CN109533070A - A kind of energy recovery type is wireless soft robot and movement technique - Google Patents
A kind of energy recovery type is wireless soft robot and movement technique Download PDFInfo
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- CN109533070A CN109533070A CN201910012140.3A CN201910012140A CN109533070A CN 109533070 A CN109533070 A CN 109533070A CN 201910012140 A CN201910012140 A CN 201910012140A CN 109533070 A CN109533070 A CN 109533070A
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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
Abstract
A kind of energy recovery type is wireless soft robot and its movement technique, the robot includes base plane, the flexible foot of base plane bottom is set, power supply module, energy conversion device and control module at the top of base plane are set, energy conversion device is located at the both sides on flexible foot top；Its main motion structure is single-row multiple row and the angled flexible foot of base plane, regulated and controled by control module, energy conversion device generates the vibration of certain frequency and is transferred to flexible foot, make its quickly with contact surface reciprocating collision, under the action of elastic force and frictional ground force, robot has a forward motor behavior；The movement mechanism shape of the robot is succinct, easy to make, and the recycling of energy may be implemented during the motion, only needs the energy input of very little that can realize quick motor behavior；And since robot motion's structure uses flexible material, which has good environmental suitability and human-computer interaction security.
Description
Technical field
The present invention relates to robot fields, and in particular to a kind of energy recovery type is wireless soft robot and movement technique.
Background technique
Traditional robot is manufactured using metals such as steels mostly, usually there is extra high intensity and hardness, passes through conjunction
Very quick movement velocity and extremely fine kinematic accuracy may be implemented in the design of reason.Traditional robot is daily at us
In effect it is extremely important, realize and much rely solely on the function that the mankind oneself are difficult to realize, but traditional robot also has
It is difficult to overcome for many disadvantages are current, such as excessively high intensity and hardness are easy to cause to damage to operation object, robot
The production of itself has been related to control, the precision machining processes that the complex technologies such as sensing become one, simultaneously because will
Control, sensing etc. are partially integrated into together, and traditional robot is mostly very heavy and huge, are greatly limited them in this way and are transported
Flowing mode and motion range.In addition to this, traditional robot relies primarily on gear, the rotation or movement of the drive mechanisms such as connecting rod
Realize its movement, the functions such as continuous modification, in this kind of drive, the energy for driving it to move is constantly in unidirectional dissipation
State drives its strain energy of distortion that can not be transferred to and deforms next time, or even deforms next time and additional energy is also needed
Deformation before counteracting, this also increases energy required for maintaining robot motion to a certain extent.
Soft robot has complex environment extremely excellent adaptability, Ke Yizhu due to the inherent characteristic of material
The dynamic variation for adapting to external environment, and moved in extremely complicated environment, therefore can be used for topographic(al) reconnaissance, Post disaster relief etc. is appointed
Business.And due to the flexible characteristic of robot itself, soft robot significantly reduces the possibility for operation object damage
Property, this makes it in medical treatment, and nurse etc. has irreplaceable role.Existing soft robot mostly uses fluid to drive greatly
Dynamic, modes, these modes such as shape-memory polymer deformation and the deformation of imitative mammal tendon require greatly extremely harsh
Drive condition and more huge driving equipment and it can only realize more slow motor behavior, and these are insufficient significantly
Application of the soft robot of limitation in real life.
Summary of the invention
In order to improve to the existing some shortcoming and defect of robot, the purpose of the present invention is to provide a kind of energy
Reclaiming type is wireless soft robot and movement technique, the soft robot are not required to huge driving equipment, may be implemented quickly to move
And energy regenerating.The soft robot has a good landform adaptability, and load capacity is big, it can be achieved that wireless control, can
It is moved along particular path, small in size, light-weight, simple for structure, the features such as low energy consumption.And its Production Time is short, material cost
Low, manufacture craft is simple.
