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Bending and twisting combined soft robot module

A robot and bending technology, applied in the field of robots, to achieve the effect of reducing redundancy, ensuring stability, and high efficiency of action execution

Pending Publication Date: 2021-03-19
HEFEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] In view of the shortcomings of the prior art described above, the purpose of the present invention is to provide a soft robot module combined with bending and twisting to solve the technical problem that the existing soft robot module cannot simultaneously realize twisting and bending motions in one module

Method used

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  • Bending and twisting combined soft robot module
  • Bending and twisting combined soft robot module
  • Bending and twisting combined soft robot module

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Experimental program
Comparison scheme
Effect test

Embodiment 1

[0037] see Figure 1-4 , figure 1 and figure 2 The three-dimensional structural schematic diagrams of different viewing angles of the bending-twisting combined soft robot module of this embodiment are shown respectively, image 3 It shows the three-dimensional structural diagram of the soft robot module combined with bending and torsion in this embodiment after removing the bottom connecting plate, Figure 4 show image 3 right view of . see Figure 1-4 The soft robot module combined with bending and torsion in this embodiment includes a bending and torsion structure, a top connection plate 1 and a bottom connection plate 4 respectively arranged at both ends of the bending and torsion structure, and an external trachea arranged on the bottom connection plate 4 . The soft robot module combined with bending and torsion in this embodiment can simultaneously realize bending and torsion motion effects under the same module, and it is not necessary to control the bending and ...

Embodiment 2

[0049] see Figure 5 , this embodiment introduces a deformation structure of a soft robot module combined with bending and twisting. Compared with the soft robot module combining bending and twisting in Embodiment 1, the main difference is mainly the bending body 2 (including bending units 2a, 2b) The structure is different, and the other structures are basically the same. In this embodiment, the curved main body 2 may have a bellows structure, for example, and the left and right sides of the curved main body 2 of the bellows-shaped structure respectively protrude outward to form fan-shaped columnar torsion units 3a, 3b, so that the curved main body 2 passes through The plane of symmetry ( Figure 4 The horizontal plane passing through the axis Z1) is divided into two symmetrically arranged upper and lower parts, which are respectively used as bending units 2a and 2b. The outer wall of the bending unit 2a / 2b is composed of several corrugated joints 21a' / 21b' arranged sequent...

Embodiment 3

[0051] see Figure 6, this embodiment introduces another deformed structure of a soft robot module combined with bending and twisting. Compared with the soft robot module combining bending and twisting in Embodiment 1, the main difference is that the structure of the bending body 2 is different, and other structures are basically the same . In this embodiment, the curved body 2 is composed of a curved unit 2a and a curved unit 2b with two opposite bottom surfaces. The curved unit 2a and the curved unit 2b have a wave-shaped non-rotating body structure. The curved unit 2a The bottom surfaces of the bending units 2b are connected by an intermediate connection surface 7, and two fan-shaped columnar torsion units 3a, 3b protrude outward from the two sides of the intermediate connection surface 7. The outer wall of the bending unit 2a / 2b is composed of crest structures 21a" / 21b" and trough structures arranged at intervals along the axial direction of the soft robot module combined...

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Abstract

The invention provides a bending and twisting combined soft robot module which comprises a bending and twisting structure, a top connecting plate, a bottom connecting plate, an external air pipe, a pair of bent inner cavities and a pair of torsion inner cavities, the bending and twisting structure comprises a bending main body and a pair of fan-shaped columnar twisting units, and the pair of fan-shaped columnar twisting units are symmetrical and extend outwards from the surface of the bending main body; the top connecting plate is arranged at one end of the bending and twisting structure; thebottom connecting plate is arranged at the other end of the bending and twisting structure; the external air pipe is arranged on the bottom connecting plate; the pair of bent inner cavities is symmetrically arranged in the bending main body by taking the axial lead of the bending main body as the symmetry axis, and the pair of bent inner cavities are respectively arranged at the two sides of the fan-shaped columnar torsion unit; and the pair of torsion inner cavities is respectively and symmetrically arranged in the pair of fan-shaped columnar torsion units. According to the bending and twisting combined soft robot module, the bending and twisting movement effects can be simultaneously realized under the same module, the redundancy of a robot system is reduced, the structure is simple, thebending and twisting combined soft robot module can be integrally manufactured, and the control difficulty of the robot system is simplified.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a soft robot module combined with bending and torsion. Background technique [0002] In recent years, with the emergence of new materials and the improvement of processing and manufacturing technology, there has been an upsurge in the study of soft robots worldwide. Soft robots are a new way of thinking in robot research. Inspired by nature, researchers have begun to explore. Design and control of soft robots composed of flexible materials. Modularity has proven utility in soft robotics, simplifying control and increasing system redundancy. Soft-actuated modules can achieve complex movements with relatively simple control, which has advantages over traditional electromechanical systems. Soft actuation modules are also practical due to their compatibility with pneumatic and hydraulic pressures generated by various fluids and gases, and have proven to be a robust and durable solut...

Claims

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Application Information

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IPC IPC(8): B25J9/08
CPCB25J9/08
Inventor 王勇吕仲明姜明亮肖飞云陈恩伟陆益民刘正士
Owner HEFEI UNIV OF TECH
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