CN110341821A - A kind of soft shell ball shape robot and control method based on giant electro-rheological liquid - Google Patents
A kind of soft shell ball shape robot and control method based on giant electro-rheological liquid Download PDFInfo
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- CN110341821A CN110341821A CN201910670351.6A CN201910670351A CN110341821A CN 110341821 A CN110341821 A CN 110341821A CN 201910670351 A CN201910670351 A CN 201910670351A CN 110341821 A CN110341821 A CN 110341821A
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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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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Abstract
The invention discloses a kind of soft shell ball shape robot and control method based on giant electro-rheological liquid, is related to ball shape robot technical field.The soft shell ball shape robot realizes that mass center changes by giant electro-rheological liquid packing material input and output different distributions formula bead container with holes, so that soft shell ball shape robot be driven to be moved towards each orientation.Conduit between connection different distributions formula bead container with holes is provided with giant electro-rheological hydraulic control valve, fast transition can be carried out between class solid and liquid by the giant electro-rheological liquid material in the suitable electric field controls giant electro-rheological hydraulic control valve, to realize that it is closed and opens.The spherical surface of the soft shell ball shape robot is one layer of soft formation for being full of giant electro-rheological liquid, by its damping change of independent electric field controls, provides protection when soft shell ball shape robot passes through uneven road surface or falls.
Description
Technical field
The present invention relates to ball shape robot technical fields, more particularly to a kind of soft shell spherical shape machine based on giant electro-rheological liquid
Device people and control method.
Background technique
Ball shape robot is a kind of with spherical housing, the robot walked by rolling.With traditional sufficient formula machine
People compares with wheeled robot, has the advantages that there is no overturning, movement is flexible, adapts to various rough topographys.It is especially soft
Shell ball shape robot is smaller to the pressure on ground compared to traditional legged type robot and wheeled robot.But in injustice
When whole section or eminence are fallen, also ball shape robot can be made to cause to damage.
Summary of the invention
The object of the present invention is to provide a kind of soft shell ball shape robot and control method based on giant electro-rheological liquid, Neng Goushi
Existing omnibearing movable, and protection is provided when soft shell ball shape robot is by uneven road surface or falls.
To achieve the above object, the present invention provides following schemes:
A kind of soft shell ball shape robot based on giant electro-rheological liquid, including soft global shell and it is nested in the soft global shell
Spherical cavity body in internal hard；The spherical surface of the soft global shell is covered with the soft formation full of giant electro-rheological liquid；
The center of spherical cavity body is center porous type spherical container in the hard, in the central porous formula spherical container
Outer surface it is symmetrical several identical distribution bead containers with holes, and each distribution bead container with holes is logical
The conduit with giant electro-rheological hydraulic control valve is crossed to be connected to the central porous formula spherical container；
The center of the central porous formula spherical container is center hydraulic pump and distributed electrical station control system, and it is described in
Filled with giant electro-rheological liquid material in heart porous type spherical container；The giant electro-rheological hydraulic control valve and the center hydraulic pump with point
The electrical connection of cloth electrical field control system.
Optionally, the center hydraulic pump and distributed electrical station control system include distributed control device of electric field and with institute
State the center hydraulic pump of distributed control device of electric field electrical connection；Wherein, the giant electro-rheological hydraulic control valve and the distributed electrical
Field controller electrical connection.
Optionally, the soft shell ball shape robot further includes the block that is connected；Each distribution bead container with holes is logical
The connected block is crossed to be fixedly connected with the inner wall of spherical cavity body in the hard.
Optionally, the number of distribution bead container with holes is 6, and it is spherical to be symmetrically distributed in the central porous formula
The outer surface of container.
