A soft robot based on two-sided pull wire

A technology of robots and robot bodies, applied in manipulators, program-controlled manipulators, manufacturing tools, etc., can solve problems such as difficulty in free movement

Active Publication Date: 2020-10-09
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a soft robot based on two side pull wires, which solves the difficult problem of controlling the free movement of pneumatic soft robots in the prior art, and realizes the function of free walking under complex terrain

Method used

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  • A soft robot based on two-sided pull wire
  • A soft robot based on two-sided pull wire
  • A soft robot based on two-sided pull wire

Examples

Experimental program
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Effect test

specific Embodiment approach 1

[0020] Such as Figure 1-4 Shown, a kind of soft robot based on two sides pull wire, comprises soft robot body 1, pull wire 2 and air-filled box 3, and described soft robot body 1 comprises plastic film pipe and plastic long film; The head end of described plastic film pipe is closed , the tail end of the plastic film pipeline is open, the tail end of the plastic film pipeline is fixedly connected on the inflatable box 3, the inner side of the plastic film pipeline forms an intermediate chamber 1-1, and the intermediate chamber 1-1 communicates with the inflatable box 3; There are two long films, and the two plastic long films are symmetrically fixedly connected to the two ends of the plastic film pipe; the cable chamber 1-2 with the head end closed and the tail end open is formed between the plastic long film and the plastic film pipe; There are two stay wires 2, the head ends of the two stay wires 2 are respectively fixedly connected to the head ends inside the two stay wire...

specific Embodiment approach 2

[0022] Such as Figure 1-4 As shown, the soft robot based on two side pull wires also includes a power source; The air pump is used to inflate the interior of the inflatable box 3, and inflate the interior of the intermediate chamber 1-1 through the inflatable box 3. After the intermediate chamber 1-1 is ventilated, it is affected by the internal air pressure of the intermediate chamber 1-1. , the middle chamber 1-1 is continuously stretched forward, and the soft robot body 1 moves forward.

specific Embodiment approach 3

[0024] Such as Figure 1-4 As shown, said a kind of soft robot based on both side pull wires also includes an extension control motor; said extension control motor is fixedly connected on the inflatable box 3, and the motor shaft I of the extension motor is sealed and rotated on the inflatable box 3; The head end of the plastic film pipeline and the long plastic film is wound inwardly on the motor shaft 1 inserted into the inflatable box 3. After the extension control motor is connected to the power supply and turned on, the motor shaft I of the extension control motor can roll up or unfold the plastic film pipe and the plastic long film of the soft robot body 1. When the air pump is inflated, the plastic film of the soft robot body 1 Thin film ducts and long plastic films allow the invention to move straight ahead.

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Abstract

The invention relates to a soft robot, in particular to a soft robot based on pulling lines on two sides. The soft robot comprises a soft robot body, the pulling lines and an inflation box; the soft robot body comprises a plastic thin film pipe and plastic long films; the head end of the plastic thin film pipe is sealed, the tail end of the plastic thin film pipe is opened, the tail end of the plastic thin film pipe is fixedly connected to the inflation box, a middle cavity is formed in the inner side of the plastic thin film pipe, and communicates with the inflation box, two plastic long films are arrange and are symmetrically and fixedly connected to the two ends of the plastic thin film pipe, pulling line cavities with closed head ends and opened tail ends are arranged between the plastic long films and the plastic thin film pipe, and the head ends of the two pulling lines are fixedly connected to the head ends of inner sides of the two pulling line cavities. The problem that in theprior art, control over the free motion of a pneumatic soft robot is difficult is solved, and the free walking function under the complex terrain can be achieved.

Description

technical field [0001] The invention relates to a soft robot, in particular to a soft robot based on two side pull wires. Background technique [0002] With the development of robot technology, people's requirements for the flexibility and adaptability of robots are also increasing. A new type of soft robot based on flexible stretching that subverts the structural design of traditional rigid robots has gradually entered people's field of vision. [0003] Soft robots are made of flexible materials and can change their shape in a wide range. They are a new type of flexible robots. Compared with other traditional robots, soft robots can travel through various complex environments more conveniently, especially for search and detection work in narrow spaces such as pipelines. The main functions realized are that the front end of the soft robot extends through the constrained environment, can turn freely, turn continuously, and adjust the direction of motion by itself. There ar...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/10B25J9/14
Inventor 李隆球叶晏辰李朋春宋文平周德开张广玉
Owner HARBIN INST OF TECH
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