CN208198623U - A kind of bionical wheel and foot formula wriggling soft robot - Google Patents
A kind of bionical wheel and foot formula wriggling soft robot Download PDFInfo
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- CN208198623U CN208198623U CN201820433802.5U CN201820433802U CN208198623U CN 208198623 U CN208198623 U CN 208198623U CN 201820433802 U CN201820433802 U CN 201820433802U CN 208198623 U CN208198623 U CN 208198623U
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- mounting rack
- software matrix
- tire mounting
- tire
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Abstract
A kind of bionical wheel and foot formula wriggling soft robot, specifically includes that software matrix, walking mechanism, driving mechanism and end effector.Wherein, software matrix is the fold shape structure being connected to form made of flexible silicone rubber pours step by step in a mold by several air cavitys, entire software matrix is divided into two independent air cavitys, and each air cavity respectively passes through a tracheae and is connected with an air pump, and the tracheae and air pump form driving mechanism.The software matrix is located in walking mechanism comprising: tire mounting rack, clip, tire, unilateral bearing and locking nut, end effector are mounted on the tire mounting rack of the non-one end that is connected with tracheae of software matrix.The utility model software base shape, size and flexibility can change according to requirements, work that can be stable for a long time in severe complex environment, flexibility with higher, and structure is simple, and ontology lighter weight, flexibility is good, and gas source is convenient, less energy intensive.
Description
Technical field
The utility model relates to a kind of soft robots, and in particular to a kind of bionical wheel and foot formula wriggling soft robot.
Background technique
With advances in technology, robot is mostly machine in the more mature but present robot of application of all trades and professions
The rigid machine people of tool structure.Though rigid machine people has higher control precision, there are still shortcomings in some aspects:
Deficient in stability, flexibility and environmental suitability in complicated unstructured moving grids；Small space locomitivity is limited；Weight is larger
And control system is complicated.And soft robot has the characteristics that submissive dexterity and man-machine safety, is guaranteeing to control precision
In the case where, it can be to avoid the above shortcoming, application prospect is extensive, such as: delicate objects are carried out with adaptability is submissive grabs
It takes；Rehabilitation training and power-assisted are carried out to the upper limb of disability patient；It is explored under the natural calamities complicated landform environment such as earthquake
Information gathering etc. in search and rescue and battlefield.
In soft robot, the advantages of software climbing robot has itself, currently, soft robot technology still in
Exploratory development stage, overall technology are perfect not enough.The more representational software climbing robot developed both at home and abroad has
The GoQBot soft robot that Univ Tufts of the U.S. develops, can have rolling ejectability as caterpillar；Chinese section
It learns technology university and devises an imitative starfish soft robot, each angle of the robot can drive realization curved by memorial alloy
Song can creep, turns and roll.But the creep speed of software climbing robot is restricted.
Summary of the invention
The utility model aim be to provide a kind of structure is simple, flexibility is good, energy consumption less and can be in complicated non-structural ring
The bionical wheel and foot formula wriggling soft robot quickly moved under border.
The utility model specifically includes that software matrix, walking mechanism, driving mechanism and end effector.Wherein,
Software matrix is connected to form made of flexible silicone rubber pours step by step in a mold by several air cavitys
Fold shape structure (its quantity is different and different according to work requirements and working environment), single air cavity is by two semi-circular plates
Two arc-shaped sides are connected with same two arc-shaped side of arc panel, at the same two straight flanges of two halves plectane again with the same plate, that is, bottom plate phase
The even hollow closing shell of semicircle of composition.The lower half round tube hole of coaxial line is equipped in each air cavity two halves plectane lower part.
It was equipped with the partition of its axis in hollow closing shell, which is not only divided into two not connection for hollow closing shell
90 ° of fan-shaped chambers, and lower half round tube hole is separated into two 90 ° of fan-shaped pylones i.e. stomata, each fan-shaped chamber and two stomatas again
It is corresponding.Two neighboring air cavity lower half round tube hole passes through the semi-circular tube that both ends are connected with them respectively and connect, the semi-circular tube arc
Part is connected with lower half round tube hole, which is linked together with hollow closing Housing Base, makes single air cavity group
At an entirety.A small baffle, the median plane of these small baffles and hollow closing shell internal partition are respectively set in each semi-circular tube
Entire software matrix is then divided into two by the small baffle in hollow closing shell internal partition and semi-circular tube by same median plane
Independent air cavity, i.e. A chamber and B chamber, each air cavity respectively pass through a tracheae and are connected with an air pump, and the tracheae and air pump form
Driving mechanism.Respectively set a cuboid connector in the software matrix both ends of the surface, middle part set two not the upper and lower of connection open
Port recess, they are corresponding with the boss on tire mounting rack and clip respectively.
