CN110450149A - It is a kind of to grow the continuous transfer of soft robot and method certainly - Google Patents
It is a kind of to grow the continuous transfer of soft robot and method certainly Download PDFInfo
- Publication number
- CN110450149A CN110450149A CN201910779280.3A CN201910779280A CN110450149A CN 110450149 A CN110450149 A CN 110450149A CN 201910779280 A CN201910779280 A CN 201910779280A CN 110450149 A CN110450149 A CN 110450149A
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- China
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- soft robot
- electromagnet
- main body
- iron plate
- continuous transfer
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to the continuous transfer of soft robot and methods, it in particular is a kind of from the continuous transfer of growth soft robot and method, including soft robot main body, round iron plate and electromagnet, two lateral edge of soft robot main body outer surface is axially uniformly distributed multiple pleated structures, the side of multiple pleated structure inner ends is provided with round iron plate, the other side of multiple pleated structure inner ends is provided with electromagnet, round iron plate is attracted by electromagnet energization, the material of main part of storage inside certain length is connected with adsorpting iron plate in electromagnet, the pleated structure formed by material of main part；Turning point is being needed to power off the electromagnet of opposite side corresponding position, electromagnet and adsorpting iron plate disconnect, and release is stored in internal pleated structure, since two side length of main body is inconsistent so that turning to.
Description
Technical field
It is in particular a kind of from growth software machine the present invention relates to the continuous transfer of soft robot and method
The continuous transfer of people and method.
Background technique
In the epoch of scientific and technical high speed development, robot technology is the hot technology developed emphatically, and just by
It gradually improves under the supports of the relevant technologies such as artificial intelligence and the big data of development, robot technology can obtain more wide in future
General application.Rigid machine people is still the core force of robot era development at present, is related to field and industry is numerous, teaching
It educates, service, playing the part of more and more important role in terms of industrial, rescue and relief work.But with the proposition of new material and new concept and
The concept of fast development, soft robot is exploited, and is come in every shape and is proposed in succession with feature-rich soft robot, and just
Property robot compare there are some irreplaceable advantages, since its flexible feature can be relatively easy to become depending on the site environment
Replace appearance form, can realize prospecting by its advantage in the hazardous environment of some unknown narrow environment and rescue and relief work
The purpose of detection.But realize larger angle and company when carrying camera detection ambient enviroment for soft robot at present
The turn-around design of continuous property does not well solve scheme, causes biggish puzzlement for the detection of circumstances not known.
Summary of the invention
The object of the present invention is to provide a kind of from the continuous transfer of growth soft robot and method, and software may be implemented
Robot realizes the motion design of larger angle and successional steering.
The purpose of the present invention is achieved through the following technical solutions:
A kind of growth continuous transfer of soft robot, including soft robot main body, round iron plate and electromagnet certainly,
One end fold inward of the soft robot main body, the other end of soft robot main body are sealedly connected on control inflator pump gas
At interface tube, inflator pump, which increases air pressure, makes soft robot main body turn up under internal pressure effect forward from growth stretching, institute
It states two lateral edge of soft robot main body outer surface and is axially uniformly distributed multiple pleated structures, the side of multiple pleated structure inner ends
It is provided with round iron plate, the other side of multiple pleated structure inner ends is provided with electromagnet, and electromagnet is powered round iron plate
It is attracted.
As advanced optimizing for the technical program, the present invention is a kind of from the growth continuous transfer of soft robot, institute
It states multiple electromagnet and is individually controlled by bus.
As advanced optimizing for the technical program, the present invention is a kind of from the growth continuous transfer of soft robot, institute
It states electromagnet and round iron plate and passes through thermal insulation layer and be connected in pleated structure.
As advanced optimizing for the technical program, the present invention is a kind of from the growth continuous transfer of soft robot, institute
Soft robot main body is stated to be made of PE material cylindrical body material.
As advanced optimizing for the technical program, the present invention is a kind of from the growth continuous transfer of soft robot, institute
Stating from the growth continuous transfer of soft robot further includes video camera, and video camera withstands on fold in soft robot main body and formed
Groove in.
As advanced optimizing for the technical program, the present invention is a kind of from the growth continuous transfer of soft robot, institute
Real-time image information transmission can be carried out by stating video camera.
A kind of growth continuous forward method of soft robot certainly, method includes the following steps:
Step 1；Video camera carries out real-time image information transmission to operating path, all electromagnetism when not needing turning
Tie Tong electricity and round iron plate are attracted, and multiple folds are shunk；
Step 2: when needing to turn, the electromagnet for opposite side of turning is powered off, and the fold for opposite side of turning is opened, side of turning
Electromagnet is still powered, and realizes to turning.
A kind of having the beneficial effect that from the continuous transfer of growth soft robot and method of the present invention
It is of the invention a kind of from the continuous transfer of growth soft robot and method, integrated, intelligentized control method can be passed through
The on-off of each electromagnet, the i.e. formation and release of fold realize that continuous sexual deviation and independence during the growth process are led
To；The material of main part of storage inside certain length, i.e., the fold knot formed by material of main part are connected with adsorpting iron plate in electromagnet
Structure；Turning point is being needed to power off the electromagnet of opposite side corresponding position, electromagnet and adsorpting iron plate disconnect, and release is stored in
Internal pleated structure, since two side length of main body is inconsistent so that turning to.
Detailed description of the invention
The present invention will be further described in detail with specific implementation method with reference to the accompanying drawing.
Fig. 1 is the growth continuous transfer turning motion structural schematic diagram one of soft robot certainly of the invention；
Fig. 2 is the growth continuous transfer turning motion structural schematic diagram two of soft robot certainly of the invention；
Fig. 3 is the growth continuous transfer structure of linear motion schematic diagram of soft robot certainly of the invention；
Fig. 4 is A partial enlargement figure structure schematic representation of the invention.
In figure: soft robot main body 1；Video camera 2；Thermal insulation layer 3；Round iron plate 4；Electromagnet 5.
Specific embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
Specific embodiment 1:
Illustrate present embodiment below with reference to Fig. 1-4, it is a kind of from the growth continuous transfer of soft robot, including software
Robot body 1, round iron plate 4 and electromagnet 5, one end fold inward of the soft robot main body 1, soft robot master
The other end of body 1 is sealedly connected at control inflator pump air pipe interface, and inflator pump increase air pressure makes including soft robot main body 1
It turns up under the effect of portion's pressure and is stretched out from growth forward, 1 outer surface of soft robot main body, two lateral edge is axially uniformly distributed
Multiple pleated structures, the side of multiple pleated structure inner ends are provided with round iron plate 4, the other side of multiple pleated structure inner ends
It is provided with electromagnet 5, round iron plate 4 is attracted by the energization of electromagnet 5；The 5 outer diameter 15mm of circular ring shape electromagnet, internal diameter
Size 4mm stretches out two positive and negative anodes electric wires by inside with a thickness of 5mm, connects 24V voltage and is controlled；5 lower surface of electromagnet
One end and thermal insulation layer 3 connect, and upper surface one end is connected by magnetic fields and round iron plate 4 in the energized state, and composition turns to small
Unit, the junior unit are uniformly distributed much along 1 axial sides of soft robot main body.
Specific embodiment 2:
Illustrate that present embodiment, present embodiment are described further embodiment one below with reference to Fig. 1-4, it is described more
A electromagnet 5 is individually controlled by bus；Communication control is carried out by bus using external main equipment between each electromagnet 5
System reduces the use of External cable, reduces influence of the cable to soft robot performance, integrates, each electromagnetism of intelligentized control method
The on-off of iron 5, the i.e. formation and release of fold realize continuous sexual deviation during the growth process and independence guiding；In electricity
Magnet 5 and round iron plate 4 connect the material of main part of storage inside certain length, i.e., the pleated structure formed by material of main part；In
Turning point is needed to power off the electromagnet 5 of opposite side corresponding position, electromagnet 5 and round iron plate 4 disconnect, and release is stored in interior
The pleated structure in portion, since two side length of main body is inconsistent so that turn to, while the contraction side same position that needs to turn
Electromagnet 5 in pleated structure is powered；Corresponding round iron plate 4 is attracted by the energization of electromagnet 5, so that corresponding fold knot
Structure is shunk, and the contraction side of soft robot main body 1 generates bending and turns.
Specific embodiment 3:
Illustrate that present embodiment, present embodiment are described further embodiment one below with reference to Fig. 1-4, the electricity
Magnet 5 and round iron plate 4 are connected in pleated structure by thermal insulation layer 3；The thermal insulation layer 3 is heat-barrier material, for completely cutting off
The heat generated under 5 energized state of electromagnet prevents from directly contacting material of main part；One end of thermal insulation layer 3 is connected with main body, uniformly
It is distributed along main body axial sides.
Specific embodiment 4:
Illustrate that present embodiment, present embodiment are described further embodiment one to three below with reference to Fig. 1-4, institute
Soft robot main body 1 is stated to be made of PE material cylindrical body material.
Specific embodiment 5:
Illustrate that present embodiment, present embodiment are described further embodiment one to three below with reference to Fig. 1-4, institute
Stating from the growth continuous transfer of soft robot further includes video camera 2, and video camera 2 withstands on fold in soft robot main body 1
In the groove of formation.
Specific embodiment 6:
Illustrate present embodiment below with reference to Fig. 1-4, present embodiment is described further embodiment five, described to take the photograph
Camera 2 can carry out real-time image information transmission.
A kind of growth continuous forward method of soft robot certainly, method includes the following steps:
Step 1；Video camera 2 carries out real-time image information transmission to operating path, all electromagnetism when not needing turning
Iron 5 is powered and round iron plate 4 is attracted, and multiple folds are shunk；
Step 2: when needing to turn, the electromagnet 5 for opposite side of turning is powered off, and the fold for opposite side of turning is opened, side of turning
Electromagnet 5 is still powered, and realizes to turning.
Of the invention is a kind of from the continuous transfer of growth soft robot and method, its working principle is that:
Soft robot main body 1 is made of PE material cylindrical body material, and 1 one end fold inward of soft robot main body exists
Body heel, at control inflator pump air pipe interface, the two is tightly connected, and is prevented for the other end connection of soft robot main body 1
Gas leakage causes control deviation；Increasing air pressure by inflator pump makes soft robot main body 1 turn up forward under internal pressure effect
It is stretched out from growth；Many pleated structures are axially uniformly distributed in 1 outer surface of soft robot main body, two lateral edge；Multiple fold knots
The side of structure inner end is provided with round iron plate 4, and the other side of multiple pleated structure inner ends is provided with electromagnet 5, electromagnet 5
Round iron plate 4 is attracted by energization；Circular ring shape electromagnet 5 outer diameter 15mm, the internal diameter 4mm, with a thickness of 5mm, by interior
Two positive and negative anodes electric wires are stretched out in portion, connect 24V voltage and are controlled；5 lower surface one end of electromagnet and thermal insulation layer 3 connect, upper table
Face one end is connected by magnetic fields and round iron plate 4 in the energized state, and composition turns to junior unit, and the junior unit is along software machine
1 axial sides of human agent are uniformly distributed very much；Communication control is carried out by bus using external main equipment between each electromagnet 5
System reduces the use of External cable, reduces influence of the cable to soft robot performance, integrates, each electromagnetism of intelligentized control method
The on-off of iron 5, the i.e. formation and release of fold realize continuous sexual deviation during the growth process and independence guiding；In electricity
Magnet 5 and round iron plate 4 connect the material of main part of storage inside certain length, i.e., the pleated structure formed by material of main part；In
Turning point is needed to power off the electromagnet 5 of opposite side corresponding position, electromagnet 5 and round iron plate 4 disconnect, and release is stored in interior
The pleated structure in portion, since two side length of main body is inconsistent so that turn to, while the contraction side same position that needs to turn
Electromagnet 5 in pleated structure is powered；Corresponding round iron plate 4 is attracted by the energization of electromagnet 5, so that corresponding fold knot
Structure is shunk, and the contraction side of soft robot main body 1 generates bending and turns.
Certainly, above description is not limitation of the present invention, and the present invention is also not limited to the example above, the art
The variations, modifications, additions or substitutions that those of ordinary skill is made within the essential scope of the present invention also belong to guarantor of the invention
Protect range.
Claims (7)
1. a kind of from the growth continuous transfer of soft robot, including soft robot main body (1), round iron plate (4) and electricity
The other end of magnet (5), one end fold inward of the soft robot main body (1), soft robot main body (1) is tightly connected
At control inflator pump air pipe interface, inflator pump, which increases air pressure, makes soft robot main body (1) turn up under internal pressure effect
It is stretched out from growth forward, it is characterised in that: two lateral edge of soft robot main body (1) outer surface is axially uniformly distributed multiple
Pleated structure, the side of multiple pleated structure inner ends are provided with round iron plate (4), and the other side of multiple pleated structure inner ends is equal
It is provided with electromagnet (5), electromagnet (5), which is powered, is attracted round iron plate (4).
2. according to claim 1 a kind of from the growth continuous transfer of soft robot, it is characterised in that: the multiple
Electromagnet (5) is individually controlled by bus.
3. according to claim 1 a kind of from the growth continuous transfer of soft robot, it is characterised in that: the electromagnetism
Iron (5) and round iron plate (4) are connected in pleated structure by thermal insulation layer (3).
4. according to any one of claims 1 to 3 a kind of from the growth continuous transfer of soft robot, feature exists
In: the soft robot main body (1) is made of PE material cylindrical body material.
5. according to any one of claims 1 to 3 a kind of from the growth continuous transfer of soft robot, feature exists
In: the continuous transfer of soft robot of growth certainly further includes video camera (2), and video camera (2) withstands on soft robot master
In the groove that fold is formed in body (1).
6. according to claim 5 a kind of from the growth continuous transfer of soft robot, it is characterised in that: the camera shooting
Machine (2) can carry out real-time image information transmission.
7. a kind of from the growth continuous forward method of soft robot, it is characterised in that: method includes the following steps:
Step 1；Video camera (2) carries out real-time image information transmission to operating path, all electromagnet when not needing turning
(5) it is powered and round iron plate (4) is attracted, multiple folds are shunk；
Step 2: when needing to turn, the electromagnet (5) for opposite side of turning is powered off, and the fold for opposite side of turning is opened, the electricity for side of turning
Magnet (5) is still powered, and realizes to turning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910779280.3A CN110450149B (en) | 2019-08-22 | 2019-08-22 | Continuous steering device and method for self-growing soft robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910779280.3A CN110450149B (en) | 2019-08-22 | 2019-08-22 | Continuous steering device and method for self-growing soft robot |
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| CN110450149A true CN110450149A (en) | 2019-11-15 |
| CN110450149B CN110450149B (en) | 2020-11-20 |
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Cited By (8)
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| CN110861078A (en) * | 2019-12-03 | 2020-03-06 | 哈尔滨工业大学 | Bus control mode self-growing software robot based on flexible circuit |
| CN110919632A (en) * | 2019-12-03 | 2020-03-27 | 哈尔滨工业大学 | Software robot system with space steering function |
| CN112754941A (en) * | 2021-01-18 | 2021-05-07 | 中国科学院沈阳自动化研究所 | Painless stomach tube inserting auxiliary robot |
| WO2022112768A1 (en) * | 2020-11-30 | 2022-06-02 | King's College London | An eversion robot system and method of operating the eversion robot system |
| US20220187153A1 (en) * | 2020-12-11 | 2022-06-16 | The Board Of Trustees Of The Leland Stanford Junior University | Distributed Sensor Networks Deployed Using Soft Growing Robots |
| CN114750144A (en) * | 2022-03-28 | 2022-07-15 | 黑龙江省科学院智能制造研究所 | Soft robot turning control device and method and soft robot |
| US20230173666A1 (en) * | 2021-12-03 | 2023-06-08 | Korea Advanced Institute Of Science And Technology | Hyper elastic soft growing robot |
| CN117505304A (en) * | 2024-01-04 | 2024-02-06 | 天津伍嘉联创科技发展股份有限公司 | Photo sorting equipment for face acquisition and acquisition optimization method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114750144A (en) * | 2022-03-28 | 2022-07-15 | 黑龙江省科学院智能制造研究所 | Soft robot turning control device and method and soft robot |
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| CN117505304A (en) * | 2024-01-04 | 2024-02-06 | 天津伍嘉联创科技发展股份有限公司 | Photo sorting equipment for face acquisition and acquisition optimization method |
| CN117505304B (en) * | 2024-01-04 | 2024-03-08 | 天津伍嘉联创科技发展股份有限公司 | Photo sorting equipment for face acquisition and acquisition optimization method |
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