CN109760086B - Frog tongue imitated software actuator and application thereof - Google Patents
Frog tongue imitated software actuator and application thereof Download PDFInfo
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Abstract
The invention discloses a frog tongue imitated software actuator and application thereof, and aims to solve the problems of complex control flow, difficult structural design and high cost of the existing software robot. The inflatable support tube comprises an inflatable tube, a support tube, a flexible film tube body and a metal wire, wherein the flexible film tube body is made of a film, and a connecting edge is arranged on the flexible film tube body. This application utilizes the curled characteristic of wire extension through the action of imitative frog predation, through the change of control pressure, and then realizes the corresponding motion of executor. Further, based on the structural design of the sticky objects, the actuator can realize the action of adhering and picking the objects. On the basis, the inventor further utilizes the actuator to realize a novel motion mode of the bionic frog jumping and swimming in water. The software actuator has the advantages of simple control, low manufacturing cost, high stretching efficiency and the like, and provides a new way for developing a software robot in the future.
Description
Technical Field
The invention relates to the field of soft robots, in particular to a soft actuator, and specifically relates to a frog-tongue-imitated soft actuator and application thereof. The inventor provides a new soft actuator through the research on the motion of the frogs, and a bionic frog jumping mechanism and a bionic frog swimming mechanism based on the soft actuator, which have the advantages of simple structure, easy control and low cost, are expected to be applied to the corresponding field and promote the development of a soft robot.
Background
In recent years, researchers have made soft robots from soft materials by simulating natural molluscs. The robot can realize the motion modes of peristalsis, torsion, crawling, swimming and the like, can randomly change the shape and the size of the robot in a large range, and can greatly stretch and contract in various large environments. Based on the advantages of the soft robot, it has become a research focus.
In foreign countries, the united states harvard university has developed fully soft biomimetic octopus; an earthworm-imitating peristaltic robot is developed by the university of Kaiser-Sichu in America; the bionic robot laboratory of Massachusetts institute of technology firstly adopts SMA as a driver to develop a bionic earthworm robot Meshwork. In addition, GoQbot, a bionic caterpillar robot, was developed in BarryA.Trimmer laboratory of Tafstrom university, USA; under the drive of Shape Memory Alloy (SMA), the university of Harvard in the United states develops a large-scale self-folding polyhedron which can rapidly and noninvasively enclose marine organisms in a water body; two soft robots of a worm-simulated self-propelled endoscope and a pneumatic bat ray are researched and developed by using a silica gel material as a raw material and adopting pneumatic driving in a university Ongshan research laboratory.
In China, a pneumatic bionic manta ray robotic fish is researched and developed by Beijing university of aerospace robot research institute; the pneumatic honeycomb network software actuator researched and developed by the computer institute of Chinese science and technology university causes great reverberation in the research of international software robots, and the actuator provides ideas for eliminating the essential limitations of rigid robots. The research groups of engineering dynamics department of Zhejiang university, software robot in Zhejiang province and intelligent device research focus laboratory use the curved reptile, starfish and other invertebrates for reference to develop a small intelligent structure, and the group can be made into small robots with various shapes by taking the structure as a basic module.
In summary, in recent years, soft grippers made of soft materials have attracted much attention from both domestic and foreign scholars and institutions. However, most of the existing grippers are difficult to grip light, thin, tiny and small objects, which greatly limits the application and development of soft grippers.
For this reason, a new structure is urgently required to solve the above problems.
Disclosure of Invention
The invention aims to: aiming at the problem that most of current grippers are difficult to grip light, thin, micro and small objects, a frog tongue imitating software actuator and application thereof are provided. This application utilizes the characteristic that the wire extends and curls through the action of imitating frog predation, through the change of control pressure, and then realizes the corresponding motion of executor. Further, based on the structural design of the sticky objects, the actuator can realize the action of adhering and picking the objects. On the basis, the inventor further utilizes the actuator to realize a novel motion mode of the bionic frog jumping and swimming in water. The software actuator has the advantages of simple control, low manufacturing cost, high stretching efficiency and the like, provides a new way for the development of software robots in the future, and has remarkable progress significance.
In order to achieve the purpose, the invention adopts the following technical scheme:
a frog tongue imitating software actuator comprises an inflation tube, a support tube, a flexible film tube body and a metal wire, wherein the inflation tube is connected with an air source;
the inflation tube is connected with the supporting tube and can inflate the flexible film tube body through the supporting tube; one end of the flexible film pipe body is connected with the supporting pipe, and the inflation pipe can inflate the flexible film pipe body through the supporting pipe;
the metal wire is in a curled shape, is arranged on the flexible film pipe body and can drive the flexible film pipe body to move; when the flexible thin film tube body is inflated, the flexible thin film tube body can stretch and drive the metal wire to deform; when the acting force of the gas in the flexible film pipe body is lower than the restoring force of the metal wire, the metal wire can drive the flexible film pipe body to curl and restore to the initial state.
The supporting tube is made of one or more of plastic, metal and ceramic materials.
The flexible film pipe body is made of a polypropylene film, and the thickness of the flexible film pipe body is 0.001 mm-0.3 mm.
The flexible film pipe body is made of a film, and the connecting edges of the flexible film pipe body are a group and are parallel to each other.
