CN113927616A - Software crawling robot and control method thereof - Google Patents
Software crawling robot and control method thereof Download PDFInfo
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- CN113927616A CN113927616A CN202111353928.4A CN202111353928A CN113927616A CN 113927616 A CN113927616 A CN 113927616A CN 202111353928 A CN202111353928 A CN 202111353928A CN 113927616 A CN113927616 A CN 113927616A
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- 238000000034 method Methods 0.000 title claims abstract description 13
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- 239000004945 silicone rubber Substances 0.000 claims description 8
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- 238000007639 printing Methods 0.000 description 10
- 238000004519 manufacturing process Methods 0.000 description 9
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- 238000010146 3D printing Methods 0.000 description 2
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- 241000282414 Homo sapiens Species 0.000 description 2
- 239000003795 chemical substances by application Substances 0.000 description 2
- 238000001816 cooling Methods 0.000 description 2
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- 238000012986 modification Methods 0.000 description 2
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- 229910001285 shape-memory alloy Inorganic materials 0.000 description 2
- 229920000431 shape-memory polymer Polymers 0.000 description 2
- 238000005303 weighing Methods 0.000 description 2
- 241000238413 Octopus Species 0.000 description 1
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- 230000007547 defect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/20—Programme controls fluidic
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Abstract
The invention relates to a soft crawling robot and a control method thereof. The invention comprises the following steps: the robot gripper is connected with a front end radial actuator, a central axial actuator and a rear end radial actuator in sequence; the robot gripper, the front end radial actuator, the central axial actuator and the rear end radial actuator all comprise air cavities; the robot gripper can be bent by inflating; the front end radial actuator and the rear end radial actuator can expand radially through inflation; the central axial actuator is axially expandable by inflation; the front end radial actuator, the central axial actuator and the rear end radial actuator are inflated, deflated and kept by adopting a preset sequence, so that the soft robot body moves back and forth in the pipeline. The pipeline automatic control system can well play a role in clearing specific obstacles in the pipeline or target delivery by arranging the inflatable rear-end radial actuator, the central axial actuator, the front-end radial actuator and the robot gripper.
Description
Technical Field
The invention relates to the technical field of soft robots, in particular to a soft crawling robot and a control method thereof.
Background
Different from the traditional rigid robot, the soft robot is mainly made of flexible materials such as silicon rubber and the like, is generally considered as a material with Young modulus lower than human muscle, has high flexibility and flexibility, and can be bent or stretched at will. The soft robot is suitable for various complex environments, can safely interact with human beings, avoids the injury possibly brought by a rigid robot, and can be widely applied to the fields of medical treatment, detection, wearable equipment and the like. The driving modes of the soft robot mainly include pneumatic driving, magnetic field driving, Dielectric Elastomer (DE), Ionic Polymer Metal Composite (IPMC), Shape Memory Alloy (SMA), Shape Memory Polymer (SMP) and the like, scientists design various soft robots according to the driving modes, and most of the soft robots are designed to simulate various organisms in the nature, such as earthworms, octopus, jellyfish and the like.
The soft gripper mainly utilizes the difference of Young's moduli of the upper layer material and the lower layer material, and is provided with a structure similar to a finger, so that the soft gripper can be bent like the finger when being inflated, thereby gripping an object. Various soft gripping robots mainly used for rehabilitation gloves, gripping objects under free conditions and the like exist at present, but most of the soft grippers are large in size, fixed on a support and used for less gripping robots under environmental conditions such as pipelines and the like.
Disclosure of Invention
Therefore, the technical problem to be solved by the invention is to overcome the defects that most of soft grippers in the prior art are large in size, fixed on a support and used for fewer clamping robots under the environmental conditions of pipelines and the like.
