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Lap joint structure for enhancing rigidity of growth type soft-bodied robot

A robot and growth-type technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of small carrying capacity and insufficient rigidity, and achieve the effect of improving carrying capacity and enhancing rigidity

Inactive Publication Date: 2019-04-30
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a lap joint structure that enhances the rigidity of a growing soft robot, which can effectively solve the problem that the rigidity of the main body of the existing soft robot leads to a small carrying capacity

Method used

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  • Lap joint structure for enhancing rigidity of growth type soft-bodied robot
  • Lap joint structure for enhancing rigidity of growth type soft-bodied robot
  • Lap joint structure for enhancing rigidity of growth type soft-bodied robot

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specific Embodiment approach 1

[0023] Such as Figure 1-6 As shown, the overlapping structure for enhancing the rigidity of the growth-type soft robot includes the main body of the soft robot and the reinforcement structure. both ends. The present invention can effectively solve the problem of low load-carrying capacity caused by insufficient rigidity of the existing soft robot; when the main body of the soft robot inside the present invention grows to a longer length, the rigidity of the main body of the soft robot itself is not enough to support its shape. Bending will occur under the action of gravity, and when it bends to a certain extent, the mutual support structure 2 can prevent further deformation of the soft robot, thereby enhancing the rigidity of the main body of the soft robot and improving its carrying capacity.

specific Embodiment approach 2

[0024] Such as Figure 1-6 As shown, the main body of the soft robot includes a soft airbag 1, the open end of the soft airbag 1 is connected to the air source, and the other end of the soft airbag 1 is a sealing end; ends.

[0025] Due to the characteristics of its soft body, the soft airbag 1 can turn inside out and receive the entire soft airbag 1 at the opening end. When the air source inflates it, the soft airbag 1 will grow everted under the action of air pressure. At the same time, it will be connected to the soft airbag 1. The external intersupporting structure 2 keeps turning out from the inside of the soft airbag. When it grows to a longer length, the soft airbag 1 itself is not rigid enough to support it to maintain its shape, and it will bend under the action of gravity. When it bends to a certain At the same time, the mutual support structure 2 prevents the soft robot from further deformation, which in turn can enhance the stiffness of the growing soft robot and ...

specific Embodiment approach 3

[0026] Such as Figure 1-6 As shown, the mutual support structure 2 includes a plurality of Z-shaped sheets, and the plurality of Z-shaped sheets are pasted from the opening end of the soft airbag 1 to the sealing end of the soft airbag 1 in sequence.

[0027] There is a gap between two adjacent zigzag sheets.

[0028] The Z-shaped sheet is printed by a 3D printer.

[0029] A plurality of Z-shaped sheets are bonded to the outside of the soft airbag 1 by using ethyl cyanoacrylate at one end, and there is a certain gap between adjacent mutual support structures 2 to ensure that the soft airbag 1 can be turned inward and outward smoothly growth, when the soft airbag 1 is deformed due to insufficient rigidity, the upper and lower sheets of each adjacent two Z-shaped sheets contact each other, preventing the further deformation of the soft airbag 1, and then the enhanced growth type soft robot of the present invention can be enhanced The rigidity increases its load-carrying capac...

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Abstract

The invention relates to the field of soft-bodied robots, in particular to a lap joint structure for enhancing rigidity of a growth type soft-bodied robot. The lap joint structure for enhancing the rigidity of the growth type soft-bodied robot comprises a soft-bodied robot main body and an enhancement structure, the enhancement structure comprises at least two groups of mutual support structures,the two groups of mutual support structures are respectively and fixedly connected to the two ends of the soft-bodied robot main body, the soft-bodied robot main body comprises a soft-bodied air bag,the opening end of the soft-bodied air bag is connected with an air source, the other end of the soft-bodied air bag is a sealing end, the two groups of the mutual support structures are respectivelyand fixedly connected to the two ends of the soft-bodied air bag, the mutual support structures comprises a plurality of Z-shaped sheets, and the Z-shaped sheets are sequentially pasted from the opening end of the soft-bodied air bag to the sealing end of the soft-bodied air bag. According to the lap joint structure for enhancing the rigidity of the growth type soft-bodied robot, the problem of the low bearing capacity due to lack of the rigidity of an existing soft-bodied robot main body can be effectively solved.

Description

technical field [0001] The invention relates to the field of soft robots, in particular to an overlapping structure for enhancing the rigidity of a growing soft robot. Background technique [0002] With the development of robot technology, the tasks completed by robots are becoming more and more abundant. At the same time, people's demand for robots is increasing. In order to adapt to the diversification of robot functions and the completion of complex functions, the future development trend of robots is more freedom. soft robots. However, the ubiquitous problems of soft robots are insufficient rigidity, inability to bear large loads, poor response to impulse signals, and even inability to complete corresponding functions. At present, because soft robots are still in the initial stage of development, there are many types of soft robots with different driving methods. The difficulty lies in improving the stiffness of soft robots and improving their carrying capacity. Conte...

Claims

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Application Information

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IPC IPC(8): B25J11/00
CPCB25J11/00
Inventor 李隆球周德开薛伟杰孙大兴宋文平张广玉
Owner HARBIN INST OF TECH