CN103101583A

CN103101583A - All-skin overturning movement flexible robot

Info

Publication number: CN103101583A
Application number: CN2011103546019A
Authority: CN
Inventors: 骆敏舟; 王美铃; 孙恒辉; 钱荣荣; 冯宝林
Original assignee: Hefei Institutes of Physical Science of CAS
Current assignee: Hefei Institutes of Physical Science of CAS
Priority date: 2011-11-10
Filing date: 2011-11-10
Publication date: 2013-05-15

Abstract

The invention relates to an all-skin overturning movement flexible robot which is provided with a base body and a plurality of control rings evenly distributed on the base body, wherein the base body is in an annular columnar elastic flexible structure, and each control ring comprises an axial control ring arranged along the axial direction of the base body and a radial control ring arranged along the radial direction. The axial control rings and the radial control rings are both formed through mutual series connection of a plurality of control units and elastic belts arranged at intervals, and the control units and elastic belts are made of an ion-exchange polymerized metal material. The elastic belts of the axial control rings and the radial control rings are connected with each other at the intersecting positions to form cross structures, and control chips capable of receiving control signals through wireless communication are all sealed in the control units. The all-skin overturning movement flexible robot is simple in structure, easy to deform and not prone to be damaged, is not limited by a traditional mechanical structure, and can move in various complex environments.

Description

A kind of full skin turning moving soft-bodied robot

Technical field

The invention belongs to the Robotics field, specifically a kind of soft robot that moves by full skin upset mode.

Background technology

In recent years, the driving of robot and mode of motion are one of emphasis of studying of mobile robot always, the robot of present various move modes emerges in an endless stream, as wheeled mechanism, leg formula mechanism (jump, both legs, many legs) and swing migration mechanism, as machine fish, snake robot or machine looper worm etc., these robots demonstrate distinctive advantage in the occasion of some uses, as wheeled robot drive simple, speed is fast, legged mobile robot possesses certain span ability, and snake-shaped robot relies on to swing to wait and also can pass through some obstacles etc.

But under some non-structure environments, be subjected to the restriction of size and working space, as in pipe detection, medical-therapeutic treatment of human body inspection, the small space search and rescue etc. of collapsing, because the occasion of using belongs to non-structure environment, and can run into various obstacles, the higher requirement of move mode proposition to robot can enter narrow pipeline as needs and check, or can zero damage enter human body alimentary canal inspection, or can enter size searches and rescues or transports diet etc. than self less underground space.Therefore, robot can move in random landform in complexity and become most important, and this just requires robot better to conform, and changes the state of self along with environmental evolution.Conventional rigidity robot and its type of drive can not satisfy above-mentioned demand at present.

Chinese patent application CN201010129066.2 discloses " a kind of search and rescue robot ", and it comprises matrix, middle skeleton, motor, pvc pipe, pick up camera and light source module etc.wherein, matrix be the annular arrangement column and end to end two ends be hemispheric elastic soft structure, a plurality of motors and pvc pipe all are fixed on the elastic film of matrix, rotation by motor makes corresponding pvc pipe produce binding force, the component of this binding force on the elastic film direction, be propulsive effort, under this propulsive effort effect, the tail end volume-diminished of robot matrix, and the matrix constancy of volume of whole robot, thereby make matrix front end volume increase, the inner skin of leading portion flips out, the tail end external skin is overturn into, thereby make search and rescue robot advance.Shrink because needs order about pvc pipe by electric machine rotation, come the drive machines people thereby the extruding matrix produces propulsive effort, so the structure of whole robot is comparatively complicated.

Summary of the invention

The purpose of this invention is to provide a kind of can be at complicated and mobile and robot simple in structure in random environment.

the technical scheme that realizes the object of the invention is: a kind of full skin turning moving soft-bodied robot, matrix with annular arrangement column elastic soft structure, also have a plurality of control loops that are distributed on matrix, control loop comprises along the axial control loop of the axial setting of matrix and the radially control loop that is disposed radially, wherein, axially control loop and radially control loop be all connect and form by the control unit of a plurality of ion exchange polymer/metallic material developments and elastic webbing space, axially control loop and radially the elastic webbing of control loop be interconnected to form cruciform construction in the staggered place, all be packaged with in control unit and can accept by wireless telecommunications the control chip of control signal.

Described matrix is comprised of cutis elastica film and the liquid that is encapsulated in elastic film.

Described control unit is to be made by ion exchange polymer/metallic material, the material of the fluorine-based polymeric membrane of cation exchange type-platinum structure especially, and it can produce larger displacement deformation with lower voltage-drive.

The described control signal that control unit is applied is the pulse-width signal that the voltage of break-make, frequency and the loading of the power supply of control unit is controlled.

the present invention has positive effect: matrix of the present invention is by the cutis elastica film and be encapsulated in the annular arrangement column soft body structure that the liquid in the cutis elastica film forms, adopt crisscross, similar netted control loop is coated on matrix, control unit by ion exchange polymer/metallic material produces propulsive effort, especially the control unit of the fluorine-based polymeric membrane of cation exchange type-platinum structure, it can produce larger displacement deformation with lower voltage-drive, replaced motor, can save gear, the structure that bearing etc. are complicated, alleviated simultaneously weight, the more important thing is that this driving actuating system is flexible, the ability that has certain opposing to destroy, and simple in structure, yielding, be not subjected to the restriction of traditional physical construction and not fragile.Because the skin of matrix has very large elasticity, can be by changing length, end face diameter and the change form etc. of matrix, to move in various complex environments.

Description of drawings

Content of the present invention is easier to be expressly understood in order to make, and the below is according to specific embodiment and by reference to the accompanying drawings, and the present invention is further detailed explanation, wherein

Fig. 1 is the perspective view of the full skin turning moving soft-bodied robot of the present invention.

Fig. 2 is the axial arrangement schematic diagram of the full skin turning moving soft-bodied robot of the present invention.

Fig. 3 is the radial structure schematic diagram of the full skin turning moving soft-bodied robot of the present invention.

Fig. 4 is the A-A cutaway view in this Fig. 3.

Fig. 5 is the proal schematic diagram of the full skin turning moving soft-bodied robot of the present invention.

The specific embodiment

Ion exchange polymer/metallic material, English full name is: Ion-exchange Polymer Metal Composite, be IPMC, it is a kind of artificial thews material, produce larger displacement deformation because lower driving voltage can make it, be highly suitable for the exploitation of bio-robot as a kind of novel actr.

Fig. 1,2,3,4 is depicted as a kind of full skin turning moving soft-bodied robot of the present invention, has matrix 1, and matrix 1 is annular arrangement column elastic soft structure, and control loop 2 is distributed on matrix 1.The whole skin film of matrix 1 is elastomeric material, is packaged with liquid in elastomeric skin film.Control loop 2 comprises along the axial control loop 2-1 of the axial setting of matrix 1 and the radially control loop 2-2 that is disposed radially, axially control loop 2-1 and radially the concrete quantity of control loop 2-2 can and control according to the length of matrix 1 and require etc. concrete definitely, radially control loop 2-2 of 4 axial control loop 2-1 and many has been shown in Fig. 1.Axially control loop 2-1 and radially control loop 2-2 be in series by a plurality of control units 3 and elastic webbing 4 spaces, wherein control unit 3 is made by ion exchange polymer/metallic material (IPMC).Axial control loop 2-1 the and radially elastic webbing 4 of control loop 2-2 is interlaced at the skin surface of matrix 1, elastic webbing is interconnected to form cruciform construction in the staggered place, thereby form crisscross control loop, similar being coated on matrix 1 has good stability nettedly.All encapsulate a control chip (not shown) in control unit 3, control chip is accepted the control signal of main frame by wireless telecommunications, what control signal adopted is the mode (PWM) of pulse duration modulation, and the voltage of break-make, frequency and the loading of the power supply of control unit 3 etc. is controlled.

Wherein, control unit 3 especially can adopt the fluorine-based polymeric membrane of cation exchange type-platinum structure as functional material, this material is take thin polymer film as the matrix skeleton, the method that is coated with by plating is permeated the platinum particle and is deposited on a kind of composite material that the film surface forms, it is under the stimulation of low voltage, and the rule of hydrated cation is arranged and can be made film produce larger flexural deformation.

Matrix 1 is the annular arrangement column structure, and the skin of the inner ring of its annular arrangement post is interior skin, and the skin of outer ring is outer skin, and inside and outside skin can constantly conversion mutually in the continuous overturning motion.Wherein, when the drive machines people was proal, the radially control loop 2-2 that is positioned at afterbody received control signal, produced contractile motion, the tail end volume of matrix 1 is reduced, and because the overall volume of matrix 1 is constant, the front end volume of matrix 1 increases, thereby the interior skin of front end is flipped out and converts outer skin to, the interior skin of afterbody outer end overturns into and converts interior skin to, in the process of upset, the outer skin of matrix 1 and ground friction, thus matrix 1 is travelled forward.Matrix 1 in the process of continuous movement, always ceaselessly produces contractile motion by the radially control loop 2-2 that is positioned at tail end forward, impels the conversion of overturning continuously of the inside and outside skin of robot, impels matrix 1 to travel forward continuously by skin and contacting of ground.when robot need to be turned, controlled by axial control loop 2-1 and turn to, for example, when robot needs to turn left in the process of advancing, can be produced by the axial control loop 2-1 that is positioned at the left side and shrink, all control units that the control unit that produce to shrink can be whole left-hand axis on the control loop, it can be also the part control unit that is positioned at axial control loop front end, specifically according to the length of matrix 1, the amplitudes of turning etc. are determined, the control unit that can be generally whole matrix 1 length 1/3 place produces contractile motion, the left side of extruding matrix 1 front end, the left side of matrix 1 front end is shunk, thereby matrix 1 is turned to.

the moving process of robot is as shown in Figure 5: the initial condition of Fig. 5 (a) expression robot, preparation is to left movement, when the radially control loop generation of robot matrix right-hand member is shunk, after the matrix right-hand member is subject to certain radial shrinkage pressure F, its internal layer skin moves left, outer skin moves towards the right, so the robot motion is to Fig. 5 (b) state, being positioned at the radially control loop of right-hand member this moment exerts pressure again, the robot motion is to Fig. 5 (c) state, in, continuously upset occurs in outer skin, in the process of continuous overturning, outer skin and ground produce friction, impel robot to move forward.In the time of need to retreating, the radially control loop that only needs to control the relative other end gets final product.When turning as need, exert pressure at the front end of the axial control loop of a side, just can change sense of motion.If apply the effect of power on the matrix of whole robot, robot will produce distortion, and it is elongated that volume becomes, and just can enter less space.

Above-described specific embodiment; purpose of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the above is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any modification of making, be equal to replacement, improvement etc., within all should being included in protection scope of the present invention.

Claims

1. full skin turning moving soft-bodied robot, matrix (1) with annular arrangement column elastic soft structure, it is characterized in that: also have a plurality of control loops (2) that are distributed on matrix (1), control loop (2) comprises along the axial axial control loop (2-1) that arranges of matrix (1) and the radially control loop (2-2) that is disposed radially, wherein, axially control loop (2-1) and radially control loop (2-2) be all connect and form by the control unit (3) of a plurality of ion exchange polymer/metallic material developments and elastic webbing (4) space, axially control loop (2-1) and radially the elastic webbing (4) of control loop (2-2) be interconnected to form cruciform construction in the staggered place, all be packaged with in control unit (3) and can accept by wireless telecommunications the control chip of control signal.

2. a kind of full skin turning moving soft-bodied robot according to claim 1 is characterized in that: described matrix (1) is comprised of cutis elastica film and the liquid that is encapsulated in elastic film.

3. a kind of full skin turning moving soft-bodied robot according to claim 1, it is characterized in that: described control unit (3) is to be made by ion exchange polymer/metallic material, especially the material of the fluorine-based polymeric membrane of cation exchange type-platinum structure, it can produce larger displacement deformation with lower voltage-drive.

4. a kind of full skin turning moving soft-bodied robot according to claim 1, it is characterized in that: the described control signal that control unit (3) is applied is the pulse-width signal that the voltage of break-make, frequency and the loading of the power supply of control unit (3) is controlled.