CN101574807B - Photic driving robot and method for driving the robot - Google Patents
Photic driving robot and method for driving the robot Download PDFInfo
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- CN101574807B CN101574807B CN2009100531512A CN200910053151A CN101574807B CN 101574807 B CN101574807 B CN 101574807B CN 2009100531512 A CN2009100531512 A CN 2009100531512A CN 200910053151 A CN200910053151 A CN 200910053151A CN 101574807 B CN101574807 B CN 101574807B
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Abstract
The invention provides a photic driving robot, at least comprising a base, wherein the base is provided with arms which are provided with at least one unit capable of generating deformation, and components for playing a deformation role in the unit are made from photoinduced deformation materials. The invention also provides a method for driving the robot, i.e. lights is utilized to irradiate the photoinduced deformation materials on the unit of the robot so as to lead the unit to generate deformations, thus controlling the motions of the robot. The robot has an executing mechanism and an operating mechanism which are relatively simple, and the size thereof can be made to be smaller; the photic driving method has the advantages of fastness, accuration, environmental-protection and low energy consumption; and the robot has the characteristics of being capable of remote operation, and the like, which are not provided in other driving modes.
Description
Technical field
The present invention relates to material and Robotics field, particularly a kind of method of utilizing direct machine driven people of light and drive machines people.
Background technology
In people's social production and life, a lot of occasions be not suitable for the people near, such as the working environment of certain dangerous etc., if a kind of robot that can Long-distance Control at this time can be arranged, that will be very convenient.Present many fields, like little operation, microfabrication etc. all press for a kind of micro robot.Because their volumes are little, can accomplish some artificial actions that are difficult to completion easily.Traditional microrobot is to adopt servomotor as driver, the motion of servomotor is delivered to the end of robot through transmission mechanism.This just needs robot to have a lot of relevant devices such as motor, gear, conveyer belt, is seriously restricting the miniaturization of robot, and the intervention of motor, gear makes the control system of robot complicated more.There are many reports to utilize marmem and piezoelectric ceramics robot in recent years as driver; For example Japanese scientist successfully is applied to marmem in the small-sized paw structure; But marmem be easy to receive variation of temperature with the different influence of working media, and response speed also is difficult to reach the requirement of actual use.The piezoelectric ceramics response is fast, and the power of generation is also bigger, but it still has technical bottleneck as driver, mainly is that desired voltage of electric field is higher, and energy consumption is big and dangerous higher, and the displacement of the driver under the electric field is less, is difficult to carry out actual use.In recent years, also have some scientific research personnel to utilize magnetic field to control the motion of robot, this is a research direction that development potentiality is arranged very much; Because the control function in magnetic field is affected by environment less, and energy consumption is little, danger coefficient is low; And can non-contact control, but the research in this field also only is in the starting stage, and the controlled of magnetic field is not fine; The action that the very huge hierarchy of control of needs can be operated machine people's complicacy has come very big difficulty to the operating body frenulum.
As everyone knows; The performance of a series of excellences such as light has fast, accurate, clean environment firendly, and reserves are abundant, it is best Long-distance Control mode; To have epoch making significance if can use up direct control robot without any need for other transmission measures, this also is human dreams for many years.Know that according to the inventor scientists of countries in the world has dropped into many energy in this field, but regrettably this field is still blank.2003; The Yu Yanlei of Fudan University professor and the Ikeda Fu Shu of Tokyo Institute of Technology professor cooperation research and development have gone out photic crooked liquid crystal high polymer material; This material can produce three-dimensional crooked deformation at short notice under the irradiation of ultraviolet light; Deformation can be replied again under the visible light or the effect of heat, and whole process repeats, and fatigue does not but appear in material itself.The appearance of photic bend brings a sense of hope for this field of light-operated robot.
Summary of the invention
One of the object of the invention is to provide a kind of robot that moves that utilizes illumination to penetrate can to realize, this robot can be applicable to the space narrow and small, can't supply power, harsh field such as high-intensity magnetic field, overcome the defective that some environment down can't applied robot's implementation.Its technical scheme that adopts is described below.
A kind of optical drive robot comprises base at least, and wherein, this base is provided with arm, and this arm is provided with at least one unit that can produce deformation, plays the parts of deformation effect in the said unit and is processed by the photo-deformable material.
Wherein, said unit comprises mobile unit, rotating unit, placement unit, and said mobile unit is connected through fixing joint with rotating unit, and said rotating unit is connected through the toughness joint with placement unit.
