CN110802607B - Beating mechanism and soft robot with same - Google Patents
Beating mechanism and soft robot with same Download PDFInfo
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- CN110802607B CN110802607B CN201910996017.XA CN201910996017A CN110802607B CN 110802607 B CN110802607 B CN 110802607B CN 201910996017 A CN201910996017 A CN 201910996017A CN 110802607 B CN110802607 B CN 110802607B
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- belt
- stretching
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- stretching belt
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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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
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
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- Mechanical Engineering (AREA)
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Abstract
The invention relates to the field of soft robots, and provides a knocking mechanism for a soft robot and a soft robot with the knocking mechanism, aiming at solving the problem that the soft robot cannot realize explosive damage, wherein the knocking mechanism comprises: body subassembly, drive assembly, helping hand part and power, the body subassembly includes: fixing support and rapping body, tensile member includes: a first tensile strap and a second tensile strap, the force assist member comprising: the first power assisting belt and the second power assisting belt are made of dielectric elastic materials, so that the beating mechanism for the soft robot can be guaranteed to be light in weight, the beating body is in cooperative motion of the stretching part and the power assisting belts, and the beating body can be exploded to generate enough beating force in the falling process by reasonably controlling the stretching part and the power assisting parts and the electrifying sequence, so that the working strength of the beating mechanism for the soft robot is guaranteed to be enough.
Description
Technical Field
The invention relates to the technical field of universal equipment, in particular to a knocking mechanism for a soft robot and the soft robot with the knocking mechanism.
Background
In the processes of military operation, rescue search and the like, blasting or knocking destruction is often required when obstacles are encountered, generally, a knocking mechanism for a soft robot is adopted for impact destruction or blasting destruction, the controllability of blasting destruction is poor, and the impact effect of the knocking mechanism for the soft robot is better for small-range destruction. The beating mechanism for the soft robot is a device capable of applying beating force to components, and is widely applied to the fields of engineering, search and rescue, military and the like.
Therefore, the development of a portable and efficient beating mechanism with high explosion performance for a soft robot is of great significance, the dielectric elastic material belongs to one of electroactive polymers in novel intelligent soft materials, the electroactive polymer can generate strain response to an external electric field, under the action of an external electric field, electrostatic attraction enables the dielectric elastic material to be compressed in the thickness direction and expanded in the area direction, and after the external electric field is removed, the dielectric elastic material can return to the original shape or volume.
Disclosure of Invention
The invention provides a knocking mechanism for a soft robot, aiming at solving the problem that the soft robot cannot realize explosive damage. With the development of the soft robot, the soft robot has the advantages of good deformability, mobility, small size and the like, so that the soft robot is widely applied to the fields of military investigation, accident rescue, scene information acquisition and the like, and due to the characteristics of the soft robot, a traditional mechanical beating mechanism with an explosive destruction function cannot be assembled on the soft robot. The invention combines the characteristics of the soft robot with the characteristics of the dielectric elastic material, designs the beating mechanism for the soft robot, which can be introduced to the soft robot, not only reduces the weight of the beating mechanism for the soft robot and ensures that the beating mechanism can be arranged on the soft robot, but also does not generate negative influence on the normal operation and work of the soft robot.
The invention also provides a soft robot with the beating mechanism for the soft robot.
According to the embodiment of the first aspect of the invention, the beating mechanism for the soft robot comprises: body subassembly, drive assembly and power, the body subassembly includes: the fixed support is suitable for being connected to a main body structure of a soft robot, the knocking body is hinged to the fixed support and provided with a hinge point, a hammer head is arranged at one end, far away from the hinge point, of the knocking body, a slide rail extending along the length direction of the knocking body is formed on the knocking body, the hinge point is located between two ends of the slide rail in the length direction of the knocking body, and the knocking body is provided with a lifting state that the hammer head is far away from a knocked part and a falling state that the hammer head is close to the knocked part; the drive assembly includes: slider and tensile part, the slider slidable is established in the slide rail, tensile part includes: the first stretching belt is connected between the fixed support and one end, far away from the hammer head, of the rapping body, the second stretching belt is connected between the fixed support and the sliding block, the power-assisted part belt is connected between the sliding block and the rapping body and used for driving the sliding block to slide, and the first stretching belt, the second stretching belt and the power-assisted part belt are all formed into dielectric elastic parts; the power supply is electrically connected with the first stretching belt, the second stretching belt and the power assisting component belt, and the power supply intermittently energizes the first stretching belt, the second stretching belt and the power assisting component belt so as to enable the beating body to swing between a lifting state and a falling state.
