CN114954727B - Driving bionic crawling robot based on paper folding structure - Google Patents
Driving bionic crawling robot based on paper folding structure Download PDFInfo
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- CN114954727B CN114954727B CN202210672511.2A CN202210672511A CN114954727B CN 114954727 B CN114954727 B CN 114954727B CN 202210672511 A CN202210672511 A CN 202210672511A CN 114954727 B CN114954727 B CN 114954727B
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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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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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
Abstract
The invention discloses a paper folding structure-based driving bionic crawling robot, which comprises a body, leg units and tail grippers, wherein the body is a frame; the body is an expandable box body structure, the left side panel and the right side panel are connected with leg units, the leg units are used as movement limbs of the robot, each leg unit consists of a flexible driving structure and a sucker, a corrugated pipe model of the flexible driving structure can realize bending, stretching and shrinking states under the action of a magnetic field, and the flexible driving structure is used as a movement muscle to provide the crawling power of the robot; the tail gripper is of a spiral curved surface structure, is used as the tail of the robot to be fixed on the rear side surface of the trunk, and can be contracted by the spiral bending paper-cut unit by utilizing the magnetic field change so as to realize the grabbing function of objects; the flexible driving structure of the leg unit and the tail gripper are both application and expansion of the paper folding structure, the bionic robot can realize the functions of crawling, steering, backing, grabbing articles and transporting the articles, and the bionic robot has the advantages of being fast in response and light in weight in manufacturing and has wide application prospect.
Description
Technical Field
The invention relates to the technical field of bionic robots, in particular to a paper folding structure-based driving bionic crawling robot.
Background
In twenty-first century, along with the deep understanding and research of the biological structure function of human beings, the technology of the bionic robot has gradually matured and has been applied to various fields of production and living, medical apparatuses and instruments, military rescue and the like, and at the present stage, flexible manufacturing has become the main development direction of robot production and even automation industry, unlike the traditional robot composed of machine parts such as motors, gears and springs, the bionic robot with light structure, high flexibility and small quality has become the important direction of research.
The paper folding robot has the advantages of good flexibility, plane processing, low design and manufacturing cost and the like, is more and more valued by scientists, and the driving type paper folding robot is a robot with a paper folding structure serving as a driver, and compared with other types of drivers, the paper folding robot has the advantages of simple processing and manufacturing, quick response, large bearing capacity and wide application.
Most of the driving paper folding bionic robots nowadays have telescopic characteristic control overall length similar to that of earthworm, snake and other peristaltic robots by applying paper folding structures, however, the peristaltic robots are limited by movement modes, the movement amplitude is small, the movement efficiency is low, and the friction peristaltic motion with the ground can cause great body damage in a rough environment; meanwhile, the driving paper folding robot mostly adopts a pneumatic driving mode by taking a paper folding mechanism as a 'skeleton' and matching vacuum or fluid as a 'muscle', but the equipment such as an air pump and the like required by the driving paper folding robot is the defect of light weight of the robot.
Disclosure of Invention
The invention aims to overcome the problems in the background art, and provides a bionic crawling robot based on a paper folding structure, which uses a corrugated pipe paper folding model as a flexible driving structure, moves in a limb crawling mode, drives the motion in a magnetic field mode, can realize high-efficiency response and high-speed motion, and can be applied to complex environments.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a paper folding structure-based driving bionic crawling robot comprises a body, four leg units and a tail gripper; the body is a box body structure consisting of an expandable frame, two side panels and two end panels, wherein the side panels are respectively and vertically fixedly connected to the left and right side edges below the expandable frame and can move along with the expandable frame, and the end panels are respectively and vertically fixedly connected to the front and rear side edges below the expandable frame and can be folded along with the expandable frame; the leg units comprise flexible driving structures and suckers, the suckers are connected to the tail ends of the flexible driving structures through adhesives, the leg units are fixedly connected with the side panels through wedge-shaped backing plates, and the leg units are symmetrically distributed on two sides of the body and have a certain downward inclined angle; the tail gripper is fixedly connected to the rear end panel of the body, and the spiral bending paper-cut unit is contracted by utilizing magnetic field change, so that the grabbing function of objects is realized.
Further, the expandable frame is composed of euler connectors connected in series, and the frames are connected and guided by euler spiral flexible sections, so that the interconversion between the expanded configuration and the contracted configuration can be realized; when the robot is in a non-working state, the expandable frame is in a fully contracted configuration, the body is contracted, the distance between the two side panels is reduced, and the end panels are folded inwards, so that the occupied space of the robot is reduced; when in working state, the expandable frame is in an expanded configuration, the body is expanded, the end panels are fully expanded, and the distance between the two side panels is increased.
