CN109094762B - Frog-imitating swimming leg adopting under-actuated series soft pneumatic bending module - Google Patents
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- CN109094762B CN109094762B CN201810829621.9A CN201810829621A CN109094762B CN 109094762 B CN109094762 B CN 109094762B CN 201810829621 A CN201810829621 A CN 201810829621A CN 109094762 B CN109094762 B CN 109094762B
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- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
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- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
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Abstract
A frog-simulated swimming leg adopting an under-actuated series soft pneumatic bending module relates to a frog-simulated swimming leg, in particular to a frog-simulated swimming leg adopting an under-actuated series soft pneumatic bending module. The invention aims to solve the problems of large mass and volume and poor waterproof sealing performance of the existing frog swimming simulating robot with a rigid structure. The invention comprises a main body connecting piece, a hip joint, a knee joint, an ankle joint, hind limb flippers, an air guide blocking head and a sealing blocking head, wherein the hip joint, the knee joint and the ankle joint are sequentially connected into an air guide channel end to end, the hip joint is connected with the main body connecting piece through the air guide blocking head, and the ankle joint is connected with the hind limb flippers through the sealing blocking head. The invention belongs to the field of robots.
Description
Technical Field
The invention relates to a frog-simulated swimming leg, in particular to a frog-simulated swimming leg adopting under-actuated series soft pneumatic bending modules, and belongs to the field of robots.
Background
With the development of scientific technologies such as bionics, novel materials, robots and the like, in the face of the increase of the demands of exploration, exploration and the like of water areas such as rivers, lakes and the like, related scientific researchers develop a lot of bionics researches aiming at different zooms. The frog is an amphibious organism, amphibious movement can be achieved, the underwater propulsion mode of the leg structure is adopted, and the bionic frog robot has strong environmental adaptability and maneuverability, so that the bionic frog robot has important research value in the novel bionic field, and has good application prospects in the aspects of civil or military search and rescue, reconnaissance monitoring, camouflage investigation and the like.
The existing frog-imitating swimming robot is driven by pneumatic muscles, but has a complex structure, and compared with a real organism, the frog-imitating swimming robot has overlarge mass and volume, a rigid structure is difficult to seal, and the waterproof effect is poor, so that the bionic effect is not ideal. The soft material can realize the miniaturization and the light weight of the matrix structure; the device has a continuous deformation structure and similar muscle driving, and also has multi-degree-of-freedom motion capability, thereby better realizing the simulation of biological actions; the pneumatic driving software is adopted, so that the quick and agile maneuvering behavior can be executed, and the potential of simulating the high explosive starting of the frogs is realized.
Currently, a bionic underwater robot designed by adopting a soft body structure generally realizes fish-like swimming motion through periodically bending an underwater soft body robot body, for example, a soft robot developed by Zhejiang university and adopting a variable-pressure bidirectional bending module to realize S-shaped bending swimming changes the shape through changing the internal air pressure of a soft body and then recovers the initial state, so that the soft body of the robot can be bent clockwise and anticlockwise. Compared with fish, frog swimming has the characteristics of intermittence and high explosiveness, has quick starting speed and agile steering capacity, but a modularized soft leg mechanism for realizing underwater propulsion imitation of a frog-leg-like structure does not exist at present.
Disclosure of Invention
The invention aims to solve the problems of large mass and volume and poor waterproof sealing performance of the conventional frog-simulated swimming robot with a rigid structure, and further provides a frog-simulated swimming leg adopting under-actuated series soft pneumatic bending modules.
The technical scheme adopted by the invention for solving the problems is as follows: the invention comprises a main body connecting piece, a hip joint, a knee joint, an ankle joint, hind limb flippers, an air guide blocking head and a sealing blocking head, wherein the hip joint, the knee joint and the ankle joint are sequentially connected into an air guide channel end to end, the hip joint is connected with the main body connecting piece through the air guide blocking head, and the ankle joint is connected with the hind limb flippers through the sealing blocking head.
Furthermore, the hip joint, the knee joint and the ankle joint are soft pneumatic one-way bending modules, and the three modules are connected in series to form a rear limb driving structure.