Optionally, it is cylindrical structure that the giant electro-rheological hydraulic control valve, which is inside, and outside is the concentric drums of cylindrical structure
Shape structure；The center of gravity of the cylindrical structure and the cylindrical structure is in same position, and the cylindrical structure and the cylinder knot
There are gaps between structure；Symmetrical oil inlet and oil outlet are offered on the cylindrical structure；Wherein, the cylindrical structure
For center high electrode, the cylindrical structure is grounding electrode.
Optionally, the driving medium of the giant electro-rheological hydraulic control valve is giant electro-rheological liquid；
When the giant electro-rheological liquid is flowed into from the oil inlet and is deposited between the center high electrode and the grounding electrode
In electric field, giant electro-rheological liquid between the center high electrode and the grounding electrode is from liquid to class Solid State Transformation；
When removing electric field between the center high electrode and the grounding electrode, it is located at the center high electrode and the grounding electrode
Between giant electro-rheological liquid from class solid-state to liquid change, to realize the control of the oil outlet flow.
Optionally, heat-shielding net is provided between the grounding electrode and the center high electrode, and the heat-shielding net is located at
The both ends of the grounding electrode and the center high electrode.
Optionally, in initial equilibrium conditions, giant electro-rheological liquid accounts for the 2/3 of the central porous formula spherical container, and
Vertical direction has giant electro-rheological liquid near subaerial distribution bead container with holes, remaining described distribution bead with holes
Container is cavity, to keep the soft shell ball shape robot stationary.
Optionally, in initial equilibrium conditions, when the soft formation add suitable electric field when, the soft shell ball shape robot with
The soft formation of ground contact portion is hardened, to keep the soft shell ball shape robot stationary.
A kind of control method of the soft shell ball shape robot based on giant electro-rheological liquid, comprising:
The step of controlling the soft shell ball shape robot direction of motion；Specifically:
Control device of electric field control centre's hydraulic pump distributed first generates negative pressure, makes vertical direction near subaerial distribution
In giant electro-rheological liquid inspiration central porous formula spherical container in formula bead container with holes；Then distributed control device of electric field control
The electric field of giant electro-rheological hydraulic control valve makes the giant electro-rheological hydraulic control valve in addition to direction of advance all be connected with suitable electric field；It connects
Distributed control device of electric field control centre's hydraulic pump pressurization, so that giant electro-rheological liquid is flowed into the distribution bead with holes of direction of advance
In container, so that the mass center of entire soft shell ball shape robot changes；
When the distribution bead container with holes filled with giant electro-rheological liquid moves to the lower section of the soft shell ball shape robot centre of sphere,
Distributed control device of electric field controls the electric field of each giant electro-rheological hydraulic control valve, and each giant electro-rheological hydraulic control valve is made all to be connected with conjunction
Suitable electric field；Then distributed control device of electric field control centre's hydraulic pump is extracted each giant electro-rheological liquid out by negative pressure mode and is controlled
The giant electro-rheological liquid of valve, and will be in giant electro-rheological liquid inspiration central porous formula spherical container；Then distributed control device of electric field control
System changes the electric field of the giant electro-rheological hydraulic control valve in addition to direction of advance, controls the giant electro-rheological liquid in addition to direction of advance
Valve is all connected with suitable electric field；Last distribution control device of electric field control centre's hydraulic pump pressurization, before flowing into giant electro-rheological liquid
Into in the distribution bead container with holes in direction, aforesaid operations are repeated, so that soft shell ball shape robot is towards each side all around
To rolling；
The step of controlling soft shell ball shape robot movement velocity；Specifically:
When needing to control soft shell ball shape robot movement velocity, by adjusting the electric field of giant electro-rheological hydraulic control valve, make
Viscosity of the giant electro-rheological liquid when flowing through conduit realizes stepless variation, to control the movement velocity of soft shell ball shape robot；
The step of controlling soft shell ball shape robot soft formation hardness；Specifically:
When soft shell ball shape robot is fallen by the road surface of out-of-flatness or from eminence, by external electrical field in Microsecond grade
Time in control change soft formation in giant electro-rheological liquid damping, to control the soft formation hardness of soft shell ball shape robot, and then obtain
Good damping effect is obtained, the damage of soft shell ball shape robot is mitigated.