According to an embodiment of the present invention, a limit pin disposed near the hinge point is disposed on the fixed support, one end of the slide rail near the hammer head forms an upper dead point, one end of the slide rail far from the hammer head forms a lower dead point, when the slide block slides to the upper dead point, one end of the striking body near the hammer head is adapted to abut against the limit pin, and the striking body is in a raised state; when the sliding block slides to the bottom dead center of the sliding rail, one end, far away from the hammer head, of the knocking body is suitable for being abutted against the limiting pin, and at the moment, the knocking body is in a falling state.
According to one embodiment of the invention, the resistance band comprises: a first power assisting belt and a second power assisting belt which are electrically connected with the power supply, wherein the first power assisting belt and the second power assisting belt are both formed into dielectric elastic pieces, one end of the first power assisting belt is fixed at one end of the knocking body, which is close to the hammer head, the other end of the first power assisting belt is connected with the sliding block, one end of the second power assisting belt is fixed at one end of the knocking body, which is far away from the hammer head, and the other end of the second power assisting belt is connected with the sliding block; when the power supply is used for electrifying the first stretching belt and the second stretching belt, the first stretching belt and the second stretching belt are loosened, the power supply is used for electrifying the second power assisting belt and powering off the first power assisting belt, the second power assisting belt is loosened, the first power assisting belt is contracted and pulls the sliding block to upwards slide along the sliding rail, when the sliding block reaches a top dead center, the second stretching belt is electrified and in a loosened state, the second stretching belt is powered off and contracted, the second stretching belt pulls the knocking body to rotate anticlockwise, when the knocking body is stopped by a limiting pin, the first stretching belt is electrified, the moment of the second stretching belt to the hinged point is larger than the moment of the first stretching belt to the hinged point, and the limiting pin stops the trend of the knocking body to rotate anticlockwise, the knocking body is in a lifted state; when the power supply is used for powering off the first stretching belt and the second stretching belt, the first stretching belt and the second stretching belt are contracted, the moment of the second stretching belt to the hinge point is greater than the moment of the first stretching belt to the hinge point, the limit pin stops the trend of anticlockwise rotation of the beating body, and the beating mechanism for the soft robot is in a power accumulation state; the power supply is used for electrifying the first power-assisted belt, loosening the first power-assisted belt, powering off the second power-assisted belt, enabling the second power-assisted belt to contract, pulling the sliding block to move towards the lower dead center direction of the sliding rail by the second power-assisted belt, so as to drive the second stretching belt to rotate clockwise, when the sliding block crosses the hinge point, the moment directions of the first stretching belt and the second stretching belt to the hinge point all face towards the clockwise direction of the hinge point, the knocking body rapidly rotates clockwise to slide to the lower dead center of the sliding rail under the common driving action of the first stretching belt and the second stretching belt, the knocking body is blocked by the limiting pin, and the knocking body is in a falling state.
According to one embodiment of the invention, an extension of the first assistor belt coincides with an extension of the second assistor belt.
According to one embodiment of the invention, the tapping body is hinged to the fixed support by means of a pin.
According to an embodiment of the present invention, the tapping mechanism for the soft robot further comprises: the power supply controller is electrically connected with the power supply and is suitable for controlling the electrifying frequency of the power supply to the first stretching belt, the second stretching belt, the first power assisting belt and the second power assisting belt.
According to one embodiment of the invention, the first stretch band, the second stretch band, the first assistor band and the second assistor band are acrylic bands.
According to one embodiment of the invention, the striking body is integrally formed with the hammer head.
According to one embodiment of the invention, the hammer head is formed as a hard hammer head.
According to another aspect of the present invention, the soft robot includes a soft robot body and the beating mechanism for the soft robot, and the fixed support is fixedly connected to the soft robot body.
