CN207155799U - Software driver, software arm and software platform - Google Patents
Software driver, software arm and software platform Download PDFInfo
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- CN207155799U CN207155799U CN201721111685.2U CN201721111685U CN207155799U CN 207155799 U CN207155799 U CN 207155799U CN 201721111685 U CN201721111685 U CN 201721111685U CN 207155799 U CN207155799 U CN 207155799U
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- Prior art keywords
- software
- unit module
- blockage mechanism
- support frame
- rigidly connected
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- 210000000988 bone and bone Anatomy 0.000 claims abstract description 18
- 230000006835 compression Effects 0.000 claims abstract description 5
- 238000007906 compression Methods 0.000 claims abstract description 5
- 241000486406 Trachea Species 0.000 claims abstract description 4
- 210000003437 trachea Anatomy 0.000 claims abstract description 4
- 239000002245 particle Substances 0.000 claims description 18
- 238000007789 sealing Methods 0.000 claims description 12
- 239000012798 spherical particle Substances 0.000 claims description 10
- 230000000903 blocking effect Effects 0.000 claims description 8
- 238000005452 bending Methods 0.000 claims description 5
- 239000011324 bead Substances 0.000 claims 1
- 230000009466 transformation Effects 0.000 abstract description 3
- 230000003044 adaptive effect Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 239000000463 material Substances 0.000 description 4
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical group O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000741 silica gel Substances 0.000 description 2
- 229910002027 silica gel Inorganic materials 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229920002521 macromolecule Polymers 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000002861 polymer material Substances 0.000 description 1
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- Prostheses (AREA)
- Electron Beam Exposure (AREA)
Abstract
Software driver, software arm and software platform, software platform includes software arm, lower margin, be rigidly connected joint and flat surface；The bottom of flat surface is provided with several joints that are rigidly connected, and the joint that is rigidly connected is fixed at the top of lower margin, a software arm is respectively provided between the two neighboring joint that is rigidly connected.Every software arm includes several software drivers being serially connected；All tracheaes are connected with vavuum pump.Software driver includes unit module, and unit module includes interior flexible back bone, tracheae, outer flexible layer and blockage mechanism.The utility model is filled with the gas of different air pressure in the deformation hole to unit module, then unit module can be realized for compression, stretching, the driving condition bent.Then, vacuum is inhaled to blockage mechanism, now blockage mechanism is because internal supporting role, whole unit module will be from flexibility to rigid transformation, i.e. variation rigidity.
Description
Technical field
Robot research field is the utility model is related to, particularly a kind of software driver.
Background technology
In robot research field, being no longer only required to robot has a more heavy load ability, and bigger rigidity is higher
Precision, more require that robot has preferably flexible and adaptive capacity to environment, such as the handling capacity of slit robot for space.This
Kind is that the current robot based on rigid body can not realize to the adaptability of environment.
For this problem, the utility model have studied a kind of software driver, and the driving part has fabulous flexible
Meanwhile when needing greater stiffness, larger rigidity can be provided again, namely by variation rigidity mechanism, can either have larger
Flexibility, there can be greater stiffness again, so as to have fabulous adaptive capacity to environment.
Utility model content
The technical problems to be solved in the utility model is to be directed to above-mentioned the deficiencies in the prior art, and provides a kind of software driving
Device, the software driver have fabulous adaptive capacity to environment, by variation rigidity principle, can have larger flexibility, and can tool
There is larger rigidity.
In order to solve the above technical problems, the technical solution adopted in the utility model is：
A kind of software driver, including vavuum pump and unit module, unit module include interior flexible back bone, tracheae, outer soft
Property layer, blockage mechanism, deformation plug and block plug.
Interior flexible back bone has central through hole, has been evenly distributed on the interior flexible back bone of central through hole periphery some
Individual deformation hole.
Outer flexible layer is coated on the periphery of interior flexible back bone.
The both ends in each deformation hole respectively seal one deformation plug of filling.
Blockage mechanism is fixed in central through hole, blockage mechanism include support frame, elastic connection rope, big ball particle,
Small spherical particles, tighten up spring and sealing film.
Each one blocking plug of filling in the central through hole at blockage mechanism both ends.
Support frame is symmetrical structure, and the quantity of support frame is several, and elastic connection rope is successively from each support
The symmetrical centre of skeleton is passed through, and each support frame is fixedly connected with elastic connection rope；The both ends of elastic connection rope
Plug is blocked with two respectively to be fixedly connected.
Accommodating chamber is respectively provided between two neighboring support frame；Big ball particle is centered on elastic connection rope, circumferentially
It is distributed in accommodating chamber, and is connected between big ball particle by tightening up spring；Small spherical particles are filled in the residue of accommodating chamber
In space.
Sealing film is coated on the periphery of support frame and small spherical particles.
Be each provided with a tracheae in blockage mechanism and each deformation hole, the other end of every tracheae with vavuum pump phase
Connection.
Each unit module also includes integument, and integument is coated on the periphery of outer flexible layer.
By the control to gas pressure in several deformation holes, stretching, compression or the bending to unit module can be realized.
Blockage mechanism in a free state, has flexibility；After vacuum is inhaled in blockage mechanism, then blockage mechanism will be by flexibility
It is changed into rigid state.
Support frame is shaped as rhombus, ellipse or hyperbola.
The periphery of sealing film is mutually adhesively fixed with the inwall of central through hole.
The utility model also provides a kind of software arm, and the software arm has fabulous adaptive capacity to environment, passes through change
Rigidity Theory, can have larger flexibility, and and can has larger rigidity.
A kind of software arm, including several unit modules；Several unit modules are serially connected, two neighboring unit mould
Connection is formed by shared blocking plug and deformation plug between block；All tracheaes are connected with vavuum pump.
The utility model also provides a kind of software platform, and the software platform has fabulous adaptive capacity to environment, passes through change
Rigidity Theory, can have larger flexibility, and and can has larger rigidity.
A kind of software platform, including software arm, lower margin, be rigidly connected joint and flat surface；The bottom of flat surface is set
There are several joints that are rigidly connected, the joint that is rigidly connected is fixed at the top of lower margin, it is two neighboring to be rigidly connected between joint
It is respectively provided with a software arm.
Flat surface is triangle, and each corner bottom of flat surface respectively sets the joint that is rigidly connected, the quantity of lower margin
Also it is three.
The utility model has an advantageous effect in that：
1st, when in blockage mechanism intracavitary be normal barometric pressure, namely without inhale vacuum when, blockage mechanism then have flexibility.
2nd, the gas of different air pressure is filled with the deformation hole of internal flexible back bone, then unit module can be realized for compression, drawing
The driving condition stretch, bent.
3rd, after whole unit module deformation, vacuum is inhaled to blockage mechanism, now blockage mechanism translates into rigid element.By
In the inside supporting role of blockage mechanism, whole unit module also becomes rigid element.Namely realize from flexibility to rigidity
Transformation, variation rigidity.So as to, the utility model has fabulous adaptive capacity to environment, by variation rigidity principle, can have compared with
Big flexible, and can has larger rigidity.
Brief description of the drawings
Fig. 1 shows a kind of vertical section structure schematic diagram of software driver of the utility model.
Fig. 2 shows a kind of cross section structure schematic diagram of software driver of the utility model.
Fig. 3 shows the vertical section structure schematic diagram of blockage mechanism.
Fig. 4 shows schematic diagram when blockage mechanism is in compressive state.
Fig. 5 shows schematic diagram when blockage mechanism is in extended state.
Fig. 6 shows schematic diagram when blockage mechanism is in case of bending.
Fig. 7 shows the structural representation of second of embodiment of blockage mechanism.
Fig. 8 shows the structural representation of the third embodiment of blockage mechanism.
Fig. 9 shows the structural representation of software arm.
Figure 10 shows software arm one of which exemplary application map.
Figure 11 shows software arm another kind exemplary application map.
Figure 12 shows the structural representation of software platform.
Wherein have：
100. unit module；
Flexible back bone in 110.；111. central through hole；112. block plug；113. deformation hole；114. deformation plug；
120. tracheae；130. outer flexible layer；140. integument；
150. blockage mechanism；
151. support frame；152. elastic connection ropes；153. big ball particles；154. tighten up spring；155. small spherical particles；
156. sealing film；
200. vavuum pump；
300. software arms；
410. lower margin；420. are rigidly connected joint；430. flat surface；
500. spheroid；600. complex environment；610. slit.
Embodiment
The utility model is described in further detail with specific better embodiment below in conjunction with the accompanying drawings.
