CN113252065A - Speed and distance measuring device for self-growing robot - Google Patents
Speed and distance measuring device for self-growing robot Download PDFInfo
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- CN113252065A CN113252065A CN202110482304.6A CN202110482304A CN113252065A CN 113252065 A CN113252065 A CN 113252065A CN 202110482304 A CN202110482304 A CN 202110482304A CN 113252065 A CN113252065 A CN 113252065A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
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Abstract
The invention relates to the field of robots, in particular to a speed and distance measuring device for a self-growing robot. A speed measuring and distance measuring device for a self-growing robot comprises a fixed roller, a speed measuring encoder and a soft robot main body, wherein the soft robot main body is made of flexible materials and is of a cylindrical structure, one end of the cylindrical structure is sealed, the sealed end of the cylindrical structure is turned inwards to penetrate through the cylindrical structure, and the soft robot main body is turned outwards to grow and extend under the action of inflation; the fixed roller is in friction transmission with the inverted part on the soft robot main body, and the speed measuring encoder is installed on the fixed roller. The self-growing type robot has the beneficial effects that the characteristics of a self-growing type motion mode are fully considered, and the speed measurement and the distance measurement are realized by mainly utilizing the relative motion between the soft robot main body and the roller structure.
Description
Technical Field
The invention relates to the field of robots, in particular to a speed and distance measuring device for a self-growing robot.
Background
At present, the development of a soft robot is widely concerned by all fields, the soft robot breaks through the design concept of the traditional rigid robot in principle, the process of advancing is realized by utilizing the eversion of a film driven by internal air pressure, the soft robot has extremely high motion efficiency and wide working space, the soft robot can enter a narrow and variable environment to carry out survey and inspection by utilizing the flexible characteristic of the soft robot, and the soft robot finishes steering by a turning actuator on a main body, thereby having the performance which the rigid robot does not have. In the process of executing tasks by the robot, the robot needs to be operated and controlled by mastering information such as the movement speed, the movement distance and the like of the robot, and unlike a conventional rigid body robot, the self-growing soft robot takes gas pressure as power and is difficult to use a speed and distance measuring scheme of a traditional motor-driven robot; in addition, the outward turning type movement mode can be separated from the supporting surface to realize movement, and the selection of other speed measurement and distance measurement reference bases is also a big problem.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a speed measuring and distance measuring device for a self-growing robot, which has the beneficial effects that the invention fully considers the characteristics of a self-growing motion mode and mainly utilizes the relative motion between a soft robot main body and a roller structure to realize speed measuring and distance measuring.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a speed measuring and distance measuring device for a self-growing robot comprises a fixed roller, a speed measuring encoder and a soft robot main body, wherein the soft robot main body is made of flexible materials and is of a cylindrical structure, one end of the cylindrical structure is sealed, the sealed end of the cylindrical structure is turned inwards to penetrate through the cylindrical structure, and the soft robot main body is turned outwards to grow and extend under the action of inflation;
the fixed roller is in friction transmission with the inverted part on the soft robot main body, and the speed measuring encoder is installed on the fixed roller.
Further, a speed, range unit that is used for from growing formula robot still includes the seal box, the one end setting of software robot main part is on the seal box, and the sealed end storage of software robot main part is in the seal box, and the fixed roll all sets up in the seal box with the encoder that tests the speed.
Furthermore, the speed and distance measuring device for the self-growing robot further comprises a growing outlet and an air pressure input port, wherein the growing outlet is arranged at the connecting position of the soft robot main body on the sealing box and the sealing box, the sealing end of the soft robot main body penetrates into the sealing box from the growing outlet to be stored, and the sealing box is provided with the air pressure input port.
Further, the speed and distance measuring device for the self-growing robot further comprises a floating roller, the floating roller is arranged in the sealing box, the floating roller and the fixing roller are respectively located on two sides of the soft robot body, and the soft robot body and the floating roller are in friction transmission.
Further, a speed, range unit that is used for from growing type robot still includes roller frame, spring and hinge structure, and the floating roll rotates to be connected on the roller frame, and the roller frame passes through hinge structure and installs at the box inner wall, and the one end of spring is connected on the roller frame, and the other end of spring is installed at the box inner wall, and the floating roll is pressed on the fixed roll.
Further, be provided with the region of testing the speed in the seal box, the region of testing the speed sets up in the growth exit, and fixed roll and floating roll all set up in the region of testing the speed.
Further, be provided with the storage area in the seal box, the region that tests the speed sets up between growth export and storage area, and the sealed end storage of software robot main part is in the storage area.
Furthermore, the speed measuring encoder is a speed measuring device arranged on the fixed roller, and can transmit the rotating speed and the number of turns of the fixed roller.
Furthermore, a turning actuator and a control chip are arranged on the soft robot body, and the turning actuator and the control chip can push open the floating roller when passing through the space between the fixed roller and the floating roller, so that the growth of the soft robot body is prevented from being hindered.
Furthermore, the main body of the soft robot is made of PE plastic.
The speed measuring and distance measuring device for the self-growing robot has the advantages that:
the invention fully considers the characteristics of the self-growing type movement mode, and mainly utilizes the relative movement between the soft robot main body and the roller structure to realize speed measurement and distance measurement.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.
FIG. 1 is a schematic diagram of a distance measuring device;
FIG. 2 is a schematic structural view of a roller mechanism;
FIG. 3 is a schematic top view of the integrated device;
fig. 4 is a schematic diagram of the growth motion of the soft robot body, which is based on the principle that the soft robot body is everted and moves forward under the driving of air pressure.
In the figure: a seal box 1; a fixed roller 2; a dancer roll 3; a speed measuring encoder 4; a roller frame 5; a spring 6; a hinge structure 7; a growth outlet 8; a speed measuring area 9; a storage area 10; a soft robot main body 11; a pneumatic input port 12.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The present embodiment is described below with reference to fig. 1 to 4, and a speed measuring and distance measuring device for a self-growing robot includes a fixed roller 2, a speed measuring encoder 4 and a soft robot body 11, where the soft robot body 11 is made of a flexible material, the soft robot body 11 is a cylindrical structure, one end of the cylindrical structure is sealed, the sealed end of the cylindrical structure is turned inside and penetrates through the cylindrical structure itself, and the soft robot body 11 is turned outside to grow and extend under the action of inflation;
the fixed roller 2 and the inward turning part on the soft robot main body 11 are in friction transmission, and the speed measuring encoder 4 is installed on the fixed roller 2.
The soft robot main body 11 is made of flexible materials, so that the soft robot main body 11 is convenient to evert and grow and extend under the inflation effect, when the soft robot main body 11 grows and extends, the inverted part of the soft robot main body 11 drives the fixed roller 2 to rotate, the movement speed, the distance and the like of the soft robot main body 11 can be recorded by the rotation speed and the rotation turns of the fixed roller 2, and the speed and the distance of the soft robot main body 11 are transmitted by matching with the speed measuring encoder 4 on the fixed roller 2, so that the speed and the distance of the self-growing robot are measured.
The present embodiment is described below with reference to fig. 1 to 4, and the speed and distance measuring device for the self-growing robot further includes a sealing box 1, wherein one end of the soft robot main body 11 is disposed on the sealing box 1, the sealing end of the soft robot main body 11 is stored in the sealing box 1, and the fixed roller 2 and the speed measuring encoder 4 are both disposed in the sealing box 1.
The sealing box 1 can store the sealing end of the soft robot main body 11 in the sealing box 1, and the sealing box 1 is a supporting box body for storing the soft robot main body 11 which is turned inwards and installing a speed measuring mechanism.
The present embodiment is described below with reference to fig. 1-4, and the speed and distance measuring device for a self-growing robot further includes a growing outlet 8 and an air pressure input port 12, the growing outlet 8 is disposed at a connection position between a soft robot main body 11 on the sealed box 1 and the sealed box 1, a sealing end of the soft robot main body 11 penetrates into the sealed box 1 from the growing outlet 8 for storage, and the sealed box 1 is provided with the air pressure input port 12.
The growth outlet 8 is used for enabling the inward-turning part of the soft robot body 11 to move out of the sealing box 1, the air pressure input port 12 is used for inflating the sealing box 1, and air enters the sealing box 1 and then enters the soft robot body 11 from the growth outlet 8, so that the soft robot body 11 is enabled to turn outwards to grow and stretch under the inflation effect.
The following describes the present embodiment with reference to fig. 1 to 4, and the speed and distance measuring device for the self-growing robot further includes a floating roller 3, the floating roller 3 is disposed in the sealing box 1, the floating roller 3 and the fixed roller 2 are respectively located at two sides of the soft robot main body 11, and the soft robot main body 11 and the floating roller 3 are in friction transmission.
The fixed roller 2 and the floating roller 3 are close to each other, the fixed roller 2 and the floating roller 3 form a roller mechanism, and the roller mechanism is arranged at a growth outlet 8 of the seal box 1 and is a part which the soft robot main body 11 must pass through when growing.
The following describes the present embodiment with reference to fig. 1 to 4, and the speed and distance measuring device for a self-growing robot further includes a roller frame 5, a spring 6 and a hinge structure 7, wherein the floating roller 3 is rotatably connected to the roller frame 5, the roller frame 5 is mounted on the inner wall of the box through the hinge structure 7, one end of the spring 6 is connected to the roller frame 5, the other end of the spring 6 is mounted on the inner wall of the box, and the floating roller 3 is pressed on the fixed roller 2.
In the initial state, the spring 6 has elastic pressure and can apply certain extrusion force to enable the fixed roller 2 and the floating roller 3 to be close to each other. Spring 6 on the floating roll 3 can exert certain clamp force through fixed roll 2 and floating roll 3, and software robot main part 11 is in the growth in-process, and the pressure of spring 6 makes software robot main part 11 can drive fixed roll 2 rotations through frictional mode, coordinates encoder 4 that tests the speed on the fixed roll 2, comes out with the speed and the distance transmission of software robot main part 11 motion, realizes testing the speed and the range finding from the growth formula robot.
The present embodiment is described below with reference to fig. 1 to 4, a speed measuring region 9 is provided in the sealing box 1, the speed measuring region 9 is provided at the growth outlet 8, and both the fixed roller 2 and the floating roller 3 are provided in the speed measuring region 9.
In the following, referring to fig. 1-4, the storage area 10 is provided in the sealed box 1, the speed measuring area 9 is provided between the growth outlet 8 and the storage area 10, and the sealed end of the soft robot body 11 is stored in the storage area 10.
The present embodiment is described below with reference to fig. 1 to 4, the tachometer encoder 4 is a tachometer device mounted on the fixed roller 2 and capable of sending out signals of the rotation speed and the number of turns of the fixed roller 2, and the model of the tachometer encoder 4 is MBL 3806-AB-360-5E-2M.
The present embodiment will be described with reference to fig. 1 to 4, in which the soft robot body 11 is provided with a turning actuator and a control chip, and the turning actuator and the control chip can push the floating roller 3 open when passing between the fixed roller 2 and the floating roller 3, thereby preventing the growth of the soft robot body 11 from being hindered.
In the following, referring to fig. 1-4, the soft robot body 11 is made of PE plastic.
Claims (10)
1. The utility model provides a test speed, range unit for growing from formula robot, includes fixed roll (2), speed measuring encoder (4) and software robot main part (11), its characterized in that: the soft robot main body (11) is made of flexible materials, the soft robot main body (11) is of a cylindrical structure, one end of the cylindrical structure is sealed, the sealed end of the cylindrical structure is turned inwards to penetrate through the cylindrical structure, and the soft robot main body (11) is turned outwards to grow and extend under the action of inflation;
the fixed roller (2) is in friction transmission with an inverted part on the soft robot main body (11), and the speed measuring encoder (4) is installed on the fixed roller (2).
2. A speed and distance measuring device for a self-growing robot according to claim 1, wherein: still include seal box (1), the one end setting of software robot main part (11) is on seal box (1), and the sealed end storage of software robot main part (11) is in seal box (1), and fixed roll (2) and speed measuring encoder (4) all set up in seal box (1).
3. A speed and distance measuring device for a self-growing robot according to claim 2, wherein: the device is characterized by further comprising a growth outlet (8) and an air pressure input port (12), wherein the growth outlet (8) is arranged at the connecting position of a soft robot main body (11) arranged on the sealing box (1) and the sealing box (1), the sealing end of the soft robot main body (11) penetrates into the sealing box (1) from the growth outlet (8) to be stored, and the air pressure input port (12) is arranged on the sealing box (1).
4. A speed and distance measuring device for a self-growing robot according to claim 2 or 3, characterized in that: the soft robot is characterized by further comprising a floating roller (3), wherein the floating roller (3) is arranged in the sealing box (1), the floating roller (3) and the fixing roller (2) are respectively located on two sides of the soft robot main body (11), and the soft robot main body (11) and the floating roller (3) are in friction transmission.
5. A speed and distance measuring device for a self-growing robot according to claim 4, characterized in that: the automatic packaging machine is characterized by further comprising a roller frame (5), a spring (6) and a hinge structure (7), the floating roller (3) is rotatably connected onto the roller frame (5), the roller frame (5) is installed on the inner wall of the box through the hinge structure (7), one end of the spring (6) is connected onto the roller frame (5), the other end of the spring (6) is installed on the inner wall of the box, and the floating roller (3) is pressed on the fixed roller (2).
6. A speed and distance measuring device for a self-growing robot according to claim 5, characterized in that: a speed measuring area (9) is arranged in the seal box (1), the speed measuring area (9) is arranged at a growth outlet (8), and the fixed roller (2) and the floating roller (3) are both arranged in the speed measuring area (9).
7. A speed and distance measuring device for a self-growing robot according to claim 6, characterized in that: a storage area (10) is arranged in the seal box (1), a speed measuring area (9) is arranged between the growth outlet (8) and the storage area (10), and the seal end of the soft robot main body (11) is stored in the storage area (10).
8. A speed and distance measuring device for a self-growing robot according to claim 1, wherein: the speed measuring encoder (4) is a speed measuring device arranged on the fixed roller (2) and can transmit signals of the rotating speed and the number of turns of the fixed roller (2), and the model of the speed measuring encoder (4) is MBL 3806-AB-360-5E-2M.
9. A speed and distance measuring device for a self-growing robot according to claim 1, wherein: the soft robot main body (11) is provided with a turning actuator and a control chip, and the turning actuator and the control chip can push open the floating roller (3) when passing between the fixed roller (2) and the floating roller (3) so as to prevent the soft robot main body (11) from being hindered from growing.
10. A speed and distance measuring device for a self-growing robot according to claim 1, wherein: the soft robot main body (11) is made of PE plastic.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110482304.6A CN113252065A (en) | 2021-04-30 | 2021-04-30 | Speed and distance measuring device for self-growing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110482304.6A CN113252065A (en) | 2021-04-30 | 2021-04-30 | Speed and distance measuring device for self-growing robot |
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| CN113252065A true CN113252065A (en) | 2021-08-13 |
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| CN202110482304.6A Pending CN113252065A (en) | 2021-04-30 | 2021-04-30 | Speed and distance measuring device for self-growing robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114407075A (en) * | 2022-03-15 | 2022-04-29 | 哈尔滨工业大学 | Growing type multi-arm cooperative soft robot |
| KR20230056976A (en) * | 2021-10-21 | 2023-04-28 | 한국과학기술원 | Soft growing robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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Application publication date: 20210813 |