CN108909866A - The escape soft robot walked on wall can be attached to - Google Patents
The escape soft robot walked on wall can be attached to Download PDFInfo
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- CN108909866A CN108909866A CN201810832153.0A CN201810832153A CN108909866A CN 108909866 A CN108909866 A CN 108909866A CN 201810832153 A CN201810832153 A CN 201810832153A CN 108909866 A CN108909866 A CN 108909866A
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- cavity
- soft robot
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- fluid
- attached
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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
- 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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the escape soft robot walked on wall can be attached to, including：Substrate, the substrate top are provided with backplate, and the substrate bottom is equipped at least one blower, when the blower is a plurality of, the blower arranged for interval；At least horn, the top end surface of backplate is arranged in the horn, the first cavity and the second cavity are equipped with inside the horn, first cavity and second inside cavity set first fluid and second fluid respectively, and the first fluid is different from the second fluid volume；Multiple directions part, the direction part are arranged at intervals on the circumferential direction of the substrate, and the direction part bottom end face is equipped at least one sucker and at least one blower；The direction part can be adsorbed on wall by the sucker and blower cooperation；Direction part can realize the variation of shape according to the variation of temperature, and then control the moving direction of soft robot, and horn is that flexible piece can wind protection escape personnel, and flexibility is higher.
Description
Technical field
The present invention relates to soft robots, more particularly to can be attached to the escape soft robot walked on wall.
Background technique
With advances in technology with innovation, manual labor is gradually replaced machinery, electromechanical integration, mechanical intelligence
The technologies such as change come into being and have become the theme in epoch.The appearance of robot is that the mankind are carrying out society's life using machinery
A milestone in history is produced, is further enhanced to mechanical utilization efficiency, soft robot is modern machines people's technology hair
The important directions of exhibition can carry out fine positioning and fine operation, soft robot since its structure size is small, device is accurate
The occasion that can not be applied in other robot can be applied, and is able to enter the small space less than the mankind and macroscopical robot
Interior operation, additionally it is possible to it realizes and assists escape personnel's escape, the highly difficult work such as fire fire extinguishing.
Traditional robot is mostly connected and composed by the rigid motion pair based on the hard materials such as such as metal, plastics, can be completed
Quickly, accurately, repeatable position or power control task, but this robot motion's limited flexibility, adaptive capacity to environment is very low,
It can only work under structured environment, these disadvantages limit rigid machine people in dynamic, unknown, non-structured complex environment
The application in field does not have infinite degrees of freedom and distributed continuous modification ability, cannot be by the morphosis of simulation biology, no
It is able to achieve and creeps, twists, wriggling across the operation such as narrow space and realization crawl, cannot achieve flexible adherent walking, use
Flexibility is poor.
Summary of the invention
The present invention overcomes the deficiencies in the prior art, the escape soft robot walked on wall can be attached to by providing.
In order to achieve the above objectives, the technical solution adopted by the present invention is：The escape software machine walked on wall can be attached to
Device people, including：Substrate, the substrate top are provided with backplate, and the substrate bottom is equipped at least one blower, when the blower
When being a plurality of, the blower arranged for interval the substrate bottom end face,；At least one horn, the horn setting exist
The top end surface of backplate, the horn inside are equipped with the first cavity and the second cavity, first cavity and second cavity
Inside sets first fluid and second fluid respectively, and the first fluid is different from the second fluid volume；Multiple directions part, institute
The circumferential direction that direction part is arranged at intervals on the substrate is stated, the direction part bottom end face is equipped at least one sucker and at least one
Blower.
It further include fluid box inside the substrate, the fluid box passes through triple valve in a preferred embodiment of the present invention
It is connected separately with first cavity and second cavity.
In a preferred embodiment of the present invention, when the volume for the first fluid that first inside cavity is arranged is less than described
When the volume of the second fluid of the second inside cavity, the horn is towards the first cavity curving.