The metal wire is in a curled shape and can be naturally curled without being influenced by external force.
The metal wire is arranged on the inner wall of the flexible film pipe body and is positioned between the connecting edges.
The metal wires are parallel to the connecting edges.
The flexible film pipe body and the supporting pipe form an execution main body, and an air leakage hole is formed in the execution main body.
The air release hole is arranged on the supporting tube.
The device also comprises a tail end fixing piece and an adhesive piece used for grabbing the object; one end of the flexible film pipe body is connected with the tail end fixing piece; the adhesive member is disposed on the end fixing member and the end fixing member prevents the flexible film tube body from being stuck to the adhesive member when being curled.
The tail end fixing piece is S-shaped or fold line-shaped.
The end fixing piece comprises a first connecting edge, a U-shaped connecting edge, a second connecting edge, a first fixing pipe and a second fixing pipe, the first connecting edge, the U-shaped connecting edge and the second connecting edge are connected with one another in sequence and are connected into a whole, the first fixing pipe is arranged on the inner side of an opening of the U-shaped connecting edge, the second fixing pipe is connected with the outer walls of the second connecting edge and the U-shaped connecting edge respectively, and the adhesive is connected with the second connecting edge.
The first connecting edge, the U-shaped connecting edge and the second connecting edge are made of paper or plastic respectively.
The first connecting edge, the U-shaped connecting edge and the second connecting edge are integrally formed.
The use of the aforementioned actuator for land or water movement of a robot.
The jumping support assemblies are respectively arranged on the robot main body;
the jumping support component comprises an inflation tube, a support tube, a flexible film tube body and a metal wire, wherein the inflation tube is connected with an air source; the inflation tube is connected with the supporting tube, the flexible film tube body is connected with the supporting tube, the metal wire is arranged on the flexible film tube body, and the supporting tube is provided with an air release hole;
or the robot is made into a water mobile robot and comprises at least two jumping support components, a robot main body and flippers, wherein the jumping support components are respectively arranged on the robot main body; one end of the flexible film tube body is connected with the supporting tube, and the flippers are arranged at the other end of the flexible film tube body.
As described above, the conventional soft body robot mostly shows the movement patterns of peristalsis, rolling, crawling, swimming, jumping, etc., and the movement patterns of sticking the adhesive body by stretching and curling are less studied. Based on the characteristics of the soft robot, the understanding of the nature is strengthened, inspiration is found, the motion mechanism of more organisms is simulated, and therefore the finding of a novel material with high applicability and high efficiency and a driving mode are of great importance.
After the natural evolution of hundreds of millions of years, frogs can aim their sticky tongues at preys and stick them with incredible speed and accuracy, and their impact force on the target can reach 12 times of the acceleration of gravity, so that they can prey on insects in less than 0.07 s. Meanwhile, the tongue of the frog is one of the softest biological materials in nature. Therefore, the inventor is inspired by the predation action of the frog tongue and develops a soft actuator imitating the frog tongue.
The frog's tongue is long, wide and very soft. Meanwhile, the root of the frog tongue is grown in front of the oral cavity, the tip of the tongue is backward, and a lot of mucus is on the tongue. As long as the small insects fly over the frog, the mouth is opened, the tongue is extended out quickly, and the small insects are caught in the mouth to eat as shown in fig. 1a (which is a frog predation state diagram).
The inventor researches and discovers that the motion of the frog tongue has two important factors: firstly, mucus exists and is used for adhering and picking small insects; and the tongue capable of stretching and curling is used for catching the small insects. Based on the two factors of the frog tongue predation, the inventor designs a frog tongue imitating software actuator comprising the following mechanisms: 1) the viscous piece is used for replacing the mucus of the frog tongue and comprises a viscous main body, wherein the viscous main body is provided with the mucus which is liquid (such as glue solution and the like) with certain viscosity; 2) a soft executing component simulating the frog tongue for predation by stretching and rolling motion. FIG. 1b (which is a schematic diagram of a frog-jumping-imitating robot) shows a frog-jumping-imitating robot made by the inventor; the actuator has two functions on the robot, namely a jumping mechanism and an adhesive object adhering mechanism.
The soft body actuator of the embodiment comprises an inflation tube, a supporting tube, a flexible film tube body, a tail end fixing piece, a metal wire and a sticky piece for sticking an object, wherein the inflation tube is connected with an air source. Wherein, the inflation tube, the supporting tube, the flexible film tube body and the tail end fixing piece are connected in sequence; two ends of the inflation tube are respectively connected with the support tube and the air source and are used for inflating the flexible film tube body in the soft actuator; two ends of the flexible film pipe body are respectively connected with the supporting pipe and the tail end fixing piece; the sticky piece sets up on the end mounting, and the end mounting is used for preventing that flexible film body from gluing together with sticky piece when curling, effectively avoids the unable normal operating of software executor.
In this application, the flexible film body adopts the film to make, is provided with the connection limit on the flexible film body, and is the strip when the flexible film body is not aerifyd. Meanwhile, the wire is in a curled shape, which is in a curled shape in a normal state, like a state when the coil is wound. The metal wire is arranged on the flexible film pipe body, and the flexible film pipe body is relatively soft, so that the metal wire can drive the flexible film pipe body to move when being reset. Meanwhile, the flexible film tube body and the supporting tube form an execution main body, and an air leakage hole is formed in the execution main body.
