CN102176152B - Bionic soft robot based on hydrostatic skeleton mechanism property - Google Patents
Bionic soft robot based on hydrostatic skeleton mechanism property Download PDFInfo
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- CN102176152B CN102176152B CN 201110047923 CN201110047923A CN102176152B CN 102176152 B CN102176152 B CN 102176152B CN 201110047923 CN201110047923 CN 201110047923 CN 201110047923 A CN201110047923 A CN 201110047923A CN 102176152 B CN102176152 B CN 102176152B
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Abstract
The invention relates to a bionic soft robot, and in particular relates to a bionic soft robot based on the hydrostatic skeleton mechanism property which is applied to non-structuring operation environments, such as pipeline overhauling, medical treatment, ruins searching and rescuing, military reconnaissance, aiming to provide the bionic soft robot based on the hydrostatic skeleton mechanism property which can be deformed continuously, and is convenient to use in non-structuring occasions. The bionic soft robot is provided with an elastic outer shell which is internally provided with an incompressible fluid and a loading device which is used for accomplishing the specific tasks of the robot; the elastic outer shell is composed by the splicing of cell units; each cell unit is provided with an elastic cell outer wall and a cell cavity; the cell cavity is internally provided with a magnet rheological fluid, a micro electromagnetic driving device and a cell unit controller, wherein the micro electromagnetic driving device is used for generating electromagnetic field for promoting the magnet rheological fluid to generate 'solid-liquid form conversion'; and the cell unit controller is used for receiving and transmitting instruction signals and controlling the operation of the micro electromagnetic driving device.
Description
Technical field
The present invention relates to a kind of bionic soft robot, relate to especially the bionic soft robot based on hydrostatic skeleton mechanism property in the destructuring operating environments such as being applied to pipeline maintenance, Medical treatment, ruins search and rescue and military surveillance.
Technical background
Along with the development of science and technology, robot has been widely used in the every field of society, such as industry, medical treatment, agricultural, military affairs and the disaster relief etc.Traditional robot type of drive, such as wheeled, leg formula and swing the rigidity driving mechanism such as migration, under some application scenario, demonstrate distinctive advantage, but under the destructuring environmental applications occasions such as pipeline maintenance, Medical treatment, ruins search and rescue and military surveillance, because operating environment is narrow, changeable and have various unknown obstacles, therefore the autonomous of robot is realized relative difficulty with obstacle detouring, possibly can't arrive operating location.Rigidity and flexible function can be carried out perfection fusion acquisition inspiration from nature invertabrate (such as sea cucumber, cuttlefish etc.), design becomes the new method that is expected to break through bio-robot research bottleneck based on the soft robot of invertabrate characteristic.Soft robot mainly is made of the elastic foundation material, rely on the continuous modification on the space to move, has in theory the degree of freedom of infinitely doing more physical exercises, its end effector can arrive three-dimensional working space optional position point, because inside does not contain rigid structure, therefore when the penetrate thing, can reduce to greatest extent shock load and yielding resistance, reduce the body damage.Soft robot can adapt to narrow, changeable operating environment by self change of shape, and this is so that they become ideal chose in the destructuring application scenarios such as pipe detection, medical-therapeutic treatment of human body diagnosis and treatment, ruins search and rescue.
Summary of the invention
The purpose of this invention is to provide a kind of can continuous modification, the convenient bionic soft robot based on hydrostatic skeleton mechanism property in the destructuring applications.
Realize that technical scheme of the present invention is as follows:
A kind of bionic soft robot based on hydrostatic skeleton mechanism property has elastic housing, incompressible fluid is housed in the elastic housing and is used for finishing the load device of robot particular task; Above-mentioned elastic housing is comprised of the cell unit spliced; Above-mentioned cell unit has elastic cell's outer wall and cell cavity, is provided with magnetic flow liquid in the cell cavity, is used for generating an electromagnetic field and impels magnetic flow liquid that little electromagnetic actuator device of " solid-liquid modality " occurs and be used for receiving and dispatching command information and control the cell cell controller of little electromagnetic actuator device work.
Above-mentioned elastic housing is comprised of 20 cell unit, and each cell unit profile is equal-sized equilateral triangle shape.
Adopt the Ecoflex resilient material to glued joint between above-mentioned cell unit is mutual, the mantle of cell unit adopts silica gel (xS
iO
2YH
2O) make.
Magnetic flow liquid in the above-mentioned cell cavity is for adding the iron complexes that forms behind CrO2 hard magnetic powders and the silicone oil in traditional iron carbonyi magnetic flow liquid.
