WO2023020489A1 - 一种基于折纸结构的气动连续体机构及连续体机器人 - Google Patents

一种基于折纸结构的气动连续体机构及连续体机器人 Download PDF

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Publication number
WO2023020489A1
WO2023020489A1 PCT/CN2022/112773 CN2022112773W WO2023020489A1 WO 2023020489 A1 WO2023020489 A1 WO 2023020489A1 CN 2022112773 W CN2022112773 W CN 2022112773W WO 2023020489 A1 WO2023020489 A1 WO 2023020489A1
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side plate
origami
pneumatic
small side
continuum
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PCT/CN2022/112773
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English (en)
French (fr)
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张庭
巩振华
李阳
宁传新
朱光普
高征
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苏州大学
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Publication of WO2023020489A1 publication Critical patent/WO2023020489A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
    • B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies

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  • the invention belongs to the technical field of intelligent robots, and in particular relates to an origami-based pneumatic continuum mechanism and a continuum robot.
  • a continuum robot is composed of many similar types of continuum mechanisms, that is, continuum mechanisms connected in series. Each continuum mechanism can be driven independently, and there is no obvious joint structure between adjacent continuum mechanisms. Compared with the traditional rigid joint robot, it has many unique advantages, such as good flexibility, easy realization of super-redundant degrees of freedom, easy obstacle avoidance and more potential for miniaturization.
  • the common continuum mechanism only has certain bending characteristics, and is poor in shrinkability, so it is not suitable for narrow environments that require the continuum mechanism to be able to shrink.
  • the scientific foldable arm mechanism can help robots or institutions enter narrow spaces space to overcome the volume problem.
  • the Chinese invention patent with the patent application publication number CN112276920A discloses a continuum snake-like robot, and a bendable continuum robot driven by a spring driven by a motor is designed.
  • the structure includes a flexible main body and a main controller.
  • the flexible main body consists of Composed of multiple flexible sections connected in series, the flexible section includes a cavity, a flexible shaft drive device, a top cover, a support frame, an angle sensor, a controller, etc., and can complete stretching, bending, and other movements; it realizes the flexible movement of the continuum mechanism and the structure Simple, good load capacity features.
  • the design lacks a drive unit for longitudinal bending, and the maximum bending angle cannot be effectively controlled only by the motor driven flexible shaft; at the same time, because the spring is used as the driver and supporting structure, the overall mechanism has poor bending resistance. , the state of the continuum mechanism cannot be controlled by its own mechanism, and it will shrink to a certain extent, which will affect the subsequent bending; and the continuum mechanism cannot realize bending that changes the curvature in all directions, and cannot realize the bending as much as possible with less degrees of freedom. Large variable curvature bends.
  • a bendable continuum joint driven by a motor driven wire is designed.
  • the structure includes a shell, a continuum, a first The driving mechanism, the continuum includes a base, a first bending joint, a second bending joint, a second driving mechanism and a third driving mechanism, the second driving mechanism can drive the first bending joint to bend, and the third driving mechanism can drive the second bending
  • the joints flex and stretch relative to the first flex joint, thereby enabling diverse control of the continuum shape with a large bending angle.
  • the gap between the joints is large and the connection is simple, with a large bending angle, but at the same time, due to the lack of supporting modules due to the large gap, the strength is low, the load capacity is poor, and it does not have telescopic characteristics; in addition, the overall mechanism Angle bending is achieved by a single cable drive, which cannot effectively control the bending angle of each joint, and requires more drive units.
  • the article proposes a multi-step folding-driven reinforced continuum robotic arm based on the origami vertical folding principle.
  • the foldable continuum manipulator is composed of seven foldable modules in series, and a singular point is generated by two vertical fold lines in each module, which limits the degree of freedom of each fold line.
  • Tests have shown that the bending resistance of the foldable module is 5 times higher and the compression resistance is 200 times higher than that of the module without the locking mechanism.
  • the continuum manipulator relies on the origami vertical folding principle to only achieve structural contraction, and the high stiffness and load capacity of the continuum manipulator is achieved through the locking mechanism.
  • this exchange mechanism is at the expense of bending
  • the design of good stretch characteristics and excellent load capacity completely loses the bending performance of the continuum.
  • each continuum mechanism unit of the existing continuum robot uses multiple drivers connected in parallel to realize the continuous movement of the manipulator, which requires more drive units and is difficult to achieve light weight. Therefore, how to take into account the lightweight, bending performance, stretchability and load capacity of the continuum mechanism is a technical problem to be solved urgently in this field.
  • the present invention provides a pneumatic continuum mechanism and continuum robot based on origami structure, which makes the foldable structure lightweight, compact, flexible and miniaturized, while maintaining its motion performance .
  • a pneumatic continuum mechanism based on origami structure comprising:
  • An installation assembly includes a base plate and a control box;
  • the origami assembly includes a plurality of origami structures, the plurality of origami structures are supported side by side between the base plate and the control box, each of the origami structures is foldable by itself and is foldably connected to the base plate and said control box;
  • An air-driven assembly the air-driven assembly includes a plurality of bellows, the plurality of bellows are supported side by side between the bottom plate and the control box, and each of the bellows is provided with a joint for air supply and exhaust .
