CN112441204A - Frog-imitating underwater soft robot driven by chemical energy release reaction - Google Patents
Frog-imitating underwater soft robot driven by chemical energy release reaction Download PDFInfo
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- CN112441204A CN112441204A CN202011398238.6A CN202011398238A CN112441204A CN 112441204 A CN112441204 A CN 112441204A CN 202011398238 A CN202011398238 A CN 202011398238A CN 112441204 A CN112441204 A CN 112441204A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H1/00—Propulsive elements directly acting on water
- B63H1/30—Propulsive elements directly acting on water of non-rotary type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention belongs to the field of soft robots, and particularly relates to a frog-imitating underwater soft robot based on chemical energy release reaction driving, which comprises a robot main body and a leg driving assembly, wherein the leg driving assembly comprises a main leg pipe, a flexible elastic diaphragm, a telescopic leg pipe, a bionic umbrella web, an energy release exciting device and an energy release raw material storage device, the energy release raw material storage device is used for conveying energy release reaction raw materials for a reaction chamber, and the energy release exciting device is used for exciting the raw materials in the reaction chamber to perform energy release reaction so as to push the flexible elastic diaphragm to swell. The robot has the advantages of simple structure, high environmental adaptability, simple driving and the like, and can move forwards. The invention of the design is beneficial to solving the defects of low driving efficiency and low motion performance speed of the bionic soft robot in the field, and meanwhile, the functions of quick start, underwater monitoring and the like can be realized.
Description
Technical Field
The invention belongs to the field of soft robots, and particularly relates to a frog-simulated underwater soft robot based on chemical energy release reaction driving.
Background
Most of the traditional robots are made of rigid materials, and the complexity and the lower flexibility of the structure limit the working space of the robots; the high weight and noise of the rigid material also limit the ease of operation of the robot. To break through the development limitation of the traditional robot field, a soft robot is developed and gradually developed. The software robot refers to an intelligent execution device which is usually made of flexible materials and can adapt to various unstructured environments, and the interaction with human beings is safer. Compared with the traditional robot, the soft robot has higher flexibility by using the flexible material, has great potential of simulating biological motion, and can be combined with bionics to design and research the driving and working modes of the soft robot. Different from the traditional robot motor drive, the drive mode of the soft robot mainly depends on the used intelligent materials, generally comprises a Dielectric Elastomer (DE), an ionic polymer metal composite material (IPMC), a Shape Memory Alloy (SMA), a Shape Memory Polymer (SMP) and the like, and is temporarily divided into the following types of physical quantities from response, namely an electric field, pressure, a magnetic field, light and temperature. However, these driving methods have a big disadvantage in that they cannot generate a fast and large driving force. The chemical energy release reaction has the characteristics of extremely high reaction speed, large heat release and large gas generation, so that the soft robot can obtain large driving force in a short time. The application provides the frog-imitating underwater soft robot based on the chemical energy release reaction drive by combining a soft silica gel material and taking a frog in the nature as a bionic object based on the drive mode.
Disclosure of Invention
In order to make up the defects of the prior art, the invention provides a technical scheme of the frog-imitating underwater soft robot based on chemical energy release reaction driving.
The underwater soft robot based on the chemical energy release reaction drive is characterized by comprising a robot main body and two leg drive assemblies which are respectively installed on the left side and the right side of the robot main body in a matched mode, wherein each leg drive assembly comprises a main leg pipe, a flexible elastic diaphragm, a telescopic leg pipe, a bionic umbrella web, an energy release exciting device and an energy release raw material storage device, the main leg pipe is provided with a drive chamber, a reaction chamber and a sliding chamber, the energy release exciting device and the energy release raw material storage device are installed in the drive chamber in a matched mode, the flexible elastic diaphragm is installed between the reaction chamber and the sliding chamber in a matched mode, the telescopic leg pipe is inserted in the sliding chamber in a sliding mode, the bionic umbrella web is arranged at the rear end of the telescopic leg pipe, the energy release raw material storage device is used for conveying energy release reaction raw materials for the reaction chamber, and the energy release exciting device is used for exciting the raw materials in the reaction chamber to perform energy release reaction so, when the flexible elastic diaphragm swells, the flexible leg tube can be driven to move backwards in the sliding chamber, and when the flexible leg tube moves backwards, the bionic umbrella web can be unfolded under the water pressure, so that the purpose of pushing the soft robot to move underwater is achieved.
The underwater robot based on the chemical energy release reaction drive is characterized in that the bionic umbrella web has elasticity and can automatically recover a furled state after being unfolded.
The underwater robot based on the chemical energy release reaction drive is characterized in that the bionic umbrella web comprises a bone toe and a web membrane laid on the bone toe.
A imitative frog underwater software robot based on reaction drive is put to chemistry, its characterized in that cooperation installation sucking disc device on robot main part and/or shank drive assembly, vacuum pump and vacuum chuck that shown sucking disc device is connected including the cooperation, vacuum chuck is used for adsorbing in the object surface, vacuum pump is with for vacuum chuck provides the vacuum power source.
The frog-imitating underwater soft robot based on chemical energy release reaction driving is characterized in that a plurality of vacuum suction ports are distributed on the outer surface of the vacuum chuck.
The frog-imitating underwater soft robot based on chemical energy release reaction driving is characterized in that a monitoring module is installed on a robot main body and/or a leg driving assembly in a matched mode.
The frog-imitating underwater soft robot based on chemical energy release reaction driving is characterized in that the monitoring module comprises a sound wave detection unit and/or an image acquisition unit.
The frog-imitating underwater soft robot based on chemical energy release reaction driving is characterized in that a buoyancy adjusting device is installed on a robot body in a matching mode.
The frog-imitating underwater soft robot based on chemical energy release reaction driving is characterized in that the surface skin of the robot main body and/or the main leg pipe is made of silicon nano materials.
The frog-imitating underwater soft robot driven by the chemical energy release reaction can convert the instantaneous high-energy chemical energy release reaction into the deformation of the flexible elastic diaphragm, the deformation pushes the telescopic leg tube to move backwards, and meanwhile, the bionic umbrella web is stretched, so that the soft robot imitates the frog to perform forward accelerated motion; when the soft robot approaches the target, the vacuum chuck starts the chuck device to fix the soft robot on the surface of the target; the sound wave detection unit guides the soft robot to move in water, and the image acquisition module records the movement process and the external environment image; the robot surface is made of silicon nano materials, and the robot is invisible under naked eyes by utilizing the optical characteristics of the materials.
The robot has the advantages of simple structure, high environmental adaptability, simple driving and the like, and can move forwards. The invention of the design is beneficial to solving the defects of low driving efficiency and low motion performance speed of the bionic soft robot in the field, and meanwhile, the functions of quick start, underwater monitoring and the like can be realized.
Drawings
FIG. 1 is a schematic view of the present invention;
FIG. 2 is a second schematic structural diagram of the present invention;
FIG. 3 is a third schematic view of the present invention;
FIG. 4 is a fourth view of the structure of the present invention
FIG. 5 is a fifth schematic view of the present invention;
FIG. 6 is a sixth schematic view of the present invention;
FIG. 7 is a schematic view of the connection structure of the main leg tube and the extendable leg tube according to the present invention.
Detailed Description
The invention will be further explained with reference to the drawings.
As shown in the figure, the frog-imitating underwater soft robot based on chemical energy release reaction driving comprises a robot main body 1 and two leg driving assemblies which are respectively installed on the left side and the right side of the robot main body 1 in a matched mode, wherein each leg driving assembly comprises a main leg pipe 2, a flexible elastic diaphragm 3, a telescopic leg pipe 4, a bionic umbrella web 5, an energy release exciting device 6 and an energy release raw material storage device 7, the main leg pipe 2 is provided with a driving chamber 200, a reaction chamber 201 and a sliding chamber 202, the energy release exciting device 6 and the energy release raw material storage device 7 are installed in the driving chamber 200 in a matched mode, the flexible elastic diaphragm 3 is installed between the reaction chamber 201 and the sliding chamber 202 in a matched mode, the telescopic leg pipe 4 is inserted in the sliding chamber 202 in a sliding mode, the bionic umbrella web 5 is connected to the rear end of the telescopic leg pipe 4 through a flexible material, the energy release raw material storage device 7 is used for conveying energy release reaction raw materials for the reaction chamber 201, and the energy release exciting device 6 is used for exciting the raw materials in the 3 is swollen, the flexible elastic diaphragm 3 can drive the telescopic leg tube 4 to move backwards in the sliding chamber 202 when swollen, and the bionic umbrella web 5 can be unfolded under the water pressure when the telescopic leg tube 4 moves backwards, thereby realizing the purpose of pushing the soft robot to move underwater. The energy-releasing raw material storage device 7 can be two gas cylinders respectively filled with methane and oxygen, the gas cylinders are provided with flow valves, the gas cylinders are respectively ventilated into the reaction chamber 201 through the channel vent pipes 12, the gas is controlled to be discharged through the flow valves, the energy-releasing exciting device 6 can be a pulse signal transmitter and an electric spark transmitter, the pulse signal transmitter generates pulse signals, the signals are transmitted to the electric spark transmitter at the tail end of the pulse signal transmitter through conducting wires, and the electric sparks can detonate raw material gas to generate power.
