CN108263504A - A kind of Pneumatic bionic software climbing robot - Google Patents
A kind of Pneumatic bionic software climbing robot Download PDFInfo
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- CN108263504A CN108263504A CN201810237299.0A CN201810237299A CN108263504A CN 108263504 A CN108263504 A CN 108263504A CN 201810237299 A CN201810237299 A CN 201810237299A CN 108263504 A CN108263504 A CN 108263504A
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- Prior art keywords
- air flue
- actuator
- air
- climbing robot
- chamber
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/38—Constructional aspects of the propulsion means, e.g. towed by cables driven by fluid pressure
Abstract
The invention discloses a kind of Pneumatic bionic software climbing robots, are adhesively fixed by stretching actuator and stage casing connector, stretch actuator lower part and are symmetrically distributed with wedge-shaped foot, bionical foot pad is bonded on wedge-shaped foot.The three road air flues for including closing independently of each other inside actuator body are stretched, is divided into and all comprising several spaced main air chamber and time gas chamber, being interconnected close to the epithelium healing on top and the left air flue of lower part and right air flue, each air flue.On the one hand by the structure design of inner plenum, various movements are realized using air pressure adjustment for bionic soft robot of the present invention；On the other hand the bristle with directionality inclination angle is constructed in material surface, reduces direction of advance friction, increase negative direction earth-grasping force, improve applicability.It is big that robot of the present invention efficiently solves traditional software climbing robot resistance of creeping, and easily slips, and makes complicated, the problem of flexibility is poor.
Description
Technical field
The present invention relates to the technical field of soft robot, more precisely a kind of Novel imitation that can realize multiple movement
Raw soft robot of creeping, and earth-grasping force deficiency in crawling process is solved by the directionality bristle of bionical foot pad, with contact surface
The problems such as easily slipping.
Background technology
At present, the traditional robot based on rigid structure has obtained widely in each fields such as industry, agricultural and medical treatment
Using with development, but still there are the problems such as complicated, flexibility ratio is limited, adaptability is poor.Recently as bionics techniques
With the continuous development of intellectual material, the soft robot research direction new as one has attracted the sight of various countries researcher.By
It is process in soft robot ontology using soft material or flexible material, thus the shape of itself can be changed in tremendous range
With size, adapt to different plus loads and hindered with environment；Narrow gap and hole are passed through by the modes such as squeezing, shrinking,
Various rugged, irregular complex environments are adapted to, have the characteristics that movement is flexible and changeable, therefore, in industry, military affairs, medical treatment, are rescued
Helping the fields of grade has huge application and development prospect.
Invention content
Present patent application proposes one by the bionics fiber to worm movement and the hangnail surface of indian cup inner wall, design
The novel bionic soft robot of kind on the one hand by the structure design of inner plenum, utilizes air pressure adjustment to realize various movements；
On the other hand the bristle with directionality inclination angle is constructed in material surface, reduces direction of advance friction, increase negative direction earth-grasping force,
Improve applicability.The novel soft robot of creeping of one kind that the present invention designs, can effectively solve the problem that traditional software climbing robot
The problem of resistance of creeping is big, easily slips, and makes complexity, and flexibility is poor.
The Pneumatic bionic soft robot that the present invention designs be broadly divided into before stretch actuator (1), stage casing connector (2) and
Post-tensioning actuator (3), stage casing connector (2) are stretched before being bonded between actuator (1) and post-tensioning actuator (3)；Preceding drawing
It is identical with the structure of post-tensioning actuator (3) to stretch actuator (1).Front and rear two sections of main functions of Pneumatic bionic soft robot
Component allows section buckling before and after independent control soft robot to stretch actuator.It stretches and includes mutually inside actuator body
Three road air flues of autonomous closure are divided into and all being wrapped close to the epithelium healing on top and the left air flue of lower part and right air flue, each air flue
Containing several spaced main air chamber and time gas chamber, interconnect.It stretches actuator lower part and is symmetrically distributed with wedge-shaped foot, wedge shape foot
On be bonded with bionical foot pad.
In more detail, preceding actuator (1) body interior that stretches includes the three road air flues closed independently of each other, is divided into close
First air flue (11) on top and the second air flue (12) of lower part and third air flue (13)；On the ontology of stage casing connector (2)
Equipped with the 4th air flue (21), the 5th air flue (22) and the 6th air flue (23)；Post-tensioning actuator (3) ontology is internally provided with mutually
Three independent road air flues, by being followed successively by the 7th air flue (31), the 8th air flue (32) and the 9th air flue (33) clockwise；Each air flue
All comprising several spaced main air chamber and time gas chamber, interconnect.The first air flue, the second gas in leading portion actuator (1)
Road, third air flue the 4th air flue, the 5th air flue, the 6th air flue and the post-tensioning actuator with stage casing connector (2) respectively
(3) the 7th air flue, the 8th air flue, the 9th air flue corresponds.
