a swallowing robot

Abstract

The invention provides a swallowing robot, which includes a flexible channel and a plurality of expandable segments, the plurality of expandable segments are sequentially arranged on the axial outer periphery of the flexible channel, and the expandable segment includes an end surface mechanism, a connecting mechanism and a driving mechanism, wherein the driving mechanism can drive the connecting mechanism to shrink or extend axially while driving the end mechanism to close or expand radially. The present invention can realize synchronous expansion and contraction in the axial and radial directions, and can control the working length of the bionic swallowing robot by changing the number of expandable segments, so as to capture and swallow different prey and adapt to different application scenarios .

Description

technical field [0001] The invention belongs to the technical field of bionic machinery, in particular to a swallowing robot. Background technique [0002] There are two main types of existing swallowing robots: [0003] One type uses gas or liquid to drive the deformation of flexible materials to achieve swallowing actions, such as pneumatically controlling the contraction or expansion of the surface of the silicone rubber lumen, or using pneumatic muscles as end-face drivers and intermediate connectors to drive the robot to bend and stretch to simulate the swallowing process of snakes, etc. Such robots often need to add a large number of pneumatic pipes to achieve complex swallowing motions by controlling the inflow and outflow of each pipe. Therefore, the structure and algorithm of the robot are relatively complex, and due to the existence of additional pneumatic pipes, the robot needs to have good air flow. If the density is low, the robot cannot be well applied to the ...

AI Technical Summary

Problems solved by technology

For example, Chinese patent CN110495301A discloses a navel orange picker of encircling and swallowing type. The swallowing mechanism utilizes a plurality of elastic ring-shaped ropes as the end structure, four elastic ropes as the middle connection, and the plastic frame as the bottom, which can realize different diameters. The collection of navel oranges; as a passive collection device, this type of robot cannot be used as an active capture mechanism, especially for some special-shaped prey.

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