CN107902001B - Differential soft robot - Google Patents
Differential soft robot Download PDFInfo
- Publication number
- CN107902001B CN107902001B CN201710931795.1A CN201710931795A CN107902001B CN 107902001 B CN107902001 B CN 107902001B CN 201710931795 A CN201710931795 A CN 201710931795A CN 107902001 B CN107902001 B CN 107902001B
- Authority
- CN
- China
- Prior art keywords
- air bag
- bottom plate
- foot
- motion
- permanent magnet
- Prior art date
- Legal status (The legal status 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 status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/021—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members the ground engaging means being sequentially inflatable bags for peristaltic movement
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of differential soft robots, including two motion modules, each motion module is made of air bag driver, bottom plate, permanent magnet, front foot and five part of the rear foot, wherein: the air bag driver realizes bending deformation by inflation, and the aeration quantity difference of two air bag drivers realizes the differential motion of the robot；Two bottom plates be two air bag drivers, permanent magnet, front foot and the rear foot coupling part；The permanent magnet is for connecting two modules；The front foot and the rear foot provide the frictional force that the robot travels forward, and the frictional force difference of the front foot and the rear foot realizes that the robot travels forward.Differential soft robot of the present invention can be used for the terrain detection of earthquake relief work and small space.
Description
Technical field
The present invention relates to a kind of soft robots of creeping of robotic technology field, and in particular, to a kind of differential software
Robot.
Background technique
In recent years, soft robot progresses into everybody visual field, relative to traditional rigid machine people, soft robot
There is better adaptability to environment, the structure of itself can be changed according to the difference of environment, the topographic(al) reconnaissance with earthquake relief work
And the application prospect that some extreme terrains are explored.
Software climbing robot can realize the functions such as creep, turn, roll according to active deformation.Most of software is creeped
Robot is from the research to the Nature biology, and the major part of the organism of nature is by the softwares substance group such as muscle, skin
At these flexible materials can store a large amount of elastic potential energy, can be used for the dynamic environment of reform of nature circle.
Pertinent literature is searched it is found that also there is the much research about software climbing robot in recent years, such as:
Takuya of Tufts university et al. is by the motion design of research caterpillar one based on 3D printing shell, interior
The software climbing robot of embedding SMA driving；
Wei Wang of Seoul National University et al. devises an imitative looper software under the inspiration of inchworm motion mode
Climbing robot, which, which all inlays memorial alloy all around, may be implemented to creep and turn；
Harvard University Robert Wood et al. devises a bionical octopus soft robot, the robot entire infrastructure
All it is to be made of soft material, generates gas using chemical reaction in robot body and energize, each tentacle of robot is driven to transport
It is dynamic；
Harvard University R.F.Shepherd et al. devises a pneumatic four feet climbing robot.
In order to improve the movement velocity of software climbing robot, the present invention provides a kind of differential soft robots, compare
Wei Wang et al. imitates the pneumatic four feet crawling machine of looper software climbing robot and Harvard University R.F.Shepherd et al.
People has simpler motion sequence and faster movement velocity.
Summary of the invention
Aiming at the shortcomings in the prior art, the object of the present invention is to provide a kind of differential soft robot, software is solved
The differential problem of robot has the advantages that differential motion and modular, can be carried out straight trip and turning motion, detachably, energy
Suitable for a variety of environment.
