CN211442530U - Rolling robot based on flexible driving assembly - Google Patents
Rolling robot based on flexible driving assembly Download PDFInfo
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- CN211442530U CN211442530U CN201922334002.5U CN201922334002U CN211442530U CN 211442530 U CN211442530 U CN 211442530U CN 201922334002 U CN201922334002 U CN 201922334002U CN 211442530 U CN211442530 U CN 211442530U
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Abstract
A rolling robot based on a flexible driving assembly comprises a hollow cylindrical robot frame, wherein M x N mounting holes are formed in the wall of the robot frame, M is the number of rows of the mounting holes formed in the robot frame in the circumferential direction, N is the number of the mounting holes formed in each row in the axial direction, each mounting hole is embedded with a flexible driving assembly which can be inflated to the inside and can expand under the action of an electrostatic field, an inflation interface of each flexible driving assembly is located at the central through hole of the robot frame and is connected with an external air pump through an inflation tube, and N flexible driving assemblies in each row are connected with an external power supply through a power switch. The utility model discloses a flexible intelligent material direct drive does not have drive mechanism, simple structure, and the quality is light, and energy efficiency is high, and the softwood material drive is good to the adaptability on ground. The utility model discloses can also promote to spherical robot, realize two degree of freedom rollings.
Description
Technical Field
The utility model relates to a robot. In particular to a rolling robot based on a flexible driving assembly.
Background
Rolling is used as a robot moving mode, compared with the traditional moving modes such as wheel type, crawling type and crawler type, the robot moving mode has higher moving efficiency on certain terrains (such as gentle ground), does not have the problems of overturning and the like, and has stronger environment responding capability.
At present, rolling robots are designed by a plurality of research and research institutions at home and abroad, such as Beijing aerospace university, southeast university, Beijing post and telecommunications university and the like, the robots mainly adopt a driving mode of 'motor + reducer', and a transmission mechanism is complex and has high power consumption.
Disclosure of Invention
The utility model aims to solve the technical problem that a rolling robot based on flexible drive assembly by flexible material direct drive, no drive mechanism is provided.
The utility model adopts the technical proposal that: a rolling robot based on a flexible driving assembly comprises a hollow cylindrical robot frame, wherein M x N mounting holes are formed in the wall of the robot frame, M is the number of rows of the mounting holes formed in the robot frame in the circumferential direction, N is the number of the mounting holes formed in each row in the axial direction, each mounting hole is embedded with a flexible driving assembly which can be inflated to the inside and can expand under the action of an electrostatic field, an inflation interface of each flexible driving assembly is located at the central through hole of the robot frame and is connected with an external air pump through an inflation tube, and N flexible driving assemblies in each row are connected with an external power supply through a power switch.
A support frame used for supporting the flexible driving assemblies inserted into the inner side is formed at the central through hole of the robot frame, and a power line embedding groove used for arranging the power line is formed in the support frame along the axis corresponding to each row of flexible driving assemblies.
M is a natural number more than or equal to 4, and N is a natural number more than or equal to 1.
The flexible driving assembly comprises an outer frame, an inflation interface is arranged at the bottom of the outer frame, the upper end of the outer frame is of an open structure and is sealed through a flexible sealing structure fixedly arranged on an upper port, so that an air cavity for inflating compressed air is formed in the outer frame, the flexible sealing structure is composed of a flexible intelligent end cover which is hermetically connected with the open end of the outer frame and is made of flexible intelligent materials, and a soft material protective layer which is arranged on the outer side of the flexible intelligent end cover and plays a role in protecting the flexible intelligent end cover, wherein the upper surface and the lower surface of the flexible intelligent end cover are respectively coated with a layer of positive flexible electrode and a layer of negative flexible electrode which are used for generating electrostatic fields, and the positive flexible electrode and the negative flexible electrode are connected with corresponding power switches through wires.
The upper port of the outer frame is provided with a horizontally and outwards projected edge which is used for being lapped on the periphery of the mounting hole of the robot frame.
The utility model discloses a roll robot based on flexible drive assembly adopts flexible intelligent material direct drive, no drive mechanism, simple structure, and the quality is light, and energy efficiency is high, and the softwood material drive is good to the adaptability on ground. The utility model discloses can also promote to spherical robot, realize two degree of freedom rollings.
Drawings
Fig. 1 is a schematic overall structure diagram of a rolling robot based on a flexible driving assembly of the present invention;
FIG. 2 is a schematic view of the external structure of the flexible driving assembly of the present invention;
FIG. 3 is a schematic diagram of the internal structure of the flexible driving assembly of the present invention when it is not powered;
FIG. 4 is a schematic view of the internal structure of the flexible drive assembly of the present invention when it is powered;
fig. 5 is a schematic diagram of the rolling robot in a non-rolling state when the flexible driving assembly is not powered;
fig. 6 is a schematic diagram of the rolling robot in a rolling state when the flexible driving assembly is not powered.
