A novel self-deformable modular soft robot with high adaptability

An adaptive, self-deformation technology, applied in the field of robots, can solve problems such as difficult self-deformation, single function, complex cavity, etc., and achieve the effects of easy self-deformation, safe industrial operation, and various forms

Active Publication Date: 2021-02-02
HARBIN INST OF TECH
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  • Claims
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Problems solved by technology

[0003] The present invention is to solve the problem that the existing rigid modular robot has high rigidity, which leads to difficulty in deformation and poor adaptability, and the existing soft robot either has a complex cavity but a single function, or needs to manually disconnect the modules to achieve reconfigurability , and then provide a highly adaptable new self-deformable modular soft robot

Method used

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  • A novel self-deformable modular soft robot with high adaptability
  • A novel self-deformable modular soft robot with high adaptability
  • A novel self-deformable modular soft robot with high adaptability

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Embodiment Construction

[0015] The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and through specific implementation methods.

[0016] combine Figure 1-Figure 6 Illustrate that a novel self-deformable modular soft robot with high adaptability comprises an elastic deformation body 6 and two connectors, and the two connectors are arranged at opposite ends of the elastic deformation body 6 respectively, and each of the connectors includes a shell Body cover 1, shell 2, spherical magnet 3, elastic fixed body 5, elastic connector 7 and air pipe 8; one end of shell 2 is closed by shell cover 1, and spherical magnet 3 is arranged in the inner cavity of shell 2, and shell The other end of 2 is arranged with an elastic fixed body 5 connected with the shell 2 as a whole. The shell cover 1, the shell 2 and the elastic fixed body 5 are buried in the inner cavity of the elastic connector 7, and the elastic fixed body 5 and the elastic c...

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Abstract

A new type of self-deformable modular soft robot with high adaptability, which involves a robot to solve the problem that the existing rigid modular robot has a large rigidity, which leads to difficulty in self-deformation, poor adaptability, and the existing soft robot has a complex cavity, but The function is single, or the module needs to be manually disconnected to achieve reconfiguration. It includes an elastic deformation body and two connectors. The two connectors are respectively arranged at opposite ends of the elastic deformation body. Each of the connectors It includes a shell cover, a shell, a spherical magnet, an elastic fixed body, an elastic connector and an external connection piece of the trachea; a spherical magnet is arranged in the inner cavity of the shell, and the shell cover, the shell and the elastic fixed body are embedded in the inner cavity of the elastic connector, and the elastic The fixing body is fixedly connected with the elastic connecting piece, the elastic body fixing body and the elastic connecting piece are provided with a ventilation pipe communicating with the inner cavity of the housing, and the elastic deformation body is fixedly connected with the elastic connecting piece. The invention is used for making soft robots.

Description

technical field [0001] The invention relates to a robot, in particular to a novel self-deformable modular soft robot with high adaptability. Background technique [0002] Robots have been widely used in military, industrial, scientific exploration, disaster relief and many other fields. Traditional robots are generally composed of rigid modules connected by kinematic pairs, and each kinematic pair provides one or more translational degrees of freedom or rotational degrees of freedom. The movement combination of all kinematic pairs forms the working space of the robot end effector. This kind of robot has the advantage of precise movement, but the rigidity of the structure makes it less adaptable to the environment. Channels with complex dimensions or shapes, these shortcomings restrict the application of rigid robots in certain fields, such as military reconnaissance, for the sake of concealment, it is hoped that reconnaissance robots can drill through small and complex-shap...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/00B25J19/00
CPCB25J9/0009B25J19/00
Inventor 朱延河张宇别东洋赵杰
Owner HARBIN INST OF TECH
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