CN217552405U - Software robot - Google Patents
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- CN217552405U CN217552405U CN202220274738.7U CN202220274738U CN217552405U CN 217552405 U CN217552405 U CN 217552405U CN 202220274738 U CN202220274738 U CN 202220274738U CN 217552405 U CN217552405 U CN 217552405U
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Abstract
The utility model discloses a software robot. The software robot includes: the cylindrical soft motion module is provided with a cavity, and the shape of the soft motion module is changed to realize motion by controlling the inflation and deflation of the driving air bag; the end parts of the plurality of driving air bags are hinged on the inner wall of the soft motion module, the number of the driving air bags is at least 3, acute angles formed by any two adjacent driving air bags are equal, directional driving is realized by controlling the inflation sequence of the driving air bags, and jumping is realized by controlling the flow rate of inflation gas of the driving air bags. The utility model provides a software robot can be on multiple complicated road surface and the slope that has certain inclination fast motion to can realize strideing across the barrier through the jump, thereby realize the trafficability characteristic under various complicated road conditions.
Description
Technical Field
The utility model relates to a software robot technical field especially relates to a software robot.
Background
Compared with the traditional robot, the soft robot has a soft integral structure and has better human-computer interaction and damage resistance. The problem of how to move smoothly under various complex conditions and overcome the blocking of obstacles is a difficult problem for both traditional hard robots and soft robots. Some soft robots that have been proposed to move in a rolling manner can move under complicated road conditions, but it is difficult to maintain smooth movement on a slope. Therefore, there is a need for a soft robot with multiple motion modes.
SUMMERY OF THE UTILITY MODEL
The motion mode to the current software robot that exists in the above-mentioned technique is difficult to realize steady motion on multiple complicated road conditions, is difficult to overcome the technical problem that blocks of barrier, the utility model provides a software robot. The utility model provides a software robot can be at multiple complicated road surface and have the slope at certain inclination on the rapid movement to can realize strideing across the barrier through the jump, thereby realize the trafficability characteristic under various complicated road conditions.
The utility model provides a software robot, include:
the cylindrical soft motion module is provided with a cavity, and the shape of the soft motion module is changed by controlling the inflation and deflation of the driving air bag to realize motion;
the end parts of the plurality of driving air bags are hinged to the inner wall of the soft motion module, the number of the driving air bags is at least 3, acute angles formed by any two adjacent driving air bags are equal, directional driving is realized by controlling the inflation sequence of the driving air bags, and jumping is realized by controlling the flow rate of inflation gas of the driving air bags.
In some embodiments, L = π R, wherein L is the length of the driving balloon and R is the inner radius of the soft motion module.
In some embodiments, the soft-bodied robot has a constant volumeThe capability of moving on the road surface of a slope angle, when the soft robot moves on the road surface with a certain slope angle, the slope angle satisfies the following conditions:
wherein A is the slope angle and N is the number of the driving airbags.
In some embodiments, the soft motion module is made of a soft material.
In some embodiments, the actuation balloon is made of a thin film material.
In some embodiments, further comprising a control system for controlling the soft-bodied robot, the control system comprising:
the positive pressure air source is connected with the driving air bag through a positive pressure air pipe;
the negative pressure air source is connected with the driving air bag through a negative pressure air pipe;
the two-position three-way electromagnetic valves are connected in parallel, the two-position three-way electromagnetic valves are respectively connected with the positive pressure air source and the negative pressure air source through the positive pressure air pipe and the negative pressure air pipe, and constant passages of the two-position three-way electromagnetic valves are connected with the driving air bag through driving air pipes;
and the single chip microcomputer is electrically connected with the two-position three-way electromagnetic valve.
In some embodiments, when the driving airbag is in a negative pressure state, the overall structure is flexible; when the driving air bag is in a positive pressure state, the whole structure is rigid.
The method for driving the soft robot to move comprises the following steps:
(1) The driving air bags are sequentially marked as a first driving air bag, a second driving air bag and an Nth driving air bag, and T is a driving period
For the duration of each said actuating air bag;
(2) In the same driving period as
The first driving air bag, the second driving air bag and the Nth driving air bag are correspondingly driven in sequence within a time period, wherein N is 1, 2, 8230, 8230N, only one driving air bag is in the positive pressure state at the same time, and the rest driving air bags are in the negative pressure state;
(3) And (3) repeating the step (2) to realize the motion of the soft robot.