Connection exterior line is equipped with above stage casing connector (2) with air pump to control the front and rear air flue air pressure for stretching actuator
Air guide connector (7), realize multi-direction movement.
Soft robot bottom is wedge shape foot, and bionical foot pad (4), bionical foot pad (4) are adhesively fixed in wedge-shaped plantar surfaces of toe
On construct the bionical bristle at directional inclination angle, reduce robot and frictional force of the surface on preceding line direction of creeping, increase be anti-
To earth-grasping force, improve robot by applicability, the shape of mesopodium can also be designed as needed it is cylindric, it is round table-like,
The shapes such as cuboid.
The bionical foot pad (4) is made using the micro-nano placingJi Shu of high molecular material, is carved first with silicon etching, plasma
The micro-nano processing technologies such as erosion, Laser Processing make template, are demoulded after pouring template curing materials precuring and apply shearing
Power, which carries out secondary curing, makes bionical foot pad bristle have directionality inclination angle.The bristle dimensions length, between 1mm, is justified for 1 μm
Week is a diameter of between 1 μm to 100 μm, and spacing distance is 1 μm to 1mm, and bristle tangential direction and the slanted angle of foot pad substrate are
Between 15 degree to 60 degree.Bionical foot pad (4) after curing is cut according to wedge-shaped foot (14) size, is consolidated using adhesives
It is scheduled on wedge-shaped foot (14) bottom surface.
Preceding stretching actuator (1), stage casing connector (2) and post-tensioning actuator (3) are with machinery in the soft robot
Processing or 3D printing molding poured as mold, with materials such as the silicon rubber and dimethyl silicone polymer (PDMS) that can be poured and
Into.
The advantages of Pneumatic bionic software climbing robot of the present invention, is：The present invention uses soft material as matrix material
Matter, by body construction and air flue design, into different channels, bending can be realized to change air pressure in inflation/deflation, stretches, climbs
Row movement.Can mold size be changed using 3D printing technique according to actual needs and adapt to different demands, structure is with easy to operate, peace
Quan Xinggao, suitable for a variety of occasions such as slit, pipeline.The directionality bristle of the bionical foot pad in wedge-shaped foot face can generate directionality
Friction, reduces when moving ahead and the frictional resistance of contact surface, increases reversed earth-grasping force, and raising is creeped ability and passability, and is reduced
Air pressure needed for control and energy consumption.
Description of the drawings
Fig. 1 is the 3-D view of Pneumatic bionic software climbing robot of the present invention.
Figure 1A is the 3-D view that Pneumatic bionic software climbing robot end face of the present invention shows air flue.
Figure 1B is another visual angle 3-D view that Pneumatic bionic software climbing robot end face of the present invention shows air flue.
Fig. 2 is the preceding front view and partial sectional view for stretching actuator in Pneumatic bionic software climbing robot of the present invention.
Fig. 3 is the sectional view of main air chamber position of the present invention.
Fig. 4 is the sectional view of of the invention gas chamber position.
Fig. 5 is the bionical foot pad partial enlarged view of the present invention.
Fig. 6 A are the bionical foot pad die structure dwgs of the present invention.
Fig. 6 B are the bionical foot cushion structure figures after precuring of the present invention.
Fig. 7 is that the bionical foot pad of the present invention contacts schematic diagram with coarse surface of creeping.
Fig. 8 is the front view and partial sectional view of post-tensioning actuator in Pneumatic bionic software climbing robot of the present invention.
Fig. 9 is the sectional view of stage casing connector in Pneumatic bionic software climbing robot of the present invention.
| 1. actuator is stretched before | 11. the first air flue | 111. the first air flue main air chamber |
| 112. the first air flue time gas chamber | 12. the second air flue | 121. the second air flue main air chamber |
| 122. the second air flue time gas chamber | 13. third air flue | 131. third air flue main air chamber |
| 132. third air flue time gas chamber | 14.AA wedge shape foots | 15.AB wedge shape foots |
| 2. stage casing connector | 21. the 4th air flue | 22. the 5th air flue |
| 23. the 6th air flue | 3. post-tensioning actuator | 31. the 7th air flue |
| 311. the 7th air flue main air chamber | 312. the 7th air flues time gas chamber | 32. the 8th air flue |
| 321. the 8th air flue main air chamber | 322. the 8th air flues time gas chamber | 33. the 9th air flue |
| 34.BA wedge shape foots | 35.BB wedge shape foots | 4. bionical foot pad |
| 41. bionical foot pad substrate | 42. bionical foot pad bristle | 5. bionical foot pad mold |
| 6. coarse surface of creeping | 7. air guide connector |
Specific embodiment
Below in conjunction with attached drawing, the present invention is described in further detail.
