A tensegrity structure and robot

Abstract

The present invention discloses a tensegrity structure and a robot, which relate to the field of robot technology. The tensegrity structure comprises a driving structure, a first elastic element, a second elastic element, a third elastic element, a fourth elastic element, a fifth elastic element, a sixth elastic element, a seventh elastic element, an eighth elastic element, a ninth elastic element, a tenth elastic element, an eleventh elastic element, a twelfth elastic element, a thirteenth elastic element, a fourteenth elastic element, a fifteenth elastic element, a first connecting pressure rod, a second connecting pressure rod, a third connecting pressure rod, a fourth connecting pressure rod and a fifth connecting pressure rod; the robot comprises at least three tensegrity structures. The tensegrity structure of the present invention can realize axial stretching / radial contraction and axial contraction / radial stretching of the overall external dimensions; the robot can realize crawling motion in a pipeline.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a tensegrity structure and a robot. Background Art

[0002] Many existing pipeline systems have small spaces and harsh environments, making manual inspection and maintenance difficult or even impossible. Most of the existing pipeline crawling robots used for pipeline inspection and maintenance are based on traditional rigid transmission mechanism designs, which are relatively poor in flexibility and adaptability. When vertically ascending, overcoming sharp turns or other irregular situations, the power requirements for the drive system are also higher. The tensegrity structure is a structure that is widely used in the fields of architecture and structural engineering. It is a self-supporting, self-stressed spatial grid structure composed of a group of discontinuous rigid compression members and a group of continuous flexible tension members. The unique structural form enables the tensegrity structure to retain the bearing capacity of rigid components and the deformation capacity of flexible components at the same time, combining the advantages of rigid structures and soft structures, and has gradually gained the favor of researchers in the field of robotics in recent years. Summary of the invention

[0003] The object of the present invention is to provide a tensegrity structure and a robot to solve the problems existing in the above-mentioned prior art. The tensegrity structure has good flexibility and adaptability, and can realize axial stretching / radial contraction and axial contraction / radial stretching; the robot can realize crawling movement in the pipeline.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The present invention provides a tensegrity structure, comprising a driving structure, a first elastic element, a second elastic element, a third elastic element, a fourth elastic element, a fifth elastic element, a sixth elastic element, a seventh elastic element, an eighth elastic element, a ninth elastic element, a tenth elastic element, an eleventh elastic element, a twelfth elastic element, a thirteenth elastic element, a fourteenth elastic element, a fifteenth elastic element, a first connecting pressure rod, a second connecting pressure rod, a third connecting pressure rod, a fourth connecting pressure rod and a fifth connecting pressure rod;

[0006] One end of the first elastic element, one end of the second elastic element, one end of the third elastic element, one end of the fourth elastic element and one end of the fifth elastic element are respectively connected to one end of the driving structure;

[0007] One end of the sixth elastic element, one end of the seventh elastic element, one end of the eighth elastic element, one end of the ninth elastic element and one end of the tenth elastic element are respectively connected to the other end of the driving structure;

[0008] One end of the first connecting pressure rod is connected to the other end of the first elastic element, and the other end of the first connecting pressure rod is connected to the other end of the seventh elastic element; one end of the second connecting pressure rod is connected to the other end of the second elastic element, and the other end of the second connecting pressure rod is connected to the other end of the eighth elastic element; one end of the third connecting pressure rod is connected to the other end of the third elastic element, and the other end of the third connecting pressure rod is connected to the other end of the ninth elastic element; one end of the fourth connecting pressure rod is connected to the other end of the fourth elastic element, and the other end of the fourth connecting pressure rod is connected to the other end of the tenth elastic element; one end of the fifth connecting pressure rod is connected to the other end of the fifth elastic element, and the other end of the fifth connecting pressure rod is connected to the other end of the sixth elastic element;

[0009] The other end of the first connecting pressure rod is connected to one end of the second connecting pressure rod through the eleventh elastic element, the other end of the second connecting pressure rod is connected to one end of the third connecting pressure rod through the twelfth elastic element, the other end of the third connecting pressure rod is connected to one end of the fourth connecting pressure rod through the thirteenth elastic element, the other end of the fourth connecting pressure rod is connected to one end of the fifth connecting pressure rod through the fourteenth elastic element, and the other end of the fifth connecting pressure rod is connected to one end of the first connecting pressure rod through the fifteenth elastic element.

