CN113696169B - Spherical space architecture deformable soft robot and crawling method thereof - Google Patents
Spherical space architecture deformable soft robot and crawling method thereof Download PDFInfo
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- CN113696169B CN113696169B CN202111048557.9A CN202111048557A CN113696169B CN 113696169 B CN113696169 B CN 113696169B CN 202111048557 A CN202111048557 A CN 202111048557A CN 113696169 B CN113696169 B CN 113696169B
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- 230000009193 crawling Effects 0.000 title claims abstract description 16
- 230000010354 integration Effects 0.000 claims abstract description 59
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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
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Toys (AREA)
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Abstract
The invention relates to the technical field of robots, in particular to a spherical space architecture deformable soft robot and a crawling method thereof, wherein the spherical space architecture deformable soft robot comprises a shell integration, a driving and controlling module, and the shell integration is a spherical space structure formed by encircling a plurality of deformable hexahedral aggregates; the shell is integrated in a fully unfolded state, and the deformable hexahedral assemblies form a linear structure; the driving and controlling module is arranged in the shell body integration, and can control the hexahedral aggregate to be enclosed and unfolded so as to switch between the spherical space structure and the linear structure to finish crawling motion; the embodiment of the invention has the advantages of light structure and simple control mode; the device can realize the mutual switching between the spherical space structure and the linear structure, and has strong adaptability in narrow space, dangerous environment, complex and unknown environment.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a spherical space architecture deformable soft robot and a crawling method thereof.
Background
Robots are increasingly applied to production and living, and relate to the fields of walking navigation, transportation, carrying and sorting; the robot is widely applied to mechanical arms for automobile paint spraying, is applied to mechanical trolleys for logistics and sorting, is applied to navigation and guidance robots of hotels and banks, and belongs to rigid robots;
compared with a rigid robot, the soft robot has the advantages of better flexibility, capability of arbitrarily changing the shape and the size in a large range, simplified driving control system, good man-machine interaction performance and the like;
however, most of the current software robot researches stay in a laboratory stage and can complete the specified movement, but the bearing capacity is limited, so that the practical application is difficult.
Disclosure of Invention
The invention aims to provide a spherical space architecture deformable soft robot and a crawling method thereof, which solve the problems in the prior art by utilizing the large deformation range and high bearing capacity of the soft robot.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the spherical space architecture deformable soft robot comprises a shell integration, a driving and controlling module, wherein the shell integration is a spherical space structure formed by enclosing a plurality of deformable hexahedral aggregates; the shell is integrated in a fully unfolded state, and the deformable hexahedral assemblies form a linear structure; the driving and control module is arranged in the shell body in an integrated mode, and can control the hexahedral aggregate to enclose and expand so as to switch between the spherical space structure and the linear structure to finish crawling motion.
As a further scheme of the invention: the shell is integrally formed by flexible materials through 3D printing.
As still further aspects of the invention: the shell is integrated to comprise a shell and fixing pieces, wherein the shell is formed by encircling a plurality of deformable hexahedral assemblies, and a plurality of fixing pieces are respectively arranged on part of the hexahedral assemblies and used for installing the driving and controlling module.
As still further aspects of the invention: the line size of the bent part at the top of the hexahedral aggregate is larger than that of the hollowed-out line in the surface; the intersection line width of two adjacent surfaces of the hexahedral aggregate is larger than the hollowed-out line width in the surface; the number of the hexahedral aggregate is seven.
As still further aspects of the invention: the fixing pieces are respectively arranged at the bending positions of the tops of the hexahedral assemblies.
As still further aspects of the invention: the driving and controlling module comprises a driving piece arranged in the shell body integration and a control board electrically connected with the driving piece, wherein a plurality of driving pieces respectively apply acting forces larger than the self elasticity of the hexahedral aggregate to drive the hexahedral aggregate positioned at the head and the tail of the shell body integration to be unfolded, and after the shell body integration is unfolded to be in a linear structure and is erected on the ground, the reversely applied acting forces are combined with the self elasticity of the hexahedral aggregate to be switched into a spherical hollow structure.
