A soft crawling robot imitating inchworm multi-posture motion

Abstract

The application discloses a soft crawling robot imitating inchworm multi-posture movement. In order to solve the problems of low crawling speed, less degree of freedom, not enough flexible crawling, and unable to realize some more complex obstacle crossing functions such as high-altitude wall climbing and wall-climbing gap crossing of the existing soft crawling robot imitating inchworm, the application comprises a soft control mechanism and two surface adhesion mechanisms, the soft control mechanism is arranged between the two surface adhesion mechanisms, the length extension direction of the soft control mechanism is the same as the direction of the line connecting the two surface adhesion mechanisms, the soft control mechanism comprises a plurality of control units arranged in series, each control unit comprises two connecting bases and N groups of stretchable components arranged uniformly in the circumferential direction between the two connecting bases, the length change is realized through the stretching and contraction of each stretchable component and the combined action of the N groups of stretchable components, and then the length change of each control unit is realized. The application belongs to the technical field of robots.

Description

Technical Field

[0001] This invention belongs to the field of robotics technology and relates to a crawling robot, particularly a soft crawling robot that mimics the multi-posture movement of an inchworm. Background Technology

[0002] Over the past few decades, humanity has placed greater emphasis on robotics research, hoping that robots can replace humans in more fields and promote human development. Their applications have spread across various sectors, including daily life, industrial production, and scientific research. Bionic technology has numerous applications in the robotics industry. From seagulls and bats to jellyfish and octopuses, natural organisms have provided abundant inspiration for technological development, leading to a rapid increase in human interest in bionics research. Compared to traditional bionic land robots, such as bionic multi-legged mobile robots, bionic snake robots, and bionic jumping robots, inchworms, being arthropods with uniquely flexible trunks, possess more flexible locomotion characteristics. They play a unique role in solving problems such as climbing walls at heights and navigating gaps to overcome complex obstacles.

[0003] However, existing inchworm-like soft crawling robots have low crawling speed, few degrees of freedom, and are not flexible enough to achieve complex obstacle-crossing functions such as climbing walls at high altitudes and crossing gaps between walls. Summary of the Invention

[0004] To address the problems mentioned in the background section, the present invention aims to provide a soft crawling robot that mimics the multi-posture movement of an inchworm.

[0005] A soft crawling robot that mimics the multi-posture movement of an inchworm includes a soft control mechanism and two surface attachment mechanisms. The soft control mechanism is arranged between the two surface attachment mechanisms, and the length extension direction of the soft control mechanism is the same as the direction of the line connecting the two surface attachment mechanisms. The software control mechanism includes several control units arranged in series. Each control unit includes two connecting bases and N sets of telescopic components evenly arranged circumferentially between the two connecting bases. The length is changed by the extension and retraction of each telescopic component and the combined action of the N sets of telescopic components, thereby changing the length of each control unit.

[0006] As a preferred embodiment: each telescopic assembly includes a small single-phase air pump and a rubber corrugated pipe with both ends closed. The two ends of the rubber corrugated pipe are respectively fixedly connected to the opposite surfaces of two adjacent connecting bases. The small single-phase air pump is fixedly installed on the connecting base and close to the end of the rubber corrugated pipe. The small single-phase air pump and the rubber corrugated pipe are connected through an air pipe.

[0007] As a preferred embodiment, each control unit also includes N circumferentially evenly arranged springs, which are located between two adjacent sets of telescopic components, with each spring having its two ends connected to two adjacent connecting bases.

[0008] As a preferred embodiment, the software control mechanism further includes a central elastic rod, which is coaxially inserted into several control units, and the two ends of the central elastic rod are fixed to the connecting bases at both ends of the software control mechanism.

[0009] As a preferred embodiment: there are at least two software control mechanisms, and a steering bending joint is provided between two adjacent software control mechanisms; the steering bending joint includes a central connecting rod, two servo motors, two servo motor brackets, and two rotating gimbals. The two servo motors, servo motor brackets, and rotating gimbals are symmetrically arranged on both sides of the length direction of the central connecting rod. The housing of the servo motor is fixedly connected to the end of the central connecting rod, the servo motor disk is fixedly connected to one end of the servo motor bracket, and the other end of the servo motor bracket is fixedly connected to the housing of the rotating gimbal.

[0010] As a preferred option, a rubber bellows is fitted over the soft control mechanism and the steering bend joint as an outer shell.

[0011] As a preferred embodiment: the surface adhesion mechanism includes at least one adsorption unit, each adsorption unit including a vacuum pump, an air pipe II, a suction cup base plate and a double-layer suction cup, the double-layer suction cup being installed on the side of the suction cup base plate facing the ground, and the double-layer suction cup being connected to the vacuum pump through the air pipe II.

[0012] As a preferred embodiment, each adsorption unit also includes a solenoid valve, which is installed on the pipeline of the second air pipe.