  • the creases of the origami structure are a diamond pattern of six creases at a single vertex
  • the origami structure includes a first large side panel, a first small side panel, a second small side panel, a second
  • the large side plate, the third small side plate and the fourth small side plate, the first small side plate and the first large side plate are hingedly connected through the connection axis A
  • a small side plate is hingedly connected through a connecting axis B
  • the second large side plate and the second small side plate are hingedly connected through a connecting axis C
  • the third small side plate is hinged with the second large side plate
  • the hinge connection is realized through the connection axis D
  • the hinge connection between the fourth small side plate and the third small side plate is realized through the connection axis E
  • the hinge connection between the first large side plate and the fourth small side plate is achieved through the connection axis F
  • a hinged connection is realized, the axes of the
  • the end of the bellows facing the bottom plate is provided with the joint, and the joint is passed through and fixed on the bottom plate.
  • one end of the bellows is closed towards the control box, and the closed end of the bellows is bonded to the control box.
  • the origami structure is a high-hardness and lightweight composite material.
  • a tilt angle sensor is installed on the control box.
  • the bottom plate and the box bottom of the control box are regular hexagonal
  • the origami assembly includes three origami structures, and the three origami structures are respectively connected to three regular hexagonal strips arranged at intervals.
  • the pneumatic drive assembly includes three bellows, and the three bellows are arranged between the three origami structures and connected between the bottom plate and the box bottom of the control box.
  • the electromagnetic self-locking assembly includes a plurality of electromagnetic self-locking modules, each of the electromagnetic self-locking modules includes an electromagnet part and a suction plate part, and the electromagnet part is fixed on the On the control box, the suction plate component is fixed on the origami structure.
  • each of the second small side plate and the first small side plate is hingedly connected to the same first fixing block through the connecting shaft B, and the connection between the second small side plate and the first small side plate is
  • the fourth small side plate and the third small side plate are each hingedly connected to the same second fixed block through the connecting shaft E, and the fourth small side plate and the third small side plate The side plates can be transmitted to each other for rotation.
  • the present invention also provides another technical solution: a continuum robot, including a plurality of origami-based pneumatic continuum mechanisms and a pneumatic multi-channel control system arranged in series, one of the two adjacent pneumatic continuum mechanisms The bottom plate of the one is relatively fixed to the control box of the other.
  • the pneumatic multi-channel control system includes air supply pipes corresponding to the bellows respectively. One end of the air supply pipe extends into the control box and connects with it. The corresponding bellows are communicated, and the other end of the air supply pipe extends out of the control box and communicates with the air source.
  • the joint of the bellows passes through the bottom plate into the control box of the adjacent continuum mechanism and communicates with the corresponding air supply pipe.
  • the present invention has the following advantages compared with the prior art:
  • the pneumatic continuum mechanism and continuum robot based on the origami structure disclosed in the present invention realize the bending of the continuum mechanism through the difference in the bending angle of each side of the origami component in different states, and then use the electromagnetic self-locking module to align the origami mechanism.
  • To achieve the excellent load capacity of the continuum mechanism it solves the problem that the load capacity and bending property of the existing continuum origami mechanism cannot be combined.
  • the pneumatic continuum mechanism and continuum robot based on the origami structure disclosed in the present invention simplify the mechanism and have flexibility through the origami technology, and then realize the precise control of the angle of the single module through the pneumatic driver, so as to realize the bending of the whole mechanism Angle control solves the problem that the existing continuum mechanism has a complex structure and cannot effectively control the maximum bending angle.
  • the above-mentioned first small side plate and the second small side plate can be attached parallel to each other after being folded
  • the above-mentioned third small side panel and the above-mentioned fourth small side panel can be parallel to each other after being folded.
  • Fig. 1 is a schematic connection diagram of a continuum mechanism based on an origami mechanism in Embodiment 1 of the present invention
  • FIG. 2 is a schematic diagram of the origami assembly in Embodiment 1 of the present invention.
  • FIG. 3 is a schematic diagram of a control box in Embodiment 1 of the present invention.
  • Fig. 4 is a schematic diagram of the pneumatic drive assembly in Embodiment 1 of the present invention.
  • Fig. 5 is a schematic diagram of the electromagnetic self-locking component in Embodiment 1 of the present invention.
  • FIG. 6 is a schematic diagram of the origami assembly in Embodiment 2 of the present invention.
  • Fig. 7 is a schematic diagram of the origami structure in Embodiment 2 of the present invention.
  • Fig. 8 is a schematic diagram of the connection between the first small side plate and the second small side plate in the second embodiment of the present invention.
  • Fig. 9 is a schematic diagram of the connection between the third small side plate and the fourth small side plate in the second embodiment of the present invention.
  • an origami-based pneumatic continuum mechanism includes:
  • the installation assembly includes a base plate 11 and a control box 12;
  • the origami assembly includes a plurality of origami structures 2, and the plurality of origami structures 2 are supported side by side between the base plate 11 and the control box 12, and each origami structure 2 is foldable by itself and connects the base plate and the control box 12 in a foldable manner;
  • Air-driven assembly the air-driven assembly includes a plurality of bellows 3, which are supported side by side between the bottom plate 11 and the control box 12, and each bellows 3 is provided with a joint 31 for air supply and exhaust.
  • the connector is a self-locking push-in connector.
  • the creases of the origami structure 2 are a diamond pattern with six creases at a single vertex
  • the origami structure includes a first large side plate 201, a first small side plate 202, a second The second small side plate 203, the second large side plate 204, the third small side plate 205 and the fourth small side plate 206, the first small side plate 202 and the first large side plate 201 are hingedly connected through the connecting shaft A207, and the second The small side plate 203 and the first small side plate 202 are hingedly connected through the connecting shaft B208, the second large side plate 204 and the second small side plate 203 are hingedly connected through the connecting shaft C209, and the third small side plate 205 is connected to the second large side plate 205.
  • the side plate 204 is hingedly connected through the connecting shaft D210, the fourth small side plate 206 and the third small side plate 205 are hingedly connected through the connecting shaft E211, and the first large side plate 201 and the fourth small side plate 206 are realized through the connecting shaft F212.
