Foot adhesion type pneumatically-driven inchworm-imitating robot and movement method thereof

Abstract

The invention relates to a foot adhesion type pneumatic driving inchworm-imitating robot and a movement method thereof, and belongs to the technical field of robot application. The device comprises a machine foot adhesive material (A), a head corrugated pipe set (B), a body corrugated pipe chain link (C), a body connecting support (D) and a tail corrugated pipe set (E). The robot simulates a bionic inchworm action mechanism, adapts to smooth and rough surfaces as well as horizontal plane, first plane-wall surface and wall surface-ceiling multi-mode multi-surface movement, and realizes a self-adaptive stable attachment function when the foot end of the robot acts on a first plane force.

Description

Technical Field

[0001] The present invention belongs to the technical field of robot applications, and particularly relates to a foot-adhesive pneumatically-driven inchworm robot and its movement method, mainly as an unstructured terrain mobile platform in a natural environment. Background Art

[0002] Robots that can adapt to various natural and complex environments are one of the most cutting-edge topics in the current field of robot research. It integrates multiple disciplines such as machinery, electronics, computer, materials, sensors, control technology, and artificial intelligence, reflecting a country's intelligent and automated research level. At the same time, it is also an important symbol of a country's high-tech strength. Developed countries have successively invested heavily in research in this field.

[0003] There are mainly five forms of foot-end adhesion methods for bionic inchworm robots: friction type, suction cup type, adhesive material type, contact type, and clamping type. The friction type mainly relies on the friction force generated between the foot end of the robot and the first plane to achieve attachment and detachment. The disadvantage is that it is a point contact when contacting a hard first plane, which easily causes the robot to slip. The advantage of the suction cup type of attachment is that the attachment is stable and the adsorption and desorption are easy to control, but the application scenario is limited to a relatively flat surface. The adhesive material type can adapt to various shapes and surface changes, thus achieving stable attachment. The contact type of attachment method mainly improves the attachment performance by increasing the friction force or normal pressure between the foot end and the contact surface. The implementation method is simple, reliable, and easy to control, but the application scenario is limited to inside a pipeline. The advantage of the clamping type is that the attachment is firm and the load-bearing performance is good, but the robot generally has a large size and weight due to carrying a motor, and the application scenario is limited to rods, columns, etc.

[0004] The driving modes of bionic inchworm robots mainly have three forms: intelligent material type, pneumatic driving type, and electromagnetic driving type. Intelligent materials refer to SMA, dielectric elastomers, artificial muscle materials, etc. These materials usually have the characteristics of high manufacturing cost, long response time, and difficult precision control. Pneumatic driving can accurately control the deformation amount through an air pressure pump. The disadvantage is that the air pipe imposes certain restrictions on the movement of the robot. Electromagnetic driving has the characteristics of high efficiency and energy conversion efficiency, fast response speed, etc., but it has a high cost and is easily affected by the grid voltage and electromagnetic interference.

[0005] Therefore, designing a robot with a pneumatic driving mode and using an adhesive material to achieve the anchoring of the robot, so as to achieve multi-surface and multi-modal movement, will have important research significance and engineering value.

[0006] Many scientific research institutions at home and abroad have carried out research on bionic inchworm robots. Among them, the researchers at Jiaxing University designed a modular soft deformable actuator robot (CN 222570831 U). The body of the robot is divided into four air chambers, and the foot ends use the suction cup adsorption method to accurately control the deformation, bending, and torsion of the deformation module. The researchers at the School of Mechanical Engineering of Guangxi University designed a soft robot with omnidirectional steering and obstacle surmounting functions. Three bellows are used as the main structure of the body, and the foot ends are attached by winding the bellows around the pole, imitating the peristaltic movement of the inchworm, so as to realize the climbing of the robot under various working conditions. (Ding E, Su H, Nong W, Huang C. An inchworm-inspired soft robot with combined functions of omni-directional steering and obstacle surmounting. Industrial Robot: the international Eournal of robotics research and application 2023;50:456-66. [DOI: 10.1108 / IR-09-2022-0224]) The researchers at Shanghai Jiao Tong University proposed an inchworm-inspired multimodal robot that can crawl on a horizontal plane, climb on a vertical wall, and actively transition between them. The robot consists of three curved PAMs and two negative pressure suction cups. The former is designed to produce a "Ω" deformation, and the latter can provide controllable friction. (Zhang Y, Yang D, Yan P, Zhou P, Zou E, Gu G. Inchworm Inspired Multimodal Soft Robots With Crawling, Climbing, and Transitioning Locomotion. IEEE Transactions on Robotics 2022;38:1806-19. [DOI: 10.1109 / TRO.2021.3115257]) The researchers at Xi'an Jiaotong University designed a pneumatic actuator with a strain limiting layer as the body of the bionic inchworm robot, and controlled anchoring and movement through the friction difference between the front and rear feet.(Guo H, Zhang E, Wang T, Li Y, Hong E, Li Y. Design and control of an inchworm-inspired soft robot with omega-arching locomotion. 2017 IEEE International Conference on Robotics and Automation (ICRA); 2017, pp. 4154-9)。 So far, the motion modes of bionic inchworm robots are relatively single, and there has been no report or research on pneumatic soft robots with overstep motion, capable of multi-surface and multi-modal motion, and using adhesion materials for anchoring. Summary of the Invention

