CN206536470U - A kind of double-deck many gas circuit software drivers - Google Patents
A kind of double-deck many gas circuit software drivers Download PDFInfo
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- CN206536470U CN206536470U CN201621280243.6U CN201621280243U CN206536470U CN 206536470 U CN206536470 U CN 206536470U CN 201621280243 U CN201621280243 U CN 201621280243U CN 206536470 U CN206536470 U CN 206536470U
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- air flue
- road
- road air
- work
- superstructure
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Abstract
The utility model discloses the double-deck many gas circuit software drivers of one kind, the software driver includes superstructure and understructure successively from top to bottom, superstructure includes four road air flues of internal separate closing, and understructure includes the four road air flues and the articulamentum positioned at bottom of internal separate closing；Four road air flues inside superstructure are corresponded with four road air flues inside understructure, and internal structure is identical, and the middle and upper part of superstructure and understructure is uniformly divided into four parts respectively；Four work air chambers and three auxiliary tanks are included per road air flue, work air chamber is spaced apart with auxiliary tank, interconnected.The software driver realizes multiple motion using an elastic tube, and with occupying little space, forms of motion is more, the full advantage of the direction of motion.
Description
Technical field
The utility model is related to the technical field of soft robot, more particularly to a kind of can realize the bilayer of multiple motion
Many gas circuit software drivers.
Background technology
At present, the software driver of multiple motion can be realized at present mainly pneumatic set drive and the driving of pneumatic net
Device.Pneumatic set drive is made up of the elastic tube of multiple single movements, by controlling the air pressure of correspondence elastic tube respectively, is passed through
Pressure difference realizes various motions.The shortcoming of this group of software driver is made up of multiple elastic tubes, is wanted to realize bending, is put down
The motion such as shifting, flexible, at least needs 6 elastic tubes, takes up space bigger.
Pneumatic net driver is cast or Soft lithograph fabrication techniques by silica gel, by the design of internal structure, controls each gas
The pressure size of room, realizes various motions.Current existing pneumatic net driver be by an expansible top layer and one not
The bottom composition of tensible, the top layer of driver is jagged between cavity inner wall, and the driver mainly realizes bending motion, no
Flexible and translational motion can be realized simultaneously.
Therefore need design is a kind of can be while realizing the software driver of the motion such as bending, translation, flexible.
Utility model content
Technical problem：The utility model proposes the double-deck many gas circuit software drivers of one kind, using an elastic tube, pass through
The design of internal structure, the motion such as bending, translation, flexible can be realized simultaneously.
Technical scheme：The double-deck many gas circuit software drivers of one kind of the present utility model, the driving includes successively from top to bottom
Superstructure and understructure；
Superstructure includes four road air flues of internal separate closing, by being followed successively by first via air flue, second clockwise
Road air flue, the 3rd road air flue, the 4th road gas, are uniformly divided into 4 parts by the superstructure of the software driver；First via gas
Road, the second road air flue, the 3rd road air flue, the 4th road air flue include four work air chambers and three auxiliary tanks, work gas respectively
Room is spaced apart with auxiliary tank, is interconnected, and the first work air chamber, the first auxiliary tank, the second work are followed successively by from top to bottom
Make air chamber, the second auxiliary tank, the 3rd work air chamber, the 3rd auxiliary tank and the 4th work air chamber；
The road air flue of four road air flue the 5th of understructure including internal separate closing, the 6th road air flue, the 7th road gas,
8th road air flue and the articulamentum positioned at bottom；The 5th road air flue, the 6th road air flue, the 7th road air flue, the 8th road air flue
By distribution clockwise, the middle and upper part of the understructure of the software driver is uniformly divided into a part, the 5th road air flue, the 6th tunnel
Air flue, the 7th road air flue, the 8th road air flue include four work air chambers and three auxiliary tanks, work air chamber and auxiliary gas respectively
Interventricular septum is distributed, and interconnects, and the 5th work air chamber, the 5th auxiliary tank, the 6th work air chamber, the 6th are followed successively by from top to bottom
Auxiliary tank, the 7th work air chamber, the 7th auxiliary tank and the 8th work air chamber；Bottom articulamentum is solid construction, realizes institute
State the installation of software driver；
To be fixedly connected between superstructure and understructure, two layers of junction is inside solid area, superstructure
The 5th road air flue, the 6th tunnel inside first via air flue, the second road air flue, the 3rd road air flue, the 4th road air flue and understructure
Air flue, the 7th road air flue, the 8th road air flue are corresponded respectively, i.e., in the first via air flue correspondence understructure in superstructure
The road air flue of air flue the 5th, the 6th road air flue in the second road air flue correspondence understructure in superstructure, in superstructure
The 3rd road air flue correspondence understructure in the 7th road air flue, in the 4th road air flue correspondence understructure in superstructure
8th road air flue, air flue internal structure is identical.