In order to achieve the above object, the present invention provides a kind of differential soft robot, comprising: two motion modules, Mei Geyun
Dynamic model block is made of air bag driver, bottom plate, permanent magnet, front foot and the rear foot, wherein in each motion module: the bottom plate is made
For air bag driver, permanent magnet, front foot, the rear foot connection main body, and the bottom plate, air bag driver, permanent magnet, front foot, after
Foot bonding is integral, and the air bag driver, permanent magnet are arranged on the bottom plate；The front foot, the rear foot are located at institute
The front-end and back-end for stating bottom plate are used to provide the described the frictional force of robot motion；
Two motion modules are connected by the permanent magnet, realize two motion modules by the separation of the permanent magnet
Separation；
The difference of the aeration quantity of two air bag drivers realizes that the differential motion of the robot is turned and/or preceding
It moves；
The air bag driver is by inflated for deflated realization bending deformation, when the air bag driver bending deformation,
The bottom plate is bent with the bending of the air bag driver, the front foot, the rear foot with the bending of the bottom plate and
Change the contact area with ground, to change frictional force, and then realizes the movement of the robot.
Preferably, the bottom plate is made of top layer, middle layer and bottom, in which:
The top layer and the bottom are made by silicon rubber；The middle layer uses paper, utilizes the paper
Non-stretchable property, so that the bottom plate is bent but cannot be stretched.
Preferably, two air bag driver arranged in parallel and described two movement moulds are glued respectively to by silicon rubber
On the bottom plate of block, two air bag drivers are independent inflatable.
It is highly preferred that the air bag driver is made of multiple interconnected air bags, multiple air bags pass through respective bottom
Air channel be linked together.
Preferably, two motion modules totally two front foots, two rear feet, front foot and the rear foot in each motion module
The bottom plate front-end and back-end in the motion module are respectively arranged at, and Nian Jie with bottom plate by silicon rubber；When two air bags drive
When device aeration quantity difference, the rear foot in two motion modules is different from the contact area on ground, leads to the frictional force of two rear feet
Difference, to realize turning motion.
It is highly preferred that the front foot and the rear foot are on air bag driver aeration phase, air bag driver releasing phase and ground
Frictional force it is different:
In aeration phase, the frictional force of front foot is greater than the rear foot, and the rear foot moves forward with the bending of bottom plate；
In releasing phase, the frictional force of the rear foot is greater than front foot, and front foot moves forward with the stretching, extension of bottom plate；
The a cycle of the robot Forward is completed in first order buckling and primary stretching, extension.
It is highly preferred that the front foot and/or the rear foot are friction plate.
Preferably, the permanent magnet side is bonded in the bottom plate side, and the other side is used for and movement mould described in another
The permanent magnet of block connects.
Preferably, two motion modules can individually be completed to move along a straight line after separating by the permanent magnet.
Compared with prior art, the present invention have it is following the utility model has the advantages that
The differential soft robot of the present invention joined modularization idea in the function that ordinary robot creeps and turns,
Two motion modules are connected together as the soft robot with differential motion by permanent magnet, described in two
Motion module separates can complete alone to move along a straight line again, improve a lot in locomitivity and flexibility.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the overall structure diagram of one embodiment of the present invention；
In figure: 1 is the rear foot, and 2 be permanent magnet, and 3 be bottom plate, and 4 be air bag driver, and 5 be front foot.
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection scope.
As shown in Figure 1, the robot is by two movement moulds for a kind of preferred embodiment of differential soft robot of the present invention
Block composition；
Each motion module respectively include: 3, air bag drivers 4 of 1, two, the rear foot, 2, one pieces of a permanent magnet bottom plate,
One front foot 5；Two motion modules are left and right to be arranged side by side and is linked together by permanent magnet 2；Wherein:
Two air bag drivers 4 are bonded on two pieces of bottom plates 3 by silicon rubber bonder respectively, two air bag drivers 4
It can be distinguished by tracheae inflated for deflated, pass through inflated for deflated realization bending deformation, the aeration quantity of two air bag drivers 4
Difference realize that the differential motion of the robot turns and/or moves forward；
In each motion module, front foot 5 and the rear foot 1 it is directly Nian Jie with bottom plate 3 and be located at bottom plate 3 front-end and back-end, use
In the frictional force of the offer robot motion；Before the front foot 5 in left side and the rear foot 1 correspond to the motion module in left side, right side
Foot 5 and the rear foot 1 correspond to the motion module on right side；When two air bag 4 bending deformation of driver, two pieces of bottom plates 3 respectively with
The bending of air bag driver 4 and be bent, the front foot 5 of the left and right side and rear foot 1 changes respectively with the bending of bottom plate 3 and ground
Contact area, to change frictional force, and then realize the movement of the robot；
The permanent magnet 2 is bonded on bottom plate 3 by silicon rubber, in which: the permanent magnet 2 in the motion module in left side bonds
On 3 right side of bottom plate in left side, the permanent magnet 2 in the motion module on right side is bonded in 3 left side of bottom plate on right side.
