CN107498538B - A novel self-deforming modular soft robot with high adaptability - Google Patents
A novel self-deforming modular soft robot with high adaptability Download PDFInfo
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- CN107498538B CN107498538B CN201710742703.5A CN201710742703A CN107498538B CN 107498538 B CN107498538 B CN 107498538B CN 201710742703 A CN201710742703 A CN 201710742703A CN 107498538 B CN107498538 B CN 107498538B
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- 230000005489 elastic deformation Effects 0.000 claims abstract description 29
- 229920002379 silicone rubber Polymers 0.000 claims description 12
- 239000002131 composite material Substances 0.000 claims description 6
- 238000005452 bending Methods 0.000 claims description 4
- 210000001503 joint Anatomy 0.000 claims description 3
- 239000000725 suspension Substances 0.000 claims 1
- 238000009827 uniform distribution Methods 0.000 claims 1
- 238000009423 ventilation Methods 0.000 abstract 1
- 239000004945 silicone rubber Substances 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 241000237852 Mollusca Species 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000011664 nicotinic acid Substances 0.000 description 2
- 241000270295 Serpentes Species 0.000 description 1
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 239000000806 elastomer Substances 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 239000007779 soft material Substances 0.000 description 1
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
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Abstract
一种高适应性的新型自变形模块化软体机器人，它涉及一种机器人，以解决现有刚性模块化机器人刚度大，导致自身变形困难，适应性差，以及现有软体机器人要么腔体复杂，但是功能单一，要么需要手动使得模块断开连接实现可重构的问题，它包括弹性变形体及两个连接件，两个连接件分别布置在弹性变形体的相对两端，每个所述连接件包括壳体盖、壳体、球形磁铁、弹性固定体、弹性连接件和气管外接件；壳体内腔布置有球形磁体，壳体盖、壳体和弹性固定体埋入弹性连接件内腔，弹性固定体与弹性连接件固接，弹性体固定体和弹性连接件上设有连通壳体内腔的通气管，弹性变形体与弹性连接件固接。本发明用于制作软体机器人。
A new type of self-deforming modular soft robot with high adaptability, which involves a robot to solve the problem that the existing rigid modular robot has large rigidity, which leads to difficulty in self-deformation, poor adaptability, and the existing soft robot or the cavity is complex, but The problem is that the function is single, or the module needs to be manually disconnected to achieve reconfigurability. It includes an elastic deformation body and two connecting pieces, and the two connecting pieces are respectively arranged at opposite ends of the elastic deformation body. Each of the connecting pieces It includes a shell cover, a shell, a spherical magnet, an elastic fixing body, an elastic connecting piece and a tracheal outer part; the spherical magnet is arranged in the inner cavity of the shell, and the shell cover, the shell and the elastic fixing body are embedded in the inner cavity of the elastic connecting piece, and the elastic The fixing body is fixedly connected with the elastic connecting piece, the elastic fixing body and the elastic connecting piece are provided with a ventilation pipe which communicates with the inner cavity of the casing, and the elastic deformation body is fixedly connected with the elastic connecting piece. The present invention is used for making soft robots.
Description
Technical Field
The invention relates to a robot, in particular to a novel self-deformation modular soft robot with high adaptability.
Background
The robot is widely applied to the fields of military affairs, industry, scientific exploration, disaster relief and the like. Conventional robots are generally constructed from rigid modules connected by kinematic pairs, each kinematic pair providing one or more translational or rotational degrees of freedom. The robot has the advantage of accurate movement, but the rigidity of the structure makes the environment adaptability worse, the movement in a narrow space is limited, and the robot cannot pass through a channel with the dimension smaller than that of the robot or the shape complicated, and the defects restrict the application of the rigid robot in certain fields, such as military reconnaissance, wherein the reconnaissance robot is expected to drill through small-sized and complicated-shaped channels such as wall seams, door seams and the like due to the hidden consideration; in mine disaster and earthquake disaster rescue, the robot is required to be capable of going deep into the ruins for detection; when the robot is scientifically detected, the robot is often required to enter a space with a narrow opening and the like. In recent years, researchers have proposed a soft robot with mollusks as a prototype, which is a new type of bionic continuous robot, wherein the soft robot simulates mollusks in nature, is mostly made of soft materials capable of bearing large strain, and has infinite multi-degree of freedom, continuous deformation capability and low resistance to pressure. However, some existing software robots are complex in cavity, but are single in function, characteristics of modular software are not sufficient, most of the modular software is reconfigurable, modules need to be disconnected manually, and operation is complex.
