A deformable and color-changing fully flexible camouflage robot

Abstract

The present invention discloses a fully flexible camouflage robot with deformation and color change. Both the color-changing deformation layer and the color-changing magnetic response layer are in a cross shape; the camouflage robot is obtained by first performing biaxial pre-stretching on the color-changing deformation layer, then bonding the biaxially pre-stretched color-changing deformation layer with the color-changing magnetic response layer and then releasing the pre-strain. At room temperature, the four branches of the camouflage robot curl inward and the four branch ends are close to each other to form a hollow structure; under the magnetic attraction of the driving magnetic field, the camouflage robot moves; under the induction heating of the heating magnetic field, the temperature of the camouflage robot rises, causing the four branches of the camouflage robot to open outward and each branch to be arranged in an arc shape; under the irradiation of ultraviolet light, the camouflage robot produces photochromism. The present invention can realize the grasping, transportation and manipulation of objects while camouflaging, and can also realize the cooperative work of multiple camouflage robots. The present invention has broad application prospects in the fields of soft robots, military camouflage, etc.

Description

Technical Field

[0001] The present invention belongs to the fields of soft robots and camouflage robots, and particularly relates to a fully flexible camouflage robot with shape-changing and color-changing capabilities. Background Art

[0002] Soft robots made of soft materials have significant advantages over traditional rigid robots in the fields of biomedicine, operation in narrow spaces, bionics, etc. Soft robots have a variety of different driving principles, including pneumatic / hydraulic drive, electric drive, magnetic drive, liquid-gas phase change drive, light drive, etc. Among them, the liquid-gas phase change drive has the advantages of large deformation, high load capacity, and light weight, but has the disadvantage of slow response speed; while the magnetic drive has the advantages of fast response speed and wireless energy supply, but cannot produce large volume changes.

[0003] Inspired by the color-changing camouflage behaviors of organisms such as chameleons and cephalopods in nature, camouflage robots have important application prospects in military camouflage, performing special tasks, etc. However, most current camouflage robots are rigid robots, with poor environmental adaptability, mostly require wired energy supply, and have a single function, lacking the ability to manipulate and transport objects and the ability for multiple camouflage robots to work together. Currently, there is still a lack of a silicone-based fully flexible camouflage robot with wireless energy supply, shape-changing, color-changing, and motion capabilities. Summary of the Invention

[0004] To solve the problems existing in the background art, the present invention proposes a silicone-based fully flexible camouflage robot with wireless energy supply, shape-changing, color-changing, and motion capabilities. It generates large deformations through magnetic induction heating to drive liquid-gas phase changes, generates rapid motion through magnetic drive, and realizes camouflage through color changes generated by doped thermochromic microcapsules and photochromic microcapsules.

[0005] The technical solution adopted by the present invention is as follows:

[0006] The present invention includes a color-changing magnetic response layer and a color-changing deformation layer; both the color-changing deformation layer and the color-changing magnetic response layer are in a cross shape; the camouflage robot is obtained by first performing biaxial pre-stretching on the color-changing deformation layer, then bonding the biaxially pre-stretched color-changing deformation layer with the color-changing magnetic response layer and then releasing the pre-strain. At room temperature, the four branches of the camouflage robot curl inward and the four branch ends are close to each other to form a hollow structure; under the magnetic attraction of the driving magnetic field on the color-changing magnetic response layer, the camouflage robot moves; under the induction heating of the heating magnetic field on the color-changing magnetic response layer, the temperature of the camouflage robot rises, and the color-changing deformation layer generates deformations caused by liquid-gas phase changes, causing the four branches of the camouflage robot to open outward and each branch to be in an arc shape, and both the color-changing deformation layer and the color-changing magnetic response layer generate thermochromism; under the irradiation of ultraviolet light, both the color-changing deformation layer and the color-changing magnetic response layer of the camouflage robot generate photochromism.

[0007] The color-changing magnetic response layer includes a thermo-optical color-changing shell and a magnetic response core. The magnetic response core is embedded in the shell of the thermo-optical color-changing shell. A bond is formed between the thermo-optical color-changing shell and the color-changing deformation layer to form the shell of the camouflage robot, such that the magnetic response core is embedded within the shell of the camouflage robot.

[0008] The material components of the color-changing deformation layer are a low-boiling-point fluid with a mass fraction of 23% - 57%, thermochromic microcapsules with a mass fraction of 0.2% - 4%, photochromic microcapsules with a mass fraction of 0.2% - 4%, and a low-hardness two-component silicone rubber with a mass fraction of 41% - 75%.

