CN106945012B - Bionic soft robot capable of autonomously detecting motion pose - Google Patents
Bionic soft robot capable of autonomously detecting motion pose Download PDFInfo
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- CN106945012B CN106945012B CN201710232443.7A CN201710232443A CN106945012B CN 106945012 B CN106945012 B CN 106945012B CN 201710232443 A CN201710232443 A CN 201710232443A CN 106945012 B CN106945012 B CN 106945012B
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 24
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 64
- 239000010959 steel Substances 0.000 claims abstract description 64
- 238000001514 detection method Methods 0.000 claims abstract description 8
- 239000011159 matrix material Substances 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 3
- 238000011160 research Methods 0.000 description 5
- 238000005452 bending Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000013178 mathematical model Methods 0.000 description 2
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- 241001465754 Metazoa Species 0.000 description 1
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- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 229920001971 elastomer Polymers 0.000 description 1
- 229920001746 electroactive polymer Polymers 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
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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
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
Abstract
A bionic soft robot capable of autonomously detecting motion pose comprises a main body part and a base body part, wherein the rear end of the main body part is connected with the front end of the base body part, and the main body part comprises an elastic main body, a steel wire, a first steel wire channel cavity and a gas driving cavity; the base portion includes a base and a tracheal passage cavity; the bionic soft robot further comprises a motion pose detection assembly, wherein the motion pose detection assembly comprises a permanent magnet and a Hall element which are matched with each other, and the rear end of the steel wire is connected with a permanent magnet; the first steel wire channel cavity is communicated with the Hall element placing cavity and is positioned on the same central straight line; the Hall element is positioned in the Hall element placing cavity, and the Hall element and the magnet are arranged in a non-contact type opposite mode and are spaced from each other. The bionic soft robot capable of automatically detecting the motion pose has the advantages of real-time feedback of the pose and good control precision.
Description
Technical Field
The invention relates to the field of robots, in particular to a bionic soft robot.
Background
In recent years, soft robots have become an emerging and promising research direction in the robot field. The conventional rigid robots are widely used in the industrial field due to the characteristics of high rigidity, high precision and high speed, however, when numerous scientific researches and technicians make great efforts to extend the application of the rigid robots from industrial production lines to other fields (such as household services, old and disabled aids, agricultural automation, medical rehabilitation and the like), the high rigidity, high strength and high precision of the rigid robots become defects which lead to incapacitation of the rigid robots when the rigid robots which are seriously dependent on structural environments and accurate mathematical models interact with complex and changeable objects which are difficult to describe by the accurate mathematical models in the non-structural complex environments. Under such circumstances, soft robot researches are gradually rising, and researchers and engineering technicians research and develop novel robot structures without or with little rigid mechanism by means of intelligent materials (such as silicone rubber, shape memory alloy SMA, electroactive polymer EPA and the like) and novel driving technologies (such as SMA, pneumatic, magneto-rheological, EPA and the like), and the soft robots generally have sufficient flexibility, adaptability, super redundancy or infinite freedom degree, and even can arbitrarily change the shape and size of the soft robots to adapt to the environment and the targets.
The design inspiration of the bionic soft robot is derived from various organisms in the nature, namely, the structural characteristics and the working mechanism of a certain animal or limbs thereof are researched, and the corresponding bionic soft robot is developed based on the structural characteristics and the working mechanism, such as a snake-shaped robot, a trunk robot, an octopus robot, an earthworm robot, a starfish robot, a simulated caterpillar robot, a ruler robot and the like.