In a preferred embodiment of the present invention, the blower is air-introduced machine, and the blower can generate negative pressure.
In a preferred embodiment of the present invention, the sucker has adsorption capacity, soft robot can be adsorbed on wall
On.
In a preferred embodiment of the present invention, the direction part is memory alloy material, has shape memory function.
In a preferred embodiment of the present invention, the direction part can control the movement of soft robot by temperature change
Direction and motion state.
In a preferred embodiment of the present invention, the horn can pass through the first cavity and the second inside cavity pressure change
Wind escape personnel.
In a preferred embodiment of the present invention, substrate bottom middle position is equipped with revolving part.
In a preferred embodiment of the present invention, the direction of the direction part and revolving part cooperation realization soft robot
Control.
In a preferred embodiment of the present invention, third cavity and the 4th cavity, the third are additionally provided with inside the horn
Cavity and the 4th inside cavity are respectively equipped with third fluid and the 4th fluid, and the horn angle is enable accurately to adjust.
The invention solves the defect existing in the background technology, and the present invention has following beneficial effect：
(1) horn is flexible piece, is equipped with the first cavity and the second cavity, the first cavity and the second inside cavity inside horn
Equipped with volume different first fluid and second fluid, horn can be enable flexibly to be bent or extend, freedom with higher
Degree, can catch escape personnel, and escape flexibility is higher.
(2) direction of motion and motion state that soft robot can be controlled by direction part temperature change, can be realized
Compared with high-freedom degree and distributed continuous modification ability, it can creep, twist, wriggle and wear by the morphosis of simulation biology, realization
The operation such as narrow space and realization crawl is crossed, realizes flexibly adherent walking, easy to use, raising fire disaster escaping ability.
(3) blower is air-introduced machine, and blower can generate negative pressure, and sucker has adsorption capacity, can adsorb soft robot
On wall, direction part can be cooperated, realize the rotation of soft robot non-blind area, and rotated flexibly rapid.
Detailed description of the invention
Fig. 1 is the soft robot partial structural diagram of the preferred embodiment of the present invention；
Fig. 2 is the partial sectional view of the preferred embodiment of the present invention；
Fig. 3 is the substrate bottom substance schematic diagram of the preferred embodiment of the present invention；
Appended drawing reference：
Substrate 10；Revolving part 11；
Direction part 20；Sucker 21；Blower 22；
Fluid box 30；Triple valve 31；First cavity 32；Second cavity 33；Horn 34；Backplate 35.
Specific embodiment
Presently in connection with drawings and examples, the present invention is described in further detail, these attached drawings are simplified signal
Figure, the basic structure of the invention will be illustrated schematically only, therefore it only shows the composition relevant to the invention.
Such as Fig. 1, such as Fig. 2 and as shown in figure 3, the escape soft robot walked on wall can be attached to, including：Substrate
10, at least one horn 34 and multiple directions part 20 form.
Specifically, being provided with backplate 35 at the top of substrate 10,10 bottom of substrate is equipped at least one blower 22, when blower 22
When being a plurality of, blower 22 is along the circumferentially-spaced bottom end face for being arranged in substrate 10 of substrate 10, and the setting of horn 34 is in backplate 35
Top end surface, the first cavity 32 and the second cavity 33,33 inner part of the first cavity 32 and the second cavity are equipped with inside horn 34
Not She You first fluid and second fluid, first fluid is different from second fluid volume, and direction part 20 is arranged at intervals on substrate 10
Circumferential direction.