Further, the flexible driving structure is a corrugated pipe paper folding model, the corrugated pipe paper folding model is hollow or solid, and is made of materials with larger flexibility such as silica gel, rubber and the like, and the corrugated pipe model is in a contracted state in a state without external force; a piece of magnetic iron sheet is stuck to the fold of each ridge on one side of the outside of the corrugated pipe, and under the action of a magnetic field, the magnetic iron sheet generates repulsive force in the magnetic field to drive the corrugated pipe to bend and stretch.
Further, each flexible driving structure is provided with an electromagnet for driving, the electromagnet is fixed in the body, the end faces of the electromagnet and the flexible driving structures are symmetrically arranged relative to the side panels of the body, the bending extension and contraction of the corrugated pipe can be realized through the on-off control of the electromagnet, and the two working states of the expansion and contraction of the flexible driving mechanism can be realized.
Further, the wedge-shaped base plate enables the flexible driving structure to have a downward inclination angle, when the flexible driving structure is in a diastole state, the sucker is adsorbed and fixed on the ground along with the bending and elongation of the corrugated pipe, friction force between the sucker and the ground is provided for leg unit movement, and the robot can effectively realize crawling movement.
Further, the spiral bending structure of the tail handle is a spiral curved surface structure with a paper cutting mosaic design, the plane of the spiral curved surface structure is unfolded to form a paper cutting array with the paper cutting units gradually extending axially, and the spiral curved surface structure with the equiangular spiral line as a plane curve with the curvature continuously changing is formed after the spiral curved surface structure is shrunk and folded.
Further, the spiral bending unit is made of magnetic shape memory alloy materials, memory alloy paper cutting is manufactured according to crease programming, the normal direction of the spiral surface spiral is kept vertical, a magnetic field is applied through an electromagnet, and the paper folding unit can fold, shrink and bend leftwards or rightwards in the horizontal plane according to preset creases, so that the actions of grabbing and transporting objects by a robot are realized.
Compared with the background technology, the invention has the following technical advantages and outstanding characteristics:
1) The technical scheme mainly adopts a driving bionic crawling robot with various paper folding structure designs, and the leg units and the tail grippers of the robot relate to a corrugated pipe model in the paper folding structure and a spiral curved surface model with paper cutting mosaic design, so that the bionic crawling robot can be processed through a plane, is simple to manufacture and is low in manufacturing cost.
2) In this technical scheme, bionic robot adopts the mode motion that four limbs crawled, utilizes paper folding structure as flexible drive structure, drives the shank and moves, compares the motion more nimble with the ground vermicular type robot of paper folding drive type, and driving efficiency is higher, and avoids organism and the friction of ground large tracts of land, better protection organism, has increased the adaptability at non-flat environment.
3) In the technical scheme, the flexible driving structure adopts the corrugated pipe made of flexible materials such as silica gel, has good flexibility, controls the contraction and the relaxation of the flexible driving mechanism through a magnetic field, and can realize various motion forms adapting to environmental conditions by matching with the expandable frame, so that the robot can move forwards, turns and retreats, and has quick response, accurate control and high motion efficiency.
4) In the technical scheme, the spiral bending structure at the tail part can realize grabbing and transporting of articles in the bending and folding process, so that the auxiliary function of the crawling robot is increased, and the paper folding driving type robot is increased in adaptability of functions of exploring, sampling, rescuing, transporting and the like.
Drawings
Fig. 1 is a schematic diagram of the overall structure of a bionic crawling robot based on a paper folding structure driving type in the technical scheme.
Fig. 2 is a schematic diagram of the contracted state of the body.
Fig. 3 is a schematic drawing of leg unit contraction.
Fig. 4 is a schematic diagram of a leg unit diastole.
Fig. 5 is a schematic view of a spiral surface structure of a paper cutting mosaic design.
Fig. 6 is a schematic diagram of a starting motion of the crawling robot.
Fig. 7 is a schematic diagram of a forward movement cycle of the crawling robot.
Fig. 8 is a diagram of a crawling robot turning motion.
Fig. 9 is a schematic diagram of a crawling robot transporting an item.
1-body in the figure; 2—leg unit; 2-1-left front leg unit; 2-right front leg unit;
2-3—left rear leg unit; 2-4-right rear leg unit; 3-a grip; 4—an expandable frame;
5-side panels; 6-end plates; 7—a flexible drive structure; 8, sucking disc; 9-wedge-shaped backing plate;
10-magnetic iron sheet
Detailed Description
In order that the technical solution of the present invention may become more apparent, the present invention will be further described in detail below with reference to the accompanying drawings in the embodiments of the present invention, it being understood that the specific embodiments described herein are for illustration only and not for limitation.
It should be noted that, in the description terms of the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", and the like are based on the azimuth and the positional relationship shown in the drawings, so as to describe in detail the structural features and the movement features of the present invention.
Referring to fig. 1-9, a bionic crawling robot based on a paper folding structure in the technical scheme comprises a body (1), four leg units (2) and a tail gripper (3); the body (1) is a box body structure consisting of an expandable frame (4), two side panels (5) and two end panels (6), wherein the side panels (5) are respectively and vertically fixedly connected to the left and right side edges below the expandable frame (4), move along with the expandable frame (4), and the end panels (6) are respectively and vertically fixedly connected to the front and rear side edges below the expandable frame (4) and fold along with the expandable frame (4); the leg unit (2) comprises a flexible driving structure (7) and a sucker (8), the sucker (8) is connected to the tail end of the flexible driving structure (7) by adopting an adhesive, the leg unit (2) is fixedly connected with the side panel (5) through a wedge-shaped backing plate (9), and the leg unit is symmetrically distributed on two sides of the body (1) and has a certain downward inclined angle; the tail gripper (3) is fixedly connected to an end panel (6) at the rear side of the body, and the spiral bending paper-cut unit is contracted by utilizing magnetic field change, so that the grabbing function of objects is realized.
Referring to fig. 2, the expandable frame (4) is composed of euler connectors connected in series, the frames are connected and guided by euler spiral flexible sections, and the mutual conversion between an expanded configuration and a contracted configuration can be realized; when the robot is in a non-working state, the expandable frame (4) is in a fully contracted configuration, the body (1) is contracted, the distance between the two side panels (5) is reduced, the two side panels (6) are folded inwards along folds, and the occupied space of the robot is reduced; when in working state, the expandable frame (4) is in an expanded configuration, the body (1) is expanded, the end panels (6) are fully expanded, and the distance between the two side panels (5) is increased.
Referring to fig. 3-4, the flexible driving structure (7) is a corrugated pipe paper folding model, the corrugated pipe paper folding model is either hollow or solid, and is made of materials with larger flexibility such as silica gel, rubber and the like, and the corrugated pipe model is in a contracted state in a state of not applying external force; the flexible driving structure (7) is used as a motion driving unit, a magnetic iron sheet (10) is attached to the fold of each ridge on one side of the outside of the corrugated pipe, and the electromagnet of each flexible driving structure (7) is controlled to be electrified to generate a magnetic field, so that the magnetic iron sheet (10) generates repulsive force in the magnetic field to drive the corrugated pipe to be bent and stretched; the bending extension and contraction of the corrugated pipe can be realized through the on-off control of the electromagnet, namely, the expansion and contraction of the flexible driving structure (7) can be realized, the wedge-shaped base plate (9) enables the flexible driving structure (7) to have a downward inclined angle, when the flexible driving structure (7) is in a diastole state, the sucker (8) is adsorbed and fixed on the ground along with the bending extension of the corrugated pipe, the friction force between the leg unit (2) and the ground is provided, the flexible driving structure (7) works regularly, and the robot can effectively realize crawling motion.
Referring to fig. 5, the spiral bending structure of the tail gripper (3) is a spiral curved surface structure with a paper cutting mosaic design, the paper cutting plane of the spiral curved surface structure is unfolded to form a paper cutting array, each row of paper cutting units are identical, each row of paper cutting units are gradually and axially elongated, namely, the spiral curved surface structure gradually changes from dense folds to loose folds, and an equiangular spiral line is used as a curved surface structure with continuously changing curvature after the spiral curved surface structure is shrunk and folded; the spiral bending unit is made of magnetic shape memory alloy materials, memory alloy paper-cut is manufactured according to crease programming, a magnetic field is applied through an electromagnet, and the spiral bending unit contracts and bends according to preset creases, so that the actions of grabbing and transporting articles by a robot are realized.
Example 1
In the scheme of the embodiment, four flexible driving structures (7) are symmetrically arranged on two sides of the body (1) and are bent and stretched forwards under the action of a magnetic field.
Referring to fig. 6, the robot start motion is divided into four actions:
the expandable frame (4) is in an expanded state, the body (1) is in a preparation mode, the electromagnet corresponding to each leg unit (2) is in a non-working state, and the flexible driving structure of each leg unit (2) is in a contracted state.
