CN112692820B - A self-excited soft robot and its driving method - Google Patents
A self-excited soft robot and its driving method Download PDFInfo
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- CN112692820B CN112692820B CN202011295852.XA CN202011295852A CN112692820B CN 112692820 B CN112692820 B CN 112692820B CN 202011295852 A CN202011295852 A CN 202011295852A CN 112692820 B CN112692820 B CN 112692820B
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- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000000903 blocking effect Effects 0.000 claims description 44
- 230000005291 magnetic effect Effects 0.000 claims description 11
- 239000011888 foil Substances 0.000 claims description 8
- 230000005284 excitation Effects 0.000 claims description 5
- 239000013013 elastic material Substances 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 4
- 238000001125 extrusion Methods 0.000 claims description 3
- 238000001179 sorption measurement Methods 0.000 claims description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims 2
- 229910052742 iron Inorganic materials 0.000 claims 1
- 239000000696 magnetic material Substances 0.000 claims 1
- 230000002572 peristaltic effect Effects 0.000 abstract description 4
- 238000007789 sealing Methods 0.000 description 13
- 238000013016 damping Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 3
- 239000003302 ferromagnetic material Substances 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008855 peristalsis Effects 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
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- Magnetically Actuated Valves (AREA)
Abstract
本发明公开了一种自激励式软体机器人及其驱动方法。本发明一种自激励式软体气动蠕动机器人，包括机器人主体、自激励驱动模块和换向控制阀。所述的机器人主体包括驱动弹性单元和转向弹性单元。驱动弹性单元共有n个；n为任意正整数。转向弹性单元、n个驱动弹性单元依次首尾连接。转向弹性单元设置在机器人主体的头端。转向弹性单元和驱动弹性单元前进的阻力均小于后退的阻力。本发明将转向弹性单元和驱动弹性单元串联形成机器人主体，又利用前后运动阻力不同的结构实现机器人主体，从而能够使用周期性充压释压的自激励气源来实现软体机器人的驱动和转向。
The invention discloses a self-exciting soft robot and a driving method thereof. The present invention is a self-exciting soft pneumatic peristaltic robot, comprising a robot body, a self-exciting driving module and a reversing control valve. The robot body includes a driving elastic unit and a steering elastic unit. There are n driving elastic units in total; n is any positive integer. The steering elastic unit and the n driving elastic units are connected end to end in sequence. The steering elastic unit is arranged at the head end of the robot body. The resistance of the steering elastic unit and the driving elastic unit forward is smaller than the backward resistance. In the invention, the steering elastic unit and the driving elastic unit are connected in series to form the robot main body, and the structure with different front and rear motion resistances is used to realize the robot main body, so that the driving and steering of the soft robot can be realized by using a self-excited air source that periodically pressurizes and releases pressure.
Description
Technical Field
The invention belongs to a soft robot capable of creeping in a narrow space, and particularly relates to a self-excitation pneumatic permanent magnet valve driving mode and a steering control method thereof.
Background
The development of science and technology is changing day by day, and more robots replace human beings to complete some dangerous, difficult or tedious work. Some of these tasks require the robot to be in a narrow space environment. Such as: collapsed ruins, cave exploration, interiors of equipment with complex structures, and the like. Most of the robots are rigid robots at present, and are driven and controlled by motors. Therefore, the robot is easily restricted in a narrow space and has a relatively large weight. Therefore, based on the soft elastic material and the stable air pressure as the driving source, the flexible robot is designed to work in a complicated and narrow environment.
Disclosure of Invention
The invention aims to provide a soft peristaltic robot and a method for pneumatically driving the soft robot by using a self-excitation permanent magnet valve.
The invention discloses a self-excitation type soft pneumatic peristaltic robot which comprises a robot main body, a self-excitation driving module and a reversing control valve. The robot main body comprises a driving elastic unit and a steering elastic unit. The number of the driving elastic units is n; n is any positive integer. The steering elastic unit and the n driving elastic units are sequentially connected end to end. The steering elastic unit is arranged at the head end of the robot main body. The resistance of the steering elastic unit and the resistance of the driving elastic unit to move forwards are both smaller than the resistance of the elastic unit to move backwards. The elastic unit is driven to extend after being pressurized and restore to the original state after being depressurized. A left cavity and a right cavity are arranged on two sides of the inner cavity of the steering elastic unit. The left chamber and the right chamber are extended after being pressurized and restored to the original state after being depressurized. The self-excitation driving module has n +1 air outlets in total and can be periodically pressurized and released. The reversing control valve is provided with an air inlet and two air outlets. The reversing control valve can control the gas entering from the gas inlet of the reversing control valve to be decompressed or led to one of the gas outlets. The n air outlets of the self-excitation driving module are respectively connected with the inner cavities of the n driving elastic units. And the (n + 1) th air outlet of the self-excitation driving module is connected with the air inlet of the reversing control valve. Two air outlets of the reversing control valve are respectively connected with a left chamber and a right chamber in the steering elastic unit.
Preferably, the bottom of each of the driving elastic unit and the steering elastic unit is provided with a plurality of one-way cards. The top end of each one-way card is fixed with the corresponding driving elastic unit or the corresponding steering elastic unit, and the bottom end of each one-way card inclines towards the tail end of the robot main body.
Preferably, the bottom end of the one-way card is sharp.
Preferably, one or more damping springs are arranged at the bottom of each of the driving elastic unit and the steering elastic unit.
