CN110104083B - Software of many motion modes robot of crawling - Google Patents
Software of many motion modes robot of crawling Download PDFInfo
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- CN110104083B CN110104083B CN201910484637.5A CN201910484637A CN110104083B CN 110104083 B CN110104083 B CN 110104083B CN 201910484637 A CN201910484637 A CN 201910484637A CN 110104083 B CN110104083 B CN 110104083B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/021—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 the ground engaging means being sequentially inflatable bags for peristaltic movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The invention discloses a multi-motion-mode soft crawling robot which comprises a first soft driver, a second soft driver and a third soft driver which are connected in sequence, a soft sensor positioned at the front end of the first soft driver, a front foot positioned below the first soft driver and a rear foot positioned below the third soft driver, wherein each soft driver respectively comprises a multi-airbag structure and a bottom structure positioned at the bottom of the multi-airbag structure. The embodiment of the invention provides a soft crawling robot with multiple motion modes by combining a ladder-shaped cavity multi-air-bag type driver and a soft touch sensor, which can self-adaptively finish multiple motion modes such as crawling, crossing and climbing in a complex environment and has good environmental adaptability.
Description
Technical Field
The invention relates to the technical field of soft robots, in particular to a soft crawling robot with multiple motion modes.
Background
Software robots are an emerging hotspot and the future development front of the present-day robotics. Compared with the traditional rigid robot, the soft crawling robot shows unprecedented adaptability, sensitivity and agility, continuously expands the application field of the robot, and is one of the main trends of the future development of the robot.
The soft crawling robot is one of the main research directions of the soft robot. The software crawling robot realizes crawling motion by simulating the motion mode of software organisms in nature, can pass through narrow space in a self-deformation mode, and has the advantages and uniqueness which are not possessed by other motion mode software robots. At present, most soft crawling robots have the problems of simple driving structure, single motion mode and poor environmental adaptability. Therefore, it is necessary to study and analyze the driving structure and the motion mode of the soft crawling robot.
Therefore, in order to solve the above technical problems, it is necessary to provide a soft crawling robot having multiple motion modes and strong environmental adaptability.
Disclosure of Invention
In view of this, in order to solve the problems of simple driving structure, single motion mode and poor environmental adaptability of the soft crawling robot in the prior art, the embodiment of the invention provides a soft crawling robot with multiple motion modes by combining a ladder-shaped cavity multi-air-bag type driver and a soft touch sensor. The soft crawling robot provided by the embodiment of the invention has multiple motion modes, can self-adaptively finish multiple motion modes such as crawling, crossing and climbing in a complex environment, and has good environmental adaptability.
In order to achieve the above object, an embodiment of the present invention provides the following technical solutions: a multi-motion mode soft crawling robot comprises a plurality of soft drivers, a plurality of soft drivers and a plurality of soft drivers, wherein the plurality of soft drivers are used for forming a main body of the soft crawling robot; the plurality of soft body drivers comprise a first soft body driver, a second soft body driver and a third soft body driver which are connected in sequence; the software sensor is positioned at the front end of the first software driver and used for sensing environmental parameters; a barb structure is formed at the connecting position below the soft sensor and the first soft driver; a forefoot, located below the first soft driver, for acting as a moving part; a rear foot located below the third soft body driver for acting as a moving part; the plurality of soft drivers respectively comprise a multi-airbag structure and a bottom structure positioned at the bottom of the multi-airbag structure; the multi-air-bag structure can be expanded or contracted under the action of air pressure; the bottom structure comprises a bottom upper layer, a bottom middle layer and a bottom lower layer, wherein the bottom upper layer is used for communicating each independent air bag in the multi-air-bag structure.
As a further improvement of the invention, the multi-balloon structure comprises a plurality of ladder-shaped cavity balloons which are connected in parallel with each other.
As a further improvement of the invention, the bottom upper layer comprises a plurality of empty groove structures, and the empty groove structures are used for communicating each single air bag in the multi-air bag structure.
