CN118636121A - A modular hybrid drive exploration robot imitating earthworms - Google Patents
A modular hybrid drive exploration robot imitating earthworms Download PDFInfo
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- CN118636121A CN118636121A CN202410951685.1A CN202410951685A CN118636121A CN 118636121 A CN118636121 A CN 118636121A CN 202410951685 A CN202410951685 A CN 202410951685A CN 118636121 A CN118636121 A CN 118636121A
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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
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
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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
- B25J9/142—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid comprising inflatable bodies
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Abstract
本发明公开了一种仿蚯蚓的模块化混合驱动探测机器人，包括至少一个中间体，以及两端的首尾连接件；所述中间体内层为柔性波纹管结构，外层为柔性椭球形结构；波纹管内部为第一腔体，椭球形与波纹管之间为第二腔体，第一腔体、第二腔体内均封存有部分液体，第一腔体、第二腔体之间设有第一泵体组；所述首尾连接件由控制体和锥形体构成，控制体内设有旋转电机和第二泵体组，旋转电机可驱使锥形体旋转；所述锥形体由柔性材料制成，且外表面为螺旋状。本发明采用气体驱动和液体驱动相结合的驱动方式实现了模块化软体机器人的弯曲、伸长等结构形变，通过首尾连接端的设计实现了模块化软体机器人的振动、旋转及土质探测。
The present invention discloses a modular hybrid drive detection robot imitating an earthworm, comprising at least one intermediate body and head and tail connectors at both ends; the inner layer of the intermediate body is a flexible bellows structure, and the outer layer is a flexible ellipsoid structure; the inside of the bellows is a first cavity, and the space between the ellipsoid and the bellows is a second cavity, and part of the liquid is sealed in the first cavity and the second cavity, and a first pump body group is arranged between the first cavity and the second cavity; the head and tail connectors are composed of a control body and a cone body, and a rotating motor and a second pump body group are arranged in the control body, and the rotating motor can drive the cone body to rotate; the cone body is made of a flexible material, and the outer surface is spiral. The present invention adopts a driving mode combining gas drive and liquid drive to realize the bending, elongation and other structural deformations of the modular soft robot, and realizes the vibration, rotation and soil detection of the modular soft robot through the design of the head and tail connection ends.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a modularized hybrid driving detection robot imitating earthworms.
Background
The modularized robot is widely applied by the motion assembly and the control system which are manufactured independently, each robot module is independent of each other and is provided with a driving component, a control component and other key assemblies, the modules are independently designed and can be replaced at any time, and the robot system with different functions and motion modes can be formed by combining different modules together, so that the robot system can be quickly recombined and adjusted according to different tasks and environments. The design complexity can be reduced, the repeated labor is avoided, the design period is shortened, the manufacturing cost is reduced through the modularized design, and the method can be widely applied to industrial production, medical fields, exploration and rescue, space environment and the like, and has a very wide application prospect.
The earthworms are common peristaltic reptiles in nature, are invertebrates in a terrestrial link, are integrally cylindrical, are formed by multiple ring segments, have telescopic peristaltic movements of the heads, have functions of digging soil, ingestion and touch, are formed by transverse muscles and longitudinal muscles, can realize extension and shortening, and have the effects of helping crawling by bristles and playing roles of fixed support and auxiliary movement. Therefore, the modularized robot developed by the inspired earthworms can realize various movement modes and composition forms, and has certain practical significance and research value.
The comparison document CN108891496A discloses a pneumatic earthworm-like soft robot, which comprises an axial driver, an elastic outer cavity and an air pipe, wherein the axial driver is of a cylindrical multi-cavity structure, the elastic outer cavity is of an ellipsoidal cavity structure, and the soft robot can realize crawling motions of a pipeline and a narrow space, crawling behaviors of various gradients and the like through air driving. The soft robot is controlled by air driving, adopts a tethered control strategy, and supplies air by means of an air pipe, so that the movement space of the soft robot is limited under a certain environment.
