CN116101395A - Soft robot - Google Patents
Soft robot Download PDFInfo
- Publication number
- CN116101395A CN116101395A CN202310248782.XA CN202310248782A CN116101395A CN 116101395 A CN116101395 A CN 116101395A CN 202310248782 A CN202310248782 A CN 202310248782A CN 116101395 A CN116101395 A CN 116101395A
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- CN
- China
- Prior art keywords
- machine body
- soft
- friction
- plate
- foot
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Classifications
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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
- B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K16/00—Machines with more than one rotor or stator
- H02K16/04—Machines with one rotor and two stators
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02N—ELECTRIC MACHINES NOT OTHERWISE PROVIDED FOR
- H02N1/00—Electrostatic generators or motors using a solid moving electrostatic charge carrier
- H02N1/04—Friction generators
Abstract
The invention discloses a soft robot, which comprises a machine body and a friction electric foot, wherein the friction electric foot is arranged on the machine body, the friction electric foot comprises two layers of polyimide films and one layer of interdigital electrode, the upper layer of polyimide film and the lower layer of polyimide film wrap the middle copper interdigital electrode, the machine body is a soft and elongated machine body, the soft and elongated machine body is formed by sequentially assembling and bonding a flexible acrylic frame plate, a dielectric elastic material, foam substrate double-sided adhesive and a lower supporting plate from top to bottom, the flexible acrylic frame is in an elongated plate shape, and when the flexible acrylic frame is in a bending state in a free state, the flexible acrylic frame has certain elasticity, and both sides of the dielectric elastic material are coated with flexible conductive carbon grease. The invention has the beneficial effects that: the friction electric foot of the controllable anchoring means is adopted, so that the robot can normally move in an environment with a larger gradient; the friction electric energy supply mode is adopted, so that high-voltage electric supply equipment is greatly simplified, and the movement of the machine is more convenient and quick.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a soft robot.
Background
At present, soft robots have received a great deal of attention. The electrical stimulus response driving means is more direct, more accurate and more controllable than the driving means of stimulus responses of other soft robots.
The research shows that most of the electric stimulation driving soft robots have low adaptability to the environment and can only be suitable for the environment with low level or gradient. When the exercise capacity is insufficient in an environment with a large gradient, the exercise foot cannot control the friction force between the exercise foot and the environment surface according to the requirement, so that the phenomenon of skidding exists.
In addition, the electro-stimulation driving soft robot needs to be driven by high-voltage power of more than 5 KV. Typically, the high voltage power supplied is provided by a heavy high voltage power supply, which makes the soft robot expensive to use and inconvenient to carry. These greatly limit the range of motion and practical application of the robot.
Disclosure of Invention
Aiming at the problems that in the prior art, when the motion capability under the environment with a larger gradient is insufficient, the motion feet cannot control the friction force between the motion feet and the environment surface according to the requirement, so that the phenomenon of skidding exists, and the high-voltage power supplied by the soft robot is provided by a heavy high-voltage power supply, the soft robot is expensive to use and inconvenient to carry, and the motion range and practical application of the robot are greatly limited, the soft robot is provided.
The utility model provides a software robot, includes organism and triboelectric foot, and the triboelectric foot sets up on the organism, and the triboelectric foot includes two-layer polyimide film and one deck interdigital electrode, copper interdigital electrode in the middle of the upper and lower two-layer polyimide film parcel.
Wherein the soft robot body is a soft extension body which is formed by sequentially assembling and bonding a flexible acrylic frame plate, a dielectric elastic material, foam substrate double-sided adhesive tape and a lower supporting plate from top to bottom,
the flexible acrylic frame is in a slender plate shape, and has certain elasticity when in a bending state in a free state,
wherein the lower supporting plate consists of three separate plates, the three plates comprise a transverse plate and two end plates,
both sides of the dielectric elastic material are coated with compliant conductive carbon grease.
The soft robot supplies high-voltage electricity through a plurality of high-voltage friction nano generators, each of the plurality of high-voltage friction nano generators consists of a rotor in the middle, two independent stators at two ends and a motor shaft, the two stators are fixedly arranged in parallel, the motor shaft is rotatably arranged on the two stators, and the rotor is fixedly arranged on the motor shaft and positioned between the two stators.
Wherein, the soft robot, the rotor is composed of polyvinyl chloride film and round base plate,
cutting the polyvinyl chloride film into a semicircle, and respectively adhering two semicircular polyvinyl chloride films on two sides of the circular substrate;
the stator consists of paper, a copper electrode and a circular plate, wherein the paper is used as a positive friction material, and the paper is fixed on the surface of the copper electrode; the copper electrode is mounted on the circular plate.
The invention has the beneficial effects that:
1. the friction electric foot of the controllable anchoring means is adopted, so that the robot can normally move in an environment with a larger gradient;
2. the friction electricity energy supply mode is adopted, so that high-voltage electricity supply equipment is greatly simplified, and the movement of a machine is more convenient and faster;
external energy is captured through a friction nano generator technology and is directly converted into high-voltage electric energy, so that the acquisition cost of traditional high-voltage electricity is reduced, and the practicability is improved; the high-voltage electricity generated by the multi-path high-voltage friction nano generator can be supplied to the friction electric soft robot after being processed by the multi-path friction electric control module.
Drawings
FIG. 1 is a three-dimensional view of the overall appearance of the present invention;
FIG. 2 is a schematic diagram of a multi-path high-voltage friction nano-generator according to the present invention;
FIG. 3 is a schematic diagram of the structure of the multi-path high-voltage friction nano-generator of the present invention;
FIG. 4 is a schematic illustration of the power generation process of the multi-path high voltage friction nano-generator of the present invention;
FIG. 5 is a schematic view of a triboelectric soft robot according to the present invention;
FIG. 6 is a schematic view of the structure of a soft elongated body of the triboelectric soft robot of the present invention;
FIG. 7 is an outline of the triboelectric soft robot of the present invention in energized and de-energized states;
FIG. 8 is a schematic diagram of the structure of the electric foot of the electric soft robot;
FIG. 9 is a multi-way triboelectric control module according to the present invention;
fig. 10 is a functional block diagram of the present invention.
Detailed Description
In order to make the technical problems solved, the technical scheme adopted and the technical effects achieved by the invention more clear, the technical scheme of the invention is further described below by a specific embodiment in combination with the attached drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the drawings related to the present invention are shown.
Referring to fig. 1-10, the present embodiment provides a soft robot, which includes a machine body and a triboelectric foot 15, wherein the triboelectric foot 15 is disposed on the machine body, the triboelectric foot 15 includes two polyimide films 21 and one layer of interdigital electrode 22, which is in a sandwich structure, the upper and lower polyimide films 21 wrap the middle copper interdigital electrode 22, and the interdigital electrode 22 and the two polyimide 21 insulating films are combined together through a hot pressing process.
As shown in fig. 8, the principle of the triboelectric foot 15 as a controllable anchoring means: the high voltage is applied to the interdigital electrodes of the triboelectric leg 15 after passing through the full-wave rectifying circuit, and charges with opposite polarities are induced on the surface of the material due to the electrostatic effect, so that attractive force is generated between the triboelectric leg 15 and the material, and the triboelectric leg 15 is adsorbed on the surface of the material.
As shown in fig. 6, the machine body is a soft extension machine body 14, and a flexible acrylic frame plate 20 (thickness 0.3 mm), a dielectric elastic material 17 (VHB 4910), foam base material double faced adhesive tape 19 (VHB 4905, 3M) and a lower support plate 18 (thickness 0.4 mm) are assembled and bonded together in the sequence in the figure, and flexible conductive carbon grease (846-80G) 16 is coated on two sides of the dielectric elastic material 17 (VHB 4910) by using a painting brush to form a soft extension machine body structure. The lower support plate 18 is identical in shape to the acrylic frame plate 20 and is formed of three separate plates including a cross plate 18 and two end plates 28
The flexible acryl frame 20 has an elongated plate shape having a certain elasticity when in a bent state in a free state as shown in fig. 6. Foam substrate double sided adhesive 19 (VHB 4905, 3M) is also composed of three separate pieces.
The dielectric elastic material 17 (VHB 4910) serves to adhere and provide motive force; foam substrate double sided tape 19 (VHB 4905, 3M) provides adhesion; the conductive grease 16 is conductive. The acrylic frame plate 20 plays a role in restricting the deformation of the dielectric elastic material 170; the lower support plate 18 is a structural support. As shown in fig. 7a, when the conductive carbon grease 16 on both sides of the dielectric elastomer material 17 is electrified with high voltage, the thickness of the dielectric elastomer material 17 is reduced, and the dielectric elastomer material extends around the transverse direction, but under the constraint of the acryl frame plate 20, the dielectric elastomer material 17 only extends along the transverse direction of the soft extension machine body, and further drives the angle between two included angles of the soft extension machine body 14 to be increased, so that the soft extension machine body 14 is extended; when the high voltage is disconnected, the dielectric elastic material 17 (VHB 4910) returns to the original state, and the flexible acrylic frame plate 20 returns to its original state under the action of the elastic force, so that the length of the soft extension body 14 returns.
