CN202910862U - Software robot - Google Patents

Software robot Download PDF

Info

Publication number
CN202910862U
CN202910862U CN 201220574291 CN201220574291U CN202910862U CN 202910862 U CN202910862 U CN 202910862U CN 201220574291 CN201220574291 CN 201220574291 CN 201220574291 U CN201220574291 U CN 201220574291U CN 202910862 U CN202910862 U CN 202910862U
Authority
CN
China
Prior art keywords
differential magnetic
matrix
trunk
power supply
control circuit
Prior art date
Application number
CN 201220574291
Other languages
Chinese (zh)
Inventor
杨卫民
张磊
吴昌政
程祥
何雪涛
丁玉梅
Original Assignee
北京化工大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京化工大学 filed Critical 北京化工大学
Priority to CN 201220574291 priority Critical patent/CN202910862U/en
Application granted granted Critical
Publication of CN202910862U publication Critical patent/CN202910862U/en

Links

Abstract

The utility model relates to a software robot. The software robot can be applied to unstructured working environments like pipeline maintenance, search and rescue in the ruins and military reconnaissance and the like. The software robot comprises a basal body, a differential magnetic rigid unit or differential magnetic polymer composite materials, a control power supply and a control circuit. The basal body comprises a head portion, a neck portion, a trunk portion, feet and a tail portion. The differential magnetic rigid unit or differential magnetic polymer composite materials are in a small and slice-shaped structure. Four or more than four channels are arranged upward on the inner circumference of the trunk portion. The differential magnetic rigid unit or differential magnetic polymer composite materials are embedded into the channel along axial direction. The overall bending and peristalsis are realized through controlling retracted quantity of the differential magnetic rigid unit or differential magnetic polymer composite materials. The software robot utilizes a built-in power supply. The whole circuit is covered in the basal body, and environmental erosion and damage are prevented. Processability and elasticity of mouldings are good, and actions of the mouldings are sensitive and continuous.

Description

A kind of soft robot

Technical field

The utility model relates to a kind of soft robot that is applied in the non-structure operating environments such as pipeline maintenance, ruins search and rescue and military surveillance.

Background technology

Robot has been widely used in the numerous areas such as military affairs, industry, scientific exploration.Conventional machines people is is generally connected and composed by kinematic pair by rigid matrix, the movement combination of all kinematic pairs forms the working space of end effector of robot, this robot has the accurate advantage of motion, but the rigidity of structure makes its environmental suitability relatively poor, can't pass through narrow or baroque space.

Soft robot is the continuity of bio-robot research, and the mollusk in natural imitation circle has unlimited multiple degrees of freedom and continuous modification ability, can change arbitrarily self shape and size on a large scale.Because its outstanding flexibility and adaptability are with a wide range of applications in fields such as military, detection, medical treatment.

The soft robot of this team's invention of the Whiteside of Harvard University adopts soft lithography to make, although this technology has very high resolution ratio, but cost compare is high before mass production, need to move ahead by air simultaneously, behind the air Injection four limbs, having flexible cavity can expand as balloon, and cavity material is not unfolded and four limbs are rolled up.When bending, by the lateral thrust that limbs and frictional force effect on every side produce, whole health can constantly be pushed ahead.It is unstable that air pressure appears in this air driven mode easily, and because the lateral thrust that the difference of road surface situation causes limbs and its effect to produce also has very large difference.Chinese patent CN201010129066.2 discloses " a kind of search and rescue robot ", and it comprises matrix, middle skeleton, motor, pvc pipe, video camera and light source module etc.Shrink owing to need to order about pvc pipe by electric machine rotation, come the driven machine people thereby the extruding matrix produces driving force, so the structure of whole robot is comparatively complicated.And most of robot is wired, and the redundant of circuit affects the machine human motion easily, and circuit is subjected to erosion and the destruction of environment easily.

The utility model content

The purpose of this utility model is a kind of Novel soft of proposition robot type of drive, thereby soft robot is quick on the draw in non-structure operating environment, and motion is swift in motion flexibly.

