CN114347058B - Dual-motion mode robot - Google Patents
Dual-motion mode robot Download PDFInfo
- Publication number
- CN114347058B CN114347058B CN202210023653.6A CN202210023653A CN114347058B CN 114347058 B CN114347058 B CN 114347058B CN 202210023653 A CN202210023653 A CN 202210023653A CN 114347058 B CN114347058 B CN 114347058B
- Authority
- CN
- China
- Prior art keywords
- pneumatic
- driver
- trunk
- bendable
- motion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005452 bending Methods 0.000 claims abstract description 55
- 210000002683 foot Anatomy 0.000 claims description 56
- 239000000463 material Substances 0.000 claims description 22
- 210000004744 fore-foot Anatomy 0.000 claims description 11
- 210000000548 hind-foot Anatomy 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 7
- 239000013013 elastic material Substances 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims 3
- 230000002572 peristaltic effect Effects 0.000 abstract description 26
- 230000033001 locomotion Effects 0.000 description 32
- 230000000694 effects Effects 0.000 description 16
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 8
- 230000009977 dual effect Effects 0.000 description 8
- 239000000741 silica gel Substances 0.000 description 8
- 229910002027 silica gel Inorganic materials 0.000 description 8
- 210000003371 toe Anatomy 0.000 description 8
- 230000005484 gravity Effects 0.000 description 7
- 230000002441 reversible effect Effects 0.000 description 6
- 230000009191 jumping Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 230000006835 compression Effects 0.000 description 4
- 238000007906 compression Methods 0.000 description 4
- 238000004088 simulation Methods 0.000 description 4
- 230000002411 adverse Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000001154 acute effect Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 229920002379 silicone rubber Polymers 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 239000004945 silicone rubber Substances 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 210000005010 torso Anatomy 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to a double-motion-mode robot, which comprises a bendable trunk, a pneumatic bending driver and a pneumatic bouncing driver, wherein the bending driver is arranged on the trunk; the front end of the bendable trunk is fixedly connected with a front foot, the rear end of the bendable trunk is fixedly connected with a rear foot, and the landing points of the front foot and the rear foot determine a datum plane; two ends of the pneumatic bending driver are fixedly connected with two ends of the bendable trunk respectively; the pneumatic bounce driver is rigidly connected to the flexible torso with its lowest point capable of moving from above the datum to below the datum. The dual-motion-mode robot has a peristaltic mode and a jump mode, the peristaltic mode is convenient for the dual-motion-mode robot to move in an environment with good road conditions, the jump mode is convenient for the dual-motion-mode robot to move in an environment with obstacles, and the environment adaptability is good.
Description
Technical Field
The invention relates to the technical field of movable double-motion-mode robots, in particular to a double-motion-mode robot.
Background
Compared with the traditional rigid robot made of metal materials, the soft robot made of the high-elasticity silicon rubber materials has natural flexibility, environmental adaptability and safety, can realize a plurality of new functions which are difficult to realize by the traditional rigid robot, comprises accurate manipulation of tiny objects, can work in an unstructured environment better through limited or complex space, multi-degree-of-freedom driving and the like, and has great application prospects in the disaster relief, military and reconnaissance fields such as environment exploration, structural inspection, information investigation and the like. However, the movement of the soft mobile robot generally depends on the self deformation of the silicone rubber material, which also causes the current soft mobile robot to have the defects of low movement speed, single movement mode and the like.
Patent document CN212445259U discloses a flexible trunk of a quadruped robot comprising: the device comprises a front body part, a rear body part, a rotating shaft, a first driving motor, a second driving motor, a first driving gear, a second driving gear and a driven gear; the front trunk part and the rear trunk part are rotationally connected through a rotating shaft, wherein the axis of the rotating shaft extends along the left-right direction of the four-foot robot, and the left-right direction of the four-foot robot is defined as the direction which is perpendicular to the movement direction of the four-foot robot in a horizontal plane; the first driving motor is fixedly connected with the front trunk part, and the output end of the first driving motor is connected with the first driving gear; the second driving motor is fixedly connected with the rear trunk part, and the output end of the second driving motor is connected with a second driving gear; the first driving gear and the second driving gear are meshed with the driven gear; the driven gear is connected with the rotating shaft; the first driving motor drives the front trunk part and/or the second driving motor drives the rear trunk part to be contracted or stretched relatively around the axis of the rotating shaft respectively. The robot moves in a mode that the robot is driven by four feet to move, and the robot is only suitable for moving in environments with good road conditions.
Patent document CN113319888A discloses a pneumatic soft robot capable of directional bouncing, which comprises a housing formed with a cavity, the housing comprising a bottom cover, the bottom cover being a hemispherical shell, the bottom cover being provided with a slit penetrating the bottom cover, the slit being asymmetric with respect to at least one symmetry plane of the bottom cover; in the natural state that the cavity is not inflated, the bottom cover is sunken into the cavity, the incision is in a closed state, and in the state that the cavity is inflated, the shell can jump suddenly to be unstable, and then the incision is opened. The robot moves in a bouncing way, the bouncing direction is difficult to control, and the movement directivity is poor.
The university of south China university paper literature, a modular design and study of pneumatic drive-based soft robots, discloses a curved pneumatic soft drive unit that forms a soft driver by embedding pneumatic grids (Pneu-nets). Such a soft driver is called a pneumatic grid soft driver, or a multi-balloon bending driver.
Disclosure of Invention
The invention aims to provide a double-motion-mode robot, which aims to solve the defect that the existing double-motion-mode robot cannot achieve obstacle crossing capability and running direction control.
The technical scheme of the invention is as follows:
a dual-motion mode robot comprises a bendable trunk, a pneumatic bending driver and a pneumatic bouncing driver; the front end of the bendable trunk is fixedly connected with a front foot, the rear end of the bendable trunk is fixedly connected with a rear foot, and the landing points of the front foot and the rear foot determine a datum plane; two ends of the pneumatic bending driver are fixedly connected with two ends of the bendable trunk respectively; the pneumatic bounce driver is rigidly connected to the flexible torso with its lowest point capable of moving from above the datum to below the datum.
