A friction mobile soft robot and its driving method

A friction-type, robotic technology, applied in motor vehicles, transportation and packaging, etc., can solve the problems of large size, inability to adapt to complex environments, low safety, etc., and achieve the effect of good flexibility

Active Publication Date: 2020-08-11
HANGZHOU DIANZI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] The use of robots has become an indispensable product in industrial production and life. In the traditional sense, robots are mainly based on rigid structures, but their rigid structural materials make them unable to adapt to changes in complex environments, which also makes them have some problems. Disadvantages such as bulky size and low security

Method used

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  • A friction mobile soft robot and its driving method
  • A friction mobile soft robot and its driving method
  • A friction mobile soft robot and its driving method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0039] Such as figure 1 and 2 As shown, a frictional mobile soft robot includes end actuators, middle actuators, controllers and gas circuit parts. The end actuator includes an outer casing 1 , an end seat 2 , a spring 3 , an end air bag 4 , a first connecting plate 5 , a first limiting ring 6 , a cushion block 7 and a slider 15 . The outer shell 1 is the outer surface of the entire end actuator and is used to carry other components of the end actuator. The bottom of the outer casing 1 is open. Two end seats 2 are arranged side by side in the outer housing 1 . A slide rail is fixed on the top surface of the inner wall of the outer casing 1 . Slide blocks 15 are fixed on the top surfaces of the two end seats 2 . Both slide blocks 15 form a sliding pair with the slide rail. The axial direction of the slide rail is parallel to the arrangement direction of the two end seats 2 . Springs 3 are used to connect the two end seats 2 and between the two end seats 2 and the corresp...

Embodiment 2

[0066] The difference between this embodiment and Embodiment 1 is that: a friction type mobile soft robot also includes a control box; the air source 11, the reversing valve 12, the on-off valve 13, the overflow valve 14 and the controller are all arranged in the control box Inside. The control box is connected with the end actuator provided with the main through-pipe hole 1-1 through an air duct. During the working process, the control box remains stationary, and the movement of the frictional mobile soft robot is controlled through the air duct, which makes the structure of the frictional mobile soft robot more compact.

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Abstract

The invention discloses a friction type mobile soft robot and a driving method thereof. As people pay more and more attention to interacting with unstructured environment, robots must become less rigid and immobilized. The friction type mobile soft robot comprises end actuators, an intermediate actuator and an air circuit part. Each end actuator comprises a housing body, an end seat, a spring, anend air bag, a first limit ring and a cushion block. The intermediate actuator is arranged between the two end actuators. The intermediate actuator comprises an intermediate air bag and a second limitring. The air circuit part comprises a gas source, a reversing valve, an on-off valve and an overflow valve. According to the friction type mobile soft robot and the driving method thereof, the motion mode is controlled by alternately changing friction coefficients between the front-end actuator and the tail-end actuator of the robot and a ground and controlling the inflation amount of the air bag so that the friction type mobile soft robot can realize the forward motion, the backward motion, the turning motion and other motions in a plane.

Description

technical field [0001] The invention belongs to the technical field of soft robots, and in particular relates to a friction-type mobile soft robot and a driving method thereof. Background technique [0002] The use of robots has become an indispensable product in industrial production and life. In the traditional sense, robots are mainly based on rigid structures, but their rigid structural materials make them unable to adapt to changes in complex environments, which also makes them have some problems. Huge size, low security and other disadvantages. As humans place greater emphasis on interacting with unstructured environments, robots must become less rigid and immobilized. Soft robots have good flexibility, can adapt to the external environment through their own deformation, and can work in a narrow space environment, showing broad application prospects in rescue and detection. At the same time, soft robots have good biocompatibility and will not cause damage to biologic...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D57/02
CPCB62D57/02B62D57/021
Inventor 许明何龙陈国金
Owner HANGZHOU DIANZI UNIV
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