The comparison document CN116922416a discloses a modularized pneumatic soft robot, which is formed by connecting a plurality of units in series, wherein adjacent robots are connected through a disassembly mechanism, and a plurality of air bag assemblies are arranged in the circumferential direction, so that the modularized operation under a complex environment can be realized. The soft robot adopts a pneumatic control strategy, the outside of the soft robot is connected with an air pipe and an air path control system, and the motion can be greatly influenced in the actual control.
In conclusion, the pure pneumatic controlled earthworm-like robot is limited by an air path and cannot be applied to long-distance detection. There is a need to develop a hybrid-driven earthworm bionic modular detection robot.
Disclosure of Invention
In order to solve the problems, the invention provides the earthworm-like modularized hybrid driving detection robot which has a pneumatic and hydraulic dual driving mode and can realize the motion control of a constant body fluid soft robot.
For this purpose, the technical scheme of the invention is as follows: a modularized hybrid driving detection robot imitating earthworms comprises at least one intermediate body and end-to-end connectors at two ends;
The intermediate is of a double-layer structure, the inner layer is of a flexible corrugated pipe structure, and the outer layer is of a flexible ellipsoidal structure; the inside of the corrugated pipe is a first cavity, a second cavity is arranged between the ellipsoid and the corrugated pipe, and partial liquid is sealed in the first cavity and the second cavity; the middle body is internally provided with a first control module and a first pump body group connected with the first cavity and the second cavity, and the first control module controls the operation of the first pump body group;
The head-tail connecting piece consists of a control body and a conical body, a rotating motor and a second pump body group are arranged in the control body, and the rotating motor can drive the conical body to rotate; the conical body is made of flexible materials, the outer surface of the conical body is spiral, a third cavity is formed in the conical body, part of liquid is filled in the third cavity, and the second pump body group is communicated with the third cavity.
The above-mentioned scheme is based on and is a preferable scheme of the above-mentioned scheme: the corrugated pipe structure and the ellipsoidal structure of the intermediate are integrally cast and molded by the same flexible material, and the flexible material is silica gel, silicone rubber, hydrogel or PDMS.
The above-mentioned scheme is based on and is a preferable scheme of the above-mentioned scheme: the wave crests and wave troughs of the flexible corrugated pipe of the intermediate are distributed in an S shape, and flexible constraint layers are arranged on the outer sides of the wave crests and are made of organic films, nylon materials, synthetic resins, fiber materials or polyester materials.
The above-mentioned scheme is based on and is a preferable scheme of the above-mentioned scheme: the first pump body group comprises a liquid control pump and a first gas control pump, the liquid control pump pumps the liquid in the first cavity into the second cavity, and the intermediate body is in a contracted state; the first gas control pump pumps the gas in the second cavity into the first cavity, and the intermediate body is in an extension state.
The above-mentioned scheme is based on and is a preferable scheme of the above-mentioned scheme: the two ends of the intermediate body and the end parts of the head-tail connecting piece are respectively provided with a magnet connecting end, and the magnet connecting ends comprise magnetic attraction holes and magnetic attraction positioning columns; at least one intermediate body is fixed between the two head-tail connecting pieces through magnetic attraction.
The above-mentioned scheme is based on and is a preferable scheme of the above-mentioned scheme: the tip of end to end connecting piece department is equipped with induction system, establishes the sensor in the induction system, and the sensor includes infrared sensor, vision sensor, position sensor, touch sensor, magnetic force sensor, temperature and humidity sensor or depth sensor.
The above-mentioned scheme is based on and is a preferable scheme of the above-mentioned scheme: the second pump body group comprises a second gas control pump, the second gas control pump pumps gas in the third cavity, the conical body is in a contracted shape, the second gas control pump charges gas into the third cavity, the conical body is in an expanded shape, and the frequency of air suction and air charging of the second gas control pump is controlled to enable the conical body to be in a vibration state.