The technical solution adopted in the utility model is: a kind of soft robot, mainly comprise matrix, differential magnetic rigid element or differential magnetic high-molecular composite, control power supply and control circuit, described matrix comprises head, neck, trunk, pin and afterbody totally five parts; Described differential magnetic rigid element or differential magnetic high-molecular composite are small-sized laminated structures, be similar to a magnetic stripe is cut into a plurality of, be mathematical Differentials, so be called differential magnetic rigid element or differential magnetic high-molecular composite; Four or four upwards are set with upper channel week in trunk, in passage, embed vertically differential magnetic rigid element or differential magnetic high-molecular composite, the characteristics that be magnetic when utilizing the energising of differential magnetic rigid element or differential magnetic high-molecular composite, magnetic disappear and peer is mutually exclusive when cutting off the power supply, the elasticity of conjugated polymer material simultaneously realizes whole crooked and wriggling by controlling differential magnetic rigid element in each passage or the stroke of differential magnetic high-molecular composite; The control power supply is small dry battery, is built in the head of matrix, and head and trunk adopt and removably connect, and when needing to change battery, opens the head replacing and gets final product; Differential magnetic rigid element or differential magnetic high-molecular composite are joined to one another by control circuit, by the matrix inner chamber, are connected with the power supply of head.A control circuit part is embedded in the trunk, be connected with the control power supply, make differential magnetic rigid element or differential magnetic high-molecular composite in each passage flexible respectively, thereby band kinetoplast motion, control circuit in addition some beyond trunk, the wireless remote control part, the motion of the instruction control matrix that sends to the control circuit of trunk by remote control part.

The used matrix material of a kind of soft robot of the utility model is the highly elastic materials such as polyurethane (TPU), thermoplastic elastomer (TPE) (TPE), thermoplastic sulfurized rubber (TPV), rubber (RB) or ethylene-vinyl acetate copolymer (EVA), and these materials have good elasticity and processing and forming.Utilize these characteristics, be easy to the required shape of processing cost utility model, simultaneously can also cooperate differential magnetic rigid element or differential magnetic high-molecular composite to finish drive actions, keep stable at most applied environment performance, flexible motion under the driving of control circuit.

The used control power supply of a kind of soft robot of the utility model is small dry battery, and this battery volume is little, and capacity is large, longer duration, and it is convenient to change.

The differential magnetic rigid element that a kind of soft robot of the utility model is used or differential magnetic high-molecular composite place in the passage that upwards arranges in trunk week, relatively at the same level each other, embed in the trunk material, be magnetic during energising, magnetic disappears during outage, can control by the size of regulating electric current the power of magnetic, and then the size of control polymeric material distortion.

The beneficial effects of the utility model are:

1, a kind of soft robot of the utility model can be regulated arbitrarily speed and the whole bending of soft robot motion, and it is stable to can be implemented under the non-structure environment operation type of drive, is active in one's movements, continuously.

2, a kind of soft robot structure of the utility model is small and exquisite flexible, and used matrix material processing and forming and elasticity are good, are processed into easily needed shape, the erosion that can bear environment simultaneously.

3, a kind of soft robot of the utility model adopts built-in power, overcome the shortcoming of the necessary external power supply of conventional machines people, thereby the whole piece circuit is wrapped in the matrix, avoids erosion and the destruction of environment, has avoided simultaneously the redundancy of circuit on the impact of soft robot motion.

Description of drawings

Fig. 1 is the monnolithic case figure of a kind of soft robot of the utility model.

Fig. 2 is a transverse cross-sectional view that saves of the trunk of a kind of soft robot of the utility model.

Fig. 3 is an axial section that saves of the trunk of a kind of soft robot of the utility model.

Among the figure: 1, head, 2, neck, 3, trunk, 4, pin, 5, afterbody, 6, matrix, 7, differential magnetic rigid element or differential magnetic high-molecular composite, 8, the matrix inner chamber, 9, passage.

