, and upper and lower joint can relatively rotate, and mechanism is in flexible shape
State；When silica gel airbag aeration expands, friction slip locks with upper joint, so that hypozygal locks with upper joint, reaches whole
The purpose of individual mechanism locking；Joint, after plural serial stage, can have height in three dimensions towards any direction continuous bend
The motility of degree.
2., owing to using air pressure inflation/deflation mode, quickly, air pump can provide size to the response speed of the hard and soft conversion of whole mechanism simultaneously
Different air pressure, makes silica gel air bag produce the expansion thrust varied in size, and then makes mechanism produce variable rigidity.
3., if silica gel air bag bulk expansion, can cause the continuous mechanism being in case of bending under the effect of silica gel air bag restoring force
It is forced " stretching ", this expansion area being accomplished by controlling silica gel air bag, i.e. only corresponding with friction slip in junction, each joint
Region expands, and with the expansion in remaining region of limit, therefore this utility model has nylon wire in remaining area surfaces uniform winding
Thus reach this effect.
4. in pose control system, being made up of many steel wires and multiple driving motor, steel wire one end connects each joint, the other end
Connect each driving motor, drive motor and steel wire one_to_one corresponding, by controlling the length driving electric machine rotational axis to change steel wire,
And then the degree of crook of control continuous mechanism, simple to operate, convenient and swift.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Fig. 2 is the structural representation of state converter.
Fig. 3 is the structural representation in joint.
Fig. 4 is the structural representation of friction slip.
Reference: 1-pedestal 2-joint 3-friction slip 4-elastic string 5-silica gel air bag 6-nylon wire 7-circle air flue 8-end
Mouth 9-airway 10-steel wire 20-hollow structure 21-connection dish 22-square opening and prism 23-the first frictional disk 24-circular shaft bore
26-wire hole 30-the second frictional disk 31-square shaft 32-rectangular cam 33-hook type in the 25-edge of a wing is protruding
Detailed description of the invention
The utility model will be further described below in conjunction with the accompanying drawings:
As shown in Figures 1 to 4, a kind of variation rigidity of based on air pressure locking principle continuous mechanism, including continuous mechanism, shape
State conversion equipment and Pose Control system three part composition, continuous mechanism is in series by multistage joint 2, can in space to
Any direction bends；State converter is locked by air pressure and elastic releasing mechanism makes continuous mechanism realize between hard and soft state
Conversion；Pose Control system is for controlling described continuous mechanism degree of crook in different directions.
In the present embodiment, continuous mechanism is serially connected and constitutes by a pedestal 1 and four joints 2, in being provided with in the middle part of joint 2
Hollow structure 20, the one end in joint 2 is provided with the connection dish 21 with square opening and prism 22, and the other end is provided with circular shaft bore 24
First frictional disk 23, the axis of the axis of square opening and prism 22 and circular shaft bore 24 is orthogonal layout；When neighbouring two joints
During cooperation, the square shaft 31 on friction slip 3 through upper joint circular shaft bore 24 and coordinates with the square opening and prism 22 of hypozygal,
Can relatively rotate between the most upper and lower joint.Joint 2, can be in three dimensions towards arbitrarily side after plural serial stage
To continuous bend, there is the motility of height.Friction slip 3 includes the second frictional disk matched with described first frictional disk 23
30, the first frictional disk 23 and the second frictional disk 30 are equipped with the tooth being mutually twisted.Symmetrical being provided with on second frictional disk 30
With the rectangular cam 32 of hook type projection 33, each junction between pedestal 1 and joint 2, joint 2 and joint 2 is provided with two
Individual friction slip 3, in order to realize respectively junction, upper and lower joint two to axis hole (every pair include a upper joint circular shaft bore with
One hypozygal square opening and prism) cooperation.The hook type projection 33 being wound around on the two friction slip 3 with elastic string 4, makes two
The end face of the rectangular cam 32 of friction slip 3 is pressed close to mutually, and now the first frictional disk 23 on two pairs of joint axis holes rubs with second
Wiping dish 30 separates, and does not affect the motion in joint 2；Owing to the square shaft 31 on friction slip 3 is through upper joint circular shaft bore 24
And coordinate with the square opening and prism 22 of hypozygal, can relatively rotate between the most upper and lower joint, hypozygal and friction slip 3
Between the relative slip along square opening and prism 22 axis direction can occur, but without relatively rotating.If friction slip 3 external force (as
Air pressure) effect under slide to the square opening and prism 22 of hypozygal, the second frictional disk 30 thereon will with on upper joint circular shaft bore 24
The first frictional disk 23 be engaged, then friction slip 3 is also locked with relatively rotating of upper joint, in addition friction slip 3 and ShiShimonoseki
Joint, without relatively rotating, can realize upper and lower interarticular locking.
