CN214524136U - Structural device of six-foot soft robot - Google Patents
Structural device of six-foot soft robot Download PDFInfo
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- CN214524136U CN214524136U CN202120507737.8U CN202120507737U CN214524136U CN 214524136 U CN214524136 U CN 214524136U CN 202120507737 U CN202120507737 U CN 202120507737U CN 214524136 U CN214524136 U CN 214524136U
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Abstract
The utility model relates to a constructional device of six sufficient software robots belongs to special topography transportation equipment field. The device comprises a drive control module, an execution module, a carrier module and a connection module; the drive control module comprises an air source control end, an air pump and a control assembly; the connecting module comprises a plurality of air pipes and a diverter, the diverter is used for connecting the plurality of air pipes, the connecting module is used for transmitting air and is connected with the control module, the execution module and the carrier module through the connecting module; the air source control end is connected with an air pump and used for providing interrupt driving air, and the control assembly is arranged on an air pipe in the connecting module; the execution module comprises six independent soft feet; each soft foot is provided with a cavity structure with a plurality of through holes; six independent soft feet are connected with the carrier module and the connecting module; the carrier module comprises a carrier platform and a camera, and the camera is arranged at the front end of the carrier platform.
Description
Technical Field
The utility model relates to a constructional device of six sufficient software robots belongs to special topography transportation equipment field.
Background
With the development of science and technology, robots are widely applied to various fields such as medical services, industrial production, rescue investigation, cargo transportation and the like. From the viewpoint of the used base materials, the robots of the present day can be divided into two major categories, rigid body robots and soft body robots. Most rigid robots are made of rigid materials, have large output force, high speed and high precision, but the rigid robots have complicated structures, large volumes and poor flexibility, which limits the application of the rigid robots in the fields of dynamic, unknown and unstructured complex environments, thereby limiting the application fields of the rigid robots. Therefore, more and more researchers have conducted research and development in the direction of the soft robot, and in recent years, the field of the soft robot has achieved good results.
In recent years, with the implementation of the strategy of "chinese manufacturing 2025", the development of industrial manufacturing automation is fast, the demands of robots in various fields are increased, and the demands are also improved correspondingly, compared with the traditional robot, the soft robot is made of soft and elastic materials, so that the robot has better freedom, man-machine interaction and environment adaptability, can be applied in dynamic and unstructured environments, and can also meet the requirement of minimizing the damage of a high-precision factory to workpieces. Today, with the rapid development of science and technology, the research on software robots will become a new trend in the field of intelligent manufacturing.
In the field of special terrain transportation equipment, rigid body robots are difficult to operate on some special terrains and difficult for technicians to operate and control the rigid body robots. And the loss to the rigid body robot is also very big, needs often to change position part, and the cost is higher. The soft robot can well adapt to the advantages of terrain change, large operable space, low cost and the like because the used base material is a flexible material, and is a good choice.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a six sufficient software robot's constructional device of low cost, convenient to use, easy preparation, equipment. The functions of object transportation, image transmission and the like on special terrains are realized.
The utility model discloses a realize above-mentioned purpose, adopt following technical scheme:
a structure device of a six-foot soft robot comprises a drive control module, an execution module, a carrier module and a connection module;
the drive control module comprises an air source control end, an air pump and a control assembly;
the connecting module comprises a plurality of air pipes and a diverter, the diverter is used for connecting the plurality of air pipes, the connecting module is used for transmitting air and is connected with the control module, the execution module and the carrier module through the connecting module;
the air source control end is connected with an air pump and used for providing interrupt driving air, and the control assembly is arranged on an air pipe in the connecting module;
the execution module comprises six independent soft feet; each soft foot is provided with a cavity structure with a plurality of through holes; six independent soft feet are connected with the carrier module and the connecting module;
the carrier module comprises a carrier platform and a camera, and the camera is arranged at the front end of the carrier platform;
furthermore, the carrier platform is provided with a position hole matched with the execution module and a position hole matched with the transportation carrier.
Furthermore, the control assembly independently controls the on-off and the exhaust of the gas for a plurality of gas pipes through the two-position three-way electromagnetic valve.
Furthermore, the six independent soft feet are one-to-one corresponding to each other through a plurality of air pipes, so that the inner cavities of the soft feet are inflated and expanded to achieve the bending effect, and the exhausted air is recovered to be in the vertical state.
The air pump is an air generating device and provides driving air for the device. The air source control end controls the on-off of the current of the air pump, and when the air pump is electrified to work, the compressed air supplies air to the device.
The execution module comprises six independent soft feet, a plurality of communicated air cavities are arranged in the soft feet, and the six independent soft feet are regularly arranged in sequence and connected to the appointed position of the carrier module.