[0007] The purpose of the present invention is to simulate the inchworm motion mechanism, adapt to both smooth and rough surfaces, and achieve the self-adaptive stable attachment function when the robot's foot end acts on the first plane, providing an adhesive bionic inchworm robot and a motion method.

[0008] A foot-adhesive pneumatically-driven inchworm-inspired robot, characterized in that: It consists of a robot head, a robot body, and a robot tail; Among them, the robot body successively includes a number of body bellows linkages from back to front. Each body bellows linkage is formed by circumferentially paralleling 3 body bellows; the axially adjacent body bellows linkages are connected by body connection brackets; the internal air paths of the body bellows at the same circumferential position in all body bellows linkages are successively connected in series, altogether forming three groups of body bellows axial tube groups. Each group of body bellows axial tube groups is connected to a gas source through a trachea; The robot head includes a head bellows group, which is installed on the frontmost body bellows linkage of the robot body through a foot-end connection bracket. The head bellows group is formed by circumferentially paralleling 3 head bellows; each head bellows is connected to a gas source through a foot-head trachea, and the front end face of the head bellows is pasted with a foot adhesion material; The robot tail includes a tail bellows group, which is installed on the rearmost body bellows linkage of the robot body through a foot-end connection bracket. The tail bellows group is formed by circumferentially paralleling 3 head bellows; each tail bellows is connected to a gas source through a foot-tail trachea, and the rear end face of the tail bellows is pasted with a foot adhesion material.

[0009] The motion mode of the above-mentioned foot-adhesive pneumatically-driven inchworm-inspired robot is characterized in that:

[0010] For the head, the head bellows group is inflated by the head trachea at the foot end. The head bellows group expands and elongates, and the adhesive material at its bottom contacts the first plane and adheres stably, completing the anchoring of the foot; the head bellows group is deflated, the head bellows group contracts and shortens, and the adhesive material detaches from the first plane. For the tail, the tail bellows group is inflated by the tail trachea at the foot end. The tail bellows group expands and elongates, and the adhesive material at its bottom contacts the first plane and adheres stably, completing the anchoring of the foot; the tail bellows group is deflated, the tail bellows group contracts and shortens, and the adhesive material detaches from the first plane.

[0011] The bending of the body is realized by the inflation and deflation of the three groups of body bellows axial tube groups. Specifically, when any two of the three groups are inflated and the other group is deflated, the body bends towards the side of the deflated tube group.

[0012] The movement mode of the above-mentioned foot adhesion pneumatic drive inchworm robot is characterized by including the following processes:

[0013] In the initial state, the robot is bent, and both the head bellows group and the tail bellows group are in the expanded and elongated state. The adhesive materials at their bottoms contact the plane and adhere stably. Keep the tail bellows group / head bellows group inflated all the time and adhere tightly to the plane; deflate the head bellows group / tail bellows group to make it contract and shorten, and the adhesive material detaches from the plane; at the same time, deflate and contract one or two groups of body bellows axial tube groups of the robot's torso part away from the plane, and inflate and expand the other body bellows close to the plane, so that the robot's head / robot's tail is lifted away from the plane, and the robot's body flips towards the direction of the deflated and contracted body bellows axial tube group; when the robot's body realizes a 180° bending flip, inflate the head bellows group / tail bellows group to make it expand and elongate, and the adhesive material adheres tightly to the plane. Thus, a complete plane flip motion cycle is completed. Second, for the vertical plane transition movement: The first plane is perpendicular to the second plane. In the initial state, the robot is bent, and both the head bellows group and the tail bellows group are in the expanded and elongated state. The adhesive materials at their bottoms contact the first plane and adhere stably. Keep the tail bellows group / head bellows group inflated at all times and tightly adhered to the first plane; deflate the head bellows group / tail bellows group to make it contract and shorten, and the adhesive material desorbs from the first plane; at the same time, deflate and contract one or two groups of body bellows axial tube groups of the robot torso away from the first plane, and inflate and expand the other body bellows axially close to the first plane to lift the robot head / robot tail away from the first plane; the robot body flips towards the direction of the deflated and contracted body bellows axial tube group; when the robot body achieves a 120 - 140 - degree bending flip, inflate the head bellows group / tail bellows group to make it expand and elongate, and the adhesive material adheres tightly to the second plane, thus completing a complete first - plane - second - plane transition motion cycle.