In order to solve the above technical problems, the present invention provides a soft crawling robot, comprising: the robot comprises a robot body, a robot gripper and an air guide pipe assembly, wherein the robot body comprises a front-end radial actuator, a central axial actuator and a rear-end radial actuator which are sequentially connected, and the robot gripper comprises a plurality of soft grippers connected with the robot body; the soft grippers comprise finger-shaped structure air cavities, the finger-shaped structure air cavities are provided with back covers, the Young modulus of a back cover material is greater than that of the finger-shaped structure air cavities, and the plurality of grippers are bent through inflation and grip an object to be gripped; the front end radial actuator and the rear end radial actuator comprise hollow cylindrical air cavities, and the front end radial actuator and the rear end radial actuator can expand radially through inflation; the central axial actuator comprises a corrugated pipe-shaped air cavity and can axially expand through inflation; the gas-guide tube assembly comprises a plurality of gas-guide tubes, and the gas-guide tubes are introduced from the hollow cylindrical gas cavity of the rear end actuator and sequentially enter the hollow cylindrical gas cavity of the rear end radial actuator, the corrugated tubular gas cavity of the central axial actuator, the hollow cylindrical gas cavity of the front end radial actuator and the finger-shaped structure gas cavity; the front end radial actuator, the central axial actuator and the rear end radial actuator are inflated and deflated by adopting a preset sequence, and the current state is kept, so that the soft robot body moves back and forth in the pipeline.
In an embodiment of the present invention, two ends of the central axial actuator are adhered to the front end radial actuator and the rear end radial actuator by glue, and the soft grip is adhered to the front end radial actuator by glue.
In an embodiment of the invention, the robot comprises an air pump, a controller, a relay and an electromagnetic valve, wherein the air pump is used for providing an air source for the soft crawling robot, the relay is respectively connected with the air pump and the electromagnetic valve, the controller controls the air pump through the relay, an air inlet end of the soft crawling robot is connected with an air supply end of the air pump through the electromagnetic valve, and the relay is controlled by the controller and controls the on-off of the electromagnetic valve through the relay.
In one embodiment of the present invention, the controller is a single chip microcomputer controlled by an upper computer.
In an embodiment of the present invention, the hollow cylindrical air chambers of the front end radial actuator and the rear end radial actuator, the bellows-shaped air chamber of the central axial actuator, and the bellows-shaped air chamber of the soft hand grip are all connected to an air pump through air ducts.
In one embodiment of the invention, each gas guide tube in the gas guide tube assembly is connected with the relay sequentially through the two-position three-way valve and the two-position two-way valve.
In one embodiment of the invention, the robot gripper, the front end radial actuator, the central axial actuator and the rear end radial actuator are all made of silicon rubber by demolding through a 3D printing mold.
In one embodiment of the invention, the outer surface of the central axial actuator is bound by a rubber ring to form a bellows structure.
The invention also provides a control method of the soft crawling robot, which comprises the following steps:
step S1: inflating the rear end radial actuator to radially expand the rear end radial actuator so as to clamp the inner wall of the pipeline;
step S2: keeping the rear end radial actuator in the current state, and inflating the central axial actuator to axially extend the central axial actuator;
step S3: keeping the rear end radial actuator and the central axial actuator in the current state, and inflating the front end radial actuator to radially expand the front end radial actuator and enable the front end radial actuator and the rear end radial actuator to simultaneously clamp the inner wall of the pipeline;
step S4: and (3) deflating the rear-end radial actuator and the central axial actuator to keep the front-end radial actuator in the current state, so that the soft crawling robot moves forwards.
In one embodiment of the invention, when the soft crawling robot reaches the position of the object to be taken, the finger-shaped structure air cavity of the soft hand gripper is inflated to bend the hand gripper, so that the object to be taken is gripped.
Compared with the prior art, the technical scheme of the invention has the following advantages:
the soft crawling grabbing robot provided by the invention can well play a role in clearing specific obstacles in a pipeline or carrying out targeted delivery by arranging the inflatable rear-end radial actuator, the inflatable central axial actuator, the inflatable front-end radial actuator and the inflatable robot gripper.
Drawings
In order that the present disclosure may be more readily and clearly understood, reference is now made to the following detailed description of the embodiments of the present disclosure taken in conjunction with the accompanying drawings, in which
FIG. 1 is a schematic structural diagram of the soft crawling robot of the present invention.
Fig. 2 is a schematic structural diagram of a robot body of the soft crawling robot of the present invention.
Fig. 3 is a schematic structural diagram of a robot gripper of the soft crawling robot.
FIG. 4 is a schematic diagram of a control system of the soft crawling robot of the present invention.
FIG. 5 is a schematic view of the gripper top and bottom layer mold of the soft crawling robot of the present invention.
FIG. 6 is a schematic view of the upper mold on the top of the gripper of the soft crawling robot.
Fig. 7 is a schematic view of a gripper bottom mold of the soft crawling robot of the present invention.
Fig. 7 is a schematic view of a gripper bottom mold of the soft crawling robot of the present invention.
FIG. 8 is a schematic view of the mold for manufacturing the radial actuator of the soft crawling robot of the present invention.
FIG. 9 is a schematic view of a mold for manufacturing a central axial actuator of the soft crawling robot of the present invention.
FIG. 10 is a schematic view of the soft robot body of the soft crawling robot of the present invention operating in a horizontal pipe.
FIG. 11 is a schematic view of the soft robot body of the soft crawling robot of the present invention operating in an inclined pipeline.
Fig. 12 is a schematic view of the soft robot body of the soft crawling robot of the present invention operating in a vertical pipeline.
The specification reference numbers indicate: 1. a rear end radial actuator; 2. a central axial actuator; 3. a front end radial actuator; 4. a first soft grip; 5. a second soft hand grip; 6. sealing the bottom; 7. finger-like structure air cavity.
Detailed Description
The present invention is further described below in conjunction with the following figures and specific examples so that those skilled in the art may better understand the present invention and practice it, but the examples are not intended to limit the present invention.
Example 1
Referring to fig. 1 to 3, the soft crawling robot of the present invention includes: the robot comprises a robot body, robot grippers and an air guide pipe assembly, wherein the robot body comprises a front-end radial actuator 3, a central axial actuator 2 and a rear-end radial actuator 1 which are sequentially connected, and the robot grippers comprise a plurality of soft grippers connected with the robot body;
the soft grippers comprise finger-shaped structure air cavities 7, the finger-shaped structure air cavities 7 are provided with back covers 6, the Young modulus of the material of the back covers 6 is greater than that of the material of the finger-shaped structure air cavities 7, the plurality of grippers are bent through inflation and grip an object to be gripped, and the embodiment of the soft grippers is provided with two soft grippers, namely a first soft gripper 4 and a second soft gripper 5;
the front end radial actuator 3 and the rear end radial actuator 1 comprise hollow cylindrical air cavities, and the front end radial actuator 3 and the rear end radial actuator 1 can expand radially through inflation;
the central axial actuator 2 comprises a corrugated pipe-shaped air cavity and the central axial actuator 2 can axially expand through inflation;
the gas-guide tube assembly comprises a plurality of gas-guide tubes, and the gas-guide tubes are introduced from the hollow cylindrical gas cavity of the rear end actuator and sequentially enter the hollow cylindrical gas cavity of the rear end radial actuator 1, the corrugated tubular gas cavity of the central axial actuator 2, the hollow cylindrical gas cavity of the front end radial actuator 3 and the finger-shaped structure gas cavity 7;
the front-end radial actuator 3, the central axial actuator 2 and the rear-end radial actuator 1 are inflated, deflated and maintained by adopting a preset sequence, so that the soft robot body moves back and forth in the pipeline.
Specifically, as shown in fig. 2, the central axial actuator 2 is bound using a rubber ring to form a bellows shape. Wherein the diameters of the front end radial actuator 3 and the rear end radial actuator 1 are both 35mm and 24mm, and the diameter of the central axial actuator 2 is 35mm and the length is 80 mm.