As shown in Figures 1 to 6, a kind of software driver, including vavuum pump 200 and unit module 100.
Unit module 100 includes interior flexible back bone 110, tracheae 120, outer flexible layer 130, integument 140, blockage mechanism
150th, deformation plug 114 and blocking plug 112.
Interior flexible back bone has central through hole 111, has been evenly distributed on the interior flexible back bone of central through hole periphery
Several deformation holes 113, the quantity in deformation hole is preferably 3 in the utility model.
Outer flexible layer is coated on the periphery of interior flexible back bone, and preferably outer flexible layer is fixedly connected with interior flexible back bone, enters one
Step is preferably to bond, and the material of outer flexible layer is preferably silica gel etc..
Integument is coated on the periphery of outer flexible layer.
Above-mentioned integument is preferably membranaceous or network structure, is fixedly connected with outer flexible layer.
Above-mentioned interior flexible back bone also uses silica gel, rubber or other high polymer materials, by different ratio, makes interior flexible bone
The hardness or rigidity of frame are more than outer flexible layer.
The both ends in each deformation hole respectively seal one deformation plug of filling.
Blockage mechanism is fixed in central through hole, as shown in figure 3, blockage mechanism 150 includes support frame 151, elasticity even
Splicing rope 152, big ball particle 153, small spherical particles 155, tighten up spring 154 and sealing film 156.
Each one blocking plug of filling in the central through hole at blockage mechanism both ends.
Support frame is symmetrical structure, and the quantity of support frame is several, and support frame is preferably shaped to such as Fig. 3 institutes
The rhombus shown, but can also be oval or as shown in Figure 8 hyperbola as shown in Figure 7 etc., also in the utility model
Protection domain etc.
The material of support frame is preferably plastics, PVC, the light material such as macromolecule.
Elastic connection rope passes through from the symmetrical centre of each support frame successively, while each support frame with elasticity
Connection rope is fixedly connected；The both ends of elastic connection rope block plug with two respectively and are fixedly connected.
Accommodating chamber is respectively provided between two neighboring support frame；Big ball particle is centered on elastic connection rope, circumferentially
It is distributed in accommodating chamber, and is connected between big ball particle by tightening up spring；Small spherical particles are filled in the residue of accommodating chamber
In space.
Sealing film is coated on the periphery of support frame and small spherical particles, the periphery of sealing film preferably with central through hole
Inwall is mutually adhesively fixed.Sealing film is preferably made up of high intensity resiliency materials, by big ball particle and rhombus reinforced seal into
Integrative-structure.
A tracheae 120 is each provided with blockage mechanism and each deformation hole, tracheae middle part is respectively from corresponding plug
Middle sealing passes, and the other end of every tracheae is connected with vavuum pump.
By the control to gas pressure in several deformation holes, it can realize that to unit module be stretching, compress or bend
Deng driving condition.
As shown in figure 4, blockage mechanism is in free state（Namely do not inhale vacuum）When, big ball particle is by tightening up the work of spring
With, compress support frame, when support frame is rhombus, big ball particle being pressed on rhombus skeleton gently, and with rhombus skeleton
It is tangent, make big ball particle be unlikely to be scattered at random in whole accommodating chamber, make the motion of big ball particle there is certainty.Elasticity is even
Splicing rope is fixedly connected with the center of each rhombus skeleton, has certain elasticity.As shown in figure 5, when unit module is stretched
When, the distance between support frame becomes big, and elastic connection rope produces stretcher strain.Big ball particle all the time embedded in support frame it
Between, transmit ambient pressure.Now the rigidity of unit module is very low, that is, has flexibility.
Certainly, the control to gas pressure in several deformation holes is passed through, moreover it is possible to realize bending as shown in Figure 6.
After unit module has reached the stretching, compression or case of bending of setting, by being vacuumized in blockage mechanism, i.e.,
Unit module can be made to realize from flexibility to rigid transformation, i.e. variation rigidity.Specially：When inhaling vacuum to the inner chamber of blockage mechanism,
Due to external pressure so that big ball particle, small spherical particles, support frame only press together, by frictional force, occlusion
Power, make the great increase of rigidity of blockage mechanism, i.e. rigidity.
As shown in figure 9, a kind of software arm, including several unit modules 100；Several unit modules are serially connected,
Connection is formed by shared blocking plug 112 and deformation plug 114 between two neighboring unit module；All tracheaes with very
Empty pump is connected.
Above-mentioned software arm 300, great flexibility, concrete application is as shown in Figure 10 and Figure 11.In Fig. 10, software arm
The crawl to spheroid 500 can be realized.In fig. 11, software arm, can be by narrow in complex environment 600 similar to a software snake
Seam 610.
As shown in figure 12, a kind of software platform, including software arm 300, lower margin 410, be rigidly connected joint 420 and platform
Face 430.
The bottom of flat surface is provided with several joints that are rigidly connected, and the joint that is rigidly connected is fixed at the top of lower margin,
A software arm is respectively provided between the two neighboring joint that is rigidly connected.
Above-mentioned flat surface is preferably triangle, and each corner bottom of flat surface respectively sets the joint that is rigidly connected, ground
The quantity of pin is preferably also three.
Preferred embodiment of the present utility model described in detail above, still, the utility model is not limited to above-mentioned reality
The detail in mode is applied, in range of the technology design of the present utility model, the technical solution of the utility model can be entered
The a variety of equivalents of row, these equivalents belong to the scope of protection of the utility model.
Claims (9)
- A kind of 1. software driver, it is characterised in that：Including vavuum pump and unit module, unit module include interior flexible back bone, Tracheae, outer flexible layer, blockage mechanism, deformation plug and blocking plug；Interior flexible back bone has central through hole, and several shapes have been evenly distributed on the interior flexible back bone of central through hole periphery Variable orifice；Outer flexible layer is coated on the periphery of interior flexible back bone；The both ends in each deformation hole respectively seal one deformation plug of filling；Blockage mechanism is fixed in central through hole, and blockage mechanism includes support frame, elastic connection rope, big ball particle, bead Particle, tighten up spring and sealing film；Each one blocking plug of filling in the central through hole at blockage mechanism both ends；Support frame is symmetrical structure, and the quantity of support frame is several, and elastic connection rope is successively from each support frame Symmetrical centre pass through, and each support frame is fixedly connected with elastic connection rope；The both ends difference of elastic connection rope Plug is blocked with two to be fixedly connected；Accommodating chamber is respectively provided between two neighboring support frame；Big ball particle is evenly distributed centered on elastic connection rope In accommodating chamber, and it is connected between big ball particle by tightening up spring；Small spherical particles are filled in the remaining space of accommodating chamber It is interior；Sealing film is coated on the periphery of support frame and small spherical particles；A tracheae is each provided with blockage mechanism and each deformation hole, the other end of every tracheae is connected with vavuum pump Connect.
- 2. software driver according to claim 1, it is characterised in that：Each unit module also includes integument, wraps Covering layer is coated on the periphery of outer flexible layer.
- 3. software driver according to claim 1, it is characterised in that：By to gas pressure in several deformation holes Control, can realize stretching, compression or the bending to unit module.
- 4. software driver according to claim 1, it is characterised in that：Blockage mechanism in a free state, has flexibility； After vacuum is inhaled in blockage mechanism, then blockage mechanism will be changed into rigid state by flexibility.
- 5. software driver according to claim 1, it is characterised in that：Support frame be shaped as rhombus, ellipse or Hyperbola.
- 6. software driver according to claim 1, it is characterised in that：The periphery of sealing film and the inwall of central through hole Mutually it is adhesively fixed.
- A kind of 7. software arm, it is characterised in that：Including the unit module severaled as described in claim any one of 1-6；If A dry unit module is serially connected, and is formed and connected by shared blocking plug and deformation plug between two neighboring unit module Connect；All tracheaes are connected with vavuum pump.
- A kind of 8. software platform, it is characterised in that：Including software arm as claimed in claim 7, lower margin, be rigidly connected joint And flat surface；The bottom of flat surface is provided with several joints that are rigidly connected, and the joint that is rigidly connected is fixed at the top of lower margin, A software arm is respectively provided between the two neighboring joint that is rigidly connected.
