CN113650023A - Autonomous sensing flexible robot and application thereof - Google Patents
Autonomous sensing flexible robot and application thereof Download PDFInfo
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- CN113650023A CN113650023A CN202110637545.3A CN202110637545A CN113650023A CN 113650023 A CN113650023 A CN 113650023A CN 202110637545 A CN202110637545 A CN 202110637545A CN 113650023 A CN113650023 A CN 113650023A
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
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Abstract
The invention provides an autonomous perception flexible robot, comprising: a robotic component that is a robotic gripper or robot finger; the flexible friction electric sensor is arranged on two fingers of the robot gripper or on the robot finger; wherein the flexible triboelectric sensor comprises a flexible packaging structure and electrodes embedded in the flexible packaging structure, wherein the electrodes are connected to ground, equipotential or external electrical conductor; a flexible microstructure modification layer with patterns can be arranged on the surface of the flexible packaging structure and is used for sensing signals such as touch or pressure. The flexible robot provided by the invention can sense the motion, the working state, the environment and the external stimulus of the robot through the electric signal generated by the friction electric sensor.
Description
The application is a divisional application of Chinese invention patent application with the application number of 201710601617.2, the application date of 2017, 07-21.07 and the name of 'flexible robot for autonomous perception and application thereof'.
Technical Field
The invention relates to the field of self-driven sensing devices, in particular to a flexible robot capable of autonomous perception and application thereof.
Background
In various robotics, the interaction between flexible robots, made of soft and extensible materials, is safer and more powerful, making up in some ways the gap between robots. Biomimetic robots that simulate biological systems have muscle-like braking and deformable structures that make them relatively free in motion and more natural in nature than other rigid counterparts. However, the application of biomimetic robots is limited by the cognition of the robot, the ability to interact with humans, and the freedom of robot motion. Heretofore, flexible robots have been shown to perform various functions such as grip, movement, swimming, jumping, lighting, camouflage, and the like. However, the lack of sensation and response limits its enormous potential.
Disclosure of Invention
The invention aims to provide a flexible robot combined with a flexible friction electric sensor, which can have the capability of autonomous perception.
To achieve the above object, the present invention provides an autonomously perceived flexible robot, comprising:
a robot part;
a flexible triboelectric sensor attached to the robotic component; the flexible friction electric sensor comprises a flexible packaging structure and electrodes embedded in the flexible packaging structure, wherein the electrodes are connected to the ground, equipotential or external electric conductors.
Preferably, a flexible microstructure modification layer with patterns is further arranged on the surface of the flexible packaging structure.
Preferably, the surface of the microstructure modifying layer is: an array formed by pyramid-shaped microstructure units, or an array formed by microstructure units formed by nanowire clusters, or an array formed by the trapezoid-shaped microstructure units.
Preferably, the size of the microstructure units in the array is in the micron-scale to millimeter-scale;
and/or the height of the microstructure units in the array in the direction vertical to the surface of the microstructure modifying layer is in the micrometer-scale to millimeter-scale range.
Preferably, the material of the microstructure modification layer is an organic insulator.
Preferably, the electrode is formed by aggregating nano conductive materials, and is preferably silver nanowires, carbon nanotubes, carbon residues, nano metal wires, metal particles or metal fragments.
Preferably, the electrodes are connected to ground, equipotential or external electrical conductor by metal conductors protruding from the flexible encapsulation structure.
Preferably, 1 or more of said flexible triboelectric sensors are included.
Preferably, the flexible packaging structure is made of an organic insulator, preferably silicone rubber, silica gel, rubber, polydimethylsiloxane, epoxy resin or Eco-flex.
Preferably, the device further comprises a signal generating component, wherein the signal generating component is connected with the flexible friction electric sensor and converts the electric signal of the flexible friction electric sensor into other signals; preferably, the signal generating component is an LED lamp.
Preferably, the robot part is a crawling robot part comprising a plurality of pneumatic chambers.
Preferably, the flexible friction electric sensor is arranged on the belly or the back of the crawling robot part.
Preferably, one flexible friction electric sensor is arranged on the abdomen of the crawling robot part at the corresponding position of the first section of the pneumatic chamber.
The flexible robot is applied to pulse sensing.
The flexible robot is applied to touch sensing, wherein the flexible friction electric sensor is arranged on the back of a crawling robot part.
Preferably, the robotic component is a robotic gripper and the flexible triboelectric sensors are arranged on two fingers of the robotic gripper.
Preferably, the robot part is a robot finger, and the flexible friction electric sensor is arranged on the robot finger.
The flexible robot is applied to humidity or temperature sensing.