The six independent air pipes supply air to the six independent soft feet, the internal cavities of the soft feet are expanded to bend the soft feet when the air is inflated, the internal cavities return to the original state when the air is exhausted, and the soft feet return to the upright state again. Through regular bending and erection between each soft foot, the structural device can perform regular motion.
The carrier module comprises a carrier platform and a camera, the camera is installed at the front end of the carrier platform, and the camera on the carrier platform is opened to receive pictures. The target object for transporting the object is placed and fixed on the carrier platform, and the movement of the soft robot drives the target object to move, so that the object is transported.
The utility model has the advantages that:
the utility model has the buffer protection function to the carried target object in the working process; because the execution module is six independent soft feet, the bottom of each soft foot can have a certain amount of deformation, can be suitable for a specific terrain, and can operate in the specific terrain; the whole structure device mainly adopts pneumatic as a driving mode, so that the safety of an operator in operating the structure device is improved; the structure device also has the characteristics of low cost, simple and reasonable structure and simple and easy assembly, can be conveniently carried, and can save the manpower, material resources and time required before work. If the structure device can be further popularized and applied, great benefits can be brought in the field of object transportation in special scenes.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of a soft foot vertical surface in the execution module of the present invention;
FIG. 3 is a schematic view of the soft foot of the execution module in a bending state;
fig. 4 is a schematic view of a vertical structure in the carrier module of the present invention;
fig. 5 is a schematic view of a top view angle structure in the carrier module according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1 to 5, in the embodiment of the present invention:
a structure device of a six-foot soft robot comprises a drive control module 1, an execution module 2, a carrier module 3 and a connection module 4;
the drive control module 1 comprises an air source control end 101, an air pump 102 and a control component 103;
the connecting module 4 comprises a plurality of air pipes 401 and a diverter 402, the diverter 402 is used for connecting the plurality of air pipes 401, the connecting module 4 is used for transmitting air, and is connected with the control module 1, the execution module 2 and the carrier module 3 through the connecting module 4;
the gas source control end 101 is connected with the gas pump 102 for supplying the interrupt driving gas, and the control component 103 is arranged on a gas pipe 401 in the connecting module 4;
the execution module 2 comprises six independent soft feet 201; a cavity structure with a plurality of through holes is arranged in each soft foot 201; six independent soft feet 201 are connected with the carrier module 3 and the connecting module 4;
the carrier module 3 comprises a carrier platform 301 and a camera 302, and the camera 302 is arranged at the front end of the carrier platform 301;
further, the carrier platform 301 has a position hole for engaging with the execution module 2 and a position hole for engaging with the transportation carrier.
Further, the control component 103 controls the on/off and exhaust of the gas separately for the plurality of gas pipes 401 through the two-position three-way electromagnetic valve.
Furthermore, the cavities in the six independent soft feet 201 are inflated and expanded to achieve the bending effect by the one-to-one correspondence of the plurality of air pipes 401, and the exhausted air is recovered to the upright state.
The air pump is an air generating device and provides driving air for the device. The air source control end controls the on-off of the current of the air pump, and when the air pump is electrified to work, the compressed air supplies air to the device.
The execution module comprises six independent soft feet, a plurality of communicated air cavities are arranged in the soft feet, and the six independent soft feet are regularly arranged in sequence and connected to the appointed position of the carrier module.
The six independent air pipes supply air to the six independent soft feet, the internal cavities of the soft feet are expanded to bend the soft feet when the air is inflated, the internal cavities return to the original state when the air is exhausted, and the soft feet return to the upright state again. Through regular bending and erection between each soft foot, the structural device can perform regular motion.
The carrier module comprises a carrier platform and a camera, the camera is installed at the front end of the carrier platform, and the camera on the carrier platform is opened to receive pictures. The target object for transporting the object is placed and fixed on the carrier platform, and the movement of the soft robot drives the target object to move, so that the object is transported.
The actuator module 2 and the carrier module 3 are connected by means of screws and adhesive as the main body of the entire construction device. Wherein, the carrier module 3 is provided with a carrier platform 301 which can be replaced by different sizes and a small high-definition camera 302. The six independent soft feet 201 in the execution module 2 are regularly ordered and installed at the bottom of the carrier 301.
An air pipe 401 in the connecting module 4 is a conveying carrier of air, and a machine body formed by the executing module 2 and the carrier module 3 is connected with the driving control module 1 through the air pipe 401 to form a complete device structure. The joint of each module and the air pipe 401 is sealed by sealing materials such as a sealing ring and a sealing glue. Before working each time, the interface is put into water to check the air tightness, and the work can be carried out after the standard that no air bubble is generated is achieved.