The said units controller comprises bluetooth receiving chip, wireless signal demodulator circuit, CAN interface, microprocessor, PWM modulation circuit and the D/A translation interface with the intercommunication of control system host computer; Above-mentioned bluetooth receiving chip model is nRF2401, be electrically connected with the wireless signal demodulator circuit, the wireless signal demodulator circuit is electrically connected with CAN interface and microprocessor, the CAN interface is electrically connected with microprocessor, microprocessor is electrically connected with the PWM modulation circuit, and the PWM modulation circuit is electrically connected with the D/A translation interface.
The present invention adopts technique scheme to obtain following beneficial effect:
(1) the present invention relies on the hydrostatic bone to realize the mechanism characteristic of motion according to invertabrate, utilize orderly " the mushy stage modality " of multiple-unit intelligent drives material under electromagnetic field effect, simulate the mechanism that the hydrostatic bone produces the variant motion, realize the purpose of drive machines people's autonomous and flexible barrier-exceeding.Because soft robot of the present invention does not contain rigid structure, rely on the continuous modification on the resilient material space to move, therefore can arrive three-dimensional working space optional position point.
(2) soft robot of the present invention adopts the contactless type of drive of magnetorheological body to realize the driving of robot, need not special drive unit, is conducive to reduce the configuration design size of robot body, and is small and exquisite as far as possible flexible.
(3) soft robot of the present invention adopts the method for the parallel sequential control of multiple-unit, can control in real time order, degree and the direction of each element deformation, therefore can the reasonable distribution driving force, realize that robot advances, the variant motions such as turning and obstacle detouring.
Description of drawings
Fig. 1 is the structural representation of soft robot of the present invention
Fig. 2 is the structural representation of soft robot cell unit.
Fig. 3 be among Fig. 2 A-A to diagrammatic cross-section.
Fig. 4 is soft robot motion principle synoptic diagram.
Fig. 5 is that soft robot passes through hole process synoptic diagram.
Fig. 6 is the theory diagram of cell cell controller.
Fig. 7 is the partial circuit synoptic diagram of cell cell controller.
Fig. 8 is the workflow diagram of cell cell controller.
Embodiment
The invention will be further described below in conjunction with the drawings and specific embodiments.
Such as Fig. 1, Fig. 2 and shown in Figure 3, bionic soft robot general structure of the present invention mainly is comprised of elastic housing 1, incompressible fluid 2 and load device 3.Above-mentioned elastic housing is front body class spherical structure, is comprised of 20 cell unit 10, and each cell unit 10 is equilateral triangle, has equal face, limit and angle.Cell unit outer wall materials is resilient material---silica gel (xSio2yH2O), interconnective edge, each cell unit adopts the Ecoflex resilient material to glued joint each other, and its shell one-piece construction is strictly sealed.Each cell unit comprises mantle 11, cell cavity, magnetic flow liquid 12, little electromagnetic actuator device and cell cell controller, has connecting hole 13 on the mantle 11 in the middle of the cell unit.Each cell unit conduct is the unit of driving independently, and magnetic flow liquid 12 is filled in the cell cavity equably by connecting hole 13, and connecting hole 13 is carried out construction packages.Above-mentioned little electromagnetic actuator device and cell controller are distributed in the cell cavity, realize the corresponding deformation of cell unit after receiving wireless control signal.
Above-mentioned incompressible fluid 2 is full of the elastic housing internal cavities, consists of the grown form of hydrostatic bone, and when elastic housing generation deformation, incompressible fluid is also made alteration of form accordingly, and bionic soft robot of the present invention just can be realized motion.
Above-mentioned load device 3 is located at the elastic housing inner chamber, be used for finishing the task of robot, they can be microcam or miniature bomb or certain medicament, when robot autonomous walking behind assigned address, load device is finished predefined task, the task needs different according to robot, load device is also different.
Filled magnetic flow liquid 12 in the cell cavity of the cell unit 1 of bionic soft robot of the present invention, under the electromagnetic field effect that little electromagnetic actuator device produces, magnetic-particle in the magnetic flow liquid is magnetized, to line up chain structure along the direction of the magnetic line of force, thereby so that magnetic flow liquid moment viscosity increase several orders of magnitude, and then lose flowability, show the proterties of similar solid, the yield strength of its material increases along with the increase of electromagnetic intensity, after withdrawing from magnetic field, material can restore to the original state again at once, and its response time only has several milliseconds.Its performance is subject to the factor affecting such as particle diameter, volume fraction, magnetic field intensity, saturation magnetization, in order to obtain better deformation effect, the present invention adopts and add CrO2 hard magnetic powders and silicone oil in traditional iron carbonyi magnetic flow liquid, forming iron complexes is that suspended particle prepares magnetic flow liquid, can improve its yield strength and deformability like this, so that elastic housing has the better traffic capacity.
See Fig. 4, little electromagnetic actuator device of inside, above-mentioned cell unit and cell cell controller thereof, after receiving the wireless control signal of host computer, little electromagnetic actuator device generates an electromagnetic field, so that " solid-liquid modality " occurs the magnetic flow liquid that is filled in the cell unit cavity, because expansion and the contraction of magnetic flow liquid volume, impel elastic cell's outer wall generation deformation, when the cell unit on the elastic housing all deformation occurs, robot of the present invention will be moved, and reach the driving purpose.
See Fig. 5, soft robot of the present invention is when passing through than the little hole obstacle of self geomery, at first under the controlled electromagnetic field effect that little electromagnetic actuator device produces, with magnetic flow liquid in the cell unit of hole wall contact portion " conversion of solid-liquid shape " occuring at first, to cause elastic cell's outer wall 11 to deform softening, progressively clamp-ons forward hole wall.Along with clamp-on process continue carry out, the most cells unit all is in soft state, the transversal section of clamp-oning part is subject to the radial compression of hole wall, incompressible fluid owing to what be full of the robot inner chamber again, therefore impel softening elastic housing generation axial tension, cause the whole deformation realization variant that occurs of robot to move, and progressively pass through hole.Its extrusion (such as Fig. 5 d, Fig. 5 e, Fig. 5 f) is with to clamp-on process (such as Fig. 5 a, Fig. 5 b, Fig. 5 c) then just in time opposite.
See Fig. 6 and Fig. 7, as independent control unit, whole control system is made of host computer, wireless communication module and the cell cell controller that is located in each cell unit soft robot of the present invention with the cell unit.
Above-mentioned host computer is according to different motion pattern making software mapping algorithm, calculate in real time the control signal (signal comprises amplitude, the waveform of frequency, voltage, the time of on/off) of each control module, parallel timing control signal by wireless communication module output different motion pattern, feed back to simultaneously the status signal of host computer according to each cell unit, host computer is regulated and the Correction and Control sequential in real time, realizes the optimum control to the motion of soft robot variant.
Wireless communication module comprises wireless transmitter module and wireless receiving module in the control system of the present invention.Wireless communication module adopts the micro radio transceiver module that is applied in industry and medical 2.4GHz frequency range, its core is based on the wireless monolithic transceiving chip of bluetooth communication stipulations, and chip internal arranges special mu balanced circuit and Cyclic Redundancy Check hardware circuit and agreement.Because each cell cell controller needs to dispose radio receiving unit, therefore require the volume of its peripheral cell little, power consumption is few.
Cell cell controller of the present invention is comprised of devices such as bluetooth nRF2401 receiving chip, wireless signal demodulator circuit, PWM modulation circuit, microprocessor, CAN interface and D/A translation interfaces.The bluetooth receiving chip be responsible for and host computer between the Bluetooth signal intercommunication, and be connected with the wireless signal demodulator circuit is two-way, the wireless signal demodulator circuit is sent into microprocessor with the signal of demodulation by the CAN interface and is processed, microprocessor sends to the PWM modulation circuit with instruction, sends to little electromagnetic actuator device through the D/A translation interface again; Microprocessor also needs the status information of cell unit is sent to the wireless signal demodulator circuit simultaneously, feeds back to host computer through the bluetooth receiving chip again, so that host computer is in time adjusted instruction.Therefore the size of cell unit drives power depends on the deformation extent of mantle, and the mantle deformation extent depends on the size in the suffered magnetic field of magnetic flow liquid, can realize control by the control voltage of regulating the electromagnetic field that little electromagnetic actuator device produces.Send the driving instruction by host computer like this, receive and further send the driving instruction to little electromagnetic actuator device by the cell cell controller, deformation occurs in the elastic outer wall 1 of control bionic soft robot of the present invention, drives robot motion of the present invention.
See Fig. 8, the workflow of cell cell controller is: the solenoid of all little electromagnetic actuator devices is all switched under the original state, and voltage all is the full width of cloth, and this moment, the interior magnetic flow liquid 12 of cell cavity of cell unit was in solid state, and mantle belongs to hardening state accordingly; After the cell controller in the cell unit receives the instruction of host computer by the bluetooth transmission, carry out controlled in wireless instruction demodulation; Then according to command request, carry out PID and regulate and calculate on little electromagnetic actuator device sometime needed magnitude of voltage; By D/A interface output control voltage, drive little electromagnetic actuator device and change magnetic field parameter after the PWM modulating circuit modulates, magnetic flow liquid impels the cell unit to reach the deformed state of regulation after " solid-liquid modality " occurs.