[0009] The material components of the magnetic response core are Fe3O4 powder with a mass fraction of 0.01% - 62%, NdFeB powder with a mass fraction of 0.01% - 70%, and a high-hardness two-component silicone rubber with a mass fraction of 20% - 80%.

[0010] The material components of the thermo-optical color-changing shell are thermochromic microcapsules with a mass fraction of 0.5% - 5%, photochromic microcapsules with a mass fraction of 0.5% - 5%, and a high-hardness two-component silicone rubber with a mass fraction of 91% - 99%.

[0011] The thickness of the color-changing deformation layer is greater than the thickness of the color-changing magnetic response layer.

[0012] The heating magnetic field is a high-frequency alternating magnetic field.

[0013] The driving magnetic field is a direct current magnetic field or a magnetic field provided by a magnet.

[0014] The camouflage robot initially has an arc-shaped limb shape. Under the action of the heating magnetic field, the limbs flatten out. After cooling, it returns to the arc-shaped limb shape by virtue of its own elasticity. This process can be used for grasping an object, and after grasping, it can maintain the grasping state without consuming energy by virtue of the initial arc-shaped limb shape; under the action of the driving magnetic field, the camouflage robot can transport the grasped object; when the heating magnetic field is applied again, the camouflage robot can release the grasped object.

[0015] Multiple such camouflage robots can cooperate to perform object grasping, transportation, and manipulation.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0017] 1. The camouflage robot of the present invention is a stretchable and fully flexible robot using a silicone-based composite material, which has high adaptability in an unstructured environment. At the same time, it integrates deformation, color change, and motion functions, and can realize object grasping, transportation, and manipulation while camouflaging, and has broad application prospects in the fields of soft robots, military camouflage, etc.;

[0018] 2. The camouflage robot of the present invention realizes wireless power supply for deformation, color change, and movement by adopting a heating magnetic field and a driving magnetic field, without the need for external wires or air pipes.

[0019] 3. The camouflage robot of the present invention can achieve the collaborative work of multiple robots, improving the working ability and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic structural diagram of the camouflage robot;

[0021] Figure 2 It is a schematic diagram of the manufacturing process and heating deformation of the camouflage robot;

[0022] Figure 3 It is an exploded view of the color-changing magnetic response layer;

[0023] Figure 4 It is a schematic diagram of the color-changing camouflage and movement of the camouflage robot;

[0024] Figure 5 It is a schematic diagram of the camouflage robot grasping, transporting, and releasing an object;

[0025] Figure 6 It is a schematic diagram of multiple camouflage robots collaborating to grasp, transport, and release an object.

[0026] In the figure: 1. Color-changing magnetic response layer; 2. Color-changing deformation layer; 3. Thermochromic and photochromic outer shell; 4. Magnetic response core; 5. Ellipsoidal object; 6. Cylindrical object. DETAILED DESCRIPTION OF THE INVENTION

[0027] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] The present invention includes a color-changing magnetic response layer 1 and a color-changing deformation layer 2; both the color-changing deformation layer 2 and the color-changing magnetic response layer 1 are cross-shaped; as Figure 2 shown, the camouflage robot is obtained by first performing biaxial pre-stretching on the color-changing deformation layer 2, then bonding the biaxially pre-stretched color-changing deformation layer 2 to the color-changing magnetic response layer 1 and then releasing the pre-strain. At room temperature, the four branches of the camouflage robot curl inward and the four branch ends are close to each other to form a hollow structure, as Figure 1As shown in the figure; the color-changing deformation layer 2 and the color-changing magnetic response layer 1 are arranged in a cross shape and stacked one above the other; the thickness of the color-changing deformation layer 2 is greater than the thickness of the color-changing magnetic response layer 1. Under the magnetic attraction of the driving magnetic field on the magnetic response core 4 of the color-changing magnetic response layer 1, the camouflage robot moves; under the induction heating of the heating magnetic field on the magnetic response core 4 of the color-changing magnetic response layer 1, the temperature of the camouflage robot rises, and the color-changing deformation layer 2 generates deformation caused by liquid-gas phase change, so that the four branches of the camouflage robot open outwards and each branch is arranged in an arc shape, and both the color-changing deformation layer 2 and the color-changing magnetic response layer 1 generate thermochromism; under the irradiation of ultraviolet light, both the color-changing deformation layer 2 and the thermo-optical color-changing shell 3 of the color-changing magnetic response layer 1 of the camouflage robot generate photochromism; through thermochromism and photochromism, the camouflage robot can change into a variety of different colors, so as to achieve matching and camouflage of different background colors.

