CN110900562A - Software crawling robot based on three-pump folding design - Google Patents
Software crawling robot based on three-pump folding design Download PDFInfo
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- CN110900562A CN110900562A CN201911345751.6A CN201911345751A CN110900562A CN 110900562 A CN110900562 A CN 110900562A CN 201911345751 A CN201911345751 A CN 201911345751A CN 110900562 A CN110900562 A CN 110900562A
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- foldable
- driving unit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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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
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
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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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- Chemical & Material Sciences (AREA)
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Abstract
The invention discloses a soft crawling robot based on a three-pump folding design, which consists of a left foldable gas driving unit, a right foldable gas driving unit, a front foot, a rear foot and a traveling wheel, wherein the left foldable gas driving unit and the right foldable gas driving unit are bonded between the front foot and the rear foot. The foldable gas driving units on the left side and the right side are independently controlled by different gas sources respectively. When the foldable gas drive units work, the foldable gas drive units on the left side and the right side are respectively inflated or exhausted, so that the two foldable gas drive units of the soft robot can be periodically extended and shortened. The invention provides a soft robot which is small in size and can rapidly and flexibly move under the condition that the height of the soft robot is not changed, and provides a foldable gas driving unit which can effectively solve the problems of large crawling resistance, difficulty in steering and poor flexibility of the traditional crawling soft robot.
Description
Technical Field
The invention belongs to the technical field of software robots, and particularly relates to a software robot based on a three-pump folding design.
Background
The soft robot is made of flexible materials such as silica gel or rubber, the shape of the soft robot can be changed in a large range, compared with the traditional rigid robot, the soft robot can adapt to complex operation environments, can adapt to different external loads and environmental obstacles, has better human-computer interaction, and has wide application scenes in reconnaissance, detection and medical industries.
The crawling soft robot is a hot spot in the field of soft robots, and most of the crawling soft robots developed at home and abroad currently imitate the movement modes of natural living beings such as caterpillar and inchworm. When the crawling soft robot driven by gas and imitating caterpillar and inchworm moves straight and turns, the soft robot can deform into an arch shape similar to omega and generate larger deformation and expansion. The front end and the rear end or the left end and the right end of the soft robot are driven differentially or in different friction force with the ground by means of differential design of the structures of the front end and the rear end or the left end and the right end, so that the soft robot moves forwards or turns. The soft robot can deform into an arc shape similar to omega in the moving process, and the soft robot generates certain deformation and expansion and moves slowly, so that the motion of the soft robot is limited to a certain extent in narrow and highly limited environments.
In recent years, the application of the paper folding structure in engineering is more and more extensive, which provides a new idea for designing a soft robot. The three-pu folding is a folding technology invented by three-pu brightness, a special fold is formed after the three-pu folding, the whole structure can be unfolded into a parallelogram chessboard only by stretching along a single axial direction, and the three-pu folding can be pushed in a reverse direction when the three-pu folding is folded. Three-pump folding can change the mechanical and material properties of paper, for example, three-pump folding can make the unobtrusive paper have certain rigidity, compressibility, collapsibility and negative poisson ratio. The three-pump folding has certain memory characteristics, and after the three-pump folding is folded, the paper can be restored to the folded state under the action of small force. The three-pump folding has application in space satellites, solar panels, sound insulation walls and the like.
Disclosure of Invention
The invention provides a crawling type soft robot based on the characteristics of three pumps in folding, the structural design of a driver can realize larger length change in a smaller air pressure range, the crawling type soft robot can move quickly and flexibly under the conditions of smaller self deformation and unchanged self height, and the problems of large crawling resistance, difficult steering and poorer flexibility of the traditional crawling type soft robot can be effectively solved.
