CN113997316A - Fluid Control Variable Stiffness Elastomeric Shaft - Google Patents
Fluid Control Variable Stiffness Elastomeric Shaft Download PDFInfo
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- CN113997316A CN113997316A CN202110991786.8A CN202110991786A CN113997316A CN 113997316 A CN113997316 A CN 113997316A CN 202110991786 A CN202110991786 A CN 202110991786A CN 113997316 A CN113997316 A CN 113997316A
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- elastic shaft
- sealing end
- end cover
- variable stiffness
- filler
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- 239000012530 fluid Substances 0.000 title claims abstract description 40
- 238000007789 sealing Methods 0.000 claims abstract description 60
- 239000000945 filler Substances 0.000 claims abstract description 34
- 239000000463 material Substances 0.000 claims description 19
- 239000002245 particle Substances 0.000 claims description 14
- 238000004026 adhesive bonding Methods 0.000 claims description 9
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 6
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000004033 plastic Substances 0.000 claims description 6
- 229920003023 plastic Polymers 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 239000004593 Epoxy Substances 0.000 claims description 3
- FYYHWMGAXLPEAU-UHFFFAOYSA-N Magnesium Chemical compound [Mg] FYYHWMGAXLPEAU-UHFFFAOYSA-N 0.000 claims description 3
- 229930182556 Polyacetal Natural products 0.000 claims description 3
- 239000004952 Polyamide Substances 0.000 claims description 3
- 239000004734 Polyphenylene sulfide Substances 0.000 claims description 3
- 239000000956 alloy Substances 0.000 claims description 3
- 229910045601 alloy Inorganic materials 0.000 claims description 3
- 229910052782 aluminium Inorganic materials 0.000 claims description 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 3
- 229920001971 elastomer Polymers 0.000 claims description 3
- 229920006351 engineering plastic Polymers 0.000 claims description 3
- 239000000835 fiber Substances 0.000 claims description 3
- 229910010272 inorganic material Inorganic materials 0.000 claims description 3
- 239000011147 inorganic material Substances 0.000 claims description 3
- 230000001788 irregular Effects 0.000 claims description 3
- 229920000126 latex Polymers 0.000 claims description 3
- 239000004816 latex Substances 0.000 claims description 3
- 239000011777 magnesium Substances 0.000 claims description 3
- 229910052749 magnesium Inorganic materials 0.000 claims description 3
- 239000002923 metal particle Substances 0.000 claims description 3
- 239000011368 organic material Substances 0.000 claims description 3
- 229920001568 phenolic resin Polymers 0.000 claims description 3
- 229920002647 polyamide Polymers 0.000 claims description 3
- 229920000515 polycarbonate Polymers 0.000 claims description 3
- 239000004417 polycarbonate Substances 0.000 claims description 3
- 229920000728 polyester Polymers 0.000 claims description 3
- 229920006324 polyoxymethylene Polymers 0.000 claims description 3
- 229920000069 polyphenylene sulfide Polymers 0.000 claims description 3
- 239000005060 rubber Substances 0.000 claims description 3
- 239000004576 sand Substances 0.000 claims description 3
- 239000000741 silica gel Substances 0.000 claims description 3
- 229910002027 silica gel Inorganic materials 0.000 claims description 3
- 229920006305 unsaturated polyester Polymers 0.000 claims description 3
- 238000001125 extrusion Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 claims description 2
- 239000011859 microparticle Substances 0.000 claims description 2
- 239000011797 cavity material Substances 0.000 claims 1
- -1 ceramsite Substances 0.000 claims 1
- 229920001230 polyarylate Polymers 0.000 claims 1
- 229920001955 polyphenylene ether Polymers 0.000 claims 1
- 230000009471 action Effects 0.000 abstract description 10
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 230000004044 response Effects 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 5
- 239000007787 solid Substances 0.000 description 5
- 210000004712 air sac Anatomy 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 239000004721 Polyphenylene oxide Substances 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
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- 238000006243 chemical reaction Methods 0.000 description 2
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- 239000011664 nicotinic acid Substances 0.000 description 1
Images
Classifications
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C3/00—Shafts; Axles; Cranks; Eccentrics
- F16C3/02—Shafts; Axles