Furthermore, the hip joint consists of a hip joint elastic matrix, a hip joint strain limiting layer and a hip joint fiber line, wherein the hip joint fiber line is spirally wound on the hip joint elastic matrix, the hip joint fiber line is adhered to the hip joint elastic matrix, and the hip joint strain limiting layer is adhered to the outer arc surface of the hip joint elastic matrix.
Furthermore, the knee joint is composed of a knee joint elastic matrix, a knee joint strain limiting layer and a knee joint fiber line, wherein the knee joint fiber line is spirally wound on the knee joint elastic matrix and is adhered to the knee joint elastic matrix, and the knee joint strain limiting layer is adhered to the outer arc surface of the knee joint elastic matrix.
Further, the ankle joint comprises ankle joint elastic basal body, ankle joint strain restrictive coating and ankle joint fibre line, and ankle joint fibre line is the heliciform winding on ankle joint elastic basal body, and ankle joint fibre line pastes on ankle joint elastic basal body, and ankle joint strain restrictive coating pastes in the outer circular arc face department of ankle joint elastic basal body.
Furthermore, the hind limb flipper consists of a moving flipper and a fixed flipper, one end of the fixed flipper is fixedly connected with the sealing blocking head, and the other end of the fixed flipper is connected with the moving flipper.
The invention has the beneficial effects that: 1. the invention provides a frog-simulated walking leg mechanism adopting an under-actuated series soft pneumatic bending module, wherein a hind limb body is cast by high-performance platinum catalytic silicone rubber, so that the frog-simulated walking leg mechanism has good bearing capacity and environmental adaptability, and the durability is greatly improved; the design of the whole software adopts pneumatic drive, can execute quick and agile maneuvering behavior, and has the starting potential of simulating high explosiveness realized by the frogs; 2. the under-actuated series soft pneumatic bending module provided by the invention simplifies the structural design of the soft frog-simulated walking leg mechanism, simplifies the manufacturing process, reduces the manufacturing complexity, and further realizes the light weight and miniaturization of the frog-simulated walking robot structure; 3. the underactuated series soft pneumatic bending module provided by the invention does not need a hard rigid material for connection any more, so that the problem that a contact boundary of a rigid member and a flexible member is not firmly bonded and is easy to tear is avoided, and the damage rate is reduced while the good bearing capacity is ensured; 4. the invention further solves the problems of large size and complex control caused by the fact that a plurality of control valves and circuits are stored in the trunk of the robot body due to the fact that the leg joints of the soft frog-imitating robot need multi-valve control, and further miniaturizes and compacts the frog-imitating swimming robot; 5. the invention simplifies the structural design of the soft frog-imitating swimming leg mechanism, reduces the manufacturing complexity, further realizes the light weight and miniaturization of the frog-imitating swimming robot structure, and provides possibility for designing a frog-imitating swimming robot prototype with more bionic effect and more miniaturization and vividness.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic cross-sectional view of the present invention;
FIG. 3 is a schematic diagram of the stretching motion of the present invention;
fig. 4 is an overall schematic view of the rear limb body of the invention mounted on a frog-simulated swimming robot.
Detailed Description
The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 4, and the frog-simulated swimming leg adopting the underactuated series soft pneumatic bending module comprises a main body trunk connecting piece 1, a hip joint 2, a knee joint 3, an ankle joint 4, hind limb flippers, an air guide blocking head 6 and a sealing blocking head 7, wherein the hip joint 2, the knee joint 3 and the ankle joint 4 are sequentially connected end to form an air guide channel, the hip joint 2 is connected with the main body trunk connecting piece 1 through the air guide blocking head 6, and the ankle joint 4 is connected with the hind limb flippers through the sealing blocking head 7. The hip joint 2, the knee joint 3 and the ankle joint 4 are connected end to form an air guide passage, the hind limb main body forms an S-shaped closed cavity through an air guide blocking head 6 and a sealing blocking head 7, and is connected to a vent valve and an exhaust valve through a vent pipeline to realize air pressure control.
