A semi-flexible robot based on liquid metal

A liquid metal and robotic technology, applied in the field of robotics, can solve the problems of limited degrees of freedom of robots, rigid robots are not as flexible as living organisms, and restrictions, and achieve good electrical and thermal conductivity, convenient shape, and various structures.

Active Publication Date: 2018-12-28
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In terms of materials, traditional robots mostly use rigid materials such as metal or plastic, and the number of degrees of freedom of robots is limited. Compared with living organisms, their applicable environments are also limited accordingly.
[0004] Traditional rigid robots generally adopt hydraulic or motor drive methods, which can provide greater mechanical force. However, rigid robots are far less flexible than living organisms, so they cannot completely replace humans to complete some delicate operations.

Method used

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  • A semi-flexible robot based on liquid metal
  • A semi-flexible robot based on liquid metal
  • A semi-flexible robot based on liquid metal

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0083] see figure 1 , the robot 1 includes a torso 2, an arm actuator 4 connected to the torso 2, a hand actuator 5 connected to the end of the arm actuator 4, an energy storage device 3 built in the torso 2, and distributed in the torso 2, The flexible circuit 6 based on liquid metal inside the arm actuator 4 and the hand actuator 5 consists of several parts.

[0084] Wherein the energy storage device uses a lithium battery as an energy source to provide electric energy for the arm actuator 4 and the hand actuator 5 . In this embodiment, the hand actuator uses image 3 In the scheme 3-1, the liquid metal film 5a is coated on the surface of the flexible substrate 5b by spraying or smearing and printing. When an electric field is applied to the liquid metal, the surface tension changes, which drives the flexible substrate to bend, and then forms the object to be operated. The clamping, combined with the movement of the arm actuator, can realize the handling and other actions ...

Embodiment 2

[0087] see figure 1 , the basic composition of the robot is the same as that of the first embodiment, and the difference from the first embodiment is that the hand actuator 5 uses image 3 In the scheme 3-2, when the hand actuator is not clamped, the hand actuator is shown on the left side of 3-2, the liquid metal material 5d is inside the hollow pipe 5c, and the liquid metal material 5d is located at the far end when it is not clamped The position of the head, the pipe is not deformed. When clamping is required, the liquid metal is transported to the end of the hand actuator 5 by the action of the pump to increase the quality of the end, and the hand actuator 5 bends under the action of gravity to clamp the object to be operated.

Embodiment 3

[0089] see figure 1 , the basic composition of the robot is the same as that of the first embodiment, and the difference from the first embodiment is that the hand actuator 5 uses image 3 In the middle 3-3 scheme, the hydraulic rod using liquid metal as the working medium is used to drive the hand actuator 5, wherein 5e is the liquid metal material, and 5f is the hydraulic rod. When the liquid metal material starts to fill the hydraulic rod, it will push the hydraulic pressure. The rod is elongated, and then the hand actuator 5 is bent, and then the object to be operated is clamped.

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PUM

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Abstract

The invention discloses a semi-flexible robot based on liquid metal and application. The semi-flexible robot comprises a robot body, an energy storage device arranged in the body, arm executing mechanisms, hand shape executing mechanisms connected to the tail ends of the arm executing mechanisms, and a liquid metal flexible circuit distributed in the robot, wherein the arm executing mechanisms are connected to the body and can achieve multi-freedom-degree movement. By means of the application of liquid metal materials, the characteristics of the diverse structure of the humanoid robot and the combination of rigidity and flexibility of the humanoid robot are achieved. Compared with the rigidity connecting rod design of a traditional robot, the application scenes of the humanoid robot based on liquid metal are more diverse, and reliability and damage resistance are improved. A basis is provided for the research and development of liquid metal robots capable of freely transforming in the future.

Description

technical field [0001] The invention belongs to the technical field of robots, relates to a humanoid or semi-humanoid robot, in particular to a liquid metal-based semi-flexible robot and its application. Background technique [0002] In recent years, with the rapid development of computing technology, new materials and electronic technology, robots, which integrate various science and technology, have gradually moved from science fiction and film and television works to people's daily life. Whether it is an industrial robot that assembles parts in a factory, or a household robot that sweeps fallen leaves in the garden, the use of robots provides great convenience for human production and life. Humanoid robot is a kind of robot with human appearance characteristics, and has broad application prospects in military reconnaissance, medical and health care, and home service. [0003] After years of development, traditional robots have formed a relatively mature and versatile sol...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/10B25J15/08
CPCB25J9/10B25J15/08
Inventor 姚又友国瑞刘静
Owner TSINGHUA UNIV
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