CN104924305A - Deformable flexible spherical modular robot - Google Patents
Deformable flexible spherical modular robot Download PDFInfo
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- CN104924305A CN104924305A CN201510348665.6A CN201510348665A CN104924305A CN 104924305 A CN104924305 A CN 104924305A CN 201510348665 A CN201510348665 A CN 201510348665A CN 104924305 A CN104924305 A CN 104924305A
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Abstract
The invention provides a deformable flexible spherical modular robot. The deformable flexible spherical modular robot comprises a first spherical flexible module, a second spherical flexible module, a third spherical flexible module, detachable connecting modules, a first electromagnet, a second electromagnet, relays, electromagnetic valves, an air pipe connector, an air pump, a control system and a power supply, wherein the first spherical flexible module, the second spherical flexible module and the third spherical flexible module are connected into a whole through the detachable connecting modules to serve as the body of the robot, the first electromagnet is arranged below the first spherical flexible module, and the second electromagnet is arranged below the third spherical flexible module; the electromagnets are connected with the relays, the electromagnetic valves are connected with the first spherical flexible module, the second spherical flexible module and the third spherical flexible module through air pipes, the electromagnetic valves are connected with the air pump through the air pipe connector, and the air pump is connected with the power supply; the electromagnetic valves are connected with the relays, the relays are connected with the control system, and the control system is connected with the power supply. According to the robot, the flexible robot moves forwards and backwards by means of the caterpillar crawling principle.
Description
Technical field
What the present invention relates to is a kind of modular robot being applied to rescue, detection, specifically a kind of deformable, dismountable modularization soft robot.
Background technology
Robot is a kind of installations that can automatically perform work.Immediately mankind commander can be received; Also the program by writing in advance, the technical indicator specified according to the mankind and action principle autonomous operation.The research of current robot emerges in an endless stream, but robot common is at present nearly all rigidity, and own dimensions can not change, and rigid machine people has movement velocity fast, running precision high, and drives relatively simple.
Along with expanding economy, the loss that various geological disaster brings to the mankind is increasing, and all kinds of robot has played irreplaceable effect in rescue disaster relief process.But due to the Unpredictability of various landform.And traditional rigid machine people is by the impact of self-condition, range of movement is limited, and adaptive capacity to environment is poor.Soft robot is made up of flexible material due to itself, can bear larger strain.Self size can be changed according to complex environment, arrive the environment that rigid machine people can not arrive, complete the work that conventional rigid robot can not complete.Disclosed soft robot can only realize specific simple motion at present.Drive efficiency is lower.
Chinese patent application CN201110354601.9 discloses " a kind of full skin turning moving soft-bodied robot ", and this mechanism comprises annular column software matrix, control loop, and control unit forms.This soft robot compliant motion produces contractile motion by End-Management ring, and due to the constancy of volume of matrix own, matrix head is extended forward, end appearance skin is converted to inner skin.Head inner skin is converted to appearance skin.Percutaneous upset realizes the forward travel of robot.This robot is made up of fexible film skin and body fluid due to matrix, and structure is comparatively complicated.Produce driving force sport efficiency by extruding comparatively low, application prospect is wideless.
Summary of the invention
For the defect of existing robot, the object of this invention is to provide and a kind ofly can realize forward travel in narrow environment and structure is detachable, the soft robot of assembling, described robot has used for reference the principle of creeping of caterpillar, detachable module is adopted to connect between ball-type flexible module, ball-type flexible module and electromagnet link together, coordinated by the switch inflation/deflation of electromagnet and the break-make of electromagnet, the forward-reverse motion of soft robot can be realized.
To achieve these goals, the technical scheme that the present invention takes is:
The invention provides a kind of deformable soft ball type modular robot, comprise: at least three ball-type flexible modules, the module that removably connects, the first electromagnet, the second electromagnet, relay, magnetic valve, gas-tpe fitting, air pump, control system and power supplys, wherein: three ball-type flexible modules are respectively integral by the model calling that removably connects between the first ball-type flexible module, the second ball-type flexible module, the 3rd ball-type flexible module, as robot torso portion; First electromagnet is arranged at the below of the first ball-type flexible module; Second electromagnet is arranged at the below of the 3rd ball-type flexible module; First, second electromagnet is connected with relay respectively; Magnetic valve is connected with first, second, third ball-type flexible module by tracheae; Magnetic valve is connected with air pump by gas-tpe fitting, and air pump is connected with power supply, and magnetic valve is connected with relay simultaneously, and relay is connected with control system; Control system is connected with power supply; Control system, for exporting control signal, controls the electric current of make-and-break of electromagnet by control relay, and control system to control the break-make of air-flow by Controlling solenoid valve simultaneously.
Preferably, described magnetic valve is seven, wherein: six magnetic valves, two components become three groups, often organizing two magnetic valves adopts the mode of series connection to be connected by conduit, three groups of magnetic valves adopt parallel way to be connected by conduit with three ball-type flexible modules respectively, and three groups of magnetic valve parallel connections are simultaneously connected with air pump by gas-tpe fitting; Another one magnetic valve is also connected with air pump by gas-tpe fitting with three groups of magnetic valve parallel connections.
More preferably, described gas-tpe fitting is connected by conduit with air pump.
Preferably, described in removably connect module by son, female two module compositions, wherein: submodule is made up of the fiber of softness, female module is made up of the seta of hard buckle.
Preferably, described first ball-type flexible module and the first electromagnet bonds together, the 3rd ball-type flexible module and the second electromagnet bond together, first electromagnet is positioned at below the first ball-type flexible module, and the second electromagnet is positioned at below the 3rd ball-type flexible module.
Preferably, described electromagnet is connected with relay respectively by conductor in parallel.
Preferably, described magnetic valve is connected with relay respectively by conductor in parallel.
Compared with existing robot, the present invention achieves following beneficial effect:
Matrix of the present invention adopts elastic film as matrix host structure, primarily of three ball-type flexible module compositions, by changing own dimensions structure and shape, adapts to narrow working environment; Installing electromagnet additional bottom ball-type flexible module, having made ball-type module produce moderate finite deformation to coordinate with the power on/off of electromagnet and impel robot to travel forward by controlling air-flow; Adopt the module that removably connects between each ball-type flexible module of robot, facilitate fault detect and the maintenance of robot.The positive drive structure that tooth bar, gear, band and bearing etc. are complicated is eliminated compared with conventional rigid robot, not only alleviate the weight of robot, and making robot architecture more simply and not fragile, the change according to robot geomery can pass through the working space less than own dimensions.
Accompanying drawing explanation
Be more prone to for making content of the present invention be understood more clearly and be familiar with, by accompanying drawing, the present invention will be further explained:
Fig. 1 is the structural representation of one embodiment of the invention robot;
In figure: wire 1, conduit 2, magnetic valve 3,4,5,6,7,8,9, ball-type flexible module 19,20,21, electromagnet 22,23, relay 10,11,12,13,14,15,16,17,18, control system 24, air pump 25, power supply 27, removably connect module 28, gas-tpe fitting 26.
Specific embodiments
Below in conjunction with concrete concrete instance, the present invention is explained in detail.It should be pointed out that to one skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
As shown in Figure 1, the present embodiment provides a kind of deformable soft ball type modular robot, and described robot comprises: wire 1, conduit 2, magnetic valve 3,4,5,6,7,8,9, ball-type flexible module 19,20,21, electromagnet 22,23, relay 10,11,12,13,14,15,16,17,18, control system 24, air pump 25, power supply 27, removably connect module 28, gas-tpe fitting 26; Wherein:
Using three ball-type flexible modules 19,20,21 as robot torso portion;
Electromagnet 22,23 is separately positioned on the below of ball-type flexible module 19,21; Electromagnet 22 is connected by wire 1 with relay 11; Electromagnet 23 is connected by wire 1 with relay 10;
Magnetic valve 3 is connected by conduit 2 with ball-type flexible module 19, and magnetic valve 3 is connected by wire 1 with relay 12;
Magnetic valve 4 is connected by conduit 2 with ball-type flexible module 20, and magnetic valve 4 is connected by wire 1 with relay 13;
Magnetic valve 5 is connected by conduit 2 with ball-type flexible module 21, and magnetic valve 5 is connected by wire 1 with relay 14;
Magnetic valve 6 is connected with air pump 25 by gas-tpe fitting 26, and magnetic valve 6 is connected by wire 1 with relay 15;
Magnetic valve 7 is connected with air pump 25 by gas-tpe fitting 26, and magnetic valve 7 is connected by wire 1 with relay 16;
Magnetic valve 8 is connected with air pump 25 by gas-tpe fitting 26, and magnetic valve 8 is connected by wire 1 with relay 17;
Magnetic valve 9 is connected with air pump 25 by gas-tpe fitting 26; Magnetic valve 9 is connected by wire 1 with relay 18;
Gas-tpe fitting 26 is connected by conduit 2 with air pump 25;
Air pump 25 is connected by wire 1 with power supply 27;
Relay 10,11,12,13,14,15,16,17,18 is connected with control system 24 respectively by wire 1;
Control system 24 is connected by wire 1 with power supply 27; Control system 24 is for exporting control signal, the electric current of make-and-break of electromagnet 22,23 is controlled by control relay 10,11, control system 24 controls the break-make of air-flow by relay 12,13,14,15,16,17,18 Controlling solenoid valve 3,4,5,6,7,8,9 simultaneously, and whole system is inflated by air pump 25.