As still further aspects of the invention: the driving piece can also drive the hexahedral aggregate adjacent to the hexahedral aggregate positioned at the head and the tail of the shell body integration to be unfolded.
As still further aspects of the invention: the driving piece comprises a motor and a traction rope, the motor is arranged in the shell body integration, one end of the traction rope is wound at the output end of the motor, and the other end of the traction rope is fixedly connected with the hexahedral aggregate of the shell body integration head and tail and the hexahedral aggregate adjacent to the hexahedral aggregate of the shell body integration head and tail.
As another technical scheme provided by the invention: a crawling method for a spherical space architecture deformable soft robot, the crawling method comprising:
when the shell is integrated to be a spherical space structure:
driving hexahedral aggregate positioned at the head end and the tail end of the shell integration to be unfolded, wherein the unfolded shell integration is in a linear structure and stands on the ground;
when the shell is integrated to be of a linear structure:
driving a hexahedral aggregate adjacent to the hexahedral aggregate at the head end of the shell integration to be unfolded so as to enable the shell integration to be completely unfolded;
driving the hexahedral aggregate at the tail end of the shell to shrink, or driving the shell to integrally move by virtue of self elasticity;
the hexahedral aggregate positioned at the head end of the shell body integration is driven to shrink, or the hexahedral aggregate positioned at the head end of the shell body integration is driven to shrink by self elasticity to drive the shell body integration to move;
driving a hexahedral aggregate positioned at the head end of the shell integration to be unfolded, and driving the shell integration to move;
driving the hexahedral aggregate positioned at the tail end of the shell to be unfolded, and driving the shell to integrally move;
and repeating the driving process after the shell integration is in a linear structure, and driving the shell integration to continuously walk.
Compared with the prior art, the invention has the beneficial effects that:
the hexahedral aggregate of the control part contracts and expands through the application of the acting force by the driving and control module, so that the mutual switching between the spherical space structure and the linear structure is realized;
the hollow-out foldable spherical hollow-out framework is adopted, so that the weight is light, and the carrying is convenient; other components such as a motor, a controller, a driver, a sensor and the like can also be arranged inside the robot; the method has strong adaptability in narrow space, dangerous environment, complex and unknown environment;
the shell body is integrated by flexible materials, and has wider application range under the condition of meeting certain strength requirements;
the control mode of the driving and control module is simple, and the complex control system of the existing robot is simplified.
Drawings
FIG. 1 is a schematic front view of a spherical space frame deformable soft robot according to an embodiment of the present invention.
FIG. 2 is a schematic cross-sectional view of a spherical space frame deformable soft robot in accordance with one embodiment of the present invention.
FIG. 3 is an expanded view of a spherical space frame deformable soft robot according to an embodiment of the present invention.
In the accompanying drawings: 1. the shell is integrated; 11. a housing; 12. an internal fixation bar A; 13. an internal fixation bar B; 14. an internal fixation bar C; 111. a hexahedral aggregate A; 112. a hexahedral aggregate B; 113. a hexahedral aggregate C; 114. a hexahedral aggregate D; 115. a hexahedral aggregate E; 116. a hexahedral aggregate F; 117. a hexahedral aggregate G; 2. a drive and control module; 21. driving A; 22. driving B; 23. driving C; 24. and (5) a control panel.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present embodiments disclosed herein as detailed in the accompanying claims.
Referring to fig. 1-3, in one embodiment of the present invention, a spherical space architecture deformable soft robot includes a housing assembly, a driving and controlling module, wherein the housing assembly is a spherical space structure surrounded by a plurality of deformable hexahedral assemblies; the shell is integrated in a fully unfolded state, and the deformable hexahedral assemblies form a linear structure; the driving and control module is arranged in the shell body in an integrated mode, and can control the hexahedral aggregate to enclose and expand so as to switch between the spherical space structure and the linear structure to finish crawling motion.