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Robotics (AREA)
- Actuator (AREA)
Abstract
本发明公开了一种流体控制可变刚度弾性轴，变刚度弾性轴主要包括上密封端盖、外弾性轴、填充物、内气囊、下密封端盖、气管接头；上密封端盖、下密封端盖、外弾性轴以及内气囊同轴安装，外弾性轴和内气囊之间的圆环状空腔设有填充物，下密封端盖端面设有通孔或螺纹孔，用于压力流体的输入；内气囊在压力流体作用下推动填充物挤压外弾性轴，提高弹性轴整体刚度，通入压力越大，弾性轴刚度越好；本发明结合压力流体与填充物的优势，实现弾性轴变刚度功能，具有结构简单，使用方便，变刚度，响应速度快，刚度变化范围广，环境适应性强，灵活性好等优点。
The invention discloses a variable stiffness elastic shaft for fluid control. The variable stiffness elastic shaft mainly comprises an upper sealing end cover, an outer elastic shaft, a filler, an inner air bag, a lower sealing end cover and a tracheal joint; an upper sealing end cover and a lower sealing end cover The end cover, the outer elastic shaft and the inner air bag are coaxially installed, the annular cavity between the outer elastic shaft and the inner air bag is provided with a filler, and the end face of the lower sealing end cover is provided with a through hole or a threaded hole for the pressure fluid. Input; the inner airbag pushes the filler to squeeze the outer elastic shaft under the action of the pressure fluid, so as to improve the overall stiffness of the elastic shaft. The variable stiffness function has the advantages of simple structure, convenient use, variable stiffness, fast response speed, wide range of stiffness changes, strong environmental adaptability, and good flexibility.
Description
Technical Field
The invention belongs to the field of flexible robots, and relates to a fluid-controlled variable-rigidity elastic shaft which is under the combined action of a pressure fluid and a filler.
Background
Robots have been widely used in military, industrial, service, medical and other fields. The traditional robot generally takes a rigid structure as a main part, has good structural rigidity, high control precision and accurate movement, but has complex structure and poor environmental adaptability, and particularly has limited movement, limited flexibility and poor safety of man-machine interaction when moving in a small space. In order to solve the defects of the traditional robot and improve the flexibility of the robot, researchers provide a flexible robot which mainly comprises a bionic robot and a humanoid robot, wherein a flexible robot body is mainly made of flexible materials, can be continuously deformed, has infinite freedom degrees, can randomly change the structure size, has better flexibility and safety, can adapt to more complex working environments, and can effectively overcome the defects of the traditional robot; based on the prior art and research, the flexible robot has three modes of realizing variable stiffness, namely coupling structure design, intelligent materials with variable stiffness and phase change of the materials, the variable stiffness mode of the coupling structure mainly changes the stiffness of the structure through the action of redundant driving torque, the mode has the problems of influence of bending driving torque on the stiffness change effect generated by coupling of the redundant driving torque and the like, the variable stiffness mode of the intelligent materials with variable stiffness has high requirements on the performance of the materials and is difficult to control, and the mode of changing the stiffness of the robot through phase change of the materials becomes the mainstream of research of researchers; the variable stiffness structure based on the blocking principle becomes a typical representative of a mode of phase change of a material, and with the intensive research of researchers, the inventor finds that particles or particulate matters belong to solids for individuals, but the flowability can be embodied when a large number of particles or particulate solids with the same size are combined together, and the variable stiffness structure based on the particle blocking principle can realize the interconversion between fluid and solids on a microscopic level, so that the variable stiffness performance is realized; the rigidity changing method of the existing particle blocking is mainly based on the vacuum negative pressure principle, but the rigidity changing range of the mode is smaller because the vacuum degree of the existing negative pressure equipment is smaller; the variable-stiffness elastic shaft provided by the invention is blocked to be variable in stiffness based on the pressurized particles or microparticles, and the variable-stiffness effect is obvious; the flexible shaft can be used as a variable-rigidity elastic shaft of the flexible robot, so that the flexible requirement of the flexible robot is met, and the rigidity of the flexible robot can be improved.
Disclosure of Invention
The invention provides a fluid control variable-rigidity elastic shaft which can overcome the defect of insufficient rigidity of the conventional flexible robot, and can adjust the rigidity and flexibility of a driving or executing mechanism of the flexible robot according to different working requirements under the combined action of a pressure fluid and a filler; simple structure, convenient control and strong universality. The invention has the advantages of simple structure, obvious rigidity change, simple control, convenient use, high response speed, safety and good adaptability, and is very suitable for being applied to flexible robots. The technical scheme of the invention is as follows by combining the attached drawings of the specification:
the fluid-controlled variable-rigidity elastic shaft mainly comprises an upper sealing end cover, an outer elastic shaft, a filler, an inner air bag, a lower sealing end cover and an air pipe joint. The outer spring body shaft and the inner air bag form a nesting structure of the variable-stiffness spring body shaft, a filler is arranged between the outer spring body shaft and the inner air bag, and two ends of the outer spring body shaft and two ends of the inner air bag are fixedly connected with an upper sealing end cover and a lower sealing end cover respectively;
further, an outer elastic shaft and an inner air bag which are coaxial with the upper sealing end cover and the lower sealing end cover are arranged between the upper sealing end cover and the lower sealing end cover, and the upper sealing end cover is of a cylindrical stepped structure and is provided with two cylindrical surfaces; the outer side of a cylindrical surface with a larger diameter of an upper sealing end cover is provided with the upper end of an outer spring shaft, and the upper end of the outer spring shaft can be connected in a buckling, gluing, binding and other modes; wherein the outer side of the cylindrical surface with smaller diameter of the upper sealing end cover is provided with the upper end of the inner air bag which can be connected by buckling, gluing, binding and other modes; the lower sealing end cover is of a cylindrical stepped structure and is provided with two cylindrical surfaces, wherein the outer side of the cylindrical surface with the larger diameter of the lower sealing end cover is provided with the lower end of the outer elastic shaft and can be connected in a buckling, gluing, binding and other modes; the outer side of the cylindrical surface with the smaller diameter of the lower sealing end cover is provided with the lower end of the inner air bag, and the lower end of the inner air bag can be connected in a buckling, gluing, binding and other modes;
further, the upper end cap and the lower end cap can be made of aluminum, magnesium, steel, alloy, engineering plastics such as polycarbonate, polyamide, polyacetal, modified polyphenylene oxide, polyester, polyphenylene sulfide, polyaryl ester, unsaturated polyester, phenolic plastic, epoxy plastic; the outer elastic shaft is made of a material with better plasticity, such as a PUC fiber tube, a PUC steel wire tube and PVC plastic; the inner air sac is made of materials with better elastic deformation such as silica gel, latex and rubber;
when the outer sealing end cover and the inner airbag are assembled between the upper sealing end cover and the lower sealing end cover, the central axes of the upper sealing end cover, the lower sealing end cover, the outer sealing shaft and the inner airbag are required to be on the same straight line;
after the upper sealing end cover, the lower sealing end cover, the outer ink shaft and the inner air bag are assembled, a circular cavity is formed between the outer ink shaft and the inner air bag; the cavity is internally provided with filler;
furthermore, the filler can adopt one or more of metal particles, ceramic particles, sand particles, organic materials and inorganic materials; the shape of the filler can adopt one or more of sphere, cylinder, tetrahedron, cone, polyhedron and irregular thin slice; the filler is determined according to the size of the annular cavity, and can adopt one or more of particles, particles or micro powder with different sizes;
the end face of the lower sealing end cover 5 is provided with a through hole or a threaded hole for inputting pressure fluid, the inner air bag 4 generates radial deformation after being filled with the pressure fluid, the radial deformation is limited under the constraint of the outer elastic shaft 2 with good plasticity, the filler 3 is extruded, the filler 3 realizes the conversion from a fluid state to a solid state under the action of the pressure fluid, the rigidity of the elastic shaft is improved under the combined action of the fluid pressure and the filler 3, and the rigidity is obviously improved along with the increase of the pressure fluid;
the invention has the following beneficial effects:
1) according to the spring shaft variable-stiffness device, the variable-stiffness function of the spring shaft is realized by adjusting the pressure of fluid introduced into the inner air bag;
2) the filler plugging principle of the invention is based on positive pressure pressurization, and compared with the vacuum plugging principle, the rigidity changing effect is obvious.
Drawings
FIG. 1 is a schematic diagram of the overall structure of fluid control variable-rigidity elastic shaft
Fig. 2 is a cross-sectional view of the fluid control variable stiffness elastic axis.
Fig. 3 is a schematic diagram of the overall explosion of the fluid control variable stiffness shaft.
In fig. 2 and 3: 1 is an upper sealing end cover; 2 is an outer bolerous axis; 3 is a filler; 4 is an inner air sac; 5 is a lower sealing end cover, and 6 is a gas pipe connector.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples: the fluid control variable-rigidity elastic shaft consists of an upper sealing end cover 1, an outer elastic shaft 2, a filler 3, an inner air bag 4, a lower sealing end cover 5 and a pneumatic joint 6; an outer elastic shaft 2 and an inner air bag 4 which are coaxial with the upper sealing end cover 1 and the lower sealing end cover 5 are arranged between the upper sealing end cover 1 and the lower sealing end cover, and the upper sealing end cover 1 is of a cylindrical stepped structure and is provided with two cylindrical surfaces; the outer side of a cylindrical surface of the upper sealing end cover 1 with the larger diameter is provided with the upper end of the outer spring shaft 2, and the upper end of the outer spring shaft can be connected in a buckling, gluing, binding and other modes; the outer side of the cylindrical surface with the smaller diameter of the upper sealing end cover 1 is provided with the upper end of the inner air bag 4 which can be connected in a buckling, gluing, binding and other modes; the lower sealing end cover 5 is of a cylindrical stepped structure and is provided with two cylindrical surfaces, wherein the lower end of the outer elastic shaft 2 is arranged outside the cylindrical surface with the larger diameter of the lower sealing end cover 5 and can be connected in a buckling, gluing, binding and other modes; the outer side of the cylindrical surface with smaller diameter of the lower sealing end cover 5 is provided with the lower end of the inner air bag 4, and the lower end of the inner air bag 4 can be connected in a buckling, gluing, binding and other modes;
further, when the outer sealing end cover and the inner airbag are assembled between the upper sealing end cover and the lower sealing end cover, the upper sealing end cover, the lower sealing end cover, the outer sealing shaft and the inner airbag central axis are required to be ensured to be on the same straight line;
further, the upper end cap 1 and the lower end cap 5 can be made of aluminum, magnesium, steel, alloy, engineering plastics such as polycarbonate, polyamide, polyacetal, modified polyphenylene oxide, polyester, polyphenylene sulfide, polyaryl ester, unsaturated polyester, phenolic plastic, epoxy plastic;
the outer spring linear shaft 2 is arranged outside the inner air bag 4 and forms a nesting structure of the variable-stiffness spring linear shaft with the inner air bag 4, a circular cavity is formed between the outer spring linear shaft 2 and the inner air bag 4 after the upper sealing end cover 1, the lower sealing end cover 5, the outer spring linear shaft 2 and the inner air bag 4 are assembled, and a filler 3 is arranged in the cavity;
further, the outer bole linear shaft 2 is made of a material with good plasticity, such as a PUC fiber tube, a PUC steel wire tube and PVC plastic; the inner air sac 4 is made of materials with better elastic deformation, such as silica gel, latex and rubber;
furthermore, the filler 3 can be one or more of metal particles, ceramic particles, sand particles, organic materials and inorganic materials; the shape of the filler can adopt one or more of sphere, cylinder, tetrahedron, cone, polyhedron and irregular thin slice; the filler is determined according to the size of the annular cavity, and can adopt one or more of particles, particles or micro powder with different sizes;
the end face of the lower sealing end cover 5 is provided with a through hole or a threaded hole for inputting pressure fluid, the inner air bag 4 generates radial deformation after being filled with the pressure fluid, the radial deformation is limited under the constraint of the outer elastic shaft 2 with good plasticity, the filler 3 is extruded, the filler 3 realizes the conversion from a fluid state to a solid state under the action of the pressure fluid, the rigidity of the elastic shaft is improved under the combined action of the fluid pressure and the filler 3, and the rigidity is obviously improved along with the increase of the pressure fluid;
the working principle of the invention is as follows: when the variable-stiffness elastic shaft does not work, the outer elastic shaft and the inner airbag are in a free state, the filler has fluidity, the variable-stiffness elastic shaft has good flexibility, and a controllable extension or bending function can be achieved along with the action or functional requirements of the flexible robot; when the variable-stiffness elastic shaft inputs pressure fluid to work, the inner air bag expands and deforms; the elastic shaft is good in material plasticity, the expansion of the inner airbag is blocked under the constraint effect of the elastic shaft, the filler is extruded, the extrusion force of the inner airbag on the filler is increased along with the increase of pressure, and the filler is blocked; the variable stiffness function of the spring shaft is realized through the combined action of the air pressure and the filler;
the invention has the following beneficial effects:
3) according to the spring shaft variable-stiffness device, the variable-stiffness function of the spring shaft is realized by adjusting the pressure of fluid introduced into the inner air bag;
4) the filler plugging principle of the invention is based on positive pressure pressurization, and compared with the vacuum plugging principle, the rigidity changing effect is obvious.
The above-described embodiments are merely illustrative of the principles of this invention and further variations and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (7)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110991786.8A CN113997316A (en) | 2021-08-27 | 2021-08-27 | Fluid Control Variable Stiffness Elastomeric Shaft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110991786.8A CN113997316A (en) | 2021-08-27 | 2021-08-27 | Fluid Control Variable Stiffness Elastomeric Shaft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113997316A true CN113997316A (en) | 2022-02-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110991786.8A Pending CN113997316A (en) | 2021-08-27 | 2021-08-27 | Fluid Control Variable Stiffness Elastomeric Shaft |
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| Country | Link |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114700936A (en) * | 2022-06-07 | 2022-07-05 | 中国科学院沈阳自动化研究所 | A Soft Continuous Robot Based on Modular Origami Pneumatic Artificial Muscles |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1669747A (en) * | 2005-04-07 | 2005-09-21 | 浙江工业大学 | A pneumatic flexible drive |
| US20160331572A1 (en) * | 2015-05-14 | 2016-11-17 | Worcester Polytechnic Institute | Variable Stiffness Devices and Methods of Use |
| CN108724166A (en) * | 2017-04-19 | 2018-11-02 | 新加坡国立大学 | Variable Stiffness Actuator |
| CN208323419U (en) * | 2018-06-26 | 2019-01-04 | 南京林业大学 | A kind of software manipulator of stiffness variable |
| CN111283672A (en) * | 2018-12-10 | 2020-06-16 | 北华大学 | Annular section pneumatic flexible axial driver |
-
2021
- 2021-08-27 CN CN202110991786.8A patent/CN113997316A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1669747A (en) * | 2005-04-07 | 2005-09-21 | 浙江工业大学 | A pneumatic flexible drive |
| US20160331572A1 (en) * | 2015-05-14 | 2016-11-17 | Worcester Polytechnic Institute | Variable Stiffness Devices and Methods of Use |
| CN108724166A (en) * | 2017-04-19 | 2018-11-02 | 新加坡国立大学 | Variable Stiffness Actuator |
| CN208323419U (en) * | 2018-06-26 | 2019-01-04 | 南京林业大学 | A kind of software manipulator of stiffness variable |
| CN111283672A (en) * | 2018-12-10 | 2020-06-16 | 北华大学 | Annular section pneumatic flexible axial driver |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114700936A (en) * | 2022-06-07 | 2022-07-05 | 中国科学院沈阳自动化研究所 | A Soft Continuous Robot Based on Modular Origami Pneumatic Artificial Muscles |
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