Fig. 1, Figure 1A, Figure 1B are the 3-D views of a kind of Pneumatic bionic software climbing robot that the present invention designs, mainly
It is made of preceding stretching actuator 1, stage casing connector 2 and post-tensioning actuator 3, stage casing connector 2 stretches actuator 1 before being bonded in
Between post-tensioning actuator 3.Wherein preceding stretching actuator 1 is identical with the structure of post-tensioning actuator 3.The gas that the present invention designs
Front and rear two sections of main functional units of dynamic bionic soft robot is stretch actuator, before allowing independent control soft robot
Back segment buckling.
Preceding stretching actuator 1
Referring to shown in Fig. 1, Figure 1A, Figure 1B, Fig. 2, Fig. 3, Fig. 4,1 lower part of preceding stretching actuator is symmetrically distributed with AA wedge shape foots
14th, AB wedge shapes foot 15；Preceding 1 ontology of actuator that stretches is internally provided with mutually independent three road air flue, by being followed successively by the clockwise
One air flue 11, the second air flue 12 and third air flue 13, the second air flue 12 are identical with 13 internal structure of third air flue.
In the present invention, the preceding each air flue stretched on 1 ontology of actuator is spaced apart respectively by main air chamber and time gas chamber, and
It is interconnected and forms.First air flue 11 is made of the first air flue main air chamber 111 and the first air flue time interval of gas chamber 112, as Fig. 2,
Shown in Fig. 3, Fig. 4.Second air flue 12 is made of the second air flue main air chamber 121 and the second air flue time gas chamber 122 interval, such as Fig. 2, figure
3rd, shown in Fig. 4.Third air flue 13 is made of third air flue main air chamber 131 and third air flue time gas chamber 132 interval, as Fig. 2, Fig. 3,
Shown in Fig. 4.
As shown in Figure 2, Figure 3, Figure 4, the preceding radical length for stretching the main air chamber on 1 ontology of actuator is more than the secondary gas chamber
Radical length, the axial length of the main air chamber is less than the axial length of the secondary gas chamber, the main air chamber and time gas chamber
Side wall thickness is identical.
Post-tensioning actuator 3
Referring to shown in Fig. 1, Figure 1A, Figure 1B, Fig. 8,3 lower part of post-tensioning actuator is symmetrically distributed with BA wedge shapes foot 34, BB wedges
Shape foot 35；3 ontology of post-tensioning actuator is internally provided with mutually independent three road air flue, by being followed successively by the 7th air flue clockwise
31st, the 8th air flue 32 and the 9th air flue 33, the 8th air flue 32 are identical with 33 internal structure of the 9th air flue.
In the present invention, each air flue on 3 ontology of post-tensioning actuator is spaced apart respectively by main air chamber and time gas chamber, and
It is interconnected and forms.For the air passage structure on 3 ontology of post-tensioning actuator can refer to it is preceding stretch actuator 1 Fig. 2, Fig. 3,
Shown in Fig. 4, the 7th air flue 31 is made of the 7th air flue main air chamber 311 and the 7th air flue time gas chamber 312 interval；8th air flue 32 by
8th air flue main air chamber 321 and the 8th air flue time gas chamber 322 interval form；9th air flue 33 is by the 9th air flue main air chamber and the 9th
Air flue time gas chamber interval composition.
The radical length of main air chamber on 3 ontology of post-tensioning actuator is more than the radical length of the secondary gas chamber, the master
The axial length of gas chamber is less than the axial length of the secondary gas chamber, and the main air chamber is identical with the side wall thickness of time gas chamber.
Stage casing connector 2
Referring to shown in Fig. 1, Figure 1A, Figure 1B, Fig. 9, connector 2 top in stage casing is equipped with air guide connector 7, is connected by air guide
Compressed gas outside first 7 realization is entered in the gas channels of Pneumatic bionic software climbing robot that the present invention designs；In
The lower part of section connector 2 is not provided with wedge-shaped foot.The ontology of stage casing connector 2 is equipped with the 4th air flue 21, the 5th air flue 22 and the
Six air flues 23, the 5th air flue 22 and the 6th air flue 23 are located at the lower section both sides of the 4th air flue 21.
