CN103434582A - Deformable and multi-purpose software robot - Google Patents
Deformable and multi-purpose software robot Download PDFInfo
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- CN103434582A CN103434582A CN2013103510213A CN201310351021A CN103434582A CN 103434582 A CN103434582 A CN 103434582A CN 2013103510213 A CN2013103510213 A CN 2013103510213A CN 201310351021 A CN201310351021 A CN 201310351021A CN 103434582 A CN103434582 A CN 103434582A
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Abstract
The invention discloses a deformable and multi-purpose software robot, which comprises an elastic casing, wherein the elastic casing is in a ring shape, the axial center of the elastic casing is provided with a cavity, the interior of the cavity is provided with a skeleton, a camera and a load are arranged on the skeleton, and a driving unit is arranged between the outer side wall and the inner side wall of the elastic casing. The software robot has the advantages that the continuous deformation is realized, the software robot is conveniently applied to non-structural occasions, and the walking and the steering are flexible.
Description
Technical field
The invention belongs to the Robotics field, be specifically related to a kind of deformable multipurpose way soft robot.
Background technology
Along with scientific and technical development, robot has been widely used in social every field, as industry, medical treatment, agricultural, military affairs and the disaster relief etc.In recent years, the disasters such as earthquake, mine disaster happen occasionally, and the mankind's safety in serious threat, have caused people's extensive concern.Because the ruins lower channel after the disaster generation is narrow, and the danger that exists secondary to collapse, the rescuer can't deeply be scouted or be sued and laboured, people are eager to find out the inside dangerous situation of disaster scene, but can't approach or advance the people disaster scene, so people start to develop the various robots for search-and-rescue work.
Traditional robot type of drive, as wheeled, leg formula and swing the rigidity driver train such as migration, demonstrate distinctive advantage under some application scenario, 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 to perfection fusion acquisition inspiration from realm of nature invertabrate (as sea cucumber, cuttlefish etc.), the soft robot of design based on the invertabrate characteristic becomes the new mode that is expected to break through bio-robot research bottleneck.Soft robot mainly consists of the elastic foundation material, rely on the continuous modification on space to be moved, there is 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 construction, therefore when the penetrate thing, can reduce to greatest extent impact load and yielding resistance, reduce the body damage.Soft robot can adapt to narrow, changeable operating environment by self alteration of form, and this makes them become the 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
(1) technical matters that will solve
The technical problem to be solved in the present invention be to provide a kind of can continuous modification, convenient in the destructuring applications, and advance and turn to deformable multipurpose way soft robot flexibly.
(2) technical scheme
For solving the problems of the technologies described above, the technical solution adopted in the present invention is: a kind of deformable multipurpose way soft robot, comprise and be the elastic shell that round and axial centre place are provided with cavity, be provided with in described cavity for the skeleton of camera and load is installed, between the lateral wall of described elastic shell and madial wall, be provided with driver element.
Described driver element comprises the driving tube of some fluid cells and reciprocity quantity, the described fluid cell round that surrounds from beginning to end, described fluid cell comprises cell membrane and is located at the incompressible fluid in cell membrane, described driving tube is located at fluid cell inboard, described driving tube is connected across on two adjacent fluid cells, is provided with magnetic flow liquid in described driving tube, for impelling magnetic flow liquid that micro-calutron of " solid-liquid modality " occurs and for receiving and dispatching command information and controlling the controller of micro-calutron work.
Described driver element is provided with 2 groups, and described driver element is located at respectively the both sides up and down of described cavity.
Described driver element at least is provided with 2 groups, and described driver element is uniform at circumferencial direction centered by described cavity.
Described fluid cell is flats, comprises middle part and thin two thin coupling ends of protuberance.
The round of described driver element is radially radially perpendicular with the round of elastic shell.
The somatic quantity of described stream has 6 at least.
(3) beneficial effect
The present invention is compared to prior art, has following beneficial effect:
(1) the present invention is according to the mechanism characteristic of invertabrate motion, utilize orderly " the mushy stage modality " of multiple-unit intelligent drives material under electromagnetic field effect, simulate the mechanism that bone produces the variant motion, realize the purpose of drive machines people autonomous and flexible barrier-exceeding.The present invention relies on the continuous modification on the elastomeric material space to be moved, and therefore can arrive three-dimensional working space optional position point.