Preferably, the pneumatic bouncing device further comprises a pneumatic control assembly arranged on the bendable trunk, the pneumatic bending driver is provided with a bending driver air port, the pneumatic bouncing driver is provided with a bouncing driver air port, the pneumatic control assembly comprises an air pump, a control processor, a bending control electromagnetic reversing valve and a bouncing control electromagnetic reversing valve, the bending control electromagnetic reversing valve is communicated with a bending driver air port pipeline, the bouncing control electromagnetic reversing valve is communicated with a bouncing driver air port pipeline, and the output end of the control processor is respectively and electrically connected with the control end of the bending control electromagnetic reversing valve and the control end of the bouncing control electromagnetic reversing valve. The pneumatic control assembly is arranged at another position, and when the pneumatic control assembly is connected with the double-motion-mode robot through an air pipe, the motion range of the double-motion-mode robot is limited by the length of the air pipe. When the pneumatic control assembly is installed on the bendable trunk, a power supply, such as a solar panel, a battery and the like, is arranged on the double-movement-mode robot, and the movement range of the double-movement-mode robot is not limited by the length of the air pipe any more, but is limited by the power supply only.
Further preferably, the pneumatic control assembly comprises a solar panel for powering the air pump, the control processor, the bending control electromagnetic directional valve and the bouncing control electromagnetic directional valve.
Preferably, the pneumatic bouncing driver comprises an outer hemisphere and an inner hemisphere, the edge of the outer hemisphere is in sealing connection with the edge of the inner hemisphere, a bouncing driver air port is formed in the outer hemisphere, the outer hemisphere and the inner hemisphere are made of elastic materials, the elastic modulus of the outer hemisphere is smaller than that of the inner hemisphere, and the outer hemisphere is respectively and rigidly connected with two ends of the bendable trunk. Because the outer hemisphere is respectively hard-connected with the two ends of the bendable trunk, the outer hemisphere and the inner hemisphere are made of elastic materials, and therefore the influence of the pneumatic bouncing driver on the bending effect of the bendable trunk is minimal. Only the edge of the outer hemisphere is in sealing connection with the edge of the inner hemisphere, so that an air cavity can be formed between the outer hemisphere and the inner hemisphere, and other wall bodies of the outer hemisphere and other wall bodies of the inner hemisphere are not in a constraint state. The elastic modulus of the outer hemisphere is less than that of the inner hemisphere, so that when the air cavity between the outer hemisphere and the inner hemisphere is inflated through the bouncing driver air port, the wall body of the inner hemisphere can bulge out of the outer hemisphere, and the bouncing of the double-movement-mode robot is facilitated. In the bouncing process, the air cavity between the outer hemisphere and the inner hemisphere can be deflated through the bouncing driver air port, and the inner hemisphere drum can be maintained to be in a state of being out of the outer hemisphere.
Further preferably, the inner radius of the outer hemisphere is R Outer part Having a thickness t of Outer part The elastic modulus of the material is E Outer part The method comprises the steps of carrying out a first treatment on the surface of the The inner radius of the inner hemisphere is R Inner part Having a thickness t of Inner part The elastic modulus of the material is E Inner part ；Through finite element simulation analysis, setting +.>E Inner part /E Outer part When=47, the pneumatic bouncing driver has the highest bouncing height of 100mm, and is provided with +.>E Inner part /E Outer part When=47, the bounce height of the pneumatic bounce driver is only 50mm.
Further preferably, the outer hemisphere is made of a material having an elastic modulus of 50.9KPa to 91.4KPa, and the inner hemisphere is made of a material having an elastic modulus of 2.7MPa to 4.3 MPa. The bouncing driver made of the material with the specification can balance the bouncing height of the double-motion-mode robot and the adverse effect on the peristaltic motion of the double-motion-mode robot. Silica gel materials can be used for the outer hemisphere and the inner hemisphere.
Preferably, the pneumatic bouncing driver is provided with an upward bouncing ray, the upward bouncing ray is arranged on a running surface determined by the front foot and the rear foot, an included angle larger than or equal to 45 degrees and smaller than 90 degrees is formed between the upward bouncing ray and the reference surface, and the upward bouncing ray is arranged in front of the normal line of the reference surface. Therefore, when the pneumatic bouncing driver works, the double-motion-mode robot can be driven to bounce forward instead of vertically jumping upwards in situ. After the inventor tests, the upward ejection line is determined to be arranged on the advancing surface determined by the front foot and the rear foot, an included angle of 82 degrees is formed between the upward ejection line and the reference surface, and when the upward ejection line is arranged in front of the normal line of the reference surface, the jump mode of the robot with double movement modes is optimal, and the jump height and the jump distance can be considered.
Preferably, the bendable trunk comprises a front trunk part and a rear trunk part, the front trunk part and the rear trunk part are rotatably connected, and the pneumatic bouncing driver is hard connected with the front trunk part or the pneumatic bouncing driver is hard connected with the rear trunk part. When the pneumatic bouncing driver is only hard-connected with the front trunk part or the rear trunk part, the pneumatic bouncing driver does not influence the bending operation of the bendable trunk.
Further preferably, the forefoot and the hindfoot each comprise a leg portion and a toe portion, the toe portion being disposed rearwardly and downwardly of the leg portion and being disposed at an obtuse included angle with the leg portion.
Preferably, the pneumatic bending driver comprises a pneumatic grid soft driver and a resetting piece, wherein two ends of the pneumatic grid soft driver are fixedly connected with two ends of the bendable trunk respectively, and two ends of the resetting piece are connected with two ends of the bendable trunk respectively. The pneumatic grid soft driver has good transformation promotion effect, but when the pneumatic grid soft driver is in a straight state, the pneumatic grid soft driver has weak straightening effect on the bendable trunk, and the resetting piece can improve the resetting speed of the bendable trunk.
