CN109094762A - A kind of imitative frog travelling leg using drive lacking series connection software air bending module - Google Patents
A kind of imitative frog travelling leg using drive lacking series connection software air bending module Download PDFInfo
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- CN109094762A CN109094762A CN201810829621.9A CN201810829621A CN109094762A CN 109094762 A CN109094762 A CN 109094762A CN 201810829621 A CN201810829621 A CN 201810829621A CN 109094762 A CN109094762 A CN 109094762A
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- 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
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Abstract
A kind of imitative frog travelling leg using drive lacking series connection software air bending module, it is related to a kind of imitative frog travelling leg, and in particular to a kind of imitative frog travelling leg using drive lacking series connection software air bending module.The present invention imitates that frog travel robot quality volume is bigger than normal, waterproof seal is poor to solve the problems, such as existing rigid structure.The present invention includes main body trunk connector, hip joint, knee joint, ankle-joint, hind leg flippers, air guide obstruction head and sealing obstruction head, hip joint, knee joint, ankle-joint head and the tail are in turn connected into an air guide channel, hip joint blocks head by air guide and connect with main body trunk connection component, and ankle-joint is connect by sealing obstruction head with the hind leg flippers.The invention belongs to robot fields.
Description
Technical field
The present invention relates to a kind of imitative frog travelling legs, and in particular to a kind of using drive lacking series connection software air bending module
Imitative frog move about leg, belong to robot field.
Background technique
With the development of the science and technology such as bionical, new material, robot, in face of the waters such as rivers and lakes exploration and survey
The increase of demands such as examine, related scientific research personnel have carried out many bionics fibers for different travelling biologies.Frog is as a kind of water
Amphibious movement may be implemented in land amphibious organisms, using the underwater propulsion mode of leg formula structure, there is very strong environment to adapt to
Property and mobility, therefore study bionical frog robot, not only there is important researching value in novel bionic field, also in the people
With or military searching rescue, prospecting monitoring and camouflage investigation etc. have good application prospect.
Existing imitative frog travel robot is driven based on pneumatic muscles, and but its structure is complex, raw compared to true
Its quality volume of object is excessive, and rigid structure sealing is difficult, and waterproof effect is bad, therefore bionical effect is less desirable.And it is soft
Body material can be realized the micromation of base structure, lightweight；The driving of structure and similar muscle with continuous modification, also has
There is multifreedom motion ability, so that the movement of mimic biology be better achieved；Using pneumatic actuation software, can also be performed fast
Speed, quick motor-driven behavior, the explosive potential started of the height that there is simulation frog to realize.
It is periodical that underwater soft robot body is generally passed through using the bionic underwater robot of soft body structure design at present
Bending realize class fish swimming movement, such as Zhejiang University develop using transformation compound bending module realize S type bending travelling
Soft robot changes body by changing software air pressure inside, then restPoses, and keeps soft robot body suitable
Hour hands bending can be bent counterclockwise again.Frog travelling has the characteristics that intermittent and height is fulminant compared to fish, has quick
Starting speed and alert and resourceful steering capability, but there is presently no the water that modular software leg mechanism realizes class frogleg structure
It is lower to promote imitative formula.
Summary of the invention
The present invention is to solve existing rigid structure imitative frog travel robot quality volume is bigger than normal, waterproof seal is poor asks
Topic, and then propose a kind of imitative frog travelling leg using drive lacking series connection software air bending module.
The technical solution adopted by the present invention to solve the above problem is as follows: the present invention include main body trunk connector, hip joint,
Knee joint, ankle-joint, hind leg flippers, air guide obstruction head and sealing obstruction head, hip joint, knee joint, ankle-joint head and the tail successively connect
It is connected into an air guide channel, hip joint blocks head by air guide and connect with main body trunk connection component, and ankle-joint passes through sealing resistance
Chock plug is connect with the hind leg flippers.
Further, hip joint, knee joint, ankle-joint are software Pneumatic unidirectional bending modules, and three block coupled in series exist
Limbs driving structure after constituting together.
Further, hip joint is made of hip joint elastic matrix, hip joint strain limiting layer and hip joint fiber line, hip
Joint fiber line is spirally wrapped around on hip joint elastic matrix, and hip joint fiber line is pasted onto hip joint elastic matrix
On, hip joint strain limiting layer is pasted at the exterior arc surface of hip joint elastic matrix.
Further, knee joint is made of knee joint elastic matrix, knee joint strain limiting layer and knee joint fiber line, knee
Joint fiber line is spirally wrapped around on knee joint elastic matrix, and knee joint fiber line is pasted onto knee joint elastic matrix
On, knee joint strain limiting layer is pasted at the exterior arc surface of knee joint elastic matrix.
Further, ankle-joint is made of ankle-joint elastic matrix, ankle-joint strain limiting layer and ankle-joint fiber line, ankle
Joint fiber line is spirally wrapped around on ankle-joint elastic matrix, and ankle-joint fiber line is pasted onto ankle-joint elastic matrix
On, ankle-joint strain limiting layer is pasted at the exterior arc surface of ankle-joint elastic matrix.
Further, the hind leg flippers is formed by moving flippers and determining flippers, and the one end and sealing obstruction head for determining flippers are consolidated
Fixed connection, the other end for determining flippers are connect with dynamic flippers.
The beneficial effects of the present invention are: 1, the invention proposes a kind of using drive lacking series connection software air bending module
Imitative frog travelling leg mechanism, hind leg ontology are poured by high-performance platinum catalysis silicon rubber, have good bearing capacity and ring
Border adaptability, durability greatly improve；The design of full software uses pneumatic actuation, can execute quickly quick motor-driven behavior,
The fulminant starting potential of height realized with simulation frog；2, drive lacking series connection software air bending mould proposed by the present invention
Block simplifies the structure design that software imitates frog travelling leg mechanism, simplifies production process, reduces production complexity, into one
Step realizes the lightweight and miniaturization of imitative frog travel robot structure；3, drive lacking series connection software air bending proposed by the present invention
Module no longer needs hard rigid material to be attached, and avoids hard and soft part contact boundary and is bonded loosely tearable problem,
Spoilage is reduced while ensureing good bearing capacity；4, the present invention further solves software and imitates frog robot leg joint
Need more valve controls that robot body's trunk is caused to cause volume is bigger than normal, control is complicated to ask because storing multiple control valves and circuit
Topic, the imitative frog travel robot of further small compact；5, the present invention simplifies the structure that software imitates frog travelling leg mechanism
Design reduces production complexity, the lightweight and miniaturization of imitative frog travel robot structure is further realized, to design more
Bionical effect and smaller imitative frog travel robot model machine true to nature provide possibility.
Detailed description of the invention
Fig. 1 is front schematic view of the invention；
Fig. 2 is diagrammatic cross-section of the invention；
Fig. 3 is stretching routine schematic diagram of the invention；
Fig. 4 is the overall schematic that hind leg ontology of the present invention is mounted on imitative frog travel robot.
Specific embodiment
Specific embodiment 1: illustrating present embodiment in conjunction with Fig. 1 to Fig. 4, a kind of use described in present embodiment owes to drive
The imitative frog travelling leg of dynamic series connection software air bending module includes main body trunk connector 1, hip joint 2, knee joint 3, ankle pass
Section 4, hind leg flippers, air guide obstruction head 6 and sealing obstruction head 7, hip joint 2, knee joint 3,4 head and the tail of ankle-joint are in turn connected into one
A air guide channel, hip joint 2 block head 6 by air guide and connect with main body trunk connection component 1, and ankle-joint 4 passes through sealing obstruction
First 7 connect with the hind leg flippers.Hip joint 2, knee joint 3, ankle-joint 4 join end to end constitutes an air guide path together,
Hind leg main body blocks head 6 by air guide, sealing obstruction head 7 forms a S-shaped airtight cavity, and passes through a vent line connection
Pressure control is realized on to breather valve and exhaust valve.