Wherein, described mobile unit constitutes by three layers, and the material of levels is made up of the photo-deformable material respectively, and the material in intermediate layer is made up of flexible high molecular material, bonds through binding agent between layer and the layer.
Wherein, described rotating unit is made up of two-layer, and the material of lower floor is made up of the photo-deformable material, and the material on upper strata is made up of flexible high molecular material, bonds through binding agent between layer and the layer.
Wherein, described fixing joint is processed by macromolecular material, metal, pottery or their composite, preferred metal materials, more preferably aluminum material.
Wherein, Described placement unit is made up of two-layer; The material on upper strata is made up of the photo-deformable material, and the material of lower floor is made up of flexible high molecular material, bonds through binding agent between layer and the layer; Described placement unit be shaped as semicircle, the two ends on said upper strata are respectively equipped with hook-type and grasp structure.
Wherein, described toughness joint is processed by macromolecular material, is preferably a kind of in simple tension polyethylene, the Biaxially oriented polypropylene.
Wherein, described flexible high molecular material is preferably a kind of in polyethylene, polypropylene, the natural rubber, the composite high-molecular material that their constitute is perhaps arranged, the preferably polyethylene material.
Wherein, described binding agent is selected from a kind of in polyacrylate binding agent, polyurethanes binding agent, epoxy resin binding agent, the rubber-like binding agent, is preferably the epoxy resin binding agent.
Another object of the present invention is to provide a kind of drive machines people's method, its technical scheme that adopts is described below.
Thereby a kind of method of utilizing the optical drive robot is to utilize illumination to penetrate the action that photo-deformable material on the unit of robot makes this unit generation deformation control robot.
Wherein, described unit comprises mobile unit, rotating unit, placement unit, and said mobile unit is connected through fixing joint with rotating unit, and said rotating unit is connected through the toughness joint with placement unit.
Wherein, described mobile unit constitutes by three layers, and the material of levels is made up of the photo-deformable material respectively, and the material in intermediate layer is made up of flexible high molecular material, bonds through binding agent between layer and the layer.
Wherein, described rotating unit is made up of two-layer, and the material of lower floor is made up of the photo-deformable material, and the material on upper strata is made up of flexible high molecular material, bonds through binding agent between layer and the layer.
Wherein, described placement unit is made up of two-layer, and the material on upper strata is made up of the photo-deformable material; The material of lower floor is made up of flexible high molecular material; Placement unit be shaped as semicircle, through the binding agent bonding, the two ends on described upper strata are respectively equipped with hook-type extracting structure between layer and the layer.
Wherein, the layer that photo-deformable material formation is penetrated in illumination shrinks this layer generation, closes illumination and makes this layer recovery reset condition.
Optical drive robot provided by the invention and drive machines people's method has following advantage and effect for present technology:
(1) robot among the present invention no longer is traditional electric driving; No longer need series of related structures such as motor, decelerator, gear, conveyer belt; Greatly simplified the design of robot; Because executing agency and operating mechanism are all simple relatively, robot provided by the invention size obviously reduces;
(2) compare with existing other type of drive, optical drive fast, accurately, environmental protection, energy consumption be little, but and have not available characteristics of other type of drive such as operated from a distance;
(3) material of each parts of robot is to be main with macromolecular material, and parts are less, and cost of material is cheap, is easy to industrialization.
(4) material compatibility between each parts of robot is better; Therefore can reequip robot according to different needs; As long as will carry out the positions of different actions just assembles in a certain order and can realize needed function; Electric drive machines physiognomy ratio with traditional has high flexibility ratio.
Description of drawings
Fig. 1 is a kind of optical drive robot construction sketch map in the embodiment of the invention;
The implication of mark in the accompanying drawing:
1 base, 2 fixing joints
The unit is moved in 3 toughness joints 10
11 move upper strata, unit 12 moves the middle level, unit
13 move unit lower floor 20 rotating units
21 rotating unit upper stratas, 22 rotating unit lower floors
30 placement units, 31 placement unit upper stratas
32 placement unit lower floors, 33 hook-types grasp structure
100 arms
The specific embodiment
Existing according to accompanying drawing and combine following specific embodiment that the present invention is done further description.
