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Pneumatic type soft motion robot based on earthworm motion principle

A pneumatic and robotic technology, applied in the field of robotics, can solve problems such as inability to achieve smooth movement, and achieve accurate remote control and operation, easy miniaturization, and good flexibility

Active Publication Date: 2016-11-16
SHANGHAI INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The purpose of the present invention is to provide a pneumatic soft body motion robot based on the principle of earthworm movement, so as to solve the problem that the existing soft body robot cannot move smoothly when moving, moving forward or turning in harsh terrain

Method used

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  • Pneumatic type soft motion robot based on earthworm motion principle
  • Pneumatic type soft motion robot based on earthworm motion principle
  • Pneumatic type soft motion robot based on earthworm motion principle

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Embodiment Construction

[0030] In order to better illustrate the present invention, the present invention will be described in detail with a preferred embodiment and with accompanying drawings, specifically as follows:

[0031] like figure 2 , 3 As shown, a pneumatic soft body motion robot based on the principle of earthworm movement includes: a first body part 1, a second body part 2, and a third body part 3, wherein the first body part 1 and the second body part 2 pass through The first telescopic part 4 links to each other, and the second body part 2 and the third body part 3 are connected through the second telescopic part 5. The device 21 is controlled to expand and contract; wherein, the lower parts of the first body part 1 and the third body part 3 are provided with mechanical bristles.

[0032] Wherein, the mechanical bristles in this embodiment are barb-shaped streamlined mechanical bristles obtained by chrome plating on the surface of the cold plate. The barb-shaped streamlined mechanic...

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Abstract

The invention provides a pneumatic type soft motion robot based on an earthworm motion principle. The robot comprises a first body part, a second body part and a third body part, wherein the first body part is connected with the second body part through a first telescopic part, the second body part is connected with the third body part through a second telescopic part, and the first body part and the second body part are controlled by a controller arranged on the second body part to stretch and retract; and mechanical steel bristles are arranged at the lower portion of the first body part and the lower portion of the third body part. By the adoption of the robot, a robot motion model is established according to the earthworm motion mechanism, and through the mechanical steel bristles, pneumatic control replacement and simulation of stretching and retracting of transverse muscles and longitudinal muscles of an earthworm, the robot can conduct complex actions of walking straightly, making a turn, crossing an obstacle and the like in a severe environment. Through intelligent control, the robot can be used in industrial pipeline exploration and disaster search and rescue.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a pneumatic soft-body motion robot based on the motion principle of earthworms. Background technique [0002] As human activities become more and more frequent, all human beings living in the earthquake zone are in danger of encountering natural disasters such as earthquakes. After an earthquake, the rescue process is covered by rubble and ruins, and the complex terrain makes rescue detection difficult. It is extremely difficult, and aftershocks frequently occur after the earthquake, which greatly increases the risk factor of rescue work, which puts forward requirements for robots that can turn and cross obstacles in harsh environments (in caves, pipelines, tile ruins, It can move under complex terrain such as mountains and rocks, and activities such as life detection and scientific exploration have put forward higher requirements). [0003] Existing snake-shaped robots meander f...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02
CPCB62D57/02
Inventor 郝旭耀赵怀林王晨晖汪顺舟李超温沐阳
Owner SHANGHAI INST OF TECH
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