The specific embodiment provided according to the present invention, the invention discloses following technical effects:
The present invention provides a kind of soft shell ball shape robot and control method based on giant electro-rheological liquid, the soft shell spherical shape machine
Device people realizes that mass center changes by giant electro-rheological liquid packing material input and output difference cavity, to drive soft shell spherical shape machine
People moves towards each orientation, to realize omnibearing movable.
The spherical surface of soft shell ball shape robot provided by the invention is one layer of soft formation for being full of giant electro-rheological liquid, by independence
Electric field controls its damping changes, provide protection when soft shell ball shape robot is by uneven road surface or falls.
The scheme for being stationed soft shell ball shape robot on level land the present invention also provides two kinds avoids soft shell ball shape robot
It is affected by the wind and rolls, guarantee that soft shell ball shape robot is stationary in initial equilibrium conditions.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the structural schematic diagram of soft shell ball shape robot of the embodiment of the present invention based on giant electro-rheological liquid；
Fig. 2 is giant electro-rheological of embodiment of the present invention hydraulic control valve structure chart；
Fig. 3 is the principle for the two methods that soft shell of embodiment of the present invention ball shape robot is remain stationary at steady state
Figure；
Fig. 4 is the motion principle figure of soft shell of embodiment of the present invention ball shape robot.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
Giant electro-rheological liquid has following characteristic: (1) being quickly converted between liquid and class solid, i.e., in static or low sheraing speed
Apparent viscosity can great changes will take place under rate, the anti-shear ability with solid properties；(2) between this liquid and class solid
Conversion is reversible；(3) conversion between this liquid and class solid is controllable, need to only be controlled electric field signal；(4)
The change of this apparent viscosity is the variation with electric field strength and consecutive variations；(5) this variation can be within millisecond
It completes, response speed is high；(6) energy for controlling this phase transformation is extremely low.These excellent performances become a kind of important
Very potential intellectual material in artificial intelligence material and efficient electromechanical integrated.
Giant electro-rheological liquid material can realize the variation of damping within the time of Microsecond grade in the case where adding suitable electric field outside,
Realize that the occasion of damping effect is applicable in very much to needing quickly to adjust damping.And traditional ER fluid is compared, it has
Good anti-settling characteristic.
Embodiment one
As shown in Figure 1, the soft shell ball shape robot provided in this embodiment based on giant electro-rheological liquid include soft global shell 2 with
And it is nested in spherical cavity body 1 in the hard inside soft global shell 2；Wherein, the spherical surface of soft global shell 2 is covered with full of huge electric current
Become the soft formation of liquid.
The center of spherical cavity body 1 is center porous type spherical container 3 in hard, in the appearance of central porous formula spherical container 3
Face is symmetrically dispersed with several identical distribution bead containers 6 with holes, and each distribution bead container 6 with holes is by having
The conduit 5 of giant electro-rheological hydraulic control valve 4 is connected to central porous formula spherical container 3.
The center of central porous formula spherical container 3 is center hydraulic pump and distributed electrical station control system 7, and central porous
Filled with giant electro-rheological liquid material in formula spherical container 3.Wherein, center hydraulic pump and distributed electrical station control system 7 include distribution
Formula control device of electric field and the center hydraulic pump being electrically connected with distributed control device of electric field.Giant electro-rheological hydraulic control valve 4 and center
Hydraulic pump is electrically connected with distributed electrical station control system 7, specially the giant electro-rheological hydraulic control valve 4 and distributed control device of electric field
Electrical connection.
Preferably, which further includes the block 8 that is connected；Each distribution bead container 6 with holes is by solid
Even block 8 is fixedly connected with the inner wall of spherical cavity body 1 in hard.
Preferably, the number of distributed bead container 6 with holes is 6, is symmetrically distributed in central porous formula spherical container 3
Outer surface.
Giant electro-rheological liquid is under a kind of DC Electric Field, and stream that is quick, reversible and substantially changeing occurs for rheological property
Body.Under zero electric field action, giant electro-rheological liquid is newton (Newton) fluid, and under electric field action, giant electro-rheological liquid is similar to
Stuart Bingham (Bingham) fluid.The present embodiment is using the apparent viscosity of the giant electro-rheological liquid in giant electro-rheological hydraulic control valve 4 in electricity
Under the control of field, the principle of step-less adjustment is realized in certain condition and range to control the flowing of giant electro-rheological liquid；In perseverance
When flow, pressure difference realizes step-less adjustment between being imported and exported by giant electro-rheological hydraulic control valve 4；In level pressure difference, it can be achieved that flow
Step-less adjustment.
As shown in figure 3, giant electro-rheological hydraulic control valve 4 is by center high electrode 41, heat-shielding net 42, grounding electrode 43, oil inlet
Mouth 44, oil outlet 45 form.The driving medium of giant electro-rheological hydraulic control valve 4 is giant electro-rheological liquid.
Giant electro-rheological hydraulic control valve 4 is that inside is cylindrical structure, and outside is the concentric circles tubular construction of cylindrical structure；Cylinder
There are gaps in same position, and between cylindrical structure and cylindrical structure for structure and the center of gravity of cylindrical structure；Wherein, cylindrical structure
Diameter be d, the outer diameter of cylindrical structure is D, and the gap between cylindrical structure and cylindrical structure is h, giant electro-rheological hydraulic control valve 4
Total length is L.
Symmetrical oil inlet 44 and oil outlet 45 are offered on cylindrical structure；Wherein, high electricity centered on cylindrical structure
Pole 41, cylindrical structure are grounding electrode 43.
Heat-shielding net 42 is provided between grounding electrode 43 and center high electrode 41, and the heat-shielding net 42 is located at grounding electrode
43 and center high electrode 41 both ends.
The working principle of this giant electro-rheological hydraulic control valve 4 is: when giant electro-rheological liquid is flowed into from oil inlet 44 and center is high
There are giant electro-rheological liquids when electric field, between center high electrode 41 and grounding electrode 43 between electrode 41 and grounding electrode 43
In moment from liquid to class Solid State Transformation, to realize the control of 45 flow of oil outlet；And works as removal center high electrode 41 and connect
Between ground electrode 43 when electric field, giant electro-rheological liquid between center high electrode 41 and grounding electrode 43 is again from class solid-state to liquid
State transformation.
As shown in figure 3, giant electro-rheological liquid accounts for the 2/3 of central porous formula spherical container 3, and perpendicular when initial equilibrium conditions
Histogram has giant electro-rheological liquid near subaerial distribution bead container 6 with holes, remaining distributed bead container 6 with holes is all
Cavity.In this case the mass center of soft shell ball shape robot is located at by the vertical direction of the centre of sphere and close to lower position, guarantees
Soft shell ball shape robot is stationary in initial equilibrium conditions.
When initial equilibrium conditions, suitable external electrical field is added on soft global shell 2, makes soft shell ball shape robot and ground
The soft formation of contact portion is hardened, and such soft shell ball shape robot needs certain tilting moment that could move, and avoids by wind-force
Deng extraneous small external force influence and generate movement, also guarantee that soft shell ball shape robot is stationary in initial equilibrium conditions.
Embodiment two
A kind of control method of soft shell ball shape robot based on giant electro-rheological liquid is present embodiments provided, as shown in Figure 4
Principle, which specifically includes following steps.
Step 1: the step of controlling the soft shell ball shape robot direction of motion；Specifically:
Control device of electric field control centre's hydraulic pump distributed first generates negative pressure, makes vertical direction near subaerial distribution
In giant electro-rheological liquid inspiration central porous formula spherical container 3 in formula bead container 6 with holes；Then distributed control device of electric field control
The electric field of giant electro-rheological hydraulic control valve 4 processed makes the giant electro-rheological hydraulic control valve 4 in addition to direction of advance all be connected with suitable electricity
?；Then distributed control device of electric field control centre's hydraulic pump pressurization, makes giant electro-rheological liquid flow into the distributed band of direction of advance
In hole bead container 6, so that the mass center of entire soft shell ball shape robot changes.
When the distribution bead container 6 with holes filled with giant electro-rheological liquid moves to the lower section of the soft shell ball shape robot centre of sphere
When, distributed control device of electric field controls the electric field of each giant electro-rheological hydraulic control valve 4, makes each giant electro-rheological hydraulic control valve 4 all
It is connected with suitable electric field；Then distributed control device of electric field control centre's hydraulic pump extracts each giant electro-rheological out by negative pressure mode
The giant electro-rheological liquid of hydraulic control valve 4, and will be in giant electro-rheological liquid inspiration central porous formula spherical container 3；Then distributed electric field
Controller control changes the electric field of the giant electro-rheological hydraulic control valve 4 in addition to direction of advance, makes the huge electricity in addition to direction of advance
Rheology hydraulic control valve 4 is all connected with suitable electric field；Last distribution control device of electric field control centre's hydraulic pump pressurization, makes huge electric current
Become liquid stream to enter in the distribution bead container 6 with holes of direction of advance, repeat aforesaid operations, so that soft shell ball shape robot is towards front and back
Left and right all directions roll.
Step 2: the step of controlling soft shell ball shape robot movement velocity；Specifically:
When needing to control soft shell ball shape robot movement velocity, by adjusting the electric field of giant electro-rheological hydraulic control valve 4, make
Viscosity of the giant electro-rheological liquid when flowing through conduit 5 realizes stepless variation, to control the movement velocity of soft shell ball shape robot.
Step 3: the step of controlling soft shell ball shape robot soft formation hardness；Specifically:
When soft shell ball shape robot is fallen by the road surface of out-of-flatness or from eminence, by external electrical field in Microsecond grade
Time in control change soft formation in giant electro-rheological liquid damping, to control the soft formation hardness of soft shell ball shape robot, and then obtain
Good damping effect is obtained, the damage of soft shell ball shape robot is mitigated.
Compared with prior art, the invention has the benefit that
First, it is controlled by electric field to be realized to giant electro-rheological hydraulic control valve, the response time is short, and control precision is high, energy consumption
It is few.
Second, drive giant electro-rheological liquid to enter different distribution bead containers with holes by center hydraulic pump soft to change
The mass center of shell ball shape robot, structure is simple, high reliablity.
Third, the outer surface of soft shell ball shape robot are covered with the soft formation full of giant electro-rheological liquid, huge by electric field controls
The damping of ER fluid material can realize variation within the time of Microsecond grade, come when mitigating soft shell ball shape robot from high falling
Or damage when by uneven road surface.
4th, soft shell ball shape robot outer surface is software, has the advantages that protect itself and frictional force big.
5th, giant electro-rheological hydraulic control valve only needs local voltage that can control, less energy-consuming, and filling solution is giant electro-rheological
Liquid material, integrated degree are high.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (10)
1. a kind of soft shell ball shape robot based on giant electro-rheological liquid, which is characterized in that the soft shell ball shape robot includes soft
Spherical cavity body in global shell and the hard being nested in inside the soft global shell；The spherical surface of the soft global shell, which is covered with, to be filled
The soft formation of full giant electro-rheological liquid；
The center of spherical cavity body is center porous type spherical container in the hard, in the appearance of the central porous formula spherical container
Face is symmetrically dispersed with several identical distribution bead containers with holes, and each distribution bead container with holes passes through band
There is the conduit of giant electro-rheological hydraulic control valve to be connected to the central porous formula spherical container；
The center of the central porous formula spherical container is center hydraulic pump and distributed electrical station control system, and the center is more
Filled with giant electro-rheological liquid material in cellular type spherical container；The giant electro-rheological hydraulic control valve and the center hydraulic pump and distribution
Electrical field control system electrical connection.
2. a kind of soft shell ball shape robot based on giant electro-rheological liquid according to claim 1, which is characterized in that in described
Heart hydraulic pump and distributed electrical station control system are electric including distributed control device of electric field and with the distributed control device of electric field
The center hydraulic pump of connection；Wherein, the giant electro-rheological hydraulic control valve is electrically connected with the distributed control device of electric field.
3. a kind of soft shell ball shape robot based on giant electro-rheological liquid according to claim 1, which is characterized in that described soft
Shell ball shape robot further includes the block that is connected；Each distribution bead container with holes passes through the connected block and the hard
The inner wall of interior spherical cavity body is fixedly connected.
4. a kind of soft shell ball shape robot based on giant electro-rheological liquid according to claim 1, which is characterized in that described point
The number of cloth bead container with holes is 6, is symmetrically distributed in the outer surface of the central porous formula spherical container.
5. a kind of soft shell ball shape robot based on giant electro-rheological liquid according to claim 1, which is characterized in that described huge
ER fluid control valve is that inside is cylindrical structure, and outside is the concentric circles tubular construction of cylindrical structure；The cylindrical structure and
There are gaps in same position, and between the cylindrical structure and the cylindrical structure for the center of gravity of the cylindrical structure；The circle
Symmetrical oil inlet and oil outlet are offered on barrel structure；Wherein, the cylindrical structure is center high electrode, the cylinder
Structure is grounding electrode.
6. a kind of soft shell ball shape robot based on giant electro-rheological liquid according to claim 5, which is characterized in that described huge
The driving medium of ER fluid control valve is giant electro-rheological liquid；
When the giant electro-rheological liquid is flowed into from the oil inlet and there is electricity between the center high electrode and the grounding electrode
When, giant electro-rheological liquid between the center high electrode and the grounding electrode is from liquid to class Solid State Transformation；When going
Except between the center high electrode and the grounding electrode when electric field, between the center high electrode and the grounding electrode
Giant electro-rheological liquid from class solid-state to liquid change, to realize the control of the oil outlet flow.
7. a kind of soft shell ball shape robot based on giant electro-rheological liquid according to claim 5, which is characterized in that described to connect
Heat-shielding net is provided between ground electrode and the center high electrode, and the heat-shielding net is located at the grounding electrode and the center
The both ends of high electrode.
8. a kind of soft shell ball shape robot based on giant electro-rheological liquid according to claim 1, which is characterized in that initial
When equilibrium state, giant electro-rheological liquid accounts for the 2/3 of the central porous formula spherical container, and in vertical direction near subaerial institute
Stating distributed bead container with holes has giant electro-rheological liquid, remaining described distribution bead container with holes is cavity, described in keeping
Soft shell ball shape robot is stationary.
9. a kind of soft shell ball shape robot based on giant electro-rheological liquid according to claim 1, which is characterized in that initial
When equilibrium state, when the soft formation adds suitable electric field, the soft formation of the soft shell ball shape robot and ground contact portion becomes
Firmly, to keep the soft shell ball shape robot stationary.
