CN108583827A - A kind of soft robot equipped with micro-air compressor - Google Patents
A kind of soft robot equipped with micro-air compressor Download PDFInfo
- Publication number
- CN108583827A CN108583827A CN201810348594.3A CN201810348594A CN108583827A CN 108583827 A CN108583827 A CN 108583827A CN 201810348594 A CN201810348594 A CN 201810348594A CN 108583827 A CN108583827 A CN 108583827A
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- micro
- air compressor
- bonding agent
- soft robot
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
- B63H1/32—Flaps, pistons, or the like, reciprocating in propulsive direction
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Manipulator (AREA)
Abstract
It is disclosed by the invention to belong to soft robot technical field,Specially a kind of soft robot equipped with micro-air compressor,Including crust of the device,The front and rear sides of the left side wall of described device shell and the right end of bottom are embedded with rubber connector,The rubber connector is tightly connected with crust of the device by bonding agent,The left end of rubber connector described in two groups of left side is bonded with power bellows by bonding agent,The left part of power bellows described in two groups of left side is bonded with water extraction board by bonding agent,Mounting plate is bonded with by bonding agent in the middle part of the bottom of described device shell,This programme carries out the exploration of unknown water area by way of based on soft robot,Ensure the safety of Science Explorations personnel,Pass through control unit and the integrated mode of hardware output devices,Ensure the integrality of the mobility and autonomous working of output equipment, that is, soft robot.
Description
Technical field
The present invention relates to soft robot technical field, specially a kind of software machine equipped with micro-air compressor
People.
Background technology
Soft robot is a kind of Flexiable robot, can only be driven with air.Scientist's current research it is soft
Body robot is made of to use papery and silicon rubber, can be bent, reverses and pick up the object of more than 100 times of own wt.Software
The design inspiration of robot is the internal structure for imitating the mankind or the shape framework etc. of insect, especially the latter.
At this stage, for soft robot mainly also in the experimental stage, the use in real life is less.
Science Explorations never stopped the exploration of zone of ignorance, but the degree of danger of zone of ignorance may be higher,
It can not be detected easily, for this purpose, we have proposed a kind of soft robots equipped with micro-air compressor.
Invention content
The purpose of the present invention is to provide a kind of soft robots equipped with micro-air compressor, to solve above-mentioned background
The Science Explorations proposed in technology never stopped the exploration of zone of ignorance, but the degree of danger of zone of ignorance may be compared with
Height, the problem of can not be detected easily.
To achieve the above object, the present invention provides the following technical solutions：A kind of software machine equipped with micro-air compressor
Device people, including crust of the device, the front and rear sides of the left side wall of described device shell and the right end of bottom are embedded with rubber and connect
Head, the rubber connector are tightly connected with crust of the device by bonding agent, the left end of rubber connector described in two groups of left side
Power bellows is bonded with by bonding agent, the left part of power bellows described in two groups of left side is bonded by bonding agent
There are water extraction board, the bottom middle part of described device shell to be bonded with mounting plate, bottom of the mounting plate or so two by bonding agent
Side is symmetrically installed with two groups of hooks, and the bottom of the rubber connector on right side is bonded with guiding bellows, institute by bonding agent
The right side wall for stating crust of the device has been connected by screw weighted spherical ball, and the top of described device shell is equipped with wireless receiving component,
It is respectively connected with connector pipeline on the upside of rubber connector described in three groups, the connector pipeline is located at the inner cavity of crust of the device, three groups
The other end of the connector pipeline is mounted on solenoid valve, the left side with X-type connecting pipe respectively of solenoid valve described in two groups of left side
Two group interfaces connect, and two group interface of right side of the X-type connecting pipe is respectively connected with micro-air compressor, the electricity on right side
Interface is connected with Y type connecting pipes on the left of magnet valve, two group interface of left side of the Y types connecting pipe respectively with two groups of miniature airs
The right side interface connection of compressor, the inner cavity right side of described device shell are embedded with accumulator and control assembly, the control group
Part includes PLC controller and input control module, the input port of the PLC controller by data line respectively with input control
Module, the connection of wireless receiving component, the output end of the PLC controller by data line respectively with three groups of solenoid valves, two groups it is micro-
Type air compressor connects.