Specifically, as shown in fig. 3, the first soft hand grip 4 or the second soft hand grip 5 in the robot hand grip has an overall length of 42mm, and both comprise a finger-shaped structure air cavity and a back cover. Wherein, the finger-shaped structure air cavity has 5 same structures, the size is 4 multiplied by 2 multiplied by 6mm, the back cover is flat with 42 multiplied by 8 multiplied by 3mm, and a round hole with the diameter of 3mm is reserved on the side for inserting the air duct; compared with the material of the air cavity with the finger-shaped structure, the material of the back cover has larger Young modulus, so the top has larger deformation after being inflated, thereby forming a curve shape.
Specifically, as shown in fig. 4, the air pump control system further comprises a control system, wherein the control system comprises an air pump, an upper computer, a single chip microcomputer, a relay, an electromagnetic valve and a power supply. The power supply is connected with the air pump and supplies power to the air pump; the air pump is used for providing an air source for the soft crawling robot, the relay is respectively connected with the air pump and the electromagnetic valve, the controller controls the air pump through the relay, the air inlet end of the soft crawling robot is connected with the air supply end of the air pump through the electromagnetic valve, the relay is controlled by the controller and controls the on-off of the electromagnetic valve through the relay, the electromagnetic valve comprises a two-position two-way valve and a two-position three-way valve, the air guide pipe assembly comprises a plurality of air guide pipes, hollow cylindrical air cavities of the front-end radial actuator and the rear-end radial actuator, a corrugated pipe-shaped air cavity of the central axial actuator and finger-shaped structure air cavities of the first soft gripper and the second soft gripper are connected with the air pump through the air guide pipes, and each air guide pipe in the air guide pipe assembly is connected with the relay through the two-way valve and the two-position two-way valve in sequence, thereby the soft robot realizes three states of inflation, deflation and maintenance.
Example 2
The present embodiment provides a method for manufacturing the above soft robot, comprising:
step S1: designing a soft robot structure according to requirements, and giving specific sizes of each part, wherein the diameter of a front end radial actuator and the rear end radial actuator is 35mm, the length of the front end radial actuator and the rear end radial actuator is 24mm, the diameter of a central axial actuator is 35mm, the length of the central axial actuator is 80mm, the length of a soft gripper is 42mm, the size of a top air cavity is 4 multiplied by 2 multiplied by 6mm, the size of a back cover is 42 multiplied by 8 multiplied by 3mm, and the wall thickness of each part is 2 mm;
step S2: according to the structure and the size designed in the step S1, a series of moulds matched with each part of the robot are drawn by using SolidWorks three-dimensional modeling software for printing, and the drawn moulds are stored into a specific format in consideration of the accuracy of a printer;
step S3: importing the die drawing drawn in the step S2 into slicing software of a 3D printer, setting parameters such as printing quality, internal filling density, filling style, shell, printing thickness and printing speed, taking out the die after printing is finished, performing certain post-processing and cooling to room temperature;
step S4: placing the two-component silicon rubber in a PP plastic measuring cup in a ratio of 1:1, uniformly stirring by using a stirring rod, placing in a degassing cylinder for degassing, and taking out after bubbles disappear;
step S5: taking a proper amount of release agent to be uniformly coated inside the mold printed in the step 3;
step S6: slowly pouring the degassed silicone rubber obtained in the step S4 into the mold obtained in the step S5, and curing the silicone rubber at room temperature or heating to accelerate curing;
step S7: taking the cured silicon rubber in the step S6 out of the mold, bonding the silicon rubber with glue, and inserting an air duct for inflating the soft robot;
step S8: the software robot is driven in a specific mode by programming a program and connecting devices such as an air pump, a relay, an electromagnetic valve and the like, so that the expected functions are realized.
Example 3
The embodiment provides a method for manufacturing a robot gripper, which comprises the following steps:
step S1: soft gripper molds for 3D printing were drawn using SolidWorks software, including upper and lower layer molds for making the top of the gripper and a gripper bottom mold for pouring the back cover material, as shown in fig. 5, 6, 7. After the drawing is finished, the drawing is stored in stl format, the drawing is guided into slicing software matched with a 3D printer, printing is started after parameters such as printing quality, internal filling density, filling style, shell, printing thickness and printing speed are set, after the printing is finished, the mold is taken out after being cooled slightly, and post-processing is carried out to remove flaws;
step S2: taking a proper amount of release agent to be uniformly coated on the surface of the mold so as to facilitate the subsequent demolding work;
step S3: weighing a proper amount of silicon rubber for filling a mold, wherein the silicon rubber comprises A, B two components which are required to be matched according to the volume or weight ratio of 1:1, and then stirring the silicon rubber for 3 minutes at a constant speed by using a stirring rod to uniformly mix the two components;
step S4: placing the stirred silicon rubber into a degassing device for degassing for 10 minutes to remove bubbles and avoid subsequent air leakage;
step S5: slowly injecting the degassed silicone rubber into the mold shown in FIG. 5, covering the mold shown in FIG. 6, making the two molds completely fit, and carefully wiping the overflowing silicone rubber;
step S6: placing the mold filled with the silicon rubber on an electric hot plate for heating at 100 ℃ for 30 minutes, taking down the mold after heating, cooling to room temperature, and demolding the cured silicon rubber to obtain the top of the gripper
Step S7: weighing another silicone rubber for filling the mold shown in fig. 7 to prepare a grip sealing material, and repeating the steps S3-S6, wherein the silicone rubber has a young' S modulus greater than that of the silicone rubber in the step S3, so that the top portion is more easily deformed after being inflated to form a curved shape;
step S8: and bonding the top and the bottom sealing materials of the prepared hand grip together, and finishing the manufacturing of the soft hand grip.
Example 4
The present embodiment provides a method for manufacturing a front end radial actuator, a central axial actuator, and a rear end radial actuator, wherein a mold for manufacturing a soft robot body is shown in fig. 8 and 9, and the manufacturing process is similar to the process for manufacturing the gripper in embodiment 3.
Example 5
The present embodiment provides a control method for a soft crawling robot, the driving sequence of the soft crawling robot body is shown in table 1, in the table, 1 represents inflation, and 0 represents deflation.
State 1: the rear radial actuator is inflated to clamp the inner wall of the pipeline;
state 2: the rear end radial actuator is kept, the central axial actuator is inflated, and the robot extends forwards;
state 3: the rear end radial actuator and the central axial actuator are kept, the front end radial actuator is inflated, and the two ends of the front end radial actuator clamp the inner wall of the pipeline simultaneously;
and 4: the rear end radial actuator and the central axial actuator are deflated, the front end radial actuator is kept, and the whole robot moves forwards;
and state 5: and inflating the rear end radial actuator, keeping the central axial actuator and the front end radial actuator, and entering the next circulation.
The soft hand grip air chamber is inflated, and the two hand grips can be bent to grip the object.
TABLE 1 sequence of software robot body drives
The control method of the soft crawling robot comprises the following steps:
step S1: inflating the rear end radial actuator to radially expand the rear end radial actuator so as to clamp the inner wall of the pipeline;
step S2: keeping the rear end radial actuator in the current state, and inflating the central axial actuator to axially extend the central axial actuator;
step S3: keeping the rear end radial actuator and the central axial actuator in the current state, and inflating the front end radial actuator to radially expand the front end radial actuator and enable the front end radial actuator and the rear end radial actuator to simultaneously clamp the inner wall of the pipeline;
step S4: and (3) deflating the rear-end radial actuator and the central axial actuator to keep the front-end radial actuator in the current state, so that the soft crawling robot moves forwards.
In any step, when the soft crawling robot reaches the position of the object to be taken, the soft gripper air cavity is inflated to bend the gripper, so that the object to be taken is grabbed.
Example 6
The soft robot body structure manufactured by the invention can operate in pipelines at different angles. Wherein fig. 10 is a view for operating in a horizontal pipe, fig. 11 is a view for operating in a pipe inclined at an angle of about 30 deg., and fig. 12 is a view for operating in a vertical pipe, all of which can operate smoothly.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications of the invention may be made without departing from the spirit or scope of the invention.
