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Pneumatic Soft Motion Robot Based on the Principle of Earthworm Movement

A pneumatic and robotic technology, applied in the field of robotics, can solve problems such as the inability to achieve smooth movement, and achieve the effects of accurate remote control and operation, fast speed, and precise movement direction

Active Publication Date: 2018-07-17
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 Soft Motion Robot Based on the Principle of Earthworm Movement
  • Pneumatic Soft Motion Robot Based on the Principle of Earthworm Movement
  • Pneumatic Soft Motion Robot Based on the Principle of Earthworm Movement

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Embodiment Construction

[0030] In order to better explain the present invention, a preferred embodiment is used to illustrate the present invention in detail with the accompanying drawings. The details are as follows:

[0031] Such as figure 2 , 3 As shown, a pneumatic soft motion robot based on the principle of earthworm motion includes: a first body part 1, a second body part 2, a third body part 3, wherein the first body part 1 and the second body part 2 pass The first telescopic part 4 is connected, the second body part 2 and the third body part 3 are connected by the second telescopic part 5, the first telescopic part 4 and the second telescopic part 5 are controlled by the control provided in the second body part 2 The device 21 controls the expansion and contraction; wherein, the lower part of the first body part 1 and the third body part 3 is provided with mechanical bristles.

[0032] Among them, the mechanical bristles in this embodiment are barb-shaped streamlined mechanical bristles obtained ...

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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 motion robot based on the principle of earthworm motion. Background technique [0002] With the increasing frequency of human activities, humans living in the seismic zone are at risk of encountering natural disasters such as earthquakes. After an earthquake occurs, the rubble covers the ground during the rescue process, and the complex terrain makes rescue detection changes. It is extremely difficult, and aftershocks frequently occur after the earthquake, which greatly increases the risk factor of rescue work. This puts forward requirements for robots that can turn and cross obstacles in harsh environments (in caves, pipelines, tiles, etc.) The ability to move under complex terrain such as mountains and rocks, life detection, scientific exploration and other activities put forward higher requirements). [0003] Existing snake-shaped robots meander on the rolling wheels...

Claims

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Application Information

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Patent Type & Authority Patents(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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