  • connection axis A and the connection axis D are located on the same first axis
  • the axes of the connection axis B and the connection axis E are located on the same second axis
  • connection axis C and the connection axis F are located on the same third axis
  • connection axis G The connection axis H is symmetrical to the second axis
  • the first axis and the third axis are symmetrical to the second axis
  • the same side adopts a symmetrical arrangement structure up and down, and the two small side plates and one large side plate in the upper part are always aligned with the lower part 2
  • the two small side plates are symmetrical to the one large side plate, and the straight lines of all the connecting axes on the same side always intersect at the same point.
  • one end of the bellows 3 facing the bottom plate 11 is provided with a joint 31 , and the joint 31 is passed through and fixed on the bottom plate 11 .
  • one end of the bellows 3 facing the control box 12 is closed and arranged, and the closed end of the bellows 3 is bonded to the control box 12 .
  • the origami structure 2 is a high-hardness and light-weight composite material.
  • a tilt angle sensor 13 is installed on the control box 12 .
  • the inclination angle sensor is fixed on the bottom plate of the control box through fixing bolts, detects the inclination angle of the origami assembly in real time and transmits the angle information to the PC.
  • the tilt angle sensor can feed back the bending angle of each origami component in real time, and then can realize precise angle control of each origami component and the overall mechanism.
  • the box bottom of the bottom plate 11 and the control box 12 is a regular hexagon
  • the origami assembly includes three origami structures 2, and the three origami structures 2 are respectively connected to three sides of the regular hexagon at intervals.
  • the pneumatic drive assembly includes three bellows 3, and the three bellows 3 are arranged between the three origami structures 2 and connected between the bottom plate 11 and the box bottom of the control box 12.
  • the preferred implementation in this embodiment also includes an electromagnetic self-locking assembly, and the electromagnetic self-locking assembly includes a plurality of electromagnetic self-locking modules 4, and each electromagnetic self-locking module 4 includes an electromagnet part 41 and a suction plate part 42, and the electromagnet part 41 is fixed on the control box 12 , and the suction plate part 42 is fixed on the origami structure 2 .
  • the electromagnet part is fixed on the lower bottom plate of the control box by bolts, and the suction plate part is fixed on the second large side plate by bolts.
  • the electromagnet part and the suction plate part are attracted by the magnetic force, and the state and angle of the second large side plate and the bottom end of the control box are fixed. Due to the symmetry of the side structure of the origami component, the side of the origami component will be fixed. , so as to realize the fixation of the origami components, thereby realizing the high load capacity of the continuum mechanism.
  • a continuum robot is introduced below, including a plurality of origami-based pneumatic continuum mechanisms and a pneumatic multi-channel control system (not shown in the figure) arranged in series.
  • a pneumatic multi-channel control system includes air supply pipes corresponding to the bellows 21, one end of the air supply pipe extends into the control box 12 and connects with the bellows 3 corresponding to it.
  • the joint 31 is connected, and the other end of the air supply pipe stretches out of the control box 12 and communicates with the air source.
  • the bottom plate is fixed on the upper bottom plate of the control box of the next origami assembly by fixing bolts through holes.
  • the pneumatic multi-channel control system controls the shrinkage and stretching ratios of multiple corrugated hoses through the air supply pipe, and the shrinkage and stretching ratios of the corrugated hoses control the bending angle of the pneumatic drive components, so as to realize the bending angle control of the origami structure.
  • the joint 31 of the bellows 3 passes through the bottom plate 11 into the control box 12 of the adjacent continuum mechanism and communicates with the corresponding air supply pipe.
  • the pneumatic multi-channel control system can control the bending angle of each origami component. By controlling the bending angle of different origami components, the overall multi-curvature bending method of the continuum mechanism can be realized.
  • the pneumatic multi-channel control system Combining with the electromagnetic self-locking module can realize different states of each origami component, such as bending, stretching, fixing, etc., through the state of each module, it can meet the function realization of the continuum mechanism in complex modes.
  • This invention intends to design a new continuum robot, which relies on origami folding technology to form a reconfigurable, active control, high degree of freedom and compact form factor system, using a pneumatic actuator and a multi-sensor system Multi-layer prefab modules to create reconfigurable, almost soft, multi-degree-of-freedom continuum assemblies capable of supporting strong loads.
  • the purpose of the present invention is to propose a continuum mechanism based on the origami principle.
  • each continuum mechanism unit of the existing continuum robot adopts multiple drivers connected in parallel to realize the continuous movement of the mechanical arm. Many, it is difficult to achieve weight reduction.
  • the existing continuum mechanism does not have the characteristics of expansion and contraction, bending, bending resistance, and strong load capacity.
  • this project intends to adopt a design method for continuous in vitro limb robots based on the origami principle, through pneumatic software
  • the driver is used to drive the deformation and stiffness of the origami unit to realize the continuous motion and telescopic motion of the outer limb robot, and realize the perception of position and force at the same time.
  • the material of the software driver is light and the origami mechanism is made of light and high-hardness composite materials, it is easy to achieve light weight, and at the same time, the bending angle of each unit and the maximum bending angle of the mechanism can be effectively controlled.
  • the invention has the characteristics of simple and stable structure, flexible action, strong expansion and contraction characteristics, bending characteristics, bending resistance, load capacity and the like.
  • the present invention complexly controls a multi-degree-of-freedom multi-layer prefabricated body module, and uses rigid materials to realize the bending characteristics of flexible materials, so that the continuum mechanism has good bendability, and uses rigid materials as the shell, so that The continuum mechanism has excellent self-stretchability.
  • the continuum mechanism has good load capacity.
  • the pneumatic multi-channel control system involved in the present invention realizes the multi-channel pneumatic closed-loop control system controlled by the PC through the proportional valve, the integrated vacuum generator (including the vacuum breaking valve), and the gas pressure sensor; , can realize the perception of the force and position of the mechanism, and then correct the air pressure, and realize the function of the continuum mechanism more accurately.
  • the rest is the same as the first embodiment, the difference is that the above-mentioned second small side plate 203 and the above-mentioned first small side plate 202 are hingedly connected to the same first fixing block 215 through the above-mentioned connecting shaft B208 and the above-mentioned
  • the second small side plate 203 and the above-mentioned first small side plate 202 can be rotated by mutual transmission, and the above-mentioned fourth small side plate 206 and the above-mentioned third small side plate 205 are hingedly connected to the same second fixed side plate through the above-mentioned connecting shaft E211.
  • the block 216 and the fourth small side plate 206 and the third small side plate 205 can be driven to each other for rotation.
  • the above-mentioned first small side panel and the second small side panel can be parallel to each other after being folded, and the above-mentioned third small side panel and the above-mentioned fourth small side panel can be parallel to each other after being folded.
  • the two small side plates are respectively provided with an arc surface 217 at the corner position, and the arc surfaces of the two are in rolling friction contact.
  • the third small side plate and the fourth small side plate are respectively provided with arc surfaces 217 at the corner positions, and the arc surfaces of the two are in rolling friction contact.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Folding Of Thin Sheet-Like Materials, Special Discharging Devices, And Others (AREA)
  • Manipulator (AREA)

Abstract

本发明公开了一种基于折纸结构的气动连续体机构，包括安装组件、折纸组件以及气驱动组件，安装组件包括底板和控制盒；折纸组件包括多个折纸结构，多个折纸结构并列支撑在底板和控制盒之间，每个折纸结构自身可折叠并且可折叠的连接底板和控制盒，气驱动组件包括多根波纹管，多根波纹管并列支撑在底板和控制盒之间，每根波纹管设有用于送气和排气的接头。本发明提供一种基于折纸结构的气动连续体机构及连续体机器人，基于气驱动方式，复杂的控制一个多自由度的多层预制体模块，释放了工作空间以及环境，解决了需要的驱动单元较多、难以实现轻量化的难题。使可折叠结构既轻量化、紧凑，又具有伸缩性和微型化，同时保持其运动性能。

Description

一种基于折纸结构的气动连续体机构及连续体机器人 技术领域