In other words, it is respectively equipped with volume first fluid and second fluid inside the first cavity 32 and the second cavity 33, when
The volume for the first fluid being arranged inside one cavity 32 less than the second fluid inside the second cavity 33 volume when, 34 court of horn
It further include fluid box 30 inside substrate 10 to 32 curving of the first cavity, fluid box 30 is connected respectively by triple valve 31
It is connected to the first cavity 32 and the second cavity 33, is that the first cavity 32 and the second cavity 33 provide fluid by fluid box 30, it can
So that horn 34 is flexibly bent or is extended, freedom degree with higher can catch escape personnel, escape flexibility compared with
Height can control the direction of motion and motion state of soft robot by 20 temperature change of direction part, can be realized it is higher from
By degree and distributed continuous modification ability, it can creep, twist, wriggle across narrow by the morphosis of simulation biology, realization
Space and realize crawl etc. operation, realize flexibly adherent walking, it is easy to use, improve fire disaster escaping ability.
According to an embodiment of the present invention, part 20 bottom end face in direction is equipped at least one sucker 21 and at least one blower
22。
Specifically, direction part 20 is memory alloy material, marmem is shape in current shape-memory material
The best material of memory performance, under external force, marmem have the more recoverable force energy bigger than common metal
Power, i.e., the big strain generated in loading procedure can restore with unloading, have good restorability, according to direction part 20
Temperature change, realizes the flexible motion of soft robot and changes direction, while being cooperated by blower 22 with sucker 21, makes
Soft robot is improved with adsorption capacity between the walls, thus the safety with higher during fire disaster escaping.
According to an embodiment of the present invention, blower 22 is air-introduced machine 22, and blower 22 can generate negative pressure, and sucker 21, which has, to be inhaled
Soft robot can be adsorbed on wall by attached power, can cooperate direction part 20, realize the rotation of soft robot non-blind area,
And rotate flexibly rapid, the direction controlling of direction part 20 and the revolving part 11 cooperation realization soft robot, when generation fire
Escape personnel is wound by the horn 34 at the top of soft robot afterwards, promotion personnel leaning against on backplate 35 tightly, then software
Robot is adsorbed on wall iron wall by blower 22 and sucker 21 and carries out outdoor escape, and direction part 20 can control soft robot
Non-blind area turns to, and realizes infinite degrees of freedom and distributed continuous modification ability, by the morphosis of simulation biology, realization is climbed
Row, twisting are wriggled across narrow space and the operation such as realize crawl, cannot achieve flexible adherent walking, using flexible compared with
Difference.
In a preferred embodiment of the present invention, be additionally provided with third cavity and the 4th cavity inside horn 34, third cavity with
4th inside cavity is respectively equipped with third fluid and the 4th fluid, third fluid, the 4th fluid and first fluid, second fluid it
Between cooperate, so that 34 angle of horn is accurately adjusted, improve horn 34 wind escape personnel flexibility, improve software
The escape ability of robot.
According to an embodiment of the present invention, the 10 bottom middle position of substrate of soft robot is connected with revolving part
11, soft robot can be made when being adsorbed on wall by revolving part 11, also can by the rapid adjustment direction of revolving part 11,
Then direction is finely tuned by direction part 20 again, prevented in soft robot when being moved on wall, knock barrier, threaten escape
The safety of personnel, improve soft robot assistance escape ability, backplate 35 be equipped with one layer of anti-slip layer, improve escape personnel with
Frictional force between backplate 35 improves the safety of escape personnel, and horn 34 is flexible piece, carries out in winding escape personnel's body
When escape, not will cause escape personnel it is uncomfortable or expiratory dyspnea etc. symptoms, safety it is higher.
Based on the above description of the preferred embodiments of the present invention, through the above description, related personnel completely can be with
Without departing from the scope of the technological thought of the present invention', various changes and amendments are carried out.The technical scope of this invention
It is not limited to the contents of the specification, it is necessary to determine the technical scope according to the scope of the claims.
Claims (10)
1. the escape soft robot walked on wall can be attached to, which is characterized in that including：
Substrate, the substrate top are provided with backplate, and the substrate bottom is equipped at least one blower, when the blower is plural number
When a, bottom end face of the blower arranged for interval in the substrate；
At least one horn, the horn are arranged in the top end surface of backplate, are equipped with the first cavity and second inside the horn
Cavity, first cavity and second inside cavity are respectively equipped with first fluid and second fluid, the first fluid with
The second fluid volume is different；
Multiple directions part, the direction part are arranged at intervals on the circumferential direction of the substrate, and the direction part bottom end face is equipped at least
One sucker and at least one blower.
2. according to claim 1 can be attached to the escape soft robot walked on wall, it is characterised in that：The base
It further include fluid box inside part, the fluid box is connected separately with first cavity and second cavity by triple valve.
3. according to claim 2 can be attached to the escape soft robot walked on wall, it is characterised in that：When described
When the volume for the second fluid that the volume of the first fluid of the first inside cavity setting is less than second inside cavity, the machine
Arm is towards the first cavity curving.
4. according to claim 3 can be attached to the escape soft robot walked on wall, it is characterised in that：The wind
Machine is air-introduced machine, and the blower can generate negative pressure.
5. according to claim 1 can be attached to the escape soft robot walked on wall, it is characterised in that：The suction
Disk has adsorption capacity, and soft robot can be adsorbed on wall.
6. according to claim 1 can be attached to the escape soft robot walked on wall, it is characterised in that：The side
It is memory alloy material to part, there is shape memory function.
7. according to claim 1 can be attached to the escape soft robot walked on wall, it is characterised in that：The side
The direction of motion and motion state of soft robot can be controlled by temperature change to part.
8. according to claim 1 can be attached to the escape soft robot walked on wall, it is characterised in that：The machine
Arm can wind escape personnel by the first cavity and the second inside cavity pressure change.
9. according to claim 1 can be attached to the escape soft robot walked on wall, it is characterised in that：The base
Part bottom middle position is equipped with revolving part.
10. according to claim 9 can be attached to the escape soft robot walked on wall, it is characterised in that：It is described
The direction controlling of soft robot is realized in direction part and revolving part cooperation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810832153.0A CN108909866A (en) | 2018-07-26 | 2018-07-26 | The escape soft robot walked on wall can be attached to |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810832153.0A CN108909866A (en) | 2018-07-26 | 2018-07-26 | The escape soft robot walked on wall can be attached to |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108909866A true CN108909866A (en) | 2018-11-30 |
Family
ID=64418383
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810832153.0A Pending CN108909866A (en) | 2018-07-26 | 2018-07-26 | The escape soft robot walked on wall can be attached to |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108909866A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160161055A1 (en) * | 2014-12-08 | 2016-06-09 | The Boeing Company | Apparatus and method for coupling an end effector to a structure |
| CN106218748A (en) * | 2016-08-22 | 2016-12-14 | 上海交通大学 | The soft robot driven based on shape memory alloy |
| CN106737814A (en) * | 2017-03-16 | 2017-05-31 | 郭朝连 | Exterior wall climbs building intelligent spider people |
| CN107696022A (en) * | 2017-09-06 | 2018-02-16 | 上海交通大学 | Multidirectional wriggling soft robot |
| CN108189069A (en) * | 2018-04-03 | 2018-06-22 | 佛山市奥耶克思机械设备有限公司 | A kind of turnover flexible manipulator |
-
2018
- 2018-07-26 CN CN201810832153.0A patent/CN108909866A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160161055A1 (en) * | 2014-12-08 | 2016-06-09 | The Boeing Company | Apparatus and method for coupling an end effector to a structure |
| CN106218748A (en) * | 2016-08-22 | 2016-12-14 | 上海交通大学 | The soft robot driven based on shape memory alloy |
| CN106737814A (en) * | 2017-03-16 | 2017-05-31 | 郭朝连 | Exterior wall climbs building intelligent spider people |
| CN107696022A (en) * | 2017-09-06 | 2018-02-16 | 上海交通大学 | Multidirectional wriggling soft robot |
| CN108189069A (en) * | 2018-04-03 | 2018-06-22 | 佛山市奥耶克思机械设备有限公司 | A kind of turnover flexible manipulator |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181130 |