The above-mentioned scheme is based on and is a preferable scheme of the above-mentioned scheme: a motor driving unit, a pneumatic driving unit, a main control and power supply unit are arranged in the control body of the head-tail connecting piece, and the motor driving unit controls the rotary motor to work and controls the conical body to perform spiral rotation; the pneumatic driving unit is used for controlling the second pump body group to perform pneumatic control on the third cavity, and the effect of vibration is generated through periodic pneumatic contraction and expansion of a relatively fast frequency; the main control and power supply unit is used for independently controlling and supplying power to the head-tail connecting piece.
The above-mentioned scheme is based on and is a preferable scheme of the above-mentioned scheme: the middle position of the outer surface of the middle body is provided with a bristle structure, the bristle structure is made of flexible materials, a force-actuated deformation microchip is packaged in the bristle structure, and the force-actuated deformation microchip can control the flexible materials to carry out directional elastic deformation to form a tooth-shaped structure.
The above-mentioned scheme is based on and is a preferable scheme of the above-mentioned scheme: the flexible material of the bristle structure is internally packaged with a magnetic material, the magnetic material is controlled by the magnetic drive of the force-actuated deformation microchip, the directional elastic deformation of the bristles is controlled according to the change strength of the magnetic drive signal, and the change strength of the magnetic drive signal is generated by the change of the outer ellipsoidal structure.
Compared with the prior art, the invention has the beneficial effects that:
1. The modularized soft robot has the advantages that the bending, extending and other structural deformations of the modularized soft robot are realized by adopting a driving mode of combining gas driving and liquid driving, the vibration, rotation and soil property detection of the modularized soft robot are realized through the design of the head-tail connecting end, and the modularized soft robot has certain innovation and creativity and better prospect and technical advantage.
2. The robot body and related structural parts are made of flexible materials, have a fully flexible structure, and can adapt to detection and movement of unstructured environments.
3. The adoption of the strategy of gas-liquid mixed driving can not only use the strategy of gas driving but also use the strategy of liquid driving in the same module, wherein the gas driving realizes the extension of the soft robot, the liquid driving realizes the contraction of the soft robot, the combination of the two driving modes can ensure the constancy of the whole volume, and the change of the transverse muscles and the longitudinal muscles of earthworms can be effectively simulated, and the movement similar to the earthworms is realized.
4. The rotary drilling and vibrating functions are integrated on the head-to-tail connecting piece, so that on one hand, the vibration operation can be carried out to loosen soil, and on the other hand, the rotary operation can be carried out to drill soil, thereby ensuring that the robot can detect soil underground; and the front end and the rear end are not separated in the movement, so that the robot can move more flexibly.
5. The bottom bristle structure with force sensing behavior is arranged outside the middle body and used for simulating the tactile bristles of earthworms, and can quickly respond after being stimulated by force, and the flexible structure is changed into a saw-tooth shape with a certain rigidity effect to realize creeping of the ground.
6. The intermediate body is of a modularized structure and can be assembled according to the use requirement; through the combined control of different modules, a plurality of movement forms and functions are obtained, and the movement of different scenes, such as pipeline crawling, different ground crawling, soil drilling and the like, can be realized, and has a certain swimming function when the device is placed in water.
7. The robot body is designed by adopting a modularized design thought, and when one module fails, the robot body can be replaced in time, so that the overall control progress cannot be influenced.