In some embodiments, the soft-bodied robot has a motion speed of
And controlling the movement speed of the soft robot by adjusting the driving period.
The method for driving the soft robot to cross the obstacle is to realize jumping by increasing the flow rate of the inflation gas of the next driving air bag to cross the obstacle when the soft robot in a moving state meets the obstacle.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model provides a software robot simple structure, control mode are simple, can move in multiple complicated topography.
The utility model provides a software robot realizes multiple motion through changing self shape, can realize directional drive through the inflated order of control drive gasbag, realizes the jump through the control drive gasbag gas flow rate of aerifing.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic view of a drive bladder in a flattened state and in a substantially cylindrical state;
FIG. 2 is a schematic view of the arrangement of the driving airbag in the inner cavity of the soft motion module;
FIG. 3 is a schematic view of the movement of the airbag driving software movement module;
FIG. 4 is a schematic view of the connection structure between the control system and the software motion module;
FIG. 5 is a schematic diagram of the control method for driving the soft robot to move;
fig. 6 is a schematic diagram of a process for driving the soft robot to cross an obstacle.
Description of the reference numerals:
the device comprises a software motion module 1, a driving air bag 2, a first driving air bag 21, a second driving air bag 22, a third driving air bag 23, a positive pressure air pipe 31, a negative pressure air pipe 32, a driving air pipe 33, a first two-position three-way electromagnetic valve 41, a second two-position three-way electromagnetic valve 42, a third two-position three-way electromagnetic valve 43, a positive pressure air source 51, a negative pressure air source 52 and a single chip microcomputer 6.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.
The following describes a soft robot according to an embodiment of the present invention with reference to the drawings.
As shown in fig. 1-6, the soft body robot of the present invention comprises: a software motion module 1, a driving air bag 2 and a control system.
The soft motion module 1 is made of soft materials, wherein the soft materials are latex, rubber or silica gel. It will be appreciated that the soft material may also be other suitable materials.
The soft motion module 1 is made of soft materials, so that the whole structure of the soft motion module 1 is soft, and the shape is easy to change. In the motion process of the soft robot, the motion of the soft robot is realized by changing the shape of the soft motion module 1.
The soft motion module 1 is cylindrical, and has a cavity in the center for accommodating the driving airbag 2. In this embodiment, taking a thin-walled cylindrical soft motion module 1 as an example, the inner radius of the soft motion module 1 is defined as R, and R is 30mm; the height of the soft motion module 1 is 20mm, and the thickness is 3mm.
The driving air bag 2 is arranged in a cavity of the soft motion module 1, specifically, two ends of the driving air bag 2 are hinged on the inner wall of the soft motion module 1, and the driving air bag 2 and the soft motion module 1 can rotate relatively and cannot move relatively. The driving air bags 2 are arranged along the diameter direction of a circular ring where the cross section of the soft motion module 1 is located, the end parts of the driving air bags 2 are hinged to the same height position of the soft motion module 1, and the middle overlapping areas of the driving air bags 2 are staggered mutually by means of deformation of the middle overlapping areas.
Acute angles formed by any two adjacent driving air bags 2 are equal, namely, the driving air bags 2 are uniformly distributed in the cavity of the soft motion module 1, and the end parts of the driving air bags 2 are uniformly distributed on the inner wall of the soft motion module 1 along the inner circumference.
In order to realize the driving of the soft motion module 1, the number N of the driving air bags 2 meets the following requirements: n is more than or equal to 3. Taking three driving airbags 2 as an example, the arrangement mode is shown in fig. 2 (a), and the acute angle formed by two adjacent driving airbags 2 is 60 degrees. Fig. 2 (a) is a top view of the driving airbag disposed in the inner cavity of the soft motion module, wherein the driving airbags 2 are all in a negative pressure state, and the driving airbag 2 in the negative pressure state is relatively soft. It is understood that (a) in fig. 2 only illustrates the relative position of the driving airbag 2, the length of the driving airbag 2 is not the actual length, and the relationship between the length of the driving airbag 2 and the inner radius of the soft motion module 1 is described below. Note that the driving airbag 2 in the negative pressure state is indicated by a broken line, and the driving airbag 2 in the positive pressure state is indicated by a solid line.
The driving air bag 2 is made of a thin film material, wherein the thin film material is made of PE, PP or PVC. It will be appreciated that the film material may also be other suitable materials.