In order to reach the goals above, the present invention adopts the following technical scheme:
A kind of wireless soft robot of energy recovery type, including base plane 5, are arranged in the flexibility of 5 bottom of base plane
Foot 1 is arranged in the power supply module 4 at 5 top of base plane, the energy conversion device 2 of 4 two sides of power supply module is arranged in, is arranged
The vibration excitor 2 described in the control module 3 at 4 top of power supply module is located at the both sides on 1 top of flexible foot；
The flexible foot 1 is made of the single-row or multiple row lamellar structure angled with base plane 5；
The energy conversion device 2 is used to multiple kinds of energy being converted to vibrational energy；
The control module 3 is wireless control module, wirelessly controls the entire circuit of soft robot
On-off and size of current；
Power supply module 4 is used to power for energy conversion device 2 and control module 3.
The material of the flexible foot 1 uses rubber, silica gel or PDMS flexible material, or uses variation rigidity material.
The corner dimension of the dimensional parameters and itself and base plane 5 that form the lamellar structure of flexible foot 1 will affect soft
The movenent performance of body robot；But no matter the dimensional parameters of lamellar structure are how many, in the lamellar structure and substrate of flexible foot 1
When the angle of plane is not right angle, as long as driving force caused by energy conversion device 2 is sufficiently large, soft robot can be real
It now moves, and the direction of motion of soft robot is opposite when being obtuse angle with angle when angle is acute angle.
The region that the energy conversion device 2 motivates, the size of excitation amplitude and the distributed architecture of flexible foot 1 can shadows
Ring the motion mode of soft robot.
The energy conversion device 2 is vibration excitor, motor or responsive intelligent material.
The responsive intelligent material is acoustic response material, optical Response material or magnetic responsiveness material.
The multiple kinds of energy is electric energy, luminous energy or sound energy.
Camera 6 is arranged in the top of the control module 3, for topographic(al) reconnaissance and monitoring and detects.
A kind of movement technique of the wireless soft robot of energy recovery type, the region that energy conversion device 2 motivates,
The size of excitation amplitude and the distributed architecture of flexible foot 1 will affect the motion mode of soft robot；Pass through control module 3
Regulation, when two energy conversion devices 2 work at the same time, soft robot can generate a forward motor behavior；And if
When only the energy conversion device 2 of side works, an asymmetric driving force can be integrally generated to soft robot, to generate
The motor behavior of one turning, the amplitude of the big minor adjustment soft robot turning motion by adjusting excitation amplitude；
After soft robot is acted on downwards by energy conversion device 2, flexible foot 1 and ground face contact are concurrently raw significant
Bending deformation, the kinetic energy and gravitional force of soft robot entirety convert the elasticity for flexible foot 1 during this
Deformation energy, in the soft robot effect upward by energy conversion device 2, soft robot reduces the pressure on ground,
Frictional force reduces, to produce a forward motor behavior, while the elastic potential energy of flexible foot 1 is again in this course
Convert the kinetic energy for soft robot entirety；Therefore it starts to work when energy conversion device 2 and generates certain vibration and effect
When flexible foot 1, soft robot is whole to realize quickly quick movement row in the continuous recycling conversion of potential energy and kinetic energy
For；Since flexible foot 1 itself uses flexible material, so it will not generate injury to contact surface, and the flexible structure exists
Its original state is still able to maintain after being used for multiple times, there is no in hard mechanical mechanism due to using the time long and existing fatigue, damage
The problem of wound and failure.
Compared to the prior art, the invention has the following advantages that
(1) recycling of energy may be implemented in the soft robot, it is only necessary to can be fast under the active force of very little
Speed movement.
(2) soft robot is adapted to a variety of orographic conditions, has good landform adaptive faculty.
(3) soft robot is small in size, light weight, consumes energy low, and simple for structure, movement velocity is fast, and manufacture craft is simple,
Time-consuming short, low manufacture cost.
(4) soft robot has certain load capacity, and may be implemented that other soft robots are difficult to realize removes
The functions such as fortune.
(5) soft robot realizes that motion parts are mainly full soft structure, can bear biggish impact and collision.
(6) figure of the soft robot is changeable, and the ruler of adjusting vibration exciter is not needed when changing robot size
It is very little, it is only necessary to adjust the amplitude of energy conversion device output exciting force.
Detailed description of the invention
Fig. 1 is the overall structure figure of soft robot of the present invention.
Fig. 2 is the flexible foot structural schematic diagram of single-row lamellar structure.
Fig. 3 is the flexible foot structural schematic diagram of biserial lamellar structure.
Fig. 4 is the schematic diagram that flexible foot generates motor behavior process.
When Fig. 5 is the work of unilateral energy conversion device, since asymmetric driving leads to the schematic diagram of robot turning motion.
Fig. 6 is that soft robot of the present invention is monitored, the schematic diagram of the functions such as scouting.
Fig. 7 is soft robot transport weight schematic diagram of the present invention.
Specific embodiment
With reference to the accompanying drawings and detailed description, the present invention is described in further details.
As shown in Figure 1, a kind of wireless soft robot of energy recovery type of the present invention, including base plane 5, it is arranged in substrate
The flexible foot 1 of 5 bottom of plane is arranged in the power supply module 4 at 5 top of base plane, the energy of 4 two sides of power supply module is arranged in
The both sides that vibration excitor 2 described in the control module 3 at 4 top of power supply module is located at 1 top of flexible foot is arranged in conversion equipment 2；Such as
Shown in Fig. 2 and Fig. 3, the flexible foot 1 is made of the single-row or multiple row lamellar structure angled with base plane 5；Institute
Energy conversion device 2 is stated for multiple kinds of energy to be converted to vibrational energy；The control module 3 is wireless control module, passes through nothing
The mode of line controls the on-off and size of current of the entire circuit of soft robot；Power supply module 4 is used to be energy converting means
Set 2 and the power supply of control module 3.
As the preferred embodiment of the present invention, the material of the flexible foot 1 uses rubber, silica gel or PDMS flexibility material
Material, or use variation rigidity material.
The corner dimension of the dimensional parameters and itself and base plane 5 that form the lamellar structure of flexible foot 1 will affect soft
The movenent performance of body robot；But no matter the dimensional parameters of lamellar structure are how many, in the lamellar structure and substrate of flexible foot 1
When the angle of plane is not right angle, as long as driving force caused by energy conversion device 2 is sufficiently large, soft robot can be real
It now moves, and the direction of motion of soft robot is opposite when being obtuse angle with angle when angle is acute angle.
The region that the energy conversion device 2 motivates, the size of excitation amplitude and the distributed architecture of flexible foot 1 can shadows
Ring the motion mode of soft robot.
As the preferred embodiment of the present invention, the energy conversion device 2 is vibration excitor, motor or responsive intelligent material
Material.Further, the responsive intelligent material is acoustic response material, optical Response material or magnetic responsiveness material.
As the preferred embodiment of the present invention, the multiple kinds of energy is electric energy, luminous energy or sound energy.
As the preferred embodiment of the present invention, camera 6 is arranged in the top of the control module 3, is used for topographic(al) reconnaissance
And it monitors and detects.