Drawings
Fig. 1 is a schematic structural view of embodiment 1;
Fig. 2 is a structural sectional view of embodiment 1;
FIG. 3 is a schematic diagram of an intermediate of example 1;
FIG. 4 is a schematic structural diagram of an intermediate of example 1;
FIG. 5 is a block diagram of the intermediate gas-liquid drive control end of example 1;
FIG. 6 is a structural cross-sectional view of the intermediate of example 1;
FIG. 7 is a structural cross-sectional view of the intermediate of example 1 in an extended state;
FIG. 8 is a cross-sectional view of the intermediate of example 1 in a contracted state;
fig. 9 is a schematic structural diagram of the head-tail connector of embodiment 1;
Fig. 10 is a schematic structural diagram of the head-to-tail connector control body of embodiment 1;
Fig. 11 is a schematic structural view of embodiment 2 in an extended state;
Fig. 12 is a schematic structural view of embodiment 2 in a contracted state;
FIG. 13 is a schematic view showing the structure of example 2 in a partially contracted and partially extended state;
fig. 14 is a schematic structural view of embodiment 3;
FIG. 15 is a schematic view of the bristle configuration of example 3 in a stimulated state;
Fig. 16 is a schematic structural view of embodiment 3 in a contracted state;
fig. 17 is a structural sectional view of embodiment 3 in a contracted state;
Fig. 18 is a schematic structural view of embodiment 3 in an extended state;
Fig. 19 is a schematic view of the structure of example 3 in a partially contracted and partially extended state.
Marked in the figure as: intermediate body 1, magnet connecting end 11, magnetic attraction hole 111, magnetic attraction positioning column 112, gas-liquid drive control end 12, electromagnetic valve 13, first control module 14, first pump body group 15, head-tail connecting piece 2, control body 21, motor drive system 211, pneumatic drive system 212, main control and power supply system 213, conical body 22, third cavity 23, induction device 24, bellows 3, crest 31, constraint layer 32, first cavity 33, ellipsoidal structure 4, second cavity 41, bristle structure 5, toothed structure 51.
Detailed Description
In the description of the present invention, it should be noted that, for the azimuth words such as the terms "center", "transverse (X)", "longitudinal (Y)", "vertical (Z)", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., the azimuth and positional relationships are based on the azimuth or positional relationships shown in the drawings, only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the apparatus or element to be referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and should not be construed as limiting the specific protection scope of the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features. Thus, the definition of "a first", "a second" feature may explicitly or implicitly include one or more of such feature, and in the description of the present invention, the meaning of "a number", "a number" is two or more, unless otherwise specifically defined.
Example 1
The earthworm-like modularized hybrid driving detection robot in the embodiment comprises 3 mutually connected intermediate bodies 1 and head-tail connectors 2 at two ends.
The two ends of the intermediate body 1 are provided with magnet connecting ends 11, the magnets can be permanent magnets or electromagnets, the magnets are placed in an even number mode, a part of the magnets are placed in a concave manner to form magnetic attraction holes 111, and the other part of the magnets are placed in a convex manner to form magnetic attraction positioning columns 112, so that seamless butt joint with another intermediate body is facilitated, the magnets are distributed circumferentially, and the magnets are not limited to 4 groups, but can be 6 groups, 8 groups or more groups.
The intermediate body 1 is of a double-layer structure, the inner layer is a flexible corrugated pipe 3, the corrugated pipe adopts an S-shaped design, and compared with the U-shaped corrugated pipe, the omega-shaped corrugated pipe and the inverted V-shaped corrugated pipe, the S-shaped corrugated pipe has a good pressure-resistant effect, can bear deformation under high pressure, and has strong deformation absorption capacity.
The flexible constraint layer 32 is arranged on the outer side of the wave crest 31 of the corrugated pipe 3, and is attached to the wave crest position of the S-shaped corrugated pipe 3 in an integrated forming mode, and is used for restraining and limiting the excessive expansion deformation of the corrugated pipe.
The specific working principle of the constraint layer is as follows: when positive air pressure is applied to the inside of the corrugated pipe, the S-shaped corrugated pipe expands and stretches, deformation on the material is generated when the pressure is increased and reaches the limit of structural deformation, the structural deformation is reversible, the deformation on the material is irreversible at times, and in order to avoid the deformation on the material, a constraint layer is needed to restrict the deformation at the moment; in the same way, when negative pressure is applied to the inside of the corrugated pipe, the structural deformation can also generate deformation on the material after the structural deformation is completed, and the constraint layer can also play a role in constraint and limitation.
