A Pneumatic Soft Body Rolling Robot

Abstract

The invention provides a pneumatic flexible rolling robot. The pneumatic flexible rolling robot comprises a motion base body, actuators, a pneumatic system and a signal system. The motion base body isa cylinder. The at least two actuators are installed inside a cavity, and the cross section of each actuator is perpendicular to the center line of the motion base body. Each actuator comprises supporting plates, protection air bags, drive air bags and fixing straps, wherein the multiple supporting plates form the actuator outline with the cross section being in a regular polygon shape; the protection air bags are arranged between every two adjacent convex lugs and symmetrically distributed on the inner sides and the outer sides of the supporting plates; the multiple drive air bags are arranged between every two adjacent protection air bags on the inner sides of the supporting plates; and position sensors are arranged on the outer surfaces of the protection air bags on the outer sides ofthe supporting plates. The pneumatic system comprises a vacuum generator, an air pump and a plurality of electric three-way valve. Through the characteristics of flexible materials, the drive air bagsare combined and matched to be inflated or deflated, and accordingly the problem that a common flexible robot cannot be turned quickly is solved.

Description

technical field [0001] The invention relates to the field of soft body rolling robots, in particular to a pneumatic soft body rolling robot. Background technique [0002] With the continuous development of human life and science and technology, robots have been widely used in various fields of society, especially in extreme and dangerous engineering environments where humans are not suitable to set foot. Robots provide great convenience for humans. The research of traditional robots Based on rigid structure, it has been widely accumulated and applied in many fields such as industry, medical and military, but its structure is complicated, its flexibility is limited, its safety and adaptability are poor, and in some special applications, such as complex There are great challenges in grasping fragile objects, human-computer interaction and narrow space operations. [0003] The soft body, excellent flexibility and strong environmental adaptability of natural creatures provide n...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the deficiencies in the prior art, the present invention provides a pneumatic soft-body rolling robot, which rationally utilizes the property that soft materials are prone to large deformation, and solves the problem that ordinary soft-body robots cannot turn around quickly by rationally utilizing the combination of driving airbags and matching inflation and deflation. The problem

Images