Compared with the prior art, the invention has the following beneficial effects:
the flexible friction electric sensor capable of deforming in a highly-extensible, bending, extruding and the like mode is adopted, active touch feeling and pressure sensing performance are given to the robot part, and actions of crawling, grabbing, touching and the like of the robot part can be sensed autonomously.
The flexible friction electric sensor is adopted to be used as the skin of the robot, and internal and external stimulation can be actively sensed through self-generating signals. The flexible robot can autonomously and actively sense the muscle action, working state, environment, object humidity and mild human physiological signals of the flexible robot by integrating compatible triboelectric devices into the flexible robot parts.
The most prominent advantage of the flexible robot of the present invention is the ability to give active perception through the natural triboelectric effect. Without an external power source, a conscious soft robot can sense its body motion, working state, environment, and external stimuli by generating electrical signals from itself.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent from the accompanying drawings. Like reference numerals refer to like parts throughout the drawings. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the principles of the invention.
Fig. 1 is a schematic structural diagram of a flexible robot according to a first embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a flexible robot according to a second embodiment of the present invention;
fig. 3 and 9 are schematic structural views of a flexible robot according to a third embodiment of the invention;
FIGS. 4-6 show the results of a third embodiment of a sensor test;
FIG. 7 is a schematic structural diagram of a flexible robot according to a fourth embodiment of the present invention;
FIG. 8 shows the test results of the sensor of the fourth embodiment;
FIG. 10 is a schematic structural diagram of a flexible robot according to a fifth embodiment of the present invention;
fig. 11 shows the test results of the sensor of the fifth embodiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. Obviously, the described implementation examples are only a part of implementation examples of the present invention, and not all implementation examples. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without any creative effort belong to the protection scope of the present invention.
Next, the present invention is described in detail with reference to the schematic drawings, and when the embodiment of the present invention is described in detail, the schematic drawings are only for convenience of description and should not limit the protection scope of the present invention.
The first embodiment is as follows:
fig. 1 is a schematic diagram of a typical structure of an autonomously sensed flexible robot according to this embodiment, where the autonomously sensed flexible robot includes a robot part 10 and a flexible triboelectric sensor attached to the robot part 10, where the robot part 10 may perform various actions, such as moving, gripping an object, crawling and the like, under the driving of a driving device; the flexible triboelectric sensor comprises a flexible packaging structure 20 and an electrode 30 embedded in the flexible packaging structure 20, wherein the electrode 30 can be connected to a ground, an equipotential or an external electric conductor 50, when the flexible packaging structure 20 is in contact with or separated from other objects or is pressed under the driving of the action of the robot part 10, due to the friction effect and the electrostatic induction effect, electric charges flow between the electrode 30 and the ground or the equipotential, and different actions can generate different electric signals. Therefore, the generated electric signals can be used as signals autonomously sensed by the flexible robot, and the sensor does not need to be provided with a power supply, so that the flexible robot autonomously senses. Preferably, the electrodes 30 may be connected to electrical conductors provided on the robotic component 10.
The electrode 30 may be any conductive material, and in order to provide better flexibility and reliability to the flexible friction electric sensor, the electrode 30 may be an electrode formed by gathering nano conductive materials, and the shape and size of the electrode may be designed according to a desired pattern, which is not particularly limited herein.
The nano conductive material of the electrode 30 may be silver nanowires, carbon nanotubes, carbon slag, nano metal wires, metal particles or metal fragments, etc.; the material of the flexible packaging structure 10 may be organic insulating material such as silicon rubber, silica gel, rubber, polydimethylsiloxane, epoxy resin or Eco-flex.
In the case of the electrode 30 made of nano conductive material, the electrode may be connected to the ground 50 through the metal conductor 40 extending out of the flexible package structure 10.
The preparation method of the flexible friction electric sensor comprises the steps of pouring a solution prepared by a nano conductive material into a drawn electrode pattern mold, and drying to obtain a nano conductive material pattern electrode; and pouring and packaging gel prepared from a flexible packaging material on the nano conductive material pattern electrode, and curing.
Example two:
in this embodiment, a schematic diagram of a typical structure of the autonomous sensing flexible robot is shown in fig. 2, which is different from the autonomous sensing flexible robot in the first embodiment in that, in addition to the structure of the flexible encapsulating structure 20 and the electrodes 30 embedded in the flexible encapsulating structure 20, a flexible microstructure modifying layer 50 having a pattern is further disposed on the surface of the flexible encapsulating structure 20. The microstructure modification layer 50 can deform when the flexible triboelectric sensor is subjected to pressure or touched, and due to the friction, which acts as an electric and electrostatic induction, the electric charge induced on the electrode 30 changes, so that pressure or touch can be sensed.
The microstructure modification layer 50 is made of a flexible and deformable insulating material, preferably an organic insulating material, which may be silicone rubber, silica gel, rubber, polydimethylsiloxane, epoxy resin, Eco-flex, or other organic insulating materials. The material of the microstructure modification layer 50 may be the same as or different from the material of the flexible package structure 20, and may be an integrally formed structure with the flexible package structure 20, or the microstructure modification layer 50 may be attached to the surface of the flexible package structure 20. As shown in fig. 2, the surface of the microstructure modification layer 50 may be an array formed by pyramidal microstructure units, an array formed by microstructure units composed of nanowire clusters, or an array formed by microstructure units in a trapezoidal mesa shape. The microstructure elements in the array range in size from micron to millimeter, for example 50 to 500 microns; the height of the microstructure elements in the array in a direction perpendicular to the surface of microstructure modifying layer 50 may range from micrometers to millimeters, such as 50 micrometers to 500 micrometers.
Flexible devices with pyramidal triangular microprism surfaces have excellent pressure sensitivity at low pressures (<5kPa) even when stretched to 100% strain.
The process of manufacturing a flexible triboelectric sensor is described as a specific example. A mold of a pyramid-shaped array was fabricated on an acrylic plate using a laser cutter. Eco-flex 00-30 (from Smooth-On, model Ecoflex 00-30) silicone rubber solution was mixed in a 1:1 weight ratio of part A and part B solutions, and the mixed solution was poured into the above mold. After 4 hours, the silicone rubber film having the array of the triangular pyramid unit structure on the top layer was cured and peeled off to obtain the microstructure modification layer 50. The mixed silicone rubber solution was poured onto an acrylic plate pre-drop coated with silver chips (size about 10 μm, purity ≧ 99.9%) and bordered. After curing, the film was peeled off to obtain a strip of flakes with silver fragments embedded in the silicone rubber, and then electrically conductive copper tape was attached and embedded on the matrix of the strip of flakes, connecting with the silver fragments. The two silicon rubber films obtained above are pasted by using a silicon rubber solution to form the flexible friction electric sensor with the structure of figure 2.
Example three:
in this embodiment, an autonomous flexible robot is provided, wherein the robot component is a 3-segment crawling robot component 11 including 3 pneumatic chambers as shown in fig. 3, the crawling robot component is preferably a flexible structure and can crawl on any surface, and the crawling robot can controllably move, especially can move to a dangerous place, for example, the pneumatic robot can crawl on the surface of an object 70. The flexible robot may include 1 or more flexible triboelectric sensors 21 provided at the belly (side crawling on the surface of the object 7) or the back of the crawling robot 11.
The crawling robot part 11 in this embodiment is a three-stage structure with 3 pneumatic chambers, and the specific inclusion of several pneumatic chambers should not limit the scope of the present invention, and in other embodiments, it may be a structure with more stages.
The process of manufacturing a crawling robot part can be referred to (Elastomeric Origami: Programmable Paper-Elastomer Composites as Pneumatic Actuators, adv. funct. mater.2012,22, 1376-1384), the mould comprising three parts: 1. a bottom layer; 2. a pneumatic chamber; 3. and integrating the mold. For the bottom layer, a piece of paper was embedded in an 1/16 inch thick Eco-flex 00-30 silicone rubber film. The pneumatic cell was obtained by curing Eco-flex 00-30 in the relevant mold. The Eco-flex pneumatic chamber was adhered to the bottom layer assembly. The pneumatic chamber is then inverted in a larger integrated mold. The mixed Eco-flex 00-30 was poured into an integral mold and assembled with the preformed deformable flexible triboelectric sensor of example two. After four hours, the silicone rubber is solidified, and the flexible robot with the crawling capability is integrally formed.
In fig. 3, the flexible robot is provided with 1 flexible triboelectric sensor only on the abdomen corresponding to the first section of the pneumatic chamber at the leftmost end of the crawling robot part 11, and outputs an electric signal between the electrode and the ground as the crawling robot climbs back to the ground from the left side to the right side end by end, and fig. 4 shows that a gait electric signal (Normalized V) generated after the crawling robot part 11 moves a distance of about 15 cm is output, and shows that a plurality of cycles of potential waves are generated. Each period of the electrical signal profile corresponds to a gait of one volt. Fig. 5 shows the detailed electrical signal (Normalized V) output for a period of fluctuating gait.
As can be seen from fig. 4 and 5, the output varies with the action of the pneumatic actuator of each pneumatic robot component. When the leftmost first segment initiates the dilatational flexion, the potential is at its lowest state. This result is due to the first segment bending causing separation between the flexible triboelectric sensor and the surface of the object 70. When the first segment is deflated and close to the object 70, the voltage generated increases. When the first segment contacts the object 70, the output reaches a high voltage state. When the third section expands, the potential reaches a maximum value. This result is attributed to the application of more force on the flexible triboelectric sensor on the first segment during inflation of the third segment. Potential, deflating the third section and inflating the second section, the potential drops slightly. When the third section is fully vented and the second end is expanded, the potential generated is again microliter. When the first section is re-inflated, the potential drops to a minimum again. These results indicate that a conscious pneumatic robotic component can actively perceive its crawling state.
The soft body of the pneumatic robotic component that can crawl makes it possible to adaptively attach itself to a regular or irregular object surface for sensing, providing a safer way of use. To demonstrate this ability, pneumatic robotic components capable of crawling are controlled to crawl irregular surfaces and crawl to a person's wrist, touch the person's wrist and sense the pulse to actively sense mild human physiological signals. And 6, pulse signals of the human wrist detected by the flexible triboelectric sensor illustrate the application potential of the flexible robot with the function of autonomous perception consciousness in-situ medical palpation and other medical applications.
The working mechanism of the flexible triboelectric sensor is mainly based on the effects of contact triboelectrification and electrostatic induction when the flexible triboelectric sensor is in contact with other materials, and due to the difference of electron affinity between skin and silicon rubber, electrons flow from the skin to the silicon rubber when the skin and the silicon rubber are in contact. The negative charges on the surface of the silicon rubber can induce positive charges on the silver nanowire electrode interlayer in the middle, so that electrons flow from the silver nanowire electrode interlayer to the grounding direction. The electrostatic induction process may provide an output of a voltage/current signal to an external load. When the distance between the skin and the silicon rubber is increased, the negative friction charges on the surface of the silicon rubber are completely shielded by the positive charges of the silver nanowire network, and no signal is output. When the distance between the skin and the silicon rubber is reduced to the process of complete release, the induced positive charges in the silver nanowire network are reduced, and the flowing direction of electrons is from the ground to the silver nanowires, so that a reverse voltage/current signal output is formed again.
The flexible robot can further comprise a signal generating component, the signal generating component can be connected with the flexible friction electric sensor, for example, the signal generating component can be a device such as an LED (light emitting diode) which emits light or sounds, and the signal generating component can convert an electric signal of the flexible friction electric sensor into other signals such as light and sound to interact with a human or a machine. By integrating flexible triboelectric sensors in multiple areas, as shown in fig. 9, multiple sensing is actively performed while the robotic component 12 is acting, such as crawling, and also interacting with humans, as an integrated robotic crawler. The robotic component 12 is made up of three pneumatic chamber portions, and each pneumatic chamber back is integrated with a flexible triboelectric sensor. The three flexible friction electric sensors serve as movable skin, can sense movement (similar to muscle movement) of attached robot parts, can serve as an autonomous human-computer interaction interface, can generate electric energy when one finger touches the deformed flexible friction electric robot, and can light the LED and provide visible response for human beings through the electric power of the electric energy to realize interaction with the outside. The above results show that the use of a self-generating flexible triboelectric sensor enables a flexible robot to instantaneously communicate with a human by optical signals without the need for an external power source.
Example four:
referring to fig. 7, an autonomously perceived flexible robot, wherein the robot part 13 is a conscious robot gripper, and flexible triboelectric sensors 23 are integrated integrally on both fingers of the robot gripper. Taking the example of a flexible robot grasping and raising the hand of an infant doll, fig. 8 shows the use of a clamp with flexible active sensors for holding and shaking the hand of an infant doll and testing its output, initially with both Left and Right sensors (Left sensor and Right sensor) in a low voltage state (initial). As the robot approaches the object (approach), the voltages generated by the two sensors begin to rise. Both potentials reach a maximum until the object is contacted and compressed. When the robot gripper grips the arm in the up and down direction, both outputs drop slightly and remain at a lower voltage. The slight drop in output can be attributed to the contribution of part of the potential from the electrostatic field to the table top. When the arm suddenly drops from the robot gripper (release and leave), the response further decreases. When this occurs, the outputs of both sensors drop to the lowest level substantially at a moment. The results in the figure show that the voltage generated decreases slightly when the robot gripper grips the hand. When the robot gripper is shaking hands, the resulting electric potential reacts correspondingly to the motion. And after the robot gripper releases the hand, the output is restored to the baseline value. The results show that the different potentials enable a conscious robot gripper to sense different actions of gripping an object and to be aware of a dropout accident.
Example five:
when the flexible friction electric sensor is touched or extruded, the ambient temperature, humidity and the like have influence on the output signal of the flexible friction electric sensor, so that the flexible robot which can be applied to temperature or humidity sensing can be applied to the fields of nursing robots and the like, and whether the infant trousers are wet can be consciously detected.
Fig. 10 shows the flexible robot with autonomous sensing according to the embodiment, wherein the robot component is a robot finger 14, the flexible friction sensor 24 is disposed on the robot finger 14, the robot finger 14 can move to perform a touching or flipping action under the driving of the robot, and when the flexible robot touches the infant trousers 80, the trousers are tested under both dry and wet conditions. Figure 11 shows the resulting potentials for two states, higher and lower potentials representing Dry (Dry) and Wet (Wet) trousers, respectively, the reduced potential due to water molecules on the Wet trousers reducing the triboelectric charge of the flexible triboelectric sensor in the soft robot.
The foregoing is merely a preferred embodiment of the invention and is not intended to limit the invention in any manner. Those skilled in the art can make numerous possible variations and modifications to the present teachings, or modify equivalents thereof, without departing from the scope thereof, by applying the methods and techniques disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiment example according to the technical essence of the present invention are still within the protection scope of the technical solution of the present invention, unless the technical essence of the present invention departs from the content of the technical solution of the present invention.
Claims (11)
1. An autonomously aware flexible robot, comprising:
a robotic component that is a robotic gripper or robot finger;
the flexible friction electric sensor is arranged on two fingers of the robot gripper or on the robot finger; the flexible friction electric sensor comprises a flexible packaging structure and electrodes embedded in the flexible packaging structure, wherein the electrodes are connected to the ground, equipotential or external electric conductors.
2. The flexible robot as claimed in claim 1, wherein a patterned flexible microstructure modification layer is further disposed on a surface of the flexible packaging structure.
3. The flexible robot of claim 2, wherein the surface of the microstructure modifying layer is: an array formed by pyramid-shaped microstructure units, or an array formed by microstructure units formed by nanowire clusters, or an array formed by the trapezoid-shaped microstructure units.
4. The flexible robot of claim 3, wherein the microstructure elements in the array range in size from micrometers to millimeters;
and/or the height of the microstructure units in the array in the direction vertical to the surface of the microstructure modifying layer is in the micrometer-scale to millimeter-scale range.
5. The flexible robot of any of claims 2-4, wherein the material of the microstructure modifying layer is an organic insulator.
6. The flexible robot of any one of claims 1-5, wherein the electrode is formed by aggregation of nano conductive materials, preferably silver nanowires, carbon nanotubes, carbon slag, nano metal wires, metal particles or metal fragments.
7. The flexible robot of claim 6, wherein the electrodes are connected to ground, equipotential, or external electrical conductors through metal conductors that extend out of the flexible enclosure structure.
8. The flexible robot of any one of claims 1-7, comprising 1 or more of the flexible triboelectric sensors.
9. The flexible robot of claim 8, wherein the material of the flexible packaging structure is an organic insulator, preferably silicone rubber, polydimethylsiloxane, epoxy resin, or Eco-flex.
10. The flexible robot as claimed in any one of claims 1 to 9, further comprising a signal generating component connected to the flexible triboelectric sensor for converting an electrical signal of the flexible triboelectric sensor into another signal;
preferably, the signal generating component is an LED lamp.
11. Use of the flexible robot of claim 1 in humidity or temperature sensing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110637545.3A CN113650023A (en) | 2017-07-21 | 2017-07-21 | Autonomous sensing flexible robot and application thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110637545.3A CN113650023A (en) | 2017-07-21 | 2017-07-21 | Autonomous sensing flexible robot and application thereof |
| CN201710601617.2A CN109278050B (en) | 2017-07-21 | 2017-07-21 | Autonomous sensing flexible robot and application thereof |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710601617.2A Division CN109278050B (en) | 2016-09-08 | 2017-07-21 | Autonomous sensing flexible robot and application thereof |
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| CN113650023A true CN113650023A (en) | 2021-11-16 |
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| CN201710601617.2A Active CN109278050B (en) | 2016-09-08 | 2017-07-21 | Autonomous sensing flexible robot and application thereof |
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| CN201710601617.2A Active CN109278050B (en) | 2016-09-08 | 2017-07-21 | Autonomous sensing flexible robot and application thereof |
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