Unit module of telescopic soft body robot

A unit module and robot technology, applied in the field of robotics, can solve the problems of small load of soft robots and weak execution force of a single module, and achieve the effects of simple structure, increased linear displacement, and increased working space.

Active Publication Date: 2017-06-27
TIANJIN UNIVERSITY OF TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0005] The purpose of the present invention is to provide a scalable soft robot unit module

Method used

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  • Unit module of telescopic soft body robot
  • Unit module of telescopic soft body robot
  • Unit module of telescopic soft body robot

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Embodiment Construction

[0025] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but the following embodiments in no way limit the present invention.

[0026] Such as Figure 1~2 As shown, the scalable soft robot unit module is a cylindrical structure with a bottom diameter of 30cm and a height of 42cm from the overall appearance;

[0027] Specifically, the scalable soft robot unit module includes a steering drive mechanism, a wrist joint movement mechanism, a drive cable assembly and a communication cable assembly;

[0028] The steering drive mechanism includes a steering drive front panel 5, a telescopic pneumatic tube 7, a steering drive rear panel 10, four drive ropes 9 and four DC motors 11; wherein,

[0029] The two ends of the telescopic pneumatic tube 7 are bonded and fixed respectively at the center of the bottom surface of the steering drive front panel 5 and at the center of the top surface of the steering drive r...

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Abstract

The invention discloses a unit module of a telescopic soft body robot. Each unit module comprises a steering driving mechanism, a wrist joint moving mechanism, a driving cable assembly and a communication cable assembly, wherein the steering driving mechanism realizes the extension degrees of freedom of the unit modules, and the wrist joint moving mechanism realizes twisting and bending of the unit modules, so that each unit module has five degrees of freedom and excellent flexibility; and the driving cable assembly and the communication cable assembly relieve loads of the unit modules, and meanwhile, realize the signal transfer and the electric driving guarantee. The unit module of the telescopic soft body robot can realize improvement of the loading capacity of single module and the linear displacement increasing function of single module, realizes extension or bending in any direction of the steering mechanism through harmonic control of four driving ropes, and increases the working space of the robot; and in addition, multiple modules are connected with a reconstructed mechanical arm configuration in sequence to adapt to corresponding control under different environments.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a unit module of a scalable soft robot. Background technique [0002] Soft robots have some characteristics of molluscs in nature, such as the grasping ability of octopus tentacles. It is made of soft material and is able to withstand large strains. Soft robots can change their shape and size to adapt to the environment, and have broad prospects in exploration and survey, military reconnaissance and other aspects. [0003] The soft robot has the characteristics of continuity and multiple degrees of freedom. It can better adapt to the environment, adapt to different environments through its own deformation, and complete various complex movements in different forms. [0004] At present, although soft robots have been greatly developed, they still have the disadvantages of small load and poor execution ability of a single module. Published patent application 106313028A discloses a...

Claims

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Application Information

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IPC IPC(8): B25J9/10B25J9/14B25J9/06B25J17/02
CPCB25J9/065B25J9/1045B25J9/142B25J17/0275
Inventor 王肖锋宇旭东葛为民刘军陈建恩
Owner TIANJIN UNIVERSITY OF TECHNOLOGY
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