CN109048870A - A kind of wheeled robot based on liquid metal driving - Google Patents
A kind of wheeled robot based on liquid metal driving Download PDFInfo
- Publication number
- CN109048870A CN109048870A CN201811189843.5A CN201811189843A CN109048870A CN 109048870 A CN109048870 A CN 109048870A CN 201811189843 A CN201811189843 A CN 201811189843A CN 109048870 A CN109048870 A CN 109048870A
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- liquid metal
- electrode support
- wheel body
- wheeled robot
- driving
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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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
Abstract
The invention discloses a kind of wheeled robots based on liquid metal driving, the wheeled robot includes: wheel body, liquid metal droplet and sodium hydroxide solution, electrode support, electrode, wherein: wheel body uses semi-enclosed wheeled construction, electrode support is placed in the inside of wheel body by its four horizontal axis, two electrodes are fixed on the front and back end of electrode support, and it is connect by conducting wire with external power supply, a certain amount of liquid metal droplet and sodium hydroxide solution are limited in inside wheel body, and liquid metal droplet is kept between two electrodes.Suitable liquid metal droplet can tend to cathode movement after electrode energization in sodium hydroxide solution, to push the continuous rolls forward of wheeled robot.Invention applies the driveability of liquid metal, the wheeled robot of liquid metal driving is greatly expanded the application range of liquid metal driving robot.
Description
Technical field
The present invention relates to a kind of intelligent robot more particularly to a kind of wheeled robots based on liquid metal driving.
Background technique
Rolling is one of common motion mode of some animals of nature, and rolling robot is also always intelligent robot neck
Important one of the research topic in domain.The rolling machine that some researchers select motor, SMA etc. corresponding as drive assembly design
People changes the center of gravity of robot by driving device to drive its continuous rolls forward.However, the driving of rolling robot at present
Mode is relatively fewer, and structure is complicated, controls the problems such as difficult, movenent performance is bad there are this.
Recently, liquid metal can realize drive by applying the modes such as electric field, magnetic field as a kind of novel driving method
Dynamic, liquid metal has obtained extensive research in field in intelligent robotics with its special drive characteristic.Work as liquid metal droplet
It is placed on space extensive enough, ellipticity is presented in form, and after applying electric field, liquid metal can tend to positive polar motion.So
And when a certain amount of liquid metal droplet is limited in long and narrow channel, strip is presented in form, after applying electric field, liquid
State metal can tend to cathode movement.Some researchers design some mobile robots based on liquid metal driving, possess good
Good movenent performance.However, there has been no researchs at present is applied to rolling robot for the drive characteristic of liquid metal.
Summary of the invention
The object of the present invention is to provide a kind of wheeled robots based on liquid metal driving.
The purpose of the present invention is what is be achieved through the following technical solutions:
Wheeled robot based on liquid metal driving of the invention, including wheel body, liquid metal droplet and sodium hydroxide
Solution, electrode support and electrode；
The wheel body sets reeded wheeled construction using interior annular；
The electrode support is placed in the interior annular of the wheel body；
Described two electrodes are separately fixed at the front-end and back-end of the electrode support, and pass through conducting wire and external power supply
Connection；
The liquid metal droplet and sodium hydroxide solution are limited in the groove of wheel body interior annular, and liquid metal
Drop is maintained between described two electrodes.
As seen from the above technical solution provided by the invention, provided in an embodiment of the present invention to be driven based on liquid metal
Wheeled robot, liquid metal droplet is limited in inside long and narrow wheel body, apply electric field after, liquid metal tend to cathode fortune
Dynamic, this is by the lasting center of gravity for changing wheeled robot, thus the continuous rolls forward of driving wheel-type robot.Simple with structure,
The feature that control is simple, movenent performance is good.
Detailed description of the invention
Fig. 1 is the wheeled robot structural schematic diagram provided in an embodiment of the present invention based on liquid metal driving.
Fig. 2 is the structural schematic diagram of the electrode and electrode support in the embodiment of the present invention.
Fig. 3 is the structural schematic diagram that the regulated power supply of the embodiment of the present invention one is powered.
Fig. 4 is the battery-powered structural schematic diagram of the carrying of the embodiment of the present invention two.
In figure:
1- wheel body, 2- liquid metal droplet and sodium hydroxide solution, 3- electrode support, 4- electrode, 5- regulated power supply, 6- electricity
Pond bracket, 7- battery pack, the front apron of 301- electrode support, the connecting shaft of 302- electrode support, the rear end of 303- electrode support,
The horizontal axis of 304- electrode support.
