A Pneumatic Soft Robot with Ring Longitudinal Muscle Structure

Abstract

The invention discloses a pneumatic worm-like soft robot with a circular longitudinal muscle structure, which includes two body segments, the head and the tail, and is divided into inner and outer layer double-layer structures. Cavity and metal radial restriction ring; the outer layer is a ring muscle structure, including three ring muscle air cavities distributed at the bottom, and a sliding piece is pasted on the outside, and the friction foot with convex points is next to the sliding piece. The robot has the following characteristics: 1. Drive and control the inflation and deflation of each air cavity; 2. Inflation of the inner longitudinal muscle air cavity can realize the elongation and deformation of the robot body segment. When the inflation pressure of the left and right air cavities is inconsistent, the body section to achieve bending deformation. 3. The air cavity of the outer ring muscle can be inflated to realize the extension of the slide. Thanks to the above characteristics, the robot has multiple motion modes such as straight crawling, turning crawling, climbing, and obstacle crossing. The invention uses high-airtight special rubber and compressed air, which is beneficial to environmental protection and energy saving, and has good application prospects in the fields of resource survey, disaster relief, pipeline detection, military reconnaissance and the like.

Description

technical field [0001] The invention relates to the field of pneumatic transmission, in particular to a pneumatic soft robot with a circular longitudinal muscle structure. Background technique [0002] Soft robots are based on soft-bodied organisms in nature, and have many advantages: theoretically, they have infinite degrees of freedom, and the end effector can reach any point in space; they have good flexibility and can adapt to various narrow and irregular environments; Through active deformation and passive deformation, it can change its shape and size in a large range, and can pass through gaps smaller than its normal size. Therefore, soft robots have broad application prospects in fields such as industry, military affairs, medical treatment, and rescue. [0003] In theory, soft robots have infinite degrees of freedom, but the number of drivers is limited. At present, the main driving methods of soft robots are driven by intelligent materials (dielectric elastomer DE, ...

AI Technical Summary

Problems solved by technology

[0006] The object of the present invention is to provide a pneumatic soft robot with a circular longitudinal muscle structure, which solves the problems of single motion form, low running speed and difficult control in the existing soft robot during the movement process

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