As a further improvement of the invention, silicone tubes are respectively arranged in the plurality of empty groove structures and are inserted into the air bags.
As a further improvement of the invention, the soft crawling robot further comprises a friction plate, wherein the friction plate is positioned between the front foot and the rear foot and is used for adjusting the friction force at two ends of the soft crawling robot.
As a further improvement of the present invention, the soft sensor is a touch sensor for sensing whether the soft crawling robot touches an obstacle.
As a further improvement of the present invention, the tactile sensor is composed of a silicone material and a liquid metal.
As a further development of the invention, the bottom intermediate layer is a non-expandable resilient substrate.
As a further improvement of the invention, the forefoot and the hindfoot are of a soft barb structure.
As a further improvement of the invention, the multiple movement modes comprise a straight movement mode in a flat road environment, an obstacle crossing movement mode in an obstacle environment and a climbing movement mode in a step environment.
The invention has the following advantages:
the driving structure of the soft crawling robot with multiple motion modes provided by the embodiment of the invention is a multi-airbag soft driving structure, and can be driven by positive pressure or negative pressure at the same time, so that upward or downward bending deformation is completed. Further, the soft crawling robot with multiple movement modes provided by the embodiment of the invention comprises three multi-airbag type soft drivers, and the multi-airbag type soft drivers have multiple movement modes suitable for multiple different environments. Furthermore, the head of the multi-motion mode soft crawling robot provided by the embodiment of the invention is provided with the soft sensor, so that the closed-loop control of the soft crawling robot can be realized, and the adaptive crawling motion can be performed in a complex ground environment.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic perspective view of a multi-motion mode soft crawling robot according to an embodiment of the present invention;
FIG. 2 is a schematic side view of the soft crawling robot in the embodiment of FIG. 1;
FIG. 3 is a schematic view of the bottom barb structure of the soft crawling robot in the embodiment of FIG. 1;
FIG. 4 is a schematic view of a multi-airbag structure of the soft crawling robot in the embodiment shown in FIG. 1;
FIG. 5 is a schematic diagram of the bottom upper layer structure of the soft crawling robot in the embodiment shown in FIG. 1;
FIG. 6 is a schematic structural diagram of a bottom middle layer of the soft crawling robot in the embodiment shown in FIG. 1;
fig. 7 is a bottom lower layer structure diagram of the soft crawling robot in the embodiment shown in fig. 1.
Description of the reference symbols in the drawings:
100. soft crawling robot 101 and soft sensor
102. A first software driver 103, a second software driver 104, and a third software driver
105. Barb structure 106, forefoot 107, hind foot
108. Friction plate 109, multi-airbag structure 110, bottom upper layer
111. Bottom intermediate layer 112, bottom lower layer
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the technical solution in the embodiment of the present invention will be clearly and completely described below with reference to the drawings in the embodiment of the present invention, and it is obvious that the described embodiment is only a part of the embodiment of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
A multi-motion mode soft crawling robot 100 comprises a plurality of soft drivers for forming a main body of the soft crawling robot. The plurality of soft drivers specifically mean two soft drivers and three or more soft drivers. Referring to fig. 1 and 2, in this embodiment, the soft crawling robot 100 includes three soft drivers, specifically, a first soft driver 102, a second soft driver 103, and a third soft driver 104, which are connected in sequence. The soft crawling robot 100 further comprises a soft sensor 101 located at the front end of the first soft driver 102 and used for sensing environmental parameters, a front foot 106 located below the first soft driver 102 and used as a moving part, and a rear foot 107 located below the third soft driver 104 and used as a moving part. Wherein, a barb structure 105 is formed at the connecting position of the soft sensor 101 and the lower part of the first soft driver 102. The barb structure 105 is embodied as a rigid barb structure. In the case where the first soft driver 102 of the soft crawling robot 100 is bent downward, the barb structure 105 fixes the head of the soft crawling robot 100 on the step, thereby completing the climbing motion of the soft crawling robot 100.
