Multifunctional bionic skin of worm-shaped robot

Abstract

The invention discloses a multifunctional bionic skin of a worm-shaped robot. The multifunctional bionic skin is formed by connecting a plurality of single-section skins in series. The single-section skin is of a cylindrical thin-wall structure and is provided with a corrugated structure, a circumferential folding structure and bionic seta; the corrugated structure is arranged at the end part of the single-section skin and is used for axially stretching and retracting; the circumferential folding structure is used for radial stretching and retracting and comprises key grooves and key teeth which are sequentially arranged at intervals in the circumferential direction of the single-section skin. The bionic bristles are arranged in the key grooves and stretch out of or retract into the key grooves along with unfolding or restoring of the key grooves. The bionic skin can adapt to axial and radial large deformation and simulate the earthworm seta function, can be used for a snake-like or worm-like robot, and has the functions of providing protection for the robot and enhancing the movement ability of the robot, so that the robot can adapt to rugged and severe environments.

Description

Technical Field

[0001] The present invention belongs to the technical field of bionic robots, and particularly relates to a multifunctional bionic skin for a worm-shaped robot. Background Art

[0002] Creatures such as snakes, worms, and caterpillars have attracted extensive attention in the research of bionic robots due to their excellent locomotion ability and environmental adaptability. In order to enable such bionic robots to move in the natural environment, the robot needs to wrap and protect its control, drive, transmission and other components through the skin. Considering the possible deformation of the robot and its adaptability to the terrain, the existing skin is made of materials with a relatively low elastic modulus such as rubber or silica gel. However, most skins only have the function of wrapping and protection, and there is still a large deformation resistance during large deformation. If a material with a lower elastic modulus is used to further reduce the skin deformation resistance, the wear resistance, fatigue resistance, and penetration resistance of the skin will be reduced at the same time. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art, and provide a multifunctional bionic skin for a worm-shaped robot, which solves the problem that it is impossible to balance comprehensive functions such as protection, reducing deformation resistance, and enhancing the movement ability of the robot in the above-mentioned background art.

[0004] The technical solution adopted by the present invention to solve its technical problems is: providing a multifunctional bionic skin for a worm-shaped robot, including a plurality of single-section skins; the single-section skin is cylindrical, and is provided with a corrugated structure, a circumferential folding structure, and bionic bristles; the corrugated structure is arranged at the end of the single-section skin and expands and contracts with the axial deformation of the bionic skin; the circumferential folding structure includes key grooves and key teeth arranged at intervals in sequence along the circumference of the single-section skin, and the key grooves expand with the increase of the radial direction of the single-section skin and return to the original state with the decrease; the bionic bristles are arranged in the key grooves and extend out of or retract into the key grooves with the expansion or restoration of the key grooves.

[0005] In a preferred embodiment of the present invention, the circumferential folding structure includes a cylindrical circumferential folding structure, wherein the key grooves and key teeth are located on the circumferential surfaces of two coaxial cylinders with different diameters, and the height of each key groove is the same and the depth of each key tooth is the same.

[0006] In a preferred embodiment of the present invention, the circumferential folding structure further includes a conical circumferential folding structure, and the conical circumferential folding structure is used for the transitional connection between the cylindrical circumferential folding structure and the corrugated structure.

[0007] In a preferred embodiment of the present invention, one end (the large end) of the conical circumferential folding structure is connected to the cylindrical circumferential folding structure, and the other end (the small end) extends towards the corrugated structure and has a structure in which the key tooth height and the key groove depth gradually decrease. The top surface of the key tooth and the bottom surface of the key groove are respectively located on two different conical surfaces. The diameter of the large end of the conical surface where the top surface of the key tooth is located is equal to the diameter of the cylindrical surface where the top surface of the key tooth of the connected cylindrical circumferential folding structure is located, and the diameter of the small end is equal to the diameter at the connection with the corrugated structure; the diameter of the large end of the conical surface where the bottom surface of the key groove is located is equal to the diameter of the cylindrical surface where the bottom surface of the key groove of the connected cylindrical circumferential folding structure is located, and the diameter of the small end is equal to the diameter at the connection with the corrugated structure. The deformation of the conical axial folding structure is mainly the change in the radial dimension of the large end, while the radial dimension of the small end remains unchanged. When the conical circumferential folding structure expands radially at the large end, it will contract axially and the axial dimension will decrease. When the cylindrical circumferential folding structure deforms, the radial dimension changes greatly, while the axial dimension changes little.