- 9. software platform according to claim 8, it is characterised in that：Flat surface is triangle, each corner of flat surface Bottom respectively sets the joint that is rigidly connected, and the quantity of lower margin is also three.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721111685.2U CN207155799U (en) | 2017-08-31 | 2017-08-31 | Software driver, software arm and software platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721111685.2U CN207155799U (en) | 2017-08-31 | 2017-08-31 | Software driver, software arm and software platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207155799U true CN207155799U (en) | 2018-03-30 |
Family
ID=61719983
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721111685.2U Expired - Fee Related CN207155799U (en) | 2017-08-31 | 2017-08-31 | Software driver, software arm and software platform |
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| Country | Link |
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| CN (1) | CN207155799U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107756385A (en) * | 2017-08-31 | 2018-03-06 | 南京邮电大学 | Variation rigidity software driver, software arm and software platform based on blocking mechanism |
| CN108790178A (en) * | 2018-06-20 | 2018-11-13 | 成都理工大学 | The design method of software actuator based on PLC technology |
| CN109176489A (en) * | 2018-10-11 | 2019-01-11 | 燕山大学 | A kind of continuous variable-stiffness flexible robot |
| CN110549046A (en) * | 2019-08-22 | 2019-12-10 | 杭州魔象智能科技有限公司 | Soft mechanical arm and welding robot thereof |
| CN111331586A (en) * | 2019-12-26 | 2020-06-26 | 北京理工大学 | Fluid-controlled logic software driver |
| CN112428298A (en) * | 2020-11-17 | 2021-03-02 | 中国科学院宁波材料技术与工程研究所 | Soft robot arm and control system thereof |
| CN114406988A (en) * | 2022-01-25 | 2022-04-29 | 常州大学 | Wearable continuous flexible outer limb robot for operation in narrow space |
| CN117207165A (en) * | 2023-09-18 | 2023-12-12 | 南京农业大学 | Modular telescopic soft mechanical arm of pneumatic drive-by-wire |
| CN110000803B (en) * | 2019-05-17 | 2024-04-02 | 江南大学 | Soft robot hand imitating animal tongue |
-
2017
- 2017-08-31 CN CN201721111685.2U patent/CN207155799U/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107756385A (en) * | 2017-08-31 | 2018-03-06 | 南京邮电大学 | Variation rigidity software driver, software arm and software platform based on blocking mechanism |
| CN107756385B (en) * | 2017-08-31 | 2019-09-10 | 南京邮电大学 | Variation rigidity software driver, software arm and software platform based on blocking mechanism |
| CN108790178B (en) * | 2018-06-20 | 2020-05-29 | 成都理工大学 | Programmable control-based design method for soft actuator |
| CN108790178A (en) * | 2018-06-20 | 2018-11-13 | 成都理工大学 | The design method of software actuator based on PLC technology |
| CN109176489B (en) * | 2018-10-11 | 2020-06-19 | 燕山大学 | Continuous variable-rigidity flexible robot |
| CN109176489A (en) * | 2018-10-11 | 2019-01-11 | 燕山大学 | A kind of continuous variable-stiffness flexible robot |
| CN110000803B (en) * | 2019-05-17 | 2024-04-02 | 江南大学 | Soft robot hand imitating animal tongue |
| CN110549046A (en) * | 2019-08-22 | 2019-12-10 | 杭州魔象智能科技有限公司 | Soft mechanical arm and welding robot thereof |
| CN111331586A (en) * | 2019-12-26 | 2020-06-26 | 北京理工大学 | Fluid-controlled logic software driver |
| CN111331586B (en) * | 2019-12-26 | 2023-07-04 | 北京理工大学 | Fluid-controlled logic software driver |
| CN112428298A (en) * | 2020-11-17 | 2021-03-02 | 中国科学院宁波材料技术与工程研究所 | Soft robot arm and control system thereof |
| CN114406988A (en) * | 2022-01-25 | 2022-04-29 | 常州大学 | Wearable continuous flexible outer limb robot for operation in narrow space |
| CN114406988B (en) * | 2022-01-25 | 2023-09-26 | 常州大学 | Wearable continuous flexible outer limb robot for operation in narrow space |
| CN117207165A (en) * | 2023-09-18 | 2023-12-12 | 南京农业大学 | Modular telescopic soft mechanical arm of pneumatic drive-by-wire |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Zhangjiagang Institute of Zhangjiagang Assignor: NANJING University OF POSTS AND TELECOMMUNICATIONS Contract record no.: X2020980007094 Denomination of utility model: Software driver, arm and platform Granted publication date: 20180330 License type: Common License Record date: 20201026 |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180330 |