[0014] The above - mentioned foot - adhering pneumatic - driven inchworm - like robot is characterized in that: among the three groups of body bellows axial tube groups, the air - path connection mode of axially adjacent body bellows is through an intermediate air - tube connection mode or a structural direct - connection mode.

[0015] The above - mentioned foot - adhering pneumatic - driven inchworm - like robot is characterized in that: each body bellows is in a cylindrical shape as a whole, but its front part is a conical shape that gradually shrinks from the back to the front, and axially adjacent body bellows are connected to the bottom of the cylinder through the conical tip to realize the air - path connection of adjacent body bellows.

[0016] For smooth or rough surfaces, the use of adhesive materials can achieve stable adhesion on smooth surfaces. The above - mentioned adhesive - driven pneumatic - driven bionic inchworm robot and motion method can pass through some smooth first planes with small friction coefficients or rough first planes with uneven surfaces, and has good all - terrain adaptability.

[0017] The present invention has the following advantages compared with the prior art: The present invention can achieve flexible movement of the soft robot in any direction within 360 degrees in three - dimensional space.

[0018] The present invention can utilize adhesive materials to achieve stable adhesion and desorption between the robot foot end and the first plane.

[0019] The present invention can achieve horizontal plane movement, first - plane - wall surface transition movement, wall - ceiling transition movement, realize multi - modal multi - surface movement, and adapt to various terrain mobile platforms.

[0020] 4. The structure of the present invention is simple, the motion principle is clear, and the motion implementation is convenient. It can enable the soft robot to adapt to smooth or rough roads in different environments, providing a mechanism motion guarantee for efficient and stable movement.

[0021] 5. The structure of the present invention is ingenious, with a small volume, light weight, convenient processing, and economic feasibility, which can provide a solution for non-structural terrain mobile platforms in the natural environment. Description of the Drawings

[0022] Figure 1 is a three-dimensional view of an adhesive bionic inchworm soft robot according to the present invention; Figure 2 is an exploded view of an adhesive bionic inchworm soft robot according to the present invention; Figure 3 is an exploded view of the head link of an adhesive bionic inchworm soft robot according to the present invention; Figure 4 is an exploded view of the bellows link of an adhesive bionic inchworm soft robot according to the present invention; Figure 5 is a plan view of the movement process of an adhesive bionic inchworm soft robot according to the present invention; Figure 6 is a schematic diagram of foot adhesion and foot detachment of an adhesive bionic inchworm soft robot according to the present invention; Figure 7 - 23 is each state during the movement process of an adhesive bionic inchworm soft robot according to the present invention; Figure 24 is the 360-degree movement state of an adhesive bionic inchworm soft robot in three-dimensional space according to the present invention; Figure 1 - 7 Names of reference numerals: Figure 1 - 7 Names of reference numerals: A, foot adhesion material; B, head bellows group; C, body bellows link; D, body connection bracket; E, tail bellows group; 1, adhesion material; 2, foot-end bellows; 3, foot-end connection bracket; 4, body bellows; a, foot-end tail trachea, b, first trachea, c, second trachea, d, third trachea, e, foot-end head trachea. Detailed Description of the Invention

[0023] The present invention will be further described in detail below with reference to the drawings and specific embodiments: Combined with Figure 1 - 24 , the purpose of the present invention is to provide a foot-adhesive pneumatically-driven bionic inchworm robot, which is characterized in that: It consists of a robot head, a robot body, and a robot tail; The robot body successively includes a number of body bellows links from the rear to the front. Each body bellows link is formed by circumferentially paralleling 3 body bellows. The axially adjacent body bellows links are connected by body connection brackets. The internal air paths of the body bellows at the same circumferential position in all body bellows links are successively connected in series, forming three groups of body bellows axial pipe groups in total. Each group of body bellows axial pipe groups is connected to the gas source through a gas pipe. The robot head includes a head bellows group B, which is installed on the body bellows link at the foremost end of the robot body through a foot-end connection bracket 3. The head bellows group is formed by circumferentially paralleling 3 head bellows. Each head bellows is connected to the gas source through a foot-head gas pipe. The front end face of the head bellows is pasted with foot adhesion material. The robot tail includes a tail bellows group E, which is installed on the body bellows link at the rearmost end of the robot body through a foot-end connection bracket 3. The tail bellows group is formed by circumferentially paralleling 3 tail bellows. Each tail bellows is connected to the gas source through a foot-tail gas pipe. The rear end face of the tail bellows is pasted with foot adhesion material.

[0024] Among the three groups of body bellows axial pipe groups, the connection mode of adjacent body bellows air paths is through an intermediate gas pipe connection mode or a structural direct connection mode.

[0025] Each body bellows is integrally cylindrical, but its front part is a conical shape that gradually narrows from the rear to the front. Adjacent body bellows are connected to each other's air paths by inserting the conical tip into the cylindrical bottom.

[0026] The present invention aims to provide a method for the detachment and adhesion of the robot head or foot: For the head, the head bellows group B is inflated by using the foot-end head gas pipe e. The head bellows group B expands and elongates, and the adhesion material at its bottom contacts the first plane and adheres stably, completing the anchoring of the foot. The head bellows group B is deflated, and the head bellows group B contracts and shortens, and the adhesion material detaches from the first plane. For the tail, the tail bellows group E is inflated by using the foot-end tail gas pipe a. The tail bellows group E expands and elongates, and the adhesion material at its bottom contacts the first plane and adheres stably, completing the anchoring of the foot. The tail bellows group E is deflated, and the tail bellows group E contracts and shortens, and the adhesion material detaches from the first plane.

[0027] The present invention aims to provide a method for the bending of the robot body: The bending of the body is achieved by inflating and deflating the three groups of body bellows axial pipe groups. Specifically, when any two of the three groups are inflated and the other group is deflated, the body bends towards the side of the deflated pipe group.

[0028] The objective of the present invention is to provide a movement method for an adhesive bionic inchworm robot, including the following processes, as Figure 5 shown:

[0029] In the initial state, the robot is bent, and both the head bellows group B and the tail bellows group E are in the inflated and extended state. The adhesion materials at their bottoms contact the plane and adhere stably. Keep the tail bellows group E / head bellows group B inflated all the time to adhere tightly to the plane; while deflate the head bellows group B / tail bellows group E to make it contract and shorten, and the adhesion material detaches from the plane; at the same time, deflate and contract one or two sets of body bellows axial tube groups of the robot torso part away from the plane, and inflate and expand the other body bellows axial tubes close to the plane, so that the robot head / robot tail is lifted away from the plane, and the robot body flips towards the deflated and contracted body bellows axial tube group direction; when the robot body achieves a 180° bending flip, inflate the head bellows group B / tail bellows group E to make it expand and extend, and the adhesion material adheres tightly to the plane. Thus, a complete plane flip movement cycle is completed.

[0030] The first plane is perpendicular to the second plane. In the initial state, the robot is bent, and both the head bellows group B and the tail bellows group E are in the inflated and extended state. The adhesion materials at their bottoms contact the first plane and adhere stably. Keep the tail bellows group E / head bellows group B inflated all the time to adhere tightly to the first plane; while deflate the head bellows group B / tail bellows group E to make it contract and shorten, and the adhesion material detaches from the first plane; at the same time, deflate and contract one or two sets of body bellows axial tube groups of the robot torso part away from the first plane, and inflate and expand the other body bellows axial tubes close to the first plane, so that the robot head / robot tail is lifted away from the first plane; the robot body flips towards the deflated and contracted body bellows axial tube group direction; when the robot body achieves a 120 - 140 - degree bending flip, inflate the head bellows group B / tail bellows group E to make it expand and extend, and the adhesion material adheres tightly to the second plane. Thus, a complete first plane - second plane transition movement cycle is completed.

Claims

1. A foot - adhering pneumatically - driven inchworm - like robot, characterized in that: It is composed of a robot head, a robot body, and a robot tail; Among them, the robot body successively includes a number of body bellows linkages from back to front. Each body bellows linkage is formed by circumferentially paralleling 3 body bellows. Axially adjacent body bellows linkages are connected by body connection brackets. The internal air paths of the body bellows at the same circumferential position in all body bellows linkages are successively connected in series, altogether forming three groups of body bellows axial tube groups. Each group of body bellows axial tube groups is connected to a gas source through a gas pipe; The robot head includes a head bellows group (B), which is installed on the front - most body bellows linkage of the robot body through a foot - end connection bracket (3). The head bellows group is formed by circumferentially paralleling 3 head bellows. Each head bellows is connected to a gas source through a foot - head gas pipe, and the front end face of the head bellows is pasted with a foot - adhering material; The robot tail includes a tail bellows group (E), which is installed on the rearmost body bellows linkage of the robot body through a foot - end connection bracket (3). The tail bellows group is formed by circumferentially paralleling 3 tail bellows. Each tail bellows is connected to a gas source through a foot - tail gas pipe, and the rear end face of the tail bellows is pasted with a foot - adhering material.

2. The foot-attached pneumatic-driven inchworm-like robot according to claim 1, wherein: In the three groups of body bellows axial tube groups, the air - path connection mode of axially adjacent body bellows is either through an intermediate gas - pipe connection mode or a structural direct - connection mode.

3. The foot-attached pneumatic-driven inchworm-like robot according to claim 2, characterized in that: Each body bellows is overall cylindrical, but its front part is a conical shape that gradually narrows from back to front. Axially adjacent body bellows are connected to each other's air paths by inserting the conical tip into the cylindrical bottom.

4. According to the movement mode of the foot - adhering pneumatically - driven inchworm - like robot described in claim 1, characterized in that: Desorption and adhesion of the robot head or foot: For the head, inflate the head bellows group (B) using the foot - end head gas pipe (e). The head bellows group (B) expands and elongates, and the adhesion material at its bottom contacts the first plane and stably adheres, completing the anchoring of the foot. Deflate the head bellows group (B), and the head bellows group (B) contracts and shortens, and the adhesion material desorbs from the first plane; For the tail, inflate the tail bellows group (E) using the foot - end tail gas pipe (a). The tail bellows group (E) expands and elongates, and the adhesion material at its bottom contacts the first plane and stably adheres, completing the anchoring of the foot. Deflate the tail bellows group (E), and the tail bellows group (E) contracts and shortens, and the adhesion material desorbs from the first plane; Bending of the body: The bending of the body is realized by inflating and deflating the three groups of body bellows axial tube groups. Specifically, when any one or two of the three groups are inflated and the rest are deflated, the body bends towards the side of the deflated tube group.

5. The movement mode of the foot-attached pneumatic-driven inchworm-like robot according to claim 4, characterized in that It includes the following processes: First, for forward movement on the same plane: In the initial state, the robot is bent, and both the head bellows group (B) and the tail bellows group (E) are in an expanded and elongated state, and the adhesion materials at their bottoms contact the plane and stably adhere; Keep the tail bellows group (E) / head bellows group (B) always inflated and tightly adhered to the plane; deflate the head bellows group (B) / tail bellows group (E) to make it contract and shorten, and the adhesion material is detached from the plane; at the same time, deflate and contract one or two sets of body bellows axial tube groups of the robot torso away from the plane, and inflate and expand the other body bellows axials close to the plane, so that the robot head / robot tail is lifted away from the plane, and the robot body flips towards the deflated and contracted body bellows axial tube group; when the robot body achieves a 180° bending flip, inflate the head bellows group (B) / tail bellows group (E) to make it expand and elongate, and the adhesion material adheres tightly to the plane. Thus, a complete plane flipping motion cycle is completed; Second, for the vertical plane transition motion: The first plane is perpendicular to the second plane. In the initial state, the robot is bent, and both the head bellows group (B) and the tail bellows group (E) are in the inflated and elongated state, and the adhesion material at their bottoms contacts the first plane and adheres stably; Keep the tail bellows group (E) / head bellows group (B) always inflated and tightly adhered to the first plane; deflate the head bellows group (B) / tail bellows group (E) to make it contract and shorten, and the adhesion material is detached from the first plane; at the same time, deflate and contract one or two sets of body bellows axial tube groups of the robot torso away from the first plane, and inflate and expand the other body bellows axials close to the first plane, so that the robot head / robot tail is lifted away from the first plane; the robot body flips towards the deflated and contracted body bellows axial tube group; when the robot body achieves a 120 - 140 degree bending flip, inflate the head bellows group (B) / tail bellows group (E) to make it expand and elongate, and the adhesion material adheres tightly to the second plane. Thus, a complete first plane - second plane transition motion cycle is completed.

Images