1) Action one: the electromagnet of the left front leg unit (2-1) is electrified and kept, the flexible driving structure is controlled to bend and stretch forwards, the left front leg unit (2-1) is driven to move forwards, and the left front leg unit is fixed on the ground through the sucking disc.
2) Action two: the electromagnet of the right rear leg unit (2-4) is electrified and kept, the flexible driving structure is controlled to bend and stretch forwards, the right rear leg unit (2-4) is driven to move forwards, and the electromagnet is fixed on the ground through the sucking disc; simultaneously, the center of gravity of the robot moves forward along with the left front leg unit (2-1) and the right rear leg unit (2-4), and the robot body (1) moves forward by delta mm.
3) And action III: the electromagnet of the right front leg unit (2-2) is electrified and kept, the flexible driving structure is controlled to bend and stretch forwards, the right front leg unit (2-2) is driven to move forwards, and the electromagnet is fixed on the ground through the sucking disc.
4) And action four: the electromagnets of the left front leg unit (2-1) and the right rear leg unit (2-4) are powered off, and the flexible driving structure is contracted; simultaneously, the electromagnet of the left rear leg unit (2-3) is electrified and kept, the flexible driving structure is controlled to be bent and stretched forwards, the left rear leg unit (2-3) is driven to move forwards, and the left rear leg unit is fixed on the ground through the sucking disc; at this time, the center of gravity of the robot moves forward with the right front leg unit (2-2) and the left rear leg unit (2-3), and the robot body (1) moves forward by Δmm.
Similarly, with the motion four of the starting motion of the robot as an initial state, one forward motion cycle of the robot is divided into the following 4 motions:
1) Action one: the electromagnet of the left front leg unit (2-1) is electrified and kept, the flexible driving structure is controlled to bend and stretch forwards, the left front leg unit (2-1) is driven to move forwards, and the left front leg unit is fixed on the ground through the sucking disc.
2) Action two: the electromagnets of the right front leg unit (2-2) and the left rear leg unit (2-3) are powered off, and the flexible driving structure is contracted; simultaneously, the electromagnet of the right rear leg unit (2-4) is electrified and kept, the flexible driving structure is controlled to be bent and stretched forwards, the right rear leg unit (2-4) is driven to move forwards, and the electromagnet is fixed on the ground through the sucking disc; at this time, the center of gravity of the robot moves forward with the left front leg unit (2-1) and the right rear leg unit (2-4), and the robot body (1) moves forward by Δmm.
3) And action III: the electromagnet of the right front leg unit (2-2) is electrified and kept, the flexible driving structure is controlled to bend and stretch forwards, the right front leg unit (2-2) is driven to move forwards, and the electromagnet is fixed on the ground through the sucking disc.
4) And action four: the electromagnets of the left front leg unit (2-1) and the right rear leg unit (2-4) are powered off, and the flexible driving structure is contracted; simultaneously, the electromagnet of the left rear leg unit (2-3) is electrified and kept, the flexible driving structure is controlled to be bent and stretched forwards, the left rear leg unit (2-3) is driven to move forwards, and the left rear leg unit is fixed on the ground through the sucking disc; at this time, the center of gravity of the robot moves forward with the right front leg unit (2-2) and the left rear leg unit (2-3), and the robot body (1) moves forward by Δmm.
Example 2
In the scheme of the embodiment, four flexible driving structures are symmetrically arranged on two sides of a body (1), and two leg units on one side are kept to bend forwards under the action of a magnetic field, and the two leg units on the other side are kept to bend backwards under the action of the magnetic field.
One steering movement period of the robot is divided into the following three steps:
referring to fig. 7, the torso is in a ready mode, the electromagnets are in a non-operating state, and the leg unit flexible drive structures are in a contracted state.
1) Action one: the electromagnets of the left front leg unit (2-1) and the left rear leg unit (2-3) are simultaneously electrified and kept, and the flexible driving structure is controlled to bend and stretch forwards, so that the left front leg unit (2-1) and the left rear leg unit (2-3) are driven to move forwards for delta mm displacement.
2) Action two: the electromagnets of the right front leg unit (2-2) and the right rear leg unit (2-4) are simultaneously electrified and kept, the flexible driving structure is controlled to bend and stretch backwards, the right front leg unit (2-2) and the right rear leg unit (2-4) are driven to move backwards for delta mm displacement, at the moment, the robot generates clockwise torque, and the robot body rotates rightwards for an angle theta.
