CN102176152A - Bionic soft robot based on hydrostatic skeleton mechanism property - Google Patents
Bionic soft robot based on hydrostatic skeleton mechanism property Download PDFInfo
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- CN102176152A CN102176152A CN2011100479239A CN201110047923A CN102176152A CN 102176152 A CN102176152 A CN 102176152A CN 2011100479239 A CN2011100479239 A CN 2011100479239A CN 201110047923 A CN201110047923 A CN 201110047923A CN 102176152 A CN102176152 A CN 102176152A
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Abstract
The invention relates to a bionic soft robot, and in particular relates to a bionic soft robot based on the hydrostatic skeleton mechanism property which is applied to non-structuring operation environments, such as pipeline overhauling, medical treatment, ruins searching and rescuing, military reconnaissance, aiming to provide the bionic soft robot based on the hydrostatic skeleton mechanism property which can be deformed continuously, and is convenient to use in non-structuring occasions. The bionic soft robot is provided with an elastic outer shell which is internally provided with an incompressible fluid and a loading device which is used for accomplishing the specific tasks of the robot; the elastic outer shell is composed by the splicing of cell units; each cell unit is provided with an elastic cell outer wall and a cell cavity; the cell cavity is internally provided with a magnet rheological fluid, a micro electromagnetic driving device and a cell unit controller, wherein the micro electromagnetic driving device is used for generating electromagnetic field for promoting the magnet rheological fluid to generate 'solid-liquid form conversion'; and the cell unit controller is used for receiving and transmitting instruction signals and controlling the operation of the micro electromagnetic driving device.
Description
Technical field
The present invention relates to a kind of bionical software robot, relate to especially be applied to pipeline maintenance, medical diagnosis and treatment, search and rescue in ruins and destructuring operating environment such as military surveillance in the bionical software robot based on hydrostatic bone mechanism characteristic.
Technical background
Along with the continuous development of science and technology, robot has been widely used in fields of society, as industry, medical treatment, agricultural, military affairs and the disaster relief etc.Traditional robot type of drive, as rigidity driving mechanisms such as wheeled, leg formula and swing migration, under some application scenario, demonstrate distinctive advantage, but under destructuring environmental applications occasions such as pipeline maintenance, medical diagnosis and treatment, ruins search and rescue and military surveillance, because operating environment is narrow, changeable and have various unknown obstacles, therefore autonomous the moving with obstacle detouring of robot realized relative difficulty, possibly can't arrive operating location.Rigidity and flexible function can be carried out perfection fusion acquisition inspiration from nature invertabrate (as sea cucumber, cuttlefish etc.), design becomes the new method that is expected to break through bio-robot research bottleneck based on the software robot of invertabrate characteristic.The software robot mainly is made of the elastic foundation material, rely on the continuous modification on the space to move, has the degree of freedom of infinitely doing more physical exercises in theory, its end effector can arrive three-dimensional working space optional position point, because inside does not contain rigid structure, therefore when the penetrate thing, can reduce shock load and yielding resistance to greatest extent, reduce the body damage.The software robot can adapt to narrow, changeable operating environment by self change of shape, and this ideal that makes that they become in destructuring application scenarios such as pipe detection, medical-therapeutic treatment of human body diagnosis and treatment, ruins search and rescue is selected.
Summary of the invention
The purpose of this invention is to provide a kind of can continuous modification, convenient bionical software robot based on hydrostatic bone mechanism characteristic in the destructuring applications.
Realize that technical scheme of the present invention is as follows:
A kind of bionical software robot based on hydrostatic bone mechanism characteristic has elastic housing, incompressible fluid is housed in the elastic housing and is used to finish the load device of robot particular task; Above-mentioned elastic housing is made up of the splicing of cell unit; Above-mentioned cell unit has elastic cell's outer wall and cell cavity, is provided with magnetic flow liquid in the cell cavity, is used for generating an electromagnetic field and impels magnetic flow liquid that little electromagnetic actuator device of " solid-liquid modality " takes place and be used for receiving and dispatching command information and control the cell cell controller of little electromagnetic actuator device work.
Above-mentioned elastic housing is made up of 20 cell unit, and each unit cell appearance is equal-sized equilateral triangle shape.
Adopt the Ecoflex resilient material to glued joint between above-mentioned cell unit is mutual, the mantle of cell unit adopts silica gel (xS
iO
2YH
2O) make.
Magnetic flow liquid in the above-mentioned cell cavity is for adding the iron complexes that forms behind CrO2 hard magnetic powders and the silicone oil in traditional iron carbonyi magnetic flow liquid.
The said units controller comprises bluetooth receiving chip, wireless signal demodulator circuit, CAN interface, microprocessor, PWM modulation circuit and the D/A translation interface that is used for the intercommunication of control system host computer; Above-mentioned bluetooth receiving chip model is nRF2401, be electrically connected with the wireless signal demodulator circuit, the wireless signal demodulator circuit is electrically connected with CAN interface and microprocessor, the CAN interface is electrically connected with microprocessor, microprocessor is electrically connected with the PWM modulation circuit, and the PWM modulation circuit is electrically connected with the D/A translation interface.
The present invention adopts technique scheme to obtain following beneficial effect:
(1) the present invention relies on the hydrostatic bone to realize the mechanism characteristic of motion according to invertabrate, utilize orderly " the mushy stage modality " of multiple-unit intelligent drives material under electromagnetic field effect, simulate the mechanism that the hydrostatic bone produces the variant motion, realize that the drive machines people independently moves and the purpose of flexible barrier-exceeding.Because software of the present invention robot does not contain rigid structure, rely on the continuous modification on the resilient material space to move, therefore can arrive three-dimensional working space optional position point.
(2) software of the present invention robot adopts the contactless type of drive of magnetorheological body to realize the driving of robot, need not the special driving device, helps reducing the configuration design size of robot body, small and exquisite as far as possible flexibly.
(3) software of the present invention robot adopts the method for the parallel sequential control of multiple-unit, can control order, degree and the direction of each element deformation in real time, therefore can the reasonable distribution driving force, realize that robot advances, variant motions such as turning and obstacle detouring.
Description of drawings
Fig. 1 is a software robot construction synoptic diagram of the present invention
Fig. 2 is the structural representation of software robot cell unit.
Fig. 3 be among Fig. 2 A-A to diagrammatic cross-section.
Fig. 4 is a software robot motion principle schematic.
Fig. 5 passes through hole process synoptic diagram for the software robot.
Fig. 6 is the theory diagram of cell cell controller.
Fig. 7 is the partial circuit synoptic diagram of cell cell controller.
Fig. 8 is the workflow diagram of cell cell controller.
Embodiment
The invention will be further described below in conjunction with the drawings and specific embodiments.
As Fig. 1, Fig. 2 and shown in Figure 3, the bionical software of the present invention robot general structure mainly is made up of elastic housing 1, incompressible fluid 2 and load device 3.Above-mentioned elastic housing is a front body class spherical structure, is made up of 20 cell unit 10, and each cell unit 10 is an equilateral triangle, has equal face, limit and angle.Cell unit outer wall materials is a resilient material---silica gel (xSio2yH2O), interconnective edge, each cell unit adopts the Ecoflex resilient material to glued joint each other, makes the strict sealing of its shell one-piece construction.Each cell unit comprises mantle 11, cell cavity, magnetic flow liquid 12, little electromagnetic actuator device and cell cell controller, has connecting hole 13 on the mantle 11 in the middle of the cell unit.Each cell unit conduct is the unit of driving independently, and magnetic flow liquid 12 is filled in the cell cavity equably by connecting hole 13, and connecting hole 13 is carried out construction packages.Above-mentioned little electromagnetic actuator device and cell controller are distributed in the cell cavity, realize the corresponding deformation of cell unit after receiving wireless control signal.
Above-mentioned incompressible fluid 2 is full of the elastic housing internal cavities, constitutes the grown form of hydrostatic bone, and when elastic housing generation deformation, incompressible fluid is also made alteration of form accordingly, and the bionical software of the present invention robot just can realize motion.
Above-mentioned load device 3 is located at the elastic housing inner chamber, be used for finishing the task of robot, they can be microcam or miniature bomb or certain medicament, behind the robot autonomous assigned address of walking, load device is finished predefined task, the task needs different according to robot, load device also has nothing in common with each other.
Filled magnetic flow liquid 12 in the cell cavity of the cell unit 1 of the bionical software of the present invention robot, under the electromagnetic field effect that little electromagnetic actuator device produces, magnetic-particle in the magnetic flow liquid is magnetized, to line up chain structure along the direction of the magnetic line of force, thereby make magnetic flow liquid in moment viscosity increase several magnitude, and then lose flowability, show the proterties of similar solid, its YIELD STRENGTH increases along with the increase of electromagnetic intensity, after withdrawing from magnetic field, material can restore to the original state again at once, and its response time has only several milliseconds.Its performance is subjected to factor affecting such as particle diameter, volume fraction, magnetic field intensity, saturation magnetization, in order to obtain better deformation effect, the present invention adopts and add CrO2 hard magnetic powders and silicone oil in traditional iron carbonyi magnetic flow liquid, forming iron complexes is that suspended particle prepares magnetic flow liquid, can improve its yield strength and deformability like this, make elastic housing have the better traffic capacity.