[0010] Preferably, the first elastic element, the second elastic element, the third elastic element, the fourth elastic element and the fifth elastic element are evenly arranged along the circumference of the driving structure; the sixth elastic element, the seventh elastic element, the eighth elastic element, the ninth elastic element and the tenth elastic element are evenly arranged along the circumference of the driving structure.

[0011] Preferably, the first elastic element, the sixth elastic element, the second elastic element, the seventh elastic element, the third elastic element, the eighth elastic element, the fourth elastic element, the ninth elastic element, the fifth elastic element and the tenth elastic element structure are arranged in sequence along the circumference of the driving structure.

[0012] Preferably, the first elastic element, the second elastic element, the third elastic element, the fourth elastic element, the fifth elastic element, the sixth elastic element, the seventh elastic element, the eighth elastic element, the ninth elastic element and the tenth elastic element have the same structure.

[0013] Preferably, the eleventh elastic element, the twelfth elastic element, the thirteenth elastic element, the fourteenth elastic element and the fifteenth elastic element have the same structure.

[0014] Preferably, the first connecting pressure rod, the second connecting pressure rod, the third connecting pressure rod, the fourth connecting pressure rod and the fifth connecting pressure rod have the same structure.

[0015] Preferably, the driving structure is an electric push rod, a pneumatic cylinder or a hydraulic cylinder.

[0016] Preferably, the first connecting pressure rod, the second connecting pressure rod, the third connecting pressure rod, the fourth connecting pressure rod and the fifth connecting pressure rod are all made of plastic.

[0017] Preferably, the first elastic element, the second elastic element, the third elastic element, the fourth elastic element, the fifth elastic element, the sixth elastic element, the seventh elastic element, the eighth elastic element, the ninth elastic element, the tenth elastic element, the eleventh elastic element, the twelfth elastic element, the thirteenth elastic element, the fourteenth elastic element and the fifteenth elastic element are all springs or elastic ropes.

[0018] The present invention also provides a robot, comprising at least three tensegrity structures, wherein the drive structures of adjacent tensegrity structures are hinged.

[0019] Compared with the prior art, the present invention has achieved the following technical effects:

[0020] The tensegrity structure of the present invention can realize axial stretching / radial contraction and axial contraction / radial stretching of the overall external dimensions; on this basis, three or more tensegrity structures are connected in series to obtain a robot suitable for crawling in a pipeline. By reasonably setting the actuation sequence of each tensegrity structure, the crawling movement of the robot in the pipeline can be realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 It is an axonometric view of the tensegrity structure of the present invention (contracted state);

[0023] Figure 2 It is the front view of the tensegrity structure of the present invention (contracted state);

[0024] Figure 3 It is a side view of the tensegrity structure of the present invention (contracted state);

[0025] Figure 4 It is an axonometric view of the tensegrity structure of the present invention (in a stretched state);

[0026] Figure 5 It is a side view of the tensegrity structure of the present invention (in a stretched state);

[0027] Figure 6 is a side view of the robot of the present invention (retracted state);

[0028] Figure 7 A schematic diagram of the robot motion process of the present invention;

