CN106002989B - A kind of snakelike soft robot - Google Patents
A kind of snakelike soft robot Download PDFInfo
- Publication number
- CN106002989B CN106002989B CN201610537449.0A CN201610537449A CN106002989B CN 106002989 B CN106002989 B CN 106002989B CN 201610537449 A CN201610537449 A CN 201610537449A CN 106002989 B CN106002989 B CN 106002989B
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- cell cube
- inner space
- wall
- matrix
- motion
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
Abstract
A kind of snakelike soft robot, is made up of motion matrix, dynamical system and signal system；The motion matrix is made up of the paired cell cube in several left and right, and the cell cube is cast for complete soft material is hollow, including the inner space that is surrounded of outer wall and outer wall and the air flue for connecting inner space, and for cell cube in addition to air inlet pipe, inner space is completely gas-tight；The dynamical system mainly includes air pump and magnetic valve, and magnetic valve quantity is consistent with the quantity of cell cube, and the opening and closing of solenoid valve block is controlled by signal system；The present invention is based on bionics principle, by rationally utilizing the special nature of soft material, carries out special structure design to the soft unit module for forming matrix, so as to meet the mechanical requirements advanced tortuously, realizes the forward-reverse and turning motion of soft robot.
Description
Technical field
The present invention relates to soft machine technology field, and in particular to a kind of snakelike soft robot.
Background technology
In recent years, the soft robot for possessing special soft property has attracted the sight of many scientists and engineers.By
Increasingly sophisticated in the environment of robot application, the application caused by the hard component of conventional rigid robot limits also increasingly
The exploration machine of more such as more complicated small space, pipeline spaces, or for human body therapy, recover even with body
Some auxiliary machineries of portion's implantation, because the component for worrying hard causes damage to pipeline, tissue, conventional rigid robot face
Such environment can only be hung back.And soft robot strong adaptability, the characteristics of soft, destructive small of having an effect, are such
Good effect can be then obtained in environment, if being subject to research and development, widely should will be obtained in many fields in the future
With.
Bionics is an ancient and young subject, from research bat and the radar that is born, to research firefly
The cold light lamp of appearance, pair still constantly has new discovery so far with the magical function of nature biotechnology, it can be seen that, the mankind are bionical
Aspect also has far needs to walk.The wriggling movement of class is in occupation of a critical role, snake in current bionic research
Wriggling movement be that a kind of space requirement is small and relatively quick advance form.The theoretical research for it has had very before
It is more, but the snakelike software robot research of wriggling movement is less, and generally require hard follower and realize that tribological anisotropy reaches
The purpose of advance.This is not real complete snakelike software robot.
The content of the invention
Summary soft material feature is bionical with the wriggling movement to snake, and the invention provides one kind to use pure soft material
The new snake-shaped robot of structure, it rationally make use of soft material to be easy to the characteristic of large deformation, and be wriggled by the new of proposition
Movement mechanism, solves above-mentioned snakelike software robot's problem encountered.
Particular technique embodiment of the present invention is as follows：
A kind of snakelike soft robot, it is made up of motion matrix 7, dynamical system 6 and signal system 5；The motion matrix 7
It is made up of the paired cell cube 1 in several left and right, the cell cube 1 is cast for complete soft material is hollow, including outer wall 3 and outer
The inner space 2 and the air flue 4 of connection inner space 2 that wall 3 is surrounded, cell cube 1 is in addition to air inlet pipe, 2 complete gas of inner space
Close；The dynamical system 6 mainly includes air pump and magnetic valve, and magnetic valve quantity is consistent with the quantity of cell cube 1, solenoid valve block
Opening and closing is controlled by signal system 5.
Each cell cube 1 in matrix 7 is moved without tribological anisotropy, i.e., can realize that motion matrix 7 wriggles
Motion is advanced.
Each cell cube 1 in the motion matrix 7 is passed through by the unified energy supply of dynamical system 6 and by signal system 5
Independent or associated solenoid valve control.
