CN210414571U

CN210414571U - Soft walking robot

Info

Publication number: CN210414571U
Application number: CN201921417038.3U
Authority: CN
Inventors: 韩奉林; 李明辉; 田亮; 陈志�; 严宏志
Original assignee: Central South University
Current assignee: Central South University
Priority date: 2019-08-29
Filing date: 2019-08-29
Publication date: 2020-04-28
Anticipated expiration: 2029-08-29

Abstract

The utility model discloses a soft walking robot, which comprises a hose, filling liquid and an illumination device; the hose is folded outwards, and two ends of the hose are sealed to form a double-layer pipe with a closed space; the outer surface of the double-layer pipe is smooth; the filling liquid is filled in the closed space of the double-layer pipe and expands the double-layer pipe; the outer surface of the double-layer pipe is provided with a photoinduced deformation material layer; the illumination device is aligned with one end of the double-layer tube for illumination. The utility model discloses simple structure, the compliance is good, the power consumption is few and can move under complicated non-structural environment.

Description

Soft walking robot

Technical Field

The utility model belongs to the technical field of the robotechnology and specifically relates to a software walking robot is related to.

Background

With the progress of technology, robots are more mature in application of various industries, but most of the existing robots are rigid robots with mechanical structures, can quickly and accurately execute tasks, and play an important role in the fields of manufacturing, assembly, logistics and the like, but the robots usually work in a structured environment, are difficult to adapt to dynamic, unknown and unstructured complex environments, do not have infinite freedom and distributed continuous deformation capability, cannot realize operations of crawling, twisting, creeping through narrow spaces and the like by simulating morphological structures of organisms, and are poor in use flexibility.

SUMMERY OF THE UTILITY MODEL

The utility model discloses an it is not enough with regard to overcoming prior art, provide a simple structure, the compliance is good, the power consumption is few and can be at the software walking robot of non-structural complex environment lower motion. In order to achieve the above object, the utility model provides a soft walking robot, which comprises a hose, a filling liquid and an illumination device; the hose is folded outwards, and two ends of the hose are sealed to form a double-layer pipe with a closed space; the outer surface of the double-layer pipe is smooth; the filling liquid is filled in the closed space of the double-layer pipe and expands the double-layer pipe; the outer surface of the double-layer pipe is provided with a photoinduced deformation material layer; the illumination device is aligned with one end of the double-layer tube for illumination.

Further, the filling liquid is liquid or gel.

Further, the light-induced deformation material is a light-sensitive liquid crystal elastomer or a light-sensitive material with light-induced stress release.

Furthermore, the double-layer pipe is formed by jointing a plastic layer positioned on the inner surface and a photoinduced deformation material layer positioned on the outer surface.

Further, the illumination device comprises a luminous body, and the luminous body is aligned to the position, far away from the center, of one end of the double-layer tube for illumination.

The utility model has the advantages that: the utility model discloses a fill unique structural design of filling liquid in the double-deck pipe to combine the photic characteristic that takes place deformation of deformation material photic irradiation, make double-deck pipe one end move towards the other end after the photic irradiation, realized the utility model discloses the walking motion of software walking robot, the compliance is good, and the walking is steady, and it is few to consume energy, has realized the motion under the non-structural complex environment, just the utility model discloses simple structure is small and exquisite, and the control of being convenient for can be applicable to operation occasions such as narrow and small space.

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, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a perspective view of the double-layer tube of the present invention.

Fig. 3 is an operation schematic diagram of the present invention.

The above reference numerals:

1 double-layer tube, 2 filling liquid.

Detailed Description

The following further describes the present invention with reference to the attached drawings, but the scope of the present invention is not limited thereto.

Examples

As shown in fig. 1 and 2, the present embodiment provides a soft walking robot, which includes a hose, a filling liquid 2 and a lighting device; the hose is turned over outwards, and two ends of the hose are sealed to form a double-layer pipe 1 with a sealed space; the outer surface of the double-layer pipe 1 is smooth; the filling liquid 2 is filled in the closed space of the double-layer pipe 1 and expands the double-layer pipe 1; the outer surface of the double-layer pipe 1 is provided with a photoinduced deformation material layer; the illumination device is aligned with one end of the double-layer tube 1 for illumination, as shown in fig. 1, namely, aligned with the right end of the double-layer tube 1 for illumination, and the arrow shown is light emitted by the illumination device. Wherein the double tube 1 is filled with the filling liquid 2 in advance before the double tube 1 is completely closed.

The photo-induced deformation material is a novel functional material, and when light (such as laser) with specific wavelength and certain intensity is irradiated, the photo-physical or photochemical effect is generated in the material, so that the light energy is converted into mechanical energy, and the stretching deformation is generated; when the light with specific wavelength and certain intensity disappears, such as in a natural light environment, the deformation of the photoinduced deformation material is recovered, so that accurate and rapid optical driving is realized, and the characteristics of recoverability and repetitive driving are realized. In this embodiment, the light-induced deformation material is preferably a light-sensitive liquid crystal elastomer or a light-sensitive material with light-induced stress release.

The light energy is high in safety, good in remote controllability and has instant action. Compared with other driving modes such as electricity, heat, magnetism and the like, the optical driving mode has the advantages of easiness in control, low energy consumption, capability of avoiding electromagnetic interference and the like, and the magnitude of the driving force can be controlled by applying light sources with different wavelengths or illumination intensities.

The operation principle of the present embodiment as shown in fig. 3 is as follows: (1) in the state, the illumination device does not work, namely no light beam is irradiated, and the double-layer tube 1 is in a static balance state; (2) in the state, the illumination device works to emit light beams to illuminate one end of the double-layer tube 1, preferably, one end of the double-layer tube 1 is illuminated far away from the central part, namely, the position of one end of the double-layer tube 1 close to the outer layer; (3) under the state, under the irradiation of a driving beam, the photoinduced deformation material layer at the illumination area deforms and begins to shrink; (4) in the state, because one end of the double-layer pipe 1 contracts and the filling liquid 2 cannot be compressed, the pressure generated by the deformation of the photoinduced deformation material layer is transmitted to the other end of the double-layer pipe 1, so that the other end of the double-layer pipe 1 expands outwards; (5) in the state, the outer layer of the double-layer pipe 1 is influenced by the friction of a contact surface and cannot slide, and the inner layer of the double-layer pipe 1 is dragged from one end of the double-layer pipe 1 to the other end of the double-layer pipe 1 under the action of the expansion pressure of the other end of the double-layer pipe 1; (6) under the state, filling liquid 2 flows along with the removal of double tube 1 inlayer, and the inlayer of the double tube 1 other end outwards stretches out and turns over and form the skin, and the skin of double tube 1 one end inwards contracts in and forms the inlayer, makes the inlayer and the skin of double tube 1 take place to exchange, realizes that double tube 1 is by the removal of one end to the other end, and wherein filling liquid 2 flows at double tube 1 inner loop, has so realized the walking motion of this embodiment software walking robot. If the light beam also moves following the double tube 1, the continuous movement of the soft walking robot of the present embodiment is realized. The embodiment controls the deformation amplitude of the photoinduced deformation material layer by adjusting the intensity of light emitted by the illumination device, thereby controlling the walking speed of the soft walking robot of the embodiment and having high use flexibility.

The soft body walking robot of the embodiment has good flexibility, stable walking and low energy consumption, realizes the movement under the non-structural complex environment, has simple and small structure, is convenient to control, and can be suitable for operation occasions such as narrow and small spaces.

The outer surface of the double-layer pipe 1 is smooth, so that the friction of the contact surfaces of the double-layer pipe 1, such as the ground and the like, is reduced, and the moving speed and the moving efficiency of the double-layer pipe 1 are improved.

The double-layer tube 1 of the present embodiment may be formed by attaching a plastic layer on an inner surface and a photo-induced deformable material layer on an outer surface, or the whole double-layer tube 1 may be made of a photo-induced deformable material.

The filling liquid 2 in this embodiment is a liquid or a gel, wherein the liquid may be water, or the gel is an environment-friendly gel, which is green and environment-friendly.

The illumination device of the present embodiment includes a light emitting body, and the light emitting body is aligned to a central portion of one end of the double-layer tube 1, which is far from the central portion, to perform illumination. The light emitter can be an existing laser emitter, an ultraviolet emitter and the like. According to the actual use requirement, the luminous body can be manually held by a hand to irradiate one end of the double-layer tube 1, or the luminous body can be arranged on corresponding equipment. In this embodiment, the wavelength of the light beam is determined by the properties of the layer of photo-deformable material.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention 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

1. A soft walking robot is characterized by comprising a hose, filling liquid and an illumination device; the hose is folded outwards, and two ends of the hose are sealed to form a double-layer pipe with a closed space; the outer surface of the double-layer pipe is smooth; the filling liquid is filled in the closed space of the double-layer pipe and expands the double-layer pipe; the outer surface of the double-layer pipe is provided with a photoinduced deformation material layer; the illumination device is aligned with one end of the double-layer tube for illumination.

2. The soft walking robot of claim 1, wherein the filling liquid is a liquid or gel.

3. The soft walking robot of claim 1, wherein the photo-deformable material is a photosensitive liquid crystal elastomer or a photosensitive material with photo-induced stress release.

4. The soft walking robot of claim 1, wherein the double-layer tube is formed by laminating a plastic layer on the inner surface and a photo-deformable material layer on the outer surface.

5. The soft walking robot as claimed in any one of claims 1 to 4, wherein the illumination means comprises a light emitter which illuminates the end of the double tube away from the center.