Whole soft robot is as long as host computer designs the parallel timing control signal of corresponding motor pattern, transmit steering order by wireless communication module, and in each cell controller, adopt respectively the output-controlled driving voltage of mode of width modulation, control frequency input signal, the on/off of each little electromagnetic actuator device and produce the parameters such as voltage magnitude, waveform, can reach the purpose of deformation sequence, degree and the direction of regulating each cell unit, thereby the reasonable distribution driving force realizes that robot advances, turns and is out of shape the function such as obstacle detouring.
Obviously, above-mentioned embodiment of the present invention only is for example of the present invention clearly is described, and is not to be restriction to embodiment of the present invention.For those of ordinary skill in the field, can also be easy on the basis of the above description make other pro forma variation or substitute, and these changes or substitute also will be included within the protection domain that the present invention determines.
Claims (5)
1. bionic soft robot based on hydrostatic skeleton mechanism property, have elastic housing (1) and be used for finishing the load device (3) of robot particular task, it is characterized in that: incompressible fluid (2) is housed in the above-mentioned elastic housing, and elastic housing (1) is comprised of cell unit (10) splicing; Above-mentioned cell unit (10) has elastic cell's outer wall (11) and cell cavity, is provided with magnetic flow liquid (12) in the cell cavity, is used for generating an electromagnetic field and impels magnetic flow liquid that little electromagnetic actuator device of " solid-liquid modality " occurs and be used for receiving and dispatching command information and control the cell cell controller of little electromagnetic actuator device work.
2. the bionic soft robot based on hydrostatic skeleton mechanism property according to claim 1, it is characterized in that: above-mentioned elastic housing (1) is comprised of 20 cell unit (10), and each cell unit profile is equal-sized equilateral triangle shape.
3. the bionic soft robot based on hydrostatic skeleton mechanism property according to claim 2 is characterized in that: adopt the Ecoflex resilient material to glued joint between above-mentioned cell unit (10) is mutual, the mantle of cell unit (11) employing silica gel (xS
iO
2YH
2O) make.
4. the bionic soft robot based on hydrostatic skeleton mechanism property according to claim 1 is characterized in that: the magnetic flow liquid (12) in the above-mentioned cell cavity is for adding the iron complexes that forms behind CrO2 hard magnetic powders and the silicone oil in traditional iron carbonyi magnetic flow liquid.
5. the bionic soft robot based on hydrostatic skeleton mechanism property according to claim 1, it is characterized in that: the said units controller comprises bluetooth receiving chip, wireless signal demodulator circuit, CAN interface, microprocessor, PWM modulation circuit and the D/A translation interface with the intercommunication of control system host computer; Above-mentioned bluetooth receiving chip model is nRF2401, be electrically connected with the wireless signal demodulator circuit, the wireless signal demodulator circuit is electrically connected with CAN interface and microprocessor, the CAN interface is electrically connected with microprocessor, microprocessor is electrically connected with the PWM modulation circuit, and the PWM modulation circuit is electrically connected with the D/A translation interface.
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| CN103317505B (en) * | 2013-07-14 | 2016-03-23 | 林佳杰 | A kind of transformable soft robot |
| CN103386686B (en) * | 2013-08-03 | 2015-10-28 | 董昕武 | A kind of spherical transformable soft robot |
| CN103434582B (en) * | 2013-08-11 | 2015-11-18 | 林佳杰 | A kind of deformable multipurpose way soft robot |
| CN105479463B (en) * | 2016-01-26 | 2017-10-17 | 清华大学 | A kind of deformable flexible robot Electromagnetically actuated based on liquid metal |
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| CN107503792B (en) * | 2017-09-18 | 2019-09-27 | 南方科技大学 | Robot lifesaving method and system |
| CN108606834B (en) * | 2018-02-05 | 2021-07-20 | 中国矿业大学 | Soft robot control system based on magnetorheological fluid and control method thereof |
| CN108500968B (en) * | 2018-02-26 | 2021-04-30 | 中国矿业大学 | Control method of magnetorheological fluid soft robot |
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| CN109591987B (en) * | 2019-01-09 | 2020-09-08 | 李丰 | Underwater robot |
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| CN113814989A (en) * | 2020-06-19 | 2021-12-21 | 周世海 | Deformable combined robot and control system thereof |
| CN115554400A (en) * | 2021-06-30 | 2023-01-03 | 香港城市大学深圳研究院 | Degradable magnetic control micro robot with high mechanical strength and preparation method and application thereof |
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