The invention has the technical effects that:
according to the beating mechanism for the soft robot, the first stretching belt, the second stretching belt, the first boosting belt and the second boosting belt are all made of dielectric elastic materials, so that the beating mechanism for the soft robot can be guaranteed to be light in weight and low in noise in the working process of the beating mechanism for the soft robot, the fatigue life of the first stretching belt, the second stretching belt, the first boosting belt and the second boosting belt is long, the service life of the beating mechanism for the soft robot is guaranteed to be long, the beating body is cooperatively moved by the first stretching belt, the second stretching belt, the first boosting belt and the second boosting belt, and the sufficient beating force can be generated in the falling process of the beating body through reasonable control of the electrification and the electrification sequence of the first stretching belt, the second stretching belt, the first boosting belt and the second boosting belt, thereby ensuring that the working strength of the beating mechanism for the soft robot is enough.
Drawings
FIG. 1 is a schematic diagram of a striking mechanism for a soft-bodied robot according to an embodiment of the present invention in a raised state;
fig. 2 is a schematic view of a striking mechanism for a soft robot according to an embodiment of the present invention in a falling state.
In the figure:
10: a tapping mechanism for a soft body robot; 1: a body assembly; 11: a fixed support; 12: knocking the body; 13: a hinge point; 14: a hammer head; 21: a slide rail structure; 22: a slide rail; 221: an upper dead point of the slide rail; 222 bottom dead center of the slide rail; 23: a slider; 24: a tension member; 25: a first stretch panel; 26: a second stretch panel; 31: a first power assist belt; 32: a second booster belt; 4: and a limiting pin.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
As shown in fig. 1-2, a tapping mechanism 10 for a soft body robot according to an embodiment of the present invention includes: body subassembly 1, drive assembly, helping hand part and power, body subassembly 1 includes: the fixed support 11 and the beating body 12, the fixed support 11 is suitable for being connected to the main structure of the soft robot, the beating body 12 is hinged with the fixed support 11, the beating body 12 has a lifting state far away from the beaten part and a falling state near the beaten part, one end of the beating body 12 far away from the hinged point 13 of the beating body 12 and the fixed support 11 is provided with a hammer 14, in a specific embodiment, one end of the fixed support 11 can be fixed on a carrier, namely the soft robot body mentioned below, the other end of the fixed support 11 is hinged with the beating body 12, therefore, the beating body 12 can rotate relative to the fixed support 11, so that the beating body 12 can beat the beaten part, and one end far away from the hinged point of the beating body 12 and the fixed support 11 is provided with the hammer 14, the hammer head 14 may have a unit weight greater than that of the striking body 12, and therefore, the striking body 12 is formed to bias the striking body 12, so that when the striking body 12 rotates, one end of the hammer head 14 may have a large potential energy, and thus a large striking force may be applied to a member to be struck.
Specifically, the drive assembly includes: the slide rail structure 21 and the stretching member 24, the slide rail structure 21 is located at a position where the rapping body 12 is close to the hinge point 13 between the fixed support 11 and the rapping body 12, and the slide rail structure 21 includes: the sliding rail 22 and the sliding block 23, the sliding rail 22 extends along the length direction of the rapping body 12, the sliding block 23 is located in the sliding rail 22, the sliding block 23 is suitable for sliding along the sliding rail 22, and by arranging the sliding rail structure 21, a guarantee can be provided for the high motion reliability of the rapping mechanism 10 for the soft robot.
Further, as shown in fig. 1-2, the tension member 24 includes: the first stretching belt 25 is located between the fixed support 11 and the rapping body 12, the first stretching belt 25 is hinged to the rapping body 12, a hinge point 13 of the first stretching belt 25 and the rapping body 12 is located at one end, away from the hammer head 14 and the slide rail 22, of the rapping body 12, the second stretching belt 26 is located between the fixed support 11 and the slide block 23, the second stretching belt 26 is hinged to the slide block 23, the first stretching belt 25 and the second stretching belt 26 are formed into dielectric elastic members, that is, the first stretching belt 25 and the second stretching belt 26 are made of dielectric elastic members.
As shown in fig. 1-2, the fixed support 11 is provided with a limit pin 4, the limit pin 4 is located at a position close to the hinge point 13, and when the slide block 23 slides to the upper stop point 221 of the slide rail, one end of the knocking body 12 close to the hammer head 14 is adapted to stop against the limit pin 4, and at this time, the knocking body 12 is in a lifted state; when the slide block 23 slides to the bottom dead center 222 of the slide rail, one end of the knocking body 12 away from the hammer head 14 is adapted to abut against the limit pin 4, and at this time, the knocking body 12 is in a falling state, by providing the limit pin 4, the swing arm movement amplitude of the knocking body 12 can be limited, and a possibility is provided for the knocking mechanism 10 for the soft robot to explode a larger knocking force.
The helping hand part includes: the first assisting belt 31 and the second assisting belt 32, one end of the first assisting belt 31 is fixed on the knocking body 12, the other end of the first assisting belt 31 is connected with the slider 23, one end of the second assisting belt 32 is fixed on the knocking body 12, the other end of the second assisting belt 32 is connected with the slider 23, a fixing point of the first assisting belt 31 and the knocking body 12 and a fixing point of the second assisting belt 32 and the knocking body 12 are respectively positioned at the upper end and the lower end of the knocking body 12 in the length direction, and the first assisting belt 31 and the second assisting belt 32 are formed into dielectric elastic pieces.
The power source is electrically connected to the first tension band 25, the second tension band 26, the first assist band 31, and the second assist band 32.
The beating mechanism 10 for the soft body robot works according to the following mechanism:
when a power supply energizes the first stretching belt 25 and the second stretching belt 26, the first stretching belt 25 and the second stretching belt 26 are loosened, the power supply energizes the second boosting belt 32 and de-energizes the first boosting belt 31, the second boosting belt 32 relaxes the first boosting belt 31 and pulls the sliding block 23 to slide upwards along the sliding rail 22, when the sliding block 23 reaches a top dead center 221, the second stretching belt 26 is energized to be in a loosened state, the second stretching belt 26 is de-energized to be contracted, the second stretching belt 26 pulls the knocking body 12 to rotate anticlockwise, when the knocking body 12 is stopped by the limit pin 4, the first stretching belt 25 is energized, the moment of the second stretching belt 26 on the hinge point 13 is larger than the moment of the first stretching belt 25 on the hinge point 13, the limit pin 4 stops the tendency of the knocking body 12 to rotate anticlockwise, and at this time, the knocking body 12 is in a lifted state; then the power supply is cut off for the first stretching belt 25 and the second stretching belt 26, the first stretching belt 25 and the second stretching belt 26 are contracted, under the action that the moment of the second stretching belt 26 to the hinge point 13 is larger than the moment of the first stretching belt 25 to the hinge point 13, and the limit pin 4 blocks the trend of anticlockwise rotation of the beating body 12, at the moment, the beating mechanism 10 for the soft robot is in a power storage state.
The power supply energizes the first power assisting belt 31 again to loosen the first power assisting belt 31, the second power assisting belt 32 is deenergized, the second power assisting belt 32 is contracted, the second power assisting belt 32 pulls the slider 23 to move towards the bottom dead center 222 of the slide rail, so as to drive the second stretching belt 26 to rotate clockwise, when the slider 23 crosses the hinge point 13, the torque directions of the first stretching belt 25 and the second stretching belt 26 on the hinge point 13 both face the clockwise direction of the hinge point, under the driving action of the first stretching belt 25 and the second stretching belt 26, the knocking body 12 is pulled to rotate rapidly clockwise, finally, the knocking body slides to the bottom dead center 222 of the slide rail, the knocking body 12 is blocked by the limit pin 4, at this time, the knocking body 12 is in a falling state, so that a large explosive knocking force can be applied to a soft knocking part in the falling process, and the knocking mechanism 10 for the robot can be ensured to perform explosive knocking on the knocked part, the use requirement of the beating mechanism 10 for the soft robot is met.
It should be noted that when the power source cuts off the power to the first stretching strap 25 and the second stretching strap 26 after the knocking body 12 is in the lifted state, the moment of the second stretching strap 26 to the hinge 13 is slightly larger than the moment of the first stretching strap 25 to the hinge 13, so that the knocking body 12 tends to rotate counterclockwise, but the knocking body is blocked by the limiting pin 4, thereby ensuring that the knocking body 12 can be in the power storage state and preparing for the explosion of the knocking body 12.
It should be noted that the clockwise and counterclockwise directions are only referred to relative to the embodiment shown in fig. 1-2, and in a specific embodiment, the striking body 12 can perform a counterclockwise direction explosion.
In the embodiment, the above-described power-on-power-off sequence is continuously performed on the first stretching strap 25, the second stretching strap 26, the first assisting strap 31, and the second assisting strap 32 by the power source to swing the beating body 12 between the lifted state and the falling state.
Moreover, the first stretching belt 25, the second stretching belt 26, the first assisting belt 31 and the second assisting belt 32 are all made of dielectric elastic materials, so that the weight of the beating mechanism 10 for the soft robot can be ensured to be light, the noise in the working process of the beating mechanism 10 for the soft robot is small, the fatigue life of the first stretching belt 25 and the second stretching belt 26 is long, the service life of the beating mechanism 10 for the soft robot is ensured to be long, the beating body 12 is cooperatively moved by the first stretching belt 25, the second stretching belt 26, the first assisting belt 31 and the second assisting belt 32, the soft beating body can explode to generate enough beating force in the falling process by reasonably controlling whether the first stretching belt 25, the second stretching belt 26, the first assisting belt 31 and the second assisting belt 32 are electrified or not and the electrifying sequence is carried out, and the working strength of the beating mechanism 10 for the robot is ensured to be enough, meeting the use requirements of the rapping mechanism 10 for soft-bodied robots in the military field.
According to the rapping mechanism 10 for a soft body robot of the embodiment of the present invention, the first stretching strap 25, the second stretching strap 26, the first assisting strap 31 and the second assisting strap 32 are all made of dielectric elastic material, so that the rapping mechanism 10 for a soft body robot can be ensured to be light in weight and less in noise during the operation of the rapping mechanism 10 for a soft body robot, and the fatigue life of the first stretching strap 25, the second stretching strap 26, the first assisting strap 31 and the second assisting strap 32 is long, the service life of the rapping mechanism 10 for a soft body robot is ensured to be long, and the rapping body 12 is cooperatively moved by the first stretching strap 25, the second stretching strap 26, the first assisting strap 31 and the second assisting strap 32, by reasonably controlling whether and in order the first stretching strap 25, the second stretching strap 26, the first assisting strap 31 and the second assisting strap 32 are energized, the knocking body can be burst to generate enough knocking force in the falling process, so that the working strength of the knocking mechanism 10 for the soft robot is ensured to be enough.
According to an embodiment of the present invention, as shown in fig. 1-2, the extension line of the first assisting belt 31 coincides with the extension line of the second assisting belt 32, that is, the first assisting belt 31 and the second assisting belt 32 are both on the extension line of the slide rail 22, so that the driving force of the first assisting belt 31 and the second assisting belt 32 to the slider 23 is both on the extension line of the slide rail 22 during the extension and retraction process, and the driving force of the first assisting belt 31 and the second assisting belt 32 can be prevented from being dispersed, thereby ensuring high operation reliability of the assisting unit.
According to an embodiment of the present invention, the tapping body 12 is hinged to the fixed support 11 by a pin, so that the tapping body 12 is hinged to the fixed support 11.
According to one embodiment of the present invention, as shown in fig. 1-2, the tapping mechanism 10 for a soft body robot further comprises: the power supply controller is electrically connected with the power supply, the power supply controller is suitable for controlling the electrifying frequency of the power supply to the first stretching belt 25, the second stretching belt 26, the first power assisting belt 31 and the second power assisting belt 32, and the regular reciprocating swing arm motion of the beating body 12 can be realized by inputting a control program of the electrifying frequency of the first stretching belt 25, the second stretching belt 26, the first power assisting belt 31 and the second power assisting belt 32 into the power supply controller in advance.
According to one embodiment of the invention, the first stretch band 25, the second stretch band 26, the first assistor belt 31 and the second assistor belt 32 are acrylic belts.
According to an embodiment of the present invention, the striking body 12 and the hammer head 14 are integrally formed, so that the striking body 12 and the hammer head 14 can be reliably connected, and the production efficiency of the striking body 12 and the hammer head 14 is high.
According to an embodiment of the invention, the hammer head 14 is formed as a hard hammer head 14, thereby ensuring that the hammer head 14 has a certain hardness and can apply a heavy striking force to the part to be struck.
In a specific embodiment, the knocking body 12 and the hammer 14 may be made of the same material, so that the strength of the knocking body 12 is ensured to be sufficient, and the hammer 14 is prevented from being broken due to insufficient strength of the knocking body 12 when being subjected to a violent impact.