The specific embodiment

As shown in Figure 1, a kind of soft robot of the utility model comprises head 1, neck 2, trunk 3, pin 4 and afterbody 5 totally five parts.As shown in Figures 2 and 3, four passages 9 of upwards arranging in week at the trunk 3 of this soft robot are evenly arranged differential magnetic rigid element or differential magnetic high-molecular composite 7 in passage 9, and homopolarity is relative, is embedded in the trunk 3 in the matrix 6.Differential magnetic rigid element or differential magnetic high-molecular composite 7 are joined to one another by control circuit, by matrix inner chamber 8, are connected with the power supply of head 1.The material of matrix 6 is polymeric material, this material has good elasticity, when beginning to switch on, differential magnetic rigid element or differential magnetic high-molecular composite 7 in the passage 4 have magnetic, because homopolarity repels mutually, differential magnetic rigid element or differential magnetic high-molecular composite 7 change into away from each other by contacting with each other, because the elasticity of matrix 6 materials, the differential magnetic rigid element or the differential magnetic high-molecular composite 7 that are embedded in the matrix 6 impel matrix 6 to open, during outage, differential magnetic rigid element or differential magnetic high-molecular composite 7 magnetic disappear, repulsive interaction disappears, impel matrix 6 to shrink, such one one is closed, thereby drives whole soft robot motion.By adjusting control circuit, control the speed of soft robot integrated moving, control stroke in each passage by the size of electric current in the adjusting control circuit, realize the bending of matrix 6 integral body by controlling stroke in each passage.

Claims (3)

1. soft robot is characterized in that: mainly comprise matrix, differential magnetic rigid element or differential magnetic high-molecular composite, control power supply and control circuit, described matrix comprises head, neck, trunk, pin and afterbody totally five parts; Described differential magnetic rigid element or differential magnetic high-molecular composite are small-sized laminated structures; Four or four upwards are set with upper channel week in trunk, in passage, embed vertically several differential magnetic rigid element or differential magnetic high-molecular composites separately, each differential magnetic rigid element or differential magnetic high-molecular composite are connected with control circuit, be magnetic when utilizing the energising of differential magnetic rigid element or differential magnetic high-molecular composite, magnetic disappears and at the same level mutually exclusive characteristics during outage, the elasticity of conjugated polymer material simultaneously realizes whole crooked and wriggling by controlling differential magnetic rigid element in each passage or the stroke of differential magnetic high-molecular composite; The control power supply is used for to the control circuit power supply, and the control on-chip power is in the head of matrix, and head and trunk adopt and removably connect; Differential magnetic rigid element or differential magnetic high-molecular composite are joined to one another by control circuit, by the matrix inner chamber, are connected with the power supply of head; A control circuit part is embedded in the trunk, is connected with the control power supply, and in addition some is the wireless remote control part beyond trunk to control circuit, and the motion of matrix is controlled in the instruction of sending to the control circuit of trunk by the remote control part; Matrix material adopts the high resiliency macromolecular material.
2. described a kind of soft robot according to claim 1, it is characterized in that: matrix material is polyurethane, thermoplastic elastomer (TPE), thermoplastic sulfurized rubber, rubber or ethylene-vinyl acetate copolymer.
3. described a kind of soft robot according to claim 1, it is characterized in that: the control power supply is small dry battery.
CN 201220574291 2012-11-02 2012-11-02 Software robot CN202910862U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 201220574291 CN202910862U (en) 2012-11-02 2012-11-02 Software robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 201220574291 CN202910862U (en) 2012-11-02 2012-11-02 Software robot

Publications (1)

Publication Number Publication Date
CN202910862U true CN202910862U (en) 2013-05-01

Family

ID=48159203

Family Applications (1)

Application Number Title Priority Date Filing Date
CN 201220574291 CN202910862U (en) 2012-11-02 2012-11-02 Software robot

Country Status (1)

Country Link
CN (1) CN202910862U (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102922528A (en) * 2012-11-02 2013-02-13 北京化工大学 Software robot
CN103753524A (en) * 2013-12-16 2014-04-30 北京化工大学 Octopus tentacle imitating adaptive capture soft manipulator and capture method thereof
CN104227721A (en) * 2014-08-18 2014-12-24 浙江工业大学 Variable rigidity module of bionic soft-bodied robot
CN105735391A (en) * 2016-03-01 2016-07-06 中国科学院合肥物质科学研究院 Underwater tunneling soft robot
WO2016176340A3 (en) * 2015-04-27 2016-12-08 Regents Of The University Of Minnesota Soft robots, soft actuators, and methods for making the same
CN107498538A (en) * 2017-08-25 2017-12-22 哈尔滨工业大学 A kind of high-adaptability it is new from deformation module soft robot
CN107914269A (en) * 2016-10-09 2018-04-17 中国科学技术大学 A kind of soft robot based on honeycomb pneumatic network
CN108481305A (en) * 2018-01-16 2018-09-04 江苏大学 A kind of imitative snakelike soft robot of electromagnetic drive

