CN212044716U - Pneumatic grid software executor of two-way bending - Google Patents
Pneumatic grid software executor of two-way bending Download PDFInfo
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- CN212044716U CN212044716U CN202020113936.6U CN202020113936U CN212044716U CN 212044716 U CN212044716 U CN 212044716U CN 202020113936 U CN202020113936 U CN 202020113936U CN 212044716 U CN212044716 U CN 212044716U
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Abstract
The utility model provides a crooked pneumatic net software executor of two directions, including first gasbag strays layer, middle restriction strays layer, second gasbag strays layer and trachea, first gasbag strays layer and second gasbag strays layer symmetry and sets up in middle restriction strays layer both sides, and the trachea is connected to the one end that first gasbag strays layer and second gasbag strays the layer, and first gasbag strays layer and second gasbag strays the layer and constitutes by big gasbag and little gasbag interval combination, and adjacent big or small gasbag wall is thinner than other gasbag walls. When the first air bag strain layer is inflated, the actuator bends towards the direction of the second air bag strain layer; when the second air bag strain layer is inflated, the actuator bends towards the first air bag strain layer, the bending angle is fixed, the bending frequency is controllable, the design is reasonable, the working performance is stable, the cost is low, the flexible robot is a novel actuating mechanism of a soft robot, and the flexible robot has high practical application value.
Description
Technical Field
The utility model belongs to the technical field of the software robot, concretely relates to two direction crooked pneumatic net software executor.
Background
The soft robot is a hot problem in recent research, and the innovation of the soft robot actuator provides a new idea for the design and manufacture of the soft robot. The actuators of the software robot are of interest to many experts and scholars and develop a series of related software actuators.
Based on the innovative software actuators, a number of new software robots have been developed. For example, a multistep soft robot designed by SHEPHERD, Harvard university and the like adopts a pneumatic-hydraulic driving mode, and a millimeter-sized pipeline is embedded into an actuator of the soft robot, so that the integration of driving and structure is realized; the soft actuator is manufactured by a soft material shell filled with round particles, and the function of the actuator is realized by utilizing the blocking principle and pumping air in the soft material shell to achieve the state of negative pressure. Some soft actuators implement the function of the actuator by the chemical reaction air supply principle, and the actuator can move autonomously, unlike a pure pneumatic actuator which is connected with an air source by a conduit.
The existing pneumatic grid soft actuator only has one strain layer and one limited strain layer, the pneumatic grids have the same size and single function, and the pneumatic grid soft actuator has larger limitation.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that not enough to above-mentioned prior art provides a crooked pneumatic net software executor of two directions, and this executor is innovated on the basis of existing pneumatic net software executor, makes net software executor have the motion ability of two directions, reasonable in design, and working property is stable, and low cost has higher practical application and worth.
In order to solve the technical problem, the utility model discloses a technical scheme is: the utility model provides a two-way crooked pneumatic grid software executor, its characterized in that, includes first gasbag strain layer, middle restriction strain layer, second gasbag strain layer and trachea, first gasbag strain layer and second gasbag strain layer symmetry set up the both sides in middle restriction strain layer, first gasbag strain layer and second gasbag strain layer constitute by big gasbag and the small bag that the interval intercommunication set up, the both ends on first gasbag strain layer and second gasbag strain layer are big gasbag, the one end of first gasbag strain layer and second gasbag strain layer is sealed, and the other end is connected the air supply through two tracheas respectively, and adjacent gasbag wall between big gasbag and the small bag is thinner than other non-adjacent gasbag walls on big gasbag and the small bag, and when the air supply was given one side gasbag strain layer inflatable, the inflation deformation will take place for thinner gasbag wall, and two adjacent gasbag wall inflation deformation restrict each other, the actuator cannot be burst due to overlarge air pressure, and the strain layer of the airbag on the other side which is not inflated at the moment also provides limitation on the bending degree of the soft actuator, so that the soft actuator cannot be burst due to the overlarge air pressure.
Preferably, two opposite side end faces of the rectangular parallelepiped middle strain limiting layer are respectively connected with the first air bag strain layer and the second strain layer, and when the air bag strain layer on one side is inflated, a limiting force is provided for the deformation of the actuator, so that the actuator can bend towards the other side. The intermediate strain limiting layer provides a restoring force for the actuator to return to its original state after bending.
