CN112271829A - Wireless addressing starfish-like soft robot driven by vapor-liquid phase change - Google Patents
Wireless addressing starfish-like soft robot driven by vapor-liquid phase change Download PDFInfo
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- CN112271829A CN112271829A CN202011032909.7A CN202011032909A CN112271829A CN 112271829 A CN112271829 A CN 112271829A CN 202011032909 A CN202011032909 A CN 202011032909A CN 112271829 A CN112271829 A CN 112271829A
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- 239000007791 liquid phase Substances 0.000 title claims abstract description 36
- 239000012530 fluid Substances 0.000 claims abstract description 32
- 239000007788 liquid Substances 0.000 claims abstract description 21
- 238000010438 heat treatment Methods 0.000 claims abstract description 18
- 238000009835 boiling Methods 0.000 claims abstract description 11
- 230000007704 transition Effects 0.000 claims abstract description 8
- RTZKZFJDLAIYFH-UHFFFAOYSA-N Diethyl ether Chemical compound CCOCC RTZKZFJDLAIYFH-UHFFFAOYSA-N 0.000 claims description 8
- 241000258971 Brachiopoda Species 0.000 claims 2
- 239000011664 nicotinic acid Substances 0.000 abstract 1
- 210000000707 wrist Anatomy 0.000 description 25
- 230000033001 locomotion Effects 0.000 description 9
- 238000005452 bending Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
- H02J50/10—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling
- H02J50/12—Circuit arrangements or systems for wireless supply or distribution of electric power using inductive coupling of the resonant type
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Power Engineering (AREA)
- Manipulator (AREA)
Abstract
一种汽液相变驱动的无线寻址仿海星软体机器人，属于仿生技术领域。本发明解决了现有的软体机器人存在的灵活性差、体积大、适应的工作环境少的问题。柔性执行部分包括若干条腕足及对应固接在每条腕足底部的柔性形变限制层，控制部分包括发射线圈及若干个接收线圈，每条腕足与汽液相变腔之间均通过流体管道连通，每条流体管道上均设置有流体阀，且所述加热膜与一个接收线圈电连接，若干个流体阀对应与其余若干个接收线圈电连接，先通过发射线圈进行无线寻址控制接收线圈相对应的流体阀打开，再通过发射线圈进行无线寻址控制加热膜产生热量，使汽液相变腔内的低沸点液体沸腾变成蒸汽，低沸点液体经流体管道进入腕足内，使腕足产生变形弯曲。
A vapor-liquid phase transition-driven wireless addressing imitation starfish software robot belongs to the field of bionic technology. The invention solves the problems of poor flexibility, large volume and less adaptable working environment of the existing soft robot. The flexible execution part includes a plurality of arms and corresponding flexible deformation limiting layers fixed on the bottom of each arm, the control part includes a transmitting coil and a plurality of receiving coils, and each arm and the vapor-liquid phase change cavity are connected through a fluid pipeline, Each fluid pipeline is provided with a fluid valve, and the heating film is electrically connected to one receiving coil, and several fluid valves are correspondingly electrically connected to the remaining several receiving coils. First, the corresponding receiving coils are controlled by wireless addressing through the transmitting coil. The fluid valve is opened, and the heating film is controlled by wireless addressing through the transmitting coil to generate heat, so that the low-boiling point liquid in the vapor-liquid phase change chamber boils into steam, and the low-boiling point liquid enters the arm through the fluid pipeline, causing the arm to deform and bend. .
Description
Technical Field
The invention relates to a wireless addressing starfish-like soft robot driven by vapor-liquid phase change, belonging to the technical field of bionics.
Background
Due to the good flexible structure, flexible and continuous deformation characteristic and extremely high safety and environmental adaptability of the soft robot, the soft robot has great application potential in medical rehabilitation, emergency rescue and relief, resource survey, pipeline detection and military reconnaissance. Existing fluid-driven soft robot drives typically require multiple pneumatic input channels and cables to achieve separate inflation and deflation of each actuator according to a specific preprogrammed sequence. The robot is connected with the outside through a gas circuit and a cable, so that the activity space of the robot and the flexibility of the motion of the robot are severely restricted. In addition, most of the existing wireless soft robots are provided with a negative battery and hardware control equipment, and the working time, the working environment, the volume size and the like of the robots are limited, such as working in a human body. Some chemically driven robots, although they do not have batteries and external air sources, cannot control their motion independently and can only perform repetitive motions. In a soft robot, it is challenging to independently control the motion of the soft robot in multiple degrees of freedom without a battery or a bolt.
Disclosure of Invention
The invention aims to solve the technical problems mentioned above, and further provides a vapor-liquid phase change driven wireless addressing starfish-like soft robot.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a wireless addressing starfish-imitating soft robot driven by vapor-liquid phase change comprises a flexible execution part, a control part and a power part, wherein the flexible execution part is distributed annularly, the control part is positioned in the middle of the flexible execution part and comprises a plurality of wrist feet and a flexible deformation limiting layer correspondingly and fixedly connected to the bottom of each wrist foot, the control part comprises a transmitting coil and a plurality of receiving coils, the power part comprises a heating film, a vapor-liquid phase change cavity positioned above the heating film and low-boiling-point liquid positioned in the vapor-liquid phase change cavity, each wrist foot is communicated with the vapor-liquid phase change cavity through a fluid pipeline, each fluid pipeline is provided with a fluid valve, the heating film is electrically connected with one receiving coil, the fluid valves are correspondingly and electrically connected with a plurality of other receiving coils, and during the actuation of the soft robot, the wireless addressing is carried out through the transmitting coil to control the opening of the fluid valve corresponding to the receiving coils, and then the transmitting coil is used for carrying out wireless addressing to control the heating film to generate heat, so that the low boiling point liquid in the vapor-liquid phase change cavity is boiled to be changed into vapor, and the low boiling point liquid enters the wrist and foot through the fluid pipeline, so that the wrist and foot are deformed and bent.
Further, the number of wrists and feet is five.
Furthermore, each wrist and foot comprises a plurality of wrist and foot chambers, and the lower parts of the plurality of wrist and foot chambers are communicated with each other.
Further, the number of the wrist-foot chambers of each wrist-foot is four.
Further, the power section is located above the control section.
Further, six receiving coils are located above the transmitting coil.
Further, the low boiling point liquid is diethyl ether.
Compared with the prior art, the invention has the following effects:
1. the control part of the application adopts wireless addressing control, compared with the wireless control in the prior art, the control part is simple, does not need an additional control chip, and can be integrated in the software robot as an embedded device.
2. This application adopts the wireless transmission power supply, compares with the battery scheme that carries among the prior art, and the power supply time is longer, and is more friendly, harmless to the external environment.
3. This application drive adopts vapour liquid phase change mode, can imbed integratedly inside software robot, compares with the pressure source software robot that carries among the prior art, and weight is lighter, and whole flexibility is higher, the drive sound is littleer.
4. This application only needs to pour into low boiling point liquid in vapour liquid phase transition intracavity and just can realize not having the effect of carrying battery, complicated drive wireless control, applicable in implantable medical device (like artificial organ), unrestrained robot and wearable auxiliary assembly.
Drawings
FIG. 1 is a schematic top view of the present application;
FIG. 2 is a schematic diagram of wireless addressing;
FIG. 3 is a schematic view of the present application in a non-actuated state;
fig. 4 is a schematic diagram of the operation state of the present application.
Detailed Description
The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 4, a vapor-liquid phase change driven wireless addressing starfish-like soft robot, which comprises a flexible execution part 6, a control part and a power part 3, wherein the flexible execution part 6 is distributed annularly, the control part is positioned in the middle of the flexible execution part 6, the flexible execution part 6 comprises a plurality of wrist feet 6-1 and a flexible deformation limiting layer 6-2 correspondingly and fixedly connected to the bottom of each wrist foot 6-1, the control part comprises a transmitting coil 1 and a plurality of receiving coils 2, the power part 3 comprises a heating film 3-1, a vapor-liquid phase change cavity 3-2 positioned above the heating film 3-1 and low boiling point liquid 3-3 positioned in the vapor-liquid phase change cavity 3-2, each wrist foot 6-1 is communicated with the vapor-liquid phase change cavity 3-2 through a fluid pipeline 5, and each fluid pipeline 5 is provided with a fluid valve 4, and the heating film 3-1 is electrically connected with one receiving coil 2, a plurality of fluid valves 4 are correspondingly electrically connected with the rest receiving coils 2, in the actuating process of the soft robot, the transmitting coil 1 is used for carrying out wireless addressing to control the fluid valves 4 corresponding to the receiving coils 2 to be opened, then the transmitting coil 1 is used for carrying out wireless addressing to control the heating film 3-1 to generate heat, so that the low-boiling-point liquid 3-3 in the vapor-liquid phase change cavity 3-2 is boiled to be vapor, the low-boiling-point liquid 3-3 enters the wrist and foot 6-1 through the fluid pipeline 5, and the wrist and foot 6-1 is deformed and bent.
As shown in fig. 2, the principle of wireless addressing is that when the resonant frequency in the transmitting loop is close to or equal to the resonant frequency in a certain receiving loop, the impedance in the receiving resonant loop is much smaller than the impedance in other non-resonant loops, so that the energy of the transmitting coil 1 can be selectively transmitted to the target receiving coil 2, i.e. wireless addressing transmission is realized.
As shown in fig. 2, where T isr0For transmitting the loop, V0For an AC power supply, Ki(i is 1, 2 … 6) is a switch, C0i(i-1, 2 … 6) are six different capacitances, L0For transmitting coil inductance, R0When the corresponding switches are selectively closed for transmitting the internal resistance of the coil, different resonant frequencies are formed, and frequency selection is realized. Rei(i 1, 2 … 6) are six receiving loops, Li(i 1, 2 … 6) is the inductance of six receiving coils, RLi(i 1, 2 … 6) is the internal resistance of the receiver coil, Ri(i-1, 2 … 5) is the internal resistance of five fluid valves, R6To heat the internal resistance of the film, Ci(i is 1 and 2 … 6) is a capacitance constituting the LC resonator.
The receiving coil 2 may be replaced with a flexible printed circuit.
When the starfish-like robot acts, the transmitting coil 1 is used for carrying out wireless addressing to control the fluid valve 4 corresponding to the receiving coil 2 to be opened, and then the transmitting coil 1 is used for carrying out wireless addressing to control the heating film 3-1 to generate heat, so that the low-boiling-point liquid 3-3 in the vapor-liquid phase change cavity 3-2 is boiled to be steam, and the pressure in the vapor-liquid phase change cavity 3-2 is changed from P to P0Increase to P1(P0<P1) The fluid valve 4 is controlled to be opened through frequency selection, so that the low-boiling-point liquid 3-3 in the vapor-liquid phase change cavity 3-2 is pressed into the corresponding wrist and foot 6-1 through the fluid pipeline 5, and the wrist and foot 6-1 is expanded. As the flexible deformation limiting layer 6-2 can not extend or contract, only corresponding bending can be generated, and further the upper part of the wrist-foot 6-1 expands and enlarges, even if the whole wrist-foot 6-1 generates deformation bending.
The heating of the heating film 3-1 and the selective opening of the fluid valve 4 are controlled according to a certain strategy, so that the imitating farstar robot can generate corresponding wireless independent movement. The method can be used for rescue and relief work, resource survey, pipeline detection and military reconnaissance.
Control the heating film 3-1 in the soft robot to stop adding by wireless addressing modeThe steam in the vapor-liquid phase change cavity 3-2 is liquefied into liquid, so that the pressure in the vapor-liquid phase change cavity 3-2 is reduced to P0And the fluid valve 4 is selectively opened through the transmitting coil 1, so that liquid in the wrist foot 6-1 flows back, the wrist foot 6-1 is contracted and restored to the original state, and the starfish-like robot stops moving.
This application does not need external air supply, only need can realize wireless independent motion toward the human internal liquid that adds of robot, can also adjust according to the required degree of freedom of robot motion, reaches the requirement of the specific motion of robot, need not settle complicated controlgear in robot inside, only realizes motion control through external magnetic field. The driving mode is expected to make the soft robot into a micro-size level to realize work in the human body.
The number of the wrists and the feet 6-1 is five.
Each wrist and foot 6-1 comprises a plurality of wrist and foot chambers, and the lower parts of the plurality of wrist and foot chambers are communicated. By the design, the bending change of the wrist and foot 6-1 is more flexible, and the lower parts of the wrist and foot chambers are communicated, so that the low-boiling-point liquid 3-3 in the vapor-liquid phase change chamber 3-2 can smoothly enter each wrist and foot chamber.
The number of the wrist-foot chambers of each wrist-foot 6-1 is four.
The power section 3 is located above the control section.
Six receiving coils 2 are located above the transmitting coil 1.
And 3-3 parts of low-boiling-point liquid is diethyl ether.
Claims (7)
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011032909.7A CN112271829A (en) | 2020-09-27 | 2020-09-27 | Wireless addressing starfish-like soft robot driven by vapor-liquid phase change |
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| CN202011032909.7A CN112271829A (en) | 2020-09-27 | 2020-09-27 | Wireless addressing starfish-like soft robot driven by vapor-liquid phase change |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115571303A (en) * | 2022-09-06 | 2023-01-06 | 广东海洋大学 | A self-generating and self-driving bionic starfish soft robot and its control method |
| CN116855082A (en) * | 2023-05-24 | 2023-10-10 | 哈尔滨工业大学 | A cableless flexible actuator with gradient distribution of low boiling point liquid and preparation method thereof |
| CN117022959A (en) * | 2023-06-30 | 2023-11-10 | 重庆市信息通信咨询设计院有限公司 | Automatic addressing method for logistics robot |
| CN119222433A (en) * | 2024-12-04 | 2024-12-31 | 中国海洋大学 | A driving-sensing integrated pipeline inspection software robot |
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| US20140208731A1 (en) * | 2010-11-19 | 2014-07-31 | President And Fellows Of Harvard College | Systems and methods for actuating soft robotic actuators |
| CN108891562A (en) * | 2018-06-20 | 2018-11-27 | 江苏大学 | Imitative starfish soft robot and control method based on shape-memory polymer driving |
| WO2019063742A1 (en) * | 2017-09-29 | 2019-04-04 | Koninklijke Philips N.V. | Wirelessly controllable device and system and wireless control method |
| CN110340921A (en) * | 2019-08-13 | 2019-10-18 | 安徽大学 | A pneumatic soft manipulator with tactile sensing function |
| CN110943551A (en) * | 2019-12-13 | 2020-03-31 | 华南理工大学 | A multi-load wireless power transmission system with constant power and constant efficiency |
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2020
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140208731A1 (en) * | 2010-11-19 | 2014-07-31 | President And Fellows Of Harvard College | Systems and methods for actuating soft robotic actuators |
| WO2019063742A1 (en) * | 2017-09-29 | 2019-04-04 | Koninklijke Philips N.V. | Wirelessly controllable device and system and wireless control method |
| CN108891562A (en) * | 2018-06-20 | 2018-11-27 | 江苏大学 | Imitative starfish soft robot and control method based on shape-memory polymer driving |
| CN110340921A (en) * | 2019-08-13 | 2019-10-18 | 安徽大学 | A pneumatic soft manipulator with tactile sensing function |
| CN110943551A (en) * | 2019-12-13 | 2020-03-31 | 华南理工大学 | A multi-load wireless power transmission system with constant power and constant efficiency |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115571303A (en) * | 2022-09-06 | 2023-01-06 | 广东海洋大学 | A self-generating and self-driving bionic starfish soft robot and its control method |
| CN116855082A (en) * | 2023-05-24 | 2023-10-10 | 哈尔滨工业大学 | A cableless flexible actuator with gradient distribution of low boiling point liquid and preparation method thereof |
| CN116855082B (en) * | 2023-05-24 | 2025-10-03 | 哈尔滨工业大学 | A cable-free flexible actuator with gradient distribution of low-boiling-point liquid and its preparation method |
| CN117022959A (en) * | 2023-06-30 | 2023-11-10 | 重庆市信息通信咨询设计院有限公司 | Automatic addressing method for logistics robot |
| CN119222433A (en) * | 2024-12-04 | 2024-12-31 | 中国海洋大学 | A driving-sensing integrated pipeline inspection software robot |
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Application publication date: 20210126 |