[0029] The heating magnetic field is a high-frequency alternating magnetic field, and the frequency range of the high-frequency alternating magnetic field is 30 - 100 kHz. The driving magnetic field is a direct current magnetic field or a magnetic field provided by a magnet. In a specific implementation, the wavelength of the ultraviolet light is 375 nm.

[0030] As Figure 3 As shown in the figure, the color-changing magnetic response layer 1 includes a thermo-optical color-changing shell 3 and a magnetic response core 4. The magnetic response core 4 is embedded in the shell of the thermo-optical color-changing shell 3. The thermo-optical color-changing shell 3 and the color-changing deformation layer 2 are bonded to form the shell of the camouflage robot, so that the magnetic response core 4 is embedded in the shell of the camouflage robot.

[0031] The material components of the color-changing deformation layer 2 are a low-boiling-point fluid with a mass fraction of 23% - 57%, thermochromic microcapsules with a mass fraction of 0.2% - 4%, photochromic microcapsules with a mass fraction of 0.2% - 4%, and a low-hardness two-component silicone rubber with a mass fraction of 41% - 75%. Among them, the low-boiling-point fluid is a fluid with a boiling point between 20°C and 100°C. The thermochromic microcapsules can be a combination of various thermochromic microcapsules with different temperature thresholds and different colors. The diameters of the thermochromic microcapsules and the photochromic microcapsules are both 1 - 10 μm. The low-hardness two-component silicone rubber is a two-component silicone rubber with a Shore hardness between 0010 and 0050. The mixing mass ratio of components A and B in the low-hardness two-component silicone rubber is 1:1.

[0032] The material components of the magnetic response core 4 are Fe3O4 powder with a mass fraction of 0.01% - 62%, NdFeB powder with a mass fraction of 0.01% - 70%, and a high-hardness two-component silicone rubber with a mass fraction of 20% - 80%.

[0033] The material components of the thermochromic and photochromic shell 3 are thermochromic microcapsules with a mass fraction of 0.5%-5%, photochromic microcapsules with a mass fraction of 0.5%-5%, and a high-hardness two-component silicone rubber with a mass fraction of 91%-99%. Among them, the high-hardness two-component silicone rubber is a two-component silicone rubber with a Shore hardness between 10A and 50A, and the mixing mass ratio of the A and B components of the high-hardness two-component silicone rubber is 1:1;

[0034] Under the action of a heating magnetic field, the Fe3O4 powder in the magnetic response core 4 generates heat, causing the low-boiling-point fluid microdroplets contained in the color-changing and deforming layer 2 to undergo reversible liquid-gas phase change, resulting in the volume expansion of the color-changing and deforming layer 2, while the volume of the color-changing magnetic response layer 1 remains unchanged. A mismatch deformation occurs between the color-changing and deforming layer 2 and the color-changing magnetic response layer 1, realizing the deformation of the camouflage robot. At the same time, the thermochromic microcapsules in the camouflage robot undergo reversible color change, realizing the thermochromism of the camouflage robot; after cooling, the shape and color of the camouflage robot both return to their original states. When the color-changing threshold temperature of the thermochromic microcapsules used is lower than the boiling point temperature of the low-boiling-point fluid used and the heating temperature is controlled between the two, only thermochromism without deformation can be achieved.

[0035] Under the action of a driving magnetic field, the NdFeB powder in the magnetic response core 4 is subjected to a magnetic force, thereby driving the entire camouflage robot to move.

[0036] Under the action of ultraviolet light, the photochromic microcapsules in the camouflage robot undergo reversible color change, realizing the photochromism of the camouflage robot.

[0037] As Figure 5 shown, the camouflage robot initially has an arc-shaped limb shape. Under the action of a heating magnetic field, the limbs flatten, and after cooling, they return to the arc-shaped limb shape by virtue of their own elasticity. This process can be used for grasping the ellipsoidal object 5, and after grasping, it can maintain the grasping state without consuming energy by virtue of the initial arc-shaped limb shape; under the action of a driving magnetic field, the camouflage robot can roll and transport the grasped object; when the heating magnetic field is applied again, the camouflage robot can release the grasped object.