In this embodiment, the first soft driver 102, the soft sensor 101, the front foot 106, and the barb structure 105 are defined as the head of the soft crawling robot 100, and the second soft driver 103, the third soft driver 104, and the rear foot 107 are defined as the body of the soft crawling robot 100.
With continued reference to fig. 2, in this embodiment, the soft-skinned crawling robot 100 further comprises a friction plate 108. The friction plate 108 is located between the forefoot 106 and the rearfoot 107. The friction plate 108 is disposed at the bottom of the soft crawling robot 100 by means of adhesion. The friction plates 108 can alternately change the friction force between the two ends of the soft crawling robot 100 when the head of the soft crawling robot 100 is lifted, so that the soft crawling robot 100 can also realize forward crawling motion when the head is lifted.
The soft sensor 101 is specifically a touch sensor, and is used for sensing whether the soft crawling robot 100 touches an obstacle. In this embodiment, the tactile sensor is composed of a silicone material and a liquid metal. The soft sensor 101 is located on the head of the soft crawling robot 100, and when the head of the soft crawling robot 100 contacts an obstacle, the soft sensor 101 generates a voltage change and sends a signal to the control system.
In this embodiment, the forefoot 106 and the hindfoot 107 are identical in construction. Here, the forefoot 106 is merely illustrated as a specific example. Referring to fig. 3, the forefoot 106 is shown as a soft barb. The forefoot 106 is made of a silicone material. The front foot 106 and the rear foot 107 enable the soft crawling robot 100 to move forwards rapidly by changing the friction force between the two ends of the soft crawling robot 100 and the ground in the movement process.
The first soft-body driver 102, the second soft-body driver 103 and the third soft-body driver 104 have the same structure. Here, the specific structure is described by taking the first software driver 102 as an example. The first soft body actuator 102 comprises a multi-bladder structure 109 and a bottom structure at the bottom of the multi-bladder structure 109. The multi-cell structure 109 can be expanded or contracted by the air pressure to perform upward or downward bending deformation. Referring to FIG. 4, the multi-bladder configuration 109 includes a plurality of ladder-shaped chamber bladders connected in parallel to one another. Of course, in other embodiments, the shape of the chamber of the balloon may be other shapes, such as a rectangular chamber, an irregular chamber, etc. The ladder-shaped cavity air bag is more suitable for the crawling characteristic of the soft crawling robot 100, and is beneficial to improving the crawling capability.
Referring to fig. 5 to 7, the bottom structure includes a bottom upper layer 110, a bottom intermediate layer 111, and a bottom lower layer 112. The multi-bladder structure 109, the upper bottom layer 110 and the lower bottom layer 112 are made of silicone material. The bottom upper layer 110 is used to communicate with each individual bladder in the multi-bladder structure 109. The bottom intermediate layer 111 is a non-expandable resilient substrate for preventing the bottom plates of the plurality of soft drivers from over-expanding. The bottom upper layer 110 includes a plurality of void cell structures for communicating with each individual cell in the multi-cell structure. Referring to fig. 5, in this embodiment, the bottom upper layer 110 specifically includes three empty groove structures. The ladder-shaped cavity multi-balloon structures 109 of the first soft body driver 102, the second soft body driver 103 and the third soft body driver 104 are connected by a hollow groove structure of the bottom upper layer 110. The three empty groove structures are respectively provided with a silicone tube, and each silicone tube is inserted into each independent air bag. During inflation, the gas reaches the middle air bags of the plurality of soft drivers through the silicone tube pipelines and then reaches each air bag through the air gap; due to the expansion of each air bag, the soft driver generates downward bending deformation; because the bottom middle layer of the soft crawling robot 100 is a non-stretchable elastic base plate, the bottom plate is not expanded when the multi-airbag structure 109 is inflated, so that downward bending motion is generated; when the air is sucked, the air in the multi-air-bag structure 109 is pumped out, and the soft driver of the soft crawling robot generates upward bending deformation due to the contraction of each air bag.