In the drawings
1: robot frame 2: flexible drive assembly
2-1: outer frame 2-2: flexible intelligent end cover
2-3: positive and negative flexible electrodes 2-4: soft material protective layer
2-5: and 2-6 of an air inflation interface: edge
2-7: compressed air 3: inflation tube
4: power cord embedded groove 5: power switch
6: center through hole 7: supporting frame
Detailed Description
The rolling robot based on the flexible driving assembly of the present invention is described in detail with reference to the following embodiments and accompanying drawings.
As shown in fig. 1, the utility model discloses a rolling robot based on flexible drive assembly, including the robot frame 1 of cavity cask shape, it has mxn a mounting hole to open on the bucket wall of robot frame 1, and wherein, M is the row number of the mounting hole that forms along the circumferencial direction on robot frame 1, and N is the number of the mounting hole that every row of edgewise formed, M be the natural number more than or equal to 4, N be more than or equal to 1 natural number. The robot frame 1 is made of plastic and can be manufactured by 3D printing.
Each mounting hole is embedded with a flexible driving assembly 2 which can be inflated to the inside and can expand under the action of an electrostatic field, an inflation interface 2-5 of each flexible driving assembly 2 is positioned at a central through hole 6 of the robot frame 1 and is connected with an external air pump through an inflation tube 3, so that all the flexible driving assemblies 2 are mutually communicated through the inflation tube 3, and N flexible driving assemblies 2 in each row are connected with an external power supply through a power switch 5.
A support frame 7 for supporting the flexible driving components 2 inserted into the inner side is formed at the central through hole 6 of the robot frame 1, and a power line embedding groove 4 for arranging the power line is formed on the support frame 7 along the axis corresponding to each row of flexible driving components 2.
As shown in fig. 2, 3 and 4, the flexible driving assembly 2 includes an outer frame 2-1, the air charging connector 2-5 is disposed at the bottom of the outer frame 2-1, the upper end of the outer frame 2-1 is an open structure, and an upper port of the outer frame 2-1 is formed with a rim 2-6 protruding horizontally and outwards for being lapped on the periphery of a mounting hole of the robot frame 1. The upper port of the outer frame 2-1 is sealed by a flexible sealing structure fixedly arranged on the upper port, so that an air cavity for filling compressed air is formed in the outer frame 2-1, the flexible sealing structure is composed of a flexible intelligent end cover 2-2 which is hermetically connected with the open end of the outer frame 2-1 and is made of flexible intelligent materials, and a soft material protective layer 2-4 which is arranged on the outer side of the flexible intelligent end cover 2-2 and plays a role in protecting the flexible intelligent end cover 2-2, wherein the upper surface and the lower surface of the flexible intelligent end cover 2-2 are respectively coated with a layer of positive flexible electrode 2-3 and a layer of negative flexible electrode 3 for generating electrostatic fields, and the positive flexible electrode 2-3 and the negative flexible electrode 2-3 are connected with corresponding power switches through leads.
The flexible intelligent material is a dielectric soft material which can generate thickness direction deformation under the action of an electrostatic field, and can be a dielectric acrylic film or a silicon rubber film, such as a high dielectric constant silicon rubber film, and the types are as follows: LQ-3946, manufacturer: shenzhen, Liqunshengxing science and technology Limited.
The utility model discloses a roll robot based on flexible drive assembly, during the use, fill into through trachea 3 in all flexible drive assembly 2 and seal trachea 3 behind the compressed air 2-7 of certain pressure for flexible intelligent end cover 2-2 among the flexible drive assembly 2 adapts to with robot frame 1's surface shape, is convex.
As shown in fig. 3 and 4, when voltage is applied to the positive and negative flexible electrodes 2-3 on both sides of the flexible intelligent end cap 2-2, the flexible intelligent end cap 2-2 has a reduced in-plane stress under the action of the electric field pressure, and protrudes under the action of the compressed air 2-7 to generate displacement. Meanwhile, as the air chambers of all the flexible driving assemblies 2 are communicated, the compressed air 2-7 in the air chamber of the non-electrified flexible driving assembly 2 flows to the air chamber of the electrified flexible driving assembly 2, so that the pressure of the compressed air 2-7 is basically kept unchanged, and the convex displacement of the flexible intelligent end cover 2-2 is favorably improved.
As shown in fig. 5 and 6, when the robot needs to rotate in the counterclockwise direction, the 1 st column of flexible driving assemblies are powered on, the robot is pushed to rotate when the flexible intelligent end cover 2-2 protrudes, after the contact point of the mth group of flexible driving assemblies and the ground passes through the midpoint of the flexible driving assemblies, the mth group of flexible driving assemblies is powered on, and then the mth-1 group, the mth-2 group, … and the 1 st group are sequentially arranged, so that the robot rolls in the counterclockwise direction.