[0038] As Figure 6 shown, multiple camouflage robots can cooperate to grasp, transport, and manipulate the cylindrical object 6, thereby improving the working ability and efficiency.

[0039] The camouflage robot of the present invention is a stretchable and fully flexible robot using a silicone-based composite material, which has high adaptability in an unstructured environment. At the same time, it integrates the functions of deformation, color change, and movement with wireless power supply. It can grasp, transport, and manipulate objects while camouflaging, and can also achieve the collaborative work of multiple robots, having broad application prospects in the fields of soft robots, military camouflage, etc.

Claims

1. A fully flexible camouflage robot with deformation and color change, characterized in that, It includes a color-changing magnetic response layer (1) and a color-changing deformation layer (2); both the color-changing deformation layer (2) and the color-changing magnetic response layer (1) are in a cross shape; the camouflage robot is obtained by first performing biaxial pre-stretching on the color-changing deformation layer (2), then bonding the biaxially pre-stretched color-changing deformation layer (2) with the color-changing magnetic response layer (1) and then releasing the pre-strain. At room temperature, the four branches of the camouflage robot curl inward and the four branch ends are close to each other to form a hollow structure; under the magnetic attraction of the driving magnetic field on the color-changing magnetic response layer (1), the camouflage robot moves; under the inductive heating of the heating magnetic field on the color-changing magnetic response layer (1), the temperature of the camouflage robot rises, and the color-changing deformation layer (2) generates deformation caused by liquid-gas phase change, so that the four branches of the camouflage robot open outward and each branch is in an arc shape, and both the color-changing deformation layer (2) and the color-changing magnetic response layer (1) produce thermochromism; under the irradiation of ultraviolet light, both the color-changing deformation layer (2) and the color-changing magnetic response layer (1) of the camouflage robot produce photochromism. The material components of the color-changing deformation layer (2) are a low-boiling-point fluid with a mass fraction of 23%-57%, thermochromic microcapsules with a mass fraction of 0.2%-4%, photochromic microcapsules with a mass fraction of 0.2%-4%, and a low-hardness two-component silicone rubber with a mass fraction of 41%-75%; the low-boiling-point fluid is a fluid with a boiling point between 20°C and 100°C, the diameters of both the thermochromic microcapsules and the photochromic microcapsules are 1-10 μm, and the low-hardness two-component silicone rubber is a two-component silicone rubber with a Shore hardness between 0010 and 0050.

2. The all-flexible camouflage robot with deformation and color change according to claim 1, characterized in that The color-changing magnetic response layer (1) includes a thermo-photochromic outer shell (3) and a magnetic response core (4), the magnetic response core (4) is embedded in the shell of the thermo-photochromic outer shell (3), and a bond is formed between the thermo-photochromic outer shell (3) and the color-changing deformation layer (2) to form the outer shell of the camouflage robot, so that the magnetic response core (4) is embedded in the outer shell of the camouflage robot.

3. The fully flexible camouflage robot with deformation and color change according to claim 2, characterized in that, The material components of the magnetic response core (4) are Fe3O4 powder with a mass fraction of 0.01%-62%, NdFeB powder with a mass fraction of 0.01%-70%, and a high-hardness two-component silicone rubber with a mass fraction of 20%-80%, and the high-hardness two-component silicone rubber is a two-component silicone rubber with a Shore hardness between 10A and 50A.

4. A fully flexible camouflage robot with deformation and color change according to claim 2, characterized in that, The material components of the thermo-photochromic outer shell (3) are thermochromic microcapsules with a mass fraction of 0.5%-5%, photochromic microcapsules with a mass fraction of 0.5%-5%, and a high-hardness two-component silicone rubber with a mass fraction of 91%-99%, and the high-hardness two-component silicone rubber is a two-component silicone rubber with a Shore hardness between 10A and 50A.

5. A fully flexible camouflage robot with deformation and color change according to claim 1, characterized in that, The thickness of the color-changing deformation layer (2) is greater than the thickness of the color-changing magnetic response layer (1).

6. A fully flexible camouflage robot with deformation and color change according to claim 1, characterized in that The heating magnetic field is a high-frequency alternating magnetic field, and the frequency range of the high-frequency alternating magnetic field is 30-100 kHz.

7. A fully flexible camouflage robot with deformation and color change according to claim 1, characterized in that, The driving magnetic field is a direct current magnetic field or a magnetic field provided by a magnet.

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