Disclosure of Invention
The invention aims to solve the problems that the existing rigid modular robot has high rigidity, causes difficult self deformation and poor adaptability, and the existing soft robot has complex cavities but single function or needs manual disconnection of modules to realize reconfigurability, thereby providing a novel self-deformation modular soft robot with high adaptability.
The invention relates to a novel high-adaptability self-deformation modular soft robot, which comprises an elastic deformation body and two connecting pieces, wherein the two connecting pieces are respectively arranged at two opposite ends of the elastic deformation body; one end of the shell is closed through a shell cover, a spherical magnet is arranged in the inner cavity of the shell, an elastic fixing body which is connected with the shell into a whole is arranged at the other end of the shell, the shell cover, the shell and the elastic fixing body are embedded into the inner cavity of the elastic connecting piece, the elastic fixing body is fixedly connected with the elastic connecting piece, vent pipes communicated with the inner cavity of the shell are arranged on the elastic fixing body and the elastic connecting piece, and vent holes communicated with the inner cavity of the elastic connecting piece are arranged;
the elastic deformation body is fixedly connected with the elastic connecting piece, three driving inner cavities extending towards the elastic connecting piece are arranged in the elastic deformation body, the three driving inner cavities are uniformly distributed along the same circumference, and the three driving inner cavities are respectively provided with an external air pipe.
Compared with the prior art, the invention has the beneficial effects that: the high-adaptability novel self-deformation modular software robot is characterized in that the robot is designed into a plurality of modules, each module has an independent and complete function, and the modules can be organically combined according to the working requirement, so that the functions of the software robot are improved. The elastic fixing body, the elastic connecting piece and the elastic deformation body have elasticity, can bear great extrusion force, are easy to deform automatically, have strong adaptability and safer industrial operation, and the modules adopt uniform configurations, so that multi-module connection can be realized; the module adopts pneumatics, can realize configuration change independently, directly control pneumatics, realize automatic disconnection and thus change the configuration, finish the movement ability after deforming at the same time; robots with different configurations can form richer configurations through butt joint, have good flexibility and various bionic motion modes, and can complete complex tasks; compared with other software robots, some robots have complex cavities and single function, so that the characteristic of the modularized software is highlighted.
The elastic deformation body is provided with three driving air cavities with central lines of 120 degrees, and can form omnidirectional torsional motion. Compared with the super-redundancy robot made of hard materials, the robot has small resistance to pressure, and can be compatible with obstacles in a flexible deformation mode, so that the contact force can be greatly reduced, and the soft robot can carry soft or fragile objects.
The invention drives the robot in different forms and realizes movement through pneumatic driving and active deformation, and the active deformation and the passive deformation are combined, so that the robot can extrude through a gap with a size smaller than the normal size of the robot and enter a space which can not be entered by the traditional robot.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic cross-sectional view of an elastomer of the present invention;
FIG. 3 is a schematic view of a connector structure;
FIG. 4 is a schematic cross-sectional view of FIG. 3;
FIG. 5 is a schematic view showing a coupling structure of a housing cover, a housing, a spherical magnet and an elastic fixing body;
fig. 6 is a schematic sectional structure view of fig. 5.
Detailed Description
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
With reference to fig. 1-6, a novel self-deformation modular soft robot with high adaptability comprises an elastic deformation body 6 and two connecting pieces, wherein the two connecting pieces are respectively arranged at two opposite ends of the elastic deformation body 6, and each connecting piece comprises a shell cover 1, a shell 2, a spherical magnet 3, an elastic fixing body 5, an elastic connecting piece 7 and an air pipe 8; one end of the shell 2 is sealed by the shell cover 1, the inner cavity of the shell 2 is provided with the spherical magnet 3, the other end of the shell 2 is provided with the elastic fixing body 5 which is connected with the shell 2 into a whole, the shell cover 1, the shell 2 and the elastic fixing body 5 are embedded into the inner cavity of the elastic connecting piece 7, the elastic fixing body 5 is fixedly connected with the elastic connecting piece 7, the elastic fixing body 5 and the elastic connecting piece 7 are provided with vent pipes 8 communicated with the inner cavity of the shell 2, and the shell 2 is provided with vent holes 4 communicated with the inner cavity of the elastic;
the elastic deformation body 6 is fixedly connected with the elastic connecting piece 7, three driving inner cavities 9 extending towards the elastic connecting piece 7 are arranged in the elastic deformation body 6, the three driving inner cavities 9 are uniformly distributed along the same circumference, and the three driving inner cavities 9 are respectively provided with an external air pipe 10. The shell cover 1 is fixed on the surface of the adhesive shell 2, the spherical magnet 3 is placed in the shell 2 without being fixed, the centering connection between the two modules is realized by means of the magnetic advantage of the spherical magnet 3 through rotation in the shell 2, and the spherical magnet 3 can be replaced by a magnet. When gas is injected through the vent pipe 8, the surface of the elastic connecting piece 7 expands, but the whole bottom surface of the elastic connecting piece 7 is fixedly connected with the elastic fixing body 5, so that the movement is not generated.