[0029] Among them: 100-tensile integral structure, 200-robot, 1-first elastic element, 2-second elastic element, 3-third elastic element, 4-fourth elastic element, 5-fifth elastic element, 6-sixth elastic element, 7-seventh elastic element, 8-eighth elastic element, 9-ninth elastic element, 10-tenth elastic element, 11-first connecting pressure rod, 12-second connecting pressure rod, 13-third connecting pressure rod, 14-fourth connecting pressure rod, 15-fifth connecting pressure rod, 16-eleventh elastic element, 17-twelfth elastic element, 18-thirteenth elastic element, 19-fourteenth elastic element, 20-fifteenth elastic element, 21-driving structure. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] The object of the present invention is to provide a tensegrity structure and a robot to solve the problems existing in the above-mentioned prior art. The tensegrity structure has good flexibility and adaptability, and can realize axial stretching / radial contraction and axial contraction / radial stretching; the robot can realize crawling movement in the pipeline.

[0032] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0033] Embodiment 1

[0034] like Figure 1-Figure 5As shown: This embodiment provides a tensegrity structure 100, including a driving structure 21, a first elastic element 1, a second elastic element 2, a third elastic element 3, a fourth elastic element 4, a fifth elastic element 5, a sixth elastic element 6, a seventh elastic element 7, an eighth elastic element 8, a ninth elastic element 9, a tenth elastic element 10, an eleventh elastic element 16, a twelfth elastic element 17, a thirteenth elastic element 18, a fourteenth elastic element 19, a fifteenth elastic element 20, a first connecting pressure rod 11, a second connecting pressure rod 12, a third connecting pressure rod 13, a fourth connecting pressure rod 14 and a fifth connecting pressure rod 15;

[0035] One end of the first elastic element 1, one end of the second elastic element 2, one end of the third elastic element 3, one end of the fourth elastic element 4 and one end of the fifth elastic element 5 are respectively connected to one end of the driving structure 21;

[0036] One end of the sixth elastic element 6, one end of the seventh elastic element 7, one end of the eighth elastic element 8, one end of the ninth elastic element 9 and one end of the tenth elastic element 10 are respectively connected to the other end of the driving structure 21;

[0037] One end of the first connecting pressure rod 11 is connected to the other end of the first elastic element 1, and the other end of the first connecting pressure rod 11 is connected to the other end of the seventh elastic element 7; one end of the second connecting pressure rod 12 is connected to the other end of the second elastic element 2, and the other end of the second connecting pressure rod 12 is connected to the other end of the eighth elastic element 8; one end of the third connecting pressure rod 13 is connected to the other end of the third elastic element 3, and the other end of the third connecting pressure rod 13 is connected to the other end of the ninth elastic element 9; one end of the fourth connecting pressure rod 14 is connected to the other end of the fourth elastic element 4, and the other end of the fourth connecting pressure rod 14 is connected to the other end of the tenth elastic element 10; one end of the fifth connecting pressure rod 15 is connected to the other end of the fifth elastic element 5, and the other end of the fifth connecting pressure rod 15 is connected to the other end of the sixth elastic element 6;

[0038] The other end of the first connecting pressure rod 11 is connected to one end of the second connecting pressure rod 12 through the eleventh elastic element 16, the other end of the second connecting pressure rod 12 is connected to one end of the third connecting pressure rod 13 through the twelfth elastic element 17, the other end of the third connecting pressure rod 13 is connected to one end of the fourth connecting pressure rod 14 through the thirteenth elastic element 18, the other end of the fourth connecting pressure rod 14 is connected to one end of the fifth connecting pressure rod 15 through the fourteenth elastic element 19, and the other end of the fifth connecting pressure rod 15 is connected to one end of the first connecting pressure rod 11 through the fifteenth elastic element 20.

[0039] In this embodiment, the first elastic element 1, the second elastic element 2, the third elastic element 3, the fourth elastic element 4 and the fifth elastic element 5 are evenly arranged along the circumference of the driving structure 21; the sixth elastic element 6, the seventh elastic element 7, the eighth elastic element 8, the ninth elastic element 9 and the tenth elastic element 10 are evenly arranged along the circumference of the driving structure 21.

[0040] In this embodiment, the first elastic element 1, the sixth elastic element 6, the second elastic element 2, the seventh elastic element 7, the third elastic element 3, the eighth elastic element 8, the fourth elastic element 4, the ninth elastic element 9, the fifth elastic element 5 and the tenth elastic element 10 are arranged in sequence along the circumference of the driving structure 21.

[0041] In this embodiment, the first elastic element 1, the second elastic element 2, the third elastic element 3, the fourth elastic element 4, the fifth elastic element 5, the sixth elastic element 6, the seventh elastic element 7, the eighth elastic element 8, the ninth elastic element 9 and the tenth elastic element 10 have the same structure, that is, the first elastic element 1, the second elastic element 2, the third elastic element 3, the fourth elastic element 4, the fifth elastic element 5, the sixth elastic element 6, the seventh elastic element 7, the eighth elastic element 8, the ninth elastic element 9 and the tenth elastic element 10 have the same length and elastic coefficient.

[0042] In this embodiment, the eleventh elastic element 16, the twelfth elastic element 17, the thirteenth elastic element 18, the fourteenth elastic element 19 and the fifteenth elastic element 20 have the same structure, that is, the eleventh elastic element 16, the twelfth elastic element 17, the thirteenth elastic element 18, the fourteenth elastic element 19 and the fifteenth elastic element 20 have the same length and elastic coefficient.

[0043] In this embodiment, the first connecting rod 11, the second connecting rod 12, the third connecting rod 13, the fourth connecting rod 14 and the fifth connecting rod 15 have the same structure, and specifically, the first connecting rod 11, the second connecting rod 12, the third connecting rod 13, the fourth connecting rod 14 and the fifth connecting rod 15 have the same size. In this embodiment, the first connecting rod 11, the second connecting rod 12, the third connecting rod 13, the fourth connecting rod 14 and the fifth connecting rod 15 are all made of plastic, specifically, resin, nylon, etc., which are light in material.

[0044] In this embodiment, the driving structure 21 is a driving device in various forms such as an electric push rod, a cylinder or a hydraulic cylinder.

[0045] In this embodiment, the first elastic element 1, the second elastic element 2, the third elastic element 3, the fourth elastic element 4, the fifth elastic element 5, the sixth elastic element 6, the seventh elastic element 7, the eighth elastic element 8, the ninth elastic element 9, the tenth elastic element 10, the eleventh elastic element 16, the twelfth elastic element 17, the thirteenth elastic element 18, the fourteenth elastic element 19 and the fifteenth elastic element 20 are all lightweight components such as tension springs or elastic ropes.

[0046] The tensioned integral structure 100 of the present embodiment is light in weight, relatively simple in structure, and has a small number of components. It is directly connected by a certain number of connecting pressure rods (a first connecting pressure rod 11, a second connecting pressure rod 12, a third connecting pressure rod 13, a fourth connecting pressure rod 14 and a fifth connecting pressure rod 15) and tension springs (a first elastic element 1, a second elastic element 2, a third elastic element 3, a fourth elastic element 4, a fifth elastic element 5, a sixth elastic element 6, a seventh elastic element 7, an eighth elastic element 8, a ninth elastic element 9, a tenth elastic element 10, an eleventh elastic element 16, a twelfth elastic element 17, a thirteenth elastic element 18, a fourteenth elastic element 19 and a fifteenth elastic element 20), does not require a traditional motion transmission mechanism, and can reduce weight.

[0047] The tensile structure 100 of this embodiment can achieve axial stretching / radial contraction and axial contraction / radial stretching of the overall dimensions. Each stretching spring bears tension, each connecting rod bears pressure, and the length of the driving structure 21 can be adjusted.

[0048] The beneficial effects of this embodiment are as follows: 1. The tensegrity structure 100 is composed of lightweight tension springs and connecting pressure rods, while also retaining the bearing capacity of rigid compression components, so that the overall strength-to-quality ratio of the structure is high; 2. The tensegrity structure 100 can distribute external loads to the entire network structure, which helps to improve the load capacity of the robot 200; 3. The tensegrity structure 100 occupies a small space, and the internal space can be used to carry instruments and equipment such as sensors; 4. The overall stiffness of the structure can be adjusted by adjusting the preload force of each tension spring; 5. The connecting pressure rods are connected by tension springs without direct rigid contact, and have good flexibility.

[0049] Embodiment 2

[0050] like Figure 6 As shown: This embodiment provides a robot 200, comprising at least three tensegrity structures 100 of the first embodiment arranged in series, the driving structures 21 of adjacent tensegrity structures 100 can be hinged by structures such as ball joints, and three rotational degrees of freedom are allowed between every two adjacent tensegrity structures 100.

[0051] like Figure 7As shown in the figure: the robot 200 is composed of three tensegrity structures 100 connected in series, which are the first tensegrity structure 100, the second tensegrity structure 100, and the third tensegrity structure 100 from right to left, and the motion states are state one, state two, state three, state four, and state five from top to bottom. The whole motion process completes the displacement movement of the robot 200 from left to right. In state one, the three tensegrity structures 100 are all in a contracted state, and the robot 200 maintains close contact with the inner wall of the pipe; in state two, the third tensegrity structure 100 is in a contracted state and maintains close contact with the inner wall of the pipe, and the first tensegrity structure 100 and the second tensegrity structure 100 become stretched states. At this time, the overall length of the robot 200 becomes longer relative to state one; in state three, the first tensegrity structure 100 becomes a contracted state and maintains close contact with the inner wall of the pipe, and the second tensegrity structure 100 and the third tensegrity structure 100 remain unchanged, which are respectively in a stretched state and a contracted state. At this time, the robot 200 is 00, the overall length becomes shorter than that in state 2, but is still longer than that in state 1; in state 4, the second tensile structure 100 changes to a contracted state, the third tensile structure 100 changes to a stretched state, and the first tensile structure 100 remains unchanged and is still in a contracted state. At this time, the overall length of the robot 200 is the same as that in state 3; in state 5, the first tensile structure 100 and the second tensile structure 100 remain unchanged and are still in a contracted state, maintaining close contact with the inner wall of the pipeline, and the third tensile structure 100 changes to a contracted state. At this time, the overall position of the robot 200 moves to the right for a distance relative to state 1, realizing rightward movement. State 1, state 2, state 3, state 4, and state 5 are performed in a cycle to realize continuous forward movement of the robot 200.

[0052] Since there are three rotational degrees of freedom (rotation around three orthogonal axes in space, i.e., pitch, roll, and yaw) between adjacent tensegrity structures 100 of the robot 200, rotation is allowed between two adjacent tensegrity structures 100. In addition to crawling in a straight pipe, the robot 200 can also turn in a curved pipe within a certain range.

[0053] The advantages of the robot 200 of this embodiment are as follows: good reliability and fault tolerance, and it is composed of a plurality of tensegrity structures 100 connected in series. If one of the tensegrity structures 100 is damaged, the robot 200 can still work normally by relying on the other tensegrity structures 100.

[0054] In view of the problems existing in the existing in-pipe crawling robot 200, this embodiment designs an in-pipe crawling robot 200 based on a tensegrity structure 100, which has the advantages of light weight, good flexibility, and high load capacity, and has broad application prospects in the fields of robots 200 and the like.