Preferably, the driving elastic unit and the steering elastic unit are made of elastic materials and are in a corrugated pipe shape.
Preferably, the self-excitation driving module comprises n +1 self-excitation permanent magnet valve units. The self-excitation permanent magnet valve unit comprises a self-excitation valve casing, an air blocking permanent magnet, a first fixed permanent magnet, a second fixed permanent magnet, a sliding permanent magnet, a self-excitation bias pipe and an air pressure expansion pipe. The second fixed permanent magnet, the air blocking permanent magnet, the first fixed permanent magnet and the sliding permanent magnet are sequentially arranged in the self-excitation valve casing and are sequentially attracted to each other. The second fixed permanent magnet is fixed with the self-energizing valve housing. The air-blocking permanent magnet is connected with the self-excitation valve shell in a sliding manner. The first fixed permanent magnet is fixed with the self-energizing valve housing. The sliding permanent magnet is in sliding connection with the self-excitation valve shell; an air pressure expansion pipe is arranged between the first fixed permanent magnet and the sliding permanent magnet. And a self-excitation restriction opening is formed in the outer side of the self-excitation valve shell. The self-excitation bias pipe and the closed-end pipe both pass through the self-excitation restriction port. Both the self-energizing bias tube and the closed end tube are inflatable. In the initial state, the air blocking permanent magnet is pressed against the self-excitation air leakage port of the end closed pipe under the adsorption of the first fixed permanent magnet and the sliding permanent magnet.
One end of the end closed pipe and one end of the self-excitation bias pipe are connected together and are used as an air inlet of the self-excitation permanent magnet valve unit to be connected to a driving air source. The end part closed pipe passes through the space between the second fixed permanent magnet and the air blocking permanent magnet; the self-excitation offset pipe penetrates between the air blocking permanent magnet and the first fixed permanent magnet. Self-excitation air leakage ports are formed in the side faces, close to the air-blocking permanent magnet, of the self-excitation bias pipe and the end part closed pipe. The other end of the end closed pipe is closed; the other end of the self-excitation deflection pipe is communicated with one end of the first output pipe and one end of the second output pipe. The n +1 self-excitation permanent magnet valve units are sequentially connected end to end through a second output pipe and an air pressure expansion pipe to form a closed loop. And the first output pipes of the n +1 self-excitation permanent magnet valve units are used as n +1 air outlets of the self-excitation driving module.
Preferably, the self-excitation driving module further comprises a self-excitation outer frame and a magnetic shielding foil plate. The magnetic shielding foil plate is fixed on the self-excitation outer frame, and the self-excitation outer frame is internally divided into n +1 installation cavities. The n +1 self-excitation permanent magnet valve units are respectively arranged in the n +1 mounting cavities.
Preferably, the sectional area of the self-excitation air leakage port on the end closed pipe of one of the self-excitation permanent magnet valve units is larger than the sectional areas of the self-excitation air leakage ports on the end closed pipes of the other n self-excitation driving modules.
Preferably, the reversing control valve comprises a control valve self-excitation bracket, a sucked sealing block, a first electromagnet, a second electromagnet, a spring and a control bias pipe. The attracted closed block is made of ferromagnetic material or permanent magnet. The first electromagnet and the second electromagnet are respectively fixed on two sides of the control valve self-excitation support. The suction closing block is connected in the control valve self-excitation bracket in a sliding manner; and a plurality of third balls are arranged between the suction closing block and the control valve self-excitation bracket. The suction closing block is connected with the inner side wall of the control valve self-excitation bracket through a spring; and a control valve restraint port is formed in the outer side of the control valve self-excitation support. The number of the control deflection pipes is two. The two control eccentric pipes pass through the control valve restriction ports. The control bias pipe is inflated to expand. One of the control deflection pipes passes through the space between the first electromagnet and the attracted sealing block; and the other control deflection pipe passes through the space between the second electromagnet and the attracted sealing block. One side of the two control deflection pipes close to the sucked sealing block is provided with a control valve air leakage opening. One ends of the two control eccentric pipes are connected together to be used as air inlets of the reversing control valves, and the other ends of the two control eccentric pipes are respectively used as two air outlets of the reversing control valves. The inner ends of the two control inclined pipes are connected together to be used as air inlets of the reversing control valve. The outer ends of the two control eccentric pipes are respectively two selective air outlets of the reversing control valve.
The driving method of the self-excitation type soft robot comprises the following specific steps:
step one, inputting stable airflow to n +1 air inlets of a self-excitation driving module. The initial states of the n +1 self-excitation permanent magnet valve units are all that the gas blocking permanent magnet is tightly close to the end part closed pipe to seal the self-excitation gas leakage port on the end part closed pipe, so that the gas input into the end part closed pipe cannot be leaked. As gas is input, the gas pressure in the closed end pipe rises and begins to expand in the radial direction, and the expanded closed end pipe is pressed in the self-excitation restriction opening to be stopped at the self-excitation restriction opening. The thrust that the gas blocking permanent magnet received the atmospheric pressure in the tip closed tube and brought through self-excitation gas leakage mouth, and this thrust keeps getting bigger along with gaseous continuous output tip closed tube.