The elastic fixing body 5 is made of silicon rubber or super-elastic silicon rubber composite material. The elastic connecting member 7 is made of silicone rubber or a super-elastic silicone rubber composite material. The elastic deformation body 6 is made of silicone rubber or a super-elastic silicone rubber composite material. So set up, the material is soft, convenient to use. The three driving inner cavities 9 are uniformly distributed at 120 degrees along the same circumference.
Referring to fig. 2, 3, 5 and 6, the housing 2 is cylindrical and the elastic connection member 7 has a rectangular parallelepiped shape. The elastic connecting piece 7 is provided with an integral cavity, as shown in fig. 3 and 4, a cuboid is provided with six surfaces, only five surfaces of the upper surface, the front surface, the rear surface, the left side surface and the right side surface expand when being inflated, the bottom surface is fixedly connected with the elastic fixing body 5 made of silica gel and can not expand, so that when the elastic connecting piece 7 needs to be disconnected with other modules, the elastic connecting piece 7 is inflated and expanded, and then the elastic deformation body 6 is utilized to inflate and bend, thereby realizing the disconnection and connection of the directional modules.
Referring to fig. 1 and 2, the elastic deformation body 6 is cylindrical, and two ends of the elastic deformation body 6 are respectively fixedly connected with the elastic connecting pieces 7. So set up, it is convenient to use.
When air pressure is introduced into any single driving inner cavity 9, the elastic deformation body 6 is in a one-way bending state. The two or three driving inner cavities 9 are filled with air pressure, and when the air pressure of each driving inner cavity 9 is different, the elastic deformation body 6 is in a torsional state. When two or three driving inner cavities work in a matched mode, the module generates torsion moment on any cross section due to the difference of air pressure of the two or three driving inner cavities, so that the module is driven to deviate from a unidirectional bending direction, the module can be driven to reach any position of a motion space by controlling the air pressure difference between the cavities, and omnidirectional bending and torsion are achieved. The three driving inner cavities 9 are filled with air pressure, and the elastic bodies are in an extension state when the air pressure of each driving inner cavity is the same.
The air pipe 8 is externally connected with an air pump, and the driving air pressure of the air pump is 0-50 KPa; the external air pipe 10 is externally connected with a driving air pump, and the driving air pressure of the driving air pump is 0-50 KPa. So set up, satisfy actual need.
The working principle is as follows: the robot with various configurations such as snake shape, four feet, six feet, closed loop and the like can be formed by different combinations among the modules. The module can independently complete the configuration change of the robot through reliable pneumatic driving to form various configuration robots, and simultaneously, the pneumatic driving robot can complete different motion modes. The module adopts the homogeneous configuration, and a plurality of robots can also form richer configuration through the butt joint to accomplish complicated task.
The present invention is not limited to the above embodiments, and any person skilled in the art can make many modifications and equivalent variations by using the above-described structures and technical contents without departing from the scope of the present invention.
Claims (10)
1. The utility model provides a novel from warping modularization software robot of high adaptability which characterized in that: the magnetic suspension device comprises an elastic deformation body (6) and two connecting pieces, wherein the two connecting pieces are respectively arranged at two opposite ends of the elastic deformation body (6), and each connecting piece comprises a shell cover (1), a shell (2), a spherical magnet (3), an elastic fixing body (5), an elastic connecting piece (7) and an air pipe connecting piece (8); one end of the shell (2) is sealed through the shell cover (1), a spherical magnet (3) is arranged in the inner cavity of the shell (2), an elastic fixing body (5) which is connected with the shell (2) into a whole is arranged at the other end of the shell (2), the shell cover (1), the shell (2) and the elastic fixing body (5) are embedded in the inner cavity of the elastic connecting piece (7), the elastic fixing body (5) is fixedly connected with the elastic connecting piece (7), a vent pipe (8) communicated with the inner cavity of the shell (2) is arranged on the elastic fixing body (5) and the elastic connecting piece (7), and a vent hole (4) communicated with the inner cavity of the elastic connecting piece (7) is arranged on the; the elastic deformation body (6) is fixedly connected with the elastic connecting piece (7), three driving inner cavities (9) extending towards the elastic connecting piece (7) are arranged in the elastic deformation body (6), the three driving inner cavities (9) are uniformly distributed along the same circumference, and an external air pipe (10) is arranged on each of the three driving inner cavities (9);
three drive inner chambers (9) are arranged along the same circumference in a 120-degree uniform distribution mode, when adjacent robots are in butt joint, the spherical magnet (3) is used for rotating in the shell (2) to achieve centering connection, when the adjacent robots are disconnected, the elastic connecting piece (7) is inflated and expanded, and then the elastic body (6) is inflated and bent to achieve disconnection.
