Soft truss robot

Abstract

The soft truss robot comprises a rack, a rotating stand, a guide ring, a gear train, a roller set, a motor and a battery, the rack comprises a node connecting support, a top plate and a side plate which are sequentially connected, the side plate is provided with a side plate through hole and a side plate connecting hole and provided with the gear train, and the top plate is provided with a top plate through hole and a top plate connecting hole; a battery and a motor are installed on the top plate, the rotating frame is connected with the guide ring and installed on the side plate, and the roller set is located at the bottom of the side plate and penetrates through the rotating frame at the same time. The reel actuator provided by the invention can form a robot with a truss structure together with a fixed-length inflation tube, and has the characteristics of modularization and reconfiguration.

Description

Technical Field

[0001] The invention belongs to the technical field of solid mechanical machinery, and in particular relates to a soft truss robot. Background Art

[0002] Collaborative work between robots and humans is becoming more and more mainstream in today's world. These collaborative work scenarios require robots to be safe for humans and have sufficient flexibility to adapt to various work scenarios and move in complex terrain. These attributes require not only highly adaptable control algorithms and rich sensor information collection and processing, but also a new type of robot structure that is reconfigurable and adaptable - the truss robot. A truss robot is a truss-like structure whose units can affect the change of the robot's global shape and posture by changing their length. Usually a truss robot is a network of linear actuators interconnected by universal joints. These robots can move by rolling in sections and can also grasp objects.

[0003] However, since the rigid components of this truss robot lack a mechanism to absorb and buffer energy, they will break or get stuck after being subjected to high impact forces, which can be seen almost everywhere in the complex environment in which they work. For example, the robot may keep rolling and falling. Therefore, soft truss robots built of flexible materials have attracted attention. The inherent elasticity of the materials can enable the robot to better adapt to the uncertainty in the environment and ensure that humans can work safely beside it.

[0004] Compared with rigid truss robots, the compliant soft truss robot can better adapt to the uncertainty in the environment and operate safely due to its inherent elasticity. The robot's flexible beam can engulf an object by changing its shape and grab the object using two or more modular units. For example, in search and rescue operations, it can work without electricity in an unknown environment; actively adapt to complex terrain to undertake various search and rescue tasks, such as supporting rubble, moving dangerous objects, and helping survivors evacuate. These advantages will be more conducive to the safe and effective use of this soft truss robot in reality. Summary of the invention

[0005] The object of the present invention is to solve the above problems and provide a soft truss robot with good flexibility, high safety and a reel actuator that can be continuously displaced without changing the total length of the inflation hose.

[0006] In order to solve the above technical problems, the technical solution of the present invention is: a soft truss robot, characterized in that: it includes a frame, the frame includes a node connection bracket, a top plate, a first side plate and a third side plate connected in sequence, the first side plate, the second side plate, the third side plate and the fourth side plate are connected in sequence by the first bracket, the second bracket and the third bracket, the top plate is connected to the first side plate and the third side plate, a battery is installed on one side of the top plate, the battery is located on one side of the node connection bracket, a motor is installed on the other side of the top plate, the motor is located on the side opposite to the battery, and is connected to the driving gear toward the third side plate, and the driving gear is also connected to the driving gear. Meshing with the first driven gear group and the second driven gear group, the driving gear, the first driven gear group and the second driven gear group are located between the third side plate and the fourth side plate, the first stick group and the second stick group are located between the first side plate and the fourth side plate, the first roller group includes the first roller and the second roller, the second roller group includes the third roller and the fourth roller, the first rotating frame and the third rotating frame are located between the first side plate and the second side plate, the second rotating frame and the fourth rotating frame are located between the third side plate and the fourth side plate, the first guide ring is connected to the first rotating frame and the second rotating frame, and the second guide ring is connected to the third rotating frame and the fourth rotating frame.

[0007] Preferably, one end of the first guide ring is connected to the first rotating frame by a first L-shaped material through bolts, the other end of the first guide ring is connected to the second rotating frame by a second L-shaped material through bolts, one end of the second guide ring is connected to the third rotating frame by a third L-shaped material through bolts, and the other end of the second guide ring is connected to the fourth rotating frame by a fourth L-shaped material through bolts. The guide rings are all kept perpendicular to the rotating frame.

[0008] The beneficial effects of the present invention are as follows: the soft truss robot provided by the present invention combines an inflatable hose and a truss structure. On the one hand, compared with other truss robots, the inflatable hose has the advantages of flexibility and high safety, and can provide a continuous displacement mechanism without changing the length of the inflatable tube. On the other hand, compared with traditional truss robots, the soft truss robot is modular and has the advantages of high efficiency and good portability. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 It is a structural schematic diagram of a soft truss robot of the present invention;

[0010] Figure 2 is a schematic structural diagram of Embodiment 1 of the present invention;

[0011] Figure 3 is a structural diagram of Embodiment 2 of the present invention;

[0012] Explanation of the reference numerals: 11. node connection bracket; 12. top plate; 13. first side plate; 14. second side plate; 15. third side plate; 16. fourth side plate; 161. first bracket; 162. second bracket; 163. third bracket; 2. battery; 3. motor; 41. first roller; 42. second roller; 51. third roller; 52. fourth roller; 611. first rotating frame; 612. second rotating frame; 621. third rotating frame; 622. fourth rotating frame; 711. first L-profile; 712. second L-profile; 721. third L-profile; 722. fourth L-profile; 81. first guide ring; 82. second guide ring; 9. driving gear; 91. first driven gear set; 92. second driven gear set. DETAILED DESCRIPTION

