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Intelligent flexible crawling machine

A flexible and intelligent technology, applied in the field of robots, can solve the problems of slow crawling speed, high noise, easy damage, etc., and achieve the effect of improving grip, high conversion efficiency, and crawling speed block.

Active Publication Date: 2015-01-28
ZHEJIANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention aims at the shortcomings of slow crawling speed, easy damage and high noise of existing flexible intelligent crawling machines, and provides a flexible intelligent crawling machine with a new structure in combination with the intrinsic strain of intelligent soft materials

Method used

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Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0046] Such as figure 1 As shown, the present invention provides a flexible intelligent crawling machine, which is composed of a flexible frame 11, a driving structure, a protection structure and a crawling structure. The driving structure includes a driving film group, internal flexible electrodes 31, 32, external flexible electrodes 4 and Internal wires 51, 52, the protective structure is a protective film 6, the crawling structure is a one-way friction structure 7, the flexible frame 11 provides an attachment base for the driving structure, crawling structure and protective structure, the described The driving structure can generate driving force, the protective structure can prevent electric leakage, and the crawling structure can improve the crawling ability of the flexible intelligent crawling machine.

[0047] in,

[0048] The driving film group is composed of two driving films 21, the material of which is VHB4910 (this material is a transparent film), the two drivin...

Embodiment 2

[0064] In this example, the method of Example 1 is adopted, and a flexible frame of 30mm*30mm*4mm (length*width*thickness) is used to manufacture a flexible intelligent crawling machine with a size of 30mm*30mm*4mm, and its mass is only 5g after measurement. , due to its light weight, the flexible intelligent crawling machine produces very little noise when crawling, only about 10 decibels after measurement.

[0065]By changing the amplitude and frequency of the applied voltage in this embodiment, the crawling speed of the flexible intelligent crawling machine can be changed. The flexible intelligent crawling machine in this embodiment is measured through experiments. Under the input of 9kV, 16Hz square wave signal, its The crawling speed is the highest, and the maximum speed can reach 95mm / s, which is much higher than the crawling speed of the existing soft robots. At the same time, through the partition control of the flexible electrodes, the flexible turning of the flexible...

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Abstract

The invention provides an intelligent flexible crawling machine which comprises a flexible framework, a driving structure, protecting structures and crawling structures, wherein the flexible framework provides an attaching substrate for the driving structure, the protecting structures and the crawling structures; the driving structure comprises a driving film group, internal flexible electrodes, internal leads and an external flexible electrode; the driving film group is formed by bonding two driving films; the internal flexible electrodes are packaged inside two driving films; one end of each internal lead is in contact with the corresponding internal flexible electrode; the other end of each internal lead is led out and is connected with one pole of an external power supply; the external flexible electrode covers the outer surface of the driving film group and is connected with the other pole of the external power supply. The driving force of the intelligent flexible crawling machine is generated by shrinkage and relaxation of the driving films; the protecting structures are two prestretched protecting films; the crawling structures are a plurality of one-direction friction structures. The intelligent flexible crawling machine provided by the invention is made of a full soft material, is driven by using the intrinsic strain and has the characteristics of being high in crawling speed and impact resistance, low in noise and high in affinity to a human body.

Description

technical field [0001] The invention relates to the field of robots, in particular to a flexible intelligent crawling machine driven by the intrinsic strain of intelligent soft materials. Background technique [0002] Traditional robots mostly use rigid structures, including many rigid transmission parts such as gears and chains. Due to the use of rigid materials, they are prone to misalignment and damage when subjected to external impacts. loud noise. Existing flexible robots are mostly driven by shape memory alloy springs, which have the disadvantages of slow crawling speed, weak resistance to external pressure and impact, and inflexible steering. The existing robot structure driven by dielectric elastic polymer film uses the principle of combining the driving force generated by dielectric elastic polymer with the transmission structure, because it contains a rigid frame (for example, a metal frame) and a rigid connection Components (such as springs, gears, hinges, screw...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02H02N2/00
CPCB62D57/02H02N2/001
Inventor 李铁风邹咤南李驰毛国勇曲绍兴
Owner ZHEJIANG UNIV
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