CN114290347A - Bounce device and double-hemisphere soft bounce driver - Google Patents
Bounce device and double-hemisphere soft bounce driver Download PDFInfo
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- CN114290347A CN114290347A CN202210036027.0A CN202210036027A CN114290347A CN 114290347 A CN114290347 A CN 114290347A CN 202210036027 A CN202210036027 A CN 202210036027A CN 114290347 A CN114290347 A CN 114290347A
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- 239000000463 material Substances 0.000 claims abstract description 27
- 238000002360 preparation method Methods 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 10
- 238000004088 simulation Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 239000003292 glue Substances 0.000 description 2
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 229920001296 polysiloxane Polymers 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000013013 elastic material Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 229920002379 silicone rubber Polymers 0.000 description 1
- 239000004945 silicone rubber Substances 0.000 description 1
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Abstract
The invention relates to a bouncer and a double-hemisphere soft bounce driver, which comprise an outer hemisphere and an inner hemisphere, wherein the edge of the outer hemisphere is hermetically connected with the edge of the inner hemisphere, and the outer hemisphere is provided with a vent; the inner radius of the outer hemisphere is ROuter coverThe thickness of the outer hemisphere is tOuter coverThe elastic modulus of the material of the outer hemisphere is EOuter cover(ii) a Let the inner radius of the inner hemisphere be RInner partThickness of the inner hemisphere is tInner partThe elastic modulus of the material of the inner hemisphere is EInner part；
The double-hemisphere soft bounce driver manufactured by the proportion has the highest bounce efficiency.
Description
Technical Field
The invention relates to the technical field of soft bounce drivers, in particular to a bouncer, namely a double-hemisphere soft bounce driver.
Background
Compared with the traditional rigid robot made of metal materials, the soft robot made of the high-elasticity silicone rubber material has natural flexibility, environmental adaptability and safety, can realize new functions which are difficult to realize by the traditional rigid robot, can accurately operate small objects, can better work in non-structural environments through limited or complex space, multi-degree-of-freedom driving and the like, and has huge application prospects in the fields of exploration of environments, structural inspection, information detection and the like, investigation, disaster relief and military.
Patent document CN113319888A discloses a directional bouncing pneumatic soft robot, which includes a housing formed with a cavity, the housing includes a bottom cover, the bottom cover is a hemispherical shell, the bottom cover is provided with a notch, the notch penetrates through the bottom cover, and the notch is asymmetric with respect to at least one symmetric plane of the bottom cover; in a natural state that the cavity is not inflated, the bottom cover is sunken into the cavity, the notch is in a closed state, in a state that the cavity is inflated, the shell can jump suddenly and be unstable, and then the notch is opened. The technical scheme only discloses that the hopping robot has a hopping function, and does not relate to the hopping effect.
Disclosure of Invention
The invention aims to provide a bouncing device and a double-hemisphere soft bouncing driver to improve the bouncing driving effect.
The technical scheme of the invention is as follows:
a bouncing device comprises an outer hemisphere and an inner hemisphere, wherein the edge of the outer hemisphere is hermetically connected with the edge of the inner hemisphere, and a vent hole is formed in the outer hemisphere; the inner radius of the outer hemisphere is ROuter coverThe thickness of the outer hemisphere is tOuter coverThe elastic modulus of the material of the outer hemisphere is EOuter cover(ii) a Let the inner radius of the inner hemisphere be RInner partThickness of the inner hemisphere is tInner partThe elastic modulus of the material of the inner hemisphere is EInner part；
Preferably, t isOuter cover＝2～4mm，tInner part＝1～3mm。
Further preferably, the arc angle of the cross section of the outer hemisphere is 180 °, and the arc angle of the cross section of the inner hemisphere is 160 °.
Preferably, the first and second liquid crystal materials are,
Einner part/EOuter cover＝47。
Preferably, the outer hemisphere is made of a material having an elastic modulus of 50.9 to 91.4KPa, and the inner hemisphere is made of a material having an elastic modulus of 2.7 to 4.3 MPa.
A double-hemisphere soft bounce driver comprises an air pump, an electromagnetic directional valve, a controller and the bouncer, wherein an output port of the air pump is communicated with an A port pipeline of the directional valve, a P port of the directional valve is communicated with a vent pipeline of the bouncer, and an output end of the controller is electrically connected with a control end of the electromagnetic directional valve.
The invention has the beneficial effects that:
1. the bouncing essence of the bouncer disclosed by the invention is the sudden change of the inner hemisphere in the double hemispheres, and in order to realize better sudden change performance, the technical key points of the bouncer are the radius R of the inner hemisphere and the outer hemisphere, the thickness t of the sphere wall and the material E. In particular the ratio of the radius to the thickness (R) between the two hemispheresInner part/tInner part)/(ROuter cover/tOuter cover) And material ratio EInner part/EOuter cover. If the proportions are not appropriate, the bounce preparation time, height, load, etc. will be affected. Setting by finite element simulation and physical experiment
EInner part/EOuter coverWhen the height is 47, the bounce height of the bouncer is only 50 mm. Is provided with
EInner part/EOuter coverWhen the bounce height of the bouncer is 47 mm, the bounce effect is best. Through the finite element simulation, the method has the advantages that,
when the bouncing effect of the bouncing device is not changed greatly, but the bouncing effect of the bouncing device is changed when the bouncing device is used
Or
Or EInner part/EOuter cover< 41, or
In time, the bouncing effect of the bouncer is obviously reduced.
2. The arc angle of the cross section of the outer hemisphere is 180 degrees, the arc angle of the cross section of the inner hemisphere is 164 degrees, at this time, the inner diameter of the inner hemisphere is larger than that of the outer hemisphere, so that a gap can be ensured between the inner hemisphere and the outer hemisphere, and when the inner hemisphere bulges out of the lower part of the outer hemisphere, the shape of the inner hemisphere is similar to a tumbler.
3. The outer hemisphere is made of a material with the elastic modulus of 50.9KPa to 91.4KPa, and the inner hemisphere is made of a material with the elastic modulus of 2.7MPa to 4.3MPa, so that the outer hemisphere and the inner hemisphere are made of high-elasticity materials, and can deform under the action of bearing extrusion force or stretching force in the direction intersecting with the bouncing direction besides the bouncing function, and thus can be used on a bendable quadruped robot.
Drawings
Fig. 1 is a cross-sectional view of a bouncer, the figure not being drawn to scale.
Fig. 2 is a sectional view of a bouncer.
Reference number indicates, 1-outer hemisphere, 2-inner hemisphere, 3-vent.
Detailed Description
The present invention is described below in terms of embodiments in conjunction with the accompanying drawings to assist those skilled in the art in understanding and implementing the present invention. Unless otherwise indicated, the following embodiments and technical terms therein should not be understood to depart from the background of the technical knowledge in the technical field.
Example 1: a bouncing device, referring to fig. 1, comprises an outer hemisphere 1 and an inner hemisphere 2, wherein the edge of the outer hemisphere 1 is connected with the edge of the inner hemisphere 2 in a sealing way, other inner walls of the outer hemisphere 1 are not connected with other outer walls of the inner hemisphere 2, a vent hole 3 is arranged on the outer hemisphere 1, and the inner hemisphere 2 is made of elastic materials. Thus, when the air vent 2 is used for inflating the bouncer, the material of the inner hemisphere 2 is softer than that of the outer hemisphere 1, so that the inner hemisphere 2 deforms before the outer hemisphere 1, the air pressure expands an air cavity between the outer hemisphere 1 and the inner hemisphere 2, and when the inner hemisphere 2 bulges out of the bottom surface of the outer hemisphere 1, the bouncer jumps. When the air vent 2 is used for deflating the bouncing device, the material contraction force of the inner hemisphere 2 enables the inner hemisphere 2 to be recovered, and the inner hemisphere 2 retracts into the bottom surface of the outer hemisphere 1.
In the present embodiment, referring to fig. 2, the cross-sectional arc angle of the outer hemisphere 1 is set to 180 °, and the cross-sectional arc angle of the inner hemisphere 2 is set to 164 °, in this case, the inner hemisphere 2 is connected with the edge of the outer hemisphere 1 by a larger radius. Therefore, a gap can be ensured between the inner hemisphere and the outer hemisphere, and when the inner hemisphere bulges out of the lower part of the outer hemisphere, the shape of the inner hemisphere is similar to a tumbler.
In the present embodiment, in order to improve the connection effect between the edge of the outer hemisphere 1 and the edge of the inner hemisphere 2, the outer hemisphere 1 has a flange, the inner hemisphere 2 has a flange, and the flange of the outer hemisphere 1 is connected to the flange of the inner hemisphere 2 in a sealing manner.