The side of the driving air bag 2 is provided with a driving air pipe 33, and the driving air pipe 33 is used for controlling the air pressure of the driving air bag 2. When the driving airbag 2 is connected to the negative pressure air source 52, as shown in fig. 1 (a), the driving airbag 2 is free of air inside and is flat as a whole. In addition, because the driving airbag 2 is made of a thin film material, the bending rigidity is extremely small, and the whole body is very soft. When a certain air pressure is applied, that is, when the driving airbag 2 is connected to the positive pressure air source 51, the driving airbag 2 is blown into an approximately cylindrical shape and has a large bending rigidity, as shown in fig. 1 (b). L = pi R, where L is the length of the driving balloon 2 and R is the inner radius of the soft motion module 1. As shown in fig. 2 (b), when one of the driving airbags 2 is inflated, the soft motion module 1 deforms under the action of the inflated driving airbag 2, and the whole structure is flat. It can be understood that the length of the driving air bag 2 is half of the circumference of the inner ring of the soft motion module 1, so that the whole structure of the soft motion module 1 is flat.
The control system comprises a positive pressure air source 51, a negative pressure air source 52, a singlechip 6 and a two-position three-way electromagnetic valve.
The air pressure of the positive pressure air source 51 and the negative pressure air source 52 is adjustable, and it is understood that the positive pressure air source 51 and the negative pressure air source 52 can be air pumps with adjustable power. The positive pressure air source 51 and the negative pressure air source 52 provide driving air pressure through the positive pressure air pipe 31 and the negative pressure air pipe 32, respectively. As shown in fig. 4, a positive pressure air source 51 is connected to the driving airbag 2 through a positive pressure air pipe 31, and a negative pressure air source 52 is connected to the driving airbag 2 through a negative pressure air pipe 32. Specifically, the positive pressure air source 51 is connected with the two-position three-way electromagnetic valve through the positive pressure air pipe 31, and then is connected to the driving air bag 2 through the two-position three-way electromagnetic valve; similarly, the negative pressure air source 52 is connected to the two-position three-way solenoid valve through the negative pressure air pipe 32, and then connected to the driving airbag 2 through the two-position three-way solenoid valve.
A plurality of two-position three-way electromagnetic valves are arranged in parallel, wherein one two-position three-way electromagnetic valve corresponds to one driving air bag 2. The constant passage of the two-position three-way electromagnetic valve is connected with the driving air bag 2 through a driving air pipe 33. The two-position three-way electromagnetic valve is respectively connected with a positive pressure air source 51 and a negative pressure air source 52 through a positive pressure air pipe 31 and a negative pressure air pipe 32.
The single chip microcomputer 6 is electrically connected with the two-position three-way electromagnetic valve, and the single chip microcomputer 6 controls the on-off of the two-position three-way electromagnetic valve to control the inflation and deflation of the driving air bag 2, so that the state of the software movement module 1 is changed to realize rolling.
The two-position three-way electromagnetic valve is controlled by the single chip microcomputer 6, when no electric signal is generated on the two-position three-way electromagnetic valve, the driving air bag 2 is communicated with the negative pressure air source 52 through the negative pressure air pipe 32, at the moment, the driving air bag 2 is in a negative pressure state, and the whole structure is soft. When giving two three-way solenoid valve positive signals through singlechip 6, drive gasbag 2 communicates with positive pressure air supply 51 through positive pressure trachea 31, and at this moment, drive gasbag 2 is in the malleation state, drives 2 inside atmospheric pressure grow of gasbag promptly, and the structure is blown straightly, becomes rigid to can change the geometry of software motion module 1.
The movement process of the soft body robot of the present invention will be described by taking three driving airbags 2 as an example, wherein the three driving airbags 2 are a first driving airbag 21, a second driving airbag 22 and a third driving airbag 23. As shown in fig. 3 (a), the first driving airbag 21 is inflated, the first driving airbag 21 is in a positive pressure state, and the whole structure is rigid, so that the soft motion module 1 passively changes the shape, and the state is the state 1. Then, when the second driving air bag 22 is inflated, the first driving air bag 21 is deflated, at this time, the first driving air bag 21 is restored to the soft state due to deflation, the second driving air bag 22 is in the positive pressure state, the whole structure is rigid, and at this time, the structure of the soft body movement module 1 is dominated by the second driving air bag 22. Due to the rapid inflation and deflation, the shape of the soft motion module 1 changes rapidly, i.e. from state 1 to state 2. The software motion module 1 in the state 2 rotates clockwise around the left end of the second driving air bag 22 as shown in (b) in fig. 3 due to the gravity, namely, the software motion module 1 rotates from the state 2 to the stable state 3. At the moment, after one inflation and deflation, the software motion module 1 changes from the state 1 to the state 3, and compared with the software motion module 1 in the state 1, the software motion module 1 in the state 3 advances
A circumference, i.e.
