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Movable robot based on paper folding structure and snake-like robot

A mobile robot and origami structure technology, applied in the field of robotics, can solve the problems of reliability and payload limitation, system complexity, volume and weight increase, etc., and achieve the effect of light weight, large payload ratio and high driving efficiency

Pending Publication Date: 2021-09-03
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] However, these snake-like robots need to rely on complex electromechanical systems for motion control and drive, which inevitably leads to an increase in the complexity, volume and weight of the system, and its reliability and payload are limited to a certain extent.

Method used

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  • Movable robot based on paper folding structure and snake-like robot
  • Movable robot based on paper folding structure and snake-like robot
  • Movable robot based on paper folding structure and snake-like robot

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0042] The embodiment according to the present embodiment figure 1 As shown by the two motion module and a front load module 1, module 2 is composed of the load.

[0043] One end of the motion module load module, and the other end connected to the intermediate partition. Micro servo drive or a shape memory alloy folded tube disposed within the rotary drive load module.

[0044] Two unidirectional load module is installed outside the roller 6, when the load module is moved forward, the unidirectional roller 6 can be rotated between the ground and with less resistance. When the load module is retracted, the one-way roller 6 against rotation, between the ground and having a large frictional resistance.

[0045] Specifically run, one forward motion of the joint cycle of two steps:

[0046]1) First step: The micro-servo or shape memory alloy rotation drive drives the Kresling tube within the two motion modules while shrinking. At this time, the previous load module 1 has a trend of bac...

Embodiment 2

[0054] In this embodiment, it consists of 1 moving module and the front, the rear load module, such as Figure 5 Indicated. One end of the motion module is connected to the previous load module 1, and the other end is connected to the rear load module 2. The micro-servulator or shape memory alloy rotation drive of the Kresling folding tube is placed in one of the load modules or within the front and rear load modules. The two sets of unidirectional rollers 6 are mounted outside the load module. When the load module moves forward, the one-way roller 6 can be rotated, and the resistance between the ground is smaller. When the load module is retired, the one-way roller 6 cannot rotate, and there is a large friction resistance between the ground.

[0055] One advance cycle of the exercise joint is divided into two steps:

[0056] 1) First step: The micro-servo is simultaneously contracted by the Kresling tube in which the micro-servo or shape memory alloy rotates the driving of the mot...

Embodiment 3

[0064] If the motion module uses 4 90 ° intervals of Kresling folding tubes, such as image 3 with Figure 4 As shown, the motion module can be changed as long as the two orthogonal planes, so that the moving robots in the present embodiments 1 and 2 can be made not only to bend during the forward process, but also pitch. It is conducive to overdraws and passed.

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Abstract

The invention relates to a movable robot based on a paper folding structure and a snake-like robot. The movable robot comprises a motion module, a front load module and a rear load module; the motion module comprises a folding outer pipe and at least two folding inner pipes which are arranged in the folding outer pipe and are of the paper folding structure; the front load module and the rear load module are provided with one-way wheels; one or both of the front load module and the rear load module are provided with a drive module; the drive module is connected with the ends of the folding inner pipes; and synchronous or asynchronous torsion control over all the folding inner pipes is achieved through the drive module, and the movable robot can conduct peristaltic displacement in a specific posture. Compared with the prior art, the bionic robot capable of flexibly moving is designed through the folding tubular structure, the designed bionic robot can achieve stretching and bending motion under the drive of shape memory alloy or a motor, the overall size is smaller, the weight is lower, the drive efficiency is higher, and the effective load ratio is larger.

Description

Technical field [0001] The present invention relates to the field of robotics, in particular, relates to a mobile robot and the robot based imitation snake origami structures. Background technique [0002] Snake bionic robot as an autonomous mobile robot flexible, flexible sport, and can be adapted to a variety of complex terrain, compact, easy to camouflage, concealment and good features, which in military reconnaissance, pipeline inspection, disaster relief, ruins probe , medical procedures, such as space exploration, military, technological and civil applications has great prospect. [0003] In recent years, domestic and international studies have proposed a variety of snake robot technology solutions, such as: Japan ACM series Tokyo University of Science and Technology, the German National Research Center for Information Technology GMD-Snake series, Omni TreadOT series at the University of Michigan, USA card Uncle Sam and TSD snake robot Jimei Long University, who visited Ann...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/06
CPCB25J9/065
Inventor 周翔严水清李嘉科魏琦
Owner SHANGHAI JIAO TONG UNIV
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