In this embodiment, the outer hemisphere 1 is made of a silicone material having an elastic modulus of 74KPa through glue injection, and the inner hemisphere 2 is made of a silicone material having an elastic modulus of 3.48MPa through glue injection. In other embodiments, the outer hemisphere may be made of a material having an elastic modulus of 50.9 to 91.4KPa, and the inner hemisphere may be made of a material having an elastic modulus of 2.7 to 4.3 MPa.
The inner radius of the outer hemisphere is ROuter coverThe thickness of the outer hemisphere is tOuter coverThe elastic modulus of the material of the outer hemisphere is EOuter cover(ii) a Let the inner radius of the inner hemisphere be RInner partThickness of the inner hemisphere is tInner partThe elastic modulus of the material of the inner hemisphere is EInner part. In this example, ROuter cover＝53.5mm，tOuter cover＝3mm，RInner part＝52.33mm，tInner part＝2mm。
To understand the mechanical response of the bouncer more deeply, Finite Element (FE) simulations were performed using the commercial software package ABAQUS 2020 standard. In the finite element modeling analysis, the radius ratio between the two hemispheres and the thickness ratio and the material were simulated for the best driver size results. By comparing the influence of the radius ratio and thickness ratio of different elastic moduli of the inner hemisphere and the outer hemisphere on the bounce effect, the method obtains thatInner part/tInner part)/(ROuter cover/tOuter cover)＝1.47，EInner part/EOuter coverWhen the pressure is equal to 47, the pressure is higher,the bounce effect is optimal. The silica gel for manufacturing the hemispherical caps is modeled by using an incompressible material model, and in the process of changing the superelasticity parameter, an outer ball with the elastic modulus of 74KPa and an inner ball with the elastic modulus of 3.48MPa are simulated by using a Mooney-Rivlin model respectively, wherein the outer ball parameter D1 is 0.05, the D2 is 0.005, the inner ball parameter D1 is 0.4947, and the D2 is 0.0639, so that the best bouncing effect can be obtained. In the axisymmetric finite element simulation of the driver, axisymmetric models were created to respectively simulate the outer sphere and the inner sphere, and were discretized using an unstructured grid of 4-node bilinear axisymmetric fixed elements (ABAQUS element type: CAX4H), the grid size being adjusted to 2 mm. To eliminate the translation and rotation of the rigid body, the nodal points on the contact line of the boundary impose the boundary condition of end-fixed Uy.
Through finite element simulation analysis, under the condition that gas is injected at constant speed and the flow rate of the injected gas is the same,
and the bounce height of the bouncer is higher. In particular
EInner part/EOuter coverWhen the bounce height of the bouncer is 47, the bouncer is highest.
Example 2: a double-hemisphere soft bounce driver comprises an air pump, an electromagnetic directional valve, a controller and a bouncer in embodiment 1, wherein the electromagnetic directional valve selects a two-position three-way electromagnetic directional valve, an output port of the air pump is communicated with a port A pipeline of the electromagnetic directional valve, a pressure release valve is further connected on a pipeline between the output port of the air pump and the port A of the electromagnetic directional valve, a port P of the electromagnetic directional valve is communicated with a vent pipeline of the bouncer, a port B of the electromagnetic directional valve is communicated with the outside, and an output end of the controller is electrically connected with a control end of the electromagnetic directional valve.
The invention is described in detail above with reference to the figures and examples. It should be understood that in practice the description of all possible embodiments is not exhaustive and that the inventive concepts are described herein as far as possible by way of illustration. Without departing from the inventive concept of the present invention and without any creative work, a person skilled in the art should, in all of the embodiments, make optional combinations of technical features and experimental changes of specific parameters, or make a routine replacement of the disclosed technical means by using the prior art in the technical field to form specific embodiments, which belong to the content implicitly disclosed by the present invention.
Claims (6)
1. A bouncing device comprises an outer hemisphere and an inner hemisphere, wherein the edge of the outer hemisphere is hermetically connected with the edge of the inner hemisphere, and a vent hole is formed in the outer hemisphere; the inner radius of the outer hemisphere is ROuter coverThe thickness of the outer hemisphere is tOuter coverThe elastic modulus of the material of the outer hemisphere is EOuter cover(ii) a Let the inner radius of the inner hemisphere be RInner partThickness of the inner hemisphere is tInner partThe elastic modulus of the material of the inner hemisphere is EInner part(ii) a It is characterized in that the preparation method is characterized in that,
2. the bouncer of claim 1, wherein t isOuter cover＝2～4mm，tInner part＝1～3mm。
3. The bouncer of claim 1, wherein the cross-sectional arc angle of said outer hemisphere is 180 ° and the cross-sectional arc angle of said inner hemisphere is 164 °.
