CN103434582B - A kind of deformable multipurpose way soft robot - Google Patents
A kind of deformable multipurpose way soft robot Download PDFInfo
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- CN103434582B CN103434582B CN201310351021.3A CN201310351021A CN103434582B CN 103434582 B CN103434582 B CN 103434582B CN 201310351021 A CN201310351021 A CN 201310351021A CN 103434582 B CN103434582 B CN 103434582B
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- 210000004027 cell Anatomy 0.000 claims description 21
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- 238000010168 coupling process Methods 0.000 claims description 3
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- 230000003834 intracellular effect Effects 0.000 claims description 2
- 230000004048 modification Effects 0.000 abstract description 4
- 238000012986 modification Methods 0.000 abstract description 4
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- 238000006243 chemical reaction Methods 0.000 description 3
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- 238000011161 development Methods 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
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- 239000006249 magnetic particle Substances 0.000 description 1
- 230000005012 migration Effects 0.000 description 1
- 238000013508 migration Methods 0.000 description 1
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Abstract
The invention discloses a kind of deformable multipurpose way soft robot, to comprise in round and axial centre place is provided with the elastic shell of cavity, being provided with the skeleton for installing camera and load in described cavity, between the lateral wall of described elastic shell and madial wall, being provided with driver element.The present invention can continuous modification, convenient in destructuring applications, and advances and turn to flexibly.
Description
Technical field
The invention belongs to robotics, be specifically related to a kind of deformable multipurpose way soft robot.
Background technology
Along with the development of science and technology, robot has been widely used in the every field of society, as industry, medical treatment, agricultural, military affairs and the disaster relief etc.In recent years, the disaster such as earthquake, mine disaster happens occasionally, and the safety of the mankind in serious threat, causes people's extensive concern.Because the ruins lower channel after disaster generation is narrow, and there is the danger that secondary collapses, rescuer cannot deeply carry out scouting or suing and labouring, people are eager to find out the inside dangerous situation of disaster scene, but cannot close to or enter people disaster scene, therefore people start to develop the various robot for search-and-rescue work.
Traditional robot type of drive, as wheeled, leg formula and swing the rigidity driver trains such as migration, distinctive advantage is demonstrated under some application scenario, but under the unstructured moving grids application scenarios such as tubular service, Medical treatment, ruins search and rescue and military surveillance, because operating environment is narrow, changeable and there is various unknown obstacle, therefore the autonomous of robot and obstacle detouring realize relative difficulty, possibly cannot arrive operating location.Rigidity and flexible function can be carried out perfection from realm of nature invertabrate (as sea cucumber, cuttlefish etc.) and merge acquisition inspiration, the soft robot designed based on invertabrate characteristic becomes the new mode being expected to break through bio-robot research bottleneck.Soft robot is formed primarily of elastic foundation material, continuous modification is spatially relied on to move, there is degree of freedom of infinitely doing more physical exercises in theory, its end-effector can arrive three-dimensional working space optional position point, because inside is not containing rigid construction, therefore, when penetrate thing, impact load and yielding resistance can be reduced to greatest extent, reduce this bulk damage.Soft robot can be changed by own form and adapts to narrow, changeable operating environment, 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 is to provide one can continuous modification, convenient in destructuring applications, and advances 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, to comprise in round and axial centre place is provided with the elastic shell of cavity, being provided with the skeleton for installing camera and load in described cavity, between the lateral wall of described elastic shell and madial wall, being provided with driver element.
Described driver element comprises the driving tube of some fluid cells and reciprocity quantity, described fluid cell is from beginning to end surrounds round, described fluid cell comprises cell membrane and is located at the incompressible fluid in cell membrane, described driving tube is located at fluid intracellular side, described driving tube is connected across on two adjacent fluid cells, be provided with in described driving tube magnetic flow liquid, for impel magnetic flow liquid occur " solid-liquid modality " micro-calutron 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 the both sides up and down of described cavity respectively.
Described driver element is at least provided with 2 groups, and described driver element is uniform at circumferencial direction centered by described cavity.
Described fluid cell is flats, comprises the middle part of protuberance and two carefully thin coupling ends.
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's mechanism characteristic of moving according to invertabrate, utilize orderly " the mushy stage modality " of multiple-unit intelligent drives material under electromagnetic field effect, simulate the mechanism that bone produces variant motion, realize the object of drive machines people autonomous and flexible barrier-exceeding.The present invention relies on elastomeric material continuous modification spatially to move, 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 the need to special actuating device, is conducive to the configuration design size reducing robot body, flexibly small and exquisite as far as possible.
(3) the present invention adopts and can control order and the angle of each element deformation in real time, therefore can reasonable distribution propulsive effort, realizes the variant motions such as the advance of robot and obstacle detouring.
Accompanying drawing explanation
Fig. 1 is the structural representation of deformable multipurpose of the present invention way soft robot.
Fig. 2 is the somatic structural representation of stream of deformable multipurpose of the present invention way soft robot.
Fig. 3 is the structural representation of the driving tube of deformable multipurpose of the present invention way soft robot.
Fig. 4 is the motion state diagram one of the driver element of deformable multipurpose of the present invention way soft robot.
Fig. 5 is the motion state diagram two of the driver element of deformable multipurpose of the present invention way soft robot.
Fig. 6 is the motion state diagram three of the driver element of deformable multipurpose of the present invention way soft robot.
Detailed description of the invention
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples for illustration of the present invention, 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, to comprise in round and axial centre place is provided with the elastic shell 1 of cavity, being provided with the skeleton 4 for installing camera 2 and load 3 in described cavity, between the lateral wall of described elastic shell 1 and madial wall, being provided with driver element.
Described driver element comprises the driving tube 6 of some fluid cells 5 and reciprocity quantity, described fluid cell 5 is from beginning to end surrounds round, 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 inside fluid cell 5, described driving tube 6 is connected across on two adjacent fluid cells, be provided with in described driving tube 6 magnetic flow liquid 601, for impel magnetic flow liquid occur " solid-liquid modality " micro-calutron 602 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 the both sides up and down of described cavity respectively.
Described driver element is at least provided with 2 groups, and described driver element is uniform at circumferencial direction centered by described cavity.
Described fluid cell 5, in flats, comprises the middle part of protuberance and two carefully thin coupling ends.
The quantity of described fluid cell 5 has 6 at least.
Magnetic flow liquid is filled with in the driving tube cavity of deformable multipurpose way of the present invention soft robot, under the electromagnetic field effect that micro-calutron produces, magnetic-particle in magnetic flow liquid is magnetized, chain structure is lined up in the direction being extended down to magnetic line of force, 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, the magnetic flow liquid be filled in driving tube cavity is occurred " Gu the conversion of-liquid shape ", due to expansion and the contraction of magnetic flow liquid volume, impel driving tube generation deformation, when deformation occurs driving tube successively, robot of the present invention will be moved, and reach driving object.
As shown in Figures 4 to 6, sports rule of the present invention is as follows: under the controlled electromagnetic field action first produced at micro-calutron, first the driving tube at middle part occurs " Gu the conversion of-liquid shape ", starts to soften, two of its cross-over connection fluid cells can be rotated freely; Then, the driving tube at two ends occurs " liquid-solid shape conversion " under controlled electromagnetic field action, starts sclerosis, two of its cross-over connection fluid cells are moved forward.
Along with the generation of these actions, driver element just can travel forward one and flow somatic length, thus causes the front end outer side wall of elastic shell to overturn, and tail end madial wall flips out, and whole robot is travelled forward.
As shown in Figures 4 to 6, described fluid cell and driving tube are respectively 6, and certainly better carry out stationarity and more smooth-going path of motion to obtain, 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 environment such as earthquake search and rescue, pipe inspection, medical diagnosis and military surveillance, can continuous deformation, obstacle detouring of can creeping on rugged ground, can through the narrow structure less than oneself height.
