WO2024045272A1 - 一种基于齿啮合的可变刚度软体基节及其制作模具 - Google Patents

一种基于齿啮合的可变刚度软体基节及其制作模具 Download PDF

Info

Publication number
WO2024045272A1
WO2024045272A1 PCT/CN2022/125013 CN2022125013W WO2024045272A1 WO 2024045272 A1 WO2024045272 A1 WO 2024045272A1 CN 2022125013 W CN2022125013 W CN 2022125013W WO 2024045272 A1 WO2024045272 A1 WO 2024045272A1
Authority
WO
WIPO (PCT)
Prior art keywords
mold
silicone
inner tube
shell
tube
Prior art date
Application number
PCT/CN2022/125013
Other languages
English (en)
French (fr)
Inventor
黄励昊
Original Assignee
上海智能制造功能平台有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 上海智能制造功能平台有限公司 filed Critical 上海智能制造功能平台有限公司
Publication of WO2024045272A1 publication Critical patent/WO2024045272A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C39/00—Shaping by casting, i.e. introducing the moulding material into a mould or between confining surfaces without significant moulding pressure; Apparatus therefor
    • B29C39/22—Component parts, details or accessories; Auxiliary operations
    • B29C39/26—Moulds or cores
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
    • B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
    • B29C69/00—Combinations of shaping techniques not provided for in a single one of main groups B29C39/00 - B29C67/00, e.g. associations of moulding and joining techniques; Apparatus therefore
    • B29C69/02—Combinations of shaping techniques not provided for in a single one of main groups B29C39/00 - B29C67/00, e.g. associations of moulding and joining techniques; Apparatus therefore of moulding techniques only

