Bionic wheeling-walking peristaltic soft-body robot

A technology of robots and bionic wheels, applied in motor vehicles, transportation and packaging, etc., can solve the problems of lack of stability, flexibility and environmental adaptability, limited crawling speed of soft crawling robots, limited space movement ability, etc., to achieve high flexibility The effect of high performance, simple structure and light body weight

Active Publication Date: 2018-07-20
YANSHAN UNIV
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  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

Although rigid robots have high control accuracy, they still have deficiencies in some aspects: lack of stability, flexibility and environmental adaptability in complex unstruc

Method used

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  • Bionic wheeling-walking peristaltic soft-body robot
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  • Bionic wheeling-walking peristaltic soft-body robot

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Embodiment Construction

[0019] exist figure 1 In the three-dimensional schematic diagram of the bionic wheel-footed peristaltic soft robot shown, the present invention mainly includes: a soft body base 2, a walking mechanism, a driving mechanism and an end effector 1 camera. Among them, the soft body is a pleated structure composed of several air cavities connected by step-by-step pouring of flexible silicone rubber in the mold, such as Figure 4 , Figure 5 and Figure 6 As shown, its single air cavity is a semicircle composed of two arc-shaped sides of two semi-circular plates connected with two arc-shaped sides of the same arc-shaped plate, and at the same time, two straight sides of the two semi-circular plates are connected with the same flat plate, that is, the bottom plate. Shaped hollow closed shell. A lower semicircular through hole coaxial with the two semicircular plates of each air cavity is provided. In the hollow closed shell, there is a partition plate passing its axis, which not o...

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Abstract

A bionic wheeling-walking peristaltic soft-body robot mainly comprises a soft-body matrix, a walking mechanism, a driving mechanism and a terminal actuator, wherein the soft-body matrix is of a wrinkled structure which is formed by step by step casting of flexible silicon rubber in moulds and formed by connecting of a plurality of air cavities. The whole soft-body matrix comprises two independentair cavities. Each air cavity is connected with an air pump by an air pipe. The air pipes together with the air pumps form the driving structure. The soft-body matrix is installed on the walking mechanism and comprises a tyre mounting frame, a catch hoop, tyres, a one-way bearing and locknuts. The terminal actuator is installed on the tyre mounting frame on the end, not connected with the air pipes, of the soft-body matrix. The shape, the dimension and the flexibility of the soft-body matrix can be changed according to using requirements. The robot is able to work for a long time stably in harsh and complicated environments. The robot is high in flexibility, simple in structure, light in weight, good in pliancy and less in energy consumption, and an air source is convenient.

Description

technical field [0001] The invention relates to a soft robot, in particular to a bionic wheel-footed peristaltic soft robot. Background technique [0002] With the advancement of technology, the application of robots in various industries has become more mature, but most of the current robots are rigid robots with mechanical structures. Although rigid robots have high control accuracy, they still have deficiencies in some aspects: lack of stability, flexibility and environmental adaptability in complex unstructured environments; limited movement ability in small spaces; heavy weight and poor control The system is complex. The soft robot has the characteristics of pliability, dexterity and human-machine safety. It can avoid the above shortcomings while ensuring the control accuracy. Rehabilitation training and assistance for the patient's upper limbs; exploration, search and rescue and intelligence collection on the battlefield in complex terrain environments such as earthq...

Claims

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Application Information

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IPC IPC(8): B62D57/02
CPCB62D57/021Y02T10/86
Inventor 姚建涛陈新博陈俊涛李海利崔锦泉孙圆圆周盼许允斗赵永生
Owner YANSHAN UNIV
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