(2) the present invention adopts the contactless type of drive of magnetorheological body to realize the driving of robot, without special actuating device, is conducive to reduce the configuration design size of robot body, small and exquisite as far as possible flexible.
(3) the present invention adopts order and the angle can control in real time each element deformation, therefore can the reasonable distribution propulsive effort, realize advancing and the variant motion such as obstacle detouring of robot.
The accompanying drawing explanation
The structural representation that Fig. 1 is deformable multipurpose of the present invention way soft robot.
The somatic structural representation of stream that Fig. 2 is deformable multipurpose of the present invention way soft robot.
The structural representation of the driving tube that Fig. 3 is deformable multipurpose of the present invention way soft robot.
The motion state diagram one of the driver element that Fig. 4 is deformable multipurpose of the present invention way soft robot.
The motion state diagram two of the driver element that Fig. 5 is deformable multipurpose of the present invention way soft robot.
The motion state diagram three of the driver element that Fig. 6 is deformable multipurpose of the present invention way soft robot.
The specific embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used for the present invention is described, but are not used for limiting the scope of the invention.
As shown in Figures 1 to 6, a kind of deformable multipurpose way soft robot, comprise and be the elastic shell 1 that round and axial centre place are provided with cavity, be provided with in described cavity for the skeleton 4 of camera 2 and load 3 is installed, between the lateral wall of described elastic shell 1 and madial wall, be provided with driver element.
Described driver element comprises the driving tube 6 of some fluid cells 5 and reciprocity quantity, described fluid cell 5 round that surrounds from beginning to end, described fluid cell 5 comprises cell membrane 501 and is located at the incompressible fluid 502 in cell membrane, described driving tube 6 is located at fluid cell 5 inboards, described driving tube 6 is connected across on two adjacent fluid cells, is provided with magnetic flow liquid 601 in described driving tube 6, for impelling magnetic flow liquid that micro-calutron 602 of " solid-liquid modality " occurs and for receiving and dispatching command information and controlling the controller 603 of micro-calutron work.
Described driver element is provided with 2 groups, and described driver element is located at respectively the both sides up and down of described cavity.
Described driver element at least is provided with 2 groups, and described driver element is uniform at circumferencial direction centered by described cavity.
Described fluid cell 5 is flats, comprises middle part and thin two thin coupling ends of protuberance.
The round of described driver element is radially radially perpendicular with the round of elastic shell 1.
The quantity of described fluid cell 5 has 6 at least.
Filled magnetic flow liquid in the driving tube cavity of deformable multipurpose of the present invention way soft robot, under the electromagnetic field effect produced at micro-calutron, magnetic-particle in magnetic flow liquid is magnetized, the direction that is extended down to magnetic line of force is lined up to chain structure, 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.
Micro-calutron of driving tube inside and driving tube controller, after receiving the wireless control signal of upper computer, micro-calutron generates an electromagnetic field, make the magnetic flow liquid be filled in the driving tube cavity that " solid-liquid shape is changed " occur, due to expansion and the contraction of magnetic flow liquid volume, impel driving tube generation deformation, when driving tube successively deformation occurs, robot of the present invention will be moved, and reach the driving purpose.
As shown in Figures 4 to 6, sports rule of the present invention is as follows: under the controlled electromagnetic field effect at first produced at micro-calutron, " solid-liquid shape change " at first occurs in the driving tube at middle part, starts to soften, and makes two fluid cells of its cross-over connection to rotate freely; Then, " liquid-solid shape conversion " occurs in the driving tube at two ends under controlled electromagnetic field effect, starts sclerosis, makes two fluid cells of its cross-over connection move forward.
Along with the generation of these actions, driver element just can travel forward one and flow somatic length, thereby causes the front end lateral wall of elastic shell to overturn into, and the tail end madial wall flips out, and makes whole robot travel forward.
As shown in Figures 4 to 6, described fluid cell and driving tube are respectively 6, certainly in order to obtain, better carry out stationarity and more smooth-going path of motion, and fluid cell and driving tube number can correspondingly increase, and become 8,10,12 or more.