When the inflation tube inflates the flexible film tube body through the supporting tube, the gas pushes open the flexible film tube body because the inflated gas amount is larger than the displacement of the gas release hole, so that the flexible film tube body is stretched, and the metal wire is driven to deform to complete the stretching action; when the inflation is stopped, the air leakage hole continuously exhausts, the air pressure in the flexible film pipe body is reduced, and when the acting force of air in the flexible film pipe body is lower than the elastic deformation restoring force of the metal wire, the metal wire drives the flexible film pipe body to curl and restore to the initial state, so that the retraction operation is completed. When the flexible film pipe body is stretched, the adhesive member at one end of the flexible film pipe body contacts with an object and adheres together; when the flexible film tube body retracts, the object retracts along with the adhesive body; when the flexible film pipe body is stretched for the next time, the object is separated from the viscous body under the action force of the flexible film pipe body, and the next operation can be carried out after retraction. In the structure, the air leakage hole is a key factor for realizing an object, and the motion mode similar to a frog tongue is realized through the matching of single rapid inflation and the air leakage hole.
The air leakage hole is arranged on the supporting tube, and the supporting tube is supported by plastic, metal or ceramic material; the flexible film body adopts the film to make, and the connection limit of flexible film body is a set of and parallel to each other, and based on the connection limit that is parallel to each other, it can make the flexible film body be flat state under initial condition to the flexible film body curls together better when contracting.
In this application, the end fixing member is S-shaped or dog-leg shaped, and is mainly used to provide support for the adhesive member and to prevent the flexible film tube body from sticking to the adhesive member when it is curled. Further, the inventor provides a concrete structure of end fastener, it includes the first connection limit, U style of calligraphy connection limit, second connection limit, first fixed pipe, the fixed pipe of second that are used for linking to each other with flexible film body, first connection limit, U style of calligraphy connection limit, second connection limit connect as an organic whole in proper order, first fixed pipe sets up in the opening inboard of U style of calligraphy connection limit, the fixed pipe of second links to each other with the outer wall of second connection limit, U style of calligraphy connection limit respectively, the stickum links to each other with the second connection limit. In the structure, the first connecting edge, the U-shaped connecting edge and the second connecting edge are used for forming a supporting framework; the first fixing pipe and the second fixing pipe provide corresponding supports for preventing the tail end fixing piece from deforming when the flexible film pipe body returns; the second connecting edge is used for providing support for the adhesive member and preventing the adhesive member from being stuck with the flexible film tube body.
To sum up, the software executor of this application adopts elastic metal silk, flexible film body, stay tube, rubber gas tube, viscidity spare, end mounting to constitute, and its simple structure, with low costs, the reaction is rapid. The mechanism is rapidly extended and contracted through inflation and deflation, so that the soft actuator rapidly sticks objects and finishes the action of sticking and grabbing. In an object adhesion grabbing experiment, the soft actuator can successfully grab various light, thin, micro and small articles such as chips, electronic components, special-shaped bodies and the like. Simultaneously, this application is through improving the frequency of aerifing and increasing to glue and get the seizure efficiency, has verified this imitative frog tongue and has caught realizability of mechanism. According to the characteristics of the actuator, four stages of the actuator stretching, curling and adhering the adhesive object are designed and manufactured, and the time of the actuator in one period is obtained, wherein the fastest adhering and adhering time is only 467 ms. The feasibility of the soft actuator for realizing stretching and curling motion and adhering and picking objects is verified through experiments. The soft body actuator has the characteristics of sensitive action and adhesion grabbing, is favorable for enriching the types of soft body robots, and has potential application value in the grabbing aspect of various light, thin, micro and small objects. In addition, based on the actuator, the inventor realizes a novel motion mode of the bionic frog jumping and swimming in water. The design of the actuator provides a new way for the development of the soft robot, and has important significance.
Drawings
The invention will now be described, by way of example, with reference to the accompanying drawings, in which:
fig. 1 shows a frog-imitating robot predated by a frog and manufactured based on the frog.
Fig. 2 is a perspective view of the imitated frog tongue soft body actuator in the embodiment 1 in a curled state.
FIG. 3 is a front view of the soft actuator of the frog-like tongue in example 1 in a curled state.
Fig. 4 is a perspective view of the frog-tongue-like soft body actuator in the embodiment 1 in an extended state.
FIG. 5 is the front view of the extended state of the frog-tongue-like soft body actuator in example 1.
FIG. 6 is a schematic view showing the structure of the end fixing member and the adhesive member in example 1.
Figure 7 is a sample of the flexible film tube selected for testing in example 1.
FIG. 8 is a graph showing the static tensile load applied to a specimen along the longitudinal axis until failure.
Fig. 9 is a graph showing the results of the actuator's sticking of various objects using the stretching and curling motion.
Fig. 10 shows a schematic diagram of the state of the actuator adhesive stick at nine different times (indirect discard).
Fig. 11 is a graph showing the relationship between the pressure and the time of the adhesion sticking object in two stages of the elongation stage and the sticking stage.