[0055] The present specification uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core idea of ​​the present invention. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A robot, characterized in that: including at least three tensegrity structures; The tensegrity structure comprises a driving structure, a first elastic element, a second elastic element, a third elastic element, a fourth elastic element, a fifth elastic element, a sixth elastic element, a seventh elastic element, an eighth elastic element, a ninth elastic element, a tenth elastic element, an eleventh elastic element, a twelfth elastic element, a thirteenth elastic element, a fourteenth elastic element, a fifteenth elastic element, a first connecting pressure rod, a second connecting pressure rod, a third connecting pressure rod, a fourth connecting pressure rod and a fifth connecting pressure rod; One end of the first elastic element, one end of the second elastic element, one end of the third elastic element, one end of the fourth elastic element and one end of the fifth elastic element are respectively connected to one end of the driving structure; One end of the sixth elastic element, one end of the seventh elastic element, one end of the eighth elastic element, one end of the ninth elastic element and one end of the tenth elastic element are respectively connected to the other end of the driving structure; One end of the first connecting rod is connected to the other end of the first elastic element, and the other end of the first connecting rod is connected to the other end of the seventh elastic element; One end of the second connecting rod is connected to the other end of the second elastic element, and the other end of the second connecting rod is connected to the other end of the eighth elastic element; One end of the third connecting rod is connected to the other end of the third elastic element, and the other end of the third connecting rod is connected to the other end of the ninth elastic element; one end of the fourth connecting rod is connected to the other end of the fourth elastic element, and the other end of the fourth connecting rod is connected to the other end of the tenth elastic element; One end of the fifth connecting rod is connected to the other end of the fifth elastic element, and the other end of the fifth connecting rod is connected to the other end of the sixth elastic element; The other end of the first connecting pressure rod is connected to one end of the second connecting pressure rod through the eleventh elastic element, the other end of the second connecting pressure rod is connected to one end of the third connecting pressure rod through the twelfth elastic element, the other end of the third connecting pressure rod is connected to one end of the fourth connecting pressure rod through the thirteenth elastic element, the other end of the fourth connecting pressure rod is connected to one end of the fifth connecting pressure rod through the fourteenth elastic element, and the other end of the fifth connecting pressure rod is connected to one end of the first connecting pressure rod through the fifteenth elastic element; The drive structures of adjacent tensegrity structures are hinged.

2. The robot according to claim 1, characterized in that: The first elastic element, the second elastic element, the third elastic element, the fourth elastic element and the fifth elastic element are evenly arranged along the circumference of the driving structure; The sixth elastic element, the seventh elastic element, the eighth elastic element, the ninth elastic element and the tenth elastic element are evenly arranged along the circumference of the driving structure.

3. The robot according to claim 1, characterized in that: The first elastic element, the sixth elastic element, the second elastic element, the seventh elastic element, the third elastic element, the eighth elastic element, the fourth elastic element, the ninth elastic element, the fifth elastic element and the tenth elastic element structure are arranged in sequence along the circumference of the driving structure.

4. The robot according to claim 1, characterized in that: The first elastic element, the second elastic element, the third elastic element, the fourth elastic element, the fifth elastic element, the sixth elastic element, the seventh elastic element, the eighth elastic element, the ninth elastic element and the tenth elastic element have the same structure.

5. The robot according to claim 1, characterized in that: The eleventh elastic element, the twelfth elastic element, the thirteenth elastic element, the fourteenth elastic element and the fifteenth elastic element have the same structure.

6. The robot according to claim 1, characterized in that: The first connecting pressure rod, the second connecting pressure rod, the third connecting pressure rod, the fourth connecting pressure rod and the fifth connecting pressure rod have the same structure.

7. The robot according to claim 1, characterized in that: The driving structure is an electric push rod, a cylinder or a hydraulic cylinder.

8. The robot according to claim 1, characterized in that: The first connecting pressure rod, the second connecting pressure rod, the third connecting pressure rod, the fourth connecting pressure rod and the fifth connecting pressure rod are all made of plastic.

9. The robot according to claim 1, characterized in that: The first elastic element, the second elastic element, the third elastic element, the fourth elastic element, the fifth elastic element, the sixth elastic element, the seventh elastic element, the eighth elastic element, the ninth elastic element, the tenth elastic element, the eleventh elastic element, the twelfth elastic element, the thirteenth elastic element, the fourteenth elastic element and the fifteenth elastic element are all springs or elastic ropes.

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