The inner space 2 of the cell cube 1 is the several times of the thickness of outer wall 3.
It is special to control that different soft materials are cast into outer wall 3 when the cell cube 1 is by increasing the thickness of outer wall 3 or casting
Different faces rigidity required by motion structure.
4 or 6 inner spaces 2 in each cell cube 1 be present, arranged closely between inner space 2, pass through air flue 4
Penetrated.
The cell cube 1 is divided for upper and lower two parts, separable after inflation, contact point between realization motion matrix 7 and ground
Control.
Cell cube 1 is caused to specify the specified portions bending resistance of outer wall 3 firm using following technology in the casting process of cell cube 1
Degree increase：1st, wall thickness is increased；Using larger silica gel material of hardness etc. when the 2nd, casting.
Each cell cube 1 all should pass through independent or associated solenoid valve control by the coding of single-chip microcomputer in signal system 5.
To ensure the practicality of the snakelike soft robot, its signal system 5 should pass through integrated with reduction with dynamical system 6
Volume and complexity.
Innovative point of the present invention is：
1st, the motion matrix 7 is made up of soft material, had overall soft well without any hard element and structure completely
Property.
2nd, traditional wriggling movement machine is different from, snakelike software robot's advance ability mentioned in the present invention rubs with bottom surface
Property is unrelated, and without bottom surface and ground friction anisotropy.
3rd, for the pneumatic structure of the motion matrix 7 in the present invention, there is provided effective control method.
Brief description of the drawings
Fig. 1 is the snakelike soft robot function structure chart of the present invention.
Fig. 2 is motion matrix, Unit agent structure schematic diagram.
Fig. 3 is cell cube horizontal stroke, longitudinal section inflation schematic diagram.
Fig. 4 is wriggling movement mechanics principle schematic diagram.
Embodiment
Operation principle of the present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings：
As depicted in figs. 1 and 2, a kind of snakelike soft robot of the present invention, by motion matrix 7, dynamical system 6 and signal system
The composition of system 5；The motion matrix 7 is made up of the paired cell cube 1 in several left and right, and the cell cube 1 is in complete soft material
Sky is cast, including the inner space 2 that is surrounded of outer wall 3 and outer wall 3 and the air flue 4 for connecting inner space 2, cell cube 1 remove into
Outside tracheae, inner space 2 is completely gas-tight.
Invention operation principle is as follows：
Cell cube 1 in the arrangement in moving matrix as shown in Fig. 2 internal volume 2 inflate after each section change such as
Shown in Fig. 3, the cell cube of symmetry arrangement always only has side inflation in motion process, now between each inner space of cell cube
Because the extruding of inflation can cause the big part of axis modulus of elasticity that reverse bending occurs.In addition, by being filled with gas
The control of pressure size may decide that the bending size that the part of motion matrix occurs, so as to reach the basic of wriggling movement
Morphological requirements.
It can be seen that, in wriggling movement, moved from the article illustrated on wriggling movement mechanics principle that can be found
Each main node of matrix and the optimum contact relation of moving surface are as shown in Figure 4.In motion, bending is appeared in due to moving instantaneous A
Sections inner side, therefore it is speed maximum point to be relatively distant from the instantaneous outside, the friction on these parts and ground is wriggling movement
The major impetus source of advance, in addition, the less part of the satisfactory speed of curved interior relative motion and straight unpowered portion
Point now then become the main source of advance resistance with the friction on ground, so when lift these parts as far as possible and can effectively carry
The speed of high forward travel.
According to above-mentioned principle analysis, it (is whole fortune in inflation that cell cube 1, which is divided for upper and lower two parts, each section,
The bent portion of kinetoplast) inner space 2 expand mutually extruding its outer side bottom surface can then be pushed, lift inboard portion to reach
Effect.
In summary, concrete operations of the invention are：The each trifle for moving matrix 7 is filled with having certain rule
Gas, and left and right cell cube 1 replaces, you can reach the effect of wriggling movement.
Claims (4)
- A kind of 1. snakelike soft robot, it is characterised in that：By motion matrix (7), dynamical system (6) and signal system (5) group Into；The motion matrix (7) is made up of the paired cell cube in several left and right (1), and the cell cube (1) is in complete soft material Sky is cast, including the inner space (2) that is surrounded of outer wall (3) and outer wall (3) and connects the air flue (4) of inner space (2), single For first body (1) in addition to air inlet pipe, inner space (2) are completely gas-tight；The dynamical system (6) mainly includes air pump and magnetic valve, electricity Magnet valve quantity is consistent with the quantity of cell cube (1), and the opening and closing of solenoid valve block is controlled by signal system (5)；Each cell cube (1) in matrix (7) is moved without tribological anisotropy, i.e., can realize that motion matrix (7) is wriggled Yan motions are advanced；4 or 6 inner spaces (2) be present in each cell cube (1), arranged closely between inner space (2), pass through air flue (4) penetrated；The cell cube (1) is divided into two parts up and down, is separated after inflation, realizes motion matrix (7) contact point between ground Control.
- A kind of 2. snakelike soft robot according to claim 1, it is characterised in that：Move each institute in matrix (7) Cell cube (1) is stated by the unified energy supply of dynamical system (6) and independent or associated solenoid valve control is passed through by signal system (5).
- A kind of 3. snakelike soft robot according to claim 1, it is characterised in that：The inner space (2) of cell cube (1) For the several times of outer wall (3) thickness.
- A kind of 4. snakelike soft robot according to claim 1, it is characterised in that：Cell cube (1) is by increasing outer wall (3) thickness or the big different soft materials of hardness are cast into outer wall (3) during casting to control required by peculair motion structure not Coplanar rigidity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610537449.0A CN106002989B (en) | 2016-07-05 | 2016-07-05 | A kind of snakelike soft robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610537449.0A CN106002989B (en) | 2016-07-05 | 2016-07-05 | A kind of snakelike soft robot |
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| Publication Number | Publication Date |
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| CN106002989A CN106002989A (en) | 2016-10-12 |
| CN106002989B true CN106002989B (en) | 2018-03-06 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106903681A (en) * | 2017-03-28 | 2017-06-30 | 徐州乐泰机电科技有限公司 | A kind of soft robot |
| CN107214687B (en) * | 2017-07-25 | 2021-04-20 | 江苏大学 | Thermal deformation cavity driven crawling soft robot |
| CN107717998B (en) * | 2017-08-23 | 2020-01-24 | 江苏大学 | Pneumatic soft rolling robot |
| CN108481305B (en) * | 2018-01-16 | 2020-07-31 | 江苏大学 | Electromagnetic drive's imitative snakelike software robot |
| 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 |
| CN109732646B (en) * | 2019-01-18 | 2020-09-18 | 哈尔滨工业大学 | Camera carrying movement device and method based on rope winding of torsion spring device |
| 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 |
| 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 |
| CN114274133B (en) * | 2021-12-23 | 2022-10-18 | 浙江水利水电学院 | Pneumatic bionic snake-shaped flexible robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE19833340A1 (en) * | 1998-07-24 | 2000-02-10 | Karlsruhe Forschzent | Worm-shaped working mechanism |
| EP1190819B1 (en) * | 2000-03-28 | 2004-10-13 | Seiko Epson Corporation | Pump-integrated flexible actuator |
| DE50307017D1 (en) * | 2002-03-04 | 2007-05-24 | Prospective Concepts Ag | PNEUMATIC ACTUATOR |
| CN101402201B (en) * | 2008-11-03 | 2010-08-11 | 浙江工业大学 | Side-sway joint based on pneumatic flexible driver |
| US9464642B2 (en) * | 2010-11-19 | 2016-10-11 | President And Fellows Of Harvard College | Soft robotic actuators |
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