Claims (5)
1. A rolling robot based on a flexible driving assembly comprises a hollow cylindrical robot frame (1), it is characterized in that the barrel wall of the robot frame (1) is provided with M multiplied by N mounting holes, wherein M is the number of rows of mounting holes formed on the robot frame (1) along the circumferential direction, N is the number of mounting holes formed on each row along the axial direction, each mounting hole is embedded with a flexible driving assembly (2) which can be inflated inwards and can expand under the action of an electrostatic field, an inflation interface (2-5) of each flexible driving assembly (2) is positioned at a central through hole (6) of the robot frame (1), and are connected with an external air pump through an air inflation tube (3), and the N flexible driving components (2) in each row are connected with an external power supply through a power switch (5).
2. The rolling robot based on the flexible driving components is characterized in that a supporting frame (7) used for supporting the flexible driving components (2) inserted into the inner side is formed at the central through hole (6) of the robot frame (1), and a power line embedding groove (4) used for arranging the power line of each row is formed on the supporting frame (7) along the axis corresponding to each row of the flexible driving components (2).
3. A rolling robot based on flexible driving assembly as claimed in claim 1, wherein M is a natural number greater than or equal to 4, and N is a natural number greater than or equal to 1.
4. The rolling robot based on the flexible driving assembly according to claim 1, wherein the flexible driving assembly (2) comprises an outer frame (2-1), the inflation connector (2-5) is arranged at the bottom of the outer frame (2-1), the upper end of the outer frame (2-1) is of an open structure and is sealed through a flexible sealing structure fixedly arranged on an upper port, so that an air cavity for filling compressed air is formed in the outer frame (2-1), the flexible sealing structure is composed of a flexible intelligent end cover (2-2) which is hermetically connected with the open end of the outer frame (2-1) and is made of flexible intelligent materials, and a soft material protection layer (2-4) which is arranged outside the flexible intelligent end cover (2-2) and plays a role in protecting the flexible intelligent end cover (2-2), the upper surface and the lower surface of the flexible intelligent end cover (2-2) are respectively coated with a layer of positive flexible electrode (2-3) and a layer of negative flexible electrode (2-3) for generating an electrostatic field, and the positive flexible electrode (2-3) and the negative flexible electrode are connected with corresponding power switches through leads.
5. A rolling robot based on flexible drive assembly according to claim 4, characterized in that the upper port of the outer frame (2-1) is formed with a rim (2-6) protruding horizontally outwards for riding on the perimeter of the mounting hole of the robot frame (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922334002.5U CN211442530U (en) | 2019-12-23 | 2019-12-23 | Rolling robot based on flexible driving assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922334002.5U CN211442530U (en) | 2019-12-23 | 2019-12-23 | Rolling robot based on flexible driving assembly |
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| CN211442530U true CN211442530U (en) | 2020-09-08 |
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| CN201922334002.5U Active CN211442530U (en) | 2019-12-23 | 2019-12-23 | Rolling robot based on flexible driving assembly |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113147938A (en) * | 2021-04-09 | 2021-07-23 | 苏州大学 | Self-powered sensing method and device for spherical robot |
| CN113232008A (en) * | 2021-05-15 | 2021-08-10 | 吉林大学威海仿生研究院 | Unrestraint hydraulic pressure enlargies static self-driven roll formula robot |
| CN113492394A (en) * | 2021-07-08 | 2021-10-12 | 中南大学 | Wheel-shaped rolling robot based on inflatable dielectric elastomer driver |
| CN115303377A (en) * | 2022-09-20 | 2022-11-08 | 哈尔滨理工大学 | Diameter-variable soft rolling robot and control method thereof |
-
2019
- 2019-12-23 CN CN201922334002.5U patent/CN211442530U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113147938A (en) * | 2021-04-09 | 2021-07-23 | 苏州大学 | Self-powered sensing method and device for spherical robot |
| CN113232008A (en) * | 2021-05-15 | 2021-08-10 | 吉林大学威海仿生研究院 | Unrestraint hydraulic pressure enlargies static self-driven roll formula robot |
| CN113232008B (en) * | 2021-05-15 | 2023-03-14 | 吉林大学威海仿生研究院 | Unrestraint hydraulic pressure enlargies static self-driven roll formula robot |
| CN113492394A (en) * | 2021-07-08 | 2021-10-12 | 中南大学 | Wheel-shaped rolling robot based on inflatable dielectric elastomer driver |
| CN115303377A (en) * | 2022-09-20 | 2022-11-08 | 哈尔滨理工大学 | Diameter-variable soft rolling robot and control method thereof |
| CN115303377B (en) * | 2022-09-20 | 2023-11-03 | 哈尔滨理工大学 | Variable-diameter soft rolling robot and control method thereof |
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