And step two, the air blocking permanent magnet in one of the self-excitation permanent magnet valve units is firstly pushed to the second fixed permanent magnet. The self-excitation air leakage of the end closed pipe is leaked, and the pressure of the end closed pipe is released; the self-excitation air leakage port of the self-excitation offset pipe is blocked by the air blocking permanent magnet, the self-excitation offset pipe inputs air, the internal air pressure rises and begins to expand along the radial direction, the expanded self-excitation offset pipe extrudes in the self-excitation constraint port, and the end part of the self-excitation offset pipe is closed. Gas is output from the first output pipe and the second output pipe; the gas output by the second output pipe enters a gas pressure expansion pipe of the following self-excitation permanent magnet valve unit; the gas output by the first output pipe enters a reversing control valve or a corresponding driving elastic unit.
Thirdly, after the gas output by the second output pipe of the previous self-excitation permanent magnet valve unit enters the gas pressure expansion pipe in the next self-excitation permanent magnet valve unit, the gas pressure expansion pipe in the next self-excitation permanent magnet valve unit expands to push away the sliding permanent magnet, so that the attractive force of the first fixed permanent magnet and the sliding permanent magnet on the gas blocking permanent magnet in the next self-excitation permanent magnet valve unit is reduced, the gas blocking permanent magnet in the next self-excitation permanent magnet valve unit slides to the self-excitation offset pipe, the self-excitation gas leakage port of the self-excitation offset pipe of the next self-excitation permanent magnet valve unit is blocked, and the first output pipe and the second output pipe of the next self-excitation permanent magnet valve unit output gas; meanwhile, the air blocking permanent magnet in the previous self-excitation permanent magnet valve unit is pushed by the air pressure of the self-excitation air leakage port of the corresponding self-excitation offset pipe to slide to the position of the self-excitation air leakage port of the closed pipe at the end part, so that the self-excitation offset pipe in the previous self-excitation permanent magnet valve unit releases pressure, and the pressure of the air pressure expansion pipe in the next self-excitation permanent magnet valve unit is released to restore the original state; at this time, the latter sliding permanent magnet of the self-energizing permanent magnet valve unit is reset by the attraction force of the first stationary permanent magnet. And the self-excitation driving module realizes the sequential and alternate pressure charging and pressure releasing of n +1 air outlets of the self-excitation driving module under the condition of stable air pressure flow input.
And step four, alternately inputting gas and releasing pressure by the gas inlet of the reversing control valve and the n driving elastic units. When the driving elastic unit inputs gas, the driving elastic unit extends, and the head end of the driving elastic unit is pushed forwards; when the driving elastic unit is released, the driving elastic unit is shortened, and the tail end of the device is pulled forward.
When the robot main body needs to turn left, the reversing control valve controls to send the gas input into the gas inlet of the reversing control valve into the right cavity of the steering elastic unit, so that the gas is intermittently introduced into the right cavity of the steering elastic unit and the pressure is released, and the steering elastic unit deflects left.
When the robot main body needs to turn right, the reversing control valve controls to send the gas input into the gas inlet of the reversing control valve into the left cavity of the steering elastic unit, so that the gas is intermittently introduced into the left cavity of the steering elastic unit and the pressure is released, and the steering elastic unit deflects right.
The invention has the beneficial effects that:
1. the invention connects the steering elastic unit and the driving elastic unit in series to form a robot main body, and realizes the robot main body by utilizing the structure with different forward and backward movement resistance, thereby realizing the driving and steering of the soft robot by using the self-excitation air source with periodical pressurization and pressure release.
2. The four self-excitation permanent magnet valve units of the self-excitation driving module control the charging and releasing of the four self-excitation air outlets by utilizing the action of magnetic attraction force between the permanent magnets in the self-excitation driving module and the change of gas pressure. Because the output airflow of the former self-excitation permanent magnet valve unit is used as an air pressure signal to trigger the charging and pressure releasing of the latter self-excitation permanent magnet valve unit, the periodical charging and pressure releasing of the four self-excitation air outlets can be realized under the condition of only inputting stable airflow without any external excitation signal.
3. The steering elastic unit and the driving elastic unit in the invention adopt soft elastic structures, so that the whole body is stronger and more quantitative, and the steering elastic unit and the driving elastic unit are more suitable for working in narrow dangerous spaces. In addition, the unidirectional spring clip assembly can realize the difference of front and back resistance, and improve the driving efficiency and the advancing stability of the robot.
4. The invention has small size, flexibility, portability, can realize driving only by using a stably output air source, and is suitable for detection and reconnaissance in narrow space.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a perspective view of the steering spring unit according to the present invention;
FIG. 3 is a perspective view of a driving elastic unit according to the present invention
FIG. 4 is a schematic view of the gas circuit connection of the present invention;
FIG. 5 is a schematic diagram of the internal structure of the self-excited permanent magnet valve unit of the present invention
FIG. 6 is a schematic diagram of the self-energizing permanent magnet valve unit of the present invention at the beginning of gas filling
FIG. 7 is a schematic diagram of the self-energizing permanent magnet valve unit of the present invention after expansion of the pneumatic expansion tube
Fig. 8 is a schematic view showing an internal structure of the direction control valve according to the present invention.