The outer layer of the intermediate body 1 is a flexible ellipsoidal structure 4, the wall thickness is designed to be 1mm, the intermediate body and the corrugated pipe 3 are integrally cast and molded by adopting the same flexible material, and the intermediate body is similar to the corrugated pipe in appearance and is sleeved on the outer side of the corrugated pipe, so that the wrapping effect is achieved. The flexible material used herein may be silicone, silicone rubber, hydrogel, PDMS, or other flexible material, among others.
The inside of the corrugated pipe 3 of the intermediate body 1 is provided with a first cavity 33, and gas driving is mainly performed; a second cavity 41 is arranged between the ellipsoidal structure 4 and the corrugated pipe 3, and liquid is mainly driven. The first cavity 33 and the second cavity 41 are both filled with a certain amount of liquid, and the liquid capacity in the second cavity 41 is larger than that in the first cavity 33, and the common liquid can be water, oil or other liquid with smaller compressibility. Meanwhile, the remaining space in the first and second chambers 33 and 41 is gas.
The inner side surface of the intermediate body 1 is provided with a gas-liquid drive control end 12 which comprises a plurality of groups of electromagnetic valves 13, a first control module 14 and a first pump body group 15, wherein the plurality of groups of electromagnetic valves 13 are used for controlling the direction of fluid and realizing automatic control; the first control module 14 is used for controlling the single gas-liquid module; the first pump body group 15 comprises a first gas control pump and a liquid control pump, and is mainly used for guaranteeing that the total volume of the gas drive and the liquid drive is constant. The first gas control pump is used for transferring gas between the first cavity and the second cavity, and the liquid control pump is used for transferring liquid between the first cavity and the second cavity. The gas control pump and the liquid control pump are both in the prior art, and are not described in detail.
The gas-liquid drive control end 12 of the intermediate body 1 is internally inherited with a power supply module, can be self-powered, can generally adopt a customized lithium battery, and has longer endurance time; the system can be controlled by WiFi control or Bluetooth control or 4G/5G network control or satellite communication or radio frequency band control or special communication control, and the like, and each section of necessary electric components comprises a circuit board, a power supply system and a control system, wherein the circuit board integrates various chips such as a sensor, communication, data transmission, data acquisition and the like, the power supply system comprises a continuous power-on system, a power-off maintaining system, emergency response and the like, and the control system comprises a gas-liquid control system, a motor rotation control system, various components and the like.
The specific working principle of the gas-liquid mixing control is as follows:
1. the initial stage: the first cavity 33 and the second cavity 41 are respectively sealed with a certain amount of liquid, and the liquid capacity in the second cavity 41 is larger than that in the first cavity 33;
2. And (3) a shrinkage stage: the liquid in the first cavity 33 is pumped into the second cavity 41 by the liquid control pump, the air in the first cavity 33 cannot be pumped away, at this time, the whole volume of the liquid in the first cavity 33 is reduced due to the fact that the whole volume of the liquid is pumped out, the liquid is compressed to generate transverse shrinkage, and after a certain amount of liquid is pumped into the second cavity 41, the whole volume of the liquid is enlarged and expanded, and the radial expansion trend is generated under the action of shrinkage of the first cavity 33, so that the whole intermediate body generates shrinkage behavior.
3. Resetting back to the first initial stage: in the contracted state, the liquid control pump pumps a certain amount of liquid from the second chamber 41 into the first chamber 33, so that the volume of the first chamber 33 increases, and the bellows 3 extends to an initial length.
4. Elongation stage: in the initial state, the gas in the second cavity 41 is pumped into the first cavity 33 by the first gas control pump, but the liquid in the second cavity 41 cannot be pumped out, at this time, after the gas in the second cavity 41 is pumped out, the whole volume of the second cavity 41 is not changed too much, mainly because the second cavity has a large amount of liquid in the second cavity, the density of the liquid is far greater than that of air, and the incompressibility of the liquid is added, so that the whole volume of the second cavity is not changed much, and after the first cavity 33 pumps a large amount of gas, the whole volume of the first cavity is increased to expand, so that a transverse elongation behavior is generated, and the elongation behavior also causes a corresponding elongation change of an ellipsoidal structure of an outer layer of the intermediate body, and when the second cavity is elongated to a certain extent, the corrugated tube 3 cannot be excessively expanded under the limitation of the constraint layer 32.
5. Resetting back to the initial stage II: in the extended state, the first gas control pump pumps a certain amount of air from the first chamber 33 into the second chamber 41, so that the first chamber 33 is reduced in volume and the bellows is contracted to the initial length.
In summary, in this embodiment, the elongation behavior of the robot is generated by air driving, the contraction behavior of the robot is generated by liquid driving, and the movement behavior of the robot is generated under the periodic action of the elongation and the contraction.
The head-tail connector 2 consists of a control body 21 and a conical body 22, wherein the side surface of the control body 21 is provided with a magnet connecting end which is the same as that of the intermediate body 1, and the control body can be in seamless butt joint with the intermediate body 1. A motor driving system 211, a pneumatic driving system 212, a main control system 213 and a power supply system 213 are arranged in the control body 21; the motor driving system 211 is mainly used for controlling the spiral behavior of the cone, and the component parts of the motor driving system comprise a micro motor, a transmission mechanism, a power system and the like; the pneumatic driving system 212 mainly performs pneumatic control on the head and tail cavity parts, and the effect of vibration is generated through periodic pneumatic contraction and expansion with faster frequency, so that soil loosening can be realized, and the detection effect is achieved; the main control and power supply system 213 mainly controls the head and tail components, and the circuit control system includes, but is not limited to, a main control chip, a data transmission module, a graphics processing module, a sensor processing chip, a memory chip, and the like.
The cone 22 is made of a flexible material that is the same material as the intermediate body. The outer surface of the conical body is spiral, a third cavity 23 is arranged in the conical body, a certain volume of liquid is packaged in the third cavity 23, the second pump body group comprises a second gas control pump, and the second gas control pump is communicated with the third cavity and is mainly controlled by adopting a gas driving strategy. The output end of the rotating motor is connected with the conical body through a hollow shaft, and can drive the conical body to rotate, and the spiral drilling effect is achieved under the cooperation of the spiral structure. The second gas control pump can be communicated with the third cavity through the hollow shaft, and the hollow shaft can realize the function of driving the conical body and also realize the functions of inflating and exhausting. The second gas control pump pumps less gas, no extra air bag is needed, the second gas control pump is directly communicated with the air in the control body, and the control body can also be arranged to be a non-closed end.
The tip of the head-tail connector 2 is provided with a sensing device 24, and sensors such as an infrared sensor for detecting object distance, a visual sensor for capturing object images, a position sensor for sensing object position, a touch sensor for detecting object shape, a magnetic sensor for detecting magnetic field, a temperature and humidity sensor for sensing temperature and humidity, a depth sensor for acquiring accurate environmental information and the like are arranged in the sensing device.
The cone 22 can perform rotary spiral drilling operation under the drive of a motor, and can perform vibration operation at the same time, and the main working principle of the vibration operation is as follows: since the third chamber 23 is filled with a certain volume of liquid, when the air in the third chamber 23 is pumped out, the total volume in the third chamber 23 is compressed to be contracted due to the incompressibility or compressibility of the liquid being small; when a certain amount of gas is filled into the third chamber 23, the entire volume of the third chamber 23 increases to expand. Therefore, by changing the frequency of inflation and air extraction, the effect similar to vibration can be achieved, soil can be loosened, and the detection behavior can be better completed by matching with the spiral structure.
Example 2
The embodiment consists of 6 intermediate bodies 1 and two head-tail connecting pieces 2, wherein the states of the 6 intermediate bodies 1 can be switched among an extension state, a reset state and a contraction state independently:
① 6 intermediates 1 can be simultaneously elongated (fig. 11);
② The 6 intermediates 1 may be synchronously contracted (fig. 12);
③ Of the 6 intermediates 1, some were in an extended state and some were in a contracted state (fig. 13);
④ Of the 6 intermediates 1, part of the intermediates are in an elongated state and part of the intermediates are in an initial state;
⑤ Of the 6 intermediates 1, part of the intermediates are in a contracted state and part of the intermediates are in an initial state;
⑥ Of the 6 intermediates 1, part of the intermediates are in an extended state, part of the intermediates are in a contracted state, and part of the intermediates are in an initial state;
in summary, the embodiment is a modularized robot which can realize high integration, high independence and high intelligence and is not affected by each other.
Example 3
As shown in fig. 14, the intermediate position of the outer surface of the intermediate body 1 is provided with a bristle structure 5, and the bristle structure 5 in the initial state is attached to the outer surface of the intermediate body 1 and is located in the intermediate position of the structural member. The bristles are also made of flexible materials, the initial state is similar to a rectangular structure, the internal packaging force actuates the deformation microchip, the self-powered property is realized, the deformation on the flexible materials can be generated under the stimulation of external force, and therefore, the special function is realized, and the quick response property is realized.
The working principle of the bristles is as follows: when the ellipsoidal structure outside the intermediate body 1 changes, the force-actuated deformation microchip at the bottom timely senses the generated deformation, so as to act on the bristle structure 5 encapsulating the deformation, and generate the directional elastic deformation of the bristle structure 5, wherein the directional elastic deformation is designed into deformation with a specific shape and structure. As shown in fig. 15, the elastic deformation is designed into a tooth-shaped structure 51, so that when the force actuation chip is stimulated by force, the force actuation chip generates folding deformation similar to tooth shape, and the tooth-shaped deformation becomes hard, so that crawling motion on different road conditions can be realized.
Specifically, the magnetic material can be encapsulated in the flexible material of the bristle structure, the magnetic material is formed by adding magnetic powder into a special material, the internal magnetic field is constant and can not be interfered by an external magnetic field, only the magnetic drive control of the deformation chip can be induced, and the directional elastic deformation of the bristle structure can be controlled according to the change intensity of a magnetic drive signal, so that the bristle structure can be controlled to perform the directional elastic deformation according to the intensity of the internal magnetic field and the intensity of the magnetic drive signal.
As shown in fig. 16 and 17, when all the intermediate bodies 1 are in the contracted state, the bristle structures 5 are directionally elastically deformed, and tooth-like structures 51 appear.
As shown in FIG. 18, when all of the intermediate body 1 is in an extended state, the bristle structure 5 undergoes directional elastic deformation, and a tooth-like structure 51 appears.
As shown in FIG. 19, the first intermediate body is in its initial state, in which the bristle structure 5 is not deformed, while the remaining intermediate bodies in their extended or contracted states are directionally elastically deformed, giving rise to a toothed structure 51.
The above description is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above examples, and all technical solutions belonging to the concept of the present invention belong to the protection scope of the present invention. It should be noted that modifications and adaptations to the present invention may occur to one skilled in the art without departing from the principles of the present invention and are intended to be within the scope of the present invention.
Claims (10)
1. The utility model provides an imitative modularization hybrid drive detection robot which characterized in that: comprises at least one intermediate body and end-to-end connectors at two ends;
The intermediate is of a double-layer structure, the inner layer is of a flexible corrugated pipe structure, and the outer layer is of a flexible ellipsoidal structure; the inside of the corrugated pipe is a first cavity, a second cavity is arranged between the ellipsoid and the corrugated pipe, and partial liquid is sealed in the first cavity and the second cavity; the middle body is internally provided with a first control module and a first pump body group connected with the first cavity and the second cavity, and the first control module controls the operation of the first pump body group;
The head-tail connecting piece consists of a control body and a conical body, a rotating motor and a second pump body group are arranged in the control body, and the rotating motor can drive the conical body to rotate; the conical body is made of flexible materials, the outer surface of the conical body is spiral, a third cavity is formed in the conical body, part of liquid is filled in the third cavity, and the second pump body group is communicated with the third cavity.
2. A earthworm-like modular hybrid drive detection robot as in claim 1 wherein: the corrugated pipe structure and the ellipsoidal structure of the intermediate are integrally cast and molded by the same flexible material, and the flexible material is silica gel, silicone rubber, hydrogel or PDMS.
3. A earthworm-like modular hybrid drive detection robot as in claim 1 wherein: the wave crests and wave troughs of the flexible corrugated pipe of the intermediate are distributed in an S shape, and flexible constraint layers are arranged on the outer sides of the wave crests and are made of organic films, nylon materials, synthetic resins, fiber materials or polyester materials.
4. A earthworm-like modular hybrid drive detection robot as in claim 1 wherein: the first pump body group comprises a liquid control pump and a first gas control pump, the liquid control pump pumps the liquid in the first cavity into the second cavity, and the intermediate body is in a contracted state; the first gas control pump pumps the gas in the second cavity into the first cavity, and the intermediate body is in an extension state.
5. A earthworm-like modular hybrid drive detection robot as in claim 1 wherein: the two ends of the intermediate body and the end parts of the head-tail connecting piece are respectively provided with a magnet connecting end, and the magnet connecting ends comprise magnetic attraction holes and magnetic attraction positioning columns; at least one intermediate body is fixed between the two head-tail connecting pieces through magnetic attraction.
6. A earthworm-like modular hybrid drive detection robot as in claim 1 wherein: the tip of end to end connecting piece department is equipped with induction system, establishes the sensor in the induction system, and the sensor includes infrared sensor, vision sensor, position sensor, touch sensor, magnetic force sensor, temperature and humidity sensor or depth sensor.
7. A earthworm-like modular hybrid drive detection robot as in claim 1 wherein: the second pump body group comprises a second gas control pump, the second gas control pump pumps gas in the third cavity, the conical body is in a contracted shape, the second gas control pump charges gas into the third cavity, the conical body is in an expanded shape, and the frequency of air suction and air charging of the second gas control pump is controlled to enable the conical body to be in a vibration state.
8. A earthworm-like modular hybrid drive detection robot as in claim 1 wherein: a motor driving unit, a pneumatic driving unit, a main control and power supply unit are arranged in the control body of the head-tail connecting piece, and the motor driving unit controls the rotary motor to work and controls the conical body to perform spiral rotation; the pneumatic driving unit is used for controlling the second pump body group to perform pneumatic control on the third cavity, and the effect of vibration is generated through periodic pneumatic contraction and expansion of a relatively fast frequency; the main control and power supply unit is used for independently controlling and supplying power to the head-tail connecting piece.
9. A earthworm-like modular hybrid drive detection robot as in claim 1 wherein: the middle position of the outer surface of the middle body is provided with a bristle structure, the bristle structure is made of flexible materials, a force-actuated deformation microchip is packaged in the bristle structure, and the force-actuated deformation microchip can control the flexible materials to carry out directional elastic deformation to form a tooth-shaped structure.
10. A earthworm-like modular hybrid drive detection robot as in claim 9 wherein: the flexible material of the bristle structure is internally packaged with a magnetic material, the magnetic material is controlled by the magnetic drive of the force-actuated deformation microchip, the directional elastic deformation of the bristle structure is controlled according to the change intensity of the magnetic drive signal, and the change intensity of the magnetic drive signal is generated by the change of the outer ellipsoidal structure.
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