[0013] As a preferred embodiment: the adsorption unit consists of three units, arranged side by side, with adjacent adsorption units connected by a pin hinge; the surface adhesion mechanism further includes a drive assembly and two angle adjustment assemblies, the drive assembly is mounted on the middle suction cup base plate, and the two angle adjustment assemblies are respectively mounted on the suction cup base plates on both sides, and are arranged symmetrically with the drive assembly as the center. The drive assembly includes a motor bracket, a stepper motor, and a cam. The motor bracket is fixedly mounted on the suction cup base plate, the stepper motor is fixedly mounted on the motor bracket, and the output shaft of the stepper motor is fixedly connected to the cam. The angle adjustment assembly includes a connecting seat, a connecting rod, a linear limiting support, a push rod, a spring, and a limiting pin. The connecting seat is fixedly installed on the corresponding suction cup base plate, near the middle suction cup base plate. The linear limiting support is installed on the middle suction cup base plate, near the side suction cup base plate. One end of the connecting rod is hinged to the connecting seat, and the other end of the connecting rod is hinged to one end of the push rod. The push rod is inserted into the linear limiting support, and the other end of the push rod abuts against the outer wall of the cam. The limiting pin is inserted into the end of the push rod near the cam. The spring is sleeved on the push rod, with one end of the spring abutting against the linear limiting support and the other end of the spring abutting against the limiting pin at the end of the push rod.

[0014] As a preferred embodiment: the surface attachment mechanism further includes an L-shaped bracket, a dual-axis servo motor, a servo motor bracket, and a second rotating gimbal. The dual-axis servo motor is mounted on the L-shaped bracket, and the servo disk of the dual-axis servo motor is connected to the suction cup base plate in the middle through the servo motor bracket. The second rotating gimbal is mounted on the L-shaped bracket, and the axis of the second rotating gimbal is perpendicular to the axis of the dual-axis servo motor. The drive end of the second rotating gimbal is connected to the connecting base of the software control mechanism.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. In this application, the torso of the soft robot employs a soft control mechanism and a steering and bending joint. The soft control mechanism uses an air pump to inflate and deflate a rubber bellows to change its length, while the steering and bending joint changes its length through the bending of two rotating joints. Thus, the torso of the soft robot changes its length under the combined action of the soft control mechanism and the steering and bending joint. This change in length generates a driving force on the surface attachment mechanisms at both ends of the soft robot. With the surface attachment mechanisms at both ends alternately touching the ground, the soft robot adopts a forward crawling posture, similar to that of an inchworm, which allows it to overcome some relatively complex obstacles.

[0016] 2. The soft control mechanism in this application incorporates a rubber bellows. Because the rubber bellows is flexible, it can not only extend axially but also bend. Therefore, each control unit, under its own gravity and that of other control units, will experience axial and radial deformation if unrestricted. The final result is bending deformation, which affects the crawling accuracy of the robot. Since springs generate resistance in both axial tension and compression, the design of multiple springs can reduce the axial deformation of the control unit due to gravity to a certain extent, without affecting the active extension, contraction, or bending of the control unit. Based on the principles of continuous robots, the elasticity of the springs is used to transmit deformation to the next deformation joint, thereby achieving the desired bending motion as a whole. The central elastic rod, being located at the center of each connecting base, provides radial restriction to the connecting base, and consequently, radial restriction to the control units installed between the connecting bases. This reduces the radial deformation of the control unit due to gravity to a certain extent. Furthermore, because the central elastic rod is elastic, it can bend / extend / retract, thus not affecting the active bending / extension of the control unit.

[0017] 3. The steering bending joint in this application, as part of the crawling robot's torso, can assist the robot's torso in making faster bending movements through the rapid bending of the two rotating joints, which can effectively improve the robot's moving speed and work efficiency. At the same time, the soft crawling robot can be turned by the action of the rotating gimbal.

[0018] 4. The surface adhesion mechanism of this application uses three adsorption units. By increasing the number of adsorption units, the adsorption force between the surface adhesion mechanism and the ground / wall is increased, so as to achieve a better connection. At the same time, the two adjacent adsorption units are connected by a hinge. Under the action of the drive component and two sets of angle adjustment components, the distribution of multiple adsorption units can be adjusted at an angle, which is beneficial to adapt to more complex terrains, such as uneven ground and walls, and curved surfaces such as tree trunks and pipes.

[0019] 5. This application includes an electromagnetic valve in the adsorption unit. The electromagnetic valve acts as a switch. During adsorption, the vacuum pump is run for a while to extract all the gas in the air pipe connecting the vacuum pump and the double-layer suction cup. Then, the electromagnetic valve is opened to instantly evacuate the air from the double-layer suction cup, achieving rapid adsorption and improving adsorption efficiency. Attached Figure Description

[0020] For ease of explanation, the present invention will be described in detail below with reference to specific embodiments and accompanying drawings.

[0021] Figure 1 This is an isometric view of the present invention; Figure 2 This is a side view of the present invention; Figure 3 This is a side view of a rubber bellows. Figure 4 This is an isometric view of half a rubber bellows. Figure 5 This is a side view of the present invention with the rubber bellows outer shell removed; Figure 6 This is an isometric view of the present invention with the rubber bellows outer shell removed; Figure 7 This is a schematic diagram of the structure of the soft control mechanism and the steering bending joint. Figure 8 This is a side view of the software control mechanism; Figure 9 An isometric view of the software control mechanism; Figure 10 A side view of the steering flexion joint; Figure 11 Axonometric view of the flexible outer sleeve in a steering bend joint; Figure 12 Axonometric view of the steering flex joint; Figure 13 An isometric view of the surface adhesion mechanism; Figure 14 This is a schematic diagram of the surface adhesion mechanism; Figure 15 This is a bottom view of the surface adhesion mechanism; Figure 16 This is a schematic diagram showing the angle between the three adsorption units in the surface adhesion mechanism.