本发明属于智能机器人技术领域，具体涉及一种基于折纸结构的气动连续体机构及连续体机器人。
背景技术
连续体机器人由诸多类型相似的连续体机构，即连续体机构串联而成，每个连续体机构可以独立驱动，且相邻连续体机构之间没有明显的关节结构。相比于传统的刚性关节机器人具备很多独特的优势，比如灵活性好、易于实现超冗余自由度、易于避障而且更有微型化的潜力。
常见的连续体机构仅具有一定的弯曲特性，在收缩性方面较差，不适用于狭窄的需要连续体机构可以收缩的环境，针对该问题，科学可折叠臂机构可以帮助机器人或机构进入狭窄的空间来克服体积问题。
例如，专利申请公布号为CN112276920A的中国发明专利公开了一种连续体蛇形机器人，设计了一种由电机带动弹簧驱动的可弯曲连续体机器人，结构包括柔性主体和主控制器，柔性主体由多个串联连接的柔性段组成，柔性段包括腔体、软轴驱动装置、顶盖、支撑架、角度传感器、控制器等，可以完成伸缩弯曲等运动；实现了连续体机构的运动灵活、结构简单、负载能力较好的特点。该设计中缺少了纵向弯曲的驱动单元，仅靠电机带动软轴驱动无法有效控制最大弯曲角度；同时，因为选用弹簧作为驱动器及支撑结构，整体机构的抗弯曲能力较差，当受外力情况下，连续体机构的状态无法受自身机构的控制，会有一定的收缩，对后续的弯曲造成影响；且连续体机构不能实现全方向改变曲率的弯曲，无法实现利用较少的自由度实现尽可能大的变曲率弯曲。
参考专利申请公布号CN212281628U一种狭窄腔道医疗操作用机器人及狭窄 腔道医疗操作系统，设计了一种由电机带动线绳驱动的可弯曲连续体关节，结构包括壳体、连续体、第一驱动机构，连续体包括基座、第一弯曲关节、第二弯曲关节、第二驱动机构和第三驱动机构，第二驱动机构能驱动第一弯曲关节弯曲，第三驱动机构能驱动第二弯曲关节弯曲和相对于第一弯曲关节伸缩，从而实现了连续体形态的多样控制且具有极大的弯曲角度。该设计中关节与关节之间间隙较大且连接简单，具有了极大的弯曲角度，但同时因为间隙大缺少了支撑模块，强度低、负载能力较差且不具备伸缩特性；此外，整体机构由单一的线绳驱动来实现角度弯曲，无法有效地控制各关节的弯曲角度，同时所需要的驱动单元较多。
参考论文“An origami-inspired,self-locking robotic arm that can be folded flat”，文章提出一种依据折纸垂直折叠原理的多步折叠驱动的加强连续体机械臂。结构上可折叠连续体机械臂由7个可折叠模块串联组成，每个模块中通过两条垂直折线产生一个奇点，限制了每条折线的自由度。测试表明，可折叠模块使用锁止机构与没有使用锁止机构的模块相比，机构抗弯曲能力提高5倍，抗压缩能力提高200倍。该设计中连续体机械臂依靠折纸垂直折叠原理的仅能实现结构上的收缩，通过锁止机构来实现连续体机械臂的高刚度和负载能力，然而这种以损失弯曲性为代价换回机构的良好的伸缩特性和优异的负载能力的设计完全丧失了连续体的弯曲性能。
综上所述，现有的连续体机器人每个连续体机构单元采用多个驱动器并联实现机械臂的连续运动，需要的驱动单元较多，难以实现轻量化。因此，如何兼顾连续体机构的轻量化、弯曲性能、伸缩性能以及负载能力是本领域亟待解决的技术问题。
发明内容
针对现有技术存在的上述不足，本发明提供一种基于折纸结构的气动连续体机构及连续体机器人，使可折叠结构既轻量化、紧凑，又具有伸缩性和微型化，同时保持其运动性能。
本发明提供以下的技术方案：一种基于折纸结构的气动连续体机构，包括：
安装组件，所述安装组件包括底板和控制盒；
折纸组件，所述折纸组件包括多个折纸结构，所述多个折纸结构并列支撑在所述底板和所述控制盒之间，每个所述折纸结构自身可折叠并且可折叠的连接所述底板和所述控制盒；
气驱动组件，所述气驱动组件包括多根波纹管，所述多根波纹管并列支撑在所述底板和所述控制盒之间，每根所述波纹管设有用于送气和排气的接头。
优选的，所述折纸结构的折痕为单顶点六折痕菱形图案，所述折纸结构包括围绕中心顶点依次设置的第一大侧板、第一小侧板、第二小侧板、第二大侧板、第三小侧板以及第四小侧板，所述第一小侧板和所述第一大侧板通过连接轴A实现铰接连接，所述第二小侧板和所述第一小侧板通过连接轴B实现铰接连接，所述第二大侧板和所述第二小侧板通过连接轴C实现铰接连接，所述第三小侧板与所述第二大侧板通过连接轴D实现铰接连接，所述第四小侧板与所述第三小侧板通过连接轴E实现铰接连接，所述第一大侧板与所述第四小侧板通过连接轴F实现铰接连接，所述连接轴A、所述连接轴B、所述连接轴C、所述连接轴D、所述连接轴E以及所述连接轴F的轴线相交于所述中心顶点，所述第一大侧板与所述底板通过连接轴G实现铰接连接，所述第二大侧板与所述控制盒通过连接轴H实现铰接连接，所述连接轴G和所述连接轴H分别设于所述中心顶点的两侧并且相互平行。
优选的，所述波纹管朝向所述底板的一端设有所述接头，所述接头穿设固定在所述底板上。
优选的，所述波纹管朝向所述控制盒的一端封闭设置，所述波纹管的封闭端粘结连接所述控制盒。
优选的，所述折纸结构为高硬度轻质复合材料。
优选的，所述控制盒上安装有倾斜角度传感器。
优选的，所述底板和所述控制盒的盒底为正六边形，所述折纸组件包括三个所述折纸结构，所述三个折纸结构分别连接于所述正六边形的间隔设置的三条边上，所述气动驱动组件包括三根所述波纹管，所述三根波纹管设于所述三个折纸结构之间并连接于所述底板和所述控制盒的盒底之间。
优选的，还包括电磁自锁组件，所述电磁自锁组件包括多个电磁自锁模块，每个所述电磁自锁模块包括电磁铁部件和吸板部件，所述电磁铁部件固定于所述控制盒上，所述吸板部件固定于所述折纸结构上。