In this embodiment, the housing is integrally formed by 3D printing of a flexible material, where the flexible material may be a TPU-75A material (TPU, thermoplastic polyurethane elastomer), and is formed by one-step printing using a Raise 3D N2 Plus printer; in this way, the produced shell body integration has enough strength and flexibility, and when in printing, local lines are adopted to strengthen the deformation key parts of the spherical space structure, so that the flexibility of the soft robot is reserved, and meanwhile, the problem of weak bearing capacity of the general soft robot is solved;
seven hexahedral aggregates are respectively a hexahedral aggregate A111, a hexahedral aggregate B112, a hexahedral aggregate C113, a hexahedral aggregate D114, a hexahedral aggregate E115, a hexahedral aggregate F116 and a hexahedral aggregate G117; the six-sided aggregate A111 and the six-sided aggregate G117 are sequentially and fixedly connected to form a spherical space structure, and one end of the six-sided aggregate A111 opposite to the six-sided aggregate G117 is a free end, so that when the driving and controlling module applies driving force to part of the six-sided aggregates such as the six-sided aggregate A111 and the six-sided aggregate G117, the six-sided aggregate A111 and the six-sided aggregate G117 can be unfolded and stand on the ground; in the process of expanding the hexahedral aggregate A111 and the hexahedral aggregate G117, the adjacent hexahedral aggregate B112 and hexahedral aggregate F116 are also contracted to assist the expansion of the hexahedral aggregate A111 and the hexahedral aggregate G117 and transmit the stress to the adjacent hexahedral aggregate C113 and the hexahedral aggregate E115 and the hexahedral aggregate D114, so that the whole expansion of the spherical space structure is realized, and a linear structure is formed;
when the shell is integrated to be of a linear structure: controlling the operation of the driving and controlling module, and executing the following steps:
s21, driving a hexahedral aggregate B112 adjacent to the hexahedral aggregate A111 to be unfolded so that the shell is fully unfolded;
s22, driving the hexahedral aggregate G117 to shrink, or enabling the hexahedral aggregate G117 to shrink by means of self elasticity so as to drive the shell to integrally move;
s23, driving the hexahedral aggregate A111 to shrink, or enabling the hexahedral aggregate A111 to shrink by means of self elasticity so as to drive the shell to integrally move;
s24, driving the hexahedral aggregate A111 to expand and driving the shell to integrally move;
s25, driving the hexahedral aggregate G117 to expand and driving the shell to integrally move;
the driving process of steps S21-S25 is repeated, and the driving shell is integrated to continuously walk.
In the driving process of the hexahedral aggregate a111 and the hexahedral aggregate G117, the hexahedral aggregate a111 and the hexahedral aggregate G117 also transmit the driving force received by the hexahedral aggregate a111 and the hexahedral aggregate G117 to the other adjacent hexahedral aggregates, for example, the hexahedral aggregate a111 and the hexahedral aggregate G117 transmit the driving force to the hexahedral aggregate B112 and the hexahedral aggregate F116, respectively, and the hexahedral aggregate B112 and the hexahedral aggregate F116 transmit the stress to the adjacent hexahedral aggregate C113 and the hexahedral aggregate E115, respectively, and the hexahedral aggregate D114, respectively.
In summary, in the spherical space structure deformable soft robot of the embodiment, the driving and controlling module and the driving force are organically combined with the elasticity of each hexahedral aggregate in the shell assembly 1 by repeating the driving process of steps S21-S25, so that the shell assembly 1 is switched between the spherical space structure and the linear structure, and the crawling motion is completed; the problem that the existing rigid robot is complex in structure, poor in environmental adaptability and easy to limit the structure in a narrow space is solved well; the spherical space structure deformable soft robot has the advantages of light weight, convenient driving, high movement efficiency, capability of completing detection tasks in special environments unsuitable for human work, and wide application prospect.