In this embodiment, the soft-bodied crawling robot 100 has a plurality of motion modes. The multi-motion mode comprises a linear motion mode under a flat road surface environment, an obstacle crossing motion mode under an obstacle environment and a climbing motion mode under a step environment.
The soft crawling robot 100 realizes the linear motion of the flat ground under the driving of air pressure. The linear motion of the soft crawling robot 100 is constituted by cyclic stretching motions of the second soft driver 103 and the third soft driver 104. One cyclic process is divided into two parts: an inflation phase and a deflation phase. And (3) an inflation stage: the air pump inflates the body of the soft crawling robot 100, and the soft crawling robot 100 generates bending deformation due to the expansion of the multi-air-bag structure 109. The soft crawling robot 100 is provided with a front foot 106 and a rear foot 107 which have barb structures at the bottom, and when the body of the soft crawling robot 100 is bent, the front foot 106 is rubbed more than the rear foot 107, so that the rear half part of the soft crawling robot 100 swings forwards. And (3) an air release stage: during deflation, the oblique angle of the rear foot 107 contacts with the ground, the bottom of the front foot 106 is separated from the ground, and the friction of the rear foot 107 is higher, so that the soft crawling robot 100 further extends forwards. The air pump is periodically inflated and deflated to promote the soft crawling robot 100 to circularly move on the flat ground for a long time.
The soft crawling robot 100 realizes the obstacle crossing movement in the obstacle environment under the pneumatic driving. The obstacle crossing movement of the soft crawling robot 100 includes: linear motion of the soft crawling robot 100, a head lifting motion, and linear motion of the body after the head is lifted. The head lifting motion of the soft crawling robot 100 is caused by the soft crawling robot 100 encountering an obstacle during the linear motion. In the process of linear motion, when the head of the soft crawling robot 100 contacts an obstacle, the soft sensor 101 on the head sends a signal to the control system, and the control system controls the air pump to suck air into the first soft driver 102 on the head of the soft crawling robot 100, so that the first soft driver 102 is bent upwards, and the head of the soft crawling robot 100 is lifted; then, the body of the soft crawling robot 100 continues to move linearly, in the moving process, the front foot 106 of the soft crawling robot 100 leaves the ground, and the friction plate 108 attached to the bottom of the soft crawling robot 100 changes the friction force alternately in the moving process to realize the linear crawling motion; when the head of the soft-bodied crawling robot 100 passes over an obstacle, the first soft-bodied driver 102 will be restored to the initial state.
The soft crawling robot 100 realizes the climbing movement in the stair environment under the driving of air pressure. The climbing motion of the soft crawling robot 100 includes four parts: the head of the soft crawling robot 100 is lifted; linear motion of the body of the soft crawling robot 100; the soft crawling robot 100 moves linearly after the head is lifted; the soft crawling robot 100 moves linearly on the head. The movement process of the soft crawling robot 100 climbing the first stairs is similar to the obstacle crossing movement of the soft crawling robot 100. After the head of the soft crawling robot 100 completely stays on the first step, the head of the soft crawling robot 100 starts to move linearly, and the linear movement of the head of the soft crawling robot 100 is similar to the linear movement of the body of the soft crawling robot 100. During the linear motion of the head, the control system will control the air pump to inflate the first soft-body driver 102, so that the first soft-body driver 102 bends downward. During inflation, the barb structure 105 will be fixed on the stepped surface and the soft crawling robot 100 will move the body forward due to the expansion and bending of the first soft driver 102. During deflation, the head of the soft crawling robot 100 will move forward with the stretching of the first soft driver 102 due to the larger friction of the rear foot 107 of the soft crawling robot 100. When the head of the soft crawling robot 100 contacts the second ladder, the control system controls the head of the soft crawling robot 100 to perform the lifting motion again, and then the next climbing motion of the soft crawling robot 100 repeats the motion process.
