CN112549009B - Bionic waveform software robot based on programmable intelligent material - Google Patents
Bionic waveform software robot based on programmable intelligent material Download PDFInfo
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- CN112549009B CN112549009B CN202011364112.7A CN202011364112A CN112549009B CN 112549009 B CN112549009 B CN 112549009B CN 202011364112 A CN202011364112 A CN 202011364112A CN 112549009 B CN112549009 B CN 112549009B
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- driving layer
- waveform
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- supporting
- support plate
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- 239000000463 material Substances 0.000 title claims abstract description 33
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 16
- 239000000853 adhesive Substances 0.000 claims description 6
- 230000001070 adhesive effect Effects 0.000 claims description 6
- 238000007789 sealing Methods 0.000 claims description 4
- 239000002520 smart material Substances 0.000 claims description 3
- 230000003592 biomimetic effect Effects 0.000 claims 1
- 230000009193 crawling Effects 0.000 abstract description 3
- 238000013461 design Methods 0.000 abstract description 3
- 238000002360 preparation method Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 229920002595 Dielectric elastomer Polymers 0.000 description 1
- 238000004026 adhesive bonding Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000004205 dimethyl polysiloxane Substances 0.000 description 1
- 235000013870 dimethyl polysiloxane Nutrition 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000017 hydrogel Substances 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- CXQXSVUQTKDNFP-UHFFFAOYSA-N octamethyltrisiloxane Chemical compound C[Si](C)(C)O[Si](C)(C)O[Si](C)(C)C CXQXSVUQTKDNFP-UHFFFAOYSA-N 0.000 description 1
- 238000004987 plasma desorption mass spectroscopy Methods 0.000 description 1
- 229920000435 poly(dimethylsiloxane) Polymers 0.000 description 1
- 229920000431 shape-memory polymer Polymers 0.000 description 1
- 239000002109 single walled nanotube Substances 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
Abstract
The invention discloses a bionic waveform software robot based on programmable intelligent materials, which comprises a driving layer, wherein the driving layer is in an asymmetric waveform, one end of the driving layer is in a convex structure of the waveform, the other end of the driving layer is in a concave structure of the waveform, and the driving layer is linear when being electrified; the supporting device is arranged at two ends of the driving layer and used for supporting and moving the driving layer, and the upper convex structure and the lower concave structure are used for providing stress for the supporting device, so that the supporting device can move. The robot is simple in structure, movement is realized through a bionic waveform structural design, and based on the bionic waveform structure, the soft robot can convert simple deformation of a programmable intelligent material into reciprocating expansion of an integral structure, so that crawling motion is realized; through the different interface positions of adjusting strutting arrangement and middle bionical waveform drive layer to and the big or small scope of the wave form radian of middle bionical waveform drive layer, can increase substantially the drive power of software robot, simple structure has reduced the preparation flow simultaneously.
Description
Technical Field
The invention relates to the field of software robots, in particular to a bionic waveform software robot based on programmable intelligent materials.
Background
With the rapid development of science and technology, the position of the robot in social production activities is more and more important, the demand of people on the robot technology is continuously improved, the traditional rigid robot is difficult to meet the requirements of daily life and production gradually due to the problems of complex structure, insufficient flexibility, poor adaptability and the like, and the soft robot is produced in order to solve the problems.
The soft robot has the characteristics of high flexibility, good compatibility, simple structure, good environmental adaptability and the like, and has wide application prospect in the fields of intelligent bionics, medical rehabilitation, disaster rescue, investigation and detection and the like. The intelligent material is mainly made of shape memory polymers, hydrogel, programmable materials, dielectric elastomers and other intelligent materials, and has various driving forms and structures. The soft robot based on the programmable intelligent material has the excellent characteristics of large strain, simple preparation, stable motion, low power consumption, convenient control and the like, is widely concerned by domestic and foreign scholars, and becomes a current research hotspot. In recent years, the software robot based on the programmable intelligent material has also been developed rapidly, and the research work at home and abroad has made a certain progress.
The driving principle of the programmable intelligent material software-based robot is as follows: during fabrication, the material is specially "programmed" so that it responds physically to external electrical or thermal changes. For example, the material can be programmed, when the power is on, the material can relax and change the original shape to generate expansion deformation in the plane direction, when the power is off, the material can shrink and restore to the original shape, the deformed programmable intelligent material can restore to the original shape, and the conversion from electric energy to mechanical energy can be realized in the process, so that the robot is driven to move.
However, the structure design of the soft robot is complicated and the driving force is not high enough.
Disclosure of Invention
The invention aims to provide a bionic waveform software robot based on programmable intelligent materials, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a bionic waveform software robot based on programmable intelligent materials comprises:
the driving layer is in an asymmetric waveform, one end of the driving layer is in a waveform convex-convex structure, the other end of the driving layer is in a waveform concave-concave structure, and the driving layer is linear when electrified;
the supporting device is arranged at two ends of the driving layer and used for supporting and moving the driving layer, and the upper convex structure and the lower concave structure are used for providing stress for the supporting device, so that the supporting device can move.
As a further scheme of the invention: the driving layer is made of programmable intelligent materials, and the cross section of the driving layer is rectangular.
As a further scheme of the invention: the supporting device comprises a front supporting plate connected with one end of a concave structure of the driving layer in a sealing mode, a rear supporting plate connected with one end of a convex structure of the driving layer in a sealing mode, and supporting feet arranged at the bottom of the front supporting plate and the rear supporting plate.
As a further scheme of the invention: the front supporting plate and the rear supporting plate are made of hard materials and are connected with the driving layer through adhesives.
As a further scheme of the invention: the support footing is made of anti-skid materials and is triangular, and the support footing is bonded and fixed to the bottoms of the front support plate and the rear support plate through adhesives.
As a further scheme of the invention: the thickness of the supporting device is equal to that of the driving layer.
As a further scheme of the invention: and a miniature camera is arranged on the driving layer.
Compared with the prior art, the invention has the beneficial effects that: the invention realizes movement through a structural design of a bionic waveform, and based on the bionic waveform structure, the soft robot can convert simple deformation of a programmable intelligent material into reciprocating expansion of an integral structure, thereby realizing crawling motion; the driving force of the soft robot can be greatly improved by adjusting different interface positions of the supporting device and the middle bionic waveform driving layer and the range of the waveform radian of the middle bionic waveform driving layer, and meanwhile, the structure is simple, the manufacturing flow is reduced.
Drawings
FIG. 1 is a schematic perspective view of the present invention in an unpowered state;
FIG. 2 is a schematic perspective view of the present invention in a power-on state;
FIG. 3 is a front view of the present invention;
FIG. 4 is a schematic structural view of a front support plate and support feet of the present invention;
FIG. 5 is a schematic diagram of a driving layer according to the present invention;
fig. 6 is a schematic structural view of the rear support plate and support feet of the present invention.
In the figure: 1-driving layer, 11-convex structure, 12-concave structure, 2-supporting device, 21-front supporting plate, 22-rear supporting plate and 23-supporting bottom foot.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, 2 and 3, in an embodiment of the present invention, a bionic waveform software robot based on a programmable intelligent material includes a driving layer 1, the driving layer is an asymmetric waveform, one end of the driving layer 1 is a waveform convex structure 11, the other end is a waveform concave structure 12, and the driving layer 1 is linear when powered on; the supporting devices 2 are arranged at two ends of the driving layer 1 and used for supporting and moving the driving layer, and the upper convex structure 11 and the lower concave structure 12 are used for providing stress for the supporting devices 2, so that the supporting devices 2 can move.