In one scenario of this embodiment, the housing is integrally injection molded from a flexible material, which may be rubber or plastic with some elastic deformation; after injection molding, carrying out hollowed-out treatment on the molded workpiece, so that the molded workpiece is processed into a shell body integrated with a spherical space structure state;
in another scenario of this embodiment, the shell is integrated by split processing, specifically, the shell is integrated into a plurality of hexahedral aggregates for processing, and then the hexahedral aggregates are bonded to form an integrated shell, so that the processing mode has low requirement on the die, is convenient for batch production, and is helpful for improving the production efficiency and quality. The number of hexahedral aggregates in this embodiment is not limited to seven, and under the condition that a spherical space structure can be formed, the specific number can be flexibly set according to the actual use situation, and is not limited to seven, and is limited by space and is not described herein.
Referring to fig. 1-3, in another embodiment of the present invention, the housing assembly includes a housing 11 and fixing members, the housing 11 is enclosed by a plurality of deformable hexahedral assemblies, and a plurality of fixing members are respectively mounted on a part of the hexahedral assemblies for mounting the driving and controlling modules.
Specifically, the number of hexahedral aggregates is seven, namely hexahedral aggregate a111, hexahedral aggregate B112, hexahedral aggregate C113, hexahedral aggregate D114, hexahedral aggregate E115, hexahedral aggregate F116, and hexahedral aggregate G117; the fixing pieces are respectively an inner fixing column A12, an inner fixing column B13 and an inner fixing column C14 and are respectively arranged on the inner walls of a hexahedral aggregate C113, a hexahedral aggregate D114 and a hexahedral aggregate E115; for mounting the drive and control module 2;
in order to improve the strength of the hexahedral aggregate when the hexahedral aggregate is switched between the spherical space structure and the linear structure, in another scenario of the embodiment, the line size of the bent part at the top of the hexahedral aggregate is larger than the line size of the hollowed-out line in the surface; the intersection line width of two adjacent surfaces of the hexahedral aggregate is larger than the hollowed-out line width in the surface;
in the embodiment, in the 3D printing process, the structural dimensions of the intersection line of two adjacent surfaces of the hexahedral aggregate through the bent part of the top of the hexahedral aggregate are enhanced, so that each hexahedral aggregate has higher strength, and each surface of the hexahedral aggregate is set to be thinner and is hollowed, thereby realizing light-weight design and reducing consumption of printing materials; meanwhile, because the whole shell is light in integration, the energy consumption of the driving and controlling module 2 in the driving process is correspondingly reduced, and the cruising duration is improved.
In another scenario of the present embodiment, as shown in fig. 2, a plurality of fixing members are respectively installed at the top bending positions of the partial hexahedral aggregate.
As described above, in the 3D printing process, the structural dimensions passing through the top bent portion of the hexahedral aggregate and the intersection line of two adjacent faces of the hexahedral aggregate are reinforced; therefore, the fixing piece is arranged at the bending position of the top of the hexahedral aggregate, so that the stability and the safety of the installation of the driving and control module 2 are ensured; in the process of realizing the driving control by the driving and control module 2, the driving and control module is not affected by the contraction and expansion of the hexahedral aggregate.
Referring to fig. 1 and 2, in another embodiment of the present invention, the driving and controlling module 2 includes a driving member disposed in the housing assembly and a control board 24 electrically connected to the driving member, wherein a plurality of driving members respectively apply forces greater than the self-elasticity of the hexahedral aggregate to drive the hexahedral aggregate located at the front and the rear of the housing assembly to expand, and after the housing assembly expands into a linear structure standing on the ground, the reverse applied forces are combined with the self-elasticity of the hexahedral aggregate to switch into a spherical hollow structure.