The soft crawling robot with multiple motion modes provided by the embodiment of the invention comprises three multi-airbag type soft drivers, and has multiple motion modes suitable for multiple different environments. Furthermore, the head of the multi-motion mode soft crawling robot provided by the embodiment of the invention is provided with the soft sensor, so that the closed-loop control of the soft crawling robot can be realized, and the adaptive crawling motion can be performed in a complex ground environment.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (8)
1. A software crawling robot with multiple motion modes, characterized by comprising:
a plurality of soft drivers for constituting a main body of the soft crawling robot; the plurality of soft body drivers comprise a first soft body driver, a second soft body driver and a third soft body driver which are connected in sequence;
the software sensor is positioned at the front end of the first software driver and used for sensing environmental parameters; a barb structure is formed at the connecting position below the soft sensor and the first soft driver;
a forefoot, located below the first soft driver, for acting as a moving part;
a rear foot located below the third soft body driver for acting as a moving part;
the plurality of soft drivers respectively comprise a multi-airbag structure and a bottom structure positioned at the bottom of the multi-airbag structure; the multi-air-bag structure can be expanded or contracted under the action of air pressure; the bottom structure comprises a bottom upper layer, a bottom middle layer and a bottom lower layer, wherein the bottom upper layer is used for communicating each independent air bag in the multi-air-bag structure; the multi-airbag structure comprises a plurality of ladder-shaped cavity airbags which are connected in parallel, and the bottom middle layer is an inextensible elastic substrate.
2. The multi-motion mode soft crawling robot according to claim 1, wherein the bottom upper layer comprises a plurality of empty slot structures for communicating each individual air bag in the multi-air bag structure.
3. The multi-motion-mode soft crawling robot according to claim 2, wherein silicone tubes are respectively arranged in the plurality of empty slot structures and inserted into the air bags.
4. The multi-motion mode soft crawling robot according to claim 1, further comprising a friction plate between the front foot and the rear foot for adjusting the friction force between the two ends of the soft crawling robot.
5. The soft crawling robot with multiple movement modes according to claim 1, wherein the soft sensor is a touch sensor for sensing whether the soft crawling robot touches an obstacle.
6. The multi-motion mode soft crawling robot according to claim 5, wherein the touch sensor is made of a silicone material and a liquid metal.
7. The soft crawling robot with multiple movement modes according to claim 1, wherein the front foot and the rear foot are soft barb structures.
8. The multi-motion mode soft crawling robot according to claim 1, wherein the multi-motion modes comprise a straight motion mode in a flat road environment, an obstacle crossing motion mode in an obstacle environment and a climbing motion mode in a stair environment.
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| CN201910484637.5A CN110104083B (en) | 2019-06-05 | 2019-06-05 | Software of many motion modes robot of crawling |
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| CN201910484637.5A CN110104083B (en) | 2019-06-05 | 2019-06-05 | Software of many motion modes robot of crawling |
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| CN110978918B (en) * | 2019-12-11 | 2023-07-25 | 西安电子科技大学 | Amphibious soft wheel, switching method and mobile robot |
| CN112032464B (en) * | 2020-09-30 | 2021-08-17 | 浙江水利水电学院 | Pneumatically-bent flexible pipeline robot and control method |
| CN112792804B (en) * | 2021-01-06 | 2022-06-21 | 江苏大学 | Soft robot of spiral winding type polymer artificial muscle |
| CN114619457B (en) * | 2022-03-23 | 2023-08-01 | 东南大学 | Double-airway bionic snail soft robot |
| CN114619456B (en) * | 2022-03-23 | 2023-08-01 | 东南大学 | Bionic snail soft robot capable of automatically crawling |
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