Definitions

  • the present invention relates to the technical field of soft robots, and specifically to a variable stiffness soft base section based on tooth meshing and a manufacturing mold thereof.
  • Soft robots have high flexibility and ductility, and have broad application prospects in the fields of disaster relief, surveying, and medical equipment.
  • Soft robots are generally made of elastic materials and have a high degree of flexibility, but at the same time their low stiffness makes them difficult to apply to some applications that require high loads, making it difficult for soft robots to effectively carry out operations in actual scenarios. Therefore, it is particularly important to design soft robots with variable stiffness.
  • Magnetorheological fluid changes the viscosity of the liquid by changing the effect of the external magnetic field, thereby changing the stiffness of the soft body base section.
  • Phase change materials mainly change the material's external conditions, such as temperature, humidity, etc., so that the material changes between solid and liquid to achieve stiffness changes.
  • the Chinese invention patent application with publication number CN113080809A disclosed a soft medical capsule robot based on magnetorheological fluid, including a permanent magnet ring 1, a soft capsule shell, a ferromagnetic fluid, a permanent magnet ring 2, and a transparent shell.
  • magnetorheological fluid including a permanent magnet ring 1, a soft capsule shell, a ferromagnetic fluid, a permanent magnet ring 2, and a transparent shell.
  • the surface of the soft capsule shell and the transparent shell of the present invention are wrapped by magnetorheological fluid and hydrogel film, which is convenient for reducing damage to the intestinal tract.
  • the soft medical capsule robot is driven by a combined magnetic control system of permanent magnets and magnetorheological fluid.
  • the oscillating plate can repeatedly squeeze the medicine to improve the utilization rate of the medicine.
  • the soft medical capsule robot uses the oscillating plate controlled by the magnetic control system to achieve targeted drug delivery, which is convenient to improve the delivery of medicine under the control of the magnetic control system. Speed and completeness of delivery. However, its materials are expensive, require high external magnetic fields, and have limitations in practical applications.
  • the Chinese invention patent application with publication number CN110340921A discloses a pneumatic soft manipulator with tactile sensing function. It is composed of an electrothermal phase change actuator, a soft manipulator and a flexible tactile sensing unit.
  • the electrothermal phase change actuator contains A flexible heating film and liquid phase change material are provided.
  • the invention evaporates the liquid phase change material by energizing and heating the flexible heating film to regulate the pressure of the internal cavity of the electrothermal phase change actuator base, thereby dynamically adjusting the bending state of the soft manipulator to complete the grasping operation; at the same time, the flexible tactile sensor
  • the sensing unit is used to sense the time-varying information of the grasping force when the soft manipulator grasps the target, and uses it as a feedback source to adjust the bending state of the soft manipulator, thus forming a closed-loop feedback control.
  • the phase change of materials often lasts for a long time, making it difficult for the response speed of soft robots to adapt to practical applications.
  • variable stiffness technology can adjust the stiffness of soft robots under certain conditions, it has limitations in economy, adaptability, and response performance.
  • the purpose of the present invention is to provide a variable stiffness soft base section based on tooth meshing and a manufacturing mold thereof.
  • variable stiffness soft base section based on tooth meshing including:
  • a silicone inner tube which includes a silicone tube and external teeth provided on the outer wall of the silicone tube.
  • the silicone tube has an internal cavity, and the internal cavity is used to accommodate a PU tube connected to an external air pump;
  • a silicone outer tube is sleeved on the outside of the silicone inner tube.
  • the inner wall of the silicone outer tube is provided with an annular toothed groove, and the annular toothed groove meshes with the external teeth;
  • the first end cap and the second end cap are respectively provided at both ends of the base section.
  • the first end cap and the second end cap are used to connect the silicone inner tube and the silicone outer tube to form a closed Soft body segment.
  • the outer wall of the silicone inner tube is provided with an annular groove, and the external teeth are bonded to the annular groove; the external teeth are provided with an external tooth through groove close to the inner wall of the silicone tube, and the external teeth are
  • the slot is used to store the glue used for bonding.
  • the inner wall of the silicone outer tube is provided with an outer tube through groove along the axial direction, and the outer tube through groove is used to reduce the elastic modulus of the silicone outer tube.
  • grooves are provided on the outer sides of the first end cap and the second end cap, and the grooves are arranged in a radial direction.
  • a mold for manufacturing the above-mentioned variable stiffness soft body base segment based on tooth meshing including:
  • the inner tube mold includes a first shell of the inner tube mold, a second shell of the inner tube mold, an upper end cover of the inner tube mold, and a lower end cover of the inner tube mold; the upper end cover of the inner tube mold is provided with a pouring hole for pouring liquid silicone. ;
  • the lower end cover of the inner tube mold is connected with a cylinder, which is used to form the internal cavity of the silicone inner tube during pouring; the first shell of the inner tube mold and the second shell of the inner tube mold are connected at both ends
  • An inner tube hollow cylindrical shell is formed, and the cylinder is accommodated in the inner tube hollow cylindrical shell; the inner walls of the inner tube mold first shell and the inner tube mold second shell are evenly distributed with annular concavities. Groove, used for limiting the upper end cover of the inner tube mold and the lower end cover of the inner tube mold and forming an annular groove on the outer wall of the silicone inner tube;
  • the outer pipe mold includes a first shell of the outer pipe mold, a second shell of the outer pipe mold and a lower end cover of the outer pipe mold.
  • the lower end cover of the outer pipe mold includes a lower end cover and an annular toothed ring provided on the lower end cover.
  • the hollow cylinder of the groove is used to form an annular toothed groove on the inner wall of the silicone outer tube during pouring; the first shell of the outer tube mold and the second shell of the outer tube mold are connected at both ends.
  • An outer tube hollow cylindrical shell is formed, and the hollow cylinder is accommodated in the outer tube hollow cylindrical shell; annular grooves are evenly distributed on the first shell of the outer tube mold and the second shell of the outer tube mold. , the annular groove is used to limit the position of the lower end cover of the outer tube mold.