As an optimization: the bionic umbrella web 5 has elasticity and can automatically recover a furled state after being unfolded. Specifically, the bionic umbrella web 5 is connected with the telescopic leg tube 4 by adopting a flexible material. The bionic umbrella web 5 comprises a bone toe 500 and a web membrane 501 laid on the bone toe 500. The bionic umbrella web 5 imitates the rear toes of a frog, webs are arranged between the toes and are made of a framework and a silica gel soft film, and the bionic umbrella web stretches to propel the robot to move when the bionic umbrella web is driven.
As an optimization: the robot main body 1 is provided with a sucker device 8 in a matching mode, the sucker device 8 comprises a vacuum pump 800 and a vacuum sucker 801 which are connected through a pipeline, the vacuum sucker 801 is used for being adsorbed on the surface of an object, and the vacuum pump 800 is used for providing a vacuum power source for the vacuum sucker 801. Specifically, a plurality of vacuum suction ports 8010 are arranged on the outer surface of the vacuum chuck 801. The vacuum suction port 8010 is tightly attached to the surface of the target after approaching the target, the air suction pipe 8000 of the vacuum pump 800 sucks air into the vacuum pump 800, and the robot is adsorbed on the surface of the target
As an optimization: the robot main body 1 is provided with a monitoring module in a matching way, and the monitoring module and the robot main body 1 can be movably connected in a known way, for example, a motor is used for driving the monitoring module to rotate, so that a larger moving range can be obtained. Specifically, the monitoring module comprises a sound wave detection unit 9 and an image acquisition unit 10, and when the soft robot moves in water, the sound wave detection unit 9 and the image acquisition unit 10 acquire and record environmental information.
As an optimization: the robot main body 1 is provided with a buoyancy adjusting device 11 in a matching way.
As an optimization: the skins of the robot main body 1 and the main leg tube 2 are made of silicon nano materials, and the silicon nano materials can bend light rays and bypass objects wrapped by the materials, so that the aim of invisibility is fulfilled.
The invention is also provided with a conventional control unit for controlling the operation of the robot.
The motion principle of the simulated frog underwater soft robot is explained by taking the figure 1 as an example. Before the driving starts, the leg driving component is static, the bionic umbrella web 5 contracts, after the driving starts, the vent pipe 12 inputs reaction raw materials of the gas cylinder into the driving chamber 200, the energy release exciting device 6 starts the reaction of the raw materials in the reaction chamber 201, the flexible elastic diaphragm 3 at the position of the reaction chamber 201 expands, the sliding chamber 202 pushes the telescopic leg pipe 4 to pop up due to the air pressure change like an air cylinder, and meanwhile, the bionic umbrella web 5 opens to push the soft robot to move. During movement, the buoyancy adjusting device 11 in the soft body robot is a known technology, simulates the action of swim bladders, assists the robot to lift in water through water absorption and drainage, stabilizes the center of gravity, can adjust the internal pressure of the structure, and avoids the internal structure of the robot from being damaged by overlarge water pressure. When the robot approaches the target object, the suction cup device 8 is activated, and the suction pipe 8000 sucks air in the vacuum suction port 8010 into the vacuum pump 800, so that the robot is fixed on the surface of the target object.
The monitoring operation principle of the simulated frog underwater soft body robot is explained by taking fig. 6 as an example. The monitoring module comprises an acoustic detection unit 9 and an image acquisition unit 10, the acoustic detection unit 9 detects a lower target by using underwater acoustic waves, and can be used for motion navigation, hydrological measurement, underwater topography and landform survey and the like, and the image acquisition unit 10 acquires and records environmental information.
The surface of the soft robot is made of silicon nano material, the material utilizes the special optical characteristics of the material, and light can be diffracted when passing through the material and bypasses the body structure of the robot, thereby achieving the aim of invisibility.
The telescopic leg tube and the bionic umbrella web can be connected in a hinged mode, the driving mechanism is used for driving the bionic umbrella web to change the angle position, the flexible robot can be enabled to move in steering, jumping and the like, and therefore the practicability of the design is greatly improved.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A frog-imitating underwater soft robot based on chemical energy release reaction driving is characterized by comprising a robot main body (1) and two leg driving assemblies which are respectively installed on the left side and the right side of the robot main body (1) in a matched mode, wherein each leg driving assembly comprises a main leg pipe (2), a flexible elastic diaphragm (3), a telescopic leg pipe (4), a bionic umbrella web (5), an energy release exciting device (6) and an energy release raw material storage device (7), each main leg pipe (2) is provided with a driving chamber (200), a reaction chamber (201) and a sliding chamber (202), the energy release exciting device (6) and the energy release raw material storage device (7) are installed in the driving chamber (200) in a matched mode, the flexible elastic diaphragm (3) is installed between the reaction chamber (201) and the sliding chamber (202) in a matched mode, the telescopic leg pipe (4) is inserted in the sliding chamber (202) in a sliding mode, and the bionic umbrella web (5) is arranged at the rear end of the telescopic leg pipe (4), the energy releasing raw material storage device (7) is used for conveying energy releasing reaction raw materials for the reaction chamber (201), the energy releasing excitation device (6) is used for exciting the raw materials in the reaction chamber (201) to perform energy releasing reaction so as to push the flexible elastic diaphragm (3) to swell, the flexible elastic diaphragm (3) can drive the telescopic leg pipe (4) to move backwards in the sliding chamber (202) when swelling, and when the telescopic leg pipe (4) moves backwards, the bionic umbrella web (5) can be unfolded under the water pressure, so that the purpose of pushing the soft robot to move underwater is achieved.
2. The artificial frog underwater soft robot based on the chemical energy release reaction driving as claimed in claim 1, wherein the bionic umbrella web (5) has elasticity and can automatically recover the folded state after being unfolded.
3. The underwater soft robot based on the chemical energy release reaction drive for the imitated frog is characterized in that the bionic umbrella web (5) comprises a bone and a toe (500) and a web membrane (501) laid on the bone and the toe (500).
4. The frog-imitating underwater soft robot based on chemical energy release reaction driving as claimed in claim 1, wherein the robot main body (1) and/or the leg driving assembly are/is provided with a sucker device (8), the sucker device (8) comprises a vacuum pump (800) and a vacuum sucker (801) which are connected in a matching manner, the vacuum sucker (801) is used for being adsorbed on the surface of an object, and the vacuum pump (800) is used for providing a vacuum power source for the vacuum sucker (801).
5. The simulated frog underwater soft robot based on chemical discharge reaction driving as claimed in claim 4, wherein the outer surface of the vacuum suction cup (801) is provided with a plurality of vacuum suction ports (8010).
6. The simulated frog underwater soft robot based on the chemical discharge reaction driving as claimed in any one of claims 1-5, wherein the robot body (1) and/or the leg driving components are cooperatively provided with monitoring modules.
7. The simulated frog underwater soft robot based on chemical discharging reaction driving according to claim 6, characterized in that the monitoring module comprises a sound wave detection unit (9) and/or an image acquisition unit (10).
8. The simulated frog underwater soft robot based on the chemical discharging reaction driving as claimed in any one of claims 1-5, wherein the robot body (1) is cooperatively provided with a buoyancy adjusting device (11).
9. The simulated frog underwater soft robot driven by the chemical discharging reaction is characterized in that the surface skin of the robot main body (1) and/or the main leg pipe (2) is made of silicon nano materials according to any one of claims 1 to 5.
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| CN114248888A (en) * | 2021-11-22 | 2022-03-29 | 杭州电子科技大学 | Water-catching type underwater bionic robot and driving method thereof |
| CN115042922A (en) * | 2022-03-24 | 2022-09-13 | 武汉理工大学 | Ocean monitor based on self-adsorption principle |
| CN115126962A (en) * | 2022-06-13 | 2022-09-30 | 燕山大学 | Bionic unpowered pipeline robot and control method |
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