It is preferred that, the radical length of the work air chamber is more than the radical length of the auxiliary tank；The work air chamber
Axial height be less than the auxiliary tank axial height；The work air chamber is identical with the side wall thickness of auxiliary tank, and two
Wall thickness between adjacent air flue is more than the wall thickness of air flue and exterior space, the i.e. wall thickness of a quarter radius of circle side and is more than circular arc
The diameter of side；The thickness of the top front cover of work air chamber and the bottom front cover of air flue bottom work air chamber at the top of the air flue
Degree is identical, more than the thickness between two adjacent air flues；Jagged, the footpath of breach between two adjacent work air chambers, outside
It is identical with the wall thickness of exterior space with air flue to height.
It is preferred that, the software driver is flexibility, passes through the different air flue first via to superstructure and understructure
Air flue, the second road air flue, the 3rd road air flue, the 4th road air flue, the 5th road air flue, the 6th road air flue, the 7th road air flue, the 8th tunnel
Air flue inflation/deflation, controls the pressure size inside each air flue, realizes bending, translation, extensional deformation.
It is preferred that, the mould that the software driver is printed by 3D printer is formed by silica gel casting.
Beneficial effect：
1. the utility model is realized by internal structure design and bent using an elastic tube, stretch, the multiple fortune such as translation
It is dynamic.
2. the utility model can both realize bending, stretching motion by the inflation/deflation into different passages, can also be real
Existing translational motion.
2. the utility model can realize the bending and translational motion in eight directions, the achievable bending fortune of the utility model
It is dynamic to include upper strata bending, lower floor's bending and full bending motion.
Brief description of the drawings
Fig. 1 is the utility model a kind of front view and 3-D view of double-deck many gas circuit software drivers.
Fig. 2 is a kind of sectional view of double-deck many gas circuit software drivers of the utility model.
Fig. 3 is a kind of partial enlarged view of double-deck many gas circuit software drivers of the utility model.
Fig. 4 a are a kind of stretching routine schematic diagrames of double-deck many gas circuit software drivers of the utility model.
Fig. 4 b are a kind of translational motion schematic diagrames of double-deck many gas circuit software drivers of the utility model.
Fig. 4 c are a kind of lower floor's bending motion schematic diagrames of double-deck many gas circuit software drivers of the utility model.
Fig. 4 d are a kind of upper strata bending motion schematic diagrames of double-deck many gas circuit software drivers of the utility model.
Embodiment
The utility model is further illustrated with specific implementation example below in conjunction with the accompanying drawings.It should be understood that these embodiments are only used
In explanation the utility model rather than limitation scope of the present utility model, after the utility model has been read, this area skill
Modification of the art personnel to the various equivalent form of values of the present utility model falls within the application appended claims limited range.
Refer to shown in Fig. 1 to Fig. 4, the utility model discloses a kind of double-deck many gas circuit software drivers, from top to bottom according to
It is secondary including superstructure 1 and understructure 2；
Superstructure 1 includes four road air flues of internal separate closing, by clockwise be followed successively by first via air flue 1-1,
Second road air flue 1-2, the 3rd road air flue 1-3, the 4th road air flue 1-4, the superstructure 1 of the software driver is uniformly divided into
4 parts；First via air flue 1-1, the second road air flue 1-2, the 3rd road air flue 1-3, the 4th road air flue 1-4 include four work gas
Room and three auxiliary tanks, work air chamber are spaced apart with auxiliary tank, interconnect, the first work gas is followed successively by from top to bottom
Room 1-1.1, the first auxiliary tank 1-1.2, the second work air chamber 1-1.3, the second auxiliary tank 1-1.4, the 3rd work air chamber 1-
1.5th, the work air chambers of the 3rd auxiliary tank 1-1.6 and the 4th 1-1.7；
The road air flue 2-1 of four road air flue the 5th of understructure 2 including internal separate closing, the 6th road air flue 2-2, the
Seven road air flue 2-3, the 8th road air flue 2-4 and the articulamentum 2-5 positioned at bottom；The 5th road air flue 2-1, the 6th road air flue 2-
2nd, the 7th road air flue 2-3, the 8th road air flue 2-4 are distributed in the direction of the clock, in the understructure 2 of the software driver
Portion is uniformly divided into 4 parts, the 5th road air flue 2-1, the 6th road air flue 2-2, the 7th road air flue 2-3, the 8th road air flue 2-4 difference
Including four work air chambers and three auxiliary tanks, work air chamber is spaced apart with auxiliary tank, is interconnected, bottom articulamentum
2-5 is solid construction, realizes a kind of installation of double-deck many gas circuit software drivers of the utility model；
To be fixedly connected between superstructure 1 and understructure 2, two layers of junction is inside solid area, superstructure 1
First via air flue 1-1, the second road air flue 1-2, the 3rd road air flue 1-3, the 4th road air flue 1-4 and understructure 2 inside
Five road air flue 2-1, the 6th road air flue 2-2, the 7th road air flue 2-3, the 8th road air flue 2-4 are corresponded respectively, i.e. superstructure 1
In first via air flue 1-1 correspondence understructures 2 in the road air flue 2-1 of air flue the 5th, the second road air flue in superstructure 1
In the 3rd road air flue 1-3 correspondence understructures 2 in the 6th road air flue 2-2 in 1-2 correspondence understructures 2, superstructure 1
In the 8th road air flue 2-4 in the 4th road air flue 1-4 correspondence understructures 2 in 7th road air flue 2-3, superstructure 1, air flue
Portion's structure is identical.
Refering to Fig. 3, the radical length of the work air chamber is more than the radical length of the auxiliary tank；The work air chamber
Axial height be less than the auxiliary tank axial height；The work air chamber is identical with the side wall thickness of auxiliary tank, and two
Wall thickness between adjacent air flue is more than the wall thickness of air flue and exterior space, the i.e. wall thickness of a quarter radius of circle side and is more than circular arc
The wall thickness of side；The thickness of the top front cover of work air chamber and the bottom front cover of air flue bottom work air chamber at the top of the air flue
Degree is identical, more than the thickness between two adjacent air flues；Jagged, the footpath of breach between two adjacent work air chambers, outside
It is identical with the wall thickness of exterior space with air flue to height.
Refering to such as Fig. 2 and Fig. 4, the software driver is flexibility, passes through the difference to superstructure 1 and understructure 2
Air flue first via air flue 1-1, the second road air flue 1-2, the 3rd road air flue 1-3, the 4th road air flue 1-4, the 5th road air flue 2-1,
Six road air flue 2-2, the 7th road air flue 2-3, the 8th road air flue 2-4 inflation/deflations, control the pressure size inside each air flue, realize
Bending, translation, extensional deformation；The software driver can realize translation and the bending motion in eight directions, achieved bending
Motion includes upper strata bending, lower floor's bending and full bending motion；When simultaneously to air flue first via air flue 1-1, the second road air flue 1-
2nd, the 3rd road air flue 1-3, the 4th road air flue 1-4, the 5th road air flue 2-1, the 6th road air flue 2-2, the 7th road air flue 2-3, the 8th
When road air flue 2-4 is inflated, stretching routine as shown in fig. 4 a can be achieved, when simultaneously to air flue first via air flue 1-1, the second road gas
Road 1-2, the 3rd road air flue 1-3, the 4th road air flue 1-4 inflation and simultaneously to the road air flue 2-1 of air flue the 5th, the 6th road air flue 2-2,
When 7th road air flue 2-3, the 8th road air flue 2-4 are inflated, stretching routine can be also realized；When simultaneously to air flue first via air flue 1-1,
When the 4th road air flue 1-4, the 5th road air flue 2-1, the 7th road air flue 2-3 inflations, translational motion as shown in Figure 4 b can be achieved, together
When to the air flue along the superstructure 1 being diagonally distributed and the air flue of understructure 2 (such as first via air flue 1-1 and the 8th tunnel
Air flue 2-4) inflation, the translational motion of different directions can be achieved；When simultaneously to the road air flue 2-1 of air flue the 5th, the 7th road air flue 2-3
During inflation, lower floor's bending motion as illustrated in fig. 4 c can be achieved, while towards the air flue inflation of one to three understructure 2, can
Realize lower floor's bending motion of different directions；, can when being inflated to air flue first via air flue 1-1, the 3rd road air flue 1-3 simultaneously
Upper strata bending motion as shown in figure 4d is realized, while towards the air flue inflation of one to three superstructure 1, not Tongfang can be achieved
To upper strata bending motion；When simultaneously to about one to three one-to-one a pair of air flue (such as first via air flue 1-1 and the
Five road air flue 2-1) inflation when, can be achieved different directions full bending motion.
The mould that the software driver is printed by 3D printer, is formed by silica gel casting.
While there has been shown and described that embodiment of the present utility model, it will be understood by those skilled in the art that：
These embodiments can be carried out with a variety of changes, modification in the case where not departing from principle of the present utility model and objective, replaced
And modification, scope of the present utility model limits by claim and its equivalent.For example, the number of plies of the software driver can be with
Increase and decrease is considered as needed, and every layer of quantity comprising air flue can also consider increase and decrease as needed.
Claims (4)
1. a kind of double-deck many gas circuit software drivers, it is characterised in that：The driving from top to bottom successively include superstructure (1) and
Understructure (2)；
Superstructure (1) includes four road air flues of internal separate closing, by clockwise be followed successively by first via air flue (1-1),
Second road air flue (1-2), the 3rd road air flue (1-3), the 4th road air flue (1-4), the superstructure of the software driver is equal
It is even to be divided into 4 parts；First via air flue (1-1), the second road air flue (1-2), the 3rd road air flue (1-3), the 4th road air flue (1-4)
Include four work air chambers and three auxiliary tanks respectively, work air chamber is spaced apart with auxiliary tank, interconnected, from up to
Under be followed successively by the first work air chamber (1-1.1), the first auxiliary tank (1-1.2), second work air chamber (1-1.3), second auxiliary
Air chamber (1-1.4), the 3rd work air chamber (1-1.5), the 3rd auxiliary tank (1-1.6) and the 4th work air chamber (1-1.7)；
The road air flue (2-1) of four road air flue the 5th of understructure (2) including internal separate closing, the 6th road air flue (2-2),
7th road air flue (2-3), the 8th road air flue (2-4) and the articulamentum (2-5) positioned at bottom；The 5th road air flue (2-1),
Six road air flues (2-2), the 7th road air flue (2-3), the 8th road air flue (2-4) are by distribution clockwise, by under the software driver
The middle and upper part of Rotating fields (2) is uniformly divided into 4 parts, the 5th road air flue (2-1), the 6th road air flue (2-2), the 7th road air flue
(2-3), the 8th road air flue (2-4) include four work air chambers and three auxiliary tanks respectively, between work air chamber and auxiliary tank
Every distribution, interconnect, the 5th work air chamber, the 5th auxiliary tank, the 6th work air chamber, the 6th auxiliary are followed successively by from top to bottom
Air chamber, the 7th work air chamber, the 7th auxiliary tank and the 8th work air chamber；Bottom articulamentum (2-5) is solid construction, realizes institute
State the installation of software driver；
To be fixedly connected between superstructure (1) and understructure (2), two layers of junction is in solid area, superstructure (1)
The first via air flue (1-1) in portion, the second road air flue (1-2), the 3rd road air flue (1-3), the 4th road air flue (1-4) and understructure
(2) the 5th internal road air flue (2-1), the 6th road air flue (2-2), the 7th road air flue (2-3), the 8th road air flue (2-4) difference
Correspond, i.e., the road air flue (2- of air flue the 5th in first via air flue (1-1) correspondence understructure (2) in superstructure (1)
1), the 6th road air flue (2-2) in the second road air flue (1-2) correspondence understructure (2) in superstructure (1), superstructure
(1) the in the 7th road air flue (2-3) in the 3rd road air flue (1-3) correspondence understructure (2) in, superstructure (1) the 4th
The 8th road air flue (2-4) in road air flue (1-4) correspondence understructure (2), air flue internal structure is identical.
2. a kind of double-deck many gas circuit software drivers as claimed in claim 1, it is characterised in that：The radial direction of the work air chamber
Length is more than the radical length of the auxiliary tank；The axial height of the work air chamber is less than the axially high of the auxiliary tank
Degree；The work air chamber is identical with the side wall thickness of auxiliary tank, and it is empty with outside that the wall thickness between two adjacent air flues is more than air flue
Between wall thickness, i.e., the wall thickness of a quarter radius of circle side be more than circular arc side diameter；Work air chamber at the top of the air flue
Top front cover is identical with the thickness of the bottom front cover of air flue bottom work air chamber, more than the thickness between two adjacent air flues；Institute
State two adjacent work air chambers, it is outside between it is jagged, the radial height of breach is identical with the wall thickness of exterior space with air flue.
3. a kind of double-deck many gas circuit software drivers as claimed in claim 1, it is characterised in that：The software driver is soft
Property, by the different air flue first via air flues (1-1) of superstructure (1) and understructure (2), the second road air flue (1-2),
Three road air flues (1-3), the 4th road air flue (1-4), the 5th road air flue (2-1), the 6th road air flue (2-2), the 7th road air flue (2-
3), the 8th road air flue (2-4) inflation/deflation, controls the pressure size inside each air flue, realizes bending, translation, extensional deformation.
4. a kind of double-deck many gas circuit software drivers as claimed in claim 1, it is characterised in that：The software driver passes through
The mould of 3D printer printing, is formed by silica gel casting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621280243.6U CN206536470U (en) | 2016-11-25 | 2016-11-25 | A kind of double-deck many gas circuit software drivers |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621280243.6U CN206536470U (en) | 2016-11-25 | 2016-11-25 | A kind of double-deck many gas circuit software drivers |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206536470U true CN206536470U (en) | 2017-10-03 |
Family
ID=59938222
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621280243.6U Withdrawn - After Issue CN206536470U (en) | 2016-11-25 | 2016-11-25 | A kind of double-deck many gas circuit software drivers |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206536470U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106493726A (en) * | 2016-11-25 | 2017-03-15 | 东南大学 | A kind of double-deck many gas circuit software drivers |
| CN108297955A (en) * | 2018-03-29 | 2018-07-20 | 燕山大学 | A kind of bionical wheel and foot formula wriggling soft robot |
| CN114211669A (en) * | 2021-12-21 | 2022-03-22 | 郑州轻工业大学 | Reconfigurable software driver manufacturing die and driver manufacturing method thereof |
-
2016
- 2016-11-25 CN CN201621280243.6U patent/CN206536470U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106493726A (en) * | 2016-11-25 | 2017-03-15 | 东南大学 | A kind of double-deck many gas circuit software drivers |
| CN106493726B (en) * | 2016-11-25 | 2018-10-23 | 东南大学 | A kind of more gas circuit software drivers of bilayer |
| CN108297955A (en) * | 2018-03-29 | 2018-07-20 | 燕山大学 | A kind of bionical wheel and foot formula wriggling soft robot |
| CN108297955B (en) * | 2018-03-29 | 2023-07-04 | 燕山大学 | Bionic wheel foot type peristaltic soft robot |
| CN114211669A (en) * | 2021-12-21 | 2022-03-22 | 郑州轻工业大学 | Reconfigurable software driver manufacturing die and driver manufacturing method thereof |
| CN114211669B (en) * | 2021-12-21 | 2024-05-31 | 郑州轻工业大学 | Reconfigurable software driver manufacturing die and driver manufacturing method thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20171003 Effective date of abandoning: 20181023 |