[0022] In the diagram, A - Soft control mechanism; B - Surface adhesion mechanism; C - Steering bending joint; 1 - Control unit; 1-1 - Connecting base; 1-2 - Small single-phase air pump; 1-3 - Rubber bellows tube 1; 1-4 - Air pipe 1; 1-5 - Spring; 2 - Central elastic rod; 3 - Intermediate connecting rod; 4 - Servo motor; 5 - Servo motor bracket; 6 - Rotating gimbal 1; 7 - Flexible jacket; 8 - Adsorption unit; 8-1 - Vacuum pump; 8-2 - Air pipe II; 8-3-Suction cup base plate; 8-4-Double-layer suction cup; 8-5-Solenoid valve; 8-6-Motor bracket; 8-7-Stepper motor; 8-8-Cam; 8-9-Connecting seat; 8-10-Connecting rod; 8-11-Linear limit support; 8-12-Push rod; 8-13-Spring; 8-14-Limit pin; 9-Rubber bellows II; 10-L-shaped bracket; 11-Dual-axis servo motor; 12-Servo motor bracket; 13-Rotating gimbal II. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the invention is described below with reference to specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0024] It should also be noted that, in order to avoid obscuring the invention with unnecessary details, only the structures and / or processing steps closely related to the solution according to the invention are shown in the accompanying drawings, while other details that are not closely related to the invention are omitted.

[0025] See Figures 1 to 16 This application provides a soft crawling robot that mimics the multi-posture movement of an inchworm, including a soft control mechanism A and two surface attachment mechanisms B. The soft control mechanism A is arranged between the two surface attachment mechanisms B, and the length extension direction of the soft control mechanism A is the same as the direction of the line connecting the two surface attachment mechanisms B. The end of the soft control mechanism A is fixedly connected to the corresponding surface attachment mechanism B.

[0026] It should be noted that during the inchworm's crawling process, its two ends alternately touch the ground; that is, one end is on the ground while the other end is raised, and under the action of the body, it moves closer to the end on the ground. This alternating contact between the two ends enables the inchworm to move forward. In this embodiment, the surface attachment mechanism B, the legs at the ends of the biomimetic inchworm, is distributed at both ends of the biomimetic inchworm robot, providing fixation and support for the robot's movement. It is an important component of the robot and enables surface attachment (the surface referred to here is the surface of an object with a certain width, such as the ground or a wall). During the crawling robot's movement, it is used to fix one or both ends of the crawling robot. The soft control mechanism A can change the length of the soft crawling robot's body, and during the length change, it exerts a force on the surface attachment mechanism B at one or both ends, thereby providing the driving force for the crawling robot's crawling movement.

[0027] Furthermore, such as Figure 8 and Figure 9As shown, in order to enable the soft control mechanism A to generate a driving force for the surface attachment mechanism B in a free state to move forward, the soft control mechanism A in this embodiment includes several control units 1 arranged in series. Each control unit 1 can change its own length. The sum of the length changes of multiple control units 1 realizes the movement of the surface attachment mechanism B in a free state over a certain distance. In this embodiment, the control unit 1 includes two connecting bases 1-1 and N sets of telescopic components evenly arranged circumferentially between the two connecting bases 1-1. The length is changed by the extension and retraction of each telescopic component and the combined action of the N sets of telescopic components, thereby realizing the change of the length of each control unit 1.

[0028] It should be noted that since multiple control units 1 need to be connected in series, two adjacent control units 1 can share a connecting base 1-1. This achieves the connection between two adjacent control units 1, while also reducing the overall weight of the crawling robot and the load on the robot during the crawling process.

[0029] It should also be noted that the change in length of the control unit 1 mentioned here can be achieved by extension, bending, or a combination of extension and bending. If extension is used, the synchronous extension or retraction of N sets of extension components can be controlled. If bending is used, the extension component can be divided into two symmetrical halves, with one half retracting and the other half extending. The bending to one side is achieved by the combined action of the two halves of the extension component. The overall bending is achieved by the combined action of multiple control units 1. The specific method of changing the length of the control unit 1 can be adjusted according to the flatness of the climbing surface or the climbing requirements.

[0030] In order to realize the telescopic function of the telescopic components, each telescopic component in this embodiment includes a small single-phase air pump 1-2 and a rubber corrugated pipe 1-3 with both ends closed. The two ends of the rubber corrugated pipe 1-3 are respectively fixedly connected to the opposite surfaces of two adjacent connecting bases 1-1. The small single-phase air pump 1-2 is fixedly installed on the connecting base 1-1 and close to the end of the rubber corrugated pipe 1-3. The small single-phase air pump 1-2 and the rubber corrugated pipe 1-3 are connected through an air pipe 1-4.

[0031] In this embodiment, a small single-phase air pump 1-2 inflates the rubber bellows 1-3 through air pipe 1-4, causing the rubber bellows 1-3 to extend axially, thus extending the telescopic component. Conversely, the small single-phase air pump 1-2 draws air from the rubber bellows 1-3 through air pipe 1-4, causing the rubber bellows 1-3 to shorten axially, thus shortening the telescopic component. The soft control mechanism A uses a telescopic design to achieve the desired length change for all rubber bellows in each control unit 1. The inflation or deflation volume of tubes 1-3 is the same; when the length is changed by using a bending mechanism A, a small single-phase air pump 1-2 is used to symmetrically inflate and deflate the tubes to achieve segmented adjustment and change the relative length of the symmetrical rubber corrugated tubes 1-3. That is, when each control unit 1 bends to a certain side, the rubber corrugated tube 1-3 on that side is deflated, and the rubber corrugated tube 1-3 on the opposite side is inflated. The deflation or inflation volume of the rubber corrugated tubes 1-3 at corresponding positions on the same side is the same.

[0032] Furthermore, since the soft control mechanism A is composed of multiple control units 1, each control unit 1 can change its length by using a telescopic or bending mechanism according to the needs of the crawling robot, thereby changing the length of the entire soft control mechanism A.

[0033] Meanwhile, to prevent the control unit 1 or the software control mechanism A from undergoing axial deformation under its own weight, which would affect the accuracy of the length change of the software control mechanism A, each control unit 1 in this embodiment also includes N circumferentially uniformly arranged springs 1-5. The springs 1-5 are located between two adjacent sets of telescopic components to ensure the overall uniformity of the software control mechanism A and reduce the calculation process during control. The two ends of each spring 1-5 are respectively connected to two adjacent connecting bases 1-1. In addition, the arrangement of springs 1-5 can also enhance the elasticity and flexibility of the software control mechanism A.

[0034] Furthermore, in order to prevent the control unit 1 or the software control mechanism A from undergoing radial deformation under its own gravity, the software control mechanism A also includes a central elastic rod 2. The central elastic rod 2 is coaxially inserted into several control units 1 and is slidably connected to each control unit 1. The two ends of the central elastic rod 2 are fixed to the connecting base 1-1 at both ends of the software control mechanism A.

[0035] In this embodiment, the rubber bellows 1-3 is flexible, capable of both axial elongation and bending. Therefore, each control unit 1, under the weight of itself and other control units 1, will undergo axial and radial deformation if left unrestricted. The final result is bending deformation, which will affect the crawling accuracy of the crawling robot. Since springs 1-5 generate resistance in both axial tension and compression, the design of multiple springs 1-5 can reduce the axial deformation of control unit 1 caused by gravity to a certain extent, without affecting the active extension, contraction, or bending of control unit 1. At the same time, according to the principle of continuous robots, when the air pump in one section of control unit 1 of the soft control mechanism A starts to work, causing bending deformation in that section of control unit 1, it will also cause bending deformation in the spring in that section of control unit 1. At this time, the spring will have a portion of elastic potential energy. Since each section control unit 1 in the soft control mechanism A is flexible, the elastic potential energy of this part will act on the adjacent section control unit 1, thereby causing the adjacent section control unit 1 to also bend and deform. Therefore, this embodiment uses the elasticity of springs 1-5 to transfer the bending deformation of a certain control unit 1 to the next control unit 1, so that the whole achieves the desired bending motion.

[0036] Since the central elastic rod 2 passes through the center of each connecting base 1-1, it will have a radial restriction on the connecting base 1-1, and thus have a radial restriction effect on the control unit 1 installed between the connecting bases 1-1. This can reduce the radial deformation of the control unit 1 caused by gravity to a certain extent. Furthermore, since the central elastic rod 2 is elastic, it can bend / extend / retract, so it will not affect the active bending / extension of the control unit 1.

[0037] In addition, in order to improve the crawling efficiency of the crawling robot, the software control mechanism A is at least one, and preferably two.

[0038] In this embodiment, since the crawling robot achieves crawling by changing the length of its torso and alternating the landing of its front and rear legs, the change in its shape is periodic. In each periodic deformation, the greater the change in the length of its torso, the greater the crawling speed of the robot, and vice versa. Therefore, in this embodiment, under the combined action of multiple software control mechanisms A, the change in the overall length of the torso is increased.

[0039] In this embodiment, the soft control mechanism A, supported and limited by the spring 1-5 and the central elastic rod 2, utilizes the contractility of the rubber bellows 1-3 and is controlled by the small single-phase air pump 1-2 to inflate and deflate, thereby changing its length and the distance between the two surface attachment mechanisms B. Through the alternating contact of the surface attachment mechanisms B, the soft robot moves forward.

[0040] In this embodiment, in order to change the crawling direction of the crawling robot, the soft control mechanism A can be bent. By utilizing the contraction of the bellows and the elasticity of the spring, a segmented small single-phase air pump is used for symmetrical inflation and deflation to adjust the bending shape of the robot in segments, making the movement of the inchworm crawling robot more flexible and precise.

[0041] Furthermore, such as Figure 10 , Figure 11 and Figure 12 As shown, in order to improve the working efficiency of the crawling robot, the soft crawling robot also includes a steering and bending joint C, which is connected in series between two adjacent soft control mechanisms A. The steering and bending joint C includes a central connecting rod 3, two servo motors 4, two servo motor brackets 5, and two rotating gimbals 6. The two servo motors 4, the servo motor brackets 5, and the rotating gimbals 6 are symmetrically arranged on both sides of the length direction of the central connecting rod 3. The outer shell of the servo motor 4 is fixedly connected to the end of the central connecting rod 3, the servo disk of the servo motor 4 is fixedly connected to one end of the servo motor bracket 5, and the other end of the servo motor bracket 5 is fixedly connected to the outer shell of the rotating gimbal 6.

[0042] It should be noted that the steering and bending joint C in this embodiment has two functions: rapid steering and bending. Regarding the bending function, since the soft control mechanism A requires a certain amount of time to cause the crawling robot's torso to bend or extend, the overall movement of the crawling robot is relatively slow. Therefore, to improve the robot's movement speed and work efficiency, this embodiment designs a steering and bending joint C with bending function between two adjacent soft control mechanisms A. As part of the crawling robot's torso, the steering and bending joint C, through the rapid bending of the two rotary joints, can assist the robot's torso in performing faster bending movements, effectively improving the robot's movement speed and work efficiency. Using two servo motors 4 to construct two rotary joints, the movement of the inchworm crawling robot's torso can be precisely controlled, achieving a 180° bend that is generally impossible for continuous robots. Furthermore, the two rotary joints are driven in opposite directions to achieve a biomimetic "Ω"-shaped bending motion during inchworm crawling, enabling normal crawling and obstacle crossing. This crawling robot performs exceptionally well in complex terrains such as high-altitude wall climbing and wall-crossing gaps, and can be applied in various fields including daily life, medicine, and earthquake relief.

[0043] Regarding the steering function, since the soft control mechanism A does not have a steering function, and the soft crawling robot inevitably turns during the crawling process in order to avoid obstacles or adjust the direction of movement, the two rotating gimbals 6 are distributed at both ends of the steering bending joint C. When the surface attachment mechanism B at one end is attached to the ground, the rotating gimbal 6 that is closer to the ground / attached to the surface attachment mechanism B starts to work, and at the same time drives the steering bending joint C and the part of the soft control mechanism A that is away from the ground to rotate together, changing the bending direction of the steering bending joint C, so as to achieve the purpose of the robot turning.

[0044] In this embodiment, two rotating gimbals 6 are placed at both ends of the joint, which can precisely control the turning movement of the middle part of the inchworm robot and assist the robot in performing high-speed bending movements, effectively improving the robot's moving speed and working efficiency.

[0045] Meanwhile, in order to prevent the servo motor 4 from colliding with other components or external objects when driving the rotating joint to bend, the steering bending joint C also includes a flexible outer sleeve 7. The flexible outer sleeve 7 is fitted over the middle connecting rod 3, the two servo motors 4 and the two servo motor brackets 5. The two ends of the flexible outer sleeve 7 are respectively connected to the outer shell of the rotating gimbal 6 on both sides.

[0046] It should be noted that since the steering and bending joint C has the functions of steering and bending, the flexible outer jacket 7 also needs to bend along with the steering and bending joint C during the crawling process of the crawling robot, so a flexible structure is adopted; at the same time, the flexible outer jacket 7 also needs to have a certain rigidity to avoid collision with the servo motor 4 and play a protective role. Therefore, the flexible outer jacket 7 described in this embodiment is a relatively thick rubber corrugated tube.

[0047] Furthermore, such as Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, in order to reduce the friction between the ground / wall and the soft control mechanism A and the steering and bending joint C during the crawling process of the soft robot, in this embodiment, a rubber corrugated tube 2 9 is fitted outside the soft control mechanism A and the steering and bending joint C as an outer shell. The rubber corrugated tube 2 9 has contractility and will not affect the bending of the soft robot's torso.

[0048] Furthermore, such as Figure 13 , Figure 14 , Figure 15 and Figure 16 As shown, in order to achieve a temporary fixed relationship between the surface attachment mechanism B and the surface of the object, the surface attachment mechanism B in this embodiment includes at least one adsorption unit 8. The adsorption unit 8 includes a vacuum pump 8-1, an air pipe 8-2, a suction cup base plate 8-3, and a double-layer suction cup 8-4. The double-layer suction cup 8-4 is installed on the side of the suction cup base plate 8-3 facing the ground, and the double-layer suction cup 8-4 is connected to the vacuum pump 8-1 through the air pipe 8-2.

[0049] In this embodiment, the vacuum pump 8-1 evacuates the double-layer suction cup 8-4, creating a negative pressure inside the double-layer suction cup 8-4, which then adheres to the surface of the ground / wall, achieving a stable fixation between the surface attachment mechanism B and the ground / wall. When the vacuum pump 8-1 inflates the double-layer suction cup 8-4, air enters between the double-layer suction cup 8-4 and the ground / wall, eliminating the adsorption effect and the stable fixation between the surface attachment mechanism B and the ground / wall. In other words, this embodiment can utilize the vacuum pump 8-1 and the double-layer suction cup 8-4 to achieve a temporary fixation relationship with the ground / wall.

[0050] In order to achieve rapid adsorption and improve adsorption efficiency, the adsorption unit 8 in this embodiment also includes a solenoid valve 8-5, which is installed on the pipeline of the second air pipe 8-2.

[0051] It should be noted that the solenoid valve 8-5 in this embodiment acts as a switch. When performing adsorption, the vacuum pump 8-1 is first operated for a while to extract all the gas in the air pipe 8-2 connecting the vacuum pump 8-1 and the double-layer suction cup 8-4. Then, the solenoid valve 8-5 is opened to instantly evacuate the air in the double-layer suction cup 8-4, thereby achieving rapid adsorption and improving the adsorption efficiency.

[0052] In addition, when there are multiple adsorption units 8, the multiple adsorption units 8 are arranged side by side, and two adjacent adsorption units 8 are connected by a pin hinge.

[0053] In this embodiment, by increasing the number of adsorption units 8, the adsorption force between the surface attachment mechanism B and the ground / wall is increased, so as to achieve a better connection. At the same time, two adjacent adsorption units 8 are connected by a hinge connection. The distribution of multiple adsorption units 8 can be adjusted at an angle, which is beneficial to adapting to more complex terrains, such as uneven ground and walls, and curved surfaces such as tree trunks and pipes.

[0054] In this embodiment, the number of adsorption units 8 is preferably three.

[0055] It should be noted that, in order to reduce the weight of the surface attachment mechanism B and the load on the crawling robot, in this embodiment, the three adsorption units 8 are equipped with a single vacuum pump 8-1 to achieve synchronous air extraction and degassing, thus reducing the number of vacuum pumps 8-1 used. Furthermore, the three air pipes 8-2 connecting the three double-layer suction cups 8-4 are connected to the vacuum pump 8-1 through a three-way connector 8-6, thereby achieving the connection between the three double-layer suction cups 8-4 and the vacuum pump 8-1.

[0056] In addition, in order to adjust the angle between the three adsorption units 8, the surface attachment mechanism B described in this embodiment also includes a set of driving components and two sets of angle adjustment components. In order to better describe the positional relationship between the three suction cup base plates 8-3, they are divided into the left suction cup base plate 8-3, the middle suction cup base plate 8-3 and the right suction cup base plate 8-3. The driving component is mounted on the middle suction cup base plate 8-3, and two sets of angle adjustment components are mounted on the suction cup base plates 8-3 on both sides, and are arranged symmetrically with the driving component as the center. That is, one set of angle adjustment components is mounted on the left suction cup base plate 8-3, and the other set of angle adjustment components is mounted on the right suction cup base plate 8-3. Under the drive of the driving component, the two sets of angle adjustment components generate a thrust on the suction cup base plates 8-3 connected to them, so that the left suction cup base plate 8-3 and the right suction cup base plate 8-3 bend downward relative to the middle suction cup base plate 8-3, thereby realizing the adjustment of the angle between the three adsorption units 8.

[0057] The drive assembly includes a motor bracket 8-6, a stepper motor 8-7, and a cam 8-8. The motor bracket 8-6 is fixedly mounted on the suction cup base plate 8-3, the stepper motor 8-7 is fixedly mounted on the motor bracket 8-6, and the output shaft of the stepper motor 8-7 is fixedly connected to the cam 8-8. The angle adjustment assembly is described using one set as an example. The angle adjustment assembly includes a connecting seat 8-9, a connecting rod 8-10, a linear limiting support 8-11, a push rod 8-12, a spring 8-13, and a limiting pin 8-14. The connecting seat 8-9 is fixedly installed on the left suction cup base plate 8-3, near the middle suction cup base plate 8-3. The linear limiting support 8-11 is installed on the middle suction cup base plate 8-3, near the left suction cup base plate 8-3. One end of the connecting rod 8-10 is connected to... The connecting seat 8-9 is hinged, and the other end of the connecting rod 8-10 is hinged to one end of the push rod 8-12. The push rod 8-12 is inserted into the linear limiting support 8-11, and the other end of the push rod 8-12 abuts against the outer wall of the cam 8-8. The limiting pin 8-14 is inserted into the end of the push rod 8-12 near the cam 8-8. The spring 8-13 is sleeved on the push rod 8-12, and one end of the spring 8-13 abuts against the linear limiting support 8-11. The other end of the spring 8-13 abuts against the limiting pin 8-14 at the end of the push rod 8-12.

[0058] It should be noted that, in order to ensure that the cam 8-8 generates the same driving force on the push rods 8-12 on both sides, the cam 8-8 in this embodiment is symmetrical and has an "8" shaped cross-section. The output shaft of the stepper motor 8-7 is connected to the center position of the cam 8-8. The stepper motor 8-7 drives the cam 8-8 to rotate. When the center point of the cam 8-8 is further away from the contact point between the push rod 8-12 and the cam 8-8, the driving force generated by the cam 8-8 on the push rod 8-12 gradually increases, and vice versa.

[0059] In this embodiment, the stepper motor 8-7 drives the cam 8-8 to rotate. The cam 8-8 gradually increases the driving force on the push rods 8-12 on both sides. The push rods 8-12 move along the linear limiting support 8-11 towards the connecting seat 8-9, thereby generating a thrust on the connecting rod 8-10. The connecting rod 8-10 generates a thrust on the connecting seat 8-9. Because the connecting seat 8-9 and the connecting rod 8-10 are hinged, the connecting seat 8-9 causes the left suction cup base plate 8-3 to bend downwards. Conversely, as the driving force generated by the cam 8-8 on the push rod 8-12 gradually increases... As the pressure decreases, push rod 8-12 moves toward cam 8-8 under the restoring force of spring 8-13. Push rod 8-12 exerts a pulling force on connecting rod 8-10, which in turn exerts a pulling force on connecting seat 8-9. Connecting seat 8-9 causes the left suction cup base plate 8-3 to flip upward. In other words, the angle between the left suction cup base plate 8-3 and the middle suction cup base plate 8-3 can be changed by the rotation of cam 8-8 and the cooperation of push rod 8-12. Similarly, the angle between the right suction cup base plate 8-3 and the middle suction cup base plate 8-3 can also be changed.

[0060] In addition, to increase the degree of freedom of the surface attachment mechanism B, the surface attachment mechanism B in this embodiment also includes an L-shaped bracket 10, a dual-axis servo motor 11, a servo motor bracket 12, and a rotating gimbal 13. The dual-axis servo motor 11 is mounted on the L-shaped bracket 10, and the servo disk of the dual-axis servo motor 11 is connected to the suction cup base plate 8-3 in the middle through the servo motor bracket 12. The rotating gimbal 13 is mounted on the L-shaped bracket 10, and the axis of the rotating gimbal 13 is perpendicular to the axis of the dual-axis servo motor 11. The drive end of the rotating gimbal 13 is connected to the connecting base 1-1 of the software control mechanism A.

[0061] In this embodiment, the dual-axis servo motor 11 can rotate the surface attachment mechanism B up and down at a certain angle, and the rotating gimbal 13 can rotate the surface attachment mechanism B 360°, increasing the two degrees of freedom of the surface attachment mechanism B, making the robot's movement more flexible. This structure simulates the feet of an inchworm and is distributed at both ends of the biomimetic inchworm robot, providing fixation and support for the robot's movement, and is an important component of the robot.

[0062] The following further explains the working process of the present invention to further demonstrate its working principle and advantages: S1, during the crawling process, the front surface attachment mechanism B is attached to the ground, while the rear surface attachment mechanism B is in a relaxed state. Each control unit 1 in the soft control mechanism A is bent under the combined action of the small single-phase air pump 1-2 and the rubber bellows 1-3, and the steering bending joint C is bent with the cooperation of two servo motors 4 and servo motor brackets 5, causing the body of the soft robot to bend. The bending of the body of the soft robot exerts a pulling effect on the rear surface attachment mechanism B, causing the rear surface attachment mechanism B to gradually approach the front surface attachment mechanism B. The vacuum pump 8-1 in the rear surface attachment mechanism B is activated, and the vacuum pump 8-1 draws air, causing the three adsorption units 8 to be attached to the ground, thus realizing the connection between the rear surface attachment mechanism B and the ground. S2, the vacuum pump 8-1 in the front surface attachment mechanism B releases air, and the front surface attachment mechanism B is in a relaxed state. Each control unit 1 in the soft control mechanism A is straightened under the combined action of the small single-phase air pump 1-2 and the rubber bellows 1-3, and the steering bending joint C is straightened with the cooperation of the two servo motors 4 and the servo motor bracket 5, so that the body of the soft robot gradually straightens. The straightening of the body of the soft robot pushes the front surface attachment mechanism B, so that the front surface attachment mechanism B gradually moves away from the rear surface attachment mechanism B. S3, start the vacuum pump 8-1 in the front surface attachment mechanism B, the vacuum pump 8-1 pumps air, so that the three adsorption units 8 are adsorbed on the ground, the vacuum pump 8-1 in the rear surface attachment mechanism B releases air, the rear surface attachment mechanism B is in a relaxed state, repeat S1 and S2, and realize the crawling of the soft robot.

[0063] This embodiment of the inchworm-inspired soft-crawling robot is a biomimetic inchworm robot capable of overcoming various complex obstacles. Designed based on the body structure and movement characteristics of the arthropod inchworm, the robot primarily utilizes the elasticity of springs and the contractility of rubber bellows. It employs segmented, small, single-phase air pumps for symmetrical inflation and deflation, adjusting the relative lengths of the symmetrical rubber bellows in stages. Following the principles of continuous robotics, the elasticity of the springs transmits deformation to the next deformation joint, enabling the robot to periodically contract its body into an "Ω" shape, allowing for normal crawling and obstacle crossing. This robot demonstrates excellent performance in complex terrains such as high-altitude wall climbing and navigating gaps, and can be applied in various fields including daily life, medicine, and earthquake relief.

[0064] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A soft crawling robot with multi-posture motion mimicking an inchworm, characterized in that: It includes a software control mechanism (A) and two surface attachment mechanisms (B), wherein the software control mechanism (A) is arranged between the two surface attachment mechanisms (B), and the length extension direction of the software control mechanism (A) is the same as the direction of the line connecting the two surface attachment mechanisms (B); The software control mechanism (A) includes several control units (1) arranged in series. Each control unit (1) includes two connecting bases (1-1) and N sets of telescopic components evenly arranged circumferentially between the two connecting bases (1-1). The length is changed by the extension and retraction of each telescopic component and the combined action of the N sets of telescopic components, thereby changing the length of each control unit (1). Each telescopic assembly includes a small single-phase air pump (1-2) and a rubber bellows tube (1-3) with both ends closed. The two ends of the rubber bellows tube (1-3) are respectively fixedly connected to the opposite surfaces of two adjacent connecting bases (1-1). The small single-phase air pump (1-2) is fixedly installed on the connecting base (1-1) and close to the end of the rubber bellows tube (1-3). The small single-phase air pump (1-2) and the rubber bellows tube (1-3) are connected through an air pipe (1-4). Each control unit (1) also includes N circumferentially evenly arranged springs (1-5), each spring (1-5) is located between two adjacent sets of telescopic components, and the two ends of each spring (1-5) are respectively connected to two adjacent connecting bases (1-1). The software control mechanism (A) is at least two, and a steering bend joint (C) is provided between two adjacent software control mechanisms (A); the steering bend joint (C) includes a middle connecting rod (3), two servo motors (4), two servo motor brackets (5) and two rotating gimbals (6). The two servo motors (4), servo motor brackets (5) and rotating gimbals (6) are symmetrically arranged on both sides of the length direction of the middle connecting rod (3). The outer shell of the servo motor (4) is fixedly connected to the end of the middle connecting rod (3), the servo disk of the servo motor (4) is fixedly connected to one end of the servo motor bracket (5), and the other end of the servo motor bracket (5) is fixedly connected to the outer shell of the rotating gimbal (6).

2. The soft crawling robot with multi-posture motion mimicking an inchworm according to claim 1, characterized in that: The software control mechanism (A) further includes a central elastic rod (2), which is coaxially inserted into several control units (1). The two ends of the central elastic rod (2) are fixed on the connecting bases (1-1) at both ends of the software control mechanism (A).

3. The soft crawling robot with multi-posture motion mimicking an inchworm, as described in claim 1, is characterized in that: A rubber bellows tube (9) serves as an outer shell around the soft control mechanism (A) and the steering bend joint (C).

4. The soft crawling robot with multi-posture motion mimicking an inchworm according to claim 1, characterized in that: The surface adhesion mechanism (B) includes at least one adsorption unit (8). Each adsorption unit (8) includes a vacuum pump (8-1), an air pipe (8-2), a suction cup base plate (8-3), and a double-layer suction cup (8-4). The double-layer suction cup (8-4) is installed on the side of the suction cup base plate (8-3) facing the ground. The double-layer suction cup (8-4) and the vacuum pump (8-1) are connected through the air pipe (8-2).

5. A soft crawling robot with multi-posture motion mimicking an inchworm, as described in claim 4, characterized in that: Each adsorption unit (8) also includes a solenoid valve (8-5), which is installed on the pipeline of the second air pipe (8-2).

6. A soft crawling robot with multi-posture motion mimicking an inchworm, as described in claim 4, characterized in that: The adsorption unit (8) consists of three units, arranged side by side, and adjacent adsorption units (8) are connected by a pin hinge. The surface attachment mechanism (B) also includes a set of driving components and two sets of angle adjustment components. The driving components are mounted on the middle suction cup base plate (8-3), and the two sets of angle adjustment components are mounted on the suction cup base plates (8-3) on both sides, and are arranged symmetrically with the driving components as the center. The drive assembly includes a motor bracket (8-6), a stepper motor (8-7), and a cam (8-8). The motor bracket (8-6) is fixedly mounted on the suction cup base plate (8-3), the stepper motor (8-7) is fixedly mounted on the motor bracket (8-6), and the output shaft of the stepper motor (8-7) is fixedly connected to the cam (8-8). The angle adjustment assembly includes a connecting seat (8-9), a connecting rod (8-10), a linear limiting support (8-11), a push rod (8-12), a spring (8-13), and a limiting pin (8-14). The connecting seat (8-9) is fixedly installed on the upper surface of the corresponding suction cup base plate (8-3), near the middle suction cup base plate (8-3). The linear limiting support (8-11) is installed on the upper surface of the middle suction cup base plate (8-3), near the side suction cup base plate (8-3). One end of the connecting rod (8-10) is connected to the connecting seat (8-9). The connecting rod (8-10) is hinged to one end of the push rod (8-12). The push rod (8-12) is inserted into the linear limiting support (8-11), and the other end of the push rod (8-12) abuts against the outer wall of the cam (8-8). The limiting pin (8-14) is inserted into the end of the push rod (8-12) near the cam (8-8). The spring (8-13) is sleeved on the push rod (8-12). One end of the spring (8-13) abuts against the linear limiting support (8-11), and the other end of the spring (8-13) abuts against the limiting pin (8-14) at the end of the push rod (8-12).

7. A soft crawling robot with multi-posture motion mimicking an inchworm, as described in claim 6, characterized in that: The surface attachment mechanism (B) further includes an L-shaped bracket (10), a dual-axis servo motor (11), a servo motor bracket (12), and a rotating gimbal (13). The dual-axis servo motor (11) is mounted on the L-shaped bracket (10), and the servo disk of the dual-axis servo motor (11) is connected to the suction cup base plate (8-3) in the middle through the servo motor bracket (12). The rotating gimbal (13) is mounted on the L-shaped bracket (10), and the axis of the rotating gimbal (13) is perpendicular to the axis of the dual-axis servo motor (11). The drive end of the rotating gimbal (13) is connected to the connecting base (1-1) of the software control mechanism (A).

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