Embodiment
Ask for an interview shown in Figure 1; A kind of optical drive robot comprises base 1 at least; This base 1 is provided with arm 100, and the tail end of described arm 100 is fixed on the base 1, and arm 100 comprises mobile unit 10, rotating unit 20, placement unit 30; Said mobile unit 10 is connected through fixing joint 2 with rotating unit 20, and said rotating unit 20 is connected through toughness joint 3 with placement unit 30.Described mobile unit 10 constitutes by three layers; Move upper strata, unit 11 and move unit lower floor 13 and constitute by the photo-deformable material respectively; What specifically select for use is the material that the specific embodiment prepares among the patent CN 101225137A; Move middle level, unit 12 and constitute, select the simple tension low-density polyethylene film here for use, bond through binding agent between layer and the layer by flexible high molecular material.Described rotating unit 20 is made up of two-layer; Rotating unit lower floor 22 is made up of the photo-deformable material; What specifically select for use is the material that the specific embodiment prepares among the patent CN 101225137A; Rotating unit upper strata 21 is made up of flexible high molecular material, selects the simple tension low-density polyethylene film here for use, bonds through binding agent between layer and the layer.Described fixing joint 2 is processed by macromolecular material, metal, pottery or their composite, here the aluminium made membrane.Described placement unit 30 is made up of two-layer, and placement unit upper strata 31 is made up of the photo-deformable material, is shaped as semicircle; What specifically select for use is the material that the specific embodiment prepares among the patent CN 101225137A; Placement unit lower floor 32 is made up of flexible high molecular material, is shaped as semicircle, and what select for use here is the simple tension low-density polyethylene film; Through the binding agent bonding, the two ends on described placement unit upper strata 31 are respectively equipped with hook-type and grasp structure 33 between layer and the layer.Described toughness joint 3 is processed by macromolecular material, and what select for use here is the simple tension low-density polyethylene film.It is CN101225137A that foregoing photo-deformable material and preparation method thereof can be selected from publication number, open day be that material and method or publication number in the patent of invention on July 23rd, 2008 is CN 101041779A, open day was material and the method in the patent of invention on September 26th, 2007.The thickness of the layer at described photo-deformable material place is 20 microns, and the layer thickness at described simple tension low-density polyethylene film place is 12 microns, and the density of simple tension low-density polyethylene film is 0.92g/cm
3The thickness of described aluminum laminated films is 15 microns.What described binding agent was selected for use is epoxy resin.
Described robot be described below be the carrying function that how is realized object by optical drive.Described photo-deformable material can produce deformation under the effect of light; This process is converted into machine with luminous energy can; These characteristics of photo-deformable material have just been utilized in the present invention; The photo-deformable material combined with traditional macromolecular material processed some unit that are similar to robot hand, wrist and arm, these unit match and have realized the function that object shifts.Ask for an interview placement unit 30; It has formed photo-deformable material and flexible high molecular material as levels respectively then has semicircular structure; The placement unit upper strata 31 at photo-deformable material place can produce contraction at the irradiation lower surface of light; So said structure begins to launch to make the arc of described semicircular structure to become big (being similar to opening of staff) under the effect of outer convergent force; Close light source then, the elastic force of placement unit lower floor 32 flexible high molecular material became big structure with arc and was returned to initial semicircular structure (being similar to the closure of staff) this moment, grasped structure 33 because the two ends on placement unit upper strata 31 are respectively equipped with hook-type; This extracting structure can be firm hook article to be grasped, can realize the function that placement unit 30 is caught object through above-mentioned process; Described placement unit 30 connects rotating unit 20 through toughness joint 3; The rotating unit upper strata 21 of this rotating unit 20 is that flexible high molecular material constitutes; Rotating unit lower floor 22 is that the photo-deformable material constitutes; When using up the rotating unit lower floor 22 that can see through and shine photo-deformable material place from the top irradiates light on the rotating unit upper strata 21 that flexible high molecular material belongs to, rotating unit lower floor 22 produces contraction under the irradiation of light, thereby can make rotating unit 22 bent downward; When closing light source, rotating unit 20 is got back to initial formation state (above-mentioned process be similar to wrist strap start the position fixing process to object) again; Described mobile unit 10 constitutes by three layers; Move upper strata, unit 11 and move unit lower floor 13 and constitute by the photo-deformable material respectively; It is fixing that flexibility is played in mobile middle level, unit 12; Penetrate when illumination and to move upper strata, unit 11 and make it produce to drive when shrinking and move unit 10 and be bent upwards (being similar to lifting of arm); Thereby object is lifted and is transferred to another side to object, become the big object of catching just now of decontroling, so far accomplished transfer object thereby use up the arc that irradiation placement unit upper strata 31 makes placement unit 30 this moment.When needs repeat the transfer to object; Then close and use up irradiation simultaneously facing to the light source that moves upper strata, unit 11 when moving unit lower floor 13; Move unit lower floor 13 and produce contraction; 10 downwarpings of whole mobile unit, thus return back to initial state to the entire machine people, below just can go round and begin again carry out object transfer work.