State converter includes silica gel air bag 5, airway 9 and the port 8 of cylinder, and the middle part of silica gel air bag 5 is provided with circle
Air flue 7, one end closing of circular air flue 7, the other end is connected with airway 9 by port 8, and silica gel air bag 5 is by pedestal 1
Penetrating in described hollow structure 20, port 8 is interconnected and fixed by screw with pedestal 1；When locking joint 2, utilize gas
Silica gel air bag 5 inflation is made it expand by pump, pushes friction slip 3, makes the first frictional disk 23 contact directly with the second frictional disk 30
To locking, cause between joint 2 cannot relative motion, thus strengthen mechanism's integral rigidity；After silica gel air bag 5 is exitted, rub
Wipe slide block 3 under the elastic reaction of elastic string 4, depart from square opening and prism 22 and the circular shaft bore 24 in joint 2, make the first frictional disk
23 separate with the second frictional disk 30, can be with relative motion between joint 2, the flexibility of recovery mechanism.Owing to silica gel air bag 5 fills
If bulk expansion after gas, trend during the continuous mechanism being in bending attitude can be caused to produce back under the effect of atmospheric pressure, reduce
Work efficiency, in order to the region making silica gel air bag 5 only corresponding with friction slip 3 in the junction in each joint 2 expands, needs
The expansion in these regions is limited at the outer surface uniform winding nylon wire 6 in remaining region of silica gel air bag 5.
Described Pose Control system is made up of many steel wires 10 and multiple driving motor, and in the present embodiment, the outer wall in each joint 2 sets
Having the edge of a wing 25, the edge of a wing 25 is provided with four wire holes 26, one end of steel wire 10 connects each joint 2 by wire hole 26,
The other end connects each driving motor, drives motor and steel wire 10 one_to_one corresponding, changes steel wire by controlling driving electric machine rotational axis
Length, and then control continuous mechanism three-dimensional bending angle.
Work process of the present utility model is as follows: under submissive state, is changed by the length driving motor to control steel wire 10, makes
Mechanism reaches preferable pose；In the case of keeping its shape invariance, air pump is utilized to be filled with certain pressure to silica gel air bag 5
Air, makes the silica gel air bag 5 of junction, each joint 2 expand, and it is locked with joint 2 to push friction slip 3, allows whole mechanism
Reach rigid state；Afterwards silica gel air bag 5 is exitted, utilizes the elastic force of elastic string 4 to make friction slip 3 depart from joint 2,
Unlock, the flexibility of recovery mechanism.In air pressure locking process, the expansive force of silica gel air bag 5 needs to overcome elastic string 4 bullet
Property power.
In the present embodiment, the body part of mechanism is 3D printout, and material is photosensitive resin, including pedestal 1, and each joint 2,
Friction slip 3 and port 8, each several part is by being assembled into one.Described silica gel air bag 5 is viscoelastic material, passes through liquid silicon
Glue cast forms, and its geometric shape is elongated cylindrical, and port 8 and circular air flue 7 are by the use type when pouring into a mould silica gel air bag 5
Core is made, and port 8 utilizes fluid sealant to seal with airway 9.
Claims (5)
1. variation rigidity of based on air pressure locking principle a continuous mechanism, it is characterised in that include continuous machine
Structure, for changing the state converter of the hard and soft state of described continuous mechanism and for controlling described continuous machine
The Pose Control system of structure degree of crook, described continuous mechanism is connected structure by friction slip by pedestal and joint
Becoming, be provided with hollow structure in the middle part of described joint, the one end in described joint is provided with the connection dish with square opening and prism,
The other end is provided with the first frictional disk with circular shaft bore, the axis of described square opening and prism and described circular shaft bore
Axis is orthogonal layout；Described friction slip includes the second frictional disk matched with described first frictional disk, institute
State and symmetrical on the second frictional disk be provided with the rectangular cam protruding with hook type, pedestal and joint, joint and pass
Each junction between joint is provided with two friction slips, by elastic string and described hook between two friction slips
Type projecting elastic connects, and described second frictional disk is additionally provided with for through described circular shaft bore square with described
The square shaft that axis hole matches；
Described state converter includes silica gel air bag, airway and the port of cylinder, described silica gel air bag
Middle part is provided with circular air flue, and one end of described circular air flue is closed, and the other end is by described port and described inducing QI
Pipe connects, and described silica gel air bag penetrates in described hollow structure by described pedestal, and described port passes through with pedestal
Connector is connected with each other；
Described Pose Control system is by steel wire and drives motor to form, and one end of described steel wire connects each joint,
The other end connects described driving motor.
