CN112061261A - Software crawling robot based on paper folding structure - Google Patents
Software crawling robot based on paper folding structure Download PDFInfo
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- CN112061261A CN112061261A CN202010859985.9A CN202010859985A CN112061261A CN 112061261 A CN112061261 A CN 112061261A CN 202010859985 A CN202010859985 A CN 202010859985A CN 112061261 A CN112061261 A CN 112061261A
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- 230000009193 crawling Effects 0.000 title claims abstract description 32
- 229920001296 polysiloxane Polymers 0.000 claims abstract description 17
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- 230000008021 deposition Effects 0.000 claims abstract description 7
- 238000010146 3D printing Methods 0.000 claims abstract description 4
- 239000012815 thermoplastic material Substances 0.000 claims abstract description 4
- 230000008602 contraction Effects 0.000 claims description 7
- 238000007789 sealing Methods 0.000 claims description 4
- 230000006872 improvement Effects 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 34
- 230000006870 function Effects 0.000 abstract description 4
- 230000009471 action Effects 0.000 description 21
- 239000000463 material Substances 0.000 description 10
- 238000004519 manufacturing process Methods 0.000 description 8
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- 238000006467 substitution reaction Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
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- 239000012530 fluid Substances 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 1
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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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Abstract
The invention discloses a soft crawling robot based on a paper folding structure. The supporting device is a clockwise torsion telescopic unit or an anticlockwise torsion telescopic unit, and a telescopic device is connected between the two supporting units. Each of the torsion expansion units includes an upper bottom surface, a lower bottom surface and side plane surfaces. An air hole is arranged in the middle of one side edge of the upper bottom surface of the torsion telescopic unit, the air nozzle is inserted and connected in the hole, and the air nozzle is connected to an external air source through a silicone tube. After the air source vacuumizes the cavity, the torsion telescopic unit descends while rotating, and after the cavity is communicated with atmospheric pressure, the torsion telescopic unit ascends while rotating. The robot is manufactured by 3D printing through flexible thermoplastic materials based on a low-cost fused deposition modeling method, the formed robot is flexible in movement and not easy to damage, the functions of advancing, retreating, steering, crossing advancing and the like can be realized, and the application prospect is wide.
Description
Technical Field
The invention relates to the field of soft robots, in particular to a soft crawling robot based on a paper folding structure.
Background
In the field of soft robot development, the traditional soft robot adopts a driving mode of taking fluid as an actuator, and mainly drives the soft robot by applying pressure inside a chamber made of a highly deformable material, and the driving mode usually influences the overall motion of the soft robot because the material for manufacturing the chamber can bear the limitation of maximum strain; the soft robot driven by intelligent materials such as shape memory polymer and shape memory alloy generally adopts a mode of heating or cooling the intelligent materials to enable the robot to complete certain actions, but the controllability is poor, the motion response speed is low, and the defects of response delay and the like exist. The above two driving methods of the traditional soft robot have high requirements on materials, and have the disadvantages of single motion mode of the robot, poor environmental adaptability and the like. In recent years, the creeping robot driven by the soft pneumatic actuator which is poured into a closed air cavity by using the silicon-like rubber material is mainly manufactured by replacing a mould to manufacture the pneumatic actuator with different motion modes, for example, the robot can be bent or steered by adjusting the air pressure value in the air cavity of the actuator, but the creeping robot has the defects of complex and tedious mould manufacturing process, low manufacturing power, poor universality and longer motion response time of the silicon-like rubber material.
Aiming at the situations, the invention provides the novel soft pneumatic actuator which is simple in manufacturing method, less in material consumption, low in cost and rapid in motion response, so that the performance of the soft crawling robot is improved.
Disclosure of Invention
In order to solve the problems existing in the background art, the invention aims to provide a soft crawling robot based on a paper folding structure, wherein a soft pneumatic actuator is made of a flexible thermoplastic material through direct 3D printing based on a fused deposition modeling method, the manufacturing cost can be reduced, meanwhile, the stretching resistance of the soft pneumatic actuator is outstanding, namely, the soft crawling robot can bear a large load when not driven, the movement is quickly recovered, and the crawling robot can be applied to a complex operating environment by designing different movement modes.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
a soft crawling robot based on a paper folding structure comprises two supporting devices, a telescopic device, two connecting devices and two sucker adhesion devices which are connected to form a door frame type framework; the telescopic device is formed by fixedly connecting the upper bottom surface of a clockwise torsion telescopic unit and the lower bottom surface of a counterclockwise torsion telescopic unit through magnets; the supporting device is a clockwise torsion telescopic unit or an anticlockwise torsion telescopic unit; the lower bottom surfaces of the torsion telescopic units in the two supporting devices are fixedly connected with the upper bottom surface of the sucker adhesion device respectively, and the upper bottom surfaces of the two torsion telescopic units are fixedly connected with the lower bottom surface of the connecting device respectively to form two supporting units; a telescopic device is connected between the two supporting units, and two ends of the telescopic device are fixedly connected with the side face of the connecting device through magnets respectively.
Preferably, each of the torsion expansion units includes an upper bottom surface, a lower bottom surface, and side plane surfaces; corresponding grooves are formed in four faces of the side plane to divide the surface into two equal triangular areas, and the torsion of the torsion telescopic unit in different directions can be achieved by changing the directions of the grooves of the side plane.
Preferably, the side plane and the lower bottom surface are integrally printed and are fixedly connected with the upper bottom surface in a sealing manner, so that the whole torsion expansion unit forms a sealed cavity and forms a cuboid; a groove is arranged between the upper bottom surface and the lower bottom surface, and the magnet is arranged in the groove and used for connection; an air hole is formed in the middle of one side edge of the upper bottom surface of the torsion telescopic unit, the air nozzle is inserted into the hole and connected to an external air source through a silicone tube, the side edge plane of the clockwise torsion telescopic unit is twisted and contracted along the clockwise direction, and the side edge plane of the anticlockwise torsion telescopic unit is twisted and contracted along the anticlockwise direction; the air cock passes through the silicone tube and connects outside air supply, and after the air supply vacuumed the cavity, the side plane was carried out the forward and is twisted and is drove about the bottom surface simultaneously and contract, twists reverse the telescopic unit promptly and twist reverse simultaneously and contract the motion. When the cavity is communicated with atmospheric pressure, the side plane is reversely twisted and simultaneously drives the upper bottom surface and the lower bottom surface to extend, namely, the torsion telescopic unit simultaneously performs torsion and relaxation motions, and the whole torsion telescopic unit restores to a normal shape.
Preferably, the lower bottom surface of the counterclockwise torsion expansion unit is fixedly connected with the upper bottom surface of the clockwise torsion expansion unit through a magnet, and two ends of the expansion device are fixedly connected with the side surface of the connecting device through magnets respectively. The torsion telescopic units in two different directions are connected with an external air source through an air tap and a silicone tube, the two torsion telescopic units are controlled to be the same through the air source, namely, the two torsion telescopic units are controlled to be simultaneously exhausted or simultaneously communicated with atmospheric pressure, so that the torsion directions of the two torsion telescopic units are opposite, the bottom surface telescopic motion is synchronous, the two rotations of the torsion telescopic units are offset, and the whole telescopic device only performs telescopic motion.
Preferably, besides the fact that magnets are used for connection between the clockwise torsion telescopic unit and the anticlockwise torsion telescopic unit of the telescopic device, the clockwise torsion telescopic unit and the anticlockwise torsion telescopic unit are fixed through a tenon-and-mortise-like structure, wherein four grooves are formed in the lower bottom surface of the anticlockwise torsion telescopic module to serve as the female surface, four bosses are formed in the upper bottom surface of the clockwise torsion telescopic module to serve as the male surface, and the clockwise torsion telescopic module and the anticlockwise torsion telescopic module are mutually matched and connected to achieve the purpose of preventing looseness.
Preferably, the connection device and the torsion telescopic unit are fixed in a loose-proof manner by using a tenon-and-mortise-like structure.
Preferably, the crawling robot formed by the flexible torsion telescopic driving device is flexible in movement and can realize the functions of advancing, retreating, steering, cross movement and the like.
Preferably, the soft pneumatic actuator based on the paper folding structure is based on the improved design of a triangular cylindrical paper folding structure, the upper bottom surface, the lower bottom surface and the side edge planes formed by the thermoplastic elastomer are directly printed in a 3D mode by a fused deposition modeling method, and the soft pneumatic actuator has good tensile resistance and rapid shrinkage and recovery performance;
preferably, the two support means are one clockwise torsion telescopic unit and the other counterclockwise torsion telescopic unit.
Preferably, the air tap of each torsion expansion unit is connected to an external air source through a silicone tube, all the air taps are arranged in the middle of the side edge of the upper bottom surface of the torsion expansion unit, and the silicone tube is connected to the external air source from the same side.
Compared with the background technology, the invention has the following obvious and prominent substantive characteristics and remarkable technical progress:
1. the driving device based on the paper folding structure is manufactured in a pneumatic mode and a fused deposition modeling method, the movement direction of the torsion telescopic unit can be changed by changing the arrangement mode of the grooves in the side surface of the torsion telescopic unit, and the driving device is simple in manufacturing process, low in material consumption and low in cost;
2. the driver based on the paper folding structure has good tensile resistance, and has larger performance improvement in the aspects of output force, load capacity and stability compared with the traditional soft pneumatic actuator; the driver has the characteristic of quick telescopic motion, so that the motion of the soft crawling robot is more agile;
3. the soft crawling robot in the invention has flexible motion and various combination modes; when the air pressure of the torsion telescopic unit at different positions is adjusted, the functions of advancing, retreating, steering, crossing advancing and the like can be realized, and the flexibility, the flexibility and the adaptability are greatly improved.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Figure 2 is a schematic diagram of the extraction deformation of the anticlockwise torsion telescopic unit.
Fig. 3 is a schematic diagram of the expansion device deformed after being pumped.
Fig. 4 shows a detail view of the telescopic device in assembly.
Fig. 5 is a schematic view of forward motion of the crawling robot.
Fig. 6 is a schematic diagram of backward movement of the crawling robot.
Fig. 7 is a schematic view of a steering motion of the crawling robot.
Fig. 8 is a schematic diagram of cross motion of the crawling robot.
Detailed Description
The invention will be further described with reference to the accompanying drawings and preferred embodiments.
The first embodiment is as follows:
referring to fig. 1-8, a soft crawling robot based on a paper folding structure comprises two supporting devices, a telescopic device, two connecting devices and two sucker adhesion devices which are connected to form a door frame type framework; the telescopic device is formed by fixedly connecting the upper bottom surface of a clockwise torsion telescopic unit 21 and the lower bottom surface of a counterclockwise torsion telescopic unit 22 through a magnet 14; the supporting device is a clockwise torsion telescopic unit 21 or a counterclockwise torsion telescopic unit 22; the lower bottom surfaces 20 of the torsion telescopic units in the two supporting devices are fixedly connected with the upper bottom surface of the sucker adhesion device respectively, and the upper bottom surfaces 17 of the two torsion telescopic units are fixedly connected with the lower bottom surface of the connecting device respectively to form two supporting units; a telescopic device is connected between the two supporting units, and two ends of the telescopic device are fixedly connected with the side face of the connecting device through magnets respectively.
The driving device based on the paper folding structure is manufactured in a pneumatic mode and a fused deposition modeling method, the movement direction of the torsion telescopic unit can be changed by changing the arrangement mode of the grooves in the side face of the torsion telescopic unit, and the driving device is simple in manufacturing process, low in material consumption and low in cost.
Example two:
this embodiment is substantially the same as the first embodiment, and is characterized in that:
as shown in fig. 1, the crawling robot of the present invention comprises two supporting devices, a telescopic device, five pairs of magnets, two connecting devices, two suction cup adhesion devices and six air nozzles, wherein the supporting device is a clockwise torsion telescopic unit 21 or a counterclockwise torsion telescopic unit 22; the telescopic device is formed by fixedly connecting the upper bottom surface of a clockwise torsion telescopic unit 21 and the lower bottom surface of a counterclockwise torsion telescopic unit 22 through a magnet 14; the lower bottom surfaces of the torsion telescopic units in the two supporting devices are fixedly connected with the upper bottom surfaces of the two sucker adhesion devices respectively, and the upper bottom surfaces of the two torsion telescopic units are fixedly connected with the lower bottom surfaces of the two connecting devices respectively through magnets to form two supporting units; a telescopic device is connected between the two supporting units, and two ends of the telescopic device are fixedly connected with the side face of the connecting device through a magnet 14 respectively.
As shown in fig. 2, each of the torsion expansion units includes an upper bottom surface 17, a lower bottom surface 20, and side plane surfaces 19; the four sides of the side plane 19 are provided with corresponding grooves 18 to divide the surface into two equal triangular areas, and the torsion of the torsion telescopic unit can be realized in different directions by changing the directions of the grooves 18 of the side plane. The side plane 19 and the lower bottom surface 20 are integrally printed and are fixedly connected with the upper bottom surface 17 in a sealing mode, so that the whole torsion expansion unit forms a sealed cavity, and the whole torsion contraction device forms a cuboid; a groove 15 is respectively arranged between the upper bottom surface 17 and the lower bottom surface 20, and the magnet 14 is arranged in the groove for connection; an air hole 16 is formed in the middle of one side edge of the upper bottom surface 17, the air nozzle 2 is inserted and connected into the hole, the air nozzle is connected to an external air source through a silicone tube, the side edge plane of the clockwise twisting telescopic unit 21 is twisted by hand in the clockwise direction for contraction, and the side edge plane of the anticlockwise twisting telescopic unit 22 is twisted by hand in the anticlockwise direction for contraction; the air tap is connected with an external air source through a silicone tube and used for exhausting air to the cavity, the side plane is positively twisted and simultaneously drives the upper bottom surface 17 and the lower bottom surface 20 to contract, and the telescopic unit is twisted and the height is reduced. When the cavity is communicated with the atmospheric pressure, the side plane is reversely twisted and simultaneously drives the upper bottom surface 17 and the lower bottom surface 20 to return, namely, the height of the torsional contraction device is increased while the torsional contraction device is twisted, and the whole expansion device returns to the normal shape.
As shown in fig. 3, in the telescopic device, the lower bottom surface of the counterclockwise torsion telescopic unit 22 is fixedly connected with the upper bottom surface of the clockwise torsion telescopic unit 21 through the magnet 14, and both ends of the telescopic device are fixedly connected with the side surfaces of the connecting device through the magnets respectively. Two twist reverse flexible units and pass through air cock and silicone tube and be connected outside air supply, twist reverse flexible unit through the air supply and carry out the same control to two simultaneously, control is bled simultaneously or is put through atmospheric pressure promptly for two twist reverse flexible unit twist reverse opposite directions, and bottom surface concertina movement is synchronous, offsets two rotations that twist reverse flexible unit, makes whole telescoping device only carry out concertina movement.
As shown in fig. 4, besides the magnet 14 is used for fixed connection between the clockwise torsion expansion unit 21 and the counterclockwise torsion expansion unit 22 of the expansion device 6, a similar mortise and tenon structure is used for fixing, wherein the lower bottom surface of the counterclockwise torsion expansion module is provided with four grooves 25 as a female surface, the upper bottom surface of the clockwise torsion expansion module is provided with four bosses 24 as a male surface, and the four bosses are mutually matched in an assembly manner to fix the clockwise torsion expansion unit and the counterclockwise torsion expansion unit to achieve the purpose of preventing looseness.
In the concrete implementation, the supporting devices are respectively a supporting device 3 and a supporting device 11, the lower bottom surface of the supporting device 3 is fixedly connected with the upper bottom surface of the suction cup adhesion device 1, the upper bottom surface of the supporting device 3 is fixedly connected with the lower bottom surface of the connecting device 5, the lower bottom surface of the clockwise torsion telescopic unit 21 in the telescopic device 6 is fixedly connected with the side surface of the connecting device 5 through a magnet, and the air nozzles 2, 4 and 7, corresponding to the suction cup adhesion device 1, the supporting device 3 and the clockwise torsion telescopic unit 21, are respectively connected with a silicone tube to be communicated with an air source.
The lower bottom surface of the B supporting device 11 is fixedly connected with the upper bottom surface of the B sucker adhesion device 13, the upper bottom surface of the B supporting device 11 is fixedly connected with the lower bottom surface of the B connecting device 9, the lower bottom surface of the anticlockwise torsion telescopic unit 22 in the telescopic device 6 is fixedly connected with the side surface of the B connecting device 9, and the D air nozzle 8, the E air nozzle 10 and the F air nozzle 12 which correspond to the B sucker adhesion device 13, the B supporting device 11 and the clockwise torsion telescopic unit 21 are respectively connected with a silicone tube to be communicated with an air source.
The flexible robot driven by the soft pneumatic actuator based on the paper folding structure is arranged on a plane and moves forwards in the following way:
the forward motion of the robot can be divided into 6 actions to be performed in sequence, as shown in fig. 5.
Action M1: the air faucet A2 is connected with the atmospheric pressure, and the suction state of the suction disc adhesion device A connected with the air faucet A2 and the plane is released; the air nozzle 4B is communicated with a small negative pressure, and the supporting device 3A connected with the air nozzle 4B is lifted to a certain height.
Action M2: negative pressure is connected simultaneously to C air cock 7 and D air cock 8, and two in the flexible module 6 that C air cock 7 and D air cock 8 are connected twist reverse flexible unit and contract simultaneously, drive A strutting arrangement 3, A connecting device 5 and the forward motion of A sucking disc adhesion device 1, move to B strutting arrangement 11, B connecting device 9 and B sucking disc adhesion device 13 promptly.
Action M3: the air nozzle 4B is communicated with a small negative pressure, and the supporting device 3A connected with the air nozzle 4B is restored to the initial state. The air tap 2A is communicated with negative pressure, so that the sucking disc adhesion device 1A is sucked with the plane;
action M4: the F air nozzle 12 is connected with the atmospheric pressure, and the B sucker adhesion device connected with the F air nozzle 12 is released from the suction state with the plane; the air nozzle 10E is communicated with a small negative pressure, and the supporting device B11 connected with the air nozzle 10E is lifted to a certain height.
Action M5: atmospheric pressure is connected simultaneously to C air cock 7 and D air cock 8, and two in the flexible module 6 that C air cock 7 and D air cock 8 are connected twist reverse the flexible unit and resume the form simultaneously, promote B strutting arrangement 11, B connecting device 9 and B sucking disc adhesion device 13 and move forward.
Action M6: the air faucet 10E is communicated with a small negative pressure, and the supporting device B11 connected with the air faucet 10E is restored to an initial state; the air nozzle 12 is communicated with negative pressure, so that the sucking disc adhesion device 13 of the B is attracted with the plane. The robot moves forward to finish.
The crawling robot moves backward similar to the forward motion action, as shown in fig. 6.
The steering motion of the crawling robot can be decomposed into 4 actions to be performed in sequence, as shown in fig. 7.
Action M1: and the air nozzle B4 and the air nozzle E10 are simultaneously connected with negative pressure, and the supporting device A3 and the supporting device B11 which are connected with the air nozzle B4 and the air nozzle E10 are simultaneously contracted.
Action M2: the air tap 2A is communicated with the atmospheric pressure, so that the suction state of the suction disc adhesion device A and the bottom surface is released; meanwhile, the negative pressure in the air nozzle 10 is reduced, so that the supporting device B11 is twisted and gradually restores the shape, and meanwhile, the supporting device A3 and the sucking disc adhesion device A1 are driven to be separated from the plane and the whole crawling robot is steered.
Action M3: when the required angle is reached, namely the B supporting device 11 is not completely restored to the initial state, the air pressure value of the E air nozzle 10 is kept unchanged, the F air nozzle 12 is communicated with the atmospheric pressure, and the B sucker adhesion device 13 connected with the F air nozzle 12 is released from being attracted with the plane; the air tap 4B is communicated with the atmospheric pressure, so that the supporting device 3A returns to the initial state; the air tap A2 is communicated with negative pressure, so that the sucking disc adhesion device A1 is fixedly attracted with the plane. And meanwhile, the B supporting device is driven to move upwards for a certain distance.
Action M4: the air faucet 10E is communicated with the atmospheric pressure, and the supporting device B11 connected with the air faucet 10E is restored to the normal state; the F air nozzle 12 is communicated with negative pressure, and the B supporting device 11 connected with the F air nozzle 12 is fixedly attracted with the plane. The robot steering motion is completed.
The cross motion of the crawling robot can be decomposed into 4 actions to be performed in sequence, as shown in fig. 8.
Action M1: the F air nozzle 12 is communicated with the atmospheric pressure, and the B sucker adhesion device 13 connected with the F air nozzle 12 is released from the suction state with the plane; the air nozzle 10 is communicated with negative pressure, so that the supporting device 11B is contracted upwards; when the B supporting device 11 finishes the action, the B air nozzle 4 is communicated with negative pressure, the A supporting device 3 connected with the B air nozzle 4 is twisted and contracted, and the crawling robot is driven to integrally rotate.
Action M2: the air faucet 10E is communicated with the atmospheric pressure, the supporting device B11 connected with the air faucet 10E is restored to the initial state, the air faucet 12F is communicated with the negative pressure, and the sucking disc B adhesion device 13 connected with the air faucet 12F is fixedly attracted with the plane; meanwhile, the air faucet 4B is connected with the atmospheric pressure, and the supporting device 3A connected with the air faucet 4B returns to the initial state upwards.
Action M3: the air faucet A2 is communicated with the atmospheric pressure, and the sucking disc A adhesion device 1 connected with the air faucet A2 is released from the attraction state with the plane; the air tap 4B is communicated with negative pressure, so that the supporting device 3A is contracted upwards; when the supporting device A finishes the action of the supporting device 3, the air nozzle E10 is communicated with negative pressure, and the supporting device B11 connected with the air nozzle E4 is twisted and contracted to drive the crawling robot to rotate.
Action M4: the air faucet 4B is communicated with the atmospheric pressure, the supporting device 3A connected with the air faucet 4B is restored to the initial state, the air faucet 2A is communicated with the negative pressure, and the sucking disc adhesion device 1A is attracted with the plane for fixing; meanwhile, the air faucet 10E is communicated with the atmospheric pressure, and the supporting device B11 connected with the air faucet 10E returns to the initial state upwards. The robot cross motion is completed.
The soft crawling robot based on the paper folding structure comprises a sucker adhesion device, a supporting device, a telescopic device and a connecting device. The supporting device is a clockwise torsion telescopic unit or an anticlockwise torsion telescopic unit, the lower bottom surfaces of the torsion telescopic units in the two supporting devices are fixedly connected with the upper bottom surfaces of the two sucker adhesion devices respectively, and the upper bottom surfaces of the torsion telescopic units are fixedly connected with the lower bottom surfaces of the two connecting devices respectively to form the two supporting units. A telescopic device is connected between the two supporting units and consists of a lower bottom surface of a counterclockwise torsion telescopic unit and an upper bottom surface of a clockwise torsion telescopic unit which are fixedly connected. Each of the torsion expansion units includes an upper bottom surface, a lower bottom surface and side plane surfaces. The side plane and the lower bottom surface are integrally printed and are fixedly connected with the upper bottom surface in a sealing mode, so that the whole torsion telescopic unit forms a sealed cavity. An air hole is arranged in the middle of one side edge of the upper bottom surface of the torsion telescopic unit, the air nozzle is inserted and connected in the hole, and the air nozzle is connected to an external air source through a silicone tube. After the air source vacuumizes the cavity, the torsion telescopic unit descends while rotating, and after the cavity is communicated with atmospheric pressure, the torsion telescopic unit ascends while rotating. The soft pneumatic actuator based on the paper folding structure is based on the improved design of the triangular cylindrical paper folding structure, and is manufactured by 3D printing through flexible thermoplastic materials based on a low-cost fused deposition modeling method, so that the formed robot is flexible in movement, not prone to damage, capable of achieving the functions of advancing, retreating, turning, crossing advancing and the like, and wide in application prospect.
The embodiments of the present invention have been described with reference to the accompanying drawings, but the present invention is not limited to the embodiments, and various changes and modifications can be made according to the purpose of the invention, and any changes, modifications, substitutions, combinations or simplifications made according to the spirit and principle of the technical solution of the present invention shall be equivalent substitutions, as long as the purpose of the present invention is met, and the present invention shall fall within the protection scope of the present invention without departing from the technical principle and inventive concept of the present invention.
Claims (7)
1. The utility model provides a software robot of crawling based on paper folding structure which characterized in that: comprises two supporting devices, a telescopic device, two connecting devices and two sucker adhesion devices which are connected to form a door frame type framework; the telescopic device is formed by fixedly connecting the upper bottom surface of a clockwise torsion telescopic unit (21) and the lower bottom surface of a counterclockwise torsion telescopic unit (22) through a magnet (14); the supporting device is a clockwise torsion telescopic unit (21) or a counterclockwise torsion telescopic unit (22); the lower bottom surfaces (20) of the torsion telescopic units in the two supporting devices are fixedly connected with the upper bottom surface of the sucker adhesion device respectively, and the upper bottom surfaces (17) of the two torsion telescopic units are fixedly connected with the lower bottom surface of the connecting device respectively to form two supporting units; a telescopic device is connected between the two supporting units, and two ends of the telescopic device are fixedly connected with the side face of the connecting device through magnets respectively.
2. The soft crawling robot based on the paper folding structure as claimed in claim 1, wherein: each torsion expansion unit comprises an upper bottom surface (17), a lower bottom surface (20) and a side plane (19); corresponding grooves (18) are formed in four surfaces of the side plane (19) to divide the surface into two equal triangular areas, and the torsion of the torsion telescopic unit in different directions can be realized by changing the directions of the grooves (18) of the side plane; the side edge plane (19) and the lower bottom surface (20) are integrally printed and are fixedly connected with the upper bottom surface (17) in a sealing manner, so that the whole torsion expansion unit forms a sealed cavity, and the whole torsion contraction device forms a cuboid; a groove (15) is respectively arranged between the upper bottom surface (17) and the lower bottom surface (20), and the magnet (14) is arranged in the groove for connection; an air hole (16) is arranged in the middle of one side edge of the upper bottom surface (17), an air tap is inserted and connected in the hole, and the air tap is connected to an external air source through a silicone tube; the side plane of the clockwise twisting telescopic unit (21) is twisted and contracted along the clockwise direction, and the side plane of the anticlockwise twisting telescopic unit (22) is twisted and contracted along the anticlockwise direction; the air nozzle is connected with an external air source through a silicone tube and used for exhausting air to the cavity, the side plane is positively twisted and simultaneously drives the upper bottom surface (17) and the lower bottom surface (20) to contract, and the twisting telescopic unit is used for reducing the height while twisting; when the cavity is communicated with atmospheric pressure, the side plane is reversely twisted and simultaneously drives the upper bottom surface (17) and the lower bottom surface (20) to separate, namely the torsional contraction unit is twisted and the height is increased.
3. The soft crawling robot based on paper folding structure as claimed in claim 2, wherein in the telescoping device, the lower bottom surface of the counterclockwise torsion telescoping unit (22) is fixedly connected with the upper bottom surface of the clockwise torsion telescoping unit (21) through a magnet (14); the two torsion telescopic units are connected with an external air source through an air tap (1) and a silicone tube, and are simultaneously controlled by the air source, namely, the two torsion telescopic units are simultaneously controlled to be pumped or communicated with the atmospheric pressure.
4. The software crawling robot based on paper folding structure as claimed in claim 2, wherein two torsion telescopic units of the telescopic device are fixedly connected by using a magnet (14), and are fixed in an anti-loose manner by using a tenon-and-mortise-like structure, wherein four grooves (25) are formed in the lower bottom surface of the anti-clockwise torsion telescopic module to serve as a female surface, four bosses (24) are formed in the upper bottom surface of the clockwise torsion telescopic module to serve as a male surface, and the four bosses are matched with each other to fix the anti-loose modules during assembly.
5. The paper folding structure-based soft crawling robot according to claim 2, wherein the paper folding structure-based soft pneumatic actuators are all designed based on a triangular cylindrical paper folding structure improvement, and the upper bottom surface (17), the lower bottom surface (20) and the side plane (19) are all manufactured by directly 3D printing a flexible thermoplastic material based on a low-cost fused deposition modeling method, so that the robot has good tensile resistance and rapid telescoping performance;
6. the soft crawling robot based on paper folding structure according to claim 2, characterized in that one of said two supporting devices is a clockwise torsion stretching unit (21) and the other is a counterclockwise torsion stretching unit (22).
7. The paper folding structure-based soft crawling robot according to claim 2, wherein each of the torsion stretching units has an air nozzle connected to an external air source through a silicone tube, all the air nozzles are disposed in the middle of the side edge of the upper bottom surface of the torsion stretching unit, and the silicone tube is connected to the external air source from the same side.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010859985.9A CN112061261A (en) | 2020-08-24 | 2020-08-24 | Software crawling robot based on paper folding structure |
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| CN202010859985.9A CN112061261A (en) | 2020-08-24 | 2020-08-24 | Software crawling robot based on paper folding structure |
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| CN115817082A (en) * | 2022-09-28 | 2023-03-21 | 南京信息工程大学 | Soft amphibious robot based on double-layer paper folding structure and torsional paper folding structure |
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