Fig. 12 is a schematic view of the software robot simulating frog leaping in embodiment 2.
Fig. 13 is a graph of the relationship between the instantaneous thrust and the pressure obtained at ɵ = o ° in example 2.
FIG. 14 is a drawing showingF V In thatɵUnder increasing conditions, a linear fit to the pressure is shown.
FIG. 15 is a drawing showingF P In thatɵUnder increasing conditions, a linear fit to the pressure is shown.
Fig. 16 is a track diagram of a frog-simulated hopping robot crossing a curved stepped obstacle.
Fig. 17 is a related schematic diagram of a quadruped robot.
Fig. 18 is a schematic structural view of the swimming robot.
Fig. 19 is a track diagram of the swimming robot swimming in water.
The labels in the figure are: 1. inflation tube, 2, flexible film tube body, 3, air release hole, 4, end fixing piece, 5, viscous piece, 20, first connecting edge, 21, U-shaped connecting edge, 22, second connecting edge, 23, first fixing tube, 24, second fixing tube, 30, jumping support component, 31, flipper, 32 and robot main body.
Detailed Description
All of the features disclosed in this specification, or all of the steps in any method or process so disclosed, may be combined in any combination, except combinations of features and/or steps that are mutually exclusive.
Any feature disclosed in this specification may be replaced by alternative features serving equivalent or similar purposes, unless expressly stated otherwise. That is, unless expressly stated otherwise, each feature is only an example of a generic series of equivalent or similar features.
Example 1
As shown in the figure, the frog-tongue-imitating software actuator of the embodiment comprises an inflation tube, a supporting tube, a flexible film tube body, a metal wire, an end fixing piece and an adhesive piece for grabbing an object. In the embodiment, the flexible film pipe body is made of a polypropylene film, and a group of connecting edges are arranged along the axial direction of the flexible film pipe body and are parallel to each other; based on this structure, when the flexible film body is not aerifyd, it is the strip.
Typically, the wire of the present application is in a crimped form. In this application, set up the wire on the inner wall of flexible film body, drive the flexible film body through the wire and move. A wire-based crimp-like structure that is normally capable of crimping a flexible film tube body, as shown. In this example, the air-filling tube may be a rubber tube, and the support tube may be a resin tube.
In this application, the gas tube links to each other with the stay tube (the gas tube is used for realizing pneumatic drive), and the one end of flexible film body links to each other with the stay tube, and the other end of flexible film body links to each other with terminal mounting, and viscidity spare sets up on terminal mounting. Meanwhile, the support tube of the embodiment is provided with an air leakage hole. In the structure, when the flexible film pipe body is inflated, the flexible film pipe body can stretch and drive the metal wire to deform; when the acting force of the gas in the flexible film pipe body is lower than the restoring force of the metal wire, the metal wire can drive the flexible film pipe body to curl and restore to the initial state.
Based on this structure, the work procedure of this execution is as follows: the flexible film tube body is inflated sequentially through the inflation tube and the supporting tube, and the flexible film tube body can be expanded and stretched in a curled shape due to the fact that certain gas is instantaneously inflated into the flexible film tube body; after stopping aerifing, the atmospheric pressure in the flexible film body descends, and the effort of the internal gaseous effort of flexible film body is less than the elastic deformation restoring force of wire, and the elastic deformation restoring force of wire plays leading effect this moment, and the wire drives the flexible film body and resumes to initial state, and the wire becomes the state of curling by the state of straightening before promptly, and then drives the flexible film body and takes place to curl, accomplishes once extension and shrink work. In the stretching process, the adhesive piece of the tail end fixing piece is popped out, is contacted with an object to be grabbed and grabs the object to be grabbed; in the process of shrinking the flexible film pipe body, the object to be grabbed and the adhesive piece are curled together, so that the recovery is realized; when the flexible film pipe body stretches again, under the impact action of the flexible film pipe body, the object to be grabbed is separated from the viscous piece, and the flexible film pipe body retracts, so that the next grabbing and releasing operation can be performed.
If the air release hole is not arranged, when the flexible thin film tube body is inflated, the flexible thin film tube body can keep an extension state to form a flexible support body; by adopting the structure, the adhesion operation of the object to be grabbed can be realized by moving the flexible film tube body.
As shown in the figure, this embodiment provides a specific structure of end fastener, which includes a first connecting edge, a u-shaped connecting edge, a second connecting edge, a first fixing tube and a second fixing tube, wherein the first connecting edge, the u-shaped connecting edge and the second connecting edge are connected in sequence to form a whole, the first fixing tube is disposed inside the opening of the u-shaped connecting edge, the second fixing tube is connected to the outer walls of the second connecting edge and the u-shaped connecting edge, and the adhesive is connected to the second connecting edge.
In a specific experiment, a metal wire is fixed on an axis on one side of a flexible film tube body, a first connecting edge, a U-shaped connecting edge and a second connecting edge in a tail end fixing piece are made of paper made of kraft softwood pulp and are cut and folded into an S shape, a first fixing tube and a second fixing tube are fixed in two half circles formed by the S shape, and the first fixing tube and the second fixing tube can be tubular objects made of polyethylene. The adhesive member of the end fixing member may be a resin type pressure sensitive adhesive. The mass of the actuator was 3.23g, the crimp length was 90mm, and the extension length was 330 mm.
(one) test
Applying air pressure to the frog tongue imitating actuator, wherein the flexible film tube body is made of a polypropylene (polypropylene) film; for polypropylene materials per se, there is a limit to the increase in stress beyond which the material will fail. For safe reuse, the material should have a stress below its ultimate stress during use, otherwise the material will fail during use.
The flexible film tube body was selected as an experimental sample (as shown in fig. 7), and the data of each portion of the sample is shown in table 1 below.
TABLE 1
Applying a static tensile load to the specimen of fig. 7 along the longitudinal axis until the specimen breaks to obtain the curve of fig. 8, wherein the applied displacement is 5.22mm, the generated load value of the specimen is in a surge state, rapidly increases from zero to 4.93N, the point (5.22 mm, 4.93N) is an elastic deformation stage before, the specimen can recover to the original state, the point (5.22 mm, 4.93N) is in plastic deformation after, can not recover to the original state, permanent deformation occurs, and the material yields, wherein the point (5.22 mm, 4.93N) is a yield point. The load value decreased after the yield point, and gradually increased when the load value decreased to 3.98N, and the strain softening stage, the necking stage, the orientation hardening, and the fracture were sequentially performed as the displacement continued to increase. After the breaking point is reached, the load value is suddenly reduced and finally reduced to zero.
According to the data of each part, the tensile strength, the bending strength and the elongation at break of the imitation frog tongue actuator segment are calculated as follows:
tensile strengthσ t =p/bd=207.066Mpa，
Bending strengthσ f =1.5(pl/bd)=21.949Gpa，
Elongation at breake t =（L-L 0 ）/L 0 *100%=165%。
Therefore, the frog-tongue-like actuator segment has very good performance when being subjected to bending load, can be subjected to stronger tensile load under small displacement, has the elongation at break of 165 percent, and has certain elastic elongation when being impacted, and cannot be immediately brittle.
It is concluded that in the following experiments, the actuator should be able to react quickly under the small gas pressure given, resulting in a large instantaneous force, which promotes movement.
(II) Experimental apparatus
The experiment is carried out at room temperature, and the whole experiment system consists of a control part, a gas conveying part and a base part. The control part of the experiment platform mainly comprises a 24V rechargeable power supply, an Arduino control panel, an electromagnetic valve, a pressure limiting valve, an electromagnetic relay and a plurality of leads. The gas conveying part comprises a gas pump, a pipeline switch and a conveying conduit. The base part comprises a foam rough contact surface and a frog-tongue-imitating soft body actuator.
The air pump mainly provides power for the whole experiment, the Arduino control panel is a main control element, the on-off duration of the electromagnetic valve is controlled by controlling the relay, and the required gas pressure is set by using the pressure limiting valve.
(III) actual test
In the experiment of adhering the adhered object by the soft actuator, one period of adhering one object is divided into four stages, namely an extension stage, an adhering stage, a moving stage and a discarding stage. Firstly, slowly inflating, extending the actuator, slightly and quickly inflating, sticking the object, then beginning to deflate, moving the actuator and the stuck object to the upper part of the box, quickly inflating at the moment, and throwing the object into the box by the generated acting force.
Fig. 9 shows an actuator for sticking a thin and small object such as an electronic component or a profile by stretching and curling. Fig. 9a shows seven kinds of objects to be stuck, which are a sensor module, a horizontal handle type toggle switch, a strip connector, a small screw, an LED lamp, a double-row needle, and a balloon in sequence. Fig. 9b-9h show the instantaneous static motion of seven stuck objects in moving steps.
Fig. 10a to 10i in fig. 10 show nine different time states of the actuator adhesion sticking, respectively, where fig. 10a to 10c show the elongation phase, fig. 10d shows the sticking phase, fig. 10e to 10g show the moving phase, and fig. 10h to 10i show the discarding phase. Fig. 11 is a relationship between pressure and time of the adhesion sticking object in two stages of an elongation stage and a sticking stage.
FIG. 11 shows the relationship between pressure and time in the two stages of the elongation stage and the adhesion stage in the adhesion-cement test. A polynomial linear fit was made within OriginPro based on experimental data, as shown, the square points are experimentally measured values and the smoother curve was obtained by polynomial linear fit. After the air pressure exceeds 10KPa, the recorded numerical points are more discrete, which indicates that the stability is poor after the output air pressure is 10kPa, therefore, the air pressure before 10kPa is selected for the experiment, and the phenomenon that the output air pressure appears after 10 kPa: the time required by the actuator to extend is very different, and the operation is difficult. Analyzing the fitted curve, the response time of the actuator at the non-zero pressure before 5.65kPa shows an abrupt trend along with the increase of the pressure, the response time is minimum at 5.65kPa and is 101ms, the response time is between 5.65kPa and 12.18kPa, the response time is slowly increased along with the increase of the pressure, and the high response time is 246ms at 12.18 kPa. Then, after 14kPa to 20kPa, the time decreased with increasing pressure. In a very short time, the actuator is given very small pressure, the actuator can respond, and the advantages of simple structure and rapid response of the frog-tongue-imitating actuator are displayed.