The air pump 102 is energized to compress air to supply air to the structural device, and the driving air is transmitted through a plurality of air pipes 401 in the connection module 4. The two-position three-way electromagnetic valve is controlled by the control panel to regularly inflate and exhaust each independent soft foot 201, so that the six independent soft feet 201 are regularly deformed and are mutually matched to realize the movement of the device.
The drive control module controls the relay module and the electromagnetic valve. The time sequence of inflation is realized, and the purpose of bending the leg by inflation is achieved. Wherein the timing of inflation controls the sequence of leg movements; the angle of the deformation of the soft foot is controlled by the inflating time, and the more the inflation is, the larger the deformation angle is, and the larger the step is.
The internal cavities of the soft foot 201 are inflated, and the plurality of cavities are inflated, so that the soft foot 201 bends to the wall thickness. The soft foot 201 returns to the initial upright position after evacuation of the cavity.
When the structure device works, the independent soft feet 201 are inflated and exhausted regularly, so that the soft feet 201 change in a bending state and an upright state regularly, and the six independent soft feet 201 are matched with each other, so that the whole structure device moves, a target object is driven to move, and the object is transported.
A use method of a structure device of a six-foot soft robot comprises the following steps:
first, each joint is sealed to prevent gas leakage during operation of the structural assembly. Secondly, the air source control end enables the air pump to be electrified to compress air to supply air for the structural device, then the output air pipe is divided into six independent output air pipes through the flow divider, and the six independent soft feet are connected through the two-position three-way electromagnetic valve of the control assembly.
And thirdly, controlling the inflation and the exhaust of each independent soft foot by controlling the two-position three-way electromagnetic valve to achieve the purpose of bending and erecting the soft foot, and enabling the soft foot to be bent and erected regularly by controlling the two-position three-way electromagnetic valve regularly. The six independent soft feet are matched to achieve the movement of the structural device.
And finally, placing and fixing the transported target object on a carrier platform, and driving the target object to move through the movement of the structural device to realize object transportation.
The above, only be the concrete implementation of the preferred embodiment of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art is in the technical scope of the present invention, according to the technical solution of the present invention and the utility model, the concept of which is equivalent to replace or change, should be covered within the protection scope of the present invention.
Claims (4)
1. The utility model provides a constructional device of six sufficient software robots which characterized in that: the device comprises a drive control module (1), an execution module (2), a carrier module (3) and a connection module (4);
the drive control module (1) comprises an air source control end (101), an air pump (102) and a control assembly (103);
the connecting module (4) comprises a plurality of air pipes (401) and a flow divider (402), the flow divider (402) is used for connecting the plurality of air pipes (401), the connecting module (4) is used for transmitting air, and is connected with the control module (1), the execution module (2) and the carrier module (3) through the connecting module (4);
the gas source control end (101) is connected with the gas pump (102) and used for providing the interrupt driving gas, and the control component (103) is arranged on a gas pipe (401) in the connecting module (4);
the execution module (2) comprises six independent soft feet (201); a cavity structure with a plurality of through holes is arranged in each soft foot (201); six independent soft feet (201) are connected with the carrier module (3) and the connecting module (4);
the carrier module (3) comprises a carrier platform (301) and a camera (302), and the camera (302) is arranged at the front end of the carrier platform (301).
2. The structural device of a six-legged soft robot according to claim 1, characterized in that: the carrier platform (301) is provided with a position hole matched with the execution module (2) and a position hole matched with the transportation carrier.
3. The structural device of a six-legged soft robot according to claim 1, characterized in that: the control component (103) controls the on-off and the exhaust of gas independently for a plurality of gas pipes (401) through a two-position three-way electromagnetic valve.
4. The structural device of a six-legged soft robot according to claim 1, characterized in that: the six independent soft feet (201) are corresponding to each other through a plurality of air pipes (401) to ensure that the inner cavities of the soft feet (201) are inflated and expanded to achieve the bending effect, and the exhausted air is recovered to the upright state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120507737.8U CN214524136U (en) | 2021-03-10 | 2021-03-10 | Structural device of six-foot soft robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120507737.8U CN214524136U (en) | 2021-03-10 | 2021-03-10 | Structural device of six-foot soft robot |
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| Publication Number | Publication Date |
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| CN214524136U true CN214524136U (en) | 2021-10-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202120507737.8U Expired - Fee Related CN214524136U (en) | 2021-03-10 | 2021-03-10 | Structural device of six-foot soft robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113147945A (en) * | 2021-03-10 | 2021-07-23 | 东华理工大学 | Structural device of six-foot soft robot |
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2021
- 2021-03-10 CN CN202120507737.8U patent/CN214524136U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113147945A (en) * | 2021-03-10 | 2021-07-23 | 东华理工大学 | Structural device of six-foot soft robot |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20211029 |
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| CF01 | Termination of patent right due to non-payment of annual fee |