CN109333583B - Gravity center adjusting device of soft robot - Google Patents
Gravity center adjusting device of soft robot Download PDFInfo
- Publication number
- CN109333583B CN109333583B CN201811418723.8A CN201811418723A CN109333583B CN 109333583 B CN109333583 B CN 109333583B CN 201811418723 A CN201811418723 A CN 201811418723A CN 109333583 B CN109333583 B CN 109333583B
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- dielectric film
- structures
- counterweight
- adjusting device
- gravity center
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- 230000005484 gravity Effects 0.000 title claims abstract description 40
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 6
- 239000004205 dimethyl polysiloxane Substances 0.000 claims description 5
- 239000011521 glass Substances 0.000 claims description 5
- 229920000435 poly(dimethylsiloxane) Polymers 0.000 claims description 5
- -1 polydimethylsiloxane Polymers 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 4
- FAPWRFPIFSIZLT-UHFFFAOYSA-M Sodium chloride Chemical compound [Na+].[Cl-] FAPWRFPIFSIZLT-UHFFFAOYSA-M 0.000 claims description 3
- 229910052799 carbon Inorganic materials 0.000 claims description 3
- 239000002041 carbon nanotube Substances 0.000 claims description 3
- 229910021393 carbon nanotube Inorganic materials 0.000 claims description 3
- 239000000499 gel Substances 0.000 claims description 3
- 239000000017 hydrogel Substances 0.000 claims description 3
- 239000011780 sodium chloride Substances 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 5
- 239000010408 film Substances 0.000 description 26
- 239000010409 thin film Substances 0.000 description 17
- 230000007547 defect Effects 0.000 description 2
- 229920002595 Dielectric elastomer Polymers 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
- B25J19/002—Balancing devices using counterweights
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a gravity center adjusting device of a soft robot, which comprises a plurality of dielectric film structures and a plurality of counterweight structures, wherein the counterweight structures are arranged between the adjacent dielectric film structures. The invention drives the counterweight structure to move by applying voltage to expand the area of the dielectric film structure; the counterweight structure can move in different directions by applying voltages to different areas of the dielectric film structure, so that the multi-directional adjustment of the gravity center is realized, the robot moves in different directions in water, the moving distance of the counterweight is changed by the applied voltage, and the position of the gravity center is accurately controlled, so that the orientation of the robot is accurately controlled.
Description
Technical Field
The invention relates to the technical field of deep sea instruments, in particular to a gravity center adjusting device of a soft robot.
Background
In recent years, underwater robots are rapidly developed due to the application of the underwater robots in the aspects of marine environment observation, resource assessment and the like; the traditional underwater robot is mainly composed of a hard metal structure, and the center of gravity of the robot is adjusted mainly by an internal posture adjusting system in water, so that the functions of advancing, steering and the like of the robot are realized; the posture adjusting system of the robot mainly comprises two parts, wherein one part drives a sliding block to move on a sliding rail through a servo motor, so that the longitudinal gravity center adjustment is realized; the other part is that the eccentric block is rotated by the turbine rod to realize the adjustment of the center of gravity in the transverse direction.
The existing traditional robot posture adjusting system occupies a large volume and space, is heavy and heavy, and has certain defects in resource application; in addition, the conventional center of gravity adjusting system cannot be miniaturized and used for a small robot; and also cannot withstand high pressure to accommodate deep sea area (greater than 6000m) applications.
Disclosure of Invention
The invention overcomes the defects in the prior art and provides a gravity center adjusting device of a soft robot.
In order to solve the technical problems, the specific technical scheme adopted by the invention is summarized as follows:
a gravity center adjusting device of a soft robot comprises a plurality of dielectric film structures and a plurality of counterweight structures, wherein the counterweight structures are arranged between the adjacent dielectric film structures.
Further, the dielectric thin film structure includes two dielectric thin films and a conductive layer between the two dielectric thin films.
Further, the dielectric film is VHB4910 and is in an equibiaxial pre-stretched state; the conducting layer is hydrogel, carbon paste or carbon nano tubes.
Further, the counterweight structure is composed of a deformable high-density flexible material.
Further, the flexible material is high density saline or gel.
Furthermore, the gravity center adjusting device further comprises a support, a plurality of dielectric film structures are respectively fixed on the support, and every two adjacent dielectric film structures are separated by a counterweight structure.
Furthermore, the number of the dielectric film structures is four, and the dielectric film structures are fixedly arranged on the support in a Chinese character tian shape.
Furthermore, the shape of the support is square, round or triangular, and the support is made of organic glass or polydimethylsiloxane.
Furthermore, the conducting layer is connected with the anode of an external circuit, and the dielectric film is connected with the cathode of the external circuit.
Furthermore, a displacement sensor is arranged on the outer frame of the support and used for monitoring and feeding back the position of the counterweight structure in real time.
The beneficial technical effects obtained by the invention are as follows: the invention drives the counterweight structure to move by applying voltage to expand the area of the dielectric film structure; the counterweight structure can move in different directions by applying voltages to different areas of the dielectric film structure, so that the multi-directional adjustment of the gravity center is realized, the robot moves in different directions in water, the moving distance of the counterweight is changed by the applied voltage, and the position of the gravity center is accurately controlled, so that the orientation of the robot is accurately controlled.
Drawings
To achieve the above and other advantages and features of the present invention, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. Understanding that these drawings depict only typical embodiments of the invention and are not therefore to be considered to be limiting of its scope, the invention will be described and explained with additional specificity and detail through the use of the accompanying drawings; in the drawings:
FIG. 1 is a schematic view showing the construction of a center of gravity adjusting apparatus according to the present invention;
FIG. 2 is a schematic illustration of a dielectric film structure of the present invention;
in the drawings: 1/2/3/4-dielectric film structure, 5-counterweight structure, 6-bracket, 7-displacement sensor, 8-dielectric film, 9-conductive layer and 10-lead.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. Directional terms such as "front", "rear", "left", "right", and the like in the following description are not to be construed as limiting the present invention. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
The following describes the gravity center adjusting device of a soft robot in detail with reference to the accompanying drawings: as shown in fig. 1, a gravity center adjusting device for a soft robot includes a square support 6, four dielectric film structures 1/2/3/4 and four counterweight structures 5 are disposed on the support 6, the counterweight structures 5 are deformable soft structures made of flexible material with large density, the counterweight structures 5 are disposed between two adjacent dielectric film structures, the four dielectric film structures are arranged in a shape like a Chinese character tian on the support 6, and the initial gravity center of the support is located at the center of the support.
As shown in fig. 2, the dielectric thin film structure includes two dielectric thin films 8 and a conductive layer 9, the conductive layer 9 is sandwiched between the two dielectric thin films 8, the conductive layer 9 in the middle is connected with the positive electrode of a power supply, the dielectric thin films 8 at two sides are connected with the negative electrode of the power supply by using water as an electrode, after the power supply is switched on to apply voltage to the dielectric thin film structure, an electric field is formed between the two dielectric thin films 8 in the dielectric thin film structure, the dielectric thin films 8 are driven to deform, the position of a counterweight structure connected with the dielectric thin films is changed, and thus the center of gravity of the whole device is adjusted; by changing the magnitude of the applied voltage and the applied area, the center of gravity of the whole device can be changed in different directions and different displacement magnitudes.
The dielectric film 8 was VHB4910 and was in a state of equibiaxial prestretching, the thickness before prestretching was 2mm, and the draw ratio of equibiaxial prestretching was 3 × 3.
The conducting layer 9 is hydrogel, carbon paste or carbon nano tube; the weight structure 5 is high-density saline or gel, is positioned between the two dielectric film structures, is firmly connected with the dielectric film 8, and can generate shape change along with the deformation of the dielectric film 8.
The support 6 is made of organic glass or polydimethylsiloxane, the organic glass or the polydimethylsiloxane has certain mechanical strength, the dielectric elastomer film can keep a certain pre-stretching state, and the organic glass or the polydimethylsiloxane has good insulating property, so that the safety performance of the device is guaranteed.
The process of center of gravity adjustment of the present invention is as follows: applying a voltage to the dielectric film structure 1-2, the two horizontal counterweight structures 5 move downwards, and the gravity center of the whole device moves downwards; applying a voltage to the dielectric thin film structure 3-4, the two horizontal counterweight structures will move upwards, and the center of gravity of the whole device moves upwards; applying a voltage to the dielectric film structures 1-4, the two vertical counterweight structures can move to the right, and the gravity center of the whole device moves to the right; applying a voltage to the dielectric film structure 2-3, the two vertical counterweight structures move to the left, and the gravity center of the whole device moves to the left; when a voltage is applied to the dielectric thin film structure 1, two adjacent weight structures will move downward to the right. The gravity center of the whole device moves towards the right lower direction; when a voltage is applied to the dielectric thin film structure 2, two adjacent weight structures will move downward to the left. The gravity center of the whole device moves towards the left lower direction; applying a voltage to the dielectric thin film structure 3, two adjacent weight structures will move up to the left. The gravity center of the whole device moves towards the left upper direction; by applying a voltage to the dielectric thin film structure 4, two adjacent weight structures will move up to the right. The center of gravity of the entire apparatus is shifted in the right-upward direction.
