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Moving soft robot utilizing ratchet effect and working method thereof

A working method and robot technology, applied in manipulators, manufacturing tools, program-controlled manipulators, etc., can solve problems such as complex motion control, and achieve the effects of avoiding peristalsis, simple structure, and simple operation

Pending Publication Date: 2020-04-03
NINGBO UNIVERSITY OF TECHNOLOGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Most soft robots rely on peristalsis to move forward, but this kind of movement requires more complex motion control, so a simpler moving soft robot is needed

Method used

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  • Moving soft robot utilizing ratchet effect and working method thereof
  • Moving soft robot utilizing ratchet effect and working method thereof

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment 1

[0024] A kind of mobile soft robot device using the ratchet effect, such as figure 1 As shown, it includes a plurality of flexible frames 1 with horizontal stretching elasticity that are sequentially connected horizontally, and between adjacent flexible frames 1, the front end of the front flexible frame 1 and the tail end of the tail flexible frame 1 are all provided with Double electromagnetic sheets 2, double electromagnetic sheets 2 are two independent electromagnetic sheets, the two electromagnetic sheets are coaxially arranged and symmetrically distributed along the central axis of the flexible frame 1, the polarities between the front and rear adjacent electromagnetic sheets are opposite, and the same side The electromagnetic sheets are connected in series through flexible wires 4, and the electromagnetic sheets on both sides of the tail are respectively provided with control circuit boards 5 for controlling the power-on and power-off time intervals of the corresponding ...

specific Embodiment 2

[0027] The working method of the motion soft robot device with ratchet effect in the above-mentioned specific embodiment one, the specific steps are as follows:

[0028] (1) Turn on the power supply 6, and control the electrification of the electromagnetic sheets through the control circuit board 5 to generate a magnetic field. Two adjacent electromagnetic sheets generate opposite magnetic poles. During the backward movement of the frontmost flexible frame 1, the wedge-shaped angle 3 on it is stuck into the base to prevent it from moving. Under the ratchet effect of the wedge-shaped angle 3, the frontmost flexible frame 1 is stationary, while the rear The flexible frame 1 moves forward under the action of magnetic attraction until all the flexible frames 1 are compressed to the limit, such as figure 2 shown;

[0029] (2) The control circuit board 5 controls the power supply 6 to stop supplying power to the electromagnetic sheet, the magnetism of the electromagnetic sheet dis...

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Abstract

The invention discloses a moving soft robot device utilizing the ratchet effect and a working method of the moving soft robot device. The moving soft robot device is characterized by comprising a plurality of flexible frames with horizontal telescopic elasticity, wherein the flexible frames are transversely connected in sequence; dual-electromagnetic sheets are arranged between the adjacent flexible frames, at the front end of the front-end flexible frame and at the tail end of the tail-end flexible frame, each dual-electromagnetic sheet is formed by two independent electromagnetic sheets which are coaxially arranged and symmetrically distributed along the central axis of the corresponding flexible frame, the front and rear adjacent electromagnetic sheets have opposite poles, the electromagnetic sheets on the same side are connected in series through flexible wires, and the electromagnetic sheets on the two sides of the tail are provided with control circuit boards for controlling thepower-on and power-off time interval of the electromagnetic sheets on the corresponding sides respectively; and a plurality of wedge angles with tip structures are fixedly arranged and uniformly distributed on the periphery of each flexible frame, and the vertex angle of each wedge angle is 20-40 degrees and inclines towards the rear. The moving soft robot device has the advantages of being good in passability, high in terrain adaptability and capable of advancing and turning.

Description

technical field [0001] The invention relates to the technical field of soft robots, in particular to a moving soft robot device utilizing the ratchet effect and a working method thereof. Background technique [0002] The advancement of science and technology, especially the development of robots, has gradually changed people's lives. For example, drones in the sky have been applied in fields such as photography and mapping, and unmanned submersibles can test the hydrological conditions of the ocean. In daily life, sweeping robots can replace people's labor of sanitation and cleaning. In future development, robots will play a more important role, and the field of post-disaster search and rescue is an important aspect. Among many robots, soft robots are especially suitable for searching and rescuing survivors in complex and narrow spaces due to their light weight, deformability and small size. Most soft robots rely on peristalsis to move forward, but this movement method re...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/06B25J9/10
CPCB25J9/065B25J9/10
Inventor 张振亚冯蕾董升
Owner NINGBO UNIVERSITY OF TECHNOLOGY
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