  • the first housing of the inner tube mold is provided with an inner tube groove
  • the second housing of the inner tube mold is provided with an inner tube convex groove that matches the inner tube groove.
  • the first shell of the pipe mold and the second shell of the inner pipe mold are embedded in each other.
  • the upper surface of the upper end cover of the inner tube mold is processed into a funnel shape; the first shell of the outer tube mold is provided with an outer tube groove, and the second shell of the outer tube mold is provided with an outer tube groove.
  • the outer tube groove matches the outer tube convex groove, and the first shell of the outer tube mold and the second shell of the outer tube mold are embedded in each other.
  • the present invention has at least one of the following beneficial effects:
  • variable stiffness soft base section based on tooth meshing of the present invention and its manufacturing mold control the size of the radial deformation of the silicone inner tube by controlling the air pressure of the internal cavity of the silicone inner tube, thereby controlling the outer teeth of the silicone inner tube.
  • the degree of engagement with the annular tooth groove of the silicone outer tube is used to change the stiffness of the overall soft body base section.
  • variable stiffness soft base section based on tooth meshing of the present invention and its manufacturing mold are only connected to the external air pump or gas bottle through the PU pipe, and the PU pipe has sufficient flexibility and can adapt to more complex working environments. This makes the device of the present invention have a wider scope of application.
  • variable stiffness soft base section based on tooth meshing of the present invention and its manufacturing mold. Except for the silicone material, the other parts are made of PLA material through 3D printing, and the mold part can be reused, which can greatly reduce production costs. , strong economy.
  • Figure 1 is a schematic cross-sectional view of the overall assembly of the software base section in one embodiment of the present invention
  • Figure 2 is a schematic structural diagram of the silicone inner tube in one embodiment of the present invention.
  • Figure 3 is a schematic cross-sectional view of the silicone outer tube in one embodiment of the present invention.
  • Figure 4 is an exploded schematic diagram of the inner tube mold in one embodiment of the present invention.
  • Figure 5 is an exploded schematic diagram of the outer tube mold in one embodiment of the present invention.
  • 1 is the silicone tube
  • 2 is the external tooth
  • 3 is the first end cap
  • 4 is the silicone outer tube
  • 41 is the annular tooth groove
  • 5 is the silicone inner tube
  • 6 is the second end cap
  • 7 is the inner tube.
  • the first shell of the mold, 8 is the second shell of the inner tube mold
  • 9 is the lower end cover of the inner tube mold
  • 10 is the upper end cover of the inner tube mold
  • 11 is the first shell of the outer tube mold
  • 12 is the second shell of the outer tube mold.
  • body, 13 is the lower end cover of the outer tube mold.
  • the soft base section includes: a silicone inner tube 5.
  • the silicone inner tube 5 includes a silicone tube 1 and a silicone tube.
  • the external teeth 2 on the outer wall of the tube 1, the silicone tube 1 has an internal cavity, the internal cavity is used to accommodate the PU tube connected to the external air pump, and is only connected to the external air pump or cylinder through the PU tube, and the PU tube is sufficiently flexible.
  • the silicone outer tube 4 is set on the outside of the silicone inner tube 5, and the inner wall of the silicone outer tube 4 is provided with an annular toothed groove 41, annular The toothed groove 41 meshes with the external teeth 2; the first end cap 3 and the second end cap 6 are respectively provided at both ends of the base section.
  • the first end cap 3 and the second end cap 6 are used to connect the silicone inner tube 5 and the silicone
  • the outer tube 4 is used to form a closed soft body base section.
  • the internal cavity air pressure of the silica gel inner tube 5 is increased through an external air pump or a gas bottle, causing the silica gel inner tube 5 to expand, thereby causing the external teeth 2 on the silica gel inner tube 5 to connect with the annular teeth on the inner wall of the silica gel outer tube 4.
  • the grooves 41 mesh, thereby increasing the stiffness of the base section of the software, and adjusting the degree of tooth engagement by controlling the air pressure to achieve dynamic adjustment of the stiffness of the base section of the software.
  • the soft robot base section that realizes stiffness adjustment based on the tooth meshing principle in the embodiment of the present invention controls the radial deformation amount of the silicone inner tube 5 by controlling the air pressure of the internal cavity of the silicone inner tube 5, thereby controlling the deformation of the silicone inner tube 5.
  • the degree of engagement between the external teeth 2 and the annular toothed groove 41 of the silicone outer tube 4 changes the stiffness of the entire soft body base section.
  • the silicone tube 1 is a cylinder with an internal cavity.
  • the outer diameter of the PU tube can be slightly larger than the inner diameter of the silicone tube 1, thereby forming an extrusion between the inside and outside of the PU tube and the silicone tube 1. This effectively improves the air tightness of the silicone inner tube 5, and a glue sealing process can be performed at the insertion point of the PU tube to further improve the air tightness.
  • the external teeth 2 can be formed by 3D printing of PLA material. In order to achieve a tight connection between the external teeth 2 and the outer wall of the silicone inner tube 5, in some preferred embodiments, the outer wall of the silicone inner tube 5 is provided with an annular groove, and the external teeth 2 are adhered to each other.
  • silicone adhesive sealant J-528S can be used for connection.
  • An annular groove is provided every 10mm on the silicone inner tube 5.
  • the groove width is equal to the tooth width.
  • the external teeth 2 can be inserted into the annular groove. This design can effectively improve the position of the external teeth 2 during bonding.
  • the accuracy of the axial distribution on the silicone inner tube 5 ensures that the external teeth 2 on the silicone inner tube 5 can correspond one-to-one with the annular tooth grooves 41 of the silicone outer tube 4 to achieve precise meshing.
  • the external teeth 2 on each groove are evenly distributed along the circumferential direction of the silicone inner tube 5.
  • the connection line of the front and rear teeth is parallel to the axis of the silicone inner tube 5, which can ensure the uniformity of expansion of the silicone inner tube 5.
  • the outer tooth 2 is provided with an outer tooth through groove on the inner wall of the silicone tube 1.
  • the outer tooth through groove is used to store the glue used for bonding, making the bonding between the outer tooth 2 and the silicone inner tube 5 easier. Fasten.
  • the silicone outer tube 4 is an annular column.
  • the inner wall of the silicone outer tube 4 is provided with an outer tube slot along the axial direction, and the outer tube slot is used for Reduce the elastic modulus of the silicone outer tube 4 to adapt to different working needs.