It will be appreciated that if the number of actuating airbags 2 is N, thenThe state 1 changes to the state 3, and the software motion module 1 advances
A plurality of circumferences. The advancing mode similar to that of a crawler belt enables the soft robot to be driven smoothly on various terrains with rough degrees.
The control method for driving the soft robot to move comprises the following steps:
(1) The driving air bags are sequentially marked as a first driving air bag, a second driving air bag and an Nth driving air bag, and T is a driving period
For the duration of each actuation bladder;
(2) In the same drive cycle
The method comprises the steps that a first driving air bag, a second driving air bag and an Nth driving air bag are sequentially and correspondingly driven within a time period, wherein N is 1 and 2 \ 8230, and N is 8230, wherein only one driving air bag is in a positive pressure state at the same time, and the other driving air bags are in a negative pressure state, so that N is 1 and 2 \ 8230, and N is sequentially and respectively corresponding to the first driving air bag, the second driving air bag and the Nth driving air bag;
(3) And (4) repeating the step (2) to realize the motion of the soft robot.
Taking the example of three driving airbags 2, the inner radius of the soft motion module 1 is 30mm, the height is 20mm, and the thickness is 3mm. The control method for driving the soft robot to move specifically comprises the following steps:
the air pressure of the positive pressure air source 51 is adjusted, and the positive pressure air source 51 is set at about 0.1MPa to realize stable rolling motion.
A voltage signal is given to the two-position three-way electromagnetic valve through the singlechip 6, and the duration time is
T is the driving period. It can be understood that N drive gasesWhen the capsule 2 is in, the duration is
As shown in fig. 5, the two-position three-way solenoid valve corresponding to the electrical signal of 0 is conducted with the negative pressure gas source 52, and the two-position three-way solenoid valve corresponding to the electrical signal of 1 is conducted with the positive pressure gas source 51. The first driving air bag 21, the second driving air bag 22 and the third driving air bag 23 correspond to the first two-position three-way electromagnetic valve 41, the second two-position three-way electromagnetic valve 42 and the third two-position three-way electromagnetic valve 43 respectively.
In the initial stage, the first two-position three-way electromagnetic valve 41 connects the first driving airbag 21 with the positive pressure air source 51, the second driving airbag 22 and the third driving airbag 23 are both connected with the negative pressure air source 52, and the software movement module 1 deforms due to the first driving airbag 21.
At a time of
When the two-position three-way electromagnetic valve 41 is turned off, the two-position three-way electromagnetic valve 42 is turned on for a duration of
At a time of
When the valve is opened, the second two-position three-way electromagnetic valve 42 is disconnected, and the third two-position three-way electromagnetic valve 43 is connected for the duration of
When the time is T, the third two-position three-way electromagnetic valve 43 is switched off, and the first two-position three-way electromagnetic valve 41 is switched on for the duration of T
And the first two-position three-way electromagnetic valve 41, the second two-position three-way electromagnetic valve 42 and the third two-position three-way electromagnetic valve 43 are sequentially and repeatedly switched on and off alternately, so that the rolling advance of the soft robot is realized.
In a driving period T, two-position three-way electromagnetic valves are alternately given electric signals, only one two-position three-way electromagnetic valve is conducted with the positive pressure air source 51 at the same time, only one driving air bag 2 is in a rigid state correspondingly, the other driving air bags 2 are in soft states, and the driving air bag 2 in the soft state does not influence the movement of the driving air bag 2 in the rigid state. It will be appreciated that if reverse motion of the soft body robot is required, only the drive sequence needs to be reversed.
In combination with the foregoing, over a sustained period of time
Inner and outer soft robots advance
A circumference, so that the soft robot moves at a speed of
The motion speed of the soft robot can be controlled by adjusting the driving period. In addition, the driving period should be more than 1s in consideration of structural deformation and time of rotation.
