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Modularized flexible crawling robot capable of moving in all directions

A crawling robot and modular technology, applied in the field of flexible robots, can solve the problems of easy damage, limited flexibility, deformation, etc., and achieve the effect of improving resistance to external impact and broad application prospects

Active Publication Date: 2019-03-12
ZHEJIANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] Traditional hard crawling robots are easily damaged after being impacted during work, while soft robots themselves are flexible structures that deform after being impacted, and can quickly return to their original shape after the impact disappears.
However, the existing soft crawling robots cannot realize omnidirectional movement, which limits their flexibility.

Method used

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  • Modularized flexible crawling robot capable of moving in all directions
  • Modularized flexible crawling robot capable of moving in all directions
  • Modularized flexible crawling robot capable of moving in all directions

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Embodiment Construction

[0029] The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

[0030] Such as figure 1 As shown, the flexible crawling robot includes five foot modules, four telescopic modules, four A connection modules 10 and a B connection module 11, and one end of the four telescopic modules is respectively connected to four side plates of the B connection module 11, and four The other end of each telescopic module is connected with an A connection module 10, and the B connection module 11 and the bottom surface of each A connection module 10 are connected with a foot module, and the foot module is a clockwise torsion actuator 13 or an anticlockwise torsion The actuator 12; the flexible crawling robot is in the shape of a cross as a whole, the B connection module 11 is located at the center of the cross, and the four telescopic modules and the A connection modules 10 connected thereto are respectively located...

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Abstract

The invention discloses a modularized flexible crawling robot capable of moving in all directions. The robot comprises five foot modules, four stretchable modules, four connecting modules A and a connecting module B; side plates of the connecting modules A are perpendicularly installed at the upper surface of a base plate and do not intervene with a large hole in the base plate; two parallel sideplates of the connecting module B are symmetrically installed at the two sides of the base plate, and the other two parallel side plates are installed between the other two side plates and are perpendicular to the other two side plates; one ends of the four stretchable modules are connected to the four side plates of the connecting module B, the other ends of the four stretchable modules are all connected to the connecting modules A, and the connecting module B and the base plates of the connecting modules A are each connected with one foot module. The robot can move forwards, backwards, leftwards and rightwards on the ground and can perform in-situ rotational movement on the ground, the motion flexibility and external impact resistance are greatly improved compared with a traditional crawling robot, and the wide application prospect is achieved.

Description

technical field [0001] The invention belongs to the field of flexible robots, and in particular relates to a modular flexible crawling robot capable of omnidirectional movement. Background technique [0002] Traditional hard crawling robots are easily damaged after being impacted during work, while soft robots themselves are flexible structures that deform after being impacted, and can quickly return to their original shape after the impact disappears. However, the existing soft crawling robots cannot realize omnidirectional movement, which limits their flexibility. In view of the above situation, it is necessary to study a new type of flexible crawling robot that can move in all directions to solve these problems. Contents of the invention [0003] In order to solve the problems in the background technology, the present invention provides a modular flexible crawling robot that can move in all directions, using torsional actuators as the basic motion module, assembling mu...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/02
CPCB62D57/021
Inventor 邹俊卢扬帆焦中栋
Owner ZHEJIANG UNIV
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