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Gas-powered soft-bodied crawling robot and manufacturing and controlling method thereof

A crawling robot, air-driven technology, applied in the direction of manufacturing tools, program control manipulators, manipulators, etc., can solve the problems of low crawling efficiency, limited degree of freedom, difficult to adapt, etc., to achieve improved crawling efficiency, good steering ability, and flexible body Effect

Active Publication Date: 2019-09-24
SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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  • Abstract
  • Description
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  • Application Information

AI Technical Summary

Problems solved by technology

2) Good flexibility, traditional robots are mostly composed of multiple discrete joints and connecting rods, with limited degrees of freedom
This type of soft crawling robot has the following common characteristics: 1) Modular design, which is connected in series by inflatable modules with different motion characteristics, but the crawling efficiency of this type of motion is not high; 2) Without the ability to turn, these soft crawling robots The crawling robot can only crawl in a single pipe, and it is difficult to adapt to T-shaped and right-angled L-shaped pipes that require large-angle turns
These soft crawling robots are not good at pipeline detection tasks

Method used

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  • Gas-powered soft-bodied crawling robot and manufacturing and controlling method thereof
  • Gas-powered soft-bodied crawling robot and manufacturing and controlling method thereof
  • Gas-powered soft-bodied crawling robot and manufacturing and controlling method thereof

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Embodiment Construction

[0041] In order to make the technical problems, technical solutions and beneficial effects to be solved by the embodiments of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

[0042] It should be noted that when an element is referred to as being “fixed” or “disposed on” another element, it may be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the connection can be used for both fixing and circuit communication.

[0043]It is to be understood that the terms "length", "width", "top", "bottom", "front", "rear", "left", "...

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Abstract

The invention provides a gas-powered soft-bodied crawling robot and a manufacturing and controlling method thereof. The gas-powered soft-bodied crawling robot comprises at least two inflation extension type actuators, a connecting ring and a contact hand, the at least two inflation extension type actuators are combined side by side through the connecting ring and the contact hand to form the gas-powered soft-bodied crawling robot. The gas-powered soft-bodied crawling robot is suitable for pipeline detection, the crawling efficiency in the current soft-bodied robot pipeline can be improved, the robot can be suitable for multiple types of pipelines, it is proved that the designed soft-bodied robot can freely crawl at the high speed in the pipeline, the influence of the self gravity can be overcome, the good steering capacity is achieved, the robot can adapt to complex pipelines, meanwhile, the designed soft-bodied robot is flexible, and good in flexibility, and through carrying of an endoscope camera, the pipeline detection task is finished.

Description

technical field [0001] The invention relates to the technical field of soft robots, in particular to a gas-driven soft crawling robot and a manufacturing and control method thereof. Background technique [0002] With the rapid development of science and technology, all kinds of robots emerge in endlessly, involving all aspects of people's lives, such as industrial robots, medical robots, service robots, special robots, etc. These robots have greatly reduced people's labor burden and facilitated people's lives, but these robots also have many limitations. In order to further improve the flexibility, safety and intelligence of robots, soft robots have become a research hotspot in the field of robotics. Compared with traditional rigid robots, the main advantages of soft robots are as follows: 1) Good safety. Traditional robots are mostly made of rigid materials, and their bodies are relatively rigid, so it is difficult to control force compliance in operation engineering. Sof...

Claims

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Application Information

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IPC IPC(8): B25J9/00B25J9/16B29C45/00B29C45/03
CPCB25J9/00B25J9/0009B25J9/0015B25J9/16B29C45/00B29C45/03
Inventor 王学谦张志远梁斌孟得山王松涛
Owner SHENZHEN GRADUATE SCHOOL TSINGHUA UNIV
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