优选的，所述第二小侧板和所述第一小侧板各自通过所述连接轴B铰接连接同一第一固定块且所述第二小侧板和所述第一小侧板之间可相互传动进行转动动作，所述第四小侧板与所述第三小侧板各自通过所述连接轴E铰接连接同一第二固定块且所述第四小侧板和所述第三小侧板之间可相互传动进行转动动作。
本发明还提供另外一个技术方案：一种连续体机器人，包括串联设置的多个基于折纸结构的气动连续体机构和气动多路控制系统，相邻两个所述气动连续体机构中，其中一者的底板与另一者的控制盒相对固定，所述气动多路控制系统包括分别与所述波纹管一一对应的供气管，所述供气管的一端伸入所述控制盒内并和与其对应的所述波纹管连通，所述供气管的另一端伸出所述控制盒之外并与气源连通。
优选的，所述波纹管的接头穿过所述底板进入相邻连续体机构的控制盒内并连通与其对应的所述供气管。
由于上述技术方案运用，本发明与现有技术相比具有下列优点：
1)本发明公开的基于折纸结构的气动连续体机构及连续体机器人，基于气驱动方式，复杂的控制一个多自由度的多层预制体模块，释放了工作空间以及环境，解决了需要的驱动单元较多、难以实现轻量化的难题；
2)本发明公开的基于折纸结构的气动连续体机构及连续体机器人，引入了折纸技术，实现了整体机构的伸缩特性，极大地压缩了连续体机构的体积，解决了现有的连续体机构不具备伸缩特性的问题；
3)本发明公开的基于折纸结构的气动连续体机构及连续体机器人，通过折纸组件各侧面不同状态下弯曲角度的差异从而实现了连续体机构的弯曲性，再通过电磁自锁模块对折纸机构的限制来实现连续体机构优异的负载能力，解决了现有的连续体折纸机构中负载能力与弯曲性无法兼具的问题。
4)本发明公开的基于折纸结构的气动连续体机构及连续体机器人，通过折纸技术将机构简单化并具有弯曲性，再通过气动驱动器来实现单模块的角度精确控制，从而实现整体机构的弯曲角度控制，解决了现有的连续体机构结构复杂、无法有效控制最大弯曲角度的问题。
5)本发明公开的基于折纸结构的气动连续体机构及连续体机器人，通过设置第一固定块和第二固定块，上述第一小侧板与第二小侧板折叠后可相互平行贴合，上述第三小侧板与上述第四小侧板折叠后可相互平行贴合，上述第一小侧板和上述第二小侧板各自在转角位置设置圆弧面，二者的圆弧面滚动摩擦接触，当第一小侧板和第二小侧板中一者绕自己的连接轴B旋转时，另一者也会绕自己的连接轴B旋转，上述第三小侧板和上述第四小侧板各自在转角位置设置圆弧面，二者的圆弧面滚动摩擦接触，当第三小侧板和第四小侧板中一者绕自己的连接轴E旋转时，另一者也会绕自己的连接轴E旋转，且第一小侧板与第二小侧板同时进行折叠动作或同时进行展开动作，第三小侧板与第四小侧板同时进行折叠动作或同时进行展开动作。
附图说明
构成本申请的一部分的说明书附图用来提供对本申请的进一步理解，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。
图1为本发明实施例一中基于折纸机构的连续体机构的连接示意图；
图2为本发明实施例一中折纸组件的示意图；
图3为本发明实施例一中控制盒的示意图；
图4为本发明实施例一中气驱动组件的示意图；
图5为本发明实施例一中电磁自锁组件的示意图；
图6为本发明实施例二中折纸组件的示意图；
图7为本发明实施例二中折纸结构的示意图；
图8为本发明实施例二中第一小侧板与第二小侧板之间的连接示意图；
图9为本发明实施例二中第三小侧板与第四小侧板之间的连接示意图。
其中，11、底板；12、控制盒；13、倾斜角度传感器；2、折纸结构；201、第一大侧板；202、第一小侧板；203、第二小侧板；204、第二大侧板；205、第三小侧板；206、第四小侧板；207、连接轴A；208、连接轴B；209、连接轴C；210、连接轴D；211、连接轴E；212、连接轴F；213、连接轴G；214、连接轴H；215、第一固定块；216、第二固定块；3、伸缩管；31、接头；4、电磁自锁模块；41、电磁铁部件；42、吸板部件。
具体实施方式
下面结合附图和实施例，对本发明的具体实施方式作进一步详细描述。
应该指出，以下详细说明都是示例性的，旨在对本申请提供进一步的说明。除非另有指明，本文使用的所有技术和科学术语具有与本申请所属技术领域的普通技术人员通常理解的相同含义。需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本申请的示例性实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在 特征、步骤、操作、器件、组件和/或它们的组合。在本公开中，术语如“上”、“下”、“左”、“右”、“前”、“后”、“竖直”、“水平”、“侧”、“底”等指示的方位或位置关系为基于附图所示的方位或位置关系，只是为了便于叙述本公开各部件或元件结构关系而确定的关系词，并非特指本公开中任一部件或元件，不能理解为对本公开的限制。本公开中，术语如“固接”、“相连”、“连接”等应做广义理解，表示可以是固定连接,也可以是一体地连接或可拆卸连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的相关科研或技术人员，可以根据具体情况确定上述术语在本公开中的具体含义，不能理解为对本公开的限制。
以下为用于说明本发明的一较佳实施例，但不用来限制本发明的范围。
实施例一
参见图1至图5，如其中的图例所示，一种基于折纸结构的气动连续体机构，包括：
安装组件，安装组件包括底板11和控制盒12；
折纸组件，折纸组件包括多个折纸结构2，多个折纸结构2并列支撑在底板11和控制盒12之间，每个折纸结构2自身可折叠并且可折叠的连接底板和控制盒12；
气驱动组件，气驱动组件包括多根波纹管3，多根波纹管3并列支撑在底板11和控制盒12之间，每根波纹管3设有用于送气和排气的接头31。