3) And action III: all electromagnets are powered off, and the flexible driving structure of each leg unit is in a contracted state.
Example 3
In the scheme of the embodiment, four flexible driving structures are symmetrically arranged on two sides of the body (1) and are bent backwards under the action of a magnetic field, and the robot can avoid turning to directly finish backward movement, so that the flexibility and simplicity of movement of the crawling robot are improved.
Example 4
In the scheme of the embodiment, the robot can adopt the movement modes of the first three embodiments according to task requirements and working conditions, and the tail gripper (3) is matched for completing the task of transporting articles.
Referring to fig. 9, the article transport motion of the robot is divided into the following three steps: .
1) The first step: the robot moves to the vicinity of the article to make the article lean against the inner side of the crease dense end of the tail gripper (3).
2) A second part: the external magnetic field enables the tail gripper (3) to bend and fold by means of the driving of the shape memory alloy, the wrapped article is curled into an equiangular spiral curve structure, and the grabbing action is completed.
3) Third section: the robot keeps grabbing action, continues to move to the article making area, the external magnetic field disappears, the spiral curved surface structure of the tail grabbing hand (3) is unfolded, and the article falls to the corresponding area.
The above examples are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications and improvements made by those skilled in the art to the technical solution of the present invention should fall within the scope of protection defined by the claims of the present invention without departing from the spirit of the present invention.
Claims (3)
1. Based on bionical robot of crawling of paper folding structure drive type, its characterized in that: the corrugated pipe paper folding model with the telescopic characteristic is adopted as a motion muscle of the crawling robot, and a magnet sheet attached to the corrugated pipe folds drives the motion muscle under the excitation of a variable magnetic field, so that the robot can complete the forward crawling, turning and backward movement; comprises a body (1), a leg unit (2) and a tail gripper (3);
the body (1) is a box body structure consisting of an expandable frame (4), two side panels (5) and two end panels (6), wherein the side panels (5) are respectively and vertically fixedly connected to the left and right side edges below the expandable frame (4), move along with the expandable frame (4), and the end panels (6) are respectively and vertically fixedly connected to the front and rear side edges below the expandable frame (4) and fold along with the expandable frame (4); the expandable frame (4) consists of Euler connectors connected in series, and the frames are connected and guided by Euler spiral flexible sections, so that the interconversion between an expanded configuration and a contracted configuration can be realized;
the leg unit (2) comprises a flexible driving structure (7) and a sucker (8), the sucker (8) is connected to the tail end of the flexible driving structure (7) by adopting an adhesive, the leg unit (2) is fixedly connected with the side panel (5) through a wedge-shaped backing plate (9), and the leg unit is symmetrically distributed on two sides of the body (1) and has a certain downward inclined angle;
the tail gripper (3) is fixedly connected to an end panel (6) at the rear side of the body, and the spiral bending paper-cut unit is contracted by utilizing magnetic field change, so that the grabbing function of objects is realized.
2. The paper folding structure-based driving bionic crawling robot according to claim 1, wherein: the flexible driving structure (7) is a corrugated pipe paper folding model, and the corrugated pipe model is in a contracted state under the condition that no external force is applied; a magnetic iron sheet is attached to the fold of each ridge on one side of the outside of the corrugated pipe, the electromagnet of the flexible driving structure (7) is controlled to be electrified to generate a magnetic field, so that the magnetic iron sheet generates repulsive force in the magnetic field to drive the corrugated pipe to bend and stretch, and the flexible driving structure (7) is in a diastole state; the wedge-shaped base plate enables the flexible driving structure (7) to have a downward inclined angle, and the sucker (8) is adsorbed and fixed on the ground along with the relaxation of the flexible driving structure (7), so that the robot can realize crawling motion.
3. The paper folding structure-based driving bionic crawling robot according to claim 1, wherein: the tail gripper (3) is a spiral bending structure with a paper-cut mosaic design, is made of a shape memory alloy material, a plane of the tail gripper is unfolded to form a paper-cut array with a paper-cut unit gradually extending axially, the tail gripper is a bending structure with an equiangular spiral line as a plane curve with curvature continuously changing after being shrunk and folded, a magnetic field is applied by an electromagnet, the paper-cut unit is shrunk and bent according to a preset crease, the spiral normal direction of the spiral curved surface of the paper-cut unit is kept vertical, and the spiral bending structure can be folded and shrunk and bent in a horizontal plane to realize the actions of grabbing and transporting objects by a robot.
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| CN114954727A (en) | 2022-08-30 |
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