  • grooves are provided on the outside of the first end cap 3 and the outside of the second end cap 6; the structures of the first end cap 3 and the second end cap 6 are the same, and the grooves are distributed in a circular shape. Radially on the end cap. A groove with a certain thickness is provided on the end cover in order to increase the space for trachea arrangement and avoid interference between the tracheas of two adjacent base sections.
  • the other components are made of PLA material through 3D printing, which can greatly reduce production costs and is highly economical.
  • the silicone inner tube 5 has external teeth 2 that change the stiffness of the base section through engagement and blocking.
  • the inner wall of the silicone outer tube 4 has tooth-shaped grooves that mesh with the external teeth 2.
  • the silicone inner tube 5 expands due to the increase in air pressure, causing the outer teeth 2 to mesh with the toothed grooves of the outer tube; the silicone inner tube 5 and the silicone outer tube 4 are adhered to the end caps on both sides as a whole; the present invention changes the silicone inner tube 5 and
  • the degree of engagement of the silicone outer tube 4 changes the stiffness of the soft base section, which enables real-time changes in the stiffness of the soft robot.
  • An embodiment of the present invention also provides a mold for manufacturing a variable stiffness soft body segment based on tooth meshing in the above embodiment.
  • an inner tube mold including an inner tube mold first shell 7, an inner tube The second mold shell 8, the inner tube mold upper end cover 10 and the inner tube mold lower end cover 9; the inner tube mold upper end cover 10 is provided with a pouring hole for liquid silicone pouring; the inner tube mold lower end cover 9 is connected to an elongated cylinder , used to form the internal cavity of the silicone inner tube 5 during pouring; the first shell 7 of the inner tube mold and the second shell 8 of the inner tube mold are connected at both ends to form a hollow cylindrical shell of the inner tube, and the cylinder is housed in Inside the hollow cylindrical shell of the inner tube; annular grooves are distributed on the inner walls of the first shell 7 of the inner tube mold and the second shell 8 of the inner tube mold, which are used to limit the upper end cover 10 of the inner tube mold and the lower end cover 9 of the inner tube mold.
  • the outer tube mold includes a first outer tube mold shell 11, an outer tube mold second shell 12 and an outer tube mold lower end cover 13.
  • the outer tube mold lower end cover 13 includes a lower end cover and a hollow cylinder with an annular toothed groove provided on the lower end cover.
  • the hollow cylinder is used to form an annular toothed groove 41 on the inner wall of the silicone outer tube 4 during pouring; the first shell 11 of the outer tube mold and the outer tube
  • the second mold shell 12 is connected at both ends to form an outer tube hollow cylindrical shell, and the hollow cylinder is accommodated in the outer tube hollow cylindrical shell; the outer tube mold first shell 11 and the outer tube mold second shell 12 are both Distribute annular grooves, and the annular grooves are used to limit the position of the lower end cover 13 of the outer tube mold.
  • first shell 7 of the inner pipe mold and the second shell 8 of the inner pipe mold are connected by bolts; the first shell 11 of the outer pipe mold and the second shell 11 of the outer pipe mold are connected by bolts.
  • the housing 12 is connected by bolts.
  • the first shell 7 of the inner tube mold is provided with a groove
  • the second shell 8 of the inner pipe mold is provided with a convex groove that matches the groove.
  • the height of the convex groove is 2mm and the depth of the groove is 3mm.
  • the upper surface of the upper end cap 10 of the inner tube mold is processed into a funnel shape to facilitate the flow of liquid silicone into the interior of the mold through the through hole of the end cap during the pouring process.
  • the first shell 11 of the outer pipe mold is provided with an outer pipe groove
  • the second shell 12 of the outer pipe mold is provided with an outer pipe convex groove that matches the outer pipe groove.
  • the height of the convex groove is 2mm
  • the depth of the groove is 3mm.
  • the silicone inner tube 5 of the variable stiffness soft body section includes a silicone tube 1, an external tooth 2, a PU tube, and an outer tooth 2.
  • Tooth 2 is 3D printed from PLA material.
  • silicone bonding sealant J-528S is selected, and a groove is opened at the bottom of external tooth 2, which is the external tooth through groove. to store more glue.
  • an annular groove is opened on the silicone inner tube 5 every 10 mm. The groove width is equal to the tooth width.
  • the outer teeth 2 can be inserted into the annular groove.
  • This design effectively improves the axial distribution accuracy of the external teeth 2 on the silicone inner tube 5 during bonding, ensuring that the external teeth 2 on the silicone inner tube 5 can match the annular tooth shape of the silicone outer tube 4 after the base section assembly is completed.
  • the grooves 41 correspond one to one to achieve precise meshing. In the process of bonding the external teeth 2 and the silicone inner tube 5, it must be ensured that the external teeth 2 on each groove are evenly distributed along the circumferential direction of the silicone inner tube 5, and that the connection line between the front and rear teeth is parallel to the axis of the silicone inner tube 5. Theoretically, the uniformity of expansion of the silicone inner tube 5 is guaranteed. After bonding the external teeth 2, assemble the PU pipe.
  • the silicone film produced during the silicone production process can be cut into strips, coated with glue and then wrapped around On the PU tube, the outer diameter of the PU tube is slightly larger than the inner diameter of the silicone tube 1, thereby forming an extrusion between the inside and outside of the PU tube and the silicone tube 1, effectively improving the air tightness of the silicone inner tube 5. Finally, the PU tube insertion point is glued and sealed to further improve the air tightness.
  • the inner and outer tubes of the software base section are connected to the end caps to complete the positioning. Since the connections of each component of the software base section are bonded with special silicone glue, there is no bolt connection structure, so a determined assembly process is required. . First, fill the slots corresponding to the end cap and the inner and outer tubes with glue. Insert the uninserted end of the silicone inner tube 5 into the corresponding slot of the end cap. Then insert the corresponding end of the silicone outer tube 4 into the end cap to complete the software base section. Half of the assembly. Let it sit for half an hour until the glue dries, then continue to complete the bonding of the other end cap.
  • a shallow groove for storing glue is opened in the groove of the end cap to improve the bonding strength between the end cap and the inner and outer tubes.
  • the mold in the embodiment of the present invention can be reused, which can greatly reduce production costs and is highly economical.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Media Introduction/Drainage Providing Device (AREA)