上文中，接头为自锁快插接头。控制盒的侧壁放置了多孔位，以便供气管及传感器线束过孔，上方放置了大余量的操作空间，以便于多传感器的固定。
本实施例中优选的实施方式，折纸结构2的折痕为单顶点六折痕菱形图案，所述折纸结构包括围绕中心顶点依次设置的第一大侧板201、第一小侧板202、第二小侧板203、第二大侧板204、第三小侧板205以及第四小侧板206，第一小 侧板202和第一大侧板201通过连接轴A207实现铰接连接，第二小侧板203和第一小侧板202通过连接轴B208实现铰接连接，第二大侧板204和第二小侧板203通过连接轴C209实现铰接连接，第三小侧板205与第二大侧板204通过连接轴D210实现铰接连接，第四小侧板206与第三小侧板205通过连接轴E211实现铰接连接，第一大侧板201与第四小侧板206通过连接轴F212实现铰接连接，连接轴A207、连接轴B208、连接轴C209以及连接轴D210、连接轴E211以及连接轴F212的轴线相交于中心顶点，第一大侧板201与底板11通过连接轴G22实现铰接连接，第二大侧板204与控制盒12通过连接轴H214实现铰接连接，连接轴G213和连接轴H214分别设于中心顶点的两侧并且相互平行。
上文中，连接轴A和连接轴D位于同一第一轴线上，连接轴B和连接轴E的轴线位于同一第二轴线上，连接轴C和连接轴F位于同一第三轴线上，连接轴G和连接轴H相对第二轴线对称，第一轴线和第三轴线相对第二轴线对称；同一侧面采用上下对称布列结构，上部分2个小侧板与1个大侧板始终与下部分2个小侧板与1个大侧板呈对称状态，且同一侧面所有连接轴所在直线始终交于同一点。
本实施例中优选的实施方式，波纹管3朝向底板11的一端设有接头31，接头31穿设固定在底板11上。
本实施例中优选的实施方式，波纹管3朝向控制盒12的一端封闭设置，波纹管3的封闭端粘结连接控制盒12。
本实施例中优选的实施方式，折纸结构2为高硬度轻质复合材料。
本实施例中优选的实施方式，控制盒12上安装有倾斜角度传感器13。
上文中，倾斜角度传感器通过固定螺栓固定在控制盒下底板上，实时检测折纸组件的倾斜角并将角度信息传输给PC。倾斜角度传感器可以实时反馈各折纸组件的弯曲角度，进而可以实现对各折纸组件与整体机构的精准角度控制。
本实施例中优选的实施方式，底板11和控制盒12的盒底为正六边形，折纸 组件包括三个折纸结构2，三个折纸结构2分别连接于正六边形的间隔设置的三条边上，气动驱动组件包括三根波纹管3，三根波纹管3设于三个折纸结构2之间并连接于底板11和控制盒12的盒底之间。
本实施例中优选的实施方式，还包括电磁自锁组件，电磁自锁组件包括多个电磁自锁模块4，每个电磁自锁模块4包括电磁铁部件41和吸板部件42，电磁铁部件41固定于控制盒12上，吸板部件42固定于折纸结构2上。
上文中，电磁铁部件通过螺栓固定在控制盒的下底板上，吸板部件通过螺栓固定在第二大侧板上。在通电情况下，电磁铁部件与吸板部件在磁力作用下吸合，将第二大侧板与控制盒底端状态及角度固定，由于折纸组件侧面结构的对称性，折纸组件侧面将被固定，以此实现折纸组件的固定，从而实现连续体机构的高负载能力。
下面介绍一种连续体机器人，包括串联设置的多个基于折纸结构的气动连续体机构和气动多路控制系统(图中未示出)，相邻两个气动连续体机构中，其中一者的底板11与另一者的控制盒12相对固定，气动多路控制系统包括分别与波纹管21一一对应的供气管，供气管的一端伸入控制盒12内并和与其对应的波纹管3的接头31连接，供气管的另一端伸出控制盒12之外并与气源连通。
上文中，底板通过过孔固定螺栓固定在下一折纸组件控制盒的上底板上。气动多路控制系统通过供气管控制多个波纹软管的收缩率与伸张率，波纹软管的收缩率与伸张率控制气驱动组件的弯曲角度，以此实现折纸结构的弯曲角度控制。
本实施例中优选的实施方式，波纹管3的接头31穿过底板11进入相邻连续体机构的控制盒12内并连通与其对应的供气管。
在复杂环境复杂位置情况下，气动多路控制系统可控制各折纸组件的弯曲角度，通过对不同折纸组件的弯曲角度的控制，实现连续体机构的整体多曲率的弯曲方式，气动多路控制系统及电磁自锁模块相结合可实现各折纸组件不同的状态，如弯曲、伸缩、固定等，通过各模块的状态，满足复杂模态下连续体机构的功能 实现。
本发明拟设计一种新的连续体机器人，它依托折纸折叠技术，组成一种可重构、主动控制、高自由度具有紧凑形式因子的系统，利用气动驱行器、以及多传感器构成的一个多层预制体模块，以创建可重构的、几乎柔软的、但能够支持强大负载的多自由度连续体组件。
本发明的目的是提出一种基于折纸原理的连续体机构，相对于现有技术，现有的连续体机器人每个连续体机构单元采用多个驱动器并联实现机械臂的连续运动，需要的驱动单元较多，难以实现轻量化。并且，现有的连续体机构不兼具伸缩特性、弯曲特性、抗弯曲能力、负载能力强等特点。为满足一些工作对工作空间大、轻量化、柔顺性、可伸缩、变刚度和一定的负载能力等方面的需求，本项目拟采用一种基于折纸原理的连续体外肢体机器人设计方法，通过气动软体驱动器来驱动折纸单元的形变和刚度以实现外肢体机器人的连续运动及伸缩运动，同时实现位置和力的感知。由于软体驱动器材料轻盈、折纸机构选用轻且高硬度的复合材料，易于实现轻量化，同时可以有效控制各单元的弯曲角度及机构的最大弯曲角度。本发明具有结构简单、稳定，行动灵活，较强的伸缩特性、弯曲特性、抗弯曲能力、负载能力等特点。
本发明基于气动驱动方式，复杂的控制一个多自由度的多层预制体模块，以刚性材料实现柔性材料才具有的弯曲特性，使得连续体机构具有良好的弯曲性，以刚性材料为外壳，使得连续体机构具有优异的自伸缩性，以刚性材料为骨架，加入电磁自锁机构，使得连续体机构具有良好的的负载能力。本发明所涉及的气动多路控制系统，通过比例阀、集成式真空发生器(含破真空阀)、气体压力传感器，从而实现PC端控制的多路气动闭环控制系统；通过倾斜角度传感器的反馈，可以实现机构力与位置的感知，进而对气压进行修正，更精确地实现连续体机构的功能。