The software matrix is located in walking mechanism, which includes: tire mounting rack, clip, tire, one-way shaft
It holds and locking nut.The tire mounting rack is two, and two tire mounting racks are respectively provided with a wheel shaft, which is in
Stairstepping which is provided with unilateral bearing, and be positioned by locking nut, and the unilateral bearing is the internal bearing with ratchet, can only
One-directional rotation.Tire sleeve is circular tire in the periphery of unilateral bearing, the preferably tire, is equipped with multiple annulars on the outside of tire
Uniformly distributed fold-type boss, centre are machined with the round hole being used cooperatively with unilateral bearing and make with the cooperation of unilateral bearing outer ring keyway
Rectangular boss.It is equipped in the upward one side of each tire mounting rack convex under the rectangular in cross-section for being inserted into software matrix
Platform, best boss set chamfering.Clip is equipped with above lower convex platform, for semicircular ring and both ends set radial cantilever plate, on cantilever plate
It is machined with through-hole, the through-hole is corresponding with the screw hole on tire mounting rack, is located on clip through-hole and tire mounting rack in screw hole
The two is connected by screw.Separately in shell ring be equipped with the rectangular in cross-section opposite with tire mounting rack lower convex platform convex platform, two
Person's outer dimension is corresponding with software matrix slot, and tire mounting rack lower convex platform is inserted into the cuboid connector of software matrix
In down-open recess, the upper opening that the convex platform on tire mounting rack clip is then inserted into the cuboid connector of software matrix is recessed
In slot, then by the screw on clip software matrix is positioned.
It is non-with tracheae phase to be mounted on software matrix for the end effector (such as video camera, graping chaw, sensor)
Even on the tire mounting rack of one end.
The utility model has the advantages that compared with prior art
1, the utility model flexibility with higher, and structure is simple, ontology lighter weight passes through small hose and pressure
Control valve is connected with gas source, and gas source is convenient, less energy intensive, and robot movement-control system is simple.
2, software base shape, size and flexibility can change according to requirements, and since the silica gel material of use is resistance to
Soda acid, therefore it can be used for the particular surroundings such as all kinds of soda acids, humidity, and being capable of work steady in a long-term in harsh environment.
Detailed description of the invention
Fig. 1 is the three-dimensional simplified schematic diagram of the utility model.
Fig. 2 is that the utility model two-chamber arches upward three-dimensional simplified schematic diagram.
Fig. 3 be the utility model single-chamber arch upward (turning) solid simplified schematic diagram.
Fig. 4 is the utility model software matrix horizontal cross-section solid simplified schematic diagram.
Fig. 5 faces section simplified schematic diagram for the utility model software matrix.
Fig. 6 is the utility model software matrix cross sections solid simplified schematic diagram.
Fig. 7 is the utility model walking mechanism solid simplified schematic diagram.
In figure: 1- end effector, 2- software matrix, 3- tracheae, 4- air pump, 5- clip, 6- tire mounting rack, 7- wheel
Tire, 8- unilateral bearing, 9- locking nut, 10- air pump mounting rack.
Specific embodiment
In bionical wheel and foot formula wriggling soft robot solid simplified schematic diagram shown in Fig. 1, the utility model is specifically included that
Software matrix 2,1 video camera of walking mechanism, driving mechanism and end effector.Wherein, software matrix is using flexible silicon rubber
The fold shape structure that glue is connected to form made of pouring step by step in a mold by several air cavitys, as shown in Figure 4, Figure 5 and Figure 6,
Its single air cavity is to be connected by two arc-shaped sides of two semi-circular plates with same two arc-shaped side of arc panel, while the two of two halves plectane
The hollow closing shell of semicircle that straight flange is connected to form with same plate, that is, bottom plate again.It is set in each air cavity two halves plectane lower part
There is the lower half round tube hole of coaxial line.The partition of its axis was equipped in hollow closing shell, which not only will be hollow
Closing shell is divided into 90 ° of fan-shaped chambers of two not connection, and lower half round tube hole is separated into two 90 ° of fan-shaped pylones i.e. gas again
Hole, each fan-shaped chamber are corresponding with two stomatas.Two neighboring air cavity lower half round tube hole passes through what both ends were connected with them respectively
Semi-circular tube connection, the semi-circular tube arch section are connected with lower half round tube hole, the semi-circular tube plate part and hollow closing shell bottom
Plate is linked together, and single air cavity is made to form a whole.A small baffle, the center of these small baffles are respectively set in each semi-circular tube
Face and the same median plane of hollow closing shell internal partition then pass through the small baffle in hollow closing shell internal partition and semi-circular tube
Entire software matrix is divided into two independent air cavitys, i.e. A chamber and B chamber, each air cavity respectively passes through a tracheae 3 and is located at air pump
An air pump 4 on mounting rack 10 is connected, and the tracheae and air pump form driving mechanism.It is respectively set in the software matrix both ends of the surface
One cuboid connector, middle part set the upper and lower opening groove of two not connection, they respectively with tire mounting rack and clip
On boss it is corresponding.The software matrix is located in walking mechanism, and the tire mounting rack is two, as shown in fig. 7, two wheels
Tire mounting rack 6 is respectively provided with a wheel shaft, which is stepped, and which is provided with unilateral bearing 8, and determined by locking nut 9
Position, the unilateral bearing are the internal bearing with ratchet.7 sets of the tire peripheries in unilateral bearing, the tire are circular wheel
Tire, is equipped with the uniformly distributed fold-type boss of multiple annulars on the outside of tire, centre be machined with the round hole being used cooperatively with unilateral bearing and
The rectangular boss being used cooperatively with unilateral bearing outer ring keyway.It is equipped in the upward one side of each tire mounting rack soft for being inserted into
The lower convex platform of the rectangular in cross-section of body matrix, boss set chamfering.It is equipped with clip 5 above lower convex platform, is semicircular ring and both ends
If radial cantilever plate, be machined with through-hole on cantilever plate, the through-hole is corresponding with the screw hole on tire mounting rack, be located at clip through-hole with
The two is connected by the screw on tire mounting rack in screw hole.Opposite with tire mounting rack lower convex platform cut separately is equipped in shell ring
Face is in the convex platform of rectangle, and the two outer dimension is corresponding with software matrix slot, and tire mounting rack lower convex platform is inserted into software base
In the down-open recess of the cuboid connector of body, the convex platform on tire mounting rack clip is then inserted into the rectangular of software matrix
In the upper opening groove of bodily form connector, then by the screw on clip software matrix is positioned.The end effector is taken the photograph
Camera is mounted on the tire mounting rack of the non-one end that is connected with tracheae of software matrix, as shown in Figure 1.
Utility model works process approximately as: set inside software matrix 2 there are two symmetrical, the identical A of shape,
The pneumatic cavity of B.When advance, air pump 4 is passed through certain pressure by two pneumatic cavitys of the pressure-control valve to software matrix simultaneously
Gas, software matrix dilatancy and it is domed, as shown in Fig. 2, because tire unilateral bearing restriction under can only rolls forward,
So rear portion tire mounting rack can move forward, front tires mounting rack will not be moved backward；It is discharged when by pressure-control valve
When pressed gas, software matrix can push front tires mounting rack to move forward because of elastic restoring force and gravity, soft in this way
Body robot just completes primary vermicular movement forward.When turning, air pump by pressure-control valve to software matrix one of them
Pneumatic cavity is passed through certain pressure gas, the air cavity dilatancy and it is domed to oblique angle of going up, as shown in figure 3, and other side gas
Chamber occurs to squeeze bending in the case where the pneumatic cavity of inflation squeezes, and then soft robot is completed to turn to the curving that is squeezed
Movement.
Claims (3)
1. a kind of bionical wheel and foot formula wriggling soft robot, it is characterised in that: software matrix is using flexible silicone rubber in mold
The fold shape structure that middle substep is connected to form made of pouring by several air cavitys, single air cavity are by the two of two semi-circular plates
Arc-shaped side is connected with same two arc-shaped side of arc panel, while two straight flanges of two halves plectane are connected with same plate, that is, bottom plate again
The hollow closing shell of semicircle of composition is equipped with the lower half round tube hole of coaxial line in each air cavity two halves plectane lower part,
It was equipped with the partition of its axis in hollow closing shell, which is not only divided into hollow closing shell 90 ° of two not connection
Fan-shaped chamber, and lower half round tube hole is separated into two 90 ° of fan-shaped pylones i.e. stomata, each fan-shaped chamber and two stomatas pair again
It answers, two neighboring air cavity lower half round tube hole passes through the semi-circular tube that both ends are connected with them respectively and connect, the semi-circular tube curved portion
Divide and be connected with lower half round tube hole, which is linked together with hollow closing Housing Base, forms single air cavity
One entirety respectively sets a small baffle in each semi-circular tube, and the median plane of these small baffles and hollow closing shell internal partition are same
Entire software matrix is divided into two independent gas by the small baffle in hollow closing shell internal partition and semi-circular tube by median plane
Chamber, i.e. A chamber and B chamber, each air cavity respectively pass through a tracheae and are connected with an air pump, and the tracheae and air pump form driving machine
Structure, respectively sets a cuboid connector in the software matrix both ends of the surface, and middle part sets the upper and lower opening groove of two not connection,
They are corresponding with the boss on tire mounting rack and clip respectively；The software matrix is located in walking mechanism, walking mechanism
Tire mounting rack is two, and two tire mounting racks are respectively provided with a wheel shaft, which is stepped, and be which is provided with unidirectional
Bearing, and positioned by locking nut, the unilateral bearing is the internal bearing with ratchet, can only be one-directionally rotated, tire sleeve is in list
To the periphery of bearing, it is equipped in the upward one side of each tire mounting rack convex under the rectangular in cross-section for being inserted into software matrix
Platform is equipped with clip above lower convex platform, and for semicircular ring and both ends set radial cantilever plate, are machined with through-hole on cantilever plate, this is logical
Hole is corresponding with the screw hole on tire mounting rack, is located at the screw on clip through-hole and tire mounting rack in screw hole and the two is connected,
Separately in shell ring be equipped with the rectangular in cross-section opposite with tire mounting rack lower convex platform convex platform, the two outer dimension with it is soft
Body matrix slot is corresponding, and tire mounting rack lower convex platform is inserted into the down-open recess of the cuboid connector of software matrix, wheel
Convex platform on tire mounting rack clip is then inserted into the upper opening groove of the cuboid connector of software matrix, then by clip
Screw software matrix is positioned；End effector is mounted on the tire mounting rack of the non-one end that is connected with tracheae of software matrix.
2. bionical wheel and foot formula wriggling soft robot according to claim 1, it is characterised in that: the tire is circle
Tire, tire outside are equipped with the uniformly distributed fold-type boss of multiple annulars, and centre is machined with the round hole being used cooperatively with unilateral bearing
With the rectangular boss being used cooperatively with unilateral bearing outer ring keyway.
3. bionical wheel and foot formula wriggling soft robot according to claim 2, it is characterised in that: boss sets chamfering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820433802.5U CN208198623U (en) | 2018-03-29 | 2018-03-29 | A kind of bionical wheel and foot formula wriggling soft robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820433802.5U CN208198623U (en) | 2018-03-29 | 2018-03-29 | A kind of bionical wheel and foot formula wriggling soft robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208198623U true CN208198623U (en) | 2018-12-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820433802.5U Withdrawn - After Issue CN208198623U (en) | 2018-03-29 | 2018-03-29 | A kind of bionical wheel and foot formula wriggling soft robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN208198623U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108297955A (en) * | 2018-03-29 | 2018-07-20 | 燕山大学 | A kind of bionical wheel and foot formula wriggling soft robot |
| CN117593946A (en) * | 2024-01-16 | 2024-02-23 | 浙江大学 | Modularized pneumatic deformation building block teaching aid for bionics education and bionic robot |
-
2018
- 2018-03-29 CN CN201820433802.5U patent/CN208198623U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN117593946A (en) * | 2024-01-16 | 2024-02-23 | 浙江大学 | Modularized pneumatic deformation building block teaching aid for bionics education and bionic robot |
| CN117593946B (en) * | 2024-01-16 | 2024-05-10 | 浙江大学 | Modularized pneumatic deformation building block teaching aid for bionics education and bionic robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20181207 Effective date of abandoning: 20230704 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20181207 Effective date of abandoning: 20230704 |