CN102837307A - Amphibious S-shaped robot on basis of MDOF (Multiple Degree of Freedom) flexible motion units - Google Patents

Abstract

The invention discloses an amphibious snake-like robot based on a multi-degree-of-freedom flexible motion unit, which belongs to the technical field of snake-like robots. The robot is connected in series by a plurality of multi-degree-of-freedom flexible motion units (1); the multi-degree-of-freedom flexible motion unit (1) includes an upper end cover (3) and a lower end cover (7). There is also a central shaft (4) between the lower end cover (7), one end of the central shaft (4) is fixed with the upper end cover (3), and the other end passes through the central guide hole of the lower end cover (7); on the upper end cover (3) ) and the edge of the lower end cover (7) are connected with the axial dielectric type EAP driver group (5) and the oblique dielectric type EAP driver group (6); the upper end cover (3) and the lower end cover (7) A compression spring (8) is also installed between them. The snake-shaped robot can have multiple movement modes, can imitate the movement function of living organisms, is suitable for two kinds of movement occasions on land and in water, and has strong adaptability to complex and unknown environments.

Description

Amphibious snake-like robot based on multi-degree-of-freedom flexible motion unit

the

technical field

The invention relates to an amphibious snake-like robot based on a multi-freedom flexible motion unit, which belongs to the technical field of snake-like robots.

Background technique

Snake-shaped robots can adopt different movement modes according to different terrain conditions, have good terrain adaptability and movement stability, and are suitable for unstructured environments such as emergency rescue and disaster relief, field investigation, military reconnaissance, pipeline inspection, etc., and further extend to the deep sea It has extremely broad application prospects in fields such as detection and interstellar exploration.

At present, most bionic snake-like robots are driven by motors, and each module generates a certain rotation angle through the transmission mechanism, which is equivalent to discretizing the snake's motion equation. However, the motor-driven snake-like robot motion module is bulky, complex in structure, low in efficiency, and noisy, which limits the application of snake-like robots.

Dielectric EAP (Electroactive Polymer) is an artificial muscle smart material whose performance is closest to that of biological muscle. It has obvious advantages such as large energy density ratio, high efficiency, fast response speed, and large deformation. It is also a flexible material. , to facilitate the structural design of the motion unit to realize the multi-degree-of-freedom flexible motion unit. On this basis, multiple motion units are connected in series to form a snake-like robot.

Contents of the invention

In order to solve the technical defects of current snake-like robots using rigid drives, the present invention provides an amphibious snake-like robot based on multi-degree-of-freedom flexible motion units with flexible movement, simple structure, high efficiency and no noise.

In order to achieve the above object, the present invention adopts the following technical solutions:

The robot is connected in series by a plurality of multi-degree-of-freedom flexible motion units; a flexible, passively stretchable and bendable waterproof cover is installed outside the series-connected multi-degree-of-freedom flexible motion units; the multi-degree-of-freedom flexible motion unit includes an upper end cover And the lower end cover, there is a central axis between the upper end cover and the lower end cover, one end of the central axis is fixed with the upper end cover, and the other end passes through the central guide hole of the lower end cover; the shaft is connected between the edge of the upper end cover and the lower end cover To the dielectric type EAP driver group and the oblique dielectric type EAP driver group; there is also installed between the upper end cover and the lower end cover to make the axial dielectric EAP driver group and the oblique dielectric EAP driver group in a stretched state the compression spring.

The advantages of the present invention are:

1. The flexible motion unit of the present invention has four degrees of freedom, flexible motion, simple and compact structure, and can produce continuous flexible rotation and stretching.

2. The motion unit of the present invention is equipped with a waterproof cover, which not only provides sealing, but also provides the reaction thrust for the forward movement of the robot. The robot is suitable for moving on land and in water.

3. The present invention can have multiple motion modes such as stretching, winding, and rolling, imitating the motion function of soft organisms, and has strong adaptability to complex and unknown terrains.

Description of drawings

Fig. 1 is the structural representation of amphibious snake robot;

Figure 2 is a multi-degree-of-freedom flexible motion unit;

Fig. 3 is a layout diagram of the axial dielectric EAP drive group of the multi-degree-of-freedom flexible motion unit;

Names and labels in the figure: 1 is the multi-degree-of-freedom flexible motion unit, and 2 is the waterproof case. 3 is the upper end cover, 4 is the central shaft, 5 is the axial dielectric EAP driver group, 6 is the oblique dielectric EAP driver group, 7 is the lower end cover, and 8 is the compression spring.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings.

As shown in Figure 1, the present invention is composed of a plurality of multi-degree-of-freedom flexible motion units, and the adjacent motion units are connected in series, and a flexible, passively stretchable and bendable waterproof cover is installed outside the series motion units, which has a good The sealing effect and produce the reaction thrust of forward motion.

As shown in Figure 2, the flexible motion unit is composed of an upper end cover 3, a central shaft 4, an axial dielectric EAP driver group 5, an oblique dielectric EAP driver group 6, a lower end cover 7 and a compression spring 8, wherein the upper and lower ends One of the covers is fixedly connected with the central shaft 4, and the other end cover can move axially along the axis of the central shaft 4. As shown in Figure 2, four axial dielectric EAP driver groups are evenly arranged along the circumferential direction between the upper and lower end covers. Two oblique dielectric EAP driver groups are arranged obliquely between the upper and lower end covers. Both ends of the dielectric type EAP driver are connected to the upper and lower end caps.

As shown in Figure 3, the flexible motion unit has four degrees of freedom, namely continuous rotation around the x- axis, y -axis and z-axis (pitch, horizontal yaw, twist) and linear motion along the z-axis (telescopic). When the axial dielectric EAP actuator group is powered on one side of the x- axis and not on the other side, the central shaft produces a continuous bending rotation (pitch) around the x- axis. When the axial dielectric EAP driver group on one side of the y- axis is energized and the other side is not energized, the central axis produces a continuous bending rotation around the y- axis (horizontal yaw). When an oblique dielectric EAP actuator group in an oblique direction is energized, the central shaft 4 produces a continuous twist around the z-axis. When all axial dielectric EAP actuators and oblique dielectric EAP actuators are energized, the motion unit produces linear motion (telescopic) along the z-axis.

The invention has simple and compact structure, many degrees of freedom, flexible work, multiple movement modes, can imitate the movement function of biological snakes, and is suitable for application occasions with complex and unknown terrains such as land and water.

Claims (2)

1. Amphibious snake-like robot based on the multiple degrees of freedom flexible moving cell is characterized in that:

This robot is connected with series system by a plurality of multiple degrees of freedom flexible moving cells (1);

The waterproof jacket (2) that flexibility can passive flexible bending is installed outside the multiple degrees of freedom flexible moving cell (1) of series connection;

Said multiple degrees of freedom flexible moving cell (1) comprises upper end cover (3) and bottom end cover (7); Between upper end cover (3) and bottom end cover (7), also has central shaft (4); These central shaft (4) one ends and upper end cover (3) are fixing, and the other end passes the center guide hole of bottom end cover (7); Between upper end cover (3) edge and bottom end cover (7) edge, connecting axially dielectric EAP driver bank (5) and oblique dielectric EAP driver bank (6);

The compression spring (8) that makes axial dielectric EAP driver bank (5) and oblique dielectric EAP driver bank (6) be in extended state also is installed between above-mentioned upper end cover (3) and the bottom end cover (7).

2. the Amphibious snake-like robot based on the multiple degrees of freedom flexible moving cell according to claim 1 is characterized in that: above-mentioned compression spring (8) is enclosed within on the central shaft (4).

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