The movement technique of the wireless soft robot of energy recovery type of the present invention, the region that energy conversion device 2 motivates, excitation
The size of amplitude and the distributed architecture of flexible foot 1 will affect the motion mode of soft robot；It is adjusted by control module 3
Control, when two energy conversion devices 2 work at the same time, soft robot can generate a forward motor behavior；And if only
When having the energy conversion device 2 of side to work, an asymmetric driving force can be integrally generated to soft robot, to generate one
The motor behavior of a turning, the amplitude of the big minor adjustment soft robot turning motion by adjusting excitation amplitude；
After soft robot is acted on downwards by energy conversion device 2, flexible foot 1 and ground face contact are concurrently raw significant
Bending deformation, the kinetic energy and gravitional force of soft robot entirety convert the elasticity for flexible foot 1 during this
Deformation energy, in the soft robot effect upward by energy conversion device 2, soft robot reduces the pressure on ground,
Frictional force reduces, to produce a forward motor behavior, while the elastic potential energy of flexible foot 1 is again in this course
Convert the kinetic energy for soft robot entirety；Therefore it starts to work when energy conversion device 2 and generates certain vibration and effect
When flexible foot 1, soft robot is whole to realize quickly quick movement row in the continuous recycling conversion of potential energy and kinetic energy
For；Since flexible foot 1 itself uses flexible material, so it will not generate injury to contact surface, and the flexible structure exists
Its original state is still able to maintain after being used for multiple times, there is no in hard mechanical mechanism due to using the time long and existing fatigue, damage
The problem of wound and failure.
Embodiment one
As shown in figure 4, two energy conversion devices 2 in left and right generate vibration when working at the same time by 3 wireless remote control of control module
The flexible foot 1 of bottom is moved and is transferred to, soft robot generates a forward movement.
Embodiment two
As shown in figure 5, passing through 3 wireless remote control of control module and only one energy conversion device when using Fig. 3 structure
When 2 work, turning motion is may be implemented in soft robot, and then the function of moving along specified path may be implemented.
Embodiment three
As shown in fig. 6, the devices such as the top installation camera 6 of control module 3, soft robot can be used for topographic(al) reconnaissance
And monitoring, the functions such as detect.
Example IV
As shown in fig. 7, soft robot can use transport weight 7 to specified mesh by using 3 wireless remote control of control module
Ground.
Claims (9)
1. a kind of wireless soft robot of energy recovery type, it is characterised in that: including base plane (5), be arranged in base plane
(5) flexible foot (1) of bottom, the power supply module (4) being arranged at the top of base plane (5) are arranged in power supply module (4) two sides
Energy conversion device (2), be arranged control module (3) energy conversion device (2) at the top of power supply module (4) be located at it is soft
The both sides on property foot (1) top；
The flexible foot (1) is made of the single-row or multiple row lamellar structure angled with base plane (5)；
The energy conversion device (2) is used to multiple kinds of energy being converted to vibrational energy；
The control module (3) is wireless control module, wirelessly controls the logical of the entire circuit of soft robot
Disconnected and size of current；
Power supply module (4) is used to power for energy conversion device (2) and control module (3).
2. the wireless soft robot of a kind of energy recovery type according to claim 1, it is characterised in that: the flexible foot
(1) material uses rubber, silica gel or PDMS flexible material, or uses variation rigidity material.
3. the wireless soft robot of a kind of energy recovery type according to claim 1, it is characterised in that: composition flexible foot
(1) corner dimension of the dimensional parameters of lamellar structure and itself and base plane (5) will affect the motility of soft robot
Energy；But no matter the dimensional parameters of lamellar structure are how many, are not in the lamellar structure of flexible foot (1) and the angle of base plane
When right angle, as long as driving force caused by energy conversion device (2) is sufficiently large, soft robot can be realized movement, and
The direction of motion of soft robot is opposite when with angle being obtuse angle when angle is acute angle.
4. the wireless soft robot of a kind of energy recovery type according to claim 1, it is characterised in that: the energy conversion
The region of device (2) excitation, the distributed architecture of the size and flexible foot (1) of excitation amplitude will affect the fortune of soft robot
Flowing mode.
5. the wireless soft robot of a kind of energy recovery type according to claim 1, it is characterised in that: the energy conversion
Device (2) is vibration excitor, motor or responsive intelligent material.
6. the wireless soft robot of a kind of energy recovery type according to claim 5, it is characterised in that: the responsiveness intelligence
Energy material is acoustic response material, optical Response material or magnetic responsiveness material.
7. the wireless soft robot of a kind of energy recovery type according to claim 1, it is characterised in that: the multiple kinds of energy
For electric energy, luminous energy or sound energy.
8. the wireless soft robot of a kind of energy recovery type according to claim 1, it is characterised in that: the control module
(3) camera (6) are arranged in top, for topographic(al) reconnaissance and monitoring and detect.
9. a kind of described in any item movement techniques of the wireless soft robot of energy recovery type of claim 1 to 8, feature exist
In: the region of energy conversion device (2) excitation, the distributed architecture of the size and flexible foot (1) of excitation amplitude will affect soft
The motion mode of body robot；Regulated and controled by control module (3), when two energy conversion devices (2) work at the same time, software machine
Device people can generate a forward motor behavior；And if only side energy conversion device (2) work when, can be to software machine
Device people integrally generates an asymmetric driving force, so that the motor behavior of a turning is generated, by adjusting the big of excitation amplitude
The amplitude of minor adjustment soft robot turning motion；
After soft robot is acted on downwards by energy conversion device (2), flexible foot (1) and ground face contact are concurrently raw significant
Bending deformation, the kinetic energy and gravitional force of soft robot entirety convert the bullet for flexible foot (1) during this
Property deformation can, in the soft robot effect upward by energy conversion device (2), soft robot subtracts the pressure on ground
Small, frictional force reduces, to produce a forward motor behavior, while the elasticity of flexible foot (1) in this course
Potential energy is converted again for the kinetic energy of soft robot entirety；Therefore it starts to work when energy conversion device (2) and generates certain vibration
When moving and acting on flexible foot (1), the whole realization in the continuous recycling conversion of potential energy and kinetic energy of soft robot is quickly quick
Prompt motor behavior；Since flexible foot (1) itself uses flexible material, so it will not generate injury to contact surface, and
The flexible structure is still able to maintain its original state after a number of uses, and there is no deposit in hard mechanical mechanism due to using the time long
Fatigue, damage and failure the problem of.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110562342A (en) * | 2019-10-15 | 2019-12-13 | 齐鲁工业大学 | SMA coil driven crawling robot |
| CN113335405A (en) * | 2021-05-24 | 2021-09-03 | 南京理工大学 | Multi-foot bionic flexible robot |
| CN113635316A (en) * | 2021-07-30 | 2021-11-12 | 西安交通大学 | Multi-form and multifunctional blanket type robot under vibration excitation |
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| US20130171910A1 (en) * | 2011-12-30 | 2013-07-04 | Innovation First, Inc. | Climbing Vibration-Driven Robot |
| CN203537271U (en) * | 2013-09-23 | 2014-04-09 | 苏州大学张家港工业技术研究院 | Resonance driving mechanism based on burr friction asymmetry and robot structure |
| CN108818495A (en) * | 2018-07-13 | 2018-11-16 | 南京航空航天大学 | Flexible robot based on piezoelectric driving |
| CN108965801A (en) * | 2018-06-29 | 2018-12-07 | 河南聚合科技有限公司 | A kind of simulating crawling can autonomous scout fire-fighting machine cloud platform |
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| JP2005238339A (en) * | 2004-02-24 | 2005-09-08 | Chugoku Electric Power Co Inc:The | Automatic traveling robot using hair-like body as propulsion |
| US20130171910A1 (en) * | 2011-12-30 | 2013-07-04 | Innovation First, Inc. | Climbing Vibration-Driven Robot |
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| CN113335405A (en) * | 2021-05-24 | 2021-09-03 | 南京理工大学 | Multi-foot bionic flexible robot |
| CN113635316A (en) * | 2021-07-30 | 2021-11-12 | 西安交通大学 | Multi-form and multifunctional blanket type robot under vibration excitation |
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Application publication date: 20190329 |