[0013] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0014] Embodiment 1

[0015] like Figure 1 and Figure 2 As shown, a soft truss robot provided by the present invention comprises a frame, the frame comprises a node connection bracket, a top plate, a first side plate and a third side plate connected in sequence, the first side plate, the second side plate, the third side plate and the fourth side plate are connected in sequence by the first bracket, the second bracket and the third bracket, the top plate is connected to the first side plate and the third side plate, a battery is installed on one side of the top plate, the battery is located on one side of the node connection bracket, a motor is installed on the other side of the top plate, the motor is located on the side opposite to the battery, and is connected to the driving gear facing the third side plate, and the driving gear is simultaneously connected to the first driven gear set and The second driven gear group is meshed, the driving gear, the first driven gear group and the second driven gear group are located between the third side plate and the fourth side plate, the first stick group and the second stick group are located between the first side plate and the fourth side plate, the first roller group includes the first roller and the second roller, the second roller group includes the third roller and the fourth roller, the first rotating frame and the third rotating frame are located between the first side plate and the second side plate, the second rotating frame and the fourth rotating frame are located between the third side plate and the fourth side plate, the first guide ring is connected to the first rotating frame and the second rotating frame, and the second guide ring is connected to the third rotating frame and the fourth rotating frame.

[0016] One end of the first guide ring is connected to the first rotating frame by a first L-shaped material through bolts, the other end of the first guide ring is connected to the second rotating frame by a second L-shaped material through bolts, one end of the second guide ring is connected to the third rotating frame by a third L-shaped material through bolts, and the other end of the second guide ring is connected to the fourth rotating frame by a fourth L-shaped material through bolts. The guide rings are all kept perpendicular to the rotating frame.

[0017] In this embodiment, three of the above-mentioned reel actuators and a fixed-length closed hose form a single triangular module, which is the basic module unit of the present invention. The module is composed of a group of identical reel actuators, which are installed on the inflatable hose to form the main structure of the single module of the robot. The reel actuator clamps the inflatable hose through a group of rollers, and its rotation driven by the motor can realize the free movement of the reel actuator on the inflatable hose, thereby changing the shape and posture of the triangular module. The structural schematic diagram of this embodiment is shown in FIG. Figure 2 shown.

[0018] Embodiment 2

[0019] Compared with the first embodiment, the present embodiment is a three-dimensional truss structure robot composed of multiple first embodiments, and has the characteristics of modularization and reconfigurability.

[0020] This embodiment is an octahedral truss structure robot composed of four triangular modules in the first embodiment. The reel actuators are connected to each other on the node connection bracket using a three-degree-of-freedom universal joint, and the universal joint is connected by two connecting rods, each of which can rotate freely around its axis. The structural diagram is shown in FIG. Figure 3 shown.

[0021] Those skilled in the art will appreciate that the embodiments described herein are intended to help readers understand the principles of the present invention, and should be understood that the protection scope of the present invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific variations and combinations that do not deviate from the essence of the present invention based on the technical revelations disclosed by the present invention, and these variations and combinations are still within the protection scope of the present invention.

Claims

1. A soft truss robot, characterized in that: The invention comprises a frame, wherein the frame comprises a node connection bracket (11), a top plate (12), a first side plate (13) and a third side plate (15) which are connected in sequence, wherein the first side plate (13), the second side plate (14), the third side plate (15) and the fourth side plate (16) are connected in sequence by a first bracket (161), a second bracket (162) and a third bracket (163), wherein the top plate (12) is connected to the first side plate (13) and the third side plate (15), wherein a battery (2) is installed on one side of the top plate (12), wherein the battery (2) is located on one side of the node connection bracket (11), wherein a motor (3) is installed on the other side of the top plate (12), wherein the motor (3) is located on the side opposite to the battery and is connected to a driving gear (9) facing the third side plate (15), wherein the driving gear (9) is meshed with a first driven gear set (91) and a second driven gear set (92) at the same time, wherein the driving gear (9) is meshed with a first driven gear set (91) and a second driven gear set (92 ... The gear (9), the first driven gear group (91) and the second driven gear group (92) are located between the third side plate (13) and the fourth side plate (14); the first stick group and the second stick group are located between the first side plate (13) and the fourth side plate (16); the first roller group includes a first roller (41) and a second roller (42); the second roller group includes a third roller (51) and a fourth roller (52); the first rotating frame (611) and the third rotating frame (621) are located between the first side plate (13) and the second side plate (14); the second rotating frame (612) and the fourth rotating frame (622) are located between the third side plate (15) and the fourth side plate (16); the first guide ring (81) is connected to the first rotating frame (611) and the second rotating frame (621); the second guide ring (82) is connected to the third rotating frame (612) and the fourth rotating frame (622).

2. A soft truss robot according to claim 1, characterized in that: One end of the first guide ring (81) is connected to the first rotating frame (611) by a first L-shaped material (711) through bolts, the other end of the first guide ring (81) is connected to the second rotating frame (612) by a second L-shaped material (712) through bolts, one end of the second guide ring (82) is connected to the third rotating frame (621) by a third L-shaped material (721) through bolts, and the other end of the second guide ring (82) is connected to the fourth rotating frame (622) by a fourth L-shaped material (722) through bolts. The guide rings are all kept perpendicular to the rotating frame.

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