CN110394814A - A kind of software walking robot - Google Patents
A kind of software walking robot Download PDFInfo
- Publication number
- CN110394814A CN110394814A CN201910805762.1A CN201910805762A CN110394814A CN 110394814 A CN110394814 A CN 110394814A CN 201910805762 A CN201910805762 A CN 201910805762A CN 110394814 A CN110394814 A CN 110394814A
- Authority
- CN
- China
- Prior art keywords
- bimetallic tube
- walking robot
- tube
- hose
- illumination apparatus
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000000463 material Substances 0.000 claims abstract description 24
- 239000007788 liquid Substances 0.000 claims abstract description 21
- 238000005286 illumination Methods 0.000 claims abstract description 16
- 239000004997 Liquid crystal elastomers (LCEs) Substances 0.000 claims description 3
- 239000000084 colloidal system Substances 0.000 claims 1
- 238000005516 engineering process Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000005265 energy consumption Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003760 hair shine Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of software walking robots, including hose, filling liquid and illumination apparatus；The hose turns down outward and hose both ends mutually seal, and forms the bimetallic tube with confined space；The smooth outer surface of the bimetallic tube；The filling liquid is filled in the confined space of the bimetallic tube and expands the bimetallic tube；The bilayer tube outer surface is equipped with photic deformable material；One end that the illumination apparatus is directed at the bimetallic tube is irradiated.The configuration of the present invention is simple, flexibility is good, consumes energy less and can move under complicated non-structure environment.
Description
Technical field
The present invention relates to robotic technology fields, more particularly, to a kind of software walking robot.
Background technique
With advances in technology, robot is mostly machine in the more mature but present robot of application of all trades and professions
The rigid machine people of tool structure, can quickly and accurately execute task, play important work in fields such as manufacture, assembly, logistics
With, but such robot is usually to work in structured environment, it is difficult to dynamic, unknown, non-structured complex environment are adapted to,
Without infinite degrees of freedom and distributed continuous modification ability, cannot by the morphosis of simulation biology, can not achieve creep,
Twisting, wriggling operates across narrow space etc., and using flexible is poor.
Summary of the invention
The object of the invention is that having overcome the deficiencies of the prior art and provide, a kind of structure is simple, and flexibility is good, consumes energy
Less and the software walking robot that can be moved under non-structural complex environment.To achieve the goals above, the present invention provides
A kind of software walking robot, including hose, filling liquid and illumination apparatus；The hose turns down outward and hose both ends are mutually sealed
It closes, forms the bimetallic tube with confined space；The smooth outer surface of the bimetallic tube；The filling liquid is filled in the bimetallic tube
Confined space in and expand the bimetallic tube；The bilayer tube outer surface is equipped with photic deformable material；The illumination apparatus
The one end for being directed at the bimetallic tube is irradiated.
Further, the filling liquid is liquid or gelinite.
Further, the photic deformable material is photoactivated liquid crystal elastomer or the photosensitive material with photic stress release
Material.
Further, the bimetallic tube is by being located at the plastic layer of inner surface and positioned at the photic deformable material phase of outer surface
It is sticked to form.
Further, the illumination apparatus includes illuminator, the illuminator be aligned described bimetallic tube one end far from
Center portion position is irradiated.
Beneficial effects of the present invention: the present invention combines light using the interior Unique physical design for being full of filling liquid of bimetallic tube
The deformable material light irradiation characteristic that deformation occurs is caused, it is mobile towards the other end after being illuminated by the light bimetallic tube one end, realize this
The walking movement of invention software walking robot, flexibility is good, smooth running, and energy consumption is few, realizes under non-structural complex environment
Movement, and the configuration of the present invention is simple is small and exquisite, convenient for control, can be suitably used for the different areas of activity such as small space.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the perspective view of bimetallic tube of the present invention.
Fig. 3 is operation logic figure of the present invention.
Above-mentioned appended drawing reference:
1 bimetallic tube, 2 filling liquids.
Specific embodiment
Invention is further illustrated with reference to the accompanying drawing, but is not intended to limit the scope of the invention.