The experiments show that the frog tongue imitating executor has the advantages of simple structure, fast response, light and thin profile which is not easy to be stuck by the former executor, etc. when being stuck and stuck on an object.
Example 2
In order to expand the application of the actuators, a soft robot simulating frog leaping shown in the following fig. 12 is designed and manufactured on the basis of the above actuators. The frog-simulated jumping soft robot comprises two jumping support components and a robot main body, wherein the jumping support components are respectively arranged on the robot main body and can drive the robot main body to move. The jumping support assembly of this embodiment includes an inflation tube, a support tube, a flexible film tube, and a wire for connecting with an air source. In the embodiment, the flexible film pipe body is made of a polypropylene film, and a group of connecting edges are arranged along the axial direction of the flexible film pipe body and are parallel to each other; based on this structure, when the flexible film body is not aerifyd, it is the strip.
In this embodiment, the metal wire is in a curled shape, and the metal wire is disposed on the inner wall of the flexible film tube body. In this application, the gas tube links to each other with the stay tube (the gas tube is used for realizing pneumatic drive), and the flexible film body links to each other with the stay tube. Meanwhile, the support tube of the embodiment is provided with an air leakage hole. In the structure, when the flexible film pipe body is inflated, the flexible film pipe body can stretch and drive the metal wire to deform; when the acting force of the gas in the flexible film pipe body is lower than the restoring force of the metal wire, the metal wire can drive the flexible film pipe body to curl and restore to the initial state.
Based on the structure, the working process of the jumping support component is as follows: the flexible film tube body is inflated sequentially through the inflation tube and the supporting tube, and the flexible film tube body can be expanded and stretched in a curled shape due to the fact that certain gas is instantaneously inflated into the flexible film tube body; after stopping aerifing, the atmospheric pressure in the flexible film body descends, and the effort of the internal gaseous effort of flexible film body is less than the elastic deformation restoring force of wire, and the elastic deformation restoring force of wire plays leading effect this moment, and the wire drives the flexible film body and resumes to initial state, and the wire becomes the state of curling by the state of straightening before promptly, and then drives the flexible film body and takes place to curl, accomplishes once extension and shrink work.
In the embodiment, the motion of the frog-jumping-simulated soft robot is realized through the alternate action of the two jumping support components. When jumping, the two feet can be inflated and deflated at the same time, and when turning, if turning to the left, the right foot is inflated and deflated; and if the foot is right, the left foot is inflated and deflated.
The instantaneous thrust generated in the whole process of jumping of the robot imitating the frogFAngle to the base actuator and vertical directionɵBecomes an important factor influencing the jumping。FBy vertical component of forceF V And horizontal component forceF P Are composed ofF=F V+ F P 。
FIG. 13 is a drawing showingɵ=oAnd (4) obtaining a relation graph between the instantaneous thrust and the pressure intensity. A polynomial linear fit is performed within originPro based on experimental data, the square points in the graph are experimentally measured values, and the smoother curve is obtained by polynomial linear fit. Analysis of the fitted curve produced a maximum instantaneous thrust of 1.94N, a minimum non-zero instantaneous air pressure of 1.1kPa, and a maximum instantaneous air pressure of 54.2 kPa. The instantaneous pressure is rapidly increased from 1.2kPa to 19.2kPa before the instantaneous thrust is 0.6N, the instantaneous thrust is between 0.6N and 1.3N, and the instantaneous pressure is steadily increased from 19.2kPa to 25.5 kPa. Followed by a rapid increase from 1.3N to 1.94N, with the instantaneous pressure increasing to 54.2 kPa.
In order to analyze more accuratelyF V AndF P in relation to the pressure of the gas, willɵWith 15 as an initial value and increasing in increments of 15 to 75 in turn. FIG. 14 isF V In thatɵUnder increasing conditions, a linear fit to the pressure is shown. The minimum non-zero stable gas pressure is 1.1kPa, until less than 21.6kPa,ɵat 75 deg. CF V Rapidly increased by more than 15 °, 30 °, 45 °, 60 °F V Values, between 21.6kPa and 54.2kPa,ɵat 15 deg. CF V Rapidly increased by more than 15 °, 30 °, 45 °, 60 °F V The value of the instantaneous air pressure is 54.2kPa later, which can cause damage to the actuator.
FIG. 15 isF P In thatɵAdded stripsUnder the condition, the pressure is linearly fitted. At various angles as the pressure of the gas increasesF P Is also gradually increased, andɵat 75 deg. CF P Are successively greater thanɵ60 degrees, 45 degrees, 30 degrees and 15 degrees,ɵat 75 deg. CF P Is most beneficial to the jumping of the frog. Combining the above, the final frog-jumping-imitating robotɵIs 60 degrees.
Fig. 16 is a track diagram of the robot imitating frog jumping crossing a flat obstacle. The robot starts to jump 1273ms at the beginning of 0ms, crosses the obstacle between 1933ms and 3833ms until 4677ms, and finally jumps to finish crossing the flat obstacle.
The experimental results show that: through respectively inflating and deflating the two actuators, the environments of turning, crossing over the slope obstacle and the like are realized in the experiment.
Further, the frog-simulated jumping soft body robot of the present embodiment further includes the frog-simulated tongue soft body actuator of embodiment 1, which is disposed on the frog body.
Furthermore, the single frog-tongue-imitating actuator can realize adhesion of a sticky object, the two jumping support assemblies can be developed into a frog-tongue-imitating jumping robot, and the four jumping support assemblies can be assembled into a four-legged robot as required.
The quadruped robot comprises four jumping support assemblies and a robot main body, wherein the jumping support assemblies are uniformly distributed on the robot main body and can drive the robot main body to move. Air pressure is applied to only one actuator independently for each movement in one direction. The four-legged robot has the same motion mode as the frog-simulated jumping robot, the actuators are driven to move by the instantaneously and rapidly increased thrust, and the angle between each actuator and the vertical direction is 60 degrees, which is consistent with the angle of the jumping robot.
Fig. 17 gives a relevant schematic of a quadruped robot. FIG. 17a is an overall schematic and top view of a quadruped robot; fig. 17 b-17 d show a gait schematic of the quadruped robot moving north and fig. 17 e-17 g show a gait schematic of the quadruped robot moving east.
The air pump outputs air with smaller air pressure instantly and deflates rapidly regularly, so that one foot of the four-foot robot generates slight jumping and then rapidly restores to the original state, the frequency of inflation and deflation is fast and stable, the foot of the four-foot robot smoothly advances like a breaking step, and the speed of the four-foot robot on a rough foam contact surface can reach 17.06 mm/s. What direction we want it to move to is accomplished by a high frequency of momentary inflations of the foot in the opposite direction.
Further, under water, the jump support assembly of the present application may also exhibit underwater swimming motion. The swimming robot of this embodiment includes jump supporting component, robot main part, flipper, and the jump supporting component is two, and the jump supporting component sets up respectively on the robot main part. The jumping support component comprises an inflation tube, a support tube, a flexible film tube body and a metal wire, wherein the inflation tube is connected with an air source. In the embodiment, the flexible film pipe body is made of a polypropylene film, and a group of connecting edges are arranged along the axial direction of the flexible film pipe body and are parallel to each other; based on this structure, when the flexible film body is not aerifyd, it is the strip.
In this embodiment, the metal wire is in a curled shape, and the metal wire is disposed on the inner wall of the flexible film tube body. In the application, the inflation tube is connected with the support tube (the inflation tube is used for realizing pneumatic driving); one end of the flexible film tube body is connected with the supporting tube, and the flippers are arranged at the other end of the flexible film tube body. Meanwhile, the support tube of the embodiment is provided with an air leakage hole.
Through carrying out the extension experiment in water, having selected comparatively short executor, adorned the plastic sheet at the afterbody of executor and used as the fin, the plastic sheet can give swimming robot certain boosting power like the oar when the executor is elongated in water like this, through carrying out the gassing of inflating of stabilizing the frequency simultaneously to two feet, makes the robot can stable forward move about, and the speed can reach 4.41 mm/s. Similarly, one foot can be inflated with higher air pressure, the other foot can be inflated with lower air pressure, the action of advancing and turning can be realized, and only one foot can be inflated and deflated, so that the turning with shorter distance can be realized. The figure shows the process of the robot linear swimming from the side view angle, and the experimental result is satisfactory.
Fig. 18 is a schematic view of the underwater swimming robot, which utilizes the better stretchable and curled property of the alloy wire, so that the robot can swim in water. Meanwhile, the combination of the flippers and the jumping support assembly promotes the robot to swim. Fig. 19 shows a track diagram of the swimming robot swimming in water.
The invention is not limited to the foregoing embodiments. The invention extends to any novel feature or any novel combination of features disclosed in this specification and any novel method or process steps or any novel combination of features disclosed.
Claims (9)
1. A frog tongue imitating soft body grabbing mechanism is characterized by comprising an inflation tube, a supporting tube, a flexible film tube body, a metal wire, a tail end fixing piece and a viscous piece, wherein the inflation tube is connected with an air source;
the inflation tube is connected with the supporting tube and can inflate the flexible film tube body through the supporting tube; one end of the flexible film pipe body is connected with the supporting pipe, and the inflation pipe can inflate the flexible film pipe body through the supporting pipe;
the metal wire is in a curled shape, is arranged on the flexible film pipe body and can drive the flexible film pipe body to move; when the flexible thin film tube body is inflated, the flexible thin film tube body can stretch and drive the metal wire to deform; when the acting force of the gas in the flexible film pipe body is lower than the restoring force of the metal wire, the metal wire can drive the flexible film pipe body to curl and restore to the initial state;
the thickness of the flexible film pipe body is 0.001 mm-0.3 mm;
the flexible film pipe body is made of a film, and the connecting edges of the flexible film pipe body are in a group and are parallel to each other;
the metal wire is in a curled shape and can be naturally curled under the action of no external force;
the flexible film pipe body and the supporting pipe form an execution main body, and an air leakage hole is formed in the execution main body;
one end of the flexible film pipe body is connected with the tail end fixing piece; the adhesive member is arranged on the tail end fixing member, and the tail end fixing member can prevent the flexible film pipe body from being adhered to the adhesive member when being curled;
the tail end fixing piece is S-shaped or fold line-shaped.
2. The frog-tongue-like soft body gripping mechanism of claim 1, wherein the wire is disposed on the inner wall of the flexible film tube and between the connecting edges.
3. The frog-tongue-imitating soft body grabbing mechanism according to claim 1, wherein the air release hole is formed in the supporting tube.
4. The frog-tongue-like soft grabbing mechanism of claim 1, wherein said end fastener comprises a first connecting edge, a U-shaped connecting edge, a second connecting edge, a first fixing tube and a second fixing tube for connecting with the flexible thin film tube, said first connecting edge, U-shaped connecting edge and second connecting edge are connected in turn into a whole, said first fixing tube is disposed inside the opening of U-shaped connecting edge, said second fixing tube is connected with the second connecting edge and the outer wall of U-shaped connecting edge, said adhesive member is connected with the second connecting edge.
5. The frog-tongue-imitating soft body grabbing mechanism according to claim 1, wherein the supporting tube is made of one or more of plastic, metal and ceramic materials.
6. The frog-tongue-like soft body grasping mechanism according to claim 1, wherein the wire is parallel to the connecting edge.
7. The frog-tongue-imitated soft grabbing mechanism of claim 4, wherein the first connecting edge, the U-shaped connecting edge and the second connecting edge are made of paper or plastic respectively.
8. A land robot is characterized by comprising at least two jumping support assemblies and a robot main body, wherein the jumping support assemblies are respectively arranged on the robot main body;
the jumping support component comprises an inflation tube, a support tube, a flexible film tube body and a metal wire, wherein the inflation tube is connected with an air source;
the flexible film pipe body is made of a film, a connecting edge is arranged on the flexible film pipe body, and the flexible film pipe body is strip-shaped when not inflated;
the inflation tube is connected with the supporting tube and can inflate the flexible film tube body through the supporting tube; one end of the flexible film pipe body is connected with the supporting pipe, and the inflation pipe can inflate the flexible film pipe body through the supporting pipe;
the metal wire is in a curled shape, is arranged on the flexible film pipe body and can drive the flexible film pipe body to move; when the flexible thin film tube body is inflated, the flexible thin film tube body can stretch and drive the metal wire to deform; when the acting force of the gas in the flexible film pipe body is lower than the restoring force of the metal wire, the metal wire can drive the flexible film pipe body to curl and restore to the initial state;
the flexible film pipe body is made of a polypropylene film, and the thickness of the flexible film pipe body is 0.001 mm-0.3 mm;
the flexible film pipe body is made of a film, and the connecting edges of the flexible film pipe body are in a group and are parallel to each other;
the metal wire is in a curled shape and can be naturally curled under the action of no external force;
the flexible film pipe body and the supporting pipe form an execution main body, and an air leakage hole is formed in the execution main body.
9. The underwater mobile robot is characterized by comprising at least two jumping support components, a robot main body and flippers, wherein the jumping support components are respectively arranged on the robot main body; one end of the flexible film tube body is connected with the supporting tube, and the flippers are arranged at the other end of the flexible film tube body;
the jumping support component comprises an inflation tube, a support tube, a flexible film tube body and a metal wire, wherein the inflation tube is connected with an air source;
the flexible film pipe body is made of a film, a connecting edge is arranged on the flexible film pipe body, and the flexible film pipe body is strip-shaped when not inflated;
the inflation tube is connected with the supporting tube and can inflate the flexible film tube body through the supporting tube; one end of the flexible film pipe body is connected with the supporting pipe, and the inflation pipe can inflate the flexible film pipe body through the supporting pipe;
the metal wire is in a curled shape, is arranged on the flexible film pipe body and can drive the flexible film pipe body to move; when the flexible thin film tube body is inflated, the flexible thin film tube body can stretch and drive the metal wire to deform; when the acting force of the gas in the flexible film pipe body is lower than the restoring force of the metal wire, the metal wire can drive the flexible film pipe body to curl and restore to the initial state;
the flexible film pipe body is made of a polypropylene film, and the thickness of the flexible film pipe body is 0.001 mm-0.3 mm;
the flexible film pipe body is made of a film, and the connecting edges of the flexible film pipe body are in a group and are parallel to each other;
the metal wire is in a curled shape and can be naturally curled under the action of no external force;
the flexible film pipe body and the supporting pipe form an execution main body, and an air leakage hole is formed in the execution main body.
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| CN111482948B (en) * | 2020-04-03 | 2022-07-15 | 中国科学技术大学 | Pneumatic bionic tongue based on shape memory alloy |
| CN111618892B (en) * | 2020-06-08 | 2022-05-27 | 鹏城实验室 | Reverse bending arm and S-shaped hook |
| CN113635315A (en) * | 2021-07-07 | 2021-11-12 | 重庆大学 | Highly integrated omnidirectional jumping soft robot |
| CN113459127B (en) * | 2021-07-31 | 2022-03-18 | 西南科技大学 | Self-growing soft and hard integrated robot and application thereof |
| CN114619457B (en) * | 2022-03-23 | 2023-08-01 | 东南大学 | Double-airway bionic snail soft robot |
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