The hip joint 2, the knee joint 3 and the ankle joint 4 are all soft pneumatic one-way bending modules, the three modules are connected in series to form a hind limb body driving structure, and the hind limb body is made of soft materials. The hind limb body is formed by casting a platinum-catalyzed silicon rubber material, and is obtained by 3D printing of a mold, molding and bonding. The platinum-catalyzed silicone rubber material has high elongation at break, tensile strength and tear strength, and ensures that the hind limb has sufficient bearing capacity and durability.
The second embodiment is as follows: the embodiment is described with reference to fig. 1 to 4, and the hip joint 2, the knee joint 3 and the ankle joint 4 of the simulated frog swimming leg adopting the underactuated series-connection soft pneumatic bending module are soft pneumatic unidirectional bending modules, and the three modules are connected in series to form a rear limb actuating structure. Other components and connections are the same as those in the first embodiment.
The third concrete implementation mode: the embodiment is described with reference to fig. 1 to 4, and the hip joint 2 of the simulated frog swimming leg adopting the under-actuated series soft pneumatic bending module in the embodiment comprises a hip joint elastic matrix 2-1, a hip joint strain limiting layer 2-2 and a hip joint fiber line 2-3, wherein the hip joint fiber line 2-3 is spirally wound on the hip joint elastic matrix 2-1, the hip joint fiber line 2-3 is adhered to the hip joint elastic matrix 2-1, and the hip joint strain limiting layer 2-2 is adhered to the outer arc surface of the hip joint elastic matrix 2-1. The fiber thread has sparse outer circle and dense inner circle. Other components and connections are the same as those in the first embodiment.
The fourth concrete implementation mode: the embodiment is described with reference to fig. 1 to 4, and the frog-simulated swimming leg knee joint 3 adopting the under-actuated series soft pneumatic bending module in the embodiment is composed of a knee joint elastic matrix 3-1, a knee joint strain limiting layer 3-2 and a knee joint fiber wire 3-3, wherein the knee joint fiber wire 3-3 is spirally wound on the knee joint elastic matrix 3-1, the knee joint fiber wire 3-3 is adhered on the knee joint elastic matrix 3-1, and the knee joint strain limiting layer 3-2 is adhered on the excircle cambered surface of the knee joint elastic matrix 3-1. Other components and connections are the same as those in the first embodiment.
The fifth concrete implementation mode: the embodiment is described with reference to fig. 1 to 4, and the ankle joint 4 of the simulated frog swimming leg adopting the underactuated series soft pneumatic bending module in the embodiment is composed of an ankle joint elastic matrix 4-1, an ankle joint strain limiting layer 4-2 and an ankle joint fiber line 4-3, wherein the ankle joint fiber line 4-3 is spirally wound on the ankle joint elastic matrix 4-1, the ankle joint fiber line 4-3 is adhered to the ankle joint elastic matrix 4-1, and the ankle joint strain limiting layer 4-2 is adhered to the outer arc surface of the ankle joint elastic matrix 4-1. Other components and connections are the same as those in the first embodiment.
The sixth specific implementation mode: the embodiment is described with reference to fig. 1 to 4, and the hind limb flipper of the simulated frog swimming leg adopting the underactuated series soft pneumatic bending module in the embodiment consists of a moving flipper 5-1 and a fixed flipper 5-2, wherein one end of the fixed flipper 5-2 is fixedly connected with a sealing and blocking head 7, and the other end of the fixed flipper 5-2 is connected with the moving flipper 5-1. Other components and connections are the same as those in the first embodiment.
Principle of operation
The robot can be used as the hind limb of a frog-simulated swimming robot to carry out underwater propulsion swimming. The leg water pushing driving device is a soft material hind limb driving structure consisting of a hip joint 2, a knee joint 3 and an ankle joint 4, and is connected with a main body trunk through a connecting piece at the top end of the hind limb hip joint 2, and the tail end of the ankle joint 4 is connected with a hind limb consisting of a movable web 5-1 and a fixed web 5-2 to realize the leg water pushing driving action. The hip, knee and ankle joints of the hind limb body are soft pneumatic one-way bending modules, and the three modules are connected in series to form an integral driving structure.
The hind limb body hip joint 2, the knee joint 3 and the ankle joint 4 are connected end to form an air guide passage, the hind limb main body forms an S-shaped closed cavity through an air guide blocking head and a sealing blocking head, the elastic base body and the strain difference of the strain limiting layer are utilized to generate bending deformation, different bending deformation degrees are achieved when different air pressures are charged, the hind limb body completes the motion form from bending to straightening by instantly introducing high-pressure air, and therefore the stretching action of the frog hind limb when swimming underwater is simulated, and the robot swims.
The inner cavities of the hip joint 2, the knee joint 3 and the ankle joint 4 of the hind limb body are communicated together, and only one air guide pipeline and one set of switch valve are needed to realize air pressure control, so that the problems that the body of the robot main body is large in size and complex in control due to the fact that a plurality of control valves and circuits are stored are solved, and the frog-imitating swimming robot is further miniaturized.
The strain limiting layers are attached to the outer arc surfaces of the hip joint 2, the knee joint 3 and the ankle joint 4 of the soft pneumatic bending module of the hind limb body, so that the motion form of bending and stretching is guaranteed. This pneumatic bending module of under-actuated series software, bearing capacity is good, no longer needs the stereoplasm rigidity material to connect, has avoided the contact juncture of rigid and soft piece not firm easy tearing problem, has simplified the hind limb structure to simplified the preparation flow, reduced the preparation complexity.
The radial expansion deformation of the hind limb body after air pressure is filled is limited by winding the hip joint fiber line 2-3, the knee joint fiber line 3-3 and the ankle joint fiber line 4-3, a good bending action effect is achieved through the strain difference of the hip joint elastic matrix 2-1, the knee joint elastic matrix 3-1, the ankle joint elastic matrix 4-1 and the hip joint strain limiting layer 2-2, the knee joint strain limiting layer 3-2 and the ankle joint strain limiting layer 4-2, different bending deformation degrees are achieved when different air pressures are filled, the hind limb body finishes the motion form from bending to straightening by instantly introducing high-pressure gas, the flipper is driven to pull water to generate a propelling force, so that the stretching action of the frogs hind limb during underwater swimming is simulated, and the robot swimming is realized.
The hind limb body is formed by casting a platinum-catalyzed silicon rubber material, and is obtained by 3D printing of a mold, molding and bonding. The back limb bending device has the advantages that the silicon rubber material with high breaking elongation, tensile strength and tearing strength is selected to ensure that the back limb has enough bearing capacity and durability, meanwhile, the radial expansion deformation of the back limb body after air pressure is filled is limited by winding a fiber wire, and a good bending action effect is achieved through the strain difference between the back limb body and the silicon rubber strain gauge. The soft hind limb has the remarkable advantages of soft bodies, has strong environmental adaptability, enables the body to deform in a continuous deformation mode to simulate the actions of frogs, has high response speed, and can execute quick and quick hind limb starting and water pushing. The underactuated series soft pneumatic bending module further reduces the weight and has a compact structure.
Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (6)
1. The utility model provides an adopt the pneumatic crooked module's of underactuated series connection software leg of swimming of imitative frog which characterized in that: an adopt pneumatic bending module's of underactuated series connection software imitative frog leg of swimming includes main part truck connecting piece (1), hip joint (2), knee joint (3), ankle joint (4), hind limb web, air guide blocking head (6) and sealed blocking head (7), hip joint (2), knee joint (3), ankle joint (4) end to end connect gradually into an air guide channel, hip joint (2) are connected with main part truck connecting assembly (1) through air guide blocking head (6), ankle joint (4) through sealed blocking head (7) with hind limb web connects.
2. The simulated frog swimming leg adopting the under-actuated series soft pneumatic bending module as claimed in claim 1, wherein: the hip joint (2), the knee joint (3) and the ankle joint (4) are soft pneumatic one-way bending modules which are connected in series to form a rear limb driving structure.
3. The simulated frog swimming leg adopting the under-actuated series soft pneumatic bending module as claimed in claim 1, wherein: the hip joint (2) consists of a hip joint elastic matrix (2-1), a hip joint strain limiting layer (2-2) and a hip joint fiber line (2-3), wherein the hip joint fiber line (2-3) is spirally wound on the hip joint elastic matrix (2-1), the hip joint fiber line (2-3) is adhered to the hip joint elastic matrix (2-1), and the hip joint strain limiting layer (2-2) is adhered to the outer arc surface of the hip joint elastic matrix (2-1).
4. The simulated frog swimming leg adopting the under-actuated series soft pneumatic bending module as claimed in claim 1, wherein: the knee joint (3) is composed of a knee joint elastic matrix (3-1), a knee joint strain limiting layer (3-2) and a knee joint fiber line (3-3), the knee joint fiber line (3-3) is spirally wound on the knee joint elastic matrix (3-1), the knee joint fiber line (3-3) is pasted on the knee joint elastic matrix (3-1), and the knee joint strain limiting layer (3-2) is pasted on the outer arc surface of the knee joint elastic matrix (3-1).
5. The simulated frog swimming leg adopting the under-actuated series soft pneumatic bending module as claimed in claim 1, wherein: the ankle joint (4) consists of an ankle joint elastic matrix (4-1), an ankle joint strain limiting layer (4-2) and an ankle joint fiber line (4-3), the ankle joint fiber line (4-3) is spirally wound on the ankle joint elastic matrix (4-1), the ankle joint fiber line (4-3) is adhered to the ankle joint elastic matrix (4-1), and the ankle joint strain limiting layer (4-2) is adhered to the outer arc surface of the ankle joint elastic matrix (4-1).
6. The simulated frog swimming leg adopting the under-actuated series soft pneumatic bending module as claimed in claim 1, wherein: the hind limb flipper consists of a moving flipper (5-1) and a fixed flipper (5-2), wherein one end of the fixed flipper (5-2) is fixedly connected with the sealing and blocking head (7), and the other end of the fixed flipper (5-2) is connected with the moving flipper (5-1).
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| CN110269776B (en) * | 2019-06-28 | 2021-09-07 | 清华大学深圳研究生院 | Finger-assisted rehabilitation finger stall based on pneumatic soft actuator and manufacturing method thereof |
| CN112441204B (en) * | 2020-12-04 | 2022-10-14 | 浙江大学 | Frog-imitating underwater soft robot driven by chemical energy release reaction |
| CN114248888B (en) * | 2021-11-22 | 2022-10-21 | 杭州电子科技大学 | Water-catching type underwater bionic robot and driving method thereof |
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| JP2009274199A (en) * | 2008-05-19 | 2009-11-26 | Ihi Corp | Frog-leg arm robot |
| CN101817398A (en) * | 2010-04-15 | 2010-09-01 | 北京航空航天大学 | Breaststroke underwater advancing mechanism based on link mechanisms |
| CN103241302B (en) * | 2013-05-29 | 2015-06-17 | 哈尔滨工业大学 | Pneumatic muscle driving bionic frog bouncing leg mechanism employing dual-joint mechanism form |
| CN103241301B (en) * | 2013-05-29 | 2015-06-17 | 哈尔滨工业大学 | Pneumatic muscle driven frog-imitation bouncing leg having perceptivity |
| CN104192288B (en) * | 2014-09-15 | 2017-01-25 | 哈尔滨工业大学 | Frog swimming imitation robot based on pneumatic muscle drive |
| CN104590412B (en) * | 2014-12-24 | 2017-01-11 | 浙江理工大学 | Multifunctional bionic jumping and walking robot |
| CN105691572B (en) * | 2016-01-25 | 2017-08-11 | 哈尔滨工业大学 | A kind of imitative frog travel robot of pneumatic muscles antagonism formula driving |
| CN108128429B (en) * | 2017-12-26 | 2019-08-23 | 哈尔滨工业大学 | A kind of imitative frog travel robot based on the pneumatic software actuator driving of articulated type |
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