Preferably, described device shell is PVC shells, and described device shell includes upper casing and lower casing.
Preferably, the junction of the upper casing and lower casing is embedded with sealing strip.
Preferably, the weighted spherical ball is aluminum weighted spherical ball.
Preferably, the installation direction of micro-air compressor described in two groups is opposite.
Compared with prior art, the beneficial effects of the invention are as follows：This programme is carried out by way of based on soft robot
The exploration of unknown water area ensures the safety of Science Explorations personnel, integrated with hardware output devices by control unit
Mode, ensure output equipment, that is, soft robot mobility and autonomous working integrality.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is the vertical view schematic cross-sectional view of apparatus of the present invention shell；
Fig. 3 is present system functional block diagram.
In figure：1 crust of the device, 2 rubber connectors, 3 power bellowss, 4 water extraction boards, 5 mounting plates, 6 hooks, 7 guided waves
Line pipe, 8 weighted spherical balls, 9 wireless receiving components, 10 connector pipelines, 11 solenoid valves, 12X types connecting pipe, the compression of 13 miniature airs
Machine, 14Y types connecting pipe, 15 accumulators, 16 control assemblies, 161PLC controllers, 162 input control modules.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
- 3 are please referred to Fig.1, the present invention provides a kind of technical solution：A kind of software machine equipped with micro-air compressor
People, including crust of the device 1, the front and rear sides of the left side wall of crust of the device 1 and the right end of bottom are embedded with rubber connector 2,
Rubber connector 2 is tightly connected with crust of the device 1 by bonding agent, and the left end of two groups of rubber connectors 2 in left side is by viscous
It connecing agent and is bonded with power bellows 3, the left part of two groups of power bellowss 3 in left side is bonded with water extraction board 4 by bonding agent,
Mounting plate 5 is bonded with by bonding agent in the middle part of the bottom of crust of the device 1, two are symmetrically installed at left and right sides of the bottom of mounting plate 5
Group hook 6, the bottom of the rubber connector 2 on right side is bonded with by bonding agent is oriented to bellows 7, the right side wall of crust of the device 1
Be connected by screw weighted spherical ball 8, the top of crust of the device 1 is equipped with wireless receiving component 9, three groups of rubber connectors 2 it is upper
Side is respectively connected with connector pipeline 10, and connector pipeline 10 is located at the inner cavity of crust of the device 1, and the other end of three groups of connector pipelines 10 is pacified
Equipped with solenoid valve 11, two groups of left side solenoid valve 11 is connect with two group interface of the left side of X-type connecting pipe 12 respectively, X-type connecting tube
Two group interface of right side in road 12 is respectively connected with micro-air compressor 13, and the 11 left side interface of solenoid valve on right side is connected with Y types company
Two group interface of left side in take over road 14, Y types connecting pipe 14 is connect with the right side interface of two groups of micro-air compressors 13 respectively,
It is embedded with accumulator 15 and control assembly 16 on the right side of the inner cavity of crust of the device 1, control assembly 16 includes PLC controller 161 and defeated
Enter control module 162, the input port of PLC controller 161 by data line respectively with input control module 162, wireless receiving
Component 9 connects, the output end of PLC controller 161 by data line respectively with three groups of solenoid valves, 11, two groups of micro-air compressors
13 connections.
Wherein, crust of the device 1 is PVC shells, light, can keep afloat, and crust of the device 1 includes upper casing and lower casing, on
The junction of shell and lower casing is embedded with sealing strip, convenient for parts overhaul and waterproof, weighted spherical ball 8 be aluminum weighted spherical ball, two groups
The installation direction of micro-air compressor 13 is opposite.
Embodiment
PLC controller 161 selects the PLC of 300 series of Siemens, and input control module 162 uses capacitive touch screen, micro-
Type air compressor 13 selects the air compressor machine of extra large profit ACO-009, is programmed to PLC controller 161 so that PLC controller 161 meets
Data signal reception to wireless receiving component 9 and the output control to solenoid valve 11, micro-air compressor 13, accumulator 15
Electric energy is provided for each electrical equipment, chooses the volume phase that right side is oriented to the volume and two groups of power bellowss 3 in left side of bellows 7
Deng.
Bellows 7, which will be oriented to, keeps compressive state, power bellows 3 to remain extended as, and three groups of solenoid valves 11 keep normal
Open state, two groups of micro-air compressors 13 keep normally offs, the installation directions of two groups of micro-air compressors 13 on the contrary, and
When in use, one group of micro-air compressor 13 is opened one group of micro-air compressor 13 and is closed, and the above control mode is defeated
Enter to PLC controller 161；
After first group of micro-air compressor 13 opens work, first group of micro-air compressor 13 pass through left side two groups
Connector pipeline 10 extracts the air in two groups of power bellowss 3 out, and air is transmitted to guided wave by Y types connecting pipe 14
It in line pipe 7, is oriented in bellows 7 and is extended full of air scoop, under the action of aerostatic buoyancy, the right side of crust of the device 1 is lifted
It rising, power bellows 3 buries in water downwards at this time, after air exhausts in power bellows 3, first group of micro-air compressor
13 power cut-offs simultaneously close air flue；
Second group of micro-air compressor 13 is started to work, the air flue flow direction and first of second group of micro-air compressor 13
Group micro-air compressor 13 is on the contrary, to which the air being oriented in bellows 7 is passed through Y types by second group of micro-air compressor 13
In connecting pipe 14, the output to power bellows 3 of X-type connecting pipe 12, air driven water extraction board 4 is full of in power bellows 3
It stretches to the left, to play the role of stirring to water, as the air content for being oriented to bellows 7 reduces, weighted spherical ball 8 is gradual
The right end of crust of the device 1 is pressed downward, so that the direction that power bellows 3 stretches is gradually flat-pushing to the left, reduces resistance, such as
This is back and forth so that this programme moves forward；
When needing turning, the solenoid valve 11 of the front side in left side or rear side is closed, the other side keeps clear, to be somebody's turn to do
The power bellows 3 and water extraction board 4 of side are not involved in movement, and the power bellows 3 of the other side is used as sole power source, to survey
The side that crust of the device 1 is biased to close solenoid valve 11 turns to.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
Understanding without departing from the principles and spirit of the present invention can carry out these embodiments a variety of variations, modification, replace
And modification, the scope of the present invention is defined by the appended.
Claims (5)
1. a kind of soft robot equipped with micro-air compressor, including crust of the device (1), it is characterised in that：Described device
The front and rear sides of the left side wall of shell (1) and the right end of bottom are embedded with rubber connector (2), the rubber connector (2)
It is tightly connected by bonding agent with crust of the device (1), the left end of rubber connector (2) described in two groups of left side passes through bonding agent
It is bonded with power bellows (3), the left part of power bellows (3) described in two groups of left side is bonded with water repellent by bonding agent
The bottom middle part of plate (4), described device shell (1) is bonded with mounting plate (5), the bottom of the mounting plate (5) by bonding agent
The left and right sides is symmetrically installed with two groups of hooks (6), and the bottom of the rubber connector (2) on right side is bonded with by bonding agent leads
To bellows (7), the right side wall of described device shell (1) has been connected by screw weighted spherical ball (8), described device shell (1)
Top is equipped with wireless receiving component (9), and connector pipeline (10), institute are respectively connected on the upside of rubber connector (2) described in three groups
The inner cavity that connector pipeline (10) is located at crust of the device (1) is stated, the other end of connector pipeline (10) described in three groups is mounted on electromagnetism
Valve (11), solenoid valve (11) described in two groups of left side are connect with two group interface of left side of X-type connecting pipe (12) respectively, the X-type
Two group interface of right side of connecting pipe (12) is respectively connected with micro-air compressor (13), the solenoid valve (11) left side on right side
Interface is connected with Y types connecting pipe (14), two group interface of left side of the Y types connecting pipe (14) respectively with two groups of miniature airs
The right side interface connection of compressor (13), the inner cavity right side of described device shell (1) are embedded with accumulator (15) and control assembly
(16), the control assembly (16) includes PLC controller (161) and input control module (162), the PLC controller (161)
Input port connect respectively with input control module (162), wireless receiving component (9) by data line, the PLC controller
(161) output end is connect with three groups of solenoid valves (11), two groups of micro-air compressors (13) respectively by data line.