Abstract

本发明提供一种基于齿啮合的可变刚度软体基节及其制作模具，包括：硅胶内管，所述硅胶内管包括硅胶管和设于所述硅胶管外壁的外齿，所述硅胶管具有内部空腔，所述内部空腔用于容纳与外部气泵相连的PU管；硅胶外管，套设于所述硅胶内管的外部，所述硅胶外管的内壁上设有环形齿形槽，所述环形齿形槽与所述外齿相啮合；分别设于所述基节两端的第一端盖和第二端盖，所述第一端盖和所述第二端盖用于连接所述硅胶内管和所述硅胶外管，以形成封闭软体基节。本发明通过改变硅胶内外管的啮合程度来改变软体基节的刚度，能够实现软体机器人刚度的实时变化。

Description

一种基于齿啮合的可变刚度软体基节及其制作模具 技术领域
本发明涉及软体机器人技术领域，具体地，涉及一种基于齿啮合的可变刚度软体基节及其制作模具。
背景技术
随着机器人技术的发展，为了解决传统刚性机器人在复杂情景下难以有效开展作业的问题，软体机器人逐渐称为新兴研究领域。软体机器人具有较高的柔顺性和延展性，在救灾、勘测、医疗器械领域均有广阔的应用前景。
软体机器人一般由弹性材料制成，具有高度的柔顺性，但同时其刚度较低，难以适用于一些需要高负载的应用场合，使得软体机器人难以在实际场景中有效开展作业。因此，设计可变刚度的软体机器人尤为重要。
目前主要有几种技术可以实现软体机器人的刚度调整，如磁流变流体、相变材料等。磁流变流体通过改变外部磁场的作用实现液体粘度的改变，从而改变软体基节的刚度。相变材料主要通过改变材料的外界条件，如温度、湿度等，从而使材料在固体与液体之间转变，实现刚度变化。
经过检索发现，申请公开号为CN113080809A的中国发明专利，公开了一种基于磁流变液的软体医疗胶囊机器人，包括永磁环一、软体胶囊外壳、铁磁流体、永磁环二、透明外壳、摄像机、电池、无线传输模块、支撑结构、支撑块一、支撑块二、震荡板、连接板、药室外壳、支撑板、垫片、缓冲板和药室。本发明软体胶囊外壳和透明外壳的表面由磁流变液和水凝胶薄膜包裹，便于降低对肠道伤害低，软体医疗胶囊机器人采用永磁体与磁流变液的组合磁控系统进行驱动，便于提高胶囊机器人驱动能力，震荡板可反复挤压药物，便于提高药物的利用率，软体医疗胶囊机器人利用磁控系统控制下的震荡板实现靶向送药，便于提高磁控系统控制下实现药物传送的快速性和完全性。但是其材料价格高昂，对外部的磁场要求较高，在实际应用中存在局限性。
申请公开号为CN110340921A的中国发明专利，公开了一种具有触觉感知功能 的气动式软体机械手，是由电热相变执行器、软体机械手和柔性触觉传感单元三部分构成，电热相变执行器内设置有柔性加热膜和液态相变材料。本发明通过对柔性加热膜通电加热使液态相变材料蒸发，以调控电热相变执行器基体内部空腔的压强，从而动态调节软体机械手的弯曲状态，以完成抓取操作；同时，柔性触觉传感单元用以感知软体机械手抓取目标过程中抓取力的时变信息，并以其作为调节软体机械手弯曲状态的反馈源，从而形成闭环反馈控制。但是材料的相变往往持续时间较长，使得软体机器人的响应速度难以适应实际应用场合。
总体来说，目前该领域对刚度调节技术的研究还比较少，现有的变刚度技术虽然可以在一定条件下调整软体机器人的刚度，但其在经济性、适应性和响应性能上存在局限。
发明内容
针对现有技术中的缺陷，本发明的目的是提供一种基于齿啮合的可变刚度软体基节及其制作模具。
根据本发明的一个方面，提供一种基于齿啮合的可变刚度软体基节，包括：
硅胶内管，所述硅胶内管包括硅胶管和设于所述硅胶管外壁的外齿，所述硅胶管具有内部空腔，所述内部空腔用于容纳与外部气泵相连的PU管；
硅胶外管，套设于所述硅胶内管的外部，所述硅胶外管的内壁上设有环形齿形槽，所述环形齿形槽与所述外齿相啮合；
分别设于所述基节两端的第一端盖和第二端盖，所述第一端盖和所述第二端盖用于连接所述硅胶内管和所述硅胶外管，以形成封闭软体基节。
优选地，所述硅胶内管的外壁设有环形槽，所述外齿粘接于所述环形槽上；所述外齿靠近所述硅胶管的内壁设有外齿通槽，所述外齿通槽用于储存粘接所用胶水。
优选地，所述硅胶外管的内壁沿轴向设有外管通槽，所述外管通槽用于降低所述硅胶外管的弹性模量。
优选地，所述第一端盖的外侧和所述第二端盖的外侧均设有凹槽，所述凹槽沿径向设置。
根据本发明的另一方面，提供一种上述的基于齿啮合的可变刚度软体基节的制作模具，包括：
内管模具，包括内管模具第一壳体、内管模具第二壳体、内管模具上端盖和内管模具下端盖；所述内管模具上端盖上设有用于液态硅胶浇筑的浇筑孔；所述内管模具下端 盖连接有圆柱体，用于在浇筑时形成硅胶内管的内部空腔；所述内管模具第一壳体与所述内管模具第二壳体在两端相连形成内管空心圆柱壳体，所述圆柱体容置于所述内管空心圆柱壳体内；所述内管模具第一壳体和所述内管模具第二壳体的内壁均分布有环形凹槽，用于所述内管模具上端盖和所述内管模具下端盖的限位以及硅胶内管外壁环形槽的形成；
外管模具，包括外管模具第一壳体、外管模具第二壳体和外管模具下端盖，所述外管模具下端盖包括下端盖和设于所述下端盖上的带环形齿形槽的空心圆柱体，所述空心圆柱体用于在浇筑时形成硅胶外管内壁的环形齿形槽；所述外管模具第一壳体与所述外管模具第二壳体在两端相连形成外管空心圆柱壳体，所述空心圆柱体容置于所述外管空心圆柱壳体内；所述外管模具第一壳体和所述外管模具第二壳体上均分布环形凹槽，所述环形凹槽用于所述外管模具下端盖的限位。
优选地，所述内管模具第一壳体上设有内管凹槽，所述内管模具第二壳体上设有与所述内管凹槽相配合的内管凸槽，所述内管模具第一壳体与所述内管模具第二壳体相互嵌入。
优选地，所述内管模具上端盖的上表面加工成漏斗形；所述外管模具第一壳体上设有外管凹槽，所述外管模具第二壳体上设有与所述外管凹槽相配合的外管凸槽，所述外管模具第一壳体与所述外管模具第二壳体相互嵌入。
与现有技术相比，本发明具有如下至少之一的有益效果：
1、本发明的基于齿啮合的可变刚度软体基节及其制作模具，通过控制硅胶内管内部空腔气压的大小，控制硅胶内管径向变形量的大小，从而控制硅胶内管外齿与硅胶外管环形齿形槽的啮合程度，以改变整体软体基节的刚度。当硅胶内管内部空腔气压改变时，硅胶内管的变形几乎是同时发生的，能够解决实际工作过程中软体机器人刚度调节响应速度慢的问题。
2、本发明的基于齿啮合的可变刚度软体基节及其制作模具，只通过PU管与外部的气泵或气瓶连接，且PU管具有足够的柔顺性，可以适应较复杂的工作环境，使得本发明的装置具有更广的适用范围。
3、本发明的基于齿啮合的可变刚度软体基节及其制作模具，除硅胶材料外，其余部件均用PLA材料通过3D打印制作而成，且模具部分可以重复使用，能够大大降低生产成本，经济性强。
附图说明
通过阅读参照以下附图对非限制性实施例所作的详细描述，本发明的其它特征、目的和优点将会变得更明显：
图1为本发明一实施例中的软体基节的总体装配剖视示意图；
图2为本发明一实施例中的硅胶内管的结构示意图；
图3为本发明一实施例中的硅胶外管的剖视示意图；
图4为本发明一实施例中的内管模具的爆炸示意图；
图5为本发明一实施例中的外管模具的爆炸示意图。
图中：1为硅胶管，2为外齿，3为第一端盖，4为硅胶外管，41为环形齿形槽，5为硅胶内管，6为第二端盖，7为内管模具第一壳体，8为内管模具第二壳体，9为内管模具下端盖，10为内管模具上端盖，11为外管模具第一壳体，12为外管模具第二壳体，13为外管模具下端盖。
具体实施方式
下面结合具体实施例对本发明进行详细说明。以下实施例将有助于本领域的技术人员进一步理解本发明，但不以任何形式限制本发明。应当指出的是，对本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进。这些都属于本发明的保护范围。在本发明实施例的描述中，需要说明的是，本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本发明的实施例能够以除了在这里图示或描述的那些以外的顺序实施。
