CN115402441A - Driver manufacturing method, driver and multi-legged robot - Google Patents
Driver manufacturing method, driver and multi-legged robot Download PDFInfo
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- CN115402441A CN115402441A CN202211112784.8A CN202211112784A CN115402441A CN 115402441 A CN115402441 A CN 115402441A CN 202211112784 A CN202211112784 A CN 202211112784A CN 115402441 A CN115402441 A CN 115402441A
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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
Abstract
The invention provides a driver manufacturing method, a driver and a multi-legged robot, wherein the driver comprises a first silicon rubber layer and a second silicon rubber layer which are arranged in a laminated mode, and a plurality of cavities and channels for connecting the cavities are arranged between the first silicon rubber layer and the second silicon rubber layer. The driver of the invention uses gas or liquid elasticity for driving, can use two independent driving source control sources to drive all multi-legged motions, effectively reduces the difficulty of construction and control of the multi-legged robot, and can realize cableless integrated motion under small volume.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a driver manufacturing method, a driver and a multi-legged robot.
Background
The existing multi-legged robot drives the multi-legged movement by using drivers such as servo motors, steering engines, piezoelectric ceramics and the like, the mode requires that each foot and each trunk joint of the multi-legged robot are required to be provided with one servo motor or one steering engine or one piezoelectric ceramic driver for driving, namely, the drivers such as a plurality of motors and the like are adopted to respectively drive the trunk joints and the legs to move in multiple degrees of freedom, each driver is required to be connected with a power supply line and a control line to control and drive the drivers, gait algorithms are required to be designed to move according to different terrain characteristics under different terrains, and the drivers and the control systems are required to be driven and controlled by extremely complex driving systems and control systems.
Disclosure of Invention
In view of the above problems, the present invention provides an actuator manufacturing method, an actuator, and a multi-legged robot, which can simplify a control drive system of the multi-legged robot.
A driver comprises a first silicon rubber layer and a second silicon rubber layer which are arranged in a stacked mode, wherein a plurality of cavities and channels for connecting the cavities are arranged between the first silicon rubber layer and the second silicon rubber layer.
Further, the first silicone rubber layer and the second silicone rubber layer are laminated to form a first trunk body, a second trunk body, a first flexible joint, a first connecting arm and a second connecting arm;
wherein, connect through first flexible joint in the middle of first truck body and the second truck body, first linking arm is connected with first side of first truck body and the first side of second truck body, and the second linking arm is connected with first truck body second side and second truck body second side.
Further, the plurality of cavities comprises a first cavity, a second cavity, a third cavity, a fourth cavity, a fifth cavity, a sixth cavity, a seventh cavity and an eighth cavity;
the first cavity, the second cavity, the third cavity and the fourth cavity are respectively arranged at four corners of the first trunk body, and the fifth cavity, the sixth cavity, the seventh cavity and the eighth cavity are respectively arranged at four corners of the second trunk body.
Furthermore, one end of the first trunk body is provided with a first flexible joint, one end of the second trunk body is provided with a second flexible joint, and a plurality of channels are arranged and comprise a first channel, a second channel, a third channel and a third channel;
the first channel and the second channel penetrate through the first trunk body, the first flexible joint and the second trunk body; the third channel is arranged in the first connecting arm, and the fourth channel is arranged in the second connecting arm; the first channel is communicated with the first flexible joint, the fourth cavity, the eighth cavity and the second flexible joint in sequence; the second channel is communicated with the first flexible joint, the third cavity, the seventh cavity and the second flexible joint in sequence; the third channel is communicated with the first cavity and the fifth cavity in sequence, and the fourth channel is communicated with the second cavity and the sixth cavity in sequence.
Further, first truck body and second truck body structure are the same, and first truck body, second truck body all include first trunk portion, second trunk portion and the flexible joint of second, and first trunk portion passes through the flexible joint of second and is connected with the second trunk portion.
Furthermore, the first connecting arm and the second connecting arm are wavy, and the cross sections of the first body section and the second body section are oval.
Further, the plurality of cavities are all cylindrical.
Further, the hardness of the second silicone rubber layer is greater than or equal to the hardness of the first silicone rubber layer.
The embodiment of the invention also provides a driver manufacturing method, which comprises the following steps:
pouring and molding a first liquid silicone rubber raw material with a set amount to obtain a first silicone rubber layer;
placing paraffin pieces corresponding to the cavities one by one on the first silicone rubber layer according to the positions of the cavities, wherein the shape of Dan Lapian is the same as the shape of the cavity;
placing a metal wire at a channel position on the first silicone rubber layer, and heating the metal wire to a first set temperature to tightly connect the metal wire with the paraffin wax sheet;
pouring and molding a second liquid silicone rubber raw material with a set amount above the first silicone rubber layer on which the paraffin pieces and the metal wires are placed to obtain a second silicone rubber layer;
and heating the first silica gel layer and the second silica gel layer for a certain time according to a second set temperature, and then drawing out the metal wire to obtain the driver.