Specifically, referring to fig. 5, the driving layer 1 is made of a smart material that can respond physically to external electrical or thermal changes, and is "programmed" by using a programmable smart material made by mixing PDMS and SWCNT layers; twisting the intelligent material into a waveform, and after the intelligent material is electrified and heated for a period of time, removing the power supply and cooling, keeping the material in the original waveform state, namely programming a waveform structure to obtain an asymmetric waveform structure with memorability; the cross section of the driving layer 1 is rectangular, and a micro camera can be arranged on the driving layer 1 and used for returning images; the waveform shape of the driving layer 1 is adjusted in size range according to needs, namely the driving layer is ensured to be irregular, and the convex structure 11 and the concave structure 12 of the driving layer are used for providing moving stress for the supporting device 2; under the outage, keep the structure of figure 1 based on shape memory principle, be asymmetric bionical waveform, its one end is protruding structure 11, and the other end is recessed structure 12, can relax under the circular telegram and become the structure of figure 2, is linear structure for during the circular telegram, originally the portion of epirelief receives downward stress, originally recessed portion receives upward stress.
Specifically, referring to fig. 4 and 6, the support part 2 plays a role of supporting and moving, the thickness of the support part 2 is equal to that of the driving layer 1, and the support part includes a front support plate 21 hermetically connected with one end of the concave structure 12 of the driving layer 1 through an adhesive, a rear support plate 22 hermetically connected with one end of the convex structure 11 of the driving layer 1 through an adhesive, and support feet 23 disposed at the bottoms of the front support plate 21 and the rear support plate 22; the front support plate 21 and the rear support plate 22 are made of hard materials, and the cross sections of the front support plate 21 and the rear support plate 22 are rectangular; the utility model discloses a robot, including preceding backup pad 21, back backup pad 22, support footing, concave structure 12, support footing is triangle-shaped, the support footing passes through the adhesive bonding to be fixed preceding backup pad 21, back backup pad 22 bottom, support footing 23 adopts anti-skidding material to make, has strengthened frictional force for when the circular telegram, the preceding backup pad 21 of connecting in concave structure 12 one end receives ascending stress and then drives because concave structure 12 preceding backup pad 21 takes place to lift the foot phenomenon, and the back backup pad 22 of connecting in convex structure 11 one end receives decurrent stress because convex structure becomes the line and goes, makes it unmovable, when the outage, preceding backup pad 21, back backup pad 22 receive again with the circular telegram time opposite atress condition, make preceding backup pad 21 unmovable this moment, back backup pad 22 removes, through circular of circular telegram, outage, realizes the removal of software robot.
The invention is novel in structure and stable in operation, when the invention is used, when the invention is electrified, the driving layer 1 is changed from the original waveform into linearity, one end of the original upward convex structure 11 is stressed downwards, and one end of the original downward concave structure 12 is stressed upwards, because the driving layer 1 is asymmetrically distributed, the front supporting plate 21 is positioned at the downward concave part, the front supporting plate 21 is stressed upwards, and the front foot lifting phenomenon occurs; the rear support plate 22 is positioned at the upper convex part, so that the rear support plate 22 is stressed downwards, and the ground has a resistance effect on the rear support plate 22, so that the rear foot is prevented from moving, and the robot is pushed to move forwards; when power is off, the driving layer 1 is changed from linear to original waveform structure based on the shape memory principle, the linear part corresponding to the original waveform convex-convex structure 11 is stressed upwards, the part corresponding to the original waveform concave-concave structure 12 is stressed downwards, and the front supporting plate 21 is stressed downwards due to the fact that the front supporting plate 21 is located at the original waveform concave-concave structure 12, the ground plays a resistance role on the front supporting plate, and therefore the front feet are prevented from moving; the rear supporting plate 22 is positioned at the part of the original wave-shaped convex structure 11, so that the rear supporting plate 22 bears upward stress to generate a rear foot lifting phenomenon; the soft robot is electrified at intervals, so that simple deformation of the driving layer is converted into reciprocating extension of the whole robot, and crawling motion is realized.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (4)
1. A bionic waveform software robot based on programmable intelligent materials is characterized by comprising:
the driving layer (1) is in an asymmetric waveform, one end of the driving layer (1) is in a waveform convex structure (11), the other end of the driving layer is in a waveform concave structure (12), and the driving layer (1) is linear when electrified;
the driving layer (1) is made of programmable intelligent materials, and the cross section of the driving layer is rectangular;
the supporting devices (2) are arranged at two ends of the driving layer (1) and used for supporting and moving the driving layer, and the upper convex structures (11) and the lower concave structures (12) are used for providing stress for the supporting devices (2) to enable the supporting devices to move;
the supporting device (2) comprises a front supporting plate (21) connected with one end of a concave structure (12) of the driving layer (1) in a sealing mode, a rear supporting plate (22) connected with one end of a convex structure (11) of the driving layer (1) in a sealing mode, and supporting feet (23) arranged at the bottoms of the front supporting plate (21) and the rear supporting plate (22);
the support footing (23) is made of anti-slip materials, is triangular, and is fixed to the bottoms of the front support plate (21) and the rear support plate (22) through bonding of adhesives.
2. The bionic waveform software robot based on the programmable intelligent material is characterized in that the front support plate (21) and the rear support plate (22) are made of hard materials, and the front support plate (21) and the rear support plate (22) are connected with the driving layer (1) through adhesives.
3. A programmable smart material based biomimetic wave software robot according to claim 1, characterized in that the thickness of the support means (2) is equal to the thickness of the driving layer (1).
4. The bionic waveform software robot based on the programmable intelligent material is characterized in that a micro camera is arranged on the driving layer (1).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011364112.7A CN112549009B (en) | 2020-11-27 | 2020-11-27 | Bionic waveform software robot based on programmable intelligent material |
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| CN202011364112.7A CN112549009B (en) | 2020-11-27 | 2020-11-27 | Bionic waveform software robot based on programmable intelligent material |
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| CN112549009A CN112549009A (en) | 2021-03-26 |
| CN112549009B true CN112549009B (en) | 2022-02-08 |
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| CN109476019A (en) * | 2016-07-26 | 2019-03-15 | Groove X 株式会社 | Articulated robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20060162667A1 (en) * | 2005-01-26 | 2006-07-27 | Papadoyianis Ernest D | Aquatic habitat and ecological tank |
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| CN105881493A (en) * | 2016-06-04 | 2016-08-24 | 上海大学 | Ring-foot type micro creeping robot |
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2020
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Patent Citations (8)
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|---|---|---|---|---|
| US6459957B1 (en) * | 2001-04-17 | 2002-10-01 | Fuji Xerox Co., Ltd. | Programmable smart membranes and methods therefor |
| CN101074032A (en) * | 2007-06-21 | 2007-11-21 | 上海交通大学 | Creep walking mechanism inside pipeline |
| JP2013187380A (en) * | 2012-03-08 | 2013-09-19 | Nippon Mektron Ltd | Elastic flexible circuit board and manufacturing method of the same |
| JP2014055527A (en) * | 2012-09-11 | 2014-03-27 | Smk Corp | Flat type shape memory cable, and drive unit using the same |
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| CN109476019A (en) * | 2016-07-26 | 2019-03-15 | Groove X 株式会社 | Articulated robot |
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Address after: Floor 1-5, Building B7, Hefei Innovation and Technology Park, Intersection of Jianghuai Avenue and Sugang Road, Feixi County Economic Development Zone, Hefei City, Anhui Province, 231200 Patentee after: HEFEI AICHUANG MICROELECTRONICS TECHNOLOGY CO.,LTD. Address before: 231200 the third floor of A2 East, Liheng industrial Plaza, Fanhua West Road, Taohua Industrial Park Development Zone, Feixi County, Hefei City, Anhui Province Patentee before: HEFEI AICHUANG MICROELECTRONICS TECHNOLOGY CO.,LTD. |