Hip joint 2, knee joint 3, ankle-joint 3 are software Pneumatic unidirectional bending module, three block coupled in series structure together
At hind leg ontology-driven structure, hind leg ontology is soft material.The hind leg ontology be poured by platinum catalysis silastic material and
At, especially by 3D printing mold, it is molded, bonding obtain.Platinum catalysis silastic material elongation at break with higher,
Tensile strength and tearing strength guarantee that hind leg has enough bearing capacitys and durability.
Specific embodiment 2: illustrating present embodiment in conjunction with Fig. 1 to Fig. 4, a kind of use described in present embodiment owes to drive
Hip joint 2, knee joint 3, the ankle-joint 4 of the imitative frog travelling leg of dynamic series connection software air bending module are software Pneumatic unidirectionals
It is bent module, limbs driving structure three block coupled in series are constituted together after.Other compositions and connection relationship and specific embodiment party
Formula one is identical.
Specific embodiment 3: illustrating present embodiment in conjunction with Fig. 1 to Fig. 4, a kind of use described in present embodiment owes to drive
The hip joint 2 of the imitative frog travelling leg of dynamic series connection software air bending module is by hip joint elastic matrix 2-1, hip joint strain limit
Preparative layer 2-2 and hip joint fiber line 2-3 composition, hip joint fiber line 2-3 are spirally wrapped around hip joint elastic matrix 2-1
On, and hip joint fiber line 2-3 is pasted on hip joint elastic matrix 2-1, hip joint strain limiting layer 2-2 is pasted onto hip joint
At the exterior arc surface of elastic matrix 2-1.The sparse inner circle of fiber line outer circle is intensive.Other compositions and connection relationship and specific embodiment party
Formula one is identical.
Specific embodiment 4: illustrating present embodiment in conjunction with Fig. 1 to Fig. 4, a kind of use described in present embodiment owes to drive
The knee joint 3 of the imitative frog travelling leg of dynamic series connection software air bending module is by knee joint elastic matrix 3-1, knee joint strain limit
Preparative layer 3-2 and knee joint fiber line 3-3 composition, knee joint fiber line 3-3 are spirally wrapped around knee joint elastic matrix 3-1
On, and knee joint fiber line 3-3 is pasted on knee joint elastic matrix 3-1, knee joint strain limiting layer 3-2 is pasted onto knee joint
At the exterior arc surface of elastic matrix 3-1.Other compositions and connection relationship are same as the specific embodiment one.
Specific embodiment 5: illustrating present embodiment in conjunction with Fig. 1 to Fig. 4, a kind of use described in present embodiment owes to drive
The ankle-joint 4 of the imitative frog travelling leg of dynamic series connection software air bending module is by ankle-joint elastic matrix 4-1, ankle-joint strain limit
Preparative layer 4-2 and ankle-joint fiber line 4-3 composition, ankle-joint fiber line 4-3 are spirally wrapped around ankle-joint elastic matrix 4-1
On, and ankle-joint fiber line 4-3 is pasted on ankle-joint elastic matrix 4-1, ankle-joint strain limiting layer 4-2 is pasted onto ankle-joint
At the exterior arc surface of elastic matrix 4-1.Other compositions and connection relationship are same as the specific embodiment one.
Specific embodiment 6: illustrating present embodiment in conjunction with Fig. 1 to Fig. 4, a kind of use described in present embodiment owes to drive
The hind leg flippers of the imitative frog travelling leg of dynamic series connection software air bending module is formed by moving flippers 5-1 and determining flippers 5-2, determines foot
One end of web 5-2 is fixedly connected with sealing obstruction head 7, and the other end for determining flippers 5-2 is connect with dynamic flippers 5-1.It is other composition and
Connection relationship is same as the specific embodiment one.
