A multi-modal tensegrity robot based on bi-stiffness intelligent materials

Abstract

The present invention discloses a multi-modal tensegrity robot based on dual-stiffness intelligent materials, which includes rods and electric push rods. Connecting pieces are fixedly connected to both ends of the rods and the electric push rods respectively, and a number of elastic members are respectively connected between the connecting pieces; there is one electric push rod, and there are five rods which are divided into three groups. Two of the groups contain four rods and two rods are arranged parallel to each other, and the other group contains a single rod and an electric push rod and they are arranged parallel to each other. There are thirty elastic members, and one end of five elastic members is respectively connected to a single connecting piece. On the premise of ensuring the diversity of the motion forms of the robot, the present invention reduces the problem of excessive weight caused by the existence of a large number of traditional driving elements (such as motors, etc.); since the elastic members replace the traditional mechanism, the accident rate of the mechanical structure is reduced; the lightweight design of the present invention not only reduces the manufacturing cost, but also greatly reduces the fuel cost consumed for orbit injection.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and specifically to a multi-modal tensegrity robot based on dual-stiffness intelligent materials. Background Art

[0002] Traditional rigid robots have characteristics such as large volume, high cost, and high failure rate. In 2015, NASA in the United States proposed a SuperBall configuration and made a spherical robot using a tensegrity structure for planetary surface exploration. However, this robot is driven by motors and still has extremely high limitations in terms of volume, mass, etc. Therefore, we propose a multi-modal tensegrity robot based on dual-stiffness intelligent materials to solve the above problems. Summary of the Invention

[0003] The purpose of the present invention is to provide a multi-modal tensegrity robot based on dual-stiffness intelligent materials to solve the problems raised in the above background art.

[0004] To achieve the above purpose, the present invention provides the following technical solution: A multi-modal tensegrity robot based on dual-stiffness intelligent materials, including rods and electric push rods. Both ends of the rods and the electric push rods are respectively fixedly connected with connectors, and several elastic members are respectively connected between the connectors;

[0005] There is one electric push rod, and there are five rods which are divided into three groups. Two of the groups contain four rods and two rods are arranged parallel to each other. The other group contains a single rod and an electric push rod and they are arranged parallel to each other. There are thirty elastic members, and one end of five elastic members is respectively connected to each single connector.

[0006] Preferably, the rod includes a cylinder, an internal thread ring, anti-slip teeth, a threaded rod, and a limit chute. One end of the cylinder is fixedly connected with a connector, and the other end is rotatably connected with an internal thread ring. The internal thread ring is sleeved with a threaded rod through a threaded structure, and the end of the threaded rod away from the cylinder is fixedly connected with a connector.

[0007] Preferably, the outer wall of the internal thread ring is provided with anti-slip teeth, the inner wall of the cylinder is fixedly connected with a limit slider, the outer wall of the threaded rod is concavely provided with a limit chute, and the limit slider fixedly connected to the inner wall of the cylinder slides in the limit chute.

[0008] Preferably, the connector includes a semi-circular piece, a groove, and a hanging rod. The flat end faces of the semi-circular pieces are respectively fixedly connected to both ends of the rod and the electric push rod. A number of grooves are formed on the circumferential side of the semi-circular piece, and a hanging rod is fixedly connected in the groove. The hanging rod is movably connected with the elastic member.

[0009] Preferably, the elastic member includes polydimethylsiloxane, alloy material, nickel-plated carbon fiber powder, electrodes, end heads, connecting seats, hinged seats, and self-locking hooks. The polydimethylsiloxane, alloy material, and nickel-plated carbon fiber powder are cured to form a main body. Electrodes are installed at both ends of the main body. End heads fixedly connecting both ends of the main body are provided outside the electrodes. Connecting seats are rotatably connected to the ends of the end heads away from the main body. Hinged seats are fixedly connected to one ends of the connecting seats. Self-locking hooks are hinged on the hinged seats. The self-locking hooks are respectively sleeved on the hanging rods.

[0010] Preferably, the single rod and the electric push rod are located between the two rods in one group, and the single rod and the electric push rod are located on both sides of the two rods in the other group.

[0011] Preferably, the overall robot is composed of five rods, one electric push rod and thirty elastic members to form an icosahedron, and the outer surface of the icosahedron is a triangular structure.

[0012] Compared with the prior art, the beneficial effects of the present invention are as follows: On the premise of ensuring the diversity of the robot's motion forms, the present invention reduces the problem of excessive weight caused by the existence of a large number of traditional driving elements (such as motors, etc.); since the elastic members replace the traditional mechanism, the accident rate of the mechanical structure is reduced; the lightweight design of the present invention not only reduces the manufacturing cost, but also greatly reduces the fuel cost consumed for orbiting. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a schematic structural diagram of the present invention;

[0014] Figure 2 is a schematic structural diagram of the rod of the present invention;

[0015] Figure 3 is a schematic cross-sectional structural diagram of the elastic member of the present invention;

[0016] Figure 4 is a schematic connection structural diagram of the elastic member of the present invention.

[0017] In the figure: rod 1, cylinder 11, internal thread ring 12, anti-slip teeth 13, threaded rod 14, limit sliding groove 15, connecting member 2, semi-circular piece 21, groove 22, hanging rod 23, electric push rod 3, elastic member 4, polydimethylsiloxane 41, alloy material 42, nickel-plated carbon fiber powder 43, electrode 44, end head 45, connecting seat 46, hinged seat 47, self-locking hook 48, main body 49. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0019] Embodiment 1

[0020] Refer to Figure 1 、 2 This is the first embodiment of the present invention. This embodiment provides a multi-modal tensegrity robot based on dual-stiffness intelligent materials, including a rod 1 and an electric push rod 3. Both ends of the rod 1 and the electric push rod 3 are respectively fixedly connected with connectors 2, and several elastic members 4 are respectively connected between the connectors 2.

[0021] There is one electric push rod 3, and there are five rods 1 which are divided into three groups. Two of the groups contain four rods 1 and two rods 1 are arranged parallel to each other. The other group contains a single rod 1 and the electric push rod 3 and the two are arranged parallel to each other. There are thirty elastic members 4, and one end of five elastic members 4 is respectively connected to a single connector 2. The electric push rod 3 provides driving force, and the expansion and contraction of the electric push rod 3 cooperate with the stiffness of the thirty elastic members 4 to combine several structural stiffnesses of the robot. Due to the difference in structural stiffness, the robot can exhibit completely different motion forms under the same driving conditions, thus realizing multi-modal motion forms.

[0022] Embodiment 2

[0023] Refer to Figures 1-4 This is the second embodiment of the present invention. This embodiment is based on the previous embodiment. Specifically, the rod 1 includes a cylinder 11, an internal thread ring 12, anti-slip teeth 13, a threaded rod 14, and a limit chute 15. One end of the cylinder 11 is fixedly connected with the connector 2, and the other end is rotatably connected with the internal thread ring 12. The threaded rod 14 is sleeved in the internal thread ring 12 through a threaded structure, and the end of the threaded rod 14 away from the cylinder 11 is fixedly connected with the connector 2. When it is necessary to adjust the length of the rod 1, the cylinder 11 can be held by hand and the internal thread ring 12 can be rotated. The threaded structure is used to drive the threaded rod 14 to move linearly, so as to adjust the length of the rod 1 to meet different requirements.

[0024] Specifically, anti-slip teeth 13 are provided on the outer wall of the internal thread ring 12, a limiting slider is fixedly connected to the inner wall of the cylinder 11, a limiting sliding groove 15 is concavely provided on the outer wall of the threaded rod 14, and the limiting slider fixedly connected to the inner wall of the cylinder 11 is slidably connected in the limiting sliding groove 15. The limiting slider fixedly connected to the inner wall of the cylinder 11 cooperates with the limiting sliding groove 15 concavely provided on the outer wall of the threaded rod 14, thereby ensuring the linear movement of the threaded rod 14 and preventing the threaded rod 14 from rotating synchronously with the internal thread ring 12.

[0025] Specifically, the connecting member 2 includes a semi-circular piece 21, a groove 22, and a hanging rod 23. The flat end faces of the semi-circular piece 21 are respectively fixedly connected to the two ends of the connecting member 1 and the electric push rod 3. A plurality of grooves 22 are formed on the circumferential side of the semi-circular piece 21, and a hanging rod 23 is fixedly connected in the groove 22. The hanging rod 23 is movably connected to the elastic member 4. By hanging the elastic member 4 in the groove 22 formed on the circumferential side of the connecting member 2, the hanging rod 23 cooperates with the self-locking hook 48 of the elastic member 4 to ensure the fastening degree of the connection with the elastic member 4, and at the same time, it is also convenient to disassemble the elastic member 4, thus facilitating subsequent maintenance.

[0026] Specifically, the elastic member 4 includes polydimethylsiloxane 41, alloy material 42, nickel-plated carbon fiber powder 43, electrode 44, end head 45, connecting seat 46, hinge seat 47, and self-locking hook 48. The polydimethylsiloxane 41, alloy material 42, and nickel-plated carbon fiber powder 43 are cured to form the main body 49. The specific preparation process is as follows: First, the polydimethylsiloxane 41 (PDMS) is used as the main agent and the low-melting-point alloy material 42 (LMPA) in the molten state is fused and ground; then, nickel-plated carbon fiber powder 43 (NCCF) is added to enhance the conductivity between the low-melting-point alloy materials 42 (LMPA) dispersed in the polydimethylsiloxane 41 (PDMS); finally, a curing agent of the polydimethylsiloxane 41 is added to cure the material to form the main body 49. Electrodes 44 are respectively installed at both ends of the main body 49. When an electric current is passed through the electrodes 44, the main body 49 switches between rigidity and flexibility. The elasticity of the polydimethylsiloxane 41 is used to simulate the constitutive relationship of the spring. End heads 45 fixedly connected to both ends of the main body 49 are provided outside the electrodes 44. Connecting seats 46 are respectively rotatably connected to the two ends of the end heads 45 away from the main body 49. One ends of the connecting seats 46 are respectively fixedly connected with hinge seats 47, and self-locking hooks 48 are hinged on the hinge seats 47. The self-locking hooks 48 are respectively sleeved on the hanging rods 23. The rotatably arranged self-locking hooks 48 facilitate the elastic member 4 to adjust its orientation and realize multi-modal motion forms.

[0027] Specifically, a single rod 1 and an electric push rod 3 are arranged between two rods 1 in one group, and the single rod 1 and the electric push rod 3 are arranged on both sides of two rods 1 in the other group. The overall robot is composed of five rods 1, one electric push rod 3 and thirty elastic members 4 to form an icosahedron. The outer surface of the icosahedron is all triangular structures, and the configuration of the icosahedron has deformation ability and impact resistance.

[0028] Specifically, among the thirty elastic members 4 of the present invention, the two ends of the first elastic member 4 are respectively connected to the connecting member 2 near A and the connecting member 2 near C, the two ends of the second elastic member 4 are respectively connected to the connecting member 2 near A and the connecting member 2 near I, the two ends of the third elastic member 4 are respectively connected to the connecting member 2 near A and the connecting member 2 near E, the two ends of the fourth elastic member 4 are respectively connected to the connecting member 2 near A and the connecting member 2 near J, the two ends of the fifth elastic member 4 are respectively connected to the connecting member 2 near A and the connecting member 2 near G, the two ends of the sixth elastic member 4 are respectively connected to the connecting member 2 near C and the connecting member 2 near G, the two ends of the seventh elastic member 4 are respectively connected to the connecting member 2 near C and the connecting member 2 near B, the two ends of the eighth elastic member 4 are respectively connected to the connecting member 2 near C and the connecting member 2 near K, the two ends of the ninth elastic member 4 are respectively connected to the connecting member 2 near I and the connecting member 2 near K, the two ends of the tenth elastic member 4 are respectively connected to the connecting member 2 near I and the connecting member 2 near D, the two ends of the eleventh elastic member 4 are respectively connected to the connecting member 2 near C and the connecting member 2 near G, the two ends of the twelfth elastic member 4 are respectively connected to the connecting member 2 near I and the connecting member 2 near E, the two ends of the thirteenth elastic member 4 are respectively connected to the connecting member 2 near E and the connecting member 2 near J, the two ends of the fourteenth elastic member 4 are respectively connected to the connecting member 2 near E and the connecting member 2 near H, the two ends of the fifteenth elastic member 4 are respectively connected to the connecting member 2 near E and the connecting member 2 near D, the two ends of the sixteenth elastic member 4 are respectively connected to the connecting member 2 near G and the connecting member 2 near J, the two ends of the seventeenth elastic member 4 are respectively connected to the connecting member 2 near J and the connecting member 2 near H, the two ends of the eighteenth elastic member 4 are respectively connected to the connecting member 2 near J and the connecting member 2 near L, the two ends of the nineteenth elastic member 4 are respectively connected to the connecting member 2 near D and the connecting member 2 near H, the two ends of the twentieth elastic member 4 are respectively connected to the connecting member 2 near L and the connecting member 2 near G, the two ends of the twenty-first elastic member 4 are respectively connected to the connecting member 2 near H and the connecting member 2 near F, the two ends of the twenty-second elastic member 4 are respectively connected to the connecting member 2 near L and the connecting member 2 near B, the two ends of the twenty-third elastic member 4 are respectively connected to the connecting member 2 near L and the connecting member 2 near F, the two ends of the twenty-fourth elastic member 4 are respectively connected to the connecting member 2 near D and the connecting member 2 near F, the two ends of the twenty-fifth elastic member 4 are respectively connected to the connecting member 2 near K and the connecting member 2 near F, the two ends of the twenty-sixth elastic member 4 are respectively connected to the connecting member 2 near F and the connecting member 2 near B, the two ends of the twenty-seventh elastic member 4 are respectively connected to the connecting member 2 near K and the connecting member 2 near B, the two ends of the twenty-eighth elastic member 4 are respectively connected to the connecting member 2 near C and the connecting member 2 near I,The two ends of the twenty-ninth elastic member 4 are respectively connected to the connecting member 2 near D and the connecting member 2 near K, and the two ends of the thirtieth elastic member 4 are respectively connected to the connecting member 2 near B and the connecting member 2 near G.,

[0029] Embodiment 3

[0030] Refer to Figures 1-4 , which is the third embodiment of the present invention. Based on the above two embodiments, when in use, the electric push rod 3 provides the driving force. The telescopic movement of the electric push rod 3 and the stiffness of the thirty elastic members 4 are combined to obtain the structural stiffness of several robots. Due to the difference in structural stiffness, the robots can exhibit completely different motion forms under the same driving conditions, thus realizing multi-modal motion forms. At the same time, the rod member 1 drives the change in the length of the threaded rod 14 through the rotation of the internal threaded ring 12 and the threaded structure, and further adjusts the overall shape. The elastic member 4 is prepared in an intelligent manner to realize an elastic structure with adjustable stiffness. At the same time, it is equipped with self-locking hooks 48 rotatably arranged at both ends, which is convenient for connecting the connecting member 2 and is easy to disassemble. Therefore, when maintenance and replacement are required in the later stage, the elastic member 4 can be quickly disassembled and replaced.

[0031] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-modal tensegrity robot based on dual-stiffness intelligent materials, comprising a rod member (1) and an electric push rod (3), characterized in that: Both ends of the rod member (1) and the electric push rod (3) are respectively fixedly connected with a connecting member (2), and a plurality of elastic members (4) are respectively connected between the connecting members (2); There is one electric push rod (3), and there are five rod members (1) which are divided into three groups. Two of the groups contain four rod members (1) and the two rod members (1) are arranged parallel to each other. The other group contains a single rod member (1) and the electric push rod (3) and the two are arranged parallel to each other. There are thirty elastic members (4), and one end of five elastic members (4) is respectively connected to a single connecting member (2); The connecting member (2) includes a semi-circular piece (21), a groove (22), and a hanging rod (23). The flat end faces of the semi-circular piece (21) are respectively fixedly connected to both ends of the rod member (1) and the electric push rod (3). A plurality of grooves (22) are formed on the circumferential side of the semi-circular piece (21), and a hanging rod (23) is fixedly connected in the groove (22). The hanging rod (23) is movably connected to the elastic member (4); The elastic member (4) includes polydimethylsiloxane (41), alloy material (42), nickel-plated carbon fiber powder (43), electrode (44), end head (45), connecting seat (46), hinge seat (47), self-locking hook (48). The polydimethylsiloxane (41), alloy material (42), and nickel-plated carbon fiber powder (43) are cured to form a main body (49). Electrodes (44) are respectively installed at both ends of the main body (49). End heads (45) fixedly connected to both ends of the main body (49) are provided outside the electrodes (44). Connecting seats (46) are respectively rotatably connected to the ends of the end heads (45) far from the main body (49). One end of the connecting seat (46) is respectively fixedly connected with a hinge seat (47). A self-locking hook (48) is hinged on the hinge seat (47), and the self-locking hook (48) is respectively sleeved on the hanging rod (23).

2. The multi-modal tensegrity robot based on the bi-stiffness intelligent material according to claim 1, wherein: The rod member (1) includes a cylinder (11), an internal thread ring (12), anti-slip teeth (13), a threaded rod (14), and a limiting sliding groove (15). One end of the cylinder (11) is fixedly connected with a connecting member (2), and the other end is rotatably connected with an internal thread ring (12). A threaded rod (14) is sleeved in the internal thread ring (12) through a threaded structure. The end of the threaded rod (14) far from the cylinder (11) is fixedly connected with a connecting member (2).

3. The multi-modal tensegrity robot based on the bi-stiffness intelligent material according to claim 2, wherein: Anti-slip teeth (13) are provided on the outer wall of the internal thread ring (12). A limiting slider is fixedly connected to the inner wall of the cylinder (11). A limiting sliding groove (15) is concavely provided on the outer wall of the threaded rod (14), and the limiting slider fixedly connected to the inner wall of the cylinder (11) is slidably connected in the limiting sliding groove (15).

4. The multi-modal tensegrity robot based on the bi-stiffness intelligent material according to claim 1, characterized in that: The single rod member (1) and the electric push rod (3) are located between two rod members (1) in one group, and the single rod member (1) and the electric push rod (3) are located on both sides of two rod members (1) in the other group.

5. A multi-modal tensegrity robot based on a bi-stiffness intelligent material according to claim 1, characterized in that: The overall robot is composed of five rod members (1), one electric push rod (3), and thirty elastic members (4) to form an icosahedron, and the outer surface of the icosahedron is all triangular structures.

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