本发明一实施例提供一种基于齿啮合的可变刚度软体基节，参照图1-3所示，该软体基节包括：硅胶内管5，硅胶内管5包括硅胶管1和设于硅胶管1外壁的外齿2，硅胶管1具有内部空腔，内部空腔用于容纳与外部气泵相连的PU管，只通过PU管与外部的气泵或气瓶连接，且PU管具有足够的柔顺性，可以适应较复杂的工作环境，使得装置具有更广的适用范围；硅胶外管4，套设于硅胶内管5的外部，硅胶外管4的内壁上设有环形齿形槽41，环形齿形槽41与外齿2相啮合；分别设于基节两端的第一端盖3和第二端盖6，第一端盖3和第二端盖6用于连接硅胶内管5和硅胶外管4，以形成封闭软体基节。
工作过程中，通过外部气泵或气瓶增大硅胶内管5的内部空腔气压使得硅胶内管5膨胀，从而使硅胶内管5上的外齿2与硅胶外管4内壁上的环形齿形槽41相啮合，从而增大软体基节刚度，并通过控制气压调整齿啮合程度，实现软体基节刚度的动 态调整。本发明实施例的基于齿啮合原理实现刚度调节的软体机器人基节，通过控制硅胶内管5内部空腔气压的大小，控制硅胶内管5径向变形量的大小，从而控制硅胶内管5的外齿2与硅胶外管4环形齿形槽41的啮合程度，以改变整体软体基节的刚度。当硅胶内管5内部空腔气压改变时，硅胶内管5的变形几乎是同时发生的；本发明通过气动方式驱动齿啮合，成本低廉，响应速度快，同时对外界条件要求不高。
硅胶管1为具有内部空腔的圆柱体，为提高硅胶内管5的气密性，PU管外径可以略大于硅胶管1内径，从而在PU管与硅胶管1内外之间形成挤压，进而有效地提高硅胶内管5的气密性，在PU管插入处可以进行胶封处理，以进一步提高气密性。外齿2可以由PLA材料3D打印形成，为实现外齿2与硅胶内管5外壁的紧固连接，在一些优选的实施例中，硅胶内管5的外壁设有环形槽，外齿2粘接于环形槽上。优选地，可以选用硅胶粘接密封胶J-528S进行连接。在硅胶内管5上每隔10mm设有一道环形槽，槽宽与齿宽相等，在装配时将外齿2插入环形槽内即可，这一设计能够有效地提高粘接时外齿2在硅胶内管5上轴向分布的精度，保证基节装配完成后硅胶内管5上的外齿2可以和硅胶外管4的环形齿形槽41一一对应，实现精确啮合。每个槽上的外齿2沿硅胶内管5周向分布均匀，同时前后齿的连线与硅胶内管5轴线平行，能够保证硅胶内管5膨胀的均匀性。
在一些更为优选的实施例中，外齿2靠近硅胶管1的内壁设有外齿通槽，外齿通槽用于储存粘接所用胶水，使外齿2与硅胶内管5粘接更加紧固。
硅胶外管4为环形柱状体，为降低硅胶外管4的弹性模量，在一些优选的实施例中，硅胶外管4的内壁沿轴向设有外管通槽，外管通槽用于降低硅胶外管4的弹性模量，以适应不同的工作需要。
在一些优选的实施例中，第一端盖3的外侧和第二端盖6的外侧均设有凹槽；第一端盖3和第二端盖6的结构相同，凹槽分布在圆形端盖的径向上。在端盖上设有一定厚度的凹槽，目的是增大气管布置的空间，避免相邻两基节的气管发生干涉。
本发明实施例中，除硅胶内管5和硅胶外管4采用硅胶材料外，其余部件均采用PLA材料通过3D打印制作而成，能够大大降低生产成本，经济性强。
本发明实施例中的软体基节，硅胶内管5上有通过啮合阻塞来改变基节刚度的外齿2，硅胶外管4内壁有与外齿2啮合的齿形凹槽，工作时硅胶内管5因气压增加而膨胀使得外齿2与外管的齿形凹槽相啮合；硅胶内管5和硅胶外管4与两侧的 端盖粘连为一体；本发明通过改变硅胶内管5和硅胶外管4的啮合程度来改变软体基节的刚度，能够实现软体机器人刚度的实时变化。
本发明实施例还提供一种上述实施例的基于齿啮合的可变刚度软体基节的制作模具，参阅图4-5，包括：内管模具，包括内管模具第一壳体7、内管模具第二壳体8、内管模具上端盖10和内管模具下端盖9；内管模具上端盖10上设有用于液态硅胶浇筑的浇筑孔；内管模具下端盖9连接有细长圆柱体，用于在浇筑时形成硅胶内管5的内部空腔；内管模具第一壳体7与内管模具第二壳体8在两端相连形成内管空心圆柱壳体，圆柱体容置于内管空心圆柱壳体内；内管模具第一壳体7和内管模具第二壳体8的内壁均分布有环形凹槽，用于内管模具上端盖10和内管模具下端盖9的限位以及硅胶内管5外壁环形槽的形成；外管模具，包括外管模具第一壳体11、外管模具第二壳体12和外管模具下端盖13，外管模具下端盖13包括下端盖和设于下端盖上的带环形齿形槽的空心圆柱体，空心圆柱体用于在浇筑时形成硅胶外管4内壁的环形齿形槽41；外管模具第一壳体11与外管模具第二壳体12在两端相连形成外管空心圆柱壳体，空心圆柱体容置于外管空心圆柱壳体内；外管模具第一壳体11和外管模具第二壳体12上均分布环形凹槽，环形凹槽用于外管模具下端盖13的限位。
为保证模具的密封性，在一些优选的实施例中，内管模具第一壳体7与内管模具第二壳体8通过螺栓连接；外管模具第一壳体11与外管模具第二壳体12通过螺栓连接。
在一些优选的实施例中，内管模具第一壳体7上设有凹槽，内管模具第二壳体8上设有与凹槽相配合的凸槽。优选地，凸槽的高度为2mm，凹槽的深度为3mm。通过凸槽与凹槽的配合，内管模具第一壳体7与内管模具第二壳体8合模后可以相互嵌入，提高模具的密封性，保证液态硅胶在凝固成型过程中不发生泄露。
在一些优选的实施例中，内管模具上端盖10的上表面加工成漏斗形，以方便在浇筑过程中液态硅胶通过端盖通孔流入模具内部。
在一些优选的实施例中，外管模具第一壳体11上设有外管凹槽，外管模具第二壳体12上设有与外管凹槽相配合的外管凸槽，优选地，凸槽的高度为2mm，凹槽的深度为3mm。。当外管模具第一壳体11与外管模具第二壳体12合模后可以相互嵌入，提高模具的密封性，保证液态硅胶在凝固成型过程中不发生泄露。
在一个具体的实施方式中，通过模具制作得到硅胶部件后，进行内管部件的装配时，需要注意：变刚度软体基节的硅胶内管5包括硅胶管1、外齿2、PU管，外齿2由PLA材料3D打印而成，为了保证外齿2与硅胶管1的连接强度，选择硅胶 粘接密封胶J-528S，并在外齿2的底部开一道凹槽即外齿通槽，用来储存更多的胶水。设计时在硅胶内管5上每隔10mm开一道环形槽，槽宽与齿宽相等，在装配时将外齿2插入环形槽内即可。这一设计有效地提高了粘接时外齿2在硅胶内管5上轴向分布的精度，保证基节装配完成后硅胶内管5上的外齿2可以和硅胶外管4的环形齿形槽41一一对应，实现精确啮合。在粘接外齿2与硅胶内管5的过程中，必须保证每个槽上的外齿2沿硅胶内管5周向分布均匀的同时，前后齿的连线与硅胶内管5轴线平行，从理论上保证硅胶内管5膨胀的均匀性。粘接好外齿2后进行PU管的装配。针对在装配过程中可能出现的所选PU管外径小于硅胶管1的内径，无法直接进行粘接的情况，可将硅胶制作过程中产生的硅胶薄膜切成条状，涂上胶水后缠绕在PU管上，使PU管外径略大于硅胶管1内径，从而在PU管与硅胶管1内外之间形成挤压，有效地提高了硅胶内管5的气密性。最后，将PU管插入处胶封，进一步提高气密性。
在进行总体装配时，软体基节的内外管与端盖连接完成定位，由于软体基节各部件的连接都通过硅胶专用胶粘接而成，不存在螺栓连接的结构，因此需要确定的装配流程。首先在端盖与内外管对应的槽里涂满胶水，将硅胶内管5没有插管的一端先插入端盖对应槽内，然后将硅胶外管4的对应一端插入端盖，完成软体基节半边的装配。静置半小时待胶水干燥后，继续完成另一端端盖的粘接。端盖的槽内开一道用于存储胶水的浅槽，以提高端盖与内外管的粘接强度。当一侧端盖粘接好后，由于硅胶内管5被硅胶外管4包裹在内，导致在粘接另一侧端盖时，内管无法精准的插入端盖槽内的问题，通过拉拽PU管可以将硅胶内管5导入端盖槽内，有效地提高硅胶内管5与端盖粘接的准确度。
本发明实施例中的模具可以重复使用，能够大大降低生产成本，经济性强。
以上对本发明的具体实施例进行了描述。需要理解的是，本发明并不局限于上述特定实施方式，本领域技术人员可以在权利要求的范围内做出各种变形或修改，这并不影响本发明的实质内容。上述各优选特征在互不冲突的情况下，可以任意组合使用。

Claims (9)

  1. 一种基于齿啮合的可变刚度软体基节，其特征在于，包括：
    硅胶内管，所述硅胶内管包括硅胶管和设于所述硅胶管外壁的外齿，所述硅胶管具有内部空腔，所述内部空腔用于容纳与外部气泵相连的PU管；
    硅胶外管，套设于所述硅胶内管的外部，所述硅胶外管的内壁上设有环形齿形槽，所述环形齿形槽与所述外齿相啮合；
    分别设于所述基节两端的第一端盖和第二端盖，所述第一端盖和所述第二端盖用于连接所述硅胶内管和所述硅胶外管，以形成封闭软体基节。
  2. 根据权利要求1所述的基于齿啮合的可变刚度软体基节，其特征在于，所述硅胶内管的外壁设有环形槽，所述外齿粘接于所述环形槽上。
  3. 根据权利要求2所述的基于齿啮合的可变刚度软体基节，其特征在于，所述外齿靠近所述硅胶管的内壁设有外齿通槽，所述外齿通槽用于储存粘接所用胶水。
  4. 根据权利要求1所述的基于齿啮合的可变刚度软体基节，其特征在于，所述硅胶外管的内壁沿轴向设有外管通槽，所述外管通槽用于降低所述硅胶外管的弹性模量。
  5. 根据权利要求1所述的基于齿啮合的可变刚度软体基节，其特征在于，所述第一端盖的外侧和所述第二端盖的外侧均设有凹槽，所述凹槽沿径向设置。
  6. 一种权利要求1-5任一项所述的基于齿啮合的可变刚度软体基节的制作模具，其特征在于，包括：
    内管模具，包括内管模具第一壳体、内管模具第二壳体、内管模具上端盖和内管模具下端盖；所述内管模具上端盖上设有用于液态硅胶浇筑的浇筑孔；所述内管模具下端盖连接有圆柱体，用于在浇筑时形成硅胶内管的内部空腔；所述内管模具第一壳体与所述内管模具第二壳体在两端相连形成内管空心圆柱壳体，所述圆柱体容置于所述内管空心圆柱壳体内；所述内管模具第一壳体和所述内管模具第二壳体的内壁均分布有环形凹槽，用于所述内管模具上端盖和所述内管模具下端盖的限位以及硅胶内管外壁环形槽的形成；
    外管模具，包括外管模具第一壳体、外管模具第二壳体和外管模具下端盖，所述外管模具下端盖包括下端盖和设于所述下端盖上的带环形齿形槽的空心圆柱体，所述空心圆柱体用于在浇筑时形成硅胶外管内壁的环形齿形槽；所述外管模具第一壳体与所述外管模具第二壳体在两端相连形成外管空心圆柱壳体，所述空心圆柱体容置于所述外管空 心圆柱壳体内；所述外管模具第一壳体和所述外管模具第二壳体上均分布环形凹槽，所述环形凹槽用于所述外管模具下端盖的限位。
  7. 根据权利要求6所述的基于齿啮合的可变刚度软体基节的制作模具，其特征在于，所述内管模具第一壳体上设有内管凹槽，所述内管模具第二壳体上设有与所述内管凹槽相配合的内管凸槽，所述内管模具第一壳体与所述内管模具第二壳体相互嵌入。
  8. 根据权利要求6所述的基于齿啮合的可变刚度软体基节的制作模具，其特征在于，所述内管模具上端盖的上表面加工成漏斗形。
  9. 根据权利要求6所述的基于齿啮合的可变刚度软体基节的制作模具，其特征在于，所述外管模具第一壳体上设有外管凹槽，所述外管模具第二壳体上设有与所述外管凹槽相配合的外管凸槽，所述外管模具第一壳体与所述外管模具第二壳体相互嵌入。
PCT/CN2022/125013 2022-08-29 2022-10-13 一种基于齿啮合的可变刚度软体基节及其制作模具 WO2024045272A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202211042861.7 2022-08-29
CN202211042861.7A CN115648278A (zh) 2022-08-29 2022-08-29 一种基于齿啮合的可变刚度软体基节及其制作模具

Publications (1)

Publication Number Publication Date
WO2024045272A1 true WO2024045272A1 (zh) 2024-03-07

Family

ID=84983972

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/125013 WO2024045272A1 (zh) 2022-08-29 2022-10-13 一种基于齿啮合的可变刚度软体基节及其制作模具

Country Status (2)

Country Link
CN (1) CN115648278A (zh)
WO (1) WO2024045272A1 (zh)

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5469756A (en) * 1991-10-10 1995-11-28 Siemens Aktiengesellschaft Flexible robot arm
CN107139199A (zh) * 2017-05-17 2017-09-08 浙江工业大学 一种小型软体气吸式抓手装置
CN109794926A (zh) * 2019-01-24 2019-05-24 浙江工业大学 一种可变刚度的柔性结构
CN110154082A (zh) * 2019-05-16 2019-08-23 浙江大学 一种内、外壁强化的软体机械臂及其制作方法
CN111055299A (zh) * 2019-12-24 2020-04-24 江西理工大学 一种基于线干扰技术的变刚度全向运动软体驱动器
CN111390962A (zh) * 2019-11-19 2020-07-10 浙江工业大学 一种具有双稳态特性的气动柔性抓手
CN112208099A (zh) * 2020-08-17 2021-01-12 江苏大学 一种用于软体机器人内腔复杂结构一体成型制造的装置

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5469756A (en) * 1991-10-10 1995-11-28 Siemens Aktiengesellschaft Flexible robot arm
CN107139199A (zh) * 2017-05-17 2017-09-08 浙江工业大学 一种小型软体气吸式抓手装置
CN109794926A (zh) * 2019-01-24 2019-05-24 浙江工业大学 一种可变刚度的柔性结构
CN110154082A (zh) * 2019-05-16 2019-08-23 浙江大学 一种内、外壁强化的软体机械臂及其制作方法
CN111390962A (zh) * 2019-11-19 2020-07-10 浙江工业大学 一种具有双稳态特性的气动柔性抓手
CN111055299A (zh) * 2019-12-24 2020-04-24 江西理工大学 一种基于线干扰技术的变刚度全向运动软体驱动器
CN112208099A (zh) * 2020-08-17 2021-01-12 江苏大学 一种用于软体机器人内腔复杂结构一体成型制造的装置

Also Published As

Publication number Publication date
CN115648278A (zh) 2023-01-31

Similar Documents

Publication Publication Date Title
CN108582058B (zh) 一种负压旋转型人工肌肉
CN110497396A (zh) 一种可变刚度增强型气动软体驱动器
CN103237605A (zh) 吐出宽度可调装置和涂敷装置
CN108555883B (zh) 一种仿生象鼻软体机械臂
CN108608459A (zh) 机器人用液压驱动关节
WO2024045272A1 (zh) 一种基于齿啮合的可变刚度软体基节及其制作模具
CN103511772B (zh) 一种可伸缩可旋转金属管接头
CN103997254B (zh) 一种压电驱动式软体位移驱动器
IE39434B1 (en) Vibrating cylinder pressure transducer
JPH01247809A (ja) アクチュエータ
CN109159109B (zh) 一种单气源驱动的可重构软体机器人模块及机器人
CN202889632U (zh) 传声器校准用夹具
CN210616533U (zh) 一种含充气气囊的变体结构
CN203984273U (zh) 一种压电驱动式软体位移驱动器
CN206966027U (zh) 一种双头旋转点胶阀
CN102611982A (zh) 传声器校准用夹具
JPS63199965A (ja) ロツドレスシリンダ
Zhang et al. Design, fabrication and experiments of a 3D-motion soft elastomer actuator
CN215459847U (zh) 一种柔性外骨骼装置
CN209448816U (zh) 一种电子设备摄像头模组及其新型组装结构
CN108621191A (zh) 一种吸附装置及吸附系统
CN106232337A (zh) 漏气轮胎修补液收容容器
CN115042202A (zh) 负压驱动机器人
CN102175560B (zh) 研究磁性液体密封机理的实验装置
CN207839313U (zh) 一种用于自动焊接设备的微型气动点胶阀

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22957089

Country of ref document: EP

Kind code of ref document: A1