Claims (10)
1. A soft crawling robot, comprising: the robot comprises a robot body, a robot gripper and an air guide pipe assembly, wherein the robot body comprises a front-end radial actuator, a central axial actuator and a rear-end radial actuator which are sequentially connected, and the robot gripper comprises a plurality of soft grippers connected with the robot body;
the soft grippers comprise finger-shaped structure air cavities, the finger-shaped structure air cavities are provided with back covers, the Young modulus of a back cover material is greater than that of the finger-shaped structure air cavities, and the plurality of grippers are bent through inflation and grip an object to be gripped;
the front end radial actuator and the rear end radial actuator comprise hollow cylindrical air cavities, and the front end radial actuator and the rear end radial actuator can expand radially through inflation;
the central axial actuator comprises a corrugated pipe-shaped air cavity and can axially expand through inflation;
the gas-guide tube assembly comprises a plurality of gas-guide tubes, and the gas-guide tubes are introduced from the hollow cylindrical gas cavity of the rear end actuator and sequentially enter the hollow cylindrical gas cavity of the rear end radial actuator, the corrugated tubular gas cavity of the central axial actuator, the hollow cylindrical gas cavity of the front end radial actuator and the finger-shaped structure gas cavity;
the front end radial actuator, the central axial actuator and the rear end radial actuator are inflated and deflated by adopting a preset sequence, and the current state is kept, so that the soft robot body moves back and forth in the pipeline.
2. The soft crawling robot of claim 1, wherein the two ends of the central axial actuator are bonded to the front end radial actuator and the rear end radial actuator by glue, and the soft hand grip is bonded to the front end radial actuator by glue.
3. The software crawling robot of claim 1, further comprising a control system, wherein the control system comprises an air pump, a controller, a relay and an electromagnetic valve, the air pump is used for providing an air source for the software crawling robot, the relay is respectively connected with the air pump and the electromagnetic valve, the controller controls the air pump through the relay, an air inlet end of the software crawling robot is connected with an air supply end of the air pump through the electromagnetic valve, and the relay is controlled by the controller and controls the on-off of the electromagnetic valve through the relay.
4. The soft crawling robot of claim 3, wherein the controller is a single chip microcomputer controlled by a host computer.
5. The soft crawling robot of claim 4, wherein the hollow cylindrical air chambers of the front radial actuator and the rear radial actuator, the corrugated tubular air chamber of the central axial actuator and the corrugated tubular air chamber of the soft hand grip are connected to an air pump through air ducts.
6. The soft crawling robot of claim 5, wherein each air duct in the air duct assembly is connected with the relay sequentially through the two-position three-way valve and the two-position two-way valve.
7. The soft-bodied crawling robot of claim 1, wherein the robot gripper, the front end radial actuator, the central axial actuator and the rear end radial actuator are all made of silicone rubber by demolding through a 3D printed mold.
8. The soft-bodied crawling robot of claim 7, wherein the outer surface of the central axial actuator is constrained by a rubber ring to form a bellows structure.
9. A control method of a soft crawling robot is characterized by comprising the following steps:
step S1: inflating the rear end radial actuator to radially expand the rear end radial actuator so as to clamp the inner wall of the pipeline;
step S2: keeping the rear end radial actuator in the current state, and inflating the central axial actuator to axially extend the central axial actuator;
step S3: keeping the rear end radial actuator and the central axial actuator in the current state, and inflating the front end radial actuator to radially expand the front end radial actuator and enable the front end radial actuator and the rear end radial actuator to simultaneously clamp the inner wall of the pipeline;
step S4: and (3) deflating the rear-end radial actuator and the central axial actuator to keep the front-end radial actuator in the current state, so that the soft crawling robot moves forwards.
10. The method as claimed in claim 9, wherein when the soft crawling robot reaches the position of the object to be picked, the finger-shaped air chamber of the soft gripper is inflated to bend the gripper, thereby picking up the object to be picked.
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| CN115029223A (en) * | 2022-04-28 | 2022-09-09 | 江南大学 | Software sampling robot and operation method |
| CN116237321A (en) * | 2023-03-15 | 2023-06-09 | 清华大学深圳国际研究生院 | Flexible pipeline robot |
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