CN213918299U - Snake-imitating soft rod-climbing robot based on IPMC flexible driver - Google Patents
Snake-imitating soft rod-climbing robot based on IPMC flexible driver Download PDFInfo
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- CN213918299U CN213918299U CN202022242030.7U CN202022242030U CN213918299U CN 213918299 U CN213918299 U CN 213918299U CN 202022242030 U CN202022242030 U CN 202022242030U CN 213918299 U CN213918299 U CN 213918299U
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- ISRUGXGCCGIOQO-UHFFFAOYSA-N Rhoden Chemical compound CNC(=O)OC1=CC=CC=C1OC(C)C ISRUGXGCCGIOQO-UHFFFAOYSA-N 0.000 title claims abstract 17
- 239000000463 material Substances 0.000 claims abstract description 28
- 230000009194 climbing Effects 0.000 claims abstract description 12
- 238000000034 method Methods 0.000 claims abstract description 4
- 230000000087 stabilizing effect Effects 0.000 claims description 4
- 239000003292 glue Substances 0.000 claims description 2
- 241000270295 Serpentes Species 0.000 abstract description 4
- 230000009471 action Effects 0.000 abstract description 4
- 230000009193 crawling Effects 0.000 abstract description 3
- 239000011664 nicotinic acid Substances 0.000 description 6
- 229920001746 electroactive polymer Polymers 0.000 description 4
- 230000003321 amplification Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000003014 ion exchange membrane Substances 0.000 description 3
- 238000003199 nucleic acid amplification method Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000005684 electric field Effects 0.000 description 2
- 239000012528 membrane Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 229910001285 shape-memory alloy Inorganic materials 0.000 description 2
- 239000007779 soft material Substances 0.000 description 2
- 241000237852 Mollusca Species 0.000 description 1
- 150000001450 anions Chemical class 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 150000001768 cations Chemical class 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 239000008367 deionised water Substances 0.000 description 1
- 229910021641 deionized water Inorganic materials 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229920000831 ionic polymer Polymers 0.000 description 1
- 239000002905 metal composite material Substances 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 239000002904 solvent Substances 0.000 description 1
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- 238000011105 stabilization Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Chemical compound O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The utility model relates to a motion robot. Aims to provide a snake-imitating soft rod-climbing robot; the snake-imitating soft rod-climbing robot can imitate the crawling action of a snake and move on a columnar object. The technical scheme is as follows: a snake-imitating soft rod climbing robot based on an IPMC flexible driver comprises an IPMC drive controller; the method is characterized in that: the robot further comprises a plurality of fan-shaped small sections which are arranged in a line and made of IPMC materials, strip-shaped connecting pieces which are connected between every two adjacent fan-shaped small sections one by one and made of the IPMC materials, and a placing plate which is provided with the IPMC drive controller and a battery, wherein each fan-shaped small section and each connecting piece are respectively communicated through a conducting wire.
Description
Technical Field
The utility model relates to a motion robot, especially bionical snake software pole-climbing robot based on flexible driver of IPMC.
Background
The bionic robot is always a very popular field in the robot field and has great application in the industrial, military and entertainment fields. With the expansion of the application field of the robot in recent years, higher demands are made on the technical level of the robot itself. The working environment of the robot gradually becomes more complex and more variable, and the traditional rigid robot usually lacks flexibility and has a single motion mode and is not suitable for working in the environment. However, the working environment promotes the development of the soft robot. Researchers have developed a biomimetic soft robot by simulating a mollusk in nature. Meanwhile, the research on the driving material of the bionic soft robot is also a key point. Currently, soft materials are commonly used as piezoelectric materials, shape memory alloys, and Electroactive polymers (EAP). In the practical application process, the voltage required by the piezoelectric material is too high and is not easy to realize; the required temperature of the shape memory alloy is high, and the deformation is slow. The problems associated with these materials can be solved by using EAP materials.
An Ionic Polymer Metal Composite (IPMC) is one of EAP materials, and is a Composite material composed of an ion exchange membrane and two side electrode layers. The ion exchange membrane is soaked in deionized water, under the action of a direct current electric field, hydrated cations in the ion exchange membrane carry solvent molecules to move to a cathode through a micro pipeline in the membrane, fixed anions are retained on a macromolecular framework to cause the contraction of the anode and the expansion of the cathode, and macroscopically, the material is caused to bend towards the anode and deform. After the DC electric field is removed, the IPMC material can restore the original size. Compared with other soft materials, the IPMC has the characteristics of light weight, high response speed and capability of forming larger deformation and tension under lower voltage, and has huge application prospects in the fields of bionic robots, opto-electro-mechanical systems, biomedical engineering and the like. Therefore, the IPMC material as the bionic robot driving material can overcome the defects brought by the traditional driving material.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem of overcoming the defects of the background technology and providing a snake-imitating soft rod-climbing robot; the snake-imitating soft rod-climbing robot can imitate the crawling action of a snake and move on a columnar object.
The utility model provides a technical scheme is:
a snake-imitating soft rod climbing robot based on an IPMC flexible driver comprises an IPMC drive controller; the method is characterized in that: the robot further comprises a plurality of fan-shaped small sections which are arranged in a line and made of IPMC materials, strip-shaped connecting pieces which are connected between every two adjacent fan-shaped small sections one by one and made of the IPMC materials, and a placing plate which is provided with the IPMC drive controller and a battery, wherein each fan-shaped small section and each connecting piece are respectively communicated through a conducting wire.
Further, in the non-working state, the axes of all the fan-shaped joints are parallel to each other.
Further, the fan-shaped small section is adhered to the connecting sheet by glue.
Further, the sector ring-shaped small section is in a shape of two-thirds of a circular ring.
Further, the center lines of the connecting pieces on both sides of each fan-shaped section are distributed in a staggered mode, and the center line of any connecting piece in all the connecting pieces is not collinear with the center lines of other connecting pieces.
Further, the IPMC drive controller includes a single chip microcomputer, a voltage stabilizing module, a signal amplifying module, and a control switch.
The utility model discloses a theory of operation is: the control switch is pressed, a 12-volt direct-current power supply starts to supply power to the IPMC drive controller, the single chip microcomputer generates a square-wave direct-current signal with adjustable duty ratio, a drive signal with higher power is generated through the signal amplification module, and the drive signal excites the IPMC material; after the fan-shaped small section and the connecting piece which are made of IPMC materials receive driving signals in sequence, the fan-shaped small section and the connecting piece deform in different degrees in sequence, and the action of climbing the snake rod is simulated.
The utility model discloses the beneficial effect who reaches: the utility model discloses according to the deformation characteristics of IPMC material, adopt the IPMC material to be drive material. Snakes are used as bionic research objects, and the structure of the large contact surface is designed, so that the friction force required by the movement of the robot in climbing poles can be increased; meanwhile, the connecting sheet can increase the motion stability of the snake-like pole-climbing robot in pole-climbing motion. The controller is mainly a single chip microcomputer and can adjust frequency and voltage. The utility model discloses simple structure, small in size has made the extension in bionics research, has done more intensive research and popularization for IPMC material as bionic robot's drive material simultaneously.
Drawings
Fig. 1 is a schematic perspective view of an embodiment of the present invention.
Fig. 2 is a schematic view of the connection relationship between the middle sector ring-shaped section and the connecting piece of the present invention.
Fig. 3 is a schematic diagram of the structural change of the single fan-ring section in the present invention when it is powered on.
Fig. 4 is a schematic diagram of the structural change of the middle connection plate during power-on operation.
Fig. 5 is a schematic structural diagram of the IPMC drive controller of the present invention.
Fig. 6 is a schematic view of the climbing rod of the present invention.
In fig. 1 to 6: 1-sector ring section; 1-connecting sheet; 3-1-a signal amplification module; 3-2-voltage stabilization module; 3-a battery; 4, placing a plate; 5-rod.
Detailed Description
The present invention will be further described with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
The snake-imitating soft climbing robot prepared based on the IPMC flexible driver as shown in FIG. 1 comprises a plurality of fan-shaped (partial ring shape; preferably two-thirds ring shape) small sections 1 made of IPMC materials and strip-shaped connecting sheets 2, wherein every two adjacent fan-shaped small sections are connected by one connecting sheet; and in the inactive condition, the axes of all the fan-shaped sections are parallel to each other (as recommended, in the inactive condition, the axes of all the fan-shaped sections coincide with each other). The central lines of the two connecting pieces on the two sides of each fan-shaped small section are distributed in a staggered mode, and the central line of any one connecting piece in all the connecting pieces is not collinear with the central lines of the other connecting pieces, so that the stability of the snake-imitating movement is improved. The snake-imitating soft rod-climbing robot further comprises a placement plate 4 for installing the IPMC drive controller and the battery, and each ring-shaped section and each connecting sheet are respectively communicated with the IPMC drive controller through a wire.
As shown in fig. 4, the placement board of the present invention is installed with IPMC driving controller and battery 3-3 (outputting 12 v dc), and a button switch (a switch through hole is formed at the position where the bottom of the battery pack is connected to the housing, and the button switch extends out of the switch through hole) is also arranged below the battery pack. Obviously, the placing plate is communicated with each connecting sheet only through a lead and each fan-shaped ring section (the fan-shaped ring sections and the connecting sheets are provided with small holes, and lead connectors are inserted and fixed in the small holes).
The IPMC drive controller (prior art) comprises a voltage stabilizing module 3-2, a signal amplifying module 3-1, a single chip microcomputer and a control switch (the single chip microcomputer and the control switch are omitted in the figure). 5V and 1HZ square wave signals (adjustable output voltage and frequency) are output by IPMC material characteristics, the signals are output by a single chip microcomputer stm32, the frequency and amplitude of the signals can be changed through the single chip microcomputer, and the voltage stabilizing module and the signal amplifying module respectively recommend to use LTC3780 and L298N.
When a power supply is turned on, the single chip microcomputer generates a square wave signal (output voltage and frequency are adjustable) with 5V voltage and 1HZ, the signal is amplified by the signal amplification module and then acts on the IPMC material, so that the material is deformed (as shown in figure 3, the sector ring small section is deformed in a shrinking mode towards the inner diameter direction, as shown in figure 4, the connecting sheet is deformed in a bending mode), and the deformation frequency and amplitude depend on the frequency and amplitude of the output signal. The deformation of the fan-shaped section generates pressure on the surface of the rod, so that sufficient friction force is generated (a membrane for increasing the friction force can be arranged on the inner circumferential surface of the fan-shaped section to increase the bearing capacity of the whole machine body), and the snake-like crawling motion of the whole machine body on the rod is realized.
As shown in fig. 5, when climbing the pole, the utility model firstly puts all the small fan-shaped sections into the pole 5 (the diameter of the pole should be smaller than the inner diameter of the small fan-shaped section, but not smaller than the gap of the small fan-shaped section, so as to prevent the small fan-shaped section from slipping off the pole when in use), and then the small fan-shaped section and the connecting piece are sequentially electrified. When the climbing rod starts to move, the connecting pieces on the robot are all powered off, and the small sections are all powered on and deformed to be fixed on the rod. The first small section at the top is powered off firstly, the shape is recovered to be separated from the rod, then the connecting sheet connecting the first small section and the second small section is electrified to generate stretching, the first small section is electrified after being lifted to a high position to generate deformation and be fixed on the rod, meanwhile, the second small section below the first small section is powered off, and the shape is recovered to be separated from the rod. The connecting sheet connecting the first small section and the second small section is powered off, the connecting sheet connecting the second small section and the third small section is powered on, the first small section generates contraction movement, the second small section generates stretching movement, the second small section is brought to a high position and is powered on to be fixed with the rod. The small sections on the robot move from bottom to top in turn according to the mode so as to finish the overall pole-climbing movement of the robot.
According to the above rule, the movement can be performed sequentially from top to bottom only by adjusting the time of electrifying the sections.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be considered as the protection scope of the present invention.
Claims (6)
1. A snake-imitating soft rod climbing robot based on an IPMC flexible driver comprises an IPMC drive controller; the method is characterized in that: the robot further comprises a plurality of fan-shaped ring sections (1) which are arranged in a line and made of IPMC materials, strip-shaped connecting pieces (2) which are connected between every two adjacent fan-shaped ring sections one by one and made of the IPMC materials, and a placing plate (4) which is provided with the IPMC drive controller and a battery, wherein each fan-shaped ring section and each connecting piece are respectively communicated through a conducting wire.
2. The IPMC flexible driver-based snake-like soft rod-climbing robot of claim 1, wherein: in the non-working state, the axes of all the fan-shaped ring sections are parallel to each other.
3. The IPMC flexible driver-based snake-like soft rod-climbing robot of claim 2, wherein: the fan-shaped small section is adhered to the connecting sheet by glue.
4. The IPMC flexible driver-based snake-like soft rod climbing robot as claimed in claim 3, wherein: the fan-shaped small ring is in the shape of two thirds of a circular ring.
5. The IPMC flexible driver-based snake-like soft rod climbing robot as claimed in claim 4, wherein: the axes of the connecting pieces on two sides of each fan-shaped small section are distributed in a staggered mode, and the axis of any connecting piece in all the connecting pieces is not collinear with the axis of other connecting pieces.
6. The IPMC flexible driver-based snake-like soft rod climbing robot as claimed in claim 5, wherein: the IPMC drive controller comprises a single chip microcomputer, a voltage stabilizing module (3-2), a signal amplifying module (3-1) and a control switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022242030.7U CN213918299U (en) | 2020-10-10 | 2020-10-10 | Snake-imitating soft rod-climbing robot based on IPMC flexible driver |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022242030.7U CN213918299U (en) | 2020-10-10 | 2020-10-10 | Snake-imitating soft rod-climbing robot based on IPMC flexible driver |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213918299U true CN213918299U (en) | 2021-08-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022242030.7U Active CN213918299U (en) | 2020-10-10 | 2020-10-10 | Snake-imitating soft rod-climbing robot based on IPMC flexible driver |
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| Country | Link |
|---|---|
| CN (1) | CN213918299U (en) |
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- 2020-10-10 CN CN202022242030.7U patent/CN213918299U/en active Active
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