4th air flue 21 is penetrated through with the first air flue 11 and the 7th air flue 31；5th air flue 22 and the second air flue 12 and the 8th gas
Road 32 penetrates through；6th air flue 23 is penetrated through with 13 and the 9th air flue 33 of third air flue.
In stage casing, two of connector 2 are fixed with the identical preceding stretching actuator 1 of structure and post-tensioning by bonding mode
Actuator 3.
Bionical foot pad 4
As shown in Fig. 1, Figure 1A, Figure 1B, Fig. 2, Fig. 5, Fig. 6 A, Fig. 6 B, Fig. 7,1 lower part of preceding stretching actuator is symmetrically distributed with
Multiple AA wedge shapes foots 14, AB wedge shapes foot 15；3 lower part of post-tensioning actuator is symmetrically distributed with multiple BA wedge shapes foots 34, BB wedge shape foots
35.AA wedge shape foot 14, AB wedge shape foot 15, BA wedge shape foot 34 and BB wedge shape foot 35 bottom end face on be adhesively fixed with bionical foot
Pad 4, as shown in Fig. 5, Fig. 6 B.Bionical foot pad 4 is made of bionical foot pad substrate 41 and bionical foot pad bristle 42, and the two is same material
Matter.Bionical foot pad bristle 42 is 10 μm of diameter, and the tilted cylindrical envelope volume array of 50 μm of length, the spacing of each cellular construction is 50 μ
m.The slanted angle of bristle tangential direction and foot pad substrate is 15 degree~60 degree.Bionical foot pad 4 is by high molecular material (Young's modulus
Less than 1Mpa) it pours and cures, make (the figure of high-precision template 5 first with the micro-nano technologies mode such as silicon etching, Laser Processing
6A), then high molecular material is poured into and precuring is carried out in mold, demoulded later, radially to bristle apply shearing force until
Molding is fully cured.Bionical 4 selected materials of foot pad are the high performance platinum cured silicone rubber of smooth-on companies production,
Model Dragon skin20 or Dragon skin10, have good intensity and elasticity, can be stretched to life size
Several times can rebound without being torn and pull back the form before stretching and indeformable.
In the figure 7, when bionical foot pad 4 is contacted with coarse surface 6 of creeping, bionical foot pad bristle 42 is due to (15 degree of inclination angle
~60 degree) presence cause direction frottage, i.e., frictional force in one direction is noticeably greater than opposite direction, leads to crawling machine
People is different from frictional force backward forward, when creeping forward (arrow direction) forepart bristle with contact surface frictional resistance is small is easy to transport
It is dynamic, and reduce air pressure and energy consumption needed for control.The earth-grasping force of rear portion bristle is not easy to slip with contact surface greatly.
It, can by adjusting air chamber pressure in the first air flue 11 in preceding stretching actuator 1, the second air flue 12 and third air flue 13
Robot is made to generate bending, twist motion.Changed by the alternating bending of preceding stretching actuator 1 and post-tensioning actuator 3, make machine
Device people carries out the crawling exercises of imitative worm.
Single-unit climbing robot of the present invention is sequentially glued by preceding stretching actuator 1, stage casing connector 2 and post-tensioning actuator 3
Knot is fixed to be formed.
More piece climbing robot of the present invention stretches actuator, first segment stage casing connector, the second section by first segment and stretches and cause
Dynamic device, the second section stage casing connector, third section stretch actuator series connection and composition are adhesively fixed.More piece stretches actuator and stage casing connects
The climbing robot structure that can realize long axial direction is adhesively fixed in the series connection for connecing device.
Claims (10)
1. a kind of Pneumatic bionic software climbing robot, it is characterised in that：Pneumatic bionic soft robot is broadly divided into preceding stretching
Actuator (1), stage casing connector (2) and post-tensioning actuator (3), stage casing connector (2) be bonded in before stretch actuator (1) and
Between post-tensioning actuator (3)；Preceding stretching actuator (1) is identical with the structure of post-tensioning actuator (3)；Pneumatic bionic software machine
Front and rear two sections of main functional units of device people allow section buckling before and after independent control soft robot to stretch actuator；It draws
The three road air flues for including closing independently of each other inside actuator body are stretched, are divided into close to the epithelium healing on top and a left side for lower part
Air flue and right air flue, each air flue all comprising several spaced main air chamber and time gas chamber, interconnect；It stretches under actuator
Portion is symmetrically distributed with wedge-shaped foot, and bionical foot pad is bonded on wedge-shaped foot.
2. Pneumatic bionic software climbing robot according to claim 1, it is characterised in that：Under preceding stretching actuator (1)
Portion is symmetrically distributed with AA wedge shape foots (14), AB wedge shape foots (15)；Preceding stretching actuator (1) body interior includes closing independently of each other
Three road air flues, be divided into the first air flue (11) close to top and the second air flue (12) and the third air flue (13) of lower part；The
One air flue (11) is made of the first air flue main air chamber (111) and the first air flue time gas chamber (112) interval；Second air flue (12) is by
Two air flue main air chamber (121) form with the second air flue time gas chamber (122) interval；Third air flue (13) is by third air flue main air chamber
(131) it is formed with third air flue time gas chamber (132) interval.
3. Pneumatic bionic software climbing robot according to claim 1, it is characterised in that：Under post-tensioning actuator (3)
Portion is symmetrically distributed with BA wedge shape foots (34), BB wedge shape foots (35)；Being internally provided with for post-tensioning actuator (3) ontology is mutually independent
Three road air flues, by being followed successively by the 7th air flue (31), the 8th air flue (32) and the 9th air flue (33) clockwise, the 8th air flue (32) and
9th air flue (33) internal structure is identical；7th air flue (31) is by the 7th air flue main air chamber and the 7th air flue time gas chamber interval group
Into；8th air flue (32) is made of the 8th air flue main air chamber and the 8th air flue time gas chamber interval；9th air flue (33) is by the 9th gas
Road main air chamber forms with the 9th air flue time gas chamber interval.
4. Pneumatic bionic software climbing robot according to claim 1, it is characterised in that：Stage casing connector (2) top
Equipped with air guide connector (7), the lower part of stage casing connector (2) is not provided with wedge-shaped foot；The ontology of stage casing connector (2) is equipped with the
Four air flues (21), the 5th air flue (22) and the 6th air flue (23), the 5th air flue (22) and the 6th air flue (23) are positioned at the 4th air flue
(21) lower section both sides.
5. Pneumatic bionic software climbing robot according to claim 1, it is characterised in that：Bionical foot pad (4) is by bionical
Foot pad substrate (41) is formed with bionical foot pad bristle (42), and the two is identical material.
6. Pneumatic bionic software climbing robot according to claim 5, it is characterised in that：Bionical foot pad bristle (42) is
10 μm of diameter, the tilted cylindrical envelope volume array of 50 μm of length, the spacing of each cellular construction is 50 μm；Bristle tangential direction and foot pad
The slanted angle of substrate is 15 degree~60 degree.
7. Pneumatic bionic software climbing robot according to claim 1, it is characterised in that：By it is preceding stretching actuator (1),
Stage casing connector (2) and post-tensioning actuator (3), which are sequentially adhesively fixed, forms single-unit climbing robot.
8. Pneumatic bionic software climbing robot according to claim 1, it is characterised in that：It is stretched and activated by first segment
Device, first segment stage casing connector, the second section stretching actuator, the second section stage casing connector, the stretching actuator series connection of third section are viscous
Knot is fixed to form more piece climbing robot.
9. a kind of method for the bionical foot pad (4) for processing Pneumatic bionic software climbing robot described in claim 1, feature
It is：Bionical foot pad (4) is poured by high molecular material to be cured, first with micro-nano technologies sides such as silicon etching, Laser Processings
Formula makes high-precision template (5), then pours into high molecular material and precuring is carried out in mold, demould later, radially to firm
Hair applies shearing force until molding is fully cured.
10. Pneumatic bionic software climbing robot according to claim 1, it is characterised in that：Adjustment is stretched in actuator
Air chamber pressure in three air flues reaches bending, the twist motion of robot.
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| CN201810237299.0A CN108263504A (en) | 2018-03-21 | 2018-03-21 | A kind of Pneumatic bionic software climbing robot |
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| CN201810237299.0A CN108263504A (en) | 2018-03-21 | 2018-03-21 | A kind of Pneumatic bionic software climbing robot |
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| CN112894844A (en) * | 2021-01-18 | 2021-06-04 | 江苏大学 | Bionic soft climbing robot for pollination and fruit thinning of fruit trees |
| CN113442149A (en) * | 2021-07-07 | 2021-09-28 | 重庆七腾科技有限公司 | Robot system capable of driving on crossed pipeline and use method |
| CN113681542A (en) * | 2021-08-23 | 2021-11-23 | 江苏大学 | Software robot based on liquid crystal elastomer |
| CN114619457A (en) * | 2022-03-23 | 2022-06-14 | 东南大学 | Double-air-passage bionic snail soft robot |
| CN116690533A (en) * | 2023-04-26 | 2023-09-05 | 哈尔滨工业大学 | Module based on paper folding structure and bionic soft motion robot |
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