The present invention can be applicable to the narrow non-structured operating environments such as earthquake search and rescue, pipe inspection, medical diagnosis and military surveillance, can continuous deformation, and the obstacle detouring of can creeping on rugged ground, can be through the narrow structure less than oneself height.
Certainly, above is only concrete exemplary applications of the present invention, and protection scope of the present invention is not constituted any limitation.In addition to the implementation, the present invention can also have other embodiment.All employings are equal to the technical scheme of replacement or equivalent transformation formation, within all dropping on the present invention's scope required for protection.
Claims (7)
1. deformable multipurpose way soft robot, it is characterized in that: comprise and be the elastic shell that round and axial centre place are provided with cavity, be provided with in described cavity for the skeleton of camera and load is installed, between the lateral wall of described elastic shell and madial wall, be provided with driver element.
2. deformable multipurpose according to claim 1 way soft robot, it is characterized in that: described driver element comprises the driving tube of some fluid cells and reciprocity quantity, the described fluid cell round that surrounds from beginning to end, described fluid cell comprises cell membrane and is located at the incompressible fluid in cell membrane, described driving tube is located at fluid cell inboard, described driving tube is connected across on two adjacent fluid cells, be provided with magnetic flow liquid in described driving tube, for impelling magnetic flow liquid that micro-calutron of " solid-liquid modality " occurs and for receiving and dispatching command information and controlling the controller of micro-calutron work.
3. deformable multipurpose according to claim 2 way soft robot, it is characterized in that: described driver element is provided with 2 groups, and described driver element is located at respectively the both sides up and down of described cavity.
4. deformable multipurpose according to claim 2 way soft robot, it is characterized in that: described driver element at least is provided with 2 groups, and described driver element is uniform at circumferencial direction centered by described cavity.
5. according to the described deformable multipurpose of claim 3 or 4 way soft robot, it is characterized in that: described fluid cell is flats, comprises middle part and thin two thin coupling ends of protuberance.
6. deformable multipurpose according to claim 5 way soft robot, it is characterized in that: the round of described driver element is radially radially perpendicular with the round of elastic shell.
7. deformable multipurpose according to claim 2 way soft robot, it is characterized in that: the somatic quantity of described stream has 6 at least.
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| CN201310351021.3A CN103434582B (en) | 2013-08-11 | 2013-08-11 | A kind of deformable multipurpose way soft robot |
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| CN201310351021.3A CN103434582B (en) | 2013-08-11 | 2013-08-11 | A kind of deformable multipurpose way soft robot |
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| CN103434582B CN103434582B (en) | 2015-11-18 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105905158A (en) * | 2015-02-19 | 2016-08-31 | 福特全球技术公司 | Rotation of real axle frame |
| CN107380290A (en) * | 2017-07-28 | 2017-11-24 | 江苏大学 | A kind of software climbing robot of electromagnetic drive |
| CN108098735A (en) * | 2017-12-12 | 2018-06-01 | 上海大学 | A kind of biological micro-nano robot and its construction method based on biological 3D printing |
| CN108500968A (en) * | 2018-02-26 | 2018-09-07 | 中国矿业大学 | The control method of magnetorheological fluid soft robot |
| CN108724162A (en) * | 2018-04-19 | 2018-11-02 | 中国矿业大学 | Magnetorheological fluid soft robot and magnetorheological fluid soft robot system |
| CN108972510A (en) * | 2018-08-22 | 2018-12-11 | 广州大学 | Soft robot, mold former based on ferrofluid driving and preparation method thereof |
| CN109343475A (en) * | 2018-09-14 | 2019-02-15 | 广州大学 | A kind of amphibious soft robot and its motion control method based on magnetic fluid |
| CN109732582A (en) * | 2019-01-18 | 2019-05-10 | 哈尔滨工业大学 | A kind of soft robot camera carrying device and method based on outer side guy |
| CN109732580A (en) * | 2019-01-18 | 2019-05-10 | 哈尔滨工业大学 | A kind of soft robot camera carrying device and method based on rear bracing wire |
| CN109732583A (en) * | 2019-01-18 | 2019-05-10 | 哈尔滨工业大学 | A kind of video camera positioned based on positioning ring and ball follows kinematic robot |
| CN110382338A (en) * | 2017-01-13 | 2019-10-25 | 马克思-普朗克科学促进协会 | Shape can be changed the actuating method of component, shape can be changed component and actuating system |
| CN110394814A (en) * | 2019-08-29 | 2019-11-01 | 中南大学 | A kind of software walking robot |
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| CN109681720A (en) * | 2018-12-29 | 2019-04-26 | 成都普崔克机电有限公司 | A kind of fluid-operated soft pipeline unit |
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| CN105905158A (en) * | 2015-02-19 | 2016-08-31 | 福特全球技术公司 | Rotation of real axle frame |
| CN110382338B (en) * | 2017-01-13 | 2022-09-30 | 马克思-普朗克科学促进协会 | Method for actuating a shape-modifiable component, shape-modifiable component and actuation system |
| CN110382338A (en) * | 2017-01-13 | 2019-10-25 | 马克思-普朗克科学促进协会 | Shape can be changed the actuating method of component, shape can be changed component and actuating system |
| CN107380290B (en) * | 2017-07-28 | 2019-08-02 | 江苏大学 | A kind of software climbing robot of electromagnetic drive |
| CN107380290A (en) * | 2017-07-28 | 2017-11-24 | 江苏大学 | A kind of software climbing robot of electromagnetic drive |
| CN108098735A (en) * | 2017-12-12 | 2018-06-01 | 上海大学 | A kind of biological micro-nano robot and its construction method based on biological 3D printing |
| CN108098735B (en) * | 2017-12-12 | 2021-11-05 | 上海大学 | Biological micro-nano robot based on biological 3D printing and construction method thereof |
| CN108500968A (en) * | 2018-02-26 | 2018-09-07 | 中国矿业大学 | The control method of magnetorheological fluid soft robot |
| CN108724162A (en) * | 2018-04-19 | 2018-11-02 | 中国矿业大学 | Magnetorheological fluid soft robot and magnetorheological fluid soft robot system |
| CN108724162B (en) * | 2018-04-19 | 2021-06-04 | 中国矿业大学 | Magnetorheological fluid soft robot and magnetorheological fluid soft robot system |
| CN108972510A (en) * | 2018-08-22 | 2018-12-11 | 广州大学 | Soft robot, mold former based on ferrofluid driving and preparation method thereof |
| CN108972510B (en) * | 2018-08-22 | 2022-01-04 | 广州大学 | Soft robot based on ferrofluid drive, mold model and preparation method thereof |
| CN109343475A (en) * | 2018-09-14 | 2019-02-15 | 广州大学 | A kind of amphibious soft robot and its motion control method based on magnetic fluid |
| CN109732583A (en) * | 2019-01-18 | 2019-05-10 | 哈尔滨工业大学 | A kind of video camera positioned based on positioning ring and ball follows kinematic robot |
| CN109732580B (en) * | 2019-01-18 | 2020-09-18 | 哈尔滨工业大学 | Soft robot camera carrying device and method based on rear pull wire |
| CN109732580A (en) * | 2019-01-18 | 2019-05-10 | 哈尔滨工业大学 | A kind of soft robot camera carrying device and method based on rear bracing wire |
| CN109732583B (en) * | 2019-01-18 | 2021-08-24 | 哈尔滨工业大学 | Camera following movement robot based on positioning ring and ball positioning |
| CN109732582A (en) * | 2019-01-18 | 2019-05-10 | 哈尔滨工业大学 | A kind of soft robot camera carrying device and method based on outer side guy |
| CN109732582B (en) * | 2019-01-18 | 2022-01-28 | 哈尔滨工业大学 | Soft robot camera carrying device and method based on outer side stay wire |
| CN110394814A (en) * | 2019-08-29 | 2019-11-01 | 中南大学 | A kind of software walking robot |
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Denomination of invention: A deformable multi-purpose soft robot Effective date of registration: 20231213 Granted publication date: 20151118 Pledgee: Quanjiao enterprise financing Company limited by guarantee Pledgor: ANHUI LEDA PRECISION ALLOY CO.,LTD. Registration number: Y2023980071276 |
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