2. a kind of soft robot equipped with micro-air compressor according to claim 1, it is characterised in that：The dress
It is PVC shells to set shell (1), and described device shell (1) includes upper casing and lower casing.
3. a kind of soft robot equipped with micro-air compressor according to claim 2, it is characterised in that：On described
The junction of shell and lower casing is embedded with sealing strip.
4. a kind of soft robot equipped with micro-air compressor according to claim 1, it is characterised in that：It is described to match
Heavy ball (8) is aluminum weighted spherical ball.
5. a kind of soft robot equipped with micro-air compressor according to claim 1, it is characterised in that：Two groups of institutes
The installation direction for stating micro-air compressor (13) is opposite.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810348594.3A CN108583827A (en) | 2018-04-18 | 2018-04-18 | A kind of soft robot equipped with micro-air compressor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810348594.3A CN108583827A (en) | 2018-04-18 | 2018-04-18 | A kind of soft robot equipped with micro-air compressor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108583827A true CN108583827A (en) | 2018-09-28 |
Family
ID=63613709
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810348594.3A Pending CN108583827A (en) | 2018-04-18 | 2018-04-18 | A kind of soft robot equipped with micro-air compressor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108583827A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109813574A (en) * | 2019-02-13 | 2019-05-28 | 佛山市金净创环保技术有限公司 | A kind of deepwater field water sampling soft robot |
| CN110987044A (en) * | 2019-12-23 | 2020-04-10 | 吴郁君 | Outdoor water environment monitoring equipment for river improvement |
| CN111806662A (en) * | 2020-06-24 | 2020-10-23 | 浙江大学 | Hairtail-like high-speed soft robot driven based on chemical energy release reaction |
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| CN102556311A (en) * | 2012-02-21 | 2012-07-11 | 金东� | Deformable bionic power conversion impeller by means of fin undulation and hydraulic volumetric difference |
| CN106697236A (en) * | 2016-11-25 | 2017-05-24 | 浙江海洋大学 | Bionic robotic fish |
| CN206218180U (en) * | 2016-11-05 | 2017-06-06 | 杭州畅动智能科技有限公司 | Bionic machine fish |
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2018
- 2018-04-18 CN CN201810348594.3A patent/CN108583827A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102556311A (en) * | 2012-02-21 | 2012-07-11 | 金东� | Deformable bionic power conversion impeller by means of fin undulation and hydraulic volumetric difference |
| CN206218180U (en) * | 2016-11-05 | 2017-06-06 | 杭州畅动智能科技有限公司 | Bionic machine fish |
| CN106697236A (en) * | 2016-11-25 | 2017-05-24 | 浙江海洋大学 | Bionic robotic fish |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109813574A (en) * | 2019-02-13 | 2019-05-28 | 佛山市金净创环保技术有限公司 | A kind of deepwater field water sampling soft robot |
| CN110987044A (en) * | 2019-12-23 | 2020-04-10 | 吴郁君 | Outdoor water environment monitoring equipment for river improvement |
| CN110987044B (en) * | 2019-12-23 | 2020-10-16 | 乐清市钜派企业管理咨询有限公司 | Outdoor water environment monitoring equipment for river improvement |
| CN111806662A (en) * | 2020-06-24 | 2020-10-23 | 浙江大学 | Hairtail-like high-speed soft robot driven based on chemical energy release reaction |
| CN111806662B (en) * | 2020-06-24 | 2021-10-15 | 浙江大学 | Hairtail-like high-speed soft robot driven based on chemical energy release reaction |
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Application publication date: 20180928 |
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