Spiral type twisting soft-bodied robot module

A robot and screw-type technology, applied in the direction of manipulators, program-controlled manipulators, manufacturing tools, etc., can solve the problems of difficult control, single motion form, lack of torsional freedom, etc., to achieve a wide range of applications, efficient driving, and efficient action execution high effect

Active Publication Date: 2017-01-04
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a spiral torsion soft robot module to solve the problem that although the bending modules of the existing soft robot can be connected in series to form a super-redundan...

Method used

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  • Spiral type twisting soft-bodied robot module
  • Spiral type twisting soft-bodied robot module
  • Spiral type twisting soft-bodied robot module

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Experimental program
Comparison scheme
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specific Embodiment approach 1

[0022] Specific implementation mode one: combine figure 1 , figure 2 , image 3 , Figure 4 and Figure 5 Describe this embodiment, this embodiment comprises elastic main body 6, rear plug 2, center restriction strip 4 and front plug 5, and described central restriction strip 4 passes through front plug 5, elastic main body 6 and rear plug 2 successively, and described elastic The main body 6 is processed with a plurality of helical inner cavities 3, and the plurality of helical inner cavities 3 are evenly arranged in the elastic main body 6 with the central restriction strip 4 as the center. The front plug 5 is arranged on the upper end of the elastic main body 6, and the front plug 5 is airtightly connected with the upper opening of each spiral cavity 3, the back plug 2 is arranged at the lower end of the elastic body 6, each spiral cavity 3 corresponds to a connecting pipe 1, and each spiral cavity The lower port of 3 communicates with the corresponding connecting pipe...

specific Embodiment approach 2

[0027] Embodiment 2: This embodiment is a further limitation of Embodiment 1. In this embodiment, the elastic body 6 is a cylinder made of elastic silica gel. Axes coincide.

[0028] The elastic body 6 in the present invention is a cylinder made of elastic silicone rubber, specifically a cylinder made of superelastic silicone rubber material.

[0029] The driving technology relied on by the present invention is pneumatic or hydraulic braking deformation, and other fluid elastic bodies capable of actuating deformation can also be used.

[0030] Embodiment 2: This embodiment is a further limitation of Embodiment 1. In this embodiment, the elastic body 6 is a cylinder made of elastic silica gel. Axes coincide.

[0031] The central restricting strip 4 of the present invention is a cylinder, and the central axis of the central restricting strip 4 in the longitudinal direction coincides with the central axis of the elastic body 6 in the longitudinal direction.

specific Embodiment approach 3

[0032] Specific Embodiment 3: This embodiment is a further limitation of Specific Embodiment 2. In this embodiment, both the rear plug 2 and the front plug 5 are cylinders made of elastic silica gel, and the front plug 5 is fixedly connected to the elastic body 6. At the upper end, the rear plug 2 is fixedly connected to the lower end of the elastic body 6, and the elastic body 6, the rear plug 2 and the front plug 5 are coaxially arranged.

[0033] Although the front plug 5 in the present invention is a cylinder made of elastic silica gel, it is harder than the elastic main body 6, which is conducive to the output of torsional angular displacement and torsional force. The hardness of the rear plug 2 is higher than that of the front plug 5, and it is used as the output end of torsional deformation and torsional force. The connecting pipe 1 is made of silica gel, and the central restricting strip 4 is made of cotton thread or other soft ones, which can only rotate but not A str...

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Abstract

The invention discloses a spiral type twisting soft-bodied robot module and relates to a soft-bodied robot module. Though bending modules of an existing soft-bodied robot can form a hyper-redundant mechanical arm through series connection, the twisting freedom degree is still in lack, so that the problem that the motion forms are singular is caused; and meanwhile, by means of the spiral type twisting soft-bodied robot module, the problem that when a bending module achieves omni-directional motion, control difficulty is high can be solved. A central limiting strip of the spiral type twisting soft-bodied robot module sequentially penetrates a front end cap, an elastic main body and a rear end cap. Multiple spiral inner cavities are machined in the elastic main body and uniformly arranged inside the elastic main body with the central limiting strip as the center. The front end cap is arranged at the upper end of the elastic main body. Sealed connection is achieved between the front end cap and an upper opening of each spiral inner cavity. The rear end cap is arranged at the lower end of the elastic main body. Each spiral inner cavity corresponds to a connection pipe. A lower opening of each spiral inner cavity communicates with the corresponding connection pipe through the rear end cap. By means of the spiral type twisting soft-bodied robot module, a soft-bodied twisting robot is simple in motion form, easy and convenient to manufacture and easy to operate.

Description

technical field [0001] The invention specifically relates to a spiral torsion soft robot module. Background technique [0002] In recent years, with the emergence of new materials and the improvement of processing and manufacturing technology, there has been an upsurge in the study of soft robots worldwide. Soft robots are a new way of thinking in robot research, involving bionics, robotics, and soft materials. As well as disciplines such as control, its inspiration comes from molluscs that imitate nature. For a variety of controllable environments with clear tasks and negligible uncertainties, traditional robots rely on their high rigidity, high precision, fast speed, and good repeatability, making them widely used in industrial manufacturing, medical equipment, and aerospace. widely used. However, when the task is unpredictable and the environment is uncertain, it is necessary to ensure the safety of the robot's interaction with the environment and the human body. Altho...

Claims

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Application Information

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IPC IPC(8): B25J11/00B25J9/08
CPCB25J9/065B25J9/08
Inventor 闫继宏张新彬许彬彬赵杰
Owner HARBIN INST OF TECH
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