Preferably, the bendable trunk comprises a front trunk portion, a rear trunk portion and a reverse bending limiting portion, the front trunk portion and the rear trunk portion are rotatably connected, a rotation axis of the front trunk portion and a rotation axis of the rear trunk portion are parallel to the reference plane, the reverse bending limiting portion is fixedly connected with the front trunk portion and used for limiting reverse bending of the rear trunk portion relative to the front trunk portion, or the reverse bending limiting portion is fixedly connected with the rear trunk portion and used for limiting reverse bending of the front trunk portion relative to the rear trunk portion. Limiting the back-bending of the front torso member relative to the rear torso member by the back-bending limiter is more energy efficient than limiting the back-bending of the front torso member relative to the rear torso member by the pneumatic bending actuator.
In the invention, the dual-motion mode robot has a peristaltic mode and a jump mode. In peristaltic mode, the front foot and the rear foot are contacted with the ground, and the pneumatic bending driver drives the front end and the rear end of the bendable trunk to straighten and bend, so that the dual-motion-mode robot moves in peristaltic mode. Under the jump mode, the lowest point of the pneumatic jump driver rapidly moves from being higher than the reference plane to being lower than the reference plane, and after the lowest point of the pneumatic jump driver contacts with the ground, the double-movement-mode robot is driven to jump, so that the jump direction of the double-movement-mode robot deviates from the gravity direction, and the double-movement-mode robot can jump and move. In designing the dual motion modality robot of the present invention, care should be taken: firstly, in peristaltic mode, the pneumatic bouncing driver should not excessively influence the bending and straightening of the bendable trunk, and the friction between the lowest point of the pneumatic bouncing driver and the ground should be avoided as much as possible; second, in the jump mode, the jump direction of the dual-motion mode robot should be deviated from the gravity direction.
The beneficial effects of the invention are as follows:
1. the dual-motion-mode robot has a peristaltic mode and a jump mode, the peristaltic mode is convenient for the dual-motion-mode robot to move in an environment with good road conditions, the jump mode is convenient for the dual-motion-mode robot to move in an environment with obstacles, and the environment adaptability is good.
Drawings
Fig. 1 is an exploded view of a dual-motion-mode robot of the present invention, without a reset element.
Fig. 2 is a perspective view of fig. 1.
Fig. 3 is an exploded view of a flexible torso, forefoot, hindfoot and pneumatic control assembly of a dual motion modality robot of the present invention.
Fig. 4 is a perspective view of fig. 3.
Fig. 5 is an exploded view of a pneumatic jump drive of a dual motion modality robot of the present invention.
Fig. 6 is a diagram for illustrating the peristaltic mode advancing principle of the dual-motion-mode robot according to the present invention.
Fig. 7 is a second analysis diagram of the peristaltic mode advancing principle of the dual-motion-mode robot of the present invention.
Fig. 8 is a size diagram of an aerodynamic jump drive of a dual motion modality robot of the present invention.
The reference numerals indicate that 1-flexible trunk, 11-front trunk portion, 111-reset piece setting groove a, 112-fixed rod a, 12-rear trunk portion, 121-reset piece setting groove B, 122-fixed rod B, 13-rotating shaft, 21-forefoot, 22-hindfoot, 3-pneumatic bending driver, 31-pneumatic grid soft driver, 32-fixed piece, 4-pneumatic bouncing driver, 41-outer hemisphere, 42-inner hemisphere, 43-upper fixed ring, 44-lower fixed ring, 45-bouncing driver air port, 5-pneumatic control component, 51-air pump, 52-air pipe joint row, 53-bending control electromagnetic reversing valve, 54-bouncing control electromagnetic reversing valve, 55-control board.
Detailed Description
The present invention is described in the following embodiments in conjunction with the accompanying drawings to assist those skilled in the art in understanding and implementing the invention. The following examples and technical terms therein should not be construed to depart from the technical knowledge of the art unless otherwise indicated.
Example 1: a dual motion modality robot, see fig. 1-2, includes a flexible torso 1, a pneumatic flexion actuator 3, a pneumatic jump actuator 4, and a pneumatic control assembly 5. The front end of the bendable trunk 1 is fixedly connected with a front foot 21, the rear end of the bendable trunk 1 is fixedly connected with a rear foot 22, and the landing points of the front foot 21 and the rear foot 22 determine a datum plane. The two ends of the pneumatic bending driver 3 are respectively and fixedly connected with the two ends of the bendable trunk 1. The pneumatic bounce driver 4 is hard-wired to the flexible torso 1, the lowest point of the pneumatic bounce driver 4 being movable from above the reference surface to below the reference surface.
The pneumatic bouncing driver has an upward bouncing ray after being mounted on the bendable torso 1. The direction of the upward ray is determined by the reaction force given by the ground to the pneumatic bouncing driver and the gravity resultant force of the dual-motion mode robot when the pneumatic bouncing driver drives the dual-motion mode robot to leave the ground. When in use, the upward elastic ray and the gravity direction are provided with acute angles. Therefore, when the pneumatic bouncing driver works, the double-motion-mode robot can be driven to bounce instead of vertically jumping upwards in situ. Generally, the upward ejection line is arranged on the advancing surface determined by the front foot and the rear foot, and the upward ejection line is arranged in front of the normal line of the reference surface, so that the robot in the double-motion mode advances on the advancing surface when advancing in the jumping mode, does not deviate from the advancing surface, and the motion trail is easy to control. According to estimation, the included angle between the upward bouncing ray and the reference surface can be more than or equal to 45 degrees and less than 90 degrees, so that the pneumatic bouncing driver is mainly used for driving the double-motion-mode robot to jump, but not advance.
In the invention, the dual-motion mode robot has a peristaltic mode and a jump mode. In peristaltic mode, the front foot and the rear foot are contacted with the ground, and the pneumatic bending driver drives the front end and the rear end of the bendable trunk to straighten and bend, so that the dual-motion-mode robot moves in peristaltic mode. Under the jump mode, the lowest point of the pneumatic jump driver rapidly moves from being higher than the reference plane to being lower than the reference plane, and after the lowest point of the pneumatic jump driver contacts with the ground, the double-movement-mode robot is driven to jump, so that the jump direction of the double-movement-mode robot deviates from the gravity direction, and the double-movement-mode robot can jump and move. In designing the dual motion modality robot of the present invention, care should be taken: firstly, in peristaltic mode, the pneumatic bouncing driver should not excessively influence the bending and straightening of the bendable trunk, and the friction between the lowest point of the pneumatic bouncing driver and the ground should be avoided as much as possible; second, in the jump mode, the jump direction of the dual-motion mode robot should be deviated from the gravity direction.
One shape of the forefoot and hindfoot is: the forefoot and the hindfoot both comprise legs and toes, and the toes are arranged at the rear lower parts of the legs and are provided with obtuse angles with the legs. Referring to fig. 6, in the initial state 1, the bendable trunk 1 is in a flat state; when the bendable trunk 1 is bent, the evolution 1a accords with the peristaltic movement mode of the dual-motion mode robot, in the figure, the two-dot chain line is the shape and the position before the peristaltic movement of the dual-motion mode robot, and the thin solid line is the shape and the position after the peristaltic movement of the dual-motion mode robot. The evolution 1b does not correspond to the mode of peristaltic movement of the robot with double motion modes, since it cannot move backwards in case the toe of the forefoot is against the ground. In evolution 1a, during hindfoot forward movement, its toe does not affect hindfoot forward movement. Referring to fig. 7, after the bendable trunk 1 is bent, the dual motion mode robot moves forward to a new position, i.e., the position of the initial state 2. When the bendable trunk 1 is restored to be flat, the evolution 2a accords with the peristaltic movement mode of the dual-motion mode robot, in the figure, the two-dot chain line is the shape and the position before the peristaltic movement of the dual-motion mode robot, and the thin solid line is the shape and the position after the peristaltic movement of the dual-motion mode robot. The evolution 2b does not conform to the mode of peristaltic movement of the robot with double motion modes, because it cannot move backwards in case the toe of the hindfoot is against the ground. In evolution 2a, during forefoot advancement, its toe does not affect forefoot advancement. From this analysis, the front foot and the rear foot in the flexible trunk of a four-foot robot disclosed in patent document CN212445259U are erroneous.
Yet another arrangement of the forefoot and hindfoot may be: the front foot is fixedly connected with a front foot rotating shaft, the front foot rotating shaft is rotatably connected with a bendable trunk 1, a front foot driving motor is fixed on the bendable trunk 1, and an output shaft of the front foot driving motor is in transmission connection with the front foot rotating shaft, preferably, precise transmission connection is realized through a coupler and a gear. The rear foot is fixedly connected with a rear foot rotating shaft, the rear foot rotating shaft is rotatably connected with a bendable trunk 1, a rear foot driving motor is fixed on the bendable trunk 1, and an output shaft of the rear foot driving motor is in transmission connection with the rear foot rotating shaft, preferably, precise transmission connection is realized through a coupler and a gear. Thus, the shape of the front foot and the rear foot does not influence the peristaltic advance of the robot with double motion modes.
Referring to fig. 1 to 4, in the present embodiment, the bendable torso 1 includes a front torso part 11, a rear torso part 12, and a rotation shaft 13, the front torso part 11 and the rear torso part 12 are connected by the rotation shaft 13 to achieve rotatable connection of the front torso part 11 and the rear torso part 12, and the rotation shaft 13 is disposed parallel to a reference plane.
To facilitate the hard connection of the pneumatic bouncing driving part 4, two fixing rods a112 are fixed on the lower surface of the front trunk part 11, and two fixing rods B122 are fixed on the lower surface of the rear trunk part 12. In order to facilitate the setting of the restoring member, the front trunk portion 11 is provided with a restoring member setting groove a111, and the rear trunk portion 12 is provided with a restoring member setting groove B121.
It will be appreciated that at least three points define a plane, or at least one point and a line define a plane. Referring to fig. 1, in this embodiment, there are two front feet 21 and two rear feet 22, and the front feet 21 and the rear feet 22 are respectively disposed at four corners of the bendable trunk 1. Each forefoot is in contact with the ground line and each hindfoot is in contact with the ground line, so that a reference plane can be determined. Of course, the front foot 21 may be formed of one piece, or the rear foot 22 may be formed of one piece, and when the pneumatic bounce driver 4 is not in contact with the ground, the front foot 21 and the rear foot 22 may be formed so long as they can stably support the bendable torso 1 and the attachment mounted thereon.
Referring to fig. 4, in this embodiment, the pneumatic control assembly 5 is mounted on the flexible trunk 1, the pneumatic bending driver 3 is provided with a bending driver air port (not shown), the pneumatic bouncing driver 4 is provided with a bouncing driver air port 45, the pneumatic control assembly 5 includes an air pump 51, a control processor, a bending control electromagnetic reversing valve 53, a bouncing control electromagnetic reversing valve 54 and a rechargeable battery (not shown), the bending control electromagnetic reversing valve 53 and the bouncing control electromagnetic reversing valve 54 are both two-position three-way solenoid valves, an air outlet of the air pump 51 is communicated with an a port of a four-way pipe joint through a pipeline, a B port of the four-way pipe joint is communicated with a pressure relief valve (not shown) through a pipeline, a C port of the four-way pipe joint is communicated with an a port of the bending control electromagnetic reversing valve 53 through a pipeline, a Y port of the bending control electromagnetic reversing valve 53 is communicated with an air outlet through a pipeline, a D port of the four-way pipe joint is communicated with an a port of the bouncing control electromagnetic reversing valve 54, a B port of the control electromagnetic reversing valve 54 is communicated with an air outlet of the bouncing control electromagnetic reversing valve 54 through a pipeline, and a Y port of the bouncing control electromagnetic reversing valve 54 is communicated with an output end of the control processor is respectively connected with an electromagnetic reversing valve 53. The rechargeable battery is used to power the air pump 51, the control processor, the bending control electromagnetic directional valve 53, and the bouncing control electromagnetic directional valve 54. The control processor is fixed to the control board 55. When the pneumatic control assembly is arranged on the bendable trunk, the moving range of the double-movement-mode robot is not limited by the length of the air pipe any more, but is limited by the cruising ability of the rechargeable battery only.