The embodiment of the invention also provides a multi-legged robot, which comprises a plurality of walking units;
each walking unit comprises the driver and a plurality of leg components, the number of the leg components in each walking unit corresponds to the number of cavities of the driver one by one, the plurality of leg components are connected with the bottom of the first silicone rubber layer, and each leg component is positioned below one cavity; the drivers of the walking units are connected in series, and the channels of the drivers are communicated with each other.
Further, the multi-legged robot also comprises an image acquisition system, a power supply module, a trunk cable driving module, a diaphragm air pump, a valve and a control system; the image acquisition system and the power supply module are arranged on the foremost walking unit, the trunk cable driving module, the diaphragm air pump, the valve and the control system are sequentially arranged on other walking units, the diaphragm air pump is communicated with the channels of the plurality of drivers through the valve, and the trunk cable driving module is used for driving the drivers of the foremost walking unit to bend laterally and/or bend upwards; the power supply module is used for supplying power to the image acquisition system, the trunk cable driving module, the diaphragm air pump, the valve and the control system; the control system is in signal connection with the image acquisition system, the trunk cable driving module, the diaphragm air pump and the valve.
Furthermore, the walking unit also comprises rigid support plates, and each driver comprises a first body, a second body and a first flexible joint which are formed by laminating a first silicon rubber layer and a second silicon rubber layer;
rigid support plates are arranged above the first trunk body of each driver and the second silicone rubber layer of the second trunk body, and the image acquisition system, the power supply module, the trunk cable driving module, the diaphragm air pump, the valve and the control system are respectively connected with the rigid support plates in a one-to-one correspondence mode.
Further, the leg assembly comprises a fixing plate, a connecting plate and a leg;
the fixing plate is bonded with the first silicone rubber layers of the first trunk body and the second trunk body, and the bonding position is located below the cavity; one end of the connecting plate is detachably connected with the fixing plate, and the other end of the connecting plate is detachably connected with the supporting leg.
Further, the trunk cable driving module comprises a steering engine, a head raising cable retracting machine, a first steering cable, a second steering cable and a head raising cable;
the steering engine is connected with two sides of the first trunk body of the foremost driver through a first steering cable and a second steering cable; the head raising rope retracting machine is connected with the middle position of the first trunk body of the foremost driver through a head raising rope.
Furthermore, a copper pipe fixing plate is arranged on a rigid supporting plate of a second trunk body of the foremost driver;
the copper pipe fixing plate is also provided with a first guide copper pipe, a second guide copper pipe and a third guide copper pipe, a cavity is arranged in the middle of the copper pipe fixing plate, the first guide copper pipe, the second guide copper pipe and the third guide copper pipe are arranged in the cavity in parallel, and the first guide copper pipe, the second guide copper pipe and the third guide copper pipe are in interference fit with through holes in two sides of the copper pipe fixing plate respectively;
one end of a first steering cable penetrates through a first guide copper pipe to be connected with the first side of the first trunk body of the foremost driver, and the other end of the first steering cable is connected with a steering engine; one end of a second steering cable passes through a third guide copper pipe to be connected with the second side of the first trunk body of the foremost end driver, and the other end of the second steering cable is connected with a steering engine; one end of the head lifting cable penetrates through the second guide copper pipe to be connected with the middle position of the first trunk body of the foremost driver, and the other end of the head lifting cable is connected with the head lifting cable retracting machine.
Further, the power supply module is connected with the image acquisition system, the trunk cable driving module, the diaphragm air pump, the valve and the control system through flexible cables; the control system is connected with the image acquisition system, the trunk cable driving module, the diaphragm air pump and the valve through flexible cables.
The invention has the beneficial effects that: the driver of the invention uses gas or liquid elasticity for driving, can use two independent driving source control sources to drive all multi-legged motions, effectively reduces the difficulty of construction and control of the multi-legged robot, and can realize cableless integrated motion under small volume.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic diagram of a driver cavity under normal pressure according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a chamber of a driver according to an embodiment of the present invention under high pressure;
FIG. 3 is a schematic diagram of a driver body structure of a driver according to an embodiment of the invention;
FIG. 4 illustrates a first torso body and a second torso body in accordance with an embodiment of the present invention;
FIG. 5 shows a schematic view of a leg assembly mounting driven structure according to an embodiment of the invention;
FIG. 6 shows a schematic view of a mold configuration for a casting actuator according to an embodiment of the invention;
FIG. 7 shows a schematic structural view of a cast first silicone rubber layer according to an embodiment of the invention;
FIG. 8 is a schematic diagram illustrating the placement of a paraffin plate during casting according to an embodiment of the present invention;
FIG. 9 shows a schematic view of the placement of wires during casting according to an embodiment of the invention;
FIG. 10 shows a schematic structural view of a second poured silicone rubber layer according to an embodiment of the invention;
FIG. 11 shows a schematic view of a cast actuator according to an embodiment of the invention;
FIG. 12 shows a schematic diagram of a multi-legged robot architecture, according to an embodiment of the present invention;
FIG. 13 is a schematic view showing a structure of a walking unit according to an embodiment of the present invention;
FIG. 14 shows a schematic structural view of a leg assembly according to an embodiment of the present invention;
figure 15 shows a torso cable drive module installation schematic in accordance with an embodiment of the present invention.
In the figure: 1. a first silicone rubber layer; 2. a second silicone rubber layer; 3. a cavity; 4. a first torso body; 5. a second torso body; 6. a first flexible joint; 7. a first connecting arm; 8. a second connecting arm; 9. a first channel; 10. a second channel; 11. a third channel; 12. a fourth channel; 13. a first torso section; 14. a second torso section; 15. a second flexible joint; 16. a leg assembly; 17. a mold; 18. dan Lapian; 19. a metal wire; 20. a traveling unit; 21. a rigid support plate; 22. a copper pipe fixing plate; 23. a first guide copper tube; 24. a second guide copper tube; 25. a third guide copper pipe; 31. a first cavity; 32. a second cavity; 33. a third cavity; 34. a fourth cavity; 35. a fifth cavity; 36. a sixth cavity; 37. a seventh cavity; 38. an eighth cavity; 41. a first flexible joint; 51. a second flexible joint; 100. an image acquisition system; 200. a power supply module; 300. a trunk cable drive module; 400. a diaphragm air pump; 500. a valve; 600. a control system; 161. a fixing plate; 162. a connecting plate; 163. a support leg; 201. a charging coil; 202. a lithium battery; 301. a steering engine; 302. head-up cable retracting machine.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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. 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.
It should be noted that the terms "first", "second", and the like in this application are used for distinguishing similar objects, and do not necessarily have to be used for describing a particular order or sequence. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used. In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings.
As shown in fig. 1, the driver includes a first silicone rubber layer 1 and a second silicone rubber layer 2 which are stacked, and a plurality of cavities 3 and channels connecting the cavities 3 are provided between the first silicone rubber layer 1 and the second silicone rubber layer 2. The driver is made of two layers of silicon rubber, and a cavity 3 and a flow passage for connecting each cavity 3 are reserved between the two layers of silicon rubber, as shown in fig. 2, when the driver is driven by high-pressure gas or fluid, the cavity 3 expands outwards to drive.
For example, the shore hardness of the second silicone rubber layer 2 of the driver is greater than that of the first silicone rubber layer 1; when the shore hardness of the second silicone rubber layer 2 is equal to that of the first silicone rubber layer 1, the thickness of the second silicone rubber layer 2 is greater than that of the first silicone rubber layer 1, and when high-pressure gas or fluid enters the cavity 3, the cavity 3 expands towards the first silicone rubber layer 1 to drive.
As shown in fig. 3, the first silicone rubber layer 1 and the second silicone rubber layer 2 are laminated to form a driver body, which includes a first trunk body 4, a second trunk body 5, a first flexible joint 6, a first connecting arm 7 and a second connecting arm 8.
Wherein, connect through first flexible joint 6 in the middle of first truck body 4 and the second truck body 5, first linking arm 7 is connected with first truck body 4 first side and second truck body 5 first side, and second linking arm 8 is connected with first truck body 4 second side and second truck body 5 second side.
In one embodiment, 8 cavities 3 are arranged between the first silicone rubber layer 1 and the second silicone rubber layer 2, specifically, a first cavity 31, a second cavity 32, a third cavity 33 and a fourth cavity 34 are arranged at four corners of the first trunk body 4, and a fifth cavity 35, a sixth cavity 36, a seventh cavity 37 and an eighth cavity 38 are arranged at four corners of the second trunk body 5.
A plurality of channels are arranged for connecting each cavity 3, and the channels comprise a first channel 9, a second channel 10, a third channel 11 and a fourth channel 12, a first flexible joint 41 is arranged at one end of the first trunk body 4, a second flexible joint 51 is arranged at one end of the second trunk body 5, the first channel 9 and the second channel 10 penetrate through the first trunk body 4, the first flexible joint 6 and the second trunk body 5, wherein the first channel 9 is sequentially communicated with the first flexible joint 41, the fourth cavity 34, the eighth cavity 38 and the second flexible joint 51; the second channel 10 communicates in sequence with the first flexible joint 41, the third cavity 33, the seventh cavity 37 and the second flexible joint 51.
The first connecting arm 7 and the second connecting arm 8 are wavy, the first connecting arm 7 and the second connecting arm 8 are mirror images, a third channel 11 is arranged in the first connecting arm 7, and a fourth channel 12 is arranged in the second connecting arm 8.
The first connecting arm 7 is connected with the first side of the first trunk body 4 and the first side of the second trunk body 5, the second connecting arm 8 is connected with the second side of the first trunk body 4 and the second side of the second trunk body 5, the third channel 11 is sequentially communicated with the first cavity 31 and the fifth cavity 35, and the fourth channel 12 is sequentially communicated with the second cavity 32 and the sixth cavity 36.
In one embodiment, as shown in figure 4, first torso body 4 and second torso body 5 are identical in structure, and each of first torso body 4 and second torso body 5 includes a first torso section 13, a second torso section 14, and a second flexible joint 15, first torso section 13 being connected to second torso section 14 by second flexible joint 15, wherein first torso section 13 and second torso section 14 are elliptical in cross-section.
In one embodiment, the plurality of cavities 3 are all cylindrical, that is, the first cavity 31, the second cavity 32, the third cavity 33, the fourth cavity 34, the fifth cavity 35, the sixth cavity 36, the seventh cavity 37 and the eighth cavity 38 are identical in structure and are all cylindrical.
Further, the first trunk body 4, the first flexible joint 6 and the second trunk body 5 are integrally formed, the first trunk body 4, the first flexible joint 6 and the second trunk body 5 respectively comprise a first silicone rubber layer 1 and a second silicone rubber layer 2, wherein the hardness of the second silicone rubber layer 2 is greater than that of the first silicone rubber layer 1, the first silicone rubber layer 1 is a driving layer, and the second silicone rubber layer 2 is a supporting layer.
Illustratively, dragonskin 10 is used as the first silicone rubber layer 1, dragonskin 30 is used as the second silicone rubber layer 2, and Dragonskin 10 and Dragonskin 30 have excellent physical properties and flexibility.
The driver principle of the embodiment of the invention: as shown in fig. 5, the leg assemblies 16 can be bonded one-to-one under the plurality of cavities 3, and by injecting a liquid or gas under a certain pressure into the channel, the plurality of cavities 3 are pressed to expand outward, thereby driving the leg assemblies 16 to press down to move the driver forward linearly. When the pressure of liquid or gas in the channel is reduced, the plurality of cavities 3 are contracted to drive the leg component 16 to be lifted, the leg component 16 below each cavity 3 is alternately driven, and the linear movement of the driver is realized; the body and the framework of the driver are made of flexible materials, turning or curve movement is realized through lateral bending of the body and the framework of the driver, and head raising of the driver is realized through upward bending of the body and the framework of the driver.
The embodiment of the invention also provides a method for manufacturing the driver, which comprises the following steps: pouring and molding a first liquid silicone rubber raw material with a set amount to obtain a first silicone rubber layer 1; according to the positions of the cavities 3, paraffin wax sheets 18 corresponding to the cavities 3 in number one by one are placed on the first silicon rubber layer 1; placing a metal wire 19 at a channel position on the first silicone rubber layer 1, and heating the metal wire 19 to a first set temperature to tightly connect the metal wire 19 with the paraffin wax sheet 18; pouring and molding a second liquid silicone rubber raw material with a set amount above the first silicone rubber layer 1 on which the paraffin sheet 18 and the metal wires 19 are placed to obtain a second silicone rubber layer 2; after heating first silica gel layer, second silica gel layer according to the second settlement temperature for a certain time, take out wire 19, obtain the driver, specifically as follows:
s1, manufacturing a mold 17 according to the shape and thickness of the driver, as shown in fig. 6.
In this step, the mold 17 is manufactured according to the cross-sectional shapes and thicknesses of the first trunk body 4, the second trunk body 5, the first flexible joint 6, the first connecting arm 7, and the second connecting arm 8.
S2, spraying a release agent in the mold 17 for pretreatment, so that the driver can be taken out after pouring and forming, and the driver with a complete shape can be obtained.
S3, pouring a certain amount of Dragonskin 10 into the die 17, and solidifying to generate a first silicone rubber layer 1, as shown in FIG. 7.
In this step, the dosage of Dragonskin 10 is calculated and obtained according to the cross-sectional area and the thickness of the first silicone rubber layer 1, and the level of a platform for placing the die 17 is strictly controlled to ensure that the thickness of the first silicone rubber layer 1 is uniform, namely the thickness of the driving layer material is uniform.
And S4, manufacturing the paraffin plates 18 according to the shape of the cavity 3, and placing the paraffin plates 18 on the positions of the cavities 3 one by one, as shown in FIG. 8.
In this step, after the first silicone rubber layer 1 is solidified, the paraffin sheet 18 with a corresponding shape is placed at a position where a cavity needs to be formed, so as to separate the first silicone rubber layer 1 (driving layer) and the second silicone rubber layer 2 (supporting layer) to form a cavity.
S5, placing a metal wire 19 at the position of the channel, and heating the metal wire 19 to a first set temperature to tightly connect the metal wire 19 and the paraffin plate 18, as shown in FIG. 9.
In this step, the first set temperature may be 200 ℃, the metal wire 19 required to form the air passage is placed above the first silicone rubber layer 1 after the paraffin sheet 18 is placed, the metal wire 19 may be a tin bar, and the 200 ℃ resistance wire is used to heat the metal wire 19 for a short time, so that the metal wire 19 is tightly connected with the paraffin sheet 18 to eliminate a gap therebetween, and the sealing property between the air passage and the cavity 3 is ensured, thereby ensuring the controllability of the driving action.