In the preferred embodiment of part, respectively there are two permanent magnets 2 for each motion module, and are separately positioned on two pieces of bottoms
The correspondence position of 3 opposite side of plate.In other embodiments, the quantity of permanent magnet 2 and specific setting position are as needed
It is adjustable.
As shown in Figure 1, two air bag drivers 4 are the driving of two arranged in parallel in the preferred embodiment of part
Device, each air bag driver 4 are made of 11 interconnected air bags, and 11 air bags are linked as one by the air channel of bottom
Body.In other embodiments, the air bag number of air bag driver 4 can be other quantity, be arranged according to actual needs.
In the preferred embodiment of part, two pieces of bottom plates 3 are made of top layer, middle layer and bottom, in which: top layer and
Bottom is made by silicon rubber, and middle layer uses paper, and middle layer utilizes the non-stretchable property of paper, makes bottom plate 3 can be with
It is bent but cannot stretch.And if bottom plate can stretch when being added without paper layer, gas replenishment process insole board can produce together with air bag
The raw expansion perpendicular to bottom plate, cannot reach bending effect.
In the preferred embodiment of part, in two motion modules: the front foot 5 and the rear foot 1 are that frictional force is larger
Sheet rubber 3M-VHB, and it is directly Nian Jie with bottom plate 3.Biggish frictional force can be generated using sheet rubber 3M-VHB, pass through the knot
Structure, is greater than 1 frictional force of the rear foot in 5 frictional force of aeration phase front foot, is greater than 5 frictional force of front foot in 1 frictional force of the releasing phase rear foot.
In the preferred embodiment of part:
When two air bag drivers 4 are inflated using same aeration quantity, the two air bag drivers 4 in left and right generate identical
Amount of bow；
In gas replenishment process, the frictional force of the front foot 5 is greater than the frictional force of the rear foot 1, the rear foot 1 with bottom plate 3 bending
Forward；
In deflation course, 1 frictional force of the rear foot is greater than the frictional force of front foot 5, before front foot 5 is with the stretching, extension of bottom plate 3
It moves；Primary shrink completes the forward a cycle of the robot with primary stretching, extension；
When the aeration quantity difference of left and right two air bag drivers 4, the frictional force of the left and right rear foot 1 is different, to realize
The turning motion of the robot.
In the preferred embodiment of part, two motion modules can individually complete straight line after separating by permanent magnet 2
Movement.
The present invention has the advantages that differential motion and modular, can be carried out straight trip and turning motion, realizes software machine
The modularization of people can be suitably used for a variety of environment, particularly for earthquake relief work and the terrain detection of small space.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring substantive content of the invention.
Claims (9)
1. a kind of differential soft robot characterized by comprising two motion modules, each motion module are driven by air bag
Dynamic device, bottom plate, permanent magnet, front foot and rear foot composition, wherein in each motion module: the bottom plate as air bag driver, forever
Magnet, front foot, the rear foot connection main body, and the bottom plate, air bag driver, permanent magnet, front foot, the rear foot bonding be integral,
The air bag driver, permanent magnet are arranged on the bottom plate；The front foot, the rear foot be located at the bottom plate front end and after
End, is used to provide the described the frictional force of robot motion；
Two motion modules are connected by the permanent magnet, and point of two motion modules is realized by the separation of the permanent magnet
From；
The difference of the aeration quantity of two air bag drivers realizes that the differential motion of the robot turns and/or moves forward；
The air bag driver is described when the air bag driver bending deformation by inflated for deflated realization bending deformation
Bottom plate is bent with the bending of the air bag driver, and the front foot, the rear foot change with the bending of the bottom plate
With the contact area on ground, to change frictional force, and then the movement of the robot is realized.