In other embodiments, the pneumatic control assembly 5 may not be mounted on the dual-motion-mode robot, and in this case, when the pneumatic control assembly 5 is connected to the dual-motion-mode robot through the air pipe, the moving range of the dual-motion-mode robot is limited by the length of the air pipe. Alternatively, the pneumatic control assembly 5 may be partially mounted on a dual motion modality robot.
In other embodiments, the rechargeable battery of the pneumatic control assembly 5 may be replaced with a battery compartment in which the battery is mounted for use. Alternatively, the rechargeable battery of the air control assembly 5 may be replaced by a solar panel, which is used to power the air pump 51, the control processor, the bending control electromagnetic directional valve 53, and the bouncing control electromagnetic directional valve 54.
Referring to fig. 1 and 5, in the present embodiment, the pneumatic bouncing driver 4 includes an outer hemisphere 41, an inner hemisphere 42, an upper fixing ring 43, a lower fixing ring 44 and a bouncing driver gas port 45, the outer hemisphere 41 is provided with a flange a, the inner hemisphere 42 is provided with a flange B, the upper fixing ring 43 is disposed above the flange a, the lower fixing ring 44 is disposed below the flange B, the bouncing driver gas port 45 is disposed between the flange a and the flange B, and the flange a, the flange B and the bouncing driver gas port 45 are in sealing connection, so as to realize sealing connection between the edge of the outer hemisphere and the edge of the inner hemisphere, and enable the air cavity between the outer hemisphere 41 and the inner hemisphere 42 to be communicated with the outside only through the bouncing driver gas port 45. Only the edge of the outer hemisphere is in sealing connection with the edge of the inner hemisphere, so that an air cavity can be formed between the outer hemisphere and the inner hemisphere, and other wall bodies of the outer hemisphere and other wall bodies of the inner hemisphere are not in a constraint state. In other embodiments, the bounce driver gas port 45 may also be provided on the outer hemisphere 41. The hard connection of the pneumatic bounce driver 4 to the front trunk 11 can be achieved by bolting the fixing lever a112, the upper fixing ring 43, the flange a, the flange B, the lower fixing ring 44. The hard connection of the pneumatic bounce driver 4 to the rear trunk 12 can be achieved by bolting the fixing lever B122, the upper fixing ring 43, the flange a, the flange B, the lower fixing ring 44. Since the outer hemispheres are hard-coupled to the ends of the torso of the flexible type, respectively, the outer hemispheres 41 and the inner hemispheres 42 are each formed of an elastic material, so that the pneumatic bouncing driver has minimal impact on the bending effect of the torso of the flexible type. In this embodiment, the upper fixing ring 43 and the lower fixing ring 44 are added to the pneumatic bouncing driver 4, so that the upper fixing ring 43 and the lower fixing ring 44 are made of a bendable material in order to reduce the adverse effect of the pneumatic bouncing driver 4 on the bending of the bendable trunk. In this embodiment, the elastic modulus of the outer hemisphere 41 is set to be less than the elastic modulus of the inner hemisphere 42, so that when the air cavity between the outer hemisphere and the inner hemisphere is inflated through the bouncing driver air port, the wall body of the inner hemisphere can bulge out of the outer hemisphere, which is helpful for the bouncing of the dual-movement-mode robot. In the bouncing process, the air cavity between the outer hemisphere and the inner hemisphere can be deflated through the bouncing driver air port, and the inner hemisphere drum can be maintained to be in a state of being out of the outer hemisphere.
Because the outer hemispheres are respectively and hard-connected with the two ends of the bendable trunk, in order to enable the upward elastic rays to be provided with an acute angle with the gravity direction, in the embodiment, the fixed rod A112 and the fixed rod B122 have the same structure, but are provided with the distance between the front foot and the rear foot of 110mm, and the front foot is provided with the distance between the front foot and the rear foot of more than 5mm, so that the included angle between the bendable trunk and the reference surface is less than or equal to 87.397 degrees when the bendable trunk is straightened. After the inventor finds that when the bendable trunk straightens, the included angle between the upward elastic ray of the pneumatic bouncing driver 4 and the reference plane is set to be 82 degrees, the bouncing mode of the double-motion-mode robot is optimal, and both the bouncing height and the bouncing distance can be considered.
In this embodiment, the lowest point of the pneumatic bounce driver is 5mm from the datum plane.
In other embodiments, the pneumatic bounce driver 4 may also be hard-wired only to the front torso portion 11, or the pneumatic bounce driver 4 may be hard-wired only to the rear torso portion 12. When the pneumatic bouncing driver is only hard-connected with the front trunk part or the rear trunk part, the pneumatic bouncing driver does not influence the bending operation of the bendable trunk. When the pneumatic bounce driver 4 is only hard-wired to the front trunk 11, the upward bounce rays of the pneumatic bounce driver 4 are simultaneously affected by two factors: firstly, when the bendable trunk is straightened, the included angle between the upward elastic rays of the pneumatic bouncing driver 4 and the reference surface is formed; second, the angle of rotation of the front trunk portion 11 when the bendable trunk is bent. Since the rotation angle of the front trunk portion 11 is a range value when the bendable trunk is bent, the angle between the upward spring ray of the pneumatic spring driver 4 and the reference plane is adjustable, and thus the obstacle surmounting effect of the pneumatic spring driver 4 is more excellent. Of course, the pneumatic bounce driver 4 also has such an effect when it is only hard-wired to the rear torso 12.