In this embodiment, the driving piece includes a motor and a traction rope, the motor is installed in the housing assembly, one end of the traction rope is wound at the output end of the motor, and the other end of the traction rope is fixedly connected with the hexahedral aggregate of the housing assembly from beginning to end and the hexahedral aggregate adjacent to the hexahedral aggregate of the housing assembly from beginning to end;
the three motors respectively form a drive A21, a drive B22 and a drive C23, and are respectively arranged on the inner fixed rail A12, the inner fixed rail B13 and the inner fixed rail C14; further, the traction rope can be a nylon rope, a carbon fiber wire or a steel wire rope;
one nylon rope is used as a nylon rope A, one end of the nylon rope A is fixed at the output end of a motor for driving A21, and the other end of the nylon rope A is fixed at the vertex of the free end of the hexahedral aggregate A111; one nylon rope is used as a nylon rope B, one end of the nylon rope B is fixed at the output end of a motor for driving the B22, and the other end of the nylon rope B is fixed at the intersecting vertex of the hexahedral aggregate B112 and the hexahedral aggregate C113; a nylon rope is arranged as a nylon rope C, one end of the nylon rope C is fixed at the output end of a motor for driving the C23, and the other end of the nylon rope C is fixed at the vertex of the free section of the hexahedral aggregate G117; the control board 24 is an integrated control board and is fixed on the internal fixed rail B13 and is respectively connected with motors of the drive A21, the drive B22 and the drive C23 through wires; and the on-off of the motor is controlled, and the motor rotates positively and negatively, so that the winding of the nylon ropes A, B and C is realized.
In this embodiment, the control board 24 may independently drive the motors of the drive a21, the drive B22 and the drive C23 to run, and then implement contraction and expansion of the hexahedral aggregate a111, the hexahedral aggregate B112, the hexahedral aggregate C113, and the hexahedral aggregate G117 through the nylon rope a, the nylon rope B, and the nylon rope C; the driving piece, the control panel and the auxiliary supporting structure of the soft robot are arranged inside the shell, so that the size of the soft robot is greatly reduced, and the soft robot has strong adaptability in a narrow space, a dangerous environment, a complex environment and an unknown environment.
In another scenario, the driving member may further drive the hexahedral aggregate adjacent to the hexahedral aggregate located at the front and the rear of the housing assembly to expand. Specifically, the motor for driving the A21 operates to drive the hexahedral aggregate A111 to shrink and expand, and indirectly shrink and expand the adjacent hexahedral aggregate B112; the motor for driving C23 operates to drive the hexahedral aggregate G117 to shrink and expand, and indirectly shrink and expand the adjacent hexahedral aggregate F116; further, the transmission of the gradual change of the driving force is realized, and the hexahedral aggregate F116 and the hexahedral aggregate E115 connected in sequence are driven. The motor and the control board are positioned in the shell, so that the size of the motor and the control board is greatly reduced, and the motor and the control board have strong adaptability in a narrow space, a dangerous environment, a complex environment and an unknown environment.
In a preferred scenario, the control board may employ a programmable logic board or a switching power supply, which is connected to the motors of drive a21, drive B22 and drive C23 via wires, respectively;
the driving member further includes an angular velocity sensor or a pressure sensor; the angular velocity sensors are respectively arranged at the motor output end of the drive A21, the motor output end of the drive B22 and the motor output end of the drive C23 and are used for monitoring the running states of the drive A21, the drive B22 and the drive C23, including the rotating speeds and the accelerations of the drive A21, the drive B22 and the drive C23, and the winding condition of the traction rope is calculated in the running time of the drive A21, the drive B22 and the drive C23; controlling the forward and reverse rotation switching of the drive A21, the drive B22 and the drive C23;
the pressure sensor is arranged on the surface of each hexahedral aggregate, and is used for monitoring the contraction and expansion conditions of each hexahedral aggregate and feeding back signals to the motor of the driving piece according to the monitoring conditions; and controlling the forward and reverse rotation switching of the motor.
Referring to fig. 1-3, in another embodiment, a crawling method for a spherical space architecture deformable soft robot is provided, the crawling method comprising:
when the shell is integrated to be a spherical space structure:
driving hexahedral aggregate positioned at the head end and the tail end of the shell integration to be unfolded, wherein the unfolded shell integration is in a linear structure and stands on the ground;
when the shell is integrated to be of a linear structure:
driving a hexahedral aggregate adjacent to the hexahedral aggregate at the head end of the shell integration to be unfolded so as to enable the shell integration to be completely unfolded;
driving the hexahedral aggregate at the tail end of the shell to shrink, or driving the shell to integrally move by virtue of self elasticity;
the hexahedral aggregate positioned at the head end of the shell body integration is driven to shrink, or the hexahedral aggregate positioned at the head end of the shell body integration is driven to shrink by self elasticity to drive the shell body integration to move;
driving a hexahedral aggregate positioned at the head end of the shell integration to be unfolded, and driving the shell integration to move;
driving the hexahedral aggregate positioned at the tail end of the shell to be unfolded, and driving the shell to integrally move;
and repeating the driving process after the shell integration is in a linear structure, and driving the shell integration to continuously walk.
Specifically, the six-sided assemblies are respectively a six-sided assembly A111, a six-sided assembly B112, a six-sided assembly C113, a six-sided assembly D114, a six-sided assembly E115, a six-sided assembly F116 and a six-sided assembly G117; an inner fixed column A12, an inner fixed column B13 and an inner fixed column C14 are arranged on the inner walls of the hexahedral aggregate C113, the hexahedral aggregate D114 and the hexahedral aggregate E115 respectively; the driving and controlling module 2 is used for installing a driving and controlling module comprising a motor, a traction rope and a control panel, wherein the traction rope is a nylon rope A, a nylon rope B and a nylon rope C respectively; the driving A, the driving B and the driving C are respectively used for driving the contraction and the expansion of the hexahedral aggregate A111, the hexahedral aggregate B112 and the hexahedral aggregate G117 by arranging a motor and a traction rope, and indirectly controlling the contraction and the expansion of the hexahedral aggregate C113, the hexahedral aggregate D114, the hexahedral aggregate E115 and the hexahedral aggregate F116; the mutual switching of the soft robot between the spherical space structure and the linear structure is realized, and the walking is completed.
In this embodiment, the mutual switching between the spherical space structure and the linear structure is specifically divided into the following processes:
process one: the initial state of the shell body integration 1 is in a closed sphere shape, a motor for driving A21 and C23 rotates positively, and the shell body integration 1 is unfolded and stands on the ground under the driving of a nylon rope;
and a second process: driving the B22 motor to rotate forward further, and expanding the shell assembly 1 to a limit state;
and a third process: the motor for driving the C23 reversely rotates to drive the shell 11 on one side of the C23 to restore to the original state under the self elasticity, and the soft robot is pulled to move forwards;
and a process IV: the motor for driving the A21 reversely rotates, the shell 11 at one side of the A21 is driven to restore to the original state under the action of self elasticity, and the soft robot integrally moves forwards for a certain distance;
and a fifth process: the motor A21 is driven to rotate forward, the shell 11 at one side of the motor A21 is driven to be unfolded, and the soft robot moves forward;
and a sixth process: : the motor for driving the C23 rotates positively to drive the C23 side shell 11 to be unfolded, and the robot reaches the limit unfolding state again;
and repeating the second to sixth processes, and continuously walking the soft robot forwards.
The working principle of the invention is as follows: the shell is integrated and integrally formed through 3D printing and consists of a plurality of deformable hexahedral assemblies; the motor and the traction rope arranged by the driving and controlling module form a driving A, a driving B and a driving C which are respectively used for driving the contraction and the expansion of the hexahedral aggregate A111, the hexahedral aggregate B112 and the hexahedral aggregate G117 and indirectly controlling the contraction and the expansion of the hexahedral aggregate C113, the hexahedral aggregate D114, the hexahedral aggregate E115 and the hexahedral aggregate F116; the mutual switching of the soft robot between the spherical space structure and the linear structure is realized, and the walking is completed.