The cooperation between the deformation of the soft extension body 14 and the controllable adhesion of the triboelectric soft robot 15 enables the triboelectric soft robot 1 to move, the motion mechanism of the triboelectric soft robot 1 is shown in fig. 7, the crawling process of inchworm is simulated, and one completed motion process is as follows: firstly, from stage I to stage II, the left triboelectric foot 15 is electrified and adsorbed on the ground, the soft extension machine body 14 is electrified and extended, at this time, the soft extension machine body 14 can push the right triboelectric foot 15 to move forwards, then from stage II to stage III, the right triboelectric foot 15 is electrified and adsorbed on the ground, the left triboelectric foot 15 is powered off, the soft extension machine body 14 is powered off and contracted, at this time, the soft extension machine body 14 can drive the left triboelectric foot 15 to move forwards, and the soft extension machine body 14 is circularly reciprocated, so that the triboelectric soft robot 1 can continuously crawl.
As shown in fig. 2, the multi-path high-voltage friction nano generator is composed of a rotor 5 in the middle, two independent stators 6 at two ends and a motor shaft 7, and adopts a double-electrode structure. The two stators 6 are fixedly arranged in parallel, the motor shaft 7 is rotatably arranged on the two stators, and the rotor 5 is fixedly arranged on the motor shaft 7 and is positioned between the two stators 6. The motor shaft 7 is rotated by external force. The external force may be wind power after the wind power generation device is arranged, hydraulic power after the hydraulic power generation device is arranged, or a motor to drive the motor to rotate.
As shown in fig. 3, the rotor 5 is composed of a polyvinyl chloride film 9 and a circular base plate 10. The acrylic plate is cut according to a designed structure as the rotor substrate 10. Cutting the polyvinyl chloride film 9 into a semicircle, and respectively attaching two semicircular polyvinyl chloride films 9 on the two sides of the circular substrate 10 by adopting a Teflon adhesive tape; the stator 6 is composed of paper 11, copper electrodes 12 and a circular plate 13. The paper 11 is used as a positive friction material, and the paper 11 is fixed on the surface of the copper electrode 12; the copper electrode 12 is mounted on a circular plate 13.
Working principle of a multi-path high-voltage friction nano generator is as follows: when the rotor 5 rotates along the axis under the action of external force, the polyvinyl chloride film 9 slides on the paper 11, electrons are transferred to the polyvinyl chloride film 9 from the paper 11 due to the friction electrification and static induction phenomena and the difference of the electron losing and losing capacities of materials, at the moment, the polyvinyl chloride film 9 is electrified and negatively charged through friction, meanwhile, the paper 11 generates equivalent positive charges, and the charge density of the surface of the paper 11 is half of the charge density of the surface of the polyvinyl chloride film 9 according to the law of conservation of charge; in the specific power generation process, as shown in fig. 4, in the stage I, the polyvinyl chloride film 9 is completely overlapped with the left electrode, positive charges are induced on the left electrode, meanwhile, negative charges are induced on the right electrode, no electrons flow in the circuit, when the polyvinyl chloride film (9) rotates clockwise (in a top view), in the process, electrons flow from the right electrode to the left electrode, current flowing to the right in the circuit appears until 90 degrees of rotation reaches the stage II, the charges on each electrode become zero, then the polyvinyl chloride film 9 continuously rotates clockwise until the polyvinyl chloride film is completely overlapped with the right electrode (stage III), the charges on the electrodes are distributed opposite to the stage I, and current flowing to the left in the circuit is generated from the stage III to the stage IV; as the rotor continues to rotate, periodic ac high voltage power is generated in the external circuit.
The multi-channel friction electric control module 3 is shown in fig. 9, and the control module is composed of Sup>A microcontroller unit (MCU, STM32F 407) 24, sup>A six-channel power amplification board (CA 08A) 25, sup>A full-wave rectifying circuit 26 and six high-voltage reed relay (three normally open contacts, CRSTHV-DC12V-A, three normally closed contacts, CRSTHV-DC 12V-B) 23.
The microcontroller 24 generates three periodic step function signals with different phases, and the periodic step function signals are amplified by the power amplification board 25 and then used for controlling the high-voltage reed switch relay 23 to realize the opening and closing of the driving circuit; six high-voltage reed switch relays 23 are divided into three groups which are respectively used for driving the soft extension machine body 14 and the two friction electric feet 15, wherein each group comprises a normally open contact and a normally closed contact reed switch relay 23, the normally open contact reed switch relay is used for switching on a circuit, and the normally closed contact reed switch relay is used for discharging. Under the control of the module 3, the soft extension machine body 14 and the triboelectric feet 15 can be activated in sequence according to a set time sequence, so that the controllable movement of the triboelectric soft robot 1 is realized. The control process of a complete crawling process of the triboelectric soft robot 1 is as follows: firstly, the left triboelectric foot 15 and the soft extension machine body 14 are activated, so that the left triboelectric foot 15 is adsorbed on the substrate, the soft extension machine body 14 is extended, the right triboelectric foot 15 is pushed to move forwards, then the right triboelectric foot 15 is activated, the left triboelectric foot 15 and the soft extension machine body 14 are powered off, so that the right triboelectric foot 15 is adsorbed on the substrate, the soft extension machine body 14 is retracted, and the left triboelectric foot 15 is driven to move forwards, so that the complete controlled movement of the triboelectric soft robot 1 is completed.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "clockwise" and "counterclockwise" and the like are based on the directions or positional relationships shown in the drawings, are merely for convenience of description and simplification of the description, and do not indicate or imply that the apparatus or element to be referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
The above embodiments merely illustrate the basic principle and features of the present invention, and the present invention is not limited to the above embodiments, but may be varied and altered without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (4)
1. The utility model provides a software robot, its characterized in that includes organism and friction electricity foot (15), and friction electricity foot (15) set up on the organism, and friction electricity foot (15) include two-layer polyimide film (21) and one deck interdigital electrode (22), copper interdigital electrode (22) in the middle of upper and lower two-layer polyimide film (21) parcel.
2. The soft robot of claim 1, wherein the machine body is a soft extension machine body (14) which is formed by sequentially assembling and bonding a flexible acrylic frame plate (20), a dielectric elastic material (17), foam base material double faced adhesive tape (19) and a lower support plate (18) from top to bottom,
the flexible acrylic frame (20) is in an elongated plate shape, and has a certain elasticity when in a bending state in a free state,
wherein the lower support plate (18) is composed of three separate plates, the three plates comprising a cross plate (18) and two end plates (28),
both sides of the dielectric elastic material (17) are coated with compliant conductive carbon grease (16).
3. The soft robot according to claim 1, characterized in that it supplies high voltage electricity through a multi-path high voltage friction nano generator consisting of a rotor (5) in the middle, two independent stators (6) at both ends and a motor shaft (7), the two stators (6) being fixedly arranged in parallel, the motor shaft (7) being rotatably arranged on the two stators, the rotor (5) being fixedly arranged on the motor shaft (7) and being located at a position between the two stators (6).
4. A soft robot according to claim 3, wherein the rotor (5) consists of a polyvinyl chloride film (9) and a circular base plate (10),
cutting the polyvinyl chloride film (9) into a semicircle, and respectively adhering two semicircular polyvinyl chloride films (9) on two sides of a circular substrate (10);
the stator (6) is composed of paper (11), a copper electrode (12) and a circular plate (13), wherein the paper (11) is used as a positive friction material, and the paper (11) is fixed on the surface of the copper electrode (12); the copper electrode (12) is mounted on a circular plate (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310248782.XA CN116101395A (en) | 2023-03-15 | 2023-03-15 | Soft robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310248782.XA CN116101395A (en) | 2023-03-15 | 2023-03-15 | Soft robot |
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| Publication Number | Publication Date |
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| CN116101395A true CN116101395A (en) | 2023-05-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310248782.XA Pending CN116101395A (en) | 2023-03-15 | 2023-03-15 | Soft robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116728387A (en) * | 2023-08-14 | 2023-09-12 | 之江实验室 | Self-powered miniature soft robot based on photovoltaic and piezoelectric materials |
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2023
- 2023-03-15 CN CN202310248782.XA patent/CN116101395A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116728387A (en) * | 2023-08-14 | 2023-09-12 | 之江实验室 | Self-powered miniature soft robot based on photovoltaic and piezoelectric materials |
| CN116728387B (en) * | 2023-08-14 | 2023-12-19 | 之江实验室 | Self-powered miniature soft robot based on photovoltaic and piezoelectric materials |
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