[0008] In a preferred embodiment of the present invention, the corrugated structure is composed of a wave crest ring and a wave trough ring, and the wave crest ring and the wave trough ring are arranged periodically along the axis of a single-section skin.

[0009] In a preferred embodiment of the present invention, the diameter where the corrugated structure is located is smaller than the diameter when the circumferential folding structure contracts.

[0010] In a preferred embodiment of the present invention, the radial cross-section of the key groove or the key tooth includes a rectangle, a trapezoid or a triangle, and the key tooth has a smooth outer surface.

[0011] In a preferred embodiment of the present invention, the bionic bristles are distributed at intervals on the bottom surface of the key groove and extend radially outwards, and the height of the bionic bristles is not greater than the depth of the key groove.

[0012] In a preferred embodiment of the present invention, the shape of the bionic bristles includes a prism, a cylinder or a pyramid.

[0013] In a preferred embodiment of the present invention, the circumferential folding structure and the corrugated structure have a uniform wall thickness.

[0014] In a preferred embodiment of the present invention, the bionic skin is formed by connecting a plurality of single-section skins in series.

[0015] Compared with the background technology, this technical solution has the following advantages:

[0016] 1. By designing the cylindrical circumferential folding structure, the present invention significantly reduces the resistance of the skin during large radial deformation. The conical circumferential folding structure realizes a uniform transition between the cylindrical circumferential folding structure and the corrugated structure, and the corrugated structure significantly reduces the resistance of the skin during large axial deformation; the requirement for the elastic modulus of the skin material is reduced, which helps to use materials with better wear resistance, fatigue resistance and anti-penetration performance, etc.

[0017] 2. The skin of the present invention has comprehensive functions of protection and increasing the movement ability of the robot by adjusting the surface roughness; a bionic bristle structure is designed on the skin, and the bionic bristles extend when the skin expands radially, increasing the friction between the skin and the crawling surface; when the skin contracts radially, the bionic bristles retract, reducing the friction between the skin and the crawling surface; the bionic bristles simulate the movement and function of the bristles of an earthworm during peristalsis, and can enhance the peristaltic movement ability of the robot.

[0018] 3. The skin of the present invention can meet different functional requirements by adjusting structural parameters, including adjusting the number and depth of the key grooves of the circumferential folding structure of the cylindrical surface to meet the requirements of radial deformation, adjusting the number of turns of the corrugations of the corrugated structure to meet the requirements of axial deformation, adjusting the number of segments of the skin to meet the requirements of the robot length, etc., to realize a highly adaptable bionic skin with comprehensive functions such as protection, reducing deformation resistance, and enhancing the movement ability of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the single-segment skin structure in the embodiment.

[0020] Figure 2 It is an axial sectional view of the single-segment skin in the embodiment ( Figure 1 section A-A in

[0021] Figure 3 It is a cross-sectional view of the single-segment skin in the embodiment ( Figure 1 section B-B in

[0022] Figure 4 It is a schematic diagram of the three-segment bionic skin structure in the embodiment.

[0023] Among them, 1 - circumferential folding structure of the cylindrical surface, 2 - circumferential folding structure of the conical surface, 3 - corrugated structure, 4 - bionic bristles. DETAILED DESCRIPTION OF THE INVENTION

[0024] The present invention will be further described below with reference to the drawings and embodiments.

[0025] Embodiment

[0026] Taking the series connection of three single-segment skins as an example, a multi-functional bionic skin of a worm-shaped robot in this embodiment.

[0027] The single-segment skin is in the shape of a thin-walled cylinder, and is provided with a corrugated structure 3, a circumferential folding structure, and bionic bristles 4.

[0028] The corrugated structure 3 is arranged at the ends of the single-segment skin, and is arranged at both ends in this embodiment, and is formed by the periodic arrangement of wave crest rings and wave trough rings along the axial direction of the single-segment skin, and expands and contracts with the axial deformation of the bionic skin.

[0029] The circumferential folding structure includes a cylindrical circumferential folding structure 1 and a conical circumferential folding structure 2, which are provided with key grooves and key teeth that are sequentially spaced and evenly arranged along the circumference of a single-section skin. Among them, the key grooves and key teeth of the cylindrical circumferential folding structure 1 are located on the circumferential surfaces of two coaxial cylinders with different diameters, and the height of each key groove is the same and the depth of each key tooth is the same; the conical circumferential folding structure 2 is used for the transitional connection between the cylindrical circumferential folding structure 1 and the corrugated structure 3. One end (the large end) of the conical circumferential folding structure 2 is connected to the cylindrical circumferential folding structure, and the other end (the small end) extends towards the corrugated structure and has a structure in which the key tooth height and the key groove depth gradually decrease. The top surface of the key tooth and the bottom surface of the key groove of the conical circumferential folding structure 2 are respectively located on two different conical surfaces. The diameter of the large end of the conical surface where the top surface of the key tooth is located is equal to the diameter of the cylindrical surface where the top surface of the key tooth of the connected cylindrical circumferential folding structure is located, and the diameter of the small end is equal to the diameter at the connection with the corrugated structure; the diameter of the large end of the conical surface where the bottom surface of the key groove is located is equal to the diameter of the cylindrical surface where the bottom surface of the key groove of the connected cylindrical circumferential folding structure is located, and the diameter of the small end is equal to the diameter at the connection with the corrugated structure.

[0030] The circumferential folding structure and the corrugated structure 3 have a uniform wall thickness. As Figure 3In the cross-sectional view shown, there are a total of 12 rectangular key teeth and key grooves in this embodiment. The cross-section of the key teeth is rectangular, i.e., columnar, in the initial state, and the key teeth have a smooth surface. Since the diameter at the location of the corrugated structure 3 is smaller than the diameter when the circumferential folding structure contracts. Since the bending deformation modulus of the thin-walled structure is much smaller than the tensile deformation modulus, when the cylindrical circumferential folding structure 1 expands radially in the skin, mainly bending deformation occurs between the side wall and the bottom surface of the key groove, and between the side wall of the key groove and the top surface of the key tooth. Therefore, when the skin expands radially, the deformation force required for the cylindrical circumferential folding structure 1 is much smaller than that of a smooth cylindrical surface. Similarly, the deformation force required for the corrugated structure 3 during axial expansion and contraction is much smaller than that of a smooth cylindrical surface. However, the deformation force required for the cylindrical circumferential folding structure 1 during axial tensile deformation and for the corrugated structure 3 during radial expansion deformation is relatively large. Therefore, the single-section skin structure combined with the cylindrical circumferential folding structure 1 and the corrugated structure 3 can achieve large deformations of the skin in both the axial and radial directions with a relatively small deformation force. And because the cylindrical circumferential folding structure 1 and the corrugated structure 3 are connected by a conical folding structure, the conical folding structure is also composed of key grooves and key teeth evenly distributed circumferentially, and the key groove depth or key tooth height at different cross-sections is different (having a structure with gradually decreasing height in the direction of the corrugated structure 3). The diameters of the cylindrical surfaces where the bottom surface of the key groove and the top surface of the key tooth are located at one end of the conical folding structure are the same as the diameters of the cylindrical surfaces where the bottom surface of the key groove and the top surface of the key tooth are located in the cylindrical circumferential folding structure 1 respectively. The diameters of the cylindrical surfaces where the bottom surface of the key groove and the top surface of the key tooth are located at the other end of the conical folding structure are equal, and are both equal to the diameter of the corresponding cylindrical surface of the corrugated structure 3 connected thereto. The conical folding structure realizes a uniform transition between the radial expansion deformation of the cylindrical circumferential folding structure 1 and the axial tensile deformation of the corrugated structure 3 by unfolding its folding structure with a small deformation force.

[0031] The bionic bristles 4 are arranged in the key grooves. In this embodiment, the bionic bristles 4 are connected to the bottom of the key grooves, are distributed at intervals on the bottom surface of the key grooves in the shape of a quadrangular pyramid and extend radially outward. The height of the bionic bristles 4 is comparable to the depth of the key grooves. When the skin does not expand radially, the bionic bristles 4 are hidden in the key grooves, and the smooth top surface of the key teeth of the skin contacts the crawling surface of the robot, with relatively small friction. When the skin expands radially, the key grooves are flattened, and finally the bottom surface of the key groove and the top surface of the key tooth are located on the same cylindrical surface. During the radial expansion process of the skin, the bionic bristles 4 extend from the bottom surface of the key groove to contact the crawling surface of the robot, increasing the friction between the robot and the crawling surface.

[0032] As can be known to those skilled in the art, when the technical parameters of the present invention vary within the following ranges, technical effects similar to or the same as those of the above embodiments can be expected: the size and number of the key teeth and key grooves can be adjusted according to the needs of radial deformation; the number of sections of the skin can be increased or decreased according to the needs of the robot, and the number of turns of the corrugated structure 3 can also be increased or decreased according to the needs of axial deformation. No matter how many sections the skin is composed of, the deformation force required during axial and radial deformation is relatively small.

[0033] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multifunctional bionic skin for a worm-shaped robot, characterized in that: It includes several single-section skins; the single-section skins are cylindrical, provided with corrugated structures, circumferential folding structures and bionic bristles; the corrugated structures are arranged at the ends of the single-section skins; the circumferential folding structures include key grooves and key teeth arranged at intervals in sequence along the circumferential direction of the single-section skins; the bionic bristles are arranged in the key grooves and extend out of or retract into the key grooves as the key grooves unfold or recover.

2. The multifunctional bionic skin of a worm-shaped robot according to claim 1, characterized in that: The circumferential folding structure includes a cylindrical circumferential folding structure, where the key grooves and key teeth are located on the circumferential surfaces of two coaxial cylinders with different diameters, and the height of each key groove is the same and the depth of each key tooth is the same.

3. The multifunctional bionic skin of a worm-shaped robot according to claim 2, characterized in that: The circumferential folding structure also includes a conical circumferential folding structure, and the conical circumferential folding structure is used for the transitional connection between the cylindrical circumferential folding structure and the corrugated structure.

4. The multifunctional bionic skin of a worm-shaped robot according to claim 3, characterized in that: One end of the key teeth and key grooves of the conical circumferential folding structure are respectively correspondingly connected to the key teeth and key grooves of the cylindrical circumferential folding structure, and the height of the key teeth and the depth of the key grooves gradually decrease in the direction towards the corrugated structure, and the diameter of the other end is equal to the diameter at the connection with the corrugated structure.

5. The multifunctional bionic skin of a worm-shaped robot according to claim 1, characterized in that: The corrugated structure is composed of wave crest rings and wave trough rings, and the wave crest rings and wave trough rings are arranged periodically along the axial direction of the single-section skin.

6. The multifunctional bionic skin of a worm-shaped robot according to claim 1, characterized in that: The radial cross-section of the key groove or key tooth includes a rectangle, a trapezoid or a triangle, and the key tooth has a smooth outer surface.

7. The multifunctional bionic skin of a worm-shaped robot according to claim 1, characterized in that: The bionic bristles are distributed at intervals on the bottom surface of the key groove and extend radially outwards, and the height of the bionic bristles is not greater than the depth of the key groove.

8. The multifunctional bionic skin of a worm-shaped robot according to claim 1, characterized in that: The shape of the bionic bristles includes a prism, a cylinder or a pyramid.

9. The multifunctional bionic skin of a worm-shaped robot according to claim 1, characterized in that: The circumferential folding structure and the corrugated structure have a uniform wall thickness.

10. The multifunctional bionic skin of a worm-shaped robot according to claim 1, characterized in that: It is formed by connecting several single-section skins in series.

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