According to one embodiment of the invention, the hammer head 14 is formed as a metal hammer head 14, for example, the hammer head 14 may be made of a steel alloy material.
In other embodiments, the hammer head 14 may be formed as other hammer heads 14 made of high-strength material, for example, the hammer head 14 may be made of nylon 66 material.
According to another aspect of the present invention, the soft robot includes a soft robot body and the beating mechanism 10 for the soft robot, wherein the fixed support 11 is fixedly connected to the soft robot body.
The above embodiments are preferred embodiments of the present invention, and those skilled in the art can make variations and modifications to the above embodiments, therefore, the present invention is not limited to the above embodiments, and any obvious improvements, substitutions or modifications made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (10)
1. A tapping mechanism (10) for a soft body robot, comprising:
a body assembly (1), the body assembly (1) comprising: the fixed support (11) and the beating body (12), the fixed support (11) is suitable for being connected to the main structure of a soft robot, the beating body (12) is hinged to the fixed support (11) and provided with a hinge point (13), one end, far away from the hinge point (13), of the beating body (12) is provided with a hammer head (14), a slide rail (22) extending along the length direction of the beating body (12) is formed on the beating body (12), in the length direction of the beating body (12), the hinge point (13) is located between two ends of the slide rail (22), and the beating body (12) is provided with a lifting state that the hammer head (14) is far away from a beaten part and a falling state that the hammer head (14) is close to the beaten part;
a drive assembly, the drive assembly comprising: -a slider (23) and-a stretching member (24), said slider (23) being slidably arranged within said sliding track (22), said stretching member (24) comprising: the hammer head comprises a first stretching belt (25), a second stretching belt (26) and a power assisting part belt, wherein the first stretching belt (25) is connected between the fixed support (11) and one end, far away from the hammer head (14), of the beating body (12), the second stretching belt (26) is connected between the fixed support (11) and the sliding block (23), the power assisting part belt is connected between the sliding block (23) and the beating body (12) and used for driving the sliding block (23) to slide, and the first stretching belt (25), the second stretching belt (26) and the power assisting part belt are all formed into dielectric elastic parts;
a power source electrically connected to the first stretching belt (25), the second stretching belt (26), and the booster belt, the power source intermittently energizing the first stretching belt (25), the second stretching belt (26), and the booster belt to swing the beating body (12) between a raised state and a lowered state.
2. The rapping mechanism (10) for soft robots as claimed in claim 1, wherein a limit pin (4) is provided on the fixed support (11) and is disposed adjacent to the hinge point (13), one end of the slide rail (22) adjacent to the hammer head (14) is formed as a top dead center (221), one end of the slide rail (22) away from the hammer head (14) is formed as a bottom dead center (222), when the slide block (23) slides to the top dead center (221), one end of the rapping body (12) close to the hammer head (14) is adapted to abut against the limit pin (4), and the rapping body (12) is in a raised state;
when the sliding block (23) slides to a bottom dead center (222) of the sliding rail, one end, away from the hammer head (14), of the knocking body (12) is suitable for being abutted against the limiting pin (4), and at the moment, the knocking body (12) is in a falling state.
3. The rapping mechanism (10) for soft-bodied robots according to claim 2, characterized in that the force-assisted member belt comprises: a first assisting belt (31) and a second assisting belt (32) which are electrically connected with the power supply, wherein the first assisting belt (31) and the second assisting belt (32) are both formed into dielectric elastic pieces, one end of the first assisting belt (31) is fixed at one end of the knocking body (12) close to the hammer head (14), the other end of the first assisting belt (31) is connected with the sliding block (23), one end of the second assisting belt (32) is fixed at one end of the knocking body (12) far away from the hammer head (14), and the other end of the second assisting belt (32) is connected with the sliding block (23);
when the power supply energizes the first stretching belt (25) and the second stretching belt (26), the first stretching belt (25) and the second stretching belt (26) are loosened, the power supply energizes the second boosting belt (32) and de-energizes the first boosting belt (31), the second boosting belt (32) relaxes the first boosting belt (31) to contract and pulls the sliding block (23) to slide upwards along the sliding rail (22), when the sliding block (23) reaches a top dead center (221), the second stretching belt (26) is energized in a loosening state, the second stretching belt (26) is de-energized to contract, the second stretching belt (26) is de-energized, the second stretching belt (26) pulls the beating body (12) to rotate, when the beating body (12) is stopped by the limit pin (4), the first stretching belt (25) is energized counterclockwise, the moment of the second stretching belt (26) to the hinge point (13) is larger than the moment of the first stretching belt (25) to the hinge point (13), the limiting pin (4) stops the trend of anticlockwise rotation of the knocking body (12), and the knocking body (12) is in a lifting state;
when the power supply is used for powering off the first stretching belt (25) and the second stretching belt (26), the first stretching belt (25) and the second stretching belt (26) are contracted, the moment of the second stretching belt (26) to the hinge point (13) is larger than the moment of the first stretching belt (25) to the hinge point (13), the limiting pin (4) stops the tendency of counterclockwise rotation of the beating body (12), and the beating mechanism (10) for the soft robot is in a power storage state; the power supply energizes the first power assisting belt (31), the first power assisting belt (31) is loosened, the second power assisting belt (32) is powered off, the second power assisting belt (32) is contracted, the second power assisting belt (32) pulls the sliding block (23) to move towards a bottom dead center (222) direction of the sliding rail, so that the second stretching belt (26) is driven to rotate clockwise, when the sliding block (23) crosses the hinge point (13), the moment directions of the first stretching belt (25) and the second stretching belt (26) relative to the hinge point (13) are towards the clockwise direction of the hinge point, the knocking body (12) rapidly rotates clockwise under the driving action of the first stretching belt (25) and the second stretching belt (26) and slides to the bottom dead center (222) of the sliding rail, and the knocking body (12) is blocked by the limiting pin (4), the striking body (12) is in a falling state.
4. Tapping mechanism (10) for a soft robot according to claim 3, characterized in that the extension of the first assister belt (31) coincides with the extension of the second assister belt (32).
5. The rapping mechanism (10) for soft-bodied robots as claimed in claim 1, characterized in that the rapping body (12) is hingedly connected to the fixed support (11) by means of a pin.
6. The rapping mechanism (10) for soft-bodied robots of claim 3, wherein the rapping mechanism (10) for soft-bodied robots further comprises: a power supply controller electrically connected to the power supply, the power supply controller adapted to control the frequency of energization of the first tensile strap (25), the second tensile strap (26), the first assist strap (31), and the second assist strap (32) by the power supply.
7. The rapping mechanism (10) for soft-bodied robots according to claim 3, characterized in that the first tension band (25), the second tension band (26), the first booster band (31), and the second booster band (32) are acrylic bands.
8. The rapping mechanism (10) for soft-bodied robots as recited in claim 1, characterized in that the rapping body (12) is integrally formed with the hammer head (14).
9. The rapping mechanism (10) for soft-bodied robots according to claim 1 or 6, characterized in that the hammer head (14) is formed as a hard hammer head.
10. A soft robot, characterized in that it comprises a soft robot body, a beating mechanism (10) for soft robot according to any one of claims 1-9, said fixed support (11) being fixedly connected with said soft robot body.
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| CN201910996017.XA CN110802607B (en) | 2019-10-18 | 2019-10-18 | Beating mechanism and soft robot with same |
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| CN201910996017.XA CN110802607B (en) | 2019-10-18 | 2019-10-18 | Beating mechanism and soft robot with same |
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| CN110802607B true CN110802607B (en) | 2021-02-12 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CA2432323A1 (en) * | 2002-06-14 | 2003-12-14 | Riddell, Inc. | Method and apparatus for testing football helmets |
| CN2557228Y (en) * | 2002-07-18 | 2003-06-25 | 谭锋 | Elastic disintegrating mechanical hammer |
| CN108254273A (en) * | 2016-12-29 | 2018-07-06 | 上海天祥质量技术服务有限公司 | A kind of hammer taps fatigue tester |
| CN107989039B (en) * | 2017-11-10 | 2019-10-22 | 浙江海洋大学 | Civil engineering piling machine |
| CN108357654B (en) * | 2018-01-12 | 2024-01-02 | 浙江大学 | Underwater soft robot driven by chemical energy release reaction |
| CN108837925A (en) * | 2018-06-20 | 2018-11-20 | 湖南城市学院 | A kind of civil engineering stone crusher |
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