Specific embodiment
The embodiment of the present invention will be described in further detail below.What is be not described in detail in the embodiment of the present invention is interior
Appearance belongs to the prior art well known to professional and technical personnel in the field.
Wheeled robot based on liquid metal driving of the invention, preferable specific embodiment is:
Including wheel body, liquid metal droplet and sodium hydroxide solution, electrode support and electrode；
The wheel body sets reeded wheeled construction using interior annular；
The electrode support is placed in the interior annular of the wheel body；
Described two electrodes are separately fixed at the front-end and back-end of the electrode support, and pass through conducting wire and external power supply
Connection；
The liquid metal droplet and sodium hydroxide solution are limited in the groove of wheel body interior annular, and liquid metal
Drop is maintained between described two electrodes.
The liquid metal material uses the two-phase being made of at least one of indium, tin, zinc, bismuth, silver, aluminium metal and gallium
Or heterogeneous alloy pushes wheeled robot rotation using its driveability after being powered.
The front end of the electrode support is equipped with front apron, passes through company between the front apron and the rear end of the electrode support
Spindle connection, the cathode of described two electrodes are fixed on the front apron, and anode is fixed on the rear end of the electrode support.
The two sides of the two sides of the front apron of the electrode support and the rear end of the electrode support are respectively equipped with horizontal axis, described
Electrode support is placed in the interior annular of wheel body by four horizontal axis, and the other parts of electrode support do not connect directly with wheel body
Touching, the electrode support can be moved along the interior annular of wheel body.
After the electrode applies electric field, liquid metal can tend to cathode movement in sodium hydroxide solution, to push
The front apron of electrode support enables liquid metal and electrode support persistently to move inside wheel body, this will continue
Change the center of gravity of wheeled robot, so as to continue rolls forward.
The groove of the interior annular of the wheel body uses super-hydrophobic technical treatment, can reduce sodium hydroxide solution and wheel body
Resistance.
The liquid metal droplet is wrapped up by sodium hydroxide solution always, and liquid metal droplet is not direct always with two electricity
Pole contact, electric field exert one's influence to liquid metal droplet by sodium hydroxide solution.
Described two electrodes are connect by thin wire with external power supply, and the external power supply is D.C. regulated power supply or electricity
Pond group.
The battery pack is fixed on the wheel body by battery bracket.
The electrode support is made by 3D printing technique.
Wheeled robot is adapted to multiple types of floors environment, base of the invention as a kind of important kind of rolling robot
In the wheeled robot of liquid metal driving, there is good rolling characteristics.Liquid metal droplet is limited in long and narrow by the present invention
Wheel body inside, apply electric field after, liquid metal tend to cathode movement, this by it is lasting change wheeled robot center of gravity, thus
The continuous rolls forward of driving wheel-type robot.Wheeled robot of the invention is simple with structure, control is simple, movenent performance is good
Good feature, applies the driveability of liquid metal, becomes a kind of driving method of completely new rolling robot, greatly opens up
The research range of liquid metal and intelligent robot is opened up.
Wheeled robot based on liquid metal driving of the invention proposes a kind of driving of completely new rolling robot
Mode extends liquid metal in the application of field in intelligent robotics, has that structure is simple, control is simple, movenent performance is good
The characteristics of.
It compared with prior art, can be in the work of external power supply the present invention is based on the wheeled robot of liquid metal driving
Under, good movenent performance is shown.Liquid metal is applied on rolling robot as a kind of completely new driving device,
Compared to other driving devices of rolling robot: motor and SMA, have the advantages that simple structure, convenient control has, and enriches rolling
The driving method of mobile robot, can be widely applied in different structure and the robot of application environment.
Specific embodiment:
As shown in Figure 1, comprising: wheel body 1, liquid metal droplet and sodium hydroxide solution 2, electrode support 3, electrode 4,
In:
The wheel body 1 uses semi-enclosed wheeled construction, and super-hydrophobic technical treatment can be used in the inside of wheel body 1, to subtract
The resistance of small sodium hydroxide solution and wheel body.
The electrode support 3 is placed in the interior annular of wheel body 1；
Described two electrodes 4 are fixed on the front and back end of electrode support, and are connect by conducting wire with external power supply；
A certain amount of liquid metal droplet and sodium hydroxide solution 2 are limited in inside wheel body 1, and liquid metal
Drop is kept between two electrodes.
The liquid metal material uses the two-phase being made of at least one of indium, tin, zinc, bismuth, silver, aluminium metal and gallium
Or heterogeneous alloy pushes wheeled robot rotation using its driveability after being powered.
The liquid metal droplet is wrapped up by sodium hydroxide solution always, and liquid metal droplet is not direct always with two electricity
Pole contact, electric field exert one's influence to liquid metal droplet by sodium hydroxide solution.
Fig. 2 is the electrode of the wheeled robot driven based on liquid metal and the structural schematic diagram of electrode support, the electricity
Pole bracket 3 can be made by 3D printing technique, and the cathode of electrode is fixed on the front apron 301 of electrode support 3, and the anode of electrode is solid
It is scheduled on the rear end 303 of electrode support 3.
The electrode support 3 is placed in the interior annular of wheel body 1 by four horizontal axis 304, the other parts of electrode support 3
It is not contacted directly with wheel body 1, electrode support 3 can be moved along the interior annular of wheel body 1.
The electrode 4 applies suitable electric field, and suitable liquid metal can tend to cathode fortune in sodium hydroxide solution
It is dynamic, to push the front apron 301 of electrode support 3, liquid metal and electrode support are persistently moved inside wheel body
Dynamic, this will continue the center of gravity for changing wheeled robot, so as to continue rolls forward.
Described two electrodes 4 are connect by thin wire with external power supply, external power supply can be D.C. regulated power supply or
Battery, thin wire should have enough flexibilities, to will not influence the movement of wheeled robot.
Fig. 3 is the structure of an embodiment of the regulated power supply power supply of the wheeled robot driven the present invention is based on liquid metal
Schematic diagram.Regulated power supply 3 is connect by thin wire with electrode 4, and stable electricity can be provided in wheeled robot progressive rolling movement
Pressure and electric current.
Fig. 4 is the knot of the battery-powered embodiment of the carrying of the wheeled robot driven the present invention is based on liquid metal
Structure schematic diagram, battery pack 7 are placed on the center of wheel body 1 by battery bracket 6, and two battery brackets 6 are separately fixed at wheel
The two sides of body 1 do not influence the movement of electrode support 3 while providing support for battery pack.Battery pack 7 passes through thin wire and electricity
Pole 4 connects, and provides suitable voltage and electric current for wheeled robot.
Working principle the present invention is based on the wheeled robot of liquid metal driving is: liquid metal droplet is in electric field action
Lower trend cathode movement, liquid metal droplet constantly drive its rolls forward by changing the center of gravity of wheeled robot, are taking turns
During formula robot rolls, liquid metal is surrounded by sodium hydroxide solution, and liquid metal droplet and sodium hydroxide are molten
Liquid is mobile in the inside of robot always, and electric field acts on liquid metal by sodium hydroxide solution, so that liquid metal droplet
Driving force can constantly be generated to push wheeled robot to move.
It should be noted that emphasis of the invention is, liquid metal under the action of electric field by way of becoming center of gravity not
Disconnected driving wheel-type robot motion, this realizes driving method of the liquid metal as completely new rolling robot, however external
Power supply is not limited to form of power mentioned by above-described embodiment: regulated power supply and battery pack, the present invention do not do any restrictions.This
Outside, the structure type of electrode and electrode support is not limited to structure type, electrode and electrode support mentioned by above-described embodiment
Effect be can be constantly by electric field action and liquid metal droplet and sodium hydroxide solution, and can be with liquid metal
Movement and shift one's position in robot interior, it is all may, the structure type of reasonable electrodes and electrode support should all
It falls within the scope of protection of the present invention.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Within the technical scope of the present disclosure, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Subject to enclosing.
Claims (10)
1. it is a kind of based on liquid metal driving wheeled robot, which is characterized in that including wheel body (1), liquid metal droplet and
Sodium hydroxide solution (2), electrode support (3) and electrode (4)；
The wheel body (1) sets reeded wheeled construction using interior annular；
The electrode support (3) is placed in the interior annular of the wheel body (1)；
Described two electrodes (4) are separately fixed at the front-end and back-end of the electrode support (3), and pass through conducting wire and external electrical
Source connection；
The liquid metal droplet and sodium hydroxide solution (2) are limited in the groove of wheel body (1) interior annular, and liquid gold
Belong to drop to be maintained between described two electrodes (4).
2. the wheeled robot according to claim 1 based on liquid metal driving, which is characterized in that the liquid metal material
Material utilizes its energization using the two-phase or heterogeneous alloy being made of at least one of indium, tin, zinc, bismuth, silver, aluminium metal and gallium
Driveability afterwards pushes wheeled robot rotation.
3. the wheeled robot according to claim 2 based on liquid metal driving, which is characterized in that the electrode support
(3) front end is equipped with front apron (301), passes through between the front apron (301) and the rear end (303) of the electrode support (3)
Connecting shaft (302) connection, the cathode of described two electrodes (4) are fixed on the front apron (301), and anode is fixed on the electricity
On the rear end (303) of pole bracket (3).
4. the wheeled robot according to claim 3 based on liquid metal driving, which is characterized in that the electrode support
(3) two sides of the rear end (303) of the two sides and electrode support (3) of front apron (301) are respectively equipped with horizontal axis (304), institute
It states electrode support (3) to be placed in the interior annular of wheel body (1) by four horizontal axis (304), the other parts of electrode support (3) are equal
It is not contacted directly with wheel body (1), the electrode support (3) can be mobile along the interior annular of wheel body (1).
5. the wheeled robot according to claim 4 based on liquid metal driving, which is characterized in that the electrode (4) is applied
After added electric field, liquid metal can tend to cathode movement in sodium hydroxide solution, to push the front apron of electrode support (3)
(301), liquid metal and electrode support is enabled persistently to move inside wheel body, this will continue to change wheel type machine
The center of gravity of people, so as to continue rolls forward.
6. the wheeled robot according to claim 5 based on liquid metal driving, which is characterized in that the wheel body (1)
The groove of interior annular uses super-hydrophobic technical treatment, can reduce the resistance of sodium hydroxide solution and wheel body.
7. the wheeled robot according to claim 6 based on liquid metal driving, which is characterized in that the liquid metal liquid
Drop is wrapped up by sodium hydroxide solution always, and liquid metal droplet is not direct always to be contacted with two electrodes, and electric field passes through hydroxide
Sodium solution exerts one's influence to liquid metal droplet.
8. according to claim 1 to the wheeled robot based on liquid metal driving described in 7 any one, which is characterized in that described
Two electrodes (4) are connect by thin wire with external power supply, and the external power supply is D.C. regulated power supply (5) or battery pack
(7)。
9. the wheeled robot according to claim 8 based on liquid metal driving, which is characterized in that the battery pack passes through
Battery bracket (6) is fixed on the wheel body (1).
10. the wheeled robot according to any one of claims 1 to 7 based on liquid metal driving, which is characterized in that institute
Electrode support (3) is stated to be made by 3D printing technique.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811189843.5A CN109048870B (en) | 2018-10-12 | 2018-10-12 | Wheeled robot based on liquid metal drive |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811189843.5A CN109048870B (en) | 2018-10-12 | 2018-10-12 | Wheeled robot based on liquid metal drive |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109048870A true CN109048870A (en) | 2018-12-21 |
| CN109048870B CN109048870B (en) | 2021-05-07 |
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ID=64764797
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811189843.5A Active CN109048870B (en) | 2018-10-12 | 2018-10-12 | Wheeled robot based on liquid metal drive |
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| Country | Link |
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| CN (1) | CN109048870B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111438675A (en) * | 2019-07-23 | 2020-07-24 | 北京航空航天大学 | Robot |
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| CN105479463A (en) * | 2016-01-26 | 2016-04-13 | 清华大学 | Deformable and flexible robot based on liquid metal electromagnetic actuation |
| CN106247083A (en) * | 2016-09-13 | 2016-12-21 | 广州特种承压设备检测研究院 | Wheeled detection robot |
| CN106363603A (en) * | 2016-11-21 | 2017-02-01 | 清华大学 | Miniature carrying device driven by liquid metal |
| CN108189077A (en) * | 2018-03-08 | 2018-06-22 | 中国科学技术大学 | The automatic drive device of liquid metal driving |
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2018
- 2018-10-12 CN CN201811189843.5A patent/CN109048870B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2057697B (en) * | 1979-07-25 | 1984-02-01 | Nuclear Power Co Ltd | Remote surface testing and inspection vehicle |
| CN105479463A (en) * | 2016-01-26 | 2016-04-13 | 清华大学 | Deformable and flexible robot based on liquid metal electromagnetic actuation |
| CN106247083A (en) * | 2016-09-13 | 2016-12-21 | 广州特种承压设备检测研究院 | Wheeled detection robot |
| CN106363603A (en) * | 2016-11-21 | 2017-02-01 | 清华大学 | Miniature carrying device driven by liquid metal |
| CN108189077A (en) * | 2018-03-08 | 2018-06-22 | 中国科学技术大学 | The automatic drive device of liquid metal driving |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111438675A (en) * | 2019-07-23 | 2020-07-24 | 北京航空航天大学 | Robot |
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| Publication number | Publication date |
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| CN109048870B (en) | 2021-05-07 |
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