2. The high-adaptability novel self-deformation modular soft robot as claimed in claim 1, wherein: the elastic fixing body (5) is made of silicon rubber or super-elastic silicon rubber composite material.
3. The high-adaptability novel self-deformation modular soft robot as claimed in claim 2, wherein: the elastic connecting piece (7) is made of silicon rubber or super-elastic silicon rubber composite material.
4. The high-adaptability novel self-deformation modular soft robot as claimed in claim 3, wherein: the elastic deformation body (6) is made of silicon rubber or super-elastic silicon rubber composite material.
5. The high-adaptability novel self-deformation modular soft robot as claimed in claim 4, wherein: the shell (2) is cylindrical, and the elastic connecting piece (7) is cuboid.
6. The high-adaptability novel self-deformation modular soft robot as claimed in claim 5, wherein: the elastic deformation body (6) is cylindrical, and two ends of the elastic deformation body (6) are fixedly connected with the elastic connecting piece (7) respectively.
7. The high-adaptability novel self-deformation modular soft robot as claimed in claim 6, wherein: when air pressure is introduced into any single driving inner cavity (9), the elastic deformation body (6) is in a one-way bending state.
8. The high-adaptability novel self-deformation modular soft robot as claimed in claim 7, wherein: the two or three driving inner cavities (9) are filled with air pressure, and when the air pressure of each driving inner cavity (9) is different, the elastic deformation body (6) is in a torsional state.
9. The high-adaptability novel self-deformation modular soft robot as claimed in claim 6, wherein: the three driving inner cavities (9) are filled with air pressure, and the elastic deformation body (6) is in an extension state when the air pressure of each driving inner cavity is the same.
10. The high-adaptability novel self-deformation modular soft robot as claimed in claim 9, wherein: the air pipe (8) is externally connected with an air pump, and the driving air pressure of the air pump is 0-50 KPa; the external air pipe (10) is externally connected with a driving air pump, and the driving air pressure of the driving air pump is 0-50 KPa.
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| CN108608420B (en) * | 2018-03-20 | 2021-06-11 | 南京理工大学 | Pneumatic soft robot with longitudinal muscle structure |
| CN108891496B (en) * | 2018-06-19 | 2021-03-30 | 哈尔滨工程大学 | Pneumatic earthworm-imitating soft robot |
| CN109262591B (en) * | 2018-10-19 | 2021-07-27 | 哈尔滨工业大学 | A software modular robot with self-reconfiguration function |
| CN109552581B (en) * | 2019-01-28 | 2023-12-19 | 大连交通大学 | Underwater bionic multi-sea squirt combination soft robot |
| CN110142783A (en) * | 2019-06-18 | 2019-08-20 | 北京大学口腔医学院 | Hollow airbag peristaltic robot for cavities, pipes or walls |
| CN110216712B (en) * | 2019-06-20 | 2024-08-27 | 广东工业大学 | Pneumatic adsorption inchworm-like soft climbing robot |
| CN110712198B (en) * | 2019-09-16 | 2020-11-24 | 杭州电子科技大学 | A prefilled soft robotic arm and its driving method |
| CN113601494B (en) * | 2021-08-27 | 2023-09-19 | 哈尔滨理工大学 | Composite hardness soft robot module unit |
| CN116810769A (en) * | 2023-04-14 | 2023-09-29 | 深圳大学 | Reconfigurable software driving structure, software robot and control method |
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| CN202910862U (en) * | 2012-11-02 | 2013-05-01 | 北京化工大学 | Software robot |
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| CN104440918A (en) * | 2014-08-18 | 2015-03-25 | 浙江工业大学 | Active stiffness-variable long-arm type bionic soft robot |
| CN104552330A (en) * | 2014-12-26 | 2015-04-29 | 清华大学 | Robot joint torque limiting device |
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