See Fig. 4, little electromagnetic actuator device of inside, above-mentioned cell unit and cell cell controller thereof, after receiving the wireless control signal of host computer, little electromagnetic actuator device generates an electromagnetic field, and makes the magnetic flow liquid that is filled in the cell unit cavity that " solid-liquid modality " take place, because the expansion and the contraction of magnetic flow liquid volume, impel elastic cell's outer wall generation deformation, when the cell unit on the elastic housing all deformation takes place, robot of the present invention will be moved, and reach driving purposes.
See Fig. 5, software of the present invention robot is when passing through than the little hole obstacle of self geomery, at first under the controlled electromagnetic field effect that little electromagnetic actuator device produces, with magnetic flow liquid in the cell unit of hole wall contact portion " conversion of solid-liquid shape " taking place at first, to cause elastic cell's outer wall 11 to deform softening, progressively clamp-ons hole wall forward.Along with clamp-on process continue carry out, most of cell unit all is in soft state, the transversal section of clamp-oning part is subjected to the radial compression of hole wall, be incompressible fluid owing to what be full of the robot inner chamber again, therefore impel softening elastic housing generation axial tension, cause the whole deformation realization variant that takes place of robot to move, and progressively pass through hole.Its extrusion (as Fig. 5 d, Fig. 5 e, Fig. 5 f) is with to clamp-on process (as Fig. 5 a, Fig. 5 b, Fig. 5 c) then just in time opposite.
See Fig. 6 and Fig. 7, as independent control unit, The whole control system is made of host computer, wireless communication module and the cell cell controller that is located in each cell unit with the cell unit in software of the present invention robot.
Above-mentioned host computer is according to different motion pattern making software mapping algorithm, calculate the control signal (signal comprises amplitude, the waveform of frequency, voltage, the time of on/off) of each control module in real time, parallel timing control signal by wireless communication module output different motion pattern, feed back to the status signal of host computer simultaneously according to each cell unit, host computer real-time regulated and Correction and Control sequential realize the optimum control to the variant motion of software robot.
Wireless communication module comprises wireless transmitter module and wireless receiving module in the control system of the present invention.Wireless communication module adopts the micro radio transceiver module that is applied in industry and medical 2.4GHz frequency range, its core is based on the wireless monolithic transceiving chip of bluetooth communication stipulations, and chip internal is provided with special mu balanced circuit and Cyclic Redundancy Check hardware circuit and agreement.Because each cell cell controller all needs to dispose radio receiving unit, therefore require the volume of its peripheral cell little, power consumption is few.
Cell cell controller of the present invention is made up of devices such as bluetooth nRF2401 receiving chip, wireless signal demodulator circuit, PWM modulation circuit, microprocessor, CAN interface and D/A translation interfaces.The bluetooth receiving chip be responsible for and host computer between the Bluetooth signal intercommunication, and be connected with the wireless signal demodulator circuit is two-way, the wireless signal demodulator circuit is sent into microprocessor with the signal of demodulation by the CAN interface and is handled, microprocessor sends to the PWM modulation circuit with instruction, sends to little electromagnetic actuator device through the D/A translation interface again; Microprocessor also needs the status information of cell unit is sent to the wireless signal demodulator circuit simultaneously, feeds back to host computer through the bluetooth receiving chip again, so that host computer is in time adjusted instruction.Therefore the size of cell unit drives power depends on the deformation extent of mantle, and the mantle deformation extent depends on the size in the suffered magnetic field of magnetic flow liquid, can realize control by the control voltage of regulating the electromagnetic field that little electromagnetic actuator device produces.Send driving command by host computer like this, receive and further send driving command by the cell cell controller and give little electromagnetic actuator device, deformation takes place in the elastic outer wall 1 of the bionical software of control the present invention robot, drives robot motion of the present invention.
See Fig. 8, the workflow of cell cell controller is: the solenoid of all little electromagnetic actuator devices is all switched under the original state, and voltage all is the full width of cloth, and this moment, the interior magnetic flow liquid 12 of cell cavity of cell unit was in solid state, and mantle belongs to hardening state accordingly; After the cell controller in the cell unit receives the instruction of host computer by the bluetooth transmission, carry out controlled in wireless instruction demodulation; According to command request, carry out PID and regulate and calculate needed sometime magnitude of voltage on little electromagnetic actuator device then; By D/A interface output control voltage, drive little electromagnetic actuator device and change magnetic field parameter after the PWM modulating circuit modulates, magnetic flow liquid impels the cell unit to reach the deformed state of regulation after " solid-liquid modality " takes place.
Whole software robot is as long as host computer designs the parallel timing control signal of corresponding motor pattern, transmit steering order by wireless communication module, and in each cell controller, adopt the output-controlled driving voltage of mode of width modulation respectively, control frequency input signal, the on/off of each little electromagnetic actuator device and produce parameters such as voltage magnitude, waveform, can reach the purpose of deformation sequence, degree and the direction of regulating each cell unit, thereby the reasonable distribution driving force realizes that robot advances, turns and is out of shape function such as obstacle detouring.
Obviously, above-mentioned embodiment of the present invention only is for example of the present invention clearly is described, and is not to be qualification to embodiment of the present invention.For those of ordinary skill in the field, can also be easy to make other pro forma variation on the basis of the above description or substitute, and these changes or substitute also will be included within the protection domain that the present invention determines.
Claims (5)
1. bionical software robot based on hydrostatic bone mechanism characteristic is characterized in that: have elastic housing (1), incompressible fluid (2) is housed in the elastic housing and is used to finish the load device (3) of robot particular task; Above-mentioned elastic housing (1) is made up of cell unit (10) splicing; Above-mentioned cell unit (10) has elastic cell's outer wall (11) and cell cavity, is provided with magnetic flow liquid (12) in the cell cavity, is used for generating an electromagnetic field and impels magnetic flow liquid that little electromagnetic actuator device of " solid-liquid modality " takes place and be used for receiving and dispatching command information and control the cell cell controller of little electromagnetic actuator device work.
2. the bionical software robot based on hydrostatic bone mechanism characteristic according to claim 1, it is characterized in that: above-mentioned elastic housing (1) is made up of 20 cell unit (10), and each unit cell appearance is equal-sized equilateral triangle shape.
3. the bionical software robot based on hydrostatic bone mechanism characteristic according to claim 2 is characterized in that: above-mentioned cell unit (10) adopts the Ecoflex resilient material to glued joint between mutually, and the mantle of cell unit (11) adopts silica gel (xS
iO
2YH
2O) make.
4. the bionical software robot based on hydrostatic bone mechanism characteristic according to claim 1 is characterized in that: the magnetic flow liquid (12) in the above-mentioned cell cavity is for adding the iron complexes that forms behind CrO2 hard magnetic powders and the silicone oil in traditional iron carbonyi magnetic flow liquid.
5. the bionical software robot based on hydrostatic bone mechanism characteristic according to claim 1, it is characterized in that: the said units controller comprises bluetooth receiving chip, wireless signal demodulator circuit, CAN interface, microprocessor, PWM modulation circuit and the D/A translation interface that is used for the intercommunication of control system host computer; Above-mentioned bluetooth receiving chip model is nRF2401, be electrically connected with the wireless signal demodulator circuit, the wireless signal demodulator circuit is electrically connected with CAN interface and microprocessor, the CAN interface is electrically connected with microprocessor, microprocessor is electrically connected with the PWM modulation circuit, and the PWM modulation circuit is electrically connected with the D/A translation interface.
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| CN 201110047923 CN102176152B (en) | 2011-02-28 | 2011-02-28 | Bionic soft robot based on hydrostatic skeleton mechanism property |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103048995A (en) * | 2011-10-13 | 2013-04-17 | 中国科学院合肥物质科学研究院 | Wide-angle binocular vision identifying and positioning device for service robot |
| CN103317505A (en) * | 2013-07-14 | 2013-09-25 | 林佳杰 | Shape-shifting soft robot |
| CN103386686A (en) * | 2013-08-03 | 2013-11-13 | 林佳杰 | Spherical transformable soft robot |
| CN103434582A (en) * | 2013-08-11 | 2013-12-11 | 林佳杰 | Deformable and multi-purpose software robot |
| CN105479463A (en) * | 2016-01-26 | 2016-04-13 | 清华大学 | Deformable and flexible robot based on liquid metal electromagnetic actuation |
| CN106953426A (en) * | 2017-04-21 | 2017-07-14 | 天津工业大学 | A kind of novel radio electric energy transmission omnidirectional three dimensional emission coil device |
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| CN108606834A (en) * | 2018-02-05 | 2018-10-02 | 中国矿业大学 | Soft robot control system based on magnetorheological fluid and its control method |
| CN108724162A (en) * | 2018-04-19 | 2018-11-02 | 中国矿业大学 | Magnetorheological fluid soft robot and magnetorheological fluid soft robot system |
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| CN113814989A (en) * | 2020-06-19 | 2021-12-21 | 周世海 | Deformable combined robot and control system thereof |
| CN115554400A (en) * | 2021-06-30 | 2023-01-03 | 香港城市大学深圳研究院 | Degradable magnetic control micro robot with high mechanical strength and preparation method and application thereof |
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| CN103048995A (en) * | 2011-10-13 | 2013-04-17 | 中国科学院合肥物质科学研究院 | Wide-angle binocular vision identifying and positioning device for service robot |
| CN103317505A (en) * | 2013-07-14 | 2013-09-25 | 林佳杰 | Shape-shifting soft robot |
| CN103317505B (en) * | 2013-07-14 | 2016-03-23 | 林佳杰 | A kind of transformable soft robot |
| CN103386686A (en) * | 2013-08-03 | 2013-11-13 | 林佳杰 | Spherical transformable soft robot |
| CN103386686B (en) * | 2013-08-03 | 2015-10-28 | 董昕武 | A kind of spherical transformable soft robot |
| CN103434582A (en) * | 2013-08-11 | 2013-12-11 | 林佳杰 | Deformable and multi-purpose software robot |
| CN103434582B (en) * | 2013-08-11 | 2015-11-18 | 林佳杰 | A kind of deformable multipurpose way soft robot |
| CN105479463A (en) * | 2016-01-26 | 2016-04-13 | 清华大学 | Deformable and flexible robot based on liquid metal electromagnetic actuation |
| CN106953426B (en) * | 2017-04-21 | 2020-09-11 | 天津工业大学 | Novel wireless power transmission omnidirectional three-dimensional transmitting coil device |
| CN106953426A (en) * | 2017-04-21 | 2017-07-14 | 天津工业大学 | A kind of novel radio electric energy transmission omnidirectional three dimensional emission coil device |
| CN107503792B (en) * | 2017-09-18 | 2019-09-27 | 南方科技大学 | Robot lifesaving method and system |
| CN107503792A (en) * | 2017-09-18 | 2017-12-22 | 南方科技大学 | Robot lifesaving method and system |
| CN108606834A (en) * | 2018-02-05 | 2018-10-02 | 中国矿业大学 | Soft robot control system based on magnetorheological fluid and its control method |
| CN108606834B (en) * | 2018-02-05 | 2021-07-20 | 中国矿业大学 | Soft robot control system based on magnetorheological fluid and control method thereof |
| CN108500968A (en) * | 2018-02-26 | 2018-09-07 | 中国矿业大学 | The control method of magnetorheological fluid soft robot |
| CN108724162A (en) * | 2018-04-19 | 2018-11-02 | 中国矿业大学 | Magnetorheological fluid soft robot and magnetorheological fluid soft robot system |
| CN108724162B (en) * | 2018-04-19 | 2021-06-04 | 中国矿业大学 | Magnetorheological fluid soft robot and magnetorheological fluid soft robot system |
| CN109319008A (en) * | 2018-09-04 | 2019-02-12 | 中国矿业大学 | A kind of soft robot model based on amoeba worm locomotory mechanism |
| CN109591987B (en) * | 2019-01-09 | 2020-09-08 | 李丰 | Underwater robot |
| CN109591987A (en) * | 2019-01-09 | 2019-04-09 | 李丰 | Underwater robot |
| CN110076749A (en) * | 2019-03-01 | 2019-08-02 | 天津理工大学 | A kind of imitative jellyfish magnetic mini soft robot and preparation method thereof and driving method |
| CN110076749B (en) * | 2019-03-01 | 2022-04-19 | 天津理工大学 | Jellyfish-like magnetic control micro soft robot and preparation method and driving method thereof |
| CN113814989A (en) * | 2020-06-19 | 2021-12-21 | 周世海 | Deformable combined robot and control system thereof |
| CN115554400A (en) * | 2021-06-30 | 2023-01-03 | 香港城市大学深圳研究院 | Degradable magnetic control micro robot with high mechanical strength and preparation method and application thereof |
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