Embodiment
As illustrated in fig. 1 and 2, a kind of software walking robot that present embodiment provides, including hose, filling liquid 2 and light
According to device；The hose turns down outward and hose both ends mutually seal, and forms the bimetallic tube 1 with confined space；The bimetallic tube 1
Smooth outer surface；The filling liquid 2 is filled in the confined space of the bimetallic tube 1 and expands the bimetallic tube 1；It is described double
Layer 1 outer surface of pipe is equipped with photic deformable material；One end that the illumination apparatus is directed at the bimetallic tube 1 is irradiated, such as Fig. 1
Shown, i.e. the right end of alignment bimetallic tube 1 is irradiated, and shown arrow is the light that illumination apparatus issues.Wherein bimetallic tube 1 is complete
Filling liquid 2 is injected in bimetallic tube 1 in advance before totally-enclosed.
The photic deformable material of present embodiment is a kind of new function material, passes through specific wavelength and the light of some strength
When (such as laser) irradiates, optical physics or photochemical effect occur for material internal, convert light energy into mechanical energy, occur retractable
Become；When the illumination of specific wavelength and some strength disappears, under natural light environment, photo-deformable material deformation restores, with
It realizes accurate quick optical drive, and has the characteristics that restorability, repeatability driving.Present embodiment is preferably, described photic
Deformable material is photoactivated liquid crystal elastomer or the light-sensitive material with photic stress release.
Wherein luminous energy is that one kind is highly-safe, remote controllability is good, and has the energy of snap.With electricity, thermal and magnetic
It is compared Deng other driving methods, CD-ROM drive flowing mode has easily controllable, energy consumption low and the advantages such as avoidable electromagnetic interference, and
By the size for applying the controllable braking/driving force of light source of different wave length or intensity of illumination.
The working principle of present embodiment as shown in Figure 3 is as follows: (1) under state, illumination apparatus does not work, i.e., shines without light beam
It penetrates, bimetallic tube 1 is in rest equilibrium state；(2) under state, illumination apparatus work issues light beam and irradiates 1 one end of bimetallic tube, excellent
Selection of land irradiates 1 one end of bimetallic tube far from centre, i.e., at the close outer layer of 1 one end of bimetallic tube；(3) under state, in driving light
Under beam irradiation, deformation occurs and starts to shrink for the photo-deformable material layer at light area；(4) under state, due to bimetallic tube 1 one
End is shunk, and filling liquid 2 cannot be compressed, and the pressure that photo-deformable material layer deformation generates reaches the other end of bimetallic tube 1, is made double
Layer 1 other end of pipe expands outward；(5) under state, 1 outer layer of bimetallic tube cannot be slid by contact surface frictional influence, in bimetallic tube 1
Layer, can be dragged to the other end from 1 one end of bimetallic tube under the effect of 1 other end bulbs of pressure of bimetallic tube；(6) under state, filling
Liquid 2 flow as bimetallic tube 1 internal layer is mobile, and the internal layer of 1 other end of bimetallic tube is protruding and fold forms outer layer, and double
The inside retraction of outer layer of layer pipe 1 one end and form internal layer, promote the internal layer of bimetallic tube 1 and outer layer to exchange, realization bimetallic tube 1
Movement from one end to the other end, wherein filling liquid 2 so realizes present embodiment software in 1 internal circulation flow of bimetallic tube
The walking movement of walking robot.If light beam also follows bimetallic tube 1 mobile, present embodiment software walking robot is realized
Continuous moving.Present embodiment issues the power of light by adjusting illumination apparatus, to control the deformation of photo-deformable material layer
Amplitude, to control the speed of travel of present embodiment software walking robot, using flexible is high.
Present embodiment software walking robot flexibility is good, smooth running, and energy consumption is few, realizes non-structural complex environment
Lower movement, and present embodiment software walking robot structure is simply small and exquisite, convenient for control, can be suitably used for the operations such as small space
Occasion.
1 smooth outer surface of present embodiment bimetallic tube is improved double with reducing the friction of the contact surfaces such as bimetallic tube 1 and ground
The movement speed of layer pipe 1 and mobile efficiency.
Bimetallic tube 1 described in present embodiment can be by the plastic layer positioned at inner surface and positioned at the photic deformation of outer surface
Material layer is sticked to form, and be can also be that bimetallic tube 1 is whole and is all made of photic deformable material.
Filling liquid 2 described in present embodiment is liquid or gelinite, and wherein liquid can be water or gelinite is ring
Gelinite is protected, it is environmentally protective.
Illumination apparatus described in present embodiment includes illuminator, and the illuminator is directed at the separate of described 1 one end of bimetallic tube
Centre is irradiated.Wherein illuminator can be existing laser emitter, be also possible to actinolyte etc..According to
Actual use demand can be human hand held illuminator irradiation 1 one end of bimetallic tube, be also possible to illuminator being mounted on relevant device
On.In present embodiment, the wavelength of light beam is determined by the property of photic deformable material.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, various changes and improvements may be made to the invention without departing from the spirit and scope of the present invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent defines.
Claims (5)
1. a kind of software walking robot, which is characterized in that including hose, filling liquid and illumination apparatus；The hose is turned-out
It rolls over and hose both ends mutually seals, form the bimetallic tube with confined space；The smooth outer surface of the bimetallic tube；The filling liquid
It is filled in the confined space of the bimetallic tube and expands the bimetallic tube；The bilayer tube outer surface is equipped with photic deformable material
Layer；One end that the illumination apparatus is directed at the bimetallic tube is irradiated.
2. a kind of software walking robot according to claim 1, which is characterized in that the filling liquid is liquid or coagulates
Colloid.
3. a kind of software walking robot according to claim 1, which is characterized in that the photic deformable material is photosensitive
Liquid crystal elastomer or light-sensitive material with photic stress release.
4. a kind of software walking robot according to claim 1, which is characterized in that the bimetallic tube is by being located at inner surface
Plastic layer and photic deformable material positioned at outer surface be sticked to form.
5. a kind of software walking robot according to claim 1-4, which is characterized in that the illumination apparatus packet
Illuminator is included, the separate centre that the illuminator is directed at described bimetallic tube one end is irradiated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910805762.1A CN110394814A (en) | 2019-08-29 | 2019-08-29 | A kind of software walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910805762.1A CN110394814A (en) | 2019-08-29 | 2019-08-29 | A kind of software walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110394814A true CN110394814A (en) | 2019-11-01 |
Family
ID=68329493
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910805762.1A Pending CN110394814A (en) | 2019-08-29 | 2019-08-29 | A kind of software walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110394814A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112976056A (en) * | 2021-02-24 | 2021-06-18 | 绍兴市华获智能装备有限公司 | Balance robot for transporting materials |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102424074A (en) * | 2011-11-22 | 2012-04-25 | 中国科学院合肥物质科学研究院 | Cylindrical amoeba-like moving robot body structure |
| CN103101583A (en) * | 2011-11-10 | 2013-05-15 | 中国科学院合肥物质科学研究院 | All-skin overturning movement flexible robot |
| CN103434582A (en) * | 2013-08-11 | 2013-12-11 | 林佳杰 | Deformable and multi-purpose software robot |
| CN107214687A (en) * | 2017-07-25 | 2017-09-29 | 江苏大学 | A kind of thermal deformation cavity drives soft robot of creeping |
| CN107972754A (en) * | 2017-11-20 | 2018-05-01 | 江苏大学 | A kind of software climbing robot of marmem driving |
| CN109319008A (en) * | 2018-09-04 | 2019-02-12 | 中国矿业大学 | A kind of soft robot model based on amoeba worm locomotory mechanism |
| US20190217908A1 (en) * | 2017-04-03 | 2019-07-18 | The Board Of Trustees Of The Leland Stanford Junior University | Robotic Mobility and Construction by Growth |
| CN210414571U (en) * | 2019-08-29 | 2020-04-28 | 中南大学 | Soft walking robot |
-
2019
- 2019-08-29 CN CN201910805762.1A patent/CN110394814A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103101583A (en) * | 2011-11-10 | 2013-05-15 | 中国科学院合肥物质科学研究院 | All-skin overturning movement flexible robot |
| CN102424074A (en) * | 2011-11-22 | 2012-04-25 | 中国科学院合肥物质科学研究院 | Cylindrical amoeba-like moving robot body structure |
| CN103434582A (en) * | 2013-08-11 | 2013-12-11 | 林佳杰 | Deformable and multi-purpose software robot |
| US20190217908A1 (en) * | 2017-04-03 | 2019-07-18 | The Board Of Trustees Of The Leland Stanford Junior University | Robotic Mobility and Construction by Growth |
| CN107214687A (en) * | 2017-07-25 | 2017-09-29 | 江苏大学 | A kind of thermal deformation cavity drives soft robot of creeping |
| CN107972754A (en) * | 2017-11-20 | 2018-05-01 | 江苏大学 | A kind of software climbing robot of marmem driving |
| CN109319008A (en) * | 2018-09-04 | 2019-02-12 | 中国矿业大学 | A kind of soft robot model based on amoeba worm locomotory mechanism |
| CN210414571U (en) * | 2019-08-29 | 2020-04-28 | 中南大学 | Soft walking robot |
Non-Patent Citations (3)
| Title |
|---|
| 侯继平: "仿变形虫机器人控制系统设计", 《中国优秀硕士学位论文全文 电子期刊网》, pages 633 - 634 * |
| 孙恒辉等: "仿阿米巴机器人结构设计与转弯机理分析", 《华中科技大学学报(自然科学版)》 * |
| 高钧等: "离子聚合物金属复合材料驱动器的制备与性能研究", 《功能材料与器件学报》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112976056A (en) * | 2021-02-24 | 2021-06-18 | 绍兴市华获智能装备有限公司 | Balance robot for transporting materials |
| CN112976056B (en) * | 2021-02-24 | 2022-05-24 | 佛山市铂威科技物流有限公司 | Balance robot for transporting materials |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110394814A (en) | A kind of software walking robot | |
| ES2515093T3 (en) | Scratch masking coating for glass containers | |
| CN210414571U (en) | Soft walking robot | |
| PT1011309E (en) | METHOD FOR PROVIDING IMPROVED PHOTOSYNTHESIS | |
| Marchese et al. | Towards a self-contained soft robotic fish: On-board pressure generation and embedded electro-permanent magnet valves | |
| Fang et al. | Advances in climbing robots for vertical structures in the past decade: a review | |
| ATE397235T1 (en) | DEVICES WITH SUSPENDED PARTICLES DRIVEN BY SURFACE FORCE | |
| DE60110913D1 (en) | HANDLING DEVICE WITH A REVERSIBLE TOROIDAL GRAPHIC | |
| Zhou et al. | Experimental comparison of drag-wiper and roller-wiper glass-cleaning robots | |
| Cai et al. | The design of permanent-magnetic wheeled wall-climbing robot | |
| EA200401248A1 (en) | METHOD OF CREATING LIFTING FORCE AND HORIZONTAL DRIVE | |
| Tsukagoshi et al. | Smooth creeping actuator by tip growth movement aiming for search and rescue operation | |
| ES2159343T3 (en) | PROCEDURE AND DEVICE FOR APPLYING A DECORATION ON AN OBJECT. | |
| KR101228171B1 (en) | Moving robot for inspecting pipelines | |
| CN109606496A (en) | Climbing robot and method based on dielectric elastomer driver and Electrostatic Absorption | |
| Jin-gang et al. | Implementation of glass-curtain-wall cleaning robot driven by double flexible rope | |
| Rinoshika | Vortical dynamics in the wake of water strider locomotion | |
| US20130023181A1 (en) | Water pressure conveyance dynamic ornament | |
| Tone et al. | Surface deformation control of a ferrofluid-based robotic sheet for object handling | |
| Bykov et al. | The problem of adhesion methods and locomotion mechanism development for wall-climbing robots | |
| ES2188998T3 (en) | ENERGY CONVERTER OF THE WAVES. | |
| CN205651358U (en) | Robot with environment monitor function | |
| Hatsuzawa et al. | Design and evaluation of Artemia-driven micro ratchet gears | |
| CN103256414B (en) | Light-driven micro proportion valve and regulating method thereof | |
| Chen et al. | Structure design and characteristic analysis of compound-driven unit for pipeline robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |