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A snake-like soft robot

A robot and software technology, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as less research on snake-shaped soft robots, and achieve the effect of effective control methods

Active Publication Date: 2018-03-06
董润华
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

There have been many theoretical studies on it before, but there are few studies on snake-like soft robots with meandering motion, and hard passive wheels are often required to achieve friction anisotropy to achieve the purpose of advancement

Method used

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  • A snake-like soft robot
  • A snake-like soft robot
  • A snake-like soft robot

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Embodiment Construction

[0024] The working principle of the present invention will be described in detail below in conjunction with the drawings and specific implementation schemes:

[0025] Such as figure 1 with figure 2 As shown, a snake-shaped soft robot of the present invention is composed of a motion base 7, a power system 6, and a signal system 5. The motion base 7 is composed of a plurality of pairs of unit bodies 1, and the unit bodies 1 are complete It is made of hollow casting of soft material, including the outer wall 3 and the inner space 2 enclosed by the outer wall 3 and the air passage 4 connecting the inner space 2. The unit body 1 is completely air-closed except for the air inlet pipe.

[0026] The working principle of the invention is as follows:

[0027] The arrangement of unit body 1 in the motion matrix is ​​as figure 2 As shown, the change of each section after the internal space 2 is inflated is as image 3 As shown, the symmetrically arranged unit body always has only one side infl...

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Abstract

The invention discloses an S-shaped soft-bodied robot which consists of a movement base body, a power system and a signal system, wherein the movement base body consists of a plurality of bilaterally symmetric unit bodies that are made of complete soft material in a hollow casting manner; the unit bodies comprise outer walls, inner spaces enclosed by the outer walls, and air passages communicated with the inner spaces; the inner spaces, except air inlet pipes, of the unit bodies are completely air-tight; the power system mainly comprises an air pump and magnetic valves; the quantity of the magnetic valves accords with that of the unit bodies; and opening and closing of a magnetic valve assembly are controlled by the signal system. Based on the bionics principle, through rational utilization of the particular characteristics of the soft material, the soft unit bodies forming the movement base body are subjected to special structural design, so that the mechanics requirement of wriggling movement is met, and advancing, retrograde and turning movements of the soft-bodied robot are realized.

Description

Technical field [0001] The invention relates to the technical field of soft machines, in particular to a snake-shaped soft robot. Background technique [0002] In recent years, soft robots with special soft properties have attracted the attention of many scientists and engineers. As the application environment of robots is becoming more and more complex, there are more and more application restrictions caused by the rigid components of traditional rigid robots, such as exploration machines in more complicated narrow spaces and pipeline spaces, or for human body treatment, recovery or even internal body For some implanted auxiliary machines, traditional rigid robots can only stay away from such an environment due to concerns that hard components may cause damage to pipes and human tissues. However, the characteristics of strong adaptability, soft power, and low destructiveness of soft robots can achieve good results in such an environment. If researched and developed, it will be ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/06
CPCB25J9/065
Inventor 李鸿宇曹云腾陈曦闫渊
Owner 董润华
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