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Variable-rigidity software framework structure and software arm-shaped robot

A soft skeleton and variable stiffness technology, used in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as insufficient stiffness, and achieve the effect of consistent original length, fast and efficient stiffness, and improved adaptability

Active Publication Date: 2020-10-09
ZHEJIANG UNIV OF TECH
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  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the problem of insufficient stiffness of the existing soft robot itself, the present invention provides a variable stiffness soft body skeleton structure, which can be embedded inside the soft robot, and can quickly and efficiently change the stiffness of the soft robot during the movement process

Method used

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  • Variable-rigidity software framework structure and software arm-shaped robot

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Embodiment Construction

[0032] The technical solutions of the present invention will be further specifically described below through specific embodiments and in conjunction with the accompanying drawings.

[0033] In the present invention, unless otherwise specified, all equipment and raw materials can be purchased from the market or commonly used in this industry. The methods in the following examples, unless otherwise specified, are conventional methods in this field.

[0034] Such as figure 1 and Figure 7 As shown, a variable stiffness soft body skeleton structure includes several stretchable units, and two adjacent stretchable units are coaxially connected to a universal joint connector; the space between the stretchable unit and the universal joint The cavity is filled with particle obstructions 18, and the outer surface of the skeleton structure formed by the telescopic unit is covered with a vacuum-sealed bag 17, and a vacuum air pump is provided on the vacuum-sealed bag. The material of th...

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Abstract

The invention relates to the technical field of robot research and engineering, and provides a variable-rigidity software framework structure and a software arm-shaped robot in order to solve the problem that an existing software robot is insufficient in rigidity. The variable-rigidity software framework structure comprises a plurality of telescopic units, and two adjacent telescopic units are coaxially connected to one universal joint connector; a cavity at the joint of the telescopic units and the universal joint is filled with particle obstructions, and the outer surface of the framework structure formed by the telescopic units is sleeved with a vacuum sealing bag. According to the variable-rigidity software framework structure and the software arm-shaped robot, the telescopic units andthe universal joint connector are combined, the bending and extending capacity is achieved, follow-up movement inside a software arm is achieved, the variable-rigidity software framework structure can be embedded inside the software robot, joint movement along with the software arm can be achieved under the condition that movement of the software arm is not affected, and the rigidity of the software robot in the movement process can be rapidly and efficiently changed.

Description

technical field [0001] The invention relates to the field of robot research and engineering technology, in particular to a variable stiffness soft body skeleton structure and a soft arm robot. Background technique [0002] It has been more than half a century since the first industrial robot came out, the rigid body robot research system has been very mature, and in the industry, the application of robots has been fully developed and promoted. With the improvement of the quality of human life, it is hoped that robots can be used not only in industry, but also in daily life. However, due to the current lack of interactivity of rigid-body robots, and most of the driving methods are driven by motors, large inertia will be generated during movement, and rigid collisions will inevitably occur when they come into contact with the external environment, causing certain dangers. We want robots to be able to interact directly with people and the environment. This type of robot can b...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08B25J9/10
CPCB25J9/08B25J9/10
Inventor 王文彪吴昌渠鲍官军
Owner ZHEJIANG UNIV OF TECH
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