Let the inner radius of the outer hemisphere be R Outer part Having a thickness t of Outer part The elastic modulus of the material is E Outer part The method comprises the steps of carrying out a first treatment on the surface of the The inner radius of the inner hemisphere is R Inner part Having a thickness t of Inner part The elastic modulus of the material is E Inner part The method comprises the steps of carrying out a first treatment on the surface of the In the present embodiment of the present invention,E inner part /E Outer part =47. Of course, is->The bouncing effect of the pneumatic bouncing driver is still very good.
In the present embodiment, R is set Outer part ＝53.5mm，t Outer part ＝3mm，R Inner part ＝52.33mm，t Inner part The cross-section arc angle of the outer hemisphere 1 is 180 degrees, the cross-section arc angle of the inner hemisphere 2 is 164 degrees, the outer hemisphere is made of silica gel with the elastic modulus of 74KPa, the inner hemisphere is made of silica gel with the elastic modulus of 3.48MPa, and the device is set through finite element simulation analysisE Inner part /E Outer part When=47, the pneumatic bouncing driver has the highest bouncing height of 100mm, and is provided with +.>E Inner part /E Outer part When=47, the bounce height of the pneumatic bounce driver is only 50mm. Specifically, 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 finite element modeling analysis, the radius ratio to thickness ratio and material between the two hemispheres were simulated for optimal drive size results. By comparing the effects of the radius ratio and the thickness ratio of the different elastic moduli of the inner hemisphere and the outer hemisphere on the bouncing effect, the method is approximately in (R Inner part /t Inner part )/(R Outer part /t Outer part )＝1.47，E Inner part /E Outer part When=47, the bouncing effect is optimal. The silica gel used for manufacturing the hemispherical cap is modeled by adopting an incompressible material model, and in the process of changing the super-elasticity parameters, the Mooney-Rivlin model is used for simulating an outer ball with the elasticity modulus of 74KPa and an inner ball with the elasticity modulus of 3.48MPa, 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 drive, an axisymmetric model is created to simulate the outer sphere and the inner sphere respectively, and the unstructured grid (ABAQUS element type: CAX 4H) of a 4-node bilinear axisymmetric fixed unit is used for dispersing, and the grid size is adjusted to be 2mm. To eliminate the translation and rotation of the rigid body, the nodes on the contact lines of the boundary impose the boundary condition of end-fixing Uy.
The outer hemisphere 41 is made of a silica gel material having an elastic modulus of 74KPa, and the inner hemisphere 42 is made of a silica gel material having an elastic modulus of 3.48 MPa. In other embodiments, the outer hemisphere may be made of a material having an elastic modulus of 50.9KPa to 91.4KPa, and the inner hemisphere may be made of a material having an elastic modulus of 2.7MPa to 4.3 MPa. The pneumatic bouncing driver made of the material with the specification can balance the bouncing height of the double-motion-mode robot and the adverse effect on the peristaltic motion of the double-motion-mode robot. Silica gel materials can be used for the outer hemisphere and the inner hemisphere. In this embodiment, the flange A and the flange B are connected by sealing with a silica gel material with an elastic modulus of 74 KPa.
In this embodiment, the pneumatic bending actuator 3 includes a pneumatic grid software actuator 31 and a return member (not shown) that selects a tension spring. Referring to fig. 2, there are two pneumatic grid software drivers 31, two ends of each pneumatic grid software driver 31 are fixedly connected with the front trunk portion 11 and the rear trunk portion 12 respectively, tension springs are arranged in the reset piece setting groove a111 and the reset piece setting groove B112 and above the rotating shaft 13, one end of each tension spring is hooked and pulled with the front trunk portion 11, and the other end of each tension spring is hooked and pulled with the rear trunk portion 12. The pneumatic grid soft driver has good transformation promotion effect, but when the pneumatic grid soft driver is in a straight state, the pneumatic grid soft driver has weak straightening effect on the bendable trunk, and the resetting piece can improve the resetting speed of the bendable trunk. Because the flexible trunk has a width, in this embodiment, two pneumatic grid software drivers 31 are provided, the two pneumatic grid software drivers 31 are symmetrically distributed on two sides of the flexible trunk with the reset piece as a center line, and the two pneumatic grid software drivers and the reset piece are symmetrically distributed on the flexible trunk with the rotation shaft 13 as a center line.
Because the pneumatic grid software driver is used to rotate the front torso counterclockwise relative to the rear torso, in other embodiments, the restoring member may be a compression spring, where one end of the compression spring is fixedly connected to the front torso 11, the other end of the compression spring is fixedly connected to the rear torso 12, and the compression spring is disposed below the rotation shaft 13.
In this embodiment, the bendable trunk 1 further includes a buckling limiting portion (not shown), which is fixedly connected with the front trunk portion 11 and extends above the rear trunk portion 12, and when the included angle between the front trunk portion 11 and the rear trunk portion 12 is 180, the buckling limiting portion abuts against the rear trunk portion, so that even if the pneumatic grid software driver is in an uninflated state, the reset member cannot pull the rear trunk portion 12 to reversely bend relative to the front trunk portion 11, which saves more energy than limiting the reverse bending of the front trunk portion relative to the rear trunk portion by the pneumatic bending driver.
In other embodiments, the angle of the kick limiting portion to the kick between the anterior trunk portion 11 and the posterior trunk portion 12 may be set as desired. In other embodiments, the buckling restrained portion may be fixedly connected to the rear trunk portion 12 for restraining the front trunk portion 11 from buckling reversely relative to the rear trunk portion 12. The backward bending of the front trunk portion relative to the rear trunk portion is restricted by the backward bending restricting portion.
When the pneumatic bouncing driving part is hard-connected with both ends of the flexible trunk, the pneumatic bouncing driving part must select a soft type structure because: the device is arranged below the bendable trunk, so that the bending of the bendable trunk is driven by the pneumatic bending driver is not influenced, if the pneumatic bouncing driving part selects a rigid body structure, a flexible connection is needed in a connection mode of the pneumatic bouncing driving part and the bendable trunk or the front foot and the rear foot, but when the pneumatic bouncing driving part drives the bendable trunk to bounce, the flexible connection cannot enable the acting force of the pneumatic bouncing driving part to be conducted to the bendable trunk, and the jumping function cannot be realized. Therefore, when the pneumatic bouncing driving part selects a soft structure, the connection mode of the pneumatic bouncing driving part and the bendable trunk or the front foot and the rear foot can be hard-connected, so that when the pneumatic bouncing driving part drives the bendable trunk to bounce, the hard-connected part can enable the acting force of the pneumatic bouncing driving part to be transmitted to the bendable trunk, and the jumping function can be realized. When the pneumatic bending driver drives the bendable trunk to bend, the hard connection enables acting force to be transmitted to the pneumatic bouncing driving part, and the pneumatic telescopic soft driver can deform, so that bending of the bendable trunk is not affected, and peristaltic function is achieved.
The invention is described in detail above with reference to the drawings and examples. It should be understood that the description of all possible embodiments is not intended to be exhaustive or to limit the inventive concepts disclosed herein to the precise form disclosed. The technical characteristics of the above embodiments are selected and combined, specific parameters are experimentally changed by those skilled in the art, or the technical means disclosed in the present invention are conventionally replaced by the prior art in the technical field, which is not paid with creative work, and all the specific embodiments are implicitly disclosed in the present invention.
Claims (10)
1. The double-motion-mode robot comprises a bendable trunk and is characterized by further comprising a pneumatic bending driver and a pneumatic bouncing driver; the front end of the bendable trunk is fixedly connected with a front foot, the rear end of the bendable trunk is fixedly connected with a rear foot, and the landing points of the front foot and the rear foot determine a datum plane; two ends of the pneumatic bending driver are fixedly connected with two ends of the bendable trunk respectively; the pneumatic bounce driver is rigidly connected to the flexible torso with its lowest point capable of moving from above the datum to below the datum.
2. The dual-motion-mode robot of claim 1, further comprising a pneumatic control assembly mounted on the flexible torso, the pneumatic flex driver having a flex driver port, the pneumatic bounce driver having a bounce driver port, the pneumatic control assembly comprising an air pump, a control processor, a flex control solenoid directional valve, and a bounce control solenoid directional valve, the flex control solenoid directional valve in communication with the flex driver port conduit, the bounce control solenoid directional valve in communication with the bounce driver port conduit, the output of the control processor in electrical communication with the control end of the flex control solenoid directional valve, the control end of the bounce control solenoid directional valve, respectively.
3. The dual-motion-mode robot of claim 2, wherein the pneumatic control assembly comprises a solar panel for powering the air pump, control processor, bend control electromagnetic directional valve, and bounce control electromagnetic directional valve.
4. The dual-motion-mode robot of claim 1, wherein the pneumatic bouncing driver comprises an outer hemisphere and an inner hemisphere, the edge of the outer hemisphere is in sealing connection with the edge of the inner hemisphere, bouncing driver air ports are arranged on the outer hemisphere, the outer hemisphere and the inner hemisphere are made of elastic materials, the elastic modulus of the outer hemisphere is smaller than the elastic modulus of the inner hemisphere, and the outer hemisphere is respectively and rigidly connected with two ends of the bendable trunk.
5. A dual-motion-mode robot according to claim 4, wherein an inner radius of the outer hemisphere is R Outer part Having a thickness t of Outer part The elastic modulus of the material is E Outer part The method comprises the steps of carrying out a first treatment on the surface of the The inner radius of the inner hemisphere is R Inner part Having a thickness t of Inner part The elastic modulus of the material is E Inner part ；
6. The robot of claim 1, wherein the pneumatic bounce driver has an upward bounce line disposed on a travel surface defined by the forefoot and the rearfoot, the upward bounce line being disposed at an angle of 45 ° or more and less than 90 ° with the reference surface, and the upward bounce line being disposed forward of a normal to the reference surface.
7. A dual-motion-mode robot as recited in claim 1, wherein the bendable torso includes a front torso portion and a rear torso portion, the front torso portion and the rear torso portion being rotatably coupled, the pneumatic bounce driver being rigidly coupled to the front torso portion or the pneumatic bounce driver being rigidly coupled to the rear torso portion.
8. A dual-motion-mode robot according to claim 7, wherein the forefoot and hindfoot each comprise a leg and a toe, the toe being disposed rearwardly and downwardly of the leg and at an obtuse included angle with the leg.
9. The dual-motion-mode robot of claim 1, wherein the pneumatic bending driver comprises a pneumatic grid software driver and a reset piece, wherein two ends of the pneumatic grid software driver are fixedly connected with two ends of the bendable trunk respectively, and two ends of the reset piece are connected with two ends of the bendable trunk respectively.