The invention drives the counterweight structure to move by applying voltage to expand the area of the dielectric film structure; the counterweight structure can move in different directions by applying voltages to different areas of the dielectric film structure, so that the multi-directional adjustment of the gravity center is realized, the robot moves in different directions in water, the moving distance of the counterweight is changed by the applied voltage, and the position of the gravity center is accurately controlled, so that the orientation of the robot is accurately controlled.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (7)
1. A gravity center adjusting device of a soft robot comprises a plurality of dielectric film structures and a plurality of counterweight structures, wherein the counterweight structures are arranged between the adjacent dielectric film structures;
the counterweight structure is made of deformable high-density flexible material;
the gravity center adjusting device also comprises a bracket, a plurality of dielectric film structures are respectively fixed on the bracket, and every two adjacent dielectric film structures are separated by a counterweight structure;
the number of the dielectric film structures is four, and the dielectric film structures are fixedly arranged on the support in a Chinese character 'tian' shape.
2. The soft robotic center of gravity adjustment device of claim 1, wherein the dielectric film structure comprises two dielectric films and a conductive layer between the two dielectric films.
3. The soft robot gravity center adjusting device according to claim 2, wherein the dielectric film is VHB4910 and is in a state of biaxial pretension; the conducting layer is hydrogel, carbon paste or carbon nano tubes.
4. The soft robotic center of gravity adjustment device of claim 1, wherein the flexible material is high density saline or gel.
5. The soft robot gravity center adjusting device according to claim 1, wherein the shape of the support is square, circular or triangular, and the material of the support is organic glass or polydimethylsiloxane.
6. The soft robot center of gravity adjusting device of claim 2, wherein the conductive layer is connected to a positive electrode of an external circuit, and the dielectric film is connected to a negative electrode of the external circuit.
7. The gravity center adjusting device of a soft robot as claimed in claim 1, wherein a displacement sensor is disposed on the outer frame of the support for real-time monitoring and feedback of the position of the counterweight structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811418723.8A CN109333583B (en) | 2018-11-26 | 2018-11-26 | Gravity center adjusting device of soft robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811418723.8A CN109333583B (en) | 2018-11-26 | 2018-11-26 | Gravity center adjusting device of soft robot |
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| Publication Number | Publication Date |
|---|---|
| CN109333583A CN109333583A (en) | 2019-02-15 |
| CN109333583B true CN109333583B (en) | 2020-12-01 |
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| CN201811418723.8A Active CN109333583B (en) | 2018-11-26 | 2018-11-26 | Gravity center adjusting device of soft robot |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110733669B (en) * | 2019-10-24 | 2021-06-18 | 北京空间技术研制试验中心 | Spacecraft re-entry capsule mass center dynamic adjusting device |
| CN110774292B (en) * | 2019-10-25 | 2021-01-12 | 上海交通大学 | Bionic soft rolling robot |
| CN110948520B (en) * | 2019-11-08 | 2021-04-06 | 山东大未来人工智能研究院有限公司 | Balance assembly of artificial intelligent education robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206634190U (en) * | 2017-03-31 | 2017-11-14 | 大鹏高科（武汉）智能装备有限公司 | A kind of underwater robot with gravity adjusting device |
| CN207008410U (en) * | 2017-06-07 | 2018-02-13 | 北京臻迪科技股份有限公司 | One kind is paddled robot gravity adjusting device and the robot that paddles |
| CN207875951U (en) * | 2017-10-27 | 2018-09-18 | 浙江大学 | Pressure adaptive software intelligent drive device |
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2018
- 2018-11-26 CN CN201811418723.8A patent/CN109333583B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206634190U (en) * | 2017-03-31 | 2017-11-14 | 大鹏高科（武汉）智能装备有限公司 | A kind of underwater robot with gravity adjusting device |
| CN207008410U (en) * | 2017-06-07 | 2018-02-13 | 北京臻迪科技股份有限公司 | One kind is paddled robot gravity adjusting device and the robot that paddles |
| CN207875951U (en) * | 2017-10-27 | 2018-09-18 | 浙江大学 | Pressure adaptive software intelligent drive device |
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| CN109333583A (en) | 2019-02-15 |
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