4. The bouncer of claim 1,
Einner part/EOuter cover＝47。
5. The bouncer of claim 1, wherein said outer hemisphere is made of a material having an elastic modulus of 50.9KPa to 91.4KPa, and said inner hemisphere is made of a material having an elastic modulus of 2.7MPa to 4.3 MPa.
6. A double-hemisphere soft bounce driver comprises an air pump, an electromagnetic directional valve and a controller, and is characterized by further comprising the bouncer as claimed in any one of claims 1 to 5, wherein an output port of the air pump is communicated with a port A pipeline of the directional valve, a port P of the directional valve is communicated with a vent port pipeline of the bouncer, and an output end of the controller is electrically connected with a control end of the electromagnetic directional valve.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210036027.0A CN114290347B (en) | 2022-01-10 | 2022-01-10 | Bounce device and double-hemisphere soft bounce driver |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210036027.0A CN114290347B (en) | 2022-01-10 | 2022-01-10 | Bounce device and double-hemisphere soft bounce driver |
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| Publication Number | Publication Date |
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| CN114290347A true CN114290347A (en) | 2022-04-08 |
| CN114290347B CN114290347B (en) | 2024-06-11 |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102390450A (en) * | 2011-09-30 | 2012-03-28 | 浙江理工大学 | Double-air-chamber bouncing mechanism of spherical robot |
| CN202295050U (en) * | 2011-09-30 | 2012-07-04 | 浙江理工大学 | Multi-locomotion stated mechanism for allowing spherical robot to realize continuous bounce |
| CN102975206A (en) * | 2012-11-19 | 2013-03-20 | 安徽理工大学 | Jellyfish and flea imitation floating bouncing search and rescue robot |
| CN203528630U (en) * | 2013-08-18 | 2014-04-09 | 北京工业大学 | Spherical jump robot system |
| US10092850B1 (en) * | 2017-07-12 | 2018-10-09 | Disney Enterprises, Inc. | Robotic bouncing ball |
| WO2018203114A1 (en) * | 2017-05-05 | 2018-11-08 | Andrea Tognon | Improved fitness ball |
| CN112172958A (en) * | 2020-09-04 | 2021-01-05 | 西安交通大学 | Soft bounce robot capable of quickly releasing and recovering energy and method thereof |
| CN113319888A (en) * | 2021-06-08 | 2021-08-31 | 清华大学 | Pneumatic soft robot capable of bouncing directionally |
-
2022
- 2022-01-10 CN CN202210036027.0A patent/CN114290347B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102390450A (en) * | 2011-09-30 | 2012-03-28 | 浙江理工大学 | Double-air-chamber bouncing mechanism of spherical robot |
| CN202295050U (en) * | 2011-09-30 | 2012-07-04 | 浙江理工大学 | Multi-locomotion stated mechanism for allowing spherical robot to realize continuous bounce |
| CN102975206A (en) * | 2012-11-19 | 2013-03-20 | 安徽理工大学 | Jellyfish and flea imitation floating bouncing search and rescue robot |
| CN203528630U (en) * | 2013-08-18 | 2014-04-09 | 北京工业大学 | Spherical jump robot system |
| WO2018203114A1 (en) * | 2017-05-05 | 2018-11-08 | Andrea Tognon | Improved fitness ball |
| US10092850B1 (en) * | 2017-07-12 | 2018-10-09 | Disney Enterprises, Inc. | Robotic bouncing ball |
| CN112172958A (en) * | 2020-09-04 | 2021-01-05 | 西安交通大学 | Soft bounce robot capable of quickly releasing and recovering energy and method thereof |
| CN113319888A (en) * | 2021-06-08 | 2021-08-31 | 清华大学 | Pneumatic soft robot capable of bouncing directionally |
Non-Patent Citations (1)
| Title |
|---|
| BENJAMIN GORISSEN等: "Inflatable soft jumper inspired by shell snapping", SCIENCE ROBOTICS, no. 5, pages 1 - 7 * |
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| CN114290347B (en) | 2024-06-11 |
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