As one preferred embodiment, connected by detachable module 28 between the first described ball-type flexible module 19, second ball-type flexible module 20, the 3rd ball-type flexible module 21, thus ensure that the first ball-type flexible module 19, second ball-type flexible module 20, the 3rd ball-type flexible module 21 are detachable, assembling and be in same straight line.
As one preferred embodiment, described electromagnet 22,23 is connected with relay 11,12 respectively respectively by wire 1 parallel connection.
As one preferred embodiment, described magnetic valve 3, 4, 5, 6, 7, 8, in 9: magnetic valve 3, 4, 5, 6, 7, 8 form jet system, magnetic valve 9 forms gas extraction system, magnetic valve 3 and magnetic valve 6 one groups, magnetic valve 4 and magnetic valve 7 one groups, magnetic valve 5 and magnetic valve 8 one groups form three groups altogether, first group of magnetic valve 3, 6 adopt series system to be connected by conduit 2, second group of magnetic valve 4, 7 adopt series system to be connected by conduit 2, 3rd group of magnetic valve 5, 8 adopt series system to be connected by conduit 2, first group of magnetic valve adopts parallel way to be connected by conduit 2 with the first flexible ball pattern block 19, second group of magnetic valve adopts parallel way to be connected by conduit 2 with the second flexible ball pattern block 20, 3rd group of magnetic valve adopts parallel way to be connected by conduit 2 with the 3rd flexible ball pattern block 21, magnetic valve 6 is connected with relay 15, and magnetic valve 7 is connected with relay 16, and magnetic valve 8 is connected with relay 17, and magnetic valve 9 is connected with relay 18.
As one preferred embodiment, the described module 28 that removably connects is made up of primary and secondary two parts, and a part is made up of the fiber of small, flexible, and another part is made up of the seta compared with stiff ribbon hook.
As one preferred embodiment, the first described ball-type flexible module 19, second ball-type flexible module 20, to be connected respectively by a conduit 2 between the 3rd ball-type flexible module 21 with magnetic valve 3,4,5, three conduits 2 adopt parallel way.
As one preferred embodiment, described magnetic valve 6 is connected with gas-tpe fitting 26 by tracheae 2, magnetic valve 7 is connected with gas-tpe fitting 26 by tracheae 2, magnetic valve 8 is connected with gas-tpe fitting 26 by tracheae 2, magnetic valve 9 is connected with gas-tpe fitting 26 by tracheae 2, and gas-tpe fitting 26 is connected with air pump 25.
As one preferred embodiment, the first described ball-type flexible module 19 bonds together with electromagnet 22, and electromagnet 22 is positioned at the below of the first ball-type flexible module 19; The 3rd described ball-type flexible module 21 bonds together with electromagnet 23, and electromagnet 23 is positioned at the below of the 3rd ball-type flexible module 21.
The present embodiment has used for reference the principle of creeping of caterpillar, and matrix adopts elastic film as matrix host structure, primarily of three ball-type flexible module compositions, by changing own dimensions structure and shape, adapts to narrow working environment.Electromagnet has been installed additional bottom ball-type flexible module.Detachable module is adopted to connect between each ball-type flexible module.Make ball-type flexible module produce moderate finite deformation to coordinate with the power on/off of electromagnet and impel robot to travel forward by controlling air-flow.The positive drive structure that tooth bar, gear, band and bearing etc. are complicated is eliminated compared with conventional rigid robot.Not only alleviate the weight of robot, and make robot architecture more simply and not fragile, the change according to robot geomery can pass through the working space less than own dimensions.Detachable module is adopted to connect between each ball-type flexible module of robot.Facilitate fault detect and the maintenance of robot.
In other embodiments, ball-type flexible module of the present invention also can be more than three, concrete principle and structure and above-mentioned three ball-type flexible modules similar, those skilled in the art can understand completely, are not repeated at this.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (10)
1. a deformable soft ball type modular robot, it is characterized in that, comprise: at least three ball-type flexible modules, the module that removably connects, the first electromagnet, the second electromagnet, relay, magnetic valve, gas-tpe fitting, air pump, control system and power supplys, wherein: three ball-type flexible modules are respectively integral by the model calling that removably connects between the first ball-type flexible module, the second ball-type flexible module, the 3rd ball-type flexible module, as robot torso portion; First electromagnet is arranged at the below of the first ball-type flexible module; Second electromagnet is arranged at the below of the 3rd ball-type flexible module; First, second electromagnet is connected with relay respectively; Magnetic valve is connected with first, second, third ball-type flexible module by tracheae; Magnetic valve is connected with air pump by gas-tpe fitting, and air pump is connected with power supply, and magnetic valve is connected with relay simultaneously, and relay is connected with control system; Control system is connected with power supply, and control system, for exporting control signal, controls the electric current of make-and-break of electromagnet by control relay, and control system to control the break-make of air-flow by Controlling solenoid valve simultaneously.
2. a kind of deformable soft ball type modular robot according to claim 1, it is characterized in that, described magnetic valve is seven, wherein: six magnetic valves, two components become three groups, often organizing two magnetic valves adopts the mode of series connection to be connected by conduit, three groups of magnetic valves adopt parallel way to be connected by conduit with three ball-type flexible modules respectively, and three groups of magnetic valve parallel connections are simultaneously connected with air pump by gas-tpe fitting; Another one magnetic valve is also connected with air pump by gas-tpe fitting with three groups of magnetic valve parallel connections.
3. a kind of deformable soft ball type modular robot according to claim 2, it is characterized in that, described gas-tpe fitting is connected by conduit with air pump.
4. a kind of deformable soft ball type modular robot according to claim 1, is characterized in that, described in removably connect module by son, female two module compositions, wherein: submodule is made up of the fiber of softness, female module is made up of the seta of hard buckle.
5. a kind of deformable soft ball type modular robot according to claim 1, it is characterized in that, described first ball-type flexible module and the first electromagnet bonds together, the 3rd ball-type flexible module and the second electromagnet bond together, first electromagnet is positioned at below the first ball-type flexible module, and the second electromagnet is positioned at below the 3rd ball-type flexible module.
6. a kind of deformable soft ball type modular robot according to any one of claim 1-5, it is characterized in that, described electromagnet is connected with relay respectively by conductor in parallel.
7. a kind of deformable soft ball type modular robot according to any one of claim 1-5, it is characterized in that, described magnetic valve is connected with relay respectively by conductor in parallel.
8. a kind of deformable soft ball type modular robot according to any one of claim 1-5, it is characterized in that, described air pump is connected by wire with between power supply.
9. a kind of deformable soft ball type modular robot according to any one of claim 1-5, it is characterized in that, described relay is connected by wire with between control system.
10. a kind of deformable soft ball type modular robot according to any one of claim 1-5, it is characterized in that, described control system is connected by wire with between power supply.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510348665.6A CN104924305B (en) | 2015-06-19 | 2015-06-19 | Deformable soft ball type modular robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510348665.6A CN104924305B (en) | 2015-06-19 | 2015-06-19 | Deformable soft ball type modular robot |
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| CN104924305A true CN104924305A (en) | 2015-09-23 |
| CN104924305B CN104924305B (en) | 2018-07-06 |
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| CN201510348665.6A Active CN104924305B (en) | 2015-06-19 | 2015-06-19 | Deformable soft ball type modular robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111692457A (en) * | 2020-06-11 | 2020-09-22 | 东华大学 | Worm-imitating pneumatic pipeline soft robot with fabric skin and paper folding skeleton |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111692457A (en) * | 2020-06-11 | 2020-09-22 | 东华大学 | Worm-imitating pneumatic pipeline soft robot with fabric skin and paper folding skeleton |
| CN111692457B (en) * | 2020-06-11 | 2021-10-01 | 东华大学 | Worm-imitating pneumatic pipeline soft robot with fabric skin and paper folding skeleton |
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| Publication number | Publication date |
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| CN104924305B (en) | 2018-07-06 |
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