S6, pouring a certain amount of Dragonskin 30 above the first silicone rubber layer 1, and after solidification, forming a second silicone rubber layer 2 to ensure good adhesion of the second silicone rubber layer 2 and the first silicone rubber layer 1, as shown in FIG. 10.
And S7, after the second silica gel layer is generated, putting the first silica gel layer, the second silica gel layer and the mold 17 into an oven integrally, heating for a certain time according to a second set temperature, and then drawing out the metal wire 19 to obtain the driver, as shown in fig. 11.
In this step, the second set temperature may be 65 ℃ and the oven heating time may be 30min.
Based on the above-mentioned drivers, the embodiment of the present invention further provides a multi-legged robot, as shown in fig. 12, the multi-legged robot includes a plurality of walking units 20, an image acquisition system 100, a power module 200, a trunk cable driving module 300, a diaphragm air pump 400, a valve 500 and a control system 600, and the multi-legged robot with any length can be obtained by combining the plurality of walking units 20 in series.
As shown in fig. 13, each walking unit 20 includes the above-mentioned driver, a plurality of leg assemblies 16 and a rigid support plate 21, the number of leg assemblies 16 in each walking unit 20 corresponds to the number of cavities 3 of the driver one by one, the plurality of leg assemblies 16 are all connected to the bottom of the first silicone rubber layer 1, and each leg assembly 16 is located below one cavity 3.
Specifically, a rigid support plate 21 is arranged above the second silicone rubber layer 2 of the first trunk body 4 and the second trunk body 5 of each driver, the image acquisition system 100, the power supply module 200, the trunk cable driving module 300, the diaphragm air pump 400, the valve 500 and the control system 600 are respectively connected with the rigid support plate 21 in a one-to-one correspondence manner,
the multi-legged robot of the embodiment of the invention adopts rigid-flexible staggered arrangement as a whole, the rigid support plate 21 is used for bearing loads such as integrated components, and the trunk of the flexible driver is bent to perform actions such as steering and head raising.
The drivers of the multiple walking units 20 are connected in series, specifically, the adjacent drivers are connected through the flexible joint, the first connecting arm 7 and the second connecting arm 8, and the channels of the multiple drivers are communicated with each other. For example, if the driver includes a first channel 9, a second channel 10, a third channel 11 and a fourth channel 12, the first channel 9, the second channel 10, the third channel 11 and the fourth channel 12 of the plurality of drivers are respectively communicated.
The image acquisition system 100 and the power module 200 are arranged on the foremost walking unit 20, the trunk cable driving module 300, the diaphragm air pump 400, the valve 500 and the control system 600 are sequentially arranged on other walking units 20, wherein the channels of the drivers are communicated with each other and then communicated with the diaphragm air pump 400 through the valve 500, and the trunk cable driving module 300 is used for driving the drivers of the foremost walking unit 20 to bend laterally and/or upwards; the power module 200 is used for supplying power to the image acquisition system 100, the trunk cable driving module 300, the diaphragm air pump 400, the valve 500 and the control system 600; the control system 600 is in signal communication with the image acquisition system 100, the torso cable drive module 300, the diaphragm air pump 400, and the valve 500.
The power module 200 supplies power to the image acquisition system 100, the trunk cable driving module 300, the diaphragm air pump 400, the valve 500 and the control system 600 through flexible cables; the control system 600 is in signal connection with the image acquisition system 100, the trunk cable driving module 300, the diaphragm air pump 400 and the valve 500 through flexible cables; the diaphragm air pump 400 is connected to one end of the valve 500, and the other end of the valve 500 is communicated with a passage of each driver through a pipe.
The image acquisition system 100 is used for transmitting the collected image information to a ground station, the ground station generates an operation command according to the received image information and sends the operation command to the control system 600, and the control system 600 sends control signals to the trunk cable driving module 300, the diaphragm air pump 400 and the valve 500 respectively according to the operation command; the trunk cable driving module 300 drives the lateral bending or upward bending (raising) of the foremost driver according to the control signal; the diaphragm air pump 400 is turned on or off according to the control signal, and high-pressure air is generated and conveyed to the valve 500 when the diaphragm air pump 400 is turned on; the valve 500 is opened or closed according to the control signal, and when the valve 500 is opened, the high pressure gas generated from the diaphragm gas pump 400 is supplied to the passage of each driver.
As shown in fig. 14, the leg assembly 16 includes a fixing plate 161, a connecting plate 162 and legs 163, the fixing plate 161 is bonded to the first silicone rubber layer 1 of the first trunk body 4 and the second trunk body 5 at a position below the cavity 3; one end of the connecting plate 162 is detachably connected to the fixing plate 161, and the other end is detachably connected to the leg 163.
Illustratively, a groove is formed at the lower end of the fixing plate 161, one end of the connecting plate 162 is inserted into the groove, and the other end of the connecting plate 162 is clamped with the supporting leg 163. By detachably connecting the fixing plate 161 and the connecting plate 162 with the supporting legs 163, it is convenient for each part of the leg assembly 16 to be damaged and then replaced.
In one embodiment, the image capturing system 100 is disposed on the rigid support plate 21 above the first torso body 4 of the foremost walking unit 20, the power module 200 is disposed on the rigid support plate 21 of the second torso body 5 of the foremost walking unit 20, and the torso cable driving module 300, the diaphragm air pump 400, the valve 500, and the control system 600 are sequentially disposed on the rigid support plates 21 of the other walking units 20.
In one embodiment, the image capturing system 100 includes a camera module, an image transmitter and a first support, wherein the camera module includes a light emitting diode and a camera, the camera module is connected to a rigid support plate 21 of one walking unit 20 through the first support, the image transmitter is disposed on the rigid support plate 21 of one walking unit 20, the image transmitter is in signal connection with the camera module, and the image transmitter is configured to transmit image information captured by the camera module to a ground station.
As shown in fig. 15, the trunk cable driving module 300 includes a steering gear 301, a head-up cable retracting machine 302, a third bracket, a first steering cable, a second steering cable, and a head-up cable, and the steering gear 301 and the head-up cable retracting machine 302 are connected to a rigid support plate 21 of one walking unit 20 through the third bracket.
Still be provided with copper pipe fixed plate 22 on the rigid support plate 21 of second trunk body 5 of the driver of foremost end walking unit 20, still be provided with first direction copper pipe 23 on the copper pipe fixed plate 22, second direction copper pipe 24 and third direction copper pipe 25, be provided with the cavity in the middle of the copper pipe fixed plate 22, first direction copper pipe 23, second direction copper pipe 24 and third direction copper pipe 25 parallel arrangement are in the cavity, first direction copper pipe 23, second direction copper pipe 24 and third direction copper pipe 25 respectively with the through-hole interference fit of the both sides of copper pipe fixed plate 22, realize the fixed of direction copper pipe.
One end of the first steering cable penetrates through the first guide copper pipe 23 to be connected with the first trunk body 4 of the foremost driver, the other end of the first steering cable is connected with the steering engine 301, one end of the second steering cable penetrates through the third guide copper pipe 25 to be connected with the first trunk body 4 of the foremost driver, and the other end of the second steering cable is connected with the steering engine 301.
One end of the head-raising rope passes through the second guide copper pipe 24 to be connected with the first trunk body 4 of the foremost driver, and the other end of the head-raising rope is connected with the head-raising rope-retracting machine 302.
For example, the first steering cable, the second steering cable and the head-up cable are made of Polytetrafluoroethylene (PTFE).
In one embodiment, torso cable drive module 300 may use a linear contraction type drive such as a linear motor.
The control system 600 comprises a data transceiver, a microcontroller and a fourth support, the data transceiver is arranged on the rigid support plate 21 of the driver, the microcontroller is connected with the rigid support plate 21 of the driver through the fourth support, and the microcontroller is positioned above the data transceiver.
In one embodiment, the multi-legged robot is a 24-legged robot, comprising a first walking unit 20, a second walking unit 20, and a third walking unit 20, wherein the driver of each walking unit 20 comprises 8 cavities 3, and one leg assembly 16 is arranged below each cavity 3.
The driver of the first walking unit 20, the driver of the second walking unit 20, and the driver of the third walking unit 20 are sequentially connected in series, the two rigid support plates 21 of the first walking unit 20 at the front end are respectively provided with the image acquisition system 100 and the power module 200, the two rigid support plates 21 of the second walking unit 20 are respectively provided with the trunk cable driving module 300 and the diaphragm air pump 400, and the two rigid support plates 21 of the third walking unit 20 are respectively provided with the valve 500 and the control system 600.
The operating principle of the multi-legged robot of the embodiment of the invention is as follows: the image acquisition system 100 collects image information and transmits the image information to the ground station, the ground station generates an operation command according to the received image information and sends the operation command to the control system 600, and the control system 600 sends control signals to the trunk cable driving module 300, the diaphragm air pump 400 and the valve 500 respectively according to the operation command; the diaphragm air pump 400 is turned on or off according to the control signal, and high-pressure air is generated and conveyed to the valve 500 when the diaphragm air pump 400 is turned on; the valve 500 is opened or closed according to the control signal, when the valve 500 is opened, the high pressure gas generated by the diaphragm air pump 400 is delivered to the channel of each driver, and the plurality of chambers 3 of the driver are pressed to expand outwards, thereby driving the leg assembly 16 to press downwards to make the driver move forwards linearly. When the pressure of liquid or gas in the channel is reduced, the plurality of cavities 3 are contracted to drive the leg component 16 to be lifted, the leg component 16 below each cavity 3 is driven alternately, and the linear movement of the driver is realized; when turning or raising the head is required, the trunk cable driving module 300 pulls the driver body of the foremost walking unit 20 to bend laterally according to the control signal, so as to realize turning or curve movement of the multi-legged robot, and pulls the driver body of the foremost walking unit 20 and the framework to bend upwards, so as to realize raising the head of the driver.
The multi-legged robot provided by the embodiment of the invention adopts the passive adaptability of the actuator and the trunk manufactured by the actuator manufacturing method to carry out the motion of the multi-legged and the trunk of the under-actuated robot, thereby realizing the simplification of a control driving system of the multi-legged robot and realizing the cableless integration in a small volume.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (16)
1. The driver is characterized by comprising a first silicon rubber layer and a second silicon rubber layer which are arranged in a stacked mode, wherein a plurality of cavities and channels for connecting the cavities are arranged between the first silicon rubber layer and the second silicon rubber layer.
2. The actuator of claim 1, wherein the first silicone rubber layer and the second silicone rubber layer are laminated to form a first torso body, a second torso body, a first flexible joint, a first connecting arm, and a second connecting arm;
wherein, connect through first flexible joint in the middle of first truck body and the second truck body, first linking arm is connected with first side of first truck body and the first side of second truck body, and the second linking arm is connected with first truck body second side and second truck body second side.
3. The driver of claim 2, wherein the plurality of cavities comprises a first cavity, a second cavity, a third cavity, a fourth cavity, a fifth cavity, a sixth cavity, a seventh cavity, and an eighth cavity;
the first cavity, the second cavity, the third cavity and the fourth cavity are respectively arranged at four corners of the first trunk body, and the fifth cavity, the sixth cavity, the seventh cavity and the eighth cavity are respectively arranged at four corners of the second trunk body.
4. The driver of claim 3, wherein the first torso body has a first flexible joint at one end, the second torso body has a second flexible joint at one end, and the plurality of channels include a first channel, a second channel, a third channel, and a third channel;
the first channel and the second channel penetrate through the first trunk body, the first flexible joint and the second trunk body; the third channel is arranged in the first connecting arm, and the fourth channel is arranged in the second connecting arm; the first channel is communicated with the first flexible joint, the fourth cavity, the eighth cavity and the second flexible joint in sequence; the second channel is communicated with the first flexible joint, the third cavity, the seventh cavity and the second flexible joint in sequence; the third channel is communicated with the first cavity and the fifth cavity in sequence, and the fourth channel is communicated with the second cavity and the sixth cavity in sequence.
5. The actuator of any of claims 2-4, wherein the first torso body and the second torso body are identical in construction, the first torso body and the second torso body each including a first torso section, a second torso section, and a second flexible joint, the first torso section being connected to the second torso section by the second flexible joint.
6. The driver of claim 5, wherein the first link arm and the second link arm are each undulating in shape and the first torso section and the second torso section are each elliptical in cross-section.
7. The driver according to any of claims 1-4, wherein the plurality of cavities are each cylindrical.
8. An actuator according to any one of claims 1 to 4, wherein the hardness of the second silicone rubber layer is equal to or greater than the hardness of the first silicone rubber layer.
9. A method of manufacturing a driver according to any of claims 1 to 8, comprising the steps of:
pouring and molding a first liquid silicone rubber raw material with a set amount to obtain a first silicone rubber layer;
according to the positions of the cavities, paraffin pieces in one-to-one correspondence with the cavities are placed on the first silicon rubber layer, wherein the shape of Dan Lapian is the same as that of the cavities;
placing a metal wire at a channel position on the first silicone rubber layer, and heating the metal wire to a first set temperature to tightly connect the metal wire with the paraffin sheet;
pouring and molding a second liquid silicone rubber raw material with a set amount above the first silicone rubber layer on which the paraffin pieces and the metal wires are placed to obtain a second silicone rubber layer;
and heating the first silica gel layer and the second silica gel layer for a certain time according to a second set temperature, and then drawing out the metal wire to obtain the driver.
10. A multi-legged robot is characterized by comprising a plurality of walking units;
wherein each walking unit comprises the driver as recited in any one of claims 1 to 8 and a plurality of leg assemblies, the number of leg assemblies in each walking unit corresponds to the number of cavities of the driver one by one, the plurality of leg assemblies are connected with the bottom of the first silicone rubber layer, and each leg assembly is positioned below one cavity; the drivers of the walking units are connected in series, and the channels of the drivers are communicated with each other.
11. The multi-legged robot of claim 10, further comprising an image acquisition system, a power module, a torso cable drive module, a diaphragm air pump, valves, and a control system;
the image acquisition system and the power supply module are arranged on the foremost walking unit, the trunk cable driving module, the diaphragm air pump, the valve and the control system are sequentially arranged on other walking units, the diaphragm air pump is communicated with the channels of the plurality of drivers through the valve, and the trunk cable driving module is used for driving the drivers of the foremost walking unit to bend laterally and/or bend upwards; the power supply module is used for supplying power to the image acquisition system, the trunk cable driving module, the diaphragm air pump, the valve and the control system; the control system is in signal connection with the image acquisition system, the trunk cable driving module, the diaphragm air pump and the valve.
12. The multi-legged robot according to claim 11, wherein the walking unit further comprises rigid support plates, each actuator comprising a first silicone rubber layer and a second silicone rubber layer laminated to form a first trunk body, a second trunk body and a first flexible joint;
rigid support plates are arranged above the first trunk body of each driver and the second silicone rubber layer of the second trunk body, and the image acquisition system, the power supply module, the trunk cable driving module, the diaphragm air pump, the valve and the control system are respectively connected with the rigid support plates in a one-to-one correspondence mode.
13. The multi-legged robot according to claim 12, wherein the leg assembly comprises a fixing plate, a connecting plate and legs;
the fixing plate is bonded with the first silicone rubber layers of the first trunk body and the second trunk body, and the bonding position is located below the cavity; one end of the connecting plate is detachably connected with the fixing plate, and the other end of the connecting plate is detachably connected with the supporting leg.
14. The multi-legged robot of claim 12, wherein the trunk cable driving module comprises a steering engine, a head-up cable retracting machine, a first steering cable, a second steering cable and a head-up cable;
the steering engine is connected with two sides of the first trunk body of the foremost driver through a first steering cable and a second steering cable; the head raising rope retracting machine is connected with the middle position of the first trunk body of the foremost driver through a head raising rope.
15. The multi-legged robot according to claim 14, wherein the rigid support plate of the second trunk body of the foremost actuator is further provided with a copper tube fixing plate;
the copper pipe fixing plate is provided with a first guide copper pipe, a second guide copper pipe and a third guide copper pipe, a cavity is formed in the middle of the copper pipe fixing plate, the first guide copper pipe, the second guide copper pipe and the third guide copper pipe are arranged in the cavity in parallel, and the first guide copper pipe, the second guide copper pipe and the third guide copper pipe are in interference fit with through holes in two sides of the copper pipe fixing plate respectively;
one end of a first steering cable passes through a first guide copper pipe to be connected with the first side of the first trunk body of the foremost driver, and the other end of the first steering cable is connected with a steering engine; one end of a second steering cable passes through a third guide copper pipe to be connected with the second side of the first trunk body of the foremost end driver, and the other end of the second steering cable is connected with a steering engine; one end of the head lifting cable penetrates through the second guide copper pipe to be connected with the middle position of the first trunk body of the foremost driver, and the other end of the head lifting cable is connected with the head lifting cable retracting machine.
16. The multi-legged robot according to any one of claims 11-13, wherein the power module is connected to the image acquisition system, the trunk cable driving module, the diaphragm air pump, the valve and the control system through flexible cables; the control system is connected with the image acquisition system, the trunk cable driving module, the diaphragm air pump and the valve through flexible cables.
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| CN202211112784.8A CN115402441B (en) | 2022-09-13 | 2022-09-13 | Driver manufacturing method, driver and multi-legged robot |
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| CN202211112784.8A CN115402441B (en) | 2022-09-13 | 2022-09-13 | Driver manufacturing method, driver and multi-legged robot |
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| CN115402441B CN115402441B (en) | 2023-10-20 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140109560A1 (en) * | 2010-11-19 | 2014-04-24 | President And Fellows Of Harvard College | Soft robotic actuators |
| CN108128429A (en) * | 2017-12-26 | 2018-06-08 | 哈尔滨工业大学 | A kind of imitative frog travel robot based on the pneumatic software actuator driving of articulated type |
| US20200156237A1 (en) * | 2017-06-16 | 2020-05-21 | Temple Universtiy-Of The Commonwealth Sytem of Higher Education | Climbing soft robotics |
| CN114348139A (en) * | 2022-01-29 | 2022-04-15 | 宁波大学 | Visual inspection wall-climbing robot and control method |
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2022
- 2022-09-13 CN CN202211112784.8A patent/CN115402441B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140109560A1 (en) * | 2010-11-19 | 2014-04-24 | President And Fellows Of Harvard College | Soft robotic actuators |
| US20170097021A1 (en) * | 2010-11-19 | 2017-04-06 | President And Fellows Of Harvard College | Soft robotic actuators |
| US20200156237A1 (en) * | 2017-06-16 | 2020-05-21 | Temple Universtiy-Of The Commonwealth Sytem of Higher Education | Climbing soft robotics |
| CN108128429A (en) * | 2017-12-26 | 2018-06-08 | 哈尔滨工业大学 | A kind of imitative frog travel robot based on the pneumatic software actuator driving of articulated type |
| CN114348139A (en) * | 2022-01-29 | 2022-04-15 | 宁波大学 | Visual inspection wall-climbing robot and control method |
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| CN115402441B (en) | 2023-10-20 |
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