The crawling type soft robot designed by the invention mainly comprises a left foldable gas driving unit, a right foldable gas driving unit, a front foot, a rear foot and a traveling wheel. The collapsible gas drive unit is capable of being extended under positive pressure and retracted under negative pressure. The left folding driving unit and the right folding driving unit are completely the same in structure and consist of a soft outer skin and a supporting framework, and the left folding gas driving unit and the right folding gas driving unit are adhered between the front foot and the rear foot and are independently controlled by different gas sources respectively. The four travelling wheels are respectively arranged in the mounting holes of the front foot and the rear foot, the rear foot is provided with a hole, and when the foldable air driving unit works, the foldable air driving unit on the left side and the foldable air driving unit on the right side are respectively inflated or exhausted through the left vent hole and the right vent hole of the rear foot, so that the air pressure in the left foldable air driving unit and the right foldable air driving unit is controlled, and the extension and the contraction of the foldable air driving unit are further controlled. When the robot moves straight, the foldable gas driving units on the left side and the right side are simultaneously inflated and exhausted, so that the soft robot periodically extends and shortens, and the soft robot continuously moves forwards due to the limitation of the one-way bearings on the front foot and the rear foot; when the robot turns, in order to obtain a larger turning angle, the foldable air driving units on the left side and the right side are simultaneously pumped, and then the left driving unit or the right driving unit is circularly inflated and pumped.
The left foldable gas driving unit, the right foldable gas driving unit, the front foot and the rear foot of the soft robot are molded by 3D printing and are formed by pouring soft materials such as castable silica gel, Polydimethylsiloxane (PDMS) and the like. The supporting skeleton is made of paper folded along the crease and adhered to the inner surface of the outer skin of the foldable part.
As an improvement of the invention, the structural shapes of the front foot and the rear foot can be changed to have different functions, such as grabbing, throwing and the like.
As an improvement of the invention, the shape or installation position of the traveling wheel can be changed, so that the traveling wheel can be used for realizing more complicated terrains or environments, such as pipelines, sand beaches, underwater and the like.
The crawling software robot based on the structure design of the three pumps has the advantages that:
(1) a support framework is embedded in a foldable gas driving unit based on a three-pump design, so that stable deformation and large length change can be kept under positive and negative pressure.
(2) The air pressure control device can be driven within a small air pressure range (-20 kPa), and is mainly driven by negative pressure, so that the air pressure required by control is reduced, and the operation is safer.
(3) The peristaltic motion of the soft robot is converted into the rotary motion of the wheels, so that the straight-going speed, the steering speed and the flexibility are improved.
(4) The height of the soft robot is not changed when the soft robot moves straight and turns, the soft robot can move in a space with limited height, and the soft robot is suitable for various occasions such as slits, pipelines and the like.
(5) The crawling type soft robot can be connected in series according to requirements, and straight walking and steering with higher efficiency are realized.
Drawings
FIG. 1 is a schematic diagram of the overall structure of a crawling software robot based on a three-pump folding design according to the present invention;
FIG. 2 is a top view of the crawling soft robot based on the three-pump folding design of the present invention, fully cut along the center of the ventilation hole;
FIG. 3 is a bottom view of the crawling soft robot based on the three-pump folding design of the present invention, fully sectioned along the center of the bearing;
FIG. 4 is a side view of the crawling soft robot based on the three-pump folding design;
FIG. 5 is a schematic diagram of a foldable gas driving unit based on a three-pump folding design according to the present invention;
FIG. 6 is a diagram of the folds of the support frame in a foldable gas drive unit based on a three-pump folding design according to the present invention;
FIG. 7 is a schematic diagram of the structure of the support frame in the foldable gas drive unit based on the three-pump folding design according to the present invention;
FIG. 8 is a front foot structure diagram of the crawling soft robot based on the three-pump folding design according to the present invention;
FIG. 9 is a schematic diagram of the rear foot structure of the crawling soft robot based on the three-pump folding design according to the present invention;
description of reference numerals: 1-left foldable gas driving unit, 2-right foldable gas driving unit, 3-front foot, 4-rear foot and 5-travelling wheel; 11-foldable gas drive unit outer skin, 12-foldable gas drive unit support skeleton, 111 transition part, 112 foldable part, 121-valley fold and 122-peak fold; 31 front foot bonding part and 32 front foot mounting hole; 41 rear foot bonding positions, 42 rear foot mounting holes and 43 vent holes; 51 shaft, 52 one-way bearing and 53 tyre.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Fig. 1-4 show a structural diagram of a crawling soft robot based on a three-pump folding design, which is mainly composed of a left foldable gas driving unit 1, a right foldable gas driving unit 2, a front foot 3, a rear foot 4 and a traveling wheel 5, wherein the left foldable gas driving unit 1 and the right foldable gas driving unit 2 have the same structure and are independently controlled by different gas sources. The left foldable gas driving unit 1 and the right foldable gas driving unit 2 are adhered between the front leg 3 and the rear leg 4. Four traveling wheels 5 are respectively arranged on the front foot 3 and the rear foot 4. The main functional component of the crawling soft robot designed by the invention is a foldable gas driving unit, and the crawling soft robot is allowed to independently control the motion of the left side and the right side of the soft robot.
Specifically, as shown in fig. 2, the front and rear ends of the left foldable gas driving unit 1 and the right foldable gas driving unit 2 are bonded to the front foot bonding part 31 and the rear foot bonding part 41, and a certain seal is ensured to make them airtight; the left and right air vents 43 control the air pressure in the left foldable air driving unit 1 and the right foldable air driving unit 2, respectively.
Specifically, as shown in fig. 3 and 4, the traveling wheels 5 are respectively composed of a shaft 51, a one-way bearing 52 and a tire 53, and the four traveling wheels are respectively installed in the front foot installation hole 32 and the rear foot installation hole 42 of the front foot, wherein the shaft 51, the front foot installation hole 32 and the rear foot installation hole 42 are in interference fit or are fixed in other ways without relative sliding.
Specifically, as shown in fig. 5, the left foldable gas driving unit 1 is mainly made of an outer skin 11 and a supporting frame 12, wherein the outer skin can be divided into a transition portion 111 and a foldable portion 112 according to the structure. The outer skin 11 is cast from silica gel having a low modulus of elasticity and low hardness. The supporting frame 12 is made of paper or other hard foldable material, the fold is formed by laser cutting, the supporting frame 12 is folded along the valley 121 and the peak 122, and the two supporting frames 12 are respectively adhered to the inner surface of the foldable portion 112 of the outer skin 11, and the thickness of the outer skin 11 of the foldable gas driving unit 1 on the left side is about 1 mm. The right foldable gas driving unit 2 has the same structure as the left foldable gas driving unit 1.
Specifically, as shown in fig. 6, which is a structure of one support frame 12, a fold diagram of the support frame 12 of the left foldable gas driving unit 1, 121 is a valley fold, and 122 is a peak fold; the support frame 12 is made of paper or other rigid foldable material, and the folds are machined by a laser cutting machine.
Specifically, as shown in fig. 7, in a state where one support frame 12 is folded, and in a state where the foldable gas drive unit support frame 12 is folded along the valley fold 121 and the peak fold 122, two support frames 12 are bonded to the inner surface of the foldable portion 112 of the foldable gas drive unit outer skin 11.
Specifically, as shown in fig. 8, the front leg 3 is cast from a silicone rubber with a large elastic modulus and a large hardness (shore hardness 20A-60A); the front foot mainly comprises a front foot bonding part 31 and a front foot mounting hole 32; wherein the front foot mounting hole 32 and the shaft 51 are in interference fit or fixed by other methods without relative sliding;
specifically, as shown in fig. 9, the rear leg 4 is cast from silica gel with a large elastic modulus and a large hardness (shore hardness 20A-60A); the rear leg mainly comprises a rear leg bonding part 41, a rear leg mounting hole 42 and a vent hole 43; wherein, the rear foot mounting hole 42 and the shaft 51 are in interference fit or are fixed by other methods without relative sliding; the left and right ventilation holes 43 are communicated with the foldable gas driving units on the left and right sides, respectively.