2. differential soft robot according to claim 1, which is characterized in that the bottom plate is by top layer, middle layer and bottom
Layer composition, in which:
The top layer and the bottom are made by silicon rubber；
The middle layer enables the bottom plate to be bent but cannot stretch using paper using the non-stretchable property of the paper.
3. differential soft robot according to claim 1, which is characterized in that two air bag drivers and townhouse
Cloth, and be glued respectively on the bottom plate of described two motion modules by silicon rubber, two air bag drivers are independent inflatable.
4. differential soft robot according to claim 3, which is characterized in that the single air bag driver is by multiple phases
Intercommunicated air bag composition, multiple air bags are linked together by the air channel of respective bottom.
5. differential soft robot according to claim 1, which is characterized in that two motion modules are before totally two
Foot, two rear feet, front foot and the rear foot in each motion module be respectively arranged at the bottom plate in the motion module front end and after
End, and it is Nian Jie with bottom plate by silicon rubber；When two air bag driver aeration quantity differences, the rear foot in two motion modules with
The contact area on ground is different, causes the frictional force of two rear feet different, to realize turning motion.
6. differential soft robot according to claim 5, which is characterized in that the front foot, the rear foot are in the gas
Capsule driver aeration phase, the air bag driver releasing phase are different from the frictional force on ground:
In aeration phase, the frictional force of the front foot is greater than the rear foot, and the rear foot moves forward with the bending of the bottom plate；
In releasing phase, the frictional force of the rear foot is greater than front foot, and the front foot moves forward with the stretching, extension of the bottom plate；
The a cycle of the robot Forward is completed in first order buckling and primary stretching, extension.
7. differential soft robot according to claim 1-6, which is characterized in that the front foot and/or described
The rear foot is friction plate.
8. differential soft robot according to claim 1-6, which is characterized in that the permanent magnet side bonding
In the bottom plate side, the other side with the permanent magnet of motion module described in another for connecting.
9. differential soft robot according to claim 1-6, which is characterized in that two motion modules are logical
It can individually complete to move along a straight line after crossing the permanent magnet separation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710931795.1A CN107902001B (en) | 2017-10-09 | 2017-10-09 | Differential soft robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710931795.1A CN107902001B (en) | 2017-10-09 | 2017-10-09 | Differential soft robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107902001A CN107902001A (en) | 2018-04-13 |
| CN107902001B true CN107902001B (en) | 2019-09-27 |
Family
ID=61841116
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710931795.1A Active CN107902001B (en) | 2017-10-09 | 2017-10-09 | Differential soft robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107902001B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108527326A (en) * | 2018-04-18 | 2018-09-14 | 佛山伊贝尔科技有限公司 | A kind of silica gel soft robot |
| CN108297117A (en) * | 2018-04-24 | 2018-07-20 | 上海大学 | Pneumatic fruit and vegetable picking software hand |
| CN108622222A (en) * | 2018-05-11 | 2018-10-09 | 清华大学 | A kind of software climbing robot |
| CN108908379A (en) * | 2018-06-27 | 2018-11-30 | 天津大学 | A kind of pneumatic software finger with haptic force and shape perceptional function |
| CN109050698B (en) * | 2018-08-02 | 2020-07-17 | 浙江大学 | Modularized flexible crawling robot |
| CN109515544B (en) * | 2018-12-12 | 2020-09-04 | 上海交通大学 | Multi-module differential software robot |
| CN109552442B (en) * | 2019-01-18 | 2020-02-07 | 山东领信信息科技股份有限公司 | Autonomous exploration type cave rescue software robot |
| CN110388532B (en) * | 2019-07-25 | 2020-08-28 | 上海大学 | Robot for detecting small-caliber pipeline of nuclear power station |
| CN111347455A (en) * | 2020-03-13 | 2020-06-30 | 天津大学 | Flexible finger with online adjustable friction force |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016081605A1 (en) * | 2014-11-18 | 2016-05-26 | Soft Robotics, Inc. | Soft robotic actuator enhancements |
| CN106493726A (en) * | 2016-11-25 | 2017-03-15 | 东南大学 | A kind of double-deck many gas circuit software drivers |
| CN106927000A (en) * | 2017-03-06 | 2017-07-07 | 浙江大学 | Transformation compound bending module, S types advance around module and soft robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016053430A2 (en) * | 2014-06-30 | 2016-04-07 | President And Fellows Of Harvard College | Resilient, untethered soft robot |
-
2017
- 2017-10-09 CN CN201710931795.1A patent/CN107902001B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016081605A1 (en) * | 2014-11-18 | 2016-05-26 | Soft Robotics, Inc. | Soft robotic actuator enhancements |
| CN106493726A (en) * | 2016-11-25 | 2017-03-15 | 东南大学 | A kind of double-deck many gas circuit software drivers |
| CN106927000A (en) * | 2017-03-06 | 2017-07-07 | 浙江大学 | Transformation compound bending module, S types advance around module and soft robot |
Non-Patent Citations (1)
| Title |
|---|
| 气压驱动软体机器人运动研究;费燕琼、庞武、于文博;《机器工程学报》;中国知网全文数据库;20170731;第53卷(第13期);第14-18页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107902001A (en) | 2018-04-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107902001B (en) | Differential soft robot | |
| Li et al. | Soft actuators for real-world applications | |
| CN109515544A (en) | A kind of differential soft robot of multimode | |
| KR102052236B1 (en) | Magnetic assembly of soft robots with hard components | |
| US9464642B2 (en) | Soft robotic actuators | |
| US9981377B2 (en) | Flexible robotic actuators | |
| Gong et al. | Rotary actuators based on pneumatically driven elastomeric structures | |
| CN106420279A (en) | Gait-based wearable flexible knee joint robot exoskeleton facility | |
| CN108274450A (en) | A kind of origami structure based on optical drive bending fold | |
| CN202935468U (en) | Centipede type biomimetic multi-foot robot | |
| CN108542718A (en) | A kind of wearable flexible lower limb exoskeleton based on negative pressure rotary pneumatic artificial-muscle | |
| CN113114066B (en) | Self-driven magnetic control flexible robot based on flexible folding magnetic film | |
| CN108622222A (en) | A kind of software climbing robot | |
| CN108001558B (en) | A kind of bio-robot with flexible waist joint | |
| CN108527326A (en) | A kind of silica gel soft robot | |
| WO2022247269A1 (en) | Anole-imitating wind-vibration-resistant climbing robot | |
| Ozkan-Aydin et al. | Lateral bending and buckling aids biological and robotic earthworm anchoring and locomotion | |
| CN110774292B (en) | Bionic soft rolling robot | |
| CN110450134A (en) | Rope control turns to imitative worm creeping robot device | |
| Liu et al. | Actuation and design innovations in earthworm-inspired soft robots: A review | |
| CN112572628A (en) | Bionic multi-mode crawling, rolling, attaching and bouncing robot coping with complex environment | |
| CN113212584B (en) | Flexible multi-foot cooperative operation climbing robot | |
| CN104490562A (en) | Wearable U-shaped limb power-assisted airbag and manufacturing method thereof | |
| CN111674482A (en) | Software crawling robot | |
| CN200995773Y (en) | Fast propeller on water |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |