Pneumatically-driven four-footed soft wall-climbing robot

A wall-climbing robot, pneumatically driven technology, used in motor vehicles, transportation and packaging, etc., to achieve the effect of not affecting deformation, increased stride, and high bearing capacity

Active Publication Date: 2022-07-22
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The legs of these two soft robots have more degrees of freedom of movement, but the torso is a rigid body structure, which cannot well follow the movement of the legs in an unstructured environment, and it is difficult to climb over obstacles and turn.

Method used

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  • Pneumatically-driven four-footed soft wall-climbing robot

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Embodiment Construction

[0050] Below in conjunction with accompanying drawing, the technical scheme of the present invention is described in further detail:

[0051] The present invention may be embodied in many different forms and should not be considered limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.

[0052] It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, components and / or sections, these elements, components and / or sections are not limited by these terms. These terms are only used to distinguish an element, component and / or section from one another. Thus, a first element, component and / or section discussed below could become a second element, component or section without departing from the teaching...

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Abstract

The invention discloses a pneumatically-driven four-footed soft wall-climbing robot. The pneumatically-driven four-footed soft wall-climbing robot comprises a shoulder connecting piece, a soft spine, a hip connecting piece, four soft legs and four soft feet. Each of the soft spine and the soft legs comprises four trunk expansion rods, each soft foot comprises three soft toes, the shoulder connecting piece and the hip connecting piece are connected through the soft spine, the shoulder connecting piece is connected with the two legs, and the hip connecting piece is connected with the other two legs. The soft spine, the soft legs and the soft toes are driven by an external air source and have multiple degrees of freedom. The robot is flexible in mechanism, high in environment adaptability, capable of going straight, turning, crossing obstacles and the like on uneven rough surfaces and high in crawling speed. In addition, the rigidity of the soft spine and the soft legs of the soft robot can be adjusted, and the soft robot has good bearing capacity.

Description

technical field [0001] The invention relates to the technical field of soft robots, in particular to a four-legged soft wall-climbing robot driven by air pressure. Background technique [0002] Soft robots have strong safety, environmental adaptability and flexibility under human-computer interaction and unknown complex environments. For complex non-structural environments and dangerous conditions, using soft wall climbing robots to replace manual operations such as cleaning, testing, and maintenance can reduce operational risks, improve efficiency, save costs, and reduce equipment design constraints. Therefore, soft robots have better performance. application prospects. [0003] Pneumatic soft robots use gas as the power source, and can achieve various movements and force transmission by driving different combinations of cavity structures to achieve elongation, bending and twisting of soft materials. Pneumatic software robots can be connected to a solenoid valve with an a...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/032
CPCB62D57/032
Inventor 陈光明陆英杰李志鑫林涛徐弈新靳翔宇
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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