Certainly, above is only embody rule example of the present invention, does not constitute any limitation protection scope of the present invention.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, all drop within the present invention's scope required for protection.
Claims (5)
1. a deformable multipurpose way soft robot, it is characterized in that: to comprise in round and axial centre place is provided with the elastic shell of cavity, being provided with the skeleton for installing camera and load in described cavity, between the lateral wall of described elastic shell and madial wall, being provided with driver element; Described driver element comprises the driving tube of some fluid cells and reciprocity quantity, described fluid cell is from beginning to end surrounds round, described fluid cell comprises cell membrane and is located at the incompressible fluid in cell membrane, described driving tube is located at fluid intracellular side, described driving tube is connected across on two adjacent fluid cells, be provided with in described driving tube magnetic flow liquid, for impel magnetic flow liquid occur " solid-liquid modality " micro-calutron and for receiving and dispatching command information and controlling the controller of micro-calutron work.
2. deformable multipurpose way according to claim 1 soft robot, it is characterized in that: described driver element is provided with 2 groups, described driver element is located at the both sides up and down of described cavity respectively.
3. deformable multipurpose way according to claim 1 soft robot, it is characterized in that: described driver element is at least provided with 2 groups, described driver element is uniform at circumferencial direction centered by described cavity.
4. the deformable multipurpose way soft robot according to Claims 2 or 3, is characterized in that: described fluid cell is flats, comprises the middle part of protuberance and two carefully thin coupling ends.
5. deformable multipurpose way according to claim 1 soft robot, 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 true CN103434582B (en) | 2015-11-18 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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| DE102015202994A1 (en) * | 2015-02-19 | 2016-08-25 | Ford Global Technologies, Llc | Control of a rear axle frame |
| WO2018130295A1 (en) * | 2017-01-13 | 2018-07-19 | MAX-PLANCK-Gesellschaft zur Förderung der Wissenschaften e.V. | Method of actuating a shape changeable member, shape changeable member and actuating system |
| CN107380290B (en) * | 2017-07-28 | 2019-08-02 | 江苏大学 | A kind of software climbing robot of electromagnetic drive |
| 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 |
| CN108500968B (en) * | 2018-02-26 | 2021-04-30 | 中国矿业大学 | Control method of magnetorheological fluid soft robot |
| CN108724162B (en) * | 2018-04-19 | 2021-06-04 | 中国矿业大学 | Magnetorheological fluid soft robot and magnetorheological fluid soft robot system |
| CN108972510B (en) * | 2018-08-22 | 2022-01-04 | 广州大学 | Soft robot based on ferrofluid drive, mold model and preparation method thereof |
| CN109343475B (en) * | 2018-09-14 | 2024-02-13 | 广州大学 | Amphibious soft robot based on magnetic fluid and motion control method thereof |
| 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 |
| 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 |
| 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 |
| CN110394814A (en) * | 2019-08-29 | 2019-11-01 | 中南大学 | A kind of software walking robot |
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Inventor after: Zhang Huanxi Inventor before: Lin Jiajie |
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Effective date of registration: 20151223 Address after: 100036 Beijing city Haidian District Cuiwei Road No. 2 Building 1 floor 3 No. 3089 hospital Patentee after: Beijing taikoubou Robot Technology Services Ltd. Address before: 315799 Zhejiang city of Ningbo province Xiangshan County dancy Street tannin Road No. 13 Patentee before: Lin Jiajie |
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Effective date of registration: 20201214 Address after: No.7, Yangqiao 4th Road, Xianghe Town, Quanjiao County, Chuzhou City, Anhui Province Patentee after: ANHUI LEDA PRECISION ALLOY CO.,LTD. Address before: Room 3089, 3 / F, building 1, yard 2, Cuiwei Road, Haidian District, Beijing 100036 Patentee before: Beijing taikoubou Robot Technology Services Ltd. |
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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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