Working principle
The hind leg that the present invention can be used as imitative frog travel robot carries out underwater propulsion travelling.It is by hip joint 2, knee
The soft material hind leg driving structure that joint 3, ankle-joint 4 form is connected by the connector and main body trunk on 2 top of hind leg hip joint
Connect, 4 end of ankle-joint with by dynamic flippers 5-1 and determine the hind leg flippers that flippers 5-2 is formed and link together to realize that leg pushes away hydrodynamic(al)
Make.Hip, the SCID Mice of the hind leg ontology are that software Pneumatic unidirectional is bent module, and three block coupled in series constitute whole together
Body driving structure.
The hind leg ontology hip joint 2, knee joint 3, ankle-joint 4 join end to end constitutes an air guide path together, after
Limb main body blocks head, sealing obstruction capitiform into a S-shaped airtight cavity by air guide, utilizes elastic matrix and and strain limiting layer
Strain differential generate Bending Deformation, differently curved deformation degree is reached when being filled with different air pressures, high pressure gas is passed through by moment
Body completes hind leg ontology from the motion morphology stretched is bent to, so that the stretching, extension imitated when frog hind leg moves about under water is dynamic
Make, realizes robot travelling.
The hip joint 2 of the hind leg ontology, knee joint 3,4 inner cavity of ankle-joint are connected together, and only need a gas-guide pipeline
Pressure control is realized with a set of switch valve, and solving robot body's trunk because storing multiple control valves and circuit leads to volume
Problem bigger than normal, control is complicated, has miniaturised imitative frog travel robot.
The software air bending module of the hind leg ontology is posted at hip joint 2, knee joint 3,4 extrados of ankle-joint and is answered
Become limiting layer, to ensure that the motion morphology of bending stretching, extension.The drive lacking series connection software air bending module, carries energy
Power is good, it is no longer necessary to which hard rigid material is attached, and is avoided hard and soft part contact boundary and is bonded loosely tearable problem, letter
Hind leg structure is changed, to simplify production process, reduce production complexity.
Hind leg ontology is limited by winding hip joint fiber line 2-3, knee joint fiber line 3-3, ankle-joint fiber line 4-3
It is radially expanded deformation after being filled with air pressure, passes through hip joint elastic matrix 2-1, knee joint elastic matrix 3-1, ankle-joint elasticity
Matrix 4-1 and the strain that limiting layer 4-2 is strained with hip joint strain limiting layer 2-2, knee joint strain limiting layer 3-2, ankle-joint
Difference reaches good flexure operation effect, and differently curved deformation degree is reached when being filled with different air pressures, is passed through height by moment
Body of calming the anger makes hind leg ontology complete to drive flippers water repellent to generate propulsive force, to imitate from the motion morphology stretched is bent to
Stretching when frog hind leg moves about under water realizes robot travelling.
The hind leg ontology is poured by platinum catalysis silastic material, especially by 3D printing mold, molded, viscous
Conjunction obtains.It selects elongation at break, tensile strength and all higher silastic material of tearing strength i.e. and can guarantee that hind leg has enough
Bearing capacity and durability, while change to limit hind leg ontology after being filled with air pressure is radially expanded by winding fiber line
Shape, by reaching good flexure operation effect with the strain differential of silica gel foil gauge.The software hind leg has the significant of software
Advantage, environmental suitability is strong, makes body distortion in a manner of continuous modification to imitate frog movement, fast response time can be performed
Quickly quick hind leg starting pushes away water.The drive lacking series connection software air bending module further mitigates weight, densification
Structure.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above are modified or are modified
For the equivalent embodiment of equivalent variations, but without departing from the technical solutions of the present invention, according to the technical essence of the invention,
Within the spirit and principles in the present invention, any simple modifications, equivalent substitutions and improvements to the above embodiments etc., still
Belong within the protection scope of technical solution of the present invention.
Claims (6)
- The leg 1. a kind of imitative frog using drive lacking series connection software air bending module moves about, it is characterised in that: described one kind is adopted It include main body trunk connector (1), hip joint (2), knee with the imitative frog travelling leg of drive lacking series connection software air bending module Joint (3), ankle-joint (4), hind leg flippers, air guide obstruction head (6) and sealing blocks head (7), hip joint (2), knee joint (3), Ankle-joint (4) is in turn connected into an air guide channel from beginning to end, and hip joint (2) is connect by air guide obstruction head (6) with main body trunk Component (1) connection, ankle-joint (4) are connect by sealing obstruction head (7) with the hind leg flippers.
- 2. a kind of imitative frog travelling leg using drive lacking series connection software air bending module according to claim 1, special Sign is: hip joint (2), knee joint (3), ankle-joint (4) are software Pneumatic unidirectional bending modules, and three block coupled in series are one Act limbs driving structure after constituting.
- 3. a kind of imitative frog travelling leg using drive lacking series connection software air bending module according to claim 1, special Sign is: hip joint (2) is by hip joint elastic matrix (2-1), hip joint strain limiting layer (2-2) and hip joint fiber line (2- 3) it forms, hip joint fiber line (2-3) is spirally wrapped around on hip joint elastic matrix (2-1), and hip joint fiber line (2- 3) it is pasted on hip joint elastic matrix (2-1), hip joint strain limiting layer (2-2) is pasted onto hip joint elastic matrix (2-1) Exterior arc surface at.
- 4. a kind of imitative frog travelling leg using drive lacking series connection software air bending module according to claim 1, special Sign is: knee joint (3) is by knee joint elastic matrix (3-1), knee joint strain limiting layer (3-2) and knee joint fiber line (3- 3) it forms, knee joint fiber line (3-3) is spirally wrapped around on knee joint elastic matrix (3-1), and knee joint fiber line (3- 3) it is pasted on knee joint elastic matrix (3-1), knee joint strain limiting layer (3-2) is pasted onto knee joint elastic matrix (3-1) Exterior arc surface at.
- 5. a kind of imitative frog travelling leg using drive lacking series connection software air bending module according to claim 1, special Sign is: ankle-joint (4) is by ankle-joint elastic matrix (4-1), ankle-joint strain limiting layer (4-2) and ankle-joint fiber line (4- 3) it forms, ankle-joint fiber line (4-3) is spirally wrapped around on ankle-joint elastic matrix (4-1), and ankle-joint fiber line (4- 3) it is pasted on ankle-joint elastic matrix (4-1), ankle-joint strain limiting layer (4-2) is pasted onto ankle-joint elastic matrix (4-1) Exterior arc surface at.
- 6. a kind of imitative frog travelling leg using drive lacking series connection software air bending module according to claim 1, special Sign is: the hind leg flippers is formed by moving flippers (5-1) and determining flippers (5-2), and the one end and sealing for determining flippers (5-2) are blocked Head (7) is fixedly connected, and the other end for determining flippers (5-2) is connect with dynamic flippers (5-1).
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| CN201810829621.9A CN109094762B (en) | 2018-07-25 | 2018-07-25 | Frog-imitating swimming leg adopting under-actuated series soft pneumatic bending module |
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| CN201810829621.9A CN109094762B (en) | 2018-07-25 | 2018-07-25 | Frog-imitating swimming leg adopting under-actuated series soft pneumatic bending module |
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| CN109094762B CN109094762B (en) | 2020-05-12 |
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| CN112441204A (en) * | 2020-12-04 | 2021-03-05 | 浙江大学 | Frog-imitating underwater soft robot driven by chemical energy release reaction |
| CN114248888A (en) * | 2021-11-22 | 2022-03-29 | 杭州电子科技大学 | Water-catching type underwater bionic robot and driving method thereof |
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