When the soft motion module 1 moves, the whole body is flat under the action of the drive air bag 2 in an inflated state, and the gravity center is always lower, so that the soft motion module has better driving performance and climbing capability compared with other drivers. Theoretically, the driving airbags 2 with larger quantity are provided, and the climbing capability of the soft robot is stronger. With three driving bladders 2, the soft robot can theoretically advance on a slope of less than 30 °. For N drive modules, when the soft robot moves on a road surface with a certain slope angle, the slope angle satisfies the following conditions:
wherein A is a slope angle; n is the number of the driving air bags 2, and N is more than or equal to 3. It is understood that the slope angle is the inclination angle of the road surface.
The control method for driving the soft robot to cross the obstacle is characterized in that when the soft robot in a moving state meets the obstacle, the next driving air bag is increased in flow rate of inflation gas to realize jumping so as to cross the obstacle. The next driving airbag refers to the driving airbag to be inflated during the movement. Specifically, when the soft robot in normal motion encounters an obstacle, the flow rate of the inflation gas that drives the airbag 2 is increased by increasing the positive pressure gas source 51 to achieve jumping. It can be understood that when jumping over an obstacle, the inflation speed of the driving airbag 2 can be adjusted by adjusting the air pressure of the positive pressure air source 51, so that the jumping height of the soft robot is adjusted, and different air pressures are applied according to different obstacles.
As shown in fig. 6, in the normal movement process, a voltage signal is given to the first two-position three-way electromagnetic valve 41, and the first driving air bag 21 is in a positive pressure state; when the driving airbag needs to jump, the air pressure of the positive pressure air source 51 is increased, the first two-position three-way electromagnetic valve 41 is disconnected, a voltage signal is given to the second two-position three-way electromagnetic valve 42, and the second driving airbag 22 is inflated to realize jumping.
After the positive pressure air source 51 is increased, the flow rate of the air is increased when the second driving airbag 22 is inflated, and the second driving airbag 22 is straightened more quickly. The process from state 1 to state 2 is very rapid, when state 2 is reached, the lower left part of the soft motion module 1 is in contact with the ground and there is no slip due to the presence of friction, while the upper right part has a velocity in the upper right direction due to the rapid response of the second driving airbag 22, so that the overall velocity is directed in the upper right direction, where the upper right part is as enclosed by the dashed square in fig. 6. When the second driving air bag 22 responds quickly, the acting force of the ground to the soft robot is larger than the gravity of the soft robot, and the momentum direction of the whole structure of the soft motion module 1 faces the upper right direction after the second driving air bag 22 responds quickly according to impulse theorem or from the stress angle, so that the oblique throwing motion is carried out, the state 3 is reached, and the obstacle crossing is realized. Theoretically, the larger the air pressure of the positive pressure air source 51 is, the faster the inflation speed is, and the stronger the jumping capability is, i.e., the stronger the jumping capability of the whole structure of the software movement module 1 is. It will be appreciated that after crossing the obstacle, the air pressure of the positive air pressure source 51 may be adjusted so that the soft robot continues to move normally.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms may be directed to different embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (5)
1. A soft body robot, comprising:
a cylindrical soft motion module having a cavity;
the end parts of the driving air bags are hinged to the inner wall of the soft motion module, the number of the driving air bags is at least 3, acute angles formed by any two adjacent driving air bags are equal, L = pi R, wherein L is the length of the driving air bags, and R is the inner radius of the soft motion module.
2. The soft robot of claim 1, wherein the soft motion module is made of soft material.
3. The soft robot of claim 1, wherein the drive bladder is made of a thin film material.
4. The soft robot of claim 1, further comprising a control system for controlling the soft robot, the control system comprising:
the positive pressure air source is connected with the driving air bag through a positive pressure air pipe;
the negative pressure air source is connected with the driving air bag through a negative pressure air pipe;
the two-position three-way electromagnetic valves are connected in parallel, the two-position three-way electromagnetic valves are respectively connected with the positive pressure air source and the negative pressure air source through the positive pressure air pipe and the negative pressure air pipe, and a constant passage of the two-position three-way electromagnetic valves is connected with the driving air bag through a driving air pipe;
and the single chip microcomputer is electrically connected with the two-position three-way electromagnetic valve.
5. The soft robot of claim 1, wherein the overall structure is flexible when the driving airbag is in a negative pressure state; when the driving air bag is in a positive pressure state, the whole structure is rigid.
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| CN202220274738.7U CN217552405U (en) | 2022-02-10 | 2022-02-10 | Software robot |
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| CN202220274738.7U CN217552405U (en) | 2022-02-10 | 2022-02-10 | Software robot |
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