Preferably, the large air bag and the small air bag which are different in size are arranged to realize bending in two directions, and the large air bag and the small air bag can be simultaneously deformed in the air bag strain layer on one side to be inflated to realize bending towards the other side. In the airbag strain layer which is not inflated at the other end, because the airbag of the large airbag is larger than that of the small airbag, the small airbag is contained in the two adjacent large airbags, so that the bending angle can be increased.
Preferably, the two air pipes are symmetrically arranged at two sides of the middle strain limiting layer.
Preferably, first gasbag is strained layer and second gasbag and is strained layer and middle restriction layer of straining and all make the mould with 3D printing technique earlier, and the reuse silica gel watering forms, has better soft characteristic, middle restriction strain layer is solid silica gel board.
Preferably, the utility model provides an executor is arranged in the design of software robot, and two directions software executor is when passive deformation, because the gasbag strain layer of uninflated one side can restrict the bending of software executor, even if take place passively to warp, the bending angle of software executor is also unchangeable.
Preferably, the soft body actuator can be applied to the manufacture of a soft body robot to realize the crawling and turning functions of the soft body robot, the bending angle of the soft body actuator is fixed, the gait of the soft body robot can be easily controlled, and the crawling speed of the soft body robot can be easily controlled. The high-frequency bending switching in two directions is realized by intermittently inflating and deflating the two air pipes, so that the crawling speed of the soft robot can be changed by controlling the inflating and deflating frequency of the air source for the soft actuator, and the gait control problem of the soft robot is solved.
Compared with the prior art, the utility model has the following advantage:
1. the utility model has the advantages of being scientific and reasonable in structural design, the practicality is strong, can realize the motion of net software executor in two opposite directions, the stable performance, strong adaptability, low cost can use widely.
2. The utility model discloses based on observation and analysis to the wriggling action of caterpillar, provided the software executor mechanism of this application. Based on the improvement of the structure, the soft body executor can execute the function of bending in two directions and can play the role of a soft body robot leg in practical application. Compared with a conventional rigid mechanical mechanism, the soft actuator mechanism has the advantages of low noise, good environmental adaptability due to flexible contact and the like.
3. The utility model discloses first gasbag strays layer and second gasbag strays the layer and all adopts big gasbag and little gasbag cross arrangement to form, and it is continuous to restrict the strays layer through the centre. The strain limiting layer is used for limiting the deformation of the strain layer so as to bend the soft actuator. One gasbag in two gasbag strain layers is met an emergency layer and is aerifyd, and gasbag strain layer is because big or small gasbag takes place to warp to take place deformation, middle restriction strain layer hinders it and takes place deformation, and the software executor just bends toward the opposite side, but can not infinitely bend, and bend angle is fixed.
4. The utility model discloses adjacent gasbag wall is thinner than the gasbag wall of other positions on big gasbag and the little gasbag in well, during the time of aerifing the little gasbag is extruded two adjacent gasbags, when meeting in two big gasbags outside, the bending degree of software executor reachs the biggest, can reach best motion ability under limited space and material strip spare, and the practicality is strong.
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Drawings
Fig. 1 is a front view structure diagram of the present invention.
Fig. 2 is a schematic top view of the present invention.
Fig. 3 is a diagram of the deformation effect of the utility model when the air is filled in different air tubes.
Description of reference numerals:
1-a first air bag strain layer; 2-second balloon strain layer; 3-intermediate confining strain layer;
4-big air bag; 5, a small air bag; 6-trachea.
Detailed Description
As shown in fig. 1 and 2, the utility model comprises a first air bag strain layer 1, a middle restriction strain layer 3, a second air bag strain layer 2 and air tubes 6, wherein the first air bag strain layer 1 and the second air bag strain layer 2 have the same structure and are symmetrically arranged at two sides of the middle restriction strain layer 3, the first air bag strain layer 1 and the second air bag strain layer 2 are both composed of a plurality of large air bags 4 and small air bags 5 arranged between the adjacent large air bags 4, the large air bags 4 are communicated with the small air bags 5 in sequence, the large air bags 4 and the small air bags 5 are uniformly and regularly arranged in a crossed manner, two ends of the first air bag strain layer 1 and the second air bag strain layer 2 are large air bags 4, one ends of the first air bag strain layer 1 and the second air bag strain layer 2 are sealed, the other ends of the first air bag strain layer are respectively connected with two air pumps through the two air tubes 6, the adjacent air bags 4 and the small air bags 5 are thinner than the other adjacent air bags 4 and 5, when the air pump inflates the air bag strain layer on one side of the actuator, the air bag walls of the thin large air bag 4 and the thin small air bag 5 are expanded and deformed, the expansion and deformation of the two air bag walls of the adjacent large air bag 4 and the small air bag 5 are mutually limited, the actuator cannot be broken due to overlarge air pressure, the air bag strain layer on the other side which is not inflated at the moment also provides limitation on the bending degree of the soft actuator, and the soft actuator cannot be broken due to overlarge air pressure.
In this embodiment, the large air cell 4, the middle strain-limiting layer 3, and the small air cell 5 are rectangular solids.
As shown in fig. 3, in the present embodiment, the middle strain-limiting layer 3 is located between the first and second balloon strain layers 1 and 2, and mainly functions to limit the deformation of the balloon strain layer, so as to bend the soft actuator, and provide a restoring force to the deflated balloon strain layer. The first air bag strain layer 1 is inflated, the large air bags 4 and the small air bags 5 of the first air bag strain layer 1 are expanded and deformed, the middle strain limiting layer 3 prevents the large air bags 4 and the small air bags 5 from deforming, the software actuator bends towards one side of the second air bag strain layer 2, vice versa but cannot bend in an infinite mode, the bending angle of the software actuator is limited by the sizes of the large air bags 4 and the small air bags 5, the maximum bending angle is a fixed value, the small air bags 5 are extruded into the two adjacent large air bags 4 when the small air bags 5 are inflated, and when the outer walls of the two large air bags 4 are in contact, the bending degree of the software actuator reaches the maximum.
In this embodiment, the bending motion frequency of the pneumatic grid soft actuator bending in two directions depends on the frequency of air supply and air release of the air source to the soft actuator. If the strain layers of the first and second air bags are inflated simultaneously, the air pressures of the strain layers on the first and second sides of the soft actuator are equal, even if the large air bag 4 and the small air bag 5 are expanded and deformed, the soft actuator is not bent, and therefore the air source cannot supply air to the two air pipes 6 simultaneously.
In this embodiment, the large air bags 4 are ten and have a length × width × height dimension of 24 × 12 × 22mm, the small air bags 5 are eight and have a length × width × height dimension of 20 × 6 × 18mm, the middle strain limiting layer has a length × width × height dimension of 100 × 24 × 3mm, the adjacent thin air bag walls of the large air bags 4 and the small air bags 5 are 1mm thick, and the other thicker air bag walls are 2mm thick, and the above dimensions are designed to enable the maximum single-direction bending angle of the soft actuator to reach 60 °, and the angle that the two-direction soft actuator can reach is 0-120 °.
In this embodiment, the two air tubes 6 are symmetrically disposed on both sides of the middle strain-limiting layer 3.
In this embodiment, first gasbag strays layer 1, second gasbag strays layer 2 and middle strays restriction layer 3 all the silica gel material make, and silica gel has better soft flexible characteristic, middle restriction strays layer 3 is solid silica gel board.
In this embodiment, the software actuator may be applied to manufacture a software robot, and when the software actuator is passively deformed, since the strain layer on the uninflated side limits the bending of the software actuator, the bending angle of the software actuator is not changed even if the passive deformation occurs. Can realize crawling and the function of turning of software robot, the utility model provides an executor bend angle is fixed, can conveniently control the gait of software robot, aerifys the frequency of disappointing for the software executor through the control air pump, can change the speed that the software robot crawled, has solved the difficult problem of software robot gait control.
The utility model discloses when the design preparation, earlier through the mould that the first gasbag of 3D printing technology preparation met an emergency layer 1, the second gasbag met an emergency layer 2 and middle restriction met an emergency layer 3, use silica gel to pour the preparation for the raw materials in the mould again and form. After the three unit components are manufactured, the three main modules are connected through silica gel, and finally the two air pipes 6 are connected, and the two air pipes 6 are respectively connected with the two air pumps.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way. Any simple modifications, changes and equivalent changes made to the above embodiments according to the technical spirit of the present invention all fall within the protection scope of the technical solution of the present invention.
Claims (3)
1. A pneumatic grid soft actuator capable of bending in two directions is characterized by comprising a first air bag strain layer (1), a middle restriction strain layer (3), a second air bag strain layer (2) and an air pipe (6), the first air bag strain layer (1) and the second air bag strain layer (2) have the same structure and are symmetrically arranged at two sides of the middle strain limiting layer (3), the first air bag strain layer (1) and the second air bag strain layer (2) are respectively composed of large air bags (4) and small air bags (5) which are communicated at intervals, the small air bags (5) are arranged among the large air bags (4) in an inserting way, one end of the first air bag strain layer (1) and one end of the second air bag strain layer (2) are closed, the other ends are respectively connected with an air source through two air pipes (6), the adjacent air bag walls on the large air bag (4) and the small air bag (5) are thinner than the non-adjacent air bag walls on the large air bag (4) and the small air bag (5).
2. A two-way curved pneumatic grid soft body actuator according to claim 1, wherein the two air tubes (6) are symmetrically arranged on both sides of the middle strain limiting layer (3).
3. The pneumatic grid soft body actuator capable of bending in two directions as claimed in claim 1, wherein the first air bag strain layer (1), the middle limit strain layer (3) and the second air bag strain layer (2) are all made of silica gel, and the middle limit strain layer (3) is a solid silica gel plate.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020113936.6U CN212044716U (en) | 2020-01-19 | 2020-01-19 | Pneumatic grid software executor of two-way bending |
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| CN202020113936.6U CN212044716U (en) | 2020-01-19 | 2020-01-19 | Pneumatic grid software executor of two-way bending |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112936253A (en) * | 2021-02-02 | 2021-06-11 | 深圳大学 | Flexible mechanical arm driven by air bag |
| CN113829370A (en) * | 2021-10-25 | 2021-12-24 | 南京应用数学中心 | Soft arm rice feeding robot system |
| CN113940729A (en) * | 2021-12-21 | 2022-01-18 | 极限人工智能有限公司 | Universal snake bone assembly, endoscope instrument forceps and split type operation device |
| CN116374143A (en) * | 2023-03-24 | 2023-07-04 | 哈尔滨工程大学 | Pneumatic bistable fluctuation unit, propeller and manufacturing method thereof |
| WO2024027594A1 (en) * | 2022-08-04 | 2024-02-08 | The Hong Kong Polytechnic University | Flexible robotic actuator, apparatus, system and method thereof |
-
2020
- 2020-01-19 CN CN202020113936.6U patent/CN212044716U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112936253A (en) * | 2021-02-02 | 2021-06-11 | 深圳大学 | Flexible mechanical arm driven by air bag |
| CN113829370A (en) * | 2021-10-25 | 2021-12-24 | 南京应用数学中心 | Soft arm rice feeding robot system |
| CN113829370B (en) * | 2021-10-25 | 2023-03-10 | 南京应用数学中心 | Soft arm feeding robot system |
| CN113940729A (en) * | 2021-12-21 | 2022-01-18 | 极限人工智能有限公司 | Universal snake bone assembly, endoscope instrument forceps and split type operation device |
| CN113940729B (en) * | 2021-12-21 | 2022-03-04 | 极限人工智能有限公司 | Universal snake bone assembly, endoscope instrument forceps and split type operation device |
| WO2024027594A1 (en) * | 2022-08-04 | 2024-02-08 | The Hong Kong Polytechnic University | Flexible robotic actuator, apparatus, system and method thereof |
| CN116374143A (en) * | 2023-03-24 | 2023-07-04 | 哈尔滨工程大学 | Pneumatic bistable fluctuation unit, propeller and manufacturing method thereof |
| CN116374143B (en) * | 2023-03-24 | 2024-05-10 | 哈尔滨工程大学 | Pneumatic bistable fluctuation unit, propeller and manufacturing method thereof |
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