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102922528A (en) * 2012-11-02 2013-02-13 北京化工大学 Software robot
CN102922528B (en) * 2012-11-02 2014-11-05 北京化工大学 Software robot
CN103753524A (en) * 2013-12-16 2014-04-30 北京化工大学 Octopus tentacle imitating adaptive capture soft manipulator and capture method thereof
CN103753524B (en) * 2013-12-16 2015-07-15 北京化工大学 Octopus tentacle imitating adaptive capture soft manipulator and capture method thereof
CN104227721A (en) * 2014-08-18 2014-12-24 浙江工业大学 Variable rigidity module of bionic soft-bodied robot
CN104227721B (en) * 2014-08-18 2015-12-30 浙江工业大学 The stiffness variable module of bionic soft robot
WO2016176340A3 (en) * 2015-04-27 2016-12-08 Regents Of The University Of Minnesota Soft robots, soft actuators, and methods for making the same
US10760597B2 (en) 2015-04-27 2020-09-01 Regents Of The University Of Minnesota Soft robots, soft actuators, and methods for making the same
CN105735391B (en) * 2016-03-01 2017-12-15 中国科学院合肥物质科学研究院 A kind of water-bed driving soft robot
CN105735391A (en) * 2016-03-01 2016-07-06 中国科学院合肥物质科学研究院 Underwater tunneling soft robot
CN107914269A (en) * 2016-10-09 2018-04-17 中国科学技术大学 A kind of soft robot based on honeycomb pneumatic network
CN107498538A (en) * 2017-08-25 2017-12-22 哈尔滨工业大学 A kind of high-adaptability it is new from deformation module soft robot
CN108481305A (en) * 2018-01-16 2018-09-04 江苏大学 A kind of imitative snakelike soft robot of electromagnetic drive

Similar Documents

Publication Publication Date Title
Palagi et al. Bioinspired microrobots
Hammock et al. 25th anniversary article: the evolution of electronic skin (e‐skin): a brief history, design considerations, and recent progress
US10005187B2 (en) Robotic finger
Choi et al. Wearable biomechanical energy harvesting technologies
US10465723B2 (en) Soft robotic actuators
Li et al. Fluid-driven origami-inspired artificial muscles
Marchese et al. Autonomous soft robotic fish capable of escape maneuvers using fluidic elastomer actuators
Bauer et al. 25th anniversary article: a soft future: from robots and sensor skin to energy harvesters
Zhao et al. MSU jumper: A single-motor-actuated miniature steerable jumping robot
Wang et al. Locomotion of inchworm-inspired robot made of smart soft composite (SSC)
Ashley Artificial muscles
Chu et al. Review of biomimetic underwater robots using smart actuators
Calisti et al. Fundamentals of soft robot locomotion
US8052185B2 (en) Robot hand with humanoid fingers
US8516918B2 (en) Biomimetic mechanical joint
US9314933B2 (en) Robot having soft arms for locomotion and grip purposes
Hosoda et al. Pneumatic-driven jumping robot with anthropomorphic muscular skeleton structure
Sareh et al. Swimming like algae: biomimetic soft artificial cilia
Trimmer Soft robots
US10385886B2 (en) Soft actuators and soft actuating devices
CN103625572A (en) Quadruped robot leg with elastic four-rod mechanism
Mangan et al. Development of a peristaltic endoscope
WO2013148340A2 (en) Systems and methods for providing flexible robotic actuators
CN102381380B (en) Novel four-footed walker having parallel leg structure
CN1142048C (en) Miniaturized bionic 6-leg robot

Legal Events

Date Code Title Description
GR01 Patent grant
C14 Grant of patent or utility model
AV01 Patent right actively abandoned

Granted publication date: 20130501

Effective date of abandoning: 20141105

RGAV Abandon patent right to avoid regrant