CN113997316A - Fluid-controlled variable-rigidity elastic shaft - Google Patents
Fluid-controlled variable-rigidity elastic 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
- shaft
- end cover
- sealing end
- filler
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Robotics (AREA)
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Abstract
The invention discloses a fluid-controlled variable-rigidity bolerous shaft which mainly comprises an upper sealing end cover, an outer bolerous shaft, a filler, an inner air bag, a lower sealing end cover and a gas pipe joint; the upper sealing end cover, the lower sealing end cover, the outer elastic shaft and the inner air bag are coaxially mounted, a filling material is arranged in a circular cavity between the outer elastic shaft and the inner air bag, and a through hole or a threaded hole is formed in the end face of the lower sealing end cover and used for inputting pressure fluid; the inner air bag pushes the filler to extrude the outer elastic shaft under the action of the pressure fluid, the overall rigidity of the elastic shaft is improved, and the larger the pressure is introduced, the better the rigidity of the elastic shaft is; the elastic shaft variable-stiffness spring disclosed by the invention is combined with the advantages of the pressure fluid and the filler, the elastic shaft variable-stiffness function is realized, and the elastic shaft variable-stiffness spring has the advantages of simple structure, convenience in use, variable stiffness, high response speed, wide stiffness variation range, strong environmental adaptability, good flexibility and the like.
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)
1. The fluid-controlled variable-rigidity elastic shaft is characterized by mainly comprising 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 elastic shaft is characterized in that the upper sealing end cover, the lower sealing end cover, the outer elastic shaft and the inner air bag are coaxially mounted, a circular-ring-shaped cavity is formed between the outer elastic shaft and the inner air bag, a filler is arranged in the cavity, a through hole or a threaded hole is formed in the end face of the lower sealing end cover and used for inputting pressure fluid, the rigidity of the elastic shaft is improved along with the input of the pressure fluid, the pressure is introduced into the elastic shaft, and the rigidity of the elastic shaft is different.
2. The fluid-controlled variable-stiffness elastic shaft according to claim 1, wherein after a pressure fluid is input, the inner air bag is inflated in a pressurized mode and is limited by the outer elastic shaft with good plasticity, the inflation is blocked, the filler is subjected to extrusion force of the inner air bag and the outer elastic shaft, the elastic shaft achieves variable stiffness, and the variable stiffness becomes more obvious when the input pressure is larger.
3. The fluid control variable stiffness shaft according to claim 1, characterized in that the upper sealing end cover and the lower sealing end cover are both in a cylindrical stepped shape, a cylindrical surface with a larger diameter is fixedly connected with the outer spring shaft, a cylindrical surface with a smaller diameter is fixedly connected with the inner airbag, and the connection mode is one of buckling, gluing and binding.
4. The fluid control variable stiffness shaft of claim 1, wherein the material used for the upper and lower end caps is one of aluminum, magnesium, steel, alloys, engineering plastics such as polycarbonate, polyamide, polyacetal, modified polyphenylene oxide, polyester, polyphenylene sulfide, polyaryl ester, unsaturated polyester, phenolic, epoxy, and the like.
5. The fluid control variable stiffness shaft according to claim 1, wherein the outer spring shaft is a material with good plasticity, and the material is one of a PUC fiber tube, a PUC steel wire tube, PVC plastic and the like.
6. The fluid controlled variable stiffness shaft of claim 1, wherein the inner bladder material is a relatively elastic material selected from the group consisting of silicone, latex, and rubber.
7. The fluid controlled variable stiffness shaft according to claim 1, wherein the filler is selected from one or more of a metal particle, a ceramsite, a sand particle, an organic material and an inorganic material; 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 one or more of particles, particles or micropowder with different sizes can be adopted.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110991786.8A CN113997316A (en) | 2021-08-27 | 2021-08-27 | Fluid-controlled variable-rigidity elastic shaft |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110991786.8A CN113997316A (en) | 2021-08-27 | 2021-08-27 | Fluid-controlled variable-rigidity elastic shaft |
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| CN113997316A true CN113997316A (en) | 2022-02-01 |
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| CN202110991786.8A Pending CN113997316A (en) | 2021-08-27 | 2021-08-27 | Fluid-controlled variable-rigidity elastic shaft |
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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 | Soft continuous robot based on modularized paper folding type 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 | Pneumatic flexible actuator |
| 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 | Stiffness variable 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 | Pneumatic flexible actuator |
| 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 | Stiffness variable 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 | Soft continuous robot based on modularized paper folding type pneumatic artificial muscles |
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