A kind of variation rigidity of based on air pressure locking principle continuous mechanism, its feature
It is, described first frictional disk and the second frictional disk are equipped with the tooth being mutually twisted.
A kind of variation rigidity of based on air pressure locking principle continuous mechanism, its feature
Being, the outer wall in described joint is provided with the edge of a wing with at least four wire hole, and described wire hole is used for cross-under institute
State steel wire.
A kind of variation rigidity of based on air pressure locking principle continuous mechanism, its feature
Being, the outer surface of described silica gel air bag is equally spaced is wound with nylon wire.
A kind of variation rigidity of based on air pressure locking principle continuous mechanism, its feature
It is, between described port and airway, uses fluid sealant to seal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620512494.6U CN205766141U (en) | 2016-05-30 | 2016-05-30 | A kind of variation rigidity of based on air pressure locking principle continuous mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620512494.6U CN205766141U (en) | 2016-05-30 | 2016-05-30 | A kind of variation rigidity of based on air pressure locking principle continuous mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205766141U true CN205766141U (en) | 2016-12-07 |
Family
ID=58137780
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620512494.6U Withdrawn - After Issue CN205766141U (en) | 2016-05-30 | 2016-05-30 | A kind of variation rigidity of based on air pressure locking principle continuous mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205766141U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105798896A (en) * | 2016-05-30 | 2016-07-27 | 天津大学 | Variable-stiffness continuous type mechanism based on air pressure locking principle |
| CN106695770A (en) * | 2017-02-24 | 2017-05-24 | 哈尔滨工业大学深圳研究生院 | Flexible arm joint group |
-
2016
- 2016-05-30 CN CN201620512494.6U patent/CN205766141U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105798896A (en) * | 2016-05-30 | 2016-07-27 | 天津大学 | Variable-stiffness continuous type mechanism based on air pressure locking principle |
| CN106695770A (en) * | 2017-02-24 | 2017-05-24 | 哈尔滨工业大学深圳研究生院 | Flexible arm joint group |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105798896B (en) | A kind of variation rigidity continuous type mechanism based on air pressure locking principle | |
| Gorissen et al. | Elastic inflatable actuators for soft robotic applications | |
| Gong et al. | Rotary actuators based on pneumatically driven elastomeric structures | |
| CN110270987B (en) | Pneumatic soft crawling robot and manufacturing and control method thereof | |
| US11628560B2 (en) | Programmable multi-scale fluidic artificial muscles and pistons | |
| CN105500383B (en) | A kind of soft robot module with multi-motion form | |
| EP2286716A2 (en) | A moving device in pipe lines | |
| CN205766141U (en) | A kind of variation rigidity of based on air pressure locking principle continuous mechanism | |
| US10584724B2 (en) | Soft buckling actuators | |
| CN107214729A (en) | A kind of flexible pneumatic manipulator with multi-functional crawl | |
| CN110293581A (en) | A kind of bionic soft mechanical arm and grasping system | |
| CN205363898U (en) | Open -ended modularity arm | |
| JP2017534475A (en) | Improvement of soft robot actuator | |
| CN108466276A (en) | A kind of multifreedom motion finger and preparation method thereof based on elastomer soft material | |
| CN111906811A (en) | Full-flexible pneumatic actuator | |
| CN108582058B (en) | Negative pressure rotary artificial muscle | |
| CN113942004B (en) | Snake-like soft robot based on tension structure | |
| CN107414800B (en) | Two-branch parallel surgical robot driven by rotation | |
| CN113183122A (en) | Rigidity-variable single-finger framework of rigid-flexible coupling dexterous hand | |
| CN215825341U (en) | Transmission joint | |
| Takeshima et al. | Six-braided tube in-pipe locomotive device | |
| CN110480668A (en) | A kind of bulb joint finger mechanism of flexible connection and hydraulic-driven | |
| TW202335812A (en) | Soft robotic modular and reconfigurable actuator | |
| CN112405589B (en) | Flexible driver based on corrugated pipe | |
| CN109264394A (en) | A kind of terrine grasping means of manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161207 Effective date of abandoning: 20171024 |
|
| AV01 | Patent right actively abandoned |