实施例二
参见图6至图9，其余与实施例一相同，不同之处在于，上述第二小侧板203和上述第一小侧板202各自通过上述连接轴B208铰接连接同一第一固定块215且上述第二小侧板203和上述第一小侧板202之间可相互传动进行转动动作，上述第四小侧板206与上述第三小侧板205各自通过上述连接轴E211铰接连接同一第二固定块216且上述第四小侧板206和上述第三小侧板205之间可相互传动进行转动动作。上述第一小侧板与第二小侧板折叠后可相互平行贴合，上述第三小侧板与上述第四小侧板折叠后可相互平行贴合，上述第一小侧板和上述第二小侧板各自在转角位置设置圆弧面217，二者的圆弧面滚动摩擦接触，当第一小侧板和第二小侧板中一者绕自己的连接轴B旋转时，另一者也会绕自己的连接轴B旋转，上述第三小侧板和上述第四小侧板各自在转角位置设置圆弧面217，二者的圆弧面滚动摩擦接触，当第三小侧板和第四小侧板中一者绕自己的连接轴E旋转时，另一者也会绕自己的连接轴E旋转，且第一小侧板与第二小侧板同时进行折叠动作或同时进行展开动作，第三小侧板与第四小侧板同时进行折叠动作或同时进行展开动作。
以上为对本发明实施例的描述，通过对所公开的实施例的上述说明，使本领域专业技术人员能够实现或使用本发明。对本发明实施例的多种修改对本领域的专业技术人员来说将是显而易见的，本文中所定义的一般原理可以在不脱离本发明的精神或范围的情况下，在其它实施例中实现。因此，本发明将不会被限制于本文所示的实施例，而是要符合与本文所公开的原理和新颖特点相一致的最宽的范围。

Claims (11)

  1. 一种基于折纸结构的气动连续体机构，其特征在于，包括：
    安装组件，所述安装组件包括底板和控制盒；
    折纸组件，所述折纸组件包括多个折纸结构，所述多个折纸结构并列支撑在所述底板和所述控制盒之间，每个所述折纸结构自身可折叠并且可折叠的连接所述底板和所述控制盒；
    气驱动组件，所述气驱动组件包括多根波纹管，所述多根波纹管并列支撑在所述底板和所述控制盒之间，每根所述波纹管设有用于送气和排气的接头。
  2. 根据权利要求1所述的基于折纸结构的气动连续体机构，其特征在于，所述折纸结构的折痕为单顶点六折痕菱形图案，所述折纸结构包括围绕中心顶点依次设置的第一大侧板、第一小侧板、第二小侧板、第二大侧板、第三小侧板以及第四小侧板，所述第一小侧板和所述第一大侧板通过连接轴A实现铰接连接，所述第二小侧板和所述第一小侧板通过连接轴B实现铰接连接，所述第二大侧板和所述第二小侧板通过连接轴C实现铰接连接，所述第三小侧板与所述第二大侧板通过连接轴D实现铰接连接，所述第四小侧板与所述第三小侧板通过连接轴E实现铰接连接，所述第一大侧板与所述第四小侧板通过连接轴F实现铰接连接，所述连接轴A、所述连接轴B、所述连接轴C、所述连接轴D、所述连接轴E以及所述连接轴F的轴线相交于所述中心顶点，所述第一大侧板与所述底板通过连接轴G实现铰接连接，所述第二大侧板与所述控制盒通过连接轴H实现铰接连接，所述连接轴G和所述连接轴H分别设于所述中心顶点的两侧并且相互平行。
  3. 根据权利要求1所述的基于折纸结构的气动连续体机构，其特征在于，所述波纹管朝向所述底板的一端设有所述接头，所述接头穿设固定在所述底板上。
  4. 根据权利要求1所述的基于折纸结构的气动连续体机构，其特征在于，所述波纹管朝向所述控制盒的一端封闭设置，所述波纹管的封闭端粘结连接所述控制盒。
  5. 根据权利要求1所述的基于折纸结构的气动连续体机构，其特征在于，所述折纸结构为高硬度轻质复合材料。
  6. 根据权利要求1所述的基于折纸结构的气动连续体机构，其特征在于，所述控制盒上安装有倾斜角度传感器。
  7. 根据权利要求1所述的基于折纸结构的气动连续体机构，其特征在于，所述底板和所述控制盒的盒底为正六边形，所述折纸组件包括三个所述折纸结构，所述三个折纸结构分别连接于所述正六边形的间隔设置的三条边上，所述气动驱动组件包括三根所述波纹管，所述三根波纹管设于所述三个折纸结构之间并连接于所述底板和所述控制盒的盒底之间。
  8. 根据权利要求1所述的基于折纸结构的气动连续体机构，其特征在于，还包括电磁自锁组件，所述电磁自锁组件包括多个电磁自锁模块，每个所述电磁自锁模块包括电磁铁部件和吸板部件，所述电磁铁部件固定于所述控制盒上，所述吸板部件固定于所述折纸结构上。
  9. 根据权利要求1所述的基于折纸结构的气动连续体机构，其特征在于，所述第二小侧板和所述第一小侧板各自通过所述连接轴B铰接连接同一第一固定块且所述第二小侧板和所述第一小侧板之间可相互传动进行转动动作，所述第四小侧板与所述第三小侧板各自通过所述连接轴E铰接连接同一第二固定块且所述第四小侧板和所述第三小侧板之间可相互传动进行转动动作。
  10. 一种连续体机器人，其特征在于，包括串联设置的多个如权利要求1至9任一所述的基于折纸结构的气动连续体机构和气动多路控制系统，相邻两个所述气动连续体机构中，其中一者的底板与另一者的控制盒相对固定，所述气动多路控制系统包括分别与所述波纹管一一对应的供气管，所述供气管的一端伸入所述控制盒内并和与其对应的所述波纹管连通，所述供气管的另一端伸出所述控制盒之外并与气源连通。
  11. 根据权利要求10所述的连续体机器人，其特征在于，所述波纹管的接头 穿过所述底板进入相邻连续体机构的控制盒内并连通与其对应的所述供气管。
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