The foldable gas driving units can extend under positive pressure and contract under negative pressure, and the length of the foldable gas driving units on the left side and the right side can be controlled by adjusting the air pressure in the left foldable gas driving unit 1 and the right foldable gas driving unit 2, so that the robot can move in a straight line and a steering way. When the foldable air-powered air conditioner works, the foldable air-powered units on the left side and the right side are respectively inflated or exhausted; when the robot moves straight, the foldable gas driving units on the left side and the right side are simultaneously inflated and exhausted, so that the soft robot periodically extends and shortens, and the soft robot continuously moves forwards due to the limitation of the one-way bearings on the front foot and the rear foot; when the robot turns, in order to obtain a larger turning angle, the foldable air driving units on the left side and the right side are simultaneously pumped, and then the left side (right side) driving units are circularly inflated and pumped, so that the soft robot continuously turns to the right (left) due to the limitation of the one-way bearings on the front foot and the rear foot. It is apparent that other structures capable of providing a unidirectional frictional force in the prior art are also within the scope of the present invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. A software robot of crawling based on three pumps folding design which characterized in that: the foldable air driving unit on the left side and the foldable air driving unit on the right side can extend under positive pressure and contract under negative pressure, the structures of the left folding driving unit and the right folding driving unit are completely the same, the foldable air driving unit on the left side and the foldable air driving unit on the right side are composed of a soft outer skin and a support framework, the skin is divided into a transition part and a foldable part, the support framework is made of paper or other hard foldable materials, folds are formed by processing through a laser cutting machine and are folded along valley folds and peak folds, the support framework is bonded on the inner surface of the foldable part of the outer skin, the foldable air driving unit on the left side and the foldable air driving unit on the right side are bonded between the front foot and the rear foot and are respectively and independently controlled by different air sources, and the traveling wheel is respectively composed of a shaft, a one-way bearing and a tire, the four traveling wheels are respectively installed in the installation holes of the front foot and the rear foot, the rear foot is provided with a hole, the foldable gas driving units on the left side and the right side are respectively inflated or exhausted through the left vent hole and the right vent hole of the rear foot, the gas pressure in the left foldable gas driving unit and the right foldable gas driving unit is controlled, and the extension and the contraction of the foldable gas driving units are further controlled.
2. The soft crawling robot of claim 1, wherein: the outer skin of the left foldable gas driving unit, the outer skin of the right foldable gas driving unit, the front leg and the rear leg are molded by 3D printing and made of castable silica gel or polydimethylsiloxane.
3. The soft crawling robot of claim 1, wherein: the air pressure range of inflation or air exhaust is-20 kPa to 20 kPa.
4. The soft crawling robot of claim 1, wherein: the number of the supporting framework positions is two or more.
5. The soft crawling robot of claim 1, wherein: the thickness of the outer skin is about 1 mm.
6. The soft crawling robot of claim 1, wherein: the axle of the travelling wheel is in interference fit with the front foot mounting hole and the axle is in interference fit with the rear foot mounting hole.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911345751.6A CN110900562A (en) | 2019-12-24 | 2019-12-24 | Software crawling robot based on three-pump folding design |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911345751.6A CN110900562A (en) | 2019-12-24 | 2019-12-24 | Software crawling robot based on three-pump folding design |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111775508A (en) * | 2020-06-04 | 2020-10-16 | 天津大学 | Novel multi-degree-of-freedom rigid thick plate paper-cut crawling robot |
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- 2019-12-24 CN CN201911345751.6A patent/CN110900562A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111775508A (en) * | 2020-06-04 | 2020-10-16 | 天津大学 | Novel multi-degree-of-freedom rigid thick plate paper-cut crawling robot |
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