10. A dual-motion-mode robot as claimed in claim 1, wherein the bendable trunk comprises a front trunk portion, a rear trunk portion, and a kick limiting portion, the front trunk portion and the rear trunk portion being rotatably connected, a rotation axis of the front trunk portion and the rear trunk portion being disposed parallel to the reference plane, the kick limiting portion being fixedly connected with the front trunk portion for limiting a kick of the rear trunk portion relative to the front trunk portion, or the kick limiting portion being fixedly connected with the rear trunk portion for limiting a kick of the front trunk portion relative to the rear trunk portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210023653.6A CN114347058B (en) | 2022-01-10 | 2022-01-10 | Dual-motion mode robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210023653.6A CN114347058B (en) | 2022-01-10 | 2022-01-10 | Dual-motion mode robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114347058A CN114347058A (en) | 2022-04-15 |
| CN114347058B true CN114347058B (en) | 2024-02-20 |
Family
ID=81109316
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210023653.6A Active CN114347058B (en) | 2022-01-10 | 2022-01-10 | Dual-motion mode robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114347058B (en) |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10032640A1 (en) * | 2000-07-05 | 2002-01-17 | Jan Stein | Walking robot has legs of at least one pair suspended in gimbal fashion in sliding joints on movable steering beam; each beam is mounted on robot body to be pivotable about vertical axis |
| CN1421302A (en) * | 2002-12-30 | 2003-06-04 | 上海交通大学 | Miniature creeping vehicle based on shape memory alloy driving |
| CN103935417A (en) * | 2014-04-11 | 2014-07-23 | 哈尔滨工程大学 | Bionic four-foot robot provided with spinal joint and elastic legs |
| CN104709375A (en) * | 2015-03-12 | 2015-06-17 | 哈尔滨工程大学 | Energy-storage type leapfrog-simulation robot |
| CN106428290A (en) * | 2016-12-09 | 2017-02-22 | 山东大学 | Flexible quadruped robot |
| KR20170127764A (en) * | 2016-05-12 | 2017-11-22 | 국방과학연구소 | Jumping robot using offsetting of moment and synchronization of timing |
| CN109353424A (en) * | 2018-09-17 | 2019-02-19 | 南京航空航天大学 | A kind of leg formula hopping robot and its control method based on Piezoelectric Driving |
| CN109878593A (en) * | 2018-11-21 | 2019-06-14 | 南京航空航天大学 | Multi-mode flexible robot and its control method |
| CN210653416U (en) * | 2019-06-04 | 2020-06-02 | 广东省智能制造研究所 | Bionic quadruped robot based on flexible spine technology |
| CN112072950A (en) * | 2020-09-11 | 2020-12-11 | 浙江师范大学 | Jumping type robot and control method thereof |
| CN112722098A (en) * | 2020-10-28 | 2021-04-30 | 北京工业大学 | High-precision flexible hinge peristaltic robot |
| CN112758208A (en) * | 2020-12-24 | 2021-05-07 | 广州大学 | Multi-degree-of-freedom four-footed soft robot |
-
2022
- 2022-01-10 CN CN202210023653.6A patent/CN114347058B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10032640A1 (en) * | 2000-07-05 | 2002-01-17 | Jan Stein | Walking robot has legs of at least one pair suspended in gimbal fashion in sliding joints on movable steering beam; each beam is mounted on robot body to be pivotable about vertical axis |
| CN1421302A (en) * | 2002-12-30 | 2003-06-04 | 上海交通大学 | Miniature creeping vehicle based on shape memory alloy driving |
| CN103935417A (en) * | 2014-04-11 | 2014-07-23 | 哈尔滨工程大学 | Bionic four-foot robot provided with spinal joint and elastic legs |
| CN104709375A (en) * | 2015-03-12 | 2015-06-17 | 哈尔滨工程大学 | Energy-storage type leapfrog-simulation robot |
| KR20170127764A (en) * | 2016-05-12 | 2017-11-22 | 국방과학연구소 | Jumping robot using offsetting of moment and synchronization of timing |
| CN106428290A (en) * | 2016-12-09 | 2017-02-22 | 山东大学 | Flexible quadruped robot |
| CN109353424A (en) * | 2018-09-17 | 2019-02-19 | 南京航空航天大学 | A kind of leg formula hopping robot and its control method based on Piezoelectric Driving |
| CN109878593A (en) * | 2018-11-21 | 2019-06-14 | 南京航空航天大学 | Multi-mode flexible robot and its control method |
| CN210653416U (en) * | 2019-06-04 | 2020-06-02 | 广东省智能制造研究所 | Bionic quadruped robot based on flexible spine technology |
| CN112072950A (en) * | 2020-09-11 | 2020-12-11 | 浙江师范大学 | Jumping type robot and control method thereof |
| CN112722098A (en) * | 2020-10-28 | 2021-04-30 | 北京工业大学 | High-precision flexible hinge peristaltic robot |
| CN112758208A (en) * | 2020-12-24 | 2021-05-07 | 广州大学 | Multi-degree-of-freedom four-footed soft robot |
Non-Patent Citations (1)
| Title |
|---|
| 四足机器人柔性脊柱的仿生机理与结构研究综述;刘宁;江沛;柏龙;林利红;廖家文;潘吉财;;机械设计与研究(05);第37-43页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114347058A (en) | 2022-04-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Drotman et al. | Application-driven design of soft, 3-D printed, pneumatic actuators with bellows | |
| US9821457B1 (en) | Adaptive robotic interface apparatus and methods | |
| Tolley et al. | A resilient, untethered soft robot | |
| US20100258362A1 (en) | Actuator powered deformable soft-bodied autonomous platforms | |
| CN107914269B (en) | Software robot based on honeycomb pneumatic network | |
| US10584724B2 (en) | Soft buckling actuators | |
| Stanley et al. | Closed-loop shape control of a haptic jamming deformable surface | |
| Xie et al. | PISRob: A pneumatic soft robot for locomoting like an inchworm | |
| EP2985121B1 (en) | Pneumatically actuated and safely compliant skeletal joints for robotic characters | |
| CN112758208B (en) | Multi-degree-of-freedom four-footed soft robot | |
| CN114347058B (en) | Dual-motion mode robot | |
| Chen et al. | Design and fabrication of a multi-motion mode soft crawling robot | |
| Chen et al. | A pneumatic–hydraulic hybrid actuator for underwater soft robot swimming and crawling | |
| CN103386686B (en) | A kind of spherical transformable soft robot | |
| Zhu et al. | A quadruped soft robot for climbing parallel rods | |
| WO2019187171A1 (en) | Moving robot | |
| CN110015351A (en) | A kind of imitative snake software climbing level robot and its application | |
| Li et al. | Multimodal steerable earthworm-inspired soft robot based on vacuum and positive pressure powered pneumatic actuators | |
| Boyer et al. | The eel-like robot | |
| CN115502952A (en) | Pneumatic worm bionic soft robot and optimization control method thereof | |
| Chin et al. | Flipper-style locomotion through strong expanding modular robots | |
| Lee et al. | Prototyping soft origami quad-bellows robots from single-bellows characterization | |
| CN111515941A (en) | Soft robot based on pH sensitive type hydrogel driver | |
| CN114290347B (en) | Bounce device and double-hemisphere soft bounce driver | |
| CN114248888B (en) | Water-catching type underwater bionic robot and driving method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |