CN-122008282-A - Envelope type actuator based on self-growth and robot system

CN122008282ACN 122008282 ACN122008282 ACN 122008282ACN-122008282-A

Abstract

The invention discloses an envelope type actuator based on self-growth and a robot system, and relates to the technical field of robots; the self-growing envelope type actuator comprises a self-growing main body, a conduit group, tendons and a tendon driving module, wherein the self-growing main body can be turned outwards along a first direction and can be distributed along the first direction along with the self-growing main body, the conduit group comprises a channel for the tendons to pass through, the channel comprises a plurality of bending sections, one end of each tendon is fixed, the other end of each tendon passes through the conduit group, the other end of each tendon reversely extends to be connected with the tendon driving module after passing through the tail end position of the conduit group distributed along the first direction, and the tendon driving module pulls the tendons to enable the self-growing main body to bend and turn at the tail end position of the conduit group distributed along the first direction. The invention can realize the accurate control of the bending direction and the position of the tail end of the self-growing main body, improves the operation range, the grabbing range and the flexibility, and is suitable for executing operation in a three-dimensional scene.

Inventors

CHU ZHONGYI
WU HAORAN
YIN MINGHAO

Assignees

北京航空航天大学

Dates

Publication Date: 20260512
Application Date: 20260313

Claims (10)

1. The envelope type actuator based on self-growth is characterized by comprising a self-growth main body, a catheter group, tendons and a tendon driving module; The inner side surface of the self-growing main body is provided with the guide tube group, the self-growing main body can be turned outwards along a first direction and can be arranged along the first direction, the guide tube group comprises a channel for the tendon to pass through, and the channel comprises a plurality of bending sections; One end of the tendon is fixed, the other end of the tendon penetrates through the catheter group, the other end of the tendon reversely extends to be connected with the tendon driving module after passing through the tail end position of the catheter group which is arranged along the first direction, and the tendon driving module pulls the tendon to enable the self-growing main body to bend and turn at the tail end position of the catheter group which is arranged along the first direction.
2. The self-growing-based envelope actuator of claim 1, wherein the conduit set comprises a plurality of wave conduits arranged at intervals along a first direction as the self-growing body self-grows, the channels of each wave conduit comprising a number of the curved segments; The other end of the tendon sequentially passes through the wave guide tubes, and the tendon reversely extends to be connected with the tendon driving module after passing through the wave guide tube positioned at the tail end position along the first direction.
3. The self-growing-based envelope actuator of claim 2, wherein the channel of the wave conduit comprises an input section, an output section, and the curved section; the bending section is positioned between the input section and the output section, and two ends of the bending section are respectively and smoothly communicated with the corresponding input section and output section; The input section of one wave guide pipe and the output section of the other wave guide pipe of the two adjacent wave guide pipes are oppositely arranged at intervals along a first direction, and the bending directions of the bending sections of the two adjacent wave guide pipes are opposite; The tendon passes through the output section, the bending section and the input section of each wave guide tube from the fixed end in sequence.
4. The self-growing-based envelope actuator of claim 1, further comprising a composite adsorption structure; The outer surface of the self-growing body is provided with the composite adsorption structure, and at least a part of the composite adsorption structure can extend along a first direction along with self-growth of the self-growing body; The composite adsorption structure comprises an electrode layer, a substrate layer and a micro-wedge structure layer which are arranged in a laminated mode, wherein the electrode layer is arranged on the inner side of the substrate layer, the micro-wedge structure layer is arranged on the outer side of the substrate layer, and the electrode layer can be electrified to electrostatically adsorb a target.
5. The self-growing-based envelope actuator of claim 1, wherein the tendon drive module comprises a first drive motor, a first coupling, a spool, and a force sensor; The output shaft of the first driving motor is in transmission connection with the winding shaft through the first coupling, the other end of the tendon is wound on the winding shaft, and the tendon can be pulled by the rotation of the winding shaft driven by the first driving motor; The tendon is provided with the force sensor.
6. The self-growing-based envelope actuator of claim 1, further comprising a housing, a second drive motor, a second coupling, and a spool of material, the housing having disposed thereon an inflation port, an outlet plug, and a tendon duct; The output shaft of the second driving motor is in transmission connection with the material reel through the second coupler; the fixed end of the tendon and one end of the self-growing main body are connected and fixed with the outlet plug, the other end of the self-growing main body is turned inwards to penetrate through the self-growing main body and is wound on the material reel, and the self-growing main body can be turned outwards to grow under the action of inflation; the tendon passes through the tendon catheter and is connected with the tendon driving module.
7. The self-growing-based envelope actuator of claim 1, wherein the inner surface of the self-growing body is provided with two sets of said conduit sets, the two sets of said conduit sets being symmetrically disposed about a central axis of the self-growing body.
8. The self-growing-based envelope actuator of claim 1, wherein the self-growing body is curved at the catheter set tip position arranged in a first direction and extends in a second direction, an angle between the second direction and the first direction increasing as the amount of displacement of the tendon drive module pulling the tendon increases.
9. A self-growing envelope actuator as claimed in claim 3, in which the ratio of the tendon diameter to the wave duct inner diameter is 1:2 and the ratio of the wave duct outer diameter to inner diameter is 2:1; The included angle between one side of the bending section, which is close to the input section, and the input section is 20 degrees, and the included angle between one side of the bending section, which is close to the output section, and the output section is 20 degrees.
10. A robotic system comprising the self-growing-based envelope actuator of any one of claims 1-9 and a robotic arm; the envelope type actuator based on self-growth is fixedly connected with the tail end flange plate of the mechanical arm.

Description

Envelope type actuator based on self-growth and robot system Technical Field The invention relates to the technical field of robots, in particular to an envelope type actuator based on self-growth and a robot system. Background The soft self-growing robot is used as a novel bionic robot, and the length of the robot can be prolonged in a material everting mode. However, the soft self-growing robot has limited capability of adjusting its own form and steering control, and has limited capability of performing operations in three-dimensional scenes, and is mostly applied to planar scenes in the current technical schemes. Based on this, a need exists for a self-growing based envelope actuator and robotic system. Disclosure of Invention The invention aims to provide an envelope type actuator and a robot system based on self-growth, which are used for solving the problems in the prior art, realizing accurate control on the bending direction and the position of the tail end of a self-growth main body, improving the operation range, the grabbing range and the flexibility, and being suitable for executing operation in a three-dimensional scene. In order to achieve the above object, the present invention provides the following solutions: The invention provides a self-growth-based enveloping type actuator which comprises a self-growth main body, a conduit group, tendons and a tendon driving module, wherein the conduit group is arranged on the inner side surface of the self-growth main body, the self-growth main body can be turned outwards along a first direction and can be arranged along the first direction along with the conduit group, the conduit group comprises a channel for the tendons to pass through, the channel comprises a plurality of bending sections, one end of each tendon is fixed, the other end of each tendon passes through the conduit group, the other end of each tendon reversely extends to be connected with the tendon driving module after passing through the tail end position of the conduit group arranged along the first direction, and the tendon driving module pulls the tendons to enable the self-growth main body to bend and turn at the tail end position of the conduit group arranged along the first direction. Preferably, the catheter group comprises a plurality of wave catheters which are arranged at intervals along a first direction along with the self-growth of the self-growth main body, the channel of each wave catheter comprises a plurality of bending sections, the other end of the tendon sequentially passes through the wave catheters, and the tendon reversely extends to be connected with the tendon driving module after passing through the wave catheter positioned at the tail end position along the first direction. The channel of each wave guide tube comprises an input section, an output section and a bending section, wherein the bending section is positioned between the input section and the output section, two ends of the bending section are respectively and smoothly communicated with the corresponding input section and the output section, the input section of one wave guide tube and the output section of the other wave guide tube in two adjacent wave guide tubes are oppositely arranged at intervals along a first direction, the bending directions of the bending sections of the two adjacent wave guide tubes are opposite, and the tendon sequentially passes through the output section, the bending section and the input section of each wave guide tube from a fixed end. The self-growing body comprises a self-growing body, and is characterized by further comprising a composite adsorption structure, wherein the composite adsorption structure is arranged on the outer surface of the self-growing body, at least one part of the composite adsorption structure can extend along a first direction along with self-growth of the self-growing body, the composite adsorption structure comprises an electrode layer, a basal layer and a micro-wedge structure layer which are arranged in a stacked mode, the electrode layer is arranged on the inner side of the basal layer, the micro-wedge structure layer is arranged on the outer side of the basal layer, and the electrode layer can be electrified to electrostatically adsorb a target. Preferably, the tendon driving module comprises a first driving motor, a first coupling, a winding shaft and a force sensor, wherein an output shaft of the first driving motor is in transmission connection with the winding shaft through the first coupling, the other end of the tendon is wound on the winding shaft, the tendon can be pulled by the first driving motor driving the winding shaft to rotate, and the force sensor is arranged on the tendon. The tendon self-growing device comprises a tendon driving module, a tendon fixing end, a self-growing main body and a material reel, wherein the tendon driving module is characterized by further comprising a shell, a second driving motor, a second coup