Above description and accompanying drawing have been represented the preferred embodiments of the present invention.Be appreciated that various increases, distortion and replacement all should be comprised within protection scope of the present invention under the condition that does not deviate from by the spirit of the defined principle of the present invention of accompanying claims and scope.
Claims (12)
1. an optical drive robot comprises base at least, it is characterized in that; This base is provided with arm; This arm is provided with at least one unit that can produce deformation, plays the parts of deformation effect in the said unit and is processed by the photo-deformable material, and said unit comprises mobile unit, rotating unit, placement unit; Said mobile unit is connected through fixing joint with rotating unit, and said rotating unit is connected through the toughness joint with placement unit.
2. optical drive as claimed in claim 1 robot; It is characterized in that described mobile unit constitutes by three layers, the material of levels is made up of the photo-deformable material respectively; The material in intermediate layer is made up of flexible high molecular material, bonds through binding agent between layer and the layer.
3. optical drive as claimed in claim 1 robot is characterized in that described rotating unit is made up of two-layer, and the material of lower floor is made up of the photo-deformable material, and the material on upper strata is made up of flexible high molecular material, bonds through binding agent between layer and the layer.
4. optical drive as claimed in claim 1 robot is characterized in that described fixing joint is processed by macromolecular material, metal, pottery or their composite.
5. optical drive as claimed in claim 4 robot is characterized in that said metal material further is an aluminum material.
6. optical drive as claimed in claim 1 robot; It is characterized in that described placement unit is made up of two-layer, the material on upper strata is made up of the photo-deformable material; The material of lower floor is made up of flexible high molecular material; Between layer and the layer through binding agent bonding, described placement unit be shaped as semicircle, the two ends on said upper strata are respectively equipped with hook-type extracting structure.
7. optical drive as claimed in claim 1 robot is characterized in that described toughness joint is processed by macromolecular material.
8. optical drive as claimed in claim 7 robot is characterized in that, said macromolecular material is selected from a kind of in simple tension polyethylene, the Biaxially oriented polypropylene.
9. like claim 2,3 or 6 any one described optical drive robots, it is characterized in that described flexible high molecular material is selected from a kind of in polyethylene, polypropylene, the natural rubber, the composite high-molecular material that perhaps is made up of them.
10. optical drive as claimed in claim 9 robot is characterized in that described flexible high molecular material is a polythene material.
11. optical drive as claimed in claim 9 robot is characterized in that wherein, described binding agent is selected from a kind of in polyacrylate binding agent, polyurethanes binding agent, epoxy resin binding agent, the rubber-like binding agent.
12. optical drive as claimed in claim 11 robot is characterized in that wherein described binding agent is the epoxy resin binding agent.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009100531512A CN101574807B (en) | 2009-06-16 | 2009-06-16 | Photic driving robot and method for driving the robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009100531512A CN101574807B (en) | 2009-06-16 | 2009-06-16 | Photic driving robot and method for driving the robot |
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| CN101574807A CN101574807A (en) | 2009-11-11 |
| CN101574807B true CN101574807B (en) | 2012-07-04 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103770123B (en) * | 2013-12-11 | 2015-09-16 | 南京理工大学 | A kind of micro-clamp device of optical drive |
| CN108406839B (en) * | 2018-02-28 | 2021-06-18 | 吉林大学 | Integrated artificial joint based on laser local modification and application thereof |
| CN110034701B (en) * | 2019-04-25 | 2020-05-29 | 东华大学 | Photo-thermal driven friction nano power generation film and preparation method thereof |
| CN112623164B (en) * | 2020-12-26 | 2022-03-11 | 福州大学 | Visible light driven jellyfish-like micro swimming soft robot and method thereof |
| CN113601538B (en) * | 2021-07-30 | 2022-09-13 | 之江实验室 | Optical waveguide type soft optical driver based on micro-nano optical fiber |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101041779A (en) * | 2007-03-15 | 2007-09-26 | 复旦大学 | Photo-induced deformation liquid crystal macromolecular material and preparation method thereof |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101041779A (en) * | 2007-03-15 | 2007-09-26 | 复旦大学 | Photo-induced deformation liquid crystal macromolecular material and preparation method thereof |
Non-Patent Citations (1)
| Title |
|---|
| Munenori Yamada,et al.Photomobile polymer materials-various three-dimensional movements.《Journal of Materials Chemistry》.2009,第19卷(第1期),60-62. * |
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