10. a kind of control method of the soft shell ball shape robot based on giant electro-rheological liquid, which is characterized in that the control method packet
It includes:
The step of controlling the soft shell ball shape robot direction of motion；Specifically:
Control device of electric field control centre's hydraulic pump distributed first generates negative pressure, makes vertical direction near subaerial distributed band
In giant electro-rheological liquid inspiration central porous formula spherical container in the bead container of hole；Then distributed control device of electric field controls huge electricity
The electric field of rheology hydraulic control valve makes the giant electro-rheological hydraulic control valve in addition to direction of advance all be connected with suitable electric field；Then divide
The pressurization of cloth control device of electric field control centre's hydraulic pump makes giant electro-rheological liquid flow into the distribution bead container with holes of direction of advance
It is interior, so that the mass center of entire soft shell ball shape robot changes；
When the distribution bead container with holes filled with giant electro-rheological liquid moves to the lower section of the soft shell ball shape robot centre of sphere, distribution
Formula control device of electric field controls the electric field of each giant electro-rheological hydraulic control valve, is connected with each giant electro-rheological hydraulic control valve all suitably
Electric field；Then distributed control device of electric field control centre's hydraulic pump extracts each giant electro-rheological hydraulic control valve out by negative pressure mode
Giant electro-rheological liquid, and will be in giant electro-rheological liquid inspiration central porous formula spherical container；Then distributed control device of electric field control changes
The electric field for becoming giant electro-rheological hydraulic control valve in addition to direction of advance makes giant electro-rheological hydraulic control valve in addition to direction of advance all
It is connected with suitable electric field；Last distribution control device of electric field control centre's hydraulic pump pressurization, makes giant electro-rheological liquid flow into advance side
To distribution bead container with holes in, aforesaid operations are repeated, so that soft shell ball shape robot is rolled towards all directions all around
It is dynamic；
The step of controlling soft shell ball shape robot movement velocity；Specifically:
When needing to control soft shell ball shape robot movement velocity, by adjusting the electric field of giant electro-rheological hydraulic control valve, make huge electricity
Viscosity of the rheology liquid when flowing through conduit realizes stepless variation, to control the movement velocity of soft shell ball shape robot；
The step of controlling soft shell ball shape robot soft formation hardness；Specifically:
When soft shell ball shape robot is fallen by the road surface of out-of-flatness or from eminence, by external electrical field Microsecond grade when
Interior control changes the damping of giant electro-rheological liquid in soft formation, to control the soft formation hardness of soft shell ball shape robot, and then obtains good
Good damping effect mitigates the damage of soft shell ball shape robot.
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| CN117231685A (en) * | 2023-11-10 | 2023-12-15 | 上海逸讯能源科技有限公司 | Wisdom oil recovery device |
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| US8316970B1 (en) * | 2011-02-07 | 2012-11-27 | The United States Of America As Represented By The Secretary Of The Navy | Hydraulic-based spherical robot |
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| CN108897320A (en) * | 2018-06-26 | 2018-11-27 | 清华大学 | A kind of driving walking robot and its control method certainly |
| CN109050155A (en) * | 2018-07-30 | 2018-12-21 | 北京科技大学 | A kind of flexible vehicle wheel of adaptive rough ground |
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| US8316970B1 (en) * | 2011-02-07 | 2012-11-27 | The United States Of America As Represented By The Secretary Of The Navy | Hydraulic-based spherical robot |
| CN105479463A (en) * | 2016-01-26 | 2016-04-13 | 清华大学 | Deformable and flexible robot based on liquid metal electromagnetic actuation |
| CN107839412A (en) * | 2017-10-30 | 2018-03-27 | 黄丽贤 | A kind of magnetic flow liquid tire |
| CN108897320A (en) * | 2018-06-26 | 2018-11-27 | 清华大学 | A kind of driving walking robot and its control method certainly |
| CN109050155A (en) * | 2018-07-30 | 2018-12-21 | 北京科技大学 | A kind of flexible vehicle wheel of adaptive rough ground |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117231685A (en) * | 2023-11-10 | 2023-12-15 | 上海逸讯能源科技有限公司 | Wisdom oil recovery device |
| CN117231685B (en) * | 2023-11-10 | 2024-01-23 | 上海逸讯能源科技有限公司 | Wisdom oil recovery device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110341821B (en) | 2020-06-19 |
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