Regarding the bionic soft robot, chinese patent application No. 201410406336.8 discloses an active variable-rigidity long-arm bionic soft robot studied by Zhejiang industrial university, wherein a soft robot body consists of a base joint and a tail joint, the base joint is provided with 3 side driving cavities and 1 center driving cavity, two ends of each driving cavity are closed, constraint springs are embedded in the inner wall and the outer wall of each driving cavity, and high-pressure gas is input through a vent pipe to drive the robot to extend or bend; the Chinese patent application No. 201510504288.0 discloses a motion and rigidity independent controllable soft robot of Zhejiang university, which uses a central cavity to be filled with different air pressures to independently control the rigidity of the soft robot, and a motor controls a rope positioned in a side driving cavity to bend the robot; the Chinese patent application No. 201620103236.2 discloses a serial-parallel fusion pseudopodia soft robot of Zhejiang university, wherein a base section, a front end cover and a rear end cover are all provided with a plurality of air cavities, and the front and rear motions of the robot are realized by controlling different air pressure filled in the air cavities, so that the robot has the characteristics of multiple angles, multiple postures and good motion adaptability.
The above-mentioned several soft robots can well implement the operations to be performed, but lack the pose self-feedback capability. Pose self-feedback is a very important part for robots, but most of the existing soft robots at present do not have pose feedback capability in view of the specificity of the soft robots.
Disclosure of Invention
In order to overcome the defects that the existing soft robot cannot feed back the pose and has poor control precision, the invention provides the bionic soft robot which feeds back the pose in real time and has good control precision and can autonomously detect the motion pose.
The technical scheme adopted for solving the technical problems is as follows:
a bionic soft robot capable of autonomously detecting motion pose comprises a main body part and a base body part, wherein the rear end of the main body part is connected with the front end of the base body part, and the main body part comprises an elastic main body, a steel wire, a first steel wire channel cavity and a gas driving cavity; the elastic main body is provided with a gas driving cavity and a first steel wire channel cavity; the front end of the gas driving cavity is closed, and the rear end of the gas driving cavity is communicated with the corresponding matrix breather pipe cavity; the steel wire is positioned in the middle of the first steel wire channel cavity, and the front end of the steel wire is fixed; the base body part comprises a base body and a vent pipe cavity, the base body is provided with the vent pipe cavity, and the gas pipe is communicated with the gas driving cavity through the vent pipe cavity;
the bionic soft robot further comprises a motion pose detection assembly, wherein the motion pose detection assembly comprises a permanent magnet and a Hall element which are matched with each other, and the rear end of the steel wire is connected with a permanent magnet; the first steel wire channel cavity is communicated with the Hall element placing cavity and is positioned on the same central straight line; the Hall element is positioned in the Hall element placing cavity, and the Hall element and the magnet are arranged in a non-contact type opposite mode and are spaced from each other.
Further, a second steel wire channel cavity and a magnet placing cavity are arranged in the matrix, the second steel wire channel cavity is connected with the first steel wire channel cavity, and the first steel wire channel cavity, the second steel wire channel cavity, the magnet placing cavity and the Hall element placing cavity are communicated and positioned on the same central straight line; the rear end of the steel wire penetrates through the second steel wire channel cavity, the permanent magnet is located in the magnet placing cavity, and the Hall element placing cavity is located in the rear of the magnet placing cavity.
Still further, the elastic body is cylindrical, and the base body is cylindrical. This is an alternative, but of course the elastic body may be of other shape and the base may be of other shape, set according to the circumstances of the different soft robots.
Still further, the gas drive chamber includes a center drive chamber and side drive chambers; the middle part of the elastic main body is provided with a central driving cavity, and at least three side driving cavities are arranged on one circle of the elastic main body outside the central driving cavity at equal circular arc intervals; the front ends of the central driving cavity and the side driving cavities are closed, and the rear ends of the central driving cavity and the side driving cavities are communicated with corresponding matrix breather pipe cavities; the first steel wire channel cavities are positioned between every two adjacent side driving cavities at equal intervals; the center and the periphery of the basal body are uniformly provided with vent pipe cavities, and the air pipe is communicated with the center driving cavity and the side driving cavity through the vent pipe cavities;
preferably: the elastic body is provided with three side driving cavities and three first steel wire channel cavities, the base body is provided with three Hall element placing cavities and four vent pipe cavities, and the four vent pipe cavities are respectively communicated with the center driving cavity and the side driving cavities.
The technical conception of the invention is as follows: the motion of the soft robot is controlled by air pressure, and the soft robot is mainly made of rubber materials and has good ductility and flexibility. The inside of the soft robot is provided with a gas driving cavity and a steel wire channel cavity, and the gas driving cavity is used for flushing gas to generate pressure difference so as to control the bending and the extension of the soft robot; if the soft robot stretches and bends, the magnet fixed on the steel wire and the Hall element are caused to move relatively, so that the magnetic field intensity of the magnet relative to the Hall element is changed, and the Hall element outputs different voltages, and therefore the deformation condition of the soft robot can be sensed by the method.
The invention provides an active variable-rigidity bionic soft robot structure capable of inducing bending deformation, which is a new exploration of soft robot research and is expected to solve the problem that the existing long-arm soft robot cannot feed back the pose condition of the robot.
The beneficial effects of the invention are mainly shown in the following steps: the soft robot has good flexibility and bendability, can effectively grasp target objects with different structural shapes, senses the deformation degree of the soft robot while executing actions, and feeds back the deformation condition of the soft robot in real time.
Drawings
FIG. 1 is a diagram of the elastic body structure of a bionic soft robot capable of autonomously detecting a motion pose.
FIG. 2 is a partial cross-sectional view of a base portion structure of a biomimetic soft robot capable of autonomously detecting a motion pose.
Fig. 3 is a structural cross-sectional view of a bionic soft robot capable of autonomously detecting a motion pose.
Fig. 4 is a natural state diagram of a bionic soft robot capable of autonomously detecting a motion pose.
Fig. 5 is a diagram showing a bending state of a bionic soft robot capable of autonomously detecting a motion pose.
In the figure, 1, an elastic main body, 2, a first steel wire channel cavity, 3, a central driving cavity, 4, a side driving cavity, 5, steel wires, 6, a permanent magnet, 7, a Hall element, 8, an air pipe, 9, a base body, 10, an air pipe channel cavity, 11, a second steel wire channel cavity, 12, a magnet placing cavity and 13, a Hall element placing cavity.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Referring to fig. 1 to 5, a bionic soft robot capable of autonomously detecting a motion pose comprises a main body part and a base body part, wherein the rear end of the main body part is connected with the front end of the base body part, and the main body part comprises an elastic main body 1, a steel wire 5, a first steel wire channel cavity 2 and a gas driving cavity; the elastic body 1 is provided with a gas driving cavity and a first steel wire channel cavity 2; the front end of the gas driving cavity is closed, and the rear end of the gas driving cavity is communicated with the corresponding matrix breather pipe cavity; the steel wire 5 is positioned in the middle of the first steel wire channel cavity 2, and the front end of the steel wire 5 is fixed; the base part comprises a base 9 and an air pipe channel cavity 10, wherein the base 9 is provided with the air pipe channel cavity 10, and the air pipe 8 is communicated with the air driving cavity through the air pipe channel cavity 10;
the bionic soft robot further comprises a motion pose detection assembly, wherein the motion pose detection assembly comprises a permanent magnet 6 and a Hall element 7 which are matched with each other, and the rear end of the steel wire 5 is connected with the permanent magnet 6; a Hall element placing cavity 13 is arranged in the matrix 9, and the first steel wire channel cavity 2 is communicated with the Hall element placing cavity 13 and is positioned on the same central straight line; the Hall element 7 is positioned in the Hall element placing cavity 13, and the Hall element 7 and the magnet 6 are arranged in a non-contact opposite mode and leave a space between each other.
Further, a second wire channel cavity 11 and a magnet placing cavity 12 are arranged in the base body 9, the second wire channel cavity 11 is connected with the first wire channel cavity 2, and the first wire channel cavity 2, the second wire channel cavity 11, the magnet placing cavity 12 and the Hall element placing cavity 13 are communicated and positioned on the same central straight line; the rear end of the steel wire passes through the second steel wire channel cavity, the permanent magnet 6 is positioned in the magnet placing cavity 12, and the Hall element placing cavity 13 is positioned behind the magnet placing cavity 12.
Still further, the elastic body 1 has a cylindrical shape, and the base 9 has a cylindrical shape. This is an alternative, but of course the elastic body may be of other shape and the base may be of other shape, set according to the circumstances of the different soft robots.
The bionic soft robot comprises a base body and a main body, wherein the upper part of the base body is connected with the lower part of the main body, and the main body comprises an elastic main body 1, a steel wire 5, a first steel wire channel cavity, a central driving cavity 3 and a side driving cavity 4; the elastic body is cylindrical, a central driving cavity 3 is arranged in the middle of the elastic body, and at least three side driving cavities 4 which are similar to a trapezoid are arranged on one circle of the elastic body outside the central driving cavity 3 at equal circular arc intervals; the upper ends of the central driving cavity 3 and the side driving cavities 4 are closed, and the lower ends of the central driving cavity and the side driving cavities are communicated with corresponding base joint vent cavities; the number of the steel wire channel cavities 2 is three, and the steel wire channel cavities are positioned among the three side driving cavities 4 at equal intervals; the steel wire 5 is positioned in the middle of each steel wire channel cavity 2, the upper end of the steel wire 5 is fixed, and the lower end of the steel wire 5 is connected with a permanent magnet 6.
The base body 9 comprises a steel wire channel cavity 2, a magnet placing cavity 12, an air channel cavity 10 and a Hall element placing cavity 13, the base body 9 is cylindrical, the center of the base body 9 is provided with the air channel cavity 10, the periphery of the base body 9 is uniformly provided with three air channel cavities 10, the four air channel cavities 10 are respectively in the same straight line with the center lines of the main body center driving cavity 3 and the side driving cavity 4, and the air pipe 8 is communicated with the center driving cavity 3 and the side driving cavity 4 of the elastic main body 1 through the air channel cavities 10; the Hall element placing cavity 13, the magnet placing cavity 12 and the steel wire channel cavity 2 are communicated and are on the same central straight line; the magnet 7 is fixedly connected with the steel wire 5, and the Hall element 7 is not contacted with the magnet 6, so that a certain space is reserved.
Further, the permanent magnet 6 is not necessarily square in shape, but may be any other shape, and here, it is convenient to more clearly show graphically that each component is square. The second wire passage chamber in the base body 9 may be omitted, i.e. the wires 5 do not extend deep into the base body 9, but the permanent magnets 6 are inside the base body 9. The size of the permanent magnet 6 can be determined according to the actual situation, and the soft body can be used for more sensitively sensing the bending of the robot to be optimal.
Furthermore, the soft robots can be connected and combined with each other, so that the soft robots of the patent can be lengthened; the hall element 7 can be connected with an external circuit to output data, and can also be connected with a built-in signal transmitting device, such as a Bluetooth or wifi transmitter, for outputting signals.
In the embodiment, the air of the central driving cavity 3 and the side driving cavity 2 is introduced into the elastic main body 1, and the air pressure is within the bearing range of the material; only the gas is introduced into the central driving cavity 3, so that the soft robot can axially extend; the central driving cavity 3 is not filled with air, the three side driving cavities 2 are filled with different air pressures, and the soft robot bends towards the side driving cavity with small air pressure. If the soft robot is bent, the magnet 6 fixed on the steel wire 5 and the Hall element 7 are caused to move relatively, so that the magnetic field intensity of the magnet 6 relative to the Hall element 7 is changed, and the Hall element 7 outputs different voltages, so that the pose condition of the soft robot can be fed back by the method.
Claims (2)
1. A bionic soft robot capable of autonomously detecting motion pose comprises a main body part and a base body part, wherein the rear end of the main body part is connected with the front end of the base body part, and the main body part comprises an elastic main body, a steel wire, a first steel wire channel cavity and a gas driving cavity; the elastic main body is provided with a gas driving cavity and a first steel wire channel cavity; the front end of the gas driving cavity is closed, and the rear end of the gas driving cavity is communicated with the corresponding matrix breather pipe cavity; the steel wire is positioned in the middle of the first steel wire channel cavity, and the front end of the steel wire is fixed; the base body part comprises a base body and a vent pipe cavity, wherein the base body is provided with a gas pipe channel cavity, and a gas pipe is communicated with the gas driving cavity through the gas pipe channel cavity;
the method is characterized in that: the bionic soft robot further comprises a motion pose detection assembly, wherein the motion pose detection assembly comprises a permanent magnet and a Hall element which are matched with each other, the permanent magnet is square in shape, and the rear end of the steel wire is connected with a permanent magnet; the first steel wire channel cavity is communicated with the Hall element placing cavity and is positioned on the same central straight line; the Hall element is positioned in the Hall element placing cavity, and the Hall element and the magnet are arranged in a non-contact type opposite manner and leave a space between the Hall element and the magnet;
the second steel wire channel cavity is connected with the first steel wire channel cavity, and the first steel wire channel cavity, the second steel wire channel cavity, the magnet placing cavity and the Hall element placing cavity are communicated and positioned on the same central straight line; the rear end of the steel wire passes through the second steel wire channel cavity, the permanent magnet is positioned in the magnet placing cavity, and the Hall element placing cavity is positioned behind the magnet placing cavity;
the elastic body is cylindrical, and the matrix is cylindrical;
the gas driving cavity comprises a center driving cavity and side driving cavities; the middle part of the elastic main body is provided with a central driving cavity, and at least three side driving cavities are arranged on one circle of the elastic main body outside the central driving cavity at equal circular arc intervals; the front ends of the central driving cavity and the side driving cavities are closed, and the rear ends of the central driving cavity and the side driving cavities are communicated with corresponding matrix breather pipe cavities; the first steel wire channel cavities are positioned between every two adjacent side driving cavities at equal intervals; the center and the periphery of the basal body are uniformly distributed with vent pipe cavities, and the air pipe is communicated with the center driving cavity and the side driving cavity through the vent pipe cavities.
2. The bionic soft robot capable of autonomously detecting the motion pose according to claim 1, wherein the elastic main body is provided with three side driving cavities and three first steel wire channel cavities, the base body is provided with three hall element placing cavities and four vent pipe cavities, and the four vent pipe cavities are respectively communicated with the center driving cavity and the side driving cavities.
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| CN201710232443.7A CN106945012B (en) | 2017-04-11 | 2017-04-11 | Bionic soft robot capable of autonomously detecting motion pose |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107498538B (en) * | 2017-08-25 | 2021-02-02 | 哈尔滨工业大学 | Novel self-deformation modular soft robot with high adaptability |
| CN109262591B (en) * | 2018-10-19 | 2021-07-27 | 哈尔滨工业大学 | Software module robot with self-reconfiguration function |
| CN110712198B (en) * | 2019-09-16 | 2020-11-24 | 杭州电子科技大学 | Pre-charging type soft mechanical arm and driving method thereof |
| CN111397773B (en) * | 2019-12-17 | 2021-07-30 | 浙江工业大学 | Flexible fingertip contact sensor and preparation method thereof |
| CN111390900B (en) * | 2020-03-30 | 2021-08-31 | 上海大学 | Simplify pneumatic rolling robot of driven software |
| CN112643713B (en) * | 2020-12-08 | 2022-07-01 | 江苏科技大学 | Robot end effector high-temperature transmission and deformation detection device and method |
| CN112692811A (en) * | 2020-12-22 | 2021-04-23 | 马建勇 | Manipulator capable of setting materials for wall-climbing robot |
| CN113183143B (en) * | 2021-04-23 | 2023-04-18 | 浙江工业大学 | Pipe climbing robot |
| CN114619444B (en) * | 2022-01-17 | 2024-01-26 | 清华大学 | Double-pass SMA spring driven soft robot bending module and control method thereof |
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