Fig. 9 is a schematic process diagram of the four self-excitation permanent magnet valve units in cooperation.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
Example 1
As shown in figures 1 and 4, the self-excitation type soft pneumatic peristaltic robot comprises a robot main body, a self-excitation driving module and a reversing control valve 7. The robot main body includes a driving elastic unit 6 and a steering elastic unit 4. The number of the driving elastic units 6 is three; the three driving elastic units 6 are sequentially connected end to end and used for driving the robot main body to advance through telescopic peristalsis. The steering elastic unit 4 is provided at the head end of the robot main body for controlling the steering of the robot main body by bending deflection thereof. The bottom parts of the driving elastic unit 6 and the steering elastic unit 4 are provided with one-way elastic clamping components 5. The one-way card ejection assembly 5 comprises a plurality of one-way cards 5-1 and a plurality of shock absorbing springs 5-2. The top end of each one-way card 5-1 is fixed with the main body of the corresponding driving elastic unit 6 or steering elastic unit 4, and the bottom end is inclined towards the tail end of the robot main body. The bottom end of the one-way card 5-1 is sharp. Because of the shape and the orientation of the one-way card 5-1 (the one-way card is a smooth curved surface in the forward direction, the friction force with the ground is reduced, the contact area with the ground in the backward direction is a sharp blade part, and the one-way card is contacted with the ground to form reverse movement and self locking), the resistance of the one-way card 5-1 in the forward direction on the ground is obviously smaller than that in the backward direction; therefore, after the driving elastic unit 6 or the steering elastic unit 4 is elongated and shortened once, the driving elastic unit 6 or the steering elastic unit 4 advances by one step. The top end of each damping spring 5-2 is fixed with the main body of the corresponding driving elastic unit 6 or the steering elastic unit 4; the damping spring 5-2 plays a role in damping.
As shown in fig. 2, the entire material of the steering spring unit 4 is a spring material and has a bellows shape. The steering spring unit 4 is internally provided with a left chamber 4-2 and a right chamber 4-1 which are mutually arranged. The left chamber 4-2 and the right chamber 4-1 are respectively positioned at the left side and the right side of the central line of the steering elastic unit 4; when the left chamber 4-2 is supplied with gas, the left side of the steering elastic unit 4 is elongated, so that the steering elastic unit 4 is bent rightward as a whole. When the right chamber 4-1 is supplied with gas, the right side of the steering elastic unit 4 is elongated, so that the steering elastic unit 4 is bent leftward as a whole. This achieves a transformation of the robot body. In this embodiment, "left" and "right" are the left side and the right side of the advancing direction of the robot main body, respectively. The steering elastic unit 4 is provided with a left air inlet 4-4 and a right air inlet 4-3. The left air inlet hole 4-4 and the right air inlet hole 4-3 are respectively communicated with the left chamber 4-2 and the right chamber 4-1.
As shown in fig. 3, the entire material of the driving elastic unit 6 is an elastic material, and is in a bellows shape, and when receiving the input air pressure, the driving elastic unit is extended, and returns to its original shape after the input air pressure disappears. A telescopic chamber 6-1 is arranged in the driving elastic unit 6. The driving elastic unit 6 is provided with a telescopic air inlet 6-2. The telescopic air inlet hole 6-2 is communicated with the telescopic chamber 6-1. The bottom of the driving elastic unit 6 is a rectangular plane, and the upper part is wavy. The front and back surfaces are flat surfaces.
As shown in fig. 5, the self-excitation drive module includes a hose 1, a self-excitation outer frame 2, a magnetic shield foil 3, and a self-excitation permanent magnet valve unit 8. The annealed magnetic shielding foil plate 3 is cross-shaped, and divides the interior of the self-excitation outer frame 2 into four installation cavities. Four self-excitation permanent magnet valve units 8 are respectively installed in the four installation cavities. The magnetic shielding foil 3 can shield magnetic force after being annealed, and under the action of the magnetic shielding foil, the four self-excitation permanent magnet valve units 8 do not interfere with each other.
The self-excitation permanent magnet valve unit 8 comprises a self-excitation valve casing, air blocking permanent magnets 8-11, first fixed permanent magnets 8-10, second fixed permanent magnets 8-3, sliding permanent magnets 8-9, a self-excitation offset pipe 8-1, air pressure expansion pipes 8-7 and self-excitation restriction ports 8-14. The self-energizing valve housing includes a primary frame 8-2 and a secondary frame 8-8. The main frame 8-2 and the auxiliary frame 8-8 are fixed together side by side. The second fixed permanent magnet 8-3, the air-blocking permanent magnet 8-11, the first fixed permanent magnet 8-10 and the sliding permanent magnet 8-9 are sequentially arranged in the self-excitation valve casing (from right to left in the figure 4) and are sequentially attracted to each other (namely, the magnetic poles are the same in direction, the opposite ends of the second fixed permanent magnet 8-3 and the air-blocking permanent magnet 8-11 are opposite in polarity, the opposite ends of the air-blocking permanent magnet 8-11 and the first fixed permanent magnet 8-10 are opposite in polarity, and the opposite ends of the first fixed permanent magnet 8-10 and the sliding permanent magnet 8-9 are opposite in polarity).
The second fixed permanent magnet 8-3 is fixed with the main frame 8-2. The air-blocking permanent magnet 8-11 is connected with the inner cavity of the main frame 8-2 in a sliding way, and the sliding direction is parallel to the arrangement direction of the four permanent magnets. The first permanent magnets 8-10 are fixed with the sub-frame 8-8. The sliding permanent magnets 8-9 are connected with the inner cavity of the subframe 8-8 in a sliding mode, and the sliding direction is parallel to the arrangement direction of the four permanent magnets. A plurality of first balls 8-13 are arranged between the air blocking permanent magnet 8-11 and the inner cavity of the main frame 8-2 to reduce the friction force; a plurality of second balls 8-15 are arranged between the sliding permanent magnets 8-9 and the inner cavity of the subframe 8-8 to reduce the friction force; an air pressure expansion pipe 8-7 is arranged between the first fixed permanent magnet 8-10 and the sliding permanent magnet 8-9. When the air pressure expansion pipe 8-7 is inflated with air to expand, the sliding permanent magnet 8-9 is pushed to be far away from the first fixed permanent magnet 8-10.
The outer side of the main frame 8-2 is provided with a self-excitation restriction opening 8-14. The self-excitation bias pipe 8-1 and the closed-end pipe 8-4 both pass through the self-excitation restriction port 8-14. The self-excitation inclined tube 8-1 and the end part closed tube 8-4 both adopt expansion air tubes, and when the internal air pressure is increased, the expansion air tubes expand along the radial direction; if the air pressure in the end closed pipe 8-4 is increased to be larger than the air pressure in the self-excitation inclined pipe 8-1, the end closed pipe 8-4 is expanded, the self-excitation inclined pipe 8-1 is extruded in the self-excitation restriction opening 8-14, and the self-excitation inclined pipe 8-1 is cut off under extrusion and cannot be ventilated. On the contrary, if the air pressure in the self-excited inclined tube 8-1 is increased to be larger than the air pressure in the closed end tube 8-4, the self-excited inclined tube 8-1 is expanded, so that the closed end tube 8-4 is cut off under extrusion.
The closed end pipe 8-4 and the inner end (namely the air inlet end) of the self-excitation bias pipe 8-1 are connected together to be used as an air inlet of the self-excitation permanent magnet valve unit 8 and connected to a driving air source through the hose 1. The outer ends of the end closed pipe 8-4 and the self-excitation inclined pipe 8-1 extend into the main frame 8-2. The end part closed pipe 8-4 penetrates between the second fixed permanent magnet 8-3 and the air blocking permanent magnet 8-11; the self-excitation bias pipe 8-1 passes through the space between the air-blocking permanent magnet 8-11 and the first fixed permanent magnet 8-10. Self-excitation air leakage openings 8-12 are formed in the side faces, close to the air blocking permanent magnets 8-11, of the self-excitation inclined tube 8-1 and the end part closed tube 8-4.
When the air blocking permanent magnet 8-11 props against the self-excitation air leakage port 8-12 of the end part closed pipe 8-4, the end part closed pipe 8-4 can be enabled to be air-tight; the air blocking permanent magnet 8-11 can make the self-excitation offset pipe 8-1 not leak air when abutting against the self-excitation air leakage port 8-12 of the self-excitation offset pipe 8-1. In an initial state, the air-blocking permanent magnet 8-11 is pressed against the self-excitation air leakage opening 8-12 of the end closed pipe 8-4 under the adsorption of the first fixed permanent magnet 8-10 and the sliding permanent magnet 8-9. The outer end part of the end part closed pipe 8-4 is closed; the end opening of the outer end of the self-excitation inclined tube 8-1 is communicated with one end of a first output tube 8-5 and one end of a second output tube 8-6.
As shown in fig. 4, the four self-excitation permanent magnet valve units 8 are sequentially connected end to end through the second output pipes 8-6 and the air pressure expansion pipes 8-7 to form a closed loop (i.e., the last self-excitation permanent magnet valve unit 8 is connected with the first self-excitation permanent magnet valve unit 8); the second output pipe 8-6 in the former self-excitation permanent magnet valve unit 8 is connected to the air pressure expansion pipe 8-7 in the latter self-excitation permanent magnet valve unit 8 to form a closed loop. Therefore, when the second output pipe 8-6 in the former self-excitation permanent magnet valve unit 8 outputs airflow, the air pressure expansion pipe 8-7 in the latter self-excitation permanent magnet valve unit 8 expands the air to push the sliding permanent magnet 8-9 open.
The first output pipes 8-5 of the four self-excitation permanent magnet valve units 8 are used as four self-excitation air outlets of the self-excitation driving module. The sectional area of the self-excitation air leakage port 8-12 on the end closed pipe 8-4 of one self-excitation permanent magnet valve unit 8 is larger than the sectional areas of the self-excitation air leakage ports 8-12 on the end closed pipes 8-4 of the other three self-excitation driving modules. So that the air-lock permanent magnet 8-11 in the self-excitation driving module of which the cross section area of the end closed pipe 8-4 is the same as that of the air leakage opening 8-12 is pushed out first.
The four self-excitation permanent magnet valve units 8 work in cooperation as follows:
as shown in fig. 6, a constant air pressure flow is input to the self-excitation bias pipe 8-1 and the closed end pipe 8-4 in the four self-excitation permanent magnet valve units 8; in the initial state, the air-blocking permanent magnets 8-11 in the respective excitation driving modules are subjected to the attraction resultant force Fa from the first fixed permanent magnets 8-10 and the sliding permanent magnets 8-9 and also subjected to the resultant force Fb from the air pressure at the self-excitation air leakage openings 8-12 of the end closed pipes 8-4 and the attraction force of the second fixed permanent magnets 8-3 d; force Fa is in the opposite direction of force Fb, and Fa > Fb. At this time, the air-lock permanent magnet 8-11 abuts against the first fixed permanent magnet 8-10.
As shown in fig. 7, the air blocking permanent magnet 8-11 in the self-excited driving module having the largest self-excited air leakage port 8-12 in the closed end pipe 8-4 is pushed toward the self-excited bias pipe 8-1 to abut against the self-excited air leakage port 8-12 of the self-excited bias pipe 8-1. The gas flow fed into the exciting offset pipe 8-1 no longer leaks from the exciting gas leak port 8-12, but is fed to the first outlet pipe 8-5 and the second outlet pipe 8-6. The second output pipe 8-6 outputs the gas to the air pressure expansion pipe 8-7 in the latter self-excitation permanent magnet valve unit 8, so that the air pressure expansion pipe 8-7 in the latter self-excitation permanent magnet valve unit 8 expands to push away the sliding permanent magnet 8-9, and further the attraction resultant force Fa of the first fixed permanent magnet 8-10 and the sliding permanent magnet 8-9 on the air blocking permanent magnet 8-11 in the latter self-excitation permanent magnet valve unit 8 is reduced, and Fa is less than Fb; the gas blocking permanent magnet 8-11 in the latter self-excitation permanent magnet valve unit 8 slides to abut against the self-excitation gas leakage port 8-12 corresponding to the self-excitation eccentric pipe 8-1, and gas is output to the first output pipe 8-5 and the second output pipe 8-6 of the latter self-excitation permanent magnet valve unit 8; meanwhile, the gas blocking permanent magnet 8-11 in the former self-excitation permanent magnet valve unit 8 is pushed by the gas pressure of the self-excitation gas leakage port 8-12 of the corresponding self-excitation offset pipe 8-1 to restore to the self-excitation gas leakage port 8-12 abutting against the end closed pipe 8-4, and the gas in the gas pressure expansion pipe 8-7 in the latter self-excitation permanent magnet valve unit 8 leaks out and restores to the original state, so that the sliding permanent magnet 8-9 in the latter self-excitation permanent magnet valve unit 8 also restores. The self-excitation driving module realizes that the four self-excitation air outlets (four first output pipes 8-5) output air in turn and alternately under the condition of stable air pressure flow input, and realizes self-excitation output. The four self-excitation air outlets of the self-excitation driving module periodically output pressurized pressure-relief airflow under the control action of the four self-excitation air outlets, so that a stable traveling wave airflow source with a certain phase difference can be output.
As shown in figure 8, the reversing control valve 7 comprises a control valve self-excitation support 7-2, a suction closing block 7-10, a first electromagnet 7-3, a second electromagnet 7-7, a spring 7-9, a first circuit switch 7-4, a second circuit switch 7-6, a battery 7-5, a control bias pipe 7-1 and a control valve restriction opening 7-13. The attracted closed blocks 7-10 are made of ferromagnetic materials or permanent magnets. The first electromagnet 7-3 and the second electromagnet 7-7 are respectively fixed on two sides of the control valve self-excitation support 7-2. A battery 7-5 for supplying power to the first electromagnet 7-3 and the second electromagnet 7-7, a first circuit switch 7-4 for controlling the first electromagnet 7-3 and a second circuit switch 7-6 for controlling the second electromagnet 7-7 are all arranged on the control valve self-excitation bracket 7-2;
the sucked sealing block 7-10 is connected in the control valve self-excitation bracket 7-2 in a sliding manner; a plurality of third balls 7-11 are arranged between the suction closing block 7-10 and the control valve self-excitation bracket 7-2. The sucked sealing block 7-10 is connected with the inner side wall of the control valve self-excitation bracket 7-2 through a spring 7-9; the spring 7-9 enables the attracted sealing block 7-10 to be in the middle position of the first electromagnet 7-3 and the second electromagnet 7-7 in the initial state. The outer side of the control valve self-excitation bracket 7-2 is provided with a control valve restriction port 7-13. The number of the control eccentric pipes 7-1 is two. The two control eccentric pipes 7-1 pass through the control valve restriction ports 7-13. The control eccentric pipe 7-1 adopts an expansion air pipe, and the expansion air pipe expands along the radial direction when the internal air pressure is increased; when the air pressure in one control eccentric pipe 7-1 rises and rises, the other control eccentric pipe 7-1 can be extruded to be cut off.
The two control eccentric pipes 7-1 penetrate through the control valve self-excitation support 7-2 and extend out; one control deflection pipe 7-1 penetrates between the first electromagnet 7-3 and the attracted sealing block 7-10; the other control deflection pipe 7-1 penetrates between the second electromagnet 7-7 and the attracted sealing block 7-10. One side of the two control deflection pipes 7-1 close to the sucked sealing blocks 7-10 is provided with a control valve air leakage opening 7-8. The outer ends of the two control eccentric pipes 7-1 are respectively two output ports of the reversing control valve. And under the condition that the air leakage ports 7-8 of the control valves of the two control offset pipes 7-1 are not blocked by the suction sealing blocks 7-10, the air input into the two control offset pipes 7-1 flows away from the air leakage ports 7-8 of the control valves. When the control valve air leakage opening 7-8 of one control offset pipe 7-1 is blocked by the suction closing block 7-10, the control offset pipe 7-1 outputs air flow. Therefore, the output air flow of any one output port of the reversing control valve can be controlled by controlling the on-off of the first electromagnet 7-3 or the second electromagnet 7-7. The inner ends of the two control inclined pipes 7-1 are connected together to be used as air inlets of the reversing control valve. The outer ends of the two control eccentric pipes 7-1 are respectively two selective air outlets of the reversing control valve. When the control valve air leakage opening 7-8 of one control offset pipe 7-1 is blocked, the control offset pipe 7-1 expands at the control valve restriction opening 7-13, so that the other control offset pipe 7-1 is pressed and stopped, and the gas input into the reversing control valve is prevented from leaking from the control valve air leakage opening 7-8 of the control offset pipe 7-1 which is not blocked
Three of the self-excitation air outlets (namely, the first output pipes 8-5 of the three self-excitation permanent magnet valve units 8) of the self-excitation driving module are respectively connected with the telescopic air inlets 6-2 of the three driving elastic units 6; and a fourth self-excitation air outlet of the self-excitation driving module is connected to an air inlet of the reversing control valve. Two selective air outlets of the reversing control valve are respectively connected with a left air inlet 4-4 and a right air inlet 4-3 of the steering elastic unit 4.
When the self-excitation driving module operates, the four self-excitation air outlets alternately output gas and pressure release, wherein the three self-excitation air outlets drive the three driving elastic units 6 to alternately extend and shorten, so that the robot main body moves forwards; when the steering is not needed, the first electromagnet 7-3 and the second electromagnet 7-7 in the reversing control valve are not electrified; the air flow output from the fourth self-excitation air outlet of the self-excitation driving module is decompressed in the reversing control valve, and the steering elastic unit 4 is not influenced. When the left turn is needed, the second electromagnet 7-7 is electrified, gas output from the fourth self-excitation gas outlet of the self-excitation driving module is guided into the right gas inlet hole 4-3, so that the right side of the steering elastic unit 4 is extended and then shortened, when the right turn is needed, the first electromagnet 7-3 is electrified, gas output from the fourth self-excitation gas outlet of the self-excitation driving module is guided into the left gas inlet hole 4-4, so that the left side of the steering elastic unit 4 is extended and then shortened, and the right turn is achieved. The reversing control valve 7 is embedded in the signal receiver and the power supply. The reversing control valve 7 artificially controls the pressurization and the pressure release of the left and the right chambers of the steering driving unit by using an external wireless signal, thereby achieving the direction control of the robot.
The driving method of the self-excitation type soft robot comprises the following specific steps:
step one, starting a driving air source, and inputting stable air flow to air inlets of four self-excitation permanent magnet valve units 8. The four self-excitation permanent magnet valve units 8 are all in an initial state that gas blocking permanent magnets 8-11 are close to the end part closed pipe 8-4 to seal a self-excitation gas leakage port 8-12 on the end part closed pipe 8-4, so that gas input into the end part closed pipe 8-4 cannot be leaked. As gas is introduced, the gas pressure within the closed end pipe 8-4 increases and begins to expand radially, and the expanded closed end pipe 8-4 presses against the self-exciting partial pipe 8-1 within the self-exciting restriction 8-14, such that the self-exciting partial pipe 8-1 is shut off at the self-exciting restriction 8-14. Meanwhile, the thrust (gas pressure) brought by the gas pressure in the end closed pipe 8-4 received by the gas blocking permanent magnet 8-11 through the self-excitation gas leakage port 8-12 is continuously increased along with the continuous output of the gas out of the end closed pipe 8-4.
And step two, the thrust force borne by the air-blocking permanent magnet 8-11 in the self-excitation driving module with the largest cross section area of the self-excitation air leakage port 8-12 on the end part closed pipe 8-4 is larger than the thrust force borne by the air-blocking permanent magnets 8-11 in the other three self-excitation driving modules, so that the air-blocking permanent magnet is firstly pushed to the second fixed permanent magnet 8-3. After the air blocking permanent magnet 8-11 is sucked by the second fixed permanent magnet 8-3, the self-excitation air leakage port 8-12 of the end closed pipe 8-4 leaks, and the pressure of the end closed pipe 8-4 is released; the self-excitation air leakage port 8-12 of the self-excitation offset pipe 8-1 is blocked by the air blocking permanent magnet 8-11, the self-excitation offset pipe 8-1 inputs air, the internal air pressure rises and begins to expand along the radial direction, and the expanded self-excitation offset pipe 8-1 extrudes the end closed pipe 8-4 in the self-excitation restriction port 8-14, so that the self-excitation offset pipe 8-1 is blocked at the self-excitation restriction port 8-14. Gas is output from the first output pipe 8-5 and the second output pipe 8-6; the gas output by the second output pipe 8-6 enters a gas pressure expansion pipe 8-7 of a later self-excitation permanent magnet valve unit 8; the gas output by the first output pipe 8-5 enters a reversing control valve or a corresponding driving elastic unit 6.
Step three, after the gas output by the second output pipe 8-6 of the previous self-excitation permanent magnet valve unit 8 enters the gas pressure expansion pipe 8-7 in the next self-excitation permanent magnet valve unit 8, the air pressure expansion pipe 8-7 in the latter self-excitation permanent magnet valve unit 8 expands to push away the sliding permanent magnet 8-9, further the attraction resultant force Fa of the first fixed permanent magnet 8-10 and the sliding permanent magnet 8-9 received by the air blocking permanent magnet 8-11 in the latter self-excitation permanent magnet valve unit 8 is reduced, so that the air blocking permanent magnet 8-11 in the latter self-excitation permanent magnet valve unit 8 slides to the self-excitation offset pipe 8-1, the self-excitation air leakage port 8-12 of the self-excitation offset pipe 8-1 of the latter self-excitation permanent magnet valve unit 8 is blocked, so that the first output pipe 8-5 and the second output pipe 8-6 of the latter self-excitation permanent magnet valve unit 8 output gas; meanwhile, the air blocking permanent magnet 8-11 in the previous self-excitation permanent magnet valve unit 8 is pushed by the air pressure of the self-excitation air leakage port 8-12 of the corresponding self-excitation offset pipe 8-1 to slide to the position of the self-excitation air leakage port 8-12 abutting against the end closed pipe 8-4 again, so that the self-excitation offset pipe 8-1 in the previous self-excitation permanent magnet valve unit 8 releases pressure, the air leakage of the air pressure expansion pipe 8-7 in the latter self-excitation permanent magnet valve unit 8 is recovered, and the sliding permanent magnet 8-9 of the latter self-excitation permanent magnet valve unit 8 is reset under the suction force of the first fixed permanent magnet 8-10. The self-excitation driving module realizes that the four self-excitation air outlets (four first output pipes 8-5) output air in turn and alternately under the condition of stable air pressure flow input, and realizes self-excitation output.
And step four, after the self-excitation driving module is started, the reversing control valve and the three driving elastic units 6 alternately input gas and release pressure. When the driving elastic unit 6 is supplied with gas, the driving elastic unit 6 is extended and its head end is pushed forward; when the driving elastic unit 6 is decompressed, the driving elastic unit 6 is shortened, and the tail end of the device is pulled forwards; thereby, the advance of the robot main body is realized.
When the robot main body needs to turn left, the second electromagnet 7-7 is electrified, so that a control valve air leakage opening 7-8 of a control deflection pipe 7-1 connected with a right air inlet hole 4-3 of the steering elastic unit 4 is blocked by a sucked sealing block 7-10, and air is intermittently introduced into and released from a right chamber 4-1 of the steering elastic unit 4; when the right chamber 4-1 is supplied with gas, the right side of the steering elastic unit 4 is extended, pushing the head end of the steering elastic unit 4 to bend leftward. When the right chamber 4-1 is decompressed, the right side of the steering spring unit 4 is contracted, pulling the trailing end of the steering spring unit 4 to deflect to the left, thereby achieving left steering.
When the robot main body needs to turn right, the first electromagnet 7-3 is electrified, so that a control valve air leakage opening 7-8 of a control deflection pipe 7-1 connected with a left air inlet opening 4-4 of the steering elastic unit 4 is blocked by a sucked sealing block 7-10, and air is intermittently introduced into and released from a left chamber 4-2 of the steering elastic unit 4, so that the right turning is realized.
Example 2
This example differs from example 1 in that: the self-energizing drive module is activated in different ways. The cross sections of self-excitation air leakage ports 8-12 on the closed tubes 8-4 at the inner ends of the four self-excitation driving modules are the same; the outer side surface (the side far away from the first fixed permanent magnet 8-10) of the sliding permanent magnet 8-9 in one of the self-excitation permanent magnet valve units 8 is fixed with a connecting rod. The connecting rod extends out of the self-excitation bracket of the self-excitation driving module;
when the self-excitation driving module is started (the driving air source starts to supply air), the sliding permanent magnet 8-9 in one of the self-excitation permanent magnet valve units 8 is pulled to one side far away from the first fixed permanent magnet 8-10 by a connecting rod manually, and then the air blocking permanent magnet 8-11 in the self-excitation permanent magnet valve unit 8 starts to act, so that the self-excitation driving module is started.
Example 3
This example differs from example 2 in that: the self-energizing drive module is activated in different ways. No connecting rod is arranged; a starting electromagnet is arranged on the outer side of the sliding permanent magnet 8-9 in one of the self-excitation permanent magnet valve units 8 at intervals; the starting electromagnet is fixed on the self-excitation bracket. When the starting electromagnet is electrified, the sliding permanent magnet 8-9 is attracted and moves to one side far away from the first fixed permanent magnet 8-10.
When the self-excitation driving module is started, the starting electromagnet is electrified to drive the first fixed permanent magnets 8-10 to move, and the self-excitation driving module is started. Then, the start electromagnet is powered off.
Claims (10)
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| CN102922528A (en) * | 2012-11-02 | 2013-02-13 | 北京化工大学 | Software robot |
| CN107214687A (en) * | 2017-07-25 | 2017-09-29 | 江苏大学 | A kind of thermal deformation cavity drives soft robot of creeping |
| CN107380290A (en) * | 2017-07-28 | 2017-11-24 | 江苏大学 | A kind of software climbing robot of electromagnetic drive |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102922528A (en) * | 2012-11-02 | 2013-02-13 | 北京化工大学 | Software robot |
| WO2018232386A1 (en) * | 2017-06-16 | 2018-12-20 | Temple University-Of The Commonwealth System Of Higher Education | Climbing soft robotics |
| CN107214687A (en) * | 2017-07-25 | 2017-09-29 | 江苏大学 | A kind of thermal deformation cavity drives soft robot of creeping |
| CN107380290A (en) * | 2017-07-28 | 2017-11-24 | 江苏大学 | A kind of software climbing robot of electromagnetic drive |
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