It should be noted that the motor, the control board, the angular velocity sensor and the pressure sensor used in the present invention are all applications of the prior art, and those skilled in the art can implement the desired functions according to the related descriptions, or implement the technical features to be achieved by similar techniques, which will not be described in detail herein.
Other embodiments of the present disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (7)
1. The spherical space architecture deformable soft robot is characterized by comprising a shell integration, a driving and control module,
the shell body is integrated into a spherical space structure formed by enclosing a plurality of deformable hexahedral assemblies; the shell is integrated in a fully unfolded state, and the deformable hexahedral assemblies form a linear structure;
the driving and controlling module is arranged in the shell body integration, and can control the hexahedral aggregate to be enclosed and unfolded so as to switch between the spherical space structure and the linear structure to finish crawling motion;
the driving and controlling module comprises a driving piece and a control board, wherein the driving piece is arranged in the shell body integration, the control board is electrically connected with the driving piece, a plurality of driving pieces respectively apply acting forces larger than the self elasticity of the hexahedral aggregate to drive the hexahedral aggregate positioned at the head and the tail of the shell body integration to be unfolded, and after the shell body integration is unfolded to be in a linear structure and is erected on the ground, the hexahedral aggregate is reversely applied to be combined with the self elasticity of the hexahedral aggregate to be switched into a spherical hollow structure; the driving piece can also drive the hexahedral aggregate adjacent to the hexahedral aggregate positioned at the head and the tail of the shell body integration to be unfolded; the driving piece comprises a motor and a traction rope, the motor is arranged in the shell body integration, one end of the traction rope is wound at the output end of the motor, and the other end of the traction rope is fixedly connected with the hexahedral aggregate of the shell body integration head and tail and the hexahedral aggregate adjacent to the hexahedral aggregate of the shell body integration head and tail.
2. The spherical space frame deformable soft robot of claim 1 wherein the housing integration is integrally formed from a flexible material via 3D printing.
3. The spherical space frame deformable soft robot of claim 1 wherein the housing assembly comprises a housing and a fixture, the housing being enclosed by a plurality of deformable hexahedral assemblages, a plurality of the fixtures being respectively mounted on a portion of the hexahedral assemblages for mounting the drive and control modules.
4. The spherical space architecture deformable soft robot of claim 1, wherein the line size at the top bend of the hexahedral aggregate is greater than the hollowed line size inside the face; the intersection line width of two adjacent surfaces of the hexahedral aggregate is larger than the hollowed-out line width in the surface.
5. A spherical space frame deformable soft robot as claimed in claim 3, wherein a plurality of the fixing members are respectively installed at the top bends of the partial hexahedral aggregate.
6. The spherical space frame deformable soft robot of claim 1 wherein the number of hexahedral assemblies is seven.
7. The crawling method for a spherical space architecture deformable soft robot of any one of claims 1-6, said crawling method comprising:
when the shell is integrated to be a spherical space structure:
driving hexahedral aggregate positioned at the head end and the tail end of the shell integration to be unfolded, wherein the unfolded shell integration is in a linear structure and stands on the ground;
when the shell is integrated to be of a linear structure:
driving a hexahedral aggregate adjacent to the hexahedral aggregate at the head end of the shell integration to be unfolded so as to enable the shell integration to be completely unfolded;
driving the hexahedral aggregate at the tail end of the shell to shrink, or driving the shell to integrally move by virtue of self elasticity;
the hexahedral aggregate positioned at the head end of the shell body integration is driven to shrink, or the hexahedral aggregate positioned at the head end of the shell body integration is driven to shrink by self elasticity to drive the shell body integration to move;
driving a hexahedral aggregate positioned at the head end of the shell integration to be unfolded, and driving the shell integration to move;
driving the hexahedral aggregate positioned at the tail end